Linear and angular

encoders
standard series
 Technology
An encoder measures the actual machine Enclosed design
position without the effect of any The graduated scale in a linear encoder is protected by the
mechanical inaccuracies. Machine errors enclosed aluminum profile. The highly durable sealing lips
induced due to mechanical inaccuracies are protect the encoder from industrial contaminants and liquid
eliminated as the encoder is attached to the splashes as the reader head moves along the profile. The
machine guide ways and hence provides the reader head movement in complete synchronization captures
actual machine position to the controller. and transmits the position and movement of the machine.
Some of the potential sources of such errors The reader head moves along the graduated scale on linear
in a machine tool such as lead screw pitch, bearings minimizing the friction. For enhanced protection
certain amount of backlash and thermal against contamination both ends of the encoder and also the
behavior can be minimized using these reader head can be connected to pressurized air.
encoders.

Graduated glass linear encoder

Measuring methods
LED’s Grid Graduated glass
Fagor uses two measuring methods in their incremental
encoders:
• Graduated glass: Linear encoders with a measuring
length of up to 3 040 mm use optical transmission. The
light from the LED goes through an engraved glass and a
reticule before reaching the receiving photo diodes. The
period of the generated electrical signals is the same as the
graduation pitch.
• Graduated steel: Linear encoders with a measuring length
over 3 040 mm use auto imaging principle which uses
diffuse light reflected from the graduated steel tape. This
optical reading system consists of a LED as a light source,
Etching Reference marks Receiving photo-diodes
a mesh that creates the image and a monolithic photo
detector element in the image plane, which is specially
designed and patented by Fagor. Graduated steel linear encoder
Graduated steel Grid LED’s
Types of incremental encoders
• Linear encoder: Suitable for applications on milling,
turning, boring mills, grinding machines for feedrates of up
to 120 m/min and vibration levels up to 10 g.
• Rotary encoder: Used as measurement device for rotary
axis, angular speed and also for linear movements for
mechanisms like lead screws etc. They are widely used
in machine tools, wood working equipment, robots and
material handlers etc.

Etching Reference marks Receiving photo-diodes

Graduated glass rotary encoder

Receiving photo-diodes Grid

Flat convex lens

LED

Graduated glass disk Reference marks

2
Graduated glass

Cursor

Sealing lips

Reader head

Air intake at both ends Air intake on the reader head

Linear encoder
Reference signals (I0)
The reference signal is a specially etched mark along the
graduated glass, which when scanned generates a pulse
signal. They are used to set/recover the machine zero
position and avoid possible errors after powering up the DRO
or CNC system.
Incremental Fagor provides two different types of reference marks I0:
• Incremental: The reference signal is synchronized with the
feedback pulses to ensure perfect measuring repeatability.
Linear: One every 50 mm of travel.
Rotary: One signal per turn.
• Distance-coded: Each distance coded reference signal
is separated from the next signal a different distance
according to predefined mathematical function. The actual
position value after power up is restored by moving through
Distances
two consecutive reference signals. This is very useful for
Series a b c d
F 50.1  50.2 50.3 100
long travel axes as the movement needed to recover actual
C, M 10.02 10.04 10.06   20 position is minimum.
Distance-coded

Rotary encoder

incremental I0
Pitch

Zero position

3
 E N C O D E R S

Electrical output signals

Differential TTL
These are complementary signals in compliance with the
EIA standard RS-422. This characteristic together with a
line termination of 120 Ω, twisted pair, and an overall shield
provide greater immunity to electromagnetic noise caused by
the surrounding environment.

