2. GXMMW + incremental
Datos técnicos
Datos técnicos: valores eléctricos nominales
Voltage supply
  • 10...30 VDC
Reverse polarity protection
  • Yes
Consumption w/o load
  • ≤100 mA (24 VDC)
Initializing time typ.
  • 250 ms after power on
Interface
  • CANopen®
  • EtherCAT
  • EtherNet/IP
  • Profibus
  • PROFINET
  • SAE J1939
  • SSI
Function
  • Multiturn
Device adress
  • Rotary switch in bus cover (type-specific)
Steps per revolution
  • ≤8192 / 13 bit
Number of revolutions
  • ≤65536 / 16 bit
Absolute accuracy
  • ±0,025 °
Sensing method
  • Optical
Code
  • Binary
Code sequence
  • CW/CCW programmable
Output stages
  • Push-pull short-circuit proof
  • RS422
Incremental output
  • 2048 pulses A90°B + inverted
Interference immunity
  • EN 61000-6-2
Emitted interference
  • EN 61000-6-4
Programmable parameters
  • Steps per revolution
  • Number of revolutions
  • Preset
  • Scaling
  • Rotating direction
Diagnostic function
  • Position or parameter error
  • Multiturn sensing
Status indicator
  • DUO-LED integrated in bus cover
Approval
  • UL approval / E63076
Datos técnicos: diseño mecánico
Size (flange)
  • ø58 mm
Shaft type
  • ø10 mm solid shaft (clamping flange)
  • ø6 mm solid shaft (synchro flange)
Flange
  • Clamping or synchro flange
Protection EN 60529
  • IP 54 (without shaft seal)
  • IP 65 (with shaft seal)
Operating speed
  • ≤10000 rpm (mechanical)
  • ≤6000 rpm (electric)
Starting acceleration
  • ≤1000 U/s²
Starting torque
  • ≤0,01 Nm (+25 °C, IP 54)
  • ≤0,015 Nm (+25 °C, IP 65)
Rotor moment of inertia
  • 20 gcm²
Admitted shaft load
  • ≤20 N axial
  • ≤40 N radial
Material
  • Housing: steel
  • Flange: aluminium
  • Bus cover: aluminium
Operating temperature
  • -25...+85 °C
  • -40...+85 °C (optional)
Relative humidity
  • 95 % non-condensing
Resistance
  • EN 60068-2-6
  • Vibration 10 g, 16-2000 Hz
  • EN 60068-2-27
  • Shock 200 g, 6 ms
Weight approx.
  • 670 g
Connection
  • Bus cover
software
Software

Descargas
Data sheet
Quickstart
Software Manual
Certificates / approvals
Bus cover
Declaration of conformity

Dibujos
Drawings
The selected altAttribute does not exist!

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The selected altAttribute does not exist!

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The selected altAttribute does not exist!

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The selected altAttribute does not exist!

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The selected altAttribute does not exist!

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The selected altAttribute does not exist!

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The selected altAttribute does not exist!

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The selected altAttribute does not exist!

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Accesorios
Mounting accessories
The selected altAttribute does not exist! Set of eccentric fixings type A

Artículo no..: 11065545
  • With 3 eccentric fixings type A
The selected altAttribute does not exist! Adaptor plate for clamping flange to convert into synchro flange

Artículo no..: 10141255
  • Adaptor plate for encoder with clamping flange for modification into synchro flange
The selected altAttribute does not exist! Mounting adaptor
For encoders with clamping flange

Artículo no..: 10125051
  • Glass-fiber reinforced plastic
  • Excellent resistance against temperature and chemicals
  • Electrically isolated encoder mount
The selected altAttribute does not exist! Bearing flange for encoders with synchro flange (Z 119.035)

Artículo no..: 10158124
  • For all encoder with synchro flange and 6 mm shaft
  • Material: Aluminium, bare
The selected altAttribute does not exist! Mounting adaptor
For encoders with synchro flange

Artículo no..: 10117667
  • Glass-fiber reinforced plastic
  • Excellent resistance against temperature and chemicals
  • Electrically isolated encoder mount
The selected altAttribute does not exist! Set of eccentric fixings for mounting clamp (10117667)

