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These are some of the rotary position encoders used on Centroid controls over the years.

Dynapar F14 and F18 Encoders

Made by Dynapar division of Danaher Controls.
Manufacturer's web site


1/4", 3/8" and 6mm thru-hole hollow-shaft, flex mount, 2x set screws in collar.
Used on various motors and as replacement, ca. 2003-present.

Set screws are 90° apart, and accept 1/16" hex wrench. Flexible base is anchored with two screws.

Motors supplied by the Centroid factory with these encoders use a black plastic Waldom C-Grid connector.

When used as a replacement for the EPC encoders in Servo Dynamics/SEM motors on Revolution machines, a DE9 male connector is fitted.

These encoders are generally available for immediate shipment.

Dynapar F14 or F18 encoder, 1/4" or 3/8" bore: $225
Dynapar F14 encoder, 6mm bore: $175

Pin-outs

Waldom C-Grid
(Centroid)
DE9M
(Revolution)
PinSignalColor
1ch ABLU
2ch /ABLU/BLK
3ch BGRN
4ch /BGRN/BLK
5ch ZVIO
6ch /ZVIO/BLK
7VccRED
8COMBLK
9shieldshield
PinSignalColor
1n/c
2COMBLK
3ch /ZVIO/BLK
4ch /BGRN/BLK
5ch /ABLU/BLK
6ch ZVIO
7ch BGRN
8ch ABLU
9VccRED
shellshieldshield

Quantum Devices QD145

Distributed by Quantum Devices, Barneveld WI
Manufacturer's web site


1/4" thru-hole hollow-shaft, flex mount, 2x 4-40 set screws in collar.
Used on black Glentek DC servo motors ca. 2005.

The electronic connection is a black plastic Waldom C-Grid connector.

Pin-out

PinSignalColor
1ch ABRN
2ch /AWHT
3ch BBLU
4ch /BGRN
5ch ZORG
6ch /ZYEL
7VccRED
8COMBLK
9shieldshield

EPC 755A Encoder

Made by Encoder Products Company, Sandpoint Idaho.
Manufacturer's web site


1/4" and 3/8" blind hollow-shaft, flex mount, 2x set screws in collar.
Used on orange-cap SEM DC servo motors ca. 1993-1999.

Set screws are 90° apart, and accept 1/16" hex wrench. Flexible base is anchored with two screws.

Orange-cap SEM motors supplied by the Centroid factory from 1994 to 1998 or so used these encoders with a 3/8" bore and a black plastic Waldom C-Grid connector.

Orange-cap SEM motors with a Servo Dynamics label, supplied with most Revolution machines from 1996 to 1999, used these encoders with a 1/4" bore and a DE9 male connector (as pictured).

These encoders are still available through EPC distributors. However, because of their high cost I usually replace failed units with an equivalent Dynapar encoder instead.

Pin-outs

Waldom C-Grid
(Centroid)
DE9M
(Revolution)
PinSignalColor
1ch ABRN
2ch /AYEL
3ch BRED
4ch /BGRN
5ch ZORG
6ch /ZBLU
7VccWHT
8COMBLK
9shieldshield
PinSignalColor
1n/c
2COMBLK
3ch /ZBLU
4ch /BGRN
5ch /AYEL
6ch ZORG
7ch BRED
8ch ABRN
9VccWHT
shellshieldshield

Sumtak LHE-514 Encoder


6mm blind hollow-shaft, flex mount, 2x set screws in collar.
Used on blue-cap SEM DC servo motors ca. 2001-2002.

Set screws are 90° apart, and accept 1.5mm hex wrench. Flexible base is anchored with a single screw.

This encoder is no longer available, but I have equivalent Dynapar encoders in stock.

Pin-out

PinSignalColor
1ch ARED
2ch /APNK
3ch BGRN
4ch /BBLU
5ch ZYEL
6ch /ZORG
7VccWHT
8COMBLK
9shieldshield

Danaher M21 Encoder


3/8" and 6mm thru-hole hollow-shaft, direct mount.
Used on blue-cap SEM DC servo motors ca. 1999-2000

The installation procedure is tricky, and should not be attempted without manufacturer instructions. The encoder body rotates to capture or free the encoder disk. You install the encoder with the disk captured; tighten the shaft clamp with a 2mm (5/64") hex wrench; then rotate the body to free the disk. To remove the encoder, you rotate the body to capture the disk; loosen the shaft clamp with a 2mm or 5/64" hex wrench; then remove the base.

Danaher M21 Installation Guide

This encoder is still available, but I generally use an equivalent Dynapar F-series encoder as a replacement because of the simpler installation procedure.

Pin-outs

Waldom C-GridDanaher 10-pin
PinSignalColor
1ch AGRN
2ch /ARED/BLK
3ch BORG
4ch /BWHT/BLK
5ch ZWHT
6ch /ZBLU
7VccRED
8COMBLK
9shieldshield
PinSignalColor
1n/c
2VccRED
3COMBLK
4n/c
5ch /ARED/BLK
6ch AGRN
7ch /BWHT/BLK
8ch BORG
9ch /ZBLU
10ch ZWHT

Lucas Ledex S-10285

Distributed by Lucas Ledex, Vandalia OH
Ledex is evidently no longer in the optical encoder business.


3/8" blind hollow-shaft, flex mount, pinch screw in collar.
Used on orange-cap SEM DC servo motors ca. 1994-1995.

Many orange-cap SEM motors supplied by the Centroid factory in 1994 and 1995 used these encoders with a 3/8" bore, but on a 1/4" stub shaft. Centroid installed a plastic bushing to adapt the shaft to the bore. This arrangement was prone to slippage if not adequately tightened, leading to gradual position loss issues.

The electronic connection was a black plastic Waldom C-Grid connector.

These encoders are no longer available. They can be easily replaced with a 1/4" Dynapar F14, eliminating the need for the bushing.

Pin-out

PinSignalColor
1ch AWHT
2ch /ABLU
3ch BGRN
4ch /BORG
5ch ZWHT/BLK
6ch /ZRED/BLK
7VccRED
8COMBLK
9shieldshield

Encoder Phasing and Direction

Most encoders follow a standard convention for phasing and rotation:

For DC servo motors and for third-party drives, Centroid considers positive rotation (positive-going encoder counts) to be CCW rotation as viewed from the shaft end.

Centroid boards which receive the encoder input via 9-pin D-sub connectors (DE9, commonly misnamed as DB9) will count positive when the channel which is connected to pins 5 and 8 leads the channel which is connected to pins 4 and 7.

Therefore, when using any encoder which follows the industry convention, channel B should be wired to pins 5 and 8, and channel A should be wired to pins 4 and 7.

Centroid factory system schematics generally show channel B going to pins 5 and 8, and channel A going to pins 4 and 7. If you follow this guidance, you will generally get the correct results.

Centroid component hardware manuals (e.g. for the Oak, All-in-one DC, and MPU11 boards) have the A and B channel labels reversed. Evidently the electrical engineers, in their internal documentation, consider A leading B to be "positive", in spite of the conflicting convention out at the motor. Beware of this when refering the component manuals.

Revolution Machine wired their own DC servo motors and encoders, and they adopted a convention opposite that of the Centroid factory. Therefore when installing a standard encoder on a Revolution machine, you need to wire channel A to pins 5 and 8, and channel B to pins 4 and 7.

For their own AC-servo systems (AC/DC drives; SD3 and SD1 drives; and the SERVO4 drive) Centroid also adopted a reversed convention: positive motor rotation is CW as viewed from the shaft end of the motor.


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Copyright © 2016 Marc Leonard
Last updated 12-Oct-2016 MBL