HEDW-9140OPTIONI00 [AVAGO]
SINGLE, 3 CHANNELS, ROTARY OPTICAL POSITION ENCODER, PLASTIC PACKAGE;
| 型号： | HEDW-9140OPTIONI00 |
| 厂家： | 
AVAGO TECHNOLOGIES LIMITED |
| 描述： | SINGLE, 3 CHANNELS, ROTARY OPTICAL POSITION ENCODER, PLASTIC PACKAGE 编码器 光电 |
| 文件： | 总13页 (文件大小：512K) |
| 中文： | 中文翻译 | 下载： | 下载PDF数据表文档文件 |
HEDS-9040/9140
Three Channel Optical Incremental Encoder Modules
Data Sheet
Description
Features
TheꢀHEDS-9040ꢀandꢀHEDS-9140ꢀseriesꢀareꢀthreeꢀchannelꢀ • ꢀTwoꢀchannelꢀquadratureꢀoutputꢀwithꢀindexꢀpulse
opticalꢀincrementalꢀencoderꢀmodules.ꢀWhenꢀusedꢀwithꢀaꢀ
codewheel,ꢀtheseꢀlowꢀcostꢀmodulesꢀdetectꢀrotaryꢀposition.ꢀ
EachꢀmoduleꢀconsistsꢀofꢀaꢀlensedꢀLEDꢀsourceꢀandꢀaꢀdetec-
torꢀICꢀenclosedꢀinꢀaꢀsmallꢀplasticꢀpackage.ꢀDueꢀtoꢀaꢀhighlyꢀ
collimatedꢀlightꢀsourceꢀandꢀaꢀuniqueꢀphotodetectorꢀarray,ꢀ
theseꢀmodulesꢀprovideꢀtheꢀsameꢀhighꢀperformanceꢀfoundꢀ
inꢀtheꢀHEDS-9000/9100ꢀtwoꢀchannelꢀencoderꢀfamily.
• ꢀResolutionꢀupꢀtoꢀ2000ꢀCPRꢀ(CountsꢀPerꢀRevolution)
• ꢀLowꢀcost
• ꢀEasyꢀtoꢀmount
• ꢀNoꢀsignalꢀadjustmentꢀrequired
• ꢀSmallꢀsize
• ꢀ-40°Cꢀtoꢀ100°Cꢀoperatingꢀtemperature
• ꢀTTLꢀcompatible
Package Dimensions
HEDx-9xx0 Option
• ꢀSingleꢀ5ꢀVꢀsupply
26.67 (1.05)
8.6 (0.34)
15.2
(0.60)
0.63 (0.025)
SQR. TYP.
2.54 (0.100) TYP.
1.8
1.52 (0.060)
OPTION CODE
5.1 (0.20)
(0.07)
1.0 (0.04)
DATE CODE
2.9
(0.11)
2.21
6.9 (0.27)
11.9
(0.47)
(0.087)
2.54
3.73 0.05
(0.147 0.002)
20.8
(0.82)
(0.100)
0 0 X 9 - S D E H
1.02 0.10
(0.040 0.004)
11.7
(0.46)
8.81
(0.347)
4.75 0.10
(0.187 0.004)
5.8
(0.23)
45
°
OPTICAL
CENTER LINE
2.67 (0.105) DIA.
MOUNTING THRU
HOLE 2 PLACES
ALIGNING RECESS
2.44/2.41 DIA.
(0.096/0.095)
2.16 (0.085)
DEEP
ALIGNING RECESS
2.44/2.41 X 2.79
(0.096/0.095 X 0.110)
2.16 (0.085) DEEP
C
L
1.85 (0.073)
8.64 (0.340)
REF.
1.78 0.10
(0.070 0.004)
5.46 0.10
(0.215 0.004)
ALIGNING RECESS
2.44/2.41 DIA.
(0.096/0.095)
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)
17.27
(0.680)
2.16 (0.085) DEEP
OPTICAL
CENTER
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
HEDx-9xx1 Option
26.67 (1.05)
8.6 (0.34)
15.2
(0.60)
0.63 (0.025)
SQR. TYP.
2.54 (0.100) TYP.
4.01 0.20
(0.158 0.008)
1.8
OPTION CODE
5.1 (0.20)
(0.07)
1.0 (0.04)
2.9
(0.11)
DATE CODE
2.21
(0.087)
2.54
3.73 0.05
(0.147 0.002)
(0.100)
16.76 0.20
(0.66 0.008)
11.7
1 0 X 9 - S D E H
1.02 0.10
(0.040 0.004)
8.81
(0.347)
(0.46)
4.75 0.10
(0.187 0.004)
5.8
(0.23)
45
°
OPTICAL
CENTER LINE
2.67 (0.105) DIA.
MOUNTING THRU
HOLE 2 PLACES
ALIGNING RECESS
2.44/2.41 DIA.
(0.096/0.095)
2.16 (0.085)
DEEP
ALIGNING RECESS
2.44/2.41 X 2.79
(0.096/0.095 X 0.110)
2.16 (0.085) DEEP
C
L
1.85 (0.073)
8.64 (0.340)
1.78 0.10
(0.070 0.004)
5.46 0.10
(0.215 0.004)
ALIGNING RECESS
2.44/2.41 DIA.
(0.096/0.095)
2.44/2.41 X 2.79
(0.096/0.095 X 0.110)
2.16 (0.085) DEEP
REF.
