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features ? two channel quadrature output with index pulse ? resolution up to 2000 cpr (counts per revolution) ? low cost ? easy to mount ? no signal adjustment required ? small size ? -40c to 100c operating temperature ? ttl compatible ? single 5 v supply hedx-9xx1 option description the heds-9040 and heds-9140 series are three channel optical incremental encoder modules. when used with a codewheel, these low cost modules detect rotary position. each module consists of a lensed led source and a detec - tor ic enclosed in a small plastic package. due to a highly collimated light source and a unique photodetector array, these modules provide the same high performance found in the heds-9000/9100 two channel encoder family. package dimensions hedx-9xx0 option esd warning: normal handling precautions should be taken to avoid static discharge. heds-9040/9140 three channel optical incremental encoder modules data sheet 26.67 (1.05) heds-9x00 15.2 (0.60) c l 17.27 (0.680) 20.96 (0.825) 1.85 (0.073) 8.64 (0.340) ref. aligning recess 2.44/2.41 dia. (0.096/0.095) 2.16 (0.085) deep 1.02 0.10 (0.040 0.004) 5.1 (0.20) x00 yyxx option code 0.63 (0.025) sqr. typ. 2.54 (0.100) typ. date code 1.0 (0.04) 3.73 0.05 (0.147 0.002) 2.67 (0.105) dia. mounting thru hole 2 places 2.44/2.41 x 2.79 (0.096/0.095 x 0.110) 2.16 (0.085) deep optical center 1.52 (0.060) 20.8 (0.82) 11.7 (0.46) 8.6 (0.34) 1.78 0.10* (0.070 0.004) 2.92 0.10 (0.115 0.004) 10.16 (0.400) 5.46 0.10 (0.215 0.004) optical center line 2.54 (0.100) 2.21 (0.087) 5.8 (0.23) 6.35 (0.250) ref. aligning recess 2.44/2.41 x 2.79 (0.096/0.095 x 0.110) 2.16 (0.085) deep 4.11 (0.162) aligning recess 2.44/2.41 dia. (0.096/0.095) 2.16 (0.085) deep optical center 45 8.81 (0.347) 11.9 (0.47) 4.75 0.10 (0.187 0.004) 2.9 (0.11) 1.8 (0.07) 6.9 (0.27) v cc gnd 5 ch. b 4 v cc 3 ch. a 2 n.c. 1 gnd side a side b typical dimensions in millimeters and (inches) * gap specification for window option = 1.68 0.10 (0.066 0.004) 26.67 (1.05) heds-9x01 15.2 (0.60) c l 17.27 (0.680) 20.96 (0.825) 1.85 (0.073) 8.64 (0.340) ref. aligning recess 2.44/2.41 dia. (0.096/0.095) 2.16 (0.085) deep 1.02 0.10 (0.040 0.004) 5.1 (0.20) x00 yyxx option code 0.63 (0.025) sqr. typ. 2.54 (0.100) typ. date code 1.0 (0.04) 3.73 0.05 (0.147 0.002) 2.67 (0.105) dia. mounting thru hole 2 places 2.44/2.41 x 2.79 (0.096/0.095 x 0.110) 2.16 (0.085) deep optical center 11.7 (0.46) 8.6 (0.34) 1.78 0.10* (0.070 0.004) 2.92 0.10 (0.115 0.004) 10.16 (0.400) 5.46 0.10 (0.215 0.004) optical center line 2.54 (0.100) 2.21 (0.087) 5.8 (0.23) 6.35 (0.250) ref. aligning recess 2.44/2.41 x 2.79 (0.096/0.095 x 0.110) 2.16 (0.085) deep 4.11 (0.162) aligning recess 2.44/2.41 dia. (0.096/0.095) 2.16 (0.085) deep optical center 45 8.81 (0.347) 4.75 0.10 (0.187 0.004) 2.9 (0.11) 1.8 (0.07) v cc gnd 5 ch. b 4 v cc 3 ch. a 2 n.c. 1 gnd side a side b typical dimensions in millimeters and (inches) 4.01 0.20 (0.158 0.008) 16.76 0.20 (0.66 0.008) * gap specification for window option = 1.68 0.10 (0.066 0.004)
2 theory of operation the heds-9040 and 9140 are emitter/detector modules. coupled with a codewheel, these modules translate the rotary motion of a shaft into a three-channel digital out - put. as seen in the block diagram, 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 poly car bon ate lens located directly over the led. opposite the emitter is the integrated detector circuit. this ic consists of multiple sets of photodetec tors 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 code wheel. the photo diodes which detect these interrup tions are arranged in a pat - tern 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 photo - diode outputs are then fed through the signal process - ing circuitry resulting in a, a, b, b, i and i. comparators receive these signals and produce the fnal outputs for channels a and b. due to this integrated phasing tech - nique, the digital output of channel a is in quadrature with that of channel b (90 degrees out of phase). the output of the comparator for i and i is sent to the in - dex processing circuitry along with the outputs of chan - nels a and b. the fnal output of channel i is an index pulse p o which is generated once for each full rotation of the codewheel. this output p o is a one state width (nomi - nally 90 electrical degrees), high true index pulse which is coincident with