Basic principle features

Transcription

1 Basic principle features Class Incremental type E6A2-C E6B2-C E6C2-C E6D-C E6F-C E6H-C Item Features Structure Output wave This type outputs a pulse sequence in response to the amount of rotational displacement of the shaft. A separate counter counts the number of output pulses and detects the amount of rotation based on the count. To detect the amount of rotation from a certain input shaft position, the count in the counter is reset to the reference position and the number of pulses from that position is added cumulatively by the counter. For this reason, the reference position can be selected as desired, and the count for the amount of rotation can be unlimited. Another important feature is that a circuit can be added to generate twice or four times the number of pulses for one signal period, for heightened electrical resolution. (See note) Also, the Z-phase signal, which is generated once a revolution, can be used as the zero position within a revolution. Detection element Axis Rotor plate (disk) A phase slit B phase slit Emission element Z phase signal slit When a disk with an optical pattern written on it revolves along with the shaft, light passing through two slits is transmitted or blocked accordingly. The light is converted to an electrical current in the detector, which resists each slit, and is output as two square waves. The two slits are positioned so that the phase difference between the square wave outputs is / pitch. Starting point pitch Phase difference 9 A phase B phase * Z phase 36 electrical angle * Even if resolution changes, the number of phase does not change. Multi-revolution absolute type E6C-M E6C-N Note:When high resolution is necessary, a -multiplier circuit type is generally used. (A output is obtained by differentiating the rise and fall waveforms of phase A and phase B, resulting in four times the resolution. The absolute data of one revolution has the same features as the normal absolute type. The rotation quantity data is output as absolute data, and there are types that require a battery backup when the power is off and types that do not, depending on the method of detection of rotation quantity data. This is used when you wish to change position detection to absolute data when using an incremental encoder and the encoder revolves more than once. The sensor unit has basically the same configuration as the absolute type. Part of the absolute signal of one revolution is used to count the rotation quantity per revolution with the internal counter and output the multi-revolution data as an absolute code. Multiple rotation 2 n The th time The first time The second time 2 2 One rotation 2 n Data in one rotation Data in one rotation TSB-5

2 Class Absolute-type E6CP-A E6C2-A E6F-A Item Features Structure Output wave This type outputs in parallel the rotation angle as an absolute value in 2 n code. It therefore has a number of outputs equal to the number of output code bits, and as the resolution increases, the number of outputs increase. Rotation position detection is accomplished by directly reading the output code. When the encoder is incorporated into a machine, the zero position of the input revolution shaft is fixed, and the rotation angle is always output as a digital value with the zero position as the coordinate origin. Data is never corrupted by noise, and return to zero position at startup is not necessary. Furthermore, even when code reading becomes impossible due to high-speed rotation, correct data can be read when the rotation speed slows, and correct rotation data can even be read when the power is restored after a power failure or other interruption in the power supply. Axis Detection element Rotor plate (disk) Slit Emission element When a disk with an pattern written on it rotates, light passing through the slit is transmitted or blocked according to the pattern. The received light is converted to an electrical current in the detector, takes the form of a wave, and becomes a digital signal. pitch It changes with resolution. TSB-55

