Heidenhain angle encoders 591_109

Heidenhain angle encoders 591_109
Angle Encoders
with Integral Bearing
June 2006
Angle encoders with integral bearing and
integrated stator coupling
Angle encoders with integral bearing for
separate shaft coupling
Information on
• Angle encoders without integral bearing
• Rotary encoders
• Encoders for servo drives
• Exposed linear encoders
• Linear encoders for numerically
controlled machine tools
• Interface electronics
• HEIDENHAIN controls
is available on request as well as on the
Internet at www.heidenhain.de.
2
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
HEIDENHAIN Angle Encoders
4
Selection Guide
Absolute Angle Encoders with Integral Bearing
6
Incremental Angle Encoders with Integral Bearing
8
Angle Encoders without Integral Bearing
10
Technical Features and Mounting Information
Measuring Principles Measuring Standard, Measuring Principles
12
Scanning the Measuring Standard
14
Measuring Accuracy
16
Mechanical Design Types and Mounting
18
General Mechanical Information
22
Specifications
Angle encoders with
integral bearing and
integrated stator
coupling
Series or Model
System Accuracy
RCN 200 Series
± 5“/± 2.5“
24
RON 200 Series
± 5“/± 2.5“
26
RON 785
± 2“
28
RCN 700/RCN 800 Series
± 2“/± 1“
¬ 60 mm
30
¬ 100 mm
32
RON 786
RON 886/RPN 886
± 2“
± 1“
34
RON 905
± 0.4“
36
Angle encoders with
integral bearing or
separate shaft
coupling
ROD 200 Series
± 5“
38
ROD 780
ROD 880
± 2“
± 1“
40
Interfaces and Pin
Layouts
Incremental Signals
» 1 VPP
42
« TTL
44
EnDat
46
Fanuc and Mitsubishi
53
Electrical Connection
Absolute Position Values
Connecting Elements and Cables
54
General Electrical Information
58
Display Units, Interpolation and Digitizing Electronics, Interface Cards
60
HEIDENHAIN Measuring Equipment
62
Evaluation and Display Units
HEIDENHAIN Angle Encoders
The term angle encoder is typically used to
describe encoders that have an accuracy of
better than ± 5“ and a line count above
10000.
In contrast, rotary encoders are encoders
that typically have an accuracy of more
than ± 10“.
Angle encoders are found in applications
requiring precision angular measurement
to accuracies within several arc seconds.
Rotary table
Examples:
• Rotary tables on machine tools
• Swivel heads on machine tools
• C-axes of lathes
• Measuring machines for gears
• Printing units of printing machines
• Spectrometers
• Telescopes
etc.
The tables on the following pages list
different types of angle encoders to suit
the various applications and meet different
requirements.
RCN 729
The RCN 729 angle encoder mounted onto the rotary table of a machine tool
Angle encoders can have one of the
following mechanical designs:
Angle encoders with integral bearing,
hollow shaft and integrated stator
coupling
Because of the design and mounting of the
stator coupling, it must only absorb that
torque caused by friction in the bearing
during angular acceleration of the shaft.
RCN, RON and RPN angle encoders
therefore provide excellent dynamic
performance. With an integrated stator
coupling, the stated system accuracy
also includes the deviations from the
shaft coupling.
Other advantages:
• Compact size for limited installation
space
• Hollow shaft diameters up to 100 mm for
leading power cables, etc.
• Simple installation
Selection Guide
for absolute angle encoders,
see pages 6/7
For incremental angle encoders,
see pages 8/9
4
RCN 729 incremental angle encoder
Overview
Angle encoders with integral bearing,
for separate shaft coupling
ROD angle encoders with solid shaft are
particularly suited to applications where
higher shaft speeds and larger mounting
tolerances are required. The shaft couplings
allow axial tolerances of ± 1 mm.
Selection Guide on pages 8/9
ROD 880 incremental angle encoder with K 16 flat coupling
Angle encoders without integral bearing
The ERP and ERA angle encoders without
integral bearing (modular angle encoders)
are intended for integration in machine
elements or apparatuses. They are
designed to meet the following
requirements:
• Large hollow shaft diameters (up to 10 m
with a scale tape)
• High shaft speeds up to 20 000 min–1
• No additional starting torque from shaft
seals
• Segment angles
Selection Guide on pages 10/11
ERA 4000 incremental angle encoder
You can find more detailed information on
HEIDENHAIN modular angle encoders on
the Internet at www.heidenhain.de or in
our brochure: Angle Encoders without
Integral Bearing.
