ETC HEDS-9140F00

Three Channel Optical
Incremental Encoder Modules
Technical Data
HEDS-9040
HEDS-9140
Features
Description
• Two Channel Quadrature
Output with Index Pulse
• Resolution Up to 2000 CPR
Counts Per Revolution
• Low Cost
• Easy to Mount
• No Signal Adjustment
Required
• Small Size
• -40°C to 100 °C Operating
Temperature
• TTL Compatible
• Single 5 V Supply
The HEDS-9040 and HEDS-9140
series are three channel optical
incremental encoder modules.
When used with a codewheel,
these low cost modules detect
rotary position. Each module
consists of a lensed LED source
and a detector IC enclosed in a
small plastic package. Due to a
highly collimated light source and
a unique photodetector array,
these modules provide the same
high performance found in the
HEDS-9000/9100 two channel
encoder family.
Package Dimensions
5.1 (0.20)
DATE CODE
3.73 ± 0.05
(0.147 ± 0.002)
HEDS-9040
YY WW
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)
CL
17.27
(0.680)
20.96
(0.825)
SIDE A
2.21
(0.087) 2.54
(0.100)
20.8
(0.82)
2.9
(0.11)
6.9 (0.27)
11.9
(0.47)
11.7
(0.46)
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)
8.81
5.8
45° (0.23) (0.347)
4.75 ± 0.01
(0.187 ± 0.004)
OPTICAL
CENTER
4.11 (0.162)
10.16
(0.400)
TYPICAL DIMENSIONS IN
MILLIMETERS AND (INCHES)
GND
1.8
(0.07)
1.52 (0.060)
1.0 (0.04)
CH. B
VCC
CH. A
CH. 1
GND
2.54 (0.100) TYP.
OPTION CODE
VCC
8.6 (0.34)
5
4
3
2
1
0.63 (0.025)
SQR. TYP.
26.67 (1.05)
15.2
(0.60)
6.35 (0.250) REF.
SIDE B
ESD WARNING: NORMAL HANDLING PRECAUTIONS SHOULD BE TAKEN TO AVOID STATIC DISCHARGE.
2
The HEDS-9040 and 9140 have
two channel quadrature outputs
plus a third channel index output.
This index output is a 90
electrical degree high true index
pulse which is generated once for
each full rotation of the
codewheel.
Block Diagram
The HEDS-9040 is designed for
use with a HEDX-614X codewheel
which has an optical radius of
23.36 mm (0.920 inch). The
HEDS-9140 is designed for use
with a HEDS-5140 codewheel
which has an optical radius of
11.00 mm (0.433 inch).
The quadrature signals and the
index pulse are accessed through
five 0.025 inch square pins
located on 0.1 inch centers.
Standard resolutions between 256
and 2000 counts per revolution
are available. Consult local
Agilent sales representatives for
other resolutions.
Applications
The HEDS-9040 and 9140
provide sophisticated motion
control detection at a low cost,
making them ideal for high
volume applications. Typical
applications include printers,
plotters, tape drives, and
industrial and factory automation
equipment.
Theory of Operation
The HEDS-9040 and 9140 are
emitter/detector modules.
Coupled with a codewheel, these
modules translate the rotary
motion of a shaft into a threechannel digital output.
As seen in the block diagram, the
modules 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, B, I and I.
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).
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.
3
Output Waveforms
State Width Error ( ∆S): 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.
Definitions
Count (N): The number of bar
and window pairs or counts per
revolution (CPR) of the
codewheel.
One Cycle (C): 360 electrical
degrees (°e), 1 bar and window
pair.
One Shaft Rotation: 360
mechanical degrees, N cycles.
Position Error ( ∆Θ): The
normalized angular difference
between the actual shaft position
and the position indicated by the
encoder cycle count.
Cycle Error ( ∆C): An indication
of cycle uniformity. The difference 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 ( ∆ 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.
Absolute Maximum Ratings
Storage Temperature, TS ............................................................. -40°C to +100°C
Operating Temperature, TA ........................................................ -40°C to +100°C
Supply Voltage, VCC ............................................................................... -0.5 V to 7 V
Output Voltage, VO ................................................................................. -0.5 V to VCC
Output Current per Channel, IOUT ............................................ -1.0 mA to 5 mA
Shaft Axial Play ................................................ ± 0.25 mm (± 0.010 in.)
Shaft Eccentricity Plus Radial Play ..................... 0.1 mm (0.004 in.) TIR
Velocity ........................................................................... 30,000 RPM[1]
Acceleration .............................................................250,000 rad/sec2[1]
Note:
1. Absolute maximums for HEDS-5140/6140 codewheels only.
Phase Error (∆φ): The deviation
of the phase from its ideal value
of 90°e.
