OMRON E6C3

Rotary Encoder (Incremental/Absolute)
E6C3
An Encoder That Offers
Durability and Convenience
• IP65f drip-proof, oil-proof construction achieved with
seal bearing.
• 8-mm-dia stainless steel shaft withstands a shaft
loading of 80 N and 50 N respectively in the radial
and thrust directions.
• Absolute Rotary Encoders have a metal slit plate to
ensure high resistance to shock.
• Combining Absolute Rotary Encoders with a Programmable Controller or Cam Positioner allows ideal
angle control.
• Bears CE markings (EMC Directives) and conforms
to EN/IEC standards, making it suitable for the European market.
Ordering Information
■ Incremental Rotary Encoders
Supply voltage
12 to 24 VDC
Output configuration
Complementary output
Resolution (P/R)
100, 200
Connection method
Model
Pre-wired (1 m) (See note 2.) E6C3-CWZ5GH
300, 360, 500
600, 720, 800
1,000, 1,024, 1,200
1,500, 1,800, 2,000
2,048, 2,500, 3,600
5 to 12 VDC
Voltage output
100, 200
E6C3-CWZ3EH
300, 360, 500
600, 720, 800
1,000, 1,024, 1,200
1,500, 1,800, 2,000
2,048, 2,500, 3,600
5 to 12 VDC
Line driver output
100, 200
E6C3-CWZ3XH
300, 360, 500
600, 720, 800
1,000, 1,024, 1,200
1,500, 1,800, 2,000
2,048, 2,500, 3,600
Note 1. When ordering, specify the resolution in addition to the model numbers. (Example: E6C3-CWZ5GH 300P/R 1M)
2. Models with 2-m cables are also available as standard products. Specify the cable length at the end of the model number. (Example: E6C3CWZ5GH 300P/R 2M)
■ Absolute Rotary Encoders
Supply voltage
12 to 24 VDC
Output configuration
Output code
NPN open collector output Gray code
Voltage output
Connection method
Connector
256, 360, 720, 1,024
Pre-wired (1 m) (See
note 2.)
Model
E6C3-AG5C-C
E6C3-AG5C
Binary
32, 40
BCD
6, 8, 12
E6C3-AB5C
256, 360, 720, 1,024
E6C3-AG5B
PNP open collector output Gray code
5 VDC
Resolution (P/R)
256, 360
E6C3-AN5C
Binary
32, 40
E6C3-AN5B
BCD
6, 8, 12
E6C3-AB5B
Binary
256
E6C3-AN1E
12 VDC
E6C3-AN2E
Note 1. When ordering, specify the resolution in addition to the model numbers. (Example: E6C3-AG5C 360P/R 1M)
2. Models with 2-m cables are also available as standard products. Specify the cable length at the end of the model number. (Example: E6C3AG5C 360P/R 2M)
3. When connecting to the H8PS, be sure to use the E6C3-AG5C-C 256P/R.
■ Accessories (Order Separately)
Item
Model
Remarks
Coupling
E69-C08B
---
E69-C68B
Diameters of ends: 6 to 8 dia.
Flange
E69-FCA03
---
E69-FCA04
E69-2 Servo Mounting Bracket provided.
Servo Mounting Bracket
E69-2
Provided with the E69-FCA04 Flange.
Extension Cable
E69-DF5
5m
E69-DF10
10 m
E69-DF20
30 m
2
E6C3 Rotary Encoder (Incremental/Absolute)
Applicable for the E6C3-AG5C-C. 15- and 98-m-long Extension
Cables are also available.
Specifications
■ Ratings/Characteristics
Incremental Rotary Encoders
Item
E6C3-CWZ5GH
E6C3-CWZ3EH
E6C3-CWZ3XH
Power supply voltage
12 VDC −10% to 24 VDC +15%
5 VDC −5% to 12 VDC +10%
Current consumption
(See note 1.)
100 mA max.
Resolution (pulse/
rotation)
100, 200, 300, 360, 500, 600, 720, 800, 1,000, 1,024, 1,200, 1,500, 1,800, 2,000, 2,048, 2,500, 3,600
Output phases
A, B, and Z
Output configuration
Complementary output (See note 5.) Voltage output (NPN output)
Output capacity
Output voltage:
VH: Vcc − 3 V min. (Io: 30 mA)
VL: 2 V max. (Io: −30 mA)
Output resistance: 2 kΩ
Output current: ±30 mA
Residual voltage: 0.7 V max.
A, A, B, B, Z, Z
Output current: 35 mA max.
Line driver output (See note 2.)
AM26LS31 equivalent
Output current:
High level (Io): −10 mA
Low level (Is): 10 mA
Output voltage:
Vo: 2.5 V min.
Vs: 0.5 V max.
Max. response frequency 125 kHz (65 kHz for phase-Z reset)
(See note 3.)
Phase difference on
output
90°±45° between A and B (1/4T±1/8T)
Rise and fall times of
output
1 µs max.
(cable length: 2 m, output current:
30 mA)
Starting torque
10 mN·m max. at room temperature; 30 mN·m max. at low temperature
Moment of inertia
2.0 × 10−6 kg·m2; 1.9 × 10−6 kg·m2 at 500 P/R max.
Shaft
loading
80 N
Radial
Thrust
1 µs max.
