E6C3-AG5C-C-720P/R-2M - Omron

Rotary Encoder (Incremental/Absolute)

E6C3

An Encoder That Offers

Durability and Convenience

• IP65f d rip-proof , oil-pro of const ruction a chiev ed with

seal bea ring.

• 8-mm-dia s tainless 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 , ma king it su itab le f or the Euro-

pean market.

Ordering Information

■Incremental Rota ry Encoders

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 avail able as standard products. Specify the cable length at the end of the model n umber . (Example: E6C3-

CWZ5GH 300P/R 2M)

Supply voltage Output configuration Resolution (P/R) Conn e c t i on met hod 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

5 to 12 VDC Voltage output 100, 200 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

5 to 12 VDC Line driver output 100, 200 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

2E6C3 Rotary Encoder (Increment al/A bsolute)

■Absolute Rotary Encoders

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 av ailable 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)

Supply voltage Output conf iguratio n Out p ut c o de Resolution (P/R) Conn e c t i on met hod Model

12 to 24 VDC NPN open collector output Gray code 256, 360 Connector E6C3-AG5C-C

256, 360, 720, 1,024 Pre-wired (1 m) (See

note 2.) E6C3-AG5C

Binary 32, 40 E6C3-AN5C

BCD 6, 8, 12 E6C3-AB5C

PNP open collector output Gray code 256, 360, 720, 1,024 E6C3-AG5B

Binary 32, 40 E6C3-AN5B

BCD 6, 8, 12 E6C3-AB5B

5 VDC Voltage output Binary 256 E6C3-AN1E

12 VDC E6C3-AN2E

Item Model Remarks

Coupling E69-C08B ---

E69-C68B Diameters of ends: 6 to 8 dia.

Flange E69-FCA03 ---

E69-FCA04 E69-2 Servo Mounting Bracket provided.

Servo Mounting Bracket E69-2 Provided with the E69-FCA04 Flange.

Extension Cable E69-DF5 5 m Applicable for the E6C3-AG5C-C. 15- and 98-m-long Extension

Cables are also available.

E69-DF10 10 m

E69-DF20 30 m

E6C3 Rotary Encoder (Incremental/Absolute) 3

Specifications

■Ratings/Characteristics

Incremental Rotary Encoders

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 electr ical response frequency (rpm) = Maximum respons e 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.

Item E6C3-CWZ5GH E6C3-CWZ3EH E6C3-CWZ3XH

Power supply v olt a ge 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 Complementary output (See note 5.) Voltage output (NPN output) Line driver output (See note 2.)

Output capacity Output voltage:

VH: Vcc − 3 V min. (Io: 30 mA)

VL: 2 V ma x. (Io : −30 mA)

Output current: ±30 mA

Output resistance: 2 kΩ

Output current: 35 mA max.

Residual voltage: 0.7 V max.

AM26LS31 equivalent

Output current:

High level (Io): −10 mA

Low level (Is): 10 mA

Output voltage:

Vo: 2.5 V min.

Vs: 0.5 V max.

Max. response frequency

(See note 3.) 125 kHz (65 kHz for phase-Z reset)

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

Moment of inertia 2.0 × 10−6 kg·m2; 1.9 × 10−6 kg·m2 at 500 P/R max.

Shaft

loading Radial 80 N

Thrust 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 35% to 85% (with no condensation)

Insulation resistance 20 MΩ min. (at 500 VDC) between current-carrying parts and case

Dielectric strength 500 VAC, 50/60 Hz for 1 min between current-carrying parts and case

Vibration resistance 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

Shock resistance Destruction: 1,000 m/s2 3 times each in X, Y, and Z directions

Degree of pr ot e c tion I EC60529 IP65 (JEM IP65 f for drip-proof and oil-proof construction) (See note 4.)

Connection method Pre-wired (standard length: 1 m)

Weight (packed state) Approx. 300 g

Others Instruction ma nual

4E6C3 Rotary Encoder (Incremental/Absolute)

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 pul l 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).

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°.)

