Model H25 Absolute Encoder Long considered the industry standard for shafted incremental encoders, the Model H25 is now available in an absolute version with up to 13 Bits of resolution. It incorporates many of the great standard features of the incremental version, including: EMI shield- ing, 40-lb ABEC 7 bearings, matched thermal coefficients on critical components, and custom optics. This encoder features a 12 or 13 Bit absolute parallel gray code output, a selection line for count direction, and an output latch as standard. Output is standard gray code with options for natural binary or SSI compatible signals. Signals can be pro- vided in either a single-ended multi-voltage line driver (TTL compatible when provided with 5 volts) or as an open-collector style of output. Typical applications include dam gate control, cranes, telescopes, tool changers, and robotics. The H25 Absolute Encoder is available with the following certification: EN 55011 and EN 61000-6-2 Maximum RPM: 12,000 RPM nominal, 8000 RPM with Protection Level: Reverse, overvoltage and output Mechanical Specifications 1/2 shaft (see Frequency Response, below) 30,000 RPM short circuit protection Shaft Diameter: 3/8 (1/2as special feature) available on units with 3/8 shaftconsult with factory Frequency Response: 100kHz (1200 RPM for 12-bits, 600 Flat On Shaft: 3/8 Shaft: 0.80 long X 0.03 deep -4 2 -4 Moment of Inertia: 4.1 X 10 oz-in-sec 5.2 X 10 RPM for 13-bits) 1/2 Shaft: 0.80 long X 0.04 deep (1/2 shaft w/flat must 2 oz-in-sec with 1/2 shaft Output Termination Pinouts: see Table 1, back page be ordered as a special feature) Weight: 13 oz typical, 14.5 oz typical with 1/2 shaft Shaft Loading: 3/8 shaft: Up to 40 pounds axial and Environmental Specifications 35 pounds radial 1/2 shaft: Up to 90 pounds axial and 80 Electrical Specifications Enclosure Rating: NEMA 4 & 13 (IP 66) when ordered with pounds radial Code: 12 or 13 bits NB or GC excess gray and BCD available shaft seal (on units with an MS connector) or a cable gland Shaft Runout: 0.0005 T.I.R. at midpoint regardless of (on units with cable termination). Counts Per Shaft Turn: 4096 or 8192 shaft diameter Temperature: Operating, 0 to 70 C extended tempera- Count Transition Accuracy: 1/2 bit maximum Starting Torque at 25C: Without shaft seal 1.0 in-oz ture testing available (see note 5) Storage, -25 to 90 C Supply Voltage: 528 VDC (max) With shaft seal 2.5 in-oz (max) 1/2 shaft with shaft unless extended temperature option called out. Current Requirements: 120 mA typical seal:3.5 in-oz (max) Shock: 50 gs for 11 msec duration Output Formats: Parallel: Gray Code, Natural Binary and Bearings: Class ABEC 7 standard, ABEC 5 for 1/2 shaft Vibration: 5 to 2000 Hz 20 gs Binary Coded Decimal Serial: Serial Synchronous Interface Shaft Material: 416 stainless steel Humidity: 98% RH without condensation (SSI) compatible Analog: 420 mA, 010V Bearing Housing: Die cast aluminum with protective finish Voltage/Output: (see note 3) stainless steel (special feature) Connector 28V/V: Line Driver, 528 VDC in, V = V out in Cover: Die cast aluminum stainless steel (special feature) MS3112E14-19P, 19pin connector on encoder body, 28V/5: Line Driver, 528 VDC in, V = 5 VDC out 8 Bearing Life: 2 X 10 revs (1300 hrs at 2500 RPM) mates to MS3116J14-19S (or equivalent) 28V/OC: Open Collector, 528 VDC in OC out 10 at rated load 1 X 10 revs (67,000 hrs at 2500 RPM) at SSI: 528 VDC In/5V out NOTES & TABLES: All notes and tables referred to in the 10% of rated load text can be found on the back of this page. H25 Absolute