Table of Contents Encoder Omron

Table of Contents
Absolute Encoders...................................................................................................................................... 3
Absolute Rotary Encoder E6C2-A .................................................................................... 3
First Page............................................................................................................. 3
Ordering Information ............................................................................................ 3
Specifications....................................................................................................... 4
Connections ......................................................................................................... 5
Operation ............................................................................................................. 5
Dimensions .......................................................................................................... 7
Installation............................................................................................................ 8
Contacting Omron................................................................................................12
Absolute Rotary Encoder E6CP........................................................................................13
Front Page ...........................................................................................................13
Ordering Information ............................................................................................13
Specifications.......................................................................................................14
Operation .............................................................................................................15
Dimensions ..........................................................................................................16
Absolute Rotary Encoder E6F ..........................................................................................19
Front Page ...........................................................................................................19
Specifications.......................................................................................................20
Operation .............................................................................................................20
Dimensions ..........................................................................................................21
Incremental Encoders .................................................................................................................................23
Incremental Rotary Encoder E6A2 ...................................................................................23
Front Page ...........................................................................................................23
Specifications.......................................................................................................24
Operation .............................................................................................................25
Dimensions ..........................................................................................................26
Incremental Rotary Encoder E6B2 ...................................................................................27
Front Page ...........................................................................................................27
Specifications.......................................................................................................28
Operation .............................................................................................................29
Dimensions ..........................................................................................................31
Installation............................................................................................................32
Incremental Rotary Encoder E6C2-C ...............................................................................33
First Page.............................................................................................................33
Specifications.......................................................................................................34
Operation .............................................................................................................35
Dimensions ..........................................................................................................37
Installation............................................................................................................39
Connection Examples ..........................................................................................39
Precautions ..........................................................................................................42
Incremental Rotary Encoder E6D .....................................................................................45
Front Page ...........................................................................................................45
Specifications.......................................................................................................46
Operation .............................................................................................................47
Dimensions ..........................................................................................................48
Multi-turn Encoders.....................................................................................................................................49
Multiple-Rotation Absolute Encoder E6C-M .....................................................................49
First Page.............................................................................................................49
Specifications.......................................................................................................50
Absolute Rotary Encoder E6C-N ......................................................................................52
First Page.............................................................................................................52
Specifications.......................................................................................................53
Operation .............................................................................................................54
Dimensions ..........................................................................................................57
Installation............................................................................................................59
Precautions ..........................................................................................................60
R
Absolute Rotary Encoder E6C2-A
Use the Tough E6C2-A (IP64

Enclosure Rating) Combined with a
PLC or Cam Positioner for Optimum
Control and Ease-of-Use
H Incorporates a sealed bearing, meeting
IP64 for durability
H Compact: 50-mm diameter x 38-mm
height
H 8 mm-dia. stainless steel shaft is twice
as strong as conventional shafts
H Reliable bearing and metal slit plate
ensure shock resistance of 1000 m/s 2
Ordering Information
J ABSOLUTE ROTARY ENCODERS
Appearance Connection method Connecting device Resolution (p/r) Part number
Cable Programmable Controller 256, 360, 720, 1,024 E6C2-AG5C 256
E6C2-AG5C 360
E6C2-AG5C 720
E6C2-AG5C 1024
Connector H8PS Cam Positioner 256 E6C2-AG5C-C 256
Note: The H8PS can be connected to the E6C2-AG5C-C but not to the E6C2-AG5C.
J ACCESSORIES (ORDER SEPARATELY)

Refer to Dimensions section for details
Item Part number

Coupling E69-C08B
Flange E69-FCA-03
E69-FCA-04
Extension cable 5m E69-DF5
10 m E69-DF10
15 m E69-DF15
20 m E69-DF20
2
E6C2-A E6C2-A
Specifications
J RATINGS/CHARACTERISTICS
Power supply voltage 12 VDC- 10% to 24 VDC+15%, ripple (p-p) 5% max.
Current consumption 70 mA max.
Resolution (See Note 1) 256, 360, 720, 1,024 P/R
Output code (absolute) Gray code
Output configuration NPN open collector
Output capacity Applied voltage 30 VDC max.
Isink 35 mA max.
Residual voltage 0.4 V max.
Max. response frequency (See Note 2) 20 kHz
Logic Negative logic output (H=0, L=1)
Rotational direction Clockwise, as viewed from the face of the shaft
Rise and fall times of output 1 µs max. (cable length: 2m; Isink : 35 mA max.)
Starting torque 100 gf S cm (0.087 in S lbf) max. at room temperature
150 gf S cm (0.13 in S lbf) max. at low temperature
Moment of inertia 15 g S cm2 (1.5 x 10- 6 kg S m2) or 0.005 lb S in2 max.
Shaft loading Radial 8 kgf (78.4N) or 17.6 lbf
Thrust 5 kgf (49N) or 11.0 lbf
Maximum permissible rotation 5,000 rpm
Ambient temperature Operating -- 10°C to 70°C (14°F to 158°F) with no icing
Storage -- 25°C to 85°C (-- 13°F to 185°F) with no icing
Ambient humidity Operating 35% to 85% (with no condensation)
Insulation resistance 20 MΩ min. (at 100 VDC) between carry parts and case
Dielectric strength 500 VAC, 50/60 Hz for 1 min between carry parts and case
Vibration resistance Destruction: 10 to 500 Hz, 1.0-mm single amplitude or 150 m/s2 (approx. 15G) for 11
min. 3 times each in X, Y, and Z axes
Shock resistance Destruction: 1,000 m/s2 (approx. 100G) 3 times each in X, Y, and Z axes
Degree of protection IEC IP64
Weight 300 g (0.66 lbs) with 2-m cable
Note: 1. A gray code signal with a remainder of 76 is used for a resolution of 360 per rotation and a gray code signal with a remainder of
152 is used for a resolution of 720 per rotation. Therefore, the code signal for a resolution of 360 per rotation uses addresses
76 through 435 and that for a resolution of 720 per rotation uses addresses 152 through 871.
2. The electrical maximum response rotation is determined by using the resolution and maximum response frequency in the fol-
lowing formula.
Maximum response frequency
Electrical maximum response rotation (rpm) = x 60
Resolution
Therefore, a signal cannot follow electrically if the actual rotation exceeds the maximum response rotation.
3
E6C2-A E6C2-A
Connections
J DURABLE DESIGN J SHAFT STRENGTH
The E6C2-A incorporates a high-performance LED, The E6C2-A has a stainless steel shaft that is 8 mm in diameter
custom-made diode array, high-density printed circuit board, and and approximately twice as strong as OMRON’s conventional
a compact, watertight, seal bearing that withstands heavy loads, Rotary Encoder shaft. The E6C2-A also has a reliable bearing
thus ensuring high mechanical durability, watertight performance, and metal slit plate, ensuring a shock resistance of 1,000 m/s2.
and compactness. The O-ring applied to the casing and a
watertight packing applied to the cable connector enhance the
watertight performance of the E6C2-A.
Thrust
Photodiode 5 kgf
Slit
O-ring LED
Casing Radial
8-dia. stainless steel shaft 8 kgf
High-load seal bearing
Rotary disk
Watertight packing
Cable
Operation
J CONNECTIONS
Cable Specifications
Output signal
E6C2-AG5C
Wire color 8-bit (256) 9-bit (360) 10-bit (720, 1,024)
Light blue NC NC 29
Pink NC 28 28
Purple 25 25 25
Orange 21 21 21
Brown 20 20 20
White 27 27 27
Blue 24 24 24
Yellow 22 22 22
Green 23 23 23
Gray 26 26 26
--- Shield (GND)
Red 12 to 24 VDC
Black 0 V (Common)
4
E6C2-A E6C2-A
J CONNECTOR SPECIFICATIONS J OUTPUT CIRCUIT DIAGRAM

Output signal
E6C2-AG5C-C 12 to 24 VDC
Pin number 8-bit (256)
1 NC Output
2 NC Main 35 mA max.,
3 25 circuit 30 VDC
0V
4 21
5 20 Shield
GND
6 27
7 24
8 22 Note: Each output bit uses the same circuit.
9 23
10 26
11 Shield (GND)
12 12 to 24 VDC
13 0 V (Common)
J OUTPUT MODE
Rotating direction: CW, as viewed from the face of the shaft.
Output transistor
Address
5
E6C2-A E6C2-A
Dimensions
Unit: mm (inch)
J E6C2-AG5C
58
(2.28)
Three, M4 holes
40±0.1 dia.
Depth: 5 (1.57)
8+0
- 0.018 dia.
(0.31+0-0.0007)
1
30+0
- 0.021dia.
(1.18+0 - 0.0008 )
50 dia.
(1.97)
14 max.
Oil-proof PVC, shielded 12-conductor cable (7/0.18 dia.)
J E6C2-AG5C-C
Three, M4 holes 40±0.1 dia.

(1.57)
Depth: 5
30+0
- 0.021dia.
(1.18 + 0
- .00008)
58 (2.28)
8 +0
- 0.018 dia.
(0.31+0-0.0007)
1
30+0
- 0.021dia.
(1.18+0- 0.0008 )
50 dia.
(1.97)
14 max.
16.9 dia.
Oil-proof PVC, shielded 12-conductor cable (7/0.18 dia.)
6
E6C2-A E6C2-A
Installation
J CONNECTING E6C2-AG5C-C TO H8PS CAM POSITIONER
Model Mounting method Output configuration

H8PS-8B Flush NPN transistor output
H8PS-8BP PNP transistor output
H8PS-8BF Surface/Track NPN transistor output
E6C2-AG5C-C
H8PS-8BFP PNP transistor output
Specifications
Rated voltage 24 VDC
Cam resolution 1.4° (a resolution of 256 per rotation)
Outputs Open-collector transistor output
NPN: H8PS-8B(F)
PNP: H8PS-8B(F)P
Cam outputs: 8 lines (Output No. 1 to 8)
30 VDC max., 100 mA max. (residual voltage: 2 V max.)
RUN OUT: Turns ON in Run and Test modes, OFF in Program mode in case of error
30 VDC max., 100 mA max. (residual voltage: 2 V max.)
TACHOMETER: 60-ppr signal output for rpm meter
30 VDC max., 30 mA max. (residual voltage: 0.5 V max. for NPN models, 2 V
max. for PNP models)
Encoder response 330 rpm
Functions Origin compensation (zero shift)
Rotating direction selection
Angle display selection
Teaching
7
E6C2-A E6C2-A
J CONNECTING E6C2-AG5C TO PROGRAMMABLE CONTROLLER

Example of Connection to CQM1-CPU44-E High-capacity CPU Unit with Absolute Interface and RS-232C Port
Position data can be directly input as 8, 10, or 12-bit gray code signals from Absolute Encoders to the CQM1-CPU44-E. The position data
input is backed up during power failures. Therefore, the origin return operation is not required after the power supply resumes. Further-
more, the origin compensation function of the E6C2-AG5C makes it possible to use any position for the origin.
CQM1-CPU44-E
Workpiece
Motor driver (Inverter)

Turntable
No. of I/O: 192 points max.

