1
Rotary Encoder IE6B2
New General-purpose Incremental-type
Rotary Encoder
A wide operating voltage range of 5 to 24 VDC
(open collector model).
Resolution of 2,000 pulses/revolution in 40-mm
housing.
Phase Z can be adjusted with ease using the origin
indicating function.
A large load of 3 kgf (29.4 N) in the radial direction
and 2 kgf (19.6 N) in the thrust direction is
permitted.
The load short-circuit and reversed connection
protecting circuit assures highly reliable operation.
A line driver output model is available. (Cable
extends up to 100 m.)
Ordering Information
Supply voltage Output configuration Resolution (P/R) Model
5 to 24 VDC Open collector output 10, 20, 30, 40, 50, 60, 100, 200, 300, 360, 400, E6B2-CWZ6C
5 to 12 VDC V oltage output 500, 600, 1,000, 1,200, 1,500, 1,800, 2,000 E6B2-CWZ3E
5 VDC Line driver output E6B2-CWZ1X
Accessories (Order Separately)
Name Model
Coupling E69-C06B (attachment)
E69-C68B
E69-C610B
Flange E69-FBA
E69-FBA-02
E6B2 E6B2
2
Specifications
Ratings/Characteristics
Electrical
Item E6B2-CWZ3E E6B2-CWZ6C E6B2-CWZ1X
Power supply voltage 5 to 12 VDC (allowable range:
4.75 to 13.2 VDC) 5 to 24 VDC (allowable range:
4.75 to 27.6 VDC) 5 VDC5%
Current consumption 100 mA max. 80 mA max. 160 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
Output phases A, B, and Z (reversible) A, A, B, B, Z, Z
Output configuration Voltage Open collector Line driver
Output capacity Output resistance: 2 kW
(residual voltage: 0.4 V max.
Isink: 20 mA max.)
Applied voltage: 30 VDC max.
Isink: 35 mA max.
residual voltage: 0.4 V max.
(Isink: 35 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.
Phase difference on
output 90°45° between A and B (1/4T1/8T)
Rise and fall times of
output 1 ms max. (cable length: 0.5 m;
Isink: 10 mA max.) 1 ms max. (control output voltage:
5 V ; load resistance: 1 k W; cable
length: 0.5 m)
0.1 ms max. (cable length: 0.5 m;
Io: –20 mA; Is: 20 mA)
Max. response frequency 100 kHz
Insulation resistance 1,000 MW min. (at 500 VDC) between carry parts and case
Dielectric strength 500 VAC, 50/60 Hz for 1 min between carry parts and case
Note: 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 E6B2 Rotary Encoder will not operate electrically if its revolution exceeds the maximum electrical response revolu-
tion.
Mechanical
Item E6B2-CWZ3E E6B2-CWZ6C E6B2-CWZ1X
Shaft loading Radial: 3 kgf (29.4 N)
Thrust: 2 kgf (19.6 N)
Moment of inertia 10 gf $ cm2 (1 x 10–6 kg $ m2) max.; 3 gf $ cm2 (3 x 10–7 kg $ m2) max. at 600 P/R max.
Starting torque 10 gf $ cm (980 m N $ m) max.
Max. permissible
revolution 6,000 rpm
Vibration resistance Destruction: 10 to 500 Hz, 150 m/s2 (15G) or 2-m double amplitude for 11 min 3 times each in X, Y, and
Z directions
Shock resistance Destruction: 1,000 m/s2 (100G) 3 times each in X, Y, and Z directions
Weight Approx. 100 g max. (cable length: 0.5 m)
Environmental
Item E6B2-CWZ3E E6B2-CWZ6C E6B2-CWZ1X
Ambient temperature Operating: –10°C to 70°C (with no icing)
Storage: –25°C to 85°C (with no icing)
Ambient humidity Operating: 35% to 85% (with no condensation)
Enclosure ratings IEC IP50 (The E6B2 Rotary Encoder is not watertight or oil resistive.)
E6B2 E6B2
3
Operation
Output Circuit Diagram
E6B2-CWZ6C E6B2-CWZ3E
E6B2-CWZ1X
NPN
transistor
35 mA max.
