WA eackanD Quick Assembly Two and Three Channel Optical Encoders Technical Data Features * Two Channel Quadrature Output with Optional Index Pulse * Quick and Easy Assembly * No Signal Adjustment Required * External Mounting Ears Available * Low Cost * Resolutions Up to 1024 Counts Per Revolution Small Size -40C to 100C Operating Temperature TTL Compatible * Single 5 V Supply Description The HEDS-5500/5540, HEDS- 5600/5640, and HEDM-5500/ 5600 are high performance, low cost, two and three channel optical incremental encoders. These encoders emphasize high reliability, high resolution, and easy assembly. Each encoder contains a lensed LED source, an integrated circuit with detectors and output circuitry, and a codewheel which rotates between the emitter and detector IC. The outputs of the HEDS-5500/5600 and HEDM- 5500/ 5600 are two square waves in quadrature. The HEDS-5540 and 5640 also have a third chan- nel index output in addition to the two channel quadrature. This index output is a 90 electrical degree, high true index pulse which is generated once for each full rotation of the codewheel. The HEDS series utilizes metal codewheels, while the HEDM series utilizes a film codewheel allowing for resolutions to 1024 CPR. The HEDM series is nont available with a third channel index. These encoders may be quickly and easily mounted to a. motor. For larger diameter motors, the HEDM-5600, and HEDS-5600/ 5640 feature external mounting ears. : The quadrature signals and the index pulse are accessed through HEDM-550X/560X HEDS-550X/554X HEDS-560X/564X five 0.025 inch square pins located on 0.1 inch centers. Standard resolutions between 96 and 1024 counts per revolution are presently available. Consult local Hewlett-Packard sales repre- sentatives for other resolutions. Applications The HEDS-5500, 5540, 5600, 5640, and the HEDM-5500, 5600 provide motion detection at a low cost, making them ideal for high volume applications. Typical applications include printers, plotters, tape drives, positioning tables, and automatic handlers. ESD WARNING: NORMAL HANDLING PRECAUTIONS SHOULD BE TAKEN TO AVOID STATIC DISCHARGE. 2-60 mm 4447584 O01610b 513 5965-5875EPackage Dimensions HEDS-5500/5540, HEDM-5500 15.0 (0.59) RADIUS REF. PART ID AND MAX 25,7 (1. Ov 11.2 (0.44) MAX (0.035" HEX WRENCH) 145 (0.57) OPTION CODE MIN 41.1 (1,62) MAX | } 18.3 10.72) 1 26.2 (1.03) MAX 7.1 (0.28) MAX 1 MIN 1 nagen cd PIN 110 6.9 (0.27) [ Min 3.0 (0.12) ev 9.9 (0.39) 22222 Snob reli NOTES: 0.64 (0.025) aoa 1, LEAVE CLEARANCE FOR TURNING SQ, LEADS ON g : z AND REMOVING THE HEX WRENCH. 2.84 10.100] CENTERS TYP. 2. TYPICAL DIMENSIONS IN MILLIMETERS (INCHES). 