HEDS9000 [HP]
Two Channel High Resolution Optical Incremental Encoder Modules; 双通道高分辨率光学增量型编码器模块
| 型号： | HEDS9000 |
| 厂家： | 
HEWLETT-PACKARD |
| 描述： | Two Channel High Resolution Optical Incremental Encoder Modules |
| 文件： | 总9页 (文件大小：263K) |
| 中文： | 中文翻译 | 下载： | 下载PDF数据表文档文件 |
H
Two Channel High Resolution
Optical Incremental Encoder
Modules
Technical Data
HEDS-9000/9100/9200
Extended Resolution
Series
Features
• High Resolution: Up to 2048
Cycles per Revolution
codestrip, these modules detect
relative linear position.
These modules consist of a lensed
Light Emitting Diode (LED)
source and detector IC enclosed
in a small C shaped plastic
package. Due to a highly
collimated light source and
unique photodetector array, these
modules provide a highly reliable
quadrature output.
• Up to 8192 Counts per
Revolution with 4X Decoding
• Two Channel Quadrature
Output
• Low Cost
• Easy to Mount
• No Signal Adjustment
Required
respectively. The HEDS-9200
Option 300 and 360 linear
encoder modules have resolutions
of 300 and 360 lines per inch.
• Small Size
• -40°C to 100°C Operating
Temperature
• TTL Compatible
• Single 5 V Supply
The HEDS-9000 and HEDS-9100
are designed for use with
codewheels which have an optical
radius of 23.36 mm and 11 mm
respectively. The HEDS-9200 is
designed for use with a linear
codestrip.
Consult local Hewlett-Packard
sales representatives for other
resolutions.
Description
The HEDS-9000 Options T and U
and the HEDS-9100 Options B
and J are high resolution two
channel rotary incremental
encoder modules. These options
are an extension of our popular
HEDS-9000 and HEDS-9100
series. When used with a code-
wheel, these modules detect
relative rotary position. The
HEDS-9200 Option 300 and 360
are high resolution linear encoder
modules. When used with a
These components produce a two
channel quadrature output which
can be accessed through five
0.025 inch square pins located on
0.1 inch centers.
Theory of Operation
The diagram shown on the fol-
lowing page is a block diagram of
the encoder module. As seen in
this block diagram, the module
contains a single 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
The resolution of the HEDS-9000
Options T and U are 2000 and
2048 counts per revolution
respectively. The HEDS-9100
Options B and J are 1000 and
1024 counts per revolution
detector circuit. This IC consists
ESD WARNING: NORMAL HANDLING PRECAUTIONS SHOULD BE TAKEN TO AVOID STATIC
DISCHARGE.
5965-5889E
2-63
Block Diagram
Output Waveforms
of multiple sets of photodetectors
and the signal processing
circuitry necessary to produce the
digital waveforms.
that of channel B (90 degrees out
of phase).
State Width Error (∆S): The
deviation, in electrical degrees, of
each state width from its ideal
value of 90°e.
Definitions
Count (N): The number of bar
and window pairs or counts per
revolution (CPR) of the
codewheel.
Phase (φ): The number of elec-
trical 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.
The codewheel/codestrip passes
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 codewheel/
codestrip. 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 resulting in A, A, B, and
B. Comparators receive these
signals and produce the final
outputs for channels A and B. Due
to this integrated phasing
1 cycle (C): 360 electrical degrees
(°e), 1 bar and window pair.
Phase Error (∆φ): The deviation
of the phase from its ideal value
of 90°e.
1 Shaft Rotation: 360 mechanical
degrees, N cycles.
Pulse Width (P): The number of
electrical degrees that an output
is highduring 1 cycle. This value
is nominally 180°e or 1/2 cycle.
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 Error (∆P): The
deviation, in electrical degrees of
the pulse width from its ideal
value of 180°e.
Optical Radius (Rop): The dis-
tance from the codewheel’s center
of rotation to the optical center
(O.C.) of the encoder module.
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.
technique, the digital output of
channel A is in quadrature with
2-64
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
(0.11)
DATE CODE
2.21
(0.087)
6.9 (0.27)
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 0 0
H p
1.02 ± 0.10
11.7
(0.46)
(0.040 ± 0.004)
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.
