Optical Encoders
CIRCUITRY, TRUTH TABLE, AND WAVEFORM
Standard Quadrature 2-Bit Code
PIN #
POWER +5V
R*
OUTPUT A
R*
OUTPUT B
4
5
200
Ω
5%
OUTPUT
A
HIGH
LOW
HIGH
LOW
1
2
3
4
5
6
Clockwise Rotation
Position
Output A
Output B
1
2
3
4
2
POSITION NUMBER
GROUND
1
* External pull-up resistors required for operation (2.2 kΩ).
6
N.O.
PUSH-
BUTTON
SWITCH
3
OUTPUT
B
•
•
•
•
•
Indicates logic high; blank indicates
logic
low. Code repeats every 4 positions.
SPECIFICATIONS
Environmental Specifications
Operating Temperture Range:
-40°C to 85°C
Storage Temperature Range:
-55°C to 100°C
Humidity:
96 Hours at 90–95% humidity at
40°C
Mechanical Vibration:
Harmonic motion with
amplitude of 15G's, within a varied frequency
of 10 to 2000 Hz
Mechanical Shock:
Test 1: 100G for 6 mS, half
sine wave with a velocity change of 12.3 ft/s;
Test 2: 100G for 6 mS, sawtooth wave with a
velocity change of 9.7 ft/s
Average Rotational Torque:
H-3.60±1.60
in-oz, M-2.20±1.40 in-oz, L-1.20±0.50 in-oz,
N-<0.50 in-oz initially, torque shall be within
50% of initial value throughout life
Mounting Torque:
15 in-oz maximum
Shaft Push-Out Force:
45 lbs minimum
Shaft Pull-Out Force:
45 lbs minimum
Terminal Strength:
15 lbs minimum terminal
pull-out force for cable or header termination
Solderability:
95% free of pin holes and voids
Pushbutton Electrical and
Mechanical Specifications
Rating:
10 mA at 5 Vdc
Contact Resistance:
<10Ω
Life:
3 million actuations minimum
Contact Bounce:
<4 ms Make, <10 ms Break
Actuation Force:
9-950±250 grams, 5-
510±110 grams, 4-400±100 grams, 3-300±90
grams, 2-200±75 grams
Shaft Travel:
.020±.010 inch
Rotary Electrical and Mechanical
Specifications
Operating Voltage:
5.00 ±0.25 Vdc
Supply Current:
30mA maximum at 5Vdc
Output:
Open collector phototransistor,
external pull up resistors are required
Output Code:
2-Bit quadrature, channel A
leads channel B by 90° electrically during
clockwise rotation of the shaft
Logic Output Characteristics:
Logic High shall be no less than 3.0 Vdc
Logic Low shall be no greater than 1.0 Vdc
Minimum Sink Current:
2.0 mA
Power Consumption:
150 mW maximum
Mechanical Life:
Non-Detent
3 Million Cycles
Low & Medium
1 Million Cycles
High
1/2 Million Cycles
1 cycle is a rotation through all positions and
a full return
Materials and Finishes
Bushing:
Zamak 2
Shaft:
Aluminum or Zamak 2
Retaining Ring:
Stainless steel
Pushbutton Actuator:
Zytel 70G33L
Detent Spring:
Music wire
Detent Ball:
Stainless steel
Code Housing:
Polyamide polymer, nylon 6/
10 alloy UL94HB
Code Rotor:
Delrin 100
Printed Circuit Boards:
NEMA grade FR-4,
double clad with copper, plated with gold over
nickel
Infrared Emiting Diode Chips:
Gallium
aluminum arsenide
Silicon Phototransistor Chips:
Gold and
Aluminum Alloys
Resistor:
Metal oxide on ceramic substrate
Solder Pins:
Brass, plated with tin
Pushbutton Dome:
Stainless steel
Backplate:
Stainless steel
Cable:
Copper stranded with topcoat in PVC
insulation (Cable version only)
Connector (.050 Center):
PA4.6 with tin/lead
plated phosphor bronze
Connector (.100 Center):
Nylon UL94V-2, tin
plated copper alloy
Label:
TT406 Thermal transfer cast film
Solder:
60/40 Tin lead, no clean – low residue
flux
Lubricating Grease:
NYE nyogel 774L
Hex Nut:
Nickel, plated with brass
Lockwasher:
Stainless steel
Header:
Hi-Temp glass filled thermoplastic
UL94V-0, phoshor bronze (pinned versions
only)
Strain Relief:
Glass filled thermoplastic (.100
center cable versions only)
Optical and Mechanical
Encoders
OPTIONS
Contact Grayhill for custom terminations, shaft
and bushing configurations, rotational torque
pushbutton force, and code output. Control
knobs are also available.
ORDERING INFORMATION
Angle of Throw
45=45° for Code Change and 8 Detent Positions
30=30° for Code Change and 12 Detent Positions
22=22.5° for Code Change and 16 Detent Positions
18=18° for Code Change and 20 Detent Positions
6 2 S X X - X X - X X XX
15=15° for Code Change and 24 Detent Positions
11=11.25° for Code Change and 32 Detent Positions
Termination
C = .050 Center Ribbon Cable with Connector
S = .050 Center Ribbon Cable with .100 Stripped End
P = .050 Center Pins with .185 Length
CH = .100 Center Ribbon Cable with Connector
SH = .100 Center Ribbon Cable with .100 Stripped End
PH = .100 Center Pins with .230 Length
Cable Length
020 thru 250 in 1/2 inch increments
3 Digits are eliminated if pinned termination is required.
Examples:
060 = 6.0 inch cable
135 = 13.5 inch cable
Pushbutton Option
0 = NO PUSHBUTTON
4 = 400 Grams
9 = 950 Grams
3 = 300 Grams
5 = 510 Grams
2 = 200 Grams
Rotational Torque Option
N = Non-detent
L = Low Torque (available with 0, 4, 5, 9 pushbutton only)
M = Medium Torque (available with 0, 5, 9 pushbutton only)
H = High Torque (available with 0, 9 pushbutton only)
I-5
Grayhill, Inc. • 561 Hillgrove Avenue • LaGrange, Illinois 60525-5997 • USA • Phone: 708-354-1040 • Fax: 708-354-2820 • www.grayhill.com
Robotics Development
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