30.0 (1,18) TYPICAL INDEX PULSE POSITION *Note: For the HEDS-5500 and HEDM-5500, Pin #2 is a No Connect. For the HEDS-5540, Pin #2 is CH. I, the index output. HEDS-5600/5640, HEDM-5600 16.0 (0.69) RAD. REF, 52.1 (2.05) \ 28.7 (1.01) MAX 5.53 (0.375) A, 210.48) Max (0.036" HEX WRENCH} ~ [+ 14.5 (0.67) MIN \ 18.2 (0.72) MAX rs z joo | 41.1 (1.62} 3 9.9 (0.39) MAX f 2 = 3.0 (0.12) | oo 4 26.2 a = | 11.03) a tA S avqen | et fest} } = Vv t f BRBBD 7.4 (0.28) 213 PART iD AND aeeea 6.9 (0.27) MIN (0.084) OPTION CODE ret ti Min @ QS Ss is r p> @ 0.64 (0.025) SQ LEADS ON 2.54 (0.100) 2.74 (0.108) DIA HOLES ON CENTERS TYP. ' , 23,0 (0.906) RAD. BOLT CIRCLE 30.0 (1.18) + TYPICAL 1. LEAVE CLEARANCE FOR TURNING AND REMOVING HEX WRENCH. Nroas LSE 2. TYPICAL DIMENSIONS IN MILLIMETERS (INCHES). *Note: For the HEDS-5600 and HEDM-5600, Pin #2 is a No Connect. For the HEDS-5640, Pin #2 is CI. I, the index output. Me 4447554 OO1b107 4ST me 2-91 AND CONTROL 1] r 72) = py wa paal o = co) =Theory of Operation The HEDS-5500, 5540, 5600, 5640, and HEDM-5500, 5600 translate the rotary motion of a shaft into either a two- or a three- channel digital output. As seen in the block diagram, these encoders contain a single Light Emitting Diode (LED) as its light source. The light is collimated into a parallel beam by means of a single polycarbonate - lens located directly over the LED. Opposite the emitter is the integrated detector circuit. This IC 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 the 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 through the signal processing circuitry resulting in A, A, B and B (also I and I in the HEDS-5540 and 5640). 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-5540 and 5640, the output of the comparator for I and Tis sent to the index processing circuitry along with the outputs of channels A and B. 2-92 Block Diagram Tvee 4 TO. ' ODES t COMPARATORS t A] fb | cH a az] EB 3 az] -E CH.6 5 | > L e | CH. -o T 12 INDEX i Processinc =! SIGNAL CIRCUITRY ! PROCESSING I CIRCUITRY i cno +O a? EMITTER SECTION DETECTOR SECTION NOTE: CIRCUITRY FOR CH. | 1S ONLY IN HEDS- 5640 AND 5640 THREE CHANNEL ENCODERS. The final output of channel I is an index pulse Pg which is generated once for each full rotation of the codewheel. This output Po is a one state width (nominally 90 electrical degrees), high true index pulse which is coincident with the low states of 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 (AQ): The normalized angular difference between the actual shaft position | and the position indicated by the encoder cycle count. Cycle Error (AC): An indication of cycle uniformity. The differ- ence between an observed shaft angle which gives rise to one electrical cycle, and the nominal angular increment of 1/N of a Mm 4447584 0016104 356 revolution. Pulse Width (P): The number of electrical degrees that an output is high during 1 cycle. This value is nominally 180e or 1/2 cycle. Pulse Width Error (AP): The deviation, in electrical degrees, of the pulse width from its ideal value of 180e. State Width (8): 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 90e. State Width Error (AS): The deviation, in electrical degrees, of each state width from its ideal value of 90e. Phase (): The number of electrical degrees between the center of the high state of channel A and the center of the high state of channel B. This value is nominally 90e for quadrature output. Phase Error (Ao): The deviation of the phase from its ideal value of 90e.Absolute Maximum Ratings Parameter