Omron E6C3-A Rotary Encoder Datasheet
Contents
1. e 1 6 dia oil resistant PVC insulated shielded cable with 12 conductors Conductor cross section 0 2 mm Insulator diameter 1 1 mm Standard length 5 m 2 Connects to connector on E6C3 AG5C C 8 Connects to H8PS Cam Positioner Note 1 The E69 DF5 5 m is also available with the following cable lengths 10 m 15 m 20 m and 98 m 2 Cable can be extended to 100 m when the H8PS Cam Positioner is connected Couplings Flanges Servo Mounting Bracket E69 C08B E69 FCA03 E69 2 E69 C68B E69 FCA04 Refer to Accessories for details OMRON Terms and Conditions of Sale OMRON 5 7 10 11 12 13 Offer Acceptance These terms and conditions these Terms are deemed part of all quotes agreements purchase orders acknowledgments price lists catalogs manuals brochures and other documents whether electronic or in writing relating to the sale of products or services collectively the Products by Omron Electronics LLC and its subsidiary companies Omron Omron objects to any terms or conditions proposed in Buyer s purchase order or other documents which are inconsistent with or in addition to these Terms Prices Payment Terms All prices stated are current subject to change with out notice by Omron Omron reserves the right to increase or decrease prices on any unshipped portions of outstanding orders Payments for Products are due net 30 days unless otherwise stated2. Subroutine numbers are set when Two Encoder inputs can be connected and controlled independently interrupt processing is required CQM1H CPU51 Settings CQM1H CPU51 Memory Bits Words Set port 1 to BCD mode and 10 bit resolution e Range Comparison Results DM6643 0001 When the angle of the E6C3 AGSC falls in one of the comparison ranges the corresponding bit in word AR 05 or AR 06 of the Output Timing CQM1H CPU51 turns ON The corresponding bit is OFF if there is no match E6C3 AG5C angle 0 128 256 512 640 768 Bit7 0 l l Port 1 comparison results LEELLELLLIAR 05 ooo BEEN d i i l i i l i Port 2 comparison results AR 06 oi I 10001 Results of comparison 1 10002 ON Match OFF Mismatch Results of comparison 8 Ladder Program Example The REGISTER COMPARISON TABLE CTBL instruction of the e Reading the PV CQM1H CPUB51 is used to register a comparison table of output angle The grey code of the E6C3 AGSC is automatically converted to settings Up to eight comparison can be registered BCD or 360 and saved in words CIO 232 and CIO 234 in CQM1H First Scan Fla CPUS1 memory g 25315 The present value can also be used elsewhere in the ladder CTBL 63 program 001 kk 001 Roostele tables and starts Angle from port 1 Ler CIO 232 DMOOOO comparison First word of comparison table Angle from port 2 CIO 234 ARO500 010000 ARO0501 O 10001 Output AR0
3. C 256 360 720P R Only a 2 m cable is available for the 720P R Model For the 360 720 resolutions 2 m cables are standard in stock Accessories Order Separately Dimensions Refer to Accessories on page 8 for Extension Cable dimensions and Accessories for the dimensions of other accessories Name Model Remarks Couplings ERU nis E69 C68B Different end diameter 6 to 8 mm E69 FCA03 Flanges i E69 FCA04 E69 2 Servo Mounting Bracket provided Servo Mounting Bracket E69 2 Provided with E69 FCA04 Flange a Applicable to the E6C3 AG5C C 2 pplicable to the C ENEO esie E99 OPIO im Models are also available with 15 m and 98 m cables E69 DF20 20m Refer to Accessories for details OMRON E6C3 A Ratings and Specifications Irem Model E6C3 E6C3 E6C3 E6C3 E6C3 E6C3 E6C3 E6C3 E6C3 AG5C C AG5C AN5C AB5C AG5B AN5B AB5B AN1E AN2E Power supply voltage 12 VDC 10 to 24 VDC 15 ripple p p 5 max e w Current consumption 1 70 mA max Resolution 2 256 360 256 360 256 360 pulses rotation 720 720 1 024 92 40 6 8 12 720 1 024 92 40 6 8 12 256 Output code Gray code Binary BCD Gray code Binary BCD Binary Output configuration NPN open collector output PNP open collector output Voltage output Output re Output re sistance sistance Applied voltage 30 VDC max Source current 35 mA max 2 4
