Encoder HEDS-5540-A14

HEDM-55xx/560x & HEDS-55xx/56xx
Quick Assembly Two and Three Channel Optical Encoders
Data Sheet
HEDM-55xx/560x HEDS-550x/554x, HEDS-560x/564x
Description
Features
The HEDS-5500/5540, HEDS-5600/5640, HEDM-5500/5540
and HEDM-5600 are high performance, low cost, two
and three channel optical incremental encoders. These
encoders emphasize high reliability, high resolution, and
easy assembly.
 Two channel quadrature output with optional index
Each encoder contains a lensed LED source, an integrated
circuit with detectors and output circuitry, and a codewheel
which rotates between the emitter and detector IC. The
outputs of the HEDS-5500/5600 and HEDM-5500/ 5600
are two square waves in quadrature. The HEDS-5540/5640
and HEDM-5540 also have a third channel index output in
addition to the two channel quadrature. This index output
is a 90 electrical degree, high true index pulse which is
generated once for each full rotation of the codewheel.
 External mounting ears available
The HEDS series utilizes metal codewheels, while the
HEDM series utilizes a film codewheel allowing for resolutions to 1024 CPR.
The HEDS-5500, 5540, 5600, 5640, and the HEDM-5500,
5540,5600 provide motion detection at a low cost, making
them ideal for high volume applications. Typical applications include printers, plotters, tape drives, positioning
tables, and automatic handlers.
These encoders may be quickly and easily mounted to a
motor. For larger diameter motors, the HEDM-5600, and
HEDS-5600/5640 feature external mounting ears.
The quadrature signals and the index pulse are accessed
through five 0.025 inch square pins located on 0.1 inch
centers.
pulse
 Quick and easy assembly
 No signal adjustment required
 Low cost
 Resolutions up to 1024 counts per revolution
 Small size –40°C to 100°C operating temperature
 TTL compatible
 Single 5 V supply
Applications
Note: Avago Technologies encoders are not recommended for use in safety critical applications. Eg. ABS braking
systems, power steering, life support systems and critical
care medical equipment. Please contact sales representative if more clarification is needed.
Standard resolutions between 96 and 1024 counts per
revolution are presently available. Consult local Avago
sales representatives for other resolutions.
ESD WARNING: NORMAL HANDLING PRECAUTIONS SHOULD BE TAKEN TO AVOID STATIC DISCHARGE.
Package Dimensions
HEDS-5500/5540, HEDM-5500/5540
*Note: For the HEDS-5500 and HEDM-5500, Pin #2 is a No Connect. For the HEDS-5540 and HEDM-5540, Pin #2 is CH. I, the index output.
HEDS-5600/5640, HEDM-5600
*Note: For the HEDS-5600 and HEDM-5600, Pin #2 is a No Connect. For the HEDS-5640, Pin #2 is CH. I, the index output.
2
Package Dimensions
HEDM / HEDS-5x8x and HEDM / HEDS-5x9x
3
Theory of Operation
Definitions
The HEDS-5500, 5540, 5600, 5640, and HEDM-5500, 5540,
5600 translate the rotary motion of a shaft into either a
two- or a three-channel digital output.
Count (N): The number of bar and window pairs or counts
per revolution (CPR) of the codewheel.
As seen in the block diagram, these encoders contain a
single Light Emitting Diode (LED) as its light source. The
light is collimated into a parallel beam by means of a
single polycarbonate lens located directly over the LED.
Opposite the emitter is the integrated detector circuit.
This IC consists of multiple sets of photodetectors and
the signal processing circuitry necessary to produce the
digital waveforms.
The codewheel rotates between the emitter and detector,
causing the light beam to be interrupted by the pattern
of spaces and bars on the codewheel. The photodiodes which detect these interruptions are arranged in a
pattern that corresponds to the radius and design of the
codewheel. These detectors are also spaced such that a
light period on one pair of detectors corresponds to a
dark period on the adjacent pair of detectors. The photodiode outputs are then fed through the signal processing
circuitry resulting in A, A, B and B (also I and I in the HEDS5540/5640 and HEDM-5540). Comparators receive these
signals and produce the final outputs for channels A and
B. Due to this integrated phasing technique, the digital
output of channel A is in quadrature with that of channel
B (90 degrees out of phase).
