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Rotary Encoder (Incremental/Absolute)
E6C3
An Encoder That Offers Durability and Convenience
* IP65f drip-proof, oil-proof construction achieved with seal bearing. * 8-mm-dia stainless steel shaft withstands a shaft loading of 80 N and 50 N respectively in the radial and thrust directions. * Absolute Rotary Encoders have a metal slit plate to ensure high resistance to shock. * Combining Absolute Rotary Encoders with a Programmable Controller or Cam Positioner allows ideal angle control. * Bears CE markings (EMC Directives) and conforms to EN/IEC standards, making it suitable for the European market.
Ordering Information
Incremental Rotary Encoders
Supply voltage 12 to 24 VDC Output configuration Complementary output Resolution (P/R) 100, 200 300, 360, 500 600, 720, 800 1,000, 1,024, 1,200 1,500, 1,800, 2,000 2,048, 2,500, 3,600 5 to 12 VDC Voltage output 100, 200 300, 360, 500 600, 720, 800 1,000, 1,024, 1,200 1,500, 1,800, 2,000 2,048, 2,500, 3,600 5 to 12 VDC Line driver output 100, 200 300, 360, 500 600, 720, 800 1,000, 1,024, 1,200 1,500, 1,800, 2,000 2,048, 2,500, 3,600 Note 1. When ordering, specify the resolution in addition to the model numbers. (Example: E6C3-CWZ5GH 300P/R 1M) 2. Models with 2-m cables are also available as standard products. Specify the cable length at the end of the model number. (Example: E6C3CWZ5GH 300P/R 2M) E6C3-CWZ3XH E6C3-CWZ3EH Connection method Model Pre-wired (1 m) (See note 2.) E6C3-CWZ5GH
Absolute Rotary Encoders
Supply voltage 12 to 24 VDC Output configuration Output code Resolution (P/R) 256, 360 256, 360, 720, 1,024 Binary BCD PNP open collector output Gray code Binary BCD 5 VDC 12 VDC Voltage output Binary 32, 40 6, 8, 12 256, 360, 720, 1,024 32, 40 6, 8, 12 256 Connection method Connector Pre-wired (1 m) (See note 2.) Model E6C3-AG5C-C E6C3-AG5C E6C3-AN5C E6C3-AB5C E6C3-AG5B E6C3-AN5B E6C3-AB5B E6C3-AN1E E6C3-AN2E NPN open collector output Gray code
Note 1. When ordering, specify the resolution in addition to the model numbers. (Example: E6C3-AG5C 360P/R 1M) 2. Models with 2-m cables are also available as standard products. Specify the cable length at the end of the model number. (Example: E6C3AG5C 360P/R 2M) 3. When connecting to the H8PS, be sure to use the E6C3-AG5C-C 256P/R.
Accessories (Order Separately)
Item Coupling Flange Servo Mounting Bracket Extension Cable Model E69-C08B E69-C68B E69-FCA03 E69-FCA04 E69-2 E69-DF5 E69-DF10 E69-DF20 --Diameters of ends: 6 to 8 dia. --E69-2 Servo Mounting Bracket provided. Provided with the E69-FCA04 Flange. 5m 10 m 30 m Applicable for the E6C3-AG5C-C. 15- and 98-m-long Extension Cables are also available. Remarks
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E6C3 Rotary Encoder (Incremental/Absolute)
Specifications
Ratings/Characteristics
Incremental Rotary Encoders
Item Power supply voltage Current consumption (See note 1.) Resolution (pulse/ rotation) Output phases Output configuration Output capacity E6C3-CWZ5GH 12 VDC -10% to 24 VDC +15% 100 mA max. 100, 200, 300, 360, 500, 600, 720, 800, 1,000, 1,024, 1,200, 1,500, 1,800, 2,000, 2,048, 2,500, 3,600 A, B, and Z Complementary output (See note 5.) Voltage output (NPN output) Output voltage: VH: Vcc - 3 V min. (Io: 30 mA) VL: 2 V max. (Io: -30 mA) Output current: 30 mA Output resistance: 2 k Output current: 35 mA max. Residual voltage: 0.7 V max. A, A, B, B, Z, Z Line driver output (See note 2.) AM26LS31 equivalent Output current: High level (Io): -10 mA Low level (Is): 10 mA Output voltage: Vo: 2.5 V min. Vs: 0.5 V max. Max. response frequency 125 kHz (65 kHz for phase-Z reset) (See note 3.) Phase difference on output Rise and fall times of output Starting torque Moment of inertia Shaft loading Radial Thrust 9045 between A and B (1/4T1/8T) 1 s max. (cable length: 2 m, output current: 30 mA) 1 s max. (cable length: 2 m, output current: 35 mA) 1 s max. (cable length: 2 m; Io: -10 mA; Is: 10 mA) E6C3-CWZ3EH 5 VDC -5% to 12 VDC +10% E6C3-CWZ3XH
