HEDS-9040/9140

Three Channel Optical Incremental Encoder Modules

Data Sheet

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 detector 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.

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 • -40°C to 100°C operating temperature • TTL compatible • Single 5 V supply
8.6 (0.34) 2.54 (0.100) TYP. 1.0 (0.04) DATE CODE 3.73 ± 0.05 (0.147 ± 0.002) 20.8 (0.82) 11.7 (0.46) 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 OPTICAL CENTER LINE 1.78 ± 0.10 (0.070 ± 0.004) 2.92 ± 0.10 (0.115 ± 0.004) 10.16 (0.400) TYPICAL DIMENSIONS IN MILLIMETERS AND (INCHES) 5.46 ± 0.10 (0.215 ± 0.004) 1.52 (0.060) 2.21 (0.087) 2.9 (0.11) 1.8 (0.07) 6.9 (0.27)
CH. B V CC CH. A N.C. GND 5 4 3 2 1

Package Dimensions
HEDx-9xx0 Option
0.63 (0.025) SQR. TYP. OPTION CODE 5.1 (0.20) 26.67 (1.05) 15.2 (0.60)

V CC

GND

2.54 (0.100)

11.9 (0.47)

1.02 ± 0.10 (0.040 ± 0.004) ALIGNING RECESS 2.44/2.41 DIA. (0.096/0.095) 2.16 (0.085) DEEP

1.85 (0.073) 8.64 (0.340) REF.

17.27 (0.680) 20.96 (0.825)

SIDE A

HEDx-9xx1 Option
0.63 (0.025) SQR. TYP. OPTION CODE 5.1 (0.20) 26.67 (1.05) 15.2 (0.60) 2.54 (0.100) TYP. 1.0 (0.04) DATE CODE 3.73 ± 0.05 (0.147 ± 0.002) 1.02 ± 0.10 (0.040 ± 0.004) ALIGNING RECESS 2.44/2.41 DIA. (0.096/0.095) 2.16 (0.085) DEEP HEDS-9X01
YYXX X00

4.01 ± 0.20 (0.158 ± 0.008) 2.9 (0.11)

V CC

CH. B V CC CH. A N.C. GND

1.8 (0.07) 2.21 (0.087)

16.76 ± 0.20 (0.66 ± 0.008)

2.54 (0.100)

11.7 (0.46) OPTICAL CENTER LINE

5 4 3 2 1

GND

1.85 (0.073) 8.64 (0.340) REF.

17.27 (0.680) 20.96 (0.825)

SIDE A

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

HEDS-9X00
YYXX X00

4.75 ± 0.10 (0.187 ± 0.004) ALIGNING RECESS 2.44/2.41 X 2.79 (0.096/0.095 X 0.110) 2.16 (0.085) DEEP OPTICAL CENTER

45°

5.8 (0.23)

8.81 (0.347)

CL

ALIGNING RECESS 2.44/2.41 DIA. (0.096/0.095) 2.16 (0.085) DEEP 4.11 (0.162) 6.35 (0.250) REF.

SIDE B

8.6 (0.34)

CL

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

4.75 ± 0.10 (0.187 ± 0.004) ALIGNING RECESS 2.44/2.41 X 2.79 (0.096/0.095 X 0.110) 2.16 (0.085) DEEP OPTICAL CENTER

45°

5.8 (0.23)

8.81 (0.347)

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)

ALIGNING RECESS 2.44/2.41 DIA. (0.096/0.095) 2.16 (0.085) DEEP 4.11 (0.162) 6.35 (0.250) REF.

TYPICAL DIMENSIONS IN MILLIMETERS AND (INCHES)