In the HEDS-5540/5640 and HEDM-5540, the output of
the comparator for I and I is sent to the index processing
circuitry along with the outputs of channels A and B.
The final output of channel I is an index pulse PO which
is generated once for each full rotation of the codewheel.
This output PO is a one state width (nominally 90 electrical degrees), high true index pulse which is coincident
with the low states of channels A and B.
Block Diagram
RESISTOR
PHOTO
DIODES
LENS
VCC
COMPARATORS
A
+
A −
CH. A
One Cycle (C): 360 electrical degrees (°e), 1 bar and window
pair.
One Shaft Rotation: 360 mechanical degrees, N cycles.
Position Error (ΔΘ): The normalized angular difference
between the actual shaft position and the position
indicated by the encoder cycle count.
Cycle Error (ΔC): An indication of cycle uniformity. The
differ¬ence between an observed shaft angle which
gives rise to one electrical cycle, and the nominal angular
increment of 1/N of a revolution.
Pulse Width (P): The number of electrical degrees that an
output is high during 1 cycle. This value is nominally 180°e
or 1/2 cycle.
Pulse Width Error ( ΔP): The deviation, in electrical degrees, of
the pulse width from its ideal value of 180°e.
State Width (S): The number of electrical degrees between a
transition in the output of channel A and the neighbouring transition in the output of channel B. There are 4 states
per cycle, each nominally 90°e.
State Width Error ( ΔS): The deviation, in electrical degrees, of
each state width from its ideal value of 90°e.
Phase (φ): The number of electrical degrees between the
center of the high state of channel A and the center of the
high state of channel B. This value is nominally 90°e for
quadrature output.
Phase Error (Δφ): The deviation of the phase from its ideal
value of 90°e.
Direction of Rotation: When the codewheel rotates in the
counter-clockwise direction (as viewed from the encoder
end of the motor), channel A will lead channel B. If the
codewheel rotates in the clockwise direction, channel B
will lead channel A.
Index Pulse Width (PO): The number of electrical degrees that
an index output is high during one full shaft rotation. This
value is nominally 90°e or 1/4 cycle.
B
LED
+
B −
CH. B
I
+
I −
SIGNAL PROCESSING
CIRCUITRY
EMITTER
SECTION
CODE
WHEEL
CH. I
INDEXPROCESSING
CIRCUITRY
GND
DETECTOR SECTION
Note: Circuitry for CH I is only for HEDS-5540, 5640 and HEDM 5540 Three Channel Encoder
4
Absolute Maximum Ratings
Parameter
HEDS-55XX/56XX
HEDM-550X/560X
HEDM-5540
Storage Temperature, TS
-40°C to 100°C
-40°C to +70°C
-40°C to 85°C
Operating Temperature, TA
-40°C to 100°C
-40°C to +70°C
-40°C to 85°C
Supply Voltage, VCC
-0.5 V to 7 V
-0.5 V to 7 V
-0.5 V to 7 V
Output Voltage, VO
-0.5 V to VCC
-0.5 V to VCC
-0.5 V to VCC
Output Current per Channel, IOUT
-1.0 mA to 5 mA
-1.0 mA to 5 mA
-1.0 mA to 5 mA
Vibration
20 g, 5 to 1000 Hz
20 g, 5 to 1000 Hz
20 g, 5 to 1000 Hz
Shaft Axial Play
± 0.25 mm
(± 0.010 in.)
± 0.175 mm
(± 0.007 in.)
± 0.175 mm
(± 0.007 in.)