Direction of Rotation: When the
codewheel rotates in the direction
of the arrow on top of the
module, channel A will lead
channel B. If the codewheel
rotates in the opposite 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.
Index Pulse Width (PO ): The
number of electrical degrees that
an index is high during one full
shaft rotation. This value is
nominally 90°e or 1/4 cycle.
4
Recommended Operating Conditions
Parameter
Symbol
Min.
Temperature
TA
-40
Supply Voltage
VCC
4.5
Load Capacitance
Count Frequency
Typ.
Max.
Units
100
°C
5.5
Volts
CL
100
pF
2.7 kΩ pull-up
f
100
kHz
Velocity (rpm) x N/60
Shaft Perpendicularity
Plus Axial Play
± 0.25
(± 0.010)
mm
(in.)
6.9 mm (0.27 in.) from
mounting surface
Shaft Eccentricity Plus
Radial Play
0.04
(0.0015)
mm (in.)
TIR
6.9 mm (0.27 in.) from
mounting surface
5.0
Notes
Ripple < 100 mVp-p
Note: The module performance is guaranteed to 100 kHz but can operate at higher frequencies. For the HEDS-9040 #T00 for operation
below 0°C and greater than 50 kHz the maximum Pulse Width and Logic State Width errors are 60°e.
Encoding Characteristics
HEDS-9040 (except #T00), HEDS-9140
Encoding Characteristics over Recommended Operating Range and Recommended Mounting Tolerances
unless otherwise specified. Values are for the worst error over the full rotation of HEDS-5140 and HEDS6140 codewheels.
Parameter
Symbol
Min.
Typ.[1]
Max.
Units
Cycle Error
∆C
3
5.5
°e
Pulse Width Error
∆P
7
30
°e
Logic State Width Error
∆S
5
30
°e
Phase Error
∆φ
2
15
°e
Position Error
∆Θ
10
40
min. of arc
Index Pulse Width
PO
60
90
120
°e
CH. I rise after
CH. B or CH. A fall
-25°C to +100°C
t1
10
100
250
ns
-40°C to +100°C
t1
-300
100
250
ns
CH. I fall after
CH. A or CH. B rise
-25°C to +100°C
t2
70
150
300
ns
-40°C to +100°C
t2
70
150
1000
ns
Note:
1. Module mounted on tolerance circle of ± 0.13 mm (± 0.005 in.) radius referenced from module Side A aligning recess centers. 2.7 kΩ
pull-up resistors used on all encoder module outputs.
5
Encoding Characteristics
HEDS-9040 #T00
Encoding Characteristics over Recommended Operating Range and Recommended Mounting Tolerances
unless otherwise specified. Values are for the worst error over the full rotation of HEDM-614X Option TXX
codewheel.
Parameter
Symbol
Min.
Typ.[1]
Max.
Units
Cycle Error
∆C
3
7.5
°e
Pulse Width Error
∆P
7
50
°e
Logic State Width Error
∆S
5
50
°e
Phase Error
∆φ
2
15
°e
Position Error
∆Θ
2
20
min. of arc
Index Pulse Width
PO
40
90
140
°e
CH. I rise after
CH. B or CH. A fall
-40°C to +100°C
t1
10
450
1500
ns
CH. I fall after
CH. A or CH. B rise
-40°C to +100°C
t2
10
250
1500
ns
Note:
1. Module mounted on tolerance circle of ± 0.13 mm (± 0.005 in.) radius referenced from module Side A aligning recess centers. 2.7 kΩ
pull-up resistors used on all encoder module outputs.
Electrical Characteristics
Electrical Characteristics over Recommended Operating Range.
Symbol
Min.
Typ.[1]
Max.
Units
Supply Current
ICC
30
57
85
mA
High Level Output Voltage
VOH
2.4
Low Level Output Voltage
VOL
Parameter
0.4
Rise Time
tr
180[2]
Fall Time
tf
49[2]
Notes:
1. Typical values specified at VCC = 5.0 V and 25°C.
2. tr and tf 80 nsec for HEDS-9040 #T00.
Notes
V
IOH = -200 µA max.
V
IOL = 3.86 mA
ns
CL = 25 pF
RL = 2.7 kΩ pull-up
ns
6
Electrical Interface
To insure reliable encoding
performance, the HEDS-9040 and
9140 three channel encoder
modules 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 module as
possible (within 4 feet). Each of
the three encoder module outputs
can drive a single TTL load in this
configuration.
Figure 1. Pull-up Resistors on HEDS-9X40 Encoder Module Outputs.