Characteristics
Signals A, /A, B, /B, I0, / I0
Signal level VH ≥ 2.5V IH= 20 mA
VL ≤ 0.5V IL= 20 mA
With 1 m cable
90º reference signal (I0) Synchronized with A and B
Switching time t+/t-< 30ns
With 1 m cable
T period according to model
Max. cable length 50 meters
Load impedance Zo= 120 Ω between differential

No differential TTL
Characteristics
Signals A, B, /I0
Signal level A, B, I0 VH ≥ 3.5 V IH = 4 mA
VL ≤ 0.4 V IL = 4 mA
with 1 m cable
90º reference signal (I0) Synchronized with A and B
Switching time t+/t-< 30ns
with 1 m cable
T period according to model
Max. cable length 20 meters

Voltage drop across cable

The voltage requirements for a TTL encoder are 5V ±5%.
A simple formula described below, may be used to calculate
the maximum cable length depending on the cross section
diameter of the supply cable:
Lmax = (VCC-4,5)* 500 / (ZCABLE/Km* IMAX)

Example
Vcc = 5V, IMAX = 0.2 Amp (with 120 Ω load)
Z (1 mm ) 2 = 16.6 Ω/Km (Lmax= 75 m)
Z (0.5 mm2) = 32 Ω/Km (Lmax= 39 m)
Z (0.25 mm2) = 66 Ω/Km (Lmax= 19 m)
Z (0.14 mm ) 2 = 132 Ω/Km (Lmax= 9 m)
Cable length

meters

4
 Differential 1 Vpp
They are complementary sinusoidal signals whose differential
value is 1 Vpp centered on Vcc/2. This characteristic together
with a line termination of 120 Ω, twisted pair, and an overall
shield provide greater immunity against electromagnetic noise
caused by their surrounding environment.

Characteristics
Signals A, /A, B, /B, I0, / I0
VApp 1 V +20%, -40%
VBpp 1 V +20%, -40%
DC offset 2.5 V ± 0.5 V
Signal period according to model
Max. cable length 150 meters
A, B centered: |V1-V2| / 2 Vpp ≤ 0.065
A&B relationship VApp / VBpp 0.8 ÷ 1.25
A&B phase shift: 90° ± 10°
I0 amplitude: VI0 0.2 ÷ 0.8 V
I0 width: L + R I0_min: 180°
I0_typ: 360°
I0_max: 540°
I0 synchronism: L, R 180º ± 90º

Voltage drop across cable

The voltage requirements for a 1 Vpp encoder are 5V ±10%.
A simple formula may be used to calculate the maximum
cable length depending on the cross section diameter of the
supply cables.
Lmax = (VCC-4,5)* 500 / (ZCABLE/Km* IMAX)

Example
Vcc = 5V, IMAX= 0.1 Amp
Z (1 mm ) 2 = 16.6 Ω/Km (Lmax= 150 m)
Cable length Z (0.5 mm2) = 32 Ω/Km (Lmax= 78 m)
Z (0.25 mm2) = 66 Ω/Km (Lmax= 37 m)
meters
Z (0.14 mm ) 2 = 132 Ω/ Km (Lmax= 18 m)

1 Vpp signal damping due to the cable

section
Besides attenuation due to signal frequency, there is another
0.14 mm2 signal attenuation caused by the section of the cable
connected to the encoder.
0.09 mm2

Cable length

meters

5
 I N C R E M E N T A L

F series
LINEAR

Especially designed for machines with longer travels and

General specification they are available up to 30 m in length. In the incremental
model the reference marks are 50 mm apart and distance
Measurement By means of stainless steel linear encoder
with 100 μm etching pitch coded model is also available. Both models come with a
detachable cable connectors in the reader head. The steel
Steel tape accuracy ± 5 µm
tape graduation pitch is 100 μm. For measuring lengths over
Maximum speed 120 m/min. 4040 mm the encoder is supplied in multiple sections and is
Maximum vibration 10 g assembled together at the time of installation.
Moving thrust <5N
Measuring lengths in millimeters
Operating
0 ºC...50 ºC • Measuring lengths from 440 mm to 30 m in 200 mm
temperature
Storage temperature -20 ºC...70 ºC increments. Contact Fagor Automation for custom length
scales over 30 m.
Weight 1.50 kg + 4 kg/m
Relative humidity 20...80%
Protection IP 53 (standard)
IP 64 (DIN 40050) using pressurized air in
linear encoders at 0.8 ± 0.2 bar
Reader head With detachable cable connector