3 Guidelines for selection Incremental type or absolute type Select a type that is suitable in terms of cost vs. capacity, return (or not) to home position at startup, speed limit, and noise tolerance. 2 How much resolution is needed? Select the optimal model in view of required precision and cost of machine equipment. It recommends selecting the resolution from /2 to / in integrated precision of a machine. 3 External dimensions Also take into consideration the shaft type to be selected (hollow shaft or regular shaft) in relation to mounting space. Permitted shaft load When selecting, take into consideration how the mounting method affects the load on the shaft and mechanical life. 5 Maximum permitted number of revolutions Base your selection on the maximum number of mechanical rotations during use. 6 Maximum response frequency Base your selection on the maximum number of rotations of the shaft when the incorporated mechanical device is in use. Maximum response frequency = (Number of rotations/6) Resolution. However, there are deviations in the actual frequency, so the specifications of the selected model should provide a certain amount of leeway with respect to the above calculated value. 7 Protective structure Select the model based on how much dust, water, and oil there is in the environment of use. Dust only: IP5 Water and oil also exist: IP52(f), IP6(f) (water resistant, oil resistant) 8 Startup rotational torque of shaft How much torque does the drive source have? 9 Output circuit type Select the circuit type based on the device to be connected, the frequency of the signal, transmission distance, and noise environment. For long distance transmission, line driver output is recommended. Explanation of terms Resolution The pulse count of an incremental signal output when the shaft revolves once, or the absolute address count. Output phase The output signal count in the case of the incremental type. Types include a -phase type (A phase), 2-phase type (A phase, B phase), and a 3-phase type (A phase, B phase, and Z phase). The Z phase is a zero position signal that is output once a revolution. Output phase difference When the shaft is rotated, this is the time difference between the rise or fall of the A phase and B phase signals, expressed as a proportion of the period of one signal, or as an electrical angle where one signal period equals 36. The difference between A phase and B phase as an electrical angle is normally 9 CW This is the clockwise direction of rotation. Viewed from the shaft axis, the shaft rotates to the right. With the incremental type, the A phase normally leads the B phase in this rotation direction. With the absolute type, this is the direction of code increase. The reverse of CW rotation is counterclockwise (CCW) rotation. Output duty ratio This is the ratio of the duration of H level during one period to the average period of pulse output when the shaft is rotated at constant speed. Maximum response frequency The maximum frequency at which the signal can respond. Rise time, fall time The elapsed time from % to 9% of the output pulse. Output circuit ) Open collector output An output circuit where the emitter of the output circuit transistor is common and the collector is open. 2) Voltage output An output circuit where the emitter of the output circuit transistor is common and a resistor is inserted between the collector and the power supply to convert the output from the collector to a voltage. 3) Line driver output An output method that uses a special IC for high-speed, long-distance data transmission, which complies with the RS-22-A standard. The signal is output as a differential second signal, and thus is strong with respect to noise. A special IC called a line receiver is used to receive the signal output from a line driver. Startup torque The torque needed to rotate the shaft of the rotary encoder at startup. The torque during normal rotation is normally lower than the startup torque. A shaft that has a waterproof seal has a higher startup torque. Moment of inertia The inertia of a rotating body. This expresses the magnitude of inertia when starting and stopping. TSB-56

4 Shaft capacity This is the load that can be applied to the shaft. The radial load is the load that is perpendicular to the shaft, and the thrust is the load in the direction of the shaft. Both are permitted on the shaft during rotation, and the size of the load affects the life of the bearings. Ambient temperature The ambient temperature that meets the specifications, consisting of the permitted values for the external air temperature and the temperature of the parts that contact the rotary encoder. Ambient temperature The ambient temperature when the power is off that does not cause functional deterioration, consisting of the permitted values for the external air temperature and the temperature of the parts that contact the rotary encoder. Protective structure The level of structural protection against penetration of foreign objects from outside the encoder. This is defined in the IEC6529 stardard and JEM standards, and expressed as IPOO. Absolute code ) Binary code A pure binary code, expressed in the format 2n. Multiple bits may change when an address changes. 2) Gray code A code wherein only one bit changes when an address changes. The code plate of the rotary encoder uses gray code. 3) Remainder gray code This code is used when expressing resolutions with gray code that are not 2 n such as 36, 36, and 72. The nature of gray code is such that when the most significant bit of the code changes from "" to "" and the same size of area is used for both the larger value and the smaller value of objects, the signal only changes by bit within this range when changing from the end to the beginning of a code. This enables any resolution that is an even number to be set with gray code. Note that in this case, the code does not begin from place, but from an intermediate code, and thus when actually using a code it must first be shifted so that it starts from "". The example in the code table shows 36 divisions. With respect to the change from place 3 to 32 here, when 8 places each are taken for the objects, the code extends from place to place 9. When changing from place 9 to place, only one bit changes, and we can see that the characteristic of gray code is preserved. By shifting the code places, it can be converted to a code that starts from place. ) BCD code Binary Coded Decimal Code. Each digit of a decimal number is expressed using a binary code. Backup-type absolute encoder (E6C-M) A rotary encoder with an internal counter IC that can detect multiple rotation quantity. The E6C-M uses an internal capacitor and the E63-SR5C uses an internal lithium battery to back up data when the main power is off. Serial transmission In contrast to parallel transmission where multiple bits of data are simultaneously output, this method outputs data serially from a single transmission line, enabling the use of less wires. The receiving device converts the signals into parallel signals. Hollow shaft type The rotating shaft is hollow, and the drive shaft can be directly connected to the hollow hole to reduce length along the direction of the shaft. A leaf spring is used as a buffer to absorb vibration from the drive shaft. Metal disk The rotating slit disk in the encoder is made of metal for higher shock tolerance than glass. Due to slit machining limitations, the metal disk cannot be used for high-resolution functions.. Servo mount This is a method of mounting the encoder whereby the servo mount fittings are used to clamp down the flange of the encoder. The position of the encoder in the direction of rotation can be adjusted, and thus this method is used to temporarily mount the encoder for adjustment to the zero position. Absolute code table Dec imal Binary Gray Gray remainder code BCD TSB-57