Shaft Eccentricity Plus Radial Play
0.1 mm
(0.004 in.) TIR
0.04 mm
(0.0015 in.) TIR
0.04 mm
(0.0015 in.) TIR
Velocity
30,000 RPM
30,000 RPM
30,000 RPM
Acceleration
250,000 rad/sec2
250,000 rad/sec2
250,000 rad/sec2
Output Waveforms
C
P
2.4 V
0.4 V
AMPLITUDE
φ
S1
S2
S3
S4
2.4 V
0.4 V
t2
t1
2.4 V
0.4 V
P0
ROTATION
5
CH. A
CH. B
CH. I
Recommended Operating Conditions
Parameter
Sym.
Min.
Temperature HEDS Series
TA
Temperature HEDM Series 5500/5600
Max.
Units
-40
100
°C
TA
-40
70
°C
TA
-40
85
°C
Supply Voltage
VCC
4.5
5.5
Volts
Load Capacitance
CL
100
pF
Count Frequency
f
5540
Typ.
5.0
Notes
non-condensing
atmosphere
Ripple < 100 mVp-p
2.7 kΩ pull-up
100
kHz
Velocity (rpm) x N/60
Shaft Perpendicularity
Plus Axial Play (HEDS Series)
± 0.25
(±0.010)
mm
(in.)
6.9 mm (0.27 in.)
from mounting surface
Shaft Eccentricity Plus
Radial Play (HEDS Series)
0.04
(0.0015)
mm (in.)
TIR
6.9 mm (0.27 in.)
from mounting surface
Shaft Perpendicularity
Plus Axial Play (HEDM Series)
± 0.175
(±0.007)
mm
(in.)
6.9 mm (0.27 in.)
from mounting surface
Shaft Eccentricity Plus
Radial Play(HEDM Series)
0.04
(0.0015)
mm (in.) 6.9 mm (0.27 in.)
TIR
from mounting surface
Note: The module performance is guaranteed to 100 kHz but can operate at higher frequencies. 2.7 kΩ pull-up resistors required for HEDS5540/5640 and HEDM-5540.
Encoding Characteristics
Part No.
Description
Sym.
Min
Typ.*
Max.
Units
HEDS-5500
HEDS-5600
(Two Channel)
Pulse Width Error
Logic State Width Error
Phase Error
Position Error
Cycle Error
Pulse Width Error
Logic State Width Error
Phase Error
Position Error
Cycle Error
Pulse Width Error
Logic State Width Error
Phase Error
Position Error
Cycle Error
Index Pulse Width
CH.I rise after
-40°C to +100°C
CH.A or CH. B fall
CH.I fall after
-40°C to +100°C
CH.A or CH. B rise
Pulse Width Error
Logic State Width Error
Phase Error
Position Error
Cycle Error
Index Pulse Width
CH.I rise after
-40°C to + 85°C
CH.A or CH. B fall
CH.I fall after
-40°C to + 85°C
CH.A or CH. B rise
ΔP
ΔS
ΔΦ
ΔΘ
ΔC
ΔP
ΔS
ΔΦ
ΔΘ
ΔC
ΔP
ΔS
ΔΦ
ΔΘ
ΔC
Po
t1
55
-300
7
5
2
10
3
10
10
2
10
3
5
5
2
10
3
90
100
45
45
20
40
5.5
45
45
15
40
7.5
45
35
15
40
5.5
125
250
°e
°e
°e
min. of arc
°e
°e
°e
°e
min. of arc
°e
°e
°e
°e
min. of arc
°e
°e
ns
t2
70
150
1000
ns
ΔP
ΔS
ΔΦ
ΔΘ
ΔC
Po
t1
50
200
10
10
2
10
6
90
1000
45
45
15
40
12
130
1500
°e
°e
°e
min. of arc
°e
°e
ns
t2
0
300
1500
ns
HEDM-5500
HEDM-5600
(Two Channel)
HEDS-5540
HEDS-5640
(Three Channel)
HEDM-5540
(Three Channel)
Note: See Mechanical Characteristics for mounting tolerances. *Typical values specified at VCC = 5.0 V and 25°C.
6
Electrical Characteristics
Electrical Characteristic over Recommended Operating Range
Part No.