5
Selection Guide
Absolute Angle Encoders with Integral Bearing
Series
Overall dimensions
in mm
System
accuracy
Recommd.
meas. step1)
Mechanically
perm. speed
± 5“
0.0001°
3000 min
Incremental
signals
Signal
periods/rev
» 1 VPP
16 384
–
–
–
–
–
–
» 1 VPP
16 384
–
–
–
–
–
–
» 1 VPP
32768
–
–
–
–
–
–
» 1 VPP
32768
–
–
–
–
–
–
» 1 VPP
32768
–
–
–
–
–
–
» 1 VPP
32768
–
–
–
–
–
–
With integrated stator coupling
RCN 200
–1
± 2.5“
RCN 700
RCN 800
1)
6
For position measurement
± 2“
± 1“
0.0001°
0.00005°
1000 min–1
1000 min–1
Absolute position Absolute positions
values
per revolution
Model
Page
EnDat 2.2 / 02
67108 864 ƒ 26 bits
RCN 226
24
EnDat 2.2 / 22
67108 864 ƒ 26 bits
RCN 226
Fanuc 02
8388 608 ƒ 23 bits
RCN 223 F
With 02-4
8388 608 ƒ 23 bits
RCN 223 M
EnDat 2.2 / 02
268 435 456 ƒ 28 bits
RCN 228
EnDat 2.2 / 22
268 435 456 ƒ 28 bits
RCN 228
Fanuc 02
134 217 728 ƒ 27 bits
RCN 227 F
With 02-4
134 217 728 ƒ 27 bits
RCN 227 M
EnDat 2.2 / 02
536 870 912 ƒ 29 bits
RCN 729
EnDat 2.2 / 22
536 870 912 ƒ 29 bits
RCN 729
Fanuc 02
137 42 1 728 ƒ 27 bits
RCN 727 F
With 02-4
134 217 728 ƒ 27 bits
RCN 727 M
EnDat 2.2 / 02
536 870 912 ƒ 29 bits
RCN 729
EnDat 2.2 / 22
536 870 912 ƒ 29 bits
RCN 729
Fanuc 02
134 217 728 ƒ 27 Bit
RCN 727 F
With 02-4
134 217 728 ƒ 27 Bit
RCN 727 M
EnDat 2.2 / 02
536 870 912 ƒ 29 bits
RCN 829
EnDat 2.2 / 22
536 870 912 ƒ 29 bits
RCN 829
Fanuc 02
134 217 728 ƒ 27 bits
RCN 827 F
With 02-4
134 217 728 ƒ 27 bits
RCN 827 M
EnDat 2.2 / 02
536 870 912 ƒ 29 bits
RCN 829
EnDat 2.2 / 22
536 870 912 ƒ 29 bits
RCN 829
Fanuc 02
134 217 728 ƒ 27 bits
RCN 827 F
With 02-4
134 217 728 ƒ 27 bits
RCN 827 M
RCN 200
30
32
RCN 700
¬ 60 mm
30
32
RCN 800
¬ 100 mm
7
Selection Guide
Incremental Angle Encoders with Integral Bearing
Series
Overall dimensions
in mm
System accuracy
Recommended
measuring step1)
Mechanically perm.
speed
± 5“
0.005°
3000 min–1
With integrated stator coupling
RON 200
0.001°/0.0005°
0.0001°
± 2.5“
RON 700
± 2“
0.0001°
1000 min–1
RON 800
RPN 800
± 1“
0.00005°
1000 min
–1
0.00001°
RON 900
–1
± 0.4“
0.00001°
100 min
± 5“
0.005°
10000 min
For separate shaft coupling
ROD 200
–1
0.0005°
0.0001°
–1
ROD 700
± 2“
0.0001°
1000 min
ROD 800
± 1“
0.00005°
1000 min
1)
2)
8
For position measurement
After integrated interpolation
–1
Incremental signals Signal periods/rev
Model
Page
26
« TTL
18 0002)
RON 225
« TTL
180000/900002)
RON 275
» 1 VPP
18 000
RON 285
» 1 VPP
18 000
RON 287
» 1 VPP
18 000
RON 785
28
» 1 VPP
18 000/36 000
RON 786
34
» 1 VPP
36 000
RON 886
34
» 1 VPP
180 000
RPN 886
» 11 µAPP
36 000
RON 905
« TTL
18 0002)
ROD 220
« TTL
180 0002)
ROD 270
» 1 VPP
18 000
ROD 280
» 1 VPP
18 000/36 000
ROD 780
» 1 VPP
36 000
ROD 880
RON 285
36
RON 786
RON 905
38
40
ROD 280
ROD 780
9
Selection Guide
Angle Encoders without Integral Bearing
Series
Overall dimensions
in mm
Diameter
D1/D2
Line count/
System accuracy1)
Recommended Mechanically
measuring step3) perm. speed
–
90 000/± 1“
(180 000 signal
periods)
0.000 01°
† 1000 min–1
D1: 8 mm
D2: 44 mm
65 536/± 5”
(131 072 signal
periods)
0.000 01°
† 300 min
ERP 8000
D1: 50 mm
D2: 108 mm
180 000/± 2“
(360 000 signal
periods)
0.000 005°
† 100 min
ERA 4x80
Steel
circumferential
scale drum with
centering collar
D1: 40 mm to
512 mm
D2: 76.75 mm to
560.46 mm
3000/± 9.4“
to
52 000/± 2.3“
0.002° to
0.000 05°
† 10 000 min–1 to
† 1500 min–1
ERA 4x81
Steel circumferential scale drum
with low weight
and low moment
of inertia
D1: 26 mm to
280 mm
D2: 52.65 mm to
305.84 mm
4096/± 10.2“
to
48 000/± 2.8“
† 6000 min–1 to
† 2000 min–1
ERA 4282
Steel circumferential scale drum for
increased accuracy requirements
D1: 40 mm to
270 mm
D2: 76.75 mm to
