Model H25® Absolute Encoder Long considered the industry standard for shafted incremental encoders, the Model H25 is now available in an absolute version with up to 13 Bits of resolution. It incorporates many of the great standard features of the incremental version, including: EMI shielding, 40-lb ABEC 7 bearings, matched thermal coefficients on critical components, and custom optics. This encoder features a 12 or 13 Bit absolute parallel gray code output, a selection line for count direction, and an output latch as standard. Output is standard gray code with options for natural binary or SSI compatible signals. Signals can be provided in either a single-ended multi-voltage line driver (TTL compatible when provided with 5 volts) or as an open-collector style of output. Typical applications include dam gate control, cranes, telescopes, tool changers, and robotics. The H25 Absolute Encoder is available with the following certification: EN 55011 and EN 61000-6-2 Mechanical Specifications Shaft Diameter: 3/8” (1/2”as special feature) Flat On Shaft: 3/8” Shaft: 0.80 long X 0.03” deep; 1/2” Shaft: 0.80 long X 0.04” deep (1/2’’ shaft w/flat must be ordered as a special feature) Shaft Loading: 3/8” shaft: Up to 40 pounds axial and 35 pounds radial; 1/2” shaft: Up to 90 pounds axial and 80 pounds radial Shaft Runout: 0.0005 T.I.R. at midpoint regardless of shaft diameter Starting Torque at 25°C: Without shaft seal 1.0 in-oz (max); With shaft seal 2.5 in-oz (max); 1/2” shaft with shaft seal:3.5 in-oz (max) Bearings: Class ABEC 7 standard, ABEC 5 for 1/2” shaft Shaft Material: 416 stainless steel Bearing Housing: Die cast aluminum with protective finish; stainless steel (special feature) Cover: Die cast aluminum; stainless steel (special feature) Bearing Life: 2 X 108 revs (1300 hrs at 2500 RPM) at rated load 1 X 1010 revs (67,000 hrs at 2500 RPM) at 10% of rated load Maximum RPM: 12,000 RPM nominal, 8000 RPM with 1/2” shaft (see Frequency Response, below) 30,000 RPM available on units with 3/8” shaft—consult with factory Moment of Inertia: 4.1 X 10-4 oz-in-sec2; 5.2 X 10-4 oz-in-sec2 with 1/2” shaft Weight: 13 oz typical, 14.5 oz typical with 1/2” shaft Electrical Specifications Code: 12 or 13 bits NB or GC; excess gray and BCD available Counts Per Shaft Turn: 4096 or 8192 Count Transition Accuracy: ± 1/2 bit maximum Supply Voltage: 5–28 VDC Current Requirements: 120 mA typical Output Formats: Parallel: Gray Code, Natural Binary and Binary Coded Decimal; Serial: Serial Synchronous Interface (SSI) compatible; Analog: 4–20 mA, 0–10V Voltage/Output: (see note 3) 28V/V: Line Driver, 5–28 VDC in, Vout = Vin 28V/5: Line Driver, 5–28 VDC in, Vout = 5 VDC 28V/OC: Open Collector, 5–28 VDC in OCout SSI: 5–28 VDC In/5Vout H25 Absolute Encoder Ordering Options Protection Level: Reverse, overvoltage and output short circuit protection Frequency Response: 100kHz (1200 RPM for 12-bits, 600 RPM for 13-bits) Output Termination Pinouts: see Table 1, back page Environmental Specifications Enclosure Rating: NEMA 4 & 13 (IP 66) when ordered with shaft seal (on units with an MS connector) or a cable gland (on units with cable termination). Temperature: Operating, 0º to 70º C; extended temperature testing available (see note 5); Storage, -25º to 90º C unless extended temperature option called out. Shock: 50 g’s for 11 msec duration Vibration: 5 to 2000 Hz @ 20 g’s Humidity: 98% RH without condensation