R Incremental Rotary Encoder E6C2-C Industrial Strength Encoder Meets World-Class Standards H Drip-proof construction H Shaft withstands heavy loads, 5 kgf radially, 3 kgf thrust (axially) H Short circuit protection H Space-saving, A-slant cable protrusion for ease of mounting Ordering Information Supply voltage Output configuration Resolution (P/R) Part number 5 to 24 VDC NPN open collector output 10, 20, 30, 40, 50, 60, 100, 200, 300, 360, 400, 500, 600, 1,000, 1,200, 1,500, 1,800, 2,000 E6C2-CWZ6C 5 to 12 VDC Voltage output 5 VDC Line driver output 12 to 24 VDC PNP open collector output E6C2-CWZ3E E6C2-CWZ1X 100, 200, 360, 500, 600, 1,000, 2,000 E6C2-CWZ5B Note: The power supply for the resolutions of 1,000, 1,200, 1,500, 1,800, and 2,000 is 12 to 24 VDC. J ACCESSORIES (ORDER SEPARATELY) Item Description Part number Coupling p g --- E69-C06B Incorporates ends different to each other in diameter E69-C68B Metal construction E69-C06M --- E69-FCA --- E69-FCA-02 Provided with the E69-FCA02 flange E69-2 Flange g Servo mounting bracket 2 E6C2-C E6C2-C Specifications J RATINGS/CHARACTERISTICS Electrical Item E6C2-CWZ6C E6C2-CWZ3E E6C2-CWZ1X E6C2-CWZ5B Power supply voltage 5 to 24 VDC (allowable range: 4.75 to 27.6 VDC) 5 to 12 VDC (allowable range: 4.75 to 13.2 VDC) 5 VDC5% 12 VDC --10% to 24 VDC +15% Current consumption (See Note 1.) 80 mA max. 100 mA max. 160 mA max. 100 mA max. Resolution 10, 20, 30, 40, 50, 60, 100, 200, 300, 360, 400, 500, 600, 1,000, 1,200, 1,500, 1,800, 2,000 P/R 100, 200, 360, 500, 600, 1,000, 2,000 P/R Output phases A, B, and Z (reversible) A, A, B, B, Z, Z A, B, and Z (reversible) Output configuration NPN open collector output Voltage output (NPN output) Line driver (See Note 2.) PNP open collector output Output capacity Applied voltage: 30 VDC max. Isink: 35 mA max. Residual voltage: 0.4 V max. (Isink: 35 mA max.) Output resistance: 2 k (residual voltage: 0.4 V max. Isink: 20 mA max.) AM26LS31 Output current: High level (Io): --20 mA Low level (Is): 20 mA Output voltage: Vo: 2.5 V min. Vs: 0.5 V max. Isink: 35 mA max. Residual voltage: 0.4 V max. (Isink: 35 mA max.) Max. response frequency (See Note 3.) 100 kHz Phase difference on output 9045 between A and B (1/4T1/8T) Rise and fall times of output 1 s max. (control output voltage: 5 V; load resistance: 1 k; cable length: 2 m) Insulation resistance 100 M min. (at 500 VDC) between carry parts and case Dielectric strength 500 VAC, 50/60 Hz for 1 min between carry parts and case 50 kHz 1 s max. (cable length: 2 m; Isink: 10 mA max.) 0.1 s max. (cable length: 2 m; Io: --20 mA; Is: 20 mA) 1 s max. (cable length: 2 m; Isink: 10 mA max.) Note: 1. An inrush current of approx. 9 A flows for approx. 0.3 ms right after the E6C2-C is turned on. 2. The line driver output of the E6C2-C is used for data transmission circuitry conforming to RS-422A and ensures long-distance transmission over twisted-pair cable, with quality 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 x 60 This means that the E6C2-C Rotary Encoder will not operate electrically if its revolution exceeds the maximum electrical response revolution. 3 E6C2-C E6C2-C J MECHANICAL Item E6C2-CWZ6C Shaft loading g E6C2-CWZ3E Radial 5 kgf (49.0 N) 11.0 lbf Thrust 3 kgf (29.4 N) 6.6 lbf E6C2-CWZ1X E6C2-CWZ5B Moment of inertia 10 g S cm2 (1 x 10--6 kg S m2) max.; 3 g S cm2 (3 x 10--7 kg S m2) max. at 600 P/R max. 6.6 x 103lb/in .85 x 10 Starting torque 100 gf S cm (9.8 mN S m) max. (7.2 m ft S lbf) Max. permissible revolution 6,000 rpm Vibration resistance 10 to 500 Hz, 150 m/s2 (15G) or 2-mm double amplitude for 11 min 3 times each in X, Y, and Z directions Shock resistance 1,000 m/s2 (100G) 3 times each in X, Y, and Z directions Weight Approx. 