CSM_Rotary_TG_E_6_2

Technical Guide Rotary Encoders

Overview
What Are Rotary Encoders?
Rotary Encoders are sensors that detect position and speed by converting rotational mechanical displacements into electrical signals and
processing those signals. Sensors that detect mechanical displacement for straight lines are referred to as Linear Encoders.

Features
(1) The output is controlled according to the rotational (4) Choose the optimal Sensor from a wide lineup of resolutions
displacement of the shaft. and output types.
Linking to the shaft using a coupling enables direct detection of Select the Sensor to match the requirements for precision, cost,
rotational displacement. and connected circuits.

(2) Returning to the origin is not required at startup for Absolute

Encoders.
With an Absolute Encoder, the rotational angle is output in parallel
as an absolute value.

(3) The rotation direction can also be detected.

The rotation direction is determined by the output timing of phases
A and B with an Incremental Encoder, and by the code increase
or decrease with an Absolute Encoder.

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 Rotary Encoders Technical Guide
Operating Principles

Item
Classifica- Features Structure Output waveform
tion
• This type of encoder outputs a pulse string
in response to the amount of rotational
displacement of the shaft. A separate
counter counts the number of output
pulses to determine the amount of rotation Detector
based on the count. element Phase A slit Phase B slit
• To detect the amount of rotation from a
certain input shaft position, the count in
the counter is reset at the reference Shaft Emission
Incremental element
Encoders position and the number of pulses from Phase Z
Phase difference: 90˚
that position is added cumulatively by the signal slit Phase A
E6J-C counter. For this reason, the reference
Phase B *
E6A2-C position can be selected as desired, and Rotor plate (disk)
E6B2-C the count for the amount of rotation can be Phase Z
unlimited. When a disk with an optical pattern re- Origin
E6C2-C 1 pitch 360˚ electrical angle
Another important feature is that a circuit volves along with the shaft, light pass-
E6C3-C
can be added to generate twice or four ing through two slits is transmitted or * Even if resolution changes, the
E6D-C
times the number of pulses for one signal blocked accordingly. The light is con- number of phases does not
E6F-C
period, for heightened electrical verted to electrical currents in the de- change.
E6H-C
resolution.* tector elements, which correspond to
Also, the phase-Z signal, which is each slit, and is output as two square
generated once a revolution, can be used waves. The two slits are positioned so
as the origin within a revolution. that the phase difference between the
*When high resolution is necessary, a 4-
square wave outputs is 1/4 pitch.
multiplier circuit is generally used.
(4x output is obtained by differentiating the rise
and fall waveforms of phase A and phase B,
resulting in four times the resolution.)
• This type of encoder outputs in parallel the
rotation angle as an absolute value in 2n
code.
It therefore has one output for each output
code bit, and as the resolution increases, Emission
the value of outputs increases. Rotation Detector element Slits elements
position detection is accomplished by
directly reading the output code.
• When the Encoder is incorporated into a
Absolute En-
machine, the zero position of the input Shaft 23
coders
revolution shaft is fixed, and the rotation 22
angle is always output as a digital value Depends on
E6J-A Rotor plate (disk) the resolution.
with the zero position as the coordinate 21
E6CP-A
origin. When a disk with a pattern rotates, 20
E6C3-A
Data is never corrupted by noise, and light passing through the slits is trans-
E6F-A 1 pitch
returning to the zero position at startup is mitted or blocked according to the pat-
not necessary. tern. The received light is converted to
Furthermore, even when code reading electrical currents in the detector ele-
becomes impossible due to high-speed ments, takes the form of waves, and
rotation, correct data can be read when becomes digital signals.
the rotation speed slows, and correct
rotation data can even be read when the
power is restored after a power failure or
other interruption in the power supply.

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 Rotary Encoders Technical Guide
Classification
Selection Guidelines

1 Incremental Encoder or Absolute Encoder? 6 Maximum Response Frequency

Select a type that is suitable in terms of the cost vs. capacity, Base your selection on the maximum shaft speed when the device
returning (or not) to the origin at startup, the maximum speed, and in which the Encoder is used is in operation.
noise tolerance. Maximum response frequency = (Revolutions (RPM) /60) x
Resolution.
2 How much resolution is needed? There are deviations in the actual signal periods, so the
Select the optimal model in view of required precision and cost of specifications of the selected model should provide a certain
machine equipment. We recommend selecting a resolution of from amount of leeway with respect to the above calculated value.
1/2 to 1/4 of the precision of the machine with which the Encoder
will be used. 7 Degree of Protection
Select the model based on how much dust, water, and oil there is
3 Dimensions in the application environment.
Also take into consideration the type of shaft that is required • Dust only: IP50
(hollow shaft or regular shaft) in relation to mounting space. • Water or oil also present: IP52(f), IP64(f) (water-resistant, oil-
resistant)
4 Permitted Shaft Loading • Oil present: Oil-proof construction

When selecting, take into consideration how the mounting method 8 Startup Torque of Shaft
affects the load on the shaft and mechanical life.
How much torque does the drive have?
5 Maximum Permissible Speed
9 Output Circuit Type
Base your selection on the maximum mechanical speed during
use. Select the circuit type based on the device to be connected, the
frequency of the signal, transmission distance, and noise
environment.
For long distance transmission, a line-driver output is
recommended.

