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Rotary Encoders
January 2004
The catalogs for
• Angle encoders
• Exposed linear encoders
• Sealed linear encoders
• Position encoders for servo drives
• HEIDENHAIN subsequent electronics
• are available on request.
Rotary encoders for separate shaft coupling
Rotary encoders with mounted stator coupling
This catalog supersedes all previous
editions, which thereby become invalid.
The basis for ordering from HEIDENHAIN
is always the catalog edition valid when
the contract is made.
Standards (ISO, EN, etc.) apply only
where explicitly stated in the catalog.
Contents
Overview and Specifications
Selection Guide 4
Measuring Principles Measuring standard, measuring methods, scanning
methods 6
Accuracy 7
Mechanical
Design Types and
Mounting
Rotary encoders with integral bearing and stator coupling 8
Rotary encoders with integral bearing for separate shaft coupling 9
Shaft couplings 10
General Mechanical Information 12
Specifications Absolute Rotary Encoders Incremental rotary encoders
Mounted
Stator Coupling
ERN 1000 series 14
ECN 400/EQN 400 series ERN 400 series 16
ECN 400/EQN 400 series
with universal stator coupling
ERN 400 series
with universal stator coupling
20
ECN 100 series ERN 100 series 22
Separate
Shaft Coupling
ROD 1000 series 24
ROC 400/ROQ 400 series
with synchro flange
ROD 400 series
with synchro flange
26
ROC 415, ROC 417
with synchro flange
30
ROC 400/ROQ 400 series
with clamping flange
ROD 400 series
with clamping flange
32
Electrical Connection
Interfaces
and Pin Layouts
Incremental signals 1 VPP 36
TTL 38
HTL 40
Absolute position values EnDat 42
PROFIBUS-DP 47
SSI 50
SSI programmable 52
HEIDENHAIN Measuring Equipment and Counter Cards 54
Connecting Elements and Cables 55
General Electrical Information 58
Sales and Service
Worldwide 60
Germany 62
4
Selection Guide
Rotary encoders Absolute
Singleturn Multiturn
Interface EnDat SSI PROFIBUS-DP EnDat SSI PROFIBUS-DP
Power supply 5 V 5 V or
10 to 30 V
10 to 30 V 5 V 5 V or
10 to 30 V
10 to 30 V
With Built-in Stator Coupling
ERN 1000 series – – – – – –
ECN/EQN/ERN 400* series ECN 413
Positions/rev: 13 bits
ECN 413
Positions/rev: 13 bits
– EQN 425
Positions/rev: 13 bits
4096 revolutions
EQN 425
Positions/rev: 13 bits
4096 revolutions
–
ECN/EQN/ERN 400* series
with universal stator coupling
ECN 413
Positions/rev: 13 bits
– – EQN 425
Positions/rev: 13 bits
4096 revolutions
– –
ECN/ERN 100 series ECN 113
Positions/rev: 13 bits
ECN 113
Positions/rev: 13 bits
– – – –
For Separate Shaft Coupling
ROD 1000 series – – – – – –
ROC/ROQ/ROD 400* series
with synchro flange
ROC 413
Positions/rev: 13 bits
ROC 415
ROC 417
Positions/rev:
15/17 bits
ROC 410
ROC 412
ROC 413
Positions/rev:
10/12/13 bits
ROC 413
Positions/rev: 13 bits
–
ROQ 425
Positions/rev: 13 bits
4096 revolutions
ROQ 425
Positions/rev: 13 bits
4096 revolutions
ROQ 425
Positions/rev: 13 bits
4096 revolutions
ROC/ROQ/ROD 400* series
with synchro flange
ROC 413
Positions/rev: 13 bits
ROC 413
Positions/rev: 13 bits
ROC 413
Positions/rev: 13 bits
ROQ 425
Positions/rev: 13 bits
4096 revolutions
ROQ 425
Positions/rev: 13 bits
4096 revolutions
ROQ 425
Positions/rev: 13 bits
4096 revolutions
*Versions with EEx protection on request
5
Overview and Specifications
Incremental
Programmable
SSI TTL TTL HTL 1 VPP
10 to 30 V 5 V 10 to 30 V 10 to 30 V 5 V
– ERN 1020
100 to 3600 lines
– ERN 1030
60 to 3600 lines
ERN 1080
100 to 3600 lines
EQN 425
Positions/rev: 13 bits
4096 revolutions
ERN 420
250 to 5000 lines
ERN 460
250 to 5000 lines
ERN 430
250 to 5000 lines
ERN 480
1000 to 5000 lines
– ERN 420
250 to 5000 lines
ERN 460
250 to 5000 lines
ERN 430
250 to 5000 lines
ERN 480
1000 to 5000 lines
– ERN 120
1000 to 5000 lines
– ERN 130
1000 to 5000 lines
ERN 180
1000 to 5000 lines
– ROD 1020
100 to 3600 lines
– ROD 1030
60 to 3600 lines
ROD 1080
100 to 3600 lines
ROQ 425
Positions/rev: 13 bits
4096 revolutions
ROD 426
50 to 10000 lines
ROD 466
50 to 10000 lines
ROD 436
50 to 5000 lines
ROD 486
1000 to 5000 lines
ROQ 425
Positions/rev: 13 bits
4096 revolutions
ROD 420
50 to 5000 lines
– ROD 430
50 to 5000 lines
ROD 480
1000 to 5000 lines
14
16
20
22
24
26
30
32
6
HEIDENHAIN encoders with optical
scanning incorporate measuring standards
of periodic structures known as
graduations.These graduations are applied
to a carrier substrate of glass or steel.
These precision graduations are
manufactured in various photolithographic
processes. Graduations are fabricated from
• extremely hard chromium lines on glass,
• matte-etched lines on gold-plated steel
tape, or
• three-dimensional structures on glass or
steel substrates.
The photolithographic manufacturing
processes developed by HEIDENHAIN
produce grating periods of typically 50 µm
to 4 µm.
These processes permit very fine grating
periods and are characterized by a high
definition and homogeneity of the line
edges. Together with the photoelectric
scanning method, this high edge definition
is a precondition for the high quality of the
output signals.
The master graduations are manufactured
by HEIDENHAIN on custom-built highprecision
ruling machines.
Measuring Principles
Measuring Standard
Circular graduations of incremental rotary encoders
Circular graduations of absolute rotary encoders
Measuring Methods
With absolute measuring methods, the
position value is available from the encoder
immediately upon switch-on and can be
called at any time by the subsequent
electronics. There is no need to move the
axes to find the reference position. The
absolute position information is read from
the disk graduation, which consists of
several parallel graduation tracks.
The track with the finest grating period is
interpolated for the position value and at
the same time is used to generate an
optional incremental signal.
In singleturn encoders the absolute
position information repeats itself with
every revolution. Multiturn encoders
can also distinguish between revolutions.
With incremental measuring methods,
the graduation consists of a periodic grating
structure. The position information is
obtained by counting the individual
increments (measuring steps) from some
point of origin. Since an absolute reference
is required to ascertain positions, the
graduated disks are provided with an
additional track that bears a reference
mark.
The absolute position established by the
reference mark is gated with exactly one
measuring step.
The reference mark must therefore be
scanned to establish an absolute reference
or to find the last selected datum.
7
The accuracy of position measurement
with rotary encoders is mainly determined by
• the directional deviation of the radial
grating,
• the eccentricity of the graduated disk to
the bearing,
• the radial deviation of the bearing,
• the error resulting from the connection
with a shaft coupling (on rotary encoders
with stator coupling this error lies within
the system accuracy),
• the interpolation deviation during signal
processing in the integrated or external
interpolation and digitizing electronics.
For incremental rotary encoders with
lines count up to 5000:
The maximum directional deviation at 20 °C
ambient temperature and slow speed
(scanning frequency between 1 kHz and
2 kHz) lie within
± [angular seconds]
which equals
± grating period.
ROD rotary encoders with 6000 to 10 000
signal periods per revolution have a system
accuracy of ± 12 angular seconds.
Accuracy
The accuracy of absolute position values
from absolute rotary encoders is given in
the specifications for each model.
For absolute rotary encoders with
complementary incremental signals, the
accuracy depends on the line count:
Line count Accuracy
512 ± 60 angular seconds
2048 ± 20 angular seconds
8192 ± 10 angular seconds
The above accuracy data refer to incremental
measuring signals at an ambient temperature
of 20 °C (68 °F) and at slow speed.
18° mech. · 3600
Line count z
1
20
Scanning Methods
Photoelectric scanning according to the imaging scanning principle
Light source LED
Photocells
Condenser lens
Scanning reticle
I90° and I270°
photocells are
not shown
Measuring standard
Photoelectric scanning
Most HEIDENHAIN encoders operate
using the principle of photoelectric
scanning. The photoelectric scanning of a
measuring standard is contact-free, and
therefore without wear. This method
detects even very fine lines, no more than
a few microns wide, and generates output
signals with very small signal periods.
The ECN, EQN, ERN and ROC, ROQ, ROD
rotary encoders use the imaging measuring
principle.
To put it simply, the imaging scanning
principle functions by means of projectedlight
signal generation: two graduations with
equal grating periods are moved relative to
each other—the scale and the scanning
reticle. The carrier material of the scanning
reticle is transparent, whereas the graduation
on the measuring standard may be applied
to a transparent or reflective surface.
When parallel light passes through a grating,
light and dark surfaces are projected at a
certain interval. An index grating with the
same grating period is located here. When
the two gratings move relative to each
other, the incident light is modulated. If the
gaps in the gratings are aligned, light
passes through. If the lines of one grating
coincide with the gaps of the other, no light
passes through. Photocells convert these
variations in light intensity into nearly
sinusoidal electrical signals. Practical
mounting tolerances for encoders with the
imaging scanning principle are achieved
with grating periods of 10 µm and larger.
8
ECN/EQN/ERN rotary encoders have
integrated bearings and a mounted stator
coupling. They compensate radial runout
and alignment errors without significantly
reducing the accuracy. The encoder shaft is
directly connected with the shaft to be
measured. During angular acceleration of
the shaft, the stator coupling must absorb
only that torque caused by friction in the
bearing. The stator coupling permits axial
motion of the measured shaft:
ECN/EQN/ERN 400: ±1mm
ERN 1000: ± 0.5 mm
ECN/ERN 100: ± 1.5 mm
Installation
The rotary encoder is slid by its hollow shaft
onto the measured shaft, and the rotor is
fastened by two screws or three eccentric
clamps. For rotary encoders with hollow
through shaft, the rotor can also be fastened
at the end opposite to the flange. Rotary
encoders of the ECN/EQN/ERN 1300 series
are particularly well suited for repeated
mounting (see brochure entitled Position
Encoders for Servo Drives.The stator is
connected without a centering collar on a
flat surface. The universal stator coupling
of the ECN/EQN/ERN 400 permits versatile
mounting, e.g. by its thread provided for
fastening it from outside to the motor cover.
Dynamic applications require the highest
possible natural frequencies fE of the system
(see also General Mechanical Information).
This is attained by connecting the shafts on
the flange side and fastening the coupling
by four cap screws or, on the ERN 1000,
with special washers (see Mounting
Accessories).
If the encoder shaft is subject to high loads,
for example from friction wheels, pulleys,
or sprockets, HEIDENHAIN recommends
mounting the ECN/EQN/ERN 400 with a
bearing assembly (see Mounting
Accessories).
Mechanical Design Types and Mounting
Rotary Encoders with Integral Bearing and Stator Coupling
ERN 1000
ECN/ERN 100
L = 46 min. with D 25
L = 51 min. with D 38
ECN/EQN/ERN 400 e.g. with standard stator coupling
Blind hollow shaft
Natural frequency fE with coupling fastened by 4 screws
Stator
coupling
Cable Flange socket
Axial Radial
ERN 400 Standard
Universal
1550 Hz
1400 Hz1)
1500 Hz
1400 Hz
1000 Hz
900 Hz
ECN/EQN 400 Standard
Universal
1250 Hz
1250 Hz1)
1200 Hz
1100 Hz
800 Hz
700 Hz
ERN/ECN 100 1000 Hz – 400 Hz
ERN 1000 950 Hz2) – –
1) Also when fastening with 2 screws
2) Also when fastening with 2 screws and washers
Hollow through shaft
Hollow through shaft
ECN/EQN/ERN 400
e.g. with universal stator coupling
Grooves
remain visible
9
ROC/ROQ/ROD rotary encoders have
integrated bearings and a solid shaft. The
encoder shaft is connected with the
measured shaft through a separate rotor
coupling. The coupling compensates axial
motion and misalignment (radial and
angular offset) between the encoder shaft
and measured shaft. This relieves the
encoder bearing of additional external loads
that would otherwise shorten its service
life. The HEIDENHAIN product program
offers a selection of diaphragm and metal
bellows couplings designed to connect the
rotor of the ROC/ROQ/ROD encoders (see
Shaft Couplings).
ROC/ROQ/ROD 400 series rotary encoders
permit bearing loads of up to 60 N (radial at
shaft end) at speeds up to 6000 rpm. These
encoders can therefore also be mounted
directly onto mechanical transfer elements
such as gears or friction wheels.
If the encoder shaft is subject to relatively
high loads, for example from friction wheels,
pulleys, or sprockets, HEIDENHAIN
recommends mounting the ECN/EQN/
ERN 400 with a bearing assembly.