ABS (Absolute) Encoder User memory: 7.2 Kwords
Motor
Data memory: 6 Kwords
E69-DC5 Connection Cable Number of instructions: 118
Operating mode: BCD or 360° mode
The rotating angle is detected and the turntable is controlled.
(selectable)
Input Specifications
Input voltage 24 VDC+10%/- 15%
Input impedance 5.4 kΩ
Input current 4 mA (TYP.)
ON voltage 16.8 VDC min.
OFF voltage 3.0 VDC max.
Counting speed 4 kHz max.
Input code Gray code (8, 10, or 12 bits)
E69-DC5 5M Connection Cable for CQM1-CPU44-E (Order Separately)
(7.87)
(See note 3)
(196.85)
16.9 dia.
(See note 1) (See note 4)
(See note 2)
Note: 1. 6-dia. oil-proof PVC, shielded 12-conductor cable (7/0.18 dia.);

standard length: 5 m
2. Connected to CQM1-CPU44-E.
3. 12 to 24 VDC
4. Connected to Encoder.
8
E6C2-A E6C2-A
System Configuration Using a Resolution of 1,024 per Example of DM Setting for Comparison Table
Rotation
A combination of the CQM1-CPU4-4E and E6C2-AG5C ensures Lower limit 1
easy output angle setting for cam control in 360° or BCD mode. Upper limit 1 Bit AR 0500
Subroutine number 1
E6C2-AG5C Lower limit 2
Upper limit 2 Bit AR 0501
With a resolution of 1,024 per rotation Subroutine number 2
Output Unit (100 words) Lower limit 3

Upper limit 3 Bit AR 0502
Subroutine number 3
Lower limit 4
Not used.
E69-DC5 5M
Connection Upper limit 8
Cable Subroutine number 8
CQM1-CPU44-E
Two Encoder inputs can be controlled
independently.
Note: An upper or lower limit can be set with integers in BCD
mode and 5° increments in 360° mode. Subroutine num-
Mode Setting of CQM1-CPU44-E bers are set for interrupt processing.
Set port 1 to BCD mode and 10 bits
DM 6643 0001 Internal Bits of CQM1-CPU44-E

• Range Comparison Result
Output Timing Each bit of the CQM1-CPU44-E CPU Unit’s words AR 05 and AR
06 turns ON only when the comparison range coincides with the
Angle of E6C2-AG5C angle of E6C2-AG5C.
Bit
Port 1 comparison result AR 05
Port 2 comparison result AR 06
Comparison 1 result
1: Conformity
0: Nonconformity
Ladder Program Example Comparison 8 result
Use the CTBL instruction of the CQM1-CPU44-E to register a

maximum of eight comparison tables for output angle setting. • Present Value Read
The gray code signals of the E6C2-AG5C are automatically
One scan ON converted into BCD or 360° code signals and read through the
Select port 1 for table registration, CQM1-CPU44-E CPU Unit’s words AR 232 and AR 234. The
CTBL(63)
001 comparison mode setting, and present value can be used for ladder programs.
001 comparison-table first channel
DM 0000 setting.
Port 1 angle **** Word 232
Port 2 angle **** Word 234
Output
9
E6C2-A E6C2-A
J CONNECTING TO CPM1A USING A 00003 20004

20003
RESOLUTION OF 720 PER ROTATION
00003 20004
00002 20003
E6C2-AG5C
20002
00002 20003
Converts a gray code
signal into a BIN code
00001 20002 signal (word 200).
20001
CPM1A-20CDR-j
00001 20002
00000 20001
20000
Wiring Between E6C2-AG5C and CPM1A 00000 20001
Output signal from E6C2-AG5C Input signal to CPM1A

(Always ON)
Brown (20) 00000 25313
BCD (24)
200 Converts a BIN code signal
Orange (21) 00001 (word 200) into a BCD code
201
signal (word 201).
Yellow (22) 00002
Subtracts 152 for a resolution of
Green (23) 00003 SUB (31) 720 per rotation.
201
Blue (24) 00004 #0152
Nothing is subtracted for a resolu-
tion of 256 or 1,024 per rotation.
202
Purple (25) 00005 Subtracts 76 for a resolution of 360
per rotation.
Gray (26) 00006 BCMP (68) If the Encoder value (word 202) exists
White (27) 00007 202 between DM 6200 (BCMP) and
DM 6200 DM 6231 (the comparison table), the
Pink (28) 00008 203 corresponding bit of word 203 turns ON.
Light blue (29) 00009 20300

01000
Output Timing
20301
Angle of E6C2-AG5C 01001 Output
20302
01002
END (01)
Ladder Program
00009 Example of DM Setting for Comparison Table
20009
00008 20009 Lower limit 1
Bit 20300
20008 Upper limit 1
Bit 20301
Upper limit 2
Bit 20302
20007 Upper limit 3
Not used.
00006 20007 Converts a gray code
20006 signal into a BIN code Upper limit
signal (word 200). 16
00006 20007
00005 20006
20005
00005 20006
00004 20005
20004
00004 20005
10
E6C2-A E6C2-A
J GRAY-TO-BINARY CONVERSION CIRCUIT REFERENCE

Note: This circuit example is for 10-bit signals. For 9-bit signals, input Vin into the XOR of 28, and for 8-bit signals, input Vin into
the XOR of 27.
Red
(see note 1)
(see note 3)
Light blue
E6C2-AG5C (see note 2)

Pink
White
Gray
Purple
Binary code signals
Blue
Green
Yellow
Orange
Brown
Black
Note: 1. Signal can be converted into positive-logic binary code signals if 0 V is

connected to Vin.
2. Inverter
3. Exclusive OR (EOR)
NOTE: DIMENSIONS SHOWN ARE IN MILLIMETERS. To convert millimeters to inches divide by 25.4.
R
OMRON ELECTRONICS LLC OMRON ON--LINE OMRON CANADA, INC.
One East Commerce Drive Global -- http://www.omron.com 885 Milner Avenue
Schaumburg, IL 60173 USA -- http://www.omron.com/oei Scarborough, Ontario M1B 5V8
1-800-55-OMRON Canada -- http://www.omron.com/oci 416-286-6465
Cat. No. CEDSAX4 11/01 Specifications subject to change without notice. Printed in U.S.A.
E6CP E6CP
Absolute Rotary Encoder E6CP

Absolute Rotary Encoders with
Gray Code Output
■ Gray code output decreases output
errors
■ Lightweight plastic housing
■ Used with Omron’s H8PS
Cam Positioner, this encoder detects the
operation timing of various automatic
machines with high precision
■ Optical system eliminates brush noise and
minimizes errors from temperature
fluctuation compared with potentiometers
■ ENCODERS
The encoder with a "-C" in the part number has a cable that terminates in a connector for Omron’s H8PS Cam Positioner.
Resolution (pulses/revolution) Output code Output form Supply voltage Cable termination Part number
8-bit (256 pulses/revolution) Gray code Open collector 5 to 12 VDC Wire bundle E6CP-AG3C
12 to 24 VDC Connector E6CP-AG5C-C
■ ACCESSORIES
Description Part number
Shaft coupler; fits two 6 mm (0.24 in) dia. shafts E69-C06B
Extension cable, 5 m (16.40 ft) for E6CP-AG5C-C encoder E69-DF5
■ REPLACEMENT PARTS
Mounting brackets (set of 3) supplied with each E6CP encoder E69-FCA-02
2
E6CP E6CP
Specifications
Part number E6CP-AG3C E6CP-AG5C-C
Supply voltage 5 VDC -5% to 12 VDC +10%; 12 VDC -10% to 24 VDC +15%;
max. 5% ripple peak-to-peak max. 5% ripple peak-to-peak
Current consumption 90 mA max. 70 mA max.
Resolution (pulses/revolution) 8-bit (256 pulses/revolution)
Output code Gray code (binary)
Applicable Cam Positioner — H8PS
Output form Open collector output
Output capacity Applied voltage: 28 VDC
Residual voltage: 0.4 V max. at sink current
Sink current: 16 mA max.
Maximum response 5 kHz
frequency
Logic Negative (H level: 0, L level: 1)
Accuracy Within ±1°
Rotation direction Output code increases in clockwise direction when viewed from shaft
Output rise and fall times 1.0 µs max. with 16 V control output voltage, 1 kΩ load resistance and 2 m (6.56 ft) output cable
Starting torque 10 g-cm (0.14 oz-inch) max.
Shaft loading Radial 3 kgf (21.7 ft•lbs)
Axial 2 kgf (14.5 ft•lbs)
Moment of inertia 10 g-cm2 (0.055 oz-inch2) max.
Maximum rpm 1,000 rpm
Electrical connection Prewired with 2 m (6.56 ft) length cable Connector
Weight Approx. 200 g (7 oz)
Enclosure rating IEC: IP50
Ambient Operating -10°C to 55°C (14°F to 131°F)
temperature Storage -25°C to 80°C (-13°F to 176°F)
Ambient humidity 35% to 85% RH
Vibration resistance Mechanical durability: 10 to 55 Hz, 1.5 mm double amplitude, in X, Y, and Z directions for 2 hours each
Shock resistance Mechanical durability: approx. 100 G in X, Y, and Z directions, 3 times each
Insulation resistance 10 MΩ minimum at 500 VDC between current-carrying part and housing
Dielectric strength 500 VAC, 50/60 Hz for 1 minute between current-carrying part and housing
3
E6CP E6CP
Operation
■ OUTPUT CIRCUIT DIAGRAM
Wiring
Terminal no. E6CP-AG5C-C Wire color EC6P-AG3C

1 — Red + power supply
2 — Black 0V (common)
3 Output 25 Brown Output 20
Red 4 Output 21 Orange Output 21
5 to 12 V
(12 to 24 V) 5 Output 20 Yellow Output 22
Main 6 Output 27 Green Output 23
circuit Output (8 outputs)
7 Output 24 Blue Output 24
Black 8 Output 22 Purple Output 25
0V
9 Output 23 Gray Output 26
10 Output 26 White Output 27
11 GND
12 Power supply 12 to 24 V
13 0 V (common)
Notes:
1. The output of each bit is from the same
circuit.
2. Terminals no. 1 and no. 2 are short-circuited.
■ TIMING CHART
Shaft rotation: Clockwise as viewed from the shaft
Output Mode
Revolution direction: CW (as viewed from shaft)
Output transistor
ON
20
OFF
ON
21
OFF
ON
22
OFF
ON
23
OFF
ON
24
OFF
ON
25
OFF
ON
26
OFF
27 ON
OFF
Address 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28
4
E6CP E6CP
Dimensions
Unit: mm (inch)
■ ENCODERS
E6CP-AG3C 10
5 50 (1.97)
8
3
45° 45°
1
56 25 50 (1.97)
(2.20) (0.98) dia.
dia. dia.
6 dia.
Four M4, depth 10 38

(1.50) 2000
dia.
*
40 (1.57)
E6CP-AG5C-C 10
5 50 (1.97)
8
3
45° 45°
1
56 25 50 (1.97)
(2.20) (0.98) dia.
dia. dia. 6 dia.
Four M4, depth 10 38 2000 **

(1.50) * 16.9
dia. (0.66)
dia.
40 (1.57) 37 (1.46)
Note:
* Oil-resistant, vinyl-insulated and shielded cable is 2 m
(6.56 ft) long. The E6CP-AG3C encoder terminates with a
6 mm OD wire bundle.
**E6CP-AG5C-C encoder terminates in a
connector that fits the H8PS Cam Positioner.
■ MOUNTING BRACKET E69-FCA-02
Panel
5.5 mm (0.22 dia.) hole 2
120°
18 16
(0.71) (0.63) 25
9 (0.35) (0.98)
dia.
120° 120°
8 3.1
Two C1 16
(0.63) 5.1
68 ±0.2 (2.68) dia.
Three M5
5
E6CP E6CP
■ ACCESSORIES
Shaft Coupler E69-C06B
22 (0.87)
5.5 11 5.5
2.8
2.8 16.4 Four M3 set screws
Note:
6 (0.24) 15 (0.59) dia. 1. Material: Glass-filled polybutadiene terephthalate (PBT).
dia. 2. Each set screw must be tightened to 2.5 kg-cm (2.17 in-lbs.)
Extension Cable E69-DF5
34.6 (1.36)
37 (1.46)
5,000
16.9 (0.66) dia. 16.9 (0.67) dia.
Oil-resistant, vinyl-insulated and shielded cable,

6 mm OD, 5 m (16.40 ft) length
6
E6CP E6CP
OMRON ELECTRONICS LLC OMRON ON-LINE OMRON CANADA, INC.

