Canon R-1SO User manual

1

Laser Rotary Encoder

R-1SO

Instruction Manual

・ Thank you for purchasing Canon's product.

・ Before using the product, be sure to read this manual, particularly "Safety

Precautions."

・ Use the product as instructed in this manual to bring out the best from the

product.

・ Keep this manual with care for future use whenever necessary.

English

2

Safety Precautions ..................................................................................2

１．Before Use ........................................................................................................ 3

２．Outline ............................................................................................................... 4

３．Dimension and Section Names ...................................................................... 4

４．Connection ....................................................................................................... 5

５．Output wave form ............................................................................................. 7

６．Precautions for incorporating ........................................................................ 8

７．Main Specifications .......................................................................................... 9

８．About Disposal ............................................................................................... 10

９．Troubleshooting ............................................................................................. 11

Safety Precautions

・ Before installation, operation, maintenance, or inspection, be sure to read this

manual, particularly "Safety Precautions."

・ Take the precautions to prevent harm or damage to the user and other people.

Warning

Failure to take this precaution may result in death or serious injury.

・ Do not use the product in an environment of flammable or explosive gas or

steam.

・ Use the product on a specified supply voltage only.

・ Do not use the product where water or any other liquid splashes over it.

・ Do not install, operate, maintain, or inspect the product with wet hands.

・ Do not disassemble or alter the product.

Caution

Failure to take this precaution may result in physical injury or

property damage.

・ Before installation, operation, maintenance, or inspection, check the device

status well to confirm safety.

・ Be careful to static electricity. Do not touch each pin of the connector.

・For connector connection, check the pin functions by pin numbers and turn the

power off.

・Do not the pull the cable hard or bend it sharply.

・Never drop the equipment and never subject the equipment to shock or vibration.

・Use the product within the range of environmental conditions.

・For storage or transportation, do not place the product under direct sunlight, in a

humid, dusty environment, in environment of camphor and other chemicals or

Contents

Safety Precautions

3

where the temperature becomes 80°C or higher.

・When install this product, use flexible coupling.

１．Before Use

1-1 General Precautions

This section gives general precautions to ensure the correct use of this product.

For safety about individual items, take precautions given at the corresponding

sections.

At the beginning of work, check that this product functions normally.

If this product should become faulty, take full safety measures to prevent damage

to your device.

Do not use the product outside the range specified in this manual or alter it.

Do not disassemble the product or insert a tool through a gap. Doing so may

cause mechanical damage or damage the circuit by static electricity.

1-2 Installation Place

Mount the product in an ambient temperature range from 0 to 50°C, avoiding

direct sunlight and a heat source.

Use the product away from a noise source, such as high-voltage power supply,

large capacitance relay, large-current switch, or large-power inverter.

Route the head cable and extension cable away from any power line.

In an environment where oil mist or metal slug is anticipated, attach a cover to

prevent their entry.

１．

１．１．

１．

Before Use

２．

２．２．

２．

4

２．Outline

This product is high resolution laser rotary encoder using semiconductor laser in

the light source. Output is a 2 phase rectangle wave incremental signal at a rate

of 81,000 pulses per rotation.

In addition, the Z-phase output is one rectangle pulse per rotation. The pulses of

incremental signal of inter-edge spacing is 324,000 pulse per rotation at its

maximum and resolution of angle is set at 4.0 seconds. The signal of this product

is open collector output, therefore easy to connect with your equipment.

３．Dimension and Section Names

２．

２．２．

２．

Outline

OutlineOutline

Outline

３．

３．３．

３．

Dimension and Section Names

Cable length：300 mm

Encoder main body Rating plate

Shaft

Connector

Cable

Bush

In low

3-M2 depth5

5

４．Connection

4-1

Connector and Pin Assignment

Connector: HR10A-10P-12P(HIROSE ELECTRIC.)

Pin assignment: See the table below.

Accessories: Receptacle(HR10A-10R-12S)

Casing is connected to the shielded line of the cable, and by the future, is

connected by the encoder main body case.

Connect the shell section to the circuit GND (Quiet GND with a small

noise current) or ground in the stable electric potential.