Encoder Ordering Options for assistance call 800-350-2727 Use this diagram, working from left to right to construct your model number (example: H25E-F4-SS-12GC-28V/V-CW-SM14/19). All notes and tables referred to can be found on the back of these pages. H25 TYPE: FACE OUTPUT SHAFT SEAL VOLTAGE/OUTPUT: SPECIAL FEATURES: Heavy Duty MOUNTS: TERMINATION CONFIGURATION: S = Special features 28V/V = 528 V in/out CODE TYPE: 2.5 inch Dia. F1 LOCATION: SS = Shaft Seal specified on purchase 28V/5 = 528 V /5V in out F4 GC = Gray Code E = End See note 2 HOUSING : order (consult factory) DIRECTION 28V/OC = 528 V /OC See note 1 NB = Natural Binary in out S = Side See note 4 D = Square Flange OF COUNT: NUMBER OF BITS: BCD = Binary A1 = 420mA A2 = 010V E = 2.5 inch dia. CW = Clockwise TERMINATION TYPE: 12 = 12-Bits, 4096 counts per turn Coded Decimal X = SI = RS422 Serial increasing count M14/19 = 19 pin connector servo mount 13 = 13 Bits, 8192 counts per turn X = Excess Express Asynchronous CCW = Counter clock- CS= Cable with gland seal G = 2.62 inch dia. (Excess gray codes and BCD gray code S3 = Serial Encoder wise increasing count Cable length specified in inches servo mount availableconsult factory Synchronous Interface (i.e. C18 = Pigtail 18 long) See dimensions See note 3 M18 = MS3102R18-1P EXPRESS ENCODERS: Items highlighted with are standard Express Encoders and ship in one to three days. (S3 output only) Tel: 805-968-0782 /800-350-2727 Fax: 805-968-3154 / 800-960-2726 7230 Hollister Ave., Goleta, CA 93117-2807 www.beisensors.com Specification No. 02067-001 Rev.11-11 These commodities, technology or software if exported from the United States must be in accordance with the Bureau of Industry, and Security, Export Administration regulations. Diversion contrary to U.S law is prohibited. MS STYLE 1.30 (SM 14/19) EM CONNECTOR CONNECTOR POSITION 0.300 0.125 0.100 SM CONNECTOR 0.125 .100 MIN Model H25 Absolute Encoder POSITION 2.500 2.500 2.498 1.2500 2.50 1.2495 2.625 0.255 2.52 Dimensions 0.30 Serial Synchronous Interface (SSI) MAX Interfacing Long Data Lines: 2.275 SPECIFICATION ADDENDUM, Serial Synchronous Interface SSI): NOTE: SHAFT SEAL NOT SSI output provides effective synchronization in a closed-loop control system. A clock pulse train from a controller is used to clock out sensor data: AVAILABLE ON H25 G H25D - Square Flange 0.3747 0.88 0.03 Cable impedance creates a transmission delay, shifting the phase relationship between the clock pulse and the data. If this pulse shift exceeds 180 , then the wrong bit position will be sampled SSI output provides effective synchronization in a closed-loop control system. A clock 0.3745 1.38 one bit of position data is transmitted to the controller per one clock pulse received by the sensor. The use of a differentialby the receiver. The maximum allowable clock frequency, therefore, is a function of the cable driver permits reliable pulse train from a controller is used to shift out sensor data: one bit of position data is MS STYLE 1.30 (SM 14/19) EM CONNECTOR REVISIONS length. For 24 AWG, stranded, 3 pair cable (BEI part number 37048-003 or equivalent) the group CONNECTOR 1.2500 transmitted to the controller per clock pulse received by the sensor. The use of a POSITION 0.300 1.2495 delay is 1.36nS/ft. The table below shows the maximum transmission rate allowable as a function 0.125 differential driver permits reliable transmission of data ovtransmission of data over long distances in environments that may be electrically noisy. The encoder utilizes a clock er long distances inLTR DESCRIPTION DATE APPR signal, provided by the user inter - 0.100 SM CONNECTOR of cable length to ensure a phase shift of less than 90 . 