description the hedt-9000 and the HEDT-9100 series are high per- formance, low cost, optical incremental encoder mod- ules that operate to 125c. when used with a code wheel, these modules detect rotary position. the modules con- sist of a lensed (led) source and a detector ic enclosed in a small c-shaped plastic pack age. due to a highly collimated light source and unique photodetector ar- ray, these modules are extremely tolerant to mounting misalignment. the two channel digital outputs and the single 5 v sup- ply input are accessed through ? ve 0.025 inch square pins located on 0.1 inch centers. standard resolutions for the hedt-9000 are 500 cpr and 1000 cpr for use with a heds-6100 codewheel or equiv- alent. for the HEDT-9100, standard resolutions between 96 cpr and 512 cpr are available for use with a heds- 5120 codewheel or equivalent. note: avago 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 clari? cation is needed. esd warning: normal handling precautions should be taken to avoid static discharge. features ? high performance ? high resolution ? low cost ? easy to mount ? no signal adjustment required ? insensitive to radial and axial play ? small size ? -40c to 125c operating temperature ? two channel quadrature output ? ttl compatible ? single 5 v supply applications the hedt-9000 and 9100 provide sophisticated motion detection at a low cost, at temperatures to 125c, mak- ing them ideal for high volume automotive applications. hedt-9000/9100 high temperature 125c two channel optical incremental encoder modules data sheet
2 package dimensions hedx-9xx0 option hedx-9xx1 option 26.67 (1. 0 5) h eds - 9 x 00 15.2 ( 0 .6 0 ) c l 17.27 ( 0 .68 0 ) 2 0 . 9 6 ( 0 .825) 1.85 ( 0 . 0 73) 8.64 ( 0 .34 0 ) r e f. a lig n i n g r e c ess 2.44 / 2.41 d i a . ( 0 . 09 6 /0 . 09 5) 2.16 ( 0 . 0 85) deep 1. 0 2 ? 0 .1 0 ( 0 . 0 4 0 ? 0 . 00 4) 5.1 ( 0 .2 0 ) x 00 yyxx o p tio n co de 0 .63 ( 0 . 0 25) s qr. ty p . 2.54 ( 0 .1 00 ) ty p . da t e co de 1. 0 ( 0 . 0 4) 3.73 ? 0 . 0 5 ( 0 .147 ? 0 . 00 2) 2.67 ( 0 .1 0 5) d i a . mou n ti n g thru hol e 2 p l a c es 2.44 / 2.41 x 2.7 9 ( 0 . 09 6 /0 . 09 5 x 0 .11 0 ) 2.16 ( 0 . 0 85) deep o p tic a l c en t e r 1.52 ( 0 . 0 6 0 ) 2 0 .8 ( 0 .82) 11.7 ( 0 .46) 8.6 ( 0 .34) 1.78 ? 0 .1 0 ( 0 . 0 7 0 ? 0 . 00 4) 2. 9 2 ? 0 .1 0 ( 0 .115 ? 0 . 00 4) 1 0 .16 ( 0 .4 00 ) 5.46 ? 0 .1 0 ( 0 .215 ? 0 . 00 4) o p tic a l c en t e r li ne 2.54 ( 0 .1 00 ) 2.21 ( 0 . 0 87) 5.8 ( 0 .23) 6.35 ( 0 .25 0 ) r e f. a lig n i n g r e c ess 2.44 / 2.41 x 2.7 9 ( 0 . 09 6 /0 . 09 5 x 0 .11 0 ) 2.16 ( 0 . 0 85) deep 4.11 ( 0 .162) a lig n i n g r e c ess 2.44 / 2.41 d i a . ( 0 . 09 6 /0 . 09 5) 2.16 ( 0 . 0 85) deep o p tic a l c en t e r 45 8.81 ( 0 .347) 11. 9 ( 0 .47) 4.75 ? 0 .1 0 ( 0 .187 ? 0 . 00 4) 2. 9 ( 0 .11) 1.8 ( 0 . 0 7) 6. 9 ( 0 .27) v cc g nd 5 ch. b 4 v cc 3 ch. a 2 n .c. 1 g nd s i de a s i de b ty p ic a l d im ens io ns i n millim e t e r s and (i n ch es ) 26.67 (1. 0 5) h eds - 9 x 0 1 15.2 ( 0 .6 0 ) c l 17.27 ( 0 .68 0 ) 2 0 . 9 6 ( 0 .825) 1.85 ( 0 . 0 73) 8.64 ( 0 .34 0 ) r e f. a lig n i n g r e c ess 2.44 / 2.41 d i a . ( 0 . 