10 mN*m max. at room temperature; 30 mN*m max. at low temperature 2.0 x 10-6 kg*m2; 1.9 x 10-6 kg*m2 at 500 P/R max. 80 N 50 N 5,000 rpm Reversed power supply connection protection circuit, output load short-circuit --protection circuit Operating: -10C to 70C (with no icing) Storage: -25C to 85C (with no icing) 35% to 85% (with no condensation) 20 M min. (at 500 VDC) between current-carrying parts and case 500 VAC, 50/60 Hz for 1 min between current-carrying parts and case Destruction: 10 to 500 Hz, 150 m/s2 or 2-mm double amplitude for 11 min 3 times each in X, Y, and Z directions Destruction: 1,000 m/s2 3 times each in X, Y, and Z directions IEC60529 IP65 (JEM IP65f for drip-proof and oil-proof construction) (See note 4.) Pre-wired (standard length: 1 m) Approx. 300 g Instruction manual
Max. permissible revolution Protection circuits Ambient temperature Ambient humidity Insulation resistance Dielectric strength Vibration resistance Shock resistance Degree of protection Connection method Weight (packed state) Others
Note 1. An inrush current of approx. 9 A flows for approx. 0.1 ms right after the E6C3 is turned on. 2. The line driver output of the E6C3 is used for data transmission circuitry conforming to RS-422A and ensures long-distance transmission over twisted-pair cable, the quality of which is 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 E6C3 will not operate electrically if its revolution exceeds the maximum electrical response revolution. 4. JEM1030: applicable since 1991.
E6C3 Rotary Encoder (Incremental/Absolute)
3
5. Complementary Output: The complementary output has two output transistors (NPN and PNP) as shown below. These two output transistors alternately turn ON and OFF depending on the "H" or "L" output signal. When using them, pull up to the positive power or pull down to 0 V. The complementary output allows flow-in or flow-out of the output current and thus the rising and falling speeds of signals are fast. This allows a long cable distance. They can be connected to open-collector input devices (NPN, PNP).
E6C3-CWZ5GH Power supply
NPN transistor OUT Signal
PNP transistor 0V
6. Phase-Z signals are output when the relationship between the shaft's D cut position and the cable's pullout direction is as shown in the following diagram. (Output position range: 15.)
120
D cut
120
40 dia.
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E6C3 Rotary Encoder (Incremental/Absolute)
Output Circuit Diagram
Incremental Rotary Encoders
Model/output circuit E6C3-CWZ5GH
Brown 7.5 30 mA max. Black, white, orange 24 7.5 30 mA max. 12 VDC -10% to 24 VDC +15%
Output modes
Connection
Main circuit
Output signal (Black: Phase A; White: Phase B; Orange: Phase Z) 0V GND
Blue Shield
Voltage Output: E6C3-CWZ3EH Complementary Output: E6C3-CWZ5GH
Rotating direction: Clockwise (CW) (As viewed from the face of the shaft) T (360) CW Phase A H Rotating direction: Counterclockwise (CCW) (As viewed from the face of the shaft) T (360) CCW
Color Brown Black White
Terminal Power supply (+VCC) Output phase A Output phase B 0 V (common)
E6C3-CWZ3EH
Brown 2 k Main circuit 7.5 NPN transistor 35 mA max. Blue Shield 0V GND Black, white, orange 5 VDC -5% to 12 VDC +10% Output signal (Black: Phase A; White: Phase B; Orange: Phase Z)
H Phase A L Phase B H L H Phase Z L
L H Phase B L 1/41/8T (9045) H Phase Z L
Orange Output phase Z
1/41/8T (9045)
Blue
Note: Phase A is 1/41/8T faster than phase B.
Note: Phase A is 1/41/8T slower than phase B.
E6C3-CWZ3XH
Color Terminal Power supply (+VCC) Output phase A Output phase B
Line Driver Output: E6C3-CWZ3XH
Rotating direction: Clockwise (CW) Rotating direction: Counterclockwise (CCW) (As viewed from the face of the shaft) (As viewed from the face of the shaft) Brown 5 VDC -5% to 12 VDC +10% T (360) H Phase A L H Phase B L H Phase Z L H Phase A L H Phase B L H Phase Z L CW T (360) CCW
Brown Black White
Main circuit
AM26LS31 or equivalent
Black, white, Non-reversed output orange (Black: Phase A; Black, white, White: Phase B; orange (with Orange: Phase Z) red stripes) Reversed output
(Black/Red: Phase A; White/Red: Phase B; Orange/Red: Phase Z
H Phase A L H Phase B L 1/41/8T (9045) H Phase Z L H L H Phase B L H Phase Z L Phase A
Orange Output phase Z Black/ Red stripes White/ Red stripes Output phase A
1/41/8T (9045)
Output phase B
Blue Shield
0V GND
Orange Output phase Z /Red stripes Blue 0 V (common)
Note: Receiver: AM26LS32 equivalent
Note 1. The shield is not connected to the internal circuits or casing of the E6C3. 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 E6C3 is in normal operation.