One East Commerce Drive Global - http://www.omron.com 885 Milner Avenue
Schaumburg, IL 60173 USA - http://www.omron.com/oei Scarborough, Ontario M1B 5V8
1-800-55-OMRON Canada - http://www.omron.com/oci 416-286-6465
Cat. No. CEDSAX4 11/01 Specifications subject to change without notice. Printed in the U.S.A.
E6F E6F
Absolute Rotary Encoder E6F

Absolute Encoders with BCD and
Gray Code Output
■ 360° position model with BCD output allows
detection of shaft angle in units of 1°
■ Gray code output model offers 256 pulses
per revolution for 8-bit resolution
■ Rugged construction: 10 mm (0.4 inch)
diameter shaft with radial load ratings of
10 kgf (72.3 ft•lbs) and axial load rating of
3 kg (21.7 ft•lbs)
■ High speed, high precision positioning
with programmable control when used in
combination with Omron’s H8PR or H8PS
Cam Positioners
■ ENCODERS
Encoders with a "-C" in the part number have a cable that terminates in a connector for Omron’s H8PS and H8PR Cam Positioners.
Resolution (pulses/revolution) Output code Output form Supply voltage Cable termination Part number
10-bit (360 pulses/revolution) BCD Open collector 5 to 12 VDC Wire bundle E6F-AB3C 360 2M
Connector E6F-AB3C-C 360 2M
8-bit (256 pulses/revolution) Gray code Open collector 12 to 24 VDC Connector E6F-AG5C-C
■ ACCESSORIES
Shaft coupler (supplied with E6F-AB3C 360 2M only) E69-C10B
Extension cable, 5 m (16.40 ft) for E6F-AB3C-C 360 2M and E6F-AG5C-C encoders E69-DF5
Mounting brackets (set of 3) supplied with each E6F encoder E69-FCA-02
2
E6F E6F
Specifications
Part number E6F-AB3C 360 2M E6F-AB3C-C 360 2M E6F-AG5C-C
Supply voltage 5 VDC -5% to 12 VDC +10%; 12 VDC -10% to 24 VDC +15%;
max. 5% ripple peak-to-peak max. 5% ripple peak-to-peak
Current consumption 100 mA max. 70 mA max.
Resolution (pulses/revolution) 10-bit (360 pulses/revolution) 8-bit (256 pulses/revolution)
Output code BCD Gray code
Applicable Cam Positioner — H8PS H8PR
Output form Open collector output Open collector output
Output capacity Applied voltage: 30 VDC max. Applied voltage: 28 VDC
Residual voltage: 0.4 V max. at sink current Residual voltage: 0.4 V max. at sink current
Sink current: 35 mA max. Sink current: 16 mA max.
Maximum response 10 kHz 10 kHz
frequency
Logic Negative (H level: 0, L level: 1)
Accuracy ±0.5° max. ± 1°
Rotation direction Output code increased in clockwise direction when viewed from shaft
Output rise and fall times 1.0 µs max. with 5 V control output voltage, 470 Ω load resistance and 2 m (6.56 ft) output cable
2.0 µs max. with 5 V control output voltage, 1 kΩ load resistance and 2 m (6.56 ft) output cable
Moment of inertia 15 g-cm2 (0.082 oz-inch2) max.
Electrical connection Prewired with 2 m (6.56 ft.) length cable Connector
Weight Approx. 500 g (1.1 lb.)
Enclosure rating IEC: IP52F (dust-proof, drip-proof)
Shock resistance Mechanical durability: approx. 100 G in X, Y, and Z directions, 3 times each
Operation
■ OUTPUT CIRCUIT DIAGRAM
Wiring
Wire color E6F-AB3C Pin no. E6F-AB3C-C E6F-AG5C-C
Red + power supply 1 20 Internally

Black 0 V (common) 2 21
}
connected
Brown 20 3 22
25
Red Orange 21 4 23
21
+ 5 to 12 V
Yellow 22 5 0
2 x 10 20
Main Output
Green 23 6 1
2 x 10 27
0 2
circuit
35 mA max. Blue 2 x 10 7 2 x 10 24
Black 30 VDC Purple 21 x 10 8 3
2 x 10 22
0V
Gray 22 x 10 9 0
2 x 100 23
Shield White 23 x 10 10 1
2 x 100 26
GND
Pink 21 x 100 11 GND Shield
Light Blue 22 x 100 12 Power supply 5~12V Power supply 12~24V
Shield GND 13 0V (common) 0V (common)
3
E6F E6F
■ TIMING CHART
Shaft rotation: Clockwise as viewed from the shaft
Output Output
1° ± 0.5°
ON
ON 20
20 OFF
OFF
1 ON
ON 2
21 OFF
OFF
22 ON
22 ON
OFF
OFF
3 ON
ON 2
23 OFF
OFF
24 ON
20x10 ON OFF
OFF
ON
21x10 ON 25
OFF
OFF
6 ON
Address 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 2
OFF
ON
27
OFF
Address 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28
Dimensions
Unit: mm (inch)
■ ENCODERS 85 (3.35)
60 (2.36)
20 (0.79)
Four M3, depth 6 5
3
3
48 15
(1.89)
dia.
60 54 40
(2.36)(2.13)(1.57) 1
dia. dia. dia.
10 dia.
14 max.
6 dia.
*
2000
85 (3.35)
60 (2.36)
20 (0.79)
Four M3, depth 6 5
3
48 3
15
(1.89)
dia.
60 54 40
(2.36)(2.13)(1.57) 1
dia. dia. dia.
10 dia.
14 max.
16.9 (0.66) dia.
**
*
2000 37 (1.46)
Note:
* Oil-resistant, vinyl-insulated and shielded cable is 2 m (6.56 ft) long. The E6F-AB3C encoder terminates with a
6 mm OD wire bundle.
••E6F-AB3C-C and E6F-AG5C-C encoders terminate in a connector that fits H8PR and H8PS Cam Positioners.
4
E6F E6F
■ MOUNTING BRACKET E69-FCA-02 Panel
5.5 mm (0.22 dia.) hole 2
18 16 120°
(0.71) (0.63) 40
9 (0.35) (1.57)
120° 120° dia.
8 3.1
Two C1
16 (0.63)
5.1
72 ±0.2 (2.84) dia.
Three M5
■ ACCESSORIES
26.2 (1.03)
12
7.1 7.1
3.6
3.6 19 Four M4 set screws
10 (0.39) Note:
dia. 22 (0.87) dia.
1. Material: Glass-filled polybutadiene terephthalate (PBT).
2. A coupler is supplied with E6F-AB3C encoder.
3. Each set screw must be tightened to 2.5 kg-cm (2.17 in-lbs)
Extension Cable E69-DF5
37 (1.46) 34.6 (1.36)

5,000
16.9 (0.66) dia. 16.9 (0.66) dia.
Oil-resistant, vinyl-insulated and shielded cable,

6 mm OD, 5 m (16.40 ft.) length

E6A2 E6A2
Incremental Rotary Encoder E6A2

Miniature Rotary Encoder for
Positioning in Space-Confined Areas
■ Wide variety of supply voltages and output
forms to match input devices
■ Models with zero index function ideal
for positioning applications
■ High resolution models (300 or 360 pulses
per revolution) substantially improve
measuring accuracy
■ High response frequency and noise
immunity make encoders ideal for
factory automation applications
■ ENCODERS
When ordering, add the resolution (pulses per revolution) between the part number and cable length.
For example, E6A2-CWZ3E 200 P/R 0.5M.
Resolution (pulses per revolution) Output phases Output form Supply voltage Part number
10, 60, 100, 200, 300, 360 A Voltage 5 to 12 VDC E6A2-CS3E ❑❑❑P/R 0.5M
Open collector 5 to 12 VDC E6A2-CS3C ❑❑❑P/R 0.5M
Open collector 12 to 24 VDC E6A2-CS5C ❑❑❑P/R 0.5M
100, 200 A, B Voltage 5 to 12 VDC E6A2-CW3E ❑❑❑P/R 0.5M
Open collector 5 to 12 VDC E6A2-CW3C ❑❑❑P/R 0.5M
Open collector 12 to 24 VDC E6A2-CW5C ❑❑❑P/R 0.5M
100, 200 A, B, Z (zero) Voltage 5 to 12 VDC E6A2-CWZ3E ❑❑❑P/R 0.5M
Open collector 5 to 12 VDC E6A2-CWZ3C ❑❑❑P/R 0.5M
Shaft coupler (supplied with each encoder) E69-C04B
Mounting bracket (supplied with E6A2-CWZ encoders) E69-1
2
E6A2 E6A2
Specifications
Part number E6A2- E6A2- E6A2- E6A2- E6A2- E6A2- E6A2- E6A2-
CS3E CW3E CWZ3E CS3C CW3C CWZ3C CS5C CW5C
Supply voltage 5 VDC -5% to 12 VDC +10%; max. 5% ripple peak-to-peak 12 VDC -10% to 24 VDC
+15%; max. 5% ripple
Current consumption 30 mA max. 50 mA max. 20 mA max. 30 mA max. 20 mA max.
Resolution 10, 60, 100, 200 100, 200 10, 60, 100, 200 100, 200 10, 60, 100, 200
(pulses per revolution) 100, 200, 100, 200, 100, 200,
300, 360 300, 360 300, 360
Output phases A A, B A, B, Z A A, B A, B, Z A A, B
Output form Voltage output Open collector output Open collector output
Output capacity Output resistance: 2 kΩ Applied voltage: 30 VDC max. Applied voltage: 30 VDC
Residual voltage: 0.4 V max. Residual voltage: 0.4 V max. Residual voltage: 0.4 V
Sink current: 20 mA max. Sink current: 30 mA max. Sink current: 30 mA max.
Maximum response 30 kHz 20 kHz 20 kHz 30 kHz 20 kHz 20 kHz 30 kHz 20 kHz
frequency
Rotation direction Reversible, CW + CCW Reversible, CW + CCW Reversible, CW + CCW
Phase difference — 90° ±45° 90° ±45° — 90° ±45° 90° ±45° — 90° ±45°
of output
Output rise and fall times 1.0 µs max. (at sink current of 1.0 µs max. (at control output voltage of 5 V and
10 mA with 2 m cable) load resistance of 1 kΩ with 2 m cable)
Starting torque 10 g-cm (0.14 oz.-inch) max.
Axial 0.5 kgf (3.6 ft•lbs)
Moment of inertia 1 g-cm2 (0.0055 oz-inch2)
Electrical connection Prewired with 0.5 m (1.64 ft) length cable
Weight Approx. 35 g (1.2 oz)
Shock resistance Mechanical durability: 500 m/s2 (approx. 50 G) in X, Y, and Z directions, 3 times each
3
E6A2 E6A2
Operation
■ OUTPUT CIRCUIT DIAGRAMS
Voltage Output Wire Color Code
E6A2-CS3E, E6A2-CW3E E6A2-CWZ3E Note: IEC colors shown first.
Wire color Signal

Brown (Red) VCC
Black (White) A
Brown (Red) Brown (Red)
Vcc (+5 to 12 V) Vcc (+5 to 12 V) White (Green) B
2kΩ 2kΩ Black (White), White Orange (Yellow) Z
Main Black (White), White (Green) Main (Green), Orange (Yellow)
circuit circuit Output (A,B,Z) Blue (Black) 0 V (common)
Output (A,B)
Blue (Black) 4Ω Blue (Black)

0V 0V
Open Collector Output

E6A2-CS❑❑C, E6A2-CW❑❑C E6A2-CWZ3C
Note:
Brown (Red) Brown (Red) 1. The white (green) and orange (yellow)
Vcc (+5 to 12 V) Vcc (+5 to 12 V) lines of the single type (E6A2-CS) do
or (+12 to 24 V) not output signals (no connection).
Black (White), White (Green)
Main Black (White), White (Green) Main Orange (Yellow) 2. The orange (yellow) line of the
circuit Output (A,B) circuit Output (A,B,Z)
30 VDC
reversible type (E6A2-CW) does not
30 VDC
30 mA max. 4Ω 30 mA max. output signal (no connection).
0V 0V 3. The voltage output type is capable of
Blue (Black) Blue (Black) sinking a maximum of 20 mA.
■ TIMING CHARTS
E6A2-CS E6A2-CW, E6A2-CWZ
Direction of rotation: CW Direction of rotation: CCW

Output transistor Clockwise as viewed ➝ CW direction Counterclockwise as viewed ➝ CCW direction
from the shaft from the shaft
T T
T
(100%) (360°)
ON (H)* (360°)
ON (H)* ON (H)*
Output A Output A
OFF (L) OFF (L)
OFF (L)
1/2 ± 1/4 T
(50% ± 25%) ON (H)* ON (H)*
Output B Output B
OFF (L) OFF (L)
1/4T ± 1/8T (90° ± 45°) 1/4T ± 1/8T (90° ± 45°)
ON (H)* ON (H)*
Output Z Output Z
OFF (L) OFF (L)
Note:
1. *(H) and (L) indicate the output levels of the voltage output type.
2. Output A leads B by 1/4T ±1/8T when the shaft revolves clockwise. Output A lags
behind B by 1/4T ±1/8T when the shaft revolves counterclockwise.
4
E6A2 E6A2
Dimensions
Unit: mm (inch)
■ ENCODERS 8
1.5
1.5
Two M3, (0.32)
Depth: 4
6
22 12
(0.87)(0.47) 8 (0.31)
dia. dia.
3.6
18 (0.71) 10 2 29 (1.14)
(0.39) 5.5
25 (0.98) dia. 50 (1.97)
max.
*Output cable (shielded) O.D.: 4 dia.

