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 Programmable Controller or Cam Positioner allows ideal angle control. * Bears CE markings (EMC Directives) and conforms to EN/IEC standards, making it suitable for the European market. Ordering Information Incremental Rotary Encoders Supply voltage 12 to 24 VDC Output configuration Complementary output Resolution (P/R) 100, 200 Connection method Model 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 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: E6C3CWZ5GH 300P/R 2M) Absolute Rotary Encoders Supply voltage 12 to 24 VDC Output configuration Output code NPN open collector output Gray code Voltage output Connection method Connector 256, 360, 720, 1,024 Pre-wired (1 m) (See note 2.) Model E6C3-AG5C-C E6C3-AG5C Binary 32, 40 BCD 6, 8, 12 E6C3-AB5C 256, 360, 720, 1,024 E6C3-AG5B PNP open collector output Gray code 5 VDC Resolution (P/R) 256, 360 E6C3-AN5C Binary 32, 40 E6C3-AN5B BCD 6, 8, 12 E6C3-AB5B Binary 256 E6C3-AN1E 12 VDC E6C3-AN2E 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: E6C3AG5C 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 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 5m E69-DF10 10 m E69-DF20 30 m 2 E6C3 Rotary Encoder (Incremental/Absolute) Applicable for the E6C3-AG5C-C. 15- and 98-m-long Extension Cables are also available. 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 Output configuration Complementary output (See note 5.) Voltage output (NPN output) Output capacity Output voltage: VH: Vcc - 3 V min. (Io: 30 mA) VL: 2 V max. (Io: -30 mA) Output resistance: 2 k Output current: 30 mA Residual voltage: 0.7 V max. A, A, B, B, Z, Z Output current: 35 mA max. Line driver output (See note 2.) 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 125 kHz (65 kHz for phase-Z reset) (See note 3.) Phase difference on output 9045 between A and B (1/4T1/8T) Rise and fall times of output 1 s max. (cable length: 2 m, output current: 30 mA) Starting torque 10 mN*m max. at room temperature; 30 mN*m max. at low temperature Moment of inertia 2.0 x 10-6 kg*m2; 1.9 x 10-6 kg*m2 at 500 P/R max. Shaft loading 80 N Radial Thrust 1 s max. (cable length: 2 m, output current: 35 mA) 1 s max. (cable length: 2 m; Io: -10 mA; Is: 10 mA) 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: -10C to 70C (with no icing) Storage: -25C to 85C (with no icing) Ambient humidity 35% to 85% (with no condensation) Insulation resistance 20 M 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 protection IEC60529 IP65 (JEM IP65f 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 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 x 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 0V 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 120 4 40 dia. E6C3 Rotary Encoder (Incremental/Absolute) Output Circuit Diagram Incremental Rotary Encoders Model/output circuit Output modes Connection E6C3-CWZ5GH Brown 7.5 30 mA max. Black, white, orange Main circuit 24 30 mA max. 7.5 Blue Shield 12 VDC -10% to 24 VDC +15% Output signal (Black: Phase A; White: Phase B; Orange: Phase Z) 0V GND Voltage Output: E6C3-CWZ3EH Complementary Output: E6C3-CWZ5GH Rotating direction: Clockwise (CW) (As viewed from the face of the shaft) Color Terminal Brown Power supply (+VCC) H Black Output phase A L H Phase B L 1/41/8T (9045) H Phase Z L White Output phase B T (360) H Phase A L E6C3-CWZ3EH H L H Phase Z L Phase B Brown 2 k Black, white, orange NPN transistor Main circuit 7.5 5 VDC -5% to 12 VDC +10% Output signal (Black: Phase A; White: Phase B; Orange: Phase Z) Rotating direction: Counterclockwise (CCW) (As viewed from the face of the shaft) CW T (360) Phase A Note: Phase A is 1/41/8T faster than phase B. CCW Orange Output phase Z 1/41/8T (9045) Blue 0 V (common) Note: Phase A is 1/41/8T slower than phase B. 35 mA max. Blue Shield 0V GND E6C3-CWZ3XH Line Driver Output: E6C3-CWZ3XH Rotating direction: Clockwise (CW) Rotating direction: Counterclockwise (CCW) (As viewed from the face