PNP transistor

NPN transistor OUT

E6C3-CWZ5GH

0 V

Power

supply

Signal

D cut

40 dia.

120°

E6C3 Rotary Encoder (Incremental/Absolute) 5

Output Circ uit Diagram

■Incremental Rota ry Encoders

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.

Model/output circuit Output modes Connection

E6C3-CWZ5GH

Voltage Output: E6C3-CWZ3EH

Complementary Output: E6C3-CWZ5GH

Color Terminal

Brow n Power supply

(+VCC)

Black Output phase A

E6C3-CWZ3EH White Output phase B

Orange Output phase Z

Blue 0 V (common)

E6C3-CWZ3XH

Line Driver Output: E6C3-CWZ3XH Color Terminal

Brow n Power supply

(+VCC)

Black Output phase A

White Output phase B

Orange Output phase Z

Black/

Red

stripes

Output phase A

White/

Red

stripes

Output phase B

Orange

/Red

stripes

Output phase Z

Blue 0 V (common)

Note:Receiver:

AM26LS32

equivalent

30 mA

max.

30 mA

max.

24 Ω

12 VDC −10% to

24 VDC +15%

0 V

GND

Blue

Brown

Shield

7.5 Ω

Main

circuit

Black, white,

orange Output signal

(Black: Phase A;

White: Phase B;

Orange: Phase Z)

Phase A

Phase B

Phase Z

Phase A

Phase B

Phase Z

1/4±1/8T (90˚±45˚)

T (360˚) CW

1/4±1/8T (90˚±45˚)

T (360˚) CCW

Rotating direction: Clockwise (CW)

(As viewed from the face of the shaft) Rotating direction: Counterclockwise (CCW)

(As viewed from the face of the shaft)

Note: Phase A is 1/4±1/8T faster than

phase B. Note: Phase A is 1/4±1/8T slower than

phase B.

2 kΩ

7.5 Ω35 mA

max.

5 VDC −5% to

12 VDC +10%

0 V

GND

Blue

Brown

Shield

Main

circuit NPN

transistor

Black, white,

orange Output signal

(Black: Phase A;

White: Phase B;

Orange: Phase Z)

0 V

GND

Blue

Brown

Shield

5 VDC −5% to

12 VDC +10%

Main

circuit

Black, white,

orange

AM26LS31

or equiva-

lent

Non-reversed output

(Black: Phase A;

White: Phase B;

Orange: Phase Z)

Black, white,

orange (with

red stripes) Reversed output

(Black/Red: Phase A;

White/Red: Phase B;

Orange/Red: Phase Z

Phase A

Phase B

Phase Z

Phase A

Phase B

Phase Z

Phase A

Phase B

Phase Z

Phase A

Phase B

Phase Z

1/4±1/8T (90°±45°)1/4±1/8T (90°±45°)

T (360°)T (360°)

CW CCW

Rotating direction: Clockwise (CW)

(As viewed from the face of the shaft) Rotating direction: Counterclockwise (CCW)

(As viewed from the face of the shaft)

6E6C3 Rotary Encoder (Incremental/Absolute)

Connection Examples

■Incremental Rotary Encoders

H7ER Digital Tachometer

Applicable Model: E6C3-CWZ3EH (with a

resolution of 10, 60, or 600 P/R)

H7BR Digital Counter

Applicable Model: E6C3-CWZ3EH

H7CR-CW Digital Counter

Applicable Model: E6C3-CWZ5GH

C200H-CT@@ High-speed Counter Unit

Applicable Mod e l: E6C3-CWZ5GH

Typical Model: C200H-CT001-V1

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 Mod e l: E6C3-CWZ5GH

Typical Model: C200H-CT021

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/

B13

Phase Z and Power Supply: 12 V to A16/B16 and 24 V to A17/

B17

H7ER Digital Tachometer

Brown

Black

Blue

5 to 12 VDC

+12 V

0 V

Brown

Black

White

Shield

Blue

H7BR Digital Counter

Black

White

Blue

Brown

12 VDC

(100 mA)

H7CR-CW

(Encoder at 0 V)

