DYNAPAR M21 Series User manual
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Dynapar™brand
SERIES M21
Document No.: 702209-0001
Revision Level: J
October 24, 2016
Encoder Installation Manual
Modular Encoder
DESCRIPTION
The Dynapar brand M21 modular encoder
provides high-performance, cost effec-
tive feedback for stepper and servo motor
controls. Using industry standard package
dimensions, the M21 is easily installed
onto the motor without time-consuming
adjustments or special tools. Its unique
mechanical design automatically centers
and gaps the disc during installation.
For Brushless DC (BLDC) servo control,
optional 3 phase commutation tracks
replace the traditional Hall Effect sensors.
These optically-generated signals provide
higher accuracy and reliability, improving
the performance and reliability of the servo
system.
Dynapar Exclusive: The M21 design oper-
ates up to 120°C. The high temperature
plastics, phased array sensor, and low
current requirements stabilize the output
signals over a wide range of input voltage,
ambient temperature, or output frequen-
cies.
Dynapar Exclusive: The M21 provides 30
degrees of adjustment to align the signal
outputs to the shaft position. Using an
industry standard Size 21 modular mount-
ing pattern, the index mark on the disc hub
can be coarse aligned to the index sensor
position on the housing. The housing
rotates to allow further adjustment of the
index or fine alignment of the commutation
channels to the BLDC motor windings.
Dynapar Exclusive: The M21 enclosure is
dirt-tight, rated NEMA 1 / IP50. The cover
is gasketed to seal the disc and optics
from contamination. Additionally, the base
can be sealed to the motor for further
environmental protection.
Dynapar Exclusive: The M21 outputs are
protected from short circuits, and operate
on 5 or 12 VDC power.
SPECIFICATIONS MECHANICAL
Weight:
Connector: 1 oz. (28 gm) typ.
Connector w/cover: 1.5 oz. (43 gm) typ.
Cable: 2.5 oz (71 gm) typ.
Cable w/cover: 3 oz. (85 gm) typ.
Dimensions:
Outside Diameter: 2.1” (53 mm) max. with cover,
2.0” (51 mm) max. without cover; Height: 0.8”
(20.3 mm) max. (w/cover, excluding connector);
Emitter to Detector Gap: 0.070” (1.8 mm) min.
Material:
Base, Housing, & Cover: high temperature, glass
filled polymer;
Hub: Aluminum; Disk: 0.030” thick glass
Finish:
Base & Housing: black;
Cover: RAL 7010 (dark grey)
Moment of Inertia: 6.64 x 10-5 in-oz sec.2 (4.7 gm-cm2)
Hub Diameters: 1/4”, 3/8”, 7/16”, 1/2”, 6 mm, 8 mm,
10 mm, 12 mm nominal
Hub Dia. Tolerance: +0.001”/-0.000”
(+0.026 mm/-0.000 mm)
Mating Shaft Length: 0.45” (12 mm) min. blind hub
clamp screw, 0.65” (16.5 mm) exposed hub clamp
screw; 0.75” (19 mm) max. inside cover
Mating Shaft Runout: 0.002” (0.05 mm) max. (Includes
shaft perpendicularity to mounting surface)
Mating Shaft Endplay: +0.005”/-0.015” (+0.13 mm/-0.38
mm) nominal (“+” indicates away from mounting
face)
Mounting:
Base: (2) #4-40 (M2.5) #1 Phillips fillister head
cap screw on 1.812” (46 mm) B.C., 0.01” (0.254
mm) true position to shaft; Shaft: split hub w/collar
clamp, #2-56 hex socket cap screw (5/64” hex
wrench included)
Electrical/Mechanical
Alignment Range: ±15° mechanical
Acceleration: 100,000 rad/sec.2max.
Velocity: 12,000 RPM max.