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 Rotary Encoders Technical Guide
Explanation of Terms
Resolution Maximum Response Frequency
The pulse count of an incremental signal output when the shaft The maximum frequency at which the signal can respond.
revolves once, or the absolute address count.
Rise and Fall Times of Output
Output Phase The elapsed time from a 10% to 90% change in the output pulse.
The output signal count for an Incremental Encoder. There are 1- 90% 90%
phase models (phase A), 2-phase models (phase A, phase B), and 3-
phase models (phase A, phase B, and phase Z). The phase Z is an 10% 10%
origin signal that is output once a revolution.
Rise time Fall time
Output Phase Difference
When the shaft is rotated, this is the time difference between the rise Output Circuit
or fall of the phase A and phase B signals, expressed as a proportion (1) Open-collector Output
of the period of one signal, or as an electrical angle where one signal An output circuit where the emitter of the output circuit transistor
period equals 360°. is the common and the collector is open.
The difference between phase A and phase B as an electrical angle (2) Voltage Output
is normally 90°. An output circuit where the emitter of the output circuit transistor
Phase A is the common and a resistor is inserted between the collector
and the power supply to convert the output from the collector to a
Phase B voltage.
Difference between 90˚ (3) Line-driver Output
output phases 90˚ An output method that uses a special IC for high-speed, long-
360˚
distance data transmission that complies with the RS-422A
standard. The signal is output as a differential secondary signal,
CW and thus is strong with respect to noise.
The clockwise direction of rotation. Viewed from the end of the shaft, A special IC called a line receiver is used to receive the signal
the shaft rotates clockwise. With an Incremental Encoder, phase A output from a line driver.
normally leads phase B in this rotation direction. With an Absolute (4) Complementary Output
Encoder, this is the direction of code increase. An output circuit with two output transistors (NPN and PNP) on
The reverse of CW rotation is counterclockwise (CCW) rotation. the output.
CW These two output transistors alternately turn ON and OFF
depending on the high or low output signal. When using them, pull
up to the positive power supply voltage level 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.
CCW
This allows a long cable distance.
They can be connected to open-collector input devices (NPN,
PNP).

Output Duty Ratio Starting Torque

The torque needed to rotate the shaft of the Rotary Encoder at
This is the ratio of the duration of high level during one period to the
startup.
average period of pulse output when the shaft is rotated at a constant
The torque during normal rotation is normally lower than the starting
speed.
torque. A shaft that has a waterproof seal has a higher starting torque.
T2
Output duty ratio:
T1
H
L
High level time (T2)

Pulse period (T1)

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 Rotary Encoders Technical Guide

Moment of Inertia Absolute Code

This expresses the magnitude of inertia when starting and stopping (1) Binary Code
the Rotary Encoder. A pure binary code, expressed in the format 2n. Multiple bits may
change when an address changes.
Shaft Capacity (2) Gray Code
This is the load that can be applied to the shaft. The radial load is the A code in which only one bit changes when an address changes.
load that is perpendicular to the shaft, and the thrust load is the load The code plate of the Rotary Encoder uses gray code.
in the direction along the shaft. Both are permitted on the shaft during (3) Remainder Gray Code
rotation, and the size of the load affects the life of the bearings. This code is used when expressing resolutions with gray code that
are not 2n, such as 36, 360, and 720. The nature of gray code is
Ambient Operating Temperature such that when the most significant bit of the code changes from 0
The ambient temperature that meets the specifications, consisting of to 1 and the same size of area is used for both the larger value and
the permitted values for the external air temperature and the the smaller value of objects, the signal only changes by 1 bit within
temperature of the parts that contact the Rotary Encoder. this range when changing from the end to the beginning of a code.
This enables any resolution that is an even number to be set with
Ambient Storage Temperature gray code. In this case, the code does not begin from 0, but from
The ambient temperature when the power is OFF that does not cause an intermediate code, and thus when actually using a code it must
functional deterioration, consisting of the permitted values for the first be shifted so that it starts from 0.
external air temperature and the temperature of the parts that contact The example in the code table shows 36 divisions. For the change
the Rotary Encoder. from address 31 to 32, the code extends from address 14 to 49
when 18 addresses each are taken for the objects. When
Degree of Protection changing from address 49 to 14, only one bit changes, and we
can see that the characteristic of gray code is preserved. By
The level of protection against penetration of foreign objects from
shifting the code 14 addresses, it can be converted to a code that
outside the Rotary Encoder. This is defined in the IEC60529 standard
and expressed as IPXX. starts from address 0.
(4) BCD
The degree of protection against oil is specified by OMRON stan-
dards, and is expressed as oil-proof construction or oil resistance. Binary Coded Decimal Code.
Each digit of a decimal number is expressed using a binary value.

