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)