HEWLETT PACKARD | | TWO AND THREE CHANNEL | uirps-soo0 INCREMENTAL OPTICAL 28 mm DIAMETER SERIES ENCODER KIT Features ‘SMALL SIZE — 28 mm DIAMETER 100-512 CYCLES/REVOLUTION AVAILABLE MANY RESOLUTIONS STANDARD LOW INERTIA QUICK ASSEMBLY (0.25 mm (.010 INCHES) END PLAY ALLOWANCE ‘+ TTL COMPATIBLE DIGITAL OUTPUT ‘+ SINGLE 5V SUPPLY WIDE TEMPERATURE RANGE INDEX PULSE AVAILABLE. Description ‘The HEDS-5000 seri is a high resolution incremental opt alencoderkitemphasizing relabiltyandease of assembly The 28 mm diameter package consists of 3 pars: the ‘encoder body. a metalcode wheel, and an emitter end pate ‘An LED source and lens transmit colimated light from the ‘miter module through a precision metal code whee! and hase plate ino a bifurcated detector lens, ‘The lghtis focused onto pairs of closely spaced intograted detectors which output two equare wave signalsin quadra lure au an optional index pulse. Colimated ght and custom photodetector configuration inerease long ite rela bility by reducing sensitiity to shaft end play, shatt eccentricity and LED degradation. The outputs and the SV Supply input ofthe HEDS:6000 are accessed through a 10 pin eonnector mounted an a 6 metre ribbon cable. Outline Drawing a TECHNICAL DATA JANUARY 184 AA standard selection of shaft sizes is avaiable and resolx tions between 100 and 512 cycles per revolution are available a5 options. The part numer for the standard 2 Channel kit is HEDS-5000, while that for the 3. channel ovice, with index puise, is HEDS-5010, See Ordering Information for more dota, Applications Printers, Ploters, Tape Drives, Positioning Tables, Auto matic Hanclers, Robots, ang any other servo lagp where a ‘small high performance encoder s required. aaa f KF Ny SECTIONAA secrete: oo) (mec om——al 1 me | Block Die then output as Inthe HEDS-5) Callimated bya Emitter End Pie “The standard equally space Imatening pate phase plate. T pertures in th Alten up 8 lens beneath t Jated tight nto The Encoder E tion elements Consisis of an amplifiers, ac Theapertures alight period fn the other amplified and State when the Sign. Thesoco ‘quacrature 10 Direction of ehannelsisthe level signals, The optional Configuration Bn index pul ‘each rotation Faghe interface such accurae ‘The three pa! Boay othe Snapping the plates tho ast fncoser cent ature anatel ee i | &] —l aa gs aoa jeory of Operation Ibs incremental shat encoder operates by translating the gon ota shatt int interuptions ol alght beam whichare output as electrical pulses ie HEDS-SXXX the ight source isa Light Emitting Diode Sblimsted bye molded lene into paral beam of ight. The itr Ena Plate contains two or threesimilar ight sources, fe standard Code Whee! is @ metal disc which has N ly spaced apertures around its circumference. A Faicing pattern of aportures{s positioned on the stationary ase plate. The light beam Is vansmitted only when the fein the cade wheo! ane the apertures the phase Pie ne up: therefore. during a complet shal evolution, wilbeN alternating ightana dark poniods. A moided eeneath the phase plate aperture collects the modu ight nta a sllcon detector. Te Encoder Body contains the phase plate andthe detec on elements for two oF tives channels. Each channel [enssts ofan integrated cicult with two photodiodes and piers comparator and output cIrcutry Tvapertures forthe two photodiodes are positioned