E6C3-CWZ3XH [OMRON]
An Encoder That Offers Durability and Convenience; ，提供耐用性和方便性的编码器
| 型号： | E6C3-CWZ3XH |
| 厂家： | 
OMRON ELECTRONICS LLC |
| 描述： | An Encoder That Offers Durability and Convenience |
| 文件： | 总20页 (文件大小：339K) |
| 中文： | 中文翻译 | 下载： | 下载PDF数据表文档文件 |
Rotary Encoder (Incremental/Absolute)
E6C3
An Encoder That Offers
Durability and Convenience
• IP65f drip-proof, oil-proof construction achieved with
seal bearing.
• 8-mm-dia stainless steel shaft withstands a shaft
loading of 80 N and 50 N respectively in the radial
and thrust directions.
• Absolute Rotary Encoders have a metal slit plate to
ensure high resistance to shock.
• Combining Absolute Rotary Encoders with a Pro-
grammable Controller or Cam Positioner allows ideal
angle control.
• Bears CE markings (EMC Directives) and conforms
to EN/IEC standards, making it suitable for the Euro-
pean market.
Ordering Information
■ Incremental Rotary Encoders
Supply voltage
Output configuration
Resolution (P/R)
Connection method
Model
12 to 24 VDC
Complementary output
100, 200
Pre-wired (1 m) (See note 2.) E6C3-CWZ5GH
300, 360, 500
600, 720, 800
1,000, 1,024, 1,200
1,500, 1,800, 2,000
2,048, 2,500, 3,600
100, 200
5 to 12 VDC
Voltage output
E6C3-CWZ3EH
300, 360, 500
600, 720, 800
1,000, 1,024, 1,200
1,500, 1,800, 2,000
2,048, 2,500, 3,600
100, 200
5 to 12 VDC
Line driver output
E6C3-CWZ3XH
300, 360, 500
600, 720, 800
1,000, 1,024, 1,200
1,500, 1,800, 2,000
2,048, 2,500, 3,600
Note 1. When ordering, specify the resolution in addition to the model numbers. (Example: E6C3-CWZ5GH 300P/R 1M)
2. Models with 2-m cables are also available as standard products. Specify the cable length at the end of the model number. (Example: E6C3-
CWZ5GH 300P/R 2M)
■ Absolute Rotary Encoders
Supply voltage
Output configuration
Output code
Resolution (P/R)
256, 360
Connection method
Model
E6C3-AG5C-C
E6C3-AG5C
E6C3-AN5C
E6C3-AB5C
E6C3-AG5B
E6C3-AN5B
E6C3-AB5B
E6C3-AN1E
E6C3-AN2E
12 to 24 VDC
NPN open collector output Gray code
Connector
256, 360, 720, 1,024
32, 40
Pre-wired (1 m) (See
note 2.)
Binary
BCD
6, 8, 12
PNP open collector output Gray code
256, 360, 720, 1,024
32, 40
Binary
BCD
6, 8, 12
5 VDC
Voltage output
Binary
256
12 VDC
Note 1. When ordering, specify the resolution in addition to the model numbers. (Example: E6C3-AG5C 360P/R 1M)
2. Models with 2-m cables are also available as standard products. Specify the cable length at the end of the model number. (Example: E6C3-
AG5C 360P/R 2M)
3. When connecting to the H8PS, be sure to use the E6C3-AG5C-C 256P/R.
■ Accessories (Order Separately)
Item
Model
Remarks
Coupling
E69-C08B
---
E69-C68B
E69-FCA03
E69-FCA04
E69-2
Diameters of ends: 6 to 8 dia.
---
Flange
E69-2 Servo Mounting Bracket provided.
Provided with the E69-FCA04 Flange.
Servo Mounting Bracket
Extension Cable
E69-DF5
5 m
Applicable for the E6C3-AG5C-C. 15- and 98-m-long Extension
Cables are also available.
E69-DF10
E69-DF20
10 m
30 m
2
E6C3 Rotary Encoder (Incremental/Absolute)
Specifications
■ Ratings/Characteristics
Incremental Rotary Encoders
Item
E6C3-CWZ5GH
E6C3-CWZ3EH
E6C3-CWZ3XH
Power supply voltage
12 VDC −10% to 24 VDC +15%
5 VDC −5% to 12 VDC +10%
Current consumption
(See note 1.)
100 mA max.
Resolution (pulse/
rotation)
100, 200, 300, 360, 500, 600, 720, 800, 1,000, 1,024, 1,200, 1,500, 1,800, 2,000, 2,048, 2,500, 3,600
Output phases
A, B, and Z
A, A, B, B, Z, Z
Output configuration
Output capacity
Complementary output (See note 5.) Voltage output (NPN output)
Line driver output (See note 2.)
Output voltage:
VH: Vcc − 3 V min. (Io: 30 mA)
Output resistance: 2 kΩ
AM26LS31 equivalent
Output current:
Output current: 35 mA max.
Residual voltage: 0.7 V max.
VL: 2 V max. (Io: −30 mA)
High level (Io): −10 mA
Low level (Is): 10 mA
Output current: ±30 mA
Output voltage:
Vo: 2.5 V min.
Vs: 0.5 V max.
Max. response frequency 125 kHz (65 kHz for phase-Z reset)
(See note 3.)