ENVIRONMENTAL
Operating Temperature: -40° to 120°C
Storage Temperature: -40° to 85°C
Shock: 50 G’s for 11 msec duration
Vibration: 2.5 G’s at 5 to 2000 Hz
Relative Humidity: 90% noncondensing
Enclosure Rating: NEMA 1 / IP50 dirt-tight (for models
with cover)
ELECTRICAL
Code: Incremental
Resolution: (pulses/revolution)
Incremental: 500 to 2048 PPR
Commutation: 2, 3, or 4 PPR
Accuracy:
Incremental: ±5 arc-mins. max. edge to edge;
Commutation: ±6 arc-mins. max.
Sense: (viewing encoder mounting surface)
Incremental: A leads B by 90° for CCW rotation of
motor shaft;
Commutation: U leads V, V leads W by 120° for CW
rotation of motor shaft
Phasing:
Incremental: 90° ±18° electrical
Commutation: 8 Pole: 30°; 6 Pole: 40°;
4 Pole: 60° mechanical
Index to U Channel: ±1° mechanical - Index center
to U channel edge
Symmetry:
Incremental: 180° ±18° electrical
Commutation: 8 Pole: 45°;
6 Pole: 60°; 4 Pole: 90° mechanical
Index Pulse Width: 180° ±36° electrical (Gated with
B low) standard
Input Power Requirements:
Incremental: 5 or 12 VDC ±10% at 100 mA max.
(excluding output load);
Commutation: 5 or 12 VDC ±10% at 75 mA max.
(excluding output load)
Output Signals:
ET7272 Line Driver: 40 mA sink/source max.;
Open Collector w/2.0 kΩ pull-ups: 16 mA sink max.
Frequency Response: 200 kHz min.
Termination:
Connector: PCB mounted dual row head with 0.1”
x 0.1” pin spacing, 10 pins (incremental only),
16 pins (w/commutation); Cable: conductors - 28
AWG, stranded (7/36), insulation - black, PVC;
Shield: aluminum/polyester foil plus tinned, copper
drain wire (28 AWG, 7/36)
Noise Immunity: Conforms to EN50082-1 Light Industrial
for Electro-Static Discharge, Radio Frequency
Interference, Electrical Fast Transients, Conducted
Interference, and Magnetic Fields (for models or
applications with shielded cable)
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Package Contents
Check packaged items:
1. M21 Encoder
2. Cover (optional)
3. Mounting Screws (2)
4. Allen Wrenches (1)
5. Documentation
For all installations:
1. Number 0 Phillips Screwdriver
2. Provided Allen Wrench
Additional Tools
For installations using
commutation tracks only:
1. Motor drive fixture
2. Two channel oscilloscope
3. DC power supply
ARequired Tools
B
C
Getting Started
Installing your M21 is a fast, easy process. The package contents include the M21, one Allen wrench, mounting screws, and
documentation. This, plus a number 0 Phillips screwdriver, is all that will be required for installations that do not use the
commutation track feature.
If commutation tracks are used, a two channel oscilloscope and a fixture that can drive the target motor/encoder assembly will
also be required for final alignment. Specific motor information supplied by the motor manufacturer may be required.
Note: Illustrations may differ from your specific model. Instructions provided cover all models of
Dynapar Series M21Modular Encoders.
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Remove center label:
Carefully detach the center label as shown. The label
contains information about the PPR of the encoder.
For future reference, it should be attached to the
unit’s side body or cover
Important:
Locate mounting area:
Locate stub shaft and tapped holes where encoder is
to be attached. Be sure shaft is of sufficient length
to extend into hub clamping area (see specifica-
tions).
In preparation for mounting the M21 encoder on a
motor, the center hub assembly must be centered
properly. Press inward on the hub while moving in
all directions to be sure hub is fully seated. Once
centered, maintain inward pressure on the hub and
proceed to the next step.
12
Preliminary Step Prepare Motor
Center Hub
3For Use with Commutation
Tracks Only
The manufacturer of the motor should be
consulted regarding the rotor locking procedure.