Connector MS3112E14-19P, 19–pin connector on encoder body, mates to MS3116J14-19S (or equivalent) NOTES & TABLES: All notes and tables referred to in the text can be found on the back of this page. for assistance call 800-350-2727 Use this diagram, working from left to right to construct your model number (example: H25E-F4-SS-12GC-28V/V-CW-SM14/19). All notes and tables referred to can be found on the back of these pages. H25 Face Output TYPE: SHAFT Seal voltage/output: SPECIal features: Mounts: Configuration: Termination Heavy Duty S = Special features 28V/V = 5–28 V in/out CODE TYPE: F1 Location: 2.5 inch Dia. SS = Shaft Seal specified on purchase 28V/5 = 5–28 V /5V in out F4 GC = Gray Code See note 2 HOUSING : order (consult factory) Direction E = End See note 1 NB = Natural Binary 28V/OC = 5–28 Vin/OCout See note 4 D = Square Flange of Count: S = Side Number of Bits: BCD = Binary A1 = 4–20mA; A2 = 0–10V E = 2.5 inch dia. CW = Clockwise Termination TYPE: 12 = 12-Bits, 4096 counts per turn Coded Decimal X= SI = RS–422 Serial increasing count M14/19 = 19 pin connector servo mount X = Excess 13 = 13 Bits, 8192 counts per turn Express Asynchronous CCW = Counter clockCS= Cable with gland seal G = 2.62 inch dia. gray code (Excess gray codes and BCD S3 = Serial Encoder wise increasing count Cable length specified in inches servo mount available–consult factory Synchronous Interface (i.e. C18 = Pigtail 18” long) See dimensions See note 3 M18 = MS3102R18-1P EXPRESS ENCODERS: Items highlighted with are standard Express Encoders and ship in one to three days. (S3 output only) Tel: 805-968-0782 /800-350-2727 | Fax: 805-968-3154 / 800-960-2726 7230 Hollister Ave., Goleta, CA 93117-2807 | www.beisensors.com Specification No. 02067-001 Rev.11-11 These commodities, technology or software if exported from the United States must be in accordance with the Bureau of Industry, and Security, Export Administration regulations. Diversion contrary to U.S law is prohibited. Model H25® Absolute Encoder MS STYLE CONNECTOR 1.30 (SM 14/19) SM CONNECTOR POSITION Dimensions Serial Synchronous Interface (SSI) 0.30 Interfacing Long Data Lines: POSITION Features : • Synchronous transmission • Transmission lengths to 1000 feet • Accepts clock rates from 100 KHz to 1.8 MHz ailable to validate the transmitted data. SM CONNECTOR 2.50 POSITION 0.300 0.100 .100 MIN 0.88 ± 0.03 0.12 0.125 0.21 R Ø 2.500 1.2500 Ø 1.2495 2.650 SQUARE 0.255 Ø 2.500 Ø 2.52 0.30 MAX Cable impedance can create a transmission delay, in effect, shifting the Ø 2.275 1.2500 phase relationship between the clock pulse and the data. If this phase shift 2.50 Ø 1.2495 1. Output driver of the encoder is a MAX 491 transceiver in transmit mode. The 0.88 ± 0.03 0.3747 Ø 0.218 4 HOLES Ø 1.38 0.3745 exceeds 180°, then the wrong bit position will be sampled by the receiver. (Ø 2.919 B.C. REF) recommended receiver is a MAX 491 transceiver in receive mode. 0.255 1.2500 Ø 2.52 Ø 0.30 1.2495 AsCompatible a result,Serial theCode maximum allowable clock frequency is a functionMAX of the SSI (S3): 2. Controller provides a series of pulses (or differential pulse pairs) on 2.064 TYP cable length. For 24 AWG, stranded, 3 pair cable (BEI part number 3704830° Transmission Ø 2.275 0.21 R H25E -1.032 2.50 Servo Mount the CLOCK input lines. nce: MS STYLE The 1.30table (SM 14/19) 003 or equivalent) the group delay is 1.36ns/ft. belowEMshows CONNECTOR 0.88 ± 0.03 0.3747 Ø CONNECTOR 3. On the first HIGH-to-LOW CLOCK transition, the encoder latches its data 1.38 0.300 POSITION 0.3745 from the encoder is sent with a MAX 491 transceiver in transmit mode. It is 0.125 the maximum transmission rate allowable as a function of cableSMlength to 0.100 CONNECTOR 1.2500 mended to use any RS-422/485 compatible receiver and provide a termination resistor 2.650 at the current position and prepares to transmit. 