HEDS-9140#C00 [AGILENT]
Rotary Position Encoder, Single, 3 Channels;
| 型号： | HEDS-9140#C00 |
| 厂家： | 
AGILENT TECHNOLOGIES, LTD. |
| 描述： | Rotary Position Encoder, Single, 3 Channels 编码器 光电 |
| 文件： | 总12页 (文件大小：379K) |
| 中文： | 中文翻译 | 下载： | 下载PDF数据表文档文件 |
Three Channel Optical
Incremental Encoder Modules
Technical Data
HEDS-9040
HEDS-9140
Features
• 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
Description
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.
Temperature
• TTL Compatible
• Single 5 V Supply
Package Dimensions
26.67 (1.05)
15.2
8.6 (0.34)
(0.60)
0.63 (0.025)
2.54 (0.100) TYP.
SQR. TYP.
OPTION CODE
5.1 (0.20)
1.8
(0.07)
1.52 (0.060)
1.0 (0.04)
2.9
DATE CODE
2.21
(0.087)
6.9 (0.27)
(0.11)
11.9
(0.47)
2.54
(0.100)
3.73 ± 0.05
(0.147 ± 0.002)
20.8
(0.82)
H E D S - 9 0 4 0
1.02 ± 0.10
11.7
(0.46)
(0.040 ± 0.004)
8.81
(0.347)
5.8
(0.23)
45°
4.75 ± 0.01
(0.187 ± 0.004)
OPTICAL
CENTER LINE
2.67 (0.105) DIA.
MOUNTING THRU
HOLE 2 PLACES
ALIGNING RECESS
2.44/2.41 DIA.
C
L
1.85 (0.073)
1.78 ± 0.10
(0.070 ± 0.004)
5.46 ± 0.10
(0.215 ± 0.004)
(0.096/0.095)
2.16 (0.085)
DEEP
8.64 (0.340)
REF.
2.44/2.41 X 2.79
(0.096/0.095 X 0.110)
2.16 (0.085) DEEP
2.92 ± 0.10
(0.115 ± 0.004)
OPTICAL
CENTER
17.27
(0.680)
4.11 (0.162)
10.16
(0.400)
20.96
(0.825)
OPTICAL CENTER
6.35 (0.250) REF.
TYPICAL DIMENSIONS IN
MILLIMETERS AND (INCHES)
SIDE A
SIDE B
ESD WARNING: NORMAL HANDLING PRECAUTIONS SHOULD BE TAKEN TO AVOID STATIC DISCHARGE.
2
Block Diagram
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.
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.
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
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).
Standard resolutions between 256
and 2000 counts per revolution
are available. Consult local
Agilent sales representatives for
other resolutions.
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.
circuitry necessary to produce the
digital waveforms.
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.
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 photo-
diodes 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 corresponds
to a dark period on the adjacent
pair of detectors. The photodiode
outputs are then fed through the
signal processing circuitry
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 three-
channel digital output.
resulting in A, A, B, B, I and I.
Comparators receive these signals
and produce the final outputs for
As seen in the block diagram, the
modules contain a single Light
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.
Phase Error (∆φ): The deviation
of the phase from its ideal value
of 90°e.
angle which gives rise to one
electrical cycle, and the nominal
angular increment of 1/N of a
revolution.
Definitions
Count (N): The number of bar
and window pairs or counts per
revolution (CPR) of the
codewheel.
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.
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.
One Cycle (C): 360 electrical
degrees (°e), 1 bar and window
pair.
Optical Radius (ROP ): The
distance from the codewheel's
center of rotation to the optical
center (O.C.) of the encoder
module.
Pulse Width Error (∆ P): The
deviation, in electrical degrees, of
the pulse width from its ideal
value of 180°e.
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.
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.
Index Pulse Width (PO ): The
number of electrical degrees that
an index is high during one full
shaft rotation. This value is
Cycle Error (∆C): An indication
of cycle uniformity. The differ-
ence between an observed shaft
nominally 90°e or 1/4 cycle.
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.
4
Recommended Operating Conditions
Parameter
Symbol
Min.
Typ.
Max.
100
5.5
Units
°C
Notes
Temperature
TA
VCC
CL
f
-40
Supply Voltage
4.5
5.0
Volts
pF
Ripple < 100 mVp-p
2.7 kΩ pull-up
Load Capacitance
Count Frequency
100
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
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 HEDS-
6140 codewheels.
Parameter
Symbol
∆C
∆P
∆S
∆φ
∆Θ
PO
Min.
Typ.[1]
3
Max.
5.5
Units
Cycle Error
°e
Pulse Width Error
Logic State Width Error
Phase Error
7
30
°e
5
30
°e
2
15
°e
Position Error
10
40
min. of arc
Index Pulse Width
60
10
90
120
250
250
300
1000
°e
ns
ns
ns
ns
CH. I rise after
CH. B or CH. A fall
-25°C to +100°C
-40°C to +100°C
-25°C to +100°C
-40°C to +100°C
t1
100
100
150
150
t1
-300
70
CH. I fall after
t2
CH. A or CH. B rise
t2
70
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
∆C
Min.
Typ.[1]
Max.
7.5
50
Units
Cycle Error
3
7
°e
Pulse Width Error
Logic State Width Error
Phase Error
∆P
°e
∆S
5
50
°e
∆φ
2
15
°e
Position Error
∆Θ
PO
2
20
min. of arc
Index Pulse Width
40
10
90
450
140
1500
°e
CH. I rise after
CH. B or CH. A fall
-40°C to +100°C
-40°C to +100°C
t1
ns
CH. I fall after
t2
10
250
1500
ns
CH. A or CH. B rise
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.