Mounting Procedures
Rotary encoders with synchro flange are
fastened
• by the synchro flange with three fixing
clamps (see Mounting Accessories), or
• by the fastening thread on the flange face
and an adapter flange (for ROC/ROQ/
ROD 400 see Mounting Accessories).
The centering collar on the synchro flange
serves to center the encoder.
Rotary encoders with clamping flange are
fastened
• by the fastening thread on the flange face
and an adapter flange (see Mounting
Accessories) or
• by clamping at the clamping flange.
The encoder is centered in each case by its
clamping flange.
Rotary Encoders with Integral Bearing for Separate Shaft Coupling
Coupling
MD 3 Nm
Coupling
Mounting flange
Adapter flange
Coupling
Fixing clamps
Coupling
Rotary encoders with synchro flange
ROC/ROQ/ROD 400 with synchro flange
ROC/ROQ/ROD 400 with clamping flange
10
Shaft Couplings
ROC/ROQ/ROD 400 ROD 1000 ROC 417, ROC 415
Diaphragm couplings
with galvanic isolation
Metal bellows
coupling
Diaphragm
coupling
Flat coupling
K 14 K 17/01
K 17/06
K 17/02
K 17/04
K 17/03 18EBN3 K 03 K 18
Hub bores 6mm 6mm
6/5 mm
6/10 mm
10 mm
10 mm 4/4 mm 10 mm 10 mm
Kinematic
transfer error*
± 6" ± 10" ± 40" ± 2" ± 3"
Torsional rigidity 500 Nm
rad 150 Nm
rad 200 Nm
rad 300 Nm
rad 60 Nm
rad 1500 Nm
rad 1200 Nm
rad
Max. torque 0.2 Nm 0.1 Nm 0.2 Nm 0.1 Nm 0.2 Nm 0.5 Nm
Max. radial offset 0.2 mm 0.5 mm 0.2 mm 0.3 mm
Max. angular error 0.5° 1° 0.5° 0.5°
Max. axial offset 0.3 mm 0.5 mm 0.3 mm 0.2 mm
Moment of inertia
(approx.)
6 · 10–6 kgm2 3 · 10–6 kgm2 4 · 10–6 kgm2 0.3 ·10–6 kgm2 20 ·10–6kgm2
75·10–6kgm2
Permissible speed 16000 rpm 16000 rpm 12000 rpm 10000 rpm 1000 rpm
Torque for locking
screws (approx.)
0.2 Nm 0.8 Nm 0.2 Nm
Weight 35 g 24 g 23 g 27.5 g 9 g 100 g 117 g
*With radial misalignment = 0.1 mm, angular error = 0.15 mm over 100 mm
0.09° to 50 °C
Radial misalignment Angular error Axial motion
Mounting Accessories
Screwdriver bit
for HEIDENHAIN shaft couplings,
for ExN 100/400/1000 shaft clamps,
for ERO shaft clamps
Width across flats 1.5 mm
Length 70 mm
Id. Nr. 350 378-01
Screwdriver
Adjustable torque
0.2 Nm to 1 Nm Id. Nr. 350379-01
0.5 Nm to 5 Nm Id. Nr. 350379-02
11
K14 diaphragm coupling
for the ROC/ROQ/ROD 400 series
with 6 mm shaft diameter
Id. Nr. 293328-01
Recommended fit for the
customer shaft: h6
K 17 diaphragm coupling
with galvanic isolation
for the ROC/ROQ/ROD 400 series
with 6 or 10 mm shaft diameter
Id. Nr. 296746-xx
K 17
variants
D1 D2 L
01 6 F7 6 F7 22 mm
02 6 F7 10 F7 22 mm
03 10 F7 10 F7 30 mm
04 10 F7 10 F7 22 mm
06 5 F7 6 F7 22 mm
K03 diaphragm coupling
Id. Nr. 200313-04
for
ROC 417
ROC 415
K 18 flat coupling
Id. Nr. 202227-01
for
ROC 417
ROC 415
= Bearing
Dimensions in mm
18 EBN 3 metal bellows coupling
for encoders of the ROD 1000 series
with 4 mm shaft diameter
Id. Nr. 200393-02
12
General Mechanical Information
UL certification
All rotary encoders and cables in this
brochure comply with the UL safety
regulations “ ” for the USA and
the “CSA” safety regulations for Canada.
They are listed under file no. E205635.
Acceleration
Encoders are subject to various types
of acceleration during operation and
mounting.
• The indicated maximum values for
vibration apply for frequencies of
55 to 2000 Hz (IEC 60068-2-6). Any
acceleration exceeding permissible
values, for example due to resonance
depending on the application and
mounting, might damage the encoder.
Comprehensive tests of the entire
system are required.
• The maximum permissible acceleration
values (semi-sinusoidal shock) for
shock and impact are valid for 6 ms
(IEC 60068-2-27). Under no circumstances
should a hammer or similar implement be
used to adjust or position the encoder.
• The permissible angular acceleration
for all encoders is over 105 rad/s2.
The maximum values for vibration and
shock indicate the limits up to which the
encoder can be operated without failure.
For an encoder to realize its highest
potential accuracy, the environmental and
operating conditions described under
Measuring Accuracymust be ensured.
If the application includes increased
shock and vibration loads, please ask for
comprehensive assistance from
HEIDENHAIN.
Natural frequencies
The rotor and the couplings of ROC/ROQ/
ROD rotary encoders, as also the stator and
stator coupling of ECN/EQN/ERN rotary
encoders, form a single vibrating springmass
system. The natural frequency fN
should be as high as possible. A prerequisite
for the highest possible natural
frequency on ROC/ROQ/ROD rotary
encoders is the use of a diaphragm
coupling with a high torsional rigidity C
(see Shaft Couplings).
fN= ·
fN: Natural frequency in Hz
C: Torsional rigidity of the coupling
in Nm/rad
I: Moment of inertia of the rotor in kgm2.
ECN/EQN/ERN Rotary encoders with their
stator couplings form a vibrating springmass
system whose Natural frequency fN
should be as high as possible. If radial
and/or axial acceleration forces are added,
the stiffness of the encoder bearings and
the encoder stators are also significant. If
such loads occur in your application,
HEIDENHAIN recommends consulting with
the main facility in Traunreut.
Protection against contact (IEC 60529)
After encoder installation, all rotating parts
must be protected against accidental
contact during operation.
Protection (IEC 60529)
Unless otherwise indicated, all rotary
encoders meet protection standard IP 67
according to IEC 60529. This includes
housings, cable outlets and flange sockets
when the connector is fastened.
The shaft inlet provides protection to IP 64
or IP 65. Splash water should not contain
any substances that would have harmful
effects on the encoder parts. If the standard
protection of the shaft inlet is not sufficient
(such as when the encoders are mounted
vertically), additional labyrinth seals should
be provided.
Many encoders are also available with
protection to class IP 66 for the shaft inlet.
The sealing rings used to seal the shaft are
subject to wear due to friction, the amount
of which depends on the specific
application.
1
2 ·
C
I
Expendable parts
HEIDENHAIN encoders contain components
that are subject to wear, depending on the
application and manipulation. These include
in particular the following parts:
• LED light source
• Bearings in encoders with integral
bearing
• Shaft sealing rings for rotary and angular
encoders
• Cables subject to frequent flexing
System tests
Encoders from HEIDENHAIN are usually
integrated as components in larger
systems. Such applications require
comprehensive tests of the entire
system regardless of the specifications
of the encoder. The specifications given
in the brochure apply for the specific
encoder, not for the complete system.
Any operation of the encoder outside of
the specified range or for any other than
the intended applications is at the user’s
own risk.
In safety-oriented systems, verify the
position value of the encoder after
switch-on of the higher-level system.
Mounting
Work steps to be performed and
dimensions to be maintained during
mounting are specified solely in the
mounting instructions supplied with the
unit. All data in this catalog regarding
mounting are therefore provisional and
not binding; they do not become terms
of a contract.
13
Temperature ranges
For the unit in its packaging, the storage
temperature range is –30 to 80 °C
(–22 to 176 °F). The operating temperature
range indicates the temperatures that the
encoder may reach during operation in the
actual installation environment. The function
of the encoder is guaranteed within this
range (DIN 32878). The operating temperature
is measured on the face of the encoder
flange and must not be confused with the
ambient temperature.
The temperature of the encoder is
influenced by:
• Mounting conditions
• The ambient temperature
• Self-heating of the encoder
The self-heating of an encoder depends
both on its design characteristics (stator
coupling/solid shaft, shaft sealing ring, etc.)
and on the operating parameters (rotational
speed, power supply). Higher heat
generation in the encoder means that a
lower ambient temperature is required to
keep the encoder within its permissible
operating temperature range.
These tables show the approximate values
of self-heating to be expected in the
encoders. In the worst case, a combination
of operating parameters can exacerbate
self-heating, for example a 30 V power supply
and maximum rotational speed. Therefore,
the actual operating temperature should be
measured directly at the encoder if the
encoder is operated near the limits of
permissible parameters. Then suitable
measures should be taken (fan, heat sinks,
etc.) to reduce the ambient temperature far
enough so that the maximum permissible
operating temperature will not be exceeded
during continuous operation. For high
speeds at maximum permissible ambient
temperature, special versions are available
on request with reduced degree of
protection (without shaft seal and its
concomitant frictional heat).
Self-heating at supply voltage 15 V 30 V
ERN/ROD Approx. + 5 K Approx. + 10 K
ECN/EQN/ROC/ROQ Approx. + 5 K Approx. + 10 K
Typical self-heating of the encoder at power supplies of 10 to 30 V.
In 5 V versions, self-heating is negligible.
Heat generation at speed nmax
Solid shaft ROC/ROQ/ROD Approx. + 5 K for IP 64 protection
Approx. + 10 K for IP 66 protection
Blind hollow shaft ECN/EQN/ERN 400 Approx. + 30 K
ERN 1000 Approx. + 10 K
Hollow through
shaft
ECN/ERN 100
ERN 400
Approx. + 40 K
An encoder’s typical self-heating values depend on its design
characteristics at maximum
permissible speed. The correlation between rotational speed and heat
generation is nearly
linear.
