Installation Instructions

842HR Sine Cosine/Serial Encoders

Size 25, High Resolution Auxiliary Servo Feedback
IMPORTANT: SAVE THESE INSTRUCTIONS FOR FUTURE USE.

Description Specifications
Bulletin 842HR is a 15-bit serial/sine cosine encoder. Targeted for Certifications CE Marked for all applicable directives
high performance digital servo drive systems that require Electrical
absolute feedback for position control and high resolution
incremental feedback for speed control. # of sine/cosine cycles per revolution 1,024
Rockwell Automation’s sine cosine high performance encoders Code format for absolute position value Binary
provide commutation, speed regulation and position control all Code direction with clockwise rotation viewed
in one device. Absolute position values of up to 15 bit combined from shaft end Increasing
with incremental resolution up to 2 million counts per turn. # of steps per revolution 32,768
(Single 842HR-S)
Features # of revolutions (Multi 842HR-M) 4,096
• Absolute feedback for position control Error limits for the digital absolute value via RS ± 90 angular seconds
485
• High resolution Incremental feedback for speed control
Error limits in evaluating the 1,024 signals,
• Commutation integral non-linearity
± 45 angular seconds
• Sine cosine differential interface
Non-linearity within a sine/cosine period,
• Digital bi-directional RS-485 interface differential non-linearity ± 7 angular seconds
• Compatible with Hiperface® interface Output frequency for sine/cosine signals 0…200 kHz
• Internal diagnostic functions
Operating voltage range 7…12V; 5…12V
Max. operating current, no load
Benefits 5…12V Supply 180 mA
7…12V Supply 80 mA
• High performance motor or auxiliary feedback Available memory on EEPROM 128 bytes
• High accuracy and resolution
• Low bandwidth Interface signals Analog, differential
Process data channel = SIN,
• Maximum noise immunity REFSIN, COS, REFCOS
• One interface for all servo motor applications Parameter channel = RS 485 Digital
• Standalone housing (suitable for mounting external to a servo
Mechanical
motor
Max. angular acceleration 5 x 105 rad/sec2
Max. operating speed 6,000 RPM
ATTENTION: Rockwell Automation Bulletin
2090 feedback cables provide connections Operating torque, max. 3.5 oz-in
for both 5…12V and 7…12V encoder power Starting torque, max. 5 oz-in
supplies. Only one of these connections Shaft loading Radial 35 lb; Axial 40 lb
should be used. Simultaneous connection Life of ball bearings 3.6 x 109 rotations
to different power supplies may result in
Environmental
damage to the servo drive and encoders.
Housing Aluminum
Operating Temperature—C (F) -20…+85° (-4…185°)
Storage Temperature—C (F) -30…+90° (-22…194°)
Humidity  90%
Shock  30 g/11 ms
Vibration  20 g/10…2 KHz
Protection  IP66 (IEC 60529)
Approximate Weight 481 g (17 oz)
DIN EN 61000-6-2
EMC DIN 6100-6-3
 Inrush current with 5…12 V supply can be as high as 1 Amp
 If applying the electronic type label, in connection with numeric controllers, attention
should be paid to Patent EP 425 912 B 2; Application of the electronic type label in
connection with speed regulation is exempt.
 Condensation not permissible
 To DIN EN 60068-2-27
 To DIN EN 60068-2-6
Hiperface is a registered trademark of SICK Stegmann Gmb H  With mating connector inserted

1
Product Selection Output Terminations: M23 17-Pin
Pin No. Function Explanation Wire Color
842HR — S J DZ 1 15FWY 2 1 SINE Process Data Channel Black
a b c d 2 REFSINE Process Data Channel White/Black
3 COSINE Process Data Channel Red
a 4 REFCOSINE Process Data Channel White/Red
Number of Turns 5 Data + RS-485 parameter channel Green
Code Description 6 Data - RS-485 parameter channel White/Green
9 DC + Input 5V Supply Voltage Gray
S Single-turn (1 turn)
10 DC Return Ground Connection White/Gray 
M Multi-turn (4096 turns) 11 DC + Input 9V Supply Voltage Orange
13 N.C.
b 14 N.C.
Mounting Configuration (Note) 15 N.C.
Code Description 16 N.C.
DZ Square Flange, 3/8 inch solid shaft 17 N.C.
7 CASE Case Ground Brown
DN Square Flange, 3/8 inch solid shaft with flat
8 N.C.
A1 Hub Shaft, 15 mm blind hollow shaft 12 DC Return Ground Connection
A2 Hub Shaft, 1/2 inch blind hollow shaft  Pin 12 internally tied to Pin 10.
A3 Hub Shaft, 12 mm blind hollow shaft
A4 Hub Shaft, 10 mm blind hollow shaft Output Termination: MS 10-Pin
A5 Hub Shaft, 3/8 inch blind hollow shaft Pin No. Function Wire Color
A6 Hub Shaft, 8 mm blind hollow shaft A +VS Red
A7 Hub Shaft, 1/4 inch blind hollow shaft B Common Blue
A8 Hub Shaft, 6 mm blind hollow shaft C Ref SIN Brown
D Ref COS Black
c E Data + Grey
F Data - Green
Power Supply
G SIN White
Code Description H COS Pink
1 5…12V DC I Not used
2 7…12V DC J Case Case

