AEDA-3300 Series Ultra Miniature, High Resolution Incremental Kit Encoders Data Sheet Description Features The AEDA-3300 series are high performance, cost effective, three-channel optical incremental encoder modules with integrated bearing stage. By using transmissive encoder technology to sense rotary position, the AEDA-3300 series emphasizes high reliability, high resolution and easy assembly. Outputs of the AEDA-3300 encoders are two channel quadrature and a third channel gated index signals. These encoders can be easily mounted to customer specific applications. Wide resolution options are available for the AEDA-3300 series, while keeping the same package size across the whole CPR range. The “One size fits all” package eliminates the need for customers to design different platforms for different resolutions. As the AEDA-3300 encoders are designed for high temperature and high operating frequency range, they are well suited for industrial automation and motion control applications Three channels output (quadrature A & B output with index channel) Note: Avago Technologies encoders are not recommended for use in safety critical applications. E.g. ABS braking systems, power steering, life support systems and critical care medical equipment. Please contact sales representative if more clarification is needed. Applications Resolution options from 600 to 20000 Cycles Per Revolution (CPR), up to 80000 counts with 4X decoding Cost effective -40° C to 125° C operating temperature Ultra miniature size (Ø 17 mm) Maximum 1 MHz or 650 kHz operating frequency Maximum 12000 RPM rotational speed Single 5 V supply Integrated RS 422 differential line driver Integrated bearing stage for easy mounting Bottom-up or top-down mounting options Motors Semiconductor Automation Machine Robotics Industrial Sewing Machine Packaging Machine Machine Tools Pick and Place Machines ESD WARNING: NORMAL HANDLING PRECAUTIONS SHOULD BE TAKEN TO AVOID STATIC DISCHARGE. Package Dimensions – Bottom-up Version Dimensions in mm unless otherwise stated. Tolerance: x.x: ± 0.1mm * Refer to Mechanical Characteristics Table for requirement on the solid shaft diameter. Isometric Views – Bottom-up Version 2 Package Dimensions – Top-Down Version (With Coupling Plate) Dimensions in mm unless otherwise stated. Tolerance: x.x: ± 0.1mm * Refer to Mechanical Characteristics Table for requirement on the solid shaft diameter. Isometric Views – Top-Down Version (With Coupling Plate) 3 Absolute Maximum Ratings Storage Temperature -40 to 125° C Operating Temperature -40 to 125° C Supply Voltage 4.5 V to 5.5 V Output Voltage -0.5 V to Vcc Output Current per Channel 20 mA Max Frequency 1 MHz Note: Absolute Maximum Ratings are those values beyond which the safety of the device cannot be guaranteed. They are not meant to imply that the device should be operated at these limits. The tables “Recommended Operating Conditions and Characteristics” provide conditions for actual device operation. Recommended Operating Conditions Parameter Symbol Min. Typical Max. Units Notes Temperature TA -40 25 125 C Supply Voltage VCC 4.5 5 5.5 V Frequency f 1.0 MHz 1. 2. For CPR options of 10 000 CPR and below. Gated by maximum rotational speed of 12000 RPM. Refer to section. 