Technical Description

Overview ● Absolute rotary encoder (A)

The absolute rotary encoder divides from 0° to 360° as Photoelectric
It is being digitalized and accelerated with built-in micro Sensors
certain rate and specifies electrical digital code (BCD,
processor because of development of computer.
Binary, Gray code) to the each divided angle position. (B)
It is widely used in industrial NC, ROBOT, servo motors Fiber
The absolute rotary encoder as the absolute angle Optic
and OA equipment in order to detect accurate location and Sensors
sensor outputs the specified digital code according to the
operating speed and to provide some feedback.
rotational shaft position. Due to no impact on the electric (C)
Rotary encoder is a device that converts shaft's rotation Door/Area
characteristics, this encoder does not need memory Sensors
angle into electrical signals (pulse) and provides an output.
retention circuit against power failure and has high noise
In case of incremental type, rotation direction is detected by
immunity. (D)
Proximity
A, B phase output timing. Sensors
Light emitting
In case of absolute type, rotation direction is detected by Light receiving element
element
increment/decrement of output code. (PDA element) (E)
Pressure
The absolute type does not need zero point return due to Sensors

the code for rotation angle output.

(F)
Fixed slit Rotary
Encoders

(G)

Principle Of Operation Rotating shaft

Connectors/
Connector Cables/
Sensor Distribution
Optical rotary encoder Boxes/Sockets

● Incremental rotary encoder Rotating slit (H)

Temperature
Incremental rotary encoder consists of a rotating slit which Controllers

is painted black pattern and a fixed slit between light

Magnetic rotary encoder
emitting elements and light receiving elements. By rotating Magnetic rotary encoder is operated by processing signal (I)
SSRs / Power
encoder's shaft, light from the light emitting elements of magnetic field change from rotated magnet. Controllers

passes through these silts, or is blocked. The passing light Autonics magnetic rotary encoder is absolute type.
is converted as current signal by light receiving element. The absolute rotary encoder divides from 0° to 360° as (J)
Counters
This current signal outputs square wave pulse through a certain rate and specifies electrical digital code (BCD,
wave shaping circuit and an output circuit. Incremental Binary, Gray code) to the each divided angle position.
output phases are A phase, B phase which have phase The absolute rotary encoder as the absolute angle sensor (K)
Timers

difference at 90°, and Z phase, zero-reference phase. outputs the specified digital code according to the rotational
shaft position. (L)
B phase Light receiving element Magnetic rotary encoder does not have slit. This is strong Panel
Light emitting A phase Meters
(PDA element) vibration and shock and the life expectancy is longer than
element
optical type. (M)
Tacho /
Speed / Pulse
Meters
Z phase
Fixed slit N Magnet S (N)
Display
Units

Rotating shaft
(O)
Rotating slit Sensor
Photo -Magnet sensor Controllers
Infrared Sensor
diode -Linear position detection
LED Wave
Com- (P)
shaping Output OUT A Switching
parison
circuit circuit Mode Power
circuit Supplies

Com- Wave -Analog filter

Output Analog circuit (Q)
parison shaping OUT B -Waveform shaping circuit Stepper Motors
circuit circuit
circuit & Drivers
& Controllers
Com- Wave -ADC
parison shaping Output OUT Z
circuit -Digital filter (R)
circuit circuit DSP Graphic/
-Signal process Logic
+V Panels
-Product mode setting
Shaft 0V (S)
Shield -Parallel NPN open collector output Field
Slit Network
< Functional block diagram > Output circuit -SSI output Devices
-NPN open collector output

 haracteristics by
C (T)
Software

Operation Principle
Optical Magnetic
Vibration, Stronger than optical type
Weak
Shock (∵ no slit)
Life
Short Longer than optical type
expectation
Accuracy High Lower than optical type