(cable length: 2 m, output current:
35 mA)
1 µs max. (cable length: 2 m; Io:
−10 mA; Is: 10 mA)
50 N
Max. permissible
revolution
5,000 rpm
Protection circuits
Reversed power supply connection protection circuit, output load short-circuit --protection circuit
Ambient temperature
Operating: −10°C to 70°C (with no icing)
Storage: −25°C to 85°C (with no icing)
Ambient humidity
35% to 85% (with no condensation)
Insulation resistance
20 MΩ min. (at 500 VDC) between current-carrying parts and case
Dielectric strength
500 VAC, 50/60 Hz for 1 min between current-carrying parts and case
Vibration resistance
Destruction: 10 to 500 Hz, 150 m/s2 or 2-mm double amplitude for 11 min 3 times each in X, Y, and Z directions
Shock resistance
Destruction: 1,000 m/s2 3 times each in X, Y, and Z directions
Degree of protection
IEC60529 IP65 (JEM IP65f for drip-proof and oil-proof construction) (See note 4.)
Connection method
Pre-wired (standard length: 1 m)
Weight (packed state)
Approx. 300 g
Others
Instruction manual
Note 1. An inrush current of approx. 9 A flows for approx. 0.1 ms right after the E6C3 is turned on.
2. The line driver output of the E6C3 is used for data transmission circuitry conforming to RS-422A and ensures long-distance transmission
over twisted-pair cable, the quality of which is equivalent to AM26LS31.
3. The maximum electrical response revolution is determined by the resolution and maximum response frequency as follows:
Maximum electrical response frequency (rpm) = Maximum response frequency/resolution × 60
This means that the E6C3 will not operate electrically if its revolution exceeds the maximum electrical response revolution.
4. JEM1030: applicable since 1991.
E6C3 Rotary Encoder (Incremental/Absolute)
3
5. Complementary Output:
The complementary output has two output transistors (NPN and PNP) as shown below. These two output transistors alternately turn ON
and OFF depending on the "H" or "L" output signal. When using them, pull up to the positive power or pull down to 0 V. The complementary
output allows flow-in or flow-out of the output current and thus the rising and falling speeds of signals are fast. This allows a long cable
distance. They can be connected to open-collector input devices (NPN, PNP).
Power
supply
E6C3-CWZ5GH
NPN transistor
OUT
Signal
PNP transistor
0V
6. Phase-Z signals are output when the relationship between the shaft’s D cut position and the cable’s pullout direction is as shown in the
following diagram. (Output position range: ±15°.)
120°
D cut
120°
4
40 dia.
E6C3 Rotary Encoder (Incremental/Absolute)
Output Circuit Diagram
■ Incremental Rotary Encoders
Model/output circuit
Output modes
Connection
E6C3-CWZ5GH
Brown
7.5 Ω
30 mA
max.
Black, white,
orange
Main
circuit
24 Ω
30 mA
max.
7.5 Ω
Blue
Shield
12 VDC −10% to
24 VDC +15%
Output signal
(Black: Phase A;
White: Phase B;
Orange: Phase Z)
0V
GND
Voltage Output: E6C3-CWZ3EH
Complementary Output: E6C3-CWZ5GH
Rotating direction: Clockwise (CW)
(As viewed from the face of the shaft)
Color
Terminal
Brown
Power supply
(+VCC)
H
Black
Output phase A
L
H
Phase B
L
1/4±1/8T (90˚±45˚)
H
Phase Z
L
White
Output phase B
T (360˚)
H
Phase A
L
E6C3-CWZ3EH
H
L
H
Phase Z
L
Phase B
Brown
2 kΩ
Black, white,
orange
NPN
transistor
Main
circuit
7.5 Ω
5 VDC −5% to
12 VDC +10%
Output signal
(Black: Phase A;
White: Phase B;
Orange: Phase Z)
Rotating direction: Counterclockwise (CCW)
(As viewed from the face of the shaft)
CW
T (360˚)
Phase A
Note: Phase A is 1/4±1/8T faster than
phase B.
CCW
Orange Output phase Z
1/4±1/8T (90˚±45˚)
Blue
0 V (common)
Note: Phase A is 1/4±1/8T slower than
phase B.
35 mA
max.
Blue
Shield
0V
GND
E6C3-CWZ3XH
Line Driver Output: E6C3-CWZ3XH
Rotating direction: Clockwise (CW)
Rotating direction: Counterclockwise (CCW)
(As viewed from the face of the shaft) (As viewed from the face of the shaft)
Brown
Main
circuit
AM26LS31
or equivalent
5 VDC −5% to
12 VDC +10%
Black, white, Non-reversed output
orange
(Black: Phase A;
Black, white, White: Phase B;
orange (with Orange: Phase Z)
red stripes)
Reversed output
Blue
Shield
(Black/Red: Phase A;
White/Red: Phase B;
Orange/Red: Phase Z
0V
GND
T (360°)
H
Phase A
L
H
Phase B
L
H
Phase Z
L
H
Phase A
L
H
Phase B
L
H
Phase Z
L
CW
T (360°)
H
Phase A
L
H
Phase B
L
1/4±1/8T (90°±45°)
H
Phase Z
L
H
L
H
Phase B
L
H
Phase Z
L
Phase A
CCW
Color
Terminal
Brown
Power supply
(+VCC)
Black
Output phase A
White
Output phase B
Orange Output phase Z
1/4±1/8T (90°±45°)
Black/
Red
stripes
Output phase A
White/
Red
stripes
Output phase B
Orange Output phase Z
/Red
stripes
Blue
0 V (common)
Note: Receiver:
AM26LS32
equivalent
Note 1. The shield is not connected to the internal circuits or casing of the E6C3.