E6C3 Rotary Encoder (Incremental/Absolute)
5
Connection Examples
Incremental Rotary Encoders
H7ER Digital Tachometer
Applicable Model: E6C3-CWZ3EH (with a resolution of 10, 60, or 600 P/R)
C200H-CT@@ High-speed Counter Unit
Applicable Model: E6C3-CWZ5GH Typical Model: C200H-CT001-V1
(Encoder at 0 V)
+12 V Brown H7ER Digital Tachometer Black Blue 5 to 12 VDC
Phase B Phase A
+24 V
Phase A
0V
+24 V
Phase B
+12 V +5 V +12 V +5 V
12-VDC power supply +12 V 0V
H7BR Digital Counter
Applicable Model: E6C3-CWZ3EH
Note: Apply the following connections if the E6C3's 3 power supplies are 5 or 24 V. Phase A and Power Supply: 5 V to A19 and 24 V to B20 Phase B and Power Supply: 5 V to A17 and 24 V to B18
Applicable Model: E6C3-CWZ5GH Typical Model: C200H-CT021
Brown Black White Shield Blue 0V +12 V Phase Z
Phase Z Phase Z
(Encoder at 0 V)
Phase B H7BR Digital Counter Phase A 0V
Phase B
Phase B
Phase A
Phase A 5 to 24 VDC
0V
Phase A
H7CR-CW Digital Counter
Applicable Model: E6C3-CWZ5GH
+12 V 12-VDC power supply +12 V 0V
Black White Blue
Note: Apply the following connections if the power supply to the E6C3 is 12 or 24 V. Phase A and Power Supply: 12 V to A8/B8 and 24 V to A9/B9 Phase B and Power Supply: 12 V to A12/B12 and 24 V to A13/ B13 Phase Z and Power Supply: 12 V to A16/B16 and 24 V to A17/ B17
Brown 12 VDC (100 mA) H7CR-CW
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E6C3 Rotary Encoder (Incremental/Absolute)
CQM1-CPU43-EV1 (as Built-in Highspeed Counter)
* The pulse output of the E6C3 can be directly input into IN04, IN05, and IN06 of the CPU Unit to use these three points as a built-in high-speed counter. * The single-phase response speed is 5 kHz and the two-phase 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 32,767 in decrement mode. * The operating mode of the high-speed counter is set with the PC Setup in the DM area.
C500-CT001/CT012 High-speed Counter Unit
CW and CCW detection (increment/ decrement counting) Applicable Model: E6C3-CWZ5GH
Count Mode
Up/Down mode Incrementing mode Normal mode Increment/Decrement counter uses phases A and B. Increment counter uses phase A only. IN04 through IN05 are used for normal input.
Brown Black Blue White
Shield Internal DIP switch settings
Applicable Model: E6C3-CWZ5GH
Phase A IN 0000CH Phase B Phase Z
Reset
The present count value can be reset with the soft-reset function or the AND of soft reset and phase Z input.
Output
Target value
CQM1 Programmable Controller
Applicable Model: E6C3-CWZ5GH
When the count value reaches the target value, the specified subroutine is executed. A maximum of 16 target values can be set. When the count value is within the range, the specified subroutine is executed. A maximum of 8 ranges can be set with upper and lower limits.
Range comparison
Brown (12 V) Black (Phase A) White (Phase B) Orange (Phase Z) Blue (0 V) Shield
E6C3 Rotary Encoder (Incremental/Absolute)
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Specifications
Ratings/Characteristics
Absolute Rotary Encoders
Item Power supply voltage Current consumption Resolution (See note 1.) (pulses/rotation) Output code Output configuration Output capacity E6C3AG5C-C E6C3AG5C E6C3AN5C E6C3AB5C E6C3AG5B E6C3AN5B E6C3AB5B E6C3AN1E E6C3AN2E 12 VDC-10% to 24 VDC+15%, ripple (p-p) 5% max. 70 mA max. 256, 360 256, 360, 720, 1,024 32, 40 6, 8, 12 256, 360, 720, 1,024 Gray code 32, 40 6, 8, 12 256 5 VDC 5% 12 VDC 10%
Gray code
Binary
BCD
Binary
BCD
Binary Voltage output Output resistance: 2.4 k Output resistance: 8.2 k
NPN open collector output Applied voltage: 30 VDC max. Sink current: 35 mA max. Residual voltage: 0.4 V max. (at sink current of 35 mA)
PNP open collector output Source current: 35 mA max. Residual voltage: 0.4 V max. (at Source current of 35 mA)
Sink current: 35 mA max. Residual voltage: 0.4 V max. (at sink current of 35 mA) Rise: 3 s max. Fall: 1 s max. 10 kHz Positive logic output (H=1, L=0) Changed using the rotational direction designation input. Not available Available Available Not available (even number) Not available Rise: 10 s max. Fall: 1 s max.
