RT-D061-CR11A Opposite-side Absolute Dual Encoder

RT-D061-CR11A is an opposite-side absolute dual encoder designed for robot joints. The motor-side and reducer-side encoders are placed on opposite sides of the joint, with a 17-bit single-turn absolute encoder on the motor side and a 19-bit pseudo multi-turn encoder (up to 65536 revolutions) on the reducer side.

It uses differential RS485 half-duplex UART communication at 2.5Mbps with CRC8; supported commands include input-side single-turn zeroing, output-side single-turn zeroing and output-side multi-turn zeroing. The split structure enables easy embedded mounting, with resistance to strong magnetic fields, oil and dust, plus LED status indication (green on the motor side, blue on the reducer side). Pseudo multi-turn data is retained by a short-term internal capacitor supply after power loss, and a brake must be used together.