0.125 .100 MIN Ø on the RS-422/485 specification for your specific voltage and DATA line length. POSITION SQUARE 1.2495 ensure a phase shift of less than 90°. 0.34 MS STYLE 1.30 (SM 14/19) LOCK signals are RS-422/485 compatible, differential TTL, with 180 Ohm termination EM CONNECTOR Controller data the falling edge of the next 15 clock cycles. F4 ors internal to the encoder.4. A series of pulses fromreads the controller, on theon CLOCK CONNECTOR Ø 2.500 0.300 POSITION 6-32 UNC-2B advances the data. 2.064 0.100 TYP 0.125 2.500 30° 0.250 Min. Deep Ø 2.498 e first HIGH-to-LOW CLOCK5. transition, encoder at the current SM CONNECTOR 0.21 R Thethefirst bitlatches is aits data START bit and is always HIGH. 1.032 3 places equally spaced 0.125 .100 MIN on and prepares to transmit. The DATA signal during this transition is a START bit, POSITION2.50 Ø 0.218 4 HOLES 1.2500 on a Ø 2.00 bolt circle. CLOCK, Maximum (kHz) =mates92,000 / Cable Length (ft)CW (Ø 2.919 B.C.ØREF) is always HIGH. 1.2495 *Connector is a MS3102E18-1P, 10-pin connector on the encoder body and to an MS3106F18-1S connector or can be used with a standard cable/connector assembly, BEI P/N: 924-31186-18XX. 6. Next comes 13 data bits beginning with the most significant bit (MSB) ncoder shifts data to the DATA line on each LOW-to-HIGH clock transition, beginning Ø 2.625 in feet, ie. 10 = 10 feet) Ø 2.500 he MSB. The controller reads data on the HIGH-to-LOW transiton of the next 12 clock Cable Length (ft) 50 (XX = cable 100lengthØ200 300 500 1000 0.255 2.500 andbitending with the isparity bit. ending with the LSB. The parity (if parity option is specified) clocked out on On 12 bit encoders, bit 13 is LOW. When 2.52 Ø 2.498 0.30 th clock cycle. When the parity option is used, the 13th bit output is a logic LOW on Direction Control: Standard is CW for increasing count when viewed from the shaft end. Direction Control (Pin C) is normally HIGH (or N/C) and is pulled up internally to the positive supply voltage. To reverse the count direction, 2.650 MAX 1.2500 C must be pulled to LO (0V) 2.50 it Encoder or the LSB of a 13 bit Encoder. parity is not ordered, parity is LOW. SQUARE Ø 1.2495 Max Freq (kHz) 1800 Pin900 500 300 200 100 0.34 is even. The sum of all data bits and the parity bit is even. Ø 2.275 Ø 2.625 the last CLOCK LOW-to-HIGH transition, a minimum of 30 microseconds must pass NOTE: SHAFT SEAL NOT F4 After e the beginning of the next7. CLOCK series. the last CLOCK HIGH-to-LOW transition, a minimum of 40 micro0.255 AVAILABLE ON H25 G Ø 2.52 6-32 UNC-2B 0.3747 0.30 0.88 ± 0.03 Ø SSI Compatible Output with Parity Option Timing Diagram: 1.38 0.250 Min. Deep 0.3745 MAX seconds must pass before the beginning of the next CLOCK series. 3 places equally spaced Ø 0.218 4 HOLES on a Ø 2.00 bolt circle. 