DRIVE TECHNOLOGY

• Encoders
• Bearingless Encoders
• Motor Feedback Systems
• Linear Measuring Technology

Solutions for Drive Technology

Kübler encoders and motors – a perfect pairing.

Kübler is strongly rooted in drive technology and has been

developing appropriate sensor solutions for speed and position
detection for different electric drives for decades. Renowned
drive manufacturers trust our encoders, bearingless encoders
and motor feedback systems. All of them are based on the highest
quality, robustness and sustainable technologies.
Combined with the large and flexible selection of mounting and
installation solutions, Kübler encoders are the ideal solution for
any conceivable task in drive technology. We are also happy to
take on individual challenges and implement modifications and
special solutions quickly and easily.
When will you choose Kübler?
Contents

Technologies for Drive Technology 4

Internal Encoders for Drive Technology

Motor Feedback Systems for servo motors 6
Internal encoders for asynchronous motors 8

External Encoders for Drive Technology

External encoders for asynchronous motors 10
External encoders for large motors / generators 14
External encoders for stepper motors 16
Magnetic length measuring systems for linear motors 18

Encoders for Elevator Technology 20

Encoders for Explosion Hazardous Applications 22

Encoders for Fuctional Safety 24

Electrical Interfaces
Overview electrical interfaces 26

Mechanical Interface and Accessories30

Customized Solutions32

Company
Product portfolio – Made in Germany34
Kübler Service for worldwide planning reliability 35

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Technologies for Drive Technology

Technologies for drive technology

Innovations from tradition. Kübler products benefit from 55 years experience in automation
technology. Over time they have been further developed for use in drive engineering.
Small details make a big difference. Our products feature many intelligent top-quality extras
and offer our customers key benefits. In doing so, they make a significant contribution to the
high availability and safety of the machines.

Optical encoder technology Electrical interfaces

Magnetic field-resistant, even strong magnetic fields, Kübler encoders boast a wide variety of interfaces.
as they are generated in the environment of brakes or Along with incremental interfaces such as TTL / HTL
geared motors, are not a problem for optical encoders. and SinCos there are also absolute interfaces such as
This technology does not use any components sensitive SSI, BiSS and BiSS Safety.
to magnetic fields and allows high sampling rates. The outputs and supply voltage are short-circuit
Thanks to its first stage mounted on two ball bearings protected.
and to the specifically developed special toothing, the
multiturn gear module acts durably against wear and
can be used for high speeds up to 9000 rpm.

Insensitive to interference: OptoASICs Wide temperature range

The resistant Kübler OptoASIC technology is High heat resistance – combined with high rotational
characterized by good EMC features, high shock speeds – make the Kübler Sendix encoders the optimal
resistance and particular reliability in the application. solution for all applications in a high temperature
environment.

Intelligent Scan Technology™ Approvals

The Intelligent Scan Technology™ is a technology All encoders from the Kübler company carry the CE mark
patented by Kübler that allows realizing electronically and are tested for electromagnetic compatibility and
the multiturn feature with an optical encoder. This immunity to interference. As an option, our products can
technology is based on the many years of experience in be UL approved.
the area of 100 % magnetically insensitive OptoASICs. Products with Ex approval and products certified for
The result: a very high resolution reaching 41 bits. Functional Safety complete Kübler’s products range.

RoHS

4 kuebler.com/drives
Robust bearings Housing geometry

Kübler encoders boast a very sturdy and robust The compact design dimensions specially conceived for
bearing construction, brought together under the term drive engineering as well as the very compact connector
Safety-Lock™. solution permit optimal integration on or under fan
Encoders with Safety-Lock™ have positive interlocked cowls.
bearings with a large bearing span and special mounting The version with tangential cable outlet is ideal for tight
technology. This means they are able to tolerate mounting spaces and allows fast and simple installation.
installation errors as well as large shaft loads, as can
occur as a result of temperature expansion or vibration.

Hardened down to the last detail Simple / fast installation

The durable construction that comes as standard, Innovative connection technology with plug-in spring
permits high shock and vibration values; these are both terminal connectors allows for fast, safe installation
tested and certified. The values are extremely important without tools. Maximum connection safety with minimal
in drive engineering, as the potential applications for the connection times.
motors are highly diverse.

Shaft isolation High protection level / seawater durable

Even well-earthed machine housings and rotors of A high protection level is achieved as a result of the
generators and large motors carry a shaft current on the IP integrated radial shaft seal. This, together with the wide
rotor. temperature range and the bearing technology, ensures
The equipotential bonding from the rotor to the stator outdoor use is possible without problems.
via the encoder bearings leads to spark erosion and can Many versions of the Sendix family of devices have now
damage the encoder. This can be remedied by isolating been tested and certified to IEC 68-2-11 for resistance
the encoder bearings. Isolating inserts can be used with to the effects of salt-spray over a period of up to 672
all Sendix compact encoders. hours – the highest test level. The high certification level
for the Sendix encoders attests a high level of corrosion
resistance.

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Internal Encoders for Drive Technology

Motor Feedback Systems for servo motors

Synchronous servo motors are predestined for all applications requiring accuracy and dynamics.
They thus suit optimally for converter operation.
Motor Feedback Systems are essential components in drive systems to ensure optimal control
characteristics - in particular for dynamic axes, smooth speed controls and for positioning accuracy.
They thus make a significant contribution to the performance of the whole plant.