Serial Transmission
In contrast to parallel transmission where multiple bits of data are
simultaneously output, this method outputs data serially on a single
transmission line, enabling the use of fewer wires. The receiving
device converts the signals into parallel signals.

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 Rotary Encoders Technical Guide

Hollow Shaft Absolute Code Table

The rotating shaft is hollow, and the drive shaft can be directly
Dec-
Gray re- BCD
connected to the hole in the hollow shaft to reduce the length along imal
Binary Gray mainder
14 10 1
the direction of the shaft. A leaf spring is used as a buffer to absorb
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
vibration from the drive shaft. 1 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1
2 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 1 0
3 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 0 1 1
Metal Disk 4 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0
The rotating slit disk in the Encoder is made of metal for higher shock 5 0 0 1 0 1 0 0 0 1 1 1 0 0 0 0 1 0 1
6 0 0 1 1 0 0 0 0 1 0 1 0 0 0 0 1 1 0
tolerance than glass. Due to slit machining limitations, the metal disk 7 0 0 1 1 1 0 0 0 1 0 0 0 0 0 0 1 1 1
cannot be used for high-resolution applications. 8 0 1 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0
9 0 1 0 0 1 0 0 1 1 0 1 0 0 0 1 0 0 1
10 0 1 0 1 0 0 0 1 1 1 1 0 0 1 0 0 0 0
Servo Mount 11 0 1 0 1 1 0 0 1 1 1 0 0 0 1 0 0 0 1
12 0 1 1 0 0 0 0 1 0 1 0 0 0 1 0 0 1 0
A method of mounting the Encoder in which a Servo Mounting 13 0 1 1 0 1 0 0 1 0 1 1 0 0 1 0 0 1 1
Bracket is used to clamp down the flange of the Encoder. The position 14 0 1 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 0
15 0 1 1 1 1 0 0 1 0 0 0 0 1 0 0 1 0 1 0 1
of the Encoder in the direction of rotation can be adjusted, and thus 16 1 0 0 0 0 0 1 1 0 0 0 0 2 0 0 1 0 1 1 0
this method is used to temporarily mount the Encoder to adjust the 17 1 0 0 0 1 0 1 1 0 0 1 0 3 0 0 1 0 1 1 1
18 0 1 0 0 1 0 0 1 1 0 1 1 0 4 0 0 1 1 0 0 0
origin. Refer to Accessories. 19 0 1 0 0 1 1 0 1 1 0 1 0 0 5 0 0 1 1 0 0 1
20 0 1 0 1 0 0 0 1 1 1 1 0 0 6 0 1 0 0 0 0 0
21 0 1 0 1 0 1 0 1 1 1 1 1 0 7 0 1 0 0 0 0 1
22 0 1 0 1 1 0 0 1 1 1 0 1 0 8 0 1 0 0 0 1 0
23 0 1 0 1 1 1 0 1 1 1 0 0 0 9 0 1 0 0 0 1 1
24 0 1 1 0 0 0 0 1 0 1 0 0 1 0 0 1 0 0 1 0 0
25 0 1 1 0 0 1 0 1 0 1 0 1 1 1 0 1 0 0 1 0 1
26 0 1 1 0 1 0 0 1 0 1 1 1 1 2 0 1 0 0 1 1 0
27 0 1 1 0 1 1 0 1 0 1 1 0 1 3 0 1 0 0 1 1 1
28 0 1 1 1 0 0 0 1 0 0 1 0 1 4 0 1 0 1 0 0 0
29 0 1 1 1 0 1 0 1 0 0 1 1 1 5 0 1 0 1 0 0 1
30 0 1 1 1 1 0 0 1 0 0 0 1 1 6 0 1 1 0 0 0 0
31 0 1 1 1 1 1 0 1 0 0 0 0 1 7 0 1 1 0 0 0 1
32 1 0 0 0 0 0 1 1 0 0 0 0 1 8 0 1 1 0 0 1 0
33 1 0 0 0 0 1 1 1 0 0 0 1 1 9 0 1 1 0 0 1 1
34 1 0 0 0 1 0 1 1 0 0 1 1 2 0 0 1 1 0 1 0 0
35 1 0 0 0 1 1 1 1 0 0 1 0 2 1 0 1 1 0 1 0 1
36 1 0 0 1 0 0 1 1 0 1 1 0 2 2 0 1 1 0 1 1 0
37 1 0 0 1 0 1 1 1 0 1 1 1 2 3 0 1 1 0 1 1 1
38 1 0 0 1 1 0 1 1 0 1 0 1 2 4 0 1 1 1 0 0 0
39 1 0 0 1 1 1 1 1 0 1 0 0 2 5 0 1 1 1 0 0 1
40 1 0 1 0 0 0 1 1 1 1 0 0 2 6 1 0 0 0 0 0 0
41 1 0 1 0 0 1 1 1 1 1 0 1 2 7 1 0 0 0 0 0 1
42 1 0 1 0 1 0 1 1 1 1 1 1 2 8 1 0 0 0 0 1 0
43 1 0 1 0 1 1 1 1 1 1 1 0 2 9 1 0 0 0 0 1 1
44 1 0 1 1 0 0 1 1 1 0 1 0 3 0 1 0 0 0 1 0 0
45 1 0 1 1 0 1 1 1 1 0 1 1 3 1 1 0 0 0 1 0 1
46 1 0 1 1 1 0 1 1 1 0 0 1 3 2 1 0 0 0 1 1 0
47 1 0 1 1 1 1 1 1 1 0 0 0 3 3 1 0 0 0 1 1 1
48 1 1 0 0 0 0 1 0 1 0 0 0 3 4 1 0 0 1 0 0 0
49 1 1 0 0 0 1 1 0 1 0 0 1 3 5 1 0 0 1 0 0 1
50 1 1 0 0 1 0 1 0 1 0 1 1 1 0 1 0 0 0 0
51 1 1 0 0 1 1 1 0 1 0 1 0 1 0 1 0 0 0 1
52 1 1 0 1 0 0 1 0 1 1 1 0 1 0 1 0 0 1 0
53 1 1 0 1 0 1 1 0 1 1 1 1 1 0 1 0 0 1 1
54 1 1 0 1 1 0 1 0 1 1 0 1 1 0 1 0 1 0 0
55 1 1 0 1 1 1 1 0 1 1 0 0 1 0 1 0 1 0 1
56 1 1 1 0 0 0 1 0 0 1 0 0 1 0 1 0 1 1 0
57 1 1 1 0 0 1 1 0 0 1 0 1 1 0 1 0 1 1 1
58 1 1 1 0 1 0 1 0 0 1 1 1 1 0 1 1 0 0 0
59 1 1 1 0 1 1 1 0 0 1 1 0 1 0 1 1 0 0 1
60 1 1 1 1 0 0 1 0 0 0 1 0 1 1 0 0 0 0 0
61 1 1 1 1 0 1 1 0 0 0 1 1 1 1 0 0 0 0 1
62 1 1 1 1 1 0 1 0 0 0 0 1 1 1 0 0 0 1 0
63 1 1 1 1 1 1 1 0 0 0 0 0 1 1 0 0 1 1 1

