Large Diameter (56 mm), Housed Two and Three Channel Optical Encoders Technical Data HEDL-65xx HEDM-65xx HEDS-65xx Series Features: • Two Channel Quadrature Output with Optional Index Pulse • TTL Compatible Single Ended Outputs on HEDS Series • 100°C Operating Temperature • Industry Standard 26C31 CMOS Line Driver IC on HEDL Series • Easy Assembly, No Signal Adjustment Necessary • Resolutions up to 2048 Counts Per Revolution • Maximum Shaft Diameter of 5/8 Inches • Single +5 V Supply Description The HEDS-65xx/HEDL-65xx are high performance two and three channel optical incremental encoders. These encoders emphasize high reliability, high resolution, and easy assembly. Each encoder contains a lensed LED source (emitter), an integrated circuit with detectors and output circuitry, and a codewheel which rotates between the emitter and detector integrated circuit. The outputs of the HEDS6500 are two single ended square waves in quadrature. The HEDL65xx outputs are differential. The HEDS-6540 / HEDL-6540 also have a third channel index output in addition to the two quadrature outputs. This index is an active high pulse that occurs once every full rotation of the codewheel. Resolutions up to 1024 Counts Per Revolution are available in the two and three channel versions. The line driver option offers enhanced performance when the encoder is used in noisy environments, or when it is required to drive long distances. The line driver option utilizes an industry standard line driver IC (26C31) which provides complementary outputs for each encoder channel. Thus the outputs of the – line driver encoder are A and A, B – – and B, and I and I for three channel versions. Suggested line receivers are 26C32 and 26C33. The quadrature signals are accessed through a cable and 10-pin female connector. Please refer to the ordering information at the end of this data sheet for a selection matrix. Applications The HEDS-65xx / HEDL-65xx provide motion detection to a very high resolution and accept a variety of shaft sizes up to a maximum of 5/8 inches. 2 Typical applications include printers, plotters, tape drives, positioning tables, and automatic handlers. Note: Agilent Technologies encoders are not recommended for use in safety critical applications. HEDS-65XX #xxx YYMM COUNTRY OF ORIGIN Assembled Unit Eg. ABS braking systems, power steering, life support systems and critical care medical equipment. Please contact sales representative if more clarification is needed. 609.6 (24.0 ± 0.5) 18.14 (0.714) Base Plate ∅ 3.3 (0.128) ∅ 25.91 (1.020) ∅ 55.88 (2.200) ON ∅ 46.0 B.C. (∅ 1.811 B.C.) 24.38 (0.960) ∅ 2.44 (0.096) ∅ 2.44 (0.096) SLOTTED 0.254 (0.010) 17.27 (0.680) DIMENSIONS IN MILLIMETERS AND (INCHES). Top Cover (Housing) ∅ 55.9 (2.20) 5.2 (0.21) ∅ 13.2 (0.52) HEDS-65XX #xxx YYMM COUNTRY OF ORIGIN 65.9 (2.59) 24.9 (0.98) 30.2 (1.19) DIMENSIONS IN MILLIMETERS AND (INCHES). 3 Pinout A 1) CHANNEL A 2) VCC PHOTO DIODES COMPARATORS LENS 3) GND 4) NC 5) NC LED 6) GROUND 7) VCC 8) CHANNEL B SIGNAL PROCESSING CIRCUITRY EMITTER SECTION CODE WHEEL INDEX-PROCESSING CIRCUITRY 9) VCC 10) CHANNEL I DETECTOR SECTION PCB/CABLE/CONNECTOR Pinout B 1) NC 2) VCC PHOTO DIODES COMPARATORS LENS 3) GND 4) NC 5) A LED LINE DRIVER 6) A 7) B 8) B SIGNAL PROCESSING CIRCUITRY EMITTER SECTION CODE WHEEL INDEX-PROCESSING CIRCUITRY 9) INDEX 10) INDEX DETECTOR SECTION PCB/CABLE/CONNECTOR There are two different connector pin-out configurations used with the HEDS-65xx / HEDL-65xx series of encoders. The table below relates the part to its connector pin-out. Connector Pin-out 9 10 1 2 Pinout A HEDS-65xx CONNECTOR PIN OUT 1 Channel A 2 