Be sure to avoid

pulse-like noise current in this line, as it may lead to deterioration of the

semiconductor laser (light source) and cause errors from noise contamination of

the signal.

4-2

Power Supply

Use power supply satisfying the following specifications:

Voltage/ Current capacity： DC +5 ± 0.25 V / 200mA (no load)

DC +5 ± 0.25 V / 100mA

No.

Function

No.

Function

1 A-phase digital 7 +5V

2 GND 8 GND

3

B-phase digital

9 -5V

4 GND 10 GND

5 Z-phase digital 11 LD Alarm

6 GND 12

Case / Shield

Caution

CautionCaution

Caution

４．

４．４．

４．

Connection

6

4-3

Output circuit

4-3-1

Encoder Output

4-2-2

Alarm output

4-4

Recommended receiving circuit

4-4-1

Encoder signal

4-4-2

LD Alarm signal

LD monitor

LD Alarm

LD alarm output

to 74LS14 etc

A,B-phase digital

A,B-phase digital out

Z-phase digital out

Comparator： 319 or equivalent

Z-phase digital

74LC03

A,B-phase

to 74LS14 etc

Z-phase

680Ω

to 74LS14 etc

390Ω

+5V

TC75S56F (Comparator)

7

５．Output wave form

5-1

Encoder signal output

【Note】

Z phase is not synchronized with A phase or B phase

Z phase rising edge

is the same position both in Clockwise and in

Counterclockwise rotation.

The Z-phase output is one pulse per rotation. As the

pulse width is narrow, use the "peak detection" mode of oscilloscope for

monitoring the Z-phase signal.

The pulse width of the Z-phase is 500 – 1250 nsec. In case the receiving IC needs

a wider pulse width, increase the width using a one-shot multi-vibrator (74 LS221

etc.).

5-2

LD alarm signal output

LD driving current is always monitored, and goes Low-level when the LD current

exceed 1.5 times at the time of the shipment.

５

５５

５．

．．

．

Output wave form

A-phase

B-phase

Z-phase

A-phase

B-phase

500～1250nsec

90°±10°

Clockwise rotation

ｌooking from shaft side.

LD Alarm

Counterclockwise rotation

ｌooking from shaft side.

Z-phase

90°±10°

500～1250nsec

8

６．Precautions for incorporating

Precautions for incorporatingPrecautions for incorporating

Precautions for incorporating

When connecting this product to the drive shaft of equipment, shaft misalignment,

shaft deflection, or thrust fluctuation of the drive shaft causes excess force on the

bearing, as a result causing reduced accuracy and serviceability of the encoder,

and damaging to the encoder.

Make sure the work load for each model is within the specified permissible load

when connecting the encoder to equipment.

≪Permissible load≫

・When the encoder is rigidly connected to equipment, the shaft misalignment

should be 2 µm or less and the thrust fluctuation should be 1 µm or less. When

precise shaft alignment is impossible, it is recommended to absorb the shaft

misalignment, shaft deflection, or thrust fluctuation by using a flexible coupling.

・A flexible coupling with enough torsional rigidity should be selected to obtain

precise transmission.

・When attaching the flexible coupling to the encoder shaft, be very careful not to

apply any unnecessary load to the encoder shaft. The flexible coupling can be

attached to the static encoder shaft even if the load caused by the deflection and

inclination of the drive shaft exceeds the maximum setting. In this case, however,

trouble may occur because undesired stress can be imposed on the encoder shaft

when it rotates.

Radial Thrust

3.92 N (0.4 kgf) 9.8 N (1.0 kgf)

６．

６．６．

６．

Precautions for incorporating

Caution

CautionCaution

Caution

9

７．Main Specifications

7-1 Pulse

See the table below.

7-2

Resolution

See the table below.

7-3

Maximum Signal Frequency

See the table below.

unit specification

Pulse ppr 81,000

Resolution sec 4

MAX.response

speed

KHz 500

MAX.rotating

speed

rps 6

Necessary

counter

response speed

MCount/s 2.0

7-4

Cumulative accuracy

Accumulate error width 20arc-secp-p or

less

7-5 Output Signal

(see the table in 5-1.)