Phase difference on
output
90°±45° between A and B (1/4T±1/8T)
Rise and fall times of
output
1 µs max.
(cable length: 2 m, output current:
30 mA)
1 µs max.
(cable length: 2 m, output current:
35 mA)
1 µs max. (cable length: 2 m; Io:
−10 mA; Is: 10 mA)
Starting torque
10 mN·m max. at room temperature; 30 mN·m max. at low temperature
2.0 × 10−6 kg·m2; 1.9 × 10−6 kg·m2 at 500 P/R max.
Moment of inertia
Shaft
loading
Radial
Thrust
80 N
50 N
Max. permissible
revolution
5,000 rpm
Protection circuits
Reversed power supply connection protection circuit, output load short-circuit ---
protection circuit
Ambient temperature
Operating: −10°C to 70°C (with no icing)
Storage: −25°C to 85°C (with no icing)
Ambient humidity
Insulation resistance
Dielectric strength
Vibration resistance
Shock resistance
Degree of protection
Connection method
Weight (packed state)
Others
35% to 85% (with no condensation)
20 MΩ min. (at 500 VDC) between current-carrying parts and case
500 VAC, 50/60 Hz for 1 min between current-carrying parts and case
Destruction: 10 to 500 Hz, 150 m/s2 or 2-mm double amplitude for 11 min 3 times each in X, Y, and Z directions
Destruction: 1,000 m/s2 3 times each in X, Y, and Z directions
IEC60529 IP65 (JEM IP65f for drip-proof and oil-proof construction) (See note 4.)
Pre-wired (standard length: 1 m)
Approx. 300 g
Instruction manual
Note 1. An inrush current of approx. 9 A flows for approx. 0.1 ms right after the E6C3 is turned on.
2. The line driver output of the E6C3 is used for data transmission circuitry conforming to RS-422A and ensures long-distance transmission
over twisted-pair cable, the quality of which is equivalent to AM26LS31.
3. The maximum electrical response revolution is determined by the resolution and maximum response frequency as follows:
Maximum electrical response frequency (rpm) = Maximum response frequency/resolution × 60
This means that the E6C3 will not operate electrically if its revolution exceeds the maximum electrical response revolution.
4. JEM1030: applicable since 1991.
E6C3 Rotary Encoder (Incremental/Absolute)
3
5. Complementary Output:
The complementary output has two output transistors (NPN and PNP) as shown below. These two output transistors alternately turn ON
and OFF depending on the "H" or "L" output signal. When using them, pull up to the positive power or pull down to 0 V. The complementary
output allows flow-in or flow-out of the output current and thus the rising and falling speeds of signals are fast. This allows a long cable
distance. They can be connected to open-collector input devices (NPN, PNP).
Power
supply
E6C3-CWZ5GH
NPN transistor
OUT
Signal
PNP transistor
0 V
6. Phase-Z signals are output when the relationship between the shaft’s D cut position and the cable’s pullout direction is as shown in the
following diagram. (Output position range: ±15°.)
120°
D cut
40 dia.
120°
4
E6C3 Rotary Encoder (Incremental/Absolute)
Output Circuit Diagram
■ Incremental Rotary Encoders
Model/output circuit
Output modes
Connection
E6C3-CWZ5GH
Brown
12 VDC −10% to
24 VDC +15%
7.5 Ω
7.5 Ω
30 mA
max.
Black, white,
orange
Main
circuit
Output signal
24 Ω
(Black: Phase A;
White: Phase B;
Orange: Phase Z)
Voltage Output: E6C3-CWZ3EH
Complementary Output: E6C3-CWZ5GH
30 mA
max.
Blue
0 V
Shield
Rotating direction: Clockwise (CW)
(As viewed from the face of the shaft)
Rotating direction: Counterclockwise (CCW)
(As viewed from the face of the shaft)
GND
Color
Terminal
Brown Power supply
(+VCC)
CW
CCW
T (360˚)
T (360˚)
H
Phase A
L
H
L
Black
White
Output phase A
Output phase B
Phase A
Phase B
Phase Z
E6C3-CWZ3EH
H
H
L
Phase B
Orange Output phase Z
L
Brown
1/4±1/8T (90˚±45˚)
1/4±1/8T (90˚±45˚)
H
Phase Z
L
H
L
5 VDC −5% to
Blue
0 V (common)
12 VDC +10%
2 kΩ
Black, white,
orange
Note: Phase A is 1/4±1/8T faster than
Note: Phase A is 1/4±1/8T slower than
Output signal
phase B.
phase B.
(Black: Phase A;
White: Phase B;
Orange: Phase Z)
NPN
transistor
Main
circuit
35 mA
max.