20us Max Ø 1.250040us Min Ø H25G - 2.62 (Ø2.275 2.919 B.C. REF) Dia Servo Mount 1.2495 SSI Timing NOTE: SHAFT SEAL NOT Data Transmission Sequence onous transmission 485 compatible mission lengths to 1000 feet s clock rates from 100 KHz to 1.8 MHz bit option is available Cable Length (feet) 50 100 200 300 500 1000 Max. Frequency (KHz) 1800 900 500 300 200 100 FUNCTION CONNECTOR* DATA+ A DATA- H CLOCK+ B CLOCK- Interfacing Long Data Lines RE IN INCHES INISH ON Ordering SSI : HOW TO SPECIFY SSI OUTPUT IN THE ENCODER MODEL NUMBER: Use the designation, S3 between the Code Format designation and the Connector designation. Example: H25D-SS12GC-S3-CW-SM18 INDUSTRIAL ENCODER DIVISION I redrawn KRB CHECKED 63 BEI SPECIFICATION ADDENDUM Output Code and Terminations WITHIN .010 NT CONTAINS PROPRIETARY INFORMATION OF GIES, INC. ANY REPRODUCTION, USE OR DISCLOSURE MENT WITHOUT WRITTEN CONSENT OF GIES, INC. IS EXPRESSLY PROHIBITED. 924-02087-001 MSB 12 Bit 211 210 G9 29 WHT/RED C G8 28 WHT/ORN D G7 27 WHT/YEL E LSB12 LSB13 G6 26 WHT/GRN F 25 WHT/BLU G G4 24 WHT/VIO H G3 23 WHT/GRY J G2 22 WHT K G1 G0 21 20 GRY/BLK GRY/BRN GRY/RED L M N 0V (circuiT COMMON)1 GRY/ORN P Direction of Count ORN R S CASE GROUND GRN 0V (CIRCUIT COMMON) BLK T LATCH CONTROL YEL U +V (SUPPLY VOLTAGE) RED V SHIELD DRAIN BARE — Figures Figure 1 DATACLOCK+ CLOCK- 3 5 2 6 1 BLK G GRN 1.30 (SM 14/19) START BIT 2.064 TYP 0.300 0.100 12 13 14 15 1.032 SM CONNECTOR1.2500 .100 MIN Ø POSITION 1.2495 Parity 2 MSB START OF NEXT CLOCK 0.3747 EM CONNECTOR Ø 0.3745 POSITION MSB-1 LSB12 LSB13 2.50 (Optional) 0.88 ± 0.03 1.2500 HØ 1.2495 B B C I D 2.064 TYP 1.032 WHT/YEL BLU 0.21 R WHT/BLU DIR CONTROL C R ORN G S 2.650 SQUARE CIRCUIT COMMON F T BLK +V SUPPLY VOLTAGE D V RED SHIELD DRAIN — — GRN Ø 0.218 4 HOLES (Ø 2.919 B.C. REF) BARE Direction of Count: Standard is CW increasing when viewed from the shaft end. Pin R is normally HI (or N/C) and is pulled up internally to +V. To reverse the count direction, Pin R must be pulled LO (COMMON ). Latch control: Encoder outputs are active and provide continuous parallel position information when Pin U is HI (or N/C). Pin U is pulled up internally to +V. When Pin U is LO (COMMON) the encoder outputs are latched at the logic state that is present when the latch is applied and will stay latched until Pin U is no longer grounded. M18 Connector is a MS3102R18-1P, 10-pin connector on the encoder body and mates to an MS3106F18-1S connector or can be used with a standard cable/connector assembly, BEI P/N 924-31186-18XX (Where XX = 10, 20 30 or 50 for a 10, 20, 30, or 50 foot length). This is the preferred connector for SSI output. ONE REVOLUTION M14/19 Connector is a MS3112E14-19P, 19-pin connector on the encoder body and mates to an MS3116J14-19S or equivalent. ETC. THRU LSB (GO) Natural Binary CW Increasing Count Viewing Shaft ONE REVOLUTION 30° 0.125 0.125 0.21 R START BIT 2.064 TYP 30us Min 0.21 R 2.650 1.032 SQUARE Ø 2.500 30° -S = Parity Bit 2.650 SQUARE Ø 0.218 4 HOLES (Ø 2.919 B.C. REF) Ø 2.275 DWG NO. 1.38 Ø 0.218 4 HOLES (Ø 2.919 B.C. REF) Notes 30° SHEET: 2/2 30° 0.34 F4 Ø 2.625 6-32 UNC-2B 0.250 Min. Deep 3 places equally spaced on a Ø 2.00 bolt circle. 