Mounting Considerations
Figure 2 shows a mounting
tolerance requirement for proper
operation of the HEDS-9040 and
HEDS-9140. The Aligning Recess
Centers must be located within a
tolerance circle of 0.005 in.
radius from the nominal locations.
This tolerance must be
maintained whether the module is
mounted with side A as the
mounting plane using aligning
pins (see Figure 5), or mounted
with Side B as the mounting plane
using an alignment tool (see
Figures 3 and 4).
Figure 2. HEDS-9X40 Mounting Tolerance.
7
Mounting with an
Alignment Tool
The HEDS-8905 and HEDS-8906
alignment tools are recommended
for mounting the modules with
Side B as the mounting plane. The
HEDS-8905 is used to mount the
HEDS-9140, and the HEDS-8906
is used to mount the HEDS-9040.
These tools fix the module
position using the codewheel hub
as a reference. They will not work
if Side A is used as the mounting
plane.
The following assembly procedure
uses the HEDS-8905/8906
alignment tool to mount a HEDS9140/9040 module and a HEDS5140/6140 codewheel:
ARTWORK SIDE
Instructions:
1. Place codewheel on shaft.
2. Set codewheel height by
placing alignment tool on motor
base (pins facing up) flush up
against the codewheel as shown
in Figure 3. Tighten codewheel
setscrew and remove alignment
tool.
3. Insert mounting screws
through module and thread into
the motor base. Do not tighten
screws.
4. Slide alignment tool over
codewheel hub and onto module
as shown in Figure 4. The pins of
the alignment tool should fit
snugly inside the alignment
recesses of the module.
6. Remove alignment tool.
Mounting with Aligning
Pins
The HEDS-9040 and HEDS-9140
can also be mounted using
aligning pins on the motor base.
(Hewlett-Packard does not
provide aligning pins.) For this
configuration, Side A must be
used as the mounting plane. The
aligning recess centers must be
located within the 0.005 in. R
Tolerance Circle as explained
above. Figure 5 shows the
necessary dimensions.
MODULE SIDE A
MOTOR
BOSS
CODE
WHEEL
BOSS
5. While holding alignment tool in
place, tighten screws down to
secure module.
MODULE
SIDE B
MOTOR
Figure 3. Alignment Tool is Used to Set Height of
Codewheel.
Figure 4. Alignment Tool is Placed over Shaft and onto
Codewheel Hub. Alignment Tool Pins Mate with Aligning
Recesses on Module.
8
Mounting with Aligning
Pins
The HEDS-9040 and HEDS-9140
can also be mounted using
aligning pins on the motor base.
(Agilent does not provide aligning
pins.) For this configuration, Side
A must be used as the mounting
plane. The aligning recess centers
must be located within the 0.005
in. Radius Tolerance Circle as
explained in "Mounting
Considerations." Figure 5 shows
the necessary dimensions.
#2-56 SETSCREW
USE 0.035" HEX WRENCH
50.6 (1.99)
DIA. MAX.
CODEWHEEL
BOSS
SET
SCREW
*
NOTE 1: THESE DIMENSIONS INCLUDE SHAFT END PLAY AND CODEWHEEL WARP.
NOTE 2: RECOMMENDED MOUNTING SCREW TORQUE IS 4 KG-CM [3.5 IN-LBS).
* FOR HEDS-9040 OPTION T: 3.99 (0.150).
26.67
18.0
(1.050)
(0.71)
MAX.
INDEX PULSE
REFERENCE
MARKER
INDEX PULSE
POSITION
130°
TYPICAL
19.0 (0.747)
0.20
(0.006)
MAX.
8.99
(0.354)
MAX.
ROP = 23.36 mm (0.920 in.)
DIMENSIONS IN MM (INCHES)
Figure 6a. HEDS-6140 Codewheel Used with HEDS-9040.
2-56 SETSCREW
USE 0.035" HEX WRENCH
0.18
(0.007)
8.43
(0.332)
50.48 DIA.
(1.987) MAX.
SETSCREW
INDEX PULSE
POSITION
130°
TYPICAL
22.50 MAX.
(0.886)
36.32
(1.430)
ARTWORK SIDE
(HEDM-6141)
ARTWORK SIDE
(HEDM-6140)
Figure 5. Mounting Plane Side A.
DIMENSIONS IN mm (INCHES)
Figure 6b. HEDM-614X Series Codewheel used with HEDS-9040 #T00.
25.7 (1.01)
DIA. MAX.
INDEX PULSE
REFERENCE
MARKER
INDEX PULSE
POSITION
130°
TYPICAL
ROP = 11.00 mm (0.433 in.)
DIMENSIONS IN MM (INCHES)
Figure 7. HEDS-5140 Codewheel Used with HEDS-9140.