Parameter
Sym.
Min
HEDS-5500
HEDS-5600
Supply Current
High Level Output Voltage
Low Level Output Voltage
ICC
VOH
VOL
2.4
Rise Time
Fall Time
tr
tf
HEDS-5540
HEDS-5640
HEDM-5500
HEDM-5600
Supply Current
High Level Output Voltage
Low Level Output Voltage
ICC
VOH
VOL
Rise Time
Fall Time
tr
tf
HEDM-5500
HEDM-5600
Supply Current
High Level Output Voltage
Low Level Output Voltage
ICC
VOH
VOL
Rise Time
Fall Time
tr
tf
Supply Current
High Level Output Voltage
Low Level Output Voltage
ICC
VOH
VOL
Rise Time
Fall Time
tr
tf
HEDM-5540
* Typical values specified at VCC = 5.0V and 25ºC
7
Typ.*
Max.
Units
Notes
17
40
mA
V
V
IOH = -40μA max
IOL= 3.2mA
ns
ns
CL= 25 pF
RL = 11 kΩ pull-up
mA
V
V
IOH = -200μA max
IOL= 3.86mA
ns
ns
CL= 25 pF
RL = 2.7 kΩ pull-up
mA
V
V
IOH = -40μA max
IOL= 3.86mA
ns
ns
CL= 25 pF
RL = 3.2 kΩ pull-up
mA
V
V
IOH = -200μA max
IOL= 3.86mA
ns
ns
CL= 25 pF
RL = 2.7 kΩ pull-up
0.4
200
50
30
2.4
57
85
0.4
180
40
30
2.4
57
85
0.4
180
40
30
2.4
57
85
0.4
200
80
Mechanical Characteristics
Parameter
Symbol
Codewheel Fits These Standard
Shaft Diameters
Moment of Inertia
J
Required Shaft Length[2]
Dimension
Tolerance[1]
Units
234
568
+0.000
-0.015
mm
5/32 1/8
3/16 1/4
+0.0000
-0.0007
in
0.6 (8.0 x 10-6)
g-cm2 (oz-in-s2)
14.0 (0.55)
± 0.5
(± 0.02)
mm (in.)
2 screw mounting
19.05
(0.750)
± 0.13
(± 0.005)
mm (in.)
3 screw mounting
20.90
(0.823)
± 0.13
(± 0.005)
mm (in.)
external mounting ears
46.0
(1.811)
± 0.13
(± 0.005)
mm (in.)
2 screw mounting
M 2.5 or (2-56)
mm (in.)
3 screw mounting
M 1.6 or (0-80)
mm (in.)
external mounting ears
M 2.5 or (2-56)
mm (in.)
Encoder Base Plate Thickness
0.33 (0.130)
mm (in.)
Hub Set Screw
(2-56)
(in.)
Bolt Circle[3]
Mounting Screw Size[4]
Notes:
1. These are tolerances required of the user.
2. The HEDS-55X5 and 56X5, HEDM-5505, 5605 provide an 8.9 mm (0.35 inch) diameter hole through the housing for longer motor shafts. See
Ordering Information.
3. The HEDS-5540 and 5640 must be aligned using the aligning pins as specified in Figure 3, or using the alignment tool as shown in “Encoder
Mounting and Assembly”. See also “Mounting Considerations.”
4. The recommended mounting screw torque for 2 screw and external ear mounting is 1.0 kg-cm (0.88 in-lbs). The recommended mounting screw
torque for 3 screw mounting is 0.50 kg-cm (0.43 in-lbs).
Electrical Interface
To insure reliable encodingperformance, the HEDS5540/5640 and HEDM-5540 three channel encoders
require 2.7 kΩ (± 10%) pull-up resistors on output pins
2, 3, and 5 (Channels I, A, and B) as shown in Figure 1.
These pull-up resistors should be located as close to the
encoder as possible (within 4 feet). Each of the three
Figure 1. Pull-up Resistors on HEDS-5X40 and HEDM-5540 Encoder Outputs.