7.5 Ω
Blue
0 V
Shield
GND
E6C3-CWZ3XH
Color
Terminal
Line Driver Output: E6C3-CWZ3XH
Brown Power supply
(+VCC)
Rotating direction: Clockwise (CW)
Rotating direction: Counterclockwise (CCW)
(As viewed from the face of the shaft) (As viewed from the face of the shaft)
Black
White
Output phase A
Output phase B
Brown
5 VDC −5% to
12 VDC +10%
Non-reversed output
(Black: Phase A;
White: Phase B;
Orange: Phase Z)
CW
CCW
T (360°)
T (360°)
Black, white,
orange
Orange Output phase Z
H
L
H
L
Phase A
Phase B
Phase Z
Phase A
Phase B
Phase Z
Phase A
Phase B
Black/ Output phase A
Red
stripes
Black, white,
orange (with
red stripes)
Main
circuit
AM26LS31
or equiva-
lent
H
L
H
L
Reversed output
1/4±1/8T (90°±45°)
Phase Z
1/4±1/8T (90°±45°)
(Black/Red: Phase A;
White/Red: Phase B;
Orange/Red: Phase Z
H
L
H
L
White/ Output phase B
Red
stripes
Blue
H
L
0 V
H
L
Phase A
Phase B
Phase Z
Shield
Orange Output phase Z
/Red
stripes
GND
H
L
H
L
H
L
H
L
Blue
0 V (common)
Note:Receiver:
AM26LS32
equivalent
Note 1. The shield is not connected to the internal circuits or casing of the E6C3.
2. There is no difference in circuit among phases A, B, and Z.
3. Connect the GND terminal to 0 V or the ground when the E6C3 is in normal operation.
E6C3 Rotary Encoder (Incremental/Absolute)
5
Connection Examples
C200H-CT@@ High-speed Counter Unit
■ Incremental Rotary Encoders
Applicable Model: E6C3-CWZ5GH
Typical Model: C200H-CT001-V1
H7ER Digital Tachometer
Applicable Model: E6C3-CWZ3EH (with a
resolution of 10, 60, or 600 P/R)
(Encoder at 0 V)
+12 V
+12 V
+5 V
+24 V
Phase A
+24 V
Phase B
Phase A
0 V
Brown
+12 V
+5 V
H7ER Digital Tachometer
Black
Phase B
12-VDC power supply
Blue
+12 V
0 V
5 to 12 VDC
H7BR Digital Counter
Note:Apply the following connections if the E6C3’s 3 power supplies
are 5 or 24 V.
Phase A and Power Supply: 5 V to A19 and 24 V to B20
Phase B and Power Supply: 5 V to A17 and 24 V to B18
Applicable Model: E6C3-CWZ3EH
Applicable Model: E6C3-CWZ5GH
Typical Model: C200H-CT021
Brown
Black
(Encoder at 0 V)
White
Shield
Blue
+12 V
0 V
Phase Z
Phase Z
Phase B
Phase A
Phase Z
Phase B
Phase A
Phase B
Phase A
0 V
H7BR Digital Counter
5 to 24
VDC
0 V
+12 V
Phase A
H7CR-CW Digital Counter
12-VDC power supply
+12 V
0 V
Applicable Model: E6C3-CWZ5GH
Note:Apply the following connections if the power supply to the E6C3
is 12 or 24 V.
Phase A and Power Supply: 12 V to A8/B8 and 24 V to A9/B9
Phase B and Power Supply: 12 V to A12/B12 and 24 V to A13/
Black
White
Blue
B13
Phase Z and Power Supply: 12 V to A16/B16 and 24 V to A17/
B17
Brown
12 VDC
(100 mA)
H7CR-CW
6
E6C3 Rotary Encoder (Incremental/Absolute)
CQM1-CPU43-EV1 (as Built-in High-
speed Counter)
C500-CT001/CT012 High-speed
Counter Unit
• The pulse output of the E6C3 can be directly input into IN04, IN05,
and IN06 of the CPU Unit to use these three points as a built-in
high-speed counter.
CW and CCW detection (increment/
decrement counting)
Applicable Model: E6C3-CWZ5GH
• The single-phase response speed is 5 kHz and the two-phase
response speed is 2.5 kHz. The count value is within a range
between 0 and 65,535 in increment mode and −32,767 and 32,767
in decrement mode.
• The operating mode of the high-speed counter is set with the PC
Setup in the DM area.
Brown
Black
Blue
Count Mode
White
Up/Down mode
Increment/Decrement counter uses phas-
es A and B.
Incrementing mode
Normal mode
Increment counter uses phase A only.
Shield
IN04 through IN05 are used for normal in-
put.
Internal DIP switch settings
Applicable Model: E6C3-CWZ5GH
Phase A
IN 0000CH
Reset
Phase B
The present count value can be reset with the soft-reset function or
the AND of soft reset and phase Z input.
Phase
Z
Output
Target value
When the count value reaches the target value, the
specified subroutine is executed. A maximum of 16
target values can be set.
CQM1 Programmable Controller
Range
comparison
When the count value is within the range, the spec-
ified subroutine is executed. A maximum of 8 rang-
es can be set with upper and lower limits.
Applicable Model: E6C3-CWZ5GH
Brown (12 V)
Black (Phase A)
White (Phase B)
Orange (Phase Z)
Blue (0 V)
Shield
E6C3 Rotary Encoder (Incremental/Absolute)
7
Specifications
■ Ratings/Characteristics
Absolute Rotary Encoders
Item
E6C3-
AG5C-C
E6C3-
AG5C
E6C3-
AN5C
E6C3-
AB5C
E6C3-
AG5B
E6C3-
AN5B
E6C3-
AB5B
E6C3-
AN1E
E6C3-
AN2E
Power supply voltage 12 VDC−10% to 24 VDC+15%, ripple (p-p) 5% max.
5 VDC ±5% 12 VDC
±10%
Current consumption 70 mA max.
Resolution
(See note 1.)