Standard length: 50 cm (1.64 ft)
■ ACCESSORIES
21(0.83) Note:
5.2 10.6 5.2 1. Material: Glass-filled polybutadiene terephthalate (PBT).
2.7
2. A coupler is supplied with each E6A2 encoder.
2.7 15.6
4 (0.16) 13 (0.51)
dia. dia.
Four M4 hex
socket head
set screws
Mounting Bracket E69-1

supplied with E6A2-CWZ encoders Dimensions with Encoder
Panel
120°
3.5 dia.
12 (0.47) +0.05
-0
9.7 8.5 dia.

120° 120°
(0.38)
(0.33) 5 (0.20)
4
1.6 +0
-0.05
Two
C0.5 8 2.8 32 (1.26)
dia.
Three M3

E6B2 E6B2
Incremental Rotary Encoder E6B2

General-Purpose Rotary Encoder
Withstands Large Shaft Loads
■ Wide variety of supply voltages
and output forms
■ Easy-to-adjust zero index (phase Z)
with origin indicating function
■ High resolution models (2000 pulses
per revolution) substantially improves
measuring accuracy
■ Rugged construction: 6 mm (0.24 inch)
diameter shaft with radial load ratings
of 3 kgf (21.7 ft•lbs) and axial load
rating of 2 kgf (14.5 ft•lbs)
■ Protected against short-circuit
and reversed connections for highly
reliable operation
■ Available with Line Driver output
■ ENCODERS
When ordering, add the resolution (pulses per revolution) between the part number and cable length.
For example, E6B2-CWZ3E 360 P/R 0.5M.
10, 20, 30, 40, 50, 60, 100, 200, 300, A, B, Z (reversible) Open collector 5 to 24 VDC E6B2-CWZ6C ❑❑❑P/R 0.5M
360, 400, 500, 600, 1000, 1200, A, B, Z (reversible) Voltage 5 to 12 VDC E6B2-CWZ3E ❑❑❑P/R 0.5M
1500, 1800, 2000 A, A, B, B, Z, Z Line driver 5 VDC E6B2-CWZ1X ❑❑❑P/R 0.5M
(reversible)
■ ACCESSORIES
Shaft coupler Fits one 6 mm (0.24 in) and 8 mm (0.32 in) dia. shaft E69-C68B
Fits one 6 mm (0.24 in) and 10 mm (0.39 in) dia. shaft E69-C610B
Mounting flange E69-FBA
Mounting bracket, set of three E69-FBA-02
Shaft coupler Fits two 6 mm (0.24 in) dia. shafts; supplied with each encoder. E69-C06B
2
E6B2 E6B2
Specifications
Part number E6B2-CWZ3E E6B2-CWZ6C E6B2-CWZ1X
Supply voltage 5 VDC -5% to 12 VDC +10%; 12 VDC -10% to 24 VDC +15%; 5 VDC ±5%
max. 5% ripple peak-to-peak max. 5% ripple
Current consumption 100 mA max. 80 mA max. 160 mA max.
Resolution 10, 20, 30, 40, 50, 60, 100, 200, 300, 360, 400, 500, 600, 1000, 1200, 1500, 1800, 2000
(pulses per revolution)
Output phases A, B, Z (reversible) A, B, Z (reversible) A, A, B, B, Z, Z (reversible)
Output form Voltage output Open collector output Line driver output
Output capacity Output resistance: 2 kΩ Applied voltage: 30 VDC max. AM26LS31
Residual voltage: 0.4 V max. Residual voltage: 0.4 V max. Output current:
Sink current: 20 mA max. Sink current: 35 mA max. High level: -20 mA
Low level: +20 mA
Output voltage:
High voltage: 2.5 V minimum
Low voltage: 0.5 V maximum
frequency
Rotation direction Reversible, CW + CCW
Phase difference of output 90° ±45° between A and B (1/4T ±1/8T)
Output rise and fall times 1 µs max. with 1 µs max. with 0.1 µs max. with
cable length: 0.5 m (1.64 ft) control output voltage: 5 V cable length: 0.5 m (1.64 ft)
sink current: 10 mA max. load resistance: 1 kΩ output current high: -20 mA
cable length: 0.5 m (1.64 ft) output current low: +20 mA
Moment of inertia 10 g-cm2 (0.055 oz-inch2) max.; 3 g-cm2 (0.0165 oz-inch2) max. at 600 pulses/revolution
Weight Approx. 100 g (3.5 oz) with cable
Enclosure rating IEC: IP50 (The E6B2 encoder is not watertight or oil resistant.)
Vibration resistance Mechanical durability: 10 to 500 Hz, 15 G or 2-m double amplitude, in X, Y, and Z directions for
11 minutes, three times each
Shock resistance Mechanical durability: 1,000 m/s2 (approx. 100 G) in X, Y, and Z directions, 3 times each
Insulation resistance 1,000 MΩ minimum at 500 VDC between current-carrying part and housing
Note:
The maximum electrical response revolution is determined by the resolution and maximum response frequency as follows:
Maximum electrical response frequency (rpm) = Maximum response frequency ÷ resolution x 60
This means that the E6B2 encoder will not operate electrically if its shaft speed exceeds the maximum electrical response revolution.
3
E6B2 E6B2
Operation
E6B2-CWZ6C
Wire Color Code
IEC colors are shown.
Brown 5 to 24 VDC (allowable range:
4.75 to 27.6 VDC)
Black, White, Color Terminal
Orange
Output signal Brown Power supply (+V)
E6B2 (Phases A, B, and Z)
NPN Black Output phase A
main
transistor
circuitry White Output phase B
35 mA max. Orange Output phase Z
3.3 Ω 30 VDC max.
Blue Blue 0 V (common)
0V
GND
Voltage Output
E6B2-CWZ3E
Wire Color Code
Brown 5 to 12 VDC (allowable range:
4.75 to 13.2 VDC) Color Terminal
2 kΩ Black, White, Brown Power supply (+V)
Orange
Output signal
(Phases A, B, and Z) Black Output phase A
E6B2
NPN
main
transistor
White Output phase B
circuitry
Orange Output phase Z
20 mA max.
3.3 Ω Blue 0 V (common)
Blue
0V
GND
Line Driver Output

E6B2-CWZ1X
Wire Color Code

Brown Color Terminal

Black, White,
Brown Power supply (+V)
Orange Non-reversed output Black Output phase A
E6B2 Black, White, (Phases A,B, and Z)
AM26LS31
5 VDC - 5%
main or Orange (with
circuitry equivalent Red stripes) Reversed output Orange Output phase Z
(Phases A,B, and Z) Black/red stripes Output phase A
20 mA max. Blue White/red stripes Output phase B
0V
Orange/red stripes Output phase Z
GND
Blue 0 V (common)
Note:
Both open collector and voltage output models of E6B2 have a circuit to prevent damage
from a short-circuited load and reversed connection.
4
E6B2 E6B2
■ TIMING CHARTS
Open Collector Output E6B2-CWZ6C
Clockwise as viewed ➝ CW direction Counterclockwise as viewed ➝ CCW direction
CW CCW
T (360°) T (360°)
ON ON
Phase A Phase A
OFF OFF
1/4T±1/8T (90°±45°)
ON ON
Phase B Phase B
OFF OFF
1/4T±1/8T (90°±45°)
ON ON
Phase Z Phase Z
OFF OFF
Note:
Note: Phase A is 1/4T ±1/8T slower than phase B.
Phase A is 1/4T ±1/8T faster than phase B. The ONs in the
above timing chart mean that the output transistor is ON and
the OFFs mean that the output transistor is OFF.
Voltage Output E6B2-CWZ3E

CW CCW
T (360°) T (360°)
H
Phase A H Phase A
L L
H H
Phase B Phase B
L L
1/4T±1/8T (90°±45°) 1/4T±1/8T (90°±45°)
Phase Z H Phase Z H
L L
Note: Phase A is 1/4T ±1/8T faster than phase B Note: Phase A is 1/4T ±1/8T slower than phase B.
Line Driver Output E6B2-CWZ1X

CW CCW
T (360°) T (360°)
Phase A H Phase A H
L L
H H
Phase B Phase B
L L
1/4T±1/8T (90°±45°) 1/4T±1/8T (90°±45°)
Phase Z H Phase Z H
L L
Phase A H Phase A H
L L
H H
Phase B Phase B
L L
Phase Z H Phase Z H
L L
Note:
The line driver output circuit is an RS-422A data transmission circuit consisting of two balanced output lines. The relationship between
the two output lines is on an equal status. This means that if the level of the signal on a line is H, the level of the signal on the other line
is L. The noise-resistant line driver output circuit assures high-speed data transmission.
5
E6B2 E6B2
Dimensions
Unit: mm (inch)
15
■ ENCODERS Origin of phase Z Three, M3 holes x 7 (0.28) depth (0.59) 39
5
(1.54)
10
(0.39)
6 (0.24) dia.
120° 120° shaft
40 (1.57) 20 (0.79) 1
dia. dia.
30 (1.18) dia. 7.5
PVC shielded cable,

0.5 m (1.64 ft) standard
length 8
■ ACCESSORIES
Shaft Coupler E69-C06B (included) Shaft Coupler E69-C68B for one 6 mm Shaft Coupler E69-C610B for one 6 mm
for two 6 mm diameter shafts and one 8 mm diameter shaft and one 10 mm diameter shaft
24.8
24.8 (0.98)
22 7.1 7.1
(0.98) Four, 4 mm hexagon
(0.87) 3.6
6.8 6.8 Four, 4 mm hexagon 3.6 socket head set
5.5 11 5.5 Four, 3 mm hexagon screws
socket head set 3.5 socket head set
2.8 3.5
screws screws
2.8 16.4
15 (0.59) 6 (0.24) 8 (0.32) 19 (0.75) 6 (0.24) 10 (0.39) 22 (0.87)

6 (0.24) dia. dia. dia. dia. dia. dia. dia. dia.
Note:
1. Material: Glass-filled polybutadiene terephthalate (PBT).
2. An E69-C06B coupler is supplied with each E6B2 encoder.
Mounting Flange E69-FBA 120°
42 (1.65)
Four R3
33 (1.30) Four 3.3 dia. holes
Three 3.5 dia. holes with
6.5 dia. screw-holes Dimensions with Encoder
20.2 (0.80)
dia. hole
Three, 3.5 dia. holes with
6.5 dia. countersink
33 (1.30)
The flange is 3.2 (0.13) thick.
30 (1.18) dia.
20.2 (0.80) dia.
46 (1.81) dia.
120°
Panel
Mounting Bracket E69-FBA-02
20.2 (0.80) dia. hole 2
20 (0.79)
dia.
18 16
(0.71)(0.63)
120°
8 3.1 58 (2.28) dia.

Two C1
16 (0.63) 5.1
Three, M5
6
E6B2 E6B2
Installation
■ INPUT TO MORE THAN ONE COUNTER FROM ENCODER WITH VOLTAGE OUTPUT
Use the following formula to obtain the number of counters to be connected to a single E6B2
+E
R1 (E-V)
Number of counters (N) =
V x R2 R2
+V
E: Voltage supplied to Rotary Encoder
V: Minimum input voltage of the counter 0V
R2: Output resistance of the Rotary Encoder
R1: Input resistance of the Rotary Encoder
Encoder output stage
R1 R1
Counter Counter
Connectable
number: N
Origin of phase Z
■ ORIGIN INDICATION
It is easy to adjust the position of phase Z with the origin Origin
indication function. The following illustration (on the left-hand 120° 120°
side) shows the relationship between phase Z and the origin. Cut face D
Set cut face D to the origin as shown in the illustration (on the
right-hand side).
30±0.2 dia.
■ CONNECTION WITH PERIPHERAL DEVICES

Encoder E6B2-CWZ3E E6B2-CWZ6C E6B2-CWZ1X Legend:
A: Possible to connect
Digital Counter (H7BR, H7CR) A A C
directly in most
Digital Tachometer (H7ER) A A C cases.
Intelligent Digital Panel Meter (K3TR-NB❑❑❑) B B C B: Possible to connect,
but an independent
Line receiver IC C C A
power supply or pull-
SYSMAC High-speed Counter Module A A A up resistor will be
SYSMAC Position Control Module B B A required.
C: Impossible to
TTL, LSTTL A A C
connect.
CMOS A A C
Sensor Controller, S3D8 B A C
Sensor, Controller, S3D2 A A C
Direction Sensor Unit, E63-WF5C A A C

R
Incremental Rotary Encoder E6C2-C
Industrial Strength Encoder Meets

World-Class Standards
H Drip-proof construction
H Shaft withstands heavy loads, 5 kgf
radially, 3 kgf thrust (axially)
H Short circuit protection
H Space-saving, A-slant cable protrusion
for ease of mounting
Supply voltage Output Resolution (P/R) Part number
configuration
5 to 24 VDC NPN open 10, 20, 30, 40, 50, 60, 100, 200, 300, 360, 400, 500, 600, E6C2-CWZ6C
collector output 1,000, 1,200, 1,500, 1,800, 2,000
5 to 12 VDC Voltage output E6C2-CWZ3E
5 VDC Line driver output E6C2-CWZ1X
12 to 24 VDC PNP open 100, 200, 360, 500, 600, 1,000, 2,000 E6C2-CWZ5B
collector output
Note: The power supply for the resolutions of 1,000, 1,200, 1,500, 1,800, and 2,000 is 12 to 24 VDC.

