Slim Encoder with Diameter of 50 mm E6C3-A CSM_E6C3-A_DS_E_8_1 Rugged Rotary Encoder • Absolute model. External diameter of 50 mm. Resolution of up to 1,024 (10-bit). IP65 (improved oil-proof protection with sealed bearings) Optimum angle control possible in combination with PLC or Cam Positioner. For the most recent information on models that have been certified for safety standards, refer to your OMRON website. Be sure to read Safety Precautions on page 7. Ordering Information Encoders [Refer to Dimensions on page 8.] Power supply Output configu- Output Resolution (pulses/rotation) Connection method Model voltage ration code Pre-wired Connector E6C3-AG5C-C (resolution) 1M 256, 360, (720) *2 Model (1 m) Example: E6C3-AG5C-C 256P/R 1M Gray E6C3-AG5C (resolution) 1M 256, 360, 720, 1,024 Example: E6C3-AG5C 256P/R 1M Open-collector output (NPN) E6C3-AN5C (resolution) 1M Binary 32, 40 Example: E6C3-AN5C 32P/R 1M E6C3-AB5C (resolution) 1M 12 to 24 VDC BCD 6, 8, 12 Example: E6C3-AB5C 6P/R 1M E6C3-AG5B (resolution) 1M Pre-wired Model (1 m) Gray 256, 360, 720, 1,024 *1 Example: E6C3-AG5B 256P/R 1M E6C3-AN5B (resolution) 1M Open-collector Binary 32, 40 output (PNP) Example: E6C3-AN5B 32P/R 1M E6C3-AB5B (resolution) 1M BCD 6, 8, 12 Example: E6C3-AB5B 6P/R 1M 5 VDC E6C3-AN1E 256P/R 1M Voltage output Binary 256 12 VDC 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-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 E69-C08B --- Couplings E69-C68B Different end diameter (6 to 8 mm) E69-FCA03 --- Flanges E69-FCA04 E69-2 Servo Mounting Bracket provided. Servo Mounting Bracket E69-2 Provided with E69-FCA04 Flange. E69-DF5 5 m Applicable to the E6C3-AG5C-C. Extension Cable E69-DF10 10 m Models are also available with 15-m and 98-m cables. E69-DF20 20 m Refer to Accessories for details. 1 E6C3-A Ratings and Specifications E6C3- E6C3- E6C3- E6C3- E6C3- E6C3- E6C3- E6C3- E6C3- Item Model AG5C-C AG5C AN5C AB5C AG5B AN5B AB5B AN1E AN2E 5 VDC 12 VDC Power supply voltage 12 VDC −10% to 24 VDC +15%, ripple (p-p): 5% max. ±5% ±10% Current consumption*1 70 mA max. Resolution*2 256, 360, 256, 360, 256, 360, 32, 40 6, 8, 12 32, 40 6, 8, 12 256 (pulses/rotation) 720 720, 1,024 720, 1,024 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: 2.4 kΩ 8.2 kΩ Applied voltage: 30 VDC max. Source current: 35 mA max. 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 μs Rise: 10 μs max., max., Rise and fall times of output 1 μs max. (Cable length: 2 m, Sink current: 35 mA) Fall: 1 μs Fall: 1 μs max. max. Maximum response 20 kHz 10 kHz frequency*3 Logic Negative logic (high = 0, low = 1) Positive logic (high = 1, low = 0) Switched using rotation di- Direction of rotation*4 Output code increases for CW (as viewed from end of shaft). rection input. Strobe signal None Supported None Supported None Positioning signal None Supported None Supported None Supported Supported Parity signal None None None (even) (even) Starting torque 10 mN·m max. at room temperature, 30 mN·m max. at low temperature −6 2 Moment of inertia 2.3 × 10 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 MΩ 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 2 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 2 Shock resistance Destruction: 1,000 m/s 3 times each in X, Y, and Z directions Degree of protection IEC 60529 IP65, in-house standards: oilproof Connector Connection method Pre-wired Models (Standard cable length: 1 m) Models *6 Material Case: Aluminum, Main unit: Aluminum, Shaft: SUS303 Weight (packed state) Approx. 