4. KQ 8 2 KQ Output capacity Sink current 35 mA max Residual voltage 0 4 V max Sink current 35 mA max Residual voltage 0 4 V max at sink current of 35 mA at source current of 35 mA Residual voltage 0 4 V max at sink current of 35 mA Rise 3 us Rise 10 us Rise and fall times of output 1 us max Cable length 2 m Sink current 35 mA Falk 1 us ESI 1 us max max Maximum response frequency 3 20 kHz 10 kHz Logic Negative logic high 0 low 1 Positive logic high 1 low 0 Direction of rotation 4 Output code increases for CW as viewed from end of shaft ER e rotation di Strobe signal None Supported None Supported None Positioning signal None Supported None Supported None Parity signal None ee None un e None Starting torque 10 mN m max at room temperature 30 mN m max at low temperature Moment of inertia 2 3 x 108 kg m Radial 80 N Shaft loading Thrust 50 N Maximum permissible speed 5 000 r min Ambient temperature range Operating 10 to 70 C with no icing Storage 25 to 85 C with no icing Ambient humidity range Operating Storage 35 to 85 with no condensation Insulation resistance 20 MQ min at 500 VDC between current carrying parts and case Dielectric strength 500 VAC 50 60 Hz for 1 min between current carrying parts and case Vibration resistance Destruction 10 to 500 Hz 150 m s or 2 mm double amplitude for 11 min 3 times each in X Y and Z directions Shock resistance Destruction 1 000 m s 3
5. in the invoice Discounts Cash discounts if any will apply only on the net amount of invoices sent to Buyer after deducting transportation charges taxes and duties and will be allowed only if i the invoice is paid according to Omron s payment terms and ii Buyer has no past due amounts Interest Omron at its option may charge Buyer 1 1 2 interest per month or the maximum legal rate whichever is less on any balance not paid within the stated terms Orders Omron will accept no order less than 200 net billing Governmental Approvals Buyer shall be responsible for and shall bear all costs involved in obtaining any government approvals required for the impor tation or sale of the Products Taxes All taxes duties and other governmental charges other than general real property and income taxes including any interest or penalties thereon imposed directly or indirectly on Omron or required to be collected directly or indirectly by Omron for the manufacture production sale delivery importa tion consumption or use of the Products sold hereunder including customs duties and sales excise use turnover and license taxes shall be charged to and remitted by Buyer to Omron Financial If the financial position of Buyer at any time becomes unsatisfactory to Omron Omron reserves the right to stop shipments or require satisfactory security or payment in advance If Buyer fails to make payment or otherwise comply with these Terms or any
6. times each in X Y and Z directions Degree of protection IEC 60529 IP65 in house standards oilproof Connection method bro Pre wired Models Standard cable length 1 m Material Case Aluminum Main unit Aluminum Shaft SUS303 Weight packed state Approx 300 g Accessories Instruction manual 1 An inrush current of approximately 6 A will flow Maximum electrical response speed rpm _ Maximum response frequency x 60 for approximately 0 8 ms when the power is Resolution turned ON This means that the Rotary Encoder will not operate electrically if its speed exceeds the maximum electrical response speed 2 The