Application specific requirements

Installation The small size of the motors means every millimeter counts. It is therefore
essential to use compact yet powerful sensors.

Commutation To ensure effective control of the servo motors, it is important to have precise
information on the position of the rotor. This can be provided via single or
multiturn information.

Temperature range Above all, the intrinsic heating of the powerful synchronous motors entails
high ambient temperatures. As the sensors are highly integrated in these
drives, encoders are more directly exposed to high temperatures than is the
case with other motors.

Accuracy To ensure good control, especially for large numbers of poles, the encoders
must have a high degree of accuracy.

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Motor Feedback Systems for servo motors

Servo motors are characterized by their high dynamics and performance. These
features are only reached if the servo converter can control the motor optimally.
This requires high-performance sensors such as Kübler’s Motor Feedback Systems.

Sendix S3674 singleturn Sendix S3684 multiturn

General Motor Feedback System for Motor Feedback System for
information the medium and high the medium and high
performance range performance range

Functional Safety SIL2 SIL2

Mechanical Hub shaft ø 8 mm Hub shaft ø 8 mm

interface Tapered shaft ø 8 mm Tapered shaft ø 8 mm
with stator coupling ø 38 mm
Electrical RS485 + SinCos RS485 + SinCos
interface (Hiperface ® 1) compatible) (Hiperface ® 1) compatible)
BiSS + SinCos BiSS + SinCos
BiSS fully digital BiSS fully digital

Size ø 36 mm ø 36 mm

Resolution SinCos 1024 or 2048 ppr 1024 or 2048 ppr

Resolution max. 23 bit singleturn 23 bit singleturn +

12 bit multiturn

Speed max. 12000 min -1 12000 min -1

with stator coupling ø 60 mm
Temperature range -30°C ... +120°C -30°C ... +120°C

Power supply 5 V DC 5 V DC
7 ... 30 V DC 7 ... 30 V DC

Spannungs- 1)
Hiperface ® is a registered trademark of Sick Stegmann GmbH.
versorgung

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Internal Encoders for Drive Technology

Internal encoders for asynchronous motors

Asynchronous motors are increasingly used in applications where the available space is limited. In
response to this requirement, drives are becoming ever more compact.
To reduce the length, Kübler provides magnetic, bearingless encoders, which can also be integrated
customer specifically in the motor. A scope of delivery tailored to customer requirements and
comprising sensor head, magnetic ring and shielding (against magnetic effects from the brake) is
provided for such purpose.
This modular system consisting of optimally coordinated components allows Kübler to provide
solutions for all motor sizes with minimum variance.

Interference fields – no problem. Kübler shielding technology.

Your benefit
Electromagnetically actuated brakes generate strong
• 100% integration in the motor magnetic fields, which make the operation of a bearingless
• Slim motor design magnetic encoder in their immediate proximity impossible.
• High assembly tolerance A shielding method calculated by FEM manages to shield the
• Accurate control
S N
interference field of the brake at 100 % in the area of the
• Ready for Smart Motor sensor.

8 kuebler.com/drives
Bearingless encoders as 100 % integration in asynchronous motors

Kübler offers an innovative solution here. It has made the asynchronous motor – the world’s
most common electrical drive – even smarter and more compact. Thanks to the individually
integrated magnetic sensor solution, the dimensions of an asynchronous motor are now
significantly reduced – this saving space and costs above all. Smart technology will also
make these motors fit for the future. Evaluated data for condition monitoring and predictive
maintenance are available.

RLI20, RLI50 RIL201, RIL501

Electrical Push-pull, RS422 Push-pull, RS422

interface SinCos SinCos

Sensor head Size 40 x 25 mm Adapted to customer

application

Magnetic ring Ring diameter depends on Adapted to customer

pulse rates application

Resolution max. On request On request

(resolution depends on ring (resolution depends on ring
diameter) diameter)

Speed max. 12000 min -1 On request (customer-specific

up to max. 12000 min -1)

Temperature range -20°C ... +80°C typ. -30°C ... +85°C

Power supply 4.8 ... 26 V DC (RS422) 5 V DC (RS422)

4.8 ... 30 V DC (push-pull) 5... 30 V DC (push-pull)
(or customer-specific)

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External Encoders for Drive Technology

External encoders for asynchronous motors

Asynchronous motors are the all-rounders amongst electrical drives.
For every requirement there is a drive and for every drive there is a suitable Kübler encoder for
mounting outside the motor. Whether as a fan motor in a small 63 size, or as a geared motor in a
225 size, asynchronous motors place special demands on encoders, above all when it comes to
mechanical and electrical ruggedness. Because of their robust technology Sendix encoders prove
themselves, especially in harsh environmental conditions.

Application specific requirements

Mounting Especially during the mounting of encoders the mechanics can be

overloaded. This can lead to the encoder being prematurely damaged, so
that the average service life is not reached.

Motor options If a motor next to the encoder is to be equipped with further sensors, then
the motor shaft must be fed through the encoder.