Measuring the actual operating temperature directly at the encoder
ERN 1000 Series
• Rotary encoders with mounted stator coupling
• Compact dimensions
• Blind hollow shaft 6mm
14
Dimension in mm
= Bearing
= Required mating dimensions
= Variable depending on the coupling
Direction of shaft rotation for output signals is described in interface
description
Incremental
ERN 1020 ERN 1030 ERN 1080
Incremental signals TTL HTL 1 VPP
1)
Line counts* 100 200 250 360 400 500 720 900
1000 1024 1250 1500 2000 2048 2500 3600
Cutoff frequency –3 dB
Scanning frequency
Edge separation a
–
300 kHz
0.43 µs
–
160 kHz
0.78 µs
180 kHz
––
Power supply
Max. current consumption
without load
5 V ± 10%
150 mA
10 V to 30 V
150 mA
5 V ± 10%
150 mA
Electrical connection* Cable 1m/5 m, radial, also usable axially, with
or without coupling
Max. cable length 100 m 150 m
Shaft Blind hollow shaft D = 6 mm
Mech. permissible speed 10000 rpm
Starting torque 0.001 Nm (at 20 °C)
Moment of inertia
of rotor
0.5 · 10–6 kgm2
Permissible axis motion
of measured shaft
± 0.5 mm
Vibration 55 to 2000 Hz
Shock6ms
100 m/s2 (IEC 60068-2-6)
1000 m/s2 (IEC 60068-2-27)
Max. operating
temperature
100 °C 70 °C 100 °C
Min. operating
temperature
Stationary cable: –40 °C
Moving cable: –10 °C
Protection IEC 60529 IP 64
Weight Approx. 0.1 kg
Bold: This preferred version is available on short notice
* Please indicate when ordering
1) Restricted tolerances: Signal amplitude 0.8 to 1.2 VPP
15
Specifications
Mounting Accessories
for ERN 1000 Series
Washer
For increasing the natural frequency fN and
mounting with only two screws
Id. Nr. 334653-01
ECN/EQN/ERN 400 Series
• Rotary encoders with mounted stator coupling
• Blind hollow shaft or
• Hollow through shaft (available with ERN 4x0)
16
= Bearing
= Required mating dimensions
= Clamping ring on housing side
= Clamping ring on flange side
= Clamping screw
Direction of shaft rotation for output signals
is described in interface description
Dimensions in mm
ERN 4xx: Blind hollow shaft
ERN 4xx: Hollow through shaft
Overall length L Flange socket Cable
ECN 413 5 V
10 to 30 V
56.2
56.2
46
52
EQN 425 63 –
EQN 425
programmable
73 –
ECN/EQN 4xx: Blind hollow shaft
Absolute Incremental
Singleturn Multiturn Programmable
ECN 413 ECN 413 EQN 425 EQN 425 EQN 425 ERN 420 ERN 460 ERN 430 ERN 480
Absolute position values* EnDat SSI EnDat SSI SSI or serial
right-aligned 3)
–
Positions per rev. 8192 (13 bits) 8192 (13 bits) 3) –
Distinguishable
revolutions
– 4096 40963) –
Code Pure binary Gray Pure binary Gray Pure binary/Gray3) –
Elec. perm. speed/
at system accuracy
512
lines:
5000 rpm/± 1 LSB
12000 rpm/± 100 LSB
2048
lines:
1500 rpm/± 1 LSB
12000 rpm/± 50 LSB
512
lines:
5000 rpm/± 1 LSB
10000 rpm/± 100 LSB
2048
lines:
1500 rpm/± 1 LSB
10000 rpm/± 50 LSB
Updating time
500 µs
–
Incremental signals 1 VPP
1) TTL HTL 1 VPP
1)
Line counts* 512 2048 512 512 2048 512 250 500 –
1000 1024 1250 2000 2048 2500 3600 4096 5000
Cutoff frequency –3 dB
Scanning frequency
Edge separation
a
512
lines:
100 kHz;
2048
lines:
200 kHz
––
–
300 kHz
0.43 µs
180 kHz
––
Power supply*
Max. current consumption
(without load)
5 V±5%
150 mA
5 V ± 5 % or
10 to 30 V
150 mA
5 V±5%
250 mA
5 V ± 5 % or
10 to 30 V
250 mA
10 to 30 V
300 mA
5 V ± 10%
120 mA
10 to 30 V
100 mA
10 to 30 V
150 mA
5 V ± 10%
120 mA
Electrical connection* • Flange socket radial
• Cable 1 m radial with coupling or without connecting element
Flange socket radial • Flange socket radial and axial (with blind hollow
shaft)
• Cable 1 m radial, also usable axially, without connecting element
Max. cable length 150 m 100 m 150 m 100 m 100 m 300 m 150 m
Shaft* Blind hollow shaft D = 12mm Blind hollow shaft or hollow through
shaft D = 12 mm
Mech. perm. speed
n2) 12000 rpm 10000 rpm 12000 rpm
Starting torque
at 20 °C
0.01 Nm
Blind
hollow
shaft:
0.01 Nm
Hollow
through
shaft:
0.025 Nm
Moment of inertia
of rotor
4.4 · 10–6 kgm2 4.6 · 10–6 kgm2
Bottomed
hollow
shaft:3.8 · 10–6 kgm2 at D = 12mm
Hollow
through
shaft:3.9 · 10–6 kgm2 at D = 12mm
Permissible axial motion
of measured shaft
±1mm ±1mm
Vibration (55 to 2000 Hz)
Shock6ms
100 m/s2 (IEC 60068-2-6)
1000 m/s2 (IEC 60068-2-27)
300 m/s2 4) (IEC 60068-2-6)
2000 m/s2 (IEC 60068-2-27)
Max. operating
temperature2)
UP
= 5 V:100 °C
UP
= 10 to 30 V:85 °C
70 °C 100 °C 70 °C 100 °C
Min. operating
temperature
Flange
socket
or
fixed
cable:–40 °C
Moving
cable:
–10 °C
–20 °C
Flange
socket
or
fixed
cable:
–40 °C
Moving
cable:–10 °C
Protection IEC 60529 IP 67 at housing; IP 64 at shaft inlet IP 67 at
housing (IP 66 with hollow through shaft); IP 64 at shaft inlet
Weight Approx. 0.3 kg Approx. 0.3 kg
Bold: This preferred version is available on short notice
* Please indicate when ordering
17 18
1) Restricted tolerances: Signal amplitude 0.8 to 1.2 VPP
2) For relationship between operating temperature and speed or
2) power supply, see
General
Mechanical
Information
3) These functions are programmable
4) 150 m/s2 on flange-socket version
19 20
ECN/EQN/ERN 400 Series
• Rotary encoders with mounted universal stator coupling
• Blind hollow shaft or
• Hollow through shaft (available on ERN 4x0)
ERN 4xx: Blind hollow shaft
ERN 4xx: Hollow through shaft
ECN/EQN 4xx: Blind hollow shaft
Required mating dimensions = Bearing
= Bearing of encoder
= Clamping screw
M2.5 with hexalobular socket X8
= Blind hollow shaft
= Hole circle for fastening
See universal stator coupling
= Version with clamping ring
on housing side (as delivered)
= Version with clamping ring on
coupling side (optionally mountable)
Direction of shaft rotation for
output signals is described in
interface description
Dimensions in mm
Mounting Accessories
for ERN/ECN/EQN 400 Series
Mounting bracket
for bearing assembly
Id. Nr. 324322-01
Screwdriver
Adjustable torque
Screwdriver bit
Width across flats 1.5 mm
see
Shaft
Couplings
Bearing assembly
Permissible speed
n
Max. 6000 rpm
Shaft load Axial 200 N
Radial 200 N
Calculated service life
at max. perm. speed
84000 h at 100 N radial load; 100 N axial
79000 h at 200 N radial load; 50 N axial
11000 h at 200 N radial load; 200 N axial
Operating temperature –40 to 100 °C
The bearing assembly is capable of
absorbing large radial shaft loads. It is
therefore particularly recommended for
use in applications with friction wheels,
pulleys, or sprockets. It prevents overload
of the encoder bearing. On the encoder
side, the bearing assembly has a stub shaft
with 12-mm diameter and is well suited for
the ERN/ECN/EQN 400 encoders with blind
hollow shaft. Also, the threaded holes for
fastening the stator coupling are already
provided. The flange of the bearing
assembly has the same dimensions as the
clamping flange of the ROD 420/430 series.
The bearing assembly can be fastened
through the threaded holes on its face or
with the aid of the mounting flange or the
mounting bracket (see
Mounting
Accessories).
L
ECN 413 46
EQN 425 63
Bearing assembly
for ERN/ECN/EQN 400 series
with blind hollow shaft
Id. Nr. 324320-01
21
Absolute Incremental
Singleturn Multiturn
ECN 413 EQN 425 ERN 420 ERN 460 ERN 430 ERN 480
Absolute position values EnDat –
Positions per rev. 8192 (13 bits) –
Distinguishable
revolutions
– 4096 –
Code Pure binary –
Elec. perm. speed/
at system accuracy
512 lines: 5000 rpm/± 1 LSB
nmax/± 100 LSB
2048 lines: 1500 rpm/± 1 LSB
nmax/± 50 LSB
–
Incremental signals 1 VPP
1) TTL HTL 1 VPP
1)
Line counts* 512 2048 250 500 –
1000 1024 1250 2000 2048 2500 3600
4096 5000
Cutoff frequency –3 dB
Scanning frequency
Edge separation a
512 lines: 100 kHz; 2048 lines: 200 kHz
––
–
300 kHz
0.43 µs
180 kHz
––
Power supply
Max. current consumption
without load
5 V ± 5 %
150 mA
5 V ± 5 %
250 mA
5V±10%
120 mA
10 to 30 V
100 mA
10 to 30 V
150 mA
5V±10%
120 mA
Electrical connection* • Flange socket radial
• Cable 1 m radial with coupling
or without connecting element
• Flange socket radial and axial
(with blind hollow shaft)
• Cable 1 m radial, also usable axially,
without connecting element
Max. cable length 150 m 100 m 300 m 150 m
Shaft* Blind hollow shaft D = 12mm Blind hollow shaft or hollow through
shaft
D = 12mm
Mech. perm. speed n2) 12000 rpm 10000 rpm 12000 rpm
Starting torque
at 20 °C
0.01 Nm Blind hollow shaft: 0.01 Nm
Hollow through shaft: 0.025 Nm
Moment of inertia
of rotor
4.4 · 10–6 kgm2 4.6 · 10–6 kgm2 Bottomed hollow shaft:3.8 · 10–6 kgm2
Hollow through shaft:3.9 · 10–6 kgm2
Permissible axial motion
of measured shaft
±1mm ±1mm
Vibration 55 to 2000 Hz
Shock6ms
100 m/s2 (IEC 60068-2-6)
1000 m/s2 (IEC 60068-2-27)
300 m/s2 3) (IEC 60068-2-6)
2000 m/s2 (IEC 60068-2-27)
Max. operat. temperature2) 100 °C 100 °C 70 °C 100 °C
Min. operating
temperature
Flange socket or fixed cable:–40 °C
Moving cable:–10 °C
Flange socket or fixed cable:–40 °C
Moving cable:–10 °C
Protection IEC 60529 IP 67 at housing; IP 64 at shaft inlet IP 67 at
housing (IP 66 with hollow through shaft);
IP 64 at shaft inlet
Weight Approx. 0.3 kg Approx. 0.3 kg
Bold: This preferred version is available on short notice
* Please indicate when ordering
1) Restricted tolerances: Signal amplitude 0.8 to 1.2 VPP
2) For relationship between operating temperature and speed or power
supply, see General Mechanical Information
3) 150 m/s2 with flange socket version
22
ECN/ERN 100 Series
• Rotary encoders with mounted stator coupling
• Hollow through shaft up to 50mm
Dimensions in mm
ERN 1x0
ECN 113
= Bearing
= Required mating dimensions
Direction of shaft rotation for
output signals is described in
interface description
D L1 L2 L3 L4 L5 L6 L7
20h7 46 48.5 45 37 32.5 22.5 27.5
25h7 46 48.5 45 37 32.5 22.5 27.5
38h7 56 58.5 55 46 42.5 32 37
50h7 56 58.5 55 46 42.5 32 37
Absolute Incremental
Singleturn
ECN 113 ECN 113 ERN 120 ERN 130 ERN 180
Absolute position values* EnDat SSI –
Positions per rev. 8192 (13 bits) –
Code Pure binary Gray –
Elec. perm. speed/
at system accuracy
660 rpm/± 1 LSB
nmax/± 50 LSB
–
Incremental signals 1 VPP
1) TTL HTL 1 VPP
1)
Line counts* 2048 1000 1024 2048 2500 3600 5000
Cutoff frequency –3 dB
Scanning frequency
Edge separation a
typically 200 kHz
––
–
300 kHz
0.43 µs
typically 180 kHz
––
Power supply*
Max. current consumption
without load
5 V±5%
180 mA
5 V ± 5 %
180 mA
5 V ± 10%
150 mA
10 to 30 V
200 mA
5 V ± 10%
150 mA
Electrical connection* • Flange socket radial
• Cable 1m/5 m, radial,
with or without coupling
• Flange socket radial
• Cable 1 m/5 m, radial, with or without coupling
Max. cable length 150 m 100 m 100 m 300 m 150 m
Mech. perm. speed n2) D > 30mm: 4000 rpm
D 30 mm: 6000 rpm
D > 30mm: 4000 rpm
D 30 mm: 6000 rpm
Starting torque
at 20 °C
D > 30mm: 0.2 Nm
D 30 mm: 0.15 Nm
D > 30mm: 0.2 Nm
D 30 mm: 0.15 Nm
Moment of inertia
of rotor
D = 50mm:240 · 10–6 kgm2
D = 38mm:350 · 10–6 kgm2
D = 25mm: 80 · 10–6 kgm2
D = 20mm: 85 · 10–6 kgm2
D = 50mm:240 · 10–6 kgm2
D = 38mm:350 · 10–6 kgm2
D = 25mm: 80 · 10–6 kgm2
D = 20mm: 85 · 10–6 kgm2
Shaft* Hollow through shaft
D = 20mm, 25 mm, 38 mm, 50 mm
Hollow through shaft
D = 20mm, 25 mm, 38 mm, 50 mm
Permissible axial motion
of measured shaft
± 1.5 mm ± 1.5 mm
Vibration (55 to 2000 Hz)
Shock6ms
100 m/s2 (IEC 60068-2-6)
1000 m/s2 (IEC 60068-2-27)
200 m/s2 3) (IEC 60068-2-6)
2000 m/s2 (IEC 60068-2-27)
Max. operating
temperature2)
100 °C UP = 5 V:100 °C
UP = 10 to 30 V:
85 °C
100 °C 85 °C (100 °C
at UP < 15 V)
100 °C
Min. operating
temperature
Flange socket or fixed cable:–40 °C
Moving cable:–10 °C
Flange socket or fixed cable:–40 °C
Moving cable:–10 °C
Protection2) IEC 60529 IP 64 IP 64
Weight 0.6 kg to 0.9 kg
depending on the hollow shaft version
0.6 kg to 0.9 kg depending on the hollow shaft version
Bold: This preferred version is available on short notice
* Please indicate when ordering
1) Restricted tolerances: Signal amplitude 0.8 to 1.2 VPP 2) For
relationship between degree of protection, speed and operating
temperature, see General Mechanical Information
3) 150 m/s2 on flange socket version
ROD 1000 Series
• Rotary encoder for separate shaft coupling
• Compact dimensions
• Synchro flange
24
= Bearing
= Threaded mounting hole
Direction of shaft rotation for output signals is described in interface
description
Dimensions in mm
Incremental
ROD 1020 ROD 1030 ROD 1080
Incremental signals TTL HTL 1 VPP
1)
Line counts* 100 200 250 360 400 500 720 900
1000 1024 1250 1500 2000 2048 2500 3600
Cutoff frequency –3 dB
Scanning frequency
Edge separation a
–
300 kHz
0.43 µs
–
160 kHz
0.78 µs
180 kHz
––
Power supply
Max. cur. consumption
without load
5 V ± 10%
150 mA
10 V to 30 V
150 mA
5 V ± 10%
150 mA
Electrical connection* Cable 1m/5 m, radial, also usable axially, with
or without coupling
Max. cable length 100 m 150 m
Shaft Solid shaft D = 4 mm
Mech. permissible speed 10000 rpm
Starting torque 0.001 Nm (at 20 °C)
Moment of inertia
of rotor
0.45 · 10–6 kgm2
Shaft load Axial 5 N
Radial 10 N at shaft end
Vibration 55 to 2000 Hz
Shock6ms
100 m/s2 (IEC 60068-2-6)
1000 m/s2 (IEC 60068-2-27)
Max. operating
temperature
100 °C 70 °C 100 °C
Min. operating
temperature
Stationary cable: –40 °C
Moving cable: –10 °C
Protection IEC 60529 IP 64
Weight Approx. 0.09 kg
Bold: This preferred version is available on short notice
* Please indicate when ordering
1) Restricted tolerances: Signal amplitude 0.8 to 1.2 VPP
25
Mounting Accessories
Fixing clamps for ROD 1000 series
(3 pieces per encoder)
Id. Nr. 200032-02
Shaft coupling
See Shaft Couplings
L L1 L2
ROC/5 V 42 48 52
ROC/10 to 30 V 48 48 52
ROQ 59 59 59
ROQ 425
programmable
63 63 63
ROC/ROQ/ROD 400 Series with Synchro Flange
Rotary encoders for separate shaft coupling
26
= Bearing
= Threaded mounting hole
= Shown rotated by 40°
Direction of shaft rotation for output signals is described in interface
description
Dimensions in mm
ROD 4xx
ROC/ROQ 4xx
ROC 413/ROQ 425 with PROFIBUS DP
27 28
Bold: This preferred version is available on short notice
* Please indicate when ordering
1) Restricted tolerances: Signal amplitude 0.8 to 1.2 VPP
2) These functions are programmable.