2.92 0.10
(0.115 0.004)
17.27
(0.680)
2.16 (0.085) DEEP
OPTICAL
CENTER
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
ESDꢀWARNING:ꢀNORMALꢀHANDLINGꢀPRECAUTIONSꢀSHOULDꢀBEꢀTAKENꢀTOꢀAVOIDꢀSTATICꢀDISCHARGE.
singleꢀpoly
Oppositeꢀtheꢀemitterꢀisꢀtheꢀintegratedꢀdetectorꢀcircuit.ꢀ
ThisꢀICꢀconsistsꢀofꢀmultipleꢀsetsꢀofꢀphotodetectorsꢀandꢀ
car
bonateꢀlensꢀlocatedꢀdirectlyꢀoverꢀtheꢀLED.ꢀ
Theꢀcodewheelꢀrotatesꢀbetweenꢀthe
causingꢀtheꢀlightꢀbeamꢀtoꢀbeꢀinterruptedꢀbyꢀtheꢀpatternꢀ
ofꢀspacesꢀandꢀbarsꢀonꢀtheꢀcodewheel.ꢀTheꢀphotodiodesꢀ
whichꢀdetectꢀtheseꢀinterruptionsꢀareꢀarrangedꢀinꢀaꢀpat-
ternꢀ thatꢀ correspondsꢀ toꢀ theꢀ radiusꢀ andꢀ designꢀ ofꢀ theꢀ
codewheel.ꢀTheseꢀdetectorsꢀareꢀalsoꢀspacedꢀsuchꢀthatꢀaꢀ
lightꢀperiodꢀonꢀoneꢀpairꢀofꢀdetectorsꢀcorrespondsꢀtoꢀaꢀ
darkꢀperiodꢀonꢀtheꢀadjacentꢀpairꢀofꢀdetectors.ꢀTheꢀphoto-
diodeꢀoutputsꢀareꢀthenꢀfedꢀthroughꢀtheꢀsignalꢀprocess-
ingꢀcircuitryꢀresultingꢀinꢀA,ꢀA,ꢀB,ꢀB,ꢀIꢀandꢀI.ꢀComparatorsꢀ
receiveꢀtheseꢀsignalsꢀandꢀproduceꢀtheꢀfinalꢀoutputsꢀforꢀ
channelsꢀAꢀandꢀB.ꢀDueꢀtoꢀthisꢀintegratedꢀphasingꢀtech-
nique,ꢀtheꢀdigitalꢀoutputꢀofꢀchannelꢀAꢀisꢀinꢀquadratureꢀ
withꢀthatꢀofꢀchannelꢀBꢀ(90ꢀdegreesꢀoutꢀofꢀphase).
emitterꢀand
detector,ꢀ
code
(0.920ꢀinch).ꢀTheꢀHEDS-9140ꢀisꢀdesignedꢀforꢀuseꢀwithꢀaꢀ
HEDx-5x4xꢀ codewheelꢀ whichꢀ hasꢀ anꢀ opticalꢀ radiusꢀ ofꢀ
wheelꢀ whichꢀ hasꢀ anꢀ opticalꢀ radiusꢀ ofꢀ 23.36ꢀ mmꢀ
TheꢀHEDS-9040ꢀandꢀ9140ꢀhaveꢀtwoꢀchannelꢀquadratureꢀ
outputsꢀ plusꢀ aꢀ thirdꢀ channelꢀ indexꢀ output.ꢀThisꢀ indexꢀ
outputꢀ isꢀ aꢀ 90ꢀ electricalꢀ degreeꢀ highꢀ trueꢀ indexꢀ pulseꢀ
whichꢀ isꢀ generatedꢀ onceꢀ forꢀ eachꢀ fullꢀ rotationꢀ ofꢀ theꢀ
codewheel.
Theory of Operation
TheꢀHEDS-9040ꢀandꢀ9140ꢀareꢀemitter/detectorꢀmodules.ꢀ
Coupledꢀwithꢀaꢀcodewheel,ꢀtheseꢀmodulesꢀtranslateꢀtheꢀ
rotaryꢀmotionꢀofꢀaꢀshaftꢀintoꢀaꢀthree-channelꢀdigitalꢀout-
put.ꢀ
Theꢀ HEDS-9040ꢀisꢀdesignedꢀ forꢀ useꢀwithꢀaꢀHEDX-614Xꢀ
Asꢀ seenꢀ inꢀ theꢀ blockꢀ diagram,ꢀ theꢀ modulesꢀ containꢀ aꢀ
singleꢀLightꢀEmittingꢀDiodeꢀ(LED)ꢀasꢀitsꢀlightꢀsource.ꢀTheꢀ
lightꢀ isꢀ collimatedꢀ intoꢀ aꢀ parallelꢀ beamꢀ byꢀ meansꢀ ofꢀ aꢀ
11.00ꢀmmꢀ(0.433ꢀinch).
Theꢀquadratureꢀsignalsꢀandꢀtheꢀindexꢀpulseꢀareꢀaccessedꢀ
throughꢀfiveꢀ0.025ꢀinchꢀsquareꢀpinsꢀlocatedꢀonꢀ0.1ꢀinchꢀ
centers.
theꢀsignalꢀprocessingꢀcircuitryꢀnecessaryꢀtoꢀproduceꢀtheꢀ
digitalꢀwaveforms.
Standardꢀresolutionsꢀbetweenꢀ256ꢀandꢀ2000ꢀcountsꢀperꢀ
revolutionꢀareꢀavailable.ꢀConsultꢀlocalꢀAvagoꢀsalesꢀrepre-
sentativesꢀforꢀotherꢀresolutions.