Temperature range When using asynchronous motors extremely high temperature ranges can
occur, which place increased demands on the sensors and on the way they
are mounted.

Magnetic fields Both the motor and the electromagnetic brakes create stray magnetic fields,
which can affect the sensors.

10 kuebler.com/drives
Incremental encoders for mounting on asynchronous motors

The incremental Sendix encoders are available in many versions, with the suitable
connection variant for almost every field of application, or as economically
optimized versions. Both approaches have one in common – their compact
construction.

Sendix Base KIS40 / KIH40 Sendix 5000 / 5020 Sendix 5814 / 5834

Mechanical Shaft max. 6 mm Shaft max. 12 mm Shaft 10 mm

interface Blind hollow shaft max. 8 mm Blind hollow shaft max. 15 mm Blind hollow shaft max. 15 mm

Electrical Push-pull, open collector, Push-pull, open collector, SinCos

interface RS422 RS422

Size ø 40 mm ø 58 mm ø 58 mm

Resolution max. 2500 ppr 5000 ppr 2048 ppr

Speed max. 4500 min -1 12000 min -1 12000 min -1

Temperature range -20°C ... +70°C -40°C ... +85°C -40°C ... +90°C

Power supply 5 V DC 5 V DC 5 V DC
10 ... 30 V DC 5 ... 30 V DC 10 ... 30 V DC
10 ... 30 V DC

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External Encoders for Drive Technology

Absolute encoders for mounting on asynchronous motors

The absolute Sendix encoders – available both as singleturn and multiturn

versions - are first of all robust and highly accurate.
The multiturn gear uses a purely optical sampling technology and is totally
insensitive to magnetic fields. Moreover, the first stage is mounted on two ball
bearings and underlines the robust construction of these encoders.

Sendix 5853 / 5873 Sendix 5863 / 5883 Sendix 5863FS2 / 5883FS2 Sendix 5863FS3 / 5883FS3

Mechanical Shaft max. 10 mm Shaft max. 10 mm Shaft 10 mm Shaft 10 mm

interface Hollow shaft max. 15 mm Blind hollow shaft max. 15 mm Hollow shaft max. 14 mm Hollow shaft max. 14 mm
Hollow shaft max. 14 mm

Electrical SSI or BiSS SSI or BiSS SSI or BiSS SSI or BiSS

interface

Size ø 58 mm ø 58 mm ø 58 mm ø 58 mm

Resolution max. 21 bit 17 bit singleturn + 17 bit singleturn + 17 bit singleturn +

12 bit multiturn 12 bit multiturn 12 bit multiturn

Speed max. 12000 min -1 12000 min -1 9000 / 12000 min -1 9000 / 12000 min -1

Temperature range -40°C ... +90°C -40°C ... +90°C -40°C ... +90°C -40°C ... +90°C

Power supply 5 V DC 5 V DC 5 V DC 5 V DC
10 ... 30 V DC 10 ... 30 V DC 10 ... 30 V DC 10 ... 30 V DC

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Absolute encoders for mounting on asynchronous motors without mechanical gear

The patented Intelligent Scan Technology™, which won several awards, is the core of
these absolute Sendix encoders.
These optical encoders include all singleturn and multiturn functions on an OptoASIC,
therefore ensuring in the same time a very high reliability and a high resolution.
The multiturn version reaches a 24 bit resolution. Its outstanding feature is its wear-free
functionality thanks to the optical sensor without mechanical gear.

Sendix F3653 / F3673 Sendix F3663 / F3683 Sendix F5863 / F5883 Sendix F5883M / F5888M

Mechanical Shaft max. 10 mm Shaft max. 10 mm Shaft max. 10 mm Hollow shaft max. 15 mm
interface Blind hollow shaft max. 10 mm Blind hollow shaft max. 10 mm Hollow shaft max. 15 mm
Hollow shaft max. 8 mm Hollow shaft max. 8 mm

Electrical SSI or BiSS SSI or BiSS SSI or BiSS SSI or BiSS

interface incremental outputs
SinCos and RS422,
CANopen

Size ø 36 mm ø 36 mm ø 58 mm ø 58 mm

Resolution max. 17 bit singleturn 17 bit singleturn + 17 bit singleturn + 17 bit singleturn +
24 bit multiturn 24 bit multiturn 24 bit multiturn

Speed max. 12000 min -1 12000 min -1 12000 min -1 9000 min -1

Temperature range -40°C ... +90°C -40°C ... +90°C -40°C ... +85°C -40°C ... +85°C

Power supply 5 V DC 5 V DC 5 V DC 5 V DC
10 ... 30 V DC 10 ... 30 V DC 10 ... 30 V DC 10 ... 30 V DC

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External Encoders for Drive Technology

External encoders for large motors / generators

A tough nut. Accurate speed information is an important measurement for the control loop of a
plant. Measuring systems that supply this information are often subjected to harsh environmental
conditions but must not suffer any loss of reliability.
Kübler incremental encoders can handle strong vibration or extreme variations in temperature
without any problem. Here, their wide-ranging mounting options guarantee easy, safe installation.
Kübler offers the complete range of solutions, from the extremely rugged Sendix Heavy Duty encoders
through to the compact, bearingless encoders.

