H

Two Channel High Resolution

Optical Incremental Encoder
Modules

Technical Data HEDS-9000/9100/9200

Extended Resolution

MOTION SENSING
AND CONTROL
Series

Features codestrip, these modules detect

• High Resolution: Up to 2048 relative linear position.
Cycles per Revolution
• Up to 8192 Counts per These modules consist of a lensed
Revolution with 4X Decoding Light Emitting Diode (LED)
source and detector IC enclosed
• Two Channel Quadrature
in a small C shaped plastic
Output
package. Due to a highly
• Low Cost collimated light source and
• Easy to Mount unique photodetector array, these
• No Signal Adjustment modules provide a highly reliable
Required quadrature output.
• Small Size respectively. The HEDS-9200
• -40°C to 100 °C Operating The HEDS-9000 and HEDS-9100 Option 300 and 360 linear
Temperature are designed for use with encoder modules have resolutions
codewheels which have an optical of 300 and 360 lines per inch.
• TTL Compatible
radius of 23.36 mm and 11 mm
• Single 5 V Supply respectively. The HEDS-9200 is Consult local Hewlett-Packard
designed for use with a linear sales representatives for other
Description codestrip. resolutions.
The HEDS-9000 Options T and U
and the HEDS-9100 Options B These components produce a two Theory of Operation
and J are high resolution two channel quadrature output which The diagram shown on the fol-
channel rotary incremental can be accessed through five lowing page is a block diagram of
encoder modules. These options 0.025 inch square pins located on the encoder module. As seen in
are an extension of our popular 0.1 inch centers. this block diagram, the module
HEDS-9000 and HEDS-9100 contains a single LED as its light
series. When used with a code- The resolution of the HEDS-9000 source. The light is collimated
wheel, these modules detect Options T and U are 2000 and into a parallel beam by means of a
relative rotary position. The 2048 counts per revolution single polycarbonate lens located
HEDS-9200 Option 300 and 360 respectively. The HEDS-9100 directly over the LED. Opposite
are high resolution linear encoder Options B and J are 1000 and the emitter is the integrated
modules. When used with a 1024 counts per revolution detector circuit. This IC consists

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

DISCHARGE.

5965-5889E 2-63
Block Diagram Output Waveforms

of multiple sets of photodetectors that of channel B (90 degrees out State Width Error (∆ S): The
and the signal processing of phase). deviation, in electrical degrees, of
circuitry necessary to produce the each state width from its ideal
digital waveforms. Definitions value of 90°e.
Count (N): The number of bar Phase (φ ): The number of elec-
The codewheel/codestrip passes and window pairs or counts per trical degrees between the center
between the emitter and detector, revolution (CPR) of the of the high state of channel A and
causing the light beam to be codewheel. the center of the high state of
interrupted by the pattern of channel B. This value is nominally
1 cycle (C): 360 electrical degrees
spaces and bars on the code- 90°e for quadrature output.
(°e), 1 bar and window pair.
wheel. The photodiodes which
detect these interruptions are 1 Shaft Rotation: 360 mechanical Phase Error (∆φ ): The deviation
arranged in a pattern that degrees, N cycles. of the phase from its ideal value
corresponds to the codewheel/ of 90°e.
Pulse Width (P): The number of
codestrip. These detectors are electrical degrees that an output Direction of Rotation: When the
also spaced such that a light is high during 1 cycle. This value codewheel rotates in the direction
period on one pair of detectors is nominally 180°e or 1/2 cycle. of the arrow on top of the
corresponds to a dark period on module, channel A will lead
Pulse Width Error (∆ P): The
the adjacent pair of detectors. The channel B. If the codewheel
deviation, in electrical degrees of
photodiode outputs are then fed rotates in the opposite direction,
the pulse width from its ideal
through the signal processing channel B will lead channel A.
value of 180°e.
circuitry resulting in A, A, B, and Optical Radius (Rop ): The dis-
B. Comparators receive these State Width (S): The number of
tance from the codewheel’s center
signals and produce the final electrical degrees between a
of rotation to the optical center
outputs for channels A and B. Due transition in the output of channel
(O.C.) of the encoder module.
to this integrated phasing A and the neighboring transition
technique, the digital output of in the output of channel B. There
channel A is in quadrature with are 4 states per cycle, each
nominally 90°e.