Specific characteristics
FT FX FP
FOT FOX FOP

Resolution 5 µm 1 µm Up to 0.1 µm

FT, FX, FP: every 50 mm

Reference marks (I0)
FOT, FOX, FOP: Distance-coded I0

Output signals TTL TTL differential 1 Vpp

T period of output
20 µm 4 µm 100 µm
signals

Limit frequency 100 kHz 500 kHz 20 kHz

Maximum cable length 20 m 50 m 150 m

5 V ± 10%, < 100 mA

Supply voltage 5 V ±5% ,100 mA (without load)
(without load)

6
Single F model Dimensions in mm

Non-distance Measuring length

coded Machine way

Distance-coded

Modular F model

Measuring length
Non-distance
coded Machine way
Number of
Distance-coded intermediate modules

Order identification
Example for an incremental encoder : FX - 36

F X 36
Type of profile: Type of reference mark I0: Type of signal: Ordering length code:
F: for long distances • Blank space: Incremental, one mark •T
 : 5 μm resolution TTL In the example (36) = 3640 mm
every 50 mm •X
 : 1 μm resolution differential TTL
• O: Distance-coded marks •P
 : 1 Vpp sinusoidal

7
 I N C R E M E N T A L

C series
LINEAR

Designed for applications on standard machines with travels

General specification up to 3040 mm. With reference marks every 50 mm or
distance-coded and detachable cable connector built into the
Measurement By means of graduated glass scale,
with 20 μm etching pitch reader head.
Maximum speed 60 m/min.
Maximum vibration 3g Measuring lengths in millimeters
Moving thrust <5N 220 • 270 • 320 • 370 • 420 • 470 • 520 • 620 • 720 • 770
Operating
820 • 920 • 1020 • 1140 • 1240 • 1340 • 1440 • 1540
0 ºC...50 ºC 1640 • 1740 • 1840 • 1940 • 2040 • 2240 • 2440 • 2640
temperature
Storage temperature -20 ºC...70 ºC
2840 • 3040

Weight 1.2 kg + 2.5 kg/m

Relative humidity 20...80%
Protection IP 53 (standard)
IP 64 (DIN 40050) using pressurized air in
linear encoders at 0.8 ± 0.2 bar
Reader head With detachable cable connector

Specific characteristics
CT CX CP
COT COX COP

Accuracy ± 10 μm ± 5 μm

Resolution 5 μm 1 μm Up to 0.1 µm

CT, CX, CP: every 50 mm

Reference marks (I0)
COT, COX, COP: Distance-coded I0

Output signals TTL TTL differential 1 Vpp

T period of output
20 µm 4 µm 20 µm
signals

Limit frequency 50 kHz 250 kHz 50 kHz

Maximum cable length 20 m 50 m 150 m

5 V ± 10%, < 100 mA

Supply voltage 5 V ± 5%,100 mA (without load)
(without load)

8
C model Dimensions in mm

I0 every 50 mm Air intake at both ends (M5)

Machine way
Distance-coded Measuring length

Measuring lengths (CM)

For CM ending in 20 A= 10

For CM ending in 40 A= 20

For CM ending in 70 A= 35

Order identification
Example for an incremental encoder : COP - 425

C O P 42 5
Type of profile: Type of reference mark I0: Type of signal: Measuring length Accuracy of the linear
in cm: encoder:
C for wide • Blank space: Incremental, one • T: 5 μm Resolution TTL
spaces mark every 50 mm • X: 1 μm Resolution differential TTL In the example • 5: ± 5 μm
• O: Distance-coded marks • P: 1 Vpp sinusoidal (42) = 42 cm = 420 mm • B
 lank space: ± 10 μm

9
 I N C R E M E N T A L

M series
LINEAR

Designed for applications on standard machines with travels

General specification up to 1540 mm. With reference marks every 50 mm or
distance-coded and detachable cable connector built into
Measurement By means of graduated glass scale,
with 20 μm etching pitch the reader head (except the MK series where the reader head
comes standard with a 3-meter attached cable).
Maximum speed 60 m/min
Maximum vibration 3g
Moving thrust <5N
Measuring lengths in millimeters

Operating
40 (*) • 70 • 120 • 140 • 170 • 220 • 270 • 320 • 370
0 ºC...50 ºC 420 • 470 • 520 • 620 • 720 • 770 • 820 • 920 • 1020
temperature
Storage temperature -20 ºC...70 ºC
1140 • 1240 • 1340 • 1440 • 1540

Weight 0.58 kg + 0.6 kg/m (*) On MT and MX models.