0.34 REV 924-02087-001 AVAILABLE ON H25 G 1.38 2.500 Ø 2.498 1.2500 Ø 1.2495 Specials: Cable SIZE FSCM NO. Conn 0.88 ± A 0.03 1RB90 SCALE: NONE YEL CASE GROUND ETC. THRU LSB (20 ) ONE REVOLUTION ETC. THRU LSB (GO) 4 F B E I T E C H N O L O G I E S , I N C. Figure 2 Gray Code CW Increasing Count Viewing Shaft RED D CW Increasing Count Viewing Shaft Pin P is available for a tri-state option 9 INDUSTRIAL ENCODER DIVISION A A B G5 1 6 9 CIRCUIT COMMON (0V) M18 M14/19 Conn Conn 0.3747 BEI Ø DATA + 0.3745 A A REV SHEET: 1/2 M14/19 Conn 12 Bit G11 G10 WHT/BLK WHT/BRN 8 5 3 SSI Output0.30 Termination SIZE FSCM NO. DWG NO. Parallel code type A 1RB90 Gray Natural SCALE: NONE 924-02087-001 Code Binary Cable 8 To specify 0.255 Serial Synchronous Interface (SSI) 010 MAX 2 ORN Ø 2.52 SSI Output MAX Termination Table TITLE APPR BLU WHT/BLU WHT/ORN Encoder: H25D - SS - 12GC - S3 - SM18 - S 7230 Hollister Avenue | Goleta, CA 93117-2891 | Tel: (805) 968-0782 | Fax: (805) 968-3154 ENGR S AND BREAK ALL 7 SUPPLY VOLTAGE (+V) B E I T E C H N O L O G I E S , I N C. 0' 4 J Example Model Number: DATE 04/06/05 1 7 C 1 DATA+ YEL ENABLE (OPTIONAL) MS STYLE CONNECTOR CLOCK+ TERM BOARD H38 H40 CABLE WHT/YEL DIRECTION CONTROL CASE GROUND RWISE SPECIFIED A F4 NOTE: SHAFT SEAL NOT AVAILABLE ON H25 G 6-32 UNC-2B 0.250 Min. Deep 3 places equally spaced on a Ø 2.00 bolt circle. 30° F1 10-32 UNF-2B 0.188 Min. Deep 3 places equally spaced on a Ø 1.875 bolt circle. F1 10-32 UNF-2B 0.188 Min. Deep 3 places equally spaced on a Ø 1.875 bolt circle. 30° 1. Mounting is usually done either using the D-style square flange mount, E- or G-style servo mounts, or one of the standard face mounts, F1 for example. Consult factory for additional face mount options. 2.The shaft seal is recommended in F1 virtually all installations. The most common 10-32 UNF-2B 0.34 Min.low Deepstarting torque or those requiring exceptions are applications requiring0.188 a very F4 3 places equally spaced Ø 1.875speed. bolt circle. on a high operation6-32 atUNC-2B both high temperature and 0.250 Min. Deep 3 places spaced 3. Output IC’s:equally Output IC’s are available as either Line Driver (LD) or NPN Open on a Ø 2.00 bolt circle. Collector (OC) types. Open Collectors require pull-up resistors, resulting in higher output source impedance (sink impedance is similar to that of line drivers). In general, use of a Line Driver style output is recommended. Line Drivers source or sink current and their lower impedance mean better noise immunity and faster switching times. Warning: Do not connect any line driver outputs directly to circuit common/OV, which may damage the driver. Unused outputs should be isolated and left floating. Our applications specialists would be pleased to discuss your system requirements and the compatibility of your receiving electronics with Line Driver type outputs. 28V/V: Multi-voltage Line Driver (7272*): 100 mA source/sink. Input voltage 5 to 28 VDC +/- 5% standard (Note: Vout = Vin). This driver is TTL compatible when used with 5 volt supply. Supply lines are protected against overvoltage to 60 volts and reverse voltage. Outputs are short circuit protected for one minute. Supply current is 120 mA typical (plus load current). This is the recommended replacement for 3904R and 7406R open collector outputs with internal pullup resistors. It is also a direct replacement for any 4469, 88C30, 8830 or 26LS31 line driver 28V/5: Multi-voltage Line Driver (7272*): 100 mA source/sink. Input voltage 5 to 28 VDC +/- 5% standard, internally regulated with 5V (TTL compatible) logic out. Supply lines are protected against overvoltage to 60 volts and reverse voltage. Outputs are short circuit protected for one minute. Supply current is 90 mA typical (plus load current). Note: Limit encoder load to 2.5W max at ambient. Example at 12 VDC: 2.5W/ (+12VDC minus +5VDC) = 357 mA total allowed current. Consult factory for your specific requirements. 