F-83
Technical Description

Connection Example And Output ● Connection example totem pole output type and
IC circuit
Types Of Rotary Encoder If certain deviation occurs between encoder's max. output
Totem pole output signal voltage (Vout) and max. allowable input voltage of
logic IC (Vin), it is required to adjust circuit's voltage level
A totem pole output is a type of electronic circuit that consist
as shown in the figure below.
of two transistors between +V and 0V as shown in the figure
below. When output signal is "H", upper transistor will be ON
+V Ra +V
and lower transistor will be OFF. When output signal is "L",
upper transistor will be OFF and lower transistor will be ON. +
D1 D2

Control circuit
Totem pole output features low output impedance because

Main circuit
the circuit is designed to be capable of flowing current in Out - Vin
both directions. In addition, it has little influence of waveform Rb
distortion and noise, and is used for longer encoder line. ZD
0V 0V
Totem pole output circuit

+V Rotary encoder Application circuit TTL or

CMOS IC circuit
※If input voltage of control circuit is lower than applied
Main circuit

Source current (Max. 10mA)

Output voltage of encoder,
1) Make sure that zener voltage on ZD should be the same
Sink current (Max. 30mA)
with max. allowable input voltage (Vin) of logic IC circuit.
2) Make sure that Ra and Rb should be adjusted to stable
0V
input signal level when designing application circuit.
3) In case cable length between encoders and control
Equivalent circuit circuit is short, it is fine to design the circuit without Ra
and D1.
+V +V
● Connection example totem pole output type and
ON Source current OFF Coupler
Encoder's output circuit can be isolated by using photo
Output Output coupler as shown in the figure below.
Sink current
OFF ON +V Ra +V

Control circuit
0V 0V
+
Rb
Main circuit

-
Out IN
● In case of voltage output type
Rotary encoder circuit Load connection Photo coupler
0V
+V
Rotary encoder
Source current
R
Main circuit

(10mA Max.) Note 1) All components applied to application circuits shall

+
be connected adjacent to photo coupler.
Output -
Note 2) Make sure to select the photo coupler having
Load
0V
higher response speed than encoder's max.
response frequency.

● In case of NPN open collector output type

Rotary encoder circuit Load connection

+V

Load
Main circuit

Output
+
Sink current -
(30mA Max.)
0V

F-84
 Technical Description
NPN open collector output PNP open collector output (A)

(Only for absolute type)

Photoelectric
As shown below, it is one of various output types using Sensors
NPN transistor to connect emitter with "0V" terminal, and to As shown below, it is one of various output types using
open "+V" terminal with collector so that collector terminal PNP transistor to connect emitter with "+V" terminal, and to
(B)
Fiber
can be used as an output terminal. open "0V" terminal with collector so that collector terminal
Optic
Sensors
It is useful when encoder's power voltage and controller's can be used as an output terminal.
power voltage are not matched. It is useful when encoder's power voltage and controller's (C)
Door/Area
power voltage are not matched. Sensors
NPN open collector output circuit
PNP open collector output circuit (D)
+V Proximity
+V Sensors
Main circuit

Output Source current

Main circuit
(E)
Pressure
Sensors
Sink current (Max. 30mA)
Output
(F)
Rotary
0V Encoders
0V
(G)
Equivalent circuit Connectors/
Connector Cables/
Equivalent circuit
"H" output "L" output Sensor Distribution
Boxes/Sockets
+V +V "H" output "L" output
+V +V (H)
Sink current Temperature
Controllers
ON OFF
Output Output
(I)
Output Output SSRs / Power
OFF ON Controllers
Source current
0V 0V
0V 0V (J)
Counters
● Connection example of NPN open collector ● Connection example of PNP open collector
output type collector and counter. output type and external application circuit (K)
When connect to a counter which is voltage input type, Timers

please connect to pull-up resistance between +V and +V +V

output (transistor's collector) from external. (L)
Panel
+ Meters
D1

Control circuit
+V
Main circuit

+V
OUT - Vin (M)
Tacho /
+ Speed / Pulse
Control circuit

R Rb
Main circuit

Meters
- Ra ZD
Out IN
0V 0V (N)
Display
Units

0V 0V Rotary encoder Application circuit TTL or (O)