Applications
TheꢀHEDS-9040ꢀandꢀ9140ꢀprovideꢀsophisticatedꢀmotionꢀ
controlꢀdetectionꢀatꢀaꢀlowꢀcost,ꢀmakingꢀthemꢀidealꢀforꢀ
highꢀ volumeꢀ applications.ꢀTypicalꢀ applicationsꢀ includeꢀ
printers,ꢀplotters,ꢀtapeꢀdrives,ꢀandꢀindustrialꢀandꢀfactoryꢀ
automationꢀequipment.
Note: AvagoꢀTechnologiesꢀencodersꢀareꢀnotꢀrecommend-
edꢀforꢀuseꢀinꢀsafetyꢀcriticalꢀapplications.ꢀEg.ꢀABSꢀbrakingꢀ
systems,ꢀpowerꢀsteering,ꢀlifeꢀsupportꢀsystemsꢀandꢀcriticalꢀ
careꢀmedicalꢀequipment.ꢀPleaseꢀcontactꢀsalesꢀrepresen-
tativeꢀifꢀmoreꢀclarificationꢀisꢀneeded.
TheꢀoutputꢀofꢀtheꢀcomparatorꢀforꢀIꢀandꢀIꢀisꢀsentꢀtoꢀtheꢀin-
dexꢀprocessingꢀcircuitryꢀalongꢀwithꢀtheꢀoutputsꢀofꢀchan-
nelsꢀAꢀandꢀB.ꢀTheꢀfinalꢀoutputꢀofꢀchannelꢀIꢀisꢀanꢀindexꢀ
pulseꢀPOꢀwhichꢀisꢀgeneratedꢀonceꢀforꢀeachꢀfullꢀrotationꢀofꢀ
theꢀcodewheel.ꢀThisꢀoutputꢀPOꢀisꢀaꢀoneꢀstateꢀwidthꢀ(nomi-
nallyꢀ90ꢀelectricalꢀdegrees),ꢀhighꢀtrueꢀindexꢀpulseꢀwhichꢀ
isꢀcoincidentꢀwithꢀtheꢀlowꢀstatesꢀofꢀchannelsꢀAꢀandꢀB.
2
Block Diagram
RESISTOR
VCC
4
3
PHOTO
DIODES
COMPARATORS
LENS
A
+
CH. A
A
−
B
B
LED
+
−
CH. B
CH. I
GND
5
2
1
I
I
+
−
INDEX-
PROCESSING
CIRCUITRY
SIGNAL PROCESSING
CIRCUITRY
CODE
WHEEL
EMITTER
SECTION
DETECTOR SECTION
Output Waveforms
C
P
2.4 V
0.4 V
φ
CH. A
S2
S3
t1
S1
S4
2.4 V
0.4 V
CH. B
CH. I
t2
2.4 V
0.4 V
P0
ROTATION
3
OutputꢀVoltage,ꢀVO
OutputꢀCurrentꢀperꢀChannel,ꢀIOUT
CC............................................................................................-0.5ꢀVꢀtoꢀV
.......................................................-1.0ꢀmAꢀtoꢀ5ꢀmCAC
Velocity
............................................................................................................. 30,000ꢀRPM[1]
Definitions
neighboringꢀtransitionꢀinꢀtheꢀoutputꢀofꢀchannelꢀB.ꢀThereꢀ
areꢀ4ꢀstatesꢀperꢀcycle,ꢀeachꢀnominallyꢀ90°e.
Count (N):ꢀTheꢀnumberꢀofꢀbarꢀandꢀwindowꢀpairsꢀorꢀcountsꢀ
perꢀrevolutionꢀ(CPR)ꢀofꢀtheꢀcodewheel.
State Width Error (∆S): Theꢀdeviation,ꢀinꢀelectricalꢀdegrees,ꢀ
ofꢀeachꢀstateꢀwidthꢀfromꢀitsꢀidealꢀvalueꢀofꢀ90°e.
One Cycle (C): 360ꢀelectricalꢀdegreesꢀ(°e),ꢀ1ꢀbarꢀandꢀwin-
dowꢀpair.
Phase (φ):ꢀTheꢀnumberꢀofꢀelectricalꢀdegreesꢀbetweenꢀtheꢀ
centerꢀofꢀtheꢀhighꢀstateꢀofꢀchannelꢀAꢀandꢀtheꢀcenterꢀofꢀ
theꢀhighꢀstateꢀofꢀchannelꢀB.ꢀThisꢀvalueꢀisꢀnominallyꢀ90°eꢀ
forꢀquadratureꢀoutput.
One Shaft Rotation:ꢀ360ꢀmechanicalꢀdegrees,ꢀNꢀcycles.
Position Error ( ∆Θ):ꢀ Theꢀ normalizedꢀ angularꢀ differenceꢀ
betweenꢀtheꢀactualꢀshaftꢀpositionꢀandꢀtheꢀpositionꢀindi-
catedꢀbyꢀtheꢀencoderꢀcycleꢀcount.
Phase Error (∆φ):ꢀTheꢀdeviationꢀofꢀtheꢀphaseꢀfromꢀitsꢀidealꢀ
valueꢀofꢀ90°e.
Cycle Error (∆C): Anꢀindicationꢀofꢀcycleꢀuniformity.ꢀTheꢀdif-
ferenceꢀ betweenꢀ anꢀ observedꢀ shaftꢀ angleꢀ whichꢀ givesꢀ
Direction of Rotation: Whenꢀtheꢀcodewheelꢀrotatesꢀinꢀtheꢀ
directionꢀofꢀtheꢀarrowꢀonꢀtopꢀofꢀtheꢀmodule,ꢀchannelꢀAꢀ
willꢀleadꢀchannelꢀB.ꢀIfꢀtheꢀcodewheelꢀrotatesꢀinꢀtheꢀoppo-
siteꢀdirection,ꢀchannelꢀBꢀwillꢀleadꢀchannelꢀA.
riseꢀtoꢀoneꢀelectricalꢀcycle,ꢀandꢀtheꢀnominalꢀangularꢀin-
crementꢀofꢀ1/Nꢀofꢀaꢀrevolution.