400 g max. (cable length: 2 m) 0.88 lbs J ENVIRONMENTAL Item E6C2-CWZ6C Ambient temperature p Ambient humidity Operating E6C2-CWZ3E E6C2-CWZ1X E6C2-CWZ5B --10C to 70C (14_F to 158_F) with no icing Storage --25C to 85C (--13_F to 185_F) with no icing Operating 35% to 85% (with no condensation) Protective circuit Protection from load short-circuiting and power supply reverse polarity wiring Degree of protection IEC IP64 (JEM IP64f drip-proof) (See Note.) Note: The applicable JEM standard is JEM1030 1991. Operation J OUTPUT CIRCUIT DIAGRAM E6C2-CWZ6C E6C2-CWZ3E Brown Black, white, orange E6C2-C main circuitry 3.3 NPN transistor 35 mA max. 30 VDC max. Blue (Shielded) Brown 5 to 24 VDC (permissible range: 4.75 to 27.6 VDC) Output signal (Black: Phase A; White: Phase B; Orange: Phase Z) 2 k NPN transistor 3.3 0V Ground 20 mA max. Blue (Shielded) Output signal (Black: Phase A; White: Phase B; Orange: Phase Z) 0V Ground E6C2-CWZ5B E6C2-CWZ1X Brown Brown 5 VDC5% Black, white, orange E6C2-C main circuitry Black, white, orange E6C2-C main circuitry 5 to 12 VDC (permissible range: 4.75 to 13.2 VDC) AM26LS31 or equivalent 3.3 Non-reversed output (Black: Phase A; White: Phase B; Orange: Phase Z) Black, white, orange Reversed output (Black/ (with red stripes) Red: Phase A; White/Red: Phase B; Orange/Red: Phase Z Blue 0V Ground (Shielded) E6C2-C main circuitry 35 mA max. PNP transistor 4 Black, white, orange Output signal (Black: Phase A; White: Phase B; Orange: Phase Z) 0V Blue Ground (Shielded) E6C2-C E6C2-C J TIMING CHARTS NPN Open Collector Output E6C2-CWZ6C PNP Open Collector Output E6C2-CWZ5B Direction or resolution: Clockwise (CW) (As viewed from the end of the shaft) T (360) Phase A Phase B Phase Z Direction or resolution: Counterclockwise (CCW) (As viewed from the end of the shaft) CW T (360) ON OFF Phase A ON OFF 1/4T1/8T (9045) ON OFF Phase B Phase Z Note: Phase A is 1/41/8T faster than phase B. The ONs in the above timing chart mean that the output transistor is ON and the OFFs mean that the output transistor is OFF. CCW ON OFF ON 1/4T1/8T (9045) OFF ON OFF Note: Phase A is 1/41/8T slower than phase B Voltage Output E6C2-CWZ3E Direction or resolution: Clockwise (CW) (As viewed from the end of the shaft) T (360) Phase A Phase B Phase Z Direction or resolution: Counterclockwise (CCW) (As viewed from the end of the shaft) CW H T (360) Phase A L H Phase B L 1/4T1/8T (9045) H Phase Z L Note: Phase A is 1/41/8T faster than phase B. CCW H L H 1/4T1/8T (9045) L H L Note: Phase A is 1/41/8T slower than phase B. J LINE DRIVER OUTPUT E6C2-CWZ1X Direction or resolution: Clockwise (CW) (As viewed from the end of the shaft) T (360) Phase A Phase B Phase Z Phase A Phase B Phase Z Direction or resolution: Counterclockwise (CCW) (As viewed from the end of the shaft) T (360) CW H Phase A L H L H Phase B 1/4T1/8T (9045) Phase Z L H Phase A L H Phase B L H Phase Z L 5 CCW H L H L H L H L H L H L 1/4T1/8T (9045) E6C2-C E6C2-C J OUTPUT PROTECTION CIRCUIT The E6C2-C with open collector or voltage output incorporates a circuit protecting the E6C2-C from damage resulting from load short-circuiting or wiring the output wrong. J ORIGIN INDICATION It is easy to adjust the position of phase Z with the origin indication function. The illustration below on the left side shows the relationship between phase Z and the origin. Set cut face D to the origin as shown in the illustration on the right. Origin of phase Z Origin D cut 38 dia. J 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 