Relative humidity 20...80%

Protection IP 53 (standard)
IP 64 (DIN 40050) using pressurized air in
linear encoders at 0.8 ± 0.2 bar
With detachable cable connector
Reader head
(except MKT and MKX)

Specific characteristics
MT MX MP
MTD MKT MKX
MOT MOX MOP

Accuracy ± 10 μm ± 5 μm ± 10 μm ± 5 μm

Resolution 5 μm 1 μm Up to 0.1 µm

MKT and MKX: I0 every 50 mm

Reference marks (I0) MT, MTD, MX and MP: I0 every 50 mm
MOT, MOX and MOP: Distance-coded I0
Output signals TTL TTL differential 1 Vpp

T period of output signals 20 µm 4 µm 20 µm

Limit frequency 50 kHz 250 kHz 50 kHz

Maximum cable length 20 m 50 m 20 m 50 m 150 m

5 V ± 10%, < 100 mA

Supply voltage 5 V ±5% ,100 mA (without load)
(without load)

10
M model Dimensions in mm

Air intake at both ends (M5)

I0 every 50 mm
Centered point for Ø3 dowel pin
Distance-coded Machine way
Measuring length
MK model

Air intake at both

ends (M5)
Centered point for Ø 3
dowel pin

Machine way Measuring

lengths (CM)
Measuring length
For CM ending in 20 A= 10

For CM ending in 40 A= 20
I0 every 50 mm
For CM ending in 70 A= 35

Order identification
Example for an incremental encoder : MOP - 425

M O P 42 5
Type of profile: Type of reference mark I0: Type of signal: Measuring lengths Accuracy of the linear
in cm: encoder:
M: for limited • Blank space: Incremental, one • T: 5 μm resolution TTL
spaces mark every 50 mm • TD: 5 μm resolution differential TTL In the example • 5: ± 5 μm
• O: Absolute distance-coded • X: 1 μm resolution differential TTL (42) = 42 cm = 420 mm • B
 lank space: ± 10 μm
marks • P: 1 Vpp sinusoidal

11
 I N C R E M E N T A L

MM series
LINEAR

Designed for applications on standard machines with travels

General specification up to 520 mm. With reference marks every 50 mm and
detachable cable connector built into the reader head (except
Measurement By means of graduated glass scale,
with 20 μm etching pitch the MMK series where the reader head comes standard with
a 3-meter attached cable). With very small profile, 5 mm less
Maximum speed 60 m/min.
than the M series they are ideal for tight spaces.
Maximum vibration 3g
Moving thrust <5N Measuring lengths in millimeters
Operating 40 (*) • 70 (*) • 120 • 140 • 170 • 220 • 270 • 320 • 370
0 ºC...50 ºC
temperature 420 • 470 • 520
Storage temperature -20 ºC...70 ºC (*) On MMT and MMX models.
Weight 0.58 kg + 0.5 kg/m
Relative humidity 20...80%
Protection IP 53 (standard)
IP64 (DIN 40050) using pressurized air in
linear encoders at 0.8 ± 0.2 bar
With detachable cable connector
Reader head
(except MMKT and MMKX)

Specific characteristics
MMT MMKT MMX MMKX MMP

Accuracy ± 10 μm ± 5 μm ± 10 μm ± 5 μm

Resolution 5 μm 1 μm 0.1 μm

Reference marks I0 I0 every 50 mm

Output signals TTL TTL differential 1 Vpp
T period of output signals 20 µm 4 µm 20 µm

Limit frequency 50 kHz 250 kHz 50 kHz

Maximum cable length 20 m 50 m 150 m

5 V ± 10%, < 100 mA
Supply voltage 5 V ± 5%,100 mA (without load)
(without load)

12
MM model Dimensions in mm

Machine way

Measuring length

MMK model

Machine way

Measuring length

Order identification
Example for an incremental encoder : MMT-27

MM T 27
Type of profile: Type of signal: Measuring lengths in cm:
MM: for very limited space •T
 : 5 μm resolution TTL In the example
•X
 : 1 μm resolution differential TTL (27) = 27 cm = 270 mm
•P
 : 1 Vpp sinusoidal