HEDS-55XX/56XX HEDM-550X/560X Storage Temperature, Ts -40C to 100C -40C to + 70C Operating Temperature, T, -40C to 100C -40T to +70C Supply Voltage, Voc -0.5 Vto 7V -0.5Vto 7V Output Voltage, Vo -0.5 V to Voc -0.5 V to Veo Output Current per Channel, Iguy -1.0 mAto 5 mA -1.0 mA to 5 mA Vibration 20 g, 5 to 1000 Hz 20 g, 5 to 1000 Hz Ean Shaft Axial Play + 0.25 mm (+ 0.010 in.) + 0.175 mm (+ 0.007 in.) aS Shaft Eccentricity Plus Radial Play 0.1 mm (0.004 in.) TIR 0.04 mm (0.0015 in.) TIR 2 + Velocity 30,000 RPM 30,000 RPM Ee Acceleration 250,000 rad/sec? 250,000 rad/sec2 a Direction of Rotation: When the Output Waveforms codewheel rotates in the counter- clockwise direction (as viewed from the encoder end of the motor), channel A will lead J \ Fo \ LE v channel B. If the codewheel | . ot Ne rotates in the clockwise direction, le-S1te_82 83 s channel B will lead channel A. RT [2 av Index Pulse Width (Pa): The ths number of electrical degrees that an index output is high during 24Vv one full shaft rotation. This value / \ o4y is nominally 90e or 1/4 cycle. AMPUTUDE Mm 44475464 0016109 cece 2-93Recommended Operating Conditions - Parameter Symbol | Min. | Typ.| Max. Units Notes Temperature HEDS Series Ty -40 100 C Temperature HEDM Series Ta -40 70 C non-condensing atmosphere Supply Voltage Voc 4.5 5.0 5.5- Volts Ripple < 100 mV, Load Capacitance Cy 100 pF 2.7kQ pull-up Count Frequency f 100 kHz Velocity 7pm) x N/60 Shaft Perpendicularity + 0.25 mm 6.9 mm (0.27 in.) from Plus Axial Play (HEDS Series) (40.010)! = (in.) mounting surface Shaft Eccentricity Plus 0.04 mm (in.) | 6.9 mm (0.27 in.) from Radial Play CHEDS Series) (0.0015) TIR mounting surface Shaft Perpendicularity +0.175 mm 6.9 mm (0.27 in.) from Plus Axial Play (HEDM Series) (+ 0.007) Gn.) mounting surface Shaft Eccentricity Plus 0.04 mm (in.) | 6.9 mm (0.27 in.) from Radial Play(HEDM Series) (0.0015) TIR mounting surface Note: The module performance is guaranteed to 100 kHz but can operate at higher frequencies, 2.7 kQ pull-up resistors required for HEDS-5540 and 5640. Encoding Characteristics Encoding Characteristics over Recommended Operating Range and Recommended Mounting Tolerances unless otherwise specified. Values are for the worst error over the full rotation. Part No. Description Sym. | Min. | Typ.* | Max. Units HEDS-5500 Pulse Width Error AP 7 45 e HEDS-5600 Logic State Width Error AS 5 45 e (Two Channel) | Phase Error Ad 2, 20 e Position Error AO 10 40 min. of arc Cycle Error AC 3 5.5 e HEDM-5500 Pulse Width Error AP 10 45 e HEDM-5600 Logic State Width Error AS 10 45 e (Two Channel) | Phase Error Ad 2 15 e Position Error AO 10 40 min. of arc Cycle Error AC 3 7.5 e HEDS-5540 Pulse Width Error AP 5 35 %e HEDS-5640 Logic State Width Error AS 5 35 e (Three Phase Error Ao 2 15 e Channel) Position Error AQ 10 40 min. of arc Cycle Error AC 3 5.5 e Index Pulse Width Po 55 90 125 e CH. I rise after -25C to +100C ty 10 100 250 ns CH. A or CH. B fall | -40C to +100C tr -300 100 250 ns CH. I fall after -25C to +100C te 70 150 300 ns CH. B or CH. Arise | -40C to +100C te 70 150 | 1000 ns Note: See Mechanical Characteristics for mounting tolerances. *Typical values specified at V.. = 5.0 V and 2-94 25C. mm 4447584 0016110 THYElectrical Characteristics Electrical Characteristics over Recommended Operating Range. Part No. Parameter Sym. | Min. | Typ.