HEDS-9710, HEDS-9711 Small Optical Encoder Modules 360 Ipi Analog Current Output Data Sheet Description Features The HEDS-971x is a high performance incremental encoder module. When operated in conjunction with either a codewheel or codestrip, this module detects rotary or linear position. The encoder consists of a lensed LED source and a detector IC enclosed in a small C-shaped plastic package. Due to a highly collimated light source and a unique photodetector array, the module is extremely tolerant to mounting misalignment. Small size The two channel analog outputs and 5 V supply input are accessed through four solder plated leads located on 2.54 mm (0.1 inch) centers. The standard HEDS-971x is designed for use with an appropriate optical radius codewheel or linear codestrip. Other options are available. Please contact the factory for more information. Two channel quadrature output Linear and rotary applications No signal adjustment required TTL compatible Wave solderable Lead free package 15°C to 45°C operating temperature Single 5 V supply Block Diagram RESISTOR VCC LENS 3 Applications The HEDS-971x provides sophisticated motion detection, making closed loop control, very cost competitive. Typical applications include printers, plotters, copiers and office automation equipment. PHOTODIODES LED COMPARATORS A + A – B + B – CHANNEL A 2 CHANNEL B 4 SIGNAL PROCESSING CIRCUITRY GND 1 EMITTER SECTION CODE WHEEL DETECTOR SECTION Theory of Operation Definitions An HEDS-971x is a C-shaped emitter/detector module. Coupled with a codewheel, it translates rotary motion into a two-channel digital output, coupled with a codestrip; it translates linear motion into digital outputs. Count (N): The number of bar and window pairs or counts per revolution (CPR) of the codewheel, or the number of lines per inch of the codestrip (LPI). As seen in the block diagram, the module contains a single Light Emitting Diode (LED) as its light source. The light is collimated into parallel beam by means of a single lens located directly over the LED. Opposite the emitter is the integrated detector circuit. This IC consists of photodetectors and a signal processing circuitry necessary to produce the digital waveforms. The codewheel/codestrip moves between the emitter and detector, causing the light beam to be interrupted by the pattern of spaces and bars on the codewheel/ codestrip. The photodiodes, which detect these interruptions, are arranged in a pattern that corresponds to the radius and count density of the codewheel/codestrip. These photodiodes are also spaced such that a light period on one pair of detectors corresponds to a dark period on the adjacent pairs of detectors. The photodiode outputs are fed through the signal processing circuitry. Two comparators receive these signals and produce the final outputs for Channels A and B. Due to this integrated phasing technique the output of channel A is in quadrature with Channel B (90 degrees out of phase). 1 shaft Rotation = 360 degrees = N cycles 1 cycle (c) = 360 electrical degrees, equivalent to 1 bar and window pair. Pulse Width (P): The number of electrical degrees that an output is high during one cycle, nominally 180°e or ½ a cycle. Pulse Width Error (P): 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 neighboring transition in the output of channel B. There are 4 states per cycle, each nominally 90°e. State Width Error (S): The deviation in electrical degrees of each state width from its ideal value of 90°e. Phase (): The number of electrical degrees between the center of the high state on channel A and the center of the high state on channel B. This value is nominally 90°e for quadrature output. Phase Error (): The deviation in electrical degrees 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. Optical Radius (Rop): The distance from the codewheel’s center of rotation to the optical center (O.C) of the encoder module. Angular Misalignment Error (EA): Angular misalignment of the sensor in relation to the tangential direction. This applies for both rotary and linear motion. Mounting Position (RM): Distance from Motor Shaft center of rotation to center of Alignment Tab receiving hole. 2 Absolute Maximum Ratings Parameter Symbol Min. Max. Units Storage Temperature TS –40 85 °C Operating Temperature TA 0 85 °C Supply Voltage VCC –0.5 7 Volts Soldering Temperature TSOL 260 °C Notes t ≤ 5 sec Recommended Operating Conditions Parameter Symbol Min. Temperature TA 15 Supply Voltage VCC 4.8 Count Frequency f Typ. 5.0 Max. Units Notes 45 °C 5.2 Volts Ripple < 100 m Vp-p 40 kHz Velocity (rpm) x N/60 Electrical Characteristics Electrical Characteristics Over the Recommended Operating Conditions. Typical Values at 25°C. Parameter Symbol Supply Current ICC Min. Typ. Max. Units 17 40 mA Waveform Definition ANALOG Iap Ibp A B Iam Ibm DIGITAL A B P P S1 S2 S3 S4 3 Notes Test Parameter Definitions