300 g Accessories Instruction manual Note: Coupling, mounting bracket and hex-head spanner are sold separately. *1. An inrush current of approximately 6 A will flow Maximum response frequency Maximum electrical response speed (rpm) = × 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 *2. The code is as follows: electrical response speed. Output Resolu- *4. Code No. For the E6C3-AN1E and E6C3-AN2E, 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 120˚ decrease the output code for CW rotation. Binary 40 1 to 40 E6C3-AN1E: High = 1.5 to 5 V, Low = 0 to 0.8 Cut face D 256 0 to 255 V 6 0 to 5 E6C3-AN2E: High = 2.2 to 12 V, Low = 0 to 1.2 V BCD 8 0 to 7 Read the code 10 μs or more after the LSB 12 0 to 11 0 (2 ) of the code changes for the E6C3-AN1E 256 0 to 255 40 dia. or E6C3-AN2E. 120˚ *5. 360 76 to 435 (gray after 76) The minimum address of the absolute code is Gray output when cut face D on the shaft and the 720 152 to 871 (gray after 152) cable connection direction are as shown in the 1,024 0 to 1,023 diagram at the right (output position range: ±15°). *3. The maximum electrical response speed is *6. Resolution of 360 or 720: Standard cable determined by the resolution and maximum length: 2 m response frequency as follows: Resolution of 256: Standard cable length: 1 m 2 E6C3-A I/O Circuit Diagrams Model E6C3-AG5C/-AG5C-C E6C3-AG5B E6C3-AN5C E6C3-AN5B 12 to 24 V 12 to 24 V 12 to 24 V 12 to 24 V Output Output Output Output E6C3-A E6C3-A E6C3-A E6C3-A 35 mA max. 35 mA 35 mA max. 35 mA main circuit main circuit main circuit Output 30 VDC main circuit 30 VDC max. max. 0 V 0 V 0 V 0 V Circuits Shield Shield Shield Shield GND GND GND GND Note: The circuit is the same for Note: The circuit is the same for Note: The circuit is the same for Note: The circuit is the same for all bit outputs. all bit outputs. all bit outputs. all bit outputs. Each E6C3-A Rotary Encoder Each E6C3-A Rotary Encoder Each E6C3-A Rotary Encoder Each E6C3-A Rotary Encoder has one main circuit. has one main circuit. has one main circuit. has one main circuit. Direction of rotation: CW (as viewed from the end of the shaft) Direction of rotation: CW (as viewed from the end of the shaft) Resolution/40 No. 1 5 10 15 20 25 30 35 40 ON 0 Strobe ON 2 OFF OFF signal ON 0 ON 1 2 2 OFF OFF ON 1 2 OFF ON 2 2 ON OFF 2 2 OFF ON ON 3 3 2 2 OFF OFF ON 4 2 ON OFF 4 2 ON OFF 5 2 Output OFF ON Parity ON 5 2 mode OFF OFF signal ON 6 2 OFF 360˚ 9˚ 18˚ 27˚ ON 7 2 OFF Resolution of 32 Absolute angle C 2.25˚ 2.25˚ ON A = 11.25˚ 8 2 OFF B = 6˚ B Strobe 4.5˚ ON 9 signal 2 C = 3˚ A OFF 9˚ 0 1 2 3 4 5 6 7 8 9 1011121314151617181920212223242526272829303132333435363738394041424344454647484950515253545556575859606162636465 Address 0.5˚ min. 0.5˚ min. Other bit signals Connection Specifications Connector Models 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) 10-bit (720 or 8-bit (256) 9-bit (360) 9 Wire color 1,024) 1 Not connected 2 Connected } 0 0 0 8 8 Brown 2 2 2 internally 2 2 2 1 1 1 5 5 5 Orange 2 2 2 3 2 2 2 2 2 2 1 1 1 Yellow 2 2 2 4 2 2 2 3 3 3 0 0 0 Green 2 2 2 5 2 2 2 4 4 4 7 7 7 Blue 2 2 2 6 2 2 2 5 5 5 4 4 4 Purple 2 2 2 7 2 2 2 6 6 6 2 2 2 Gray 2 2 2 8 2 2 2 7 7 7 3 3 3 White 2 2 2 9 2 2 2 8 8 6 6 6 Pink Not connected 2 2 10 2 2 2 9 Light blue Not connected Not connected 2 11 Shield (ground) --- Shield (ground) 12 12 to 24 VDC Red 12 to 24 VDC 13 0 V (common) Black 0 V (common) * Connector: RP13A-12PD-13SC (Hirose Electric Co., Ltd.) Note: Normally connect GND to 0 V or to an external ground. 3 E6C3-A I/O Circuit Diagrams Model E6C3-AB5C E6C3-AB5B E6C3-AN1E E6C3-AN2E 12 VDC 5 VDC 8.2 2.4 kΩ kΩ Output Output E6C3-A 35 mA E6C3-A 35 mA main circuit max. main circuit max. 0 V 0 V Shield 12 to 24 V 12 to 24 V Shield GND GND Output Output Note: The circuit is the same for all E6C3-A E6C3-A Note: The circuit is the same for all 35 mA max. 35 mA bit outputs. main circuit main circuit 30 VDC bit outputs. Output max. 0 V 0 V circuits Shield Shield GND Rotation Direction Input Circuit GND Note: The circuit is the same for all Vcc (5 V or 12 V) Note: The circuit is the same for all bit outputs. bit outputs. E6C3-A Input main circuit Note: If the input is connected to Vcc, the output will increase for CW rotation 0 V and if the input is connected to 0 