Voltage should remain on through step 9a.
Electrically lock motor’s rotor:
4
If installation does not utilize
commutation tracks, skip this
step
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Mount Encoder
Set hub over motor shaft:
While holding hub in position, slide encoder over motor
shaft. Confirm that encoder through-holes match
tapped holes on motor.
5
Exposed Hub
Clamp Models
Blind Hub
Clamp Models
Index Alignment
Align index mark:
Turn hub until clamp slit or index scribe mark is in
line with edge of housing post as indicated. Note
difference for “exposed hub clamp” and “blind hub
clamp” models.
6
Tighten Hub Clamp
Determine hub clamp type:
M21 encoders are available with exposed (step 7a)
or blind (step 7b) hub clamp screws.
For exposed hub clamp screw, go to step 7a.
For blind hub clamp screw, go to step 7b.
Exposed Hub Clamp
Use provided Allen wrench:
Hold the hub seated in the base and tighten the
clamp screw to 3 lb – in (34 N – cm). Take care
not to rotate hub from aligned position.
77a
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Blind Hub Clamp
Use provided Allen wrench:
Hold the hub seated in the base. Place wrench
through hole at angle indicated and tighten the
clamp screw to 3 lb – in (34 N – cm). Take care not
to rotate hub from aligned position.
7b Insert Mounting Screws
8
Important
Insert wrench at angle
shown above and keep
wrench parallel with base
Note position
of access hole
Insert screws and tighten with Phillips screwdriver to
2 lb-in (23 N-cm).
CAUTION
Take care not to contact the
edge of the internal disk
while inserting and tighten-
ing mounting screws.
Unlock Hub
Next Step:
If commutation tracks are used, do not tighten align-
ment screw, remove power connection from the
motor and proceed to
step 10
If commutation tracks are not used, tighten align-
ment screw to 2 lb – in (23 N – cm) and proceed to
step 13.
9a
Unlock Hub
Use Phillips screwdriver:
Loosen the alignment screw (A)
(1/4 turn CCW). Rotate encoder housing clockwise
30° until housing slots are aligned with squares on
base (B).
9
Squares
on base
(B)
Alignment
Screw
(A)
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For Use with Commutation
Tracks Only
10
Alignment Theory: In Step 6, the physical position
of the encoder’s index was set to provide an
approximate electrical output as shown in the
figure below. Note that the rising edge of Channel
U will occur simultaneously with the index output,
Channel Z.
Step 11 details the fixture and oscilloscope
procedure which allows final precise alignment
to be made. It is important that the motor phase
that requires synchronization with Channel U
is connected to the scope. The specific wire
identification varies among motor types.
For Use with Commutation
Tracks Only
Prepare for alignment:
Mount motor/encoder on
fixture. Wire to oscilloscope.
11
If encoder has
plug-in connector,
temporarily install
it now.
Scope Alignment of Commutation
Tracks
Calibrate waveform:
With fixture spinning motor and the encoder
powered up, rotate the encoder housing to achieve
the waveforms as indicated on scope photo. The
sinewave is from the motor winding back-EMF,
the squarewave is from encoder’s commutation
channel. When completed, tighten alignment
screw to 2 lb – in (23 N – cm), remove all
connections and proceed to step 13.
12
Waveform shown
is example of setup
process. Actual is
dependant on motor
and drive that is used
Install Cover
Snap On -
No Tools Required:
Position cover in line with
cable or connector egress.
Line up molded rails with
body channels. Press
down firmly until 3 snaps
engage. May be removed
by squeezing ribbed area
and pulling up.
13 Cable Plug
For models so
equipped:
Carefully line up
pins and guides
and press firmly
into place.
Secure with clip
provided.
14
Note: Illustrations may differ from your specific model.
Instructions provided cover all models of Dynapar Series
M21Modular Encoders.
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