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Basics of Incremental Encoders
Outputs - RS 422 - TTL
OUTPUT CIRCUIT
+ DC 5 V
Screen 1
Output Recommended input circuitry
1 Cable screen:
- not existing for RI 32, 38, 42,
- connected to encoder housing for RI 30, 36, 58, 59, 76 and RA 70
TECHNICAL DATA Code letter R = RS 422 + Alarm3 (with UB = DC 5 / 10 - 30 V)
T = RS 422 + Sense4 (only with UB = DC 5 V)
Output signals shaft
turning clockwise (cw) Square wave pulses
seen from front (TTL) for channels A, B, N
of encoder and their inverted
signals A , B , N
Delay times
at 1,5 m cable
≤ 100 ns ≤ 100 ns
Pulse shape
Pulse duty factor 1:1
Phasing 90° ±25° electrical
Symmetry 180° ±25° electrical
Max. Output frequency 300 kHz
Output voltage DC 0 ... +5 V 2
Output level H ≥ DC 2,5 V / L ≤ DC 0,5 V (TTL-level)
Output load max. ±30 mA
Short circuit protection with UB = DC 5 V: only 1 channel at a time for max. 1 s
(Standard RS 422-driver)
with UB = DC 10 - 30 V: short circuit proof for all channels
due to integrated controller
Pole protection of UB with UB = DC 5 V: no with bei UB = DC 10 - 30 V: yes
1 Distance A to B is at least 0,45 μs (at 300 kHz) 3 Description - see Outputs Alarm
2 also for UB = DC 10 - 30 V 4 Description - see Outputs Sense
CABLE LENGTH depending on voltage and fequency (at 25 °C) 1:
Length RS 422
10 m DC 5 V, 300 kHz
50 m DC 5 V, 300 kHz
100 m DC 5 V, 300 kHz
1 with Hengstler accessory cables
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Basics of Incremental Encoders
Outputs - Push-pull
OUTPUT CIRCUIT
screen 1
output Recommended input circuitry
1 Cable screen:
- not existing for RI 32, 38, 42
- Not connected to encoder housing for bei RI 41
- Connected to encoder housing for RI 30, 36, 58, 59, 76 and RA 70
TECHNICAL DATA Code letter K = push-pull, 10 mA with UB = DC 5 V
or push-pull, 30 mA with UB = DC 10 - 30 V
D = push-pull, 30 mA with UB = DC 5 V
Output signals shaft
turning clockwise (cw) Square wave pulses
seen from front (TTL or HTL) for
of encoder channels A, B, N
Delay times ≤ 100 ns (DC 5 V, push-pull D)
at 1,5 m cable ≤ 250 ns (DC 5 V, push-pull K)
≤ 2 μs (DC 10 - 30 V, push-pull K)
Pulse shape
Pulse duty factor 1:1
Phasing 90° ±25° electrical
Symmetry 180° ±25° electrical
Max. Output frequency 300 kHz (see cable length)
Output voltage 0... + UB
Output level K K D
push-pull (DC 10 - 30 V) push-pull (DC 5 V) push-pull (DC 5 V)
H ≥ UB -3V H ≥ 2,5 V H ≥ 2,5 V
L≤2V L ≤ 0,5 V L ≤ 0,5 V
Output load max. ±30 mA ±10 mA ±30 mA
Short circuit protection all channels all channels 1 channel 2
Pole protection of UB yes yes no
1 Distance A to B is at least 0,45 μs (at 300 kHz)
2 only 1 channel at a time for max. 1 s
CABLE LENGTH depending on voltage and fequency (at 25 °C) 1:
Length push-pull (K) push-pull (D) push-pull (K)
DC 5 V, 10 mA DC 5 V, 30 mA DC 10 - 30 V, 30 mA
10 m 300 kHz 300 kHz DC 12 V, 200 kHz
DC 24 V, 200 kHz
DC 30 V, 200 kHz
50 m 300 kHz DC 12 V, 200 kHz
DC 24 V, 200 kHz
DC 30 V, 100 kHz
100 m 300 kHz DC 12 V, 200 kHz
DC 24 V, 100 kHz
DC 30 V, 50 kHz
1 with Hengstler accessory cables
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Basics of Incremental Encoders
Outputs - push-pull complementary
OUTPUT CIRCUIT
DC 10 - 30 V
DC 10 - 30 V
Screen1
1 cable screen connected with encoder housing
TECHNICAL DATA Code letter I = push-pull complementary (with UB = DC 10 - 30 V)
Output signals shaft
turning clockwise (cw)
Square wave pulses (HTL)
seen from front