E6C2-C Rotary Encoder. Number of counters (N) = E: V: R2: R1: R1 (E--V) +E V x R2 Voltage supplied to Rotary Encoder Minimum input voltage of the counter Output resistance of the Rotary Encoder Input resistance of the Rotary Encoder R2 +V 0V R1 Encoder output stage R1 Counter Counter Connectable number: N Dimensions Unit: mm (inch) J E6C2-C Origin of phase Z Three, M4 holes Depth: 7 mm 1.6 15 10 5 60 (2.36) 40 (1.57) 6.59 (0.26) 0 6 --0.021 dia. (0.24 +0 ) --.0008 1 50 dia. (1.97) 0 25 --0.021 dia. (0.98+0 ) --0.0008 38 dia. (See Note.) Note: 2-m-long, PVC code, 5-dia. (18/0.12 dia.) five conductors and shield (eight conductors for line driver use) 6 E6C2-C E6C2-C J ACCESSORIES (ORDER SEPARATELY) Couplings E69-C06B E69-C68B (With Ends of Different Diameter) 24.8 22 5.5 11 16.4 2.8 E69-C06M (Metal Construction) 5.5 6.8 Four, M3 hexagon socket heat set2.8 screws 6.8 3.5 19.1 Four, M4 hexagon socket heat set3.5 screws 2.4 Four, M3 hexagon set screws 2.4 Brass bushing (6 +0.022 ) --0.00 15 dia. (6 +0.022 ) --0.00 Note: The coupling is made of glass-reinforced PBT. (8 +0.022 ) --0.00 (6 +0.022 ) 19.1 dia. --0.00 19 dia. Note: The coupling is made of glass-reinforced PBT. Note: Material: Super duralumin Flanges E69-FCA Mounting bracket: (A set of three b333rackets provided with th E69-FCA-02) E69-FCA-02 52 x 52 (2.05 x 2.05) Four, R3 2 Four, 4.5-dia. holes 430.15 (1.69 +0 --0.006 ) 5.5-dia. hole (0.22) Three, 4.5-dia. holes with 8.5-dia. screw-head holes 18 0.05 25.2 0 -dia. hole (0.99 +0.002 ) --0 430.15 52 The flange is made of SPCC, t = 3.2 9 Three, 5.5 screw-head holes 8.5 dia. Two, C1 25.20.1 dia. 56 dia. (2.20) 3.1 +0.1 0 8 38 dia. 16 (0.63) 5.1 (0.990.004) Note: Material: SPCC, t=3.2 Mounting Dimensions Panel 25 dia. (0.98) 680.2 dia. (2.680.008) J SERVO MOUNTING BRACKET E69-2 (A Set of Three) 2 5.5-dia. hole (0.22) 18 16 9 Two, C1 8 16 (0.63) 3.1 16 +0.1 0 5.1 Note: A set of E69-2 servo mounting brackets is provided with the E69-FCA-02 flange. 7 Three, M5 E6C2-C E6C2-C Installation J CONNECTION E6C2-CWZ6C/-CWZ3E Color Terminal Brown Power supply (+VCC) Black Output phase A White Output phase B Orange Output phase Z Blue 0 V (common) Note: Receiver: AM26LS32 E6C2-CWZ1X Color Terminal Brown Power supply (+VCC) Black Output phase A White Output phase B Orange Output phase Z Blue/Red stripes Output phase A White/Red stripes Output phase B Orange/Red stripes Output phase Z Blue 0 V (common) Note: 1. The shield is not connected to the internal circuits or casing of the E6C2-C. 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 E6C2-C is in normal operation. Connection Examples J H7ER SELF-POWERED TACHOMETER J H7BR DIGITAL COUNTER Applicable Model: E6C2-CWZ3E (with a resolution of 10 or 60 P/R) Applicable Model: E6C2-CWZ3E E6C2-C E6C2--CWZ3E Brown Brown Black Black White Shielded Blue H7ER Digital Tachometer Blue 0V 5 to 12 VDC H7BR Digital Counter 8 +12 V E6C2-C E6C2-C J H7CR-CW DIGITAL COUNTER J CQM1 PROGRAMMABLE CONTROLLER Applicable Model: E6C2-CWZ6C Applicable Model: E6C2-CWZ6C E6C2--CWZ6C E63-WF5C CQM1 Black White Blue E6C2-CWZ6C 0V Brown (12 V) Brown 12 VDC (100 mA) Black (Phase A) White (Phase B) H7CR-CW Orange (Phase Z) Blue (0 V) Shielded J C500-CT001/CT012 HIGH-SPEED COUNTER UNIT CW and CCW detection (increment/decrement counting) Applicable Model: E6C2-CWZ6C E6C2-C Brown Black Blue White Shielded Internal DIP switch settings 9 E6C2-C E6C2-C J C200H-CTjj HIGH-SPEED COUNTER UNIT Applicable Model: E6C2-CWZ5B Applicable model: E6C2-CWZ6C Typical model: C200H-CT001-V1 Encoder at 0 V Phase Z +12 V Phase A Phase B Phase A 0V Phase B Phase A Phase