2-64
 Package Dimensions

26.67 (1.05) 8.6 (0.34)

15.2

CH. A
CH. B
(0.60)

GND
N.C.
VCC
0.63 (0.025)

GND
VCC
2.54 (0.100) TYP.
SQR. TYP.
1.8

4
3
2
1
5
1.52 (0.060)
OPTION CODE 1.0 (0.04) (0.07)

5.1 (0.20) DATE CODE 2.21 2.9

6.9 (0.27)
(0.087) 2.54 (0.11) 11.9
3.73 ± 0.05 (0.47)
20.8 (0.100)

MOTION SENSING
(0.147 ± 0.002)
(0.82)

AND CONTROL
HEDS-9X00 Hp
1.02 ± 0.10
11.7
YYXX

(0.040 ± 0.004)
X00

(0.46) 8.81
4.75 ± 0.10 5.8 (0.347)
(0.187 ± 0.004) 45° (0.23)
ALIGNING RECESS 2.67 (0.105) DIA. OPTICAL
2.44/2.41 DIA. MOUNTING THRU CENTER LINE ALIGNING RECESS
1.85 (0.073) CL HOLE 2 PLACES 1.78 ± 0.10 5.46 ± 0.10 2.44/2.41 X 2.79
(0.096/0.095) ALIGNING RECESS
2.16 (0.085) (0.070 ± 0.004) (0.215 ± 0.004) (0.096/0.095 X 0.110) 2.44/2.41 DIA.
8.64 (0.340) 2.44/2.41 X 2.79
DEEP 2.16 (0.085) DEEP (0.096/0.095)
REF. 17.27 (0.096/0.095 X 0.110) 2.92 ± 0.10 2.16 (0.085) DEEP
(0.680) 2.16 (0.085) DEEP (0.115 ± 0.004)
10.2 10.16 OPTICAL 4.11 (0.162)
20.96 CENTER
OPTICAL CENTER (0.400)
(0.400) 6.35 (0.250) REF.
(0.825)
TYPICAL DIMENSIONS IN
SIDE A MILLIMETERS AND (INCHES) SIDE B

Absolute Maximum Ratings

Storage Temperature, TS ..................................................................... -40°C to 100°C
Operating Temperature, TA ................................................................ -40°C to 100°C
Supply Voltage, VCC ...................................................................................... -0.5 V to 7 V
Output Voltage, VO ........................................................................................ -0.5 V to VCC
Output Current per Channel, Iout ................................................. -1.0 mA to 5 mA

Recommended Operating Conditions

Parameter Symbol Min. Typ. Max. Units Notes
Temperature TA -40 100 °C
Supply Voltage VCC 4.5 5.0 5.5 Volts Ripple < 100 mVp-p
Load Capacitance CL 100 pF 3.3 kΩ pull-up resistor
Count Frequency f 100 kHz Velocity (rpm) x N/60
Shaft Axial Play ± 0.125 mm
± 0.005 in.
Note: The module performance is guaranteed to 100 kHz but can operate at higher frequencies. For frequencies above 100 kHz it is
recommended that the load capacitance not exceed 25 pF and the pull up resistance not exceed 3.3 kΩ. For typical module performance
above 100 kHz please see derating curves.

2-65
Electrical Characteristics
Electrical Characteristics over Recommended Operating Range, typical at 25°C.
Parameter Symbol Min. Typical Max. Units Notes
Supply Current ICC 30 57 85 mA

High Level Output Voltage VOH 2.4 Volts IOH = -200 µA max.
Low Level Output Voltage VOL 0.4 Volts IOL = 3.86 mA
Rise Time tr 180 ns CL = 25 pF
RL = 3.3 kΩ pull-up
Fall Time tf 40 ns

Encoding Characteristics
Encoding Characteristics over Recommended Operating Range and Recommended Mounting Tolerances.
These Characteristics do not include codewheel/codestrip contribution. The Typical Values are averages over
the full rotation of the codewheel. For operation above 100 kHz, see frequency derating curves.

Description Symbol Typical Maximum Units

Pulse Width Error ∆P 5 45 °e
Logic State Width Error ∆S 3 45 °e
Phase Error ∆φ 2 15 °e

Note: Module mounted on tolerance circle of ± 0.13 mm (± 0.005 in.) radius referenced from module Side A aligning recess centers. 3.3
kΩ pull-up resistors used on all encoder module outputs.

Frequency Derating Curves

Typical performance over extended operating range. These curves were derived using a 25 pF load with a 3.3
k pull-up resistor. Greater load capacitances will cause more error than shown in these graphs.

0 15

+100 C +25 C
CHANGE IN PULSE WIDTH ERROR
CHANGE IN STATE WIDTH ERROR

-40 C
10
(ELECTRICAL DEGREES)
(ELECTRICAL DEGREES)

-5
+25 C

5
-40 C
+100 C
-10
0

-15 -5
0 50 100 150 200 0 50 100 150 200
FREQUENCY (KHz) FREQUENCY (KHz)

2-66
Gap Setting for Rotary +0.51
( +0.020
)
6.63 -0.25 0.261 -0.010
and Linear Modules SIDE B NOTE 1