2. There is no difference in circuit among phases A, B, and Z.
3. Connect the GND terminal to 0 V or the ground when the E6C3 is in normal operation.
E6C3 Rotary Encoder (Incremental/Absolute)
5
Connection Examples
■ Incremental Rotary Encoders
[email protected]@ High-speed Counter Unit
H7ER Digital Tachometer
Applicable Model: E6C3-CWZ5GH
Typical Model: C200H-CT001-V1
Applicable Model: E6C3-CWZ3EH (with a
resolution of 10, 60, or 600 P/R)
(Encoder at 0 V)
+12 V
Phase A
Brown
0V
H7ER Digital Tachometer
Black
+24 V
Phase A
+24 V
Phase B
+12 V
+5 V
+12 V
+5 V
Phase B
12-VDC power supply
Blue
5 to 12 VDC
+12 V
0V
H7BR Digital Counter
Applicable Model: E6C3-CWZ3EH
Note: Apply the following connections if the E6C3’s 3 power supplies
are 5 or 24 V.
Phase A and Power Supply: 5 V to A19 and 24 V to B20
Phase B and Power Supply: 5 V to A17 and 24 V to B18
Applicable Model: E6C3-CWZ5GH
Typical Model: C200H-CT021
Brown
Black
(Encoder at 0 V)
White
Shield
Blue
+12 V
0V
Phase Z
Phase B
Phase A
H7BR Digital Counter
0V
H7CR-CW Digital Counter
Applicable Model: E6C3-CWZ5GH
Phase Z
Phase B
Phase B
Phase A
Phase A
0V
5 to 24
VDC
Phase A
12-VDC power supply
+12 V
0V
Note: Apply the following connections if the power supply to the E6C3
is 12 or 24 V.
Phase A and Power Supply: 12 V to A8/B8 and 24 V to A9/B9
Phase B and Power Supply: 12 V to A12/B12 and 24 V to A13/
B13
Phase Z and Power Supply: 12 V to A16/B16 and 24 V to A17/
B17
Black
White
Blue
Brown
12 VDC
(100 mA)
H7CR-CW
6
+12 V
Phase Z
E6C3 Rotary Encoder (Incremental/Absolute)
CQM1-CPU43-EV1 (as Built-in Highspeed Counter)
• The pulse output of the E6C3 can be directly input into IN04, IN05,
and IN06 of the CPU Unit to use these three points as a built-in
high-speed counter.
• The single-phase response speed is 5 kHz and the two-phase
response speed is 2.5 kHz. The count value is within a range
between 0 and 65,535 in increment mode and −32,767 and 32,767
in decrement mode.
• The operating mode of the high-speed counter is set with the PC
Setup in the DM area.
C500-CT001/CT012 High-speed
Counter Unit
CW and CCW detection (increment/
decrement counting)
Applicable Model: E6C3-CWZ5GH
Brown
Black
Blue
Count Mode
White
Up/Down mode
Increment/Decrement counter uses phases A and B.
Incrementing mode
Increment counter uses phase A only.
Normal mode
IN04 through IN05 are used for normal input.
Shield
Internal DIP switch settings
Applicable Model: E6C3-CWZ5GH
Phase A
IN 0000CH
Phase B
Reset
The present count value can be reset with the soft-reset function or
the AND of soft reset and phase Z input.
Phase
Z
Output
CQM1 Programmable Controller
Applicable Model: E6C3-CWZ5GH
Target value
When the count value reaches the target value, the
specified subroutine is executed. A maximum of 16
target values can be set.
Range
comparison
When the count value is within the range, the specified subroutine is executed. A maximum of 8 ranges can be set with upper and lower limits.
Brown (12 V)
Black (Phase A)
White (Phase B)
Orange (Phase Z)
Blue (0 V)
Shield
E6C3 Rotary Encoder (Incremental/Absolute)
7
Specifications
■ Ratings/Characteristics
Absolute Rotary Encoders
Item
E6C3AG5C-C
E6C3AG5C
E6C3AN5C
E6C3AB5C
E6C3AG5B
E6C3AN5B
E6C3AB5B
E6C3AN1E
E6C3AN2E
Power supply voltage
12 VDC−10% to 24 VDC+15%, ripple (p-p) 5% max.
Current consumption
70 mA max.
Resolution
(See note 1.)
(pulses/rotation)
256, 360
Output code
Gray code
Output configuration
NPN open collector output
PNP open collector output
Voltage output
Output capacity
Applied voltage: 30 VDC max.
Sink current: 35 mA max.
Residual voltage: 0.4 V max. (at sink current of
35 mA)
Source current: 35 mA max.