VCC 3 GND 4 NC 5 NC 6 GND 7 VCC 8 Channel B 9 VCC 10 Channel I Pinout B HEDL-65xx CONNECTOR PIN OUT 1 NC 2 VCC 3 GND 4 NC 5A 6A 7B 8B 9 I (INDEX) 10 I (INDEX) 4 Theory of Operation The HEDS-65xx / HEDL-65xx translate the rotary motion of a shaft into either a two or three channel digital output. The HEDS-65xx uses one of the standard HEDS-9000 or HEDS-9040 modules for encoding purposes. The HEDL-654x uses the standard HEDL-9040 for encoding purposes. As seen in the block diagram, these modules contain a single Light Emitting Diode (LED) as their light source (emitter). The light is collimated into a single parallel beam by means of a plastic lens located directly over the LED. Opposite the emitter is the integrated detector circuit (detector). This circuit 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 a 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 into the signal processing circuitry resulting – – – in A, A, B, and B (I and I also in the three channel encoders). 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). In the HEDS-6540 / HEDL-6540 the output of the comparator for the index pulse is combined with that of the outputs of channel A and channel B to produce the final index pulse. The index pulse is generated once every rotation of the codewheel and is a one state width (nominally 90 electrical degrees), true high index pulse. It is coincident with the low states on channels A and B. 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 one 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. 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 high state on channel A and the center of the high state on channel B. This value is nominally 90 e for quadrature output. Phase Error (∆Φ): The deviation of the phase from its ideal value of 90 e. Direction of Rotation: When the codewheel rotates in a counterclockwise direction (when viewed from the encoder end of the motor) channel A will lead channel B. If the codewheel rotates in the clockwise direction channel B will lead channel A. Index Pulse Width (P0): The number of electrical degrees that an index output is high during one full shaft rotation. This value is nominally 90 e or 1/4 cycle. 5 Output Waveforms C P 2.4 V 0.4 V CH A OUTPUT PHASE S1 S2 S3 S4 2.4 V 0.4 V CH B OUTPUT I1 I2 2.4 V 0.4 V CH I OUTPUT P0 ROTATION Waveforms for Encoders without Line Drivers. A A B B I I Waveforms for Encoders with Line Drivers. (Meets all requirements of EIA-422.) 6 Absolute Maximum Ratings Parameter HEDS-6500 HEDS-6540 HEDL-6540 HEDL-6545 Storage Temperature -40 to +100 -40 to +100 -40 to +100 -40 to +100 Celsius Operating Temperature -40 to +100 -40 to +100 -40 to +100 -40 to +100 Celsius Supply Voltage -.5 to +7 -.5 to +7 -.5 to +7 -.5 to +7 Volts Output Voltage -.6 to Vcc -.6 to Vcc -.6 to Vcc -.6 to Vcc Volts Output Current Per Channel -1 to 5 -1 to 5 Velocity 30,000 30,000 30,000 30,000 RPM Vibration 20 20 20 20 Gs Shaft Axial Play 5 5 5 5 Inch/1000 Radial Play & Eccentricity 2 2 2 2 Inch/1000 mA Recommended Operating Conditions Parameter HEDS-6500 HEDS-6540 HEDL-6540 HEDL-6545 Temperature -40 to +100 -40 to +100 -40 to +100 -40 to +100 Celsius 4.5 to 5.5 4.5 to 5.5 4.5 to 5.5 4.5 to 5.5 Volts Load Capacitance 100 100 100 100 pF Count Frequency 100 100 100 100 kHz Shaft Eccentricity Plus Radial Play ± .05 (± .002) ± .05 (± .002) ± .05 (± .002) ± .05 (± .002) mm (Inch/1000) Supply Voltage Note: The HEDS-65XX performance is guaranteed to 100 kHz but can operate at higher frequencies. For frequencies above 100 kHz it is recommended that the load capacitance not exceed 25 pF and pull up resistors of 3.3 kΩ between the output channels and Vcc are included. 