Item Description Part number
Coupling
p g --- E69-C06B
Incorporates ends different to each other in diameter E69-C68B
Metal construction E69-C06M
Flange
g --- E69-FCA
--- E69-FCA-02
Servo mounting bracket Provided with the E69-FCA02 flange E69-2
2
E6C2-C E6C2-C
Specifications
Electrical
Item E6C2-CWZ6C E6C2-CWZ3E E6C2-CWZ1X E6C2-CWZ5B
Power supply voltage 5 to 24 VDC (allowable 5 to 12 VDC (allowable 5 VDC±5% 12 VDC --10% to 24 VDC
range: 4.75 to 27.6 VDC) range: 4.75 to 13.2 VDC) +15%
Current consumption 80 mA max. 100 mA max. 160 mA max. 100 mA max.
(See Note 1.)
Resolution 10, 20, 30, 40, 50, 60, 100, 200, 300, 360, 400, 500, 600, 1,000, 1,200, 1,500, 100, 200, 360, 500, 600,
1,800, 2,000 P/R 1,000, 2,000 P/R
Output phases A, B, and Z (reversible) A, A, B, B, Z, Z A, B, and Z (reversible)
Output configuration NPN open collector Voltage output (NPN Line driver (See Note 2.) PNP open collector
output output) output
Output capacity Applied voltage: Output resistance: 2 kΩ AM26LS31 Isink: 35 mA max.
30 VDC max. (residual voltage: Output current: Residual voltage:
Isink: 35 mA max. 0.4 V max. High level (Io): --20 mA 0.4 V max.
Residual voltage: Isink: 20 mA max.) Low level (Is): 20 mA (Isink: 35 mA max.)
0.4 V max. Output voltage:
(Isink: 35 mA max.) Vo: 2.5 V min.
Vs: 0.5 V max.
Max. response 100 kHz 50 kHz
frequency
(See Note 3.)
Phase difference on 90°±45° between A and B (1/4T±1/8T)
output
Rise and fall times of 1 µs max. 1 µs max. 0.1 µs max. 1 µs max.
output (control output voltage: 5 V; (cable length: 2 m; (cable length: 2 m; (cable length: 2 m;
load resistance: 1 kΩ; Isink: 10 mA max.) Io: --20 mA; Isink: 10 mA max.)
cable length: 2 m) Is: 20 mA)
Note: 1. An inrush current of approx. 9 A flows for approx. 0.3 ms right after the E6C2-C is turned on.
2. The line driver output of the E6C2-C is used for data transmission circuitry conforming to RS-422A and ensures long-distance
transmission over twisted-pair cable, with quality equivalent to AM26LS31.
3. The maximum electrical response revolution is determined by the resolution and maximum response frequency as follows:
Maximum electrical response frequency (rpm) = maximum response frequency/resolution x 60
This means that the E6C2-C Rotary Encoder will not operate electrically if its revolution exceeds the maximum electrical
response revolution.
3
E6C2-C E6C2-C
J MECHANICAL
Shaft loading
g Radial 5 kgf (49.0 N) 11.0 lbf
Thrust 3 kgf (29.4 N) 6.6 lbf
Moment of inertia 10 g S cm2 (1 x 10--6 kg S m2) max.; 3 g S cm2 (3 x 10--7 kg S m2) max. at 600 P/R
max. 6.6 x 103lb/in .85 x 10
Starting torque 100 gf S cm (9.8 mN S m) max. (7.2 m ft S lbf)
Max. permissible revolution 6,000 rpm
Vibration resistance 10 to 500 Hz, 150 m/s2 (15G) or 2-mm double amplitude for 11 min 3 times each in
X, Y, and Z directions
Shock resistance 1,000 m/s2 (100G) 3 times each in X, Y, and Z directions
Weight Approx. 400 g max. (cable length: 2 m) 0.88 lbs
J ENVIRONMENTAL
Ambient temperature
p Operating --10°C to 70°C (14_F to 158_F) with no icing
Storage --25°C to 85°C (--13_F to 185_F) with no icing
Protective circuit Protection from load short-circuiting and power supply reverse polarity wiring
Degree of protection IEC IP64 (JEM IP64f drip-proof) (See Note.)
Note: The applicable JEM standard is JEM1030 1991.
Operation
J OUTPUT CIRCUIT DIAGRAM
E6C2-CWZ6C E6C2-CWZ3E
Brown
5 to 24 VDC (permissible Brown
range: 4.75 to 27.6 VDC) 5 to 12 VDC (permissible
range: 4.75 to 13.2 VDC)
Black, white, orange 2 kΩ
Output signal Black, white, orange
E6C2-C NPN (Black: Phase A; Output signal
main White: Phase B; E6C2-C (Black: Phase A;
transistor NPN
circuitry Orange: Phase Z) main White: Phase B;
transistor
35 mA max. circuitry Orange: Phase Z)
3.3 Ω
30 VDC max. Blue 3.3 Ω 20 mA max.
0V Blue
Ground 0V
(Shielded) Ground
(Shielded)
E6C2-CWZ1X E6C2-CWZ5B
Brown Brown
5 VDC±5%
Black, white, orange 3.3 Ω
Non-reversed output
(Black: Phase A; White:
E6C2-C Phase B; Orange: Phase Z)
AM26LS31 or Black, white, orange E6C2-C
main Reversed output (Black/ 35 mA max.
equivalent (with red stripes) main
circuitry Red: Phase A; White/Red: circuitry
Phase B; Orange/Red: Black, white, orange
Blue Phase Z Output signal
(Black: Phase A; White:
0V
Phase B; Orange: Phase Z)
Ground
(Shielded) 0V
PNP transistor Blue
Ground
(Shielded)
4
E6C2-C E6C2-C
J TIMING CHARTS
NPN Open Collector Output
E6C2-CWZ6C
PNP Open Collector Output
E6C2-CWZ5B
Direction or resolution: Clockwise (CW) Direction or resolution: Counterclockwise (CCW)
(As viewed from the end of the shaft) (As viewed from the end of the shaft)
T (360°) CW
T (360°) CCW
ON
Phase A
OFF ON
Phase A
ON OFF
Phase B 1/4T±1/8T (90°±45°)
OFF ON
1/4T±1/8T (90°±45°) Phase B
ON OFF
Phase Z
OFF ON
Phase Z
OFF
Note: Phase A is 1/4±1/8T faster than phase B. The Note: Phase A is 1/4±1/8T slower than phase B
ONs in the above timing chart mean that the
output transistor is ON and the OFFs mean
that the output transistor is OFF.
Voltage Output
E6C2-CWZ3E
T (360°) CW T (360°) CCW
H H
Phase A Phase A
L L
1/4T±1/8T (90°±45°)
H H
Phase B Phase B
L L
1/4T±1/8T (90°±45°)
H H
Phase Z Phase Z
L L
Note: Phase A is 1/4±1/8T faster than phase B. Note: Phase A is 1/4±1/8T slower than phase B.
J LINE DRIVER OUTPUT

E6C2-CWZ1X
T (360°) CCW
T (360°) CW
H
H Phase A
Phase A L
L
H
H Phase B
Phase B L
L 1/4T±1/8T (90°±45°)
1/4T±1/8T (90°±45°) H
H Phase Z
Phase Z L
L
H
H Phase A
Phase A L
L
H
H Phase B
Phase B L
L
H
H Phase Z
Phase Z L
L
5
E6C2-C E6C2-C
J OUTPUT PROTECTION CIRCUIT

The E6C2-C with open collector or voltage output incorporates a circuit protecting the E6C2-C from damage resulting from load short-circuiting
or wiring the output wrong.
J ORIGIN INDICATION
It is easy to adjust the position of phase Z with the origin indication function. The illustration below on the left side shows the relationship be-
tween phase Z and the origin. Set cut face D to the origin as shown in the illustration on the right.
Origin of phase Z
Origin
D cut
38 dia.
J INPUT TO MORE THAN ONE COUNTER FROM ENCODER (WITH VOLTAGE OUTPUT)
Use the following formula to obtain the number of counters to be connected to a single E6C2-C Rotary Encoder.
R1 (E--V)
Number of counters (N) = +E
V x R2
R2
E: Voltage supplied to Rotary Encoder +V
V: Minimum input voltage of the counter
R2: Output resistance of the Rotary Encoder
R1: Input resistance of the Rotary Encoder 0V
R1 R1
Encoder output stage
Counter Counter
Connectable
number: N
Dimensions
Unit: mm (inch)
J E6C2-C
60
(2.36)
Origin of phase Z 15 5 40 6.59
Three, M4 holes 1.6 10 (1.57) (0.26)
Depth: 7 mm
0
6 --0.021 dia.
(0.24 +0
--.0008
)
1
50 dia.
(1.97)
0
25 --0.021 dia.
(0.98+0 --0.0008
)
38 dia.
(See Note.)
Note: 2-m-long, PVC code, 5-dia. (18/0.12 dia.) five conductors

and shield (eight conductors for line driver use)
6
E6C2-C E6C2-C

Couplings
E69-C06B E69-C68B E69-C06M (Metal Construction)
(With Ends of Different Diameter)
24.8
22
6.8 6.8 19.1
5.5 11 5.5 Four, M3 hexagon Four, M4 hexagon Four, M3 hexagon
socket heat set- socket heat set- 2.4 2.4 set screws
16.4 3.5 3.5
2.8 2.8 screws screws
Brass bushing
(6 +0.022
--0.00
) 19.1 dia.
(6 +0.022 ) 15 dia. (6 +0.022 ) (8 +0.022 ) 19 dia.
--0.00 --0.00 --0.00
Note: The coupling is made of Note: The coupling is made of Note: Material: Super duralumin
glass-reinforced PBT. glass-reinforced PBT.
Flanges
E69-FCA E69-FCA-02 Mounting bracket:
(A set of three b333rackets provided with th
52 x 52
(2.05 x 2.05) E69-FCA-02)
2
43±0.15 Four, 4.5-dia. holes
Four, R3 (1.69 +0
--0.006 ) Three, 4.5-dia. holes with 5.5-dia. hole
8.5-dia. screw-head holes (0.22)
± 0.05
25.2 0 -dia. hole 18
16
(0.99 +0.002 ) 9
--0
Three, 5.5
43±0.15 52 The flange is made of screw-head
SPCC, t = 3.2 holes Two, C1
8.5 dia. 8 3.1 +0.1
0
38 dia. 16
25.2±0.1 dia. 5.1
(0.63)
56 dia.
(2.20)
(0.99±0.004)
Note: Material: SPCC, t=3.2
Mounting Dimensions
Panel
25 dia.
(0.98)
68±0.2 dia. Three, M5

(2.68±0.008)
J SERVO MOUNTING BRACKET
E69-2 (A Set of Three)

2
5.5-dia. hole
(0.22)
18
16
9
Two, C1
8 +0.1
3.1 0
16
(0.63) 5.1
Note: A set of E69-2 servo mounting

brackets is provided with the
E69-FCA-02 flange.
7
E6C2-C E6C2-C
Installation
J CONNECTION
E6C2-CWZ6C/-CWZ3E
Color Terminal
Brown Power supply (+VCC)
Black Output phase A
Blue 0 V (common)
Note: Receiver: AM26LS32

