Slim Encoder with Diameter of 50 mm E6C3-A CSM_E6C3-A_DS_E_8_1 Rugged Rotary Encoder • Absolute model. • External diameter of 50 mm. • Resolution of up to 1,024 (10-bit). • IP65 (improved oil-proof protection with sealed bearings) • Optimum angle control possible in combination with PLC or Cam Positioner. For the most recent information on models that have been certified for safety standards, refer to your OMRON website. Be sure to read Safety Precautions on page 7. Ordering Information Encoders [Refer to Dimensions on page 8.] Power supply voltage Output configuration Output code Resolution (pulses/rotation) Connection method 256, 360, (720) *2 Pre-wired Connector Model (1 m) Gray Open-collector output (NPN) 12 to 24 VDC Open-collector output (PNP) 5 VDC 12 VDC Voltage output 256, 360, 720, 1,024 Binary 32, 40 BCD 6, 8, 12 Gray 256, 360, 720, 1,024 Binary 32, 40 BCD 6, 8, 12 Binary 256 Model E6C3-AG5C-C (resolution) 1M Example: E6C3-AG5C-C 256P/R 1M E6C3-AG5C (resolution) 1M Example: E6C3-AG5C 256P/R 1M E6C3-AN5C (resolution) 1M Example: E6C3-AN5C 32P/R 1M E6C3-AB5C (resolution) 1M Example: E6C3-AB5C 6P/R 1M Pre-wired Model (1 m) E6C3-AG5B (resolution) 1M Example: E6C3-AG5B 256P/R 1M *1 E6C3-AN5B (resolution) 1M Example: E6C3-AN5B 32P/R 1M E6C3-AB5B (resolution) 1M Example: E6C3-AB5B 6P/R 1M E6C3-AN1E 256P/R 1M E6C3-AN2E 256P/R 1M *1. Standard models are also available with 2-m cables. When ordering, specify the cable length at the end of the model number (example: E6C3-AG5C 360P/R 2M). *2. When connecting to the H8PS, use the E6C3-AG5C-C 256, 360, 720P/R. (Only a 2-m cable is available for the 720P/R Model.) For the 360/720 resolutions, 2-m cables are standard in-stock. Accessories (Order Separately) [Dimensions: Refer to Accessories on page 8 for Extension Cable dimensions and Accessories for the dimensions of other accessories.] Name Couplings Flanges Servo Mounting Bracket Extension Cable Model E69-C08B E69-C68B E69-FCA03 E69-FCA04 E69-2 E69-DF5 E69-DF10 E69-DF20 Remarks --Different end diameter (6 to 8 mm) --E69-2 Servo Mounting Bracket provided. Provided with E69-FCA04 Flange. 5m Applicable to the E6C3-AG5C-C. 10 m Models are also available with 15-m and 98-m cables. 20 m Refer to Accessories for details. 1 E6C3-A Ratings and Specifications Item E6C3AG5C-C Model E6C3AG5C E6C3AN5C E6C3AB5C Power supply voltage 12 VDC −10% to 24 VDC +15%, ripple (p-p): 5% max. Current consumption*1 70 mA max. Resolution*2 (pulses/rotation) 256, 360, 720 Output code Gray code Output configuration NPN open-collector output 256, 360, 720, 1,024 E6C3AG5B E6C3AB5B E6C3AN1E 5 VDC ±5% 32, 40 6, 8, 12 256, 360, 720, 1,024 32, 40 6, 8, 12 256 Binary BCD Gray code Binary BCD Binary PNP open-collector 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) Rise and fall times of output 1 μs max. (Cable length: 2 m, Sink current: 35 mA) Maximum response frequency*3 20 kHz Logic Negative logic (high = 0, low = 1) Direction of rotation*4 Output code increases for CW (as viewed from end of shaft). Strobe signal None Positioning signal None E6C3AN2E 12 VDC ±10% Voltage output Output resistance: 2.4 kΩ Source current: 35 mA max. Residual voltage: 0.4 V max. (at source current of 35 mA) Output resistance: 8.2 kΩ Sink current: 35 mA max. Residual voltage: 0.4 V max. (at sink current of 35 mA) Rise: 3 μs max., Fall: 1 μs max. Rise: 10 μs max., Fall: 1 μs max. 10 kHz Positive logic (high = 1, low = 0) Supported None Supported Supported (even) Switched using rotation direction input. Supported None Parity signal None Starting torque 10 mN·m max. at room temperature, 30 mN·m max. at low temperature None None Supported Supported (even) None None 2.3 × 10−6 kg·m2 Moment of inertia Shaft loading E6C3AN5B Radial 80 N Thrust 50 N Maximum permissible speed 5,000 r/min Ambient temperature range Operating: −10 to 70°C (with no icing), Storage: −25 to 85°C (with no icing) Ambient humidity range Operating/Storage: 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 IEC 60529 IP65, in-house standards: oilproof Connection method Connector Models *6 Material Case: Aluminum, Main unit: Aluminum, Shaft: SUS303 Weight (packed state) Approx. 