A,B phase 2 phase rectangle wave incremental signal

output

A,B phase difference 90° ±10°

Z phase Rectangle wave signal output

Z phase pulse width 500～1250 nsec

LD Alarm TTL level

7-6 Starting Torque

0.0882 Ncm or less (9 gfcm or less)

7-7

Rotor inertial moment

8 gcm2 (GD2)

7-8

Permissible rotating speed

5,000 rpm

7-9

Permissible load

Radial： 3.92 N (0.4 kgf)

Thrust： 9.8 N (1.0 kgf)

7-10 Vibration and Shock Resistance

Vibration： 10G 500Hz Shock： 30G 11msec

7-11 Operating Temperature and Humidity

0 to +50°C, 90%RH or less (no condensation)

7-12 Storage Temperature and Humidity

-30 to +80°C, 90%RH or less (no condensation)

7-13 External Dimensions

７．

７．７．

７．

Main Specifications

10

See 3, "External View and Mounting Dimensions."

7-14 Standards Complying With

RoHS

CE Marking

VCCI (2010)

FCC Part-15 (2008)

８．About Disposal

When disposing of this product, follow the rules of proposal specified by the

country or local government.

８．

８．８．

８．

About Disposal

11

９．Troubleshooting

This page lists problems frequently inquired of and their solutions. Before making

inquiries, please check the corresponding items.

If you still cannot solve your problem, please contact the customer support section

mentioned at the end of this document.

Status Check Result

Next Check See

A or B phase

digital signals

are not output.

Is rotating

speed in

specifications

range?

Yes

・ Check the power supply pin

assignment and voltage.Check

the output signal pin

assignment and the receiver

circuit.

4-1

4-2

4-3

4-4

No ・ Set rotating speed

in specifications range.

7-3

Signals

are

interrupted.

Is rotating

speed in

specifications

range?

Yes ・ Check for excessive load to the

bearing

・ Check that the bandwidth of

your counter has not

been exceeded.

・ Check for noise in the power

supply and the frame ground.

6

7-9

7-3

4-1

No ・ Set rotating speed

in specifications range.

7-3

Z phase

Signals are

not output.

Is the

reception

machinery

able to catch

500ns

pulse？

Yes ・

Check the Z phase signal by

oscilloscope

7-3

No ・ Use equipment with sufficient

bandwidth.

・ increase pulse the width using

a one-shot multi-vibrator (74

LS221 etc.).

4-3

4-4

5-1

The actual

position(angle)

differs greatly

from that by

the encoder

Is the

difference

great?

Yes ・ Check that the resolution

setting is correct.

4-5

No ・ Check for excessive load to the

bearing

・ Check that the shaft

alignment is precise.

6

7-9

９．

９．９．

９．Troubleshooting

12

W

arranty Policy

1. If the product should become faulty within one year of purchase despite normal use

according to the instruction manual, it shall be repaired or replaced free of charge

upon taking or sending it to the customer support section or the maintenance

section mentioned at the end of this document. The user shall bear such expenses

for transportation and sending.

2. Even during the period of warranty, product repairs or replacement shall be

charged for in the following cases:

(1) Fault or damage attributable to careless handling or incorrect use

(2) Fault or damage attributable to repairs, alteration, or disassembling and cleaning

not by Canon

(3) Fault or damage caused by water, oil, mud, or sand, drop, or shock

(4) Fault or damage caused by fire, earthquake, lightning, or any other act of God,

environmental contamination, or abnormal voltage

(5) Fault or damage of this product attributable to the use of a part not made by

Canon

(6) Fault attributable to inappropriate storage (e.g. storage in a place of high

temperature and humidity or with naphthalene or camphor) or inappropriate

maintenance

(7) Product serial number (labeled on the product) unknown

(8) Fault attributable to other equipment connected

3. Canon will take no responsibility for direct or indirect damage caused by a fault or

use of this product or incidental damage (e.g. loss of profit by the use of this

product).

Export

Please complete all-necessary procedures including filing an application for export

permission with the Government of your country.

No part of this document may be reproduced without permission.

The contents of this document are subject to change without notice.

If you have found any problems, errors, or missing descriptions, contact the customer

support section mentioned at the end of this document.

Canon will take no responsibility about the results of using this product.

13

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Canon R-1SO User manual

Canon R-1SO User manual

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