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. No. 0 1 2 3 4 5 6 7 8 9 10 11 Positioning ON signal OFF ON Strobe OFF Shaft angle: ° signals ON 360˚ 0 2 OFF T±T/2 T±T/2 0 ON 2 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 1 2 (H) OFF 1 (L) ON 2 2 2 OFF 2 ON 2 3 2 OFF Output 3 ON 2 0 2 × 10 OFF mode 4 2 5 2 6 2 0˚ 30˚ 60˚ 90˚ Absolute Resolution of 8 C 7 2 angle 7.5˚ 7.5˚ A = 45˚, B = 22.5˚ T=360˚/256≈1.4˚ C = 11.25˚ Strobe signal B Resolution of 6 15˚ A A = 60˚, B = 30˚ 30˚ 0.5˚ 0.5˚ Positioning C = 15˚ signal 1˚ Connection Specifications Pre-wired Models Model E6C3-AN5C/-AN5B E6C3-AB5C/-AB5B E6C3-AN1E/-AN2E Output signal Output signal Output signal Wire color 6-bit (32 or 40) 3-bit (6 or 8) 5-bit (12) 8-bit (256) 0 0 0 0 Brown 2 2 2 2 1 1 1 1 Orange 2 2 2 2 2 2 2 2 Yellow 2 2 2 2 3 3 3 Green 2 Not connected 2 2 4 0 4 Blue 2 Not connected 2 × 10 2 5 5 Purple 2 Not connected Not connected 2 6 Gray Parity Positioning Positioning 2 7 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 0 V or to an external ground. 4 E6C3-A Connection Example H8PS Cam Positioner Connection Example Ordering Information Specifications Rated voltage 24 VDC Model Cam precision 0.5° (for 720 resolution), 1° (for 256/360 resolution) H8PS-8A H8PS 8-point output type: H8PS-8AP 8 cam outputs, 1 RUN output, 1 pulse output H8PS-8AF 16-point output type: No. of output points 16 cam outputs, 1 RUN output, 1 pulse output H8PS-8AFP E6C3-AG5C-C 32-point output type: H8PS-16A 32 cam outputs, 1 RUN output, 1 pulse output H8PS-16AP RUN mode, test mode: 256/360 resolution ..... 1,600 r/min max. (1,200 r/min when H8PS-16AF 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) • Origin compensation (zeroing) H8PS-32AP • Rotation direction switching H8PS-32AF • Angle display switching H8PS-32AFP • Teaching • Pulse output Additional functions • Angle/number of rotations display switching • Puncture * • Angle advance • Number of rotations alarm output • Setting with support software (order separately) * * For 16-point and 32-point output types only 5 E6C3-A Programmable Controller Connection Example Connection to the CP1E Wiring between the E6C3-AG5C and CP1E Output Timing (720 Resolution) E6C3-AG5C out- CP1E input E6C3-AG5C angle put signal signal 0 90 180 360 540 659 E6C3-AG5C 0 Brown (2 ) 00000 01000 1 Orange (2 ) 00001 2 01001 Yellow (2 ) 00002 3 Green (2 ) 00003 01002 CP1E-N20D@-@ 4 Blue (2 ) 00004 5 Purple (2 ) 00005 6 Gray (2 ) 00006 7 White (2 ) 00007 8 Pink (2 ) 00008 9 Light blue (2 ) 00009 Ladder Programming Example DM Area Setting Example for Comparison Table 00009 Always ON Flag DM6200 0000 Lower limit 1 20009 25313 Bit CIO 20300 Converted to binary 6201 0540 Upper limit 1 BCD(24) 00008 20009 (CIO 200) and BCD 20008 200 6202 0090 Lower limit 2 (CIO 201). 201 Bit CIO 20301 00008 20009 6203 0360 Upper limit 2 6204 0180 Lower limit 3 00007 20008 Bit CIO 20302 6205 0659 Upper limit 3 20007 CLC (41) (0) is set to carry flag. 6206 0000 Lower limit 4 00007 20008 Not used in Resolution is 720, so 152 is this example. 00006 20007 subtracted. SUB(31) 20006 201 No subtraction would be 6231 0000 Upper limit 16 necessary for resolution of 256 00006 20007 #0152 202 or 1,024. If resolution was 360, 76 would 00005 20006 be subtracted. 20005 TABLE COMPARE Instruction 00005 20006 BCMP(68) If the Encoder value (CIO 202) 202 is within a range in the Converts gray DM6200 00004 20005 conversion table set in DM 20004 code to binary 203 6200 to DM 6231, the (CIO 200). 00004 20005 corresponding bit in CIO 203 Sets the unused will turn ON. 20300 bits (10 to 15 bits) 00003 20004 01000 of CIO 200 to 20003 unused (always 0). 20301 00003 20004 01001 Output 20302 00002 20003 01002 20002 00002 20003 00001 20002 20001 00001 20002 00000 20001 20000 00000 20001 For details, refer to the following manual: CP1E-E@@SD@-@/CP1E-N@@S@D@-@/CP1E-E@@D@-@/CP1E-N@@D@-@/ CP1E CP1E-NA@@D@-@ SYSMAC CP Series CP1E CPU Unit Instructions Reference Manual (Cat. No. W483). 