of the shaft) (As viewed from the face of the shaft) Brown Main circuit AM26LS31 or equivalent 5 VDC -5% to 12 VDC +10% Black, white, Non-reversed output orange (Black: Phase A; Black, white, White: Phase B; orange (with Orange: Phase Z) red stripes) Reversed output Blue Shield (Black/Red: Phase A; White/Red: Phase B; Orange/Red: Phase Z 0V GND T (360) H Phase A L H Phase B L H Phase Z L H Phase A L H Phase B L H Phase Z L CW T (360) H Phase A L H Phase B L 1/41/8T (9045) H Phase Z L H L H Phase B L H Phase Z L Phase A CCW Color Terminal Brown Power supply (+VCC) Black Output phase A White Output phase B Orange Output phase Z 1/41/8T (9045) Black/ Red stripes Output phase A White/ Red stripes Output phase B Orange Output phase Z /Red stripes 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 Incremental Rotary Encoders C200H-CT@@ High-speed Counter Unit H7ER Digital Tachometer Applicable Model: E6C3-CWZ5GH Typical Model: C200H-CT001-V1 Applicable Model: E6C3-CWZ3EH (with a resolution of 10, 60, or 600 P/R) (Encoder at 0 V) +12 V Phase A Brown 0V H7ER Digital Tachometer Black +24 V Phase A +24 V Phase B +12 V +5 V +12 V +5 V Phase B 12-VDC power supply Blue 5 to 12 VDC +12 V 0V H7BR Digital Counter Applicable Model: E6C3-CWZ3EH 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-CWZ5GH Typical Model: C200H-CT021 Brown Black (Encoder at 0 V) White Shield Blue +12 V 0V Phase Z Phase B Phase A H7BR Digital Counter 0V H7CR-CW Digital Counter Applicable Model: E6C3-CWZ5GH Phase Z Phase B Phase B Phase A Phase A 0V 5 to 24 VDC Phase A 12-VDC power supply +12 V 0V 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 Black White Blue Brown 12 VDC (100 mA) H7CR-CW 6 +12 V Phase Z E6C3 Rotary Encoder (Incremental/Absolute) CQM1-CPU43-EV1 (as Built-in Highspeed Counter) * 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. * 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. C500-CT001/CT012 High-speed Counter Unit CW and CCW detection (increment/ decrement counting) Applicable Model: E6C3-CWZ5GH Brown Black Blue Count Mode White Up/Down mode Increment/Decrement counter uses phases A and B. Incrementing mode Increment counter uses phase A only. Normal mode IN04 through IN05 are used for normal input. Shield Internal DIP switch settings Applicable Model: E6C3-CWZ5GH Phase A IN 0000CH Phase B Reset 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 CQM1 Programmable Controller Applicable Model: E6C3-CWZ5GH 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. 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 E6C3AG5C-C E6C3AG5C E6C3AN5C E6C3AB5C E6C3AG5B E6C3AN5B E6C3AB5B E6C3AN1E E6C3AN2E Power supply voltage 12 VDC-10% to 24 VDC+15%, ripple (p-p) 5% max. Current consumption 70 mA max. Resolution (See note 1.) (pulses/rotation) 256, 360 Output code Gray code 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 resistance: 2.4 k Rise and fall times of output 256, 360, 720, 1,024 5 VDC 5% 12 VDC 10% 32, 40 6, 8, 12 256, 360, 720, 1,024 32, 40 6, 8, 12 256 Binary BCD Gray code Binary BCD Binary Output resistance: 8.2 k Sink current: 35 mA max. Residual voltage: 0.4 V max. (at sink current of 35 mA) 1 s max. (cable length: 2m; output current: 35 mA max.) Rise: 3 s max. Fall: 1 s max. Max. response 20 kHz frequency (See note 2.) Rise: 10 s max. Fall: 1 s max. 10 kHz Logic Negative logic output (H=0, L=1) Rotational direction (See note 3.) Output code incremented by clockwise rotation (as viewed from the face of the shaft.) Changed using the rotational direction designation input. Strobe signal Not available Not available Positioning signal Not available Parity signal Not available Starting torque 10 mN*m max. at room temperature 30 mN*m max. at low temperature Moment of inertia 2.3 x 10-6 kg*m2 Shaft loading 80 N Radial Thrust Positive logic output (H=1, L=0) Available Not available Available Available Not available Available Not available (even number) Available Not available Available Not available (even number) 50 N Max. permissible rotation 5,000 rpm Ambient temperature Operating: -10C to 70C (with no icing) Storage: -25C to 85C (with no icing) Ambient humidity 35% to 85% (with no condensation) Insulation resistance 20 M 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.) Connection method 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 Binary BCD Gray code Resolution Code number 32 1 to 32 40 1 to 40 256 0 to 255 6 0 to 5 8 0 to 7 12 0 to 11 256 0 to 255 360 76 to 435 (Remainder of 76) 720 152 to 871 (Remainder of 152) 1,024 0 to 1,023 2. 