Residual voltage: 0.4 V max. (at
Source current of 35 mA)
Output resistance:
2.4 kΩ
Rise and fall times of
output
256, 360,
720, 1,024
5 VDC ±5% 12 VDC
±10%
32, 40
6, 8, 12
256, 360,
720, 1,024
32, 40
6, 8, 12
256
Binary
BCD
Gray code
Binary
BCD
Binary
Output resistance:
8.2 kΩ
Sink current: 35 mA max.
Residual voltage: 0.4 V
max. (at sink current of
35 mA)
1 µs max. (cable length: 2m; output current: 35 mA max.)
Rise: 3 µs
max.
Fall: 1 µs
max.
Max. response
20 kHz
frequency (See note 2.)
Rise: 10 µs
max.
Fall: 1 µs
max.
10 kHz
Logic
Negative logic output (H=0, L=1)
Rotational direction
(See note 3.)
Output code incremented by clockwise rotation (as viewed from the face of the shaft.)
Changed using the rotational direction designation input.
Strobe signal
Not available
Not available
Positioning signal
Not available
Parity signal
Not available
Starting torque
10 mN·m max. at room temperature
30 mN·m max. at low temperature
Moment of inertia
2.3 × 10−6 kg·m2
Shaft
loading
80 N
Radial
Thrust
Positive logic output (H=1, L=0)
Available
Not available
Available
Available
Not available
Available
Not available
(even number)
Available
Not available
Available
Not available
(even number)
50 N
Max. permissible
rotation
5,000 rpm
Ambient temperature
Operating: −10°C to 70°C (with no icing)
Storage: −25°C to 85°C (with no icing)
Ambient humidity
35% to 85% (with no condensation)
Insulation resistance
20 MΩ min. (at 500 VDC) between current-carrying parts and case
Dielectric strength
500 VAC, 50/60 Hz for 1 min between current-carrying parts and case
Vibration resistance
Destruction: 10 to 500 Hz, 1.0-mm single amplitude or 150 m/s2 for 11 min. 3 times each in X, Y, and Z directions.
Shock resistance
Destruction: 1,000 m/s2, 6 times each in X, Y, and Z directions
Degree of protection
IEC60529 IP65 (JEM IP65f for drip-proof and oil-proof construction) (See note 4.)
Connection method
Connector Pre-wired (standard length: 1 m)
(standard
length: 1 m)
Weight (packed state)
Approx. 300 g
Others
Instruction manual
8
E6C3 Rotary Encoder (Incremental/Absolute)
Note 1. The codes are classified as shown in the following table.
Output code
Binary
BCD
Gray code
Resolution
Code number
32
1 to 32
40
1 to 40
256
0 to 255
6
0 to 5
8
0 to 7
12
0 to 11
256
0 to 255
360
76 to 435 (Remainder of 76)
720
152 to 871 (Remainder of 152)
1,024
0 to 1,023
2. The maximum electrical response revolution is determined
by the resolution and maximum response frequency as follows:
Maximum electrical response frequency (rpm) = Maximum
response frequency/resolution × 60
This means that the E6C3 will not operate electrically if its
revolution exceeds the maximum electrical response revolution.
3. With the E6C3-AN1E and E6C3-AN2E models, the output
code can be increased in the clockwise direction by connecting the rotational direction designation input (wire color: pink)
to H (Vcc), and the output code can be decreased in the
clockwise direction by connecting the input to L (0 V).
E6C3-AN1E: H=1.5 to 5 V, L=0 to 0.8 V
E6C3-AN2E: H=2.2 to 12 V, L=0 to 1.2 V
With the E6C3-AN1E and E6C3-AN2E models, read the
code at least 10 µs after the LSB (20) code has changed.
4. JEM1030: applicable since 1991.
5. The absolute code’s smallest address is output when the relationship between the shaft’s D cut position and the cable’s
pullout direction is as shown in the following diagram. (Output
position range: ±15°.)
120°
D cut
120°
40 dia.
E6C3 Rotary Encoder (Incremental/Absolute)
9
Output Circuit Diagrams
■ Absolute Rotary Encoders
E6C3-AG5C/-AG5C-C
Output
Circuits
E6C3-AG5B
12 to
24 VDC
12 to
24 VDC
Output
35 mA max.,
30 VDC
0V
Main
circuit
Shield
35 mA
max.
Shield
GND
0V
20
21
22
23
24
25
26
27
28
29
Shield
GND
Note: Each output bit uses the same circuit.
ON
Output
Main
circuit
35 mA
max.
Shield
GND
Note: Each output bit uses the same circuit.
0V
GND
Note: Each output bit uses the same circuit.
Rotating direction: CW, as viewed from the face of the shaft.
Resolution: 40
No.
OFF
OFF
Strobe
signal
ON
20
ON
12 to
24 VDC
Output
35 mA max.,
30 VDC
0V
Main
circuit
Rotating direction: CW, as viewed from the face of the shaft.
E6C3-AN5B
12 to
24 VDC
Output
Main
circuit
Note: Each output bit uses the same circuit.
Output
Modes
E6C3-AN5C
OFF
21
ON
OFF
22
ON
1
5
10
15
20
25
360°
C
2.25°
9°
30
35
40
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
23
OFF
OFF
24
ON
OFF
25
ON
OFF
Parity
signal
ON
ON
OFF
ON
OFF
ON
OFF
OFF
ON
OFF
Absolute angle
ON
OFF
Address
0 1 2 3 4 5 6 7 8 9 1011121314151617181920212223242526272829303132333435363738394041424344454647484950515253545556575859606162636465
When resolution is 32
A=11.25°
B=6°
C=3°
Strobe signal
18°
27°
2.25°
B
4.5°
A
9°
0.5° min.