Artículo no..: 10117668
  • With 3x eccentric fixings, screws and nuts
The selected altAttribute does not exist! Spring washer coupling (D1=6 / D2=10)
For encoder with solid shaft

Artículo no..: 10141132
  • Backlash-free and angle-synchronous transmission of rotary movements
  • Plug-in version
  • Electric isolated
  • Suitable for very high speeds
  • Good compensation of all misalignments
Programming accessories
The selected altAttribute does not exist! Programming cable for encoders with SSI bus cover, CD with software and manual (Z 139.008)

Artículo no..: 11034193
Cables con extremos libres
The selected altAttribute does not exist! CAM12.D4-11233075

Artículo no..: 11233075
  • M12, male, D-coded, 4-poles; PUR, 100 cm, shielded, free cable end
  • Dragchain capable
  • Head A: IP67
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11231001

Artículo no..: 11231001
  • M12, male, D-coded, 4-poles; PUR, 200 cm, shielded, free cable end
  • Dragchain capable
  • Head A: IP67
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11233076

Artículo no..: 11233076
  • M12, male, D-coded, 4-poles; PUR, 300 cm, shielded, free cable end
  • Dragchain capable
  • Head A: IP67
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11230410

Artículo no..: 11230410
  • M12, male, D-coded, 4-poles; PUR, 500 cm, shielded, free cable end
  • Dragchain capable
  • Head A: IP67
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11231002

Artículo no..: 11231002
  • M12, male, D-coded, 4-poles; PUR, 1000 cm, shielded, free cable end
  • Dragchain capable
  • Head A: IP67
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11233077

Artículo no..: 11233077
  • M12, male, D-coded, 4-poles; PUR, 1500 cm, shielded, free cable end
  • Dragchain capable
  • Head A: IP67
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11233078

Artículo no..: 11233078
  • M12, male, D-coded, 4-poles; PUR, 2000 cm, shielded, free cable end
  • Dragchain capable
  • Head A: IP67
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11233085

Artículo no..: 11233085
  • M12, male, D-coded; 4-poles; TPE-S, 100 cm, shielded, free cable end
  • Dragchain capable; suitable for robotics ± 180 °/m; suitable for food & beverage
  • Head A: IP65, IP68, IP69K
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11231019

Artículo no..: 11231019
  • M12, male, D-coded; 4-poles; TPE-S, 200 cm, shielded, free cable end
  • Dragchain capable; suitable for robotics ± 180 °/m; suitable for food & beverage
  • Head A: IP65, IP68, IP69K
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11233086

Artículo no..: 11233086
  • M12, male, D-coded; 4-poles; TPE-S, 300 cm, shielded, free cable end
  • Dragchain capable; suitable for robotics ± 180 °/m; suitable for food & beverage
  • Head A: IP65, IP68, IP69K
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11230445

Artículo no..: 11230445
  • M12, male, D-coded; 4-poles; TPE-S, 500 cm, shielded, free cable end
  • Dragchain capable; suitable for robotics ± 180 °/m; suitable for food & beverage
  • Head A: IP65, IP68, IP69K
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11231020

Artículo no..: 11231020
  • M12, male, D-coded; 4-poles; TPE-S, 1000 cm, shielded, free cable end
  • Dragchain capable; suitable for robotics ± 180 °/m; suitable for food & beverage
  • Head A: IP65, IP68, IP69K
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11233087

Artículo no..: 11233087
  • M12, male, D-coded; 4-poles; TPE-S, 1500 cm, shielded, free cable end
  • Dragchain capable; suitable for robotics ± 180 °/m; suitable for food & beverage
  • Head A: IP65, IP68, IP69K
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11233088

Artículo no..: 11233088
  • M12, male, D-coded; 4-poles; TPE-S, 2000 cm, shielded, free cable end
  • Dragchain capable; suitable for robotics ± 180 °/m; suitable for food & beverage
  • Head A: IP65, IP68, IP69K
  • Halogen free
Cables de conexión
The selected altAttribute does not exist! CAM12.D4-11233060

Artículo no..: 11233060
  • M12, male, D-coded, 4-poles; PUR, 100 cm, shielded; M12, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP65, IP66K, IP67; Head B: IP65, IP66K, IP67
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11231005

