HEDS-6510-009 - Agilent / Hewlett-Packard

Large Diameter (56 mm),

Housed Two and Three

Channel Optical Encoders

Technical Data HEDL-65xx

HEDM-65xx

HEDS-65xx Series

Features:

• Two Channel Quadrature

Output with Optional

Index Pulse

• TTL Compatible Single Ended

Outputs on HEDS Series

• 100°C Operating Temperature

• Industry Standard 26C31

CMOS Line Driver IC on

HEDL Series

• Easy Assembly, No Signal

Adjustment Necessary

• Resolutions up to 2048 Counts

Per Revolution

• Maximum Shaft Diameter

of 5/8 Inches

• Single +5 V Supply

Description

The HEDS-65xx/HEDL-65xx

are high performance two and three

channel optical incremental

encoders. These encoders empha-

size high reliability, high resolution,

and easy assembly. Each encoder

contains a lensed LED source

(emitter), an integrated circuit with

detectors and output circuitry, and a

codewheel which rotates between

the emitter and detector integrated

circuit. The outputs of the HEDS-

6500 are two single ended square

waves in quadrature. The HEDL-

65xx outputs are differential.

The HEDS-6540 / HEDL-6540 also

have a third channel index output in

addition to the two quadrature

outputs. This index is an active

high pulse that occurs once every

full rotation of the codewheel.

Resolutions up to 1024 Counts Per

Revolution are available in the two

and three channel versions.

The line driver option offers

enhanced performance when the

encoder is used in noisy environ-

ments, or when it is required to

drive long distances.

The line driver option utilizes an

industry standard line driver IC

(26C31) which provides comple-

mentary outputs for each encoder

channel. Thus the outputs of the

line driver encoder are A and –

A, B

and –

B, and I and –

I for three

channel versions. Suggested line

receivers are 26C32 and 26C33.

The quadrature signals are ac-

cessed through a cable and 10-pin

female connector. Please refer to

the ordering information at the end

of this data sheet for a selection

matrix.

Applications

The HEDS-65xx / HEDL-65xx

provide motion detection to a

very high resolution and accept a

variety of shaft sizes up to a

maximum of 5/8 inches.

HEDS-65XX #xxx

YYMM

COUNTRY OF ORIGIN

609.6

(24.0 ± 0.5)

18.14

(0.714)

17.27

(0.680)

24.38

(0.960)

55.88

(2.200)

∅

3.3

(0.128)

∅

2.44

(0.096)

∅

2.44

(0.096)

∅

0.254

(0.010)

25.91

(1.020)

∅

ON ∅ 46.0 B.C.

(∅ 1.811 B.C.)

SLOTTED

DIMENSIONS IN MILLIMETERS AND (INCHES).

Assembled Unit

Base Plate

Top Cover (Housing)

HEDS-65XX #xxx

YYMM

COUNTRY OF ORIGIN

24.9

(0.98)

5.2

(0.21)

30.2

(1.19)

65.9

(2.59)

13.2

(0.52)

∅

55.9

(2.20)

∅

DIMENSIONS IN MILLIMETERS AND (INCHES).

Typical applications include print-

ers, plotters, tape drives, position-

ing tables, and automatic handlers.

Note: Agilent Technologies

encoders are not recommended for

use in safety critical applications.

Eg. ABS braking systems, power

steering, life support systems and

critical care medical equipment.

Please contact sales representative

if more clarification is needed.







PHOTO DIODESCOMPARATORS

INDEX-PROCESSING

CIRCUITRY

SIGNAL PROCESSING

CIRCUITRY

DETECTOR SECTIONCODE

WHEEL

EMITTER

SECTION PCB/CABLE/CONNECTOR

LENS

LED

1) CHANNEL A

2) V

3) GND

4) NC

5) NC

6) GROUND

7) V

8) CHANNEL B

9) V

10) CHANNEL I

Pinout A

HEDS-65xx CONNECTOR

PIN OUT

1 Channel A

2 VCC

3 GND

4 NC

5 NC

6 GND

7 VCC

8 Channel B

9 VCC

10 Channel I

Pinout B

HEDL-65xx CONNECTOR

PIN OUT

1 NC

2 VCC

3 GND

4 NC

5 A

6 A

7 B

8 B

9 I (INDEX)

10 I (INDEX)

Connector Pin-out

There are two different connector pin-out configurations used with the HEDS-65xx / HEDL-65xx series of

encoders. The table below relates the part to its connector pin-out.