+24 V

Phase A

Phase B

+12 V

+5 V

+12 V

Phase A

Phase B

0 V

12-VDC power supply

+12 V

0 V

Phase Z

Phase B

Phase Z

Phase B

0 V

Phase A

+12 V

0 V

Phase Z

Phase B

Phase A Phase A

+12 V

0 V

(Encoder at 0 V)

Phase A

12-VDC power supply

5 to 24

VDC

E6C3 Rotary Encoder (Incremental/Absolute) 7

CQM1-CPU43-EV1 (as Built-in High-

speed Counter)

•The pulse output of the E6C3 can be direct ly 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.

•The operating mode of the high-speed counter is set with the PC

Setup in the DM area.

Count Mode

Applica ble Mod el: E6C 3 - C WZ5GH

CQM1 Programmable Controller

Applica ble Mod el: E6C 3 - C WZ5GH

C500-CT001/CT012 High-spe ed

Counter Unit

CW and CCW detection (increment/

decrem en t coun tin g)

Applicable Model: E6C3-CWZ5GH

Reset

The present count value can be reset with the soft-reset function or

the AND of soft reset and phase Z input.

Output

Up/Down mode Increment/Decrement counter uses phas-

es A and B.

Incrementing mode Increment counter uses phase A only.

Normal mode IN04 through IN05 are used for normal in-

put.

Phase A

Phase B

Phase

IN 0000CH

Brown (12 V)

Black (Phase A)

White (Phase B)

Orange (Phase Z)

Blue (0 V)

Shield

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 spec-

ified subroutine is executed. A maximum of 8 rang-

es can be set with upper and lower limits.

Shield

Internal DIP switch settings

Brown

Black

Blue

White

8E6C3 Rotary Encoder (Increment al/A bsolute)

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 6, 8, 12 256, 360,

720, 1,024 32, 40 6, 8, 12 256

Output code Gray code Binary BCD Gray code Binary BCD Binary

Output configuration NPN open collector output PNP open collector output Voltage output

Output capacity 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)

Output re-

sistance:

2.4 kΩ

Output re-

sistance:

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

max.

Fall: 1 µs

max.

Rise: 10 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 Availabl e Not avail-

able Available Not available

Positioning signal Not available Available Not available Available Not available

Parity signal 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

Moment of inertia 2.3 × 10−6 kg·m2

Shaft

loading Radial 80 N

Thrust 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 35% to 85% (with no condensation)

Insulation resistance 20 MΩ min. (at 500 VDC) between current-carrying parts and case

Dielectric strength 500 VAC, 50/60 Hz for 1 min between current-carrying parts and case

Vibration resistance 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.

Shock resistance Destruction: 1,000 m/s2, 6 times each in X, Y, and Z directions

Degree of protection IEC60529 IP65 (JEM IP65f for drip-proof and oil-proof construction) (See note 4.)

Conn e c t i on met h od Connector

(standard

length: 1 m)

Pre-wired (standard length: 1 m)

Weight (packed state) Approx. 300 g

Others Instruction manual

E6C3 Rotary Encoder (Incremental/Absolute) 9

Note 1. The codes are classified as shown in the following table .

2. The maximum electrical response revolution is determined

by the resolution and maximum response frequency as fol-

lows:

Maximum electr ical response frequency (rpm) = Maximum

response frequency/resoluti on × 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-AN 2E 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°.)

Output code Resolution Code n umber

Binary 32 1 to 32

40 1 to 40

256 0 to 255

BCD 6 0 to 5

80 to 7

12 0 to 11

Gray code 256 0 to 255

360 76 to 435 (Remainder of 76)

720 152 to 871 (Remainder of 152)

1,024 0 to 1,023

D cut

40 dia.

120°

10 E6C3 Rotary Encoder (Increment al/A bsolute)

Output Circuit Diagrams

■Absolute Rotary Encoders

Connections

■Conn ector Specifications

Note:Connector type: RP13A-12PD-13SC (Hirose Electric)

■Cable Spe cifications

E6C3-AG5C/-AG5C-C E6C3-AG5B E6C3-AN5C E6C3-AN5B

Output

Circuits

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

12 to

24 VDC

Output

0 V

GND

Shield

Note: Each output bit uses the same circuit.

