HEDS-9100#A00 - Avago Technologies

Description

The HEDS-9000 and the HEDS-9100 series are high

performance, low cost, optical incremental encoder

modules. When used with a code wheel, these mod-

ules detect rotary position. The modules consist of a

lensed (LED) source and a detector IC enclosed in a small

C-shaped plastic package. Due to a highly col limated

light source and unique photode tec tor array, these mod-

ules are extremely tolerant to mounting misalignment.

The two channel digital outputs and the single 5 V sup-

ply input are accessed through ﬁ ve 0.025 inch square

pins located on 0.1 inch centers.

Standard resolutions for the HEDS-9000 are 500 CPR

and 1000 CPR for use with a HEDS-6100 codewheel or

equivalent.

For the HEDS-9100, standard resolutions between 96

CPR and 512 CPR are available for use with a HEDS-5120

codewheel or equivalent.

ESD WARNING: NORMAL HANDLING PRECAUTIONS SHOULD BE TAKEN TO AVOID STATIC DISCHARGE.

Features

• High performance

• High resolution

• Low cost

• Easy to mount

• No signal adjustment required

• Small size

• -40°C to 100 °C operating temperature

• Two channel quadrature output

• TTL compatible

• Single 5 V supply

Applications

The HEDS-9000 and 9100 provide sophisticated mo-

tion detection at a low cost, making them ideal for high

volume applications. Typical applica tions include print-

ers, plotters, tape drives, and factory automation equip-

ment.

Note: Avago Technologies encoders are not recommend-

ed for use in safety critical applications. Eg. ABS braking

systems, power steering, life support systems and critical

care medical equipment. Please contact sales represen-

tative if more clariﬁ cation is needed.

HEDS-9000/9100

Two Channel Optical Incremental Encoder Modules

Data Sheet

Package Dimensions

HEDS-9x00

HEDS-9x01

26.67 (1.05)

HEDS-9X01

15.2

(0.60)

17.27

(0.680)

20.96

(0.825)

1.85 (0.073)

8.64 (0.340)

REF.

ALIGNING RECESS

2.44/2.41 DIA.

(0.096/0.095)

2.16 (0.085)

DEEP

1.02 ± 0.10

(0.040 ± 0.004)

5.1 (0.20)

X00

YYXX

OPTION CODE

0.63 (0.025)

SQR. TYP.2.54 (0.100) TYP.

DATE CODE

1.0 (0.04)

3.73 ± 0.05

(0.147 ± 0.002)

2.67 (0.105) DIA.

MOUNTING THRU

HOLE 2 PLACES

2.44/2.41 X 2.79

(0.096/0.095 X 0.110)

2.16 (0.085) DEEP

OPTICAL CENTER

11.7

(0.46)

8.6 (0.34)

1.78 ± 0.10

(0.070 ± 0.004)

2.92 ± 0.10

(0.115 ± 0.004)

10.16

(0.400)

5.46 ± 0.10

(0.215 ± 0.004)

OPTICAL

CENTER LINE

2.54

(0.100)

2.21

(0.087)

5.8

(0.23)

6.35 (0.250) REF.

ALIGNING RECESS

2.44/2.41 X 2.79

(0.096/0.095 X 0.110)

2.16 (0.085) DEEP

4.11 (0.162)

ALIGNING RECESS

2.44/2.41 DIA.

(0.096/0.095)

2.16 (0.085) DEEP

OPTICAL

CENTER

45°

8.81

(0.347)

4.75 ± 0.10

(0.187 ± 0.004)

2.9

(0.11)

1.8

(0.07)

VCC

GND

5 CH. B

4 V CC

3 CH. A

2 N.C.

1 GND

SIDE A SIDE B

TYPICAL DIMENSIONS IN

MILLIMETERS AND (INCHES)

4.01 ± 0.20

(0.158 ± 0.008)

16.76 ± 0.20

(0.66 ± 0.008)

26.67 (1.05)

HEDS-9X00

15.2

(0.60)

17.27

(0.680)

20.96

(0.825)

1.85 (0.073)

8.64 (0.340)

REF.

ALIGNING RECESS

2.44/2.41 DIA.

(0.096/0.095)

2.16 (0.085)

DEEP

1.02 ± 0.10

(0.040 ± 0.004)

5.1 (0.20)

X00

YYXX

OPTION CODE

0.63 (0.025)

SQR. TYP.2.54 (0.100) TYP.

DATE CODE

1.0 (0.04)

3.73 ± 0.05

(0.147 ± 0.002)

2.67 (0.105) DIA.

MOUNTING THRU

HOLE 2 PLACES

2.44/2.41 X 2.79

(0.096/0.095 X 0.110)

2.16 (0.085) DEEP

OPTICAL CENTER

1.52 (0.060)

20.8

(0.82)

11.7

(0.46)

8.6 (0.34)

1.78 ± 0.10

(0.070 ± 0.004)

2.92 ± 0.10

(0.115 ± 0.004)

10.16

(0.400)

5.46 ± 0.10

(0.215 ± 0.004)

OPTICAL

CENTER LINE

2.54

(0.100)

2.21

(0.087)

5.8

(0.23)

6.35 (0.250) REF.