the low states of channels a and b. the heds-9040 and 9140 have two channel quadrature outputs plus a third channel index output. this index output is a 90 electrical degree high true index pulse which is generated once for each full rotation of the codewheel. the heds-9040 is designed for use with a hedx-614x code wheel which has an optical radius of 23.36 mm (0.920 inch). the heds-9140 is designed for use with a hedx-5x4x code wheel which has an optical radius of 11.00 mm (0.433 inch). the quadrature signals and the index pulse are accessed through fve 0.025 inch square pins located on 0.1 inch centers. standard resolutions between 256 and 2000 counts per revolu tion are available. consult local avago sales repre - sentatives for other resolutions. applications the heds-9040 and 9140 provide sophisticated motion control detection at a low cost, making them ideal for high volume applications. typical applica tions include printers, plotters, tape drives, and industrial and factory automation equipment. note: avago technologies encoders are not recommend - ed for use in safety critical applications. eg. abs braking systems, power steering, life support systems and critical care medical equipment. please contact sales represen - tative if more clarifcation is needed.
3 block diagram photo diodes comparators index- processing circuitry signal processing circuitry detector section code wheel emitter section lens led v cc ch. a ch. b ch. i gnd resistor + ? a a + ? b b + ? i i 4 3 5 2 1 output waveforms p c ch. a ch. b rotation amplitude s1 s2 s3 s4 ch. i 2.4 v 0.4 v 2.4 v 0.4 v 2.4 v 0.4 v p 0 t 1 t 2
4 defnitions 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 win - dow pair. one shaft rotation: 360 mechanical degrees, n cycles. position error ( ? ): the normalized angular diference between the actual shaft position and the position indi - cated by the encoder cycle count. cycle error ( ? c): an indication of cycle uniformity. the dif - fer ence between an observed shaft angle which gives rise to one electrical cycle, and the nominal angular in - crement 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 180e or 1/2 cycle. pulse width error ( ? p): the deviation, in electrical degrees, of the pulse width from its ideal value of 180e. state width (s): the number of electrical degrees be - tween a transition in the output of channel a and the note: 1. absolute maximums for heds-5140/6140 codewheels only. absolute maximum ratings storage temperature, t s ........................................................................ -40c to +100c operating temperature, t a ................................................................... -40c to +100c supply voltage, v cc .......................................................................................... -0.5 v to 7 v output voltage, v o ............................................................................................ -0.5 v to v cc output current per channel, i out ....................................................... -1.0 ma to 5 ma shaft axial play ............................................................................. 0.25 mm (0.010 in.) shaft eccentricity plus radial play .......................................... 0.1 mm (0.004 in.) tir velocity ............................................................................................................. 30,000 rpm [1] acceleration .......................................................................................... 250,000 rad/sec 2[1] neighboring transition in the output of channel b. there are 4 states per cycle, each nominally 90e. state width error ( ? s): the deviation, in electrical degrees, of each state width from its ideal value of 90e. phase ( ): the number of 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 90e for quadrature output. phase error ( ? ): the deviation of the phase from its ideal value of 90e. direction of rotation: when the codewheel rotates in the direction of the arrow on top of the module, channel a will lead channel b. if the codewheel rotates in the oppo - site direction, channel b will lead channel a. optical radius (r op ): the distance from the codewheels center of rotation to the optical center (o.c.) of the en - coder module. index pulse width (p o ): the number of electrical degrees that an index is high during one full shaft rotation. this value is nominally 90e or 1/4 cycle.
