Linear Optical Incremental Encoder Modules Technical Data HEDS-9200 Series Features Description • High Performance • High Resolution • Low Cost • Easy to Mount • No Signal Adjustment Required • Insensitive to Mechanical Disturbances • Small Size • -40°C to 100°C Operating Temperature • Two Channel Quadrature Output • TTL Compatible • Single 5 V Supply The HEDS-9200 series is a high performance, low cost, optical incremental encoder module. When operated in conjunction with a codestrip, this module detects linear position. The module 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. The two channel digital outputs and the single 5 V supply input Note: Codestrip not included with HEDS-9200 are accessed through four 0.025 inch square pins located on 0.1 inch centers. Five standard resolutions between 4.72 counts per mm (120 counts Package Dimensions 1.0 (0.04) 5.1 (0.20) DATE CODE 3.73 ± 0.05 (0.147 ± 0.002) HEDS-9200 CL 17.27 (0.680) 20.96 (0.825) SIDE A 2.21 (0.087) 2.54 (0.100) 20.8 (0.82) 11.7 (0.46) YYXX ALIGNING RECESS 2.44/2.41 DIA. 1.85 (0.073) (0.096/0.095) 2.16 (0.085) 8.64 (0.340) DEEP REF. X00 1.02 ± 0.10 (0.040 ± 0.004) 2.67 (0.105) DIA. MOUNTING THRU HOLE 2 PLACES 2.44/2.41 X 2.79 (0.096/0.095 X 0.110) 2.16 (0.085) DEEP OPTICAL CENTER OPTICAL CENTER LINE 5.46 ± 0.10 (0.215 ± 0.004) 1.78 ± 0.10 (0.070 ± 0.004) 2.92 ± 0.10 (0.115 ± 0.004) 10.2 (0.400) TYPICAL DIMENSIONS IN MILLIMETERS AND (INCHES) 2.9 (0.11) GND 1.8 (0.07) 1.52 (0.060) OPTION CODE CH. B VCC CH. A N.C. GND 2.54 (0.100) TYP. VCC 8.6 (0.34) 5 4 3 2 1 0.63 (0.025) SQR. TYP. 26.67 (1.05) 15.2 (0.60) 6.9 (0.27) 11.9 (0.47) 8.81 5.8 45° (0.23) (0.347) 4.75 ± 0.10 (0.187 ± 0.004) ALIGNING RECESS 2.44/2.41 X 2.79 (0.096/0.095 X 0.110) 2.16 (0.085) DEEP ALIGNING RECESS 2.44/2.41 DIA. (0.096/0.095) 2.16 (0.085) DEEP OPTICAL CENTER 4.11 (0.162) 6.35 (0.250) REF. SIDE B ESD WARNING: NORMAL HANDLING PRECAUTIONS SHOULD BE TAKEN TO AVOID STATIC DISCHARGE. 2 Block Diagram per inch) and 7.87 counts per mm (200 counts per inch) are available. Consult local Agilent sales representatives for other resolutions ranging from 1.5 to 7.87 counts per mm (40 to 200 counts per inch). Applications The HEDS-9200 provides sophisticated motion detection at a low cost, making it ideal for high volume applications. Typical applications include printers, plotters, tape drives, and factory automation equipment. Note: Agilent 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. Theory of Operation The HEDS-9200 is a C-shaped emitter/detector module. Coupled with a codestrip it translates linear motion into a two-channel digital output. Output Waveforms As seen in the block diagram, the module contains 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 codestrip moves between the emitter and detector, causing the light beam to be interrupted by the pattern of spaces and bars on the codestrip. The photodiodes which detect these interruptions are arranged in a pattern that corresponds to the count density of the codestrip. 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. Two 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). Definitions Count density (D): The number of bar and window pairs per unit length of the codestrip. Pitch: 1/D, The unit length per count. Electrical degree (°e): Pitch/360, The dimension of one bar and window pair divided by 360. 1 cycle (C): 360 electrical degrees, 1 bar and window pair. 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 (∆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. 3 State Width Error (∆S): The deviation, in electrical degrees, of each state width from its ideal value of 90°e. channel A and the center of the high state of channel B. This value is nominally 90°e for quadrature output. φ): The number of Phase (φ electrical degrees between the center of the high state of Phase Error (∆φ): The deviation of the phase from its ideal value of 90°e. Direction of Movement: When the codestrip moves, relative to the module, in the direction of the arrow on top of the module, channel A will lead channel B. If the codestrip moves in the opposite direction, channel B will lead channel A. Absolute Maximum Ratings Parameter Symbol Min. Storage Temperature Operating Temperature Supply Voltage Output Voltage Output Current per Channel TS TA VCC VO IO -40 -40 -0.5 -0.6 -10 Typ. Max. Units 100 100 7 VCC 5 °C °C Volts Volts mA Max. Units 100 5.5 100 °C Volts pF 100 