SIDE B

making them ideal for high volume applications. causing the light beam to be interrupted by the pattern of spaces and bars on the code­ wheel. As seen in the block diagram. Please contact sales representative if more clarification is needed. The HEDS-9140 is designed for use with a HEDx-5x4x code­ wheel which has an optical radius of 11.00 mm (0. the digital output of channel A is in quadrature with that of channel B (90 degrees out of phase). This output PO is a one state width (nominally 90 electrical degrees). The light is collimated into a parallel beam by means of a single poly­ car­ bon­ ate lens located directly over the LED. The HEDS-9040 is designed for use with a HEDX-614X code­ wheel which has an optical radius of 23. The output of the comparator for I and I is sent to the index processing circuitry along with the outputs of channels A and B. The final output of channel I is an index pulse PO which is generated once for each full rotation of the codewheel. B.1 inch centers. Note: Avago Technologies encoders are not recommended for use in safety critical applications. Theory of Operation The HEDS-9040 and 9140 are emitter/detector modules. life support systems and critical care medical equipment. high true index pulse which is coincident with the low states of channels A and B. and industrial and factory automation equipment. Standard resolutions between 256 and 2000 counts per revolu­ tion are available. A. Due to this integrated phasing technique. Coupled with a codewheel. Opposite the emitter is the integrated detector circuit. This index output is a 90 electrical degree high true index pulse which is generated once for each full rotation of the codewheel.433 inch). tape drives. The codewheel rotates between the emitter and detector. plotters. B. the modules contain a single Light Emitting Diode (LED) as its light source.025 inch square pins located on 0. 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. Applications The HEDS-9040 and 9140 provide sophisticated motion control detection at a low cost. Comparators receive these signals and produce the final outputs for channels A and B.The HEDS-9040 and 9140 have two channel quadrature outputs plus a third channel index output. Typical applica­ tions include printers. Eg. The quadrature signals and the index pulse are accessed through five 0. I and I. these modules translate the rotary motion of a shaft into a three-channel digital output. ABS braking systems. The photo­ diodes which detect these interrup­ tions are arranged in a pattern that corresponds to the radius and design of the code­ wheel. 2 . This IC consists of multiple sets of photodetec­ tors and the signal processing circuitry necessary to produce the digital waveforms. Consult local Avago sales repre­ sentatives for other resolutions. The photo­ diode outputs are then fed through the signal processing circuitry resulting in A. power steering.920 inch).36 mm (0.

4 V 0.4 V t1 t2 2.4 V 0.Block Diagram RESISTOR VCC PHOTO DIODES LENS 4 COMPARATORS A A B B I I SIGNAL PROCESSING CIRCUITRY + − 3 CH. A CH. B P φ AMPLITUDE S1 S2 CH.4 V S3 S4 2. I ROTATION 3 . B + − INDEXPROCESSING CIRCUITRY 2 CH.4 V 0. A LED + − 5 CH.4 V P0 CH. I GND 1 EMITTER SECTION CODE WHEEL DETECTOR SECTION Output Waveforms C 2.

) TIR Velocity....................... 0..... 30............ This value is nominally 90°e or 1/4 cycle.... in electrical degrees....-0.............250....... Index Pulse Width (PO ): The number of electrical degrees that an index is high during one full shaft rotation............................ of the pulse width from its ideal value of 180°e.......-40°C to +100°C Supply Voltage.. Absolute Maximum Ratings Storage Temperature...... One Shaft Rotation: 360 mechanical degrees.. Optical Radius (ROP ): The distance from the codewheel’s center of rotation to the optical center (O.5 V to 7 V Output Voltage......25 mm (±0.................. and the nominal angular increment of 1/N of a revolution..... .....5 V to VCC Output Current per Channel.......................) Shaft Eccentricity Plus Radial Play............. IOUT....C............................ in electrical degrees.............. There are 4 states per cycle..... of each state width from its ideal value of 90°e........... This value is nominally 90°e for quadrature output............................ VO.....................................................................-1...............0 mA to 5 mA Shaft Axial Play....... One Cycle (C): 360 electrical degrees (°e)... TS................. TA........ each nominally 90°e..010 in.................. Phase (φ ): 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..Definitions Count (N): The number of bar and window pairs or counts per revolution (CPR) of the codewheel............-40°C to +100°C Operating Temperature. channel A will lead channel B.......................... Absolute maximums for HEDS-5140/6140 codewheels only..000 RPM[1] Acceleration.......... This value is nominally 180°e or 1/2 cycle..... VCC.......................................... 1 bar and window pair............ ..... -0............... ............ Pulse Width Error (∆P): The deviation... Direction of Rotation: When the codewheel rotates in the direction of the arrow on top of the module.............. 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.............. channel B will lead channel A...000 rad/sec2[1] Note: 1........ Phase Error (∆φ): The deviation of the phase from its ideal value of 90°e........ ... Cycle Error (∆C): An indication of cycle uniformity........................004 in.....±0......) of the encoder module................. Pulse Width (P): The number of electrical degrees that an output is high during 1 cycle...... The dif­ fer­ ence between an observed shaft angle which gives rise to one electrical cycle.................. 4 ..1 mm (0................ Position Error ( ∆Θ): The normalized angular difference between the actual shaft position and the position indicated by the encoder cycle count. If the codewheel rotates in the opposite direction......... N cycles................... State Width Error (∆S): The deviation..................