3) IP 66 upon request
4) Through integrated signal doubling
5) 150 m/s2 on flange socket version
Absolute Incremental
Singleturn Multiturn Offline
programming
ROC 413 ROC 410 ROC 412 ROC 413 ROC 413 ROQ 425 ROQ 424 ROQ 425 ROQ 425
ROQ 425 ROD 426 ROD 466 ROD 436 ROD 486
Absolute position values* EnDat SSI PROFIBUS-DP EnDat SSI PROFIBUS-DP
SSI or serial
right-aligned 2)
–
Positions per rev. 8192 (13 bits) 1024 (10 bits) 4096 (12 bits) 8192 (13
bits) 8192 (13 bits)1) 8192 (13 bits) 4096 (12 bits) 8192 (13 bits) 8192
(13 bits)2) –
Distinguishable
revolutions
– 4096 40962) –
Code Pure binary Gray Pure binary Pure binary Gray Pure binary Pure
binary/
Gray2)
–
Elec. perm. speed/
at system accuracy
512
lines:
5000 rpm/± 1 LSB
12000 rpm/± 100 LSB
2
048
lines:
1500 rpm/± 1 LSB
12000 rpm/± 50 LSB
512
lines:
5000 rpm/± 1 LSB
10000 rpm/± 100 LSB
2
048
lines:
1500 rpm/± 1 LSB
10000 rpm/± 50 LSB
Updating time
500 µs
–
Incremental signals 1 VPP
1) – 1 VPP
1) – 1 VPP
1) TTL HTL 1 VPP
1)
Line counts/
Signal periods*
512 2048 512 512
(internal only)
512 2048 512 512
(internal only)
512 50 100 150 200 250 360 500
512 720
–
1000 1024 1250 1500 1800 2000 2048 2500 3600
4096 5000
60004) 81924) 90004) 100004) –
Cutoff frequency –3 dB
Scanning frequency
Edge separation
a
512
lines:
100 kHz;
2048
lines:
200 kHz
––
–
512
lines:
100 kHz;
2048
lines:
200 kHz
––
–
300 kHz
0.43 µs
180 kHz
––
Power supply*/
Max. current consumption
without load
5 V±5%
150 mA
5 V ± 5 % or 10 to 30 V/
150 mA
10 to 30 V/
125 mA
with 24 V
5 V±5%/
250 mA
5 V ± 5 % or 10 to 30 V/
250 mA
10 to 30 V/
125 mA
with 24 V
10 to 30 V/
300 mA
5 V ± 10%/
120 mA
10 to 30 V/
100 mA
10 to 30 V/
150 mA
5 V ± 10%/
120 mA
Electrical connection* • Flange socket axial or radial
• Cable 1 m/5 m, axial or radial,
with or without coupling
Screw
terminals; radial
cable exit
• Flange socket axial or radial
• Cable 1 m /5m, axial or radial,
with or without coupling
Screw
terminals; radial
cable exit
Flange socket
radial
• Flange socket axial or radial
• Cable 1 m/5 m, radial, also usable axially,
with or without coupling
Max. cable length 150 m 100 m 150 m 100 m 100 m 300 m 150 m
Shaft Solid shaft D = 6 mm Solid shaft D = 6 mm Solid shaft D = 6 mm
Mech. permissible speed 12000 rpm 10000 rpm 16000 rpm
Starting torque 0.01 Nm (at 20 °C) 0.01 Nm (at 20 °C) 0.01 Nm (at 20 °C)
Moment of inertia of rotor 3.6 · 10–6 kgm2 3.8 · 10–6 kgm2 2.7 · 10–6
kgm2
Shaft load
n
6000
rpm:
axial 40 N/radial 60 N at shaft end
n
6000
rpm:
axial 10 N/radial 20 N at shaft end
n
6000
rpm:
axial 40 N/radial 60 N at shaft end
n
>
6000
rpm:
axial 10 N/radial 20 N at shaft end
n
6000
rpm:
axial 40 N/radial 60 N at shaft end
n
>
6000
rpm:
axial 10 N/radial 20 N at shaft end
Vibration (55 to 2000 Hz)
Shock6ms
100 m/s2 (IEC 60068-2-6)
1000 m/s2 (IEC 60068-2-27)
100 m/s2 (IEC 60068-2-6)
1000 m/s2 (IEC 60068-2-27)
300 m/s2 5) (IEC 60068-2-6)
2000 m/s2 (IEC 60068-2-27)
Max. operating
temperature
100 °C
UP
= 5 V:100 °C
UP
= 10 to 30 V:85 °C
60 °C 100 °C
U
P
= 5 V:100 °C
UP
= 10 to 30 V:85 °C
60 °C 70 °C 100 °C 70 °C 100 °C
Min. operating
temperature
Flange
socket
or
fixed
cable:
–40 °C
Moving
cable:
–10 °C
–20 °C
Flange
socket
or
fixed
cable:
–40 °C
Moving
cable:–10 °C
–20 °C
Flange
socket
or
fixed
cable:–40 °C
Moving
cable:
–10 °C
Protection IEC 60529 IP 67 at housing; IP 64 at shaft end3) IP 67 at
housing; IP 64 at shaft end3) IP 67 at housing; IP 64 at shaft end3)
Weight Approx. 0.35 kg Approx. 0.35 kg Approx. 0.3 kg
Adapter flange
(electrically nonconductive)
Id. Nr. 257044-01
Fixing clamps
(3 pieces per encoder)
Id. Nr. 200032-01
Mounting Accessories
for ROC/ROQ/ROD 400 series with synchro flange
ROC 415, ROC 417
• Rotary encoders for separate shaft coupling
• Synchro flange
• High absolute resolution
• 32768 position values per revolution (15 bits) or
• 131072 position values per revolution (17 bits)
29 30
Shaft Couplings
See
Shaft
Couplings
= Bearing
= Threaded mounting hole
Direction of shaft rotation for output signals is described in interface
description
Dimensions in mm
31
Absolute
Singleturn
ROC 415 ROC 417
Absolute position values EnDat
Positions per rev. 32768 (15 bits) 131072 (17 bits)
Code Pure binary
Elec. perm. speed/
at system accuracy
60 rpm/± 2 LSB
200 rpm/± 50 LSB
Incremental signals 1 VPP
1)
Line count 8192
Cutoff frequency –3 dB 100 kHz
Power supply
Max. cur. consumption
without load
5 V ± 5 %
250 mA
Electrical connection* • Flange socket axial or radial
• Cable 1 m /5m, axial or radial, with or without coupling
Max. cable length 150 m
Shaft Solid shaft D = 10mm
Mech. permissible speed 10000 rpm
Starting torque 0.025 Nm (at 20 °C)
Moment of inertia
of rotor
3.6 · 10–6 kgm2
Shaft load Axial 10 N
Radial 20 N at shaft end
Vibration 55 to 2000 Hz
Shock6ms
100 m/s2 (IEC 60068-2-6)
1000 m/s2 (IEC 60068-2-27)
Max. operating
temperature
80 °C
Min. operating
temperature
Flange socket or fixed cable:–40 °C
Moving cable:–10 °C
Protection IEC 60529 IP 67 at housing
IP 66 at shaft inlet
Weight Approx. 0.4 kg
Bold: This preferred version is available on short notice
* Please indicate when ordering
1) Restricted tolerances: Signal amplitude 0.8 to 1.2 VPP
Mounting Accessories
Fixing clamps
(3 per encoder)
Id. Nr. 200032-01
Shaft coupling
See Shaft Couplings
ROC/ROQ/ROD 400 Series with Clamping Flange
Rotary encoders for separate shaft coupling
L L1 L2
ROC/5V 36 42 46
ROC/10 to 30 V 42 42 46
ROQ 53 53 53
ROQ 425
programmable
63 63 63
32
= Bearing
= Threaded mounting hole
= Shown rotated by 40°
Direction of shaft rotation for output signals is described in interface
description
Dimensions in mm
ROD 4xx
ROC/ROQ 4xx
ROC 413/ROQ 425 with PROFIBUS DP
Absolute Incremental
Singleturn Multiturn Programmable
ROC 413 ROC 413 ROC 413 ROQ 425 ROQ 424 ROQ 425 ROQ 425 ROQ 425 ROD 420
ROD 430 ROD 480
Absolute position values* EnDat SSI PROFIBUS-DP EnDat SSI PROFIBUS-DP
SSI or serial
right-aligned 2)
–
Positions per rev. 8192 (13 bits) 8192 (13 bits)2) 8192 (13 bits) 4096
(12 bits) 8192 (13 bits) 8192 (13 bits)2) –
Distinguishable
revolutions
– 4096 40962) –
Code Pure binary Gray Pure binary Pure binary Gray Pure binary Pure
binary/Gray2) –
Elec. perm. speed/
at system accuracy
5000 rpm/± 1 LSB
12000 rpm/± 100 LSB
5000 rpm/± 1 LSB
10000 rpm/± 100 LSB
Updating time
500 µs
–
Incremental signals 1 VPP
1) – 1 VPP
1) – 1 VPP
1) TTL HTL 1 VPP
1)
Line counts* 512 512
(internal only)
512 512
(internal only)
512 50 100 150 200 250 360
500 512 720
–
1000 1024 1250 1500 1800 2000 2048 2500 3600
4096 5000
Cutoff frequency –3 dB
Scanning frequency
Edge separation
a
100 kHz
––
– 100 kHz
––
– 100 kHz
––
–
300 kHz
0.43 µs
180 kHz
––
Power supply*
Max. current consumption
without load
5 V±5%
150 mA
5 V ± 5 % or
10 to 30 V
150 mA
10 to 30 V/
125 mA
with 24 V
5 V±5%
250 mA
5 V ± 5 % or
10 to 30 V
250 mA
10 to 30 V/
125 mA
with 24 V
10 to 30 V
300 mA
5 V ± 10%
120 mA
10 to 30 V
150 mA
5 V ± 10%
120 mA
Electrical connection* • Flange socket axial or radial
• Cable 1 m/5 m, axial or radial,
with or without coupling
Screw terminals;
radial cable exit
• Flange socket axial or radial
• Cable 1 m/5 m, axial or radial,
with or without coupling
Screw terminals;
radial cable exit
Flange socket radial • Flange socket axial or radial
• Cable 1 m/5 m, radial, also usable axially,
with or without coupling
Max. cable length 150 m 100 m 150 m 100 m 100 m 300 m 150 m
Shaft Solid shaft D = 10mm Solid shaft D = 10mm Solid shaft D = 10mm
Mech. permissible speed 12000 rpm 10000 rpm 12000 rpm
Starting torque 0.01 Nm (at 20 °C) 0.01 Nm (at 20 °C) 0.01 Nm (at 20 °C)
Moment of inertia
of rotor
3.6 · 10–6 kgm2 3.8 · 10–6 kgm2 2.1 · 10–6 kgm2
Shaft load
at shaft end
n
6000
rpm:
axial 40 N/radial 60 N
n
>
6000
rpm:
axial 10 N/radial 20 N
n
6000
rpm:
axial 40 N/radial 60 N
n
>
6000
rpm:
axial 10 N/radial 20 N
n
6000
rpm:
axial 40 N/radial 60 N
n
>
6000
rpm:
axial 10 N/radial 20 N
Vibration (55 to 2000 Hz)
Shock6ms
100 m/s2 (IEC 60068-2-6)
1000 m/s2 (IEC 60068-2-27)
100 m/s2 (IEC 60068-2-6)
1000 m/s2 (IEC 60068-2-27)
300 m/s2 4) (IEC 60068-2-6)
2000 m/s2 (IEC 60068-2-27)
Max. operating
temperature
UP
= 5 V:100 °C
UP
= 10 to 30 V:85 °C
60 °C
UP
= 5 V:100 °C
UP
= 10 to 30 V:85 °C
60 °C 70 °C 100 °C
Min. operating
temperature
Flange
socket
or
fixed
cable:
–20 °C
Moving
cable:
–10 °C
–20 °C
Flange
socket
or
fixed
cable:–40 °C
Moving
cable:
–10 °C
–20 °C
Flange
socket
or
fixed
cable:
–40 °C
Moving
cable:–10 °C
Protection IEC 60529 IP 67 at housing; IP 64 at shaft end3) IP 67 at
housing; IP 64 at shaft end3) IP 67 at housing; IP 64 at shaft end3)
Weight Approx. 0.35 kg Approx. 0.35 kg Approx. 0.3 kg
Bold: This preferred version is available on short notice
* Please indicate when ordering
1) Restricted tolerances: Signal amplitude 0.8 to 1.2 VPP
33 34
2) These functions are programmable
3) IP 66 on request
4) 150 m/s2 with flange socket version
Mounting bracket
Id. Nr. 324322-01
Mounting flange
Id. Nr. 201437-01
Shaft coupling
See
Shaft
Couplings
Mounting Accessories
for ROC/ROQ/ROD 400 series with clamping flange
35 36
Interfaces
Incremental Signals 1 VPP
HEIDENHAIN encoders with 1 VPP
interface provide voltage signals that can
be highly interpolated.