Pulse Width (P):ꢀTheꢀ numberꢀ ofꢀ electricalꢀ degreesꢀ thatꢀ
anꢀoutputꢀisꢀhighꢀduringꢀ1ꢀcycle.ꢀThisꢀvalueꢀisꢀnominallyꢀ
180°eꢀorꢀ1/2ꢀcycle.
Optical Radius (ROP ): Theꢀdistanceꢀfromꢀtheꢀcodewheel’sꢀ
centerꢀofꢀrotationꢀtoꢀtheꢀopticalꢀcenterꢀ(O.C.)ꢀofꢀtheꢀen-
coderꢀmodule.
Pulse Width Error (∆P):ꢀTheꢀdeviation,ꢀinꢀelectricalꢀdegrees,ꢀ
ofꢀtheꢀpulseꢀwidthꢀfromꢀitsꢀidealꢀvalueꢀofꢀ180°e.
Index Pulse Width (P ):ꢀTheꢀnumberꢀofꢀelectricalꢀdegreesꢀ
thatꢀanꢀindexꢀisꢀhigOhꢀduringꢀoneꢀfullꢀshaftꢀrotation.ꢀThisꢀ
valueꢀisꢀnominallyꢀ90°eꢀorꢀ1/4ꢀcycle.
State Width (S):ꢀ Theꢀ numberꢀ ofꢀ electricalꢀ degreesꢀ be-
tweenꢀaꢀtransitionꢀinꢀtheꢀoutputꢀofꢀchannelꢀAꢀandꢀtheꢀ
Absolute Maximum Ratings
StorageꢀTemperature,ꢀTS........................................................................-40°Cꢀtoꢀ+100°C
OperatingꢀTemperature,ꢀT ꢀ...................................................................-40°Cꢀtoꢀ+100°C
SupplyꢀVoltage,ꢀV ꢀ.............A.............................................................................-0.5ꢀVꢀtoꢀ7ꢀV
ShaftꢀAxialꢀPlayꢀ............................................................................. 0.25ꢀmmꢀ( 0.010ꢀin.)
ShaftꢀEccentricityꢀPlusꢀRadialꢀPlay..........................................0.1ꢀmmꢀ(0.004ꢀin.)ꢀTIR
Accelerationꢀ..........................................................................................250,000ꢀrad/sec2[1]
Note:
1.ꢀAbsoluteꢀmaximumsꢀforꢀHEDS-5140/6140ꢀcodewheelsꢀonly.
4
CH.ꢀAꢀorꢀCH.ꢀBꢀriseꢀ
ꢀ
ꢀ
t2
70
Recommended Operating Conditions
Parameter
Symbol
Min.
-40
4.5
Typ.
Max.
100
5.5
Units
°C
Notes
Temperature
T
A
SupplyꢀVoltage
LoadꢀCapacitance
CountꢀFrequency
ShaftꢀPerpendicularity
PlusꢀAxialꢀPlay
V
5.0
Volts
pF
Rippleꢀ<ꢀ100ꢀmVp-p
2.7ꢀkΩ ꢀpull-up
CC
CL
f
100
100
kHz
mm
Velocityꢀ(rpm)ꢀxꢀN/60
6.9ꢀmmꢀ(0.27ꢀin.)ꢀfrom
mountingꢀsurface
6.9ꢀmmꢀ(0.27ꢀin.)ꢀfrom
mountingꢀsurface
0.25
( 0.010) (in.)
ShaftꢀEccentricityꢀPlus
RadialꢀPlay
0.04
mmꢀ(in.)
(0.0015) TIR
Note:ꢀTheꢀmoduleꢀperformanceꢀisꢀguaranteedꢀtoꢀ100ꢀkHzꢀbutꢀcanꢀoperateꢀatꢀhigherꢀfrequencies.ꢀForꢀtheꢀHEDS-9040ꢀ#T00ꢀforꢀoperationꢀbelowꢀ0°Cꢀ
andꢀgreaterꢀthanꢀ50ꢀkHzꢀtheꢀmaximumꢀPulseꢀWidthꢀandꢀLogicꢀStateꢀWidthꢀerrorsꢀareꢀ60°e.
Encoding Characteristics
HEDS-9040 (except #T00), HEDS-9140 (except #B00)
EncodingꢀCharacteristicsꢀoverꢀRecommendedꢀOperatingꢀRangeꢀandꢀRecommendedꢀMountingꢀTolerancesꢀunlessꢀ
otherwiseꢀspecified.ꢀValuesꢀareꢀforꢀtheꢀworstꢀerrorꢀoverꢀtheꢀfullꢀrotationꢀofꢀHEDS-5140ꢀandꢀHEDS-6140ꢀcodewheels.
Parameter
Symbol
∆C
∆P
∆S
∆φ
∆Θ
PO
Min.
Typ.[1]
Max.