300 g Accessories Instruction manual Note: Coupling, mounting bracket and hex-head spanner are sold separately. Pre-wired Models (Standard cable length: 1 m) *1. An inrush current of approximately 6 A will flow for approximately 0.8 ms when the power is turned ON. *2. The code is as follows: Output code Resolution 32 Binary BCD Gray Code No. 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 (gray after 76) 720 152 to 871 (gray after 152) 1,024 0 to 1,023 *3. The maximum electrical response speed is determined by the resolution and maximum response frequency as follows: Maximum electrical response speed (rpm) = Maximum response frequency × 60 Resolution This means that the Rotary Encoder will not operate electrically if its speed exceeds the maximum electrical response speed. *4. For the E6C3-AN1E and E6C3-AN2E, the rotation direction input (wire color: pink) can be connected to high (Vcc) to increase the output code for CW rotation and connected to low (0 V) to 120˚ decrease the output code for CW rotation. E6C3-AN1E: High = 1.5 to 5 V, Low = 0 to 0.8 Cut face D V E6C3-AN2E: High = 2.2 to 12 V, Low = 0 to 1.2 V Read the code 10 μs or more after the LSB (20) of the code changes for the E6C3-AN1E 40 dia. or E6C3-AN2E. 120˚ *5. The minimum address of the absolute code is output when cut face D on the shaft and the cable connection direction are as shown in the diagram at the right (output position range: ±15°). *6. Resolution of 360 or 720: Standard cable length: 2 m Resolution of 256: Standard cable length: 1 m 2 E6C3-A I/O Circuit Diagrams Model E6C3-AG5C/-AG5C-C E6C3-AG5B 12 to 24 V Output Circuits E6C3-A main circuit Output 35 mA max. 30 VDC 0V Shield 35 mA max. Shield E6C3-A main circuit 0V Shield GND Note: The circuit is the same for all bit outputs. Each E6C3-A Rotary Encoder has one main circuit. Direction of rotation: CW (as viewed from the end of the shaft) 21 ON 23 24 Output mode Shield GND 0V GND Note: The circuit is the same for all bit outputs. Each E6C3-A Rotary Encoder has one main circuit. 20 ON OFF ON 22 OFF 1 5 10 15 20 25 360˚ 9˚ 30 35 40 ON OFF 21 22 35 mA max. Direction of rotation: CW (as viewed from the end of the shaft) Resolution/40 Strobe signal OFF Output E6C3-A main circuit Note: The circuit is the same for all bit outputs. Each E6C3-A Rotary Encoder has one main circuit. No. 20 12 to 24 V Output 35 mA max. 30 VDC 0V Output E6C3-A main circuit E6C3-AN5B 12 to 24 V 12 to 24 V GND Note: The circuit is the same for all bit outputs. Each E6C3-A Rotary Encoder has one main circuit. E6C3-AN5C ON OFF ON OFF ON OFF ON 23 ON OFF OFF 24 ON ON OFF ON 25 OFF OFF 25 26 27 28 29 Parity signal ON OFF ON OFF ON OFF ON Resolution of 32 A = 11.25˚ B = 6˚ C = 3˚ OFF ON OFF ON OFF Address Absolute angle Strobe signal 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 C 2.25˚ 18˚ 27˚ 2.25˚ B 4.5˚ A 9˚ 0.5˚ min. 0.5˚ min. Other bit signals Connection Specifications Connector Models Pre-wired Models Model Pin No. 1 2 3 4 5 6 7 8 9 10 11 12 13 8-bit (256) } Connected internally 25 21 20 27 24 22 23 26 E6C3-AG5C-C Output signal 9-bit (360) Not connected 28 25 21 20 27 24 22 23 26 Shield (ground) 12 to 24 VDC 0 V (common) * Connector: RP13A-12PD-13SC (Hirose Electric Co., Ltd.) Note: Normally connect GND to 0 V or to an external ground. Model 10-bit (720) 29 28 25 21 20 27 24 22 23 26 Wire color Brown Orange Yellow Green Blue Purple Gray White Pink Light blue --Red Black E6C3-AG5C/E6C3-AG5B Output signal 10-bit (720 or 8-bit (256) 9-bit (360) 1,024) 20 20 20 1 1 2 2 21 2 2 2 2 22 3 3 2 2 23 24 24 24 25 25 25 26 26 26 27 27 27 8 Not connected 2 28 Not