9
Orientation of Artwork
for HEDS-9040 Option
T00 (2000 CPR, 23.36
mm Rop)
The Index area on the HEDS9040 Option T00, 2000 CPR
Encoder Module has a nonsymmetrical pattern as does the
mating Codewheel. In order for
the Index to operate, the "Rightreading" side of the Codewheel
disk (the “Artwork Side”) must
point toward “Side A” of the
Module (the side with the
connecting pins).
Because the Encoder Module may
be used with either “Side A” or
with “Side B” toward the
Mounting Surface, Agilent
supplies two versions of Film
Codewheels for use with the
Option T00 3-channel Module:
Codewheel HEDM-6140 Option
TXX has the Artwork Side on the
“Hub Side” of the Codewheel/hub
assembly and works with “Side B”
of the Module on the user’s
mounting surface. Codewheel
HEDM-6141 Option TXX has the
HUB
MODULE SIDE B
Artwork Side opposite the
“Hub Side” and works with “Side
A” of the Module on the mounting
surface. For the Index to operate,
these parts must be oriented as
shown in Figure 7a and 7b.
HUB
IMAGE SIDE
OF CODEWHEEL*
MODULE SIDE A
IMAGE SIDE
OF CODEWHEEL*
MODULE SIDE A
MODULE SIDE B
* USE HEDM-6141 # Txx
* USE HEDM-6140 # Txx
Figure 7a.
Figure 7b.
*Please note that the image side of the codewheel must always be facing the module Side A.
10
Connectors
Manufacturer
Part Number
AMP
Mounting Surface
103686-4
Both
640442-5
Side B
DuPont
65039-032 with
4825X-000 term
Both
HP
HEDS-8903
with 5-wire leads
Side B
(see Figure 8)
Molex
2695 series with
2759 series term
Side B
CH. 1
BLUE
Figure 8. HEDS-8903 Connector.
Typical Interfaces
CH. A
HEDS–9040
OR
HEDS-9140
CH. B
CH. I
CH. A
HEDS–9040
OR
HEDS-9140
CH. B
CH. I
A
HCTL-2016/2020
QUADRATURE
DECODER/
COUNTER
HOST
PROCESSOR
A
HCTL-1100
MOTION
CONTROL IC
HOST
PROCESSOR
11
Ordering Information
Three Channel Encoder Modules and Codewheels, 23.36 mm Optical Radius
HEDS-9040 Option
0 0
Assembly Tool
HEDS-6140 Option
HEDS-8906
Resolution
(Cycles/Rev)
Shaft Diameter
B - 1000 CPR
J - 1024 CPR
05 - 3/16 in.
06 - 1/4 in.
07 - 5/16 in.
08 - 3/8 in.
09 - 1/2 in.
10 - 5/8 in.
11 - 4 mm
12 - 6 mm
13 - 8 mm
Three Channel Encoder Modules and Codewheels, 23.36 mm Optical Radius
HEDS-9040 Option
0 0
HEDM-614
Option
Assembly Tool
HEDS-8906
Resolution
(Cycles/Rev)
Artwork
Orientation*
0 - Artwork on hub side (use
when module Side B is
down)
1 - Artwork opposite hub side
(use when Module Side A
is down)
T - 2000 CPR
Shaft Diameter
05 - 3/16 in.
06 - 1/4 in.
07 - 5/16 in.
08 - 3/8 in.
09 - 1/2 in.
10 - 5/8 in.
11 - 4 mm
12 - 6 mm
13 - 8 mm
*Index will not work if wrong orientation is used. Hub side of codewheel must point away from mounting surface. See Figure 7.
Three Channel Encoder Modules and Codewheels, 11.00 mm Optical Radius
HEDS-9140 Option
0 0
Resolution
(Cycles/Rev)
S - 50 CPR
K - 96 CPR
C - 100 CPR
E - 200 CPR
F - 256 CPR
G - 360 CPR
H - 400 CPR
A - 500 CPR
I - 512 CPR
HEDS-5140 Option
Assembly Tool
HEDS-8905
Shaft Diameter
01 - 2 mm
02 - 3 mm
03 - 1/8 in.
04 - 5/32 in.
05 - 3/16 in.
06 - 1/4 in.
11 - 4 mm
14 - 5 mm
12 - 6 mm
13 - 8 mm
Accessories
Please refer to the codewheel data sheet for information on alignment (centering and gap-setting) tools for
the module.
www.semiconductor.agilent.com
Data subject to change.
Copyright © 1999 Agilent Technologies Inc.
Obsoletes 5952-2467 (6/90), 5964-6128E
(2/96)
5965-5870E (11/99)