[1] 3 7 5 2 10 Max.27 in. Values are for the worst error over the full rotation of HEDS-5140 and HEDS-6140 codewheels.) radius referenced from module Side A aligning recess centers. of arc °e ns ns ns ns 60 10 -300 70 70 90 100 100 150 150 1.) from mounting surface Note: The module performance is guaranteed to 100 kHz but can operate at higher frequencies. HEDS-9140 (except #B00) Encoding Characteristics over Recommended Operating Range and Recommended Mounting Tolerances unless otherwise specified.13 mm (±0. 5. 5 . Module mounted on tolerance circle of ±0. Parameter Cycle Error Pulse Width Error Logic State Width Error Phase Error Position Error Index Pulse Width CH. For the HEDS-9040 #T00 for operation below 0°C and greater than 50 kHz the maximum Pulse Width and Logic State Width errors are 60°e. I rise after     -25°C to +100°C CH.) TIR Notes Ripple < 100 mVp-p 2.9 mm (0.5 100 100 ±0.7 kΩ pull-up resistors used on all encoder module outputs. Typ.) mm (in. -40 4.5 Typ.) from mounting surface 6. 5. B or CH.0015) Units °C Volts pF kHz mm (in. A fall -40°C to +100°C CH. 2.9 mm (0.7 kΩ pull-up Velocity (rpm) x N/60 6. B rise   ­ -40°C to +100°C Note: Symbol ∆C ∆P ∆S ∆φ ∆Θ PO t1 t1 t2 t2 Min. A or CH. Encoding Characteristics HEDS-9040 (except #T00).0 Max.27 in. I fall after     -25°C to +100°C CH.Recommended Operating Conditions Parameter Temperature Supply Voltage Load Capacitance Count Frequency Shaft Perpendicularity Plus Axial Play Shaft Eccentricity Plus Radial Play Symbol TA VCC CL f Min.010) 0.04 (0.5 30 30 15 40 120 250 250 300 1000 Units °e °e °e °e min.25 (±0.005 in. 100 5.

6 . Parameter Cycle Error Pulse Width Error Logic State Width Error Phase Error Position Error Index Pulse Width CH. I rise after CH.[1] 3 7 5 2 2 Max.) radius referenced from module Side A aligning recess centers. 2.0 V and 25°C.7 kΩ pull-up 180 [2] 49[2] 1. [1] 6 10 10 2 10 Max.5 50 50 15 20 140 1500 1500 Units °e °e °e °e min. Typical values specified at VCC = 5.4 Typ. Typ.005 in. Typ.86 mA CL = 25 pF RL = 2. Electrical Characteristics Electrical Characteristics over Recommended Operating Range.B rise Note: -40°C to +100° -40°C to +100° Symbol ∆C ∆P ∆S ∆Φ ∆Θ Po t1 t2 Min. of arc °e ns ns 40 10 10 90 450 250 1. of arc °e ns ns 50 200 0 90 1000 300 1.) radius referenced from module Side A aligning recess centers. B or CH. IOL = 3. 2. I fall after CH. I Rise after CH B or CH A fall CH. Parameter Cycle Error Pulse Width Error Logic State Width Error Phase Error Position Error Index Pulse Width CH. Values are for the worst error over the full rotation of HEDM-504X Option BXX codewheel. A fall CH. Module mounted on tolerance circle of ±0. Module mounted on tolerance circle of ±0. A or CH.13 mm (±0.4 Units mA V V ns ns Notes IOH = -200 µA max. 7. I fall after CH. Parameter Supply Current High Level Output Voltage Low Level Output Voltage Rise Time Fall Time Notes: Symbol ICC VOH VOL tr tf Min.13 mm (±0. 12 45 45 15 40 130 1500 1500 Units °e °e °e °e min. A or CH.[1] 57 Max. 2.7 kΩ pull-up resistors used on all encoder module outputs. tr and tf 80 nsec for HEDS-9040 #T00.005 in.7 kΩ pull-up resistors used on all encoder module outputs. Values are for the worst error over the full rotation of HEDM-614X Option TXX codewheel.Encoding Characteristics HEDS-9040 #T00 Encoding Characteristics over Recommended Operating Range and Recommended Mounting Tolerances unless otherwise specified. 85 0. 30 2. Encoding Characteristic HEDS-9140 #B00 Encoding Characteristics over Recommended Operating Range and Recommended Mounting Tolerances unless otherwise specified. B rise Note: -40°C to +100°C -40°C to +100°C Symbol ∆C ∆P ∆S ∆φ ∆Θ PO t1 t2 Min.