code is as follows SBOE ecole Code No 4 For the E6C3 AN1E and E6C3 ANZ2E the rotation direction input wire color pink can be connected to code tion high Vcc to increase the output code for CW 32 1 to 32 rotation and connected to low 0 V to Binary 40 1 to 40 decrease the output code for CW rotation 256 0 to 255 us E High 1 5 to 5 V Low O to 0 8 G tiase D 6 0105 E6C3 AN2E High 2 2 to 12 V Low 0 to BCD 8 0 to 7 1 2V 12 0 to 11 Read the code 10 us or more after the LSB 29 of the code changes for the EGC3 AN1E 256 O to 255 or E6C3 AN2E s 40 dia 360 76 to 435 gray after 76 5 The minimum address of the absolute code is Gray 720 152 to 871 gray after 152 output when cut face D on the shaft and the cable connection direction are as shown in the 1 024 0 to 1 023 diagram at th
7. 502 L 010002 Refer to the CQM1H User s Manual W363 for details on the COM1H CPU51 Programmable Controller OMRON E6C3 A Programmable Controller Connection Example Connection to the CPM1A 720 Resolution Wiring between the E6C3 AG5C and CPM1A Output Timing E6C3 AGSC out CPM1 A input pe een m put signal signal 0 90 180 360 540 650 Brown 29 00000 ERE aM Orange 2 00001 1000 M Yellow 22 00002 ovo PE Green 2 00003 oroz uj CPM1A 20CDI Blue 2 00004 Purple 2 00005 Gray 29 00006 White 27 00007 Pink 2 00008 Light blue 2 00009 Ladder Programming Example DM Area Setting Example for Comparison Table 00009 0006 Always ON Flag DM6200 E T Oan Bum 328 pn Sr ee 00008 20009 201 ee 6203 Upper limit 2 Bit CIO 20301 6204 Lower limit 3 00007 20008 6205 Upper limit 3 _ Bit ClO 20302 0 is set to carry flag 0 y flag ae 0000 Lower limit 4 00 20007 007 20008 l l 00006 20007 SUB 31 subtracted l 20006 201 No subtraction would be 6231 0000 Upper limit 16 006 20007 0152 necessary for resolution of 256 202 or 1 024 00005 20006 If resolution was 360 76 would wawe 7 be subtracted 005 20006 BCMP 68 TABLE COMPARE Instruction Do If the Encoder value CIO 202 00004 20005 Converts gray DM6200 is within a range in the 20004 code to binary 203 conversion table
8. 62636465 Connection Specifications Connector Models Direction of rotation CW as viewed from the end of the shaft Resolution 40 No 1 5 10 15 20 25 30 35 40 T TTTTTTTTTTTTT T1 7117TT1TTTTT TT TT T 1171177117117 7T 1 1 innnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnr OFF ON S J UU UU LU LU LU LU LLL UU LT LL LP 2 OFF ON ec RT LILY La LIL LILIN L 2 OFF ON 2 a do a doa a q L p 2 OFF ON 3 1 a r n 2 OFF ON eS er NN 2 OFF ON 5 dol l lllll 2 OFF s deb ES ene OFF Strobe signal Parity signal Resolution of 32 Absolute angle A 11 25 Bz6 Strobe g C23 signal A 9 0 5 min r 0 5 min Other bit signals Pre wired Models Model E6C3 AG5C C Model E6C3 AG5C E6C3 AG5B Output signal Output signal Pin No 8 bit 256 9 bit 360 10 bit 720 l 8 bit 256 9 bit 360 10 bit 720 or 1 Connected Not connected 29 Wire color 1 024 2 internally 28 28 Brown 20 20 20 3 TE gt 4 21 21 21 Yellow 2 2 2 5 20 20 20 Green 23 23 p 6 27 27 27 Blue 2 a 24 7 24 24 24 Purple 2 2 2 2 2 3 o 2 LL 3 10 26 26 26 Pink Not connected 28 28 11 Shield ground Light blue Not connected Not connected 2 12 12 to 24 VDC s Shield ground 13 0 V common Red 12 to 24 VDC Black 0 V common Connector RP13A 12PD 13SC Hirose Electric Co Ltd Note Normally connect GND to O V or to
