HEDT-9040J00 [ETC]

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型号：	HEDT-9040J00
厂家：	ETC
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High Temperature 140

Three Channel Optical

°C

Incremental Encoder Modules

Technical Data

HEDT-9040

HEDT-9140

Features

• -40°C to 140°C Operating

Temperature

• Two Channel Quadrature

Output with Index Pulse

• Suitable for Automotive

Applications

• Resolution up to 1024

Counts per Revolution

• Low Cost

• Easy to Mount

Description

The HEDT-9040 and HEDT-9140

are high temperature 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-

9040/9140 three channel

• No Signal Adjustment

Required

• Small Size

encoders.

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 X 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.

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)

17.27

(0.680)

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

ESD WARNING: NORMAL HANDLING PRECAUTIONS SHOULD BE TAKEN TO AVOID STATIC

DISCHARGE.

The HEDT-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.

Block Diagram

The HEDT-9040 is designed for

codewheels which have an optical

radius of 23.36 mm (0.920 in.).

The HEDT-9140 is designed for

codewheels which have an optical

radius of 11.00 mm (0.433 in.).

The quadrature signals and the

index pulse are accessed through

five 0.025 inch square pins

located on 0.1 inch centers.

Resolutions between 360 and

1024 counts per revolution are

available. Consult local Agilent

sales representatives for other

resolutions.

single 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.

circuitry resulting in A, A, B, B, I

and I. 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).

Applications

The HEDT-9040 and 9140

provide high temperature motion

control detection at a low cost,

making them suitable for automo-

tive and industrial applications.

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

photodiodes which detect these

interruptions are arranged in a

pattern that corresponds to the

radius and design of the

codewheel. 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

The output of the comparator for

I and I is sent to the index

Theory of Operation

The HEDT-9040 and 9104 are

emitter/detector modules.

Coupled with a codewheel, these

modules translate the rotary

motion of a shaft into a three-

channel digital output.

processing circuitry along with

the outputs of channels A and B.

The final output of channel I is an

index pulse Po which is a one

state width (nominally 90

electrical degrees), high true

index pulse. This pulse is

coincident with the low states of

channels A and B.

As seen in the block diagram, the

module contains a single Light

Emitting Diode (LED) as its light

source. The light is collimated

into a parallel beam by means of a

Output Waveforms

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 (∆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.

Definitions

Cycle Error (∆C): An indication

of cycle uniformity. The differ-

ence between an observed shaft

angle which gives rise to one

electrical cycle, and the nominal

angular increment of l/N of a

revolution .

Count (N): The number of bar

and window pairs or counts per

revolution (CPR) of the

codewheel.

Phase Error (∆φ): The deviation

of the phase from its ideal value

of 90°e.

One Cycle (C): 360 electrical

degrees (°e), 1 bar and window

pair.

Direction of Rotation: When the

codewheel rotates in the direction

of the arrow on top of the

module, channel A will load

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 Shaft Rotation: 360

mechanical degrees, N cycles.

Pulse Width Error (∆P): The

deviation, in electrical degrees, of

the pulse width from its ideal

value of 180°e.

Position Error (∆Θ): The

normalized angular difference

between the actual shaft position

and the position indicated by the

encoder cycle count.

Optical Radius (R_OP): The

distance from the codewheel’s

center of rotation to the optical

center (O.C.) of the encoder

module.

Absolute Maximum Ratings

Index Pulse Width (P ): The

Storage Temperature, T_S................................................. -40°C to 140°C

Operating Temperature, T_A............................................. -40°C to 140°C

Supply Voltage, V_CC............................................................ -0.5 V to 7 V

number of electrical degrees that

an index is high during one full

shaft rotation. This value is

nominally 90°e or 1/4 cycle.

Output Voltage, V_O.............................................................. -0.5 V to V_CC

Output Current per Channel, I_OUT.................................-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/sec^2[1]

Note:

1. Absolute maximums for HEDS-5140 codewheel only.

Recommended Operating Conditions

Parameter

Temperature

Symbol

Min.

-40

Typ.

Max.

140

5.5

Units

°C

Notes

Supply Voltage

V_CC

C_L

4.5

5.0

Volts

Ripple < 100 mV

p-p

Load Capacitance

Count Frequency

100

2.7 kΩ pull-up

kHz

Velocity (rpm) x N/60

Shaft Perpendicularity

Plus Axial Play

± 0.25

(± 0.010)

(in.)

6.9 mm (0.27 in.) from

mounting surface

Shaft Eccentricity Plus

Radial Play

0.04

(0.0015)

mm (in.) 6.9 mm (0.27 in.) from

TIR mounting surface

Note: The module performance is guaranteed to 50 kHz but can operate at higher frequencies.

Encoding Characteristics

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-514X and HEDS-

6145 codewheels.

Parameter

Symbol

∆C

∆P

Min.

Typ.*

Max.

Units

°e

Cycle Error

Pulse Width Error

°e

Logic State Width Error

Phase Error

∆S

°e

∆φ

°e

Position Error

∆Θ

P_O

430

250

min. of arc

Index Pulse Width

120

1490

620

°e

CH. I rise after CH. B or CH. A fall

CH. I fall after CH. A or CH. B rise

t₁

t₂

Note: 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

Min.

Typ.* Max. Units

Notes

I_CC

V_OH

V_OL

t_r

High Level Output Voltage

Low Level Output Voltage

Rise Time

2.4

I_OH= -100 µA min.

0.4

I_OL= 3.86 mA max.