connected Not connected 29 Shield (ground) 12 to 24 VDC 0 V (common) 3 E6C3-A I/O Circuit Diagrams Model E6C3-AB5C E6C3-AB5B E6C3-AN1E E6C3-AN2E 12 VDC 5 VDC 8.2 kΩ 2.4 kΩ Output Output E6C3-A main circuit 12 to 24 V Output circuits Shield Output E6C3-A main circuit 35 mA max. 0V Shield GND Note: The circuit is the same for all bit outputs. GND E6C3-A main circuit 0V Rotation Direction Input Circuit Vcc (5 V or 12 V) Input 0V 0 1 2 3 4 5 6 7 8 9 10 11 Output mode 21 ON OFF OFF 20 T±T/2 20 ON 23 (H) (L) 1 2 3 4 T±T/2 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 22 ON × 10 ° Shaft angle: 360˚ OFF 22 Note: If the input is connected to Vcc, the output will increase for CW rotation and if the input is connected to 0 V, the output code will decrease for CW rotation. Direction of rotation: CW (as viewed from end of shaft) if rotation direction input is high and CCW (as viewed from end of shaft) if rotation direction input is low. Positioning ON signal OFF ON Strobe signals OFF ON 20 OFF 21 Note: The circuit is the same for all bit outputs. Note: The circuit is the same for all bit outputs. E6C3-A main circuit No. 0V GND GND Note: The circuit is the same for all bit outputs. Direction of rotation: CW (as viewed from end of shaft) Resolution/12 35 mA max. Shield Shield 12 to 24 V Output 35 mA max. 30 VDC 0V E6C3-A main circuit 35 mA max. 23 ON OFF 24 25 Resolution of 8 A = 45˚, B = 22.5˚ C = 11.25˚ Resolution of 6 A = 60˚, B = 30˚ C = 15˚ Absolute angle Strobe signal 0˚ 30˚ 60˚ C 7.5˚ 26 90˚ 27 7.5˚ T=360˚/256≈1.4˚ B 15˚ A 30˚ Positioning signal 0.5˚ 0.5˚ 1˚ Connection Specifications Pre-wired Models Model Wire color Brown Orange Yellow Green Blue Purple Gray White Pink Light blue --Red Black E6C3-AN5C/-AN5B Output signal 6-bit (32 or 40) 20 21 22 23 24 25 Parity Strobe Not connected Not connected E6C3-AB5C/-AB5B Output signal 3-bit (6 or 8) 5-bit (12) 20 20 21 21 22 22 Not connected 23 0 Not connected 2 × 10 Not connected Not connected Positioning Positioning Strobe Strobe Not connected Not connected Not connected Not connected Shield (ground) 12 to 24 VDC 0 V (common) E6C3-AN1E/-AN2E Output signal 8-bit (256) 20 21 22 23 24 25 26 27 Rotation Direction Input Not connected 5 or 12 VDC Note: Normally connect GND to 0 V or to an external ground. 4 E6C3-A Connection Example H8PS Cam Positioner Connection Example Ordering Information H8PS E6C3-AG5C-C Model H8PS-8A H8PS-8AP H8PS-8AF H8PS-8AFP H8PS-16A H8PS-16AP H8PS-16AF H8PS-16AFP H8PS-32A H8PS-32AP H8PS-32AF H8PS-32AFP Specifications Rated voltage 24 VDC Cam precision 0.5° (for 720 resolution), 1° (for 256/360 resolution) 8-point output type: 8 cam outputs, 1 RUN output, 1 pulse output 16-point output type: No. of output points 16 cam outputs, 1 RUN output, 1 pulse output 32-point output type: 32 cam outputs, 1 RUN output, 1 pulse output Encoder response Additional functions RUN mode, test mode: 256/360 resolution ..... 1,600 r/min max. (1,200 r/min when advance compensation is set for four cams or more) 720 resolution ............ 800 r/min max. (600 r/min when advance compensation is set for four cams or more) • Origin compensation (zeroing) • Rotation direction switching • Angle display switching • Teaching • Pulse output • Angle/number of rotations display switching • Puncture * • Angle advance • Number of rotations alarm output • Setting with support software (order separately) * * For 16-point and 32-point output types only 5 E6C3-A Programmable Controller Connection Example Connection to the CP1E (720 Resolution) Wiring between the E6C3-AG5C and CP1E E6C3-AG5C output signal Brown (20) Orange (21) Yellow (22) Green (23) Blue (24) Purple (25) Gray (26) White (27) Pink (28) Light blue (29) E6C3-AG5C CP1E-N20D@-@ 0 00008 20009 BCD(24) 200 201 20008 00008 20009 00007 20008 20007 CLC (41) 01002 Converted to binary (CIO 200) and BCD (CIO 201). (0) is set to carry flag. 20006 20005 00005 20006 00004 20005 20004 00004 20005 00003 20004 20003 00003 20004 00002 20003 Converts gray code to binary (CIO 200). Sets the unused bits (10 to 15 bits) of CIO 200 to unused (always 0). 