650 kHz 3. Maximum Frequency and RPM. For CPR options above 10 000 CPR and up to 20 000 CPR Please consult factory for special requirements of higher operating frequency 4. Encoding Characteristics Encoding characteristics over recommended operating conditions. Typical values represent maximum values at 25° C and 2000 RPM (1000 RPM for options above 10 000 CPR). See Output Waveform for the definitions of the errors. Parameter Symbol Typical Max. Units Remarks Pulse Width Error P 30 45 °e See Note 1 45 60 55 70 25 40 30 50 50 60 20 20 25 30 30 35 15 20 25 45 See Note 2 40 45 See Note 3 State Width Error Phase Error Index Pulse Width Error S Po Notes: 1. Applicable for CPR options of up to and include 4096 CPR 2. Applicable for CPR options from 5000 CPR, up to and include 10 000 CPR 3. Applicable for CPR options of above 10 000 CPR, and up to 20 000 CPR 4 See Note 2 See Note 3 °e See Note 1 See Note 2 See Note 3 °e See Note 1 See Note 2 See Note 3 °e See Note 1 Electrical Characteristics TableElectrical characteristics over recommended operating conditions. Typical values at 25° C Parameter Symbol Supply Current ICC High level Output Voltage VOH Low level Output Voltage VOL Minimum 2.5 Typical Maximum Units 55 100 mA 3.4 Notes V 0.3 0.5 V Mechanical Characteristics Parameter Dimension/Details Tolerance Units Remarks Standard Shaft Diameters 1.998 +0/-.01 (+0/-.0005) mm (in) Mounting Screw Size: Bottom-up (threaded mount) Top-down (coupling plate) M2 M2 Weight 12 Bearing material Stainless Steel miniature precision bearing Maximum RPM 12000 Maximum Axial Load 8 N Based on data provided by bearing manufacturer. Maximum Radial Load 8 N Based on data provided by bearing manufacturer. Maximum Initial Torque 3 x 10-3 Nm At 25° C Bearing Life 3 Years Based on manufacturer’s data. 24 hours continuous testing, at 125° C and maximum RPM. g See Note 1 Note: 1. This value represents the maximum mechanical permissible shaft speed of the kit encoder. However, for options with CPR > 5000, the maximum shaft speed is limited by the maximum electrical frequency. Refer to Table Maximum Frequency and RPM for the comparison of the possible operable frequency and RPM. Mechanical and Environmental Tests Test Name Reference Conditions Vibration (non-operating) IEC 68-2-64 5-2000 Hz at 20 G for 6-axis Shock (non-operating) IEC68-2-27 100 G at 10 ms ESD IEC 61000-4-2 4 kV Electromagnetic Compatibility (EMC) IEC61000-4-4 Spike Frequency = 5 KHz, Duration = 15ms, Repetition = 300 ms, Test Points = ±1000 & ±1500 V Humidity IEC-68-2-3 85% RH (Non-condensing) Note: Any mechanical shock and vibration exceeding the stated values may cause damage to the encoder. The encoder should not be subjected to excessive mechanical shock and vibration either during installation or operation. 5 Theory of Operation The AEDA-3300 translates rotary motion of a shaft into three channels of digital output. The AEDA-3300 series consists of the following key parts: a single light emitting diode (LED) light source, a focusing lens, a high-precision codewheel, a photodetector IC with a set of uniquely configured photodiodes, an interpolator IC, and a line driver IC. The LED emits light that is used to produce modulated by the codewheel to produce a set of analog signals. A high performance compensation and interpolation IC processes the analog signals to produce the digital A, B and index signals. These digital signals are further fed through a line driver IC that produces the final differential outputs for channels A, B, I, and their complements A, B and I. In a single size package, the AEDA-3300 is available for wide selection of cycles per revolution (CPR) options, from 600 to 20000. This translates to a maximum resolution of 80000 counts after quadrature decode (4X), satisfying the ever increasing requirement of higher encoder counts for better motion feedback performance. Maximum Frequency and RPM CPR Maximum Frequency (kHz) Maximum RPM 600 1000 1 12000 1000 1000 1 12000 1024 1000 1 12000 2000 1000 1 12000 2048 1000 1 12000 2500 1000 1 12000 3000 1000 1 12000 4000 1000 1 12000 4096 1000 1 12000 5000 1000 12000 6000 1000 10000 7200 1000 8300 7500 1000 8000 8000 1000 