ALIGNING RECESS
2.44/2.41 X 2.79
(0.215 ± 0.004) (0.096/0.095 X 0.110)
C
L
1.85 (0.073)
1.78 ± 0.10
(0.070 ± 0.004)
5.46 ± 0.10
(0.096/0.095)
2.16 (0.085)
DEEP
ALIGNING RECESS
2.44/2.41 DIA.
(0.096/0.095)
8.64 (0.340)
REF.
2.44/2.41 X 2.79
(0.096/0.095 X 0.110)
2.16 (0.085) DEEP
2.16 (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
(0.400)
10.16
(0.4
20.96
(0.825)
OPTICAL CENTER
6.35 (0.250) REF.
TYPICAL DIMENSIONS IN
MILLIMETERS AND (INCHES)
SIDE A
SIDE B
Absolute Maximum Ratings
Storage Temperature, TS ..................................................................... -40°C to 100°C
Operating Temperature, TA ................................................................ -40°C to 100°C
Supply Voltage, V ...................................................................................... -0.5 V to 7 V
CC
Output Voltage, VO ........................................................................................ -0.5 V to V
CC
Output Current per Channel, Iout ................................................. -1.0 mA to 5 mA
Recommended Operating Conditions
Parameter
Symbol
Min.
Typ.
Max.
Units
Notes
Temperature
TA
-40
100
°C
Supply Voltage
VCC
CL
f
4.5
5.0
5.5
100
100
Volts
pF
Ripple < 100 mV
p-p
Load Capacitance
3.3 kΩ pull-up resistor
Count Frequency
Shaft Axial Play
kHz
Velocity (rpm) x N/60
± 0.125
± 0.005
mm
in.
Note: The module performance is guaranteed to 100 kHz but can operate at higher frequencies. For frequencies above 100 kHz it is
recommended that the load capacitance not exceed 25 pF and the pull up resistance not exceed 3.3 kΩ. For typical module performance
above 100 kHz please see derating curves.
2-65
Electrical Characteristics
Electrical Characteristics over Recommended Operating Range, typical at 25°C.
Parameter
Supply Current
Symbol
Min.
Typical
Max.
Units
Notes
ICC
30
57
85
mA
High Level Output Voltage
Low Level Output Voltage
Rise Time
VOH
VOL
tr
2.4
Volts
Volts
ns
IOH = -200 µA max.
0.4
IOL = 3.86 mA
180
40
CL = 25 pF
RL = 3.3 kΩ pull-up
Fall Time
tf
ns
Encoding Characteristics
Encoding Characteristics over Recommended Operating Range and Recommended Mounting Tolerances.
These Characteristics do not include codewheel/codestrip contribution. The Typical Values are averages over
the full rotation of the codewheel. For operation above 100 kHz, see frequency derating curves.
Description
Pulse Width Error
Logic State Width Error
Phase Error
Symbol
∆P
Typical
Maximum
Units
°e
5
3
2
45
45
15
∆S
°e
∆φ
°e
Note: Module mounted on tolerance circle of ± 0.13 mm (± 0.005 in.) radius referenced from module Side A aligning recess centers. 3.3
kΩ pull-up resistors used on all encoder module outputs.
Frequency Derating Curves
Typical performance over extended operating range. These curves were derived using a 25 pF load with a 3.3
k pull-up resistor. Greater load capacitances will cause more error than shown in these graphs.
0
15
10
+25 C
+100 C
-40 C
-5
+25 C
5
0
-40 C
+100 C
-10
-15
-5
0
100
FREQUENCY (KHz)
150
200
50
0
100
FREQUENCY (KHz)
150
200
50
2-66
+0.51
-0.25
+0.020
-0.010
Gap Setting for Rotary
and Linear Modules
6.63
(
0.261
)
NOTE 1
SIDE B
Gap is the distance between the
image side of the codewheel and
the detector surface of the mod-
ule. This gap dimension must
always be met and codewheel
warp and shaft end play must stay
within this range. This dimension
is shown in Figure 1.