PHOTO DIODESCOMPARATORS

INDEX-PROCESSING

CIRCUITRY

SIGNAL PROCESSING

CIRCUITRY

DETECTOR SECTIONCODE

WHEEL

EMITTER

SECTION PCB/CABLE/CONNECTOR

LENS

LED

1) NC

2) V

3) GND

4) NC

5) A

6) A

7) B

8) B

9) INDEX

10) INDEX

LINE

DRIVER

Pinout B

Theory of Operation

The HEDS-65xx / HEDL-65xx

translate the rotary motion of a

shaft into either a two or three

channel digital output.

The HEDS-65xx uses one of

the standard HEDS-9000 or

HEDS-9040 modules for

encoding purposes. The

HEDL-654x uses the standard

HEDL-9040 for encoding

purposes.

As seen in the block diagram,

these modules contain a single

Light Emitting Diode (LED) as

their light source (emitter). The

light is collimated into a single

parallel beam by means of a

plastic lens located directly over

the LED. Opposite the emitter is

the integrated detector circuit

(detector). This circuit consists

of multiple sets of photodetectors

and the signal processing circuitry

necessary to produce the digital

waveforms.

The codewheel rotates between

the emitter and detector, causing

the light beam to be interrupted

by a 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 into the signal

processing circuitry resulting

in A, –

A, B, and –

B (I and –

I also in

the three channel encoders).

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).

In the HEDS-6540 / HEDL-6540

the output of the comparator for

the index pulse is combined with

that of the outputs of channel A

and channel B to produce the final

index pulse. The index pulse is

generated once every rotation of

the codewheel and is a one state

width (nominally 90 electrical

degrees), true high index pulse.

It is coincident with the low states

on channels A and B.

Definitions

Count (N): The number of bar

and window pairs or counts per

revolution (CPR) of the codewheel.

One Cycle (C): 360 electrical

degrees (e), 1 bar and window

pair.

One Shaft Rotation: 360

mechanical degrees, N cycles.

Position Error (∆Θ): The normal-

ized angular difference between

the actual shaft position and the

position indicated by the encoder

cycle count.

Cycle Error (∆C): An indication

of cycle uniformity. The difference

between an observed shaft angle

which gives rise to one electrical

cycle, and the nominal angular

increment of 1/N of a revolution.

Pulse Width (P): The number of

electrical degrees that an output

is high during one cycle. This

value is nominally 180 e or 1/2

cycle.

Pulse Width Error (∆P): The

deviation, in electrical degrees,

of the pulse width from its ideal

value of 180 e.

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

high state on channel A and

the center of the high state on

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.

Direction of Rotation: When the

codewheel rotates in a counter-

clockwise direction (when viewed

from the encoder end of the motor)

channel A will lead channel B.

If the codewheel rotates in the

clockwise direction channel B

will lead channel A.

Index Pulse Width (P0): The

number of electrical degrees that

an index output is high during

one full shaft rotation. This value

is nominally 90 e or 1/4 cycle.

S1 S2 S3 S4

PHASE

I1 I2

2.4 V

0.4 V

2.4 V

0.4 V

2.4 V

0.4 V

CH A

OUTPUT

CH B

OUTPUT

CH I

OUTPUT

ROTATION

Waveforms for Encoders without Line Drivers.

Output Waveforms

Waveforms for Encoders with Line Drivers.

(Meets all requirements of EIA-422.)

Recommended Operating Conditions

Parameter HEDS-6500 HEDS-6540 HEDL-6540 HEDL-6545

Temperature -40 to +100 -40 to +100 -40 to +100 -40 to +100 Celsius

Supply Voltage 4.5 to 5.5 4.5 to 5.5 4.5 to 5.5 4.5 to 5.5 Volts

Load Capacitance 100 100 100 100 pF

Count Frequency 100 100 100 100 kHz

Shaft Eccentricity ±.05 ±.05 ±.05 ±.05 mm

Plus Radial Play (±.002) (±.002) (±.002) (±.002) (Inch/1000)

Note: The HEDS-65XX 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 pull up resistors of 3.3 kΩ between the output channels and Vcc

are included.