5 Accessories Coupling Coupling materials and features Two types of couplings are available for selection, metal and resin. Select the type that is most suitable for the conditions of use. We generally recommend that metal be used for high resolution, and resin be used for low resolution. For applications that involve acute acceleration and deceleration or when using an encoder with a high startup torque, a metal coupling provides more security, even when the resolution is relatively low. Comparison of specifications (example: 6-mm diameter use) Material Resin Metal Mechanical specifications (Standard type) (Aluminum helical) Eccentricity (mm).5.5 Angle of deviation ( ) 6 3 Displacement in direction of shaft (mm) ±. ±.5 Permitted torque (N m).8.6 Twisting rigidity (Nm/rad) 7 28 Moment of inertia (kg m 2 ).2X -7 6X -7 Weight (g) 2 Features Material Advantages Disadvantages Resin (standard type) Low price Rough alignment of shafts when mounting is sufficient Lightweight and low moment of inertia, for a small load on the drive system Not suitable for high resolution because twisting rigidity is degraded Mounting is possible even if the shafts are not well aligned, and thus prolonged use may result in breakage due to fatigue. Metal (aluminum helical) High twisting rigidity suitable for high-resolution functions High permitted transfer torque Expensive Heavy and may create a large load on the drive system Tight tolerance for alignment of shafts, thus must be mounted with precise positioning. Coupling suitability table O: Suitable, included with product : Suitable, option ---: Not suitable Coupling Specifications Resin (standard type) Rotary Encoder method /Shaft diameter E6A2-C Shaft inner diameter ( ), outer diameter -mm dia. E6B2-C 6-mm dia. E6C2-CWZ@ 6-mm dia. E6C2-CWZ@H 8-mm dia. E6D-C 6-mm dia. E6F-C -mm dia. E6H-C 8-mm dia. (hollow hole diameter) E6C-M 6-mm dia. E6C-N 6-mm dia. E6CP-A E6C2-A E6F-A 6-mm dia. 8-mm dia. -mm dia. Model -mm dia. (H8) 3-mm dia. 6-mm dia. (H8) 5-mm dia. 8-mm dia. (H8) 3-mm dia. -mm dia. (H8) 3-mm dia. Resin Different opening diameter type 6-mm dia. (H8) 9-mm 8-mm dia dia. E69-C68B 6-mm dia. (H8) 22-mm -mm dia. dia. 6-mm dia (H8) 9.-mm dia. Metal -mm dia. (H8) 25.-mm dia. E69- CB E69- C6B E69- C8B E69- CB E69- C6B E69- C6M E69- CM O O O Hollow shaft type, coupling not required O E6CP- AG5C-C only is optional O code pullout type only TSB-58