5.5
Units
CycleꢀError
3
°e
PulseꢀWidthꢀError
LogicꢀStateꢀWidthꢀError
PhaseꢀError
7
30
°e
5
30
°e
2
15
°e
PositionꢀError
IndexꢀPulseꢀWidth
10
40
min.ꢀofꢀarc
60
90
120
250
250
300
1000
°e
CH.ꢀIꢀriseꢀafterꢀ
CH.ꢀBꢀorꢀCH.ꢀAꢀfallꢀꢀꢀꢀꢀꢀꢀꢀꢀꢀꢀꢀ-40°Cꢀtoꢀ+100°C
CH.ꢀIꢀfallꢀafterꢀ ꢀ ꢀ -25°Cꢀtoꢀ+100°C
-40°Cꢀtoꢀ+100°C
ꢀ
ꢀ
ꢀ ꢀꢀ-25°Cꢀtoꢀ+100°C
t1
10
100
100
150
150
ns
ns
ns
ns
t1
-300
70
ꢀ
ꢀ
t2
Note:
1.ꢀModuleꢀmountedꢀonꢀtoleranceꢀcircleꢀofꢀ 0.13ꢀmmꢀ( 0.005ꢀin.)ꢀradiusꢀreferencedꢀfromꢀmoduleꢀSideꢀAꢀaligningꢀrecessꢀcenters.ꢀ2.7ꢀkΩꢀpull-upꢀ
resistorsꢀusedꢀonꢀallꢀencoderꢀmoduleꢀoutputs.
5
Encoding Characteristics
HEDS-9040 #T00
EncodingꢀCharacteristicsꢀoverꢀRecommendedꢀOperatingꢀRangeꢀandꢀRecommendedꢀMountingꢀTolerancesꢀunlessꢀ
otherwiseꢀspecified.ꢀValuesꢀareꢀforꢀtheꢀworstꢀerrorꢀoverꢀtheꢀfullꢀrotationꢀofꢀHEDM-614XꢀOptionꢀTXXꢀcodewheel.
Parameter
Symbol
∆C
∆P
∆S
∆φ
∆Θ
PO
Min.
Typ.[1]
Max.
7.5
Units
CycleꢀError
3
°e
PulseꢀWidthꢀError
7
50
°e
LogicꢀStateꢀWidthꢀError
PhaseꢀError
5
50
°e
2
15
°e
PositionꢀError
2
20
min.ꢀofꢀarc
IndexꢀPulseꢀWidth
40
10
10
90
450
250
140
1500
1500
°e
CH.ꢀIꢀriseꢀafterꢀCH.ꢀBꢀorꢀCH.ꢀAꢀfallꢀ -40°Cꢀtoꢀ+100°C
t1
ns
ns
CH.ꢀIꢀfallꢀafterꢀCH.ꢀAꢀorꢀCH.ꢀBꢀrise
-40°Cꢀtoꢀ+100°C
t2
Note:
1.ꢀ Moduleꢀmountedꢀonꢀtoleranceꢀcircleꢀofꢀ 0.13ꢀmmꢀ( 0.005ꢀin.)ꢀradiusꢀreferencedꢀfromꢀmoduleꢀSideꢀAꢀaligningꢀrecessꢀcenters.ꢀ2.7ꢀkΩꢀpull-upꢀ
resistorsꢀusedꢀonꢀallꢀencoderꢀmoduleꢀoutputs.
Encoding Characteristic
HEDS-9140 #B00
EncodingꢀCharacteristicsꢀoverꢀRecommendedꢀOperatingꢀRangeꢀandꢀRecommendedꢀMountingꢀTolerancesꢀunlessꢀoth-
erwiseꢀspecified.ꢀValuesꢀareꢀforꢀtheꢀworstꢀerrorꢀoverꢀtheꢀfullꢀrotationꢀofꢀHEDM-504XꢀOptionꢀBXXꢀcodewheel.
Parameter
Symbol
∆C
∆P
∆S
Min.
Typ. [1]
6
Max.
12
Units
CycleꢀError
°e
PulseꢀWidthꢀError
LogicꢀStateꢀWidthꢀError
PhaseꢀError
10
45
°e
10
45
°e
∆Φ
∆Θ
Po
2
15
°e
PositionꢀError
10
40
min.ꢀofꢀarc
IndexꢀPulseꢀWidth
CH.ꢀIꢀRiseꢀafterꢀCHꢀBꢀorꢀCHꢀAꢀfall
CH.ꢀIꢀfallꢀafterꢀCH.ꢀAꢀorꢀCH.Bꢀrise
Note:
50
200
0
90
130
1500
1500
°e
-40°Cꢀtoꢀ+100°
-40°Cꢀtoꢀ+100°
t1
1000
300
ns
ns
t2
1.ꢀ Moduleꢀmountedꢀonꢀtoleranceꢀcircleꢀofꢀ 0.13ꢀmmꢀ( 0.005ꢀin.)ꢀradiusꢀreferencedꢀfromꢀmoduleꢀSideꢀAꢀaligningꢀrecessꢀcenters.ꢀ2.7ꢀkΩꢀpull-upꢀ
resistorsꢀusedꢀonꢀallꢀencoderꢀmoduleꢀoutputs.
Electrical Characteristics
ElectricalꢀCharacteristicsꢀoverꢀRecommendedꢀOperatingꢀRange.
Parameter
Symbol
ICC
Min.
30
Typ.[1]
Max.
Units
mA
V
Notes
SupplyꢀCurrent
57
85
HighꢀLevelꢀOutputꢀVoltage
LowꢀLevelꢀOutputꢀVoltage
RiseꢀTime
VOH
VOL
tr
2.4
IOHꢀ=ꢀ-200ꢀµAꢀmax.
IOLꢀ=ꢀ3.86ꢀmA
0.4
V
180[2]
49[2]
ns
CLꢀ=ꢀ25ꢀpF
RLꢀ=ꢀ2.7ꢀkΩ pull-up
FallꢀTime
tf
ns
Notes:
1.ꢀTypicalꢀvaluesꢀspecifiedꢀatꢀVCCꢀ=ꢀ5.0ꢀVꢀandꢀ25°C.