CMOS IC circuit Sensor
Controllers

Rotary encoder Voltage input type counter Note 1) Please use low resistance that does not exceed the
Note) Make the value of pull up resistance under 1/5 of rated load current of rotary encoder. (P)
Switching
input impedance of a counter. Note 2) Select components that make zener voltage of ZD Mode Power
Supplies
the same as maximum allowable input voltage of
(Q)
● Connection example of NPN open collector logic IC. Stepper Motors
& Drivers
output type and photo coupler ● Connection example of PNP open collector & Controllers

output type and photo coupler (R)

Graphic/
+V Logic
Control circuit

Panels
+V +V
+ Ra +V (S)
R
Main circuit

- + Field
Rb Network
Out
Main circuit

Control circuit

Devices
OUT - Rb IN
IN
(T)
Photo coupler Software
0V Ra
0V 0V

Rotary encoder

Note 1) Ra value should be a high resistance within the Rotary encoder Photo coupler
stable operating range of photo coupler. Note) Ra and Rb values should be within the stable operating
Note 2) Rb value should be within the stable operating range of photo coupler. These values are not exceeded
range of photo coupler. This value is not exceeded the rated load current of rotary encoder.
the rated load current of rotary encoder. ※Only absolute rotary encoder has PNP open collector
output type.

F-85
Technical Description
Connection example of rotary encoder Glossary
and PLC ● Resolution
Rotary encoder output is able to connect PLC which is DC Resolution is number of output pulse while rotary encoder
type input module. Be sure to set the output pulse of rotary shaft revolves once.
encoder longer enough (more than 10 times) than scan For incremental rotary encoder, resolution means number
time of PLC. (Either make rpm lower or use a low pulse of graduations on a silt, and for absolute rotary encoder,
encoder.). resolution means number of divisions.
Because DC power of PLC is not stabilized, please supply ● Starting torque
stable power to rotary encoder.
The torque needed to rotate the shaft of the rotary encoder
● Common terminal is "0V" at startup. The torque during rotation is normally lower than
+ DC24V the starting torque.
- Power supply ● Maximum response frequency
Brown DC stabilized power supply The max. number of pulses that rotary encoder could
P00 respond electronically in a sec. And it also can be the shaft
E50S8- -3-T-24 speed when the device in which the encoder is used is in
E50S8- -3-V-24 operation.
COM
Black

Revolutions
Inner circuit
Max. response frequency = × Resolution
60
White P01
Note)Max. revolutions should be within max. allowable
Shield revolutions. Resolution should not be exceeded max.
wire COM response frequency.
Blue (-)
● Maximum allowable revolution (rpm)-
PLC DC input circuit
Mechanical specification
It means the mechanical maximum allowable revolution
● Common terminal is "+24V" of rotary encoder, and has an impact on the lifetime of the
+ DC24V encoder.
- Power supply So, please do not exceed the rated values listed in.
Brown ● Maximum response revolution (rpm)-
Electronic specification
E50S8- -3-T-24 P00
The maximum revolution speed for rotary encoder to output
E50S8- -3-N-24 electric signal ordinarily. It is decided by max. response
Black

COM
frequency and resolution.
Inner circuit

Max. response Max. response frequency

White P01 revolution (rpm) = Resolution
× 60

Shield Blue Set resolution that makes max. response revolution not to
wire exceed max. allowable revolution.
(+24V) COM
● CW (Clock wise)
The clockwise direction of rotation from the shaft, the
Line driver output shaft. (A phase precedes B phase at 90° in our company's
Line Drive output uses Line Drive exclusive IC (26LS31) standard feature.)
on output circuit as shown below. That exclusive IC has ● CCW (Counter clock wise )
high speed response. So, it is proper for long-distance The counterclockwise direction of rotation from encoder's
transmission and is strong on noise. shaft. (B phase precedes A phase at 90° in our company's
However, use IC (26LS32) corresponded to RS422A on standard feature.)
response side. ● A, B phase
Also, in case of extending wiring length, use twisted pair Digital signals of which phase difference is 90°, and that is
line. If make output line, it is able to get a characteristic to to determine the direction of rotation.
eliminate normal mode noises as offsetting electromotive ● Z phase
force occurred in line. Signal that is generated once a revolution and is called
(Terminating resistance of receiver (Zo): Approx. 200Ω) zero-reference phase.
Rotary encoder circuit Load connection ● BCD Code (Binary-Coded Decimal code)
+5V It is a binary-coded decimal system.
Because it is easy to change a decimal code to binary code
Signal with the '8 4 2 1' that indicates the weight of each bit, it is
widely used with controllers and counters.
Main circuit