6 External dimensions of coupling (units: mm) E69-CB E69_ E69-C8B E69_ (.6) 5.2 (5.6) Suitable : E6A2-C E69-C6B Hexagon set screw -M3 dia.h8 3 dia. Material: Fiberglass-impregnated polybutylene telephthalate resin (PBT) E69_2 Hexagon set screw -M3 Suitable : E6C2-A, E6C2-CWZ@H E69-C6M 8 dia.h8 8 dia.h8 9 dia. Material: Fiberglass-impregnated polybutylene telephthalate resin (PBT) E69_ () 2.8 (6.) Hexagon set screw -M Hexagon set screw -M3 6 dia.h8 5 dia. 6 dia.h8 9. dia. E69-CB Material: Fiberglass-impregnated polybutylene telephthalate resin (PBT) Suitable : E6B2-C, E6C2-CWZ@, E6D-C, E6C-M, E6C-N, E6CP-A E69_3 E69-CM Material: Extra super duralumin (2) (9) Hexagon set screw -M Hexagon set screw -M5 dia.h8 22 dia. dia.h8 25. dia. Material: Fiberglass-impregnated polybutylene telephthalate resin (PBT) Material: Extra super duralumin E69-C68B Different end diameter Suitable : E6F-C, E6F-A E69_ Brass bushing Hexagon set screw -M 6 dia.h8 8 dia.h8 9 dia. Material: Fiberglass-impregnated polybutylene telephthalate resin (PBT) Suitable : E6B2-C, E6C2-CWZ@/CWZ@H, E6D-C, E6C-M, E6C-N, E6CP-A, E6C2-A E69-C6B Different end diameter Brass bushing Hexagon set screw -M 6 dia.h8 dia.h8 22 dia. Material: Fiberglass-impregnated polybutylene telephthalate resin (PBT) Suitable : E6B2-C, E6C2-CWZ@, E6D-C, E6F-C, E6C-M, E6C-N, E6CP-A, E6F-A TSB-59

7 Clamps for flange and servo mount Clamps for flange and servo mount Suitability table O: Suitable, included with product : Suitable, option -: Not suitable Item Flanges Mounting Bracket Rotary E69- E69- E69- Model E69- Encoder E69-FBA E69-FCA FBA2 FCA2 FCA FCA3 Model Remarks Servo mount fittings included with E69-2 E69- E69-2 O Included E6A2-C with E6A CWZ E6B2-C E6C2-CWZ@ E6C2-CWZ@H E6D-C O E6F-C O E6H-C Hollow shaft type, flange not required E6C-M O Included with E6C- MPZX2 E6C-N E6CP-A O E6C2-A E6F-A O External dimensions of flange (units: mm) E69-FBA E69-FCA E69-FCA3 ± -R3 33±.2 Four, 3.3 dia. holes Three, 3.5 dia. Countersinking, 6.5 dia. 2 dia. Two holes 3 dia.±. -R3 3±.5 Four,.5 dia. holes Three,.5 dia. Countersinking, 8.5 dia dia +.5 holes 38 dia.±. -.5 dia. 52 3±.5 5 3±.5 52 Three,.5 dia. M Countersinking ± -R3 3.2 dia.±. dia.±. Material : SPCC t : 3.2 Suitable model: E6B2-C E69_ Material : SPCC t : 3.2 Suitable model: E6B2-C2-CWZ@, E6C-N E69_6 Material : SPCC t : 3.2 Suitable : E6C2-A, E6C2-CWZ@H E69-FBA2 Mounting diagram For E6B2-C E69_5 3 dia. 6 dia. 2.2 dia.±. 58 dia.±.2 Panel Three, 3.5 dia. Countersinking, 6.5 dia. 2 dia. Material : SPCC t : 3.2 Suitable model: E6B2-C 3-M5 TSB-6