E6C2-CWZ1X
Color Terminal
Brown Power supply (+VCC)
Black Output phase A
Blue/Red stripes Output phase A
White/Red stripes Output phase B
Orange/Red stripes Output phase Z
Blue 0 V (common)
Note: 1. The shield is not connected to the internal circuits or casing of the E6C2-C.
2. There is no difference in circuit among phases A, B, and Z.
3. Connect the GND terminal to 0 V or the ground when the E6C2-C is in normal operation.
Connection Examples
J H7ER SELF-POWERED TACHOMETER J H7BR DIGITAL COUNTER
Applicable Model: E6C2-CWZ3E (with a resolution of 10 Applicable Model: E6C2-CWZ3E
or 60 P/R)
E6C2--CWZ3E E6C2-C
Brown Brown
H7ER Digital Tachometer Black
Black White
Shielded
Blue Blue
5 to 12 VDC 0V +12 V
H7BR Digital Counter
8
E6C2-C E6C2-C
J H7CR-CW DIGITAL COUNTER J CQM1 PROGRAMMABLE CONTROLLER

Applicable Model: E6C2-CWZ6C Applicable Model: E6C2-CWZ6C
E6C2--CWZ6C CQM1 E63-WF5C
Black
White
Blue
0V E6C2-CWZ6C
Brown Brown (12 V)

12 VDC Black (Phase A)
(100 mA)
White (Phase B)
H7CR-CW Orange (Phase Z)
Blue (0 V)
Shielded
J C500-CT001/CT012 HIGH-SPEED
COUNTER UNIT
CW and CCW detection (increment/decrement counting)
Applicable Model: E6C2-CWZ6C
E6C2-C
Brown
Black
Blue
White
Shielded
Internal DIP switch settings
9
E6C2-C E6C2-C
J C200H-CTjj HIGH-SPEED COUNTER UNIT

Applicable model: E6C2-CWZ6C Applicable Model: E6C2-CWZ5B
Typical model: C200H-CT001-V1
Encoder at 0 V
Phase Z
+12 V Phase Z Phase Z
Phase A Phase B
Phase A
Phase B Phase B
0V
Phase B
Phase A
Phase B Phase A Phase A
12-VDC power supply

0V
+12 V 0V
5 to
24 VDC
0V
+12 V
12-VDC power supply

Note: Apply the following connections if the power supply to +12 V
0V
the E6C2-C is 5 or 24 V.
Phase A and power supply: 5 V to A19 and 24 V to
B20 Note: Apply the following connections if the power supply to
Phase B and power supply: 5 V to A17 and 24 V to the E6C2-C is 12 or 24 V.
B18 Phase A and power supply: 12 V to A8/B8 and 24 V
A9/B9
Phase B and power supply: 12 V to A12/B12 and 24 to
A13/B13
Phase Z and power supply: 12 V to A16/B16 and 24 V
to A17/B17
J CQM1-CPU43-EV1 (AS BUILT-IN HIGH-SPEED COUNTER)

The pulse output of the E6C2-C can be directly input into IN04, Applicable Model: E6C2-CWZ6C
IN05, and IN06 of the CPU Unit to use these three points as a
built-in high-speed counter. Phase A
IR 0000
The single-phase response speed is 5 kHz, and the two-phase Phase B
CQM1
response speed is 2.5 kHz. The count value is within a range
between 0 and 65,535 in increment mode and --32,767 and E6C2-CWZ6C
32,767 in decrement mode. Phase Z
The operating mode of the high-speed counter is set with the PC

Setup in the DM area.
CQM1-CPU43
Count Mode
Up/Down mode Increment/decrement counter uses phases Reset
A and B. The present count value can be reset with the soft-reset function or
the AND of soft reset and phase Z input.
Incrementing Increment counter uses phase A only.
mode Output
Normal mode IN04 through IN06 are used for normal Target value When the count value reaches the target
input. value, the specified subroutine is executed.
A maximum of 16 target values can be set.
Range When the count value is within the range,
comparison the specified subroutine is executed. A
maximum of 8 ranges can be set with upper
and lower limits.
10
E6C2-C E6C2-C
Precautions
Refer to the following illustrations when using a standard coupling.
J AVOID DAMAGE OR MALFUNCTION
Decentering
• Do not impose voltage exceeding the rated voltage range on tolerance
the E6C2-C.
• Be sure that the wiring of power supply to the E6C2-C is 0.15 mm max.
correct. (0.006)
• Turn off the Rotary Encoder when wiring.
• Do not wire power lines or high-tension lines along with the
power supply lines of the E6C2-C Rotary Encoder. Declination
tolerance
J MOUNTING
• Be careful not to spray water or oil onto the E6C2-C Rotary 2° max.
Encoder.
• The E6C2-C Rotary Encoder consists of high-precision
components. To avoid malfunction, handle with extreme care Displacement
and do not drop the Rotary Encoder. tolerance in the
• Do not pull the cable of the E6C2-C Rotary Encoder after the shaft direction 0.05 mm max.
E6C2-C Rotary Encoder is mounted to a panel. Do not apply (0.002)
any shock to the hollow shaft or the body.
• When the E6C2-C Rotary Encoder is used in reversed When connecting or disconnecting the coupling, do not impose an
operation, pay utmost attention to the mounting direction of excessive bending, pressing, or pulling force on the E6C2-C.
the E6C2-C Rotary Encoder and the directions of increment
and decrement rotation. When connecting the shaft of the Rotary Encoder with a chain tim-
ing belt or gear, connect the chain timing belt or gear with the shaft
• To match phase Z of the E6C2-C Rotary Encoder and the via the bearing and coupling as shown in the following illustration.
origin of the device to be connected to the E6C2-C Rotary
Encoder, the phase Z outputs must conform while connecting Chain sprocket
Bearing E6C2-C
the device.
Coupling
• Be careful not to impose an excessive load on the shaft if the
shaft connects to a gear.
• If the Rotary Encoder is mounted with screws, the tightening
torque must be approximately 5 kgf S cm (0.49 N S m)
0.36 ft lbf.
• If the Rotary Encoder is mounted to a panel, do not pull the
cable with more than a force of 3 kgf (29.4 N) 6.61 lbf. If the decentering or declination value exceeds the tolerance, an ex-
cessive load imposed on the shaft may damage the Rotary Encoder
E6C2-C or shorten the life of the Rotary Encoder.
Bearing Life
The following graph shows the life expectancy of the bearing with
Cable radial and thrust loads imposed on the bearing. (Theoretical)
3 kgf (29.4 N) max.
Mounting plate
• No shock must be given to the shaft or coupling. Do not hit the

Life (x 10 9 revolutions)
shaft or coupling with a hammer when inserting the shaft into

the coupling.
Encoder
Shaft
Wr: Radial load
Ws: Thrust load
Radial load Wr (kgf)
11
E6C2-C E6C2-C
Mounting Procedure • The rise time varies with the resistance of the cable and the
1. Insert the shaft into the coupling. type and length of the cable.
Do not secure the coupling and shaft with screws at this • The residual output voltage will increase according to the
stage. length of the cable.
2. Secure the Rotary Encoder.
Refer to the following table for the maximum insertion length
of the shaft into the coupling.
OL(V)
( µ s)
Part number Maximum insertion length
Residual output voltage V

E69-C06B 5.5 mm (0.22)
LH
E69-C06M 8.5 mm (0.33)
Output rise time t

3. Secure the coupling.
Part number Tightening torque
E69-C06B 2.5 kgf S cm (0.25 N S m)
0.18 ft lbf
E69-C06M 7 kgf S cm (0.7 N S m) 0.52 ft lbf
4. Connect the power and I/O lines.

Be sure to turn off the Rotary Encoder when connecting the Cable length L (m)
lines.
5. Turn on the Rotary Encoder and check the output. Conditions
Rotary Encoder: E6C2-CWZ6C
J CONNECTING Load voltage: 5 VDC
Load resistance: 1 kΩ (The residual output voltages were mea-
• When extending the cable, select the type carefully. You must sured with a load current of 35 mA.)
consider the response frequency because the longer the cable Cable: Dedicated cable
is, the more the residual voltage increases due to the
resistance of the cable and the capacitance between the
wires. As a result, the waveform will be distorted. J PREVENTING MISCOUNTING
• We recommend the line driver output type model if the cable • If the operation of the E6C2-C Rotary Encoder is stopped near
needs to be extended. a signal rising or falling edge, a wrong pulse may be
• In order to reduce inductive noise, the cable must be as short generated, causing the E6C2-C Rotary Encoder to miscount.
as possible, especially when the signal is input to an IC. In this case, use an increment-decrement counter to prevent
miscounting.
• Insert a surge absorber between the power supply terminals if
a possibility of surge exists.
• A wrong pulse may be generated when the E6C2-C Rotary
J EXTENSION OF LINE DRIVER OUTPUT
Encoder is turned on or off. Do not use the connected device • Be sure to use a twisted-pair cable to extend a line driver
for 0.1 s after the E6C2-C Rotary Encoder is turned on and for cable. Use an RS-422A receiver for the receiver side.
0.1 s before the E6C2-C Rotary Encoder is turned off.
• The twisted-pair wires as shown in the following illustration are
Cable Extension suitable for RS-422A signal transmission. Normal mode noise
• The rise time of each output waveform will increase when the can be eliminated by twisting the wires because the generated
cable is extended. This affects the phase difference electrical forces on the lines cancel each other.
characteristics of phases A and B.
E E
• The available length of cable varies with the response
frequency and noise. It is safer to limit the length of cable to Twisted-pair wires
10 m maximum. If a longer cable of up to 100 m is required,
use line driver output. E E
Note: Recommended cable:
Cross section: 0.2 mm2 with spiral shield • Be sure the E6C2-C Rotary Encoder is supplied with 5 VDC
Conductor resistance: 92 Ω/km max. at 20°C when a line driver output is used. There will be approximately
Insulation resistance: 5 MΩ/km min. at 20°C a 1-V voltage drop if the cable length is 100 m.
12
E6C2-C E6C2-C
R
E6D E6D
Incremental Rotary Encoder E6D

High-Resolution Optical Incremental
Encoder Ideal for Industrial Applications
■ Resolution as high as 6,000 pulses/
revolution in a rugged 55 mm (2.17 inch)
diameter housing
■ Superb reliability and accuracy: phase
error as small as 1/4T ±0.07T
■ High response frequency of 200 kHz
■ Shaft withstands radial shaft loading
of 5 kgf (36.2 ft•lbs) and axial shaft
loading of 3 kgf (21.7 ft•lbs)
■ ENCODERS
When ordering, add the resolution (pulses per revolution) after the part number. For example, E6D-CWZ1E 1500P/R.
720, 800, 1000, 1024, 1200, 1500, 1800, 2000, A, B (reversible), Voltage 5 VDC E6D-CWZ1E ❑❑❑
2048, 2500, 3000, 3200, 3600, 4096, 5000, 6000 and Z (zero) Open collector 12 VDC E6D-CWZ2C ❑❑❑
Shaft coupler (supplied with each encoder) E69-C06B
Mounting bracket (supplied with E6D-CWZ encoders) E69-FCA-02
2
E6D E6D
Specifications
Part number E6D-CWZ1E E6D-CWZ2C
Supply voltage 5 VDC ±5%; max. 5% ripple peak-to-peak 12 VDC ±10%; max. 5% ripple
Resolution 720, 800, 1000, 1024, 1200, 1500, 1800, 2000, 2048, 2500, 3000, 3200, 3600, 4096, 5000, 6000
(pulses per revolution)
Output phases A, B, Z
Output form Voltage output Open collector output
Output capacity Output resistance: 1 kΩ Applied voltage: 30 VDC max.
Residual voltage: 0.7 V max. at 10 mA Residual voltage: 1 V max. at 35 mA sink current
sink current 0.7 V max. at 10 mA sink current
Sink current: 35 mA max. Sink current: 35 mA max.
frequency
Rotation direction Reversible, CW + CCW
Phase difference of output 90° ±25° between A and B (1/4T ±0.07T)
Output rise and fall times 1 µs max.
Shaft loading Radial 5 kgf (36.2 ft•lbs) max.; 2 kgf (14.5 ft•lbs) at rated accuracy
Axial 3 kgf (21.7 ft•lbs) max.; 1 kgf (7.2 ft•lbs) at rated accuracy
Moment of inertia 30 g-cm2 (0.165 oz-inch2)
Weight Approx. 280 g (9.9 oz)
Shock resistance Mechanical durability: 500 m/s2 (approx. 50 G) in X, Y, and Z directions, 3 times each
3
E6D E6D
Operation
Voltage Output Wire Color Code
E6D-CWZ1E Note: IEC colors shown first.
Brown (Red)
Wire color Signal
0V Brown (Red) VCC
1Ω Black (White): output A Black (White) A
Main Outputs White (Green): output B
Circuit
Orange (Yellow): output Z White (Green) B
TTL 30 Ω
7407 Blue (Black) Orange (Yellow) Z
5V
Blue (Black) 0 V (common)
Shield
GND