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 Rotary Encoders Technical Guide
Interpreting Engineering Data
Bearing Life Cable Extension Characteristics
E6B2-C E6B2-CWZ6C

Output rise time tLH (µs)

5 28

Output residual voltage VOL (V)

Life (x 109 rotations) Wr 1.4
Ws:
Ws: 20N
25N Encoder Ws 24 1.2
4
Shaft
Wr: Radial load 20 1.0
Ws: Thrust load
3 Ws:30N 16 0.8

12 0.6
2
Ws:40N 8 0.4
V OL
1 4 0.2
t LH
0 0
0 1 2 5 10 20 50 100 200
10 20 30 40 50 Cable length (m)
Radial load Wr (N) Measurement Example
Power supply voltage: 5 VDC
Load resistance: 1 kΩ (Output residual voltage is measured
at a 35 mA load current.)
Cable: Special Cable

• This graph shows the relationship between mechanical life and • This graph shows the effect of the output waveform if the cable is extended.
the load applied to the shaft. • Extending the cable length not only changes the startup time, but
• The size of the load during rotation affects the life of the bearings. also increases the output residual voltage.

Operating Procedure and Data

Peripheral Device Connectability Yes: Connection possible. No: Connection not possible.
Incremental Encoders
Peripheral device EtherCAT-
Up/Down Direction SYSMAC
Digital Self-powered Frequency/ High-speed compatible
Counting Period Meter Detection Pulse I/O
Counter Tachometer Rate Meter Counter Unit Encoder Input
Meter Unit Module ∗
Terminal
CJ2M-CPU1@/
H7BX-AW
Rotary H7BX-A CPU3@
Model H7CX-R@-N K3HB-R K3HB-C K3HB-P E63-WF5C C@-CT@ GX-EC02@@
Encoder H7CX-A@-N +
H7ER-N
model CJ2M-MD21@
E6D-CWZ1E
No No No No No No No Yes No
E6J-CWZ1E
E6D-CWZ2C Yes Yes Yes Yes Yes Yes No Yes No
E6F-CWZ5G Yes Yes Yes Yes Yes Yes Yes Yes Yes
E6A2-CS3E
E6A2-CW3E
E6A2-CWZ3E
E6B2-CWZ3E Yes Yes Yes Yes Yes Yes No Yes No
E6H-CWZ3E
E6C2-CWZ3E
E6C3-CWZ3EH
E6A2-CS3C
E6A2-CW3C
E6A2-CWZ3C
E6A2-CS5C
E6A2-CW5C Yes Yes Yes Yes Yes Yes Yes Yes Yes
E6B2-CWZ6C
E6H-CWZ6C
E6C2-CWZ6C
E6C3-CWZ5GH
E6B2-CWZ1X
E6H-CWZ3X
No No No No No No Yes Yes Yes
E6C2-CWZ1X
E6C3-CWZ3XH
E6B2-CWZ5B
E6C2-CWZ5B
No No Yes No Yes No No No No

* Supported by CJ2M CPU Unit with unit version 2.0 or later.