8 E69-FCA2 Mounting diagram For E6C2-C Panel E69_7 Three, 5.5 dia. Countersinking, 8.5 dia. 25 dia dia.±. 38 dia. 56 dia. 68 dia.±.2 Mounting diagram For E6C-N 3-M5 Panel 25 dia. Material : SPCC t : dia.±.2 3-M5 Suitable model: E6B2-C2-CWZ@, E6C-N E69-FCA Mounting diagram For E6C2-A Panel E69_ ± ± 3 dia. Material : SPCC t : dia. M- 3.2 dia.±. dia.±. 56 dia. 68 dia.±.2 3-M5 External dimensions of servo mount clamps E69- (3 per set) E69-2 (3 per set) (units: mm) 3.5 dia. hole (9.7) Suitable model: E6A2-CWZ 5.5 dia. hole 2 (8) 6 Suitable : E6B2-C, E6C2-C, E6D-C, E6C-M, E6F-C, E6C-N, E6CP-A, E6C2-A, E6F-A 2-C (2.8) Material: SPCC E69_5 2-C Material: SPCC (5.) TSB-6

9 Peripheral devices and connections Table of peripheral connectability O: Yes X: No Incremental type Rotary encoder model Absolute type Models connected *E6C-M Receiver unit Electronic counter Digital tachometer Digital rotation/pulse meter Digital add/ subtract pulse meter Digital time interval meter Direction identification unit Model H7BR H7CR H7ER K3NR K3NC K3NP E63-WF5C SYSMAC built-in counter CQM- CPU3 High-speed counter unit E6D-CWZE O Requires separate power supply for encoder O X X X X X O E6D-CWZ2C O O O O O O O O O E6F-CWZ5G O O O O O O O O O E6A2-CS3E E6A2-CW3E E6A2-CWZ3E E6B2-CWZ3E O O O O O O O O O E6H-CWZ3E E6C2-CWZ3E E6C2-CWZEH E6A2-CS3C E6A2-CW3C E6A2-CWZ3C E6A2-CS5C E6A2-CW5C E6B2-CWZ6C O O O O O O O O O E6H-CWZ6C E6C2-CWZ6C E6C2-CWZ5GH E6B2-CWZX E6H-CWZ3X E6C2-CWZX E6C2-CWZ3XH X X X X X X X X O E6B2-CWZ5B E6C2-CWZ5B Rotary encoder model E6CP-AG5C E6C2-AG5C E6CP-AG5C-C E6C2-AG5C-C E6F-AG5C-C O Requires external load connection resistor C@-CT@ X O X O X X X Models Cam positioner SYSMAC programmable controller connected Model H8PS H8PR CPMA CQM-CPU DC input unit X X O Requires separate power supply for encoder O X X O O Requires separate power supply for encoder Requires E69-DC5 connection cord E6G-ABE X X X X X E6G-AB2C X X Requires separate X O power supply for E6F-AB3C X X encoder X O E6F-AB3C-C X O X X X E63-SR5C * X X O X E6C-NN5C O X X O X E6C-NN5CA E6C-NN5C-C E6C-NN5CA-C X X O Requires PS-26PE-D@ connector manufactured by Japan Aviation Electronics Industry, Ltd. X O X O Requires separate power supply for encoder Requires separate power supply for encoder Requires separate power supply for encoder Requires PS-26PE-D@ connector manufactured by Japan Aviation Electronics Industry, Ltd. and separate power supply for encoder TSB-62