ALIGNING RECESS

2.44/2.41 X 2.79

(0.096/0.095 X 0.110)

2.16 (0.085) DEEP

4.11 (0.162)

ALIGNING RECESS

2.44/2.41 DIA.

(0.096/0.095)

2.16 (0.085) DEEP

OPTICAL

CENTER

8.81

(0.347)

11.9

(0.47)

4.75 ± 0.10

(0.187 ± 0.004)

2.9

(0.11)

1.8

(0.07)

6.9 (0.27)

VCC

GND

5 CH. B

4 VCC

3 CH. A

2 N.C.

1 GND

SIDE A SIDE B

TYPICAL DIMENSIONS IN

MILLIMETERS AND (INCHES)

Theory of Operation

The HEDS-9000 and 9100 are C-shaped emitter/detec-

tor modules. Coupled with a codewheel, they translate

the rotary motion of a shaft into a two-channel digital

output.

As seen in the block diagram, each module contains a

single Light Emitting Diode (LED) as its light source. The

light is collimated into a parallel beam by means of a

single polycarbon ate 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 product the

digital waveforms.

The codewheel rotates between the emitter and detec-

tor, causing the light beam to be interrupted by the pat-

tern of spaces and bars on the code wheel. The photo-

diodes which detect these interruptions are arranged in

a pattern that corresponds to the radius and design of

the ode wheel. These detectors are also spaced such that

a light period on one pair of detectors corre sponds to a

dark period on the adjacent pair of detectors. The photo-

diode outputs are then fed through the signal process-

ing circuitry resulting in A, A, B, and B. Two comparators

receive these signals and produce the ﬁ nal outputs for

channels A and B. Due to this integrated phasing tech-

nique, the digital output of channel A is in quadrature

with that of channel B (90 degrees out of phase).

Block Diagram Output Waveforms

Deﬁ nitions

Count (N): The number of bar and window pairs or counts

per revolution (CPR) of the codewheel.

1 Shaft Rotation = 360 mechanical degrees,

= N cycles.

1 cycle (C) = 360 electrical degrees (°e),

= 1 bar and window pair.

Pulse Width (P): The number of electrical degrees that

an output is high during 1 cycle. This value is nominally

180°e or 1/2 cycle.

Pulse Width Error (ΔP): The deviation, in electrical degrees

of the pulse width from its ideal value of 180°e.

State Width (S): The number of electrical degrees between a

transition in the output of chan nel A and the neighboring

transition in the output of channel B. There are 4 states per

cycle, each nominally 90°e.

State Width Error (∆S): The deviation, in electrical degrees,

of each state width from its ideal value of 90°e.

Phase (φ): The number of elec trical degrees between the

center of the high state of chan nel A and the center of

the high state of channel B. This value is nominally 90°e

for quadrature output.

Phase Error (∆φ): The deviation of the phase from its ideal

value of 90°e.

Direction of Rotation: When the codewheel rotates in the

direc tion of the arrow on top of the module, channel A will

lead channel B. If the codewheel rotates in the opposite

direction, channel B will lead channel A.

Optical Radius (Rop): The dis tance from the codewheel’s

center of rotation to the optical center (O.C.) of the en-

coder module.

ROTATION

CHANNEL A

CHANNEL B

AMPLITUDE

S1 S4

S2 S3

Absolute Maximum Ratings

Storage Temperature, TS-40°C to 100°C

Operating Temperature, TA-40°C to 100°C

Supply Voltage, V

CC -0.5 V to 7 V

Output Voltage, V

O-0.5 V to V

Output Current per Channel, Iout -1.0 mA to 5 mA

Recommended Operating Conditions

Parameter Symbol Min.Typ.Max.Units Notes

Temperature T -40 100 °C

Supply Voltage V

CC 4.5 5.5 Volts Ripple < 100 mVp-p

Load Capacitance CL100 pF 3.3 kΩ pull-up resistor

Count Frequency f 100 kHz Velocity (rpm) x N

Note: The module performance is guaranteed to 100 kHz but can operate at higher frequencies.

Encoding Characteristics

Encoding Characteristics over Recommended Operating Range and Recommended Mounting Tolerances. These

Characteris tics do not include codewheel/codestrip contribution.

Description Sym.Typ.Case 1 Max.Case 2 Max.Units Notes

Pulse Width Error ∆P 30 40 °e

Logic State Width Error ∆S 30 40 °e

Phase Error ∆φ2 10 105 °e

Case 1: Module mounted on tolerance circle of ±0.13 mm (±0.005 in.).

Case 2: HEDS-9000 mounted on tolerances of ±0.50 mm (0.020”).

HEDS-9100 mounted ontolerances of ±0.38 mm (0.015”).

Electrical Characteristics

Electrical Characteristics over Recommended Operating Range, typical at 25°C.