Absolute Maximum Ratings

Parameter HEDS-6500 HEDS-6540 HEDL-6540 HEDL-6545

Storage Temperature -40 to +100 -40 to +100 -40 to +100 -40 to +100 Celsius

Operating Temperature -40 to +100 -40 to +100 -40 to +100 -40 to +100 Celsius

Supply Voltage -.5 to +7 -.5 to +7 -.5 to +7 -.5 to +7 Volts

Output Voltage -.6 to Vcc -.6 to Vcc -.6 to Vcc -.6 to Vcc Volts

Output Current Per Channel -1 to 5 -1 to 5 mA

Velocity 30,000 30,000 30,000 30,000 RPM

Vibration 20 20 20 20 Gs

Shaft Axial Play 5 5 5 5 Inch/1000

Radial Play & Eccentricity 2 2 2 2 Inch/1000

Encoding Characteristics

Encoding Characteristics over Recommended Operating Range and Recommended Mounting Tolerances

unless otherwise specified. Values are for the worst error in the full rotation.

Part Number Description Symbol Min. Typ.* Max. Units

HEDS-6500*** Pulse Width Error ∆P535e

Logic State Width Error ∆S535e

Phase Error ∆Φ 215e

Position Error ∆Θ 7 20 min. of arc

Cycle Error ∆C 5 5.5 e

HEDS-6540** Pulse Width Error ∆P535e

Logic State Width Error ∆S535e

Phase Error ∆Φ 215e

Position Error ∆Θ 7 20 min. of arc

Cycle Error ∆C5 5.5 e

Index Pulse Width ∆P0 55 90 125 e

CH I fall after CH B or CH A fall

-25°C to +100°C t1 10 100 250 ns

-40°C to +100°C t1 -300 100 250 ns

CH I rise after CH B or CH A rise

-25°C to +100°C t2 70 150 300 ns

-40°C to +100°C t2 70 150 1000 ns

HEDL-654x Pulse Width Error ∆P535e

Logic State Width Error ∆S535e

Phase Error ∆Φ 215e

Position Error ∆Θ 7 20 min. of arc

Cycle Error ∆C5 5.5 e

Index Pulse Width ∆P0 90 e

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

**HEDS-6540 – Active high Index part. Pull-up of 2.7 kΩ used on all outputs of modules that do not have a line driver.

***HEDS-6500 – 3.3 kΩ pull-up resistors used on all encoder module outputs.

Electrical Characteristics

Electrical Characteristics over Recommended Operating Range, typical at 25°C.

Part Number Symbol* Min. Typ. Max. Units Notes

HEDS-6500 Icc 17 40 mA

VOH 2.4 V IOH = -40 µA max

VOL 0.4 V IOL = 3.2 mA

tr200 ns CL = 25 pF, RL = 11 kΩ pull-up.

tf50 ns

HEDS-6540 Icc 30 57 85 mA

VOH 2.4 V IOH = -200 µA max

VOL 0.4 V IOL = 3.86 mA

tr180 ns CL = 25 pF, RL = 3.3 kΩ pull-up.

tf40 ns

*Explanation for symbols.

Icc – Supply current, VOH – High Level Output Voltage, VOL – Low Level Output Voltage, tr – Rise Time, tf – Fall Time.

Electrical Interfaces

To insure reliable encoding performance, the HEDS-6540 three channel encoder requires 2.7 kΩ pull-up

resistors to the supply voltage on each of the three output lines Ch. A, Ch. B, and Ch. I located as close as

possible to the encoder (less than 4 feet).