* | Max. | Units Notes HEDS-5500 | Supply Current lec 17 40 mA HEDS-5600 | High Level Output Voltage Vou 2.4 v Ion = -40 WA max. Low Level Output Voltage VoL 0.4 Vv Io, = 3.2 MA Rise Time ty 200 ns C, = 25 pF Fall Time t 50 ns R, = 11 kQ pull-up HEDS-5540 = | Supply Current Ice 30 57 85 mA HEDS-5640 | High Level Output Voltage Vou 2.4 Vv low = -200 WA max. HEDM-5500 | Low Level Output Voltage VoL : 0.4 Vv Igo, = 3.86 mA HEDM-5600 [Rise Time ty 180 ns | Cy, = 25 pF Fall Time te 40 ns Ry = 2.7kQ pull-up HEDM-5500 | Supply Current lec 30 57 85 mA HEDM-5600 | High Level Output Voltage Vou | 2.4 Vv Ioy = -40 HA max. Low Level Output Voltage Voi 0.4 Vv Ip, = 3.86 mA Rise Time t 180 ns C, = 25 pF Fall Time te 40 ns Ry = 3.2 kQ pull-up *Typical values specified at Voc = 5.0 V and 25C. Me 4447564 0016111 980 2-95 i rs a Pa ree) a) z 2] = Oo = AND CONTROLMechanical Characteristics Parameter Symbol Dimension -Tolerance!1] Units Codewheel Fits These 23 4 +0.000 - mm Standard Shaft Diameters 5 6 8 -0.015 ue 5/32. 1/8 +0.0000 in 3/16 1/4 -0.0007 Moment of Inertia J 0.6 (8.0 x 10) _g-em? (oz-in-s?) Required Shaft Length{2] 14.0 (0.55) 0.5 mm (+ 0.02) (in) Bolt Circlel3) 2 screw 19.05 +0.13 mm mounting (0.750) (+ 0.005) . Gn) 3 screw 20.90 +0.13 mm mounting (0.823) (0.005). |. 3 Gn) external 46.0 +0.13 mm mounting ears (1.811) (+ 0.005) Gn.) Mounting Screw Sizel4] 2 screw mounting M 2.5 or (2-56) mm (in.) 3 screw : mounting M 1.6 or (0-80) mm (in.)} external mounting ears M 2.5 or (2-56) mm (in.) Encoder Base Plate 0.33 (0.130) Tum (in:) Thickness Hub Set Screw (2-56) Cin.) Notes: 1. These are tolerances required of the user. 2, The HEDS-55X5 and 56X5, HEDM-5505, 5605. provide an 8.9 mm (0.35 inch) diameter hole through the housing for longer motor shafts. See Ordering Information. 8. The HEDS-5540 and 5640 must be aligned using the aligning pins as specified in Figure 3, or using the alignment tool as shown in Encoder Mounting and Assembly. See also Mounting Considerations. 4, The recommended mounting screw torque for 2 screw and external ear mounting is 1.0 kg-cm (0.88 in-lbs). The recommended mounting screw torque for 3 screw mounting is 0.50 kg-cm (0.43 in-lbs). Electrical Interface To insure reliable encoding performance, the HEDS-5540 and 5640 three channel encoders require 2.7 kQ (+ 10%) pull-up resistors on output pins 2, 3, and 5 (Channels I, A, and B) as shown in Figure 1. These pull-up resistors should be located as close to the encoder as possible (within 4 feet). Each of the three encoder outputs can drive a single TTL load in this configuration. The HEDS-5500, 5600, and HEDM-5500, 5600 two channel encoders do not normally require pull-up resistors. However, 3.2 kQ pull-up resistors on output pins 3 and 5 (Channels A and B) are recommended to improve rise times, especially when operating above 100 kHz frequencies. 