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aedl series optical linear incremental encoder data sheet features ? insensitive to dirt/contamination ? large mounting tolerance ? analog or digital output signals ? self-adhesive mounting profle ? simple and easy assembly ? 5 C 2200 mm measuring length ? traversing speed of up to 16 m/s ? 0.05 m * , 0.1 m * , 0.5 m, 1 m, 5 m and 10 m resolutions ? 40 m grating period (pitch) ? 3 m or 5 m (per meter) accuracy class ? 0 c to +55 c temperature range ? single 5v supply ? up to 3 m cable length note: avago technologies encoders are not recom - mended for use in safety critical applications, e.g. life support systems and critical care medical equipment. please contact sales representative if more clarifcation is needed. description the aedl series linear encoders use high technology transmissive optical encoding technique to detect linear motion. there is no mechanical contact between the scanning head and the linear scale, thus eliminating er - ror due to friction and alignment errors. the encoder consists of a precision linear glass scale and a scanning head, which translate the linear position into analog and digital electrical signals. the encoder can be easily aligned and installed using the provided spacer- clip and the self-adhesive mounting feature. using avago technologies quick stick? method, the encoder profle can be easily adjusted while the system is aligned to the machine system. the quick stick? method pro - vides spacing foam that prevents the encoder profle from sticking to the machine base until the alignment has been performed. a pair of l-pins (setting pins) en - sure that the scanning head is fxed at a nominal posi - tion while the linear encoder is aligned and mounted to the machine system. with state of the art technologies, avago technologies linear encoders provide an ideal feedback control to high precision motion systems. the linear encoders are available in two colors, silver or black anodized. applications the aedl series linear encoder provides linear motion detection, delivering an accurate and insensitive closed- loop control solution. typical applications: ? xy table positioning ? high precision machines ? industrial plotter ? high-accuracy measurements ? linear motors ? robotics ? electronics assembly and inspection esd warning: normal handling precautions should be taken to avoid static discharge.
theory of operation avago technologies utilizes an ultra collimated led as the light source for the aedl linear encoders, where very high modulation can be achieved. a 22-element photodiode array in the scanning head detects the modulated light. a high technology signal-condition - ing ic is integrated inside the scanning head. the ic performs real time phase, amplitude and ofset signal monitoring, which will correct any deviation from the expected mathematical signal that is caused by environ - mental infuence. consequently, a high purity sinusoidal signal is available for interpolation process, which is performed in the same ic. a world-class high precision measurement system is thus achieved through agilents linear encoders. output incremental signal can be specifed as either digital (rs422) or 1 vpp analog sinusoidal when order - ing. signals of channel a and channel b are 90 e phase- shifted. index marks are periodically spaced at a distance of 50 mm, or distance coded at 500 x pitch size*. fault detection signal is activated when improper opera - tion occurs, such as power cutof, loss of light source or heavy contamination. this signal can be used to shut down machine operation safely, when a failure occurs. defnitions resolution: smallest movement detectable by the en - coder. it is normally expressed in units of distance (e.g. 0.5 m or 100nm). accuracy: a measure of how close the output is to where it should be. it is usually expressed in units of dis - tance over the scale length (e.g. +/- 3 m per meter) or a percent of nominal resolution. interpolation: an electronic technique for increasing the resolution from the optical cycles on the linear scale to a higher number of quadrature square waves per unit length. these square waves can then be further quadra - ture decoded. quadrature: this term refers to the 90-electrical-degree (1/4 of a cycle) phase relationship between the a and b channels of incremental encoder output. quadrature decode: also known as 4x decode, it refers to the common practice of counting all 4 quadrature states (or square wave transitions) per cycle of quadra - ture square waves. thus, a linear encoder with a cycle width of 40 m, for example, has a resolution of 10 m. pitch: also known as grating or optical period, it refers to the distance for a single window-bar pair on the lin - ear scale. measurement length (ml): the efective measurement length that the encoder system can be used for. index signal: a once-per-scale output or multiple out - puts at certain fxed locations. it is used to establish a reference to a known home or starting position. also known as reference mark, home, or z. * note: 0.05 m and 0.1 m are future options, which are not yet avail - able. the resolutions stated are after interpolation and users quadrature decoding. distance-coded version will be available as a future option.