Parameter Symbol Dimensions Tolerances [1] Units

Moment Of Inertia J 7.7 (110 x 10-6) gcm2 (oz-in-s2)

Required Shaft Length [2] 15.9 (0.625) ±0.6 (.024) mm (inches)

Bolt Circle [3] 46.0 (1.811) ±0.13 (.005) mm (inches)

Mounting Screw Size [4] 2.5 x 0.45 x 5 mm

Pan Head Style #2-56 x 3/16 Inches

Encoder Base Plate Thickness 3.04 (120) mm (inches)

Mounting Screw Torque 1.0 (0.88) Kg (in-lbs)

Hub Set Screw UNC #2-56 Hex head set screw

Notes:

1. These are tolerances required of the user.

2. Through hole in the encoder housing are also available, for longer shafts.

3. The HEDL-65X0 must be aligned using the aligning pins as specified in the section on “MOUNTING CONSIDERATIONS.”

4. The recommended mounting screw torque for 2 screws is 1.0 Kg (0.88 in-lbs).

Mechanical Characteristics

17.27

(0.680)

24.38

(0.960)

—A—

MOTOR SHAFT CENTER

ALIGNING PINS

2.39/2.34 DIA. – 0.76 HIGH

(0.094/0.092–0.030)

0.25 (0.010) x

45° CHAMFER

2 PLACES

∅ 0.15 (0.006) A

15.88

(0.625)

2.62

(0.103)

ALIGNMENT BOSS

∅ 26.010/25.984

(∅ 1.024/1.023)

5.7 (0.225) TALL MAX.

∅ 0.15 (0.006) A

2 SCREW MOUNTING

M2.5 (2-56 UNC-2B)

2 PLCS – EQUALLY

SPACED ON

46.00 (1.811) DIA.

BOLT CIRCLE

∅ 0.25 (0.010) A

TYPICAL DIMENSIONS IN MILLIMETERS AND (INCHES).

Mounting Considerations

The HEDS-654x/HEDL-654x must be aligned with respect to the optical center (codewheel shaft) as

indicated in the following figure.

The following figure shows how the main encoder components are organized.

If neither locating pins nor locating boss are available, then a centering tool supplied by Agilent can be used

(HEDS-6510).

Encoder Mounting and Assembly

EXPLODED VIEW

ASSEMBLE COMPONENTS AND MOUNTING

SCREWS AND TOOLS AS APPROPRIATE.

ALIGNMENT

TOOL

LOAD ENCODER BASEPLATE ONTO

RECEIVING SURFACE (MOTOR END

PLATE) WITH MOUNTING SCREW HOLES

ALIGNED WITH MATING HOLES. LOAD

MOUNTING SCREWS AND LEAVE SLIGHTLY

LOOSE.

LOCATE ENCODER BASEPLATE

CHOOSE CENTERING CYLINDER OR UNDERSIDE LOCATING PINS.

CENTERING CYLINDER: LOCATE ENCODER BASEPLATE WITH

CENTERING CYLINDER. WHEN IN PLACE, TIGHTEN MOUNTING SCREWS.

LOCATING PINS: WITH LOCATING PINS PROPERLY SEATED IN

CORRESPONDING RECEIVING HOLES IN ENCODER BASEPLATE,

TIGHTEN MOUNTING SCREWS.

LOCATE ENCODER MODULE AND CODEWHEEL

ALIGN ENCODER MODULE AND CODEWHEEL AS SHOWN.

BE CAREFUL NOT TO DAMAGE THE ENCODER INTERNAL COMPONENTS

WITH THE CODEWHEEL.

BRING THE ENCODER MODULE AND CODEWHEEL DOWN SUCH THAT

THE ENCODER MODULE LOCATING HOLES (ON ITS UNDERSIDE)

MATE WITH THE BASEPLATE ROUND PINS. THE BASEPLATE SQUARE

PINS SHOULD SEAT INTO THE ENCODER MODULE MOUNTING

THRU HOLES.

CONCURRENTLY, BRING THE CODEWHEEL DOWN ONTO THE

MATING SHAFT.

ALLEN WRENCH TO TIGHTEN CODEWHEEL SET SCREW

CODEWHEEL GAPPING TOOL

WITH CODEWHEEL AND ENCODER MODULE IN PLACE,

PLACE CODEWHEEL GAPPING TOOL UNDER CODEWHEEL

AS SHOWN. INSERT THE ALLEN WRENCH INTO THE

CODEWHEEL SET SCREW AND TIGHTEN. REMOVE ALLEN

WRENCH AND GAPPING TOOL.