(pulses/rotation)
256, 360
256, 360,
720, 1,024
32, 40
Binary
6, 8, 12
BCD
256, 360,
32, 40
6, 8, 12
256
720, 1,024
Output code
Gray code
Gray code Binary
BCD
Binary
Output configuration
Output capacity
NPN open collector output
PNP open collector output
Voltage output
Output re- Output re-
Applied voltage: 30 VDC max.
Sink current: 35 mA max.
Residual voltage: 0.4 V max. (at sink current of
35 mA)
Source current: 35 mA max.
Residual voltage: 0.4 V max. (at
Source current of 35 mA)
sistance:
sistance:
2.4 kΩ
8.2 kΩ
Sink current: 35 mA max.
Residual voltage: 0.4 V
max. (at sink current of
35 mA)
Rise and fall times of
output
1 µs max. (cable length: 2m; output current: 35 mA max.)
Rise: 3 µs Rise: 10 µs
max.
max.
Fall: 1 µs
max.
Fall: 1 µs
max.
Max. response
frequency (See note 2.)
20 kHz
10 kHz
Logic
Negative logic output (H=0, L=1)
Positive logic output (H=1, L=0)
Rotational direction
(See note 3.)
Output code incremented by clockwise rotation (as viewed from the face of the shaft.)
Changed using the rota-
tional direction designa-
tion input.
Strobe signal
Not available
Available
Not avail-
able
Available
Not available
Positioning signal
Parity signal
Not available
Not available
Available
Not available
Available
Not available
Available
(even num-
ber)
Not available
Available
(even num-
ber)
Not available
Starting torque
10 mN·m max. at room temperature
30 mN·m max. at low temperature
2.3 × 10−6 kg·m2
Moment of inertia
Shaft
loading
Radial
Thrust
80 N
50 N
Max. permissible
rotation
5,000 rpm
Ambient temperature
Operating: −10°C to 70°C (with no icing)
Storage: −25°C to 85°C (with no icing)
Ambient humidity
Insulation resistance
Dielectric strength
Vibration resistance
Shock resistance
35% to 85% (with no condensation)
20 MΩ min. (at 500 VDC) between current-carrying parts and case
500 VAC, 50/60 Hz for 1 min between current-carrying parts and case
Destruction: 10 to 500 Hz, 1.0-mm single amplitude or 150 m/s2 for 11 min. 3 times each in X, Y, and Z directions.
Destruction: 1,000 m/s2, 6 times each in X, Y, and Z directions
Degree of protection
Connection method
IEC60529 IP65 (JEM IP65f for drip-proof and oil-proof construction) (See note 4.)
Connector Pre-wired (standard length: 1 m)
(standard
length: 1 m)
Weight (packed state) Approx. 300 g
Others
Instruction manual
8
E6C3 Rotary Encoder (Incremental/Absolute)
Note 1. The codes are classified as shown in the following table.
Output code
Resolution
32
Code number
Binary
1 to 32
1 to 40
0 to 255
0 to 5
40
256
6
BCD
8
0 to 7
12
0 to 11
0 to 255
Gray code
256
360
720
1,024
76 to 435 (Remainder of 76)
152 to 871 (Remainder of 152)
0 to 1,023
2. The maximum electrical response revolution is determined
by the resolution and maximum response frequency as fol-
lows:
Maximum electrical response frequency (rpm) = Maximum
response frequency/resolution × 60
This means that the E6C3 will not operate electrically if its
revolution exceeds the maximum electrical response revolu-
tion.
3. With the E6C3-AN1E and E6C3-AN2E models, the output
code can be increased in the clockwise direction by connect-
ing the rotational direction designation input (wire color: pink)
to H (Vcc), and the output code can be decreased in the
clockwise direction by connecting the input to L (0 V).
E6C3-AN1E: H=1.5 to 5 V, L=0 to 0.8 V
E6C3-AN2E: H=2.2 to 12 V, L=0 to 1.2 V
With the E6C3-AN1E and E6C3-AN2E models, read the
code at least 10 µs after the LSB (20) code has changed.
4. JEM1030: applicable since 1991.
5. The absolute code’s smallest address is output when the re-
lationship between the shaft’s D cut position and the cable’s
pullout direction is as shown in the following diagram. (Output
position range: ±15°.)
120°
D cut
40 dia.
120°
E6C3 Rotary Encoder (Incremental/Absolute)
9
Output Circuit Diagrams
■ Absolute Rotary Encoders
E6C3-AG5C/-AG5C-C
E6C3-AG5B
E6C3-AN5C
E6C3-AN5B
Output
Circuits
12 to
24 VDC
12 to
24 VDC
12 to
24 VDC
12 to
24 VDC
Output
Output
Output
Output
Main
circuit
Main
circuit
Main
circuit
Main
circuit
35 mA
max.
35 mA max.,
30 VDC
0 V
35 mA
max.
35 mA max.,
30 VDC
0 V
0 V
0 V
Shield
Shield
Shield
Shield
GND
GND
GND
GND
Note: Each output bit uses the same circuit. Note: Each output bit uses the same circuit. Note: Each output bit uses the same circuit. Note: Each output bit uses the same circuit.
Output
Modes
Rotating direction: CW, as viewed from the face of the shaft.
Rotating direction: CW, as viewed from the face of the shaft.
Resolution: 40
ON
20
No.