331.31 mm
12 000/± 5.1“
to
52 000/± 2“
† 10 000 min–1 to
† 2500 min–1
458.62 mm
573.20 mm
1146.10 mm
Full circle1)
36 000/± 3.5“
45 000/± 3.4“
90 000/± 3.2”
Grating on solid scale carrier
ERP 880
Glass disk with
interferential
grating
36.8
ERP 4000
28.27
¬ 51.2
25.98
–1
–1
Grating on steel tape
ERA 700
For inside
diameter
mounting
ERA 800
For outside
diameter
mounting
1)
318.58 mm
458.62 mm
573.20 mm
Segment2)
5 000
10 000
20 000
458.04 mm
572.63 mm
Full circle1)
36 000/± 3.5“
45 000/± 3.4“
317.99 mm
458.04 mm
572.63 mm
Segment2)
5 000
10 000
20 000
–1
0.000 2° to
0.000 02°
† 500 min
0.000 2° to
0.000 05°
† 100 min
–1
Before installation. Additional errors caused by mounting inaccuracy and inaccuracy from the bearing of the drive shaft are not included.
Angular segment from 50° to 200°; for accuracy see Measuring Accuracy
3)
For position measurement
2)
10
Incremental
signals/Grating
period
Reference marks Model
» 1 VPP/–
One
None
ERP 880
For more
information
Angle
Encoders
without
Integral
Bearing
brochure
ERP 880
ERP 4080
ERP 8080
ERP 4080
» 1 VPP/20 µm
Distance-coded
ERA 4280 C
» 1 VPP/40 µm
ERA 4480 C
» 1 VPP/80 µm
ERA 4880 C
» 1 VPP/20 µm
ERA 4281 C
» 1 VPP/40 µm
ERA 4481 C
» 1 VPP/20 µm
ERA 4282 C
ERA 4000
» 1 VPP/40 µm
Distance-coded
(nominal
increment of
1000 grating
periods)
ERA 780 C full circle
ERA 781 C segment
» 1 VPP/40 µm
Distance-coded
(nominal
increment of
1000 grating
periods)
Angle
Encoders
without
Integral
Bearing
brochure
ERA 780
ERA 880 C full circle
ERA 881 C segm. with
tensioning elements
ERA 882 C segm. w/o
tensioning elements
ERA 880
11
Measuring Principles
Measuring Standard
HEIDENHAIN encoders incorporate
measuring standards of periodic
structures known as graduations.
These graduations are applied to a glass
or steel substrate. Glass scales are used
primarily in encoders for speeds up to
10 000 min–1. For higher speeds—up to
20 000 min–1—steel drums are used.
The scale substrate for large diameters
is a steel tape.
Absolute Measuring Method
Absolute angle encoders feature multiple
coded graduation tracks. The code
arrangement provides the absolute position
information, which is available immediately
after switch-on. The track with the finest
grating structure is interpolated for the
position value and at the same time is used
to generate an incremental signal (see
EnDat Interface).
These precision graduations are
manufactured in various photolithographic
processes. Graduations are fabricated
from:
• extremely hard chromium lines on glass
or gold-plated steel drums,
• matte-etched lines on gold-plated steel
tape, or
• three-dimensional structures etched into
quartz glass.
These photolithographic manufacturing
processes—DIADUR, AURODUR or
METALLUR—developed by HEIDENHAIN
produce grating periods of:
• 40 µm for AURODUR
• 20 µm for METALLUR
• 10 µm for DIADUR
• 4 µm with etched quartz glass
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.
Circular graduations of absolute angle encoders
Schematic representation of a circular scale with absolute grating
12
Incremental Measuring Method
In some cases, this may require a rotation
up to nearly 360°. To speed and simplify
such “reference runs,” many encoders
feature distance-coded reference
marks—multiple reference marks that are
individually spaced according to a
mathematical algorithm. The subsequent
electronics find the absolute reference
after traversing two successive reference
marks—meaning only a few degrees of
traverse (see nominal increment I in the
table).
Encoders with distance-coded reference
marks are identified with a “C” behind the
model designation (e. g. RON 786 C).