30 VDC max.
Black, white, orangeOutput signal
(Phases A, B, and Z)
Brown
Blue
E6B2
main
circuitry
0 V
3.3 W
NPN
transistor
20 mA max.
Black, white, orangeOutput signal
(Phases A, B, and Z)
Brown
Blue
E6B2
main
circuitry
0 V
3.3 W
2 kW
AM26LS31 or
equivalent
20 mA max.
Black, white, orangeNon-reversed output
(Phases A, B, and Z)
Brown
Blue
E6B2
main
circuitry
5 VDC5%
0 V
Reversed output
(Phases A, B, and Z)
Black, white, orange
(with red stripes)
5 to 12 VDC (allowable
range: 4.75 to 13.2 VDC)
5 to 24 VDC (allowable
range: 4.75 to 27.6 VDC)
(Shielded) Ground Ground
(Shielded)
Ground
(Shielded)
E6B2 E6B2
4
Timing Charts
Open Collector Output
E6B2-CWZ6C
Direction or resolution: CW
(As viewed from the end of the shaft) Direction or resolution: CCW
(As viewed from the end of the shaft)
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.
Note: Phase A is 1/41/8T slower than phase B.
ON
Phase A OFF
ON
Phase B OFF
ON
Phase Z OFF
T (360°)CW
1/4T1/8T (90°45°)
ON
Phase A OFF
ON
Phase B OFF
ON
Phase Z OFF
T (360°) CCW
1/4T1/8T (90°45°)
Voltage Output
E6B2-CWZ3E
Direction or resolution: CW
(As viewed from the end of the shaft) Direction or resolution: CCW
(As viewed from the end of the shaft)
Note: Phase A is 1/41/8T faster than phase B. Note: Phase A is 1/41/8T slower than phase B.
H
Phase A L
H
Phase B L
H
Phase Z L
T (360°)CW
1/4T1/8T (90°45°)
H
Phase A L
H
Phase B L
H
Phase Z L
T (360°) CCW
1/4T1/8T (90°45°)
Line Driver Output
E6B2-CWZ1X
Direction or resolution: CW
(As viewed from the end of the shaft) Direction or resolution: CCW
(As viewed from the end of the shaft)
H
Phase A L
H
Phase B L
H
Phase Z L
H
Phase A L
H
Phase B L
H
Phase Z L
T (360°)CW
1/4T1/8T (90°45°)
H
Phase A L
H
Phase B L
H
Phase Z L
H
Phase A L
H
Phase B L
H
Phase Z L
T (360°) CCW
1/4T1/8T (90°45°)
Note: The line driver output circuit is an RS-422A data transmission circuit consisting of two balanced output lines. The relationship between
the two output lines is on an equal status. This means that if the level of the signal on a line is H, the level of the signal on the other line is
L. The noise-resistive line driver output circuit assures high-speed data transmission.
E6B2 E6B2
5
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 E6B2 Rotary Encoder.
Number of counters (N) = R1 (E–V)
V x R2
E: Voltage supplied to Rotary Encoder
V : Minimum input voltage of the counter
R2: Output resistance of the Rotary Encoder
R1: Input resistance of the Rotary Encoder
Counter
Encoder output stage
R2 + V
0 V
R1 R1
Counter
+ E
Connectable
number: N
Origin Indication
It is easy to adjust the position of phase Z with the origin indication
function. The following illustration (on the left-hand 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-hand side).
120°
300.2 dia.
120°
Origin of phase Z
Origin
Cut face D
Output Protection Circuit
The E6B2 (open collector model with voltage output) incorporates a
circuit preventing the E6B2 from damage due to a short-circuited
load and reversed connection.
E6B2 E6B2
6
Dimensions
Note: All units are in millimeters unless otherwise indicated.
E6B2
Coupling
E69-C06B (Included) E69-C68B E69-C610B
Flange
E69-FBA E69-FBA-02
Mounting Bracket
Note: The coupling is made of glass-reinforced PBT.
22
5.5
2.8
(11)
(16.4)
15 dia.