2.ꢀtrꢀandꢀtfꢀ80ꢀnsecꢀforꢀHEDS-9040ꢀ#T00.
6
Electrical Interface
Mounting Considerations
Toꢀinsureꢀreliableꢀencodingꢀperformance,ꢀtheꢀHEDS-9040ꢀ Figureꢀ 2ꢀ showsꢀ aꢀ mountingꢀ toleranceꢀ requirementꢀ forꢀ
andꢀ 9140ꢀ threeꢀ channelꢀ encoderꢀ modulesꢀ requireꢀ 2.7ꢀ properꢀoperationꢀofꢀtheꢀHEDS-9040ꢀandꢀHEDS-9140.ꢀTheꢀ
kΩꢀ( 10ꢁ)ꢀpull-upꢀresistorsꢀonꢀoutputꢀpinsꢀ2,ꢀ3,ꢀandꢀ5ꢀ AligningꢀRecessꢀCentersꢀmustꢀbeꢀlocatedꢀwithinꢀaꢀtoler-
(ChannelsꢀI,ꢀAꢀandꢀB)ꢀasꢀshownꢀinꢀFigureꢀ1.ꢀTheseꢀpull-upꢀ anceꢀcircleꢀofꢀ0.005ꢀin.ꢀradiusꢀfromꢀtheꢀnominalꢀlocations.ꢀ
resistorsꢀshouldꢀbeꢀlocatedꢀasꢀcloseꢀtoꢀtheꢀencoderꢀmod- Thisꢀtoleranceꢀmustꢀbeꢀmaintainedꢀwhetherꢀtheꢀmoduleꢀ
uleꢀasꢀpossibleꢀ(withinꢀ4ꢀfeet).ꢀEachꢀofꢀtheꢀthreeꢀencoderꢀ isꢀ mountedꢀ withꢀ sideꢀ Aꢀ asꢀ theꢀ mountingꢀ planeꢀ usingꢀ
moduleꢀoutputsꢀcanꢀdriveꢀaꢀsingleꢀTTLꢀloadꢀinꢀthisꢀcon- aligningꢀpinsꢀ(seeꢀFigureꢀ5),ꢀorꢀmountedꢀwithꢀSideꢀBꢀasꢀ
figuration.
theꢀmountingꢀplaneꢀusingꢀanꢀalignmentꢀtoolꢀ(seeꢀFiguresꢀ
3ꢀandꢀ 4).
Figure 1. Pull-up Resistors on HEDS-9X40 Encoder Module Outputs.
Figure 2. HEDS-9X40 Mounting Tolerance.
7
Mounting with an Alignment Tool
TheꢀHEDS-8905ꢀandꢀHEDS-8906ꢀalignmentꢀtoolsꢀareꢀrec-
ommendedꢀforꢀmountingꢀtheꢀmodulesꢀwithꢀSideꢀBꢀasꢀtheꢀ
mountingꢀplane.ꢀTheꢀHEDS-8905ꢀisꢀusedꢀtoꢀmountꢀtheꢀ
HEDS-9140,ꢀ andꢀ theꢀ HEDS-8906ꢀ isꢀ usedꢀ toꢀ mountꢀ theꢀ
HEDS-9040.ꢀTheseꢀ toolsꢀ fixꢀ theꢀ moduleꢀ positionꢀ usingꢀ
theꢀcodewheelꢀhubꢀasꢀaꢀreference.ꢀTheyꢀwillꢀnotꢀworkꢀifꢀ
SideꢀAꢀisꢀusedꢀasꢀtheꢀmountingꢀplane.
Theꢀ followingꢀ assemblyꢀ procedureꢀ usesꢀ theꢀ HEDS-
8905/8906ꢀalignmentꢀtoolꢀtoꢀmountꢀaꢀHEDS-9140/9040ꢀ
moduleꢀandꢀaꢀHEDS-5140/6140ꢀcodewheel:
Instructions:
Figure 3. Alignment Tool is Used to Set Height of Codewheel.
1.ꢀ Placeꢀcodewheelꢀonꢀshaft.
2.ꢀ Setꢀ codewheelꢀ heightꢀ byꢀ placingꢀ alignmentꢀ toolꢀ
onꢀmotorꢀbaseꢀ(pinsꢀfacingꢀup)ꢀflushꢀupꢀagainstꢀtheꢀ
codewheelꢀasꢀshownꢀinꢀFigureꢀ3.ꢀTightenꢀcodewheelꢀ
setscrewꢀandꢀremoveꢀalignmentꢀtool.
3.ꢀ Insertꢀmountingꢀscrewsꢀthroughꢀmoduleꢀandꢀthreadꢀ
intoꢀtheꢀmotorꢀbase.ꢀDoꢀnotꢀtightenꢀscrews.
4.ꢀ Slideꢀalignmentꢀtoolꢀoverꢀcodewheelꢀhubꢀandꢀontoꢀ
moduleꢀasꢀshownꢀinꢀFigureꢀ4.Theꢀpinsꢀofꢀtheꢀalignmentꢀ
toolꢀshouldꢀfitꢀsnuglyꢀinsideꢀtheꢀalignmentꢀrecessesꢀofꢀ
theꢀmodule.
5.ꢀ Whileꢀholdingꢀalignmentꢀtoolꢀinꢀplace,ꢀtightenꢀscrewsꢀ
downꢀtoꢀsecureꢀmodule.