Gap is the distance between the

image side of the codewheel and
the detector surface of the mod-
ule. This gap dimension must
always be met and codewheel SIDE A

warp and shaft end play must stay

+0.25
( +0.010
)
3.56 -0.51 0.140 -0.020
IMAGE SIDE OF CODEWHEEL/CODESTRIP NOTE 1
within this range. This dimension

MOTION SENSING
is shown in Figure 1. CODEWHEEL/CODESTRIP

AND CONTROL
NOTES: 1. THESE DIMENSIONS INCLUDE CODEWHEEL/CODESTRIP WARP AND SHAFT END PLAY.
Mounting Considerations 2. DIMENSIONS IN MILLIMETERS AND (INCHES).

for Rotary Modules

Figure 2 shows a mounting Figure 1. Module Gap Setting.
tolerance requirement for proper
operation of the high resolution
rotary encoder modules. The
Aligning Recess Centers must be
located within a tolerance circle
of 0.13 mm (0.005 in.) radius
from the nominal locations. This
tolerance must be maintained
whether the module is mounted
with side A as the mounting plane
using aligning pins (see Figure 3),
or mounted with Side B as the
mounting plane using an
alignment tool.

Mounting with Aligning

Figure 2. Rotary Module Mounting Tolerance.
Pins
The high resolution rotary
encoder modules can be mounted
using aligning pins on the motor
base. (HP does not provide align-
ing pins.) For this configuration,
Side A must be used as the
mounting plane. The Aligning
Recess Centers must be located
within the 0.13 mm (0.005 in.) R
Tolerance Circle as explained
above. Figure 3 shows the
necessary dimensions.
2 PLACES
Mounting with HP NOTE 1
Alignment Tools
HP offers alignment tools for
mounting HP encoder modules in
conjunction with HP codewheels,
using side B as the mounting NOTE 1: RECOMMENDED MOUNTING SCREW TORQUE IS 4 KG-CM (3.5 IN-LBS).

plane. Please refer to the HP

codewheel data sheet for more Figure 3. Mounting Plane Side A.
information.

2-67
Mounting Considerations for Linear Modules

Mounting Plane Side A Mounting Plane Side B

2-68
Recommended Codewheel Characteristics

MOTION SENSING
AND CONTROL
Parameter Symbol Minimum Maximum Units Notes
Window/Bar Ratio φw/φb 0.7 1.4
Window Length Lw 1.8 (0.07) mm (inch)
Absolute Maximum Rc 1.9 mm Includes eccentricity
Rop
Codewheel Radius (0.075) (inch) errors
+

Recommended Codestrip Characteristics and Alignment

Codestrip design must take into consideration mounting as referenced to either side A or side B (see Figure 4).

Mounting as Referenced to Side A Mounting as Referenced to Side B

Figure 4. Codestrip Design

STATIC CHARGE WARNING: LARGE STATIC CHARGE ON CODESTRIP MAY HARM MODULE.
PREVENT ACCUMULATION OF CHARGE.

Mounting Ref. Mounting Ref.

Parameter Symbol Side A Side B Units
Window/Bar Ratio Ww /Wb 0.7 min., 1.4 max. 0.7 min., 1.4 max.
Window Distance L La ≤ 0.51 (0.020) Lb ≥ 3.23 (0.127) mm (inch)
Window Edge to S 0.90 (0.035) min. 0.90 (0.035) min. mm (inch)
Module Opt Center Line
Parallelism α 1.3 max. 1.3 max. deg.
Module to Codestrip
Note: All parameters and equations must be satisfied over the full length of codestrip travel including maximum codestrip runout.

2-69
Connectors
Manufacturer Part Number Mounting Surface
AMP 103686-4 Both
640442-5 Side B
DuPont 65039-032 with 4825X-000 term. Both
HP HEDS-8902 with 4-wire leads Side B (see Fig. 7)
Molex 2695 series with 2759 series term. Side B

Figure 7. HEDS-8902 Connector.

2-70
Ordering Information

Two Channel Encoder Modules with a 23.36 mm Optical Radius

HEDS-9000 Option 0 0

*
Resolution
(Cycles/Rev)

MOTION SENSING
AND CONTROL
T - 2000 CPR
U - 2048 CPR

Two Channel Encoder Modules with an 11.00 mm Optical Radius

HEDS-9100 Option 0 0

*
Resolution
(Cycles/Rev)
B - 1000 CPR
J - 1024 CPR

Two Channel Linear Encoder Module

HEDS-9200 Option

Resolution
(Cycles/Rev)
300 - 300 LPI
360 - 360 LPI

Note: For lower resolutions, please refer to HEDS-9000/9100 and

HEDS-9200 data sheets for detailed information.

*Codewheel Information
For information on matching codewheels and
accessories for use with HP rotary encoder modules,
please refer to the HP Codewheel Data sheet HEDS-
5120/6100, HEDG-5120/6120, HEDM-5120/6120

2-71