Two Channel Optical Incremental Encoder Modules Technical Data HEDS-9000 HEDS-9100 Features Description • High Performance • High Resolution • Low Cost • Easy to Mount • No Signal Adjustment Required • Small Size • -40°C to 100 °C Operating Temperature • Two Channel Quadrature Output • TTL Compatible • Single 5 V Supply The HEDS-9000 and the HEDS9100 series are high performance, low cost, optical incremental encoder modules. When used with a codewheel, these modules detect rotary position. The modules consist 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 unique photodetector array, these modules are extremely tolerant to mounting misalignment. 1.0 (0.04) 5.1 (0.20) DATE CODE 3.73 ± 0.05 (0.147 ± 0.002) HEDS-9X00 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) 1.8 (0.07) 1.52 (0.060) OPTION CODE 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) 10.16 (0.400) TYPICAL DIMENSIONS IN MILLIMETERS AND (INCHES) 2.9 (0.11) 6.9 (0.27) GND 2.54 (0.100) TYP. CH. B VCC CH. A N.C. GND 8.6 (0.34) VCC 0.63 (0.025) SQR. TYP. 26.67 (1.05) 15.2 (0.60) Standard resolutions for the HEDS-9000 are 500 CPR and 1000 CPR for use with a HEDS6100 codewheel or equivalent. 5 4 3 2 1 Package Dimensions The two channel digital outputs and the single 5 V supply input are accessed through five 0.025 inch square pins located on 0.1 inch centers. 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 For the HEDS-9100, standard resolutions between 96 CPR and 512 CPR are available for use with a HEDS-5120 codewheel or equivalent. Block Diagram Applications The HEDS-9000 and 9100 provide sophisticated motion detection at a low cost, making them 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. Output Waveforms Theory of Operation The HEDS-9000 and 9100 are Cshaped emitter/detector modules. Coupled with a codewheel, they translate the rotary motion of a shaft into a two-channel digital output. As seen in the block diagram, each 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 product 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 odewheel. 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). 3 Definitions Absolute Maximum Ratings Count (N): The number of bar and window pairs or counts per revolution (CPR) of the codewheel. 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 1 Shaft Rotation = 360 mechanical degrees, = N cycles. 1 cycle (C) = 360 electrical degrees (°e), = 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. 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. Pulse Width Error (∆P): The deviation, in electrical degrees of the pulse width from its ideal value of 180°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. State Width (S): The number of electrical degrees between a 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. Recommended Operating Conditions Parameter Symbol Min. Max. Units T -40 100 °C Supply Voltage VCC 4.5 5.5 Volts Load Capacitance CL 100 pF 3.3 kΩ pull-up resistor Count Frequency f 100 kHz Velocity (rpm) x N 60 Temperature Typ. Notes Ripple < 100 mVp-p 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 codewheel/codestrip contribution. Description Sym. Typ. Case 1 Max. Pulse Width Error ∆P 30 40 °e Logic State Width Error ∆S 30 40 °e Phase Error ∆φ 2 10 Case 1: Module mounted on tolerance circle of ± 0.13 mm (± 0.005 in.). Case 2: HEDS-9000 mounted on tolerances of ± 0.50 mm (0.020"). HEDS-9100 mounted ontolerances of ± 0.38 mm (0.015"). Case 2 Max. 105 Units °e Notes 4 Electrical Characteristics Electrical Characteristics over Recommended Operating Range, typical at 25°C. Parameter Symbol Supply Current ICC High Level Output Voltage VOH Low Level Output Voltage VOL Min. Typical Max. Units 17 40 mA 2.4 0.4 Notes Volts IOH = -40 µA max. Volts IOL = 3.2 mA Rise Time tr 200 ns Fall Time tf 50 ns CL = 25 pF RL = 11 kΩ pull-up Derating Curves over Extended Operating Frequencies (HEDS-9000/9100) 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 -20 100°C -30 25°C -40 -50 120 -40°C 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 25°C 3 2 1 0 120 -40°C 140 160 180 200 FREQUENCY (kHz) 220 240 5 Recommended Codewheel Characteristics Codewheel Options Figure 1. Codestrip Design Parameter HEDS Series CPR (N) Option Optical Radius mm (in.) 5120 5120 5120 5120 5120 5120 5120 5120 5120 96 100 192 200 256 360 400 500 512 K C D E F G H A I 11.00 (0.433) 11.00 (0.433) 11.00 (0.433) 11.00 (0.433) 11.00 (0.433) 11.00 (0.433) 11.00 (0.433) 11.00 (0.433) 11.00 (0.433) 6100 6100 500 1000 A B 23.36 (0.920) 23.36 (0.920) Symbol Minimum Maximum φw/φb 0.7 1.4 Window Length LW 1.8 (0.071) 2.3 (0.09) Absolute Maximum Codewheel Radius RC Window/Bar Ratio ROP + 1.9 (0.0075) Units Notes mm (inch) mm (inch) Includes eccentricity errors 6 Mounting Considerations Figure 2. Mounting Plane Side A. Figure 3. Mounting Plane Side B. Figure 4. Mounting as Referenced to Side A. Figure 5. Mounting as Referenced to Side B. 7 Connectors Mounting Surface Manufacturer Part Number AMP 1203686-4 640442-5 DuPont 65039-032 with 4825X-000 term. Both HP HEDS-8902 with 4-wire leads Side B (see Fig. 6) Molex 2695 series with 2759 series term. Side B Both Side B Figure 6. HEDS-8902 Connector. Ordering Information 0 0 HEDS-9000 Option HEDS-6100 Option Resolution (Cycles/Rev) Shaft Diameter 06 - 1/4 in. 08 - 3/8 in. 09 - 1/2 in. A - 500 CPR B - 1000 CPR J - 1024 CPR T - 2000 CPR* U - 2048 CPR* HEDS-9000 A B * * C D E F G H I J K L 10 - 5/8 in. 12 - 6 mm 13 - 8 mm S * T U * 01 02 03 04 05 06 08 09 10 11 12 13 14 HEDS-6100 A B * * * * * * * * 0 0 HEDS-910 0 Option Lead HEDS-5120 Option Resolution (Cycles/Rev) 0 - Straight Leads 1 - Bent Leads S - 50 CPR K - 96 CPR C - 100 CPR E - 200 CPR F - 256 CPR G - 360 CPR Shaft Diameter H - 400 CPR A - 500 CPR I - 512 CPR B - 1000 CPR* J - 1024 CPR* 01 - 2 mm 02 - 3 mm 03 - 1/8 in. 04 - 5/32 in. 05 - 3/16 in. 06 - 1/4 in. A B C D E F G H I J K S HEDS-9100 * * * * * * * * * * HEDS-9101 * * * * T 11 - 4 mm 14 - 5 mm 12 - 6 mm 13 - 8 mm U * 01 02 03 04 05 06 08 09 10 11 12 13 14 HEDS-5120 A C * * * * * * D * * * * * * * * * * E * F * * G * H * I * K * * * * * * * * * * * * * * * * 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 5988-5857EN May 8, 2002 5988-6712EN