20300 20301 20302 20002 Resolution is 720, so 152 is subtracted. No subtraction would be necessary for resolution of 256 or 1,024. If resolution was 360, 76 would be subtracted. TABLE COMPARE Instruction BCMP(68) If the Encoder value (CIO 202) 202 is within a range in the DM6200 conversion table set in DM 203 6200 to DM 6231, the corresponding bit in CIO 203 will turn ON. 01000 SUB(31) 201 #0152 202 00006 20007 00005 20006 659 01001 00007 20008 00006 20007 E6C3-AG5C angle 180 360 540 DM Area Setting Example for Comparison Table Always ON Flag 25313 20009 90 01000 Ladder Programming Example 00009 Output Timing CP1E input signal 00000 00001 00002 00003 00004 00005 00006 00007 00008 00009 01001 DM6200 0000 Lower limit 1 6201 6202 6203 0540 0090 0360 Upper limit 1 6204 6205 6206 0180 0659 0000 Lower limit 3 Lower limit 2 Upper limit 2 Upper limit 3 Bit CIO 20300 Bit CIO 20301 Bit CIO 20302 Lower limit 4 Not used in this example. 6231 0000 Upper limit 16 Output 01002 00002 20003 00001 20002 20001 00001 20002 00000 20001 20000 00000 20001 CP1E For details, refer to the following manual: CP1E-E@@SD@-@/CP1E-N@@S@D@-@/CP1E-E@@D@-@/CP1E-N@@D@-@/ CP1E-NA@@D@-@ SYSMAC CP Series CP1E CPU Unit Instructions Reference Manual (Cat. No. W483). 6 E6C3-A Safety Precautions Refer to Warranty and Limitations of Liability. WARNING This product is not designed or rated for ensuring safety of persons either directly or indirectly. Do not use it for such purposes. Precautions for Correct Use Do not use the Encoder under ambient conditions that exceed the ratings. ● Wiring Connections Cable Extension Characteristics • Conditions will change according to frequency, noise, and other factors. As a guideline, use a cable length of 10 m* or less. * Recommended Cable Conductor cross section: 0.2 mm2 Spiral shield Conductor resistance: 92 Ω/km max. (20°C) Insulation resistance: 5 Ω/km min. (20°C) • The output waveform startup time changes not only according to the length of the cable, but also according to the load resistance and the cable type. • Extending the cable length not only changes the startup time, but also increases the output residual voltage. ● Connection Spurious pulses may be generated when power is turned ON and OFF. Wait at least 0.1 s after turning ON the power to the Encoder before using the connected device, and stop using the connected device at least 0.1 s before turning OFF the power to the Encoder. Also, turn ON the power to the load only after turning ON the power to the Encoder. 7 E6C3-A (Unit: mm) Dimensions Tolerance class IT16 applies to dimensions in this datasheet unless otherwise specified. Encoder E6C3-A@5@ E6C3-AN@E (58) 38 20 Cut face D: Smallest adress position (±15˚) (15) 10 120˚±0.1 5 1 40±0.1 dia. 8 +0 −0.018 dia. 12 dia. 1 0 dia. 30 -0.021 50 dia. Three, M4 holes; Depth: 5 120˚±0.1 mm 6 8.8 10 6 Note: The E69-C08B Coupling is sold separately. 6-dia. oil-resistant PVC-insulated shielded cable with 12 conductors (Conductor cross section: 0.2 mm2, Insulator diameter: 1.1 mm), Standard length: 1 m E6C3-AG5C-C (58) (15) 10 120˚±0.1 40±0.1 dia. 38 20 Cut face D: Smallest adress position (±15˚) 8 5 1 +0 dia. -0.018 12 dia. 1 +0 dia. 30 -0.021 50 dia. Three, M4 holes; Depth: 5 120˚±0.1 mm 6 8.8 10 6 Note: The E69-C08B Coupling is sold separately. Connector: RP13A-12PD-13SC (Hirose Electric Co., Ltd.) 37 6-dia. oil-resistant PVC-insulated shielded cable with 12 conductors (Conductor cross section: 0.2 mm2, Insulator diameter: 1.1 mm), Standard length: 1 m, Standard length for resolution of 360 or 720: 2 m Accessories (Order Separately) Extension Cable E69-DF5 34.6 5,000 37 16.9 dia. 16.9 dia. *2 *1 *3 *1. 