9. R USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY OR IN LARGE QUANTITIES WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT THE OMRON S PRODUCT IS PROP ERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM Programmable Products Omron Companies shall not be responsible for the user s programming of a programmable Product or any consequence thereof Performance Data Data presented in Omron Company websites catalogs and other materials is provided as a guide for the user in determining suitabil ity and does not constitute a warranty It may represent the result of Omron s test conditions and the user must correlate it to actual application require ments Actual performance is subject to the Omron s Warranty and Limitations of Liability Change in Specifications Product specifications and accessories may be changed at any time based on improvements and other reasons It is our prac tice to change part numbers when published ratings or features are changed or when significant construction changes are made However some specifica tions of the Product may be changed without any notice When in doubt spe cial part numbers may be assigned to fix or establish key specifications for your application Please consult with your Omron s representative at any time to confirm actual specifications of purchased Product Errors and Omissions Infor
10. Slim Encoder with Diameter of 50 mm E6C3 A Rugged Rotary Encoder CSM E6C3 A DS E 5 1 e Absolute model External diameter of 50 mm e Resolution of up to 1 024 10 bit e P65 improved oil proof protection with sealed bearings e Optimum angle control possible in combination with PLC or Cam Positioner Be sure to read Safety Precautions on C d page 7 Ordering Information Encoders Refer to Dimensions on page 8 Power supply Output sepu Output Resolution pulses rotation Connection method Model voltage ration code x Pre wired Connector E6C3 AG5C C resolution 1M a a ne Model 1 m Example E6C3 AG5C C 256P R 1M E6C3 AG5C resolution 1M Open collector 290 200 120 02A Example E6C3 AG5C 256P R 1M output NPN aD A E6C3 AN5C resolution 1M i Example E6C3 AN5C 32P R 1M E6C3 AB5C resolution 1M iue SupEUE Example E6C3 AB5C 6P R 1M Pre wired Model 1 m E6C3 AG5B resolution 1M e yes 1 Example E6C3 AG5B 256P R 1M Open collector E6C3 AN5B resolution 1M output PNP Binary 32 40 Example E6C3 AN5B 32P R 1M E6C3 AB5B resolution 1M PUR Orap de Example E6C3 AB5B 6P R 1M 5 VDC Ea 256 E6C3 AN1E 256P R 1M 12 VDC Eo d E6C3 AN2E 256P R 1M 1 Standard models are also available with 2 m cables When ordering specify the cable length at the end of the model number example E6C3 AG5C 360P R 2M 2 When connecting to the H8PS use the E6C3 AG5C
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12. an external ground OmRON E6C3 A I O Circuit Diagrams Model E6C3 AB5C E6C3 AB5B E6C3 AN1E E6C3 AN2E O 12 to 24 V i I I I Output Q T d AMA Note The circuit is the same for all Note bau is the same for all Output 2130 VDO y A bit outputs circuits i I l I I A B os gt Rotation Direction Input Circuit Note The circuit is the same for all Note The circuit is the same for all Vcc 5 V or 12 V bit outputs bit outputs Input Note If the input is connected to Vcc the output will increase for CW rotation oy and if the input is connected to O V the output code will decrease for CW rotation Direction of rotation CW as viewed from end of shaft Direction of rotation CW as viewed from end of shaft if rotation Resolution 12 direction input is high and CCW as viewed from end of shaft if rotation direction input is low Positioning on signal opel EL M M SIL M E STE M ee secl Lh ere ee 3 op 3g 3p 3 EET i i OFF Shaft le 360 360 360 m dep ande 2e 32 Te 2 e LJ L7 LT 1T LNI TsT 2 T4T 2 21 ON 1 J 20 z 1 1 OFF H 22 Mi 1 2 C i l i K IT JI uL Ig es Oe 23 ON 34 2 j Output Vu a up PE eee eee ee ee 89x10 o 000000000 00 0 T i mode 24 rr a ee 25 E OTS E _____ticokHes o 26 i Resolution of 8 Absolute a 2 30 r 2 angle 27 i A 45 B 22 5 M C 11 25 Str