Line count z
36000
18000
Number of
reference marks
72
36
With distance-coded reference marks, the
absolute reference is calculated by
counting the signal periods between two
reference marks and using the following
formula:
Þ1 = (abs A–sgn A–1) x I + (sgn A–sgn D) x abs MRR
2
2
Properties and Mounting
With the incremental measuring
method, 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 scales or scale tapes are
provided with an additional track that bears
a reference mark. The absolute position on
the scale, 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.
where:
A = 2 x abs MRR–I
GP
where
Þ1 = Absolute angular position of the
first traversed reference mark to
the zero position in degrees
abs = Absolute value
sgn = Sign function (“+1” or “–1”)
MRR = Measured distance between the
traversed reference marks in
degrees
I
= Nominal increment between two
fixed reference marks (see table)
GP = grating period (
D
360° )
Line count
= Direction of rotation (+1 or –1)
Rotation to the right (as seen from
the shaft side of the angle
encoder—see Mating Dimensions)
gives "+1"
Nominal increment I
10°
20°
Schematic representation of a circular scale with distance-coded
reference marks
Circular graduations of incremental angle encoders
13
Scanning the Measuring Standard
Photoelectric Scanning
Most HEIDENHAIN encoders operate
using the principle of photoelectric
scanning. Photoelectric scanning of a
measuring standard is contact-free, and as
such free of 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 finer the grating period of a measuring
standard is, the greater the effect of
diffraction on photoelectric scanning.
HEIDENHAIN uses two scanning principles
with angle encoders:
• The imaging scanning principle for
grating periods from 10 µm to approx.
70 µm.
• The interferential scanning principle
for very fine graduations with grating
periods of 4 µm.
Imaging scanning principle
Put simply, the imaging scanning principle
functions by means of projected-light
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 distance. 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.
Photovoltaic cells convert these variations in
light intensity into electrical signals. The
specially structured grating of the scanning
reticle filters the light current to generate
nearly sinusoidal output signals. The
smaller the period of the grating structure
is, the closer and more tightly toleranced
the gap must be between the scanning
reticle and circular scale. Practical
mounting tolerances for encoders with the
imaging scanning principle are achieved
with grating periods of 10 µm and larger.
The RCN, RON and ROD angle encoders
with integral bearing operate according to
the imaging scanning principle.
Imaging scanning principle
LED light source
Condenser lens
Scanning reticle
Measuring standard
Photocells
Photocells
I90° and I270°
are not shown
14
Interferential scanning principle
The interferential scanning principle
exploits the diffraction and interference of
light on a fine graduation to produce
signals used to measure displacement.
A step grating is used as the measuring
standard: reflective lines 0.2 µm high are
applied to a flat, reflective surface. In front
of that is the scanning reticle—a
transparent phase grating with the same
grating period as the scale.
When a light wave passes through the
scanning reticle, it is diffracted into three
partial waves of the orders –1, 0, and +1,
with approximately equal luminous
intensity. The waves are diffracted by the
scale such that most of the luminous
intensity is found in the reflected diffraction
orders +1 and –1. These partial waves meet
again at the phase grating of the scanning
reticle where they are diffracted again and
interfere. This produces essentially three
wave trains that leave the scanning reticle
at different angles. Photovoltaic cells
convert this alternating light intensity into
electrical signals.
A relative motion of the scanning reticle to
the scale causes the diffracted wave fronts
to undergo a phase shift: when the grating
moves by one period, the wave front of the
first order is displaced by one wavelength
in the positive direction, and the
wavelength of diffraction order –1 is
displaced by one wavelength in the
negative direction. Since the two waves
interfere with each other when exiting the
grating, the waves are shifted relative to
each other by two wavelengths. This
results in two signal periods from the
relative motion of just one grating period.
Interferential encoders function with
average grating periods of 4 µm and finer.
Their scanning signals are largely free of
harmonics and can be highly interpolated.
These encoders are therefore especially
suited for high resolution and high
accuracy. Even so, their generous
mounting tolerances permit installation in a
wide range of applications.
The RPN 886 angle encoder with integral
bearing operates according to the
interferential scanning principle.
Interferential scanning principle (optics schematics)
C Grating period
ψ Phase shift of the light wave when passing through the
scanning reticle
− Phase shift of the light wave due to motion X of the scale
Photocells
Light source
LED
Condenser lens
Scanning reticle
Measuring standard
15
Measuring Accuracy
The accuracy of angular measurement is
mainly determined by:
1. The quality of the graduation
2. The quality of the scanning process
3. The quality of the signal processing
electronics
4. Eccentricity of the graduation to the
bearing
5. Radial runout of the bearing
6. Elasticity of the encoder shaft and its
coupling with the drive shaft
7. The elasticity of the stator coupling
(RCN, RON, RPN) or shaft coupling
(ROD)
• For angle encoders with integral bearing
and separate shaft coupling, the angle
error of the coupling must be added (see
Mechanical Design Types and Mounting
— ROD).
• For angle encoders without integral
bearing, additional deviations
resulting from mounting, errors in
the bearing of the drive shaft, and
adjustment of the scanning head
must be expected (see brochure:
Angle Encoders without Integral
Bearing) These deviations are not
reflected in the system accuracy.