Application specific requirements

Ruggedness The ruggedness of the sensor technology plays a crucial role with large motors
and generators. Shocks and vibrations encountered in this class of drives are
higher than elsewhere.

Service life / In applications where large motors or generators are used, downtimes
Maintenance are very expensive. For this reason maintenance and any replacement of a
component must be very simple.

Weather / Large motors are employed primarily in harsh environments. The protection
environmental class of the sensors is thus correspondingly important, so that breakdowns
conditions can be avoided.

High currents Despite well-earthed machine housings, large motors and generators carry a
certain shaft current on the rotor. The equipotential bonding from the rotor to
the stator via the encoder bearings can damage the encoder.

14 kuebler.com/drives
Incremental encoders for large motors / generators

Many different Kübler encoders have been designed for use in large motors and
generators.
Compact versions, Sendix Heavy Duty encoders for extreme bearing loads or
bearingless versions for long service life – Kübler encoders are exactly adapted
to the application-specific requirements.
In the end, it is the application that will decide which encoder will be used.

HDRI500, HDRI5000 A020, A02H Sendix Heavy Duty H120

General For mounting on large shaft Tight mounting conditions and Applications with high bearing
information diameters applications with high bearing loads and very high shaft
forces currents

Mechanical Mounting on shafts up to Hollow shaft max. 42 mm Hollow shaft max. 28 mm

interface ø 740 mm

Electrical Push-pull, RS422, SinCos Push-pull, RS422, SinCos Push-pull, RS422

interface (opt. SSI, BiSS, analog)

Size 100 x 60 x 25 mm ø 100 mm ø 100 mm

Resolution max. On request 5000 ppr 5000 ppr

(resolution depends on
magnetic ring diameter)

Speed max. max. 12000 min -1 6000 min -1 6000 min -1

(depends on magnetic ring
diameter)

Temperature range -20°C ... +80°C -40°C ... +80°C -40°C ... +100°C

Power supply 5 V DC 5 V DC 5 V DC
5 ... 30 V DC 5 ... 30 V DC 10 ... 30 V DC
10 ... 30 V DC 10 ... 30 V DC

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External Encoders for Drive Technology

External encoders for stepper motors

Every millimeter counts with stepper motors. Usually only limited installation space is provided
for the sensors. We offer you the right solutions for speed measuring. High resolution with
simultaneously compact design – these are the miniature and compact encoders from Kübler.
The robustness, quality and reliability speak for themselves.

Application specific requirements

Mounting The small dimensions make these motors an ideal solution when space is
limited. That means compact sensors are essential.

Stepper motors provide high torque at low speeds. This calls for high
Resolution
resolution sensors.

Accuracy Stepper motors equipped with highly accurate optical sensors are used for
precision in positioning tasks.

16 kuebler.com/drives
External encoders for stepper motors

The incremental miniature and compact encoders from Kübler are ideal for speed measuring in tight
installation spaces or spatial conditions. Numerous ordering options are available to you. We are
also happy to implement modifications and special solutions.

2400 / 2420 2430 / 2440 3610 / 3620 3700 / 3720

General Incremental miniature encoder Incremental miniature encoder Incremental compact encoder Incremental economy encoder
information with optical sensor with magnetic sensor with optical sensor with optical sensor

Mechanical Shaft max. 6 mm Shaft max. 6 mm Shaft max. 6 mm Shaft max. 8 mm

interface Blind hollow shaft max. 6 mm Blind hollow shaft max. 6 mm Hollow shaft max. 8 mm Hollow shaft max. 8 mm

Electrical Push-pull RS422 Push-pull, RS422 Push-pull, RS422

interface

Size ø 24 mm ø 24 mm ø 36 mm ø 37 mm

Resolution max. 1024 ppr 256 ppr 2500 ppr 1024 ppr

Speed max. 12000 min -1 12000 min -1 12000 min -1 6000 min -1

Temperature range -20°C ... +85°C -20°C ... +85°C -20°C ... +85°C -20°C ... +70°C

Power supply 5 ... 24 V DC 5 V DC 5 V DC 5 V DC

8 ... 30 V DC 5 ... 18 V DC 5 ... 30 V DC
8 ... 30 V DC 10 ... 30 V DC

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External Encoders for Drive Technology

Magnetic length measuring systems for linear motors

Linear motors are versatile to use. They are often used in wood processing machines, solar
energy systems, glass processing or even in medical technology. Each application thus places
different requirements on the entire system. Kübler offers you the right measuring system.
This is characterized by robustness, quality and reliability.

Application specific requirements

Robust Highly robust sensors are required when using linear motors in rough
environments.

A corresponding measuring system is used for direct, translational motion

Installation
(linear motion).

Speed Linear motors are characterized by high travel speeds. A fast measuring
system is therefore relevant.

18 kuebler.com/drives
Magnetic length measuring systems for linear motors

The Limes product family is a very compact solution for non-contact magnetic
scanning and represents a cost-effective alternative in applications that do not
require the high accuracy of glass scales. This magnetic measuring system shows
its strong points especially in the presence of dirt, oils and humidity.
Therefore, this measuring system is optimally suited for use in the linear drive
technology.