1
5
10
15
20
25
30
35
40
OFF
Strobe
ON
ON
21
signal OFF
OFF
ON
20
ON
22
OFF
OFF
ON
21
OFF
ON
23
ON
OFF
22
OFF
ON
24
ON
23
OFF
OFF
ON
ON
24
25
OFF
OFF
ON
25
ON
OFF
26
OFF
ON
Parity
signal
OFF
ON
27
OFF
ON
28
OFF
360°
9°
18°
27°
ON
Absolute angle
Strobe signal
29
C
OFF
2.25°
2.25°
0
1 2 3 4 5 6 7 8 9 1011121314151617181920212223242526272829303132333435363738394041424344454647484950515253545556575859606162636465
Address
When resolution is 32
A=11.25°
B=6°
B
4.5°
A
9°
C=3°
0.5° min.
0.5° min.
Other bit signal
Connections
■ Connector Specifications
■ Cable Specifications
Pin
E6C3-AG5C-C
Wire color
E6C3-AG5C/E6C3-AG5B
number
Output signal
Output signal
8-bit (256)
9-bit (360)
8-bit (256)
9-bit (360)
10-bit (720, 1,024)
20
20
21
22
23
24
25
26
27
20
21
22
23
24
25
26
27
28
1
2
Connected internally
NC
28
25
21
20
27
24
22
23
26
Brown
Orange
Yellow
Green
Blue
21
22
23
24
25
26
27
28
29
25
21
20
27
24
22
23
26
3
4
5
6
Purple
Gray
7
8
White
Pink
9
NC
10
11
12
13
Light blue NC
NC
Shield (GND)
12 to 24 VDC
0 V (Common)
---
Shield (GND)
Red
12 to 24 VDC
0 V (Common)
Black
Note:Connector type: RP13A-12PD-13SC (Hirose Electric)
10
E6C3 Rotary Encoder (Incremental/Absolute)
Output Circuit Diagrams
■ Absolute Rotary Encoders
E6C3-AB5C
E6C3-AB5B
E6C3-AN1E
E6C3-AN2E
Output
Circuits
5 VDC
12 VDC
2.4
kΩ
8.2
kΩ
Output
35 mA max.
Output
35 mA max.
Main
circuit
Main
circuit
0 V
0 V
12 to
24 VDC
12 to
24 VDC
Shield
Shield
GND
GND
Output
Output
Main
circuit
Main
circuit
Note: Each output bit uses the same circuit.
Note: Each output bit uses the same circuit.
35 mA max.,
30 VDC
0 V
35 mA
max.
0 V
Rotational Direction Designation Input Circuit
Shield
Shield
GND
GND
Vcc (5 V or 12 V)
Note: Each output bit uses the same circuit.
Note: Each output bit uses the same circuit.
Main
Input
circuit
Note: Output code increases in the
clockwise direction when the
input is connected to Vcc and
decreases in the clockwise
direction when the input is
connected to 0 V.
0 V
Output
Modes
Rotating direction: CW, as viewed from the face of the shaft.
Resolution: 12
Rotating direction:
CW, as viewed from the face of the shaft, when rotational direction
designation input is at “H."
No.
0
1
2
3
4
5
6
7
8
9
10
11
ON
CCW, as viewed from the face of the shaft, when rotational direc-
tion designation input is at “L."
Positioning
signal
OFF
ON
OFF
ON
Strobe signal
20
360
−−−
256
360
−−−
32
360
−−−
16
°
°
°
Shaft angle: 360°
OFF
ON
(
)
(
)
(
)
21
T±T/2
3
T±T/2
6
OFF
ON
20
1
2
4
5
7
8
9
10
11
12
13
14
15
16
17
18
19
22
(H)
(L)
OFF
ON
21
23
OFF
ON
22
23
24
25
26
27
20×10
OFF
0°
30°
60°
90°
When resolution is 8
A=45°
Absolute
angle
C
7.5°
7.5°
B=22.5°
C=11.25°
When resolution is 6
A=60°
Strobe
signal
T=360°/256≈1.4°
B
15°
A
30°
0.5°
0.5°
B=30°
Positioning
signal
C=15°
1°
E6C3 Rotary Encoder (Incremental/Absolute)
11
Connections
■ Cable Specifications
E6C3-AN5C/-AN5B
E6C3-AB5C/-AB5B
Output signal
E6C3-AN1E/-AN2E
Output signal
8-bit (256)
Output signal
6-bit (32, 40)
Wire color
Brown
Orange
Yellow
Green
Blue
3-bit (6, 8)
5-bit (12)
20
21
22
23
20
21
22
20
21
22
23
20
21
22
23
24
25
26
27
NC
24
20 × 10
NC
25
Purple
Gray
NC
NC
Parity
Strobe
NC
NC
Positioning
Strobe
NC
Positioning
Strobe
NC
White
Pink
Rotational direction designation input
NC
Light blue
---
NC
NC
Shield (GND)
12 to 24 VDC
0 V (Common)
Red
5, 12 VDC
Black
Connection Examples
■ Connecting an Absolute Rotary
Encoder to an H8PS Cam
Positioner
■ Connecting E6C3-AG5C to
Programmable Controller
System Configuration Using a
Resolution of 1,024 per Rotation
H8PS-8A, -8AP, -8AF, -A8AF
A combination of the CQM1-CPU44-E and E6C3-AG5C ensures
easy output angle setting for cam control in 360° or BCD mode.