HEDS-9X40 Mounting Tolerance. This tolerance must be maintained whether the module is mounted with side A as the mounting plane using aligning pins (see Figure 5). A and B) as shown in Figure 1. or mounted with Side B as the mounting plane using an alignment tool (see Figures 3 and  4). the HEDS-9040 and 9140 three channel encoder modules require 2. The Aligning Recess Centers must be located within a tolerance circle of 0. 3. Figure 2. These pull-up resistors should be located as close to the encoder module as possible (within 4 feet). radius from the nominal locations.7 kΩ (±10%) pull-up resistors on output pins 2. Each of the three encoder module outputs can drive a single TTL load in this configuration. 7 . and 5 (Channels I.005 in. Figure 1. Mounting Considerations Figure 2 shows a mounting tolerance requirement for proper operation of the HEDS-9040 and HEDS-9140.Electrical Interface To insure reliable encoding performance. Pull-up Resistors on HEDS-9X40 Encoder Module Outputs.

tighten screws down to secure module. The aligning recess centers must be located within the 0. 2. 3. Insert mounting screws through module and thread into the motor base. Remove alignment tool. Alignment Tool is Placed over Shaft and onto Codewheel Hub. Figure 4. While holding alignment tool in place.005 in. Alignment Tool is Used to Set Height of Codewheel. The HEDS-8905 is used to mount the HEDS-9140. Alignment Tool Pins Mate with Aligning Recesses on Module.) For this configuration. (Hewlett-Packard does not provide aligning pins. Slide alignment tool over codewheel hub and onto module as shown in Figure 4. They will not work if Side A is used as the mounting plane. 8 . Tighten codewheel setscrew and remove alignment tool. Side A must be used as the mounting plane. and the HEDS-8906 is used to mount the HEDS-9040. 4. Place codewheel on shaft. Figure 3. 5.Mounting with an Alignment Tool The HEDS-8905 and HEDS-8906 alignment tools are recommended for mounting the modules with Side B as the mounting plane. The pins of the alignment tool should fit snugly inside the alignment recesses of the module. The following assembly procedure uses the HEDS8905/8906 alignment tool to mount a HEDS-9140/9040 module and a HEDS-5140/6140 codewheel: Instructions: 1. Set codewheel height by placing alignment tool on motor base (pins facing up) flush up against the codewheel as shown in Figure 3. Figure 5 shows the necessary dimensions. Do not tighten screws. 6. These tools fix the module position using the codewheel hub as a reference. R Tolerance Circle as explained above. Mounting with Aligning Pins The HEDS-9040 and HEDS-9140 can also be mounted using aligning pins on the motor base.

#2-56 SETSCREW USE 0. 0.050) (0. HEDS-9040 fig 6b Figure 7. Radius Tolerance Circle as explained in “Mounting Considerations. The aligning recess centers must be located within the 0.36 mm (0. MAX. ARTWORK SIDE (HEDM-6141) ARTWORK SIDE (HEDM-6140) DIMENSIONS IN mm (INCHES) Figure 6b.50 MAX. (Avago does not provide aligning pins. (0.32 (1.67 18.886) 8. 50. HEDS-9040 fig 6a 2-56 SETSCREW USE 0.007) 50.20 (0. (1.005 in. Side A must be used as the mounting plane.18 (0. ROP = 23.747) 130° TYPICAL 8.035" HEX WRENCH CODEWHEEL BOSS SET SCREW INDEX PULSE REFERENCE MARKER INDEX PULSE POSITION 26.43 (0.99) DIA. 9 .99 (0.006) MAX.” Figure 5 shows the necessary dimensions.035" HEX WRENCH 0. 19.0 (0. HEDS-6140 Codewheel Used with HEDS-9040.0 (1.332) INDEX PULSE POSITION 130° TYPICAL Figure 5.) DIMENSIONS IN MM (INCHES) Figure 6a. HEDM-614X Series Codewheel used with HEDS-9040 #T00.6 (1.71) MAX.354) MAX.Mounting with Aligning Pins The HEDS-9040 and HEDS-9140 can also be mounted using aligning pins on the motor base. SETSCREW 36. Mounting Plane Side A.430) 22.) For this configuration.920 in. HEDS-5140 Codewheel Used with HEDS-9140.48 DIA.987) MAX.