so that {ight period on one detector corresponds toa dark period Bre other push-pul). The photodiode signals are {ples anc tod to tha comparator whose output changes Tple wen the citterence ofthe two photocurrents changes fn The second channel hasa similar configuration butthe ition ote uperlure pa provides an output win iin [gasrature to the first chan (phase difference of 90° Beeston of rotation s determined by observing which ofthe Bbanels athe leading waveform. Thooutpuis are TTLIogie signals Teoptionalindex channels simiarin optical and electrical Faniguration tothe Aand Bchannels previously described, Index pulse of ypicaly 1 cycle math is generated tor fac rotation of the code wheel. Using the recommended Jojenierface, a Unigue foge state (Po| can be identified eh accuracy is require, The three part kit is assembled by attaching the Encoder Boy totne mounting surface using tnre screws. The Code Mes ie bot to the Gorrect gap and secured to the shat Sreoring the cover (Emitter End Plate) on the body com- utes the assembly, The only adjustment necossary is the [cose centering relative tothe chat. This optimizes quag~ Ble ane no optional Index pulse outputs jock Diagram and Output Waveforms 1 $s za ee l LL eee Index Pulse Considerations ‘The motion sensing application and encoder interface cir ey wil determine the necessary phase relationship of the index pulse to the main data racks. A unique shaft postion ‘Cane identified by using the index pulse output only or by Togtealy relating the index pulgo to the A and B data chan- fhe The HEDSs010 allows soma adjustrnel ofthe index Pulse position with respect tothe main data channels. The Position i easly adjusted during the assembly process as fistrated in the assembly procedures Definitions hectic deyrows: 4 shaft rotation = 360 angular degrees Netecirical cycles 1 oyele 360 electrical degrees Postion Ere “The angular citference between the actual shaft position and Is postion as ealeviarea by courting tn encaaber's oycles Cycle Eror: Anindieation of eycle uniformity. The iference between an ‘observed shaft angle which gives riseto one electrical cycle, land the nominal angular increment of 1/N ofa revolution. Phase “The angle between the center of Pulse And tne center of Pulse 8 Index Phase For counter clockwise rotation as llusrated above, the Index Pnase Is defines a5 a a 41s the angle, in electrical degrees between thefaling edge ‘1 | and falling edge of 8. do s the angle, in electrical ‘ogrees. betwoon the rising edge of A and the sing edge ot ‘The Index Phase Error (4%) deserbes the change in the Index Pulse position ster assembly with respectiothe A and B channels over tne recommended operating conditions, oe OotAbsolute Maximum Ratings Mechar Syibat | wins [ae Tria Notes Bed a 5 100. Gets fccranet Te “55 100 2Casivs | See Nolet Baume ode wh Vibration 20 < Seo Note | ae Shaft Axial Play 0,20) | mm(tinen/i000) TIA | ‘Shaft Dia Bhatt Eccanirieily Pos + (4) | m(tinch7i060) IN] Movement sno Be Radial Play limtegevon under | i shockeondiions, Supply Vonage Veg [08 7 vos Output Votage Ye 05 ¥ ors Moment ‘Output Current par} lo “4 ° mA r Shane : Roavired Vatoeiy 0,000 APM “Accaertion| z 250,000 | Ra. Sec? Fy force Moun Recommended Operating Conditions rameter Symbol Min. Max Units: Notes, a Temperatura T 20 85 Cetaivs | Non-condensing atmos Supply