3 outline drawing description a start of measuring length b distance between the mounting screw holes c cable diameter d overall length of measuring system (ml + 34 mm) e mounting surface with high strength adhesive tape type tesa 4965 f output signal (rs422a digital or analog 1 vpp) g initial position of scanning head when ready for installation (available on the opposite side upon request) h mounting surface to machine parts tape mounting version a c b d e h g f
12-pin round connector 15-pin d-sub connector (male) pin analog (1 v pp ) digital rs 422 cable color 1 cosine negative, u 2- channel b negative, z 2- pink 2 power supply, +5v power supply, +5v white/green 3 index positive, u 0+ index positive, z 0+ red 4 index negative, u 0- index negative, z 0- black 5 sine positive, u 1+ channel a positive, z 1+ brown 6 sine negative, u 1- channel a negative, z 1- green 7 nc error, active low purple 8 cosine positive, u 2+ channel b positive, z 2+ grey 9 nc error, active high yellow 10 0v 0v brown/green 11 0v 0v - 12 +5v +5v - shell shield shield - pin analog (1 v pp ) digital rs 422 cable color 1 nc nc - 2 nc nc - 3 nc error , active low purple 4 index negative, u 0- index negative, z 0- black 5 cosine negative, u 2- channel b negative, z 2- pink 6 sine negative, u 1- channel a negative, z 1- green 7 nc nc - 8 power supply, +5v power supply, +5v white/green 9 0v 0v brown/green 10 nc switch white 11 nc error, active high yellow 12 index positive, u 0+ index positive, z 0+ red 13 cosine positive, u 2+ channel b positive, z 2+ grey 14 sine positive, u 1+ channel a positive, z 1+ brown 15 nc nc blue shell shield shield - connector pin confguration four options of connector types are available, namely the 12-pin heavy-duty industrial, 15-pin d-sub, 9-pin d-sub or strand wire options. table 1 shows the pins confguration and cable color for the respective connector types. there are also options of either left or right cable exit for the cable.
5 9-pin d-sub connector (male) pin option analog (1 v pp ) option digital rs 422 cable color 1 sine negative, u 1- channel a negative, z 1- green 2 0v 0v brown/green 3 cosine negative, u 2- channel b negative, z 2- pink 4 nc error , active low purple 5 index negative, u 0- index negative, z 0- black 6 sine positive, u 1+ channel a positive, z 1+ brown 7 power supply, +5v power supply, +5v white/green 8 cosine positive, u 2+ channel b positive, z 2+ grey 9 index positive, u 0+ index positive, z 0+ red shell shield shield - strand wire option cable color analog (1 v pp ) digital rs 422 white/green power supply, +5v power supply, +5v brown/green 0v 0v red index positive, u 0+ index positive, z 0+ black index negative, u 0- index negative, z 0- brown sine positive, u 1+ channel a positive, z 1+ green sine negative, u 1- channel a negative, z 1- grey cosine positive, u 2+ channel b positive, z 2+ pink cosine negative, u 2- channel b negative, z 2- purple nc error, active low yellow nc error, active high white nc nc blue nc nc
absolute maximum ratings recommended operating conditions mechanical data electrical data storage temperature, t s -20 c to + 70 c operating temperature, t a 0 c to + 55 c supply voltage, v cc 4.5 v to 5.5v digital output voltage, v o -0.3v to vcc +0.3v storage temperature, t s -20 c to + 70 c operating temperature, t a 0 c to + 55 c supply voltage, v cc 5 v 10 % analog output voltage, v o 1 v 0.2v at 120 w load digital output voltage, v o 5 v 10 % (rs422 compatible) output current per channel, i out 15 ma, short circuit proof (analog) 40 ma, short circuit proof (digital) cross section (scanning head) 31. x 20.2 mm (height x width) mass (scanning head without cable) 15 g mass (overall system) mass of scanning head + 38 g/m maximum speed (0.5 mm resolution) 3.0 m/s (1.0 mm resolution) 8.0 m/s (5.0 and 10 mm resolutions) 16.0 m/s (1vpp analog output) 16.0 m/s measuring scale material precision foat glass thermal expansion coefcient (glass scale) 7.8 x 10 -6 k -1 (scale with profle) 13.1 x 10 -6 k -1 extrusion profle material tempered precision aluminum, anodized light source ultra collimated led detector 22-element photodetectors array maximum analog signal frequency (-3 db) 400 khz maximum power consumption with load (digital output) 200 ma (analog output) 100 ma
7 0? 135? 30? signal period 30?e u 1 0 0 0 u u 0 r b r f r a s l c l c u s u c a s a 1 figure 1. output waveforms for analog output signals. shown signals are measured in diference mode output characteristics analog output signals (sine u 1 , cosine u 2 and index u 0 ) analog signals sine u 1 , cosine u 2 peak-peak amplitude (s a , c a ) 1.0 0.2 v ofset |s u -s l |/(2*s a ) or |c u -c l |/(2*c a ) 0.05 ratio s a /c a 1.0 0.1 phase |f 1 +f 2 |/2 90 10 e index channel u 0 signal amplitude r a 1.0 +1.6 v - 0.6 index signal zero-crossover width r b , r f 180 90e