Four, 3 hexagon
socket heat set-
screws
6H8 dia.
5.5
2.8
24.8
6.8
3.5
19 dia.8H8 dia.
6.8
3.5
6H8 dia.
Four, 4 hexagon
socket heat set-
screws
24.8
7.1
3.6
22 dia.10H8 dia.
7.1
3.6
6H8 dia.
Four, 4 hexagon
socket heat set-
screws
330.2
42
42
330.15
Four, 3.3-dia. holes
Three, 3.5-dia. holes with
6.5-dia. screw-head holes
20.2-dia. hole
20.2-dia. hole
Two, C1
816 (5.1)
18 16 9
2
The flange is made of SPCC.
t = 3.2
Four, R3
3.1 +0.1
0
Origin of phase Z Three, M3 holes
Depth: 7 mm
15 395
7.5
8
5-dia. 5-conductor round
PVC shielded cord
(18 x 12 dia.)
1
10
120°120°
300.2 dia.
40 dia.
20 0
–0.021 dia.
6 0
–0.012 dia.
46 dia.
20.20.1 dia.
30 dia.
The flange is made of SPCC
t = 3.2
Three, 3.5-dia. holes with
6.5-dia. screw-head holes
120°
120°
120°
580.2 dia.
Panel
Three, M5
20 dia.
E6B2 E6B2
7
Installation
Connection
Be sure to connect the external terminals correctly or the E6B2
Rotary Encoder may be damaged.
E6B2-CWZ6C/-CWZ3E
Color Terminal
Brown Power supply (+VCC)
Black Output phase A
White Output phase B
Orange Output phase Z
Blue 0 V (common)
E6B2-CWZ1X
Color Terminal
Brown 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
Conversion from E6B to E6B2
Refer to the following table for conversion from the E6B to the E6B2.
E6B E6b2
Resolution: 10 to 600 P/R Resolution: 10 to 2,000 P/R
E6B-CWZ3C E6B2-CWZ6C
E6B-CWZ3E E6B2-CWZ3E
--- E6B2-CWZ1X (line driver output type)
Connection with Peripheral Devices
Model E6B2-CWZ3E E6B2-CWZ6C E6B2-CWZ1X
TTL, LSTTL A A C
CMOS A A C
Sensor Controller (S3D8) B A C
Sensor Controller (S3D2) A A C
Direction Sensor Unit (E63-WF-5C) A A C
Digital counter (H7BR, H7CR) A A C
Digital Tachometer (H7ER) A A C
Intelligent Signal Processor (K3TR-NBjjj)B B C
Line receiver IC C C A
SYSMAC High-speed Counter Unit A A A
Position Control Unit B B A
Note: A: Possible to connect directly in most cases.
B: Possible to connect, but an independent power supply or pull-up resistor will be required.
C: Impossible to connect.
E6B2 E6B2
8
Connection Examples
Connection to H7CR-CW Counter
Features of H7CR
DIN-sized (DIN 48) counter incorporating a prescale function
converting the measured value to the actual value.
Synchronized output and indication are available ( area
models).
Models with a general-purpose six-digit display and four-digit
display are available.
48
48
Brown
Black
White
Blue
689
11
1 2
CP2 CP1
12 VDC
(100 mA)
H7CR-CW
E6B2-CWZ6C
0 V
Connection to K3TR-NBjjj Rotary Intelligent Signal Processor
Features of K3TR
Each model incorporates a prescale function with an input
range of 50 kHz and the measurement accuracy is
0.006%.
A variety of outputs including relay, transistor , BCD, linear,
and communications outputs are available.
142
48
96
E6B2 E6B2
9
Precautions
Mounting
Be careful not to spray water or oil onto the E6B2 Rotary Encoder .
The E6B2 Rotary Encoder consists of high-precision components.
Handle with utmost care and do not drop the Rotary Encoder , other-
wise malfunctioning may result.
Do not pull the cord of the E6B2 Rotary Encoder after the E6B2
Rotary Encoder is mounted to a panel. Do not apply any shock to the
hollow shaft or the body.