6.ꢀ Removeꢀalignmentꢀtool.
Mounting with Aligning Pins
Figure 4. Alignment Tool is Placed over Shaft and onto Codewheel Hub.
Alignment Tool Pins Mate with Aligning Recesses on Module.
TheꢀHEDS-9040ꢀandꢀHEDS-9140ꢀcanꢀalsoꢀbeꢀmountedꢀus-
ingꢀaligningꢀpinsꢀonꢀtheꢀmotorꢀbase.ꢀ(Hewlett-Packardꢀ
doesꢀnotꢀprovideꢀaligningꢀpins.)ꢀForꢀthisꢀconfiguration,ꢀ
SideꢀAꢀmustꢀbeꢀusedꢀasꢀtheꢀmountingꢀplane.ꢀTheꢀalign-
ingꢀrecessꢀcentersꢀmustꢀbeꢀlocatedꢀwithinꢀtheꢀ0.005ꢀin.ꢀRꢀ
ToleranceꢀCircleꢀasꢀexplainedꢀabove.ꢀFigureꢀ5ꢀshowsꢀtheꢀ
necessaryꢀdimensions.
8
Mounting with Aligning Pins
centersꢀmustꢀbeꢀlocatedꢀwithinꢀtheꢀ0.005ꢀin.ꢀRadiusꢀTol-
eranceꢀCircleꢀasꢀexplainedꢀinꢀ“MountingꢀConsiderations.”ꢀ
Figureꢀ5ꢀshowsꢀtheꢀnecessaryꢀdimensions.
Theꢀ HEDS-9040ꢀ andꢀ HEDS-9140ꢀ canꢀ alsoꢀ beꢀ mountedꢀ
usingꢀaligningꢀpinsꢀonꢀtheꢀmotorꢀbase.ꢀ(Avagoꢀdoesꢀnotꢀ
provideꢀ aligningꢀ pins.)ꢀ Forꢀ thisꢀ configuration,ꢀ Sideꢀ Aꢀ
must beꢀusedꢀasꢀtheꢀmountingꢀplane.ꢀTheꢀaligningꢀrecessꢀ
#2-56 SETSCREW
USE 0.035" HEX WRENCH
50.6 (1.99)
DIA. MAX.
CODEWHEEL
BOSS
SET
SCREW
26.67
(1.050)
MAX.
18.0
(0.71)
19.0 (0.747)
INDEX PULSE
REFERENCE
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
36.32
22.50
MAX.
(0.886)
(1.430)
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.
Figure 7. HEDS-5140 Codewheel Used with HEDS-9140.
9
Orientation of Artwork for HEDS-9040 Option T00 (2000 CPR, 23.36mm Rop) and HEDS-9140 Option B00
(1000CPR, 11.00mm Rop)
TheꢀIndexꢀareaꢀonꢀtheꢀHEDS-ꢀ9040ꢀOptionꢀT00,ꢀ2000ꢀCPRꢀ MountingꢀSurface,ꢀAvagoꢀsuppliesꢀtwoꢀversionsꢀofꢀFilmꢀ
andꢀHEDS-9140ꢀOptionꢀB00,ꢀ1000ꢀCPRꢀEncoderꢀModuleꢀ Codewheelsꢀ forꢀ useꢀ withꢀ theꢀ Optionꢀ T00ꢀ 3-channelꢀ
hasꢀaꢀnonsymmetricalꢀpatternꢀasꢀdoesꢀtheꢀmatingꢀCode- ModuleꢀandꢀOptionꢀB00ꢀ3-ChannelꢀModule:ꢀCodewheelꢀ
wheel.ꢀInꢀorderꢀforꢀtheꢀIndexꢀtoꢀoperate,ꢀtheꢀ“Rightread- HEDM-6140ꢀOptionꢀTXXꢀandꢀHEDM-5040ꢀOptionꢀBxxꢀhasꢀ
ing”ꢀsideꢀofꢀtheꢀCodewheelꢀdiskꢀ(theꢀ“ArtworkꢀSide”)ꢀmustꢀ theꢀArtworkꢀSideꢀonꢀtheꢀ“HubꢀSide”ꢀofꢀtheꢀCodewheel/
pointꢀtowardꢀ“SideꢀA”ꢀofꢀtheꢀModuleꢀ(theꢀsideꢀwithꢀtheꢀ hubꢀassemblyꢀandꢀworksꢀwithꢀ“SideꢀB”ꢀofꢀtheꢀModuleꢀonꢀ
connectingꢀpins).
theꢀ user’sꢀ mountingꢀ surface.ꢀ Codewheelꢀ HEDM-6141ꢀ
OptionꢀTXXꢀandꢀHEDM-5041-BxxꢀhasꢀtheꢀArtworkꢀSideꢀ
oppositeꢀtheꢀ“HubꢀSide”ꢀandꢀworksꢀwithꢀ“SideꢀA”ꢀofꢀtheꢀ
Moduleꢀonꢀtheꢀmountingꢀsurface.ꢀForꢀtheꢀIndexꢀtoꢀoper-
ate,ꢀtheseꢀpartsꢀmustꢀbeꢀorientedꢀasꢀshownꢀinꢀFigureꢀ7aꢀ
andꢀ7b.
BecauseꢀtheꢀEncoderꢀModuleꢀmayꢀbeꢀusedꢀwithꢀeitherꢀ
“SideꢀA”ꢀorꢀwithꢀ“SideꢀB”ꢀtowardꢀthe
HUB
HUB
MODULE SIDE B
IMAGE SIDE
OF CODEWHEEL*
MODULE SIDE A
MODULE SIDE B
IMAGE SIDE
OF CODEWHEEL*
MODULE SIDE A
*ꢀUSEꢀHEDM-6141#TxxꢀorꢀHEDM-5041#Bxx
*ꢀUSEꢀHEDM-6140#TxxꢀorꢀHEDM-5040#Bxx
Figure 7a.