5 recommended operating conditions parameter symbol min. typ. max. units notes temperature t a -40 100 c supply voltage v cc 4.5 5.0 5.5 volts ripple < 100 mv p-p load capacitance c l 100 pf 2.7 k ? pull-up count frequency f 100 khz velocity (rpm) x n/60 shaft perpendicularity 0.25 mm 6.9 mm (0.27 in.) from plus axial play (0.010) (in.) mounting surface shaft eccentricity plus 0.04 mm (in.) 6.9 mm (0.27 in.) from radial play (0.0015) tir mounting surface note: the module performance is guaranteed to 100 khz but can operate at higher frequencies. for the heds-9040 #t00 for operation below 0c and greater than 50 khz the maximum pulse width and logic state width errors are 60e. encoding characteristics heds-9040 (except #t00), heds-9140 (except #b00) encoding characteristics over recommended operating range and recommended mounting tolerances unless otherwise specifed. values are for the worst error over the full rotation of heds-5140 and heds-6140 codewheels. parameter symbol min. typ. [1] max. units cycle error ? c 3 5.5 e pulse width error ? p 7 30 e logic state width error ? s 5 30 e phase error ? 2 15 e position error ? 10 40 min. of arc index pulse width p o 60 90 120 e ch. i rise after -25c to +100c t 1 10 100 250 ns ch. b or ch. a fall -40c to +100c t 1 -300 100 250 ns ch. i fall after -25c to +100c t 2 70 150 300 ns ch. a or ch. b rise -40c to +100c t 2 70 150 1000 ns note: 1. module mounted on tolerance circle of 0.13 mm (0.005 in.) radius referenced from module side a aligning recess centers. 2.7 k ? pull-up resistors used on all encoder module outputs.
6 encoding characteristics heds-9040 #t00 encoding characteristics over recommended operating range and recommended mounting tolerances unless otherwise specifed. values are for the worst error over the full rotation of hedm-614x option txx codewheel. parameter symbol min. typ. [1] max. units cycle error ? c 3 7.5 e pulse width error ? p 7 50 e logic state width error ? s 5 50 e phase error ? 2 15 e position error ? 2 20 min. of arc index pulse width p o 40 90 140 e ch. i rise after ch. b or ch. a fall -40c to +100c t 1 10 450 1500 ns ch. i fall after ch. a or ch. b rise -40c to +100c t 2 10 250 1500 ns note: 1. module mounted on tolerance circle of 0.13 mm (0.005 in.) radius referenced from module side a aligning recess centers. 2.7 k ? pull-up resistors used on all encoder module outputs. encoding characteristic heds-9140 #b00 encoding characteristics over recommended operating range and recommended mounting tolerances unless oth - erwise specifed. values are for the worst error over the full rotation of hedm-504x option bxx codewheel. parameter symbol min. typ. [1] max. units cycle error ?c 6 12 e pulse width error ?p 10 45 e logic state width error ?s 10 45 e phase error ? 2 15 e position error ? 10 40 min. of arc index pulse width p o 50 90 130 e ch. i rise after ch b or ch a fall -40c to +100 t 1 200 1000 1500 ns ch. i fall after ch. a or ch.b rise -40c to +100 t 2 0 300 1500 ns note: 1. module mounted on tolerance circle of 0.13 mm (0.005 in.) radius referenced from module side a aligning recess centers. 2.7 k ? pull-up resistors used on all encoder module outputs. electrical characteristics electrical characteristics over recommended operating range. parameter symbol min. typ. [1] max. units notes supply current i cc 30 57 85 ma high level output voltage v oh 2.4 v i oh = -200 a max. low level output voltage v ol 0.4 v i ol = 3.86 ma rise time t r 180 [2] ns c l = 25 pf r l = 2.7 k ? pull-up fall time t f 49 [2] ns notes: 1. typical values specifed at v cc = 5.0 v and 25c. 2. t r and t f 80 nsec for heds-9040 #t00.