In positioning tasks, the accuracy of the
angular measurement determines the
accuracy of the positioning of a rotary axis.
The system accuracy given in the
Specifications is defined as follows:
The extreme values of the total deviations
of a position are—referenced to their mean
value—within the system accuracy ± a.
The deviations are ascertained at constant
temperatures (22 °C) during the final
inspection and are indicated in the calibration
chart.
• For angle encoders with integral bearing
and integrated stator coupling, this value
also includes the deviation due to the
shaft coupling.
The system accuracy reflects position
deviations within one revolution as well as
those within one signal period.
Position errors within one revolution
become apparent in larger angular
motions.
Position errors within one signal period
already become apparent in very small
angular motions and in repeated
measurements. They especially lead to
speed ripples in the speed control loop.
These errors within one signal period are
caused by the quality of the sinusoidal
scanning signals and their subdivision. The
following factors influence the result:
• The size of the signal period,
• The homogeneity and edge definition of
the graduation
• The quality of the optical filter structures
on the scanning reticle,
• The characteristics of the photoelectric
detectors
• The stability and dynamics during the
further processing of the analog signals.
HEIDENHAIN angle encoders take these
factors of influence into account, and permit
interpolation of the sinusoidal output signals
with subdivision accuracies of better than
± 1 % of the signal period (RPN: ± 1.5 %).
The reproducibility is even better, meaning
that useful electric subdivision factors and
small signal periods permit small enough
measuring steps (see Specifications).
Example:
Angle encoder with 36000 sinusoidal signal
periods per revolution
One signal period corresponds to 0.01° or
36“.
With a signal quality of ± 1 %, this results
in maximum position error within one
signal period of approx. ± 0.0001° bzw.
± 0.36“.
Signal level !
Position error within one signal period
Position error !
Position error !
Position errors within one revolution
Position error within
one signal period
Position !
16
Signal period
360 °elec.
For its angle encoders with integral
bearings, HEIDENHAIN prepares individual
calibration charts and ships them with the
encoder.
The calibration chart documents the
encoder's accuracy and serves as a
traceability record to a calibration standard.
For the RCN, RON and RPN, which feature
an integrated coupling, the accuracy
specifications already include the error of
the coupling. For angle encoders with
separate shaft coupling, however, the error
caused by the coupling is not included in
the encoder specification and must be
added to calculate the total error (see
Kinematic transfer error under Mechanical
Design Types and Mounting – ROD).
All measured values determined in this
manner lie within or on the graphically
depicted envelope curve. The mean value
curve shows the arithmetic mean of the
measured values, in which the reversal
error is not included.
The reversal error depends on the shaft
coupling. On angle encoders with integral
stator coupling it is determined at ten
measuring positions in forward and
backward steps. The maximum value and
arithmetic mean are documented on the
calibration chart.
The following limits apply to the reversal
error:
RCN/RON 2xx:
Max. 0.6“
RCN/RON 7xx:
Max. 0.4“
RCN/RON/RPN 8xx: Max. 0.4“
The manufacturer’s inspection certificate
certifies the accuracy of the encoder. The
calibration standard is indicated in order
to certify the traceability to the national
standard.
Determination of the reversal error with forward and backward measurements
The accuracy of angle encoders is
ascertained through five forward and five
backward measurements. The measuring
positions per revolution are chosen to
determine very exactly not only the longrange error, but also the position error
within one signal period.
Calibration chart example: RON 285
1 Graphic representation of error
• Envelope curve
• Mean value curve
2 Results of calibration
Measuring point
Reference mark
2
Guaranteed accuracy grade of the measured object
1
17
Mechanical Design Types and Mounting
RCN, RON, RPN
RCN, RON and RPN angle encoders have
an integral bearing, hollow shaft and
integrated stator coupling. The measured
shaft is directly connected with the shaft of
the angle encoder. The reference mark can
be assigned to a desired angular position of
the measured shaft from the rear of the
encoder during mounting.
The graduated disk is rigidly affixed to the
hollow shaft. The scanning unit rides on the
shaft on ball bearings and is connected to
the housing with a coupling on the stator
side. During angular acceleration of the
shaft, the coupling must absorb only that
torque caused by friction in the bearing.
Angle encoders with integrated stator
coupling therefore provide excellent
dynamic performance.
Integrated coupling
Hollow shaft
Light source
(LED) with
condenser
lens
Photocells
DIADUR graduated disk
Cross section of the RON 886 angle encoder
Mounting
The housing of the RCN, RON and RPN is
firmly connected to the stationary machine
part with an integral mounting flange and a
centering collar. Liquids can easily flow
away through drainage channels on the
flange.
Shaft coupling with ring nut
The RCN, RON and RPN series have a
hollow through shaft. For installation, the
hollow through shaft of the angle encoder
is placed over the machine shaft and is
fixed with a ring nut from the front of the
encoder. The ring nut can easily be
tightened with the mounting tool.