0.5° min.
Other bit signal
Connections
■ Connector Specifications
Pin
number
E6C3-AG5C-C
Connected internally
2
3
Wire color
Output signal
9-bit (360)
8-bit (256)
NC
Brown
2
8
Orange
2
5
Yellow
2
1
Green
2
0
2
0
2
1
2
2
2
3
9-bit (360)
10-bit (720, 1,024)
2
0
20
2
1
21
2
2
22
2
3
23
2
5
2
1
5
2
0
Blue
24
24
24
6
27
27
Purple
25
25
25
7
24
24
Gray
26
26
26
8
2
2
2
2
White
7
2
7
27
2
3
2
3
Pink
2
8
28
10
2
6
2
6
NC
29
11
Shield (GND)
12
13
4
9
2
NC
Light blue NC
---
Shield (GND)
12 to 24 VDC
Red
12 to 24 VDC
0 V (Common)
Black
0 V (Common)
Note: Connector type: RP13A-12PD-13SC (Hirose Electric)
10
E6C3-AG5C/E6C3-AG5B
Output signal
8-bit (256)
1
■ Cable Specifications
E6C3 Rotary Encoder (Incremental/Absolute)
Output Circuit Diagrams
■ Absolute Rotary Encoders
E6C3-AB5C
E6C3-AB5B
E6C3-AN1E
Output
Circuits
E6C3-AN2E
5 VDC
12 VDC
2.4
kΩ
8.2
kΩ
Output
35 mA max.
Main
circuit
Output
35 mA max.
Main
circuit
0V
12 to
24 VDC
12 to
24 VDC
Output
35 mA max.,
30 VDC
0V
Main
circuit
Shield
Shield
Output
Main
circuit
35 mA
max.
Shield
GND
0V
Shield
GND
Note: Each output bit uses the same circuit.
0V
GND
Note: Each output bit uses the same circuit.
Rotational Direction Designation Input Circuit
GND
Vcc (5 V or 12 V)
Note: Each output bit uses the same circuit.
Note: Each output bit uses the same circuit.
Main
circuit
Input
Note: Output code increases in the
clockwise direction when the
input is connected to Vcc and
decreases in the clockwise
direction when the input is
connected to 0 V.
0V
Output
Modes
Rotating direction: CW, as viewed from the face of the shaft.
Resolution: 12
No.
0
1
2
3
4
5
6
7
8
9
10
11
Positioning ON
OFF
signal
ON
Strobe signal
Rotating direction:
CW, as viewed from the face of the shaft, when rotational direction
designation input is at “H."
CCW, as viewed from the face of the shaft, when rotational direction designation input is at “L."
OFF
ON
20
OFF
21
OFF
22
OFF
Shaft angle: 360°
ON
20
ON
21
ON
23
OFF
2 0 ×10
OFF
−−− °
( 360
256 )
(H)
(L)
1
−−− °
(360
32 )
T±T/2
2
3
−−− °
(360
16 )
T±T/2
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
22
ON
23
24
When resolution is 8
A=45°
B=22.5°
C=11.25°
When resolution is 6
A=60°
B=30°
C=15°
Absolute
angle
Strobe
signal
Positioning
signal
0°
30°
60°
C
7.5°
25
90°
26
7.5°
27
T=360°/256≈1.4°
B
15°
A
30°
0.5°
0.5°
1°
E6C3 Rotary Encoder (Incremental/Absolute)
11
Connections
■ Cable Specifications
Wire color
E6C3-AN5C/-AN5B
E6C3-AB5C/-AB5B
E6C3-AN1E/-AN2E
Output signal
Output signal
Output signal
6-bit (32, 40)
3-bit (6, 8)
5-bit (12)
8-bit (256)
Brown
20
20
20
20
Orange
21
21
21
21
2
2
2
2
2
2
22
2
3
NC
2
3
23
Blue
2
4
Purple
Gray
Yellow
Green
NC
0
2 × 10
24
25
NC
NC
25
Parity
Positioning
Positioning
26
White
Strobe
Strobe
Strobe
27
Pink
NC
NC
NC
Rotational direction designation input
Light blue
NC
NC
NC
NC
---
Shield (GND)
Red
12 to 24 VDC
Black
0 V (Common)
5, 12 VDC
Connection Examples
■ Connecting an Absolute Rotary
Encoder to an H8PS Cam
Positioner
H8PS-8A, -8AP, -8AF, -A8AF
■ Connecting E6C3-AG5C to
Programmable Controller
System Configuration Using a
Resolution of 1,024 per Rotation
A combination of the CQM1-CPU44-E and E6C3-AG5C ensures
easy output angle setting for cam control in 360° or BCD mode.