The sinusoidal incremental signals A
and B are phase-shifted by 90° elec. and
have an amplitude of typically 1 VPP.
The illustrated sequence of output
signals—with B lagging A—applies for
the direction of motion shown in the
dimension drawing.
The reference mark signal R has a usable
component
Gof approx. 0.5 V. Next to
the reference mark, the output signal can
be reduced by up to 1.7 V to an idle level
H. This must not cause the subsequent
electronics to overdrive. In the lowered
signal level, signal peaks can also appear
with the amplitude
G.
The data on signal amplitude apply when
the power supply given in the specifications
is connected to the encoder. They refer to
a differential measurement at the 120 ohm
terminating resistor between the
associated outputs. The signal amplitude
decreases with increasing frequency. The
cutoff frequency indicates the scanning
frequency at which a certain percentage
of the original signal amplitude is
maintained:
• –3 dB cutoff frequency:
70%of the signal amplitude
• –6 dB cutoff frequency:
50%of the signal amplitude
Interpolation/resolution/measuring
step
The output signals of the 1 VPP interface
are usually interpolated in the subsequent
electronics in order to attain sufficiently
high resolutions. For velocity control,
interpolation factors are commonly over
1000 in order to receive usable velocity
information even at low speeds.
Measuring steps for position
measurement are recommended in the
specifications. For special applications,
other resolutions are also possible.
Signal period
360° elec.
(Rated value)
A, B, R measured with an oscilloscope in differential mode
Signal amplitude [%]
–3dB cutoff frequency
–6dB cutoff frequency Scanning frequency [kHz]
Cutoff frequency
Typical signal
amplitude curve
with respect
to the scanning
frequency
Interface Sinusoidal voltage signals 1 VPP
Incremental signals Two nearly sinusoidal signals A and B
Signal amplitude M: 0.6 to 1.2 VPP; 1 VPP typical
Asymmetry IP – NI/2M: 0.065
Amplitude ratio MA/MB: 0.8 to 1.25
Phase angle I 1 + 2I/2: 90° ± 10° elec.
Reference mark
signal
One or more signal peaks R
Usable component G: 0.2 to 0.85 V
Quiescent value H: 0.04 V to 1.7 V
Switching threshold E, F: 40 mV
Zero crossovers K, L: 180° ± 90° elec.
Connecting cable
Cable length
Propagation time
HEIDENHAIN cable with shielding
PUR [4(2 · 0.14 mm2) + (4 · 0.5mm2)]
Max. 150 m distributed capacitance 90 pF/m
6 ns/m
Any limited tolerances in the encoders are listed in the specifications.
37
Electrical Connection
Input circuitry of the
subsequent electronics
Dimensioning
Operational amplifier MC 34074
Z0 = 120
R1 = 10 k and C1 = 100 pF
R2 = 34.8 k and C2 = 10 pF
UB = ±15 V
U1 approx. U0
–3dB cutoff frequency of circuitry
Approx. 450 kHz
Approx. 50 kHz with C1 = 1000 pF
and C2= 82pF
This circuit variant does reduce the
bandwidth of the circuit, but in doing so
it improves its noise immunity.
Circuit output signals
Ua = 3.48 VPP typical
Gain 3.48
Signal monitoring
A threshold sensitivity of 250 mVPP is
to be provided for monitoring the 1 VPP
incremental signals.
Incremental signals
Reference mark
signal
Ra < 100 ,
approx. 24
Ca < 50 pF
Ia<1mA
U0 = 2.5 V ± 0.5 V
(with respect to 0 V
of the power supply)
1 VPP
Pin Layout
12-pin HEIDENHAIN coupling 12-pin HEIDENHAIN connector 15-pin D-sub
connector
for IK 115 or at encoder
Power supply Incremental signals Other signals
12 2 10 11 5 6 8 1 3 4 9 7 /
4 12 2 10 1 9 3 11 14 7 5/8/13/15 14 /
UP Sensor
UP
0 V Sensor
0 V
A+ A– B+ B– R+ R– Vacant Vacant Vacant
Brown/
Green
Blue White/
Green
White Brown Green Gray Pink Red Black / Violet Yellow
Shield is on housing; UP = Power supply
Sensor: The sensor line is connected internally to the respective power
supply
Subsequent electronics Encoder
38
Interfaces
Incremental Signals TTL
HEIDENHAIN encoders with TTL
interface incorporate electronics that
digitize sinusoidal scanning signals with or
without interpolation.
The incremental signals are transmitted
as the square-wave pulse trains Ua1 and
Ua2, phase-shifted by 90° elec. The
reference mark signal consists of one
or more reference pulses Ua0, which are
gated with the incremental signals. In
addition, the integrated electronics produce
their inverse signals ,
and for
noise-proof transmission. The illustrated
sequence of output signals—with Ua2
lagging Ua1—applies for the direction of
motion shown in the dimension drawing.
The fault-detection signal indicates
fault conditions such as breakage of the
power line or failure of the light source. It
can be used for such purposes as machine
shut-off during automated production.
The distance between two successive
edges of the incremental signals Ua1 and
Ua2 through 1-fold, 2-fold or 4-fold
evaluation is one measuring step.
The subsequent electronics must be
designed to detect each edge of the
square-wave pulse. The minimum edge
separation alisted in the Specifications
applies for the illustrated input circuitry with
a cable length of 1 m, and refers to a
measurement at the output of the
differential line receiver. Propagation-time
differences in cables additionally reduce the
edge separation by 0.2 ns per meter of
cable length. To prevent counting error,
design the subsequent electronics to
process as little as 90% of the resulting
edge separation. The max. permissible
shaft speed or traversing velocity must
never be exceeded.
The permissible cable length for
transmission of the TTL square-wave signals
to the subsequent electronics depends on
the edge separation a.It is max. 100 m, or
50 m for the fault detection signal. This
requires, however, that the power supply
(see Specifications) be ensured at the
encoder. The sensor lines can be used to
measure the voltage at the encoder and, if
required, correct it with an automatic
system (remote sense power supply).
Cable length [m]
Edge separation [µs]
without
with
Permissible
cable length
with respect to the
edge separation
Interface Square-wave signals TTL
Incremental signals 2 TTL square-wave signals Ua1, Ua2 and their
inverted signals
,
Reference mark
signal
Pulse width
Delay time
One or more TTL square-wave pulses Ua0 and their inverse
pulses
90° elec. (other widths available on request); LS 323:nongated
|td| 50 ns
Fault detection
signal
Pulse width
One TTL square-wave pulse
Improper function: LOW (on request: Ua1/Ua2 high impedance)
Proper function: HIGH
tS 20 ms
Signal level Differential line driver as per EIA standard RS 422
UH 2.5 V at –IH = 20mA
UL 0.5 V at IL = 20mA
Permissible load Z0 100 between associated outputs
|ILI 20 mA max. load per output
Cload 1000 pF with respect to 0 V
Outputs protected against short circuit to 0 V
Switching times
(10% to 90%)
t+ / t– 30 ns (typically 10 ns)
with 1 m cable and recommended input circuitry
Connecting cable
Cable length
Propagation time
HEIDENHAIN cable with shielding
PUR [4(2 × 0.14 mm2) + (4 × 0.5mm2)]
Max. 100m( max. 50 m) with distributed capacitance 90 pF/m
6 ns/m
"
Signal period 360° elec. Fault
Measuring step
after 4-fold evaluation
Inverse signals ,
, are not shown
39
12-pin
HEIDENHAIN
flange socket
or coupling
12-pin
HEIDENHAIN
connector
15-pin
D-sub connector
at encoders
12-pin
PCB connector
Power supply Incremental signals Other signals
12 2 10 11 5 6 8 1 3 4 7 / 9
4 12 2 10 1 9 3 11 14 7 13 5/6/8 15
2a 2b 1a 1b 6b 6a 5b 5a 4b 4a 3a 3b /
UP Sensor
UP
0 V Sensor
0 V
Ua1 Ua2 Ua0 1) Vacant Vacant2)
Brown/
Green
Blue White/
Green
White Brown Green Gray Pink Red Black Violet / Yellow
Shield is on housing; UP = Power supply
Sensor: The sensor line is connected internally to the respective power
supply
1) LS 323: Vacant 2) Exposed linear encoders: Switchover TTL/11 µAPP for
PWT
Fault detection
signal
Subsequent electronics Encoder Input circuitry of the subsequent
electronics
Dimensioning
IC1 = Recommended differential
line receivers
DS 26 C 32 AT
Only for a> 0.1 µs:
AM 26 LS 32
MC 3486
SN 75 ALS 193
R1 = 4.7 k
R2 = 1.8 k
Z0 = 120
C1 = 220 pF (serves to improve noise
immunity)
40
Interfaces
Incremental Signals HTL
HEIDENHAIN encoders with HTL
interface incorporate electronics that
digitize sinusoidal scanning signals with or
without interpolation.
The incremental signals are transmitted as
the square-wave pulse trains Ua1 and Ua2,
phase-shifted by 90° elec. The reference
mark signal consists of one or more
reference pulses Ua0, which are gated with
the incremental signals. In addition, the
integrated electronics produce their inverse
signals ,
and for noise-proof
transmission (not with ERN/ROD 1x30).
The illustrated sequence of output
signals—with Ua2 lagging Ua1—applies for
the direction of motion shown in the
dimension drawing.
The fault-detection signal indicates
fault conditions such as failure of the light
source. It can be used for such purposes
as machine shut-off during automated
production.
The distance between two successive
edges of the incremental signals Ua1 and
Ua2 through 1-fold, 2-fold or 4-fold
evaluation is one measuring step.
The subsequent electronics must be
designed to detect each edge of the
square-wave pulse. The minimum edge
separation alisted in the Specifications
refers to a measurement at the output of
the given differential input circuitry. To
prevent counting error, the subsequent
electronics should be designed to process
as little as 90% of the edge separation a.
The max. permissible shaft speed or
traversing velocity must never be
exceeded.
Interface Square-wave signals HTL
Incremental signals 2 HTL square-wave signals Ua1, Ua2 and their
inverted signals
,( ERN/ROD 1x30without ,
)
Reference mark
signal
Pulse width
Delay time
One or more HTL square-wave pulses Ua0 and their inverse
pulses ( ERN/ROD 1x30without
90° elec. (other widths available on request)
|td| 50 ns
Fault detection
signal
Pulse width
One HTL square-wave pulse
Improper function: LOW
Proper function: HIGH
tS 20 ms
Signal level UH 21 V with –IH = 20 mA with power supply
UL 2.8 V with IL = 20mA UP = 24 V, without cable
Permissible load |ILI 100 mA max. load per output, (except )
Cload 10 nF with respect to 0 V
Outputs short-circuit proof max. 1 min. after 0 V andUP (except )
Switching times
(10% to 90%)
t+/t– 200 ns (except )
with 1 m cable and recommended input circuitry
Connecting cable
Cable length
Propagation time
HEIDENHAIN cable with shielding
PUR [4(2 × 0.14 mm2) + (4 × 0.5mm2)]
Max. 300 m ( ERN/ROD 1x30max. 100 m)
with distributed capacitance 90 pF/m
6 ns/m
"
The permissible cable length for incremental
encoders with HTL signals depends on the
scanning frequency, the effective power
supply, and the operating temperature of
the encoder.
Cable length [m]
Scanning frequency [kHz]
Signal period 360° elec. Fault
Measuring step
after 4-fold evaluation
Inverse signals ,
, are not shown
41
Current consumption
The current consumption for encoders with
HTL output signals depends on the output
frequency and the cable length to the
subsequent electronics. The diagrams at
right show typical curves for push-pull signal
transmission with a 12-line HEIDENHAIN
cable. The maximum current consumption
can be 50 mA higher.