B 12-VDC power supply 0V +12 V 0V Phase Z Phase Z Phase B Phase B Phase A Phase A 5 to 24 VDC 0V +12 V 12-VDC power supply Note: Apply the following connections if the power supply to the E6C2-C is 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 +12 V 0V Note: Apply the following connections if the power supply to the E6C2-C is 12 or 24 V. Phase A and power supply: 12 V to A8/B8 and 24 V A9/B9 Phase B and power supply: 12 V to A12/B12 and 24 to A13/B13 Phase Z and power supply: 12 V to A16/B16 and 24 V to A17/B17 J CQM1-CPU43-EV1 (AS BUILT-IN HIGH-SPEED COUNTER) The pulse output of the E6C2-C 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. 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. Applicable Model: E6C2-CWZ6C Phase A Phase B Phase Z CQM1-CPU43 Count Mode Increment/decrement counter uses phases A and B. Incrementing mode Increment counter uses phase A only. Normal mode IN04 through IN06 are used for normal input. IR 0000 E6C2-CWZ6C The operating mode of the high-speed counter is set with the PC Setup in the DM area. Up/Down mode CQM1 Reset The present count value can be reset with the soft-reset function or the AND of soft reset and phase Z input. 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. Range comparison When the count value is within the range, the specified subroutine is executed. A maximum of 8 ranges can be set with upper and lower limits. 10 E6C2-C E6C2-C Precautions Refer to the following illustrations when using a standard coupling. J AVOID DAMAGE OR MALFUNCTION * Do not impose voltage exceeding the rated voltage range on the E6C2-C. * Be sure that the wiring of power supply to the E6C2-C is correct. * * Turn off the Rotary Encoder when wiring. Decentering tolerance 0.15 mm max. (0.006) Do not wire power lines or high-tension lines along with the power supply lines of the E6C2-C Rotary Encoder. Declination tolerance J MOUNTING * Be careful not to spray water or oil onto the E6C2-C Rotary Encoder. * The E6C2-C Rotary Encoder consists of high-precision components. To avoid malfunction, handle with extreme care and do not drop the Rotary Encoder. * Do not pull the cable of the E6C2-C Rotary Encoder after the E6C2-C Rotary Encoder is mounted to a panel. Do not apply any shock to the hollow shaft or the body. * When the E6C2-C Rotary Encoder is used in reversed operation, pay utmost attention to the mounting direction of the E6C2-C Rotary Encoder and the directions of increment and decrement rotation. * 2 max. Displacement tolerance in the shaft direction When connecting or disconnecting the coupling, do not impose an excessive bending, pressing, or pulling force on the E6C2-C. When connecting the shaft of the Rotary Encoder 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. To match phase Z of the E6C2-C Rotary Encoder and the origin of the device to be connected to the E6C2-C Rotary Encoder, the phase Z outputs must conform while connecting the device. * Be careful not to impose an excessive load on the shaft if the shaft connects to a gear. * If the Rotary Encoder is mounted with screws, the tightening torque must be approximately 5 kgf S cm (0.49 N S m) 0.36 ft lbf. * If the Rotary Encoder is mounted to a panel, do not pull the cable with more than a force of 3 kgf (29.4 N) 6.61 lbf. 0.05 mm max. (0.002) Chain sprocket Bearing E6C2-C Coupling If the decentering or declination value exceeds the tolerance, an excessive load imposed on the shaft may damage the Rotary Encoder or shorten the life of the Rotary Encoder. E6C2-C Bearing Life The following graph shows the life expectancy of the bearing with radial