H8PS
E6C3-AG5C
With a resolution of 1,024 per rotation
Output Unit (100 words)
E6C3-AG5C-C
Specifications
Rated voltage
24 VDC
Cam resolution
1.4° (a resolution of 256 per rotation)
Outputs
8 cam outputs
1 RUN output
1 tachometer output
Encoder response
330 rpm
Functions
Origin compensation (zero shift)
Rotating direction selection
Angle display selection
Teaching
E69-DC5 5M
Connection
Cable
CQM1-CPU44-E
Two Encoder inputs can be controlled independently.
Mode Setting of CQM1-CPU44-E
Set port 1 to BCD mode and 10 bits
DM 6643
Output Timing
0
10000
10001
10002
12
E6C3 Rotary Encoder (Incremental/Absolute)
0001
Angle of E6C3-AG5C
128 256
512 640 768
Ladder Program Example
Use the CTBL instruction of the CQM1-CPU44-E to register a maximum of eight comparison tables for output angle setting.
One scan ON
25315
CTBL (63)
001
001
DM0000
AR0500
■ Absolute Rotary Encoders
Connecting to CPM1A Using a
Resolution of 720 per Rotation
Select port 1 for table
registration, comparison mode
setting, and comparison-table
first channel setting.
E6C3-AG5C
10000
AR0501
10001
AR0502
Output
[email protected]@
10002
END (01)
Example of DM Setting for Comparison Table
DM 0000
0001
0002
0003
0004
0005
0006
0007
0008
0009
0000
0512
0000
0256
0768
0000
0128
0640
0000
0000
Lower limit 1
Upper limit 1
Subroutine number 1
Lower limit 2
Upper limit 2
Subroutine number 2
Lower limit 3
Upper limit 3
Output signal from E6C3-AG5C
Bit AR 0500
Bit AR 0501
Bit AR 0502
Subroutine number 3
Lower limit 4
Not used.
0022
0023
0000
0000
Wiring Between E6C3-AG5C and CPM1A
Upper limit 8
Subroutine number 8
Orange (21)
00001
Yellow (22)
00002
Green (23)
00003
Blue (2 )
00004
Purple (25)
00005
4
Gray (26)
00006
White (27)
00007
• Range Comparison Result
Each bit of the CQM1-CPU44-E CPU Unit’s words AR 05 and AR
06 turns ON only when the comparison range coincides with the
angle of E6C3-AG5C. If it does not coincide, the bit turns (remains)
OFF.
00009
9
Light blue (2 )
Output Timing
Internal Bits of CQM1-CPU44-E
Bit 7
00008
Pink (28)
Note: An upper or lower limit can be set with integers in BCD mode
and 5° increments in 360° mode. Subroutine numbers are set
for interrupt processing.
Input signal to CPM1A
00000
Brown (20)
Angle of E6C3-AG5C
0
90
180
360
540
659
01000
01001
01002
0
Port 1 comparison result
AR 05
Port 2 comparison result
AR 06
Comparison 1 result
1: Conformity
0: Nonconformity
Comparison 8 result
• Present Value Read
The gray code signals of the E6C3-AG5C are automatically converted into BCD or 360° code signals and read through the CQM1CPU44-E CPU Unit’s words AR 232 and AR 234. The present
value can be used for ladder programs.
Port 1 angle
✽ ✽ ✽ ✽ Word 232
Port 2 angle
✽ ✽ ✽ ✽ Word 234
Note: For details on the CQM1-CPU44-E, refer to the CQM1 Programming Manual (W228).
E6C3 Rotary Encoder (Incremental/Absolute)
13
Ladder Program
00009
00008 20009
Example of DM Setting
for Comparison Table
(Always ON)
25313
20009
20008
00008 20009
00007 20008
20006
If the Encoder value (word 202)
exists between DM 6200
(BCMP) and DM 6231 (the
comparison table), the
corresponding bit of word 203
turns ON.
BCMP (68)
202
DM6200
203
00006 20007
00005 20006
Subtracts 152 for a resolution of
720 per rotation.
Nothing is subtracted for a
resolution of 256 or 1,024 per
rotation.
Subtracts 76 for a resolution of
360 per rotation.
SUB (31)
201
#0152
202
20007
00007 20008
00006 20007
Converts a BIN code signal
(word 200) into a BCD code
signal (word 201).
BCD (24)
200
201
20005
00005 20006
20300
00004 20005
20004
00004 20005
Converts a gray code
signal into a BIN code
signal (word 200).
01000
20301
01001
20302
00003 20004
20003
END (01)
00003 20004
00002 20003
01002
20002
00002 20003
00001 20002
20001
00001 20002
00000 20001
20000
00000 20001
14
E6C3 Rotary Encoder (Incremental/Absolute)
Output
DM 6200
6201
6202
6203
6204
6205
6206
0000
0540
0090
0360
0180
0659
0000
Lower limit 1
Upper limit 1
Lower limit 2
Upper limit 2
Lower limit 3
Upper limit 3
6231
0000
Upper limit 16
Bit 20300
Bit 20301
Bit 20302
Lower limit 4
Not used.
Precautions
■ Incremental and Absolute
Encoders
• When connecting the coupling, stay within the ranges shown
below.
Decentering
tolerance
Safety Precautions
0.15 mm max.
Do not impose voltage exceeding the rated voltage range on the
E6C3, otherwise the E6C3 may be damaged.
Do not wire power lines or high-tension lines along with the power
supply lines of the E6C3 or the E6C3 may be damaged or malfunction.