WITH CODEWHEEL AND ENCODER MODULE IN PLACE,

LOAD ENCODER HOUSING FROM TOP INTO "SNAPPED"

POSITION. INSURE THAT ANY CABLES FROM THE

ENCODER MODULE ARE FOLDED DOWN SUCH THAT

THEY EMERGE FROM THE BOTTOM OF THE HOUSING'S

REAR RECTANGULAR PORT.

HEDM – 65

OUTPUTS

0 – 2 CH

4 – 3 CH

Encoders Film Codewheel (up to 70°C)

RESOLUTION

(CYCLES/REV)

T – 2000

U – 2048 2 CH only

OPTION

SHAFT

DIAMETER

05 – 3/16 in.

06 – 1/4 in.

08 – 3/8 in.

09 – 1/2 in.

10 – 5/8 in.

11 – 4 mm

12 – 6 mm

13 – 8 mm

THROUGH

HOLE

0 – None

5 – 13.3 mm

(0.525 in)

HEDS - 65 OPTION

SHAFT

DIAMETER

Ordering Information for 2CH and 3CH Encoder Modules

Encoders Metal Codewheel (up to 100°C)

05 – 3/16 in.

06 – 1/4 in.

08 – 3/8 in.

09 – 1/2 in.

10 – 5/8 in.

11 – 4 mm

12 – 6 mm

13 – 8 mm

OUTPUTS

0 – 2 CH

4 – 3 CH

THROUGH HOLE

0 – None

5 – 13.3 mm

(0.525 in.)

RESOLUTION

(CYCLES/REV)

A = 500

B = 1000

J = 1024

05 06 08 09 10 11 12 13

HEDS-6500# A ********

B********

J********

HEDS-6505# A

B**

HEDS-6540# A ********

B********

J********

HEDS-6545# A **

J**

05 06 08 09 10 11 12 13

HEDM-6500# T **

U**

HEDM-6505# T **

HEDM-6540# T **

HEDM-6545# T

Ordering Information for HEDS-65XX Codewheel

Gapping Tool

HEDS-6511

HEDL - 65 OPTION

SHAFT

DIAMETER

Ordering Information for 2CH and 3CH Encoder Modules with Line Driver

Encoders with Metal Codewheel (up to 100°C)

08 – 3/8 in.

09 – 1/2 in.

10 – 5/8 in.

11 – 4 mm

12 – 6 mm

13 – 8 mm

OUTPUTS

0 – 2 CH

4 – 3 CH

THROUGH HOLE

0 – None

5 – 13.3 mm

(0.525 in.)

RESOLUTION

(CYCLES/REV)

A = 500

B = 1000

J = 1024

05 06 08 09 10 11 12 13

HEDL-6540# B **

HEDL-6545# B *

J***

HEDS-6510 Option 0

Ordering Information for HEDS=76XX Centering Tools

05 06 08 09 10 11 12 13

HEDS-6510 0********

SHAFT

DIAMETER

05 – 3/16 in.

06 – 1/4 in.

08 – 3/8 in.

09 – 1/2 in.

10 – 5/8 in.

11 – 4 mm

12 – 6 mm

13 – 8 mm

www.agilent.com/semiconductors

For product information and a complete list of

distributors, please go to our web site.

For technical assistance call:

Americas/Canada: +1 (800) 235-0312 or

(408) 654-8675

Europe: +49 (0) 6441 92460

China: 10800 650 0017

Hong Kong: (+65) 6756 2394

India, Australia, New Zealand: (+65) 6755 1939

Japan: (+81 3) 3335-8152(Domestic/International),

or 0120-61-1280(Domestic Only)

Korea: (+65) 6755 1989

Singapore, Malaysia, Vietnam, Thailand,

Philippines, Indonesia: (+65) 6755 2044

Taiwan: (+65) 6755 1843

Data subject to change.

Obsoletes 5988-6618EN

April 14, 2003

5988-9398EN