6-dia. oil-resistant PVC-insulated shielded cable with 12 conductors (Conductor cross section: 0.2 mm2, Insulator diameter: 1.1 mm), Standard length: 5 m *2. Connects to connector on E6C3-AG5C-C. *3. Connects to H8PS Cam Positioner. Note: 1. The E69-DF5 (5 m) is also available with the following cable lengths: 10 m, 15 m, 20 m, and 98 m. 2. Cable can be extended to 100 m when the H8PS Cam Positioner is connected. Couplings E69-C08B E69-C68B Flanges E69-FCA03 E69-FCA04 Servo Mounting Bracket E69-2 Refer to Accessories for details. 8 Terms and Conditions Agreement Read and understand this catalog. Please read and understand this catalog before purchasing the products. Please consult your OMRON representative if you have any questions or comments. Warranties. (a) Exclusive Warranty. Omron’s exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, express or implied. (b) Limitations. OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE. Omron further disclaims all warranties and responsibility of any type for claims or expenses based on infringement by the Products or otherwise of any intellectual property right. (c) Buyer Remedy. Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal to the purchase price of the non-complying Product; provided that in no event shall Omron be responsible for warranty, repair, indemnity or any other claims or expenses regarding the Products unless Omron’s analysis confirms that the Products were properly handled, stored, installed and maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return of any Products by Buyer must be approved in writing by Omron before shipment. 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Omron Companies shall not be responsible for conformity with any standards, codes or regulations which apply to the combination of the Product in the Buyer’s application or use of the Product. At Buyer’s request, Omron will provide applicable third party certification documents identifying ratings and limitations of use which apply to the Product. This information by itself is not sufficient for a complete determination of the suitability of the Product in combination with the end product, machine, system, or other application or use. Buyer shall be solely responsible for determining appropriateness of the particular Product with respect to Buyer’s application, product or system. Buyer shall take application responsibility in all cases. NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY OR IN LARGE QUANTITIES WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM. Programmable Products. Omron Companies shall not be responsible for the user’s programming of a programmable Product, or any consequence thereof. Performance Data. Data presented in Omron Company websites, catalogs and other materials is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of Omron’s test conditions, and the user must correlate it to actual application requirements. Actual performance is subject to the Omron’s Warranty and Limitations of Liability. Change in Specifications. Product specifications and accessories may be changed at any time based on improvements and other reasons. It is our practice to change part numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the Product may be changed without any notice. When in doubt, special part numbers may be assigned to fix or establish key specifications for your application. Please consult with your Omron’s representative at any time to confirm actual specifications of purchased Product. Errors and Omissions. Information presented by Omron Companies has been checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical or proofreading errors or omissions. 2015.4 In the interest of product improvement, specifications are subject to change without notice. OMRON Corporation Industrial Automation Company http://www.ia.omron.com/ (c)Copyright OMRON Corporation 2015 All Right Reserved.