Agilent HEDB-9100 and HEDB-9000
Two Channel Optical
Incremental Encoder Modules
Bundle With Codewheel
Data Sheet
Features
•
High Performance
•
Resolution from 96 CPR Up To
1000 CPR (Counts Per Revolution)
Description
The HEDB-9100 and HEDB-
9000 series are two channel
optical incremental encoder
modules offered with a
codewheel. When used with a
codewheel, these low cost
modules detect rotary position.
Each module consists of a
lensed LED source and a
detector IC enclosed in a small
C-shaped plastic package. Due
to a highly collimated light
source and a unique
photodetector array, these
modules are extremely tolerant
to mounting misalignment.
The HEDB-9100 and 9000 has
two channel quadrature
outputs.
•
Low Cost
•
Easy to Mount
•
No Signal Adjustment required
•
Small Size
•
Operating Temperature:
-40
o
C to 100
o
C
The HEDB-9100 is designed
for use with a HEDS-5120
codewheel which has an
optical radius of 11.00 mm
(0.433 inch).The HEDB-9000 is
designed for use with a HEDS-
6100 codewheel which has an
optical radius of 23.36 mm
(0.920 inch).
The quadrature signals and the
single 5V supply input are
accessed through five 0.025
inch square pins located on
0.1 inch (pitch) centers.
•
TTL Compatible
•
Two Channel Quadrature Output
•
Single 5V Supply
Applications
The HEDB-9100 and 9000
provide sophisticated motion
control detection at a low cost,
making them ideal for high
volume applications. Typical
applications include printers,
plotters, tape drives, and
industrial and factory
automation equipment.
Note:
Agilent Technologies encoders are not
recommended for use in safety critical
applications. Eg. ABS braking systems, power
steering, life support systems and critical care
medical equipment. Please contact sales
representative if more clarification is needed.
1
Theory of Operation
The HEDB-9100 and 9000 is
emitter/detector modules.
Coupled with a codewheel,
these modules translate the
rotary motion of a shaft into a
two-channel digital output.
As seen in Figure 1, the
modules 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 code-wheel.
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, Abar, B, Bbar. Two
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).
Definitions
Note: Refer to Figure 2
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.
∆Θ
Position Error (∆Θ
The
∆Θ):
normalized angular difference
between the actual shaft
position and the position
indicated by the encoder cycle
count.
Cycle Error (∆C):
An
∆
indication of cycle uniformity.
The difference between an
observed shaft angle which
gives rise to one electrical
cycle, and the nominal angular
increment of 1/N of a
revolution.
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 (∆P):
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
channel A and the neighboring
transition in the output of
channel B. There are 4 states
per cycle, each nominally 90°e.
Phase (φ):
The number of
φ
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 90°e
for quadrature output.
φ
Phase Error (φ):
The deviation
of the phase from its ideal
value of 90°e.
Direction of Rotation:
When
the codewheel rotates in the
clockwise direction viewing
from top of the module
(direction from V to G),
channel A will lead channel B.
If the codewheel rotates in the
opposite direction, channel B
will lead channel A.
Optical Radius (Rop):
The
distance from the codewheel’s
center of rotation to the
optical center (O.C) of the
encoder module.
Specification
For encoder electrical,
mechanical specifications,
codewheel technical
specifications and additional
informations pls refer to :
•
HEDS-9000 /9100 Datasheet.
•
HEDS/HEDG/HEDM – 51xx /61xx
Codewheel Datasheet
2
Bundle Part Number Breakdown List
Note :
The bundle part HEDB-9100/9000 consists of HEDS-9100/9000 and HEDS-5120/6100.
The diagram below provides the breakdown list.
HEDB - 9100 - CPR
Shaft Diameter
00
Encoder Module : HEDS-9100 - CPR
Codewheel : HEDS - 5120 - CPR
Shaft Diameter
HEDB - 9000 - CPR
Shaft Diameter
00
Encoder Module : HEDS-9000 - CPR
Codewheel : HEDS - 6100 - CPR
Shaft Diameter
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For product information and a complete list
of distributors, please go to our web site.
For technical assistance call:
Americas/Canada: +1 (800) 235-0312
or (916) 788-6763
Europe: +49 (0) 6441 92460
China: 10800 650 0017
Hong Kong: (+65) 6756 2394
India, Australia, New Zealand: (+65) 6755 1939
Japan: (+81 3) 3335-8152(Domestic/Inter-
national), or 0120-61-1280(Domestic Only)
Korea: (+65) 6755 1989
Singapore, Malaysia, Vietnam, Thailand,
Philippines, Indonesia: (+65) 6755 2044
Taiwan: (+65) 6755 1843
Data subject to change.
Copyright © 2005 Agilent Technologies, Inc.
Ovtober 18, 2005
5989-4045EN
5
Programming Basics
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