H8PS
E6C3-AG5C
With a resolution of 1,024 per rotation
Output Unit (100 words)
E6C3-AG5C-C
E69-DC5 5M
Connection
Cable
CQM1-CPU44-E
Two Encoder inputs can be controlled independently.
Specifications
Rated voltage
Cam resolution
Outputs
24 VDC
Mode Setting of CQM1-CPU44-E
Set port 1 to BCD mode and 10 bits
1.4° (a resolution of 256 per rotation)
8 cam outputs
1 RUN output
DM 6643
0001
1 tachometer output
Encoder response 330 rpm
Output Timing
Functions
Origin compensation (zero shift)
Angle of E6C3-AG5C
128 256 512 640 768
Rotating direction selection
Angle display selection
Teaching
0
10000
10001
10002
12
E6C3 Rotary Encoder (Incremental/Absolute)
Ladder Program Example
Use the CTBL instruction of the CQM1-CPU44-E to register a maxi-
mum of eight comparison tables for output angle setting.
■ Absolute Rotary Encoders
Connecting to CPM1A Using a
Resolution of 720 per Rotation
One scan ON
25315
CTBL (63)
001
Select port 1 for table
registration, comparison mode
setting, and comparison-table
first channel setting.
E6C3-AG5C
001
DM0000
AR0500
AR0501
AR0502
10000
10001 Output
10002
CPM1A-20CD@-@
END (01)
Wiring Between E6C3-AG5C and CPM1A
Example of DM Setting for Comparison Table
Output signal from E6C3-AG5C
Brown (20)
Input signal to CPM1A
DM 0000
0001
0002
0003
0004
0005
0006
0007
0008
0009
0000
0512
0000
0256
0768
0000
0128
0640
0000
0000
Lower limit 1
00000
Upper limit 1
Bit AR 0500
Bit AR 0501
Bit AR 0502
Subroutine number 1
Lower limit 2
Orange (21)
Yellow (22)
Green (23)
Blue (24)
Purple (25)
Gray (26)
White (27)
Pink (28)
Light blue (29)
00001
00002
00003
00004
00005
00006
00007
00008
00009
Upper limit 2
Subroutine number 2
Lower limit 3
Upper limit 3
Subroutine number 3
Lower limit 4
Not used.
0022
0023
0000
0000
Upper limit 8
Subroutine number 8
Note:An upper or lower limit can be set with integers in BCD mode
and 5° increments in 360° mode. Subroutine numbers are set
for interrupt processing.
Output Timing
Internal Bits of CQM1-CPU44-E
• Range Comparison Result
Angle of E6C3-AG5C
0
90 180
360
540
659
Each bit of the CQM1-CPU44-E CPU Unit’s words AR 05 and AR
06 turns ON only when the comparison range coincides with the
angle of E6C3-AG5C. If it does not coincide, the bit turns (remains)
OFF.
01000
01001
01002
Bit 7
0
Port 1 comparison result
Port 2 comparison result
AR 05
AR 06
Comparison 1 result
1: Conformity
0: Nonconformity
Comparison 8 result
• Present Value Read
The gray code signals of the E6C3-AG5C are automatically con-
verted into BCD or 360° code signals and read through the CQM1-
CPU44-E CPU Unit’s words AR 232 and AR 234. The present
value can be used for ladder programs.
Port 1 angle
Port 2 angle
■ ■ ■ ■ Word 232
■ ■ ■ ■ Word 234
Note:For details on the CQM1-CPU44-E, refer to the CQM1 Pro-
gramming Manual (W228).
E6C3 Rotary Encoder (Incremental/Absolute)
13
Ladder Program
Example of DM Setting
for Comparison Table
00009
20009
(Always ON)
25313
DM 6200
6201
0000
0540
0090
0360
0180
0659
0000
Lower limit 1
Upper limit 1
Lower limit 2
Upper limit 2
Lower limit 3
Upper limit 3
Lower limit 4
Bit 20300
Bit 20301
Bit 20302
Converts a BIN code signal
(word 200) into a BCD code
signal (word 201).
BCD (24)
200
201
00008 20009
20008
6202
6203
00008 20009
6204
Subtracts 152 for a resolution of
720 per rotation.
Nothing is subtracted for a
resolution of 256 or 1,024 per
rotation.
SUB (31)
201
#0152
202
00007 20008
20007
6205
6206
00007 20008
Subtracts 76 for a resolution of
360 per rotation.
Not used.
00006 20007
20006
6231
0000
Upper limit 16
If the Encoder value (word 202)
exists between DM 6200
(BCMP) and DM 6231 (the
comparison table), the
corresponding bit of word 203
turns ON.
BCMP (68)
202
DM6200
203
00006 20007
00005 20006
20005
00005 20006
20300
20301
20302
01000
Converts a gray code
signal into a BIN code
signal (word 200).
00004 20005
20004
01001 Output
01002
00004 20005
00003 20004
20003
END (01)
00003 20004
00002 20003
20002
00002 20003
00001 20002
20001
00001 20002
00000 20001
20000
00000 20001
14
E6C3 Rotary Encoder (Incremental/Absolute)
Precautions
• When connecting the coupling, stay within the ranges shown
below.
■ Incremental and Absolute
Encoders
Decentering
tolerance
Safety Precautions
0.15 mm max.