8
encoder outputs can drive a single TTL load in this configuration. The HEDS-5500, 5600, and HEDM-5500, 5600
two channel encoders do not normally require pull-up
resistors. However, 3.2 kΩ pull-up resistors on output pins
3 and 5 (Channels A and B) are recommended to improve
rise times, especially when operating above 100 kHz frequencies.
Mounting Considerations
The HEDS-5540 and 5640 three channel encoders and the
HEDM Series high resolution encoders must be aligned
using the aligning pins as specified in Figure 3, or using
the HEDS-8910 Alignment Tool as shown in Encoder
Mounting and Assembly.
The use of aligning pins or alignment tool is recommended but not required to mount the HEDS-5500 and 5600.
If these two channel encoders are attached to a motor
with the screw sizes and mounting tolerances specified
in the mechanical characteristics section without any
Figure 2. Mounting Holes.
Figure 4. Mounting with External Ears.
9
additional mounting bosses, the encoder output errors
will be within the maximums specified in the encoding
characteristics section. The HEDS-5500 and 5540 can be
mounted to a motor using either the two screw or three
screw mounting option as shown in Figure 2. The optional
aligning pins shown in Figure 3 can be used with either
mounting option. The HEDS-5600, 5640, and HEDM-5600
have external mounting ears which may be used for
mounting to larger motor base plates. Figure 4 shows the
necessary mounting holes with optional aligning pins and
motor boss.
Figure 3. Optional Mounting Aids.
Encoder Mounting and Assembly
1a. For HEDS-5500 and 5600: Mount encoder base plate
onto motor. Tighten screws. Go on to step 2.
1b. For HEDS-5540, 5640 and HEDM-5500, 5600, 5540 :
Slip alignment tool onto motor shaft. With alignment
tool in place, mount encoder baseplate onto motor
as shown above. Tighten screws. Remove alignment
tool.
1c. It is recommended that adhesive* is applied to the
screw-baseplate interface to prevent screw loosening
due to effect of high temperature on plastic
2.
Snap encoder body onto base plate locking all 4
snaps.
3a. Push the hex wrench into the body of the encoder to
ensure that it is properly seated into the code wheel
hub set screws. Then apply a downward force on the
end of the hex wrench. This sets the code wheel gap
by levering the code wheel hub to its upper position.
3b. While continuing to apply a downward force, rotate
the hex wrench in the clockwise direction until the
hub set screw is tight against the motor shaft (The
recommended torque to tighten the setscrew is 1518 ozf.inch). The hub set screw attaches the code
wheel to the motor’s shaft.
3c. Remove the hex wrench by pulling it straight out of
the encoder body.
4.
Use the center screwdriver slot, or either of the two
side slots, to rotate the encoder cap dot clockwise
from the one dot position to the two dot position. Do
not rotate the encoder cap counterclockwise beyond
the one dot position.
The encoder is ready for use!
10
Connectors
Manufacturer
Part Number
AMP
103686-4
640442-5
Avago (designed to mechanically lock into the
HEDS-5XXX, HEDM-5X0X Series)
HEDS-8902 (2 ch.) with 4-wire leads
Molex
2695 series with 2759 series term.
HEDS-8903 (3 ch.) with 5-wire leads
Single ended cable connector P/N : 0050579405 and P/N : 0016020097.
Figure 5. HEDS-8902 nd 8903 connectors
Protective Silicon Cover
Protective Silicon Rubber cover gives an extra protection
for HEDS-5xx0 and HEDM-5xx0 family when operating in
dusty environment.
Material
Silicon Rubber- Semi transparent-ESD
protective material
Used With
HEDS-5xx0 and HEDM-5xx0
Temperature Range
-40ºC to 100ºC
31.40
1.236
14.00
.551
1. Dimensions are in millimeters
Inches
2. All tolerances are within ±0.5
11
16.50
.650
HEDS-8907-001
7.20
.283
Part Number
42.50
1.673
The protective silicon cover is installed to HEDS-5xx0
or HEDM-5xx0 prior to the connector to the encoder is
installed.
