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two channel high resolution optical incremental encoder modules technical data features ? high resolution: up to 2048 cycles per revolution ? up to 8192 counts per revolution with 4x decoding ? two channel quadrature output ? low cost ? easy to mount ? no signal adjustment required ? small size ? -40 c to 100 c operating temperature ? ttl compatible ? single 5 v supply description the HEDS-9000 options t and u and the heds-9100 options b and j are high resolution two channel rotary incremental encoder modules. these options are an extension of our popular HEDS-9000 and heds-9100 series. when used with a code- wheel, these modules detect relative rotary position. the heds-9200 option 300 and 360 are high resolution linear encoder modules. when used with a HEDS-9000/9100/9200 extended resolution series codestrip, these modules detect relative linear position. these modules consist of a lensed light emitting diode (led) source and detector ic enclosed in a small c shaped plastic package. due to a highly collimated light source and unique photodetector array, these modules provide a highly reliable quadrature output. the HEDS-9000 and heds-9100 are designed for use with codewheels which have an optical radius of 23.36 mm and 11 mm respectively. the heds-9200 is designed for use with a linear codestrip. these components produce a two channel quadrature output which can be accessed through five 0.025 inch square pins located on 0.1 inch centers. the resolution of the HEDS-9000 options t and u are 2000 and 2048 counts per revolution respectively. the heds-9100 options b and j are 1000 and 1024 counts per revolution respectively. the heds-9200 option 300 and 360 linear encoder modules have resolutions of 300 and 360 lines per inch. consult local agilent sales representatives for other resolutions. 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. esd warning: normal handling precautions should be taken to avoid static discharge.
2 block diagram theory of operation the diagram shown on the fol- lowing page is a block diagram of the encoder module. as seen in this block diagram, the module contains a single 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/codestrip passes between the emitter and detector, causing the light beam to be interrupted by the pattern of spaces and bars on the code- wheel. the photodiodes which detect these interruptions are arranged in a pattern that corresponds to the codewheel/ codestrip. 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. 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). definitions count (n): the number of bar and window pairs or counts per revolution (cpr) of the codewheel. 1 cycle (c): 360 electrical degrees ( e), 1 bar and window pair. 1 shaft rotation: 360 mechanical degrees, n cycles. 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 ( d 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 ( d s): the deviation, in electrical degrees, of each state width from its ideal value of 90 e. phase ( f ): the number of elec- trical 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. phase error ( df ): 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 (r op ): the dis- tance from the codewheels center of rotation to the optical center (o.c.) of the encoder module. output waveforms
3 recommended operating conditions parameter symbol min. typ. max. units notes temperature t a -40 100 c supply voltage v cc 4.5 5.0 5.5 volts ripple < 100 mv p-p load capacitance c l 100 pf 3.3 k w pull-up resistor count frequency f 100 khz velocity (rpm) x n/60 shaft axial play 0.125 mm 0.005 in. note: the module 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 the pull up resistance not exceed 3.3 k w . for typical module performance above 100 khz please see derating curves. package dimensions absolute maximum ratings storage temperature, t s ..................................................................... -40 c to 100 c operating temperature, t a ................................................................ -40 c to 100 c supply voltage, v cc ...................................................................................... -0.5 v to 7 v output voltage, v o ........................................................................................ -0.5 v to v cc output current per channel, i out ................................................. -1.0 ma to 5 ma 26.67 (1.05) heds-9x00 15.2 (0.60) c l 17.27 (0.680) 20.96 (0.825) 1.85 (0.073) 8.64 (0.340) ref. aligning recess 2.44/2.41 dia. (0.096/0.095) 2.16 (0.085) deep 1.02 ?0.10 (0.040 ?0.004) 5.1 (0.20) x00 yyxx option code 0.63 (0.025) sqr. typ. 2.54 (0.100) typ. date code 1.0 (0.04) 3.73 ?0.05 (0.147 ?0.002) 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 1.52 (0.060) 20.8 (0.82) 11.7 (0.46) 8.6 (0.34) 1.78 ?0.10 (0.070 ?0.004) 2.92 ?0.10 (0.115 ?0.004) 10.16 (0.400) 5.46 ?0.10 (0.215 ?0.004) optical center line 2.54 (0.100) 2.21 (0.087) 5.8 (0.23) 6.35 (0.250) ref. aligning recess 2.44/2.41 x 2.79 (0.096/0.095 x 0.110) 2.16 (0.085) deep 4.11 (0.162) aligning recess 2.44/2.41 dia. (0.096/0.095) 2.16 (0.085) deep optical center 45 8.81 (0.347) 11.9 (0.47) 4.75 ?0.10 (0.187 ?0.004) 2.9 (0.11) 1.8 (0.07) 6.9 (0.27) v cc gnd 5 ch. b 4 v cc 3 ch. a 2 n.c. 1 gnd side a side b typical dimensions in millimeters and (inches)