E6D-CWZ2C
Brown (Red)
12 V
Black (White): output A

Main Outputs White (Green): output B
Circuit
TTL 30 Ω Orange (Yellow): output Z
7407 Blue (Black)
0V
Shield
GND
■ TIMING CHARTS
Voltage Output Type
E6D-CWZ1E
Direction of rotation: CCW

Direction of rotation: CW
from the shaft
from the shaft
360° 360°
T t1, t2, t3, t4 = 90° ± 25° T t1, t2, t3, t4 = 90° ± 25°
(1/4T ± 0.07T) t1 t2 t3 t4 (1/4T ± 0.07T)
t1 t2 t3 t4
H H
Output A Output A
L L
H H
Output B Output B
L L
Output Z H Output Z H
L L
Open Collector Output Type

E6D-CWZ2C
Direction of rotation: CCW
Direction of rotation: CW
from the shaft
from the shaft
360° 360°
T t1, t2, t3, t4 = 90° ± 25° T t1, t2, t3, t4 = 90° ± 25°
(1/4T ± 0.07T) (1/4T ± 0.07T)
t1 t2 t3 t4 t1 t2 t3 t4
ON ON
Output A Output A
OFF OFF
ON ON
Output B Output B
OFF OFF
Output Z ON Output Z ON
OFF OFF
4
E6D E6D
Dimensions
Unit: mm (inch)
■ ENCODERS
Three
M3 x 0.5
holes; "D" shaft groove
0.5 6 depth
6 (0.24) dia.
shaft
5.5 OD
55 50 shielded
(2.17)(1.97) cable, 0.5 m
dia. dia. (1.64 ft)
length
120°
120°
42
(1.65) 3
dia. 9 1.5 3 9
50 (1.97)
16.5
(0.65)
Mounting Bracket E69-FCA-02

Mounting bracket E69-FCA-02 is supplied with E6D-CWZ encoders.
Dimensions with Encoder
5.5 mm
(0.22 dia.) Panel
hole 2
18
16
(0.71) 120°
(0.63)
9 (0.35)
50 (1.97)
120° 120° dia.
8 3.1
Two C1
16
(0.63) 5.1
68 (2.68) dia. Three M5

Note:
22 (0.87) 1. Material: Glass-filled polybutadiene terephthalate (PBT).
2. A coupler is supplied with each E6D encoder.
5.5 11 5.5 3. Each set screw must be tightened to 2.5 kg-cm (2.17 in-lbs)
2.8
2.8 16.4 Four M3 set screws
6 (0.24) 15 (0.59) dia.

dia.

R
Multiple-Rotation Absolute Encoder E6C-M

Compact, Multiple-Rotation Absolute
Rotary Encoder Reduces the Size
Requirements of Equipment
H Data is retained and rotational
measurement continues even after
power is interrupted
H High-resolution 23-bit sensing in a
compact package (60 mm long ×
50 mm in diameter)
H Drip-proof, oil-proof construction meets
IP64F standards
H Wiring is reduced through serial transfer
of position signals
H Receiver Unit converts the serial signal
to a parallel signal
Name Part Number
Multiple-rotation Absolute Encoder E6C-MPZ1X2 (see note)
Receiver Unit E63-SR5C
Note: Order the Encoder and Receiver Unit as a set.

Name Part Number
Coupling E69-C06B
2
E6C-M E6C-M
Specifications
Part number E6C-MPZ1X2 E63-SR5C
Power supply voltage --- 12 VDC- 10% to 24 VDC+15%
Current consumption 150 mA max. (see note 1) 150 mA max.
Resolution Absolute 2,048/rotation (11 bits) ---
4,096 rotations (12 bits)
Incremental 2048/rotation ---
Output code (absolute) --- Pure binary
Output phases (incremental) --- A, B, and Z
Phase difference on output (incremental) --- 90°±45° (1/4T±1/8T) between A and B
Output configuration --- NPN open collector
Output capacity --- Applied voltage: 30 VDC max.
Isink : 20 mA max.
Residual voltage: 0.4 V max. (Isink : 20
mA)
Max. response frequency 150 kHz (incremental signal) ---
Max. rotational frequency response 4,500 rpm (1,000 rpm from 1 s after a ---
power interruption) (see note 2)
Condenser backup time 20 hrs (typical) ---
Battery backup time --- 5 years min.
Internal ER17/33 lithium battery
(1500 mAH Hitachi Maxell battery)
Rotational direction Output code incremented by clockwise ---
rotation
Starting torque 100 gf S cm (9.8 mN S m) max. ---
Moment of inertia 15 g S cm2 (15 x 10- 7 kg S m2) max. ---
Shaft loading Radial 5 kgf (49 N) ---
Thrust 3 kgf (29.4 N) ---
Ambient temperature Operating -- 10°C to 70°C (14°F to 158°F) with no -- 10°C to 55°C (14°F to 131°F) with no
icing icing
Storage -- 25°C to 70°C (-- 13°F to 158°F) with no -- 25°C to 65°C (-- 13°F to 149°F) with no
icing icing
Dielectric strength 1,000 VAC, 50/60 Hz for 1 min between carry parts and case
Vibration resistance Destruction 10 to 500 Hz, 1-mm single amplitude (150 10 to 150 Hz, 0.75-mm single amplitude
m/s2 (approx. 15G) for 11 min 3 times (100 m/s2 (approx. 10G) for 8 min 4 times
each in X, Y, and Z directions each in X, Y, and Z directions
Shock resistance Destruction 1,000 m/s2 (approx. 100G) 3 times each in 300 m/s2 (approx. 30G) 3 times each in X,
X, Y, and Z directions Y, and Z directions
Enclosure ratings IEC IP64 watertight (JEC IP64F oil resistive) ---
Weight 350 g (cable: 2 m, with connector) 350 g
Note: 1. When the Encoder’s internal condenser is completely discharged, there will be an inrush current of 300 mA max. for about 2 s.
Also, the battery alarm might go ON if the condenser is discharged; in this case, reset the Encoder with the ERS (Encoder
Reset Input) before operation.
2. If the main power supply is interrupted, the Encoder’s internal condenser and Receiver Unit’s internal battery will supply power to
retain rotational frequency data and continue rotational measurement. The Encoder can continue to respond to 4,500 rpm rotation
for 1 second after the main power is interrupted, butthereafter the maximum rotational frequency response drops to 1,000 rpm.This
feature allows the Encoder to keep up with the rotational speed of devices which continue to rotate due to inertia after a power
interruption.
For more information on this product line, see the complete data sheet at
Omron’s Knowledge Center on our web site: www.omron.com/oei
3
E6C-M E6C-M
R
R
Absolute Rotary Encoder E6C-N

Ideal for Stepping Motor Tripping
Detection and Position Control of
Loaders or Unloaders
H No need to reset origin point at
power-up
H IP50 certification
H Ideal for packaging, plastics, electronics
assembly, robotic and semiconductor
applications
H Measures rotations and retains data
after a power interruption
H Compact encoder head (45 mm
diameter x 50 mm length)
H Hollow-shaft model absorbs the
vibration of a driving axis
J ABSOLUTE ROTARY ENCODERS
Item Part number
Shaft model with cable E6C-NN5C
Hollow-shaft model with cable E6C-NN5CA
Shaft model with connector E6C-NN5C-C
Hollow-shaft model with connector E6C-NN5CA-C

Item Remarks Part number
Coupling --- E69-C06B
Coupling Metal construction E69 -C06M
Flange --- E69 -FCA
Flange --- E69 -FCA-02
Mounting Bracket Provided with E69-FCA02 Flange E69 -2
E6C-N E6C-N
Specifications
Power supply voltage 12 VDC- 10% to 24 VDC+10%, ripple (p-p): 5% max. (see note 1)
Resolution Single-rotation 500 P/R
absolute
Multi-rotation -- 128 to 127 rotations (see note 6)
absolute
Rotational limitation at power failure ±80° (see note 2)
Output Output code Binary code
Alarm output Counter Overflow Output (see note 3)
Output NPN open-collector output
configuration
Output capacity Applied voltage: 30 VDC max.
Isink: 10 mA max. (with 30-mA Counter Overflow Output)
Residual voltage: 0.4 V max.
Logic Negative logic output
Rotational Clockwise, as viewed from the face of the shaft.
direction
Input Input signal Single-rotation data reset and multi-rotation data reset (see note 4)
Input current 1 mA max.
Input logic L active, normally open
Input time 100 ms max.
Max. response frequency 12.5 kHz
Rise and fall times of output 1 µs max.
Starting torque 30 gf S cm (2.94 mN S m) (2.17 m ft S lbf) max.
Moment of inertia 1.5 x 10- 6 kg S m2 (15 g S cm2) (0.21 lb/in2) max.
Shaft loading Radial 3 kgf (29.4N) (6.6 lbf)
Thrust 2 kgf (19.6N) (4.4 lbf)
Max. permissible rotation 1,500 rpm
Ambient temperature Operating -- 10°C to 55°C (14_F to 131_F) with no icing (see note 5)
Storage -- 25°C to 65°C (-- 13_F to 149_F)
Ambient humidity 35% to 85% with no condensation
Vibration resistance Destruction: 10 to 500 Hz, 1.0-mm single amplitude or 150 m/s2 (15G) for 11 min, 3 times
each in X, Y, and Z directions
Shock resistance Destruction: 1,000 m/s2 (100G) 3 times each in X, Y, and Z directions
Enclosure rating IEC IP50
Housing material Mechanism PPS resin
Case ABS resin
Weight 400 g max. (with 2-m cable)
Note: 1. When the power supply is turned off, all data output is turned off and no data can be input.
2. At the time of power failure, no multi-rotation detection is performed, and multi-rotation data is compensated by comparing the
data values immediately before and after the power fails. The accuracy of multi-rotation data will be affected if the power fails
and there is a rotation exceeding ±80° of the position at the time of power failure. Be sure that the rotation is within the specified
range.
3. Counter Overflow Output will turn ON if the multi-rotation counter exceeds a range between -- 128 and 127 rotations. This error
flag will be reset if the count returns to a value within the above range.
4. If single- and multi-rotation data reset signals are input, single-rotation data will be reset to address 0 and independently, multi-
rotation data will be reset to rotation 0.
5. Be sure that the equipment connected to the Encoder shaft is within the rated operating range.
(Table notes continued on the next page)
2
E6C-N E6C-N
6. Multi-rotation absolute negative values are expressed with 2’s complements. Refer to the list of codes provided.
Multi-rotation Absolute Value Codes
Note that by replacing values 1 and 0 of a positive value with each other and adding 1, a negative value is expressed.
Multi-rotation absolute value Code

10 00001010
9 00001001
8 00001000
7 00000111
6 00000110
5 00000101
4 00000100
3 00000011
2 00000010
1 00000001
0 00000000
-- 1 11111111
-- 2 11111110
-- 3 11111101
-- 4 11111100
-- 5 11111011
-- 6 11111010
-- 7 11111001
-- 8 11111000
-- 9 11110111
-- 10 11110110
-- 11 11110101
Operation
J CONNECTION
E6C-NN5Cj - Cable Specifications
Cable color: Gray Cable color: Black
Lead wire color Signal name Description Lead wire color Signal name Description
Brown ABS0 Single-rotation 20 Brown TKN0 Multi-rotation 20
absolute data absolute data
Orange ABS1 21 Orange TKN1 21
Yellow ABS2 22 Yellow TKN2 22
Green ABS3 23 Green TKN3 23
Blue ABS4 24 Blue TKN4 24
Purple ABS5 25 Purple TKN5 25
Gray ABS6 26 Gray TKN6 26
White ABS7 27 White TKN7 27
Pink ABS8 28 Pink C0F Counter overflow alarm
Light blue ARST Single-rotation data reset Light blue TRST Multi-rotation data reset
Black GND 0 V (see note) Black GND 0 V (see note)
Red VCC 12 to 24 VDC (see note) Red VCC 12 to 24 VDC (see note)
--- SHIELD Shield --- SHIELD Shield
Note: It is recommended that both VCC lines and GND lines be connected.
3
E6C-N E6C-N
E6C-NN5Cj - C Connector Specifications