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 Rotary Encoders Technical Guide

Absolute Encoders
Peripheral device
Cam Positioner SYSMAC Programmable Controller
Rotary
Encoder
model Model H8PS CPM1A CP1H CP1L CP1E DC Input Unit

E6CP-AG5C Requires separate power Requires separate power

No Yes supply for Encoder.
Yes Yes Yes Yes supply for Encoder.
E6C3-AG5C
E6CP-AG5C-C
E6C3-AG5C-C Yes No No No No No
E6F-AG5C-C
Requires separate power Requires separate power
E6F-AB3C No Yes supply for Encoder.
Yes Yes Yes Yes supply for Encoder.
E6F-AB3C-C No No No No No No

Example of Connection with H7BX-AW Self-powered Example of Connection with K3HB-C Up/Down Counting
Tachometer Meter
• NPN Open-collector Outputs
Example of E6A2-CS3E 10P/R, 60P/R
Applicable E6C2-CWZ3E, E6F-CWZ5G 600P/R Example of E6A2-CS3C, E6A2-CS5C
Models E6C3-CWZ3EH 10P/R, 60P/R, 600P/R Applicable E6A2-CW3C, E6A2-CW5C
Models E6C2-CWZ6C, E6F-CWZ5G
+12V K3HB-C
Up/Down Counting Meter
8 9 10 11 12 13 14
A B C D E
Brown
1
15 17
Black 2
3
Blue 0V 16 18 4
E6A2 E6C2-CWZ6C 5
POWER 6
1 2 3 4 5 6 7
+12V
H7BX-AW Self-powered Tachometer 0V
Phase A
Example of Connection with H7BX-A Digital Counter Phase B
Example of E6A2-CW3E
• Voltage Outputs
Applicable E6C2-CWZ3E, E6C3-CWZ3EH,
Models E6F-CWZ5G Example of
E6A2-CS3E, E6A2-CW3E
Applicable
E6C2-CWZ3E
+12V Models

Brown 8 9 10 11 12 13 14 K3HB-C
Up/Down Counting Meter
Black A B C D E
15 17
1
White 2
16 18 3
E6A2-CW3 Blue 0V 4
1 2 3 4 5 6 7 E6C2-CWZ3E 5
POWER 6
H7BX-A Digital Counter +12V

0V

Phase A

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 Rotary Encoders Technical Guide

Example of Connection with CJ1W-CT021 High-speed Counter Unit in Programmable Controller

Example of E6A2-C, E6B2-C, E6C2-C, E6H-C Example of

E6B2-CWZ5B
Applicable E6F-CWZ5G, Applicable
E6C2-CWZ5B, E6C3-CWZ5GH
Models (1) E6D (open-collector output) Models (2)

Encoder with NPN Open-collector Output (5/12/24 VDC) Encoder with PNP Open-collector Output (5/12/24 VDC)
High-speed Counter Unit (CN1) High-speed Counter Unit (CN1)

Black (phase A)
B9 (phase A, 24 V) B9 (phase A, 24 V)
Black (phase A)
Encoder A8 (phase A, 0 V) Encoder White (phase B) A8 (phase A, 0 V)
White (phase B) B11 (phase B, 24 V) B11 (phase B, 24 V)
A10 (phase B, 0 V) Orange (phase Z) A10 (phase B, 0 V)
Orange (phase Z) B13 (phase Z, 24 V) B13 (phase Z, 24 V)
A12 (phase Z, 0 V) A12 (phase Z, 0 V)
Brown (+Vcc) Counter 1 Brown (+Vcc) Counter 1
Example: E6C2-CWZ6C Example: E6C2-CWZ5B
NPN Open-collector Outputs Blue (0 V) (COM) PNP Open-collector Output Blue (0 V) (COM)

0V 0V
+24V +24V
Power supply: 24 VDC Power supply: 24 VDC
Note: Connections are as follows if the Encoder power supply is Note: Note: Connections are as follows if the Encoder power
5 V or 24 V. supply is 5 V or 24 V.
Phase A + 5-V power supply ➝ A19, 24 V ➝ B20 Phase A + 5-V power supply ➝ A19, 24 V ➝ B20
Phase B + 5-V power supply ➝ A17, 24 V ➝ B18 Phase B + 5-V power supply ➝ A17, 24 V ➝ B18

Example of
E6B2-CWZ1X, E6C2-CWZ1X
Applicable
E6C3-CWZ3XH, E6H-CWZ3X
Models (3)

Encoder with Line-driver Output (RS-422)

High-speed Counter Unit (CN1)

Black (phase A +)
B15 (phase A, line driver +)
Black/red (phase A -)
Encoder A15 (phase A, line driver -)
White (phase B +)
B17 (phase B, line driver +)
White/red (phase B -)
A17 (phase B, line driver -)
Orange (phase Z +)
B19 (phase Z, line driver +)
Orange/red (phase Z -)
A19 (phase Z, line driver -)
Brown (5 VDC) Counter 2
Example: E6B2-CWZ1X
with Line-driver Output Blue (0 V) (COM)