4 electrical characteristics electrical characteristics over recommended operating range, typical at 25 c. parameter symbol min. typical max. units notes supply current i cc 30 57 85 ma high level output voltage v oh 2.4 volts i oh = -200 m a max. low level output voltage v ol 0.4 volts i ol = 3.86 ma rise time t r 180 ns c l = 25 pf fall time t f 40 ns encoding characteristics encoding characteristics over recommended operating range and recommended mounting tolerances. these characteristics do not include codewheel/codestrip contribution. the typical values are averages over the full rotation of the codewheel. for operation above 100 khz, see frequency derating curves. description symbol typical maximum units pulse width error d p5 45 e logic state width error d s3 45 e phase error df 215 e note: module mounted on tolerance circle of 0.13 mm ( 0.005 in.) radius referenced from module side a aligning recess centers. 3.3 k w pull-up resistors used on all encoder module outputs. r l = 3.3 k w pull-up
5 derating curves over extended operating frequencies (HEDS-9000/9100/9200 extended series) below are the derating curves for state, duty, phase and v oh over extended operating frequencies of up to 240 khz (recommended maximum frequency is 100 khz). the curves were derived using standard ttl load. C40 c operation is not feasible above 160 khz because v oh will drop below 2.4 v (the minmum ttl for logic state high) beyond that frequency. 120 220 frequency (khz) -40 0 change in pulse width error (electrical degree) 240 -30 -20 160 -10 140 200 180 100? 25? -40? -50 120 220 frequency (khz) 10 50 change in state width error (electrical degree) 240 20 30 160 40 140 200 180 100? 25? -40? 0 120 220 frequency (khz) -10 0 change in phase error (electrical degree) 240 -5 160 140 200 180 100? 25? -40? 120 220 frequency (khz) 3 5 change in v oh (volts) 240 4 160 140 200 180 100? 25? -40? 2 1 0
6 gap setting for rotary and linear modules gap is the distance between the image side of the codewheel and the detector surface of the mod- ule. this gap dimension must always be met and codewheel warp and shaft end play must stay within this range. this dimension is shown in figure 1. mounting considerations for rotary modules figure 2 shows a mounting tolerance requirement for proper operation of the high resolution rotary encoder modules. the aligning recess centers must be located within a tolerance circle of 0.13 mm (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 3), or mounted with side b as the mounting plane using an alignment tool. mounting with aligning pins the high resolution rotary encoder modules can be mounted using aligning pins on the motor base. (agilent does not provide aligning pins.) for this configu- ration, side a must be used as the mounting plane. the aligning recess centers must be located within the 0.13 mm (0.005 in.) r tolerance circle as explained above. figure 3 shows the necessary dimensions. mounting with alignment tools agilent offers alignment tools for mounting agilent encoder modules in conjunction with agilent codewheels, using side b as the mounting plane. please refer to the agilent codewheel data sheet for more information. figure 2. rotary module mounting tolerance. figure 3. mounting plane side a. figure 1. module gap setting. 6.63 +0.51 -0.25 0.261 +0.020 -0.010 () note 1 3.56 +0.25 -0.51 0.140 +0.010 -0.020 () note 1 side b side a image side of codewheel/codestrip codewheel/codestrip notes: 1. these dimensions include codewheel/codestrip warp and shaft end play. 2. dimensions in millimeters and (inches). note 1: recommended mounting screw torque is 4 kg-cm (3.5 in-lbs). 2 places note 1
7 mounting considerations for linear modules mounting plane side a mounting plane side b
8 static charge warning: large static charge on codestrip may harm module. prevent accumulation of charge. figure 4. codestrip design parameter symbol minimum maximum units notes window/bar ratio f w / f b 0.7 1.4 window length l w 1.8 (0.07) mm (inch) absolute maximum r c mm includes eccentricity codewheel radius (inch) errors r op + 1.9 (0.075) recommended codewheel characteristics mounting as referenced to side a mounting as referenced to side b recommended codestrip characteristics and alignment codestrip design must take into consideration mounting as referenced to either side a or side b (see figure 4). mounting ref. mounting ref. parameter symbol side a side b units window/bar ratio w w /w b 0.7 min., 1.4 max. 0.7 min., 1.4 max. window distance l l a 0.51 (0.020) l b 3 3.23 (0.127) mm (inch) window edge to s 0.90 (0.035) min. 0.90 (0.035) min. mm (inch) module opt center line parallelism a 1.3 max. 1.3 max. deg. module to codestrip note: all parameters and equations must be satisfied over the full length of codestrip travel including maximum codestrip runout.
9 connectors manufacturer part number mounting surface amp 103686-4 both 640442-5 side b dupont 65039-032 with 4825x-000 term. both agilent heds-8902 with 4-wire leads side b (see fig. 7) molex 2695 series with 2759 series term. side b figure 7. heds-8902 connector.
ordering information heds-9200 option resolution (cycles/rev) 300 - 300 lpi 360 - 360 lpi heds-9100 option 0 0 resolution (cycles/rev) b - 1000 cpr j - 1024 cpr HEDS-9000 option 0 0 resolution (cycles/rev) t - 2000 cpr u - 2048 cpr two channel encoder modules with a 23.36 mm optical radius two channel encoder modules with an 11.00 mm optical radius two channel linear encoder module * * *codewheel information for information on matching codewheels and accessories for use with agilent rotary encoder modules, please refer to the agilent codewheel data sheet heds-5120/6100, hedg-5120/6120, hedm-5120/6120. note: for lower resolutions, please refer to HEDS-9000/9100 and heds-9200 data sheets for detailed information. 10
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/interna- tional), 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 5988-5855en may 8, 2002 5988-6710en

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