Cable color: Gray Cable color: Black
Pin Signal name Description Pin Signal name Description
A1 ABS0 Single-rotation 20 B1 TKN0 Multi-rotation abso- 20
absolute data lute data
A2 ABS1 21 B2 TKN1 21
A3 ABS2 22 B3 TKN2 22
A4 ABS3 23 B4 TKN3 23
A5 ABS4 24 B5 TKN4 24
A6 ABS5 25 B6 TKN5 25
A7 ABS6 26 B7 TKN6 26
A8 ABS7 27 B8 TKN7 27
A9 ABS8 28 B9 C0F Counter overflow alarm
A10 ARST Single-rotation data reset B10 TRST Multi-rotation data reset
A11 GND 0 V (see note) B11 GND 0 V (see note)
A12 VCC 12 to 24 VDC (see note) B12 VCC 12 to 24 VDC (see note)
A13 SHIELD Shield B13 SHIELD Shield
Note: It is recommended that both VCC lines and GND lines be connected.
Terminal Arrangement
J INPUT CIRCUIT DIAGRAM J OUTPUT CIRCUIT DIAGRAM
12 to 24 VDC
Output
Main
circuit
Main
Reset input
circuit TRST Shield
ARST
Note: The output of each bit shares the same circuit.
4
E6C-N E6C-N
J OUTPUT MODE
Rotational Direction: Clockwise, as viewed from the face of the shaft.
Output transistor
Address
J ORIGIN RESET ENSURES EASY

ORIGIN SETTING AFTER ENCLOSED Power turned on
MOUNTING
In addition to the conventional reset function for multi-rotation Data read from built-in memory
data, a reset function for single-rotation data is available. This
feature ensures easy origin setting of the E6C-N after enclosed
mounting and saves the number of steps required for the reset Data output
operation. (data after power turned off)
Single-rotation data is output with

the arithmetic operation of abso-
Data reset
lute codes. Therefore, the reliabil-
ity of data after reset is ensured.
Power turned off
Data stored in built-in memory
J DATA STORED WITH NO BACKUP

POWER SUPPLY Data storage
Multi-rotation data is stored in the non-volatile built-in memory Compensating multi-rotation

at the time of power failure, eliminating the need for a conven- data within ±80°
tional backup power supply and simplifying the system configu-
ration. Multi-rotation detection is, however, not possible at the
time of power failure, and multi-rotation data is compensated Note: Data: Single-rotation, Multi-rotation data
according to the rotational operation within ±80° of the position
at the time of power failure.
5
E6C-N E6C-N
Dimensions
Unit: mm (inch)
J E6C-NN5C (WITH CABLE)
E6C-NN5C-C (WITH CONNECTOR)
65
(2.56)
Three, M4 holes 45 (1.77)
Depth: 8
6 dia.
(0.24)
25 dia,
(0.98)
50 dia.
38 dia.
(1.97)
(1.50)
6 external dia. PVC, shielded
12-conductor cable (7/0.18 dia.)
2,000
(78.74)
E6C-NN5C-C
J E6C-NN5CA (WITH CABLE)

E6C-NN5CA-C (WITH CONNECTOR)
22 45
(0.87) (1.77)
29 (1.14)
50 dia
(1.97)
14 dia. 8 dia.
(0.55) (0.31)
Two, M3
29 6 external dia. PVC, shielded

(1.14) 12-conductor cable (7/0.18 dia.)
2,000
(78.74)
Mounting Dimensions E6C-NN5CA-C

Two, M4
(1.98)
Center of shaft
6
E6C-N E6C-N
Unit: mm (inch)

Couplings
E69C-C06B E69 -C06M (Metal Construction)
22 19.1
(0.87) Four, M3 hexagon (0.75) Four, M3 hexagon
set screws set screws
24
6 dia (0.24) 6 dia (0.24)

15 dia (0.59)
19.1 dia. (0.75)
Note: Material is glass-reinforced PBT Note: Material is super duralumin
Flanges
E69 -FCA E69 -FCA-02 Mounting Bracket:

(A set of three Brackets provided with the
52 x 52
(2.05 x 2.05) E69-FCA-02)
Four, R3
Four, 4.5-dia. holes 5.5-dia. hole
(1.69) Three, 4.5 screw-head holes
25.2-dia.±0.05
0
holes
18
(0.71) 9
(0.35)
(1.69) Three, 5.5
screw-head
holes Two, C1
25.2 dia.
38 dia.
(1.50)
56 dia.
Note: Material is SPCC, t = 3.2
Note: Material is SPCC, t=3.2
Mounting Dimensions
Panel
25 dia.
68 dia.
(2.68) Three, M5
Servo Mounting Bracket

E69 -2 (Set of three)
5.5-dia. hole
18 9
(0.71) (0.35)
Two, C1
(0.63)
Note: A set of E69-2 Servo Mounting

Brackets is provided with the
E69-FCA-02 Flange.
7
E6C-N E6C-N
Installation
J CONNECTION EXAMPLE
Connection with CPM1A
Ladder Program Example
E6C-NN5C
(Always ON)
25313
ANDW(34)
Transfers only the data of
000 bits 0 through 8 of word 000
CPM1A-40CDj-j #01FF to DM 0000 (single-rotation
BIN data).
D0000
BCD(24)
Converts single-rotation BIN
D0000
data into a BCD code signal.
Wiring between E6C-NN5C and CPM1A D0001
E6C-NN5C output signal CPM1A ANDW(34)

input signal Transfers only the data of
001 bits 0 through 7 of word 001
Single rotation
Single-rotation Cable cover Brown (20) 00000 to DM 0003 (multi-rotation
#007F
data color (gray) Orange (21) 00001 BIN data).
D0003
Yellow (22) 00002
BCD(24)
Green (23) 00003 Converts multi-rotation BIN
D0003
Blue (24) 00004 data into a BCD code signal.
D0004
Purple (25) 00005
Gray (26) 00006 MUL(32)
The result of multi-rotation
White (27) 00007 D0004 BCD data x 500 (single-rota-
#0005 tion resolution) is input to
Pink (28) 00008 DM 0005 and DM 0006.
D0005
Multi rotation
Multi-rotation Cable cover Brown (20) 00100
data color (black) Orange (21) 00101 ADDL(54)
Adds single-rotation data
Yellow (22) 00102 D0001
and multi-rotation data as
#0005
Green (23) 00103 linear absolute data.
D0007
Blue (24) 00104
Purple (25) 00105
Code + = 0 Gray (26) 00106
-- = 1 White (27) 00107 CMPL(60)
D0007
Output Timing D0010
(>) 000
E6C-NN5C’s absolute data Compares the
25505
1 rotation 2 rotations 127 rotations band and output
10000 bit 01000 is ON if
linear absolute
(=)
25506 data exists be-
tween the value of
DM 0010 and
DM Setting DM 0011 and that
of DM 0012 and
CMPL(60)
DM 0013. The
DM 0000
band is compared
0001 D0007 in the forward
0002 0000 rotational direction
D0012
only.
0003
000
0004 (<)
Data program work area
25507
0005
10001
0006
0007 (=)
Linear absolute data 25506
0008
0009 Comparison data
10000 10001
0010 9000
Upper-limit setting 01000
0011 0000
0012 0500
Lower-limit setting
0013 0001
8
E6C-N E6C-N
Precautions
J MOUNTING The E6C-N consists of high-precision components. Handle the
E6C-N with care:
To Avoid Damage or Malfunction
• Keep E6C-N free of water or oil drops.
• Do not use the E6C-N at a voltage exceeding the rated volt-
• Do not short-circuit the load, or the E6C-N may be damaged.
age range.
• If the E6C-N is mounted with a cable wired, do not pull the
• Be sure to wire the lines of the E6C-N separately from power
cable with a force exceeding 3 kgf (29.4 N).
lines-tension lines in a separate, shielded conduit.
• The torque required to tighten each screw must be 5 kgf S cm
• Do not make mistakes in wiring, such as mistakes in polarity.
(0.49 N S m) maximum. Excessive tightening torque may
• Be sure that the E6C-N is turned off when wiring, or the out- damage the E6C-N.
put circuit may be damaged if an active output line comes in
• Do not impose excessive loads on the shaft, or the shaft may
contact with the power line.
be damaged.
• Do not directly connect the shaft to chains, timing belts, or
J CORRECT USE gears. Be sure to connect the shaft through appropriate bear-
ings and couplings.
• If the power supply has surge voltage, connect a surge ab-
sorber in parallel to the power supply to absorb the surge • If there is a difference in angle between the shaft and the
voltage. other shaft connected, an excessive load that may damage
the shaft will be imposed on the shaft. Be sure that the shaft
• To protect the E6C-N from noise interference, be sure that
is connected properly.
each wire connected to the E6C-N is as short as possible.
• When inserting the shaft to a coupling, do not strike the shaft
• The E6C-N may output a pulse signal when the E6C-N is
or coupling with a hammer or impose any other shock to the
turned on or off. Turn on each device connected to the
shaft or coupling.
E6C-N one second after turning on the E6C-N and turn each
• When connecting or disconnecting the coupling to or from the
device off one second before turning off the E6C-N.
shaft, do not excessively bend, press, or pull the coupling.
R

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Table of Contents

Absolute Rotary Encoder E6C2-A

Use the Tough E6C2-A (IP64

J ACCESSORIES (ORDER SEPARATELY)

Item Part number

High-load seal bearing

J CONNECTOR SPECIFICATIONS J OUTPUT CIRCUIT DIAGRAM

Oil-proof PVC, shielded 12-conductor cable (7/0.18 dia.)

Three, M4 holes 40±0.1 dia.

Oil-proof PVC, shielded 12-conductor cable (7/0.18 dia.)

Model Mounting method Output configuration

J CONNECTING E6C2-AG5C TO PROGRAMMABLE CONTROLLER

Motor driver (Inverter)

No. of I/O: 192 points max.

E69-DC5 5M Connection Cable for CQM1-CPU44-E (Order Separately)

(See note 1) (See note 4)

Note: 1. 6-dia. oil-proof PVC, shielded 12-conductor cable (7/0.18 dia.);

Output Unit (100 words) Lower limit 3

DM 6643 0001 Internal Bits of CQM1-CPU44-E

Use the CTBL instruction of the CQM1-CPU44-E to register a

J CONNECTING TO CPM1A USING A 00003 20004

Wiring Between E6C2-AG5C and CPM1A 00000 20001

Output signal from E6C2-AG5C Input signal to CPM1A

Light blue (29) 00009 20300

00007 20008 Lower limit 4

J GRAY-TO-BINARY CONVERSION CIRCUIT REFERENCE

E6C2-AG5C (see note 2)

Note: 1. Signal can be converted into positive-logic binary code signals if 0 V is

Absolute Rotary Encoder E6CP

Terminal no. E6CP-AG5C-C Wire color EC6P-AG3C

Four M4, depth 10 38

Four M4, depth 10 38 2000 **

■ MOUNTING BRACKET E69-FCA-02

68 ±0.2 (2.68) dia.

Extension Cable E69-DF5

16.9 (0.66) dia. 16.9 (0.67) dia.

Oil-resistant, vinyl-insulated and shielded cable,

OMRON ELECTRONICS LLC OMRON ON-LINE OMRON CANADA, INC.

Absolute Rotary Encoder E6F

Wire color E6F-AB3C Pin no. E6F-AB3C-C E6F-AG5C-C

Red + power supply 1 20 Internally

■ MOUNTING BRACKET E69-FCA-02 Panel

5.5 mm (0.22 dia.) hole 2

72 ±0.2 (2.84) dia.

Extension Cable E69-DF5

37 (1.46) 34.6 (1.36)

16.9 (0.66) dia. 16.9 (0.66) dia.

Oil-resistant, vinyl-insulated and shielded cable,

OMRON ELECTRONICS LLC OMRON ON-LINE OMRON CANADA, INC.

Incremental Rotary Encoder E6A2

Wire color Signal

Blue (Black) 4Ω Blue (Black)

Open Collector Output

Direction of rotation: CW Direction of rotation: CCW

*Output cable (shielded) O.D.: 4 dia.

Mounting Bracket E69-1

9.7 8.5 dia.

OMRON ELECTRONICS LLC OMRON ON-LINE OMRON CANADA, INC.

Incremental Rotary Encoder E6B2

Line Driver Output

Wire Color Code

Brown Color Terminal

Voltage Output E6B2-CWZ3E

Line Driver Output E6B2-CWZ1X