6 E6C3-A Safety Precautions Refer to Warranty and Limitations of Liability. WARNING 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. ● Wiring Connections Cable Extension Characteristics • Conditions will change according to frequency, noise, and other factors. As a guideline, use a cable length of 10 m* or less. * Recommended Cable 2 Conductor cross section: 0.2 mm Spiral shield Conductor resistance: 92 Ω/km max. (20°C) Insulation resistance: 5 Ω/km min. (20°C) • 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. • Extending the cable length not only changes the startup time, 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. 7 E6C3-A (Unit: mm) Dimensions Tolerance class IT16 applies to dimensions in this datasheet unless otherwise specified. Encoder (58) E6C3-A@5@ 20 38 Cut face D: Smallest adress position (±15˚) E6C3-AN@E (15) 5 120˚±0.1 10 1 40±0.1 dia. +0 8 dia. −0.018 12 dia. 1 0 dia. 30 -0.021 50 dia. Three, M4 holes; 6 Depth: 5 120˚±0.1 mm 8.8 10 6 Note: The E69-C08B Coupling is sold separately. 6-dia. oil-resistant PVC-insulated shielded cable with 12 2 conductors (Conductor cross section: 0.2 mm , Insulator diameter: 1.1 mm), Standard length: 1 m (58) E6C3-AG5C-C 20 38 Cut face D: Smallest adress position (±15˚) (15) 5 120˚±0.1 10 1 40±0.1 dia. +0 8 dia. -0.018 12 dia. 1 +0 dia. 30 -0.021 50 dia. Three, M4 holes; 6 Depth: 5 120˚±0.1 mm Connector: RP13A-12PD-13SC 8.8 10 (Hirose Electric Co., Ltd.) 6 37 Note: The E69-C08B Coupling is sold separately. 6-dia. oil-resistant PVC-insulated shielded cable with 12 2 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 34.6 5,000 37 16.9 dia. 16.9 dia. *2 *1 *3 *1. 6-dia. oil-resistant PVC-insulated shielded cable with 12 conductors (Conductor cross section: 2 0.2 mm , Insulator diameter: 1.1 mm), Standard length: 5 m *2. Connects to connector on E6C3-AG5C-C. *3. 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. 8 Terms and Conditions Agreement Read and understand this catalog. Please read and understand this catalog before purchasing the products. Please consult your OMRON representative if you have any questions or comments. Warranties. (a) Exclusive Warranty. Omron’s exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, express or implied. (b) Limitations. OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE. 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Omron Companies shall not be responsible for conformity with any standards, codes or regulations which apply to the combination of the Product in the Buyer’s application or use of the Product. At Buyer’s request, Omron will provide applicable third party certification documents identifying ratings and limitations of use which apply to the Product. This information by itself is not sufficient for a complete determination of the suitability of the Product in combination with the end product, machine, system, or other application or use. Buyer shall be solely responsible for determining appropriateness of the particular Product with respect to Buyer’s application, product or system. Buyer shall take application responsibility in all cases. NEVER 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 PRODUCT(S) IS PROPERLY 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 suitability 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 requirements. 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 practice to change part numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the Product may be changed without any notice. When in doubt, special 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. Information 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. 2015.4 In the interest of product improvement, specifications are subject to change without notice. OMRON Corporation Industrial Automation Company http://www.ia.omron.com/ (c)Copyright OMRON Corporation 2015 All Right Reserved.