Do not impose voltage exceeding the rated voltage range on the
E6C3, otherwise the E6C3 may be damaged.
Do not wire power lines or high-tension lines along with the power
supply lines of the E6C3 or the E6C3 may be damaged or malfunc-
tion.
Declination
tolerance
If the power supply has surge voltage, connect a surge suppressor
between the positive and negative terminals of the power supply to
absorb the surge voltage. Also, in order to protect the E6C3 from
noise, shorten the wires connected to the E6C3 as much as possi-
ble.
2° max.
Unnecessary pulses are output at the time the E6C3 is turned ON or
OFF. After turning ON the E6C3, be sure to wait 0.1 s before turning
ON the peripheral devices connected to the E6C3 and turn OFF the
peripheral devices 0.1 s before turning OFF the E6C3.
Displacement
tolerance in the
shaft direction
0.05 mm max.
Application Precautions
Mounting
• When connecting or disconnecting the coupling, do not impose an
excessive bending, pressing, or pulling force on the E6C3.
■ Mounting Precautions
• Be careful not to spray water or oil onto the E6C3.
• When connecting the shaft of the E6C3 with a chain timing belt or
gear, connect the chain timing belt or gear with the shaft via the
bearing and coupling as shown in the following illustration.
• The E6C3 consists of high-precision components. Handle with
utmost care and do not drop the E63C, otherwise malfunctioning
may result.
Chain sprocket
Bearing
• When the E6C3 is used in reversed operation, pay utmost attention
to the mounting direction of the E6C3 and the directions of incre-
ment and decrement rotation.
Coupling
• To match phase Z of the E6C3 and the origin of the device to be
connected to the E6C3, conform the phase Z outputs while con-
necting the device.
• Be careful not to impose an excessive load on the shaft if the shaft
connects to a gear.
• If the decentering or declination value exceeds the tolerance, an
excessive load imposed on the shaft may damage or shorten the
life of the E6C3.
• If the E6C3 is mounted with screws, the tightening torque must not
exceed approximately 0.5 N·m.
• If the E6C3 is mounted to a panel, do not pull the cable with more
than a force of 30 N. Do not subject the E6C3 or the shaft to exces-
sive shock.
Mounting plate
• No shock must be given to the shaft or coupling. Therefore, do not
hit the shaft or coupling with a hammer when inserting the shaft
into the coupling.
E6C3 Rotary Encoder (Incremental/Absolute)
15
■ Mounting Procedure
Do not secure the coupling and shaft with screws at this
stage.
1
Insert the shaft into the coupling.
Refer to the following table for the maximum insertion length
of the shaft into the coupling.
Model
E69-C08B/E69-C68B
Maximum insertion length
6.8 mm
2
Secure the Rotary Encoder.
Tightening torque
Model
E69-C08/E69-C68B
3
4
5
Secure the coupling.
0.44 N m
Be sure to turn off the Rotary Encoder when connecting
the lines.
Connect the power and I/O lines.
Turn on the Rotary Encoder and
check the output.
Life of Bearing
The following graph shows the (theoretical) life expectancy of the
bearing with radial and thrust loads imposed on the bearing.
Cable Extension
• The rise time of each output waveform will increase when the cable
is extended. This affects the phase difference characteristics of
phases A and B.
3.5
Wr
The available length of cable varies with the response frequency
and noise. It is safer to limit the length of cable to 10 m maximum. If
a longer cable of up to 100 m is required, use the line driver output
or complementary output model. (The maximum extension with the
line driver output model is 100 m.)
Encoder
Ws
3.0
2.5
2.0
1.5
1.0
0.5
0
Shaft
Wr: Radial load
Ws: Thrust load
Wa:
10N
Note:Recommended Cable:
Cross section:0.2 mm2 with spiral shield
Conductor resistance:92 Ω/km max. at 20°C
Insulation resistance:5 MΩ/km min. at 20°C
Wa:
20N
Wa:
30N
• The rise time varies with the resistance of the cable and the kind of
cable as well as the length of the cable.
Wa:
40N
Wa:
50N
• The residual output voltage will increase according to the length of
the cable.
Wa:
60N
10 20
30
40
50
60
70
80
90 100
Preventing Miscounting
Radial load Wr (N)
If the operation of the E6C3 is stopped near a signal rising or falling
edge, a wrong pulse may be generated, in which case the E6C3 will
miscount. In such a case, use an increment-decrement counter to
prevent miscounting.
Wiring
Connecting
Extension of Line Driver Output
• Be sure to use a shielded twisted-pair cable to extend a line driver
cable.
• When extending the cable for Incremental Rotary Encoders, select
the kind of cable with care by taking the response frequency into
consideration because the longer the cable is, the more the resid-
ual voltage increases due to the resistance of the cable and the
capacitance between the wires. As a result, the waveform will be
distorted.
Recommended cable: Tachii Electric Wire Co., TKVVBS4P 02A
• Use an RS-422A Receiver for the receiver side.
We recommend the line driver output type model (E6C3-CWZ3XH)
or the complementary output type model (E6C3-CWZ5GH) if the
cable needs to be extended.
In order to reduce inductive noise, the cable must be as short as
possible, especially when the signal is input to an IC.
• The twisted-pair wires as shown in the following illustration are
suitable for RS-422A signal transmission. Normal mode noise can
be eliminated by twisting the wires because the generated electri-
cal forces on the lines cancel each other.