Parameter Symbol Definition Units Ip Analog peak The absolute value in μA of the magnitude of the analog signal (i.e. one sided rating). Iap,Ibp, Iam, Ibm Ipp Analog peak to peak The peak to peak signal magnitude in mA of the analog signal. Iapp, Ibpp Iapp/Ibpp Analog peak to peak ratio The ratio of A channel peak analog signal to B channel peak to peak analog signal. Ioffset Analog Offset The offset in A from the mid-point of the analog peak to peak signal to zero current. State Width State Width The number of electrical degrees between a transition in channel A and the neighboring transition in channel B. There are 4 states per cycle, each nominally 90°e. The transitions are determined by where the analog signal crosses the Zero point. State Width Error State Width Error The deviation in electrical degrees of each state width from its ideal value of 90°e. Pulse Width Pulse Width The number of electrical degrees that an analog output is greater than zero during one cycle. This value is nominally 180°e or ½ cycle. Pulse Width Error Pulse Width Error The deviation in electrical degrees of each pulse width from its ideal value of 180°e. 4 State 1 State 2 State 3 State 4 Encoder Characteristics Encoding Characteristics Over the Recommended Operating Conditions and Mounting Conditions. These characteristics do not include codewheel/codestrip contribution. The typical values are average over the full rotation of the codewheel. Parameter Units Min. Max. State Width Error °e –40 40 Phase Error °e –40 40 Ipp A 25 95 IppA/IppB – 0.93 1.16 Ioffset A –7 7 Linearity Error – 0 12 Crossing (avg) A 9 35 Mounting Considerations Parameter Units Tolerance Radial microns ± 200 Tangential microns ± 400 Gap microns 50 – 460 O.R. mm 20.2 CPR Count 1800 Mounting Consideration 4.23 0.13 (0.17 0.005) 5.32 MAX. (0.209) CL OF ALIGNMENT TAB SEE NOTE 1 Rm Rop 6.30 MAX. (0.248) 6.50 MIN. (0.256) 2.03 MIN. (0.080) 1.0 DEEP MIN. (0.039) 2X R Rm = Rop – 0.14 (0.006) Note: These dimensions include shaft end play and codewheel warp. All dimensions for mounting the module/codestrip should be measured with respect to the two mounting posts, shown above. Dimensions in millimeters (inches). 5 ∅ 2.03 HOLE MIN. (0.080) 1.0 DEEP MIN. (0.039) Recommended Codewheel and Codestrip Characteristics MAX 3.4 (0.134) Wb Ww Lw Rc Rop L W1 W2 Ww Wb Parameter Symbol Min. Max. Window/Bar Ratio Ww/Wb 0.9 1.1 Units Window Length (Rotary) Lw 1.80 (0.071) 2.30 (0.091) mm (inch) Absolute Maximum Codewheel Radius (Rotary) Rc Rop + 3.40 (Rop + 0.134) mm (inch) Center of Post to Inside Edge of Window W1 1.04 (0.041) mm (inch) Center of Post to Outside Edge of Window W2 0.76 (0.030) mm (inch) Center of Post to Inside Edge of Codestrip L 3.60 (0.142) Notes Includes eccentricity errors mm (inch) Analog Encoder Interface Circuit The circuit shown can be used to convert the current to voltage output. Resistor value R1 and Capacitor C are specified to attain required gain and low pass filtering which are application specific. The gain is chosen to attain maximum output swing and not clamping the op-amp. VREF should be set to 1.4 V ± 0.2 V. A 0.1 F bypass capacitor is recommended to be placed within 1 cm of the encoder for optional power supply noise rejection. Output are high impedance (typical 1M Ohm) and susceptible to EMI. VREF I+ + – VA C IA-IN R1 VREF I+ + – VB C IB-IN R1 VREF = 1.4 V 0.2 V (DC) 6 Ordering Information HEDS – 971 Option Lead Configurations 0 – Straight leads 1 – Bent leads Resolution 1 – 360 LPI Bracket Option 50 Package Dimensions Option 50 LEAD THICKNESS = 0.25 mm LEAD PITCH = 2.54 mm 3.8 R 1.4 CH B VCC CH A GND 10.8 0.5 3.0 R 2.6 5.5 0.3 OPTION CODE 1.4 AGILENT 6.4 5.0 4.2 3.9 0.14 (OPTICAL CENTER) 0.8 2x ∅ 2.00 0.02 1.70 0.15 4.2 3.90 0.10 7.5 7.0 12.6 0.5 XXXXX C X YYWW 8.7 PIN 1 ID 50 0.5 10.1 8.4 PART # (REFER -05) 15.0 20.2 0.5 1.8 DATE CODE C = COUNTRY OF ORIGIN MARKING (REFER -05 FOR DETAILS) 9.8 Bent Version – Option 50 LEAD THICKNESS = 0.25 mm LEAD PITCH = 2.54 mm 6.0 8.7 R 1.4 1.4 6.4 5.0 OPTION CODE AGILENT 9.2 0.3 4.2 3.9 0.14 (OPTICAL CENTER) 2x ∅ 2.00 0.02 5 TYP. XXXXX C X YYWW 50 R 2.6 0.8 1.70 0.15 4.2 PART # (REFER -05) 3.90 0.10 7.5 10.1 9.8 0.5 10.8 0.5 8.4 PIN 1 ID 7.0 12.6 0.5 DATE CODE 15.0 20.2 0.5 1.8 3.8 7 CH B VCC CH A GND 3.0 0.3 C = COUNTRY OF ORIGIN MARKING (REFER -05 FOR DETAILS) Wave Soldering Profile Pb-Free Wave Soldering Profile Std-Profile Y-AXIS 7 sec MAX. 260°C FLOW COOL DOWN 120C/20 sec MAX. Min. Max. Nominal Values Units A Solder Pot Temperature NA 260 250 – 260 ºC B Preheat Zone Temperature 85 120 100 – 120 ºC C Dip in Time 5 7 5 sec Parameter D Solder Pot Zone (PCB Top) NA NA NA ºC E Solder Pot Zone (Encoder Lead) 200 NA ≥ 200 ºC X-AXIS For product information and a complete list of distributors, please go to our web site: 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. Obsoletes 5989-0702EN AV02-3652EN - June 21, 2012