the “Rightreading” side of the Codewheel disk (the “Artwork Side”) must point toward “Side A” of the Module (the side with the connecting pins). 11. 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 user’s mounting surface. these parts must be oriented as shown in Figure 7a and 7b. 1000 CPR Encoder Module has a nonsymmetrical pattern as does the mating Codewheel. For the Index to operate. HUB MODULE SIDE B IMAGE SIDE OF CODEWHEEL* HUB MODULE SIDE A IMAGE SIDE OF CODEWHEEL* MODULE SIDE A MODULE SIDE B * USE HEDM-6141 # Txx * USE HEDM-6140 # Txx * USE HEDM-6141#Txx or HEDM-5041#Bxx * USE HEDM-6140#Txx or HEDM-5040#Bxx Figure 7a.9040 Option T00.00mm Rop) The Index area on the HEDS.36mm Rop) and HEDS-9140 Option B00 (1000CPR. HEDS-9040 fig 7b *Please note that the image side of the codewheel must always be facing the module Side A. 23. In order for the Index to operate. 2000 CPR and HEDS-9140 Option B00. 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.Orientation of Artwork for HEDS-9040 Option T00 (2000 CPR. HEDS-9040 fig 7a Figure 7b. 10 .

I A HCTL-1100 MOTION CONTROL IC HOST PROCESSOR 11 . I HEDS–9040 OR HEDS-9140 HCTL-20xx QUADRATURE DECODER/COUNTER HOST PROCESSOR HEDS–9040 OR HEDS-9140 CH. B CH.) with 5-wire leads 2695 series with 2759 series term. Typical Interfaces CH. B CH. Figure 8.Connectors Manufacturer AMP Avago Molex Part Number 103686-4 640442-5 HEDS-8902 (2 ch. A CH. HEDS-8903 Connector.) with 4-wire leads HEDS-8903 (3 ch. A CH.

10 .Bent Leads Three Channel Encoder Modules and Codewheels.Ordering Information Three Channel Encoder Modules and Codewheels.36 mm Optical Radius HEDS-9040 Option 0 0 HEDM-614 Artwork Orientation 0 .6 mm 13 .5/8 in.Straight Leads 1 .Artwork opposite hub side (use when Module Side A is down) Option Assembly Tool HEDS-8906 Resolution (Cycles/Rev) T . 09 .2000 CPR Shaft Diameter 12 .1/2 in.1024 CPR Shaft Diameter 06 .1000 CPR J .4 mm 12 . 08 .8 mm Assembly Tool HEDS-8906 Lead Bend  0 .3/8 in. 23.36 mm Optical Radius.Artwork on hub side (use when module Side B is down) 1 . 11 .1/4 in.6 mm A HEDS-9040 HEDS-9041 * * B C D E F G H I J * K S T * U 01 HEDS-6140 HEDM-6140 B J T 02 03 04 05 06 08 * * 09 * 10 * * 11 * 12 * 13 * * * 14 * * 12 . HEDS-904 0 Option 0 0 HEDS-6140 Option Resolution (Cycles/Rev) B . 23.

6 mm 13 . please go to our website: www.1/4 in. Avago Technologies.Straight Leads 1 . 05 . All rights reserved.400 CPR A .500 CPR I . 2011 .200 CPR F . 11.avagotech.April 5. 06 . and the A logo are trademarks of Avago Technologies in the United States and other countries.5 mm 12 .100 CPR E .9 1 4 0 Option Resolution (Cycle/Rev) B 1000CPR 0 0 HE DM .3/16 in. 11 . Obsoletes 5988-5498EN AV02-1132EN .00 mm Optical Radius HED -914 Option 0 0 HEDS-5140 Option Assembly Tool HEDS-8905 Shaft Diameter  02 .360 CPR H .com Avago.Artwork on opposite hub side (use when module side A is down) 0-   HEDS-9140 HEDS-9141 HEDW-9140 A * * * B * C * D E * * F * * G * * H * I * * J K * S T U    HEDS-5140 A C E F G I HEDM-5040 HEDM-5041 B B 01 02 * 03 04 * * * 05 * 06 * * * * 08 09 10 11 * * 12 * * * * * 13 * * 14 * * * * * * * * * * * * * * * * * * * * * * * For product information and a complete list of distributors.3 mm 04 .Three Channel Encoder Modules and Codewheels.512 CPR Three Channel Encoder Modules and Codewheels.5/32 in. Copyright © 2005-2011 Avago Technologies.256 CPR G .50 CPR C . 11. Data subject to change.000 Optical Radius H E D S .8 mm Window Option S – Standard W– Window Option Lead Bend  0 .5 0 4 Artwork Orientation Option Shaft Diameter 01 02 05 11 13 14 2mm 3mm 3/16 in 4mm 8mm 5mm Assembly Tool HEDS-8905 Artwork on Hub Side (use when module side B is down) 1 .Bent Leads Resolution (Cycles/Rev) S .4 mm 14 .