Scanning frequency [kHz]
Current consumption [mA]
Scanning frequency [kHz]
Current consumption [mA]
UP = 24 V UP = 15 V
For cable lengths > 50 m, the corresponding 0 V signal lines
must be connected with 0 V of the subsequent electronics to
increase noise immunity.
ERN/ROD 1030
Input circuitry of the subsequent electronics
Encoder Subsequent electronics Subsequent electronics
12-pin
HEIDENHAIN
flange socket
or coupling
12-pin PCB connector
Power supply Incremental Signals Other signals
12 2 10 11 5 6 8 1 3 4 7 / 9
2a 2b 1a 1b 6b 6a 5b 5a 4b 4a 3a 3b /
UP Sensor
UP
0 V Sensor
0 V
Ua1 Ua2 Ua0 Vacant Vacant
Brown/
Green
Blue White/
Green
White Brown Green Gray Pink Red Black Violet / Yellow
Shield is on housing; UP = power supply;
Sensor: The sensor line is connected internally to the respective the
power supply
ERN 1x30, ROD 1030: 0 V instead of inverse signals ,
,
Pin Layout
42
Input circuitry of the subsequent electronics
As a bidirectional interface, the EnDat
(Encoder Data) interface for absolute
encoders is capable of producing absolute
position values as well as requesting or
updating information stored in the encoder.
Thanks to the serial transmission method
only four signal lines are required. The
type of transmission (position values or
parameters) is selected by mode commands
that the subsequent electronics send to the
encoder. The data are transmitted in
synchronism with the clock signal from
the subsequent electronics.
Benefits of the EnDat Interface
• One interface for all absolute encoders,
whereby the subsequent electronics can
automatically distinguish between EnDat
and SSI.
• Complementary output of incremental
signals (optional for highly dynamic
control loops).
• Automatic self-configuration during
encoder installation, since all information
required by the subsequent electronics is
already stored in the encoder.
• Reduced wiring cost
For standard applications, six lines are
sufficient.
• High system security through alarms
and messages that can be evaluated in
the subsequent electronics for monitoring
and diagnosis. No additional lines are
required.
• Minimized transmission times through
adaptation of the data word length to the
resolution of the encoder and through
high clock frequencies.
• High transmission reliability through
cyclic redundancy checks.
• Datum shifting through an offset value
in the encoder.
• It is possible to form a redundant
system, since the absolute value and
incremental signals are output
independently from each other.
Interfaces
Absolute Position Values
Cable length [m]
Clock frequency [kHz]
Interface EnDat 2.1 serial bidirectional
Data transfer Absolute position values and parameters
Data input Differential line receiver according to EIA standard RS 485
for
CLOCK, CLOCK, DATA and DATA signals
Data output Differential line driver according to EIA standard RS 485
for the
DATA and DATA signals
Signal level Differential voltage output > 1.7 V with Z0 = 120 load*)
(EIA standard RS 485)
Code Pure binary code
Ascending
position values
In traverse direction indicated by arrow (see Dimensions)
Incremental Signals 1 VPP (see Incremental Signals 1 VPP)
Connecting cable
Cable length
Propagation time
HEIDENHAIN cable with shielding
PUR [(4 x 0.14 mm2) + 4(2 x 0.14 mm2) + (4 x 0.5mm2)]
Max. 150 m with 90 pF/m distributed capacitance
6 ns/m
*) Terminating and receiver input resistor
Data transfer
IC1 = RS 485
differential line receiver
and driver
C3 = 330 pF
Z0 = 120
Incremental signals
Permissible
clock frequency
with respect
to cable lengths
Encoder Subsequent electronics
43
Function of the EnDat Interface
The EnDat interface outputs absolute
position values, optionally makes
incremental signals available, and permits
reading from and writing to the memory
in the encoder.
Selecting the transmission type
Position values and memory contents are
transmitted serially through the DATA lines.
The type of information to be transmitted
is selected by mode commands. Mode
commands define the content of the information
that follows. Every mode command
consists of 3 bits. To ensure transmission
reliability, each bit is also transmitted
inverted. If the encoder detects an erroneous
mode transmission, it transmits an error
message.
The following mode commands are
available:
• Encoder transmit absolute position value
• Selection of the memory area
• Encoder transmit/receive parameters of
the last defined memory area
• Encoder transmit test values
• Encoder receive test commands
• Encoder receive RESET
Parameters
The encoder provides several memory
areas for parameters. These can be read
from by the subsequent electronics, and
some can be written to by the encoder
manufacturer, the OEM, or even the end
user. Certain memory areas can be
write-protected.
The parameters, which in most cases
are set by the OEM, largely define
the function of the encoder and the
EnDat interface. When the encoder is
exchanged, it is therefore essential that its
parameter settings are correct. Attempts to
configure machines without including OEM
data can result in malfunctions. If there is
any doubt as to the correct parameter
settings, the OEM should be consulted.
Memory Areas
Parameters of the encoder manufacturer
This write-protected memory area contains
all information specific to the encoder,
such as encoder type (linear/angular,
singleturn/multiturn, etc.), signal periods,
number of position values per revolution,
transmission format of absolute position
values, direction of rotation, maximum
permissible speed, accuracy dependent on
shaft speeds, support from warnings and
alarms, part number, and serial number. This
information forms the basis for automatic
configuration.
Parameters of the OEM
In this freely definable memory area, the
OEM can store his information. For
example, the “electronic ID label” of the
motor in which the encoder is integrated,
indicating the motor model, maximum
current rating, etc.
Operating parameters
This area is available to the customer for a
datum shift. It can be protected against
overwriting.
Operating status
This memory area provides detailed alarms
or warnings for diagnostic purposes. Here it
is also possible to activate write protection
for the OEM-parameter and operating
parameter memory areas, and interrogate
its status.
Once activated, the write protection cannot
be reversed.
Monitoring and Diagnostic Functions
Alarms and warnings
The EnDat interface enables comprehensive
monitoring of the encoder without requiring
an additional transmission line.
An alarm becomes active if there is a
malfunction in the encoder that is presumably
causing incorrect position values. At the
same time, an alarm bit is set in the data
word. Alarm conditions include:
• Light unit failure
• Signal amplitude too low
• Error in calculation of position value
• Power supply too high/low
• Current consumption is excessive
Warnings indicate that certain tolerance
limits of the encoder have been reached or
exceeded—such as shaft speed or the limit
of light source intensity compensation
through voltage regulation—without implying
that the measured position values are
incorrect. This function makes it possible
to issue preventive warnings in order to
minimize idle time.
The alarms and warnings supported by the
respective encoder are saved in the
“parameters of the encoder manufacturer”
memory area.
Reliable data transfer
To increase the reliability of data transfer,
a cyclic redundancy check (CRC) is
performed through the logical processing
of the individual bit values of a data word.
This 5-bit long CRC concludes every
transmission. The CRC is decoded in the
receiver electronics and compared with the
data word. This largely eliminates errors
caused by disturbances during data transfer.
Block diagram: Absolutes encoder with EnDat interface
Incremental
signals
Absolute
position value
Operating
status
Operating
parameters
(e.g., datum
shift)
Parameters of
the encoder
manufacturer
Parameters
of the OEM
1 VPP A
1 VPP B
UP Power
0 V supply
EnDat interface
Absolute encoder Subsequent
electronics
44
Encoder saves
position value
Position value Cyclic redundance
check
Subsequent electronics
transmit mode command
Mode command
Interrupted clock
The interrupted clock is intended particularly
for time-clocked systems such as closed
control loops. At the end of the data word
the clock signal is set to HIGH level. After
10 to 30 µs ( tm), the data line falls back to
LOW. Then a new data transmission can
begin by starting the clock.
Continuous clock
For applications that require fast acquisition
of the measured value, the EnDat interface
can have the clock run continuously.
Immediately after the last CRC bit has been
sent, the DATA line is switched to HIGH for
one clock cycle, and then to LOW. The
new position value is saved with the very
next falling edge of the clock and is output
in synchronism with the clock signal
immediately after the start bit and alarm bit.
Because the mode command encoder
transmits position valueis needed only
before the first data transmission, the
continuous-clock transfer mode reduces
the length of the clock-pulse group by
10 periods per position value.
Data transfer
The two types of EnDat data transfer are
position value transfer and parameter
transfer.
Control Cycles for Transfer of Position
Values
The clock signal is transmitted by the
subsequent electronics to synchronize the
data output from the encoder. When not
transmitting, the clock signal defaults to
HIGH. The transmission cycle begins with
the first falling edge. The measured values
are saved and the position value calculated.
After two clock pulses (2T), the subsequent
electronics send the mode command
Encoder transmit position value.
After successful calculation of the absolute
position value (tcal—see table), the start bit
begins the data transmission from the
encoder to the subsequent electronics.
The subsequent alarm bit is a common
signal for all monitored functions and serves
for failure monitoring. It becomes active if a
malfunction of the encoder might result in
incorrect position values. The exact cause
of the trouble is saved in the encoder’s
“operating status” memory where it can
be interrogated in detail.
The absolute position value is then
transmitted, beginning with the LSB. Its
length depends on the encoder being used.
It is saved in the encoder manufacturer’s
memory area. Since EnDat does not need
to fill superfluous bits with zeros as in SSI,
the transmission time of the position value
to the subsequent electronics is minimized.
Data transmission is concluded with the
cyclic redundancy check (CRC).
ROC, ECN,
ROQ, EQN
ECI/EQI1) RCN1) LC1)
Clock frequency fC 100 kHz to 2 MHz
Calculation time for
Position value
Parameter
tcal
tac
250 ns
Max. 12 ms
5 µs
Max. 12 ms
10 µs
Max. 12 ms
1ms
Max. 12 ms
Recovery time tm 10 to 30 µs
HIGH Pulse width tHI 0.2 to 10 µs
LOW pulse width tLO 0.2 µs to 50 ms 0.2 to 30 µs
1)See also Position Encoders for Servo Drives, Angle Encoders,
1) Sealed Linear Encoders catalogs
Save new
position value
Position value
Save new
position value
CRC CRC
n = 0 to 5; system inherent
45
Encoder Subsequent electronics
Latch signal
Counter
Subdivision
Parallel
interface
Comparator
Control cycles for transfer of parameters
(mode command 001110)
Before parameter transfer, the memory
area is specified with the mode command
Select memory areaand a subsequent
memory-range-select code (MRS). The
possible memory areas are stored in the
parameters of the encoder manufacturer.
Due to internal access times to the
individual memory areas, the time tac may
reach 12 ms.
Reading parameters from the encoder
(mode command 100011)
After selecting the memory area, the
subsequent electronics transmit a complete
communications protocol beginning with
the mode command Encoder transmit
parameters,followed by an 8-bit address
and 16 bits with random content. The
encoder answers with the repetition of the
address and 16 bits with the contents of
the parameter. The transmission cycle is
concluded with a CRC check.
Writing parameters to the encoder
(mode command 011100)
After selecting the memory area, the
subsequent electronics transmit a complete
communications protocol beginning with
the mode command Encoder receive
parameters,followed by an 8-bit address
and a 16-bit parameter value. The encoder
answers by repeating the address and the
contents of the parameter. The CRC check
concludes the cycle.
Transmitter in encoder inactive
Receiver in encoder active
Transmitter in encoder active
MRS code
Address
Address
x = random y = parameter Acknowledgment
MRS code
Address
Address
parameter
8 Bit 16 Bit 8 Bit 16 Bit
Synchronization of the serially
transmitted code value with the
incremental signal
Absolute encoders with EnDat interface
can exactly synchronize serially transmitted
absolute position values with incremental
values. With the first falling edge (latch signal)
of the CLOCK signal from the subsequent
electronics, the scanning signals of the
individual tracks in the encoder and counter
are frozen, as are also the A/D converters
for subdividing the sinusoidal incremental
signals in the subsequent electronics.
The code value transmitted over the serial
interface unambiguously identifies one
incremental signal period. The position value
is absolute within one sinusoidal period of
the incremental signal. The subdivided
incremental signal can therefore be appended
in the subsequent electronics to the serially
transmitted code value.
After power on and initial transmission of
position values, two redundant position
values are available in the subsequent electronics.
Since encoders with EnDat interface
guarantee a precise synchronization—
regardless of cable length—of the serially
transmitted absolute value with the
incremental signals, the two values can be
compared in the subsequent electronics.
This monitoring is possible even at high
shaft speeds thanks to the EnDat interface’s
short transmission times of less than 50 µs.
This capability is a prerequisite for modern
machine design and safety concepts.
1 VPP
1 VPP
46
15-pin
D-sub connector, male
for IK 115
15-pin
D-sub connector, female
for HEIDENHAIN controls
and IK 220
Power supply Incremental signals Absolute position values
4 12 2 10 6 1 9 3 11 5 13 8 15
1 9 2 11 13 3 4 6 7 5 8 14 15
UP Sensor
UP
0 V Sensor
0 V
Internal
shield
A+ A- B+ B- DATA DATA CLOCK CLOCK
Brown/
Green
Blue White/
Green
White / Green/
Black
Yellow/
Black
Blue/
Black
Red/
Black
Gray Pink Violet Yellow
Shield is on housing; UP = Power supply
Sensor: The sensor line is connected internally to the corresponding
power supply.
Vacant pins or wires must not be used!