Rise and fall times of output
1 s max. (cable length: 2m; output current: 35 mA max.)
Max. response 20 kHz frequency (See note 2.) Logic Rotational direction (See note 3.) Strobe signal Positioning signal Parity signal Negative logic output (H=0, L=1) Output code incremented by clockwise rotation (as viewed from the face of the shaft.)
Not available Not available Not available
Available Available Available Not available (even number)
Not available Not available
Available
Starting torque Moment of inertia Shaft loading Radial Thrust
10 mN*m max. at room temperature 30 mN*m max. at low temperature 2.3 x 10-6 kg*m2 80 N 50 N 5,000 rpm Operating: -10C to 70C (with no icing) Storage: -25C to 85C (with no icing) 35% to 85% (with no condensation) 20 M min. (at 500 VDC) between current-carrying parts and case 500 VAC, 50/60 Hz for 1 min between current-carrying parts and case Destruction: 10 to 500 Hz, 1.0-mm single amplitude or 150 m/s2 for 11 min. 3 times each in X, Y, and Z directions. Destruction: 1,000 m/s2, 6 times each in X, Y, and Z directions IEC60529 IP65 (JEM IP65f for drip-proof and oil-proof construction) (See note 4.) Connector Pre-wired (standard length: 1 m) (standard length: 1 m) Approx. 300 g Instruction manual
Max. permissible rotation Ambient temperature Ambient humidity Insulation resistance Dielectric strength Vibration resistance Shock resistance Degree of protection Connection method
Weight (packed state) Others
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E6C3 Rotary Encoder (Incremental/Absolute)
Note 1. The codes are classified as shown in the following table. Output code Binary Resolution 32 40 256 BCD 6 8 12 Gray code 256 360 720 1,024 1 to 32 1 to 40 0 to 255 0 to 5 0 to 7 0 to 11 0 to 255 76 to 435 (Remainder of 76) 152 to 871 (Remainder of 152) 0 to 1,023 Code number
2. 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 E6C3 will not operate electrically if its revolution exceeds the maximum electrical response revolution. 3. With the E6C3-AN1E and E6C3-AN2E models, the output code can be increased in the clockwise direction by connecting the rotational direction designation input (wire color: pink) to H (Vcc), and the output code can be decreased in the clockwise direction by connecting the input to L (0 V). E6C3-AN1E: H=1.5 to 5 V, L=0 to 0.8 V E6C3-AN2E: H=2.2 to 12 V, L=0 to 1.2 V With the E6C3-AN1E and E6C3-AN2E models, read the code at least 10 s after the LSB (20) code has changed. 4. JEM1030: applicable since 1991. 5. The absolute code's smallest address is output when the relationship between the shaft's D cut position and the cable's pullout direction is as shown in the following diagram. (Output position range: 15.)
120
D cut
120
40 dia.
E6C3 Rotary Encoder (Incremental/Absolute)
9
Output Circuit Diagrams
Absolute Rotary Encoders
E6C3-AG5C/-AG5C-C Output Circuits
Main circuit 12 to 24 VDC Output 35 mA max., 30 VDC 0V Shield GND
E6C3-AG5B
12 to 24 VDC Output
E6C3-AN5C
12 to 24 VDC Main circuit Output 35 mA max., 30 VDC 0V Shield GND
E6C3-AN5B
12 to 24 VDC Output
Main circuit
35 mA max.
Main circuit
0V GND
35 mA max.
0V GND
Shield
Shield
Note: Each output bit uses the same circuit.
Note: Each output bit uses the same circuit.
Note: Each output bit uses the same circuit.
Note: Each output bit uses the same circuit.
Output Modes
Rotating direction: CW, as viewed from the face of the shaft.
20 21 22 23 24 25 26 27 28 29
ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF
0 1 2 3 4 5 6 7 8 9 1011121314151617181920212223242526272829303132333435363738394041424344454647484950515253545556575859606162636465
Rotating direction: CW, as viewed from the face of the shaft. Resolution: 40
No. 1 5 10 15 20 25 30 35 40
Strobe signal 20 21
ON OFF ON OFF ON OFF
ON 22
OFF ON OFF ON OFF ON OFF ON OFF
23 24 25 Parity signal
Absolute angle
Address
360 C 2.25 B 4.5 A 9
9
18 2.25
27
When resolution is 32 A=11.25 B=6 C=3
Strobe signal
0.5 min.
0.5 min.
