Absolute encoders

Interface

Benefits

DRIVE-CLiQ

• Very high data transfer rates possible
• Advantages in time-critical applications
• Simple and quick automatic configuration using electronic rating plates
• Fast and easy diagnostics with a single tool
• One interface for connecting drives as well as indirect and direct measurement systems to the CNC.

SSI

• Advantages in time-critical applications

EnDat 2.1

• High data transfer rate, bidirectional
• Advantages in time-critical applications
• Incremental track with 1 V_pp
• Connection via SINAMICS Sensor Modules SMC/SME

PROFIBUS DP-V2

• Parameterizable built-on encoder
• Reduced wiring overhead in plants with a large number of encoders
• Isochronous operation and direct data exchange

PROFINET IO

• Parameterizable built-on encoder
• Reduced wiring overhead in plants with a large number of encoders
• Supports conformity class C (IRT communication), B, A (RT communication)
• IRT (isochronous mode)
• 2 ports
• Media redundancy with MRPD, MRP

Absolute encoder with DRIVE-CLiQ

24 V DC supply voltage

• Radial connection

• Synchro flange
  Solid shaft

6FX2001-5FD❑❑-1AA0

• Clamp flange
  Solid shaft

6FX2001-5QD❑❑-1AA0

• Torque arm
  Hollow shaft diameter 10 mm (0.39 in)

6FX2001-5VD❑❑-1AA0

• Torque arm
  Hollow shaft diameter 12 mm (0.47 in)

6FX2001-5WD❑❑-1AA0

Resolution

• Single-turn 24 bit

13

• Multi-turn 36 bit

25

Absolute encoder with SSI

4.75 ... 30 V DC supply voltage

• Synchro flange and connection via

• Axial flange outlet

6FX2001-5HS❑❑

• Radial flange outlet

6FX2001-5FS❑❑

• Clamp flange and connection via

• Axial flange outlet

6FX2001-5SS❑❑

• Radial flange outlet

6FX2001-5QS❑❑

Resolution

• Single-turn
  8192 steps/revolution (13 bit)

12

• Multi-turn
  8192 steps/revolution, 4096 revolutions (25 bit)

24

Absolute encoder with EnDat 2.1

3.6 ... 14 V DC supply voltage

• Synchro flange and connection via

• Axial flange outlet

6FX2001-5HE❑❑

• Radial flange outlet

6FX2001-5FE❑❑

• Clamp flange and connection via

• Axial flange outlet

6FX2001-5SE❑❑

• Radial flange outlet

6FX2001-5QE❑❑

Resolution

• Single-turn
  8192 steps/revolution (13 bit)

13

• Multi-turn
  8192 steps/revolution, 4096 revolutions (25 bit)

25

Absolute encoder with PROFIBUS DP

10 ... 30 V DC supply voltage

• Radial connection

• Synchro flange
  Solid shaft

6FX2001-5FP❑❑

• Clamp flange
  Solid shaft

6FX2001-5QP❑❑

• Torque arm
  Hollow shaft Ø 15 mm (0.59 in)¹⁾

6FX2001-5WP❑❑

Resolution

• Single-turn
  8192 steps/revolution (13 bit)

12

• Multi-turn
  8192 steps/revolution, 16384 revolutions (27 bit)

24

Absolute encoder with PROFINET IO

10 ... 30 V DC supply voltage

• Radial connection

• Synchro flange
  Solid shaft

6FX2001-5FN❑❑

• Clamp flange
  Solid shaft

6FX2001-5QN❑❑

• Torque arm
  Hollow shaft Ø 15 mm (0.59 in)¹⁾

6FX2001-5WN❑❑

Resolution

• Single-turn
  8192 steps/revolution (13 bit)
  65536 steps/revolution (16 bit)

13

• Multi-turn
  8192 steps/revolution, 16384 revolutions (27 bit)
  65536 steps/revolution, 16384 revolutions (30 bit)

25

Article No.

6FX2001-5.D..-1AA0

6FX2001-5.S..