13. e right output position range 3 The maximum electrical response speed is 159 determined by the resolution and maximum 6 deserta 360 or 720 Standard cable response frequency as follows Resolution of 256 Standard cable length 1 m omnon I O Circuit Diagrams Model Output Circuits E6C3 AG5C AG5C C E6C3 AG5B 12 to 24 V 12 to 24 V I I I i I I I i O EXT Output EIER O utput 1 135 mA max i 130 VDC I i Q OV OV I I I I Shield Lv Note The circuit is the same for all bit outputs Each E6C3 A Rotary Encoder has one main circuit Shield Note The circuit is the same for all bit outputs Each E6C3 A Rotary Encoder has one main circuit E6C3 A E6C3 AN5C E6C3 AN5B E6C3 A main circuit E l Shield Ll Note The circuit is the same for all bit outputs Each E6C3 A Rotary Encoder has one main circuit Shield Note The circuit is the same for all bit outputs Each E6C3 A Rotary Encoder has one main circuit Output mode Direction of rotation CW as viewed from the end of the shaft ON 0 2 OFF ON Teel Le Le I Lat LP I dq 2 OFF ON Pee ee a 2 OFF ON a i as S a 2 OFF ON Meo Ls 2 OFF ON 5 2 OFF ON 6 LLL ah 2 OFF ON OFF 27 ON 8 2 OFF ON 9 2 OFF Address 01234 5 67 8 9 1011121314151617 18192021 22232425 2627 2829 3031 32333435 3637 38394041 424344 454647 48495051 525354555657 58596061
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16. mation presented by Omron Companies has been checked and is believed to be accurate however no responsibility is assumed for clerical typographical or proofreading errors or omissions OMRON ELECTRONICS LLC THE AMERICAS HEADQUARTERS Schaumburg IL USA 847 843 7900 800 556 6766 www omron247 com OMRON CANADA INC HEAD OFFICE OMRON ARGENTINA SALES OFFICE Toronto ON Canada 416 286 6465 866 986 6766 Cono Sur 54 11 4783 5300 www omron247 com OMRON ELETRONICA DO BRASIL LTDA HEAD OFFICE OMRON CHILE SALES OFFICE Sao Paulo SP Brasil e 55 11 2101 6300 www omron com br Santiago e 56 9 9917 3920 OMRON ELECTRONICS MEXICO SA DE CV HEAD OFFICE OTHER OMRON LATIN AMERICA SALES Apodaca N L e 52 811 156 99 10 001 800 556 6766 mela omron com 54 11 4783 5300 OMRON EUROPE B V Wegalaan 67 69 NL 2132 JD Hoofddorp The Netherlands Tel 31 0 23 568 13 00 Fax 31 0 23 568 13 88 www industrial omron eu CSM E6C3 A DS E 5 1 11 10 Note Specifications are subject to change 2010 Omron Electronics LLC
17. me but also increases the output residual voltage Connection Spurious pulses may be generated when power is turned ON and OFF Wait at least 0 1 s after turning ON the power to the Encoder before using the connected device and stop using the connected device at least 0 1 s before turning OFF the power to the Encoder Also turn ON the power to the load only after turning ON the power to the Encoder OMRON E6C3 A Unit mm Dimensions Tolerance class IT16 applies to dimensions in this datasheet unless otherwise specified Encoder E6C3 A 5 E6C3 ANLJE Cut face D Smallest adress position 415 120 0 1 Three M4 holes Depth 5 120 0 1 mm Note The E69 CO08B Coupling is sold separately 6 dia oil resistant PVC insulated shielded cable with 12 conductors Conductor cross section 0 2 mm Insulator diameter 1 1 mm Standard length 1 m E6C3 AG5C C Cut face D Smallest adress position 15 40 0 1 dia 3D 5o21 dia Three M4 holes Depth 5 120 0 1 mm Connector RP13A 12PD 13SC Hirose Electric Co Ltd Note The E69 CO8B Coupling is sold d separately 6 dia oil resistant PVC insulated shielded cable with 12 conductors Conductor cross section 0 2 mm Insulator diameter 1 1 mm Standard length 1 m Standard length for resolution of 360 or 720 2 m Accessories Order Separately Extension Cable E69 DF5