Declination
tolerance
If the power supply has surge voltage, connect a surge suppressor
between the positive and negative terminals of the power supply to
absorb the surge voltage. Also, in order to protect the E6C3 from
noise, shorten the wires connected to the E6C3 as much as possible.
Unnecessary pulses are output at the time the E6C3 is turned ON or
OFF. After turning ON the E6C3, be sure to wait 0.1 s before turning
ON the peripheral devices connected to the E6C3 and turn OFF the
peripheral devices 0.1 s before turning OFF the E6C3.
2° max.
Displacement
tolerance in the
shaft direction
0.05 mm max.
Application Precautions
Mounting
● Mounting Precautions
• Be careful not to spray water or oil onto the E6C3.
• The E6C3 consists of high-precision components. Handle with
utmost care and do not drop the E63C, otherwise malfunctioning
may result.
• When the E6C3 is used in reversed operation, pay utmost attention
to the mounting direction of the E6C3 and the directions of increment and decrement rotation.
• When connecting or disconnecting the coupling, do not impose an
excessive bending, pressing, or pulling force on the E6C3.
• When connecting the shaft of the E6C3 with a chain timing belt or
gear, connect the chain timing belt or gear with the shaft via the
bearing and coupling as shown in the following illustration.
Chain sprocket
Bearing
Coupling
• To match phase Z of the E6C3 and the origin of the device to be
connected to the E6C3, conform the phase Z outputs while connecting the device.
• Be careful not to impose an excessive load on the shaft if the shaft
connects to a gear.
• If the E6C3 is mounted with screws, the tightening torque must not
exceed approximately 0.5 N·m.
• If the E6C3 is mounted to a panel, do not pull the cable with more
than a force of 30 N. Do not subject the E6C3 or the shaft to excessive shock.
• If the decentering or declination value exceeds the tolerance, an
excessive load imposed on the shaft may damage or shorten the
life of the E6C3.
Cable
30 N max.
Mounting plate
Mounting plate
• No shock must be given to the shaft or coupling. Therefore, do not
hit the shaft or coupling with a hammer when inserting the shaft
into the coupling.
E6C3 Rotary Encoder (Incremental/Absolute)
15
● Mounting Procedure
1 Insert the shaft into the coupling.
Do not secure the coupling and shaft with screws at this
stage.
Refer to the following table for the maximum insertion length
of the shaft into the coupling.
Model
E69-C08B/E69-C68B
2 Secure the Rotary Encoder.
Model
E69-C08/E69-C68B
3 Secure the coupling.
4 Connect the power and I/O lines.
Maximum insertion length
6.8 mm
Tightening torque
0.44 N ⋅ m
Be sure to turn off the Rotary Encoder when connecting
the lines.
5 Turn on the Rotary Encoder and
check the output.
Cable Extension
The following graph shows the (theoretical) life expectancy of the
bearing with radial and thrust loads imposed on the bearing.
• The rise time of each output waveform will increase when the cable
is extended. This affects the phase difference characteristics of
phases A and B.
Life (× 1010 revolutions)
Life of Bearing
3.5
Wr
Encoder
3.0
2.5
Ws
Shaft
Wr: Radial load
Ws: Thrust load
Wa:
10N
Note: Recommended Cable:
Cross section:0.2 mm2 with spiral shield
Conductor resistance:92 Ω/km max. at 20°C
Insulation resistance:5 MΩ/km min. at 20°C
2.0
1.5
Wa:
20N
Wa:
30N
• The rise time varies with the resistance of the cable and the kind of
cable as well as the length of the cable.
1.0
Wa:
40N
Wa:
0.5
50N
Wa:
60N
0
10 20
The available length of cable varies with the response frequency
and noise. It is safer to limit the length of cable to 10 m maximum. If
a longer cable of up to 100 m is required, use the line driver output
or complementary output model. (The maximum extension with the
line driver output model is 100 m.)
• The residual output voltage will increase according to the length of
the cable.
30
40
50
60
70
80
90
100
Preventing Miscounting
Radial load Wr (N)
If the operation of the E6C3 is stopped near a signal rising or falling
edge, a wrong pulse may be generated, in which case the E6C3 will
miscount. In such a case, use an increment-decrement counter to
prevent miscounting.
Wiring
Connecting
• When extending the cable for Incremental Rotary Encoders, select
the kind of cable with care by taking the response frequency into
consideration because the longer the cable is, the more the residual voltage increases due to the resistance of the cable and the
capacitance between the wires. As a result, the waveform will be
distorted.
We recommend the line driver output type model (E6C3-CWZ3XH)
or the complementary output type model (E6C3-CWZ5GH) if the
cable needs to be extended.
In order to reduce inductive noise, the cable must be as short as
possible, especially when the signal is input to an IC.
• If the power supply has surge voltage, connect a surge suppressor
between the positive and negative terminals of the power supply to
absorb the surge voltage.
• Unnecessary pulses are output at the time the E6C3 is turned ON
or OFF. After turning ON the E6C3, be sure to wait 0.1 s before
turning ON the peripheral devices connected to the E6C3 and turn
OFF the peripheral devices 0.1 s before turning OFF the E6C3.