0V
+5V
Power supply: 5 VDC

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 Rotary Encoders Technical Guide

Example of Connection with CJ2M-CPU1@/CPU3@ + CJ2M-MD21@ SYSMAC Pulse I/O Module

Example of
E6A2-CWZ5C, E6C2-CWZ6C,
Applicable
E6C3-CWZ5GH, E6F-CWZ5G
Models
CJ2M Pulse I/O Modules
(Phase Difference Input Mode)
25 High-speed counter 0: Phase A, 24 V
Black Phase A
29 High-speed counter 0: Phase A, 0 V
Encoder
26 High-speed counter 0: Phase B, 24 V
(Power supply: 24 VDC)
White Phase B
30 High-speed counter 0: Phase B, 0 V
8 High-speed counter 0: Phase Z, 24 V CJ2M-CPU1@/CPU3@ + CJ2M-MD21@
Phase Z
12 High-speed counter 0: Phase Z, 0 V
Example: E6B2-CWZ6C Orange
+Vcc
NPN Open-collector Output
Brown
0V(COM)
Blue
Power supply 0V
24 VDC
+24V
• Up to two Pulse I/O Modules can be mounted to a CJ2M CPU Unit with unit <Value range mode>
version 2.0 or later. Each Pulse I/O Module allows you to use six inputs
Counting is performed within
(IN8, IN9, IN3, IN6, IN7, and IN2) to directly input pulses from rotary
Linear mode the range of the upper limit
encoders for application in built-in high-speed counters. and lower limit.
• The response speed is 60 kHz for single phase and the phase
difference (multiplier of 4) is 30 kHz. Counting can be performed Counting is performed by loop-
Ring mode ing the input pulse within the
from 0 to 4,294,967,295 pulses in incremental mode and from -
set range.
2,147,483,648 to 2,147,483,647 in incremental/decremental mode.
• Operating modes for the high-speed counter are set in the PLC Setup.
<Reset Method>
<Count Mode>
If software reset is ON, the
Incremental/decremental Phase Z and
present value will be reset
Phase differ- counting is performed using software re-
when the phase-Z input turns
ence input the phase difference be- set
ON.
mode tween phases A and B
(4-times multiplier constant). The present value will be re-
Software re-
set when software reset
Incremental/decremental set
Incement/ turns ON.
counting is performed using
decrement
phase A as the incremental
pulse input <Output Method>
pulse input and phase B as
mode
the decremental pulse input.
Up to 48 target values can be
Incremental/decremental set. When the present value
Target value
counting is performed using reaches a target value, the
Pulse and di- comparison
phase A as the pulse input specified subroutine is exe-
rection input
and phase B as the direction cuted.
mode
signal (i.e., incremental/dec-
Up to 8 ranges (upper and
remental).
lower limits) can be set.
Range com-
Incremental When the present value en-
Incremental counting is per- parison
pulse input ters a range, the specified
formed using phase A only.
mode subroutine is executed.

Example of E6B2-CWZ1X, E6C2-CWZ1X,

Applicable E6C3-CWZ3XH, E6H-CWZ3X with Line-driver Out-
Models put

CJ2M Pulse I/O Modules

(Phase Difference Input Mode)
Black A+
27 High-speed counter 0: Phase A, LD+
Black (striped) A-
Encoder 29 High-speed counter 0: Phase A, LD-
White B+
28 High-speed counter 0: Phase B, LD+
White (striped) B-
30 High-speed counter 0: Phase B, LD-
Orange Z+
10 High-speed counter 0: Phase Z, LD+ CJ2M-CPU1@/CPU3@ + CJ2M-MD21@
Orange (striped) Z-
Example: E6B2-CWZ1X 12 High-speed counter 0: Phase Z, LD-
with Line-driver Output
DC5V Power supply: 5 VDC
Brown
+5V
0V
Blue 0V

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 Rotary Encoders Technical Guide
General Precautions For precautions on individual products, refer to Safety Precautions in individual product information.

WARNING Precautions for Correct Use

These products cannot be used in safety devices for • Do not use a voltage that exceeds the rated voltage range.
presses or other safety devices used to protect Applying a voltage that is higher than the rated voltage range may
human life. These products are designed for use in cause explosion or burning.
applications for sensing workpieces and workers • Be sure that the power supply polarity and other wiring is correct.
that do not affect safety. Incorrect wiring may explosion or burning.
• Do not short-circuit the load. Doing so may cause explosion or
burning.
• Make sure the power is OFF before performing wiring work. If the
power is ON and an output wire contacts the power supply, the
output circuit may be damaged.
• Wire high-voltage lines or power lines separately from Encoder
wiring. If high-voltage lines are wired in parallel with Encoder wiring,
induction may cause malfunction or damage.