Mounting aid
RON 905 shaft coupling
The RON 905 has a bottomed hollow shaft.
The shaft connection is made via an axial
central screw.
Front end shaft coupling
It is often advantageous, especially with
rotary tables, to integrate the angle
encoder in the table so that it is freely
accessible when the rotor is lifted. This
installation from above reduces mounting
times, increases the ease for servicing,
and improves the accuracy, since the
encoder is located nearer to the rotary
table bearing and the measuring or
machining plane. The hollow shaft is
attached with the threaded holes on the
face, using special mounting elements
fitted to the individual design (not included
in delivery).
To comply with radial and axial runout
specifications, the internal bore 1 and the
shoulder surface 2 are to be used as
mounting surfaces for shaft coupling at the
face of the encoder.
Ring nut
Mounting an angle encoder with hollow through shaft
Provided by customer
Rotor
RCN 729
Stator
Front end shaft coupling with RCN 729
18
Ring nuts for RCN, RON and RPN
HEIDENHAIN offers special ring nuts for
the RCN, RON and RPN angle encoders
with integral bearing and hollow through
shaft with integrated coupling. Choose the
tolerance of the shaft thread such that the
ring nut can be tightened easily, with a
minor axial play. This guarantees that the
load is evenly distributed on the shaft
connection, and prevents distortion of the
encoder’s hollow shaft.
Ring nut for
RxN 200 series
*) Pitch diameter
Ring nut for
RxN 700 / 800
series
*) Pitch diameter
Ring nut for RON/RCN 200
Hollow shaft ¬ 20 mm: ID 336 669-03
Ring nut for RON 785
Hollow shaft ¬ 50 mm: ID 336 669-03
Ring nut for RON 786; RON/RPN 886
RCN 72x/RCN 82x
Hollow shaft ¬ 60 mm: ID 336 669-01
Mounting tool for HEIDENHAIN ring
nuts
The mounting tool is used to tighten the
ring nut. Its pins lock into the bore holes in
the ring nuts. A torque wrench provides
the necessary tightening torque.
Mounting tool for ring nuts with
Hollow shaft ¬ 20 mm
ID 530 334-03
Hollow shaft ¬ 50 mm
ID 530 334-05
Hollow shaft ¬ 60 mm
ID 530 334-01
Hollow shaft ¬ 100 mm
ID 530 334-06
D2 *)
Ring nut for RCN 72x/RCN 82x
Hollow shaft ¬ 100 mm: ID 336 669-06
PWW inspection tool for angle encoders
The PWW makes a simple and quick
inspection of the most significant mating
dimensions possible. The integrated
measuring equipment measures position
and radial runout regardless of the type of
shaft coupling, for example.
PWW for
Hollow shaft, ¬ 20 mm:
Hollow shaft, ¬ 50 mm:
Hollow shaft, ¬ 60 mm:
Hollow shaft, ¬ 100 mm:
Ring nut for L1
L2
D1
D2
D3
B
Hollow
shaft
¬ 50
¬ 62±0.2
¬ 55
(¬ 49.052
±0.075)
¬ 49.469
±0.059
(¬ 50.06)
1
Hollow
shaft
¬ 60
¬ 70±0.2
¬ 65
(¬ 59.052
±0.075)
¬ 59.469
±0.059
(¬ 60.06)
1
Hollow
shaft
¬ 100
¬ 114±0.2
¬ 107
(¬ 98.538
±0.095)
(¬ 99.163
±0.07)
(¬ 100.067)
1.5
ID 516 211-01
ID 516 211-02
ID 516 211-03
ID 516 211-05
PWW testing tool
for angle encoders
19
Mechanical Design Types and Mounting
ROD
Angle encoders of the ROD product family
require a separate coupling for connection
to the drive shaft. The shaft coupling
compensates axial movement and
misalignment between the shafts,
preventing excessive load on the bearing of
the angle encoder. It is important that the
encoder shaft and the drive shaft be
optimally aligned for high measurement
accuracies to be realized. The
HEIDENHAIN product program includes
diaphragm couplings and flat couplings
designed for connecting the shaft of the
ROD angle encoder to the drive shaft.
Mounting
ROD angle encoders are provided with an
integral mounting flange with centering
collar. The encoder shaft is connected to
the drive shaft by way of a diaphragm
coupling or flat coupling.
Rotary table
Additional
protection
against fluids
Mounting example
ROD 880
ROD
Centering collar
Shaft couplings
The shaft coupling compensates axial
movement and misalignment between the
encoder shaft and the drive shaft,
preventing excessive load on the encoder
bearing of the angle encoder.