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 E6C3 will not operate electrically if its revolution exceeds the maximum electrical response revolution. 3. With the E6C3-AN1E and E6C3-AN2E models, the output code can be increased in the clockwise direction by connecting 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 s after the LSB (20) code has changed. 4. JEM1030: applicable since 1991. 5. The absolute code's smallest address is 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 120 40 dia. E6C3 Rotary Encoder (Incremental/Absolute) 9 Output Circuit Diagrams Absolute Rotary Encoders E6C3-AG5C/-AG5C-C Output Circuits E6C3-AG5B 12 to 24 VDC 12 to 24 VDC Output 35 mA max., 30 VDC 0V Main circuit Shield 35 mA max. Shield GND 0V 20 21 22 23 24 25 26 27 28 29 Shield GND Note: Each output bit uses the same circuit. ON Output Main circuit 35 mA max. Shield GND Note: Each output bit uses the same circuit. 0V GND Note: Each output bit uses the same circuit. Rotating direction: CW, as viewed from the face of the shaft. Resolution: 40 No. OFF OFF Strobe signal ON 20 ON 12 to 24 VDC Output 35 mA max., 30 VDC 0V Main circuit Rotating direction: CW, as viewed from the face of the shaft. E6C3-AN5B 12 to 24 VDC Output Main circuit Note: Each output bit uses the same circuit. Output Modes E6C3-AN5C OFF 21 ON OFF 22 ON 1 5 10 15 20 25 360 C 2.25 9 30 35 40 ON OFF ON OFF ON OFF ON OFF ON 23 OFF OFF 24 ON OFF 25 ON OFF Parity signal ON ON OFF ON OFF ON OFF OFF ON OFF Absolute angle ON OFF Address 0 1 2 3 4 5 6 7 8 9 1011121314151617181920212223242526272829303132333435363738394041424344454647484950515253545556575859606162636465 When resolution is 32 A=11.25 B=6 C=3 Strobe signal 18 27 2.25 B 4.5 A 9 0.5 min. 0.5 min. Other bit signal Connections Connector Specifications Pin number E6C3-AG5C-C Connected internally 2 3 Wire color Output signal 9-bit (360) 8-bit (256) NC Brown 2 8 Orange 2 5 Yellow 2 1 Green 2 0 2 0 2 1 2 2 2 3 9-bit (360) 10-bit (720, 1,024) 2 0 20 2 1 21 2 2 22 2 3 23 2 5 2 1 5 2 0 Blue 24 24 24 6 27 27 Purple 25 25 25 7 24 24 Gray 26 26 26 8 2 2 2 2 White 7 2 7 27 2 3 2 3 Pink 2 8 28 10 2 6 2 6 NC 29 11 Shield (GND) 12 13 4 9 2 NC Light blue NC --- Shield (GND) 12 to 24 VDC Red 12 to 24 VDC 0 V (Common) Black 0 V (Common) Note: Connector type: RP13A-12PD-13SC (Hirose Electric) 10 E6C3-AG5C/E6C3-AG5B Output signal 8-bit (256) 1 Cable Specifications E6C3 Rotary Encoder (Incremental/Absolute) Output Circuit Diagrams Absolute Rotary Encoders E6C3-AB5C E6C3-AB5B E6C3-AN1E Output Circuits E6C3-AN2E 5 VDC 12 VDC 2.4 k 8.2 k Output 35 mA max. Main circuit Output 35 mA max. Main circuit 0V 12 to 24 VDC 12 to 24 VDC Output 35 mA max., 30 VDC 0V Main circuit Shield Shield Output Main circuit 35 mA max. Shield GND 0V Shield GND Note: Each output bit uses the same circuit. 0V GND Note: Each output bit uses the same circuit. Rotational Direction Designation Input Circuit GND Vcc (5 V or 12 V) Note: Each output bit uses the same circuit. Note: Each output bit uses the same circuit. Main circuit Input 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. 