description the aedb-9140 series are three channel optical incre - mental encoder modules ofered with a codewheel. 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 are extremely tolerant to mounting misalignment. the aedb-9140 has two channel quadrature outputs plus a third channel index output. this index output is a 90 electrical degree high true index pulse which is gener - ated once for each full rotation of the codewheel. the aedb-9140 is designed for use with a codewheel which has an optical radius of 11.00 mm (0.433 inch). the quadrature signals and the index pulse are accessed through five 0.46 mm square pins located on 1.27 mm(pitch) centers. features ? two channel quadrature output with index pulse ? resolution from 100 cpr to 500 cpr (counts per revo - lution) ? low cost ? easy to mount ? no signal adjustment required ? small size ? operating temperature: -10 c to 85 c ? ttl compatible ? single 5v supply applications the aedb-9140 provide sophisticated motion control de - tection at a low cost, making them ideal for high volume applications. typical applications include printers, plot - ters, tape drives, and industrial and factory automation equipment. note: avago technologies encoders are not recommended for use in safety critical applications. eg. abs braking systems, power steering, life support systems and critical care medical equipment. please contact sales representative if more clarifcation is needed. aedb-9140 series three channel optical incremental encoder modules with codewheel, 100 cpr to 500 cpr data sheet
2 theory of operation the aedb-9140 are emitter/detector modules. coupled with a codewheel, these modules translate the rotary motion of a shaft into a three-chan - nel digital output. as seen in figure 1, the modules contain a single light emitting diode (led) as its light source. the light is collimated into a parallel beam by means of a single polycarbonate lens located directly over the led. op - posite the emitter is the integrated detector circuit. this ic consists of multiple sets of photodetectors and the signal processing circuitry necessary to produce the digital waveforms. the codewheel rotates between the emitter and detector, causing the light beam to be interrupted by the pattern of spaces and bars on the codewheel. the photodiodes which detect these interruptions are arranged in a pat - tern that corresponds to the radius and design of the code-wheel. these detectors are also spaced such that a light period on one pair of detectors corresponds to a dark period on the adjacent pair of detectors. the photodiode outputs are then fed through the signal processing circuitry resulting in a, abar, b, bbar, i and ibar. comparators receive these signals and produce the fnal outputs for channels a and b. due to this inte - grated phasing technique, the digital output of channel a is in quadrature with that of channel b (90 degrees out of phase). block diagram figure 1. resolutions (cycle/rev) shaft diameter* 02 - 3mm 04 - 5/32 in 05 - 3/16 in 06 - 1/4 in 11 - 4mm 12 - 6mm 13 - 8mm 14 - 5mm c - 100 cpr e - 200 cpr f - 256 cpr g - 360 cpr h - 400 cpr a - 500 cpr aedb-9140 option ordering information three channel encoder modules with codewheel, 11 mm optical radius * please contact factory for other shaft diameters available options part no cpr shaft diameter options 02 04 05 06 11 12 13 14 aedb-9140 c ? ? ? ? e ? ? ? ? f ? ? ? g ? ? ? h ? ? a ? ? ? ? ? ? ? ?
3 defnitions note: refer to figure 2 count (n): the number of bar and window pairs or counts per revolution (cpr) of the codewheel. one cycle (c): 360 electrical degrees (e), 1 bar and win - dow pair. one shaft rotation: 360 mechanical degrees, n cycles. position error ( ? ): the normalized angular diference between the actual shaft position and the position indi - cated by the encoder cycle count. cycle error ( ? c): an indication of cycle uniformity. the diference between an observed shaft angle which gives rise to one electrical cycle, and the nominal angular incre - ment of 1/n of a revolution. pulse width (p): the number of electrical degrees that an output is high during 1 cycle. this value is nominally 180e or 1/2 cycle. pulse width error ( ? p): the deviation, in electrical degrees, of the pulse width from its ideal value of 180e. state width (s): the number of electrical degrees be - tween a transition in the output of channel a and the neighboring transition in the output of channel b. there are 4 states per cycle, each nominally 90e. state width error ( ? s): the deviation, in electrical degrees, of each state width from its ideal value of 90e. phase (f ): the number of electrical degrees between the center of the high state of channel a and the center of the high state of channel b. this value is nominally 90e for quadrature output. phase error ( ? ): the deviation of the phase from its ideal value of 90e. direction of rotation: when the codewheel rotates in the clockwise direction viewing from top of the module (direction from v to g), channel a will lead channel b. if the codewheel rotates in the opposite direction, channel b will lead channel a. optical radius (rop): the distance from the codewheels center of rotation to the optical center (o.c) of the en - coder module. index pulse width (po): the number of electrical degrees that an index is high during one full shaft rotation. this value is nominally 90e or 1/4 cycle. output waveforms figure 2.
