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Koyo encoders. TRD-GK Series.

φ78 Incremental Type

  • A stronger spindle means high axial load (radial 100 N / thrust 50 N) and a long service-life (bearing life 1.2 x 1010  turns).
  • Dustproof and waterjet-proof type
  • Totem-pole output that enables cable extension
  • Installation using a servo mount convenient for origin adjustment is possible.

Model Number List

Type Appearance Model Number Output Pulse Number / Rotation
Dustproof and Waterjet-proof Type
Type with Cables Taken Out from the Back
TRD-GK□-R 2-phase output 10, 12, 15, 50, 60
TRD-GK□-RZ Output with 2-phase origin (Origin direct action       ) 30, 100, 120, 200, 240, 250, 300, 360, 400, 500, 600,
800, 1,000, 1,200, 1500, 1,800, 2,000, 2,500, 3,600,
5,000
TRD-GK□-RZL Output with 2-phase origin (Origin reverse action      )
TRD-GK□-BZ Direction discrimination output
Output with origin (Origin direct action        )
30, 60, 100, 120, 200, 240, 250, 300, 360, 400, 500,
600, 800, 1,000, 1,200, 1500, 1,800, 2,000, 2,500,
3,000, 3,600, 4,000, 5,000
Dustproof and Waterjet-proof Type Connector Type TRD-GK□-RC2 2-phase output 10, 12, 15, 50, 60
TRD-GK□-RZC2 Output with 2-phase origin (Origin direct action       ) 30, 100, 120, 200, 240, 250, 300, 360, 400, 500, 600,
800, 1,000, 1,200, 1500, 1,800, 2,000, 2,500, 3,600,
5,000
TRD-GK□-RZC2L Output with 2-phase origin (Origin reverse action      )
TRD-GK□-BZC2 Direction discrimination output
Output with origin (Origin direct action        )
30, 60, 100, 120, 200, 240, 250, 300, 360, 400, 500,
600, 800, 1,000, 1,200, 1500, 1,800, 2,000, 2,500,
3,000, 3,600, 4,000, 5,000

Pulse and Frequencies

Pulse Number per Rotation 10 12 15 30 50 60 100 120 200 240 250 300 360 400 500 600 800 1,000 1,200 1,500 1,800 2,000 2,500 3,000 3,600 4,000 5,000
Maximum Response Frequency (kHz)* 0.83 1 1.25 2.5 4.17 5 8.33 10 16.7 20 20.8 25 30 33.3 41.7 50 66.7 83.3 100 100 100 100 100 100 100 100 100
Applicable Models TRD-GK□-R□
TRD-GK□-RZ□
TRD-GK□-BZ□

Electrical Specifications

Model Number TRD-GK□-R□/-RZ□ TRD-GK□-BZ□
Power Supply Supply Voltage 10 to 30 V DC 10 to 30 V DC
Allowable Ripple 3% rms or less 3% rms or less
Consumption Current (No Load) Below 16 V DC: 50 mA or lower / 16 V DC or higher: 70 mA or lower Below 16 V DC: 50 mA or lower / 16 V DC or higher: 70 mA or lower
Output Waveform Signal Format R: 2-phase output/RZ: 2-phase output + home position Direction discrimination output + home position
Duty Ratio 50±25% 10 to 60% (2001P or more: 50±25%)
Signal Width at Home Position 400 P or lower : 25 to 150% / 500 P or higher: 1˚±30'* (However, 1,800P, 3,600P, 5,000P: 50 to 150%) 400 P or lower : 25 to 150% / 500 P or higher: 1˚±30' (However, 60P, 3,600P: 100 to 300%
1,800P: 50 to 150%)
Rise / Fall Time Not larger than 3 µs
(Cable length 2 m or less, maximum load)
Not larger than 3 µs
(Cable length 2 m or less, maximum load)
Output Output Form Totem-pole output Totem-pole output
Output Current Source "H" Up to 30 mA Up to 30 mA
Sink "L" Up to 30 mA Up to 30 mA
Output Voltage "H" [(Supply Voltage) - 4 V] or more [(Supply Voltage) - 4 V] or more
"L" 2 V or lower 2 V or lower
Load Supply Voltage 35 V DC or lower 35 V DC or lower

Mechanical Specifications

Starting Torque 0.1 N・m or less (+20˚C)
Moment of Inertia 1 x 10-5  kg・m2
Shaft Allowable Load Radial: 100 N
Thrust: 50 N
Maximum Allowable Number of Revolutions (Note 1) 5,000 rpm
Bearing Life 1.2 x 1010  rounds
(Calculated value at the maximum load)
Cable Outside diameter φ6 mm
5-core shielded oil-resistant vinyl chloride cable Core wire nominal cross-sectional area: 0.3 mm2
Weight Type with cables taken out from the back: Approx. 600 g or less (With 2 m cable) Connector type: Approx. 500 g

Environmental Requirements

Use Ambient Temperature -10 to +70˚C
Storage Ambient Temperature -25 to +85˚C
Use Ambient Humidity 35 to 85% RH (No condensation)
Withstand Voltage 500 V AC 1 minute*
Insulation Resistance 50 MK or higher*
Vibration Resistance (Endurance) 500 P or less: 0.75 mm           )3 axial directions, Displacement half amplitude:       10 to 55 Hz 600 P or more: 0.35 mm            each 1 h
Impact Resistance (Endurance) 500 P or less: 980 m/s2  11 ms  )Each 3 times in
600 P or more: 294 m/s2  11 ms  3 axial directions
Protective Structure IP65 (Dustproof and waterjet-proof type)