Main

circuit 35 mA max.,

30 VDC

12 to

24 VDC

Output

0 V

GND

Shield

Note: Each output bit uses the same circuit.

Main

circuit

35 mA

max.

12 to

24 VDC

Output

0 V

GND

Shield

Note: Each output bit uses the same circuit.

Main

circuit 35 mA max.,

30 VDC

12 to

24 VDC

Output

0 V

GND

Shield

Note: Each output bit uses the same circuit.

Main

circuit

35 mA

max.

OFF

01234567891011121314151617181920212223242526272829303132333435363738394041424344454647484950515253545556575859606162636465

Address When resolution is 32

A=11.25°

B=6°

C=3°

OFF

No. 1 5 10 15 20 25 30 35 40

0.5° min.0.5° min.

9°

4.5°

2.25°

360°9°18°27°

2.25°

Absolute angle

Strobe

signal

Parity

signal

Strobe signal

Other bit signal

number E6C3-AG5C-C

Output signal

8-bit (256) 9-bit (360)

1Connected internally NC

228

32525

42121

52020

62727

72424

82222

92323

10 2626

11 Shield (GND)

12 12 to 24 VDC

13 0 V (Common)

Wire color E6C3-AG5C/E6C3-AG5B

Output signal

8-bit (256) 9-bit (360) 10-bit (720, 1,024)

Brown 202020

Orange 212121

Yellow 222222

Green 232323

Blue 242424

Purple 252525

Gray 262626

White 272727

Pink NC 2828

Light blue NC NC 29

--- Shield (GND)

Red 12 to 24 VDC

Black 0 V (Common)

E6C3 Rotary Encoder (Incremental/Absolute) 11

Output Circ uit Diagrams

■Absolute Rotary Encoders

E6C3-AB5C E6C3-AB5B E6C3-AN1E E6C3-AN2E

Output

Circuits

Output

Modes Ro tating direction: CW, as viewed from the face of the shaft.

Resolution: 12 Rotating direction:

CW , as view ed from the face of the shaft, when rotational direction

designation input is at “H."

CCW, as viewed from the fa ce of the shaft, when rotational direc-

tion designation input is at “L."

12 to

24 VDC

Output

0 V

GND

Shield

Note: Each output bit uses the same circuit.

Main

circuit 35 mA max.,

30 VDC

12 to

24 VDC

Output

0 V

GND

Shield

Note: Each output bit uses the same circuit.

Main

circuit

35 mA

max.

5 VDC

Output

0 V

GND

Shield

35 mA max.

Note: Each output bit uses the same circuit.

2.4

kΩ

Main

circuit

8.2

kΩ

12 VDC

Output

0 V

GND

Shield

35 mA max.

Note: Each output bit uses the same circuit.

Main

circuit

Vcc (5 V or 12 V)

Input

0 V

Rotational Direction Designation Input Circuit

Main

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.

OFF

30°0.5°0.5°

15°

7.5°

0°30°60°90°

7.5°

No.01234567891011

20×10

1°

Positioning

signal

Strobe signal

When resolution is 8

A=45°

B=22.5°

C=11.25°

When resolution is 6

A=60°

B=30°

C=15°

Absolute

angle

Strobe

signal

Positioning

signal

1 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 192

360

−−−

(

256

)

°360

−−−

(

)

°360

−−−

(

)

Shaft angle: 360°

T±T/2 T±T/2

T=360°/256≈1.4°

(H)

(L)

12 E6C3 Rotary Encoder (Increment al/A bsolute)

Connections

■Cable Specifications

Connection Examples

■Connecting an Absolute Rotary

Encoder to an H8PS Cam

Positioner

H8PS-8A, -8AP, -8AF, -A8AF

Specifications

■Connectin g E6C3-AG5C to

Programmable Controller

System Configuration Using a

Resolution of 1,024 per Rotation

A combination of the CQM1-CPU44-E and E6C3-AG5C ensures

easy output angle setting for cam control in 360° or BCD mode.