10 Examples of peripheral device connection digital tachometer connection (H7ER) E6A2-CS3E P/R, 6P/R E6C2-CWZ3E, E6F-CWZ5G 6P/R E6C2-CWZ3EH P/R, 6P/R, 6P/R counter connection (H7CR-CW) E6A2 Brown Black Blue 5 to 2VDC H7ER digital tachometer E6A2-CW3C, E6A2-CW5C E6B2-CWZ, E6C2-CWZ6C, E6H-CWZ E6C2-CWZ5GH, E6F-CWZ5G 2 3 add/subtract pulse meter connection (K3NC) NPN open collector outputs Voltage output E6A2-CS3C, E6A2-CS5C E6A2-CW3C, E6A2-CW5C E6C2-CWZ6C, E6F-CWZ5G E6C2-CWZ6C E6A2-CS3E, E6A2-CW3E E6C2-CWZ3E V POWER +2V A phase 2 3 B phase Intelligent Signal Processors K3NC E6B2-CWZ6C Brown DC2V(mA) White Black Blue V CP2 CP E6C2-CWZ3E V V POWER +2V 2 3 A phase INA INB Intelligent Signal Processors K3NC connection with high-speed counter unit of programmable controller (C5-CT/C5-CT2) CW or CCW detection (add/subtract count) H7CR-CW 2 E6A2-CW3C, E6A2-CW5C E6C2-CWZ6C, E6C2-CWZ5GH E6F-CWZ5G, E6D-CWZ2C digital counter connection (H7BR) E6A2-CW3E E6C2-CWZ3E, E6C2-CWZ3EH, E6F-CWZ5G E6A2-CW3 Shield Brown Black White Blue V +2V Setting the internal DIP switch ON Brown Black Blue White Shield +2V 2 V OFF H7BR Digital counter TSB-63

11 connection with high-speed counter unit of programmable controller (Typical example) C2H-CT-V A E6A2-C, E6B2-C, E6C2-C, E6H-C E6F-CWZ5G, E6D open collector output type programmable controller connection (CQM) E6A2-CWZ3C, E6A2-CWZ5C E6C2-CWZ6C, E6C2-CWZ5GH E6F-CWZ5G, E6D-CWZ3C CQM 3 When the encoder is V. Brown (2V) +2V A phase V B phase B A +2V 2 +2V A phase 9 +5V +2V 8 +2V B phase 7 +5V Black (A phase) White (B phase) Orange (Z phase) Blue (V) Shield 2 Note.When the encoder power supply is 5 V or 2 V. A phase + 5-V power supply A9, 2 V B2 B phase + 5-V power supply A7, 2 V B8 (Typical example) C2H-CT2 B Power supply 2VDC +2V V E6B2-CWZ5B E6C2-CWZ5B, E6C2-CWZ5GH When the encoder is V. +2V A phase V B phase B A +2V 2 +2V A phase 9 +5V +2V 8 +2V B phase 7 +5V The rotary encoder pulse input can be directly input to three input points of the CPU (IN, 5, 6) for use as a highspeed internal counter. Counting with a response speed of 5 khz for single phase and 2.5 khz for 2-phase, and a count of to pulses for addition mode and to pulses for subtraction mode is possible. The operation mode of the high-speed counter is set in the system settings in the DM area. (Count mode) Add/subtract mode Add mode Normal mode Uses A phase and B phase for add/subtract counting. Uses A phase only for addition counting. Uses IN to 6 as normal inputs. (Reset method) The current counter value can be set by only a software reset, or by a software reset and Z phase input AND. (Output method) Power supply 2VDC +2V V Note.When the encoder power supply is 5 V or 2 V. A phase + 5-V power supply A9, 2 V B2 B phase + 5-V power supply A7, 2 V B8 Target value agreement type Bandwidth comparison type Up to 6 target values can be set. When the count reaches the target value, the specified subroutine is executed. Up to 8 bandwidths (upper and lower limiting values) can be set. When the count enters the bandwidth, the specified subroutine is executed. TSB-6