Voltage Woo —a5 35. Voit | Ripple = 100mVa-9 ‘Code Whee! Gap 72148) [ram Gnew 000) | Nomina ga Electric Shalt Peroendiewtaaty 325 10) mm Gnan/1000) | 9.8 mm (05 in) when shat Blctica! cn Pius Aa a = Tia | is at minimum gap postion et Shaft Eccentiiy Pus 04 (18) | mm new 7000) | 10 mm (04 inch from keane Fadial Piay na mounting surface. Supply ¢ Load Gapaciance a 700 °F : High ev : Pa Vohiage Encoding Characteristics inci The section bow spy win he ecrimana cerning candor an at patormanc 0 eye votage revolution ‘N = 500, Some encoding charactensics improve with decreasing cycles NI, Consult Application Note 1011 | [| Pewee Iacory for adations deta : . er Rani iene |e [ai Position Error 38) 10 | 40 | Minutes of Arc | 1 Cycle 43.2 Minutes. nal Worst Error Fu | See Flues Rotation = Oyele Ear 36 3 | 88 | Eiectcal eo. | Worst Error Ful | otaton — ‘x Count Frequency | wax | Twon00 | 200000 Hera | 1= Velocity RPMI x wee Pulse Wath ror | aP 6 Trotical dog. | T= 250, = 8 KHz Wore error Ful See Note 2 Specie |_fotaion th nt | bnase Sensioviy to = Bec. dog mm 9. ina prope Eveenty 3) fc: ga |_ril nary1000. j storia Phase Sensi to 0 eo. deg ee ‘ial Play is ee. g/ml | mil = inch 1000 mane Logic State Width Error] aS | ca Electrical deg. | T = 25°C, 1=8 KHz 5 When the Wore error Ful See Note2 er ro Rotation | Pout idx Pulse Width a 7 Gectical deg. | 129] =0 Oe cate eu Seeing date a ie index Pre Err 3 o 17 | Bestel deg. | See Notes 4.6 ono Index Pulse Phase ‘270 Ha Electrical deg. | See Note 5 ees ‘austere Range onoreMechanical Characteristics Notes. Teaches Woman’ of inertia “Gem (oz ines) FReguvred Shatt Longin ra (inches) ‘Seo Figure 10 ‘Shaft in inimum fongth positon, iam inches) See Figure 10 Mounting Screw Sika {5X05 x5 mm inches Electrical Characteristics wnon op etic! Characteristics over Recommen ating within the recommended operating range. perating Range Typical at 26°C Unie | Notes 7A HEDS-5000 2 Channel HEDS-5010 (3 Channel) Tot = AOA Ma, Low Level Output 1a=32ma [c= 25 pF, R= 11K Puilup| See Note? ‘pFimetrea Gable Capacitance ‘Output Lead t Ground a)Figure 1. Typical Change in Pulse Wit Eroror in State Win Error due to Spee and Temperature Figure 2. Typlal Change in Index Pue Width Du to Speed and Temperate ‘Figure 8. Poston Ever v. Shalt Eecentciy ‘Figure 2. Maximum Change In Puie Width Error orn ‘Slate Wich Error Due to Speed and Temperatre bbeeebags Figue 4. Masimum Change in index Pulee With Due io Speed ana tempersure Flgue 6. Recommended intrtace Circuit a8 Orde‘ArT BANTER sore OTHE sso urionsavatasee owas Ss Aonanwe pietraL | ‘wecnL CNPEUAKTIONShaft Encoder Kit ASSEMDIY see Aopication Note 1011 tr turthar cecussion, The folowing essembly procedure represents simpio and relale method fo orctotype encoder assembly. High volume assembly map suggeu moattiatons to this procedure using custom designed touing. in conan igh volume applations saeccey coset ean ‘ccomplahed ines than 30 seconds. Consul etory for ure elas Note The coos whee Yo phase ate gop seouss tae eee Dost ane Oo46 (EARNING THE RORESTVES USED MAY BE HARUFUC CONSULT THE MANUFACTURERS RECOMMENDATIONS] READ THE INSTRUCTIONS TO THE ENO BEFORE STARTING ASSEMBLY. 1.0 SUGGESTED MATERIALS. 