0V Output Modes Rotating direction: CW, as viewed from the face of the shaft. Resolution: 12 No. 0 1 2 3 4 5 6 7 8 9 10 11 Positioning ON OFF signal ON Strobe signal Rotating direction: CW, as viewed from the face of the shaft, when rotational direction designation input is at "H." CCW, as viewed from the face of the shaft, when rotational direction designation input is at "L." OFF ON 20 OFF 21 OFF 22 OFF Shaft angle: 360 ON 20 ON 21 ON 23 OFF 2 0 x10 OFF --- ( 360 256 ) (H) (L) 1 --- (360 32 ) TT/2 2 3 --- (360 16 ) TT/2 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 22 ON 23 24 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 0 30 60 C 7.5 25 90 26 7.5 27 T=360/2561.4 B 15 A 30 0.5 0.5 1 E6C3 Rotary Encoder (Incremental/Absolute) 11 Connections Cable Specifications 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 20 20 20 20 Orange 21 21 21 21 2 2 2 2 2 2 22 2 3 NC 2 3 23 Blue 2 4 Purple Gray Yellow Green NC 0 2 x 10 24 25 NC NC 25 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 Black 0 V (Common) 5, 12 VDC Connection Examples Connecting an Absolute Rotary Encoder to an H8PS Cam Positioner H8PS-8A, -8AP, -8AF, -A8AF Connecting 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. H8PS E6C3-AG5C With a resolution of 1,024 per rotation Output Unit (100 words) E6C3-AG5C-C Specifications 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 E69-DC5 5M Connection Cable CQM1-CPU44-E Two Encoder inputs can be controlled independently. Mode Setting of CQM1-CPU44-E Set port 1 to BCD mode and 10 bits DM 6643 Output Timing 0 10000 10001 10002 12 E6C3 Rotary Encoder (Incremental/Absolute) 0001 Angle of E6C3-AG5C 128 256 512 640 768 Ladder Program Example Use the CTBL instruction of the CQM1-CPU44-E to register a maximum of eight comparison tables for output angle setting. One scan ON 25315 CTBL (63) 001 001 DM0000 AR0500 Absolute Rotary Encoders Connecting to CPM1A Using a Resolution of 720 per Rotation Select port 1 for table registration, comparison mode setting, and comparison-table first channel setting. E6C3-AG5C 10000 AR0501 10001 AR0502 Output CPM1A-20CD@-@ 10002 END (01) Example of DM Setting for Comparison Table DM 0000 0001 0002 0003 0004 0005 0006 0007 0008 0009 0000 0512 0000 0256 0768 0000 0128 0640 0000 0000 Lower limit 1 Upper limit 1 Subroutine number 1 Lower limit 2 Upper limit 2 Subroutine number 2 Lower limit 3 Upper limit 3 Output signal from E6C3-AG5C Bit AR 0500 Bit AR 0501 Bit AR 0502 Subroutine number 3 Lower limit 4 Not used. 0022 0023 0000 0000 Wiring Between E6C3-AG5C and CPM1A Upper limit 8 Subroutine number 8 Orange (21) 00001 Yellow (22) 00002 Green (23) 00003 Blue (2 ) 00004 Purple (25) 00005 4 Gray (26) 00006 White (27) 00007 * 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. 00009 9 Light blue (2 ) Output Timing Internal Bits of CQM1-CPU44-E Bit 7 00008 Pink (28) 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. Input signal to CPM1A 00000 Brown (20) Angle of E6C3-AG5C 0 90 180 360 540 659 01000 01001 01002 0 Port 1 comparison result AR 05 Port 2 comparison result 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 converted into BCD or 360 code signals and read through the CQM1CPU44-E CPU Unit's words AR 232 and AR 234. The present value can be used for ladder programs. Port 1 angle Word 232 Port 2 angle Word 234 Note: For details on the CQM1-CPU44-E, refer to the CQM1 Programming Manual (W228). E6C3 Rotary Encoder (Incremental/Absolute) 13 Ladder Program 00009 00008 20009 Example of DM Setting for Comparison Table (Always ON) 25313 20009 20008 00008 20009 00007 20008 20006 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 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. SUB (31) 201 #0152 202 20007 00007 20008 00006 20007 Converts a BIN code signal (word 200) into a BCD code signal (word 201). BCD (24) 200 201 20005 00005 20006 20300 00004 20005 20004 00004 20005 Converts a gray code signal into a BIN code signal (word 200). 01000 20301 01001 20302 00003 20004 20003 END (01) 00003 20004 00002 20003 01002 20002 00002 20003 00001 20002 20001 00001 20002 00000 20001 20000 00000 20001 14 E6C3 Rotary Encoder (Incremental/Absolute) Output DM 6200 6201 6202 6203 6204 6205 6206 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 6231 0000 Upper limit 16 Bit 20300 Bit 20301 Bit 20302 Lower limit 4 Not used. Precautions Incremental and Absolute Encoders * When connecting the coupling, stay within the ranges shown below. 