12 connection with the high-speed counter incorporated in the programmable controller (CQM-CPU3) High speed response: input = 25 khz and output = 5 khz E6A2-C, E6B2-C, E6C2-C, E6H-C E6D open collector output type Rotary encoder A phase IN B phase IN5 Z phase IN6 COM CQM-CPU3 CQM programmable controller connection (CQM-CPU with absolute I/F and built-in RS-232C, large capacity type) (Input specifications) E6F-AG5C-C, E6CP-AG5C-C Number of input/ Maximum 28 E6C2-AG5C-C Input voltage 2 V DC ± %/-5% output points points Position data can be directly input from the absolute (ABS) type encoder. ABS input is 2-bit gray code. Position data is stored even when the power supply is interrupted, so there is no need for return to zero position when the power is restored. The zero position correction function enables any position to be treated as a zero position. (Operation modes) BCD mode and 36 mode can be selected. CQM-CPU (Resolution) 8-bit ( to 255) -bit ( to 23) 2-bit ( to 95) can be selected. CQM Set according to the resolution of the encoder to be connected. Input impedance 5.kΩ User memory 3.2 K words Input current ma (TYP.) Data memory K words ON voltage OFF voltage Counting speed Input codes When detecting a rotation angle, a processing table is controlled. Minimum 6. 8 V DC Maximum 3. V DC Maximum KHz Gray binary (8//2 bits) ABS encoder Object Number of connected units Instruction types Worktable Motor Maximum 7 units 8 types Motor driver (inverter) Connector cable * * When using 256 resolution, select dedicated connector cable E69-DC5 (sold separately). Cord for programmable controller (CQM-CPU) connection (optional) E69-DC5 2 Model E69-DC5 * 3.5 5, 3.6 *. Shielded cord of 6 dia. 2 core conductor cross-sectional area:.2 mm 2 ; insulation diameter:.-mm dia. Standard length 5 m * 2. Connect with CQM-CPU. * 3. 2 to 2 VDC 6.9 dia. *. Connect to encoder. * 2±3 * 2 Applicable : E6C2-AG5C-C, E6CP-AG5C-C, E6F-AG5C-C * TSB-65

13 General notes Important Do not exceed the rated voltage range. Using a voltage that exceeds the rated voltage range may result in explosion or fire. Do not reverse the polarity of the power supply. This may result in explosion or fire. Do not short-circuit the load. This may result in explosion or fire. * For notes for each product, see "Precautions" of each product. Make sure the power is off when performing wiring work. If the power is on and an output wire contacts the power supply, damage to the output circuit may result. Wire high-voltage wires separately from power wires. If high-voltage wires are connected in parallel with power wires, induction may cause malfunctioning and damage. Correct Use Mounting Mounting procedure Fit the coupling onto the shaft 2 Secure the encoder Do not insert the shaft into the coupling beyond the value indicated at right. Coupling type E69-CB E69-C6B E69-C8B E69-CB E69-C68B E69-C6B E69-C6M E69-CM Do not secure the coupling to the shaft with screws Amount of insertion 5.2 mm 5.5 mm 6.8mm 7.mm 6.8mm 7.mm 8.5mm.5mm Mounting the Sensor Take care that water and oil do not splash on the unit. The rotary encoder consists of high-precision components. Dropping the encoder may damage it. Exercise sufficient caution when handling the encoder. When using reverse rotation, check the unit mounting direction and the add/subtract direction before mounting. If you are going to align the Z phase of the encoder with the zero position of the encoder and installation unit, be sure to verify Z phase output while mounting the encoder. Make sure that an excessive load is not placed on the shaft when the gears engage. If you are securing the rotary encoder with screws, tighten the screws to a torque of.9 N m. If you are using a coupling, do not exceed the following permitted values when mounting. 3 Secure the coupling Eccentricity.5 mm max. Coupling type Tightening torque E69-CB.2N m E69-C6B.25N m E69-C8B E69-CB E69-C68B.N m Angle of deviation 2 max. E69-C6B E69-C6M.7N m E69-CM 3.5N m Shaft direction Displacement.5 mm max. Connecting the power supply and input/output wires 5 Power on Output check Be sure to turn off the power before connecting the wiring. If there are large mounting errors (eccentricity, angle of deviation), an excessive load will be placed on the shaft, resulting in damage and extremely shortened life. TSB-66

14 Mounting If you are joining with a chain timing belt and gears, hold with another bearing and use a coupling to join to the encoder. E6A2-C Chain sprocket Bearing Coupling Rotary encoder Life of rotary encoder bearings Life of bearings when a radial load and thrust load are applied (theoretical value). For E6B2-C Life time ( 9 rotation) N 3N 2N Encoder Wr Ws Axis Wr: Radial load Thrust load 2 E6B2-C E6D-C E6C-M E6C-N E6C2-A Chain sprocket Bearing Coupling Rotary encoder N Radial load Wr (N) For E6C2-C@ E6C2-C Chain sprocket Bearing Coupling Rotary encoder Life time ( 9 rotation) 5 3 3N N 2N N When inserting the coupling into the shaft, do not tap with a hammer or apply other type of shock. When attaching or detaching the coupling, do not bend, compress, or pull excessively on the coupling. 2 Encoder Wr Ws Axis Wr: Radial load Thrust load Radial load Wr (N) For E6C2-C@H Life time ( rotation) N N 3N 2N N Encoder Wr Axis Wr: Radial load Thrust load Ws 3 2 6N Radial load Wr (N) TSB-67