Mode Setting of CQM1-CPU44-E

Set port 1 to BCD mode and 10 bits

Output Timing

Wire color

E6C3-AN5C/-AN5B E6C3-AB5C/-AB5B E6C3-AN1E/-AN2E

Output signal Output signal Output signal

6-bit (32, 40) 3-bit (6, 8) 5-bit (12) 8-bit (256)

Brown 20202020

Orange 21212121

Yellow 22222222

Green 23NC 2323

Blue 24NC 20 × 10 24

Purple 25NC NC 25

Gray Parity Positioning Positioning 26

White Strobe Strobe Strobe 27

Pink NC NC NC Rotational direction designation input

Light blue NC NC NC NC

--- Shield (GND)

Red 12 to 24 VDC 5, 12 VDC

Black 0 V (Common)

Rated voltage 24 VDC

Cam resolution 1.4° (a resolution of 256 per rotation)

Outputs 8 cam outputs

1 RUN output

1 tachometer output

Encoder response 330 rpm

Functions Origin compensation (zero shift)

Rotating direction selection

Angle display selection

Teaching

E6C3-AG5C-C

H8PS

Output Unit (100 words)

E6C3-AG5CWith a resolution of 1,024 per rotation

E69-DC5 5M

Connection

Cable CQM1-CPU44-E

Two Encoder inputs can be controlled independently.

DM 6643 0001

Angle of E6C3-AG5C

0 128 256 512 640 768

10000

10001

10002

E6C3 Rotary Encoder (Incremental/Absolute) 13

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.

Example of DM Setting for Comparison T able

Note:A n 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.

Internal Bits of CQM1-C PU 44-E

•Range Comparison Result

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.

•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.

Note:For details on the CQM1-CPU44-E, refer to the CQM1 Pro-

gramming Manual (W228).

■Absolute Rotary Encoders

Connecting to CPM1A Using a

Resolution of 720 per Rotation

Wiring Between E6C3-AG5C and CPM1A

Output Tim ing

Port 1 angle ✽ ✽ ✽ ✽Word 232

Port 2 angle ✽ ✽ ✽ ✽Word 234

AR0502

AR0501

AR0500

10002

10001 Output

10000

One scan ON

25315

END (01)

CTBL (63)

001

DM0000

Select port 1 for table

registration, comparison mode

setting, and comparison-table

first channel setting.

0000

0512

0000

0256

0768

0000

0128

0640

0000

DM 0000

0001

0002

0003

0004

0005

0006

0007

0008

0009

0022

0023

Lower limit 1

Upper limit 1

Subroutine number 1

Lower limit 2

Upper limit 2

Subroutine number 2

Lower limit 3

Upper limit 3

Subroutine number 3

Lower limit 4

Upper limit 8

Subroutine number 8

Bit AR 0500

Bit AR 0501

Bit AR 0502

Not used.

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

Output signal from E6C3-AG5C Input signal to CPM1A

Brown (20)00000

Orange (21)00001

Yellow (22)00002

Green (23)00003

Blue (24)00004

Purple (25)00005

Gray (26)00006

White (27)00007

Pink (28)00008

Light blue (29)00009

E6C3-AG5C

CPM1A-20CD@-@

Angle of E6C3-AG5C

0 90 180 360 540 659

01000

01001

01002

14 E6C3 Rotary Encoder (Increment al/A bsolute)

00009

00008

20009 20009

20008

20009

00007

20008 20007

20008

00006

20007 20006

20007

00005

20006 20005

20006

00004

20005 20004

20005

00003

20004 20003

20004

00002

20003 20002

20003

00001

20002 20001

20002

00000

20001 20000

20001

20302

20301

20300

01002

01001 Output

01000

(Always ON)

25313

END (01)

BCD (24)

200

201

SUB (31)

201

#0152

202

BCMP (68)

202

DM6200

203

0000

0540

0090

0360

0180

0659

0000

DM 6200

6201

6202

6203

6204

6205

6206

6231

Lower limit 1

Upper limit 1

Lower limit 2

Upper limit 2

Lower limit 3

Upper limit 3

Lower limit 4

Upper limit 16

Bit 20300

Bit 20301

Bit 20302

Not used.