Other bit signal
Connections
Connector Specifications
Pin number 8-bit (256) 1 2 3 4 5 6 7 8 9 10 11 12 13 25 2 2 2
1 0 7
Cable Specifications
Wire color E6C3-AG5C/E6C3-AG5B Output signal 8-bit (256) Brown Orange Yellow Green Blue Purple Gray White Pink --Red Black 20 21 2 2 2
2 3 4
E6C3-AG5C-C Output signal 9-bit (360) NC 28 25 2 2 2
1 0 7
9-bit (360) 20 21 2 2 2
2 3 4
10-bit (720, 1,024) 20 21 22 23 24 25 26 27 28 29
Connected internally
25 26 27 NC Shield (GND) 12 to 24 VDC 0 V (Common)
25 26 27 2
8
24 22 2 2
3 6
24 22 2 2
3 6
Light blue NC
NC
Shield (GND) 12 to 24 VDC 0 V (Common)
Note: Connector type: RP13A-12PD-13SC (Hirose Electric)
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E6C3 Rotary Encoder (Incremental/Absolute)
Output Circuit Diagrams
Absolute Rotary Encoders
E6C3-AB5C Output Circuits
2.4 k
E6C3-AB5B
E6C3-AN1E
5 VDC
E6C3-AN2E
12 VDC 8.2 k Output 35 mA max. 0V Shield GND
Main circuit
Output 35 mA max. 0V
Main circuit
12 to 24 VDC Main circuit Output 35 mA max., 30 VDC 0V Shield GND
12 to 24 VDC Output
Shield
GND
Main circuit
35 mA max. Shield
Note: Each output bit uses the same circuit.
Note: Each output bit uses the same circuit.
0V GND
Rotational Direction Designation Input Circuit
Vcc (5 V or 12 V)
Note: Each output bit uses the same circuit.
Note: Each output bit uses the same circuit.
Main circuit
Input Note: Output code increases in the clockwise direction when the input is connected to Vcc and decreases in the clockwise direction when the input is connected to 0 V.
0V
Output Modes
Rotating direction: CW, as viewed from the face of the shaft. Resolution: 12
No. 0 1 2 3 4 5 6 7 8 9 10 11
Positioning ON OFF signal
ON
Rotating direction: CW, as viewed from the face of the shaft, when rotational direction designation input is at "H." CCW, as viewed from the face of the shaft, when rotational direction designation input is at "L."
Shaft angle: 360 20 21 22 23 24
(H) (L)
Strobe signal 20 21 22 23 2 0 x10
OFF ON OFF ON OFF ON OFF ON OFF ON OFF
--- ( 360 ) 256
1 2
TT/2
3 4 5
TT/2
6
--- (360) 32
7 8 9 10 11 12 13 14
--- (360) 16
15 16 17 18 19
When resolution is 8 A=45 B=22.5 C=11.25 When resolution is 6 A=60 B=30 C=15
Absolute angle
0
30 C 7.5
60
90 7.5
25 26 27 T=360/2561.4
Strobe signal
B 15 A 30 1
0.5
0.5
Positioning signal
E6C3 Rotary Encoder (Incremental/Absolute)
11
Connections
Cable Specifications
E6C3-AN5C/-AN5B Output signal Wire color Brown Orange Yellow Green Blue Purple Gray White Pink Light blue --Red Black 20 21 2 2 2 2
2 3 4 5
E6C3-AB5C/-AB5B Output signal 3-bit (6, 8) 20 21 2
2
E6C3-AN1E/-AN2E Output signal 8-bit (256) 20 21 22 23 24 25 26 27 Rotational direction designation input NC 5, 12 VDC
6-bit (32, 40)
5-bit (12) 20 21 2 2
2 3 0
NC NC NC Positioning Strobe NC NC
2 x 10 NC Positioning Strobe NC NC
Parity Strobe NC NC Shield (GND) 12 to 24 VDC 0 V (Common)
Connection Examples
Connecting an Absolute Rotary Encoder to an H8PS Cam Positioner
H8PS-8A, -8AP, -8AF, -A8AF
Connecting E6C3-AG5C to Programmable Controller
System Configuration Using a Resolution of 1,024 per Rotation
A combination of the CQM1-CPU44-E and E6C3-AG5C ensures easy output angle setting for cam control in 360 or BCD mode.
H8PS
E6C3-AG5C
With a resolution of 1,024 per rotation
E6C3-AG5C-C
Output Unit (100 words)
Specifications
Rated voltage Cam resolution Outputs 24 VDC 1.4 (a resolution of 256 per rotation) 8 cam outputs 1 RUN output 1 tachometer output 330 rpm Origin compensation (zero shift) Rotating direction selection Angle display selection Teaching
E69-DC5 5M Connection Cable CQM1-CPU44-E Two Encoder inputs can be controlled independently.