Radial misalignment λ
Shaft
coupling
ROD 880
Flat coupling
Mounting an
ROD
Angular error α
Axial motion δ
ROD 200 Series
ROD 700/800 Series
Shaft coupling
K 03
K 18
Diaphragm coupling Flat coupling
K 01
K 15
Diaphragm coupling Flat coupling
Hub bore
10 mm
14 mm
Kinematic transfer error
± 2“
± 3“
at λ † 0.1 mm and α † 0.09°
± 1“
± 0.5“
at λ † 0.05 mm and α † 0.03°
Torsional rigidity
1 500 Nm/rad
1 200 Nm/rad
4000 Nm/rad
6000 Nm/rad
4000 Nm/rad
Permissible torque
0.2 Nm
0.5 Nm
Perm. radial offset λ
† 0.3 mm
Perm. angular error α
† 0.5°
† 0.2°
† 0.5°
Perm. axial offset δ
† 0.2 mm
† 0.1 mm
† 1 mm
Moment of inertia
(approx.)
20 · 10
Permissible speed
10 000 min–1
–6
kgm2
75 · 10–6 kgm2
200 · 10–6 kgm2
1 000 min–1
3000 min–1
1000 min–1
2.5 Nm
1.2 Nm
180 g
250 g
Torque for locking screws 1.2 Nm
(approx.)
Weight
20
100 g
117 g
K 16
Flat coupling
400 · 10–6 kgm2
410 g
K 03 diaphragm coupling
ID 200 313-04
K 18 flat coupling
ID 202 227-01
K 01 diaphragm coupling
ID 200 301-02
K 15 flat coupling
ID 255 797-01
K 16 flat coupling
ID 258878-01
Dimensions in mm
21
General Mechanical Information
Protection
Unless otherwise indicated, all RCN, RON,
RPN and ROD angle encoders meet
protection standard IP 67 according to
IEC 60529 (EN 60529). This includes
housings and cable outlets.
The shaft inlet provides protection to
IP 64.
Splash water should not contain any
substances that would have harmful
effects on the encoder parts. If protection
to IP 64 of the shaft inlet is not sufficient
(such as when the angle encoder is
mounted vertically), additional labyrinth
seals should be provided.
For this purpose, HEIDENHAIN offers the
DA 300 compressed air unit (filter
combination with pressure regulator and
fittings). The compressed air introduced
into the DA 300 must fulfill the
requirements of the following quality
classes as per ISO 8573-1 (2001 edition):
• Max. particle size and density of solid
contaminants:
Class 4 (max. particle size: 15 µm, max.
particle density: 8 mg/m3)
• Total oil content:
Class 4 (oil content: 5 mg/m3)
• Maximum pressure dew point:
No class (+29 °C at 10 · 105 Pa)
The following components are necessary
for connection to the RCN, RON, RPN and
ROD angle encoders:
M5 connecting piece for
RCN/RON/RPN/ROD
with gasket and throttle ¬ 0.3 mm
for air-flow rate from 1 to 4 l/min
ID 207835-04
M5 coupling joint, swiveling
with seal
ID 207834-02
RCN, RON, RPN and ROD angle encoders
are equipped with a compressed air inlet.
Connection to a source of compressed
air slightly above atmospheric pressure
provides additional protection against
contamination.
The compressed air introduced directly
onto the encoders must be cleaned by a
microfilter, and must comply with the
following quality classes as per ISO 8573-1
(2001 edition):
• Solid contaminants: Class 1(max. particle
size 0.1 µm and max. particle density
0.1 mg/m3 at 1 · 105 Pa)
• Total oil content: Class 1(max. oil
concentration 0.01 mg/m3 at 1 · 105 Pa)
• Maximum pressure dew point: Class 4,
but with reference conditions of +3 °C
at 2 · 105 Pa
DA 300
For more information, ask for our DA 300
Product Information sheet.
22
Temperature range
The angle encoders are inspected at a
reference temperature of 22 °C. The
system accuracy given in the calibration
chart applies at this temperature.
The operating temperature indicates the
ambient temperature limits between which
the angle encoders will function properly.
The storage temperature range of –30 °C
to 80 °C is valid when the unit remains in
its packaging. The storage temperature
for the RPN 886 may not exceed -10 °C to
+50 °C.
Protection against contact
After encoder installation, all rotating parts
(coupling on ROD, locking ring on RCN,
RON and RPN) must be protected against
accidental contact during operation.
Acceleration
Angle encoders are subject to various
types of acceleration during operation and
mounting.
• The permissible angular acceleration
for all RCN, RON, RPN and ROD angle
encoders is over 105 rad/s2.
• The indicated maximum values for
vibration are valid according to
IEC 606 8- 2- 6.
• 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.
Natural frequency fN of coupling
The rotor and shaft coupling of the ROD
angle encoders, as well as the stator and
stator coupling of the RCN, RON and RPN
angle encoders, form a single vibrating
spring-mass system.
The natural frequency fN should be as
high as possible. For RCN, RON and RPN
angle encoders, the frequency ranges
given in the respective specifications are
those where the natural frequencies of the
encoders do not cause any significant
position deviations in the measuring
direction. A prerequisite for the highest
possible natural frequency on ROD angle
encoders is the use of a shaft coupling
with a high torsional rigidity C.
fN = 1 ·
2·þ
¹
C
I
fN: Natural frequency in Hz
C: Torsional rigidity of the coupling in
Nm/rad
I: Moment of inertia of the rotor in kgm2
If radial and/or axial acceleration occurs
during operation, the effect of the rigidity
of the encoder bearing, the encoder
stator and the coupling are also significant.