C_L= 25 pF

R_L= 2.7 kΩ pull-up

Fall Time

t_f

*Typical values specified at V_CC= 5.0 V and 25°C.

Mechanical Characteristics

Part No.

Parameter

Dimension

Tolerance

Units

HEDS-5140

11.00 mm optical

radius codewheel

Codewheel Available

to Fit These Standard

Shaft Diameters

2 3

5 6

+0.000

-0.015

5/32 1/8

3/16 1/4

+0.000

-0.0007

in.

Moment of Inertia

0.6 (8.0 x 10^-6)

g-cm²(oz-in-s²)

Note: The tolerance requirements are on the mating shaft, not on the codewheel.

Electrical Interface

To insure reliable encoding

performance, the HEDT-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 in

close proximity of the encoder

module (within 4 feet). Each of

the three encoder module outputs

Figure 1. Pull-up Resistors on HEDT-9X40 Encoder Module Outputs.

can drive a single TTL load in this

configuration.

Mounting Considerations

Figure 2 shows a mounting

tolerance requirement for proper

operation of the HEDT-9040 and

HEDT-9140. 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 5), or mounted

with Side B as the mounting plane

using an alignment tool (see

Figures 3 and 4).

Figure 2. HEDT-9X40 Mounting Tolerance.

Mounting the HEDT-9140 the motor shaft as shown in

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.

with an Alignment Tool

Figure 3. (b) Push codewheel

down against alignment tool. The

codewheel is now at the proper

height. (c) Tighten codewheel

setscrew and remove alignment

tool.

The HEDS-8905 alignment tool is

recommended for mounting the

HEDT-9140 module with Side B

as the mounting plane. This tool

can only be used when the HEDT-

9140 module is mounted with the

HEDS-5140 (codewheel with

hub). The HEDS-8905 tool fixes

the module position using the

codewheel hub as a reference. It

will not work if Side A is used as

the mounting plane.

If boss is above mounting plane:

The pins of the tool may not mate

properly because the codewheel is

too high on the shaft. Loosen

codewheel setscrew and lower

codewheel slightly. Retighten

setscrew lightly and attempt this

step again.

Some motors have a boss around

the shaft that extends above the

mounting plane. In this case, the

alignment tool cannot be used as

a gage block to set the codewheel

height as described in 2(a), (b),

and (c). If boss is above

mounting plane: Slide module

onto motor base, adjusting height

of codewheel so that it sits

approximately in the middle of

module slot. Lightly tighten set-

screw. The codewheel height will

be more precisely set in step 5.

The following assembly procedure

uses the HEDS-8905 alignment

tool to mount an HEDT-9140

module and an HEDS-5140

codewheel:

5. While holding alignment tool in

place, tighten screws down to

secure module.

If boss is above mounting plane:

Push codewheel up flush against

alignment tool to set codewheel

height. Tighten codewheel

setscrew.

Instructions:

1. Place codewheel on shaft.

3. Insert mounting screws

through module and thread into

the motor base. Do not tighten

screws.

2. Set codewheel height: (a) place

alignment tool on motor base

(pins facing up) flush up against

6. Remove alignment tool.

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.

Mounting with Aligning Pins

The HEDT-9040 and HEDT-9140

can also be mounted using

aligning pins on the mounting

surface.

Radius Tolerance Circle as

explained in “Mounting

Considerations.” Figure 5 shows

the necessary dimensions.

(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 0.13 mm (0.005 in.)

Figure 5. Mounting Plane Side A.

Figure 6. HEDS-5140 Codewheel Used with HEDT-9140.

Ordering Information

Three Channel Encoder Modules and Bare Codewheels, 23.36 mm Optical Radius

HEDT-9040 Option

0 0

HEDS-6145 Option

0 0

Resolution

(Cycles/Rev)

B - 1000CPR

J - 1024 CPR

Three Channel Encoder Modules and Codewheels, 11.00 mm Optical Radius

HEDT-9140 Option

0 0

HEDS-514

Hub

Option

0 - Codewheel w/Hub

5 - Codewheel w/o Hub

Resolution

(Cycles/Rev)

Shaft Diameter

01 - 2 mm

02 - 3 mm

03 - 1/8 in.

11 - 4 mm

14 - 5 mm

12 - 6 mm

E - 200 CPR

F - 256 CPR

G - 360 CPR

A - 500 CPR

04 - 5/32 in. 13 - 8 mm

05 - 3/16 in.

06 - 1/4 in.

Accessories

HEDS-8905

Alignment Tool for mounting the HEDT-9140.

Using Multiple Index

Pulses

the CPR of the codewheel,

consecutive index pulses may

have to be separated by at least

10 full cycles.

partial turning of the codewheel is

required to determine the

absolute position.

The third channel index (Channel

I) is not limited to occurring just

once per revolution. Index pulses

may be placed arbitrarily over a

full codewheel rotation. This is

done by altering only the pattern

of the codewheel with no

modifications necessary to the

HEDT-9X40 module. The only

restriction is that, depending on

A special codewheel is required to

accomplish a multiple index

pattern. The standard HEDS-

5140, 5145, and 6145 code-

wheels have one index pulse per

full revolution. Please consult a

local Agilent sales representative

for further information.

Multiple index pulses can provide

more precise absolute position

information. By strategically

placing the index pulses, a unique

index series can be created for a

particular angular position. This

leads to the idea of the “quasi-

absolute” encoder in which only a

www.semiconductor.agilent.com

Data subject to change.

Obsoletes 5962-8451E (2/94)

5965-5886E (11/99)

HEDT-9040J00 [ETC]

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