SIDE A
IMAGE SIDE OF CODEWHEEL/CODESTRIP
CODEWHEEL/CODESTRIP
+0.25 +0.010
0.140
-0.51 -0.020
3.56
(
)
NOTE 1
NOTES: 1. THESE DIMENSIONS INCLUDE CODEWHEEL/CODESTRIP WARP AND SHAFT END PLAY.
2. DIMENSIONS IN MILLIMETERS AND (INCHES).
Mounting Considerations
for Rotary Modules
Figure 2 shows a mounting
Figure 1. Module Gap Setting.
tolerance requirement for proper
operation of the high resolution
rotary encoder modules. 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 3),
or mounted with Side B as the
mounting plane using an
alignment tool.
Mounting with Aligning
Pins
Figure 2. Rotary Module Mounting Tolerance.
The high resolution rotary
encoder modules can be mounted
using aligning pins on the motor
base. (HP does not provide align-
ing 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.) R
Tolerance Circle as explained
above. Figure 3 shows the
necessary dimensions.
2 PLACES
NOTE 1
Mounting with HP
Alignment Tools
HP offers alignment tools for
mounting HP encoder modules in
conjunction with HP codewheels,
using side B as the mounting
plane. Please refer to the HP
codewheel data sheet for more
information.
NOTE 1: RECOMMENDED MOUNTING SCREW TORQUE IS 4 KG-CM (3.5 IN-LBS).
Figure 3. Mounting Plane Side A.
2-67
Mounting Considerations for Linear Modules
Mounting Plane Side A
Mounting Plane Side B
2-68
Recommended Codewheel Characteristics
Parameter
Window/Bar Ratio
Window Length
Symbol
φw/φb
Lw
Minimum
0.7
Maximum
Units
Notes
1.4
1.8 (0.07)
mm (inch)
Absolute Maximum
Codewheel Radius
Rc
1.9
(0.075)
mm
(inch)
Includes eccentricity
errors
Rop
+
Recommended Codestrip Characteristics and Alignment
Codestrip design must take into consideration mounting as referenced to either side A or side B (see Figure 4).
Mounting as Referenced to Side A Mounting as Referenced to Side B
Figure 4. Codestrip Design
STATIC CHARGE WARNING: LARGE STATIC CHARGE ON CODESTRIP MAY HARM MODULE.
PREVENT ACCUMULATION OF CHARGE.
Mounting Ref.
Side A
Mounting Ref.
Side B
Parameter
Window/Bar Ratio
Window Distance
Symbol
Units
Ww/Wb
0.7 min., 1.4 max.
La ≤ 0.51 (0.020)
0.90 (0.035) min.
0.7 min., 1.4 max.
Lb ≥ 3.23 (0.127)
0.90 (0.035) min.
L
S
mm (inch)
mm (inch)
Window Edge to
Module Opt Center Line
Parallelism
α
1.3 max.
1.3 max.
deg.
Module to Codestrip
Note: All parameters and equations must be satisfied over the full length of codestrip travel including maximum codestrip runout.
2-69
Connectors
Manufacturer
Part Number
Mounting Surface
AMP
103686-4
640442-5
Both
Side B
DuPont
HP
65039-032 with 4825X-000 term.
HEDS-8902 with 4-wire leads
Both
Side B (see Fig. 7)
Side B
Molex
2695 series with 2759 series term.
Figure 7. HEDS-8902 Connector.
2-70
Ordering Information
Two Channel Encoder Modules with a 23.36 mm Optical Radius
0 0
HEDS-9000 Option
*
Resolution
(Cycles/Rev)
T - 2000 CPR
U - 2048 CPR
Two Channel Encoder Modules with an 11.00 mm Optical Radius
0 0
HEDS-9100 Option
*
Resolution
(Cycles/Rev)
B - 1000 CPR
J - 1024 CPR
Two Channel Linear Encoder Module
HEDS-9200 Option
Resolution
(Cycles/Rev)
300 - 300 LPI
360 - 360 LPI
Note: For lower resolutions, please refer to HEDS-9000/9100 and
HEDS-9200 data sheets for detailed information.
*Codewheel Information
For information on matching codewheels and
accessories for use with HP rotary encoder modules,
please refer to the HP Codewheel Data sheet HEDS-
5120/6100, HEDG-5120/6120, HEDM-5120/6120
2-71
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