Mode Setting of CQM1-CPU44-E
Set port 1 to BCD mode and 10 bits
DM 6643 0001
Encoder response Functions
Output Timing
0 10000 10001 10002 Angle of E6C3-AG5C 128 256 512 640 768
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E6C3 Rotary Encoder (Incremental/Absolute)
Ladder Program Example
Use the CTBL instruction of the CQM1-CPU44-E to register a maximum of eight comparison tables for output angle setting.
One scan ON 25315 CTBL (63) 001 001 DM0000 AR0500 AR0501 AR0502 Select port 1 for table registration, comparison mode setting, and comparison-table first channel setting.
Absolute Rotary Encoders
Connecting to CPM1A Using a Resolution of 720 per Rotation
E6C3-AG5C
10000 10001 10002 END (01) Output CPM1A-20CD@-@
Example of DM Setting for Comparison Table
DM 0000 0001 0002 0003 0004 0005 0006 0007 0008 0009 0000 0512 0000 0256 0768 0000 0128 0640 0000 0000 Lower limit 1 Upper limit 1 Subroutine number 1 Lower limit 2 Upper limit 2 Subroutine number 2 Lower limit 3 Upper limit 3 Subroutine number 3 Lower limit 4 Not used. 0022 0023 0000 0000 Upper limit 8 Subroutine number 8 Bit AR 0500
Wiring Between E6C3-AG5C and CPM1A
Output signal from E6C3-AG5C Brown (20) Orange (21) Yellow (22) Green (23) Blue (24) Purple (25) Gray (2 ) White (27) Pink (28) Light blue (29)
6
Input signal to CPM1A 00000 00001 00002 00003 00004 00005 00006 00007 00008 00009
Bit AR 0501
Bit AR 0502
Note: An upper or lower limit can be set with integers in BCD mode and 5 increments in 360 mode. Subroutine numbers are set for interrupt processing.
Output Timing
Angle of E6C3-AG5C 0 01000 01001 01002 90 180 360 540 659
Internal Bits of CQM1-CPU44-E
* Range Comparison Result 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 E6C3-AG5C. If it does not coincide, the bit turns (remains) OFF.
Bit 7 Port 1 comparison result Port 2 comparison result 0 AR 05 AR 06 Comparison 1 result 1: Conformity 0: Nonconformity Comparison 8 result
* Present Value Read The gray code signals of the E6C3-AG5C are automatically converted into BCD or 360 code signals and read through the CQM1CPU44-E CPU Unit's words AR 232 and AR 234. The present value can be used for ladder programs. Port 1 angle Port 2 angle Word 232 Word 234
Note: For details on the CQM1-CPU44-E, refer to the CQM1 Programming Manual (W228).
E6C3 Rotary Encoder (Incremental/Absolute)
13
Ladder Program
00009 00008 20009 00008 20009 00007 20008 00007 20008 00006 20007 00006 20007 00005 20006 00005 20006 20300 00004 20005 00004 20005 00003 20004 00003 20004 00002 20003 00002 20003 00001 20002 00001 20002 00000 20001 00000 20001 20000 20001 20002 20003 END (01) 20004 Converts a gray code signal into a BIN code signal (word 200). 20301 20302 20005 20006 BCMP (68) 202 DM6200 203 20007 20009 20008 (Always ON) 25313 BCD (24) 200 201 SUB (31) 201 #0152 202
Example of DM Setting for Comparison Table
Converts a BIN code signal (word 200) into a BCD code signal (word 201). Subtracts 152 for a resolution of 720 per rotation. Nothing is subtracted for a resolution of 256 or 1,024 per rotation. Subtracts 76 for a resolution of 360 per rotation. If the Encoder value (word 202) exists between DM 6200 (BCMP) and DM 6231 (the comparison table), the corresponding bit of word 203 turns ON. 01000 01001 01002 Output DM 6200 6201 6202 6203 6204 6205 6206 0000 0540 0090 0360 0180 0659 0000 Lower limit 1 Upper limit 1 Lower limit 2 Upper limit 2 Lower limit 3 Upper limit 3 Lower limit 4 Not used. 6231 0000 Upper limit 16 Bit 20300 Bit 20301 Bit 20302
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E6C3 Rotary Encoder (Incremental/Absolute)
Precautions
Incremental and Absolute Encoders
Safety Precautions
Do not impose voltage exceeding the rated voltage range on the E6C3, otherwise the E6C3 may be damaged. Do not wire power lines or high-tension lines along with the power supply lines of the E6C3 or the E6C3 may be damaged or malfunction. If the power supply has surge voltage, connect a surge suppressor between the positive and negative terminals of the power supply to absorb the surge voltage. Also, in order to protect the E6C3 from noise, shorten the wires connected to the E6C3 as much as possible. Unnecessary pulses are output at the time the E6C3 is turned ON or OFF. After turning ON the E6C3, be sure to wait 0.1 s before turning ON the peripheral devices connected to the E6C3 and turn OFF the peripheral devices 0.1 s before turning OFF the E6C3. Displacement tolerance in the shaft direction
0.05 mm max. 0.15 mm max.