Artículo no..: 11231005
  • M12, male, D-coded, 4-poles; PUR, 200 cm, shielded; M12, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP65, IP66K, IP67; Head B: IP65, IP66K, IP67
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11233061

Artículo no..: 11233061
  • M12, male, D-coded, 4-poles; PUR, 300 cm, shielded; M12, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP65, IP66K, IP67; Head B: IP65, IP66K, IP67
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11230439

Artículo no..: 11230439
  • M12, male, D-coded, 4-poles; PUR, 500 cm, shielded; M12, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP65, IP66K, IP67; Head B: IP65, IP66K, IP67
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11231006

Artículo no..: 11231006
  • M12, male, D-coded, 4-poles; PUR, 1000 cm, shielded; M12, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP65, IP66K, IP67; Head B: IP65, IP66K, IP67
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11233062

Artículo no..: 11233062
  • M12, male, D-coded, 4-poles; PUR, 1500 cm, shielded; M12, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP65, IP66K, IP67; Head B: IP65, IP66K, IP67
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11233063

Artículo no..: 11233063
  • M12, male, D-coded, 4-poles; PUR, 2000 cm, shielded; M12, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP65, IP66K, IP67; Head B: IP65, IP66K, IP67
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11233065

Artículo no..: 11233065
  • M12, male, D-coded, 4-poles; PUR, 100 cm, shielded; M12, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP65, IP66K, IP67; Head B: IP65, IP66K, IP67
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11231007

Artículo no..: 11231007
  • M12, male, D-coded, 4-poles; PUR, 200 cm, shielded; M12, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP65, IP66K, IP67; Head B: IP65, IP66K, IP67
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11233066

Artículo no..: 11233066
  • M12, male, D-coded, 4-poles; PUR, 300 cm, shielded; M12, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP65, IP66K, IP67; Head B: IP65, IP66K, IP67
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11230440

Artículo no..: 11230440
  • M12, male, D-coded, 4-poles; PUR, 500 cm, shielded; M12, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP65, IP66K, IP67; Head B: IP65, IP66K, IP67
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11231008

Artículo no..: 11231008
  • M12, male, D-coded, 4-poles; PUR, 1000 cm, shielded; M12, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP65, IP66K, IP67; Head B: IP65, IP66K, IP67
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11233067

Artículo no..: 11233067
  • M12, male, D-coded, 4-poles; PUR, 1500 cm, shielded; M12, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP65, IP66K, IP67; Head B: IP65, IP66K, IP67
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11233068

Artículo no..: 11233068
  • M12, male, D-coded, 4-poles; PUR, 2000 cm, shielded; M12, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP65, IP66K, IP67; Head B: IP65, IP66K, IP67
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11233095

Artículo no..: 11233095
  • M12, male, D-coded, 4-poles; PUR, 100 cm, shielded; RJ45, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP67; Head B: IP20
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11230365

Artículo no..: 11230365
  • M12, male, D-coded, 4-poles; PUR, 200 cm, shielded; RJ45, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP67; Head B: IP20
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11231012

Artículo no..: 11231012
  • M12, male, D-coded, 4-poles; PUR, 300 cm, shielded; RJ45, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP67; Head B: IP20
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11230442

Artículo no..: 11230442
  • M12, male, D-coded, 4-poles; PUR, 500 cm, shielded; RJ45, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP67; Head B: IP20
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11231013

Artículo no..: 11231013
  • M12, male, D-coded, 4-poles; PUR, 1000 cm, shielded; RJ45, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP67; Head B: IP20
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11233096

Artículo no..: 11233096
  • M12, male, D-coded, 4-poles; PUR, 1500 cm, shielded; RJ45, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP67; Head B: IP20
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11233097

Artículo no..: 11233097
  • M12, male, D-coded, 4-poles; PUR, 2000 cm, shielded; RJ45, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP67; Head B: IP20
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11233099

Artículo no..: 11233099
  • M12, male, D-coded, 4-poles; PUR, 100 cm, shielded; RJ45, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP67; Head B: IP20
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11233100

Artículo no..: 11233100
  • M12, male, D-coded, 4-poles; PUR, 200 cm, shielded; RJ45, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP67; Head B: IP20
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11233101

Artículo no..: 11233101
  • M12, male, D-coded, 4-poles; PUR, 300 cm, shielded; RJ45, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP67; Head B: IP20
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11230443