Figure 7b.
*PleaseꢀnoteꢀthatꢀtheꢀimageꢀsideꢀofꢀtheꢀcodewheelꢀmustꢀalwaysꢀbeꢀfacingꢀtheꢀmoduleꢀSideꢀA.
10
Connectors
Manufacturer
Part Number
AMP
103686-4
640442-5
Avago
Molex
HEDS-8902ꢀ(2ꢀch.)ꢀwithꢀ4-wireꢀleads
HEDS-8903ꢀ(3ꢀch.)ꢀwithꢀ5-wireꢀleads
2695ꢀseriesꢀwithꢀ2759ꢀseriesꢀterm.
Figure 8. HEDS-8903 Connector.
Typical Interfaces
CH. A
CH. B
CH. I
HEDS–9040
OR
HEDS-9140
HCTL-20xx
QUADRATURE
DECODER/COUNTER
HOST PROCESSOR
CH. A
CH. B
CH. I
A
HEDS–9040
OR
HEDS-9140
HCTL-1100
MOTION
HOST PROCESSOR
CONTROL IC
11
Ordering Information
Three Channel Encoder Modules and Codewheels, 23.36 mm Optical Radius.
Assembly Tool
HEDS-6140 Option
HEDS-904
Option
0 0
0
HEDS-8906
Resolution
(Cycles/Rev)
Shaft Diameter
Lead Bend
06ꢀ-ꢀ1/4ꢀin.ꢀ
11ꢀ-ꢀ4ꢀmm
12ꢀ-ꢀ6ꢀmm
13ꢀ-ꢀ8ꢀmm
0ꢀ-ꢀStraightꢀLeads
1ꢀ-ꢀBentꢀLeads
Bꢀ-ꢀ1000ꢀCPR
Jꢀ-ꢀ1024ꢀCPR
08ꢀ-ꢀ3/8ꢀin.ꢀ
09ꢀ-ꢀ1/2ꢀin.ꢀ
10ꢀ-ꢀ5/8ꢀin.
Three Channel Encoder Modules and Codewheels, 23.36 mm Optical Radius
Assembly Tool
HEDS-9040 Option
0 0
HEDM-614
Option
HEDS-8906
Artwork Orientation
Shaft Diameter
Resolution
(Cycles/Rev)
0ꢀ-ꢀArtworkꢀonꢀhubꢀsideꢀ(useꢀwhenꢀ
moduleꢀSideꢀBꢀisꢀdown)
12ꢀ-ꢀ6ꢀmm
Tꢀ-ꢀ2000ꢀCPR
1ꢀ-ꢀArtworkꢀoppositeꢀhubꢀsideꢀ(useꢀ
whenꢀModuleꢀSideꢀAꢀisꢀdown)
A
*
*
B
C
D
E
F
G
H
I
J
K
S
T
U
HEDS-9040
HEDS-9041
*
*
01
B
J
02
03
04
05
06
08
*
09
10
*
11
12
13
*
14
*
HEDS-6140
HEDM-6140
*
*
*
*
*
*
*
T
*
12
Three Channel Encoder Modules and Codewheels, 11.00 mm Optical Radius
HED
-914
Option
HEDS-5140 Option
0 0
Assembly Tool
HEDS-8905
Resolution
(Cycles/Rev)
Shaft Diameter
Window Option
Lead Bend
02ꢀ-ꢀ3ꢀmm
04ꢀ-ꢀ5/32ꢀin.
05ꢀ-ꢀ3/16ꢀin.
06ꢀ-ꢀ1/4ꢀin.
11ꢀ-ꢀ4ꢀmm
14ꢀ-ꢀ5ꢀmm
12ꢀ-ꢀ6ꢀmm
13ꢀ-ꢀ8ꢀmm
Sꢀ–ꢀStandard
W–ꢀWindowꢀOption
0ꢀ-ꢀStraightꢀLeads
1ꢀ-ꢀBentꢀLeads
Sꢀ-ꢀ50ꢀCPR
Cꢀ-ꢀ100ꢀCPR
Eꢀ-ꢀ200ꢀCPR
Fꢀ-ꢀ256ꢀCPR
Gꢀ-ꢀ360ꢀCPR
Hꢀ-ꢀ400ꢀCPR
Aꢀ-ꢀ500ꢀCPR
ꢀIꢀ-ꢀ512ꢀCPR
Three Channel Encoder Modules and Codewheels, 11.000 Optical Radius
H E D S - 9 1 4 0 Option
0 0
H E D M - 5 0 4
Option
Assembly Tool
HEDS-8905
Resolution
(Cycle/Rev)
Artwork Orientation
Shaft Diameter
0 - Artwork on Hub Side
01 - 2mm
02 - 3mm
05 - 3/16 in
11 - 4mm
13 - 8mm
14 - 5mm
B - 1000CPR
(use when module side B is down)
1 - Artwork on 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-9140
HEDS-9141
HEDW-9140
*
*
*
*
*
*
01 02 03
04
05
06
08
09
10
11
12
*
13
*
14
HEDS-5140
A
C
E
F
G
I
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
*
HEDM-5040
HEDM-5041
B
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 © 2005-2011 Avago Technologies. All rights reserved. Obsoletes 5988-5498EN
AV02-1132EN - April 5, 2011
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