Limes LI20 / B1 Limes LI50 / B2 Limes LA10 / BA1 Limes LA50 / BA5

General Linear measuring technology Linear measuring technology Linear measuring technology Linear measuring technology
information for linear motors for linear motors for linear motors for linear motors

Electrical RS422 / push-pull RS422 / push-pull Absolute SSI / BiSS Absolute SSI / BiSS
interface incremental SinCos absolute fieldbus
absolute fieldbus

Size 10.2 x 25 x 40 mm 10.2 x 25 x 40 mm 16 x 30 x 70 mm 24 x 26 x 75 mm

Resolution max. 10 µm 5 µm 1 µm 10 µm

Measuring length max. 70 m max. 70 m max. 8 m max. 20 m

Accuracy Depends on measuring length Depends on measuring length Depends on measuring length Depends on measuring length
0.06 mm at 1 m 0.08 mm at 1 m 0.03 mm at 1 m 0.17 mm at 1 m

Temperature range -20°C ... +80°C -20°C ... +80°C -10°C ... +70°C -10°C ... +70°C

Type of connection Cable Cable M12 connector Cable

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Encoders for Elevator Technology

Encoders for elevator technology

Encoders for elevator motors are available in various versions. In order to provide
the suitable solution for every motor, Kübler offers a wide encoder portfolio for the
manufacturers of geared motors, gearless drives up to external rotor motors.

20 kuebler.com/drives
Encoders for gearless motors

The advantages of the gearless motors are first of all a high torque at small rotary
frequencies and smooth and silent operation.
Encoders for these applications must above all be flexible in terms of electrical
interfaces and mounting possibilities.

Incremental encoders Sendix 5834 Motor-Line (tapered shaft)

Absolute encoders singleturn Sendix 5873 Motor-Line (tapered shaft)

Bearingless encoders for direct drives (external rotor motors)

The bearingless encoders are made of a magnetic ring and a sensor head.
They are predestined for external rotor motors, which, thanks to their compact
and flat construction, can be integrated directly in the elevator shaft.
Individual adaptation of the measuring system to the dimensions of the drive
are here one of the most important prerequisites.

Bearingless encoders RLI500, RLI50,

RLI200, RLI20

Encoders for geared motors

In geared motors, an incremental encoder mounted between the motor

and the hand wheel measures the rotational speed for speed control and
transmits it to the complete drive module (CDM).
These encoders feature a large hollow shaft and compact dimensions,
together with a high resolution.

Incremental encoders 5821, A020, A02H (hollow shaft)

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Encoders for Explosion Hazardous Applications

Explosion protection – ATEX / IECEx

In hazardous areas encoders must comply with special protective regulations, as even the smallest
spark can have very serious consequences.
Positioning tasks occur in many hazardous environments – whether in mining, in the chemical
industry or also in oil production.
Especially for those applications that require absolute position values, Kübler offers the Sendix
absolute encoders with ATEX / IECEx approval. The singleturn and multiturn ATEX encoders with
“flameproof-enclosure” housings are approved for zones 1, 2, 21 and 22 and certified according to
the ATEX guidelines and IECEx standards.

22 kuebler.com/drives
Sendix ATEX / IECEx encoders

The shock and vibration resistant ATEX / IECEx encoders operate flexibly with a resolution of up to
17 bits (singleturn) and 29 bits (multiturn).
In addition the incremental version supplies a push-pull, RS422 or SinCos signal. With their IP67
protection level and wide temperature range of -40°C up to +60°C, the ATEX / IECEx encoders
remain sealed even under the rigours of tough everyday use and offer good security against
failures in the field. Thanks to the housing and flange made of seawater durable aluminum they are
ideal for use in offshore and coastal applications. The compact design with an installation depth
of only 145 mm, a diameter of 70 mm and a space saving cable outlet round off the diverse, flexible
options for use in hazardous EX areas.

Standard ATEX encoders Incremental: Sendix 7000 / Sendix 7020 (shaft / hollow shaft)
Singleturn: Sendix 7053 / Sendix 7073 (shaft / hollow shaft)
Sendix 7058 / Sendix 7078 (shaft / hollow shaft)
Multiturn: Sendix 7063 / Sendix 7083 (shaft / hollow shaft)
Sendix 7068 / Sendix 7088 (shaft / hollow shaft)

ATEX encoders certified up to SIL3 Incremental: Sendix 7014FSx / Sendix 7034FSx (shaft / hollow shaft)
Singleturn: Sendix 7053FSx / Sendix 7073FSx (shaft / hollow shaft)
Multiturn: Sendix 7063FSx / Sendix 7083FSx (shaft / hollow shaft)

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Encoders for Fuctional Safety

Functional Safety
Safety is – not least since the EU Machinery Directive 2006/42/EC – an “integral part of the construction
of drives”.
When choosing the right encoder for functional safety the principle applies that safety is achieved through
the intelligent combination of encoder, controller and actuator.
But safety goes further than this: safe components are characterized by a robust reliable interface and by
the ability to cope with high mechanical and electronic loads. Both Sendix encoders with SSI absolute and
additional SinCos interface and also the SinCos version of the incremental encoders have been certified up
to SIL3 by TÜV Rheinland.