7 electrical interface to insure reliable encoding performance, the heds-9040 and 9140 three channel encoder modules require 2.7 k ? (10%) pull-up resistors on output pins 2, 3, and 5 (channels i, a and b) as shown in figure 1. these pull-up resistors should be located as close to the encoder mod - ule as possible (within 4 feet). each of the three encoder module outputs can drive a single ttl load in this con - fguration. figure 1. pull-up resistors on heds-9x40 encoder module outputs. mounting considerations figure 2 shows a mounting tolerance requirement for proper operation of the heds-9040 and heds-9140. the aligning recess centers must be located within a toler - ance circle of 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 5), or mounted with side b as the mounting plane using an alignment tool (see figures 3 and 4). figure 2. heds-9x40 mounting tolerance.
8 mounting with an alignment tool the heds-8905 and heds-8906 alignment tools are rec - ommended for mounting the modules with side b as the mounting plane. the heds-8905 is used to mount the heds-9140, and the heds-8906 is used to mount the heds-9040. these tools fx the module position using the codewheel hub as a reference. they will not work if side a is used as the mounting plane. the following assembly procedure uses the heds- 8905/8906 alignment tool to mount a heds-9140/9040 module and a heds-5140/6140 codewheel: instructions: 1. place codewheel on shaft. 2. set codewheel height by placing alignment tool on motor base (pins facing up) fush up against the codewheel as shown in figure 3. tighten codewheel setscrew and remove alignment tool. 3. insert mounting screws through module and thread into the motor base. do not tighten screws. 4. slide alignment tool over codewheel hub and onto module as shown in figure 4. the pins of the alignment tool should ft snugly inside the alignment recesses of the module. 5. while holding alignment tool in place, tighten screws down to secure module. 6. remove alignment tool. mounting with aligning pins the heds-9040 and heds-9140 can also be mounted us - ing aligning pins on the motor base. (hewlett-packard does not provide aligning pins.) for this confguration, side a must be used as the mounting plane. the align - ing recess centers must be located within the 0.005 in. r tolerance circle as explained above. figure 5 shows the necessary dimensions. figure 3. alignment tool is used to set height of codewheel. figure 4. alignment tool is placed over shaft and onto codewheel hub. alignment tool pins mate with aligning recesses on module.
9 mounting with aligning pins the heds-9040 and heds-9140 can also be mounted using aligning pins on the motor base. (avago does not provide aligning pins.) for this confguration, side a must be used as the mounting plane. the aligning recess centers must be located within the 0.005 in. radius tol - erance circle as explained in mounting considerations. figure 5 shows the necessary dimensions. figure 5. mounting plane side a. figure 7. heds-5140 codewheel used with heds-9140. figure 6a. heds-6140 codewheel used with heds-9040. figure 6b. hedm-614x series codewheel used with heds-9040 #t00. 26.67 (1.050) max. heds-9040 fig 6a 18.0 (0.71) 130 typical index pulse position index pulse reference marker 50.6 (1.99) dia. max. set screw 8.99 (0.354) max. 0.20 (0.006) max. 19.0 (0.747) codewheel boss r op = 23.36 mm (0.920 in.) dimensions in mm (inches) #2-56 setscrew use 0.035" hex wrenc h 0.18 (0.007) 2-56 setscrew use 0.035" hex wrench 8.43 (0.332) 22.50 (0.886) max. artwork side (hedm-6140) artwork side (hedm-6141) heds-9040 fig 6b dia. max. 50.48 (1.987) dimensions in mm (inches) 36.32 (1.430) 130 typical index pulse position setscrew note 3: * for window option measurement = 3.22 (0.127)