Twisted Pair E.g.)In case of converting decimal digit 23 to binary-coded

Z0
decimal code, it would be;
2 3
IC26LS31 Reverse IC26LS32
Signal 23 = 0 0 1 0 0 0 1 1
Driver 0V Receiver
8 4 2 1 8 4 2 1 The weight of each bit
Tens position Ones position

F-86
 Technical Description
● Binary code Glossary (Coupling) (A)
The most basic code expressed in combination of 0 and 1. Photoelectric

E.g.) In case of converting decimal digit 27 to binary code, Misalignment Sensors

it would be 11011. ● Parallel misalignment (B)

Fiber
2 27 It rotates with parallel misalignment by δ when the centers Optic
Sensors

2 13 --1 of two axes connected by a coupling are not symmetrical.

E.g.)In case of converting decimal digit 23 to binary-coded (C)
2 6 --1 Door/Area
Write down in the direction of arrow. decimal code, it would be; Sensors
2 3 --0
1 --1 (D)
Proximity
δ Sensors
● Gray code
Gray code is made to complement the defects of binary (E)
code. Only one bit changes state form one position to Pressure
Sensors
another so that it prevents errors occurring. ● Angular misalignment (Symmetrical)
E.g.) In case of converting decimal digit 12 (1100 in binary It rotates with angular misalignment by α when the center (F)

code) to gray code, it would be 1010. distances of two axes connected by a coupling are equal. Rotary
Encoders

Binary 1 1 0 0 (G)
Connectors/
code Connector Cables/
α Sensor Distribution
Boxes/Sockets
Gray 1 0 1 0 It becomes 1 if third bit and fourth bit of
code binary code are different from each other, (H)
Temperature
and becomes 0 when they are equal to A B
each other. A=B Controllers

It becomes 1 if second bit and third bit of binary (I)

code are different from each other, and becomes SSRs / Power
0 when they are equal to each other. ● Angular misalignment (Non-symmetrical) Controllers

It becomes 1 if the first bit and the second one It rotates with angular misalignment by α when the center
of binary code are different from each other, and distances of two axes connected by a coupling are not (J)
Counters
becomes 0 when they are equal to each other. equal.
The first bit of binary code (called MSB) remains the same
as the first bit of gray code. (K)
Timers
α
< Absolute code table >
(L)
BCD Code
Decimal

Panel
Gray Code Binary Code A B A=B Meters
×10 ×1
24 2³ 2² 2¹ 2º 24 2³ 2² 2¹ 2º 2³ 2² 2¹ 2º 2³ 2² 2¹ 2º (M)
Tacho /
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ● Combined parallel and angular misalignment Speed / Pulse
Meters
1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 1 It rotates with parallel misalignment by δ and angular
2 0 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 1 0 misalignment by α when the centers of two axes connected (N)
Display
3 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 1 1 by a coupling are not paralleled. Units

4 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 1 0 0
5 0 0 1 1 1 0 0 1 0 1 0 0 0 0 0 1 0 1 α2 (O)
Sensor
6 0 0 1 0 1 0 0 1 1 0 0 0 0 0 0 1 1 0 δ Controllers