09 6 /0 . 09 5) 2.16 ( 0 . 0 85) deep 1. 0 2 ? 0 .1 0 ( 0 . 0 4 0 ? 0 . 00 4) 5.1 ( 0 .2 0 ) x 00 yyxx o p tio n co de 0 .63 ( 0 . 0 25) s qr. ty p . 2.54 ( 0 .1 00 ) ty p . da t e co de 1. 0 ( 0 . 0 4) 3.73 ? 0 . 0 5 ( 0 .147 ? 0 . 00 2) 2.67 ( 0 .1 0 5) d i a . mou n ti n g thru hol e 2 p l a c es 2.44 / 2.41 x 2.7 9 ( 0 . 09 6 /0 . 09 5 x 0 .11 0 ) 2.16 ( 0 . 0 85) deep o p tic a l c en t e r 11.7 ( 0 .46) 8.6 ( 0 .34) 1.78 ? 0 .1 0 ( 0 . 0 7 0 ? 0 . 00 4) 2. 9 2 ? 0 .1 0 ( 0 .115 ? 0 . 00 4) 1 0 .16 ( 0 .4 00 ) 5.46 ? 0 .1 0 ( 0 .215 ? 0 . 00 4) o p tic a l c en t e r li ne 2.54 ( 0 .1 00 ) 2.21 ( 0 . 0 87) 5.8 ( 0 .23) 6.35 ( 0 .25 0 ) r e f. a lig n i n g r e c ess 2.44 / 2.41 x 2.7 9 ( 0 . 09 6 /0 . 09 5 x 0 .11 0 ) 2.16 ( 0 . 0 85) deep 4.11 ( 0 .162) a lig n i n g r e c ess 2.44 / 2.41 d i a . ( 0 . 09 6 /0 . 09 5) 2.16 ( 0 . 0 85) deep o p tic a l c en t e r 45 8.81 ( 0 .347) 4.75 ? 0 .1 0 ( 0 .187 ? 0 . 00 4) 2. 9 ( 0 .11) 1.8 ( 0 . 0 7) v cc g nd 5 ch. b 4 v cc 3 ch. a 2 n .c. 1 g nd s i de a s i de b ty p ic a l d im ens io ns i n millim e t e r s and (i n ch es ) 4. 0 1 ? 0 .2 0 ( 0 .158 ? 0 . 00 8) 16.76 ? 0 .2 0 ( 0 .66 ? 0 . 00 8)
3 theory of o peration the hedt-9000 and 9100 are c-shaped emitter/detector modules. coupled with a codewheel, they translate the ro- tary 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 poly ether imide 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. o utput waveforms de nitions count (n): the number of bar and window pairs or counts per revolution (cpr) of the codewheel. 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 180e or 1/2 cycle. pulse width error ( p): the deviation, in electrical degrees of the pulse width from its ideal value of 180e. state width (s): the number of electrical degrees between a transition in the output of chan nel a and the neighboring transition in the output of channel b. there are 4 states per cycle, each nominally 90e. state width error (?s): the deviation, in electrical degrees, of each state width from its ideal value of 90e. phase ( ): the number of elec trical degrees between the center of the high state of chan nel a and the center of the high state of channel b. this value is nominally 90e for quadrature output. phase error (? ): the deviation of the phase from its ideal value of 90e. direction of rotation: when the codewheel rotates in the direc tion 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 en- coder module. b lock diagram the codewheel rotates 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 radius and design of the code wheel. these detectors are also spaced such that a light period on one pair of detectors corre sponds 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 ? nal 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). p c rotation channel a channel b amplitude s1 s4 s2 s3