24 kuebler.com/drives
Encoders for Functional Safety

In order to achieve safe incremental information with the encoder, the controller must monitor the
validity of the analog, 90° phase-shifted sine/cosine signals with the help of the function:
sin² + cos² = 1.
In order to obtain safe information with the encoder regarding the absolute position, the controller
counts the incremental pulses and compares the result with the absolute position also provided
by the encoder. A 100 % reliable mechanical connection is required for a safe function in the
applications. Suitably sturdy fixing elements can help eliminate the risk of faults.

Incremental SinCos encoders Sendix 5814FS2 / FS3 (shaft)

Sendix 5834FS2 / FS3 (hollow shaft)

Absolute singleturn SSI / SinCos encoders Sendix 5853FS2 / FS3 (shaft)

Sendix 5873FS2 / FS3 (hollow shaft)

Absolute multiturn SSI / SinCos encoders Sendix 5863FS2 / FS3 (shaft)

Sendix 5883FS2 / FS3 (hollow shaft)

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Electrical Interfaces

Overview electrical interfaces

Encoders have various tasks to fulfil in elevator engineering.
One of the most frequent tasks is to supply information concerning speed, for better control of the motor
using a CDM – Complete Drive Module. For this type of speed control motor feedback is necessary, which is
suitable for improving the speed quality and the control response. As a rule a SinCos or TTL / HTL signal is used
for this purpose.
A further task is the positioning of the drive. This can occur both incrementally and absolutely. The dynamic
control of synchronous servo motors requires the feedback of the rotor position within a revolution.
This is achieved using singleturn absolute encoders with a BiSS or SSI interface.

incremental absolute

analog digital analog digital fieldbus / Industrial Ethernet

singleturn singleturn multiturn singleturn multiturn

SinCos TTL / resolver / 0 ... 10 V / SSI / BiSS / RS485 + SinCos / CANopen / PROFIBUS /
HTL UVW 4 ... 20 mA SCS open link / BiSS-Line Modbus / DeviceNet /
EtherCAT / PROFINET /
Modbus TCP / EtherNet/IP /
Powerlink

Single Cable Solutions

The Single Cable Solutions combines the motor power supply line and the data communication in one single
cable. Requiring less cables and connectors, this technology simplifies installation and thus reduces in the same
time the error sources.
Not all protocols are suitable. They must be specially tailored to this application, such as for example SCS open
link or BiSS Line.

Safety is not simply a trend, but it is establishing itself as a standard in the drive technology. It is therefore
important to pay attention to safety-relevant characteristics when choosing the interface.

Field buses or industrial Ethernet interfaces are principally used in the application and are not directly involved
in speed regulation. The position control can operate with these encoders.

26 kuebler.com/drives
Incremental interface (SinCos, TTL / HTL)

The SinCos interface provides a sine wave-shaped voltage signal. High-quality encoders allow very high
interpolation of this signal, which benefits the speed control. This means that the SinCos signals can be
processed in many various ways in the subsequent electronics. The steady signal evolution makes sure that
signal information is available at any time. This is an advantage in drives for speed control, even for very slow
motions.
The cosine precedes the sine by 90° so that one of the signals emits a valid value also when passing the zero
point. This is also the great difference with digital incremental signals such as HTL or TTL. These have signal
states in which both channels A and B can have simultaneously the value zero or one, which does not allow
detecting errors.
By contrast, even though the encoders with incremental interface (TTL / HTL) also generate a sine wave shaped
scanning signal, this signal is then digitized in the encoder and provided to the subsequent electronics as a
rectangular pulse. Various output types are available for transmission.

SSI interface

The synchronous serial interface (SSI) is a digital interface for absolute encoders. This means that the SSI
interface allows digital and absolute transmission of motion or angular information. It is therefore particularly
well suited for applications requiring reliability and signal robustness in industrial environments. Another
advantage is the fact that transmission requires significantly less lines than parallel interfaces. It also allows
much longer cable lengths.
At rest, the clock and data lines are at a high level. With the first falling clock-pulse edge, the current encoder
data are stored in the buffer ready to be sent. With the next rising clock-pulse edge, the data are transmitted bit
by bit, starting with the MSB.
The transfer of a complete data word requires n+1 rising clockpulse edges (n=resolution in bit), e.g. 14 clock
signals for a complete readout of a 13 bit encoder.
After the last positive going clock-pulse edge the data line will remain for the duration of the monoflop time t3 at
a low level, until the encoder is ready for a new data word. The clock line must stay high for at least as long, and
then can begin a new readout sequence again with the next falling edge.

kuebler.com/drives  27
Electrical Interfaces

BiSS interface
The BiSS interface is a fully-digital bidirectional connection for absolute measuring systems. Therefore, BiSS
is perfectly suited for dynamic axes with very high accelerations, constant speed control and best positioning
accuracy possible.

Advantages of the BiSS interface

The great advantage of the BiSS interface is its open source protocol for sensors, inverters and drives, offering
e.g. high speeds (data rate up to 10 MHz) and a delay compensation for the optimal operation of the drive system.
The selection of the components is not imposed by a licensed interface, but only by the requirements of the
application, which results in more flexibility and higher cost-efficiency.