6FX2001-5.E..

Product name

Motion Control encoder

Motion Control encoder

Motion Control encoder

Product designation

Absolute encoder
with DRIVE-CLiQ

Absolute encoder
with SSI

Absolute encoder
with EnDat 2.1

Operating voltage DC
V_p on encoder

V

24
- 15 % + 20 %

4.75 ... 30

3.6 ... 14

Current consumption, approx.

• Single-turn

mA

37

90

90

• Multi-turn

mA

43

120

120

Connection

Radial flange outlet M12

Axial/radial flange outlet M23

Axial/radial flange outlet M23

Interface

DRIVE-CLiQ

SSI

EnDat 2.1

Clock input

–

Differential cable receiver acc. to EIA standard RS485

Differential cable receiver acc. to EIA standard RS485

Data output

DRIVE-CLiQ

Differential cable driver acc. to EIA standard RS485

Differential cable driver acc. to EIA standard RS485

Short-circuit strength

Yes

Yes

Yes

Transfer rate

Mbit/s

100

–

–

Transfer rate

kHz

–

100 ... 1000

100 ... 2000

Maximum speed

• Electrical

r/min

14000

–

–

• With ± 1 LSB accuracy

r/min

–

5000

5000

• With ± 12 LSB accuracy

r/min

12000

–

–

• With ± 100 LSB accuracy

r/min

–

12000

12000

• Mechanical

• Single-turn

r/min

15000

15000

15000

• Multi-turn

r/min

12000

12000

12000

Cable length to downstream electronics, maximum¹⁾

m (ft)

100 (328)

–

–

• Up to 300 kHz cycle

m (ft)

–

100 (328)

150 (492)

• Up to 1 MHz cycle

m (ft)

–

50 (164)

50 (164)

• Up to 2 MHz cycle

m (ft)

–

–

10 (32.8)

Resolution

• Single-turn

bit

24

13
(8192 steps)

13
(8192 steps)

• Multi-turn

bit

36
(2²⁴ steps × 4096 revolutions)

25
(8192 steps × 4096 revolutions)

25
(8192 steps × 4096 revolutions)

Frame

• Single-turn

bit

–

13
without parity

According to EnDat specification

• Multi-turn

bit

–

25
without parity

According to EnDat specification

Incremental track

S/R

2048, 1 V_pp
(internal only)

–

512, 1 V_pp

Code type

• Transfer

DRIVE-CLiQ

Gray, fir tree format

Dual

Parameterization capability

• Preset

–

Set to zero

–

• Counting direction

–

Yes

–

Accuracy

arcsec

± 20

± 60
(with 8192 steps)

± 60
(incremental track)

Starting torque at 20 °C (68 °F)

Nm (lb_f‑ft)

≤ 0.01 (0.01)

≤ 0.01 (0.01)

≤ 0.01 (0.01)

Solid shaft loading capacity

• n ≤ 6000 r/min

• Axial

N (lb_f)

40 (8.99)

40 (8.99)

40 (8.99)

• Radial at shaft end

N (lb_f)

60 (13.5)

60 (13.5)

60 (13.5)

• n > 6000 r/min

• Axial

N (lb_f)

10 (2.25)

10 (2.25)

10 (2.25)

• Radial at shaft end

N (lb_f)

20 (4.50)

20 (4.50)

20 (4.50)

Shaft diameter

• Synchro flange
  Solid shaft

mm (in)

6 (0.24)
with flat face

6 (0.24)

6 (0.24)

• Clamp flange
  Solid shaft

mm (in)

10 (0.39)
with flat face

10 (0.39)

10 (0.39)

• Torque arm
  Hollow shaft

mm (in)

10 (0.39) or 12 (0.47)

–

–

Shaft length

• Synchro flange

mm (in)

10 (0.39)

10 (0.39)

10 (0.39)

• Clamp flange

mm (in)

20 (0.79)

20 (0.79)

20 (0.79)