If such loads occur in your application,
HEIDENHAIN recommends consulting
with the main facility in Traunreut.
Parts subject to wear
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
• Cables with frequent flexing
Additionally for encoders with integral
bearing:
• Bearing
• Shaft sealing rings for rotary and angular
encoders
• Sealing lips for sealed linear encoders
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 to the specific encoder, not to 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, the higher-level
system must verify the position value of
the encoder after switch-on.
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.
DIADUR and AURODUR are registered
trademarks of DR. JOHANNES HEIDENHAIN
GmbH, Traunreut.
23
RCN 200 Series
• Integrated stator coupling
• Hollow through shaft ¬ 20 mm
• System accuracy ± 5“ and ± 2.5“
Dimensions in mm
¬ 29 +0.2
–3
Tolerancing ISO 8015
ISO 2768 - m H
< 6 mm: ±0.2 mm
Cable radial, also usable axially
A = Bearing
k = Required mating dimensions
À = Mark for 0° position (± 5°)
Direction of shaft rotation for output signals as per the interface description
24
System accuracy
± 2.5“
± 5“
D1
¬ 20H6 e
¬ 20H7 e
D2
¬ 30H6 e
¬ 30H7 e
D3
¬ 20g6 e
¬ 20g7 e
T
0.01
0.02
Absolute
RCN 228
RCN 226
RCN 227F
RCN 223F
RCN 227M
RCN 223M
Absolute position values
EnDat 2.2
EnDat 2.2
Fanuc serial interface
Mitsubishi high speed
serial interface
Ordering designation*
EnDat 22
EnDat 02
Fanuc 02
Mit 02-4
Positions per rev.
RCN 228: 268 435 456 (28 bits)
RCN 226: 67 108 864 (26 bits)
Elec. permissible speed
† 1 500 min–1
Clock frequency
† 8 MHz
Calculation time tcal
5 µs
Incremental signals
–
» 1 VPP
–
Line count
–
16384
–
Cutoff frequency –3 dB
–
‡ 180 kHz
–
Recommended
measuring step
for position measurement
0.000 1°
System accuracy*
RCN 228: ± 2.5“
RCN 226: ± 5“
Power supply
without load
3.6 V to 5.25 V at encoder/max. 350 mA
Electrical connection
Cable 1 m, with M12
coupling
Max. cable length1)
150 m
Shaft
Hollow through shaft D = 20 mm
Mech. perm. speed
† 3 000 min
Starting torque
† 0.08 Nm at 20 °C
RCN 227: 134217728 (27 bits)
RCN 223: 8388608 (23 bits)
–
Specifications
† 2 MHz
–
RCN 227F: ± 2.5“
RCN 223F: ± 5“
Cable 1 m, with M23
coupling
RCN 227M: ± 2.5“
RCN 223M: ± 5“
Cable 1 m, with M23 coupling
30 m
–1
Moment of inertia of rotor 73 · 10–6 kgm2
Natural frequency
‡ 1 200 Hz
Permissible axial motion
of measured shaft
± 0.1 mm
Vibration 55 to 2000 Hz
Shock 6 ms
2
† 100 m/s (EN 60 068-2-6)
† 1 000 m/s2 (EN 60 068-2-27)
Operating temperature
For accuracy of ± 2.5“: 0 to 50 °C
For accuracy of ± 5“: Moving cable
Stationary cable
Protection IEC 60529
IP 64
Weight
Approx. 0.8 kg
–10 to 70 °C
–20 to 70 °C
* Please indicate when ordering
1)
With HEIDENHAIN cable
25
RON 200 Series
• Integrated stator coupling
• Hollow through shaft ¬ 20 mm
• System accuracy ± 5“ and ± 2.5“
Dimensions in mm
¬ 29 +0.2
–3
Tolerancing ISO 8015
ISO 2768 - m H
< 6 mm: ±0.2 mm
Cable radial, also usable axially
A = Bearing
k = Required mating dimensions
À = Position of the reference-mark signal (± 5°)
Direction of shaft rotation for output signals as per the interface description
26
System accuracy
± 2.5“
± 5“
D1
¬ 20H6 e
¬ 20H7 e
D2
¬ 30H6 e
¬ 30H7 e
D3
¬ 20g6 e
¬ 20g7 e
T
0.01
0.02
Incremental
RON 225
RON 275
RON 275
RON 285
Incremental signals
« TTL x 2
« TTL x 5
« TTL x 10
» 1 VPP
Line count
Integrated interpolation*
Output signals/rev
9 000
2-fold
18 000
18 000
5-fold
90 000
18000
10-fold
180000
18000
Reference mark*
One