Parameter
Supply Current
Symbol
ICC
Min.
30
Typ.[1]
Max.
Units
mA
V
Notes
57
85
High Level Output Voltage
Low Level Output Voltage
Rise Time
VOH
VOL
tr
2.4
IOH = -200 µA max.
0.4
V
IOL = 3.86 mA
180[2]
49[2]
ns
CL = 25 pF
RL = 2.7 kΩ pull-up
Fall Time
tf
ns
Notes:
1. Typical values specified at VCC = 5.0 V and 25°C.
2. tr and tf 80 nsec for HEDS-9040 #T00.
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
Instructions:
1. Place codewheel on shaft.
5. While holding alignment tool in
place, tighten screws down to
secure module.
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.
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.
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
3. Insert mounting screws
through module and thread into
the motor base. Do not tighten
screws.
The following assembly procedure
uses the HEDS-8905/8906
alignment tool to mount a HEDS-
9140/9040 module and a HEDS-
5140/6140 codewheel:
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.
necessary dimensions.
ARTWORK SIDE
MODULE SIDE A
MOTOR
BOSS
MODULE
SIDE B
CODE
WHEEL
BOSS
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
(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.
aligning pins on the motor base.
#2-56 SETSCREW
50.6 (1.99)
DIA. MAX.
USE 0.035" HEX WRENCH
CODEWHEEL
BOSS
SET
SCREW
26.67
(1.050)
MAX.
18.0
(0.71)
19.0 (0.747)
*
INDEX PULSE
REFERENCE
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).
MARKER
INDEX PULSE
POSITION
0.20
(0.006)
MAX.
130°
TYPICAL
8.99
(0.354)
MAX.
R
= 23.36 mm (0.920 in.)
OP
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
22.50
MAX.
36.32
(1.430)
(0.886)
INDEX PULSE
POSITION
130°
TYPICAL
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
130°
POSITION
TYPICAL
R
= 11.00 mm (0.433 in.)
OP
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 HEDS-
9040 Option T00, 2000 CPR
Encoder Module has a non-
symmetrical pattern as does the
mating Codewheel. In order for
the Index to operate, the "Right-
reading" side of the Codewheel
disk (the “Artwork Side”) must
point toward “Side A” of the
Module (the side with the
Because the Encoder Module may
be used with either “Side A” or
with “Side B” toward the
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.
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
connecting pins).
HUB
HUB
MODULE SIDE B
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
103686-4
Mounting Surface
Both
Side B
Both
AMP
640442-5
DuPont
65039-032 with
4825X-000 term
HP
HEDS-8903
Side B
with 5-wire leads
(see Figure 8)
Molex
2695 series with
2759 series term
Side B
CH. 1
BLUE
Figure 8. HEDS-8903 Connector.
Typical Interfaces
CH. A
CH. B
CH. I
A
HEDS–9040
OR
HEDS-9140
HCTL-2016/2020
QUADRATURE
DECODER/
HOST
PROCESSOR
COUNTER
CH. A
CH. B
CH. I
A
HEDS–9040
OR
HEDS-9140
HCTL-1100
MOTION
CONTROL IC
HOST
PROCESSOR
11
Ordering Information
Three Channel Encoder Modules and Codewheels, 23.36 mm Optical Radius.
Assembly Tool
HEDS-904
Option
0
0
HEDS-6140 Option
0
HEDS-8906
Resolution
Shaft Diameter
Lead Bend
(Cycles/Rev)
06 - 1/4 in. 11 - 4 mm
08 - 3/8 in. 12 - 6 mm
09 - 1/2 in. 13 - 8 mm
10 - 5/8 in.
0 - Straight Leads
1 - Bent Leads
B - 1000 CPR
J - 1024 CPR
Three Channel Encoder Modules and Codewheels, 23.36 mm Optical Radius
HEDS-9040 Option
HEDM-614
Option
0 0
Assembly Tool
HEDS-8906
Artwork Orientation
Shaft Diameter
Resolution
(Cycles/Rev)
0 - Artwork on hub side (use when
module Side B is down)
12 - 6 mm
T - 2000 CPR
1 - Artwork opposite hub side (use
when Module Side A is down)
A
B
C
D
E
F
G
H
I
J
K
S
T
U
HEDS-9040
HEDS-9041
*
*
*
*
01 02 03 04 05 06 08 09 10 11 12 13 14
HEDS-6140
HEDM-6140
B
J
*
*
*
*
*
*
*
*
*
*
*
*
T
Three Channel Encoder Modules and Codewheels, 11.00 mm Optical Radius
HEDS-914
Option
0
0 0
HEDS-5140 Option
Assembly Tool
HEDS-8905
Resolution (Cycles/Rev)
Lead Bend
Shaft Diameter
0 - Straight Leads
1 - Bent Leads
S - 50 CPR
G - 360 CPR
H - 4000 CPR
A - 5000 CPR
I - 512 CPR
02 - 3 mm 11 - 4 mm
04 - 5/32 in. 14 - 5 mm
05 - 3/16 in. 12 - 6 mm
06 - 1/4 in. 13 - 8 mm
.
C - 100 CPR
E - 200 CPR
F - 256 CPR
A
B
C
D
E
*
F
*
G
*
H
I
J
K
S
T
U
HEDS-9140
HEDS-9141
*
*
*
*
*
*
*
*
*
01 02 03 04 05 06 08 09 10 11 12 13 14
HEDS-5140
A
C
E
F
G
I
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
www.semiconductor.agilent.com
Data subject to change.
Copyright © 2001 Agilent Technologies, Inc.
May 8, 2001
Obsoletes 5965-5870E (11/99)
5988-2558EN
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