15 Wiring Considerations If connecting the cable when the unit is secured, do not pull on the cord with a force of 29. N or greater. E6A2-C E6B2-C E6D-C E6C-M E6C-N E6C2-A E6C2-C If connecting the cable when the unit is secured, do not pull on the cord, and do not subject the unit or shaft to shock. When connecting Connection Rotary encoder Lock plate Lock plate Cable Rotary encoder Rotary encoder Lock plate 3 N max. Cable 29. N max. Cable 3 N max. If you extend the cable, check the cable type and response frequency as wire resistance and capacitance between wires may amplify residual voltage and cause waveform distortions. If the cable is extended, it is recommended to use a line driver output type. No matter which output type, only lengths of 3 m or less comply with European EMC directives. To avoid inductance noise, try to keep the cabling as short as possible. (Particularly for input to IC.) If surges occur in your power supply, connect a surge protector between power supplies. To avoid noise, try to keep the wiring as short as possible. Incorrect pulses may occur when the power supply is turned on or off. Wait.seconds after turning on the power to use connected devices, and stop using.seconds before turning off the power. Cable extension characteristics When the cable is extended, the rise time of the output waveform increases. This affects the phase difference characteristics of phases A and B. In addition to the cable length, the rise time of the output waveform is also affected by the load resistance and the cable type. In addition to changing the rise time, extending the cable also increases the output residual voltage. (E6B2-CWZ6C) Output rise time tlh (µs) Output fall time thl (µs) VOL tlh Cable length L (m) The example of measurement Power supply voltage: 5VDC Load resistance : kω(output residual voltage is measured with 35 ma of load current.) : Exclusive cable Cable (E6C2-CWZ5B) VOH thl Cable length L (m) The example of measurement Power supply voltage: 2VDC Load resistance : 5 ma(output residual voltage is measured with 35 ma of load current.) Cable : Exclusive cable Preventing miscounts Erroneous pulses due to vibration may cause miscounts if stationary in the proximity of the rise or fall of the signal. In this event, the use of an add/subtract counter can prevent the counting of erroneous pulses. Output residual voltage VOL (V) Output residual voltage VOH (V) TSB-68

16 Extending the cable when using line driver output Be sure to use shielded twisted pair cable when extending the cable for the line driver. For the receiving side, use an RS-22A compliant receiver. The structure of twisted pair cable is suitable for RS-22A transmission. By twisting the two outputs as shown in the following diagram, electromotive force occuring in the wires is reciprocally canceled, and the noise element of normal mode is eliminated. E E Twist cable Others Input to multiple counters from the encoder (voltage output) If you wish to connect multiple identical counters to one encoder, use the following equation to determine the number of counters that can be connected. R (E - V) Number of connectable counters N = V R2 +E R2 +V E E When using a line driver, a power supply of 5 V DC is needed for the encoder. The voltage drops approximately V per m of cable. Encoder output circuit V R R Counter Counter Connectable number of N E : Power supply voltage of encoder V : Input voltage of counter (min. value) R : Input resistance of counter R2 : Output resistance of encoder Gray code Binary code conversion circuit To convert gray code to binary code, refer to the circuits in the following table. E6CP Red White ** *Vin *** +Vcc 2 7 Gray 2 6 Violet 2 5 Blue 2 Green 2 3 Binary code Yellow 2 2 Orange 2 Brown 2 Black OV * Vin can be connected to V to convert to positive logic binary code. ** Inverter *** Exclusive OR TSB-69