Canon’s Technology Has Changed the World of Rotary Encoders: 81 000 Pulses with 36mm Diameter
Canon R-1 series Laser Rotary Encoders offer high performance (high resolution, accuracy, & precision) in a very compact 36mm diameter body. All models utilize semiconductor laser diode, high precision grating disk, and diffraction & intereference position sensing methodology.
- Compact and lightweight.
- High resolution : 81,000 pulses/rev, equal to 16 arc second for each pulse (without interpolator).
- Open collector output.
- Maximum frequency response of 500kHz.
Specifications
|
|
R-1SO | R-1SL | R-1P32 | ||
| Light Source | Semiconductor Laser 780nm, 5mW max. | ||||
| Pulse / Revolution | 81000 | 648000 (interpolated) | |||
| Resolution | 4 arc-sec | 0.5 arc-sec | |||
| Maximum Response | 500kHz (360rpm) | 2.4MHz (222rpm) | |||
| A,B Phase Output |
Output Signal | 2 Phase Rectangle Wave Incremental Signal | |||
| Signal Type | Open Collector | Balanced Line Driver | |||
| Phase Difference | 90º ± 10º | ||||
| Z Phase Reference |
Output Signal | Rectangle Wave Signal | |||
| Signal Type | Open Collector | Line Driver | |||
| Pulse Width | 500~1250nsec | ||||
| Maximum Permissible Rotating Speed | 5000rpm | ||||
| Starting Torque | 9g-cm or less | ||||
| Rotor Inertia Moment (GD2) | 8gcm2 | ||||
| Power Supply | Voltage | ±5V DC, ±5% | |||
| Current (no output load) |
+5V: 200mA max. | +5V: 250mA max. | +5V: 250mA max. | ||
| -5V: 100mA max. | |||||
| Outer Diameter | 36mm | ||||
| Weight ( without cable ) | 80g | ||||
| Ambient Conditions | Operating Temperature | 0 ~ 50ºC | |||
| Storage Temperature | -30 ~ 80ºC | ||||
| Humidity | 90% RH or less (no condensation) | ||||
As illustrated in the diagram, laser beams are applied to two points equidistant from the grating disc points equidistant from the grating disc s' center of revolution center of revolution. One diffraction beam is positive first order (+1) and the other is negative first order (-1). For each 1 pitch that the grating disc revolves, the ±1 diffraction light will change each phase by ±2π. Reflecting the ±1 diffraction light into respective mirrors and then reapplying it to the grating disc changes the phase by ±4π. In this way, each time the grating disc revolves 1 pitch, the brightness interference signals for 4 cycles can be obtained, making highly accurate angle sensing possible.