Precautions for Correct Use

●Mounting

Mounting Procedure Mounting

• Do not allow water or oil to splash on the Encoder.
1 Fit the coupling onto the shaft. Do not secure • The Rotary Encoder consists of high-precision components.
the coupling to
the shaft with
Dropping the Encoder may damage it. Exercise sufficient caution
screws. when handling the Encoder.
• When using reverse rotation, check the Encoder mounting direction
and the increment/decrement directions before mounting.
2 Secure the Encoder. • When aligning phase Z of the Encoder with the origin of the
machine in which the Encoder is installed, be sure to verify phase
Do not insert the Z output while mounting the Encoder.
shaft into the Amount of inser-
coupling beyond Coupling • Make sure that an excessive load is not placed on the shaft when
tion
the value indicat- the gears engage.
E69-C02B 3.2mm
ed at right. • When securing the Rotary Encoder with screws, tighten the screws
E69-C04B 5.2mm
to a torque of 0.49 N•m.
E69-C06B 5.5mm
• When using a coupling, do not exceed the following permitted
E69-C08B 6.8mm values.
E69-C10B 7.1mm
E69-C68B 6.8mm
E69-C610B 7.1mm
E69-C06M 8.5mm Eccentricity 0.15 mm max.
E69-C10M 10.5mm

3 Secure the coupling.

Coupling Tightening torque Angle devia-

tion
E69-C02B 0.08N•m 2˚ max.
E69-C04B 0.2N•m
E69-C06B 0.25N•m
E69-C08B
Radial dis-
E69-C10B 0.05 mm max.
0.44N•m placement
E69-C68B
E69-C610B
E69-C06M 0.7N•m • If there are large mounting errors (eccentricity or angle deviation),
E69-C10M 3.5N•m an excessive load will be placed on the shaft, causing damage and
an extremely shortened life.

4 Connect the power supply and I/O wires. Always turn OFF
the power supply
before wiring.

5 Turn ON power and check output.

Mounting
• When connecting with a chain timing belt and gears, hold the shaft
with a bearing and use a coupling to join to the Encoder.

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 Rotary Encoders Technical Guide

Chain sprocket Coupling Life of Rotary Encoder Bearings

E6A2-C
Bearing The life of bearings when a radial load and thrust load are applied are
Rotary Encoder
shown in the following graphs (theoretical value).
E6B2-C
5

Life (x 109 rotations)

Ws: Wr
Ws: 20N
25N Encoder Ws
4
Shaft
Wr: Radial load
E6B2-C Ws: Thrust load
Chain sprocket Coupling 3 Ws:30N
E6D-C Bearing Rotary Encoder

2
Ws:40N

E6C2-C 0 10 20 30 40 50
Chain sprocket
Radial load Wr (N)
Bearing
Coupling Rotary Encoder E6C2-C@
5

Life (x109 rotations)

Ws: Ws: Ws:
Ws: 30N 20N 10N

4 40N

3
E6C3-C@H Chain sprocket
E6C3-A Bearing
Coupling Rotary Encoder 2
Wr

Encoder Ws
1
Axis
Wr: Radial load
Ws: Thrust load
0 10 20 30 40 50
Radial load Wr (N)
• When inserting the coupling into the shaft, do not tap it with a E6C3-C@H
hammer or apply any other type of shock.
Life (x1010 rotations)

• When attaching or detaching the coupling, do not bend, compress, 3.5 Ws:10N Wr
or pull excessively on the coupling. 3 Encoder Ws

Axis
2.5 Wr: Radial load
Ws: Thrust load
Ws:20N
2

1.5
Ws:30N
Ws:
1 40N
Ws:50N
0.5
Ws:60N

0 20 40 60 80 100
Radial load Wr (N)

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 Rotary Encoders Technical Guide

●Wiring Connecting
• If connecting the cable after securing the Encoder, do not pull on Connection
the cable with a force of 29.4 N or greater. • When extending the cable, check the cable type and response
E6A2-C frequency. Wire resistance and capacitance between wires may
E6J-A/C amplify residual voltage and cause waveform distortions. If the
30 N max. cable is extended, it is recommended to use a line-driver output.
Regardless of the output type, only lengths of 30 m or less comply
with the EMC Directive.
Rotary Encoder Cable To avoid inductive noise, keep the cabling as short as possible
Lock plate (particularly when inputting to an IC).
• If surges occur in the power supply, connect a surge absorber
E6B2-C Rotary Encoder between the power supply and the Encoder. To reduce noise, keep
E6D-C the wiring as short as possible.
• Spurious pulses may be generated when the power is turned ON or
OFF. Wait 0.1 s after turning ON the power before using the
connected device, and stop using the connected device 0.1 s (1 s
for E6CP-A) before turning OFF the power to the Encoder.
Cable 29.4 N max. • Inrush current will flow when the power is turned ON. Take the
value of the inrush current into consideration before using the
Lock plate power supply.
E6C2-C Rotary Encoder

Cable
30 N max.

Lock plate

E6C3-C@H Rotary Encoder

E6C3-A

30 N max.
Lock
plate
Cable

• If connecting the cable after securing the Encoder, do not pull on

the cable. Also do not apply shock to the Encoder or shaft.