0.125 environments that may be electrically noisy. The encoder utilizes a clock signal, .100 MIN AECO 500 4/13/05 POSITION 2.064 TYP provided by the user interface, to time the data transmission. Receiving electronics must MS STYLE 1.30 (SM 14/19) 30 30 face, to time the data transmission. Receiving electronics must include an appropriate receiver as well as line terminating resistors. EM CONNECTOR 0.21 R CLOCK: Maximum (KHz) = 92,000/Cable Length (ft) 1.032 include an appropriate receiver as well as line terminating resistors. An optional parity CONNECTOR 2.500 POSITION 0.300 bit is available to validate the transmitted data. 2.500 0.125 0.100 2.498 SM CONNECTOR Features : Synchronous transmission Transmission lengths to 1000 feet Accepts clock rates from 100 KHz to 1.8 MHz 1.2500 2.50 .100 MIN 0.125 POSITION 1.2495 2.650 2.625 Features: F1 0.255 SQUARE 10-32 UNF-2B 2.52 2.500 0.30 0.34 0.188 Min. Deep Cable impedance can create a transmission delay, in effect, shifting the MAX 2.500 Synchronous transmission Data Transmission Sequence F4 3 places equally spaced RS422/485 compatible 2.498 on a 1.875 bolt circle. 6-32 UNC-2B 2.275 1.2500 Transmission lengths to 1000 feet phase relationship between the clock pulse and the data. If this phase shift 2.50 0.250 Min. Deep NOTE: SHAFT SEAL NOT 1. Output driver of the encoder is a MAX 491 transceiver in transmit mode. The Cable Length (feet) 50 100 200 300 500 1000 1.2495 3 places equally spaced Accepts clock rates from 100 KHz to 1.8 MHz AVAILABLE ON H25 G 0.3747 0.88 0.03 Max. Frequency (KHz) 1800 900 500 300 200 100 0.218 4 HOLES on a 2.00 bolt circle. Parity bit option is available 0.3745 1.38 2.625 exceeds 180, then the wrong bit position will be sampled by the receiver. ( 2.919 B.C. REF) recommended receiver is a MAX 491 transceiver in receive mode. 0.255 2.52 1.2500 0.30 SSI As a result, the maximum allowable clock frequency is a function of theCompatible Serial Code (S3): 1.2495 MAX 2. Controller provides a series of pulses (or differential pulse pairs) on cable length. For 24 AWG, stranded, 3 pair cable (BEI part number 37048- 2.064 TYP 30 30 Data Transmission TERM BOARD 2.275 the CLOCK input lines. H25E - 2.50 Servo Mount0.21 R FUNCTION CONNECTOR* CABLE 1.032 NOTE: SHAFT SEAL NOT H40 H38 Sequence: MS STYLE 003 or equivalent) the group delay is 1.36ns/ft. The table below shows1.30 (SM 14/19) AVAILABLE ON H25 G EM CONNECTOR 0.3747 0.88 0.03 YEL DATA+A 1 4 3. On the first HIGH-to-LOW CLOCK transition, the encoder latches its data CONNECTOR POSITION 0.300 1.38 0.3745 DATA-H WHT/YEL 7 7 1. Data from the encoder is sent with a MAX 491 transceiver in transmit mode. It is the maximum transmission rate allowable as a function of cable length to 0.100 0.125 recommended to use any RS-422/485 compatible receiver and provide a termination resistor CLOCK+ B BLU 2 5SM CONNECTOR at the current position and prepares to transmit. 2.650 1.2500.100 MIN 0.125 F1 based on the RS-422/485 specification for your specific voltage and DATA line length. POSITION SQUARE CLOCK- I WHT/BLU 8 8 10-32 UNF-2B ensure a phase shift of less than 90. 