Converts a BIN code signal

(word 200) into a BCD code

signal (word 201).

Subtracts 152 for a resolution of

720 per rotation.

Nothing is subtracted for a

resolution of 256 or 1,024 per

rotation.

Subtracts 76 for a resolution of

360 per rotation.

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.

Converts a gray code

signal into a BIN code

signal (word 200).

Example of DM Setting

for Comparison Table

Ladder Program

E6C3 Rotary Encoder (Incremental/Absolute) 15

Precautions

■Increme ntal and Abso lu te

Encoders

Safety Precautions

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.

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.

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.

Application Precautions

Mounting

●Mounting Precautions

•Be careful not to spray water or oil onto the E6C3.

•The E6C3 consists of high-precision components. Handle with

utmost care and do not drop the E63C, otherwise malfunctioning

may result.

•When the E6C3 is used in rev ersed operation, pay utmost attention

to the mounting direction of the E6C3 and the directions of incre-

ment and decrement rotation.

•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 E6C3 is mounted wit h screws, the tight ening t orque 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.

•No shock must be given to the shaft or coupling. Therefore, do not

hit the shaft or coupling with a hammer when inser ting the shaft

into the coupling.

•When connecting the coupling, stay within the ranges shown

below.

•When connecting or disconnecting the coupling, do not impose an

excessive bending, pressing, or pulling force on 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.

•If the decentering or declination value exceeds the tolerance, an

excessive load imposed on the shaft may damage or shor t en the

life of the E6C3.

Cable

30 N max.

Mounting plateMounting plate

Decentering

tolerance

Declination

tolerance

Displacement

tolerance in the

shaft direction

0.15 mm max.

2° max.

0.05 mm max.

Chain sprocket

BearingCoupling

16 E6C3 Rotary Encoder (Increment al/A bsolute)

●Mounting Procedure

Life of Bearin g

The following graph shows the (theoretical) life expectancy of the

bearing with radial and thrust loads imposed on the bearing.

Wiring

Connecting

•When extending the cable f or 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.

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.

•If the power supply has surge voltage, connect a surge suppressor

between the positive and negativ e terminals of the po wer supply to

absorb the surge voltage.

•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.

Cable Extension

•The rise time of each output w av ef orm 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. I t is safer to limit the length of cabl e 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.)

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

•The rise time varies with the resistance of the cable and the kind of

cable as well as the length of the cable.

•The residual output voltage will increase according to the length of

the c able.

Preventing Miscounting

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.

Exte nsi o n of Li ne Driver O utp ut

•Be sure to use a shielded twisted-pair cable to extend a line driver

cable.

Recommended cable: Tachii Electric Wire Co., TKVVBS 4P 02A

•Use an RS-422A Receiver for the receiver side .

•The twisted-pair wires as shown in the follo wing illus tration 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.

•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.

1Insert the shaft into the coupling.

2Secure the Rotary Encoder.

3Secure the coupling.

4Connect the power and I/O lines.

Model Maximum insertion length

E69-C08B/E69-C68B 6.8 mm

Model Tightening torque

E69-C08/E69-C68B 0.44 N ⋅ m

Do not secure the coupling and shaft with screws at this

stage.

Refer to the following table for the maximum insertion length

of the shaft into the coupling.

Be sure to turn off the Rotary Encoder when connecting

the lines.

Turn on the Rotary Encoder and

check the output.

3.5

3.0

2.5

2.0

1.5

1.0

0.5

010 20 30 40 50 60 70 80 90 100

Radial load Wr (N)

Wa:

10N

Encoder

Wr: Radial load

Ws: Thrust load

Wa:

20N

Wa:

30N

Wa:

40N

Wa:

50N

Wa:

60N

Shaft

Life (× 1010 revolutions)

Twisted-pair

wires

E6C3 Rotary Encoder (Incremental/Absolute) 17

Input to More than One Cou nter from

Encoder (with Voltage Output)

Use the following formula to obtain the number of counters to be

connected to a single E6C3.