7 Encoding Characteristics Encoding Characteristics over Recommended Operating Range and Recommended Mounting Tolerances unless otherwise specified. Values are for the worst error in the full rotation. Part Number Description Symbol Min. Typ.* Max. Units HEDS-6500*** Pulse Width Error Logic State Width Error Phase Error Position Error Cycle Error ∆P ∆S ∆Φ ∆Θ ∆C 5 5 2 7 5 35 35 15 20 5.5 e e e min. of arc e HEDS-6540** ∆P ∆S ∆Φ ∆Θ ∆C ∆P0 55 5 5 2 7 5 90 35 35 15 20 5.5 125 e e e min. of arc e e CH I fall after CH B or CH A fall -25°C to +100°C -40°C to +100°C t1 t1 10 -300 100 100 250 250 ns ns CH I rise after CH B or CH A rise -25°C to +100°C -40°C to +100°C t2 t2 70 70 150 150 300 1000 ns ns 5 5 2 7 5 90 35 35 15 20 5.5 HEDL-654x Pulse Width Error Logic State Width Error Phase Error Position Error Cycle Error Index Pulse Width Pulse Width Error Logic State Width Error Phase Error Position Error Cycle Error Index Pulse Width ∆P ∆S ∆Φ ∆Θ ∆C ∆P0 *Typical values specified at Vcc = 5.0 V and 25°C. **HEDS-6540 – Active high Index part. Pull-up of 2.7 kΩ used on all outputs of modules that do not have a line driver. ***HEDS-6500 – 3.3 kΩ pull-up resistors used on all encoder module outputs. e e e min. of arc e e 8 Electrical Characteristics Electrical Characteristics over Recommended Operating Range, typical at 25°C. Part Number Symbol* HEDS-6500 HEDS-6540 Min. Icc VOH VOL tr tf Icc VOH VOL tr tf Typ. Max. Units 17 40 mA V V ns ns IOH = -40 µA max IOL = 3.2 mA CL = 25 pF, RL = 11 kΩ pull-up. mA V V ns ns IOH = -200 µA max IOL = 3.86 mA CL = 25 pF, RL = 3.3 kΩ pull-up. 2.4 0.4 200 50 30 2.4 57 85 0.4 180 40 Notes *Explanation for symbols. Icc – Supply current, VOH – High Level Output Voltage, VOL – Low Level Output Voltage, tr – Rise Time, tf – Fall Time. Electrical Interfaces To insure reliable encoding performance, the HEDS-6540 three channel encoder requires 2.7 kΩ pull-up resistors to the supply voltage on each of the three output lines Ch. A, Ch. B, and Ch. I located as close as possible to the encoder (less than 4 feet). Mechanical Characteristics Parameter Symbol Dimensions Moment Of Inertia J 7.7 (110 x 10-6 ) Tolerances [1] Units gcm2 (oz-in-s2) Required Shaft Length [2] 15.9 (0.625) ± 0.6 (.024) mm (inches) Bolt Circle [3] 46.0 (1.811) ± 0.13 (.005) mm (inches) Mounting Screw Size [4] 2.5 x 0.45 x 5 mm Pan Head Style #2-56 x 3/16 Inches Encoder Base Plate Thickness 3.04 (120) mm (inches) Mounting Screw Torque 1.0 (0.88) Kg (in-lbs) Hub Set Screw UNC #2-56 Hex head set screw Notes: 1. These are tolerances required of the user. 2. Through hole in the encoder housing are also available, for longer shafts. 3. The HEDL-65X0 must be aligned using the aligning pins as specified in the section on “MOUNTING CONSIDERATIONS.” 4. The recommended mounting screw torque for 2 screws is 1.0 Kg (0.88 in-lbs). 9 Mounting Considerations The HEDS-654x/HEDL-654x must be aligned with respect to the optical center (codewheel shaft) as indicated in the following figure. 2.62 (0.103) 2 SCREW MOUNTING M2.5 (2-56 UNC-2B) 2 PLCS – EQUALLY SPACED ON 46.00 (1.811) DIA. BOLT CIRCLE ∅ 0.25 (0.010) A 24.38 (0.960) —A— MOTOR SHAFT CENTER ALIGNMENT BOSS ∅ 26.010/25.984 (∅ 1.024/1.023) 5.7 (0.225) TALL MAX. ∅ 0.15 (0.006) A 17.27 (0.680) 15.88 (0.625) ALIGNING PINS 2.39/2.34 DIA. – 0.76 HIGH (0.094/0.092–0.030) 0.25 (0.010) x 45° CHAMFER 2 PLACES ∅ 0.15 (0.006) A TYPICAL DIMENSIONS IN MILLIMETERS AND (INCHES). If neither locating pins nor locating boss are available, then a centering tool supplied by Agilent can be used (HEDS-6510). The following figure shows how the main encoder components are organized. Encoder Mounting and Assembly EXPLODED VIEW 10 1 ALIGNMENT TOOL ASSEMBLE COMPONENTS AND MOUNTING SCREWS AND TOOLS AS APPROPRIATE. 