• If the power supply has surge voltage, connect a surge suppressor
between the positive and negative terminals of the power supply to
absorb the surge voltage.
Twisted-pair
wires
• Unnecessary pulses are output at the time the E6C3 is turned ON
or OFF. After turning ON the E6C3, be sure to wait 0.1 s before
turning ON the peripheral devices connected to the E6C3 and turn
OFF the peripheral devices 0.1 s before turning OFF the E6C3.
• Be sure the E6C3 is supplied with 5 VDC when a line driver output
is used. There will be an approximately 1-V voltage drop if the
cable length is 100 m.
16
E6C3 Rotary Encoder (Incremental/Absolute)
Input to More than One Counter from
Encoder (with Voltage Output)
Use the following formula to obtain the number of counters to be
connected to a single E6C3.
R1 (E−V)
Number of counters (N) =
V × R2
E: Voltage supplied to E6C3
V: Minimum input voltage of the counter
R1: Input resistance of the Counter
R2: Output resistance of the E6C3
0 V
Encoder output stage
Counter
Counter
Connectable
number: N
E6C3 Rotary Encoder (Incremental/Absolute)
17
Dimensions
Rotary Encoder
E6C3-CWZ@@H
(58)
5
38
20
D cut: Phase-Z postion (range: ±15°)
(15)
10
120°±0.1
1
40 dia.±0.1
+0
8 dia. −0.018
12 dia.
1
+0
−0.021
30 dia.
50 dia.
Three, M4 holes
Depth: 5
6
120°±0.1
8.8
10
6
5 dia. oil-proof PVC, shielded 5-conductor cable (8-conductor for line driver)
(conductor cross-section: 0.2 mm2; insulation diameter: 1.1 mm)
Standard length: 1 m
E6C3-A@5@
E6C3-AN@E
(58)
38
20
D cut: Phase-Z postion (range: ±15°)
(15)
10
5
120°±0.1
40 dia.±0.1
+0
8 dia.−0.018
1
+0
30 dia.−0.021
50 dia.
6
120°±0.1
8.8
Three, M4 holes
Depth: 5
10
6
6 dia. oil-proof PVC, shielded 12-conductor cable
(conductor cross-section: 0.2 mm2; insulation diameter: 1.1 mm)
Standard length: 1 m
Note:E69-C08B Coupling is sold separately.
E6C3-AG5C-C
(58)
38
20
D cut: Phase-Z postion (range: ±15°)
120°±0.1
(15)
10
5
40 dia.±0.1
+0
8 dia. −0.018
1
+0
30 dia. −0.021
50 dia.
6
120°±0.1
Hirose Electric
RP13A-12PD-13SC
8.8
Three, M4 holes
Depth: 5
10
6
37
6-dia. oil-proof PVC, shielded 12-conductor cable
(conductor cross-section: 0.2 mm2; insulation diameter: 1.1 mm)
Standard length: 1 m
Note:E69-C08B Coupling is sold separately.
18
E6C3 Rotary Encoder (Incremental/Absolute)
■ Accessories (Order Separately)
Extension Cable
E69-DF5
34.6
5,000
37
16.9 dia.
16.9 dia.
(See note 2.)
(See note 1.)
(See note 3.)
Note 1: 6-dia. oil-proof PVC, shielded 12-conductor cable (conductor cross-section:
0.2 mm2; insulation diameter: 1.1 mm); standard length: 5 m
2: Connects to the connector of the E6C3-AG5C-C.
3: Connects to the H8PR Rotary Positioner and H8PS Cam Positioner.
Note:The Cable can be extended up to 100 m for connecting the H8PS Cam Positioner.
E69-C08B
E69-C68B (With Ends of Different Diameter)
Four, M4 hexagon
socket heat setscrews
Brass bushing
8H8 dia.
19 dia.
8H8 dia.
6H8 dia.
8H8 dia.
19 dia.
Note: The coupling is made of
glass-reinforced PBT.
Note: Material: Glass-reinforced PBT
Four, M4 hexagon
set screws
Flanges
E69-FCA03
E69-FCA04
Mounting Bracket Installation
120°
Panel
Four,
4.5 dia.
30 dia.
Three, 4.5 dia, M4
screw-head holes
120°
Three, 4.5 dia,
40±0.1 dia.
56 dia.
M4 screw-
68 dia.±0.2
30.2±0.1 dia.
Three, M5
head holes
40±0.1 dia.
Four, R3 30.2±0.1 dia.
Material: SPCC (t=3.2)
Material: SPCC (t=3.2)
Servo Mounting Bracket
E69-2 (A Set of Three)
5.5-dia. hole
Two, C1
E6C3 Rotary Encoder (Incremental/Absolute)
19
ALL DIMENSIONS SHOWN ARE IN MILLIMETERS.
To convert millimeters into inches, multiply by 0.03937. To convert grams into ounces, multiply by 0.03527.
Cat. No. F058-E1-01
In the interest of product improvement, specifications are subject to change without notice.
OMRON Corporation
Industrial Automation Company
Industrial Sensors Division
Sensing Devices and Components Division H.Q.
3-2, Narutani, Nakamyama-cho, Ayabe-shi,
Kyoto, 623-0105 Japan
Printed in Japan
Tel: (81)773-43-4078/Fax: (81)773-43-4030
0902-2M (0902) (B)
相关型号：
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