4 absolute maximum ratings storage temperature, t s -40c to 125c operating temperature, t a -40c to 125c 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 recommended operating conditions parameter symbol min. typ. max. units notes temperature t -40 125 c supply voltage v cc 4.5 5.5 volts ripple < 100 mv p-p load capacitance c l 100 pf 3.3 k pull-up resistor count frequency f 100 khz velocity (rpm) x n 60 note: the module performance is guaranteed to 100 khz but can operate at higher frequencies. encoding characteristics encoding characteristics over recommended operating r ange and recommended mounting tolerances. these characteris tics do not include codewheel/codestrip contributions. description sym. typ. case 1 max. case 2 max. units notes pulse width error ?p 7 35 45 e logic state width error ?s 5 35 45 e phase error ? 2 15 20 e case 1: module mounted on tolerance circle of 0.13 mm (0.005 in.). case 2: hedt-9000 mounted on tolerances of 0.50 mm (0.020). HEDT-9100 mounted ontolerances of 0.38 mm (0.015). electrical characteristics electrical characteristics over recommended operating range, typical at 25c. parameter symbol min. typical max. units notes supply current i cc 17 40 ma high level output voltage v oh 2.4 volts i oh = -40 a max. low level output voltage v ol 0.4 volts i ol = 3.2 ma rise time t r 200 ns c l = 25 pf fall time t f 50 ns r l = 11 k pull-up
5 recommended codewheel characteristics figure 1. codestrip design. codewheel options optical heds cpr radius series (n) option mm (in.) 5120 96 k 11.00 (0.433) 5120 100 c 11.00 (0.433) 5120 192 d 11.00 (0.433) 5120 200 e 11.00 (0.433) 5120 256 f 11.00 (0.433) 5120 360 g 11.00 (0.433) 5120 400 h 11.00 (0.433) 5120 500 a 11.00 (0.433) 5120 512 i 11.00 (0.433) 6100 500 a 23.36 (0.920) 6100 1000 b 23.36 (0.920) parameter symbol minimum maximum units notes window/bar ratio w / b 0.7 1.4 window length l 1.8 (0.07) 2.3 (0.09) mm (inch) absolute maximum r c r op + 1.9 (0.075) mm (inch) includes eccentricity codewheel radius errors
6 mounting considerations figure 5. heds-6100 codewheel. figure 4. heds-5120 codewheel. figure 2. mounting plane side a. figure 3. mounting plane side b.
for product information and a complete list of distributors, please go to our website: www.avagotech.com avago, avago technologies, and the a logo are trademarks of avago technologies in the united states and other countries. data subject to change. copyright ? 2005-2009 avago technologies. all rights reserved. obsoletes 5988-5280en av02-1055en - january 4, 2010 ordering information hedt-9001 option heds-6100 option 0 0 resolution (cycles/rev) a - 500 shaft diameter 06 - 1/4 in. 09 - 1/2 in. 08 - 3/8 in. 10 - 5/8 in. a c d e g i hedt-9001 * HEDT-9100 * * * * * hedt-9101 * * * * * * 01 02 03 04 05 06 08 09 10 11 12 13 14 heds-6100 a * * * 01 02 03 04 05 06 08 09 10 11 12 13 14 heds-5120 a * * * * * * * * * c * * * * * * d * e * * f * g * * * * * * h * * * * * i * k * * hedt-910 option heds-5120 option shaft diameter 01 - 2 mm 11 - 4 mm 02 - 3 mm 14 - 5 mm 03 - 1/8 in. 12 - 6 mm 04 - 5/32 in. 13 - 8 mm 05 - 3/16 in. 06 - 1/4 in. resolution (cycles/rev) c - 100 cpr d - 192 cpr e - 200 cpr g - 360 cpr a - 500 cpr i - 512 cpr 0 0 lead 0 - straight leads 1 - bent leads
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