1.2495 0.34 2. The CLOCK signals are RS-422/485 compatible, differential TTL, with 180 Ohm termination MS STYLE 1.30 (SM 14/19) EM CONNECTOR 0.188 Min. Deep DIRECTION CONTROL C ORN 3 6 4. Controller reads data on the falling edge of the next 15 clock cycles. resistors internal to the encoder. A series of pulses from the controller, on the CLOCK CONNECTOR F4 3 places equally spaced POSITION 0.300 2.500 ENABLE (OPTIONAL) J WHT/ORN 9 9 on a 1.875 bolt circle. lines, advances the data. 6-32 UNC-2B 2.064 TYP 0.100 0.125 2.500 30 0.250 Min. Deep 30 3. On the first HIGH-to-LOW CLOCK transition, the encoder latches its data at the current SUPPLY VOLTAGE (+V)D RED 4 SM CONNECTOR 3 5. The first bit is a START bit and is always HIGH. 0.21 R 1.032 3 places equally spaced 2.498 .100 MIN 0.125 position and prepares to transmit. The DATA signal during this transition is a START bit, CIRCUIT COMMON (0V) F BLK 5 POSITION2 0.218 4 HOLES 1.2500 on a 2.00 bolt circle. CLOCK, Maximum (kHz) = 92,000 / Cable Length (ft)CW 2.50 which is always HIGH. ( 2.919 B.C. REF) GRN CASE GROUND G 6 1 1.2495 6. Next comes 13 data bits beginning with the most significant bit (MSB)*Connector is a MS3102E18-1P , 10-pin connector on the encoder body and mates to an MS3106F18-1S connector or can be used with a standard cable/connector assembly, BEI P/N: 924-31186-18XX. 4. The encoder shifts data to the DATA line on each LOW-to-HIGH clock transition, beginning 2.625 (XX = cable length in feet, ie. 10 = 10 feet) 2.500 with the MSB. The controller reads data on the HIGH-to-LOW transiton of the next 12 clock Cable Length (ft) 50 100 200 300 500 1000 0.255 2.500 and ending with the parity bit. On 12 bit encoders, bit 13 is LOW. When cycles ending with the LSB. The parity bit (if parity option is specified) is clocked out on 2.52 0.30 2.498 the 14th clock cycle. When the parity option is used, the 13th bit output is a logic LOW on Direction Control: Standard is CW for increasing count when viewed from the shaft end. Direction Control (Pin C) is normally HIGH (or N/C) and is pulled up internally to the positive supply voltage. To reverse the count direc2.650 tion, MAX F1 1.2500 a 12 bit Encoder or the LSB of a 13 bit Encoderparity is not ordered, parity is LOW.. Pin C must be pulled to LO (0V) 2.50 SQUARE Max Freq (kHz) 1800 900 500 300 200 100 1.2495 10-32 UNF-2B 0.34 5. Parity is even. The sum of all data bits and the parity bit is even. 2.275 0.188 Min. Deep 6. After the last CLOCK LOW-to-HIGH transition, a minimum of 30 microseconds must pass 2.625 NOTE: SHAFT SEAL NOT 7. After the last CLOCK HIGH-to-LOW transition, a minimum of 40 micro- F4 3 places equally spaced before the beginning of the next CLOCK series. 0.255 AVAILABLE ON H25 G on a 1.875 bolt circle. 2.52 0.3747 0.88 0.03 6-32 UNC-2B 0.30 SSI Compatible Output with Parity Option Timing Diagram: 1.38 seconds must pass before the beginning of the next CLOCK series. MAX 0.3745 0.250 Min. Deep 3 places equally spaced 1.2500 0.218 4 HOLES on a 2.00 bolt circle. 20us Max 40us Min 2.275 H25G - 2.62 Dia Servo Mount 1.2495 START OF ( 2.919 B.C. REF) SSI Timing NOTE: SHAFT SEAL NOT Interfacing Long Data Lines NEXT CLOCK MS STYLE 1.30 (SM 14/19) AVAILABLE ON H25 G EM CONNECTOR 0.3747 0.88 0.03 CONNECTOR CLOCK+ 0.3745 1.38 POSITION 2.064 TYP 0.300 30 30 0.21 R 12 12 13 14 1.032 15 0.100 0.125 Ordering SSI : HOW TO SPECIFY SSI OUTPUT IN THE ENCODER SM CONNECTOR 1.2500 .100 MIN 0.125 POSITION 1.2495 START Parity START MODEL NUMBER: Use the designation, S3 between the Code Format DATA+ MSB MSB-1 LSB12 LSB13 (Optional) BIT BIT 2.500 designation and the Connector designation. Example: H25D-SS- 2.064 TYP 30us Min 30 2.500 30 0.21 R 2.650 1.032 F1 2.498 redraw12GC-S3-CW-SM18n DATE SQUARE Example Model Number: 1.2500 10-32 UNF-2B UNLESS OTHERWISE SPECIFIED KRB 04/06/05 I N D U S T R I A L E N C O D E R D