Typical Interfaces
HEDS–55XX
OR
HEDS-56XX
OR
HEDM-5X0X
HEDS–55XX
OR
HEDS-56XX
OR
HEDM-5X0X
CH. A
CH. B
CH. A
CH. B
HCTL-20xx
QUADRATURE
DECODER/
COUNTER
HOST
PROCESSOR
HCTL-1100
MOTION
CONTROL IC
HOST
PROCESSOR
Ordering Information
Encoders with Film Codewheels
HEDM-5
Mounting Type
5 - Standard
6 - External
Mounting Ears
0
4
8
9
-
2
3
2
3
Outputs
Channel
Channel
Channel (Latch)
Channel (Latch)
0
Through Hole
0 - None
5 - 8.9 mm (0.35 in.)
HEDS-8910 0
Option
Resolution (Cycles/Rev)
B - 1000 CPR
J - 1024 CPR
01
02
03
04
05
-
Shaft Diameter
2 mm
06
3 mm
11
1/8 in.
14
5/32 in.
12
3/16 in.
13
-
1/4 in.
4 mm
5 mm
6 mm
8 mm
Alignment Tool
(Included with each order of HEDM-550X/560X two channel encoders and HEDM-554X three Channel encoders)
HEDS-5
Mounting Type
5 - Standard
6 - External
Mounting Ears
0
4
8
9
-
2
3
2
3
Outputs
Channel
Channel
Channel (Latch)
Channel (Latch)
Through Hole
0 - None
5 - 8.9 mm (0.35 in.)
Option
Resolution (Cycles/Rev)
(HEDS-550X, 560X 2 Channel)
S - 50 CPR
F - 256 CPR
K - 96 CP
G - 360 CPR
C - 100 CPR
H - 400 CPR
D - 192 CPR
A - 500 CPR
E - 200 CPR
I - 512 CPR
(HEDS-554X, 564X 3 Channel)
G - 360 CPR
S - 50 CPR
H - 400 CPR
K - 96 CPR
A - 500 CPR
C - 100 CPR
I - 512 CPR
E - 200 CPR
F - 256 CPR
HEDS-8910 0
Alignment Tool
(Included with each order of HEDS-554X/564X three channel encoders)
12
01
02
03
04
05
-
Shaft Diameter
2 mm
06
3 mm
11
1/8 in.
14
5/32 in.
12
3/16 in.
13
-
1/4 in.
4 mm
5 mm
6 mm
8 mm
01 02 03 04 05 06 11 12 13 14
HEDM-5500 B
*
J
*
*
*
*
HEDM-5505 B
*
*
*
*
*
*
01 02 03 04 05 06 11 12 13 14
HEDS-5545
*
*
*
*
*
C
*
*
*
A
*
*
*
C
*
*
*
E
*
*
HEDM-5545 B
*
I
*
*
A
H
*
J
HEDM-5540 B
*
*
HEDS-5600
HEDM-5600 B
*
J
*
G
*
HEDM-5605 B
*
H
*
J
*
I
HEDS-5500
*
*
C
*
*
*
E
*
*
*
F
*
*
*
G
*
*
*
*
*
H
*
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*
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*
I
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*
A
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C
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E
F
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G
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H
I
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K
*
HEDS-5640
S
HEDS-5505
*
A
*
*
C
*
*
*
*
*
*
E
*
*
*
F
*
*
*
G
*
*
H
HEDS-5540
*
*
I
*
K
*
A
*
*
C
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E
F
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*
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*
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*
*
*
*
*
H
*
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*
H
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*
*
*
*
*
G
*
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For product information and a complete list of distributors, please go to our web site:
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www.avagotech.com
Avago, Avago Technologies, and the A logo are trademarks of Avago Technologies in the United States and other countries.
Data subject to change. Copyright © 2005-2012 Avago Technologies. All rights reserved.
AV02-1046EN - March 22, 2012
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HEDS-5645
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A
A
HEDS-5605
*
*
*
*
*
*
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