* When connecting the coupling, stay within the ranges shown below. Decentering tolerance
Declination tolerance
2 max.
Application Precautions
Mounting
Mounting Precautions
* Be careful not to spray water or oil onto the E6C3. * The E6C3 consists of high-precision components. Handle with utmost care and do not drop the E63C, otherwise malfunctioning may result. * When the E6C3 is used in reversed operation, pay utmost attention to the mounting direction of the E6C3 and the directions of increment and decrement rotation. * To match phase Z of the E6C3 and the origin of the device to be connected to the E6C3, conform the phase Z outputs while connecting the device. * Be careful not to impose an excessive load on the shaft if the shaft connects to a gear. * If the E6C3 is mounted with screws, the tightening torque must not exceed approximately 0.5 N*m. * If the E6C3 is mounted to a panel, do not pull the cable with more than a force of 30 N. Do not subject the E6C3 or the shaft to excessive shock. * If the decentering or declination value exceeds the tolerance, an excessive load imposed on the shaft may damage or shorten the life of the E6C3. * When connecting or disconnecting the coupling, do not impose an excessive bending, pressing, or pulling force on the E6C3. * When connecting the shaft of the E6C3 with a chain timing belt or gear, connect the chain timing belt or gear with the shaft via the bearing and coupling as shown in the following illustration.
Chain sprocket Bearing Coupling
Cable 30 N max.
Mounting plate
Mounting plate
* No shock must be given to the shaft or coupling. Therefore, do not hit the shaft or coupling with a hammer when inserting the shaft into the coupling.
E6C3 Rotary Encoder (Incremental/Absolute)
15
Mounting Procedure
1 Insert the shaft into the coupling.
Do not secure the coupling and shaft with screws at this stage. Refer to the following table for the maximum insertion length of the shaft into the coupling.
2 Secure the Rotary Encoder.
Model E69-C08B/E69-C68B
Maximum insertion length 6.8 mm
3 Secure the coupling. 4 Connect the power and I/O lines. 5 Turn on the Rotary Encoder and check the output.
Model E69-C08/E69-C68B
Tightening torque 0.44 N m
Be sure to turn off the Rotary Encoder when connecting the lines.
Life of Bearing
The following graph shows the (theoretical) life expectancy of the bearing with radial and thrust loads imposed on the bearing.
Life (x 1010 revolutions) 3.5 Wr 3.0
Encoder
Cable Extension
* The rise time of each output waveform will increase when the cable is extended. This affects the phase difference characteristics of phases A and B. The available length of cable varies with the response frequency and noise. It is safer to limit the length of cable to 10 m maximum. If a longer cable of up to 100 m is required, use the line driver output or complementary output model. (The maximum extension with the line driver output model is 100 m.) Note: Recommended Cable: Cross section:0.2 mm2 with spiral shield Conductor resistance:92 /km max. at 20C Insulation resistance:5 M/km min. at 20C * The rise time varies with the resistance of the cable and the kind of cable as well as the length of the cable. * The residual output voltage will increase according to the length of the cable.
30 40 50 60 70 80 90 100
Ws
2.5
Wa: 10N
Shaft Wr: Radial load Ws: Thrust load
2.0 Wa: 20N Wa: 30N
1.5
1.0
Wa: 40N Wa: 0.5 50N Wa: 60N 0 10 20
Preventing Miscounting
If the operation of the E6C3 is stopped near a signal rising or falling edge, a wrong pulse may be generated, in which case the E6C3 will miscount. In such a case, use an increment-decrement counter to prevent miscounting.
Radial load Wr (N)
Wiring
Connecting
* When extending the cable for Incremental Rotary Encoders, select the kind of cable with care by taking the response frequency into consideration because the longer the 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. We recommend the line driver output type model (E6C3-CWZ3XH) or the complementary output type model (E6C3-CWZ5GH) if the cable needs to be extended. In order to reduce inductive noise, the cable must be as short as possible, especially when the signal is input to an IC. * If the power supply has surge voltage, connect a surge suppressor between the positive and negative terminals of the power supply to absorb the surge voltage. * Unnecessary pulses are output at the time the E6C3 is turned ON or OFF. After turning ON the E6C3, be sure to wait 0.1 s before turning ON the peripheral devices connected to the E6C3 and turn OFF the peripheral devices 0.1 s before turning OFF the E6C3.
Extension of Line Driver Output
* Be sure to use a shielded twisted-pair cable to extend a line driver cable. Recommended cable: Tachii Electric Wire Co., TKVVBS4P 02A * Use an RS-422A Receiver for the receiver side. * The twisted-pair wires as shown in the following illustration are suitable for RS-422A signal transmission. Normal mode noise can be eliminated by twisting the wires because the generated electrical forces on the lines cancel each other.