Parameter Symbol Min.Typical Max.Units Notes

Supply Current ICC 17 40 mA

High Level Output Voltage V

OH 2.4 Volts IOH = -40 μA max.

Low Level Output Voltage V

OL 0.4 Volts IOL = 3.2 mA

Rise Time tr200 ns CL = 25 pF

Fall Time tf50 ns RL = 11 kΩ pull-up

Derating Curves over Extended Operating Frequencies (HEDS-9000/9100)

Below are the derating curves for state, duty, phase and VOH over extended operating frequencies of up to

240 kHz (recommended maximum frequency is 100 kHz). The curves were derived using standard TTL load.

–40°C operation is not feasible above 160 kHz because VOH will drop below 2.4 V (the minmum TTL for logic state high)

beyond that frequency.

120 220

FREQUENCY (kHz)

-40

CHANGE IN PULSE WIDTH ERROR

(ELECTRICAL DEGREE)

240

-30

-20

160

-10

140 200180

100 °C

25 °C

-40 °C

-50

120 220

FREQUENCY (kHz)

CHANGE IN STATE WIDTH ERROR

(ELECTRICAL DEGREE)

240

160

140 200180

100 °C

25 °C

-40 °C

120 220

FREQUENCY (kHz)

-10

CHANGE IN PHASE ERROR

(ELECTRICAL DEGREE)

240

-5

160140 200180

100 °C

25 °C

-40 °C

120 220

FREQUENCY (kHz)

CHANGE IN VOH (VOLTS)

240

160140 200180

100 °C

25 °C

-40 °C

Recommended Codewheel Characteristics

Figure 1. Codestrip Design

Codewheel Options

HEDS

Series

CPR

(N) Option

Optical

Radius

mm (in.)

5120 96 K 11.00 (0.433)

5120 100 C 11.00 (0.433)

5120 192 D 11.00 (0.433)

5120 200 E 11.00 (0.433)

5120 256 F 11.00 (0.433)

5120 360 G 11.00 (0.433)

5120 400 H 11.00 (0.433)

5120 500 A 11.00 (0.433)

5120 512 I 11.00 (0.433)

6100 500 A 23.36 (0.920)

6100 1000 B 23.36 (0.920)

Parameter Symbol Minimum Maximum Units Notes

Window/Bar Ratio φw/φb0.7 1.4

Window Length LW1.8 (0.071) 2.3 (0.09) mm (inch)

Absolute Maximum

Codewheel Radius

RCROP + 1.9 (0.0075) mm (inch) Includes eccentricity errors

Mounting Considerations

Figure 2. Mounting Plane Side A.Figure 3. Mounting Plane Side B.

Figure 4. Mounting as Referenced to Side A.Figure 5. Mounting as Referenced to Side B.

Connectors

Mounting

Manufacturer Part Number Surface

AMP 1203686-4

640442-5

Both

Side B

DuPont 65039-032 with

4825X-000 term.

Both

HP HEDS-8902

with 4-wire leads

Side B

(see Fig. 6)

Molex 2695 series with

2759 series term.

Side B

Figure 6. HEDS-8902 Connector.

A B C D E F G H I J K L S T U

HEDS-9000 * * * * *

01 02 03 04 05 06 08 09 10 11 12 13 14

HEDS-6100 A * * *

B****

Ordering Information

HEDS-9000 Option HEDS-6100 Option

0 0

Resolution

(Cycles/Rev)

A - 500 CPR

B - 1000 CPR

J - 1024 CPR

T - 2000 CPR*

U - 2048 CPR*

Shaft Diameter

06 - 1/4 in. 10 - 5/8 in.

08 - 3/8 in. 12 - 6 mm

09 - 1/2 in. 13 - 8 mm

HEDS-910 0 Option HEDS-5120 Option

0 0

Shaft Diameter

01 - 2 mm 11 - 4 mm

02 - 3 mm 14 - 5 mm

03 - 1/8 in. 12 - 6 mm

04 - 5/32 in. 13 - 8 mm

05 - 3/16 in.

06 - 1/4 in.

Resolution

(Cycles/Rev)

S - 50 CPR

K - 96 CPR

C - 100 CPR

E - 200 CPR

F - 256 CPR

G - 360 CPR

H - 400 CPR

A - 500 CPR

I - 512 CPR

B - 1000 CPR*

J - 1024 CPR*

Lead

0 - Straight Leads

1 - Bent Leads

A B C D E F G H I J K S T U

HEDS-9100 * * * * * * * * * * *

HEDS-9101 ****

01 02 03 04 05 06 08 09 10 11 12 13 14

HEDS-5120 A * * * * * * * * *

C* * ****

E**

G** ** * *

H* * ***

I** * ***

K* *

For product information and a complete list of distributors, please go to our website: www.avagotech.com

Avago, Avago Technologies, and the A logo are trademarks of Avago Technologies in the United States and other countries.

AV02-1867EN - January 4, 2010