Pin Layout
17-pin
HEIDENHAIN
coupling
Power supply Incremental signals Absolute position values
7 1 10 4 11 15 16 12 13 14 17 8 9
UP Sensor
UP
0 V Sensor
0 V
Inside
shield
A+ A- B+ B- DATA DATA CLOCK CLOCK
Brown/
Green
Blue White/
Green
White / Green/
Black
Yellow/
Black
Blue/
Black
Red/
Black
Gray Pink Violet Yellow
Shield is on housing; UP = Power supply
Sensor: The sensor line is connected internally to the corresponding
power supply.
Vacant pins or wires must not be used!
47
Interface
Absolute position values PROFIBUS-DP
Bus structure of PROFIBUS-DP
E.g.: ROQ 425 multiturn rotary encoder E.g.: LC 181 absolute linear
encoder
E.g.:
ROC 413
singleturn
rotary
encoder
E.g: RCN 723 absolute angle encoder
E.g.: frequency
inverter with
motor
PROFIBUS-DP
PROFIBUS is a nonproprietary, open field
bus in accordance with the international
EN 50170 standard. The connecting of
sensors through field bus systems minimizes
the cost of cabling and the number of lines
between encoder and subsequent
electronics.
Topology and bus assignment
The PROFIBUS-DP is designed as a linear
structure. It permits transfer rates up to
12 Mbit/s. Both mono-master and multi
master systems are possible. Each master
can serve only its own slaves (polling). The
slaves are polled cyclically by the master.
Slaves are, for example, sensors such as
absolute rotary encoders, linear encoders,
or also control devices such as motor
frequency inverters.
Physical characteristics
The electrical features of the PROFIBUS-DP
comply with the RS-485 standard. The bus
connection is a shielded, twisted two-wire
cable with active bus terminations at each
end.
* with EnDat interface
LC* RCN*
ROC*
ROQ*
ECN*
EQN*
Self-configuration
The characteristics of the HEIDENHAIN
encoders required for system configuration
are included as “electronic data sheets”—
also called device identification records
(GSD)—in the gateway. These device
identification records hold the complete
and exact characteristics of a device in a
precisely defined format, which permits the
simple and application-friendly integration
of the devices into the bus system.
Configuration
PROFIBUS-DP devices can be configured
and the parameters assigned to fit the
requirements of the user. Once these
settings are made in the configuration tool
with the aid of the GSD file, they are saved
in the master. It then configures the
PROFIBUS devices every time the network
starts up. This simplifies exchanging the
devices: there is no need to edit or reenter
the configuration data.
ROC
ROQ
ROC
ROQ
Slave 1 Slave
3
Slave 2
Slave 4
Slave
5
Master 1
48
PROFIBUS-DP profile
The PNO (PROFIBUS user organization) has
defined a standard, nonproprietary profile
for the connection of absolute encoders to
the PROFIBUS-DP, thus ensuring high
flexibility and simple configuration on all
systems that use this standardized profile.
You can request the profile for absolute
encoders from the PNO in Karlsruhe,
Germany, under the order number 3.062.
There are two classes defined in the
profile, whereby class 1 provides minimum
support, and class 2 allows additional, in
part optional functions.
Supported functions
Particularly important in decentralized field
bus systems are the diagnostic functions
(e.g. warnings and alarms), and the
electronic ID label with information on the
type of encoder, resolution, and measuring
range. But also programming functions
such as counting direction reversal, preset/
zero shift and changing the resolution
(scaling) are possible. The operating time
of the encoder can also be recorded.
Operating status
In addition to the transfer of the diagnostic
functions over the PROFIBUS-DP, the
operating statuses
• power supply, and
• bus status
are displayed by LEDs on the rear of the
encoder.
Characteristic Class ECN 1131)
ECN 4131)
ROC 413
EQN 4251)
ROQ 425
ROC 4151)
ROC 4171)
RCN 2201)
RCN 7231)
LC 4811)
LC 1811)
Position value in pure
binary code 1, 2 ✓ ✓ ✓ ✓
Data word length 1, 2 16 32 32 32
Scaling function
Measuring steps/rev 2
Total resolution 2
✓
✓
✓
✓
✓2)
–
––
Reversal of counting direction 1, 2 ✓ ✓ ✓ –
Preset/Datum shift 2
✓ ✓ ✓ –
Diagnostic functions
Warnings and alarms 2 ✓ ✓ ✓ ✓
Operating time recording 2 ✓ ✓ ✓ ✓
Profile version 2 ✓ ✓ ✓ ✓
Serial number 2 ✓ ✓ ✓ ✓
1) Connectible with EnDat Interface over gateway to PROFIBUS-DP
2) Scaling factor in binary steps
49
Connection
The absolute rotary encoders with integrated
PROFIBUS-DP interface feature
screw terminals for the PROFIBUS- DP and
the power supply. The cable is connected
over three PG7 screw connections on the
bus housing. Here the coding switches are
located for addressing (0 to 99) and
selecting the terminating resistor, which is
to be activated if the rotary encoder is the
last participant on the PROFIBUS-DP. All
connections and controls are easily
accessible in the bus housing.
Connection via gateway
All absolute encoders from HEIDENHAIN
with EnDat interface are suitable for
PROFIBUS-DP. The encoder is electrically
connected through a gateway. The
complete interface electronics are integrated
in the gateway, which offers a number of
benefits:
• Simple connection of the field bus cable,
since the terminals are easily accessible.
• Encoder dimensions remain small.
• No temperature restrictions for the
encoder. All temperature-sensitive
components are in the gateway.
• No bus interruption when an encoder is
exchanged.
Besides the EnDat encoder connector, the
gateway provides connections for the
PROFIBUS and the power supply. In the
gateway there are coding switches for
addressing and selecting the terminating
resistor.
Because the gateway is connected directly
to the bus lines, the cable to the encoder is
not a stub line, although it can be up to
150 meters (492 ft) long.
Gateway
Power supply 10 to 30 V/max. 400 mA
(internal voltage converter to 5 V ± 5 %
for EnDat encoders)
Degree of protection IP 67
Operating temperature –40 °C to 80 °C
Electrical connection
EnDat
PROFIBUS-DP
Flange socket 17-pin
terminations, PG9 cable exit
Id. Nr. 325771-01
Bus input
UP, 0 V power supply
Addressing of tens digit
Power supply
Bus terminals A, B
Terminal resistor
Addressing the ones digit
Bus output
50
The absolute position value, beginning
with the Most Significant Bit, is transferred
over the data lines (DATA) in synchronism
with a CLOCK signal from the control. The
SSI standard data word length for singleturn
absolute encoders is 13 bits, and for multiturn
absolute encoders 25 bits. In addition to
the absolute position values, sinusoidal
incremental signals with 1 VPP levels are
transmitted. For signal description, see
1 VPP Incremental Signals.
Interfaces
SSI Absolute Position Values
Interface SSI serial
Data transfer Absolute position values
Data input Differential line receiver according to EIA standard RS 485
for the
CLOCK and CLOCK signals
Data output Differential line driver according to EIA standard RS 485
for the
DATA and DATA signals
Signal level Differential voltage output > 1.7 V with Z0 = 120 load*)
(EIA standard RS 485)
Code Gray code
Ascending
position values
With clockwise rotation (viewed from flange side)
Incremental signals 1 VPP (see Incremental Signals 1 VPP)
Connecting cable
Cable length
Propagation time
HEIDENHAIN cable with shielding
PUR [(4 x 0.14 mm2) +4(2 x 0.14 mm2) + (4 x 0.5mm2)]
Max. 150 m with 90 pF/m distributed capacitance
6 ns/m
*) Terminating and receiver input resistor
SSI Interface: Recommended Input
Circuitry of Subsequent Electronics
Dimensioning
IC1=Differential line receiver and driver
E.g. SN 65 LBC 176
LT 485
Z0 =120
Permissible
clock frequency
with respect
to cable lengths
Data transfer
Incremental signals
1) Not available for 1) 10 to 30 V
1) power supply
1 VPP
Encoder Subsequent electronics
Cable length [m]
Clock frequency [kHz]
51
Data word length n
ROC 413
ECN 113
ECN 413
ROC 412 ROC 410 ROQ 424 ROQ 425
EQN 425
13 13 13 25 25
T = 1 to 10 µs
t1 > 0.45 µs
t2 0.4 µs (without cable)
t3 = 12 to 30 µs
Control cycle for complete data word
When not transmitting, the clock and data
lines are on high level. The current position
value is stored on the first falling edge of
the clock. The stored data is then clocked
out on the first rising edge.
After transmission of a complete data
word, the data line remains low for a period
of time (t3) until the encoder is ready for
interrogation of a new value. If a falling
clock edge is received within t3, the same
data will be output once again.
If the data output is interrupted (CLOCK =
high for t t3), a new position value will be
stored on the next falling edge of the clock,
and on the subsequent rising edge clocked
out to the subsequent electronics.
CLOCK and DATA not shown
17-pin
HEIDENHAIN
coupling
Power supply Incremental signals Absolute position values
7 1 10 4 11 15 16 12 13 14 17 8 9
UP Sensor
UP
0 V Sensor
0 V
Inside
shield
A+ A– B+ B– DATA DATA CLOCK CLOCK
Brown/
Green
Blue White/
Green
White / Green/
Black
Yellow/
Black
Blue/
Black
Red/
Black
Gray Pink Violet Yellow
Shield is on housing; UP = power supply
Sensor: The sensor line is connected internally to the respective power
supply.
Vacant pins or wires must not be used!
Pin Layout
52
The absolute position value, beginning
with the Most Significant Bit, is transferred
over the data lines (DATA) in synchronism
with a CLOCK signal from the control. A
number of parameters and functions are
programmable with the aid of the included
programming software.
In addition to the absolute position values,
sinusoidal incremental signals with 1 VPP
levels are transmitted. For signal description,
see 1 VPP Incremental Signals.
A fault detection signal indicates fault
conditions such as an interruption in the
supply lines, failure of the light source, etc.
Programmable Functions and Parameters
The encoders are programmed with
HEIDENHAIN programming software on a
PC. It also enables the user to check
defined values. Some functions that do not
affect the interface configuration can also
be activated by hardware through jumpers
on dedicated lines.
Interface
• Output format of position values in Gray
code or pure binary code
• Direction of rotation for increasing
position values (also configurable by
jumpers)
• Data format synchronous-serial
right-aligned or 25-bit tree format (SSI)
Position values
• Singleturn resolution up to 8192 positions
per revolution, e.g., for adaptation to
various screw pitches.
• Multiturn resolution up to 4096 distinguishable
revolutions, e.g., for adaptation
to the ball-screw length
Scaling settings
• Factor for reducing the singleturn
resolution
• Unit-distance integral reduction of
singleturn or multiturn positions
Offset/Preset
• Offset and preset values for zeroing and
compensation as required
• Setting the software-programmed preset
value using the connector
For more information, look into our Web
page at www.heidenhain.com.
Interfaces
SSI Programmable Absolute Position Values
Interface SSI programmable
Data transfer Absolute SSI position values or synchronous-serial
right-aligned
(programmable)
Data input Differential line receiver according to EIA standard RS 485
for
CLOCK, CLOCK, DATA and DATA signals
Data output Differential line driver according to EIA standard RS 485
for the
DATA and DATA signals
Signal level Differential voltage output > 2 V (EIA standard RS-485)
Code Gray or pure binary code (programmable)
Ascending
position values
Programmable direction of rotation
Incremental signals 1 VPP (see Incremental Signals 1 VPP)
Fault detection
signal UaS
One square-wave pulse (HTL) Improper function: LOW
Proper function: HIGH
Connecting cable
Cable length
Propagation time
HEIDENHAIN cable with shielding
PUR [(4 x 0.14 mm2) +4(2 x 0.14 mm2) + (4 x 0.5mm2)]
Max. 150 m with 90 pF/m distributed capacitance
6 ns/m
Recommended input circuitry of the subsequent electronics
Data transfer
IC1 = RS 485
differential line
receiver and driver
Z0 = 120
Incremental signals
Fault detection
signal
Programming
interface
Programming
via connector
1 VPP
Encoder Subsequent electronics
53
Connection
The programming cable, available as an
accessory, connects the encoder directly
or through a tee coupler with the COM
interface of the PC. It conducts the power
supply (UP = 10 to 30 V) if no control is
connected. The encoder can be programmed
or inspected through the tee coupler while
it is in the control loop.
Power supply unit
Id. Nr. 335 562-01
Programming cable
Id. Nr. 330 370-01
Connecting cable
Id. Nr. 323 897-xx
Tee coupler
Id. Nr. 325 146-01
Connecting cable
Id. Nr. 309 778-xx
Programming software
Id. Nr. 331423-01
17-pin
HEIDENHAIN
flange socket
Power supply Incremental Signals Absolute position values
7 10 11 15 16 12 13 14 17 8 9
UP 0 V Inside
shield
A+ A– B+ B– DATA DATA CLOCK CLOCK
Brown/
Green
White/
Green
/ Green/
Black
Yellow/
Black
Blue/
Black
Red/
Black
Gray Pink Violet Yellow
Other signals Shield on housing;
UP = Power supply voltage
1 4 3 2 5 6
RxD TxD Direction
of rotation
Preset
1
Preset
2
Blue White Red Black Green Brown
Pin Layout
54
The PWM 9 is a universal measuring device
for checking and adjusting HEIDENHAIN
incremental encoders. There are different
expansion modules available for checking
the different encoder signals.