7 0 0 1 0 0 0 0 1 1 1 0 0 0 0 0 1 1 1 α1 (P)
Switching
8 0 1 1 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 Mode Power
Supplies
9 0 1 1 0 1 0 1 0 0 1 0 0 0 0 1 0 0 1
10 0 1 1 1 1 0 1 0 1 0 0 0 0 1 0 0 0 0 (Q)
Stepper Motors
11 0 1 1 1 0 0 1 0 1 1 0 0 0 1 0 0 0 1 & Drivers
& Controllers
12 0 1 0 1 0 0 1 1 0 0 0 0 0 1 0 0 1 0 ● End-play
13 0 1 0 1 1 0 1 1 0 1 0 0 0 1 0 0 1 1 It rotates with End-play by X from one of two shafts (R)
Graphic/

14 0 1 0 0 1 0 1 1 1 0 0 0 0 1 0 1 0 0 connected by a coupling. Logic

Panels
15 0 1 0 0 0 0 1 1 1 1 0 0 0 1 0 1 0 1 (S)
16 1 1 0 0 0 1 0 0 0 0 0 0 0 1 0 1 1 0 Field
Network
17 1 1 0 0 1 1 0 0 0 1 0 0 0 1 0 1 1 1 Devices

18 1 1 0 1 1 1 0 0 1 0 0 0 0 1 1 0 0 0 X
(T)
19 1 1 0 1 0 1 0 0 1 1 0 0 0 1 1 0 0 1 Software

20 1 1 1 1 0 1 0 1 0 0 0 0 1 0 0 0 0 0
● Run out
21 1 1 1 1 1 1 0 1 0 1 0 0 1 0 0 0 0 1
It rotates with vibration in a radial direction.
22 1 1 1 0 1 1 0 1 1 0 0 0 1 0 0 0 1 0
23 1 1 1 0 0 1 0 1 1 1 0 0 1 0 0 0 1 1
24 1 0 1 0 0 1 1 0 0 0 0 0 1 0 0 1 0 0
25 1 0 1 0 1 1 1 0 0 1 0 0 1 0 0 1 0 1

F-87
Technical Description

Proper Usage Cautions when connecting wiring

Caution for using ● Cable shield line of rotary encoder is directly connected
to the case, so please ground the metal parts of encoder
Because rotary encoder consist of precision parts, excessive
case to prevent malfunction from being caused by
force can cause internal slit damaged.
external noises. Also make sure shield line of encoder
So, please be careful when using it.
cable to be grounded, not to be opened.
● When combine to chains, timing belts, toothed wheels, use
the coupling so that the axis of encoder is not impacted by Coupling
Encoder
Motor Signal line
an excessive force.
Input
Chain circuit
toothed wheel Bearing Rotary encoder
Shield wire

Coupling ● Work on the wiring when power is turned off. And wrap
it with pipe separately from other wires like power line,
● Do not apply excessive loads to the axis of rotation. otherwise malfunction or internal circuit failure can be
caused.
Radial ● It is better to shorten the wire length otherwise, the fall
and rise time of wave form gets as long as the wire
extended. Because which make it impossible to get an
wanted output wave, please use it after standardizing the
※Please refer to mechanical wave form using Schmidt trigger circuit.
specifications.
Thrust
Vibration
● Be sure not to inflict more than 3kgf of the tensile on
● If vibration is inflicted to rotary encoder, pulses can be
Rotary encoder wiring.
caused in wrong way. Thus, please place it in vibration-
less area.
Rotary encoder above 3kgf ● The more pulses in one revolution, the narrower the
gradations on resolution curve, and in which condition,
operation vibration can be transmitted and that may
cause uncommon pulses.
Cable
Panel

● Do not drop water or oil on the rotary encoder. Otherwise,

it may cause malfunction.
● Do not hammer when combining either hollow shaft or
built-in type encoder with a body of revolution. Especially
be careful with high-pulse encoder that has fragile glass
slit.
● Pulse phase of encoder varies depending on the direction
of rotation. If the shaft rotates right when see it from the
end of the shaft, it is Clockwise (CW). And if it rotates left,
it is Counterclockwise (CCW).
A phase precedes B phase when it is on CW.
A phase precedes at 90°

Clock
wise A Phase
90°
(CW)
B Phase

B phase precedes at 90°

Counter
clock A Phase
wise
(CCW)
B Phase
90°

F-88