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 Rotary Encoders Technical Guide

Cable Extension Characteristics Extending the Cable When Using a Line-driver Output
• When the cable length is extended, the output waveform startup • Be sure to use shielded twisted-pair cable when extending the
time is lengthened and it affects the phase difference cable for a line-driver output. (Recommended Cable: TKVVBS4P-
characteristics of phases A and B. 02T from Tachii Electric Wire Co.)
• The output waveform startup time changes not only according to Use an RS-422A Receiver for the receiver side.
the length of the cable, but also according to the load resistance • The structure of twisted-pair cable is suitable for RS-422A
and the cable type. transmission. By twisting the two outputs as shown in the following
• Extending the cable length not only changes the startup time, but diagram, electromotive force occurring in the wires is reciprocally
also increases the output residual voltage. canceled, and the noise element of normal mode is eliminated.
<E6B2-CWZ6C> E E
Output rise time tLH (µs)

28

Output residual voltage VOL (V)

1.4 Twisted pair

24 1.2 E E
• When using a line-driver output, a power supply of 5 VDC is needed
20 1.0
for the Encoder. The voltage will drop approximately 1 V per 100 m
16 0.8 of cable.
<Using a Line Receiver IC>
12 0.6 Recommended IC: ICs from Texas Instruments Incorporated
AM26C32
8 0.4 0.4

Output rise/fall time (µs)

V OL
4 0.2 0.35
t LH
0 0 0.3
1 2 5 10 20 50 100 200 Output fall time
Cable length (m) 0.25
Measurement Example
Power supply voltage: 5 VDC
0.2
Load resistance: 1 kΩ (Output residual voltage is measured
at a 35 mA load current.)
Cable: Special Cable 0.15

<E6C2-CWZ5B> 0.1
Output residual voltage VOH (V)
Output fall time tHL (µs)

30 1.6
0.05 Output rise time
28 1.4
0
24 1.2 2 5 10 50 100
Cable length (m)
20 1.0
<Connections>
16 0.8
To extend the line receiver, soldering or using a connector is
12 0.6 preferred. Connection through a terminal block should be avoided to
help prevent sneak noise.
8 0.4 There are no standards for the RS-422 connectors. Select them
VOH
tHL carefully.
4 0.2

0 0
1 2 5 10 20 50 100 200
● Operating Environment
Cable length L (m)
Measurement Example Ambient Conditions
Power supply voltage: 12 VDC
Load resistance: 5 mA (Output residual voltage is At low temperatures (0°C or less), the vinyl cable will harden and the
measured at a 35-mA load current.) wires may break if the cable is bent. Do not bend a Standard or Robot
Cable: Special Cable Cable at low temperature.

Preventing Counting Errors

Spurious pulses due to vibration may cause counting errors if the
shaft is stationary near the rise or fall of the signal. Using an up/down
counter can prevent the counting of error pulses.

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 Rotary Encoders Technical Guide

●Others The following diagram shows converting gray code to binary using
programming.
Input to More than One Counter from Encoder
<Ladder Program Example>
(with Voltage Output)
00009
To connect multiple identical counters to one Encoder, use the 20009
following equation to determine the number of counters that can be 00008 20009
20008
connected. 00008 20009
R1(E - V) 00007 20008
Number of connectable counters N = 20007
V·R2 00007 20008

00006 20007
+E 20006
00006 20007
R2
+V 00005 20006
20005
00005 20006
0V
00004 20005 The gray code is converted to
Encoder 20004
00004 20005 binary and placed in IR 200.
output circuit R1 R1 Bits 10 to 15 of IR200 are set
Counter Counter 00003 20004 to 0. (These bits are not used.)
20003
Connectable number N 00003 20004

E : Power supply voltage of Encoder 00002 20003

20002
V : Input voltage of counter (min. value) 00002 20003
R1 : Input resistance of counter
00001 20002
R2 : Output resistance of Encoder 20001
00001 20002
Gray Code ➝ Binary Code Conversion 00000 20001
• This section explains how to convert gray code into binary values 20000
00000 20001
using PLC (Programmable Controller) ladder programming when
the resolution is 720.
Note: The ladder program example above is for a CPM1A PLC. Check the
ladder programming with the model being considered for use.
First, the following table shows a wiring example.
Encoder output signal PLC input signal • To convert gray code to binary code, refer to the circuits in the
following diagram.
Brown (20) 00000
Orange (21) 00001 E6CP Red
+Vcc
Yellow (22) 00002 (See note 1.) Vin
(See note 3.)
Green (23) 00003 White
27
Blue (24) 00004 (See note 2.)
Violet (25) 00005 Gray
26
Gray (26) 00006
White (27) 00007 Violet
25
Pink (28) 00008
Empty (29) 00009 Blue
24
Binary code
Green
23

Yellow 22

Orange 21

Brown
20

Black
0V

Note: 1. Vin can be connected to 0 V to convert to positive logic binary code.

2. Inverter
3. Exclusive OR

15
MEMO

16