28V/OC: NPN Open Collector (3904*, 7273*). Current sink of 80 mA max. Current sourced by external pull- up resistor. Output can be pulled up to voltage other than supply voltage (30 V max). Input voltage 5 to 28 VDC +/- 5% standard. Supply current is 120 mA typical. This replaces prior IC’s with designations of 3904, 7406, 3302, 681 and 689. 4. Special –S at the end of the model number is used to define a variety of nonstandard features such as special shaft lengths, voltage options, or special testing. Please consult the factory to discuss your special requirements. 5. Extended temperature ratings are available in the following ranges: -40 to 70°C, -40 to 85°C. Some models can operate down to - 55°C. Extended temperature ranges can affect other performance factors. Consult with factory for more specific information. * Products manufactured prior to April 2007 used the line driver IC number instead of voltage output in model number. ETC. THRU LSB (20 ) .1 2.50 0.255 Ø 2.52 MAX SSI output provides effective synchronization in a closed-loop control system. A clock pulse train from a controller is used to clock out sensor data: H25D - Square Flange 0.3747 Cable impedance creates a transmission delay, shifting the phase relationship between the clock pulse and the data. If this pulse shift exceeds 180 , then the wrong bit position will be sampled Ø 0.3745 ut provides effective synchronization in a closed-loop control system. A clock by the receiver.by The maximum allowable clock frequency, a function of the cabledriver permits reliable one bit of position data is transmitted to the controller per one clock pulse received the sensor. The usetherefore, of ais differential MS STYLE 1.30 (SM 14/19) ain from a controller is used to shift out sensor data: one bit of position data is EM CONNECTOR REVISIONS length. For 24 AWG, stranded, 3 pair cable (BEI part number 37048-003 or equivalent) the group CONNECTOR Ø 1.2500 0.300 POSITION ted to the controller per clock pulse received by the sensor. The use of a 1.2495 delay is 1.36nS/ft. The table below shows the maximum transmission rate allowable as a function 0.100 transmission of distances dataLTRinover long DESCRIPTION distances in environments ignal, provided by the user interDATE APPRthat may be electrically noisy. The encoder utilizes a clock s ial driver permits reliable transmission of data over long SM CONNECTOR of cable length to ensure a phase shift of less than 90 . .100 MIN ments that may be electrically noisy. The encoder utilizes a clock signal, POSITION A ECO_500 4/13/05 2.064 TYP MS STYLE 1.30 (SM 14/19) d by the user interface, to time the data transmission. Receiving electronics must face, to time the data transmission. Receiving electronics must include an appropriate receiver as well as line terminating resistors. EM CONNECTOR CLOCK: Maximum (KHz) = 92,000/Cable Length (ft) 1.032 CONNECTOR an appropriate receiver as well as line terminating resistors. An optional parity FICATION ADDENDUM, Serial Synchronous Interface SSI): es: EM CONNECTOR POSITION CW Increasing Count Viewing Shaft ONE REVOLUTION Tel: 805-968-0782 /800-350-2727 | Fax: 805-968-3154 / 800-960-2726 | 7230 Hollister Ave., Goleta, CA 93117-2807 | www.beisensors.com 0.1 0.12 30° F1 10-32 0.188 3 plac on a Ø 30° F1 10-3 0.18 3 pla on a