kHz Notes Recommended Operating Conditions Parameter Symbol Min. Temperature Supply Voltage Load Capacitance T VCC CL -40 4.5 Count Frequency f Typ. Notes Ripple < 100 m Vp-p 3.2 KΩ Pull-Up Resistor Velocity inch x Counts sec inch ) ( Note: The module performance is guaranteed to 100 kHz but can operate at higher frequencies. Encoding Characteristics Encoding Characteristics Over Recommended Operating Range and Recommended Mounting Tolerances. These Characteristics Do Not Include Codestrip Defects. Parameter Pulse Width Error Logic State Width Error Phase Error Symbol Min. ∆P ∆S ∆φ Typ. Max. Units 7 5 2 35 35 13 elec. deg. elec. deg. elec. deg. Notes Electrical Characteristics Electrical Characteristics Over Recommended Operating Range, Typical at 25°C Parameter Symbol Supply Current High Level Output Voltage Low Level Output Voltage Rise Time Fall Time ICC VOH VOL tr tf Min. Typ. Max. Units 17 40 mA Volts Volts ns ns 2.4 0.4 200 50 Notes IOH = -40 µA Max. IOL = 3.2 mA CL = 25 pF RL = 11 KΩ Pull-Up Note: 1. For improved performance in noisy environments or high speed applications, a 3.3 kΩ pull-up resistor is recommended. 4 Derating Curves over Extended Operating Frequencies (HEDS-9200 Series) Below are the derating curves for state, duty, phase and VOH over extended operating frequencies of up to 240 kHz (recommended maximum frequency is 100 kHz). The curves were derived using standard TTL load. –40°C operation is not feasible above 160 kHz because VOH will drop below 2.4 V (the minmum TTL for logic state high) beyond that frequency. 50 -10 100°C -20 25°C -30 -40°C -40 -50 120 140 160 180 200 220 CHANGE IN STATE WIDTH ERROR (ELECTRICAL DEGREE) CHANGE IN PULSE WIDTH ERROR (ELECTRICAL DEGREE) 0 40 -40°C 30 25°C 20 100°C 10 0 120 240 140 FREQUENCY (kHz) 180 200 220 240 5 -5 100°C 25°C -10 -40°C 140 160 180 200 FREQUENCY (kHz) 220 240 CHANGE IN VOH (VOLTS) CHANGE IN PHASE ERROR (ELECTRICAL DEGREE) 0 120 160 FREQUENCY (kHz) 4 100°C 3 25°C -40°C 2 1 0 120 140 160 180 200 FREQUENCY (kHz) 220 240 5 Recommended Codestrip Characteristics Codestrip design must take into consideration mounting as referenced to either side A or side B (see Figure 4). Mounting as Referenced to Side A MOUNTING THRU HOLE Mounting as Referenced to Side B ALIGNING RECESS MOUNTING THRU HOLE ALIGNING RECESS Lb 4.75 (0.187) REF. S La MODULE OPTICAL CENTER LINE 1.0 (0.040) REF. S Wb Wb PITCH Ww Ww Figure 1. Codestrip Design. STATIC CHARGE WARNING: LARGE STATIC CHARGE ON CODESTRIP MAY HARM MODULE. PREVENT ACCUMULATION OF CHARGE. Parameter Window/Bar Ratio Mounting Distance Window Edge to Module Opt Center Line Parallelism Module to Codestrip Symbol Mounting Ref. Side A Mounting Ref. Side B Units Ww /Wb L S 0.7 min., 1.4 max. La ≤ 0.51 (0.020) 0.90 (0.035) min. 0.7 min., 1.4 max. Lb ≥ 3.23 (0.127) 0.90 (0.035) min. mm (inch) mm (inch) α 1.3 max. 1.3 max. deg. Note: All parameters and equations must be satisfied over the full length of codestrip travel including maximum codestrip runout. 6 Mounting Considerations Notes: 1. These dimensions include codestrip warp. 2. Reference definitions of La and Lb on page 4. 3. Maximum recommended mounting screw torque is 4 kg-cm (3.5 in-lbs). 7 Connectors Manufacturer AMP DuPont Agilent Molex Part Number Mounting Surface 103686-4 640442-5 65039-032 with 4825X-000 Term. HEDS-8902 with 4-wire Leads 2695 Series with 2759 Series Term. Both Side B Both Side B Side B Note: The connectors above do not lock. Ordering Information HEDS-9200 Option Resolution Counts per mm (inch) Pitch mm (inch) per count Q00 - 7.09 (180) 300 - 11.81 (300)* 360 - 14.17 (360)* 10.141 (0.0056) 0.085 (0.0033)* 0.071 (0.0028)* Consult local Agilent sales representatives for other resolutions. *Please refer to separate HEDS-9000/9100/9200 Extended Resolution Series data sheet for detailed information. www.agilent.com/semiconductors For product information and a complete list of distributors, please go to our web site. For technical assistance call: Americas/Canada: +1 (800) 235-0312 or (408) 654-8675 Europe: +49 (0) 6441 92460 China: 10800 650 0017 Hong Kong: (+65) 6271 2451 India, Australia, New Zealand: (+65) 6271 2394 Japan: (+81 3) 3335-8152(Domestic/International), or 0120-61-1280(Domestic Only) Korea: (+65) 6271 2194 Malaysia, Singapore: (+65) 6271 2054 Taiwan: (+65) 6271 2654 Data subject to change. Copyright © 2002 Agilent Technologies, Inc. Obsoletes 5988-5854EN May 7, 2002 5988-6711EN