and thrust loads imposed on the bearing. (Theoretical) Cable 3 kgf (29.4 N) max. Mounting plate No shock must be given to the shaft or coupling. Do not hit the shaft or coupling with a hammer when inserting the shaft into the coupling. Life (x 10 9 revolutions) * Encoder Shaft Wr: Radial load Ws: Thrust load Radial load Wr (kgf) 11 E6C2-C E6C2-C 8.5 mm (0.33) 3. Secure the coupling. Part number Tightening torque E69-C06B 2.5 kgf S cm (0.25 N S m) 0.18 ft lbf E69-C06M 7 kgf S cm (0.7 N S m) 0.52 ft lbf 4. Connect the power and I/O lines. Be sure to turn off the Rotary Encoder when connecting the lines. 5. Turn on the Rotary Encoder and check the output. J CONNECTING * When extending the cable, select the type carefully. You must consider the response frequency because the longer the cable is, the more the residual voltage increases due to the resistance of the cable and the capacitance between the wires. As a result, the waveform will be distorted. * We recommend the line driver output type model 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. * Insert a surge absorber between the power supply terminals if a possibility of surge exists. * A wrong pulse may be generated when the E6C2-C Rotary Encoder is turned on or off. Do not use the connected device for 0.1 s after the E6C2-C Rotary Encoder is turned on and for 0.1 s before the E6C2-C Rotary Encoder is turned off. 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. * 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 line driver output. Note: Recommended cable: Cross section: 0.2 mm2 with spiral shield Conductor resistance: 92 /km max. at 20C Insulation resistance: 5 M/km min. at 20C The residual output voltage will increase according to the length of the cable. OL(V) 5.5 mm (0.22) E69-C06M * Residual output voltage V Maximum insertion length E69-C06B The rise time varies with the resistance of the cable and the type and length of the cable. ( s) Part number * LH 1. Insert the shaft into the coupling. Do not secure the coupling and shaft with screws at this stage. 2. Secure the Rotary Encoder. Refer to the following table for the maximum insertion length of the shaft into the coupling. Output rise time t Mounting Procedure Cable length L (m) Conditions Rotary Encoder: E6C2-CWZ6C Load voltage: 5 VDC Load resistance: 1 k (The residual output voltages were measured with a load current of 35 mA.) Cable: Dedicated cable J PREVENTING MISCOUNTING * If the operation of the E6C2-C Rotary Encoder is stopped near a signal rising or falling edge, a wrong pulse may be generated, causing the E6C2-C Rotary Encoder to miscount. In this case, use an increment-decrement counter to prevent miscounting. J EXTENSION OF LINE DRIVER OUTPUT * Be sure to use a twisted-pair cable to extend a line driver cable. Use an RS-422A receiver for the receiver side. * 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 electrical forces on the lines cancel each other. E E Twisted-pair wires E * E Be sure the E6C2-C Rotary Encoder is supplied with 5 VDC when a line driver output is used. There will be approximately a 1-V voltage drop if the cable length is 100 m. 12 E6C2-C E6C2-C NOTE: DIMENSIONS SHOWN ARE IN MILLIMETERS. To convert millimeters to inches divide by 25.4. R OMRON ELECTRONICS LLC OMRON ON--LINE OMRON CANADA, INC. 1-800-55-OMRON Global -- http://www.omron.com USA -- http://www.omron.com/oei Canada -- http://www.omron.com/oci 416-286-6465 One East Commerce Drive Schaumburg, IL 60173 Cat. No. CEDSAX4 11/01 Specifications subject to change without notice. 885 Milner Avenue Scarborough, Ontario M1B 5V8 Printed in U.S.A.