d
Connector Options
Code Description
2 MS 10-Pin
D M23 17-Pin

Approximate Dimensions [mm (in.)]

63.4 (2.5)
8-32 UNC-28 0.18 (9.57) min.
3 places 120° apart 46.4
on a 47.63 (1.875) B.C. (1.8)
31.75 (1.25)
31.74 (1.24)
19.1
68.4 (0.75)
(2.7)
66.5 52.3
(2.62) (2.06)
9.51 (0.3746)
52.3 9.51 (0.3744) 8.71
5.3 (0.21) Dia. 7.6 (0.34)
(2.06) (0.30) 7.6
4 places 29.6
66.5 (2.62) (1.16) 9.51 (0.3746) (0.30)
9.51 (0.3744)
Square Flange, Solid Shaft 29.6
63.0 Solid Shaft with Flat (1.16)
(2.48)

20°

3.3
(0.13) 15 (0.59) is max. bore size
smaller bores require collets
68.4 (2.7)
32.5 72.0 (2.83)
(1.28) 1.97
(0.08)

75.5
93.0 (3.0)
(3.7)

Hub Shaft

2
Accessories Flexible Couplings

Description Cat. No.

M23 17-pin Cables 2090-XXNFMF-Sxx
MS 10-pin Cables 842HR-CA-2-yy
Flexible Coupling 845-FC-x-x

2090-XXNFMF-Sxx
Pre-wired cable to an M23 DIN 17-pin connector for the encoder.
The other end of the cable is flying leads.
xx = Cable Length
01 1m High Performance Flexible Coupling
845–FC–B–B
02 2m
03 3m Description
04 4m
High performance flexible couplings are used to connect two
05 5m shafts, and help to reduce the effects of misalignment between
07 7m the shafts. Flexible couplings are offered in the high performance
version, with nonconductive inserts. They are of the flexible
09 9m
curved beam helical type with clamping screw at both ends.
12 12 m
15 15 m Specifications
20 20 m
Parallel Offset 0.51 mm (0.02 in) max.
25 25 m
Angular Offset 10° max.
30 30 m
Axial Compliance 1.58 mm (0.06 in) max.
Note: Consult manufacturer’s drive manual for maximum Construction Aluminum with a fiberglass insert
recommended cable length.
Available catalog numbers for this encoder:
842HR-CA-2-yy 845-FC-B-B
Pre-wired cable to an MS 10-pin connector for the encoder. The 845-FC-B-C
other end of the cable is flying leads. 845-FC-B-R
845-FC-B-T
yy = Cable Length
845-FC-A-B
845-FC-R-B
01 1m
03 3m Product Selection
05 5m
10 10 m
845 — FC — B — B
20 20 m a b
30 30 m
a
Smallest Bore Diameter
Code Description
A 1/4 inch
B 3/8 inch
R 6 mm
T 10 mm
b
Largest Bore Diameter
Code Description
A 1/4 inch
B 3/8 inch
C 1/2 inch
R 6 mm
T 10 mm

3
Approximate Dimensions [mm (in.)]

High Performance Flexible Coupling

Y Z

Dimension Bore Size Code Letter

Code A B C R T
X 6.4 (0.25) 9.5 (0.375) 12.7 (0.50) 6 10
Y 30.56 (1.20) Dia.
Z 32 (1.25)Long

ATTENTION: The shielded cables, output

devices, and power supplies must be properly
grounded. All National Electric Code and
applicable local codes and ordinances must be
observed when wiring the system.

Flexible Shaft Couplings

Angle

Parallel
Offset

ATTENTION: Rigidly coupling the encoder

shaft to the machine shaft will cause a failure
in either the bearings of the encoder or the
bearings of the machine shaft.

10000011167 Ver 01
September 2012