Twisted-pair wires
* Be sure the E6C3 is supplied with 5 VDC when a line driver output is used. There will be an approximately 1-V voltage drop if the cable length is 100 m.
16
E6C3 Rotary Encoder (Incremental/Absolute)
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 E6C3.
Number of counters (N) =
R1 (E-V) V x R2
E: Voltage supplied to E6C3 V: Minimum input voltage of the counter R1: Input resistance of the Counter R2: Output resistance of the E6C3
0V
Encoder output stage Counter Counter
Connectable number: N
E6C3 Rotary Encoder (Incremental/Absolute)
17
Dimensions
Rotary Encoder
E6C3-CWZ@@H
(58) D cut: Phase-Z postion (range: 15) 40 dia.0.1 1200.1
8 dia. +0 -0.018
20 (15) 10 5 1
38
12 dia.
30 dia.-0.021
+0
1
50 dia. Three, M4 holes Depth: 5 1200.1 10
6 8.8 6
5 dia. oil-proof PVC, shielded 5-conductor cable (8-conductor for line driver) (conductor cross-section: 0.2 mm2; insulation diameter: 1.1 mm) Standard length: 1 m
E6C3-A@5@ E6C3-AN@E
(58) D cut: Phase-Z postion (range: 15) 40 dia.0.1 1200.1
+0 8 dia.-0.018
20 (15) 10 5
38
1
30 dia.+0 -0.021
50 dia.
1200.1 10 Three, M4 holes Depth: 5
6 8.8 6
6 dia. oil-proof PVC, shielded 12-conductor cable (conductor cross-section: 0.2 mm2; insulation diameter: 1.1 mm) Standard length: 1 m
Note: E69-C08B Coupling is sold separately. E6C3-AG5C-C
(58) D cut: Phase-Z postion (range: 15) 40 dia.0.1 1200.1
8 dia.+0 -0.018
20 (15) 10 5
38
1
30 dia.+0
-0.021
50 dia.
1200.1 10 Three, M4 holes Depth: 5
6 8.8 6
Hirose Electric RP13A-12PD-13SC 37
6-dia. oil-proof PVC, shielded 12-conductor cable (conductor cross-section: 0.2 mm2; insulation diameter: 1.1 mm) Standard length: 1 m
Note: E69-C08B Coupling is sold separately.
18
E6C3 Rotary Encoder (Incremental/Absolute)
Accessories (Order Separately)
Extension Cable
E69-DF5
34.6 16.9 dia. 5,000 37 16.9 dia.
(See note 2.)
(See note 1.)
(See note 3.)
Note 1: 6-dia. oil-proof PVC, shielded 12-conductor cable (conductor cross-section: 0.2 mm2; insulation diameter: 1.1 mm); standard length: 5 m 2: Connects to the connector of the E6C3-AG5C-C. 3: Connects to the H8PR Rotary Positioner and H8PS Cam Positioner.
Note: The Cable can be extended up to 100 m for connecting the H8PS Cam Positioner. E69-C08B E69-C68B (With Ends of Different Diameter)
Four, M4 hexagon socket heat setscrews Brass bushing
8H8 dia.
8H8 dia. 19 dia. Note: Material: Glass-reinforced PBT
6H8 dia.
8H8 dia. 19 dia. Note: The coupling is made of glass-reinforced PBT.
Four, M4 hexagon set screws
Flanges
E69-FCA03 E69-FCA04 Mounting Bracket Installation
120 Panel Four, 4.5 dia.
30 dia.
Three, 4.5 dia, M4 screw-head holes
Four, R3
30.20.1 dia.
400.1 dia.
Three, 4.5 dia, 400.1 dia. M4 screw- 30.20.1 dia. 56 dia. head holes
120 68 dia.0.2 Three, M5
Material: SPCC (t=3.2)
Material: SPCC (t=3.2)
Servo Mounting Bracket
E69-2 (A Set of Three)
5.5-dia. hole
Two, C1
E6C3 Rotary Encoder (Incremental/Absolute)
19
ALL DIMENSIONS SHOWN ARE IN MILLIMETERS.
To convert millimeters into inches, multiply by 0.03937. To convert grams into ounces, multiply by 0.03527.
Cat. No. F058-E1-01
Industrial Automation Company
In the interest of product improvement, specifications are subject to change without notice.
OMRON Corporation
Industrial Sensors Division Sensing Devices and Components Division H.Q. 3-2, Narutani, Nakamyama-cho, Ayabe-shi, Kyoto, 623-0105 Japan Tel: (81)773-43-4078/Fax: (81)773-43-4030
Printed in Japan 0902-2M (0902) (B)

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