I V I S I O N 2.50 0.34 1.2495 0.188 Min. Deep DIMENSIONS ARE IN INCHES CHECKED BEIB E I T E C H N O L O G I E S , I N C. APPLY AFTER FINISH Encoder: H25D - SS - 12GC - S3 - SM18 - S F4 2.625 3 places equally spaced TOLERANCES ON ENGR 7230 Hollister Avenue Goleta, CA 93117-2891 Tel: (805) 968-0782 Fax: (805) 968-3154 63 6-32 UNC-2B on a 1.875 bolt circleXX .01 0.255 To specify Specials: TITLE .XXX .005 APPR 2.52 0.250 Min. Deep SSI Output0.30 -S = Parity Bit SSI Output Termination Table Output Code and TerminationsSPECIFICATION ADDENDUM 2.650 ANGLES 0 30 MAX F1 3 places equally spaced REMOVE BURRS AND BREAK ALL SQUARE 0.218 4 HOLES 10-32 UNF-2B Serial Synchronous Interface (SSI) on a 2.00 bolt circle. SHARP EDGES .010 MAX 0.34 M18 M14/19 Cable TerminaTion ( 2.919 B.C. REF) ALL DIA. TO BE WITHIN .010 0.188 Min. Deep 2.275 Parallel code SIZE FSCM NO. DWG NO. REV SIZE FSCM NO. DWG NO. REV F4 NOTE: SHAFT SEAL NOT 3 places equally spaced TPy e Conn Conn Conn I N D U S T R I A L E N C O D E R D I V I S I O N THIS DOCUMENT CONTAINS PROPRIETARY INFORMATION OF A 1RB90 A on a 1.875 bolt circle. A 1RB90 6-32 UNC-2BAVAILABLE ON H25 G 924-02087-001 A 0.3747 0.88 0.03 924-02087-001 BEI TECHNOLOGIES, INC. ANY REPRODUCTION, USE OR DISCLOSURE BEIB E I T E C H N O L O G I E S , I N C. 0.250 Min. Deep OF THIS DOCUMENT WITHOUT WRITTEN CONSENT OF Gray Natural 0.3745 1.38 BEI TECHNOLOGIES, INC. IS EXPRESSLY PROHIBITED. DATA + A A YEL SCALE: NONE SHEET: 2/2 3 places equally spaced SCALE: NONE 924-02087-001 SHEET: 1/2 M14/19 0.218 4 HOLES 1.2500 on a 2.00 bolt circle. Code Binary Cable ( 2.919 B.C. REF) DATA- H 1.2495 B WHT/YEL Conn Notes 12 Bit 12 Bit 40 CLOCK+ B C BLU 2.064 TYP 30 30 11 0.21 R MSB G 2 WHT/BLK A 1.032 11 1. Mounting is usually done either using the D-style square flange mount, E- or CLOCK- I D WHT/BLU 10 G 2 WHT/BRN B 10 G-style servo mounts, or one of the standard face mounts, F1 for example. Consult 30 DIR CONTROL C R ORN 9 factory for additional face mount options. G 2 WHT/RED C 9 2.650 F1 CASE GROUND G S SQUARE GRN 2.The shaft seal is recommended in virtually all installations. The most common 10-32 UNF-2B 8 0.34 G 2 WHT/ORN D 8 0.188 Min. Deep exceptions are applications requiring a very low starting torque or those requiring F4 3 places equally spaced CIRCUIT COMMON F T BLK 7 on a 1.875 bolt circle. operation at both high temperature and high speed.6-32 UNC-2B G 2 WHT/YEL E 7 0.250 Min. Deep +V SUPPLY VOLTAGE D V RED 3 places equally spaced 3. Output ICs: Output ICs are available as either Line Driver (LD) or NPN Open 6 G 2 WHT/GRN F 0.218 4 HOLES on a 2.00 bolt circle. 6 ( 2.919 B.C. REF) Collector (OC) types. Open Collectors require pull-up resistors, resulting in higher SHIELD DRAIN BARE 5 G 2 WHT/BLU G output source impedance (sink impedance is similar to that of line drivers). In 5 general, use of a Line Driver style output is recommended. Line Drivers source 4 Direction of Count: Standard is CW increasing when G 2 WHT/VIO H 4 or sink current and their lower impedance mean better noise immunity and faster viewed from the shaft end. Pin R is normally HI (or N/C) 3 G 2 WHT/GRY J switching times. Warning: Do not connect any line driver outputs directly to circuit 3 and is pulled up internally to +V. To reverse the count common/OV, which may damage the driver. Unused outputs should be isolated and 2 G 2 WHT K direction, Pin R must be pulled LO (COMMON ). 2 left floating. Our applications specialists would be pleased to discuss your system 1 Latch control: Encoder outputs are active and provide G 2 GRY/BLK L requirements and the compatibility of your receiving electronics with Line Driver type 1 continuous parallel position information when Pin outputs. 