13
 I N C R E M E N T A L

MTD-P-2R series
LINEAR

Designed for applications on press brakes with strokes up

General specification to 1540 mm. The linear encoder comes with a universal joint
for reader head movement and an aluminum support that is
Measurement By means of graduated glass scale,
with 20 μm etching pitch mounted directly on the machine.
Maximum speed 60 m/min.
Measuring lengths in millimeters
Maximum vibration 3g
40 • 70 • 120 • 140 • 170 • 220 • 270 • 320 • 370 • 420
Moving thrust <5N 470 • 520 • 620 • 720 • 770 • 820 • 920 • 1020 • 1140
Operating 1240 • 1340 • 1440 • 1540
0 ºC...50 ºC
temperature
Storage temperature -20 ºC...70 ºC
Weight 0.58 kg + 2.43 kg/m
Relative humidity 20...80%
Protection IP 53 (standard)
IP64 (DIN 40050) using pressurized air in
linear encoders at 0.8 ± 0.2 bar
Reader head With detachable cable connector

Specific characteristics
MTD-P-2R

Accuracy ± 10 μm

Resolution 5 μm

Reference marks (I0) Two I0 at the ends

Output signals TTL differential

T period of output signals 20 µm

Limit frequency 50 kHz

Maximum cable length 50 m

Supply voltage 5 V ±5% ,100 mA (without load)

14
MTD-P-2R model Dimensions in mm

Machine way

Measuring length

Measuring lengths (CM)

For CM ending in 20 A= 10

For CM ending in 70 A= 35

Order identification
Example for an incremental encoder: MTD-77 P-2R

M TD 77 P2R
Type of profile: Type of signal: Measuring lengths in cm: Reference mark I0:
M: for limited space TD: 5 µm resolution differential In the example Two I0 at both ends
TTL (77) = 77 cm = 770 mm

15
 I N C R E M E N T A L

H, S series
ROTARY

General specification Number of pulses/turn

S SP H / HA HP S SP H HA HP

Measurement With graduated disk 50 – 50 – –

Accuracy ± 1/10 of the pitch 100 – 100 – –
Maximum speed 12000 rpm 200 – 200 – –
Vibration 100 m/s (10 ÷ 2000 Hz)
2
250 – 250 – –
Shock 300 m/s2 (11 m/s) 400 – 400 – –
Inertia 16 gr/cm2 500 – 500 – –
0.003 Nm (30 gr/cm) 600 – 600 – –
Turning torque
max. at 20 °C
635 – 635 – –
Type of shaft Solid shaft Hollow shaft 1 000 1 000 1 000 – 1 000
Axial: 10 N 1 024 1 024 1 024 1 024 1 024
Maximum load on the shaft –
Radial: 20 N
1 250 1 250 1 250 1 800 1 250
Weight 0.3 kg
1 270 1 270 1 270 2 000 1 270
Ambient characteristics:
1 500 1 500 1 500 2 048 1 500
Running temperature 0 °C…+70 °C
2 000 2 000 2 000 2 500 2 000
Storage temperature -30 °C…+80 °C
2 500 2 500 2 500 3 000 2 500
Relative humidity 98% non-condensing
3 000 3 000 3 000 3 600 3 000
Protection IP 64 (DIN 40050). On S and SP models: Optional IP 66
– 3 600 – 4 000 –
Light source IRED (InfraRed Emitting Diode)
– 4 320 – 4 096 –
Maximum frequency 200 kHz
5 000 5 000 – 5 000 –
Reference signal I0 One reference signal per encoder turn
– – – 10 000 –
5V 5V 5V 5V
Supply voltage
± 5% (TTL) ± 10% (1 Vpp) ± 5% (TTL) ± 10% (1 Vpp)

Consumption 70 mA typical, 100 mA max. (without load)