11 Encoder Parte Encoder Seay Eiter End late Code Whos Asvembly Mates Daw Coming 3145 Epoxy—Hyaol 16 Mounting Seco 3) ITV and Epoxy Appleatrs ‘Suggested Assembly Toots 1) Torque Lining Serewsivnr, 0:8 cm kg (5.0 in. 6 £) Depth Mcromster or HEDS 8822 Gap Seer 4) Oselloseope or Prace Meter Described nAN 1011), Eihe {20pe leaves or ndex pte rave atin! Suggested Cute 4) Suggested ut for Index acjustment (HEDS-$010) or optimal nae pase, sous encoder positon o eau ‘berand'T pulse the Phase Meter Cicut SURFACE PREPARATION f THE ELAPSED TIME BETWEEN THIS STEP AND THE COMPLETION OF STE B SHOULD NOT EXCEED 1/2 HOUR Clean anc cgrease wth seston the mounting sutace and ‘shaft making sure to keep the acetone away from the Motor earings ‘Apply TY into screw teads on mounting sutace. Apply ‘more RTV on the surface by forming a aay ning atern Connecting the stow hele 8s enon soove ‘3.0 ENCODER BODY ATTACHMENT A & Sie ttn wns nae re ay bases” MS Pace the screws in he holding screwcrwer an tread ham Inte mosrting holes. Tighten to spproniatly0 38 em (S0in-on usingatorquelimting screwdriver avalace Set notes and below, Remove centering cane uses Notes ‘lounong surace oni wit consgeabis num petsure ») Thetorgu imtng screwdriver sould be periachalyeabraed ‘40 EPOXY APPLICATION ([GAUTION: HANDLE THE CODE WHEEL WITH GARE] Spread th epoxy nego tne ower pat of the hub bore Holding ho code whee! by is hub ide t down he shafts nougn i sit tsquarely About 3 mm 78 (CODE WHEEL POSITIONING nen Take up any loose pay by lightly ling downon the shafts ‘whoo! hub down toa dept of 1.65 mm (O65 in. below he fim ofthe enoaer body. The registration holes inthe Sas itn te orape protrudlng rm the ence the gap sate o micrometers seatd squarsy 84 No epoxy should extrude through he shat hole ([DONOT TOUCH THE CODE WHEEL AFTER ASSEMBLY]60 EMITTER END PLATE I) Viva check thatthe wire pine inthe encoder body ae I Hoan ond pine parle itn encoder ody sm Align he Body and pros the ond plate sralght down unt fe ocked 2 Vaualyeneek tose the end plat is propery seated 10 PHASE ADJUSTMENT aS» ate Aijuaing channels And 8 : Cannect he encoder cable, utp wavetorms and defintions Using ether an oscil (have error by shding the encoder forward or backware on Glamouming suracesrsnows above see Applicaton Now FV cures, Cure ime 2 hours @70-C or 24 heat 100m Hot: Atr mounting, the encoder shouldbe fe rom mechan fe tote mounting surace ° (COE WHEEL REMOVAL Bet sse tne cose wheel exracoraefolowss 1 Remove te emitter end late by orving a sereaariverin the Alte provided aroune ine encoder body a arora bending Sido te extractors horseshoe shaped lp al the way nto the hoping mare tering pressure wil pul he hub upwards renkng the apony bond Can the shal belrereassemtiy, 0 INDEX PULSE ADJUSTMENT (HEDS-5010) Using an osilosope and the cit shown in 14, sa the tegger forthe fling edge of fe output Aust he inex Bulse 0 that Ts and Ts are equal in wath. The physia NNostresssnouldbe apoio the encosor package untitne ‘SPECIALITY TOOLS — Available rom Hewiet- Packard 2) HEDS-a820 Hub Ptr ‘hat size may be used In slep 30 nialy canter the ‘ncoder bos) with respect othe sha ang aid noesting the mounting sew holes Depending one resalton fn neouracy requests centering may eiminae he fad for pho adjustment stops? and 8 Pant Number Sat Sie HeDsae2s 7 Hepes mm Hepsaees in HEDSs007 916i. Hepssice tin Hepsseea = ¢mm HEDS-#990 HEDS-5000 Too Kit FP Holding Serer TTorgue Lining Screwdriver, 096 em kg (8.0 no HEDS-9020 Hub Puller HEDS-#922 Gap Setter ero