digital incremental signals, rs422 compatible digital output signal for options n & p (ch. a, ch. b and index) figure 2. digital output signals, with a quadrature phase-shift between ch. a and ch. b. the index pulse, which is active for 90 e, is gated with the incremental signals. 0? 30? a 0 0 0 b index : phase-shift r l z 1+ z + z 0+ one cycle channel a & b phase-shift 90 e rise/fall time 40 ns index channel index pulse width, r l 90 e rise/fall time 40 ns
9 interpolated digital output signal (ch. a, ch. b, index and error) 0? 30? e analog signal period a 0 0 0 0 b index erro r one count (90 oe ) one cycle of squar e wa ve signal r l z 1+ z + z 0+ figure 3. interpolated digital output signals (a, b, and index) and the error signal. the analog signal period corresponds to a 40- m dis - tance. digital incremental signals, rs422 compatible note: error signal is non-active for normal operation while an activated error signal indicates that a fault is detected. typical cause is due to power fail - ure, loss of encoder light source or encoder signals are out of the limit. channel a & b phase-shift 90 e rise/fall time 40 ns index channel index pulse width, r l 90 e rise/fall time 40 ns error channel error active high error active low
10 x y z x y z dj dj dj figure 4. defnition of axes and rotational angles for the total allowable tolerance of the linear encoder test name reference conditions vibration (non-operating) din iec 68-2-6 50 hz - 2 khz, 10g/15g/30g, 10 cycles in 3 axes 50 hz - 2 khz, 30g, 1 cycle (glass scale only) shock (non-operating) din iec 68-2-27 10 g, 6 ms, 2000 shocks in 6 directions 20 g, 11 ms, 1000 shocks in 6 directions 50 g, 3 ms, 500 shocks in 6 directions electromagnetic compatibility (emc) din en61000-6-2 industrial environment immunity test din en61000-4-2 electrostatic discharge (esd): discharge in air ( 8 kv) and contact discharge ( 4 kv) din en61000-4-3 electromagnetic rf-feld in the range of 80 mhz to 1000 mhz, 80 % am, 1 khz din en61000-4-4 fast transient (bursts, 1 kv) din en61000-4-6 rf-coupling into power line in the range of 0.15 to 80 mhz, 80 % am, 1 khz error description tolerance d y total tolerance in the y-axis 70 m d z total tolerance in the z-axis 50 m dj x roll angle, rotation about the x-axis 50 dj y pitch angle, rotation about the y-axis 50 dj z yaw angle, rotation about the z-axis 25 mechanical and environmental test the encoders are tested according to the following international standards to ensure that they can withstand the most stringent environmental requirements. allowable mounting and machine tool tolerances with reference to figure 4, the total tolerances for the linear encoder are given as:
11 recommended circuit digital rs422 interpolated output signals analog 1 v pp voltage signals figure 5. recommended receiver circuits for the line driver digital output. the same circuit is applicable for ch. a, ch. b, index, and error channels. figure 6. recommended customer receiver circuit for analog output sine, cosine, and index signals. +5v 10 ? z1+ z1+ z1- z1- encoder/line driver cable line receiver (amls3, dsls3) +ub -ub encoder cable customer circuit 0v + - u 10 ?
1 figure 7. cable bending radius for fxed and fexible installations r r r r r r fixed installatio n f lexible movement diameter 4 mm cable structure twisted pairs with common shield number of cable cores 12 (1 pair of awg 28 for power supply, and 5 pairs of awg 30 for signal lines) cable characteristics fixed installation frequent fexing permissible bending radius, r r 12 mm (0.48 in.) r 40 mm (1.6 in.) the cable complies with ul standard 20963. operating conditions for the cable depend on the cable diameter and the cable confguration. the operating conditions are given in the following table:
13 ordering information measurement length (mm) 00 0 070 70 030 30 0370 370 00 0 070 70 050 50 00 0 070 70 0770 770 00 0 090 90 100 100 10 10 10 10 10 10 10 10 cable length (m/inch), cable exit 0 0.5/19.7, left 1 0.5/19.7, right 1.0/39., left 3 1.0/39., right .0/7., left 5 .0/7., right 3.0/11., left 7 3.0/11., right aedl 00 00 00 00 custom-contact distributor connector a plain cable, stranded wires b 9-pin d-sub male c 15-pin d-sub male d 1-pin round color 0 silver 1 black index mark c every 50mm d distance coded * accuracy per meter ( m) a digital 0.05 3 * b digital 0.05 5 * c digital 0.1 3 * d digital 0.1 5 * e digital 0.5 3 f digital 0.5 5 g digital 1 3 h digital 1 5 l digital 5 3 m digital 5 5 n digital 10 3 p digital 10 5 q analog (0 m pitch) 3 output options and resolution ( m) s analog (0 m pitch) 5 note: options with * are not available yet for product information and a complete list of distributors, please go to our web site: www.avagotech.com avago, avago technologies, and the a logo are trademarks of avago technologies, pte. in the united states and other countries. data subject to change. copyright ? 2006 avago technologies pte. all rights reserved. 5989-2553en - may 3, 2006

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