16
E6C3 Rotary Encoder (Incremental/Absolute)
Extension of Line Driver Output
• Be sure to use a shielded twisted-pair cable to extend a line driver
cable.
Recommended cable: Tachii Electric Wire Co., TKVVBS4P 02A
• Use an RS-422A Receiver for the receiver side.
• The twisted-pair wires as shown in the following illustration are
suitable for RS-422A signal transmission. Normal mode noise can
be eliminated by twisting the wires because the generated electrical forces on the lines cancel each other.
Twisted-pair
wires
• Be sure the E6C3 is supplied with 5 VDC when a line driver output
is used. There will be an approximately 1-V voltage drop if the
cable length is 100 m.
Input to More than One Counter from
Encoder (with Voltage Output)
Use the following formula to obtain the number of counters to be
connected to a single E6C3.
Number of counters (N) =
R1 (E−V)
V × R2
E: Voltage supplied to E6C3
V: Minimum input voltage of the counter
R1: Input resistance of the Counter
R2: Output resistance of the E6C3
0V
Encoder output stage
Counter
Counter
Connectable
number: N
E6C3 Rotary Encoder (Incremental/Absolute)
17
Dimensions
Rotary Encoder
[email protected]@H
(58)
5
(15)
10
120°±0.1
40 dia.±0.1
38
20
D cut: Phase-Z postion (range: ±15°)
1
0
8 dia. +
−0.018
1
12 dia.
30 dia.
+0
−0.021
50 dia.
Three, M4 holes
Depth: 5
6
120°±0.1
8.8
10
6
5 dia. oil-proof PVC, shielded 5-conductor cable (8-conductor for line driver)
(conductor cross-section: 0.2 mm2; insulation diameter: 1.1 mm)
Standard length: 1 m
[email protected]@
[email protected]
(58)
(15)
10
120°±0.1
40 dia.±0.1
38
20
D cut: Phase-Z postion (range: ±15°)
5
+0
8 dia.−0.018
1
0
30 dia.+
−0.021
50 dia.
6
120°±0.1
10
8.8
6
Three, M4 holes
Depth: 5
6 dia. oil-proof PVC, shielded 12-conductor cable
(conductor cross-section: 0.2 mm2; insulation diameter: 1.1 mm)
Standard length: 1 m
Note: E69-C08B Coupling is sold separately.
E6C3-AG5C-C
(58)
D cut: Phase-Z postion (range: ±15°)
(15)
10
120°±0.1
40 dia.±0.1
38
20
5
0
8 dia.+−0.018
1
30 dia.+0
−0.021
50 dia.
6
120°±0.1
10
Three, M4 holes
Depth: 5
8.8
6
6-dia. oil-proof PVC, shielded 12-conductor cable
(conductor cross-section: 0.2 mm2; insulation diameter: 1.1 mm)
Standard length: 1 m
Note: E69-C08B Coupling is sold separately.
18
E6C3 Rotary Encoder (Incremental/Absolute)
Hirose Electric
RP13A-12PD-13SC
37
■ Accessories (Order Separately)
Extension Cable
E69-DF5
34.6
5,000
37
16.9 dia.
16.9 dia.
(See note 2.)
(See note 1.)
(See note 3.)
Note 1: 6-dia. oil-proof PVC, shielded 12-conductor cable (conductor cross-section:
0.2 mm2; insulation diameter: 1.1 mm); standard length: 5 m
2: Connects to the connector of the E6C3-AG5C-C.
3: Connects to the H8PR Rotary Positioner and H8PS Cam Positioner.
Note: The Cable can be extended up to 100 m for connecting the H8PS Cam Positioner.
E69-C08B
E69-C68B (With Ends of Different Diameter)
Four, M4 hexagon
socket heat setscrews
Brass bushing
8H8 dia.
8H8 dia. 19 dia.
6H8 dia.
8H8 dia. 19 dia.
Note: The coupling is made of
glass-reinforced PBT.
Note: Material: Glass-reinforced PBT
Four, M4 hexagon
set screws
Flanges
E69-FCA03
E69-FCA04
Mounting Bracket Installation
120°
Panel
Four,
4.5 dia.
30 dia.
Three, 4.5 dia, M4
screw-head holes
Four, R3
30.2±0.1 dia.
40±0.1 dia.
Material: SPCC (t=3.2)
Three, 4.5 dia,
40±0.1 dia.
M4 screw- 30.2±0.1 dia.
56 dia.
head holes
120°
68 dia.±0.2
Three, M5
Material: SPCC (t=3.2)
Servo Mounting Bracket
E69-2 (A Set of Three)
5.5-dia. hole
Two, C1
E6C3 Rotary Encoder (Incremental/Absolute)
19
ALL DIMENSIONS SHOWN ARE IN MILLIMETERS.
To convert millimeters into inches, multiply by 0.03937. To convert grams into ounces, multiply by 0.03527.
Cat. No. F058-E1-01
In the interest of product improvement, specifications are subject to change without notice.
OMRON Corporation
Industrial Automation Company
Industrial Sensors Division
Sensing Devices and Components Division H.Q.
3-2, Narutani, Nakamyama-cho, Ayabe-shi,
Kyoto, 623-0105 Japan
Tel: (81)773-43-4078/Fax: (81)773-43-4030
Printed in Japan
0902-2M (0902) (B)