Artículo no..: 11230443
  • M12, male, D-coded, 4-poles; PUR, 500 cm, shielded; RJ45, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP67; Head B: IP20
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11231015

Artículo no..: 11231015
  • M12, male, D-coded, 4-poles; PUR, 1000 cm, shielded; RJ45, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP67; Head B: IP20
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11233102

Artículo no..: 11233102
  • M12, male, D-coded, 4-poles; PUR, 1500 cm, shielded; RJ45, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP67; Head B: IP20
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11233103

Artículo no..: 11233103
  • M12, male, D-coded, 4-poles; PUR, 2000 cm, shielded; RJ45, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP67; Head B: IP20
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11233105

Artículo no..: 11233105
  • M12, male, D-coded, 4-poles; PUR, 100 cm, shielded; RJ45, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP67; Head B: IP20
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11231017

Artículo no..: 11231017
  • M12, male, D-coded, 4-poles; PUR, 200 cm, shielded; RJ45, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP67; Head B: IP20
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11233106

Artículo no..: 11233106
  • M12, male, D-coded, 4-poles; PUR, 300 cm, shielded; RJ45, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP67; Head B: IP20
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11230444

Artículo no..: 11230444
  • M12, male, D-coded, 4-poles; PUR, 500 cm, shielded; RJ45, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP67; Head B: IP20
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11231018

Artículo no..: 11231018
  • M12, male, D-coded, 4-poles; PUR, 1000 cm, shielded; RJ45, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP67; Head B: IP20
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11233107

Artículo no..: 11233107
  • M12, male, D-coded, 4-poles; PUR, 1500 cm, shielded; RJ45, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP67; Head B: IP20
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! CAM12.D4-11233108

Artículo no..: 11233108
  • M12, male, D-coded, 4-poles; PUR, 2000 cm, shielded; RJ45, male, D-coded, 4-poles
  • Dragchain capable, CAT5, 100 Mbit/s
  • Head A: IP67; Head B: IP20
  • Cable: good resistance against flames, oils
  • Halogen free
The selected altAttribute does not exist! KSG 34A/KSG45AR0200G/E

Artículo no..: 11700903
  • M12, male;, D-coded, 4-poles PUR, 200 cm, shielded; RJ45, male, A-coded, 4-poles
  • Suitable for robotics ± 180 °/m
  • Head A: IP67; Head B: IP20
  • Cable: good resistance against flames, oils
The selected altAttribute does not exist! KSG 34A/KSG45AR0500G/E

Artículo no..: 11700905
  • M12, male, D-coded, 4-poles; PUR, 500 cm, shielded; RJ45, male, 4-poles
  • Suitable for robotics ± 180 °/m
  • Head A: IP67; Head B: IP20
  • Cable: good resistance against flames, oils
The selected altAttribute does not exist! KSG 34A/KSG45AR1000G/E

Artículo no..: 11700904
  • M12, male, D-coded, 4-poles; PUR, 1000 cm, shielded; RJ45, male, 4-poles
  • Suitable for robotics ± 180 °/m
  • Head A: IP67; Head B: IP20
  • Cable: good resistance against flames, oils
The selected altAttribute does not exist! KSW 33A/KSG45AR0200G/E

Artículo no..: 11701260
  • M12, male, D-coded, 4-poles; PUR, 200 cm, shielded; RJ45, male, 4-poles
  • Suitable for robotics ± 180 °/m
  • Head A: IP67; Head B: IP20
  • Cable: good resistance against flames, oils
The selected altAttribute does not exist! KSW 33A/KSG45AR0500G/E

Artículo no..: 11701261
  • M12, male, D-coded, 4-poles; PUR, 500 cm, shielded; RJ45, male, 4-poles
  • Suitable for robotics ± 180 °/m
  • Head A: IP67; Head B: IP20
  • Cable: good resistance against flames, oils
The selected altAttribute does not exist! KSW 33A/KSG45AR1000G/E

Artículo no..: 11701262
  • M12, male, D-coded, 4-poles; PUR, 1000 cm, shielded; RJ45, male, 4-poles
  • Suitable for robotics ± 180 °/m
  • Head A: IP67; Head B: IP20
  • Cable: good resistance against flames, oils
Hasta la cima