for channels A, B, N
of encoder
and their inverted
signals A , B , N
Delay times
at 1,5 m cable
≤ 250 ns ≤ 250 ns
Pulse shape
Pulse duty factor 1:1
Phasing 90° ±25° electrical
Symmetry 180° ±25° electrical
Nax. output frequency 200 kHz (see cable length)
Output voltage 0 ... + UB
Output level H ≥ UB -3 V / L ≤ 2 V
Output load max. ±30 mA
Short circuit protection short circuit proof for all channels
due to integrated controller
Pole protection of UB yes
1 Distance from A to B is at least 0,7 μs (at 200 kHz)
CABLE LENGTH depending on voltage and fequency (at 25 °C) 1:
Length push-pull complementary
10 m DC 12 V, 200 kHz
DC 24 V, 200 kHz
DC 30 V, 200 kHz
50 m DC 12 V, 200 kHz
DC 24 V, 50 kHz
DC 30 V, 25 kHz
100 m DC 12 V, 150 kHz
DC 24 V, 25 kHz
DC 30 V, 12 kHz
1 with Hengstler accessory cables
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Basics of Incremental Encoders
Outputs - Alarm
OUTPUT CIRCUIT
TECHNICAL DATA Output NPN - Open collector
Output load max. 5 mA / 24 V at UB = DC 5 V
5mA / 32 V at UB = DC 10- 30 V
Output level Output active (failure condition): L ≤ DC 0,7 V
Output inactive: high impedance (if necessary: get H-level
by an external pull-up resistor)
Malfunction indication time ≥ 20 ms
FUNCTION The rotary encoders are equipped with an electronic monitoring system that reports
potential malfunctions via a separate alarm output.
The alarm output can be used for selecting an optical display (LED; for circuit, see above) or
the control system (SPC or similar).
Moreover, the alarm outputs of several encoders can be interconnected to a common
“systems alarm” by means of a parallel connection. The following errors are indicated:
Category I Category II Category III
- damaged disks - overtemperature - voltage range
DC 1 V < U < DC 4 V
- defective LED - overload (e. g. - voltage drop on the
due to short circuit) supply lines
- contamination
Category I malfunctions cannot be corrected; the encoder must be replaced.
Category II malfunctions are detected by means of a thermal monitoring unit in the electronic
system. The alarm message is cleared after the cause of temperature increase has been
removed.
Category III malfunctions indicate insufficient supply voltage. Also included in this category
are transients in the supply voltage, e.g. due to electrostatic discharge, which may distort
the output signals.
This is corrected by
- readjustment to the correct voltage
- eliminating the cause of disturbance, i.e. by careful arrangement of the cables.
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Basics of Incremental Encoders
Outputs - Sense at 5 V RS 422 (T)
OUTPUT CIRCUIT
1 Voltage drop due to long cable lengths
2 Automatic readjustment of the output voltage
(only for power packs with sense input)
FUNCTION The sense wires enable measuring of the actual encoder supply voltage (compensates for
voltage drops due to supply current and cable resistance).
Due to the voltage drop in the cables and the voltage supply, the encoder input voltage Uin
is less than the power pack output voltage Uout.
The present input voltage Uin is now output to the Sense VCC and Sense GND cables and
returns as data to the power pack.
The input resistance Ri on the power pack should amount to at least 22 MOhm so that no
voltage drop occurs on these cables.
In case of power packs with sense input, it is now possible to readjust the output voltage Uout
automatically.
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