0 LSB G 2 GRY/BRN M 12 0 U is HI (or N/C). Pin U is pulled up internally to +V. 28V/V: Multi-voltage Line Driver (7272*): 100 mA source/sink. Input voltage 5 to 28 LSB GRY/RED N 13 When Pin U is LO (COMMON) the encoder outputs VDC +/- 5% standard (Note: V = V ). This driver is TTL compatible when used out in are latched at the logic state that is present when the 0V (CIRCUIT COMMON)1 GRY/ORN P with 5 volt supply. Supply lines are protected against overvoltage to 60 volts and latch is applied and will stay latched until Pin U is no reverse voltage. Outputs are short circuit protected for one minute. Supply current is DIRECTION OF COUNT ORN R longer grounded. 120 mA typical (plus load current). This is the recommended replacement for 3904R and 7406R open collector outputs with internal pullup resistors. It is also a direct CASE GROUND GRN S M18 Connector is a MS3102R18-1P, 10-pin connector replacement for any 4469, 88C30, 8830 or 26LS31 line driver on the encoder body and mates to an MS3106F18-1S 0V (CIRCUIT COMMON) BLK T 28V/5: Multi-voltage Line Driver (7272*): 100 mA source/sink. Input voltage 5 to 28 connector or can be used with a standard cable/con- LATCH CONTROL YEL U VDC +/- 5% standard, internally regulated with 5V (TTL compatible) logic out. Supply nector assembly, BEI P/N 924-31186-18XX (Where XX lines are protected against overvoltage to 60 volts and reverse voltage. Outputs are +V (SUPPLY VOLTAGE) RED V = 10, 20 30 or 50 for a 10, 20, 30, or 50 foot length). CW Increasing Count Viewing Shaft short circuit protected for one minute. Supply current is 90 mA typical (plus load cur- This is the preferred connector for SSI output. ONE REVOLUTION ETC. THRU LSB (GO) SHIELD DRAIN BARE rent). Note: Limit encoder load to 2.5W max at ambient. Example at 12 VDC: 2.5W/ M14/19 Connector is a MS3112E14-19P, 19-pin (+12VDC minus +5VDC) = 357 mA total allowed current. Consult factory for your 1 connector on the encoder body and mates to an Pin P is available for a tri-state option specific requirements. MS3116J14-19S or equivalent. 28V/OC: NPN Open Collector (3904*, 7273*). Current sink of 80 mA max. Current sourced by external pull- up resistor. Output can be pulled up to voltage other than Figures + supply voltage (30 V max). Input voltage 5 to 28 VDC /- 5% standard. Supply cur- rent is 120 mA typical. This replaces prior ICs with designations of 3904, 7406, Figure 1 Gray Code Figure 2 Natural Binary 3302, 681 and 689. CW Increasing Count Viewing Shaft 4. Special S at the end of the model number is used to define a variety of non- 0 CW Increasing Count Viewing Shaft ETC. THRU LSB (2 ) ONE REVOLUTION ONE REVOLUTION standard features such as special shaft lengths, voltage options, or special testing. ETC. THRU LSB (GO) Please consult the factory to discuss your special requirements. 5. Extended temperature ratings are available in the following ranges: -40 to 70C, -40 to 85C. Some models can operate down to -55C. Extended temperature ranges can affect other performance factors. Consult with factory for more specific information. 0539 * Products manufactured prior to April 2007 used the line driver IC number instead of voltage output in model number. 12-24VDC (300mA MAX) CW Increasing Count Viewing Shaft 0 ETC. THRU LSB (2 ) ONE REVOLUTION Tel: 805-968-0782 /800-350-2727 Fax: 805-968-3154 / 800-960-2726 7230 Hollister Ave., Goleta, CA 93117-2807 www.beisensors.com