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 malfunction. 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 possible. 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. 2 max. Displacement tolerance in the shaft direction 0.05 mm max. 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 reversed operation, pay utmost attention to the mounting direction of the E6C3 and the directions of increment and decrement rotation. * 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. Chain sprocket Bearing 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 connecting 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 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 excessive shock. * 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. Cable 30 N max. Mounting plate 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 1 Insert the shaft into the coupling. 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. Model E69-C08B/E69-C68B 2 Secure the Rotary Encoder. Model E69-C08/E69-C68B 3 Secure the coupling. 4 Connect the power and I/O lines. Maximum insertion length 6.8 mm Tightening torque 0.44 N m Be sure to turn off the Rotary Encoder when connecting the lines. 5 Turn on the Rotary Encoder and check the output. Cable Extension The following graph shows the (theoretical) life expectancy of the bearing with radial and thrust loads imposed on the bearing. * 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. Life (x 1010 revolutions) Life of Bearing 3.5 Wr Encoder 3.0 2.5 Ws Shaft Wr: Radial load Ws: Thrust load Wa: 10N 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 2.0 1.5 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. 1.0 Wa: 40N Wa: 0.5 50N Wa: 60N 0 10 20 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.) * The residual output voltage will increase according to the length of the cable. 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 * 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 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 (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 negative terminals of the power 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. 16 E6C3 Rotary Encoder (Incremental/Absolute) Extension of Line Driver Output * Be sure to use a shielded twisted-pair cable to extend a line driver cable. Recommended cable: Tachii Electric Wire Co., TKVVBS4P 02A * 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. Twisted-pair wires * 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. 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. Number of counters (N) = R1 (E-V) V x 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 0V Encoder output stage Counter Counter Connectable number: N E6C3 Rotary Encoder (Incremental/Absolute) 17 Dimensions Rotary Encoder E6C3-CWZ@@H (58) 5 (15) 10 1200.1 40 dia.0.1 38 20 D cut: Phase-Z postion (range: 15) 1 0 8 dia. + -0.018 1 12 dia. 30 dia. +0 -0.021 50 dia. Three, M4 holes Depth: 5 6 1200.1 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) (15) 10 1200.1 40 dia.0.1 38 20 D cut: Phase-Z postion (range: 15) 5 +0 8 dia.-0.018 1 0 30 dia.+ -0.021 50 dia. 6 1200.1 10 8.8 6 Three, M4 holes Depth: 5 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) D cut: Phase-Z postion (range: 15) (15) 10 1200.1 40 dia.0.1 38 20 5 0 8 dia.+-0.018 1 30 dia.+0 -0.021 50 dia. 6 1200.1 10 Three, M4 holes Depth: 5 8.8 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. 18 E6C3 Rotary Encoder (Incremental/Absolute) Hirose Electric RP13A-12PD-13SC 37 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. 8H8 dia. 19 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 Four, R3 30.20.1 dia. 400.1 dia. Material: SPCC (t=3.2) Three, 4.5 dia, 400.1 dia. M4 screw- 30.20.1 dia. 56 dia. head holes 120 68 dia.0.2 Three, M5 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 Tel: (81)773-43-4078/Fax: (81)773-43-4030 Printed in Japan 0902-2M (0902) (B)