E: Voltage supplied to E6C3

V : Minimum input voltage of the counter

R1: Input resistance of the Counter

R2: Output resistance of the E6C3

Number of counters (N) = R1 (E−V)

V × R2

Encoder output stage

Counter Counter

Connectable

number: N

0 V

18 E6C3 Rotary Encoder (Increment al/A bsolute)

Dimensions

Rotary Encoder

E6C3-CWZ@@H

E6C3-A@5@

E6C3-AN@E

Note:E69-C08B Coupling is sold separately.

E6C3-AG5C-C

Note:E69-C08B Coupling is sold separately.

8 dia. +0

−0.018

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

68.8

12 dia.

50 dia.

D cut: Phase-Z postion (range: ±15°)

40 dia.±0.1

Three, M4 holes

Depth: 5 120°±0.1

120°±0.1

30 dia.+0

−0.021

(15) 38

20 (58)

8 dia.+0

−0.018

6 dia. oil-proof PVC, shielded 12-conductor cable

(conductor cross-section: 0.2 mm2; insulation diameter: 1.1 mm)

Standard len

th: 1 m

68.8

50 dia.

D cut: Phase-Z postion (range: ±15°)

40 dia.±0.1

120°±0.1

30 dia.+0

−0.021

(15) 38

20 (58)

Three, M4 holes

Depth: 5

Hirose Electric

RP13A-12PD-13SC

8 dia.+0

−0.018

6-dia. oil-proof PVC, shielded 12-conductor cable

(conductor cross-section: 0.2 mm2; insulation diameter: 1.1 mm)

Standard len

th: 1 m

68.8

50 dia.

D cut: Phase-Z postion (range: ±15°)

40 dia.±0.1

120°±0.1

30 dia.+0

−0.021

(15) 38

20 (58)

Three, M4 holes

Depth: 5

E6C3 Rotary Encoder (Incremental/Absolute) 19

■Accessories (Order Separately)

Extension Cable

E69-DF5

Note:The C able can be extended up to 100 m for connecting the H8PS Cam Positioner.

E69-C08B E69-C68B (With Ends of Different Diameter)

Flanges

Servo Mounting Bracket

E69-2 (A Set of Three)

16.9 dia. 16.9 dia.

34.6

(See note 2.) (See note 3.)(See note 1.)

375,000

Note 1: 6-dia. oil-proof PVC, shielded 12-conductor cable (conductor cross-section:

0.2 mm

; 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.

19 dia.

8H8 dia.

Note: Material: Glass-reinforced PBT

Four, M4 hexagon

set screws

19 dia.

8H8 dia.6H8 dia.

Brass bushing

Four, M4 hexagon

socket heat setscrews

Note: The coupling is made of

glass-reinforced PBT.

120°

30 dia.

68 dia.±0.2 Three, M5

Panel

120°

40±0.1 dia. 56 dia.

30.2±0.1 dia.

Material: SPCC (t=3.2) Material: SPCC (t=3.2)

E69-FCA03 E69-FCA04

Four,

4.5 dia.

Three, 4.5 dia, M4

screw-head holes

Four, R3

Three, 4.5 dia,

M4 screw-

head holes 30.2±0.1 dia. 40±0.1 dia.

Mounting Bracket Installation

5.5-dia. hole

Two, C1

In the interest o f pr odu ct im pro ve ment, spe cific atio ns are subje ct to c ha nge wi thout no tice.

ALL DIMENSIONS SHOW N ARE IN MILLIMETERS.

To convert millimeters into inches, multiply by 0.03937. To conver t grams into ounces, multiply by 0.03527.

Cat. No. F058-E1-01

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

Tel: (81)773-43-4078/Fax: (81)773-43-4030 Printed in Japan

0902-2M (0902) (B)