4 absolute maximum ratings parameter symbol minimum typical maximum units notes storage temperature t s -10 85 c operating temperature t a -10 85 c supply voltage v cc -0.5 7 volts output voltage v o -0.5 v cc volts output current per channel, iout i out -1.0 18 ma recommended operating conditions parameter symbol min. typ. max. units notes temperature t a -10 85 c supply voltage v cc 4.5 5.0 5.5 volts ripple < 100mvp-p load capacitance c l 100 pf 2.7 k w pull-up frequency f 100 khz velocity (rpm) x n/60 shaft perpendicularity plus axial play 0.20( 0.008) mm(in.) refer to mounting con - sideration shaft eccentricity plus radial play 0.04( 0.0015) mm(in.) electrical characteristics electrical characteristics over the recommended operating range. typical values at 25c. parameter symbol minimum typical maximum units notes supply current i cc 30 57 85 ma high level output voltage v oh 2.4 v typ. i oh = -0.5 ma low level output voltage v ol 0.4 v typ. i ol = 10 ma rise time t r 180 ns c l = 25 pfr l = 2.7 k w pull-up fall time t f 50 ns note: typical values specifed at vcc = 5.0 v and 25 c
5 electrical interface to insure reliable encoding performance, the aedb-9140 three channel encoder modules require 2.7 k w ( 10%) pull-up resistors on output pins 2, 3, and 5 (channels a, i and b) as shown in figure 3. these pull-up resistors should be located as close to the encoder module as pos - sible (within 4 feet). each of the three encoder module outputs can drive a single ttl load in this confguration. figure 3. encoding characteristics encoding characteristics over the recommended operating conditions and recommended mounting tolerances unless otherwise specifed. parameter symbol minimum typical maximum units notes cycle error ? c 3 10 e pulse width error ? p 7 30 e logic state width error ? s 5 30 e phase error ? 2 15 e position error ? 10 40 min. of arc index pulse width po 60 90 120 e ch i rise afterch b or ch a fall -10c to + 85c t 1 10 100 1000 ns ch i fall afterch a or ch b rise -10c to + 85c t 2 10 300 1000 ns customized solutions customization of codewheel cpr is possible. it has to be based on the encoder lpi table given below: part number lpi aedb-9140 # c 36.7 aedb-9140 # e 73.5 aedb-9140 # f 94 aedb-9140 # g 132.3 aedb-9140 # h 147 aedb-9140 # a 183
6 rop 12.60 6.30 0.50 artwork codewheel mounting boss 2mm dia. 2 places optical center axis gap typical e g e t e r shaft center axis optical center axis mounting plane r0.89 mounting considerations recommended screw size: m1.6 x 0.35 recommended mounting screw torque : 1 lbin (0.113 nm) note: these dimensions include shaft endplay and codewheel warp. all dimension for mounting the module and codewheel should be measured with respect to two mounting boss, as shown above. error rop = 11mm unit notes e g gap 0.20 mm recommend to mount the codewheel closer to the detector side (upper side) for optimum encoder performance. e r radial 0.13 mm e t tangential 0.13 mm note: the customization of codewheel method is valid from theoretical standpoint. however avago technologies strongly recommends a full characterization to be done to determine the actual performance of the encoder with customized codewheel. characterization means validating the encoding per - formance (consist of cycle error, pulse width error, logic state width error, phase error, position error & index pulse width , index channel rise and fall time) over the recom - mended operating conditions and recommended mount - ing tolerances. cpr calculation formula: cpr = (lpi x 25.4) x 2 x x rop where: cpr = counts per revolutions lpi = encoder lpi provided in the table rop = encoder optical radius in mm * recommended maximum codewheel diameter should not exceed 30mm
7 21.60 13.6 1.6 5.34 2.00 0.80 3.0 0 4.00 0.46 1.27 4.90 1.78 2.40 13.60 1.60 21.60 1.17 3.00 4.40 2.69 3.6 9 17.80 3.69 optical center axis optical center axis optical center axis typical dimensions in millimeter s front view side view top view r 15.50 r 0.89 package dimension codewheel mechanical drawing 5.95 (0.234) max. 12.7 0 (0.500) max. 10.16 (0.400) 130? 5? typical index pulse position index pulse reference marker 25.7 (1.01 ) dia. max. 1.80 (0.071) setscre w 3.5 8 (0.141 ) mounting boss r op = 11.00 mm (0.433 in.) dimensions in mm (inches)
for product information and a complete list of distributors, please go to our web site: www.avagotech.com avago, avago technologies, and the a logo are trademarks of avago technologies in the united states and other countries. data subject to change. copyright ? 2005-2008 avago technologies. all rights reserved. obsoletes 5989-3823en av02-1584en - october 14, 2008
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