• BiSS is fully-digital and bidirectional and is perfectly suited as a motor feedback system for both linear and
rotary axes.
• BiSS is not proprietary and therefore cost-efficient and flexible. This ensures a much wider choice of available
products.
• The inverters equipped with an RS422 and RS485 interface can mostly be used for BiSS thanks to an extension
with a firmware update for BiSS, thus opening the possibility of using an open source interface.
• There is nevertheless also the possibility of a quick and simple BiSS Master implementation with free BiSS IPs
on processors and FPGAs.
• Advantages for the commissioning of motor and inverter thanks to plug-and-play using the motor data and
maintenance information that can be stored in and retrieved from the encoder and to the possibility to set the
absolute measuring system to a predefined position value.
• Information and evaluation of the complete system during operation thanks to Condition Monitoring and to the
delay compensation for accelerated communication, e.g. to minimize drift effects due to temperature.

28 kuebler.com/drives
 kuebler.com/biss

BiSS Safety is entirely based on BiSS C and uses all of its protocol options. All identification features,
electronic data sheets and diagnosis possibilities are entirely preserved.

The further development of BiSS for safety-relevant applications (BiSS Safety) presupposed the following
functionalities:
• Achieving SIL2 and SIL3 with the existing BiSS protocol
• Keeping all physical interfaces for the use of existing and new sensors

The external structure remains a point-to-point wiring such as for a standard BiSS protocol. But, inside the
device, two independent sensors are used for generating the position data and securing the transmission.
BiSS Safety uses here the 'Black Channel' approach for safe data communication.

BiSS Line uses standard components available on the market for the cables and connectors and transmits the
8B10B-encoded BiSS data via RS485 PHYs using the known 2 or 4-wire technology.

The transmission speed of 12.5 MBaud is comparatively high. The unique features of BiSS Line are: open-
source interface for Single Cable Solutions and bus structure for multiple slaves. An essential point is the
implementation of a forward error correction (FEC), which is a prerequisite for high availability of the data
communication even with disturbed and poor-quality cables and connectors.

kuebler.com/drives  29
Mechanical Interface and Accessories

Fixing and connection solutions

Perfect integration into the drive can only be successful if an optimal connection of the
encoder to the motor is made.
For the rotating motor shaft and motor housing Kübler offers a wide choice of standard
fixing and connection options, with which the desired encoder variants can be combined
in a modular design principle. In addition to this individual, customized solutions can be
worked out.

Fixing on the motor housing Fixing to the motor shaft

Torque stop Shaft

For applications with axial Simple mounting on various
and radial play with constant shaft diameters via suitable
rotary movements. couplings.
• Easy to centre
• Long service life
• Max. tolerance
• High speed

Stator coupling Hollow shaft

For applications with axial Accurate centring and reduced
and radial play with high vibration.
dynamics. • Long service life
• Max. tolerance
• High accuracy

Tether arm Safety-oriented coupling

For applications with low axial For applications requiring safe
and radial play, flexible in use. transmission of the rotary
movement.

Individual fixing solutions

E.g. ez Fan-clip – mounting
solution on fan grill.
For instant easy fixing of the
encoder directly onto the fan
grill of the gear housing.

30 kuebler.com/drives
Additional accessories at: kuebler.com/accessories
Additional connection technology at: kuebler.com/connection_technology

Connection solutions Accessories connection technology

Standard connection solutions Cables

• PCB plug-in connectors: M12, M23, MIL All cables – for incremental, absolute and fieldbus encoders –
• Cable connection can also be ordered by the metre as open-ended cable:
• Terminal box • PVC and PUR cables
• Optical fiber signal transmission technology • Halogen-free cables
• PCB connectors • Bus cables

Connectors
Kübler offers a range of connectors for self-assembly with a
protection level of up to IP67, for example as male connector
M23 with external thread or as socket with metal union nut.

Individual connection solutions

Kübler offers space-saving installation options for M12 and M23
connectors under the fan cowl.
• Lead-through M12 straight, IP67
• Male connector with external thread, IP67, central fastening

Cordsets, pre-assembled
Kübler offers pre-assembled cordsets in a variety of connector
versions as well as with a different number of cores (5, 8, 10, 12, 18).

kuebler.com/drives  31
Customized Solutions

Optimal solutions thanks to customer-specific development

The ideal sensor for your drive – that is our goal: for simple, fast and error-free mounting –
highest reliability of the signals – long service life and minimum costs.
During development of customer-specific solutions Kübler focuses on 3 principles:
• Lean Design (coordinating the materials and functionality to the application)
• Design to Cost (aliging development to target costs)
• Cost of Ownership (fast installation, simple maintenance, long service life)

Fixing solutions

The correct mounting and fixing solution of

an encoder in a drive is crucial for reliable
operation and peace of mind. The wide
variety of drives and the increasing demands
placed on drives (especially in respect of
installation space) pose new challenges
every day.
By the use of intelligent solutions, closely
matched to the drive, great savings can
be made when it comes to space, time and
costs. Furthermore, specific fixing elements
can be developed, which are tailored to
the installation space of the housing or
the geometry of the flange and shaft; this
ensures an optimal connection and the
highest degree of accuracy.