2-96 MB 4447584 OOlb112 617Ro27kO a cng tO OUTPUT LOGIC cua Cy> onerriioan CH.1 an aia we Figure 1. Pull-up Resistors on HEDS-5X40 Encoder Outputs. 2 8 jay se Mounting Considerations two channel encoders are mounting option as shown in Fe The HEDS-5540 and 5640 three attached to a motor with the screw _ Figure 2. The optional aligning channel encoders and the HEDM sizes and mounting tolerances pins shown in Figure 3 can be Series high resolution encoders specified in the mechanical used with either mounting option. must be aligned using the aligning characteristics section without pins as specified in Figure 3, or any additional mounting bosses, The HEDS-5600, 5640, and using the HEDS-8910 Alignment the encoder output errors will be HEDM-5600 have external Tool as shown in Encoder within the maximums specified in mounting ears which may be used Mounting and Assembly. the encoding characteristics for mounting to larger motor base section. plates. Figure 4 shows the The use of aligning pins or necessary mounting holes with alignment tool is recommended The HEDS-5500 and 5540 can be _ optional aligning pins and motor but not required to mount the mounted to a motor using either boss. HEDS-5500 and 5800. If these the two screw or three screw MOTOR BOSS MOTOR SHAFT 3 SCREW MOUNTING PART NO. | _DuMeTen | HOOT fa]. _ sm eck MECHANICAL rece CQUALLY t waceo HEDE-Se00 (420/048 aio) O13 R CHARACTERISTICS BOLT cinGLE eee et aa8/0.47)| (6-10) "ax ~| [STA [0026 oni] 0.8 (0.03) X 48 CHAMFER [| a | 0.08 10.002) ALIGNING PINS Ce -f- PART NO. | DIAMETER | HEIGHT HEDS-6500 | (2.99/2.34 0.76 > -e| 8.64 (0.340) MOTOR SHAFT CENTER (0.086 0.092) | 10,030) 2 SCREW MOUNTING 42.6 {2-68 UNC-28} HEDS-6540| 2.44/2.41 0.76 2 PLCS-EQUALLY (0.096/0.098) | (0.030) SPACED ON 18.08 (0.760) DIA. 28 oor K BOLT CIRCLE 2 PLACES + | 17.27 10.680) [Sa [e025 rani OTA] 40:15 0.0081 Figure 2. Mounting Holes, Figure 3. Optional Mounting Aids. MB 4447584 0016113 753 2-07OPTIONAL ALIGNING PINS PART NO. DIAMETER | HEIGHT M2.5 (2-56 UNC-2B) EQUALITY 2 PLC! HEDS-5600| 2.39/2.34 0.76 SPACED ON - (0.096 / 0.092) | (0.030) 46.0 (1,811) DIA HEDS-5640| 2.44/2.41 0.76 BOLT CIRCLE (0.960.096) | (0.030), fel a [e026 10.010) 0.28 (0.010) X 46 CHAMFER 2 PLACES [eb] 4 010.18 (0.006) | 0.8 (0.03) X 45 CHAMFER ~~~ [o] 4] 0.05 (0.002) 12.01 (0.473) OPTIONAL MOTOR BOSS PART NO. DIAMETER | HEIGHT HEDS-5600 | 11.10/ 10.94 28 (0.438 (0.431) | (0.10) 17.27 (0.680) e} HEDS-5640 | 91.13/11.10 2.5 DIMENSIONS IN MM (INCHES) , 4 (0.438/0.437)| (0.10) 8.64 (0.340) Figure 4. Mounting with External Ears. 2-98 Mm 4447584 OOL6114 69TEncoder Mounting and Assembly ALIGNMENT TOOL ENCODER BASE PLATE 1. For HEDS-5500 and 5600: Mount encoder base plate onto motor. Tighten screws. Go on to step 2. 1a. For HEDS-5540, 5640 and HEDM-5500, 5600: Slip alignment tool onto motor shaft. With alignment tool in place, mount encoder baseplate onto motor as shown above. Tighten screws. Remove alignment tool. |_~ WEX WRENCH WHILE TIGHTENING gh 3a. Pash the hex wrench into the body of the encoder to ensure that it is properly seated into the code wheel hub set screws. Then apply a downward force on the end of the hex wrench. This sets the code wheel gap by levering the code wheel hub to its upper position. 