Angular acceleration, maximum

rad/s²

10⁵

10⁵

10⁵

Moment of inertia of rotor

• Solid shaft

kgm² (lb_f-in-s²)

≤ 2.9 × 10^-6 (2.57 × 10^-5)

≤ 2.9 × 10^-6 (2.57 × 10^-5)

≤ 2.9 × 10^-6 (2.57 × 10^-5)

• Hollow shaft

kgm² (lb_f-in-s²)

4.6 × 10^-6 (4.07 × 10^-5)

–

–

Vibration (55 ... 2000 Hz) according to EN 60068‑2‑6

• Solid shaft

m/s² (ft/s²)

≤ 300 (984)

≤ 300 (984)

≤ 300 (984)

• Hollow shaft

m/s² (ft/s²)

≤ 150 (492)

–

–

Shock according to EN 60068‑2‑27

• 6 ms

• Solid shaft

m/s² (ft/s²)

≤ 2000 (6562)

≤ 2000 (6562)

≤ 2000 (6562)

• Hollow shaft

m/s² (ft/s²)

≤ 1000 (3281)

–

–

Degree of protection

• At housing

IP67

IP67

IP67

• At shaft input

IP64

IP64

IP64

Ambient temperature, during

• Operation

°C (°F)

-30 ... +100 (-22 ... +212)

-40 ... +100 (-40 ... +212)

-40 ... +100 (-40 ... +212)

Net weight

• Single-turn

kg (lb)

0.35 (0.77)

0.35 (0.77)

0.35 (0.77)

• Multi-turn

kg (lb)

0.35 (0.77)

0.35 (0.77)

0.35 (0.77)

EMC

EMC Directive 2014/30/EC and regulations of EMC directives (applicable basic standards)

EMC Directive 2014/30/EC and regulations of EMC directives (applicable basic standards)

EMC Directive 2014/30/EC and regulations of EMC directives (applicable basic standards)

Certificate of suitability

CE, CSA, UL

CE, CSA, UL

CE, CSA, UL

Article No.

6FX2001-5.P..

6FX2001-5.N..

Product name

Motion Control encoder

Motion Control encoder

Product designation

Absolute encoder with PROFIBUS DP

Absolute encoder with PROFINET IO

Operating voltage DC
V_p on encoder

V

10 ... 30

10 ... 30

Power consumption, max.

W

2.5

3

Connection

Terminal block with address selector switch and bus terminating resistor in removable cover with radial cable glands (3 units)

2 × M12 connector, D-coded, 4-pole for PROFINET ports
1 × M12 connector, A-coded, 4-pole for operating voltage

• Cable diameter

mm (in)

6.5 ... 9 (0.26 ... 0.35)
Removal of cover possible without interrupting bus

–

Interface

PROFIBUS DP-V2

PROFINET IO with RT/IRT

Clock input

Differential cable receiver acc. to EIA standard RS485

2 ports IRT

Data output

Differential cable driver acc. to EIA standard RS485

2 ports IRT

Short-circuit strength

Yes

Yes

Transfer rate

Mbit/s

12

100

LED for diagnostics

Green/red

Green/red/yellow/orange

Maximum speed

• Electrical

• With ± 1 LSB accuracy

r/min

5000

5000

• Mechanical

• Single-turn

r/min

12000

12000

• Multi-turn

r/min

6000

6000

Cable length to downstream electronics, maximum¹⁾

• Up to 93.75 kbit/s

m (ft)

1200 (3937)

–

• Up to 1.5 Mbit/s

m (ft)

200 (656)

–

• Up to 12 Mbit/s

m (ft)

100 (328)

100 (328)

Number of nodes

99

–

Resolution

• Single-turn

bit

13
(8192 steps)

13 with V 4.1, 16 with V 4.2
(8192/65536 steps)

• Multi-turn

bit

27
(8192 steps × 16384 revolutions)

27 with V 4.1, 30 with V 4.2
(8192/65536 steps × 16384 revolutions)

Frame

According to PNO encoder profile V 4.1
Class 1, Class 2, Class 3, Class 4
Standard frame 81

According to PNO encoder profile V 4.1 and V 4.2
Class 1, Class 2, Class 3, Class 4
Standard frames 81/82/83/84/86/87/88/89
Siemens frame 860/862

Code type

• Sampling

Gray

Gray

• Transfer

Binary, PROFIBUS

Binary, PROFINET

Bus load, approx.