When the E6B2 Rotary Encoder is used in reversed operation, pay
utmost attention to the mounting direction of the E6B2 Rotary En-
coder and the directions of increment and decrement rotation.
To match phase Z of the E6B2 Rotary Encoder and the origin of the
device to be connected to the E6B2 Rotary Encoder, conform the
phase Z output while connecting the device.
Be careful enough 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 $ m (490 mN $ m).
If the Rotary Encoder is mounted to a panel, do not pull the cord with
more than a force of 3 kgf (29.4 N).
Rotary Encoder
Mounting plate Cord
3 kgf (29.4 N) max.
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.
Mounting Procedure
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.
Model Maximum insertion length
E69-C06B 5.5 mm
3. Secure the coupling.
Model Tightening torque
E69-C06B 2.5 kgf $ cm (250 mN $ m)
4. Connect the power and I/O lines.
Be sure to turn off the Rotary Encoder when connecting the
lines.
5. T urn on the Rotary Encoder and check the output.
Refer to the following illustrations when using a standard coupling.
Decentering
tolerance
0.2 mm max.
Declination
tolerance
0.2° max.
Displacement
tolerance in the
shaft direction 0.05 mm max.
When connecting the shaft of the Rotary Encoder with a chain tim-
ing 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
Rotary Encoder
If the decentering or declination value exceeds the tolerance, an ex-
cessive load imposed on the shaft may damage the Rotary Encoder
or shorten the life of the Rotary Encoder.
Life of Bearing
The following graph shows the life expectancy of the bearing with
radial and thrust loads imposed on the bearing.
Radial load Wr (kgf)
En-
coder
Wr
Shaft
Wr: Radial load
Ws: Thrust load
Ws:
2.0 kgf Ws
Ws:
2.5 kgf
Ws: 3.0 kgf
Ws: 4.0 kgf
Life (x 10 revolutions)
9
E6B2 E6B2
10
Wiring
T urn off the Rotary Encoder when wiring. The output circuit may be
damaged if the output line contacts with the power source while the
Rotary Encoder is turned on.
Do not wire power lines or high-tension lines along with the power
supply lines of the E6B2 Rotary Encoder or the E6B2 Rotary Encod-
er may be damaged or malfunction.
When extending the cord, select the kind of cord with care by taking
the response frequency into consideration because the longer the
cord is, the more the residual voltage increases due to the resist-
ance of the cord and the capacitance between the wires. As a result,
the waveform will be distorted.
We recommend the line driver output type model if the cord needs to
be extended.
In order to reduce inductive noise, the cord must be as short as pos-
sible, especially when the signal is input to an IC.
Insert a surge absorber between the power supply terminals if there
is any surge.
A wrong pulse may be generated when the E6B2 Rotary Encoder is
turned on or of f. Do not use the connected device for 0.1 s after the
E6B2 Rotary Encoder is turned on and for 0.1 s before the E6B2
Rotary Encoder is turned off.
Make sure the E6B2 Rotary Encoder 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.
Cord Extension
The rise time of each output waveform will increase when the cord is
extended. This affects the phase difference characteristics of
phases A and B.
The rise time varies with the resistance of the cord and the kind of
cord as well as the length of the cord.
The residual output voltage will increase according to the length of
the cord.
Cable length L (m)
VOL
tLH
Residual output voltage V (V)
OL
Output rise time t ( s)
LH m
Conditions
Rotary Encoder: E6B2-CWZ6C (2,000 pulses/revolution)
Load voltage: 5 VDC
Load resistance: 1 kW (The residual output voltages were
measured with a load current of 35 mA.)
Frequency: 100 kHz
Cord: Dedicated cord
Preventing Miscounting
If the operation of the E6B2 Rotary Encoder is stopped near a signal
rising or falling edge, a wrong pulse may be generated, in which
case the E6B2 Rotary Encoder will miscount. In such a case, use an
increment-decrement counter to prevent miscoutning.
Extension of Line Driver Output
Be sure to use a twisted-pair cable to extend a line driver cord. Use
an RS-422A Receiver for the receiver side.
The twisted-pair wires as shown in the following illustration are suit-
able 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.
EE
EE
Twisted-pair wires