7500 8192 1000 7300 10000 1000 6000 10240 650 3800 12000 650 3250 14400 650 2700 18000 650 2150 20000 650 1950 Notes: 1. Maximum allowable operating frequency will be lower due to limitation in maximum permissible mechanical shaft speed. The operable frequency is calculated based on the formula: Frequency (kHz) = CPR x (RPM / 60 x 103) As an example, for the 1000 CPR option, the operable frequency is up to 200 kHz, i.e.: Maximum operable frequency for 1000 CPR option = 1000 x (12000 / 60 x 103 ) = 200 KHz 6 Output Waveforms Amplitude C P 2.5 V 0.5V CH. A S1 S2 S3 S4 2.5 V 0.5 V CH. B 2.5 V 0.5 V CH. I CH. I2.5 V 0.5 V Po CH. A2.5 V 0.5 V CH. B2.5 V 0.5 V Codewheel Rotation (Counter-clockwise ) Definitions Count (N): N refers to the cycles per revolution (CPR) of the encoder output. Pulse Width Error (P): The deviation in electrical degrees One Cycle (C): 360 electrical degrees (°e). Index Pulse Width (Po): The number of electrical degrees One Shaft Rotation: 360 mechanical degrees, N cycles that an index is high during one full shaft rotation. This value is nominally 180°e or ½ cycle. 90°e (¼ cycle) index pulse width available upon request. (rotary motion only). Phase (): The number of electrical degrees between the of the pulse width from its ideal value of 180°e. center of the high state on the channel A and the center of the high state of channel B. This value is nominally 90°e. State Width (S): The number of the electrical degrees between transitions in the output of the channel B. There are 4 states per cycle, each nominally 90°e. Pulse Width (P): The number of the electrical degrees that State Width Error (S): The deviation in electrical degrees of an output is a high-level during one cycle, nominally 180°e or ½ a cycle. 7 each state width from its ideal value of 90°e. Direction of Motor Rotation Pin Assignments When the codewheel rotates in a counter-clockwise direction, channel A will lead channel B (Figure 1 illustrates the definition of clockwise direction of codewheel rotation). When the codewheel rotates in a clockwise direction, channel B will lead channel A. Pin Signal Description Pin 1 A+ Digital Output Pin 2 A- Digital Output Pin 3 Gnd Ground Pin Pin 4 Gnd Ground Pin Electrical Interface Pin 5 B+ Digital Output Avago Technologies recommends National Semiconductor DS26C32AM Quad Differential Line Receiver or compatible as line receiver. Unused pin should be grounded for noise reduction. Shielded Cable should be used for better noise immunity. Pin 6 B- Digital Output Pin 7 Vcc Input Voltage Pin 8 Vcc Input Voltage Pin 9 I+ Digital Output Pin 10 I- Digital Output Mating Connector AEDA-3300 requires a 5 x 2 (1.27 mm x 1.27 mm) female IDC Connector. The cable used is 0.635 mm pitch flat ribbon cable. Note: 1. Both Pin 7 and Pin 8 must be connected to Vcc. 2. Either Pin 3 or Pin 4 must be connected to Gnd. Clockwise direction of codewheel rotation. Figure 1. As viewed from the top PCB end of the encoder +5V A+, B+, I+ A+, B+, I+ RT Cable A-, B-, IEncoder/Line driver Figure 2. Recommended receiver circuit. 8 A-, B-, ILine Receiver Ordering Information AEDA - 3300 – Resolution Options CPR Counts after 4X Decoding A4 A6 600 1000 2400 4000 Top-down, with coupling plate A7 AB 1024 2000 4096 8000 Bottom-up, without B coupling plate AC AJ 2048 2500 8192 10000 AM AQ 3000 4000 12000 16000 AT B1 4096 5000 16384 20000 B7 BJ 6000 7200 24000 28800 BK 7500 30000 BM BN 8000 8192 32000 32768 C1 C3 10000 10240 40000 40960 CH 12000 48000 CX 14400 57600 DM 18000 72000 E1 20000 80000 Mounting Options T Note: Please contact the factory for availability of other CPR options. 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 AV01-0084EN AV02-3570EN - June 11, 2012