2 LOAD ENCODER BASEPLATE ONTO RECEIVING SURFACE (MOTOR END PLATE) WITH MOUNTING SCREW HOLES ALIGNED WITH MATING HOLES. LOAD MOUNTING SCREWS AND LEAVE SLIGHTLY LOOSE. 11 3 LOCATE ENCODER BASEPLATE CHOOSE CENTERING CYLINDER OR UNDERSIDE LOCATING PINS. CENTERING CYLINDER: LOCATE ENCODER BASEPLATE WITH CENTERING CYLINDER. WHEN IN PLACE, TIGHTEN MOUNTING SCREWS. LOCATING PINS: WITH LOCATING PINS PROPERLY SEATED IN CORRESPONDING RECEIVING HOLES IN ENCODER BASEPLATE, TIGHTEN MOUNTING SCREWS. 4 LOCATE ENCODER MODULE AND CODEWHEEL ALIGN ENCODER MODULE AND CODEWHEEL AS SHOWN. BE CAREFUL NOT TO DAMAGE THE ENCODER INTERNAL COMPONENTS WITH THE CODEWHEEL. BRING THE ENCODER MODULE AND CODEWHEEL DOWN SUCH THAT THE ENCODER MODULE LOCATING HOLES (ON ITS UNDERSIDE) MATE WITH THE BASEPLATE ROUND PINS. THE BASEPLATE SQUARE PINS SHOULD SEAT INTO THE ENCODER MODULE MOUNTING THRU HOLES. CONCURRENTLY, BRING THE CODEWHEEL DOWN ONTO THE MATING SHAFT. 12 5 ALLEN WRENCH TO TIGHTEN CODEWHEEL SET SCREW CODEWHEEL GAPPING TOOL WITH CODEWHEEL AND ENCODER MODULE IN PLACE, PLACE CODEWHEEL GAPPING TOOL UNDER CODEWHEEL AS SHOWN. INSERT THE ALLEN WRENCH INTO THE CODEWHEEL SET SCREW AND TIGHTEN. REMOVE ALLEN WRENCH AND GAPPING TOOL. 6 WITH CODEWHEEL AND ENCODER MODULE IN PLACE, LOAD ENCODER HOUSING FROM TOP INTO "SNAPPED" POSITION. INSURE THAT ANY CABLES FROM THE ENCODER MODULE ARE FOLDED DOWN SUCH THAT THEY EMERGE FROM THE BOTTOM OF THE HOUSING'S REAR RECTANGULAR PORT. 13 Ordering Information for 2CH and 3CH Encoder Modules Encoders Metal Codewheel (up to 100°C) HEDS - 65 OPTION OUTPUTS THROUGH HOLE 0 – 2 CH 4 – 3 CH 0 – None 5 – 13.3 mm (0.525 in.) HEDS-6500# A B J HEDS-6505# A B J HEDS-6540# A B J HEDS-6545# A B J RESOLUTION (CYCLES/REV) 05 – 3/16 in. 06 – 1/4 in. 08 – 3/8 in. 09 – 1/2 in. A = 500 B = 1000 J = 1024 05 06 08 09 10 11 12 13 * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * SHAFT DIAMETER * * Encoders Film Codewheel (up to 70°C) HEDM – 65 OUTPUTS 0 – 2 CH 4 – 3 CH 05 HEDM-6500# HEDM-6505# OPTION THROUGH HOLE RESOLUTION (CYCLES/REV) 0 – None 5 – 13.3 mm (0.525 in) T – 2000 U – 2048 2 CH only 06 08 T U * * * T U * * HEDM-6540# T HEDM-6545# T 09 10 11 12 SHAFT DIAMETER 05 – 3/16 in. 06 – 1/4 in. 08 – 3/8 in. 09 – 1/2 in. 13 * * * * 10 – 5/8 in. 11 – 4 mm 12 – 6 mm 13 – 8 mm 10 – 5/8 in. 11 – 4 mm 12 – 6 mm 13 – 8 mm 14 Ordering Information for 2CH and 3CH Encoder Modules with Line Driver Encoders with Metal Codewheel (up to 100°C) HEDL - 65 OPTION OUTPUTS THROUGH HOLE 0 – 2 CH 4 – 3 CH 0 – None 5 – 13.3 mm (0.525 in.) 05 HEDL-6540# B HEDL-6545# B J 06 RESOLUTION (CYCLES/REV) 09 10 11 12 * * 08 – 3/8 in. 09 – 1/2 in. 10 – 5/8 in. A = 500 B = 1000 J = 1024 08 13 * * * * Ordering Information for HEDS=76XX Centering Tools HEDS-6510 Option 0 SHAFT DIAMETER 10 – 5/8 in. 11 – 4 mm 12 – 6 mm 13 – 8 mm 05 – 3/16 in. 06 – 1/4 in. 08 – 3/8 in. 09 – 1/2 in. HEDS-6510 0 05 06 08 09 10 11 12 13 * * * * * * * * Ordering Information for HEDS-65XX Codewheel Gapping Tool HEDS-6511 SHAFT DIAMETER 11 – 4 mm 12 – 6 mm 13 – 8 mm 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) 6756 2394 India, Australia, New Zealand: (+65) 6755 1939 Japan: (+81 3) 3335-8152(Domestic/International), or 0120-61-1280(Domestic Only) Korea: (+65) 6755 1989 Singapore, Malaysia, Vietnam, Thailand, Philippines, Indonesia: (+65) 6755 2044 Taiwan: (+65) 6755 1843 Data subject to change. Copyright © 2003 Agilent Technologies, Inc. Obsoletes 5988-6618EN April 14, 2003 5988-9398EN