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

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

rpm

14000

–

–

• At ± 1 bit accuracy

rpm

–

5000

5000

• At ± 12 bit accuracy

rpm

12000

–

–

• At ± 100 bit accuracy

rpm

–

12000

12000

• Mechanical

• Single-turn

rpm

15000

15000

15000

• Multi-turn

rpm

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)

Connection

Radial flange outlet M12

Axial/radial flange outlet M23

Axial/radial flange outlet M23

Resolution

• Single-turn

bit

24

13
(8192 steps)

13
(8192 steps)

• Multi-turn

bit

36
(24 bit single-turn + 12 bit multi-turn)

25
(8192 steps Г— 4096 revolutions)

25
(8192 steps Г— 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 в‰¤ 6000 rpm

• Axial

N (lb_f)

40 (8.99)

40 (8.99)

40 (8.99)

• Radial at shaft extension

N (lb_f)

60 (13.5)

60 (13.5)

60 (13.5)

• n > 6000 rpm

• Axial

N (lb_f)

10 (2.25)

10 (2.25)

10 (2.25)

• Radial at shaft extension

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 Г— 10^-6 (2.57 Г— 10^-5)

≤ 2.9 Г— 10^-6 (2.57 Г— 10^-5)

≤ 2.9 Г— 10^-6 (2.57 Г— 10^-5)

• Hollow shaft

kgm² (lb_f-in-s²)

4.6 Г— 10^-6 (4.07 Г— 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

Current consumption, approx.

• Single-turn

mA

300 ... 100 (2.5 W)

400 ... 130 (4 W)

• Multi-turn

mA

300 ... 100 (2.5 W)

400 ... 130 (4 W)

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

Maximum speed

• Electrical

• At ± 1 bit accuracy

rpm

5800

5800

• Mechanical

• Single-turn

rpm

12000

12000

• Multi-turn

rpm

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

–

Connection

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

2 Г— M12 connector, 4-pole for PROFINET ports
1 Г— M12 connector, 4-pole for operating voltage

• Cable diameter

mm (in)

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

–

Resolution

• Single-turn

bit

13
(8192 steps)

13
(8192 steps)

• Multi-turn

bit

27
(8192 steps Г— 16384 revolutions)

27
(8192 steps Г— 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
Class 1, Class 2, Class 3, Class 4
Standard frames 81/82/83/84
Siemens frame 860

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

1 ... 100

Parameterization capability

• Resolution per revolution

1 ... 8192

1 ... 8192

• Total resolution

1 ... 134217728

1 ... 134217728

• 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

Accuracy with 8192 steps

arcsec

± 79 (± Ѕ LSB)

± 79 (± Ѕ LSB)

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 в‰¤ 6000 rpm

• Axial

N (lb_f)

40 (8.99)

40 (8.99)

• Radial at shaft extension

N (lb_f)

110 (24.7)

110 (24.7)

• n > 6000 rpm

• Axial

N (lb_f)

10 (2.25)

10 (2.25)

• Radial at shaft extension

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 Г— 10^-6 (1.68 Г— 10^-5)

1.90 Г— 10^-6 (1.68 Г— 10^-5)

• Hollow shaft

kgm² (lb_f-in-s²)

2.80 Г— 10^-6 (2.47 Г— 10^-5)

2.80 Г— 10^-6 (2.47 Г— 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

• 2 ms

m/s² (ft/s²)

≤ 2000 (6562)

≤ 2000 (6562)

• 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