The values can be read
on an LCD monitor.
Soft keys provide ease
of operation.
PWM 9
Inputs Expansion modules (interface boards) for 11 µAPP; 1 VPP;
TTL; HTL; EnDat*/SSI*/commutation signals
*No display of position values or parameters
Features • Measures signal amplitudes, current consumption,
operating voltage, scanning frequency
• Graphically displays incremental signals, (amplitudes,
phase angle and on-off ratio) and the reference mark signal
(width and length)
• Display symbols for reference mark, fault detection
signal, counting direction
• Universal counter, interpolation selectable
from 1 to 1024-fold
• Adjustment aid for exposed encoders
Outputs • Inputs are fed through for subsequent electronics
• BNC sockets for connection to an oscilloscope
Power supply 10 to 30 V, max 15W
Dimensions 150 mm × 205 mm × 96 mm
HEIDENHAIN Measuring Equipment and Counter Cards
The IK 115 is an adapter card for PCs for
inspecting and testing absolute HEIDENHAIN
encoders with EnDat or SSI interface. The
user can read out all parameters of the
encoder over the EnDat interface and write
to all encoder memory areas that are not
write-protected.
IK 115
Encoder input EnDat or SSI
(absolute value or incremental signals)
Interface ISA bus
Application software Operating system: Windows 95/98
Functions: Position value display
Counter for incremental signals
EnDat functions
Dimensions 158 mm x 107 mm
The IK 220 is an expansion board for ATcompatible
PCs for recording the measured
values of two incremental or absolute
linear or angular encoders. The subdivision
and counting electronics subdivide the
sinusoidal input signals to generate up to
4096 measuring steps per input signal
period. A driver software package is included
in delivery.
IK 220
Input signals
(switchable)
1 VPP 11 µAPP EnDat SSI
Encoder inputs 2 D-sub connectors (15-pin) males
Input frequency (max.) 500 kHz 33 kHz –
Cable lengths (max.) 60 m 10 m
Interface PCI bus (plug and play)
Driver software and
demonstration program
for WINDOWS 95/98/NT/2000/XP
in VISUAL C++, VISUAL BASIC and BORLAND DELPHI
Dimensions Approx. 190 mm × 100 mm
For more information, ask for our IK 220
product information sheet.
55
Connecting Elements and Cables
General Information
Connector: Connecting element with
coupling ring. Available with male or female
contacts.
Flange socket: Permanently mounted on
the encoder, connection fixture or machine
housing, with external thread (like the
coupling), and available with male or female
contacts.
D-sub connector: For HEIDENHAIN
controls, counters and IK absolute value cards.
Coupling: Connecting element with
external thread. Available with male or
female contacts. Connector, insulated Coupling, insulated
Flange socket D-sub connector
x
x: 42.7
y: 41.7
y
Mounted coupling with central fastening, insulated
The pins on connectors are numbered in
the direction opposite to those on
couplings or flange socket, regardless of
whether the contacts are
male
or female.
When engaged, the connections provide
protection to IP 67 (D-sub connector: IP 50;
IEC 60529). When not engaged, there is no
protection.
Mounted coupling with flange, insulated
Cutout for mounting
56
Connector on encoder cable Connector (male), 12-pin Coupling on encoder
cable Coupling (male),
12-pin
For encoder cable 6mm
4.5 mm
291698-03
291698-14
For encoder cable 6 mm
4.5 mm
291697-07
291697-06
Coupling mounted on encoder Mounted coupling
with flange (male),
12-pin
For encoder cable 6 mm 291698-08 For encoder cable 6mm 291698-08
Coupling mounted on encoder Mounted coupling
with central fastening
(male) 12-pin
For encoder cable 6 mm 291698-33
PUR connecting cable 8mm
[4(2 × 0.14 mm2) + (4 × 0.5mm2)]
for encoders with connector
PUR connecting cable 8mm
[4(2 × 0.14 mm2) + (4 × 0.5mm2)]
for encoders with coupling of flange socket
Complete with coupling (female)
and connector (male)
298400-xx Complete with connector (female)
and connector (male)
298399-xx
Complete with connector (female)
and D-sub connector (female) for
IK 220
310199-xx
With one coupling (female) 298402-xx With one connector (female)
309777-xx
Without connectors 244957-01
Mating element on connecting cable
to connector on encoder cable
Coupling (female),
12-pin
Mating element on connecting
cable to coupling on encoder cable
or flange socket
Connector (female),
12-pin
For connecting cable 8 mm 291698-02 For connecting cable 8 mm 291697-05
Connector on connecting cable to
subsequent electronics
Connector (male), 12-pin Connector on cable for connection
to subsequent electronics
Connector (male), 12-pin
For connecting cable 8 mm 291697-08 For connecting cable 8 mm 291697-08
Flange socket for connecting cable to subsequent electronics
Flange socket (female), 12-pin: 200722-01
Connecting Cables 1 VPP
TTL
HTL
57
Coupling on encoder cable Coupling (male),
17-pin
For encoder cable 6 mm 291698-26
Coupling mounted on encoder Mounted coupling with central fastening
(male),
17-pin
For encoder cable 6 mm 291698-37
PUR connecting cable 8mm [(4 x 0.14 mm2) + 4(2 x 0.14 mm2) + (4 x
0.5mm2)]
Complete with connector
(female) and coupling (male)
323897-xx Complete with connector (female)
and D-sub connector (male)
for IK 115
324544-xx
With one connector (female) 309778-xx Complete with connector (female)
and D-sub connector (female) for
IK 220
332115-xx
Cable without connectors 266306-01
Mating element on connecting
cable for connecting element on
encoder
Connector (female), 17-pin
For connecting cable 8 mm 291697-26
Connector on cable for connection to
subsequent electronics
Connector (male), 17-pin
For connecting cable 8 mm 291697-27
Coupling on extension cable Coupling (male), 17-pin
For connecting cable 8 mm 291698-27
Flange socket for connecting cable to subsequent electronics
Flange socket (female), 17-pin: 315892-10
Connecting Cables EnDat
SSI
Programmable SSI
58
General Electrical Information
Cable
Lengths
The cable lengths listed in the Specifications
apply only for HEIDENHAIN cables and the
recommended input circuitry of subsequent
electronics.
Durability
All encoders use polyurethane (PUR) cables.
PUR cables are resistant to oil, hydrolysis and
microbes in accordance with VDE0472. They
are free of PVC and silicone and comply with
UL safety directives. The UL certification
AWM STYLE 20963 80 °C 30 V E63216 is
documented on the cable.
Temperature range
HEIDENHAIN cables can be used:
for rigid configuration –40 to 85 °C
for frequent flexing –10 to 85 °C
Cables with limited resistance to hydrolysis
and microbes are rated for up to 100 °C.
Bending radius
The permissible bending radii Rdepend on
the cable diameter and the configuration:
Rigid configuration
Frequent flexing
Electrically permissible speed/
Traversing speed
The maximum permissible shaft speed or
traversing velocity of an encoder is derived
from
• the mechanically permissible shaft speed/
traversing velocity (if listed in Specifications)
and
• the electrically permissible shaft speed/
traversing velocity.
For encoders with sinusoidal output
signals, the electrically permissible shaft
speed/traversing velocity is limited by
the –3dB/ –6dB cutoff frequency or the
permissible input frequency of the
subsequent electronics.
For encoders with square-wave signals,
the electrically permissible shaft speed/
traversing velocity is limited by
– The encoder’s maximum permissible
scanning/output frequency fmax
and
– the minimum permissible edge
separation afor the subsequent
electronics
For angular or rotary encoders
nmax =
fmax · 60 · 103
For linear encoders
vmax = fmax · SP· 60 · 10–3
where
nmax: electrically permissible speed
in rpm,
vmax: Electrically permissible
traversing speed in m/min
fmax: Maximum scanning/output
frequency of the encoder or
input frequency of the
subsequent electronics in kHz,
z: Line count of the angular or
rotary encoder per 360 °
SP: Signal period of the linear
encoder in µm
Typically 500 ms
UPP
Initial transient response of the
supply voltage e.g. 5 V ± 5 %
Power supply
The encoders require a stabilized dc
voltage UP as power supply. The respective
specifications state the required power
supply and the current consumption. The
permissible ripple content of the dc voltage
is:
• High frequency interference
UPP < 250 mV with dU/dt > 5 V/µs
• Low frequency fundamental ripple
UPP < 100 mV
The values apply as measured at the
encoder, i.e., without cable influences. The
voltage can be monitored and adjusted with
the device’s sensor lines. If a controllable
power supply is not available, the voltage
drop can be halved by switching the sensor
lines parallel to the corresponding power
lines.
Calculation of the voltage drop:
U= 2 · 10–3 ·
where
U:Line drop in V
LC: Cable length in mm
I: Current consumption of the
encoder in mA
(see Specifications)
AV: Cross section of power lines
in mm2
LC · I
56 · AP
HEIDENHAIN
cables
Cross section of power lines AV
1 VPP/TTL/HTL 11 µAPP EnDat/SSI
3.7 mm 0.05 mm2 – –
4.5/5.1 mm 0.14/0.052) mm2 0.05 mm2 0.05 mm2
6/101)mm 0.19/ 0.143) mm2 – 0.08 mm2
8/141)mm 0.5 mm2 1mm2 0.5 mm2
HEIDENHAIN
cables
Rigid configuration
Frequent
flexing
3.7mm R 8mm R 40 mm
4.5mm
5.1mm
R 10 mm R 50 mm
6mm R 20 mm R 75 mm
8mm R 40 mm R 100 mm
10mm1) R 35 mm R 75 mm
14mm1) R 50 mm R 100 mm 1) Metal armor
2) Only on length gauges
3) Only for LIDA 400
z
Frequent flexing
59
Reliable Signal Transmission
Electromagnetic compatibility/
CE compliance
When properly installed, HEIDENHAIN
encoders fulfill the requirements for
electromagnetic compatibility according to
89/336/EEC with respect to the generic
standards for:
• Noise immunity IEC 61000-6-2:
Specifically:
– ESD IEC 61000-4-2
– Electromagnetic fields IEC 61000-4-3
– Burst IEC 61000-4-4
– Surge IEC 61000-4-5
– Conducted disturbances
IEC 61000-4-6
– Power frequency magnetic fields
IEC 61000-4-8
– Pulse magnetic fields IEC 61000-4-9
• Interference IEC 61000-6-4:
Specifically:
– For industrial, scientific and medical
(ISM) equipment IEC 55011
– For information technology
equipment IEC 55022
Transmission of measuring signals—
electrical noise immunity
Noise voltages arise mainly through
capacitive or inductive transfer. Electrical
noise can be introduced into the system
over signal lines and input or output
terminals. Possible sources of noise are:
• Strong magnetic fields from transformers
and electric motors
• Relays, contactors and solenoid valves
• High-frequency equipment, pulse
devices, and stray magnetic fields from
switch-mode power supplies
• AC power lines and supply lines to the
above devices
Isolation
The encoder housings are isolated against
all circuits.
Rated surge voltage: 500 V
(preferred value as per VDE 0110 Part 1)
Protection against electrical noise
The following measures must be taken to
ensure disturbance-free operation:
• Use only original HEIDENHAIN cables.
Watch for voltage attenuation on the
supply lines.
• Use connectors or terminal boxes with
metal housings. Do not conduct any
extraneous signals.
• Connect the housings of the encoder,
connector, terminal box and evaluation
electronics through the shield of the
cable. Connect the shielding in the area
of the cable inlets to be as induction-free
as possible (short, full-surface contact).
• Connect the entire shielding system with
the protective ground.
• Prevent contact of loose connector
housings with other metal surfaces.
• The cable shielding has the function of
an equipotential bonding conductor. If
compensating currents are to be expected
within the entire system, a separate
equipotential bonding conductor must be
provided. See also EN 50178/4.98
Chapter 5.2.9.5 regarding “protective
connection lines with small cross section.”
• Connect HEIDENHAIN position encoders
only to subsequent electronics whose
power supply is generated through double
or strengthened insulation against line
voltage circuits. See also IEC 364-4-41:
1992, modified Chapter 411 regarding
“protection against both direct and
indirect touch” (PELV or SELV).
• Do not lay signal cables in the direct
vicinity of interference sources (inductive
consumers such as contacts, motors,
frequency inverters, solenoids, etc.).
• Sufficient decoupling from interferencesignal-
conducting cables can usually be
achieved by an air clearance of 100 mm
(4 in.) or, when cables are in metal ducts,
by a grounded partition.
• A minimum spacing of 200 mm (8 in.) to
inductors in switch-mode power supplies
is required. See also EN 50178/4.98
Chapter 5.3.1.1 regarding cables and lines,
EN 50174-2 /09.01, Chapter 6.7 regarding
grounding and potential compensation.
• When using multiturn encoders in
electromagnetic fields greater than
10 mT, HEIDENHAIN recommends
consulting with the main facility in
Traunreut.
Both the cable shielding and the metal
housings of encoders and subsequent
electronics have a shielding function. The
housings must have the same potential
and be connected to the main signal ground
over the machine chassis or by means of a
separate potential compensating line.
Potential compensating lines should have
a minimum cross section of 6 mm2 (Cu).
Minimum distance from sources of interference
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