Output signals TTL differential 1 Vpp TTL differential 1 Vpp

Maximum cable length 50 m 150 m 50 m 150 m

16
S, SP model Dimensions in mm

Roller bearings

H, HP model

Shaft
ØD g7
mm
3
4
6
6.35
7
L: Min. 9 mm, max. 16 mm 8
9.53
10

HA model

Order identification - models H, HP, S and SP

Example for a Rotary Encoder: SP-1024-C5-R-12-IP 66

S P 1024 C5 R 12 IP 66
Model: Type of signal: Number of Type of connector: Cable exit: Voltage: Protection:
• S: Solid shaft • Blank space: pulses/turn: • Blank space: 1 m cable • R: Radial • Blank space: •B
 lank space:
• H: Hollow shaft square signal (See table without connector • A: A
 xial Blank Standard 5 V supply Standard
(TTL or HTL) • C: Flange socket space: Axial • 12: Optional 12 V protection (IP 64)
page 16)
• P: 1 Vpp CONNEI 12 supply (only for • IP 66: Protection
sinusoidal signal • C5: 1 m cable with HTL signal) IP 66
CONNEI 12 connector

Order identification - HA model

Example for a Rotary Encoder: HA - 22132 - 2500

HA 2 2 1 3 2 2500
In all Type of clamp: Size of the Output signals: Type of connection: Supply voltage: Number of pulses/
cases hollow shaft turn:
• 1: Rear clamp
(ØA): • 1: A, B, I0 plus their • 1: Radial cable (2 m) •1 : Push-Pull
• 2: Front clamp inverted • 2: CONNEI 12 radial (11-30 V) (See table page 16)
• 1: 10 mm connector built into it • 2: RS-422 (5 V)
• 2: 12 mm • 3: Radial cable (1 m) with
CONNEI 12 connector

17
 accessories
Connection cables
Connection to FAGOR

EC…T-D EC…P-D
Lengths: 1, 3, 6, 9 and 12 meters Lengths: 1, 3, 6, 9 and 12 meters

SUB D 15 HD connector (male Pin ) SUB D 15 HD connector (male Pin )

Pin Signal Color Pin Signal Color

1 A Green 1 A Green
3 B Brown 2 /A Yellow
5 I0 Grey 3 B Blue
9 +5 V Yellow 4 /B Red
11 0V White 5 I0 Grey
15 Ground Shield 6 I0 Pink
Housing Ground Shield 9 +5 V Brown
11 0V White
15 Ground Shield
Housing Ground Shield

Coupling for rotary encoders AH couplings

Couplings for hollow shaft encoders
For solid shaft encoders
The hollow shaft encoders are
accompanied by a standard
40 25,4 19,6 6 mm cap diameter (Ø 6).
Can also be supplied in the following
diameters:
Ø 3, Ø 4, Ø 6, Ø 7, Ø 8 and Ø 10 mm, 1/4”
Ø6 Ø6
Ø 20 Ø6 Ø 25 Ø 19,2 and 3/8”.

AF model AC model AL model

Specific characteristics
AF AC AL
AD washer
Maximum radial misalignment permitted
2 mm 1 mm 0.2 mm
Washer for mounting rotary encoder
models H, HP, S, SP.

Maximum angular misalignment permitted

8º 5º 4º

Maximum axial misalignment permitted

± 1.5 mm – ± 0.2 mm

Maximum torque that may be transmitted 2 Nm 1.7 Nm 0.9 Nm

Torsion rigidity 1.7 Nm/rad. 50 Nm/rad. 150 Nm/rad.
Maximum rotating speed 12 000 rpm

18
Fagor Automation shall not be held responsible for any printing or transcribing errors in the catalog and reserves the right to make any changes to the characteristics of its products
without prior notice. You must always compare the data with that appearing in the manual that comes with the product.

19
 Fagor Automation, S. Coop.
Bº San Andrés, 19
E-20500 Arrasate - Mondragón
SPAIN
Tel.: +34 943 719 200
Fax.: +34 943 791 712
E-mail: info@fagorautomation.es

ER-073/1994

Fagor Automation holds the ISO 9001

Quality System Certificate and the
Certificate for all products manufactured.

w w w. f a g o r a u t o m a t i o n . c o m

EPS - CAP STD. EN 0513

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