18. obe T 360 256 1 4 Resolution of 6 signal A 60 B 30 C 15 Positioning signal r Connection Specifications Pre wired Models Model E6C3 AN5C AN5B E6C3 AB5C AB5B E6C3 AN1E AN2E Output signal Output signal Output signal Wire color 8 bit 256 Brown 2 2 2 Orange 2 2 Yellow 2 2 2 Green 23 Not connected 23 Blue 2 Not connected 24 Purple Not connected Not connected 25 Gray Positoning PosHioning 5 White Strobe Strobe Strobe 2 Pink Not connected Not connected Not connected Rotation Direction Input Light blue Not connected Not connected Not connected Not connected Shield ground Red 12 to 24 VDC 5 or 12 VDC Black 0 V common Note Normally connect GND to O V or to an external ground OMRON E6C3 A Connection Example H8PS Cam Positioner Connection Example Ordering Information Specifications Model Rated voltage 24 VDC H8PS 8A Cam precision 0 5 for 720 resolution 1 for 256 360 resolution H8PS 8AP 8 point output type AM 8 cam outputs 1 RUN output 1 pulse output H8PS 8AF 16 point output type No of output points 46 cam outputs 1 RUN output 1 pulse output 32 point output type 32 cam outputs 1 RUN output 1 pulse output E6C3 AG5C C H8PS 8AFP lt H8PS 16A H8PS 16AP RUN mode test mode H8PS 16AF 256 360 resolution 1 600 r min max 1 200 r min when aAA a
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22. rira Encoder response advance compensation is set for four cams or more H8PS 16AFP 720 resolution 800 r min max 600 r min when ad H8PS 32A vance compensation is set for four cams or more H8PS 32AP Origin compensation zeroing H8PS 32AF e Rotation direction switching Angle display switching H8PS 32AFP Teaching Pulse output Angle number of rotations display switching e Puncture Angle advance Number of rotations alarm output Setting with support software order separately Additional functions For 16 point and 32 point output types only Programmable Controller Connection Example Connections and System Configuration for E6C3 AG5C DM Area Setting Example for Comparison Table and the CQM1H 1 024 Resolution DM0000 L awerlimit By combining the CQM1H CPU51 and CQM1H ABB21 with the sa Upper limit 1 Bit AR 0500 E6C3 AG5C output angle settings required to achieve 360 ene aioe conversion BCD conversion and cam control can be easily made 0004 Upper limit Bit AR 0501 E6C3 AG5C 0005 Subroutine 2 Mode 1 024 resolution 0006 Lower limit 3 Output Unit 0007 Upper limit 3 Bit AR 0502 CIO 100 0008 Subroutine 3 0009 Lower limit 4 Not used in this example 0022 0000 Upper limit 8 Connection 0023 0000 cable E69 DC5 A Note The upper and lower limits are set in increments of 1 in BCD mode and CQM1H CPU51 and CQM1H ABB21 in increments of 5 in 360 mode
23. set in DM CIO 200 6200 to DM 6231 the 004 20005 deu Sets the unused corresponding bit in CIO 203 Not used in Resolution is 720 so 152 is this example 00 00 00 bits 10 to 15 bits 20300 will turn ON 00003 20004 20003 of CIO 200 to O01000 unused always 0 20301 00003 20004 O01001 Output 20302 00002 20003 001002 00 20002 002 20003 00001 20002 20001 001 20002 00000 20001 20000 000 20001 For details refer to the SYSMAC C200HX HG HE C200H C200HS CQM 1 CPM1A SRM1 Command Reference Manual SCCC 304 00 00 CPM1A OMRON E6C3 A Safety Precautions Refer to Warranty and Limitations of Liability This product is not designed or rated for ensuring safety of persons either directly or indirectly Do not use it for such purposes Precautions for Correct Use Do not use the Encoder under ambient conditions that exceed the ratings e Wiring Connections Cable Extension Characteristics e Conditions will change according to frequency noise and other factors As a guideline use a cable length of 10 m or less Recommended Cable Conductor cross section 0 2 mm Spiral shield Conductor resistance 92 Q km max 20 C Insulation resistance 5 Q km min 20 C e The output waveform startup time changes not only according to the length of the cable but also according to the load resistance and the cable type e Extending the cable length not only changes the startup ti
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