• At 12 Mbit/s per encoder

µs

20

–

Cycle time

ms

1

0.25 ... 100

Parameterization capability

• Resolution per revolution

1 ... 8192

1 ... 8192/65536

• Total resolution

1 ... 134217728

1 ... 134217728/1073741824

• Preset

Yes

Yes

• Counting direction

Yes

Yes

• Velocity signal

Yes

Yes

• Limit switches

Yes, 2 units

No

• Isochronous mode

Yes

Yes

• Direct data exchange

Yes

No

Online parameterization

Yes

Yes

PNO certificate

Yes

Yes

Supported profiles

PNO encoder profile V 4.1

PNO encoder profile V 4.1 and V 4.2

Accuracy

arcsec

± 79
(± 1 LSB with 8192 steps)

± 79
(± 1 LSB with 8192 steps)
(± 2 LSB with 65536 steps)

Friction torque at 20 °C (68 °F)

Nm (lb_f‑ft)

≤ 0.03 (0.02)

≤ 0.03 (0.02)

Starting torque at 20 °C (68 °F)

Nm (lb_f‑ft)

≤ 0.03 (0.02)

≤ 0.03 (0.02)

Shaft loading capacity

• n ≤ 6000 r/min

• Axial

N (lb_f)

40 (8.99)

40 (8.99)

• Radial at shaft end

N (lb_f)

110 (24.7)

110 (24.7)

• n > 6000 r/min

• Axial

N (lb_f)

10 (2.25)

10 (2.25)

• Radial at shaft end

N (lb_f)

20 (4.50)

20 (4.50)

Shaft diameter

• Synchro flange
  Solid shaft

mm (in)

6 (0.24)

6 (0.24)

• Clamp flange
  Solid shaft

mm (in)

10 (0.39)

10 (0.39)

• Torque arm
  Hollow shaft²⁾

mm (in)

5 ... 15 (0.20 ... 0.59)

5 ... 15 (0.20 ... 0.59)

Shaft length

• Synchro flange

mm (in)

10 (0.39)

10 (0.39)

• Clamp flange

mm (in)

20 (0.79)

20 (0.79)

Angular acceleration, maximum

rad/s²

10⁵

10⁵

Moment of inertia of rotor

• Solid shaft

kgm² (lb_f-in-s²)

1.90 × 10^-6 (1.68 × 10^-5)

1.90 × 10^-6 (1.68 × 10^-5)

• Hollow shaft

kgm² (lb_f-in-s²)

2.80 × 10^-6 (2.47 × 10^-5)

2.80 × 10^-6 (2.47 × 10^-5)

Vibration (55 ... 2000 Hz) according to EN 60068‑2‑6

m/s² (ft/s²)

≤ 100 (328)

≤ 100 (328)

Shock according to EN 60068‑2‑27

• 6 ms

m/s² (ft/s²)

≤ 1000 (3281)

≤ 1000 (3281)

Degree of protection

• At housing

IP67

IP67

• At shaft input

IP64

IP64

Ambient temperature, during

• Operation

°C (°F)

-40 ... +85 (-40 ... +185)

-40 ... +85 (-40 ... +185)

Net weight

• Single-turn

kg (lb)

0.4 (0.88)

0.4 (0.88)

• Multi-turn

kg (lb)

0.5 (1.1)

0.5 (1.1)

EMC

EMC Directive 2014/30/EC and regulations of EMC directives (applicable basic standards)

EMC Directive 2014/30/EC and regulations of EMC directives (applicable basic standards)

Certificate of suitability

CE, CSA, UL

CE, CSA, UL