10 orientation of artwork for heds-9040 option t00 (2000 cpr, 23.36mm rop) and heds-9140 option b00 (1000cpr, 11.00mm rop) *please note that the image side of the codewheel must always be facing the module side a. the index area on the heds- 9040 option t00, 2000 cpr and heds-9140 option b00, 1000 cpr encoder module has a nonsymmetrical pattern as does the mating code - wheel. in order for the index to operate, the rightread - ing side of the codewheel disk (the artwork side) must point toward side a of the module (the side with the connecting pins). because the encoder module may be used with either side a or with side b toward the mounting surface, avago supplies two versions of film codewheels for use with the option t00 3-channel module and option b00 3-channel module: codewheel hedm-6140 option txx and HEDM-5040 option bxx has the artwork side on the hub side of the codewheel/ hub assembly and works with side b of the module on the users mounting surface. codewheel hedm-6141 option txx and hedm-5041-bxx has the artwork side opposite the hub side and works with side a of the module on the mounting surface. for the index to oper - ate, these parts must be oriented as shown in figure 7a and 7b. * use hedm-6141#txx or hedm-5041#bxx figure 7a. * use hedm-6140#txx or HEDM-5040#bxx figure 7b. heds-9040 fig 7a module side b module side a image side of codewheel* * use hedm-6141 # txx hub heds-9040 fig 7b image side of codewheel* module side a module side b * use hedm-6140 # txx hub
11 connectors manufacturer part number amp 103686-4 640442-5 avago heds-8902 (2 ch.) with 4-wire leads heds-8903 (3 ch.) with 5-wire leads molex 2695 series with 2759 series term. typical interfaces ch. a ch. b host processor hctl-20xx quadrature decoder/counter hedsC9040 or heds-9140 ch. a ch. b host processor a hctl-1100 motion control ic hedsC9040 or heds-9140 figure 8. heds-8903 connector. ch. i ch. i
12 01 02 03 04 05 06 08 09 10 11 12 13 14 heds-6140 b * * * * * * * j * * * * hedm-6140 t * three channel encoder modules and codewheels, 23.36 mm optical radius. ordering information three channel encoder modules and codewheels, 23.36 mm optical radius 0 0 heds-9040 option option hed m-614 heds-904 heds-6140 option 0 0 shaft diameter 06 - 1/4 in. 11 - 4 mm 08 - 3/8 in. 12 - 6 mm 09 - 1/2 in. 13 - 8 mm 10 - 5/8 in. resolution (cycles/rev) b - 1000 cpr j - 1024 cpr 0 - artwork on hub side (use when module side b is down) 1 - artwork opposite hub side (use when module side a is down) shaft diameter 12 - 6 mm artwork orientation resolution (cycles/rev) t - 2000 cpr assembly tool heds-8906 assembly tool heds-8906 option lead bend 0 - straight leads 1 - bent leads 0 a b c d e f g h i j k s t u heds-9040 * * * heds-9041 *
01 02 03 04 05 06 08 09 10 11 12 13 14 heds-5140 a * * * * * * * * c * * * * e * * * * f * * * g * * * i * * * * * * * HEDM-5040 b * * * * * * hedm-5041 b * * * * * * three channel encoder modules and codewheels, 11.00 mm optical radius heds-5140 option shaft diameter 02 - 3 mm 04 - 5/32 in. 05 - 3/16 in. 06 - 1/4 in. 11 - 4 mm 14 - 5 mm 12 - 6 mm 13 - 8 mm resolution (cycles/rev) s - 50 cpr c - 100 cpr e - 200 cpr f - 256 cpr g - 360 cpr h - 400 cpr a - 500 cpr i - 512 cpr assembly tool heds-8905 hed option lead bend 0 - straight leads 1 - bent leads 0 0 a b c d e f g h i j k s t u heds-9140 * * * * * * * * * heds-9141 * * * * hedw-9140 * * for product information and a complete list of distributors, please go to our website: www.avagotech.com avago, avago technologies, and the a logo are trademarks of avago technologies in the united states and other countries. data subject to change. copyright ? 2005-2013 avago technologies. all rights reserved. obsoletes 5988-5498en av02-1132en - december 19, 2013 window option s C standard wC window option -914 three channel encoder modules and codewheels, 11.000 optical radius h e d s - 9 1 4 0 0 0 h e d m - 5 0 4 assembly tool resolution artwork orientation shaft diameter heds-8905 (cycle/rev) b - 1000cpr 0 - artwork on hub side 01 - 2mm 11 - 4mm (use when module side b is down) 02 - 3mm 13 - 8mm 1 - artwork on opposite hub side 05 - 3/16 in 14 - 5mm (use when module side a is down) option option

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