Connection solutions

The cable and connectors used to connect

an encoder with the PLC must be matched
to the installation space available as well as
being capable of withstanding the prevailing
environmental conditions such as humidity,
cold or heat.
Here too, the setting-up of special cables or
the development of specific connectors can
lead to the right solution.
In particular, the cable or connector
transition from the motor housing to
the outside world requires innovative
constructions, in order to guarantee
reliability and freedom from errors.

32 kuebler.com/drives
Protection concepts

Kübler does not leave protection of its sensors to chance.

The application areas for drives are very diverse. Kübler has
designed appropriate specific protective covers, which take into
consideration the design of the encoder, as well as the IP protection
level, temperature and operating conditions.
With its extensive experience in difficult application areas, such
as steel production, wind turbines or in mobile applications, Kübler
has developed special housing and seal designs, as well as coating
solutions, which also withstand the high demands of outdoor
applications in respect of condensation or extreme fluctuations in
temperature.

Advantages of customized integrated drive solutions

• High reliability, as all component parts have been specifically

designed for your drive.
• Particular focus on a longer service life when selecting the
product.
• Simple, fast mounting thanks to a high degree of integration.
• Development of solutions for simple maintenance.
• Warranty and support from a single source.
• Reduced costs, as the solution is directly tailored to the drive.
No “over-engineering“.

kuebler.com/drives  33
Company

Product portfolio – Made in Germany

POSITION
MEASUREMENT CAPTURING
INCLINATION
MOTION EVALUATION
CONTROLLING
COUNTING

DATA
SIGNALS
TRANSMISSION
POWER

MEASUREMENT TRANSMISSION EVALUATION

Rotary speed and position Reliable and interference-free Recording of quantities, counting of
detection, linear position, and transmission of electrical currents, units of any kind, and reliable speed
speed measurement as well as signals, and data. Communication and position recording for functional
inclination angle detection. between control system and sensors. safety.

• Encoders • Slip rings, standard • Displays and counters

• Bearingless encoders • Slip rings, customized solutions • Process equipment
• Motor Feedback Systems • Signal converters • Safe speed monitors up to SIL3/PLe
• Linear measuring technology • Cables and connectors
• Shaft copying systems
• Inclinometers

We offer solutions for the following industries:

The high performance level and reliability of the Kübler products are based on our long experience in these demanding application
sectors. Learn more about our application-specific solutions under:

kuebler.com/industries
34 kuebler.com/drives
 Company

Kübler Service for worldwide planning reliability

24one delivery promise Sample Service

Manufacturing in 24 hours. For orders placed on We manufacture samples of special designs or

working days before 9 AM, the product will be according to customer specification within shortest
ready for dispatch on that same day. 24one is time.
limited to 20 pieces per delivery.

10 by 10 Safety Services

We will manufacture and deliver 10 encoders within • Adapted service packages

10 working days (365 days a year - with the • Individual customer solutions
exception of 24th Dec. until 2nd Jan.)

Tailor-made Solutions – Kübler Design System (KDS)

48 h Express-Service OEM Products and Systems (OPS)

We can process your order within 48 hours; we can We develop jointly with our customers product and
ship stock items the same day. engineering solutions for customer-specific
products, integrated drive solutions, up to complete
systems.

Technical Support

Kübler’ applications team is present on site all over the world for advice, analysis and support.

Kübler Germany / Austria  +49 7720 3903 952 Kübler Turkey  +90 216 999 9791
Kübler France  +33 3 89 53 45 45 Kübler China  +86 10 8471 0818
Kübler Italy  +39 026 423 345 Kübler India  +91 2135 618200
Kübler Poland  +48 61 84 99 902 Kübler USA  +1 855 583 2537

kuebler.com/drives  35
Kübler worldwide
490 employees worldwide ∙ 4 production sites ∙ presence in over 50 countries

Europe Africa Asia

Austria Lithuania Egypt China
Belarus Italy Morocco Hong Kong, China
Belgium Netherlands South Africa India
Bulgaria Norway Tunisia Indonesia

kuebler.com/drives
Croatia Poland Israel
Czech Republic Portugal North and South America Lebanon
Denmark Russia Argentina Malaysia
Estonia Slovakia Brazil Philippines
Finland Slovenia Canada Singapore
France Spain Mexico South Korea
Germany Sweden Peru Taiwan, China
Great Britain Switzerland U.S.A. Thailand
Greece Turkey United Arab Emirates
Hungary Ukraine Oceania Vietnam
Iceland Australia
Ireland New Zealand

Kübler Group
Fritz Kübler GmbH Kubler SP. Z O.O. Kuebler (Beijing) Automation Trading Co. Ltd.
Germany Poland China

Fritz Kübler SARL Kübler Turkey Otomasyon Ticaret Ltd. Sti. Kuebler Korea (by F&B)
France Turkey South Korea

Kübler Italia S.r.l. Kuebler Inc.

Italy USA

Kübler Österreich Kuebler Automation India Pvt. Ltd.

Austria India

Kübler Group
Fritz Kübler GmbH
Schubertstrasse 47
78054 Villingen-Schwenningen
R64036.0002 11 130 19 ES

Germany
Phone +49 7720 3903-0
Fax +49 7720 21564
info@kuebler.com
www.kuebler.com