8b. While continuing to apply a downward force, rotate the hex wrench in the clockwise direction until the hub set screw is tight against the motor shaft. The hub set screw attaches the code wheel to the motor's shaft. 3c, Remove the hex wrench by pulling it straight out of the encoder body. Me 4447584 0016115 5c , ENCODER BODY aN SNAPS EncoDEeR BASE PLATE 2, Snap encoder body onto base plate locking all 4 snaps. SIDE SLOT CENTER SCREWDRIVER SLOT ENCODER CAP SIDE SLOT ONE DOT POSITION TWO DOT POSITION 4, Use the center screwdriver slot, or either of the two side slots, to rotate the encoder cap dot clockwise from the one dot position to the two dot position. Do not rotate the encoder cap counterclockwise beyond the one dot position. The encoder is ready for use! 2-99 AND CONTROL So 4 wn = oe] oop) Zz =] = o =Connectors Manufacturer : Part Number . AMP ; , 103686-4 640442-5 Be Dupont/Berg , .65039-032 with 4825X-000 term. HP / : HEDS-8902 (2 ch.) with 4-wire leads (designed to mechanically lock into the - HEDS-5XXX, HEDM-5X0X Series) HEDS-8903 (3 ch.) with. 5-wire leads Molex 2695 series with 2759 series term. 44.30 : 182258 (0.563) [eee +020) 321 (0.12 0.04) * 5.01020) 7.140.0/ - 0.3 [0.28 + 0.00/-0.01) HEDS-8902 | HEDS-8903 | : PIN NUMBER | PARAMETER | COLORS | COLORS - - > 4 GROUND | @LACK BLACK 2 CH.S NrA* BLUE | rl be 1.50 t 3 CHA WHITE WHITE (0,069) 4 Voc _| RED RED (0. a1 6 cue BROWN | BROWN | oan) DIMENSIONS IN MM {INCHES) THIS WIRE IS NOT ON HEDS-8902. Figure 5, HEDS-8902 and 8903 Connectors. Typical Interfaces HP FEDS OOXX | CHA HCTL-2016/ HOST 2020 HEDS-56XX CH. B QUADRATURE. PROCESSOR HEDM-5XO0X | ORE HEDS-55XX | HP OR : HCTL-1100 HOST HEDS-56XX | cH. B MOTION || PROCESSOR OR CONTROL IC - HEDM-5XOX | 2-100 Me 4447584 OOLb11b 4beOrdering Information Encoders with Metal Codewheels HEDS-5 Option Mounting Type Qutputs Through Hole Resolution (Cycles/Rev) Shaft Diameter 5 - Standard 0- 2 Channel 0 - None (HEDS-550X, 560X 2 Channel) 01-2mm 06 - 1/4 in, 6 - External 4-3 Channel 5-89 mm (0.35 in) S-50 CPR F- 256 CPR 02 - 3mm 1l-4mm Mounting Ears K -96 CPR G - 360 CPR 03 - 1/8 in. 14-5 mm C-100CPR H-400CPR 04-5/32in. = =12-6mm D-192CPR A-500CPR 05-3/16in. = =13-8mm B-200CPR 1-512 CPR . (HEDS-554X, 564X 3 Channel) $-50 CPR G - 860 CPR K-96 CPR H- 400 CPR C-100 CPR A-500 CPR EB - 200 CPR 1-512 CPR P - 256 CPR HEDS-8910 0 oo Alignment Tool (included with each order of HEDS-554X/564X three channel encoders) Encoders with Film Codewheels HEDM-5 Option Mounting Type Outputs Through Hole Resolution (Cycles/Rev) Shaft Diameter 5 - Standard 0 - 2 Channel 0 - None B- 1000 CPR 01-2mm 06 - 1/4 in. 6 - External 5-8.9 mm (0.35 in.) J- 1024 CPR 02-3 mm 11-4mm Mounting Ears 03 - 1/8 in. 14-5 mm 04 - 5/32 in. 12-6mm 05-3/1Gin. 18-8mm HEDS-8910 old] Alignment Tool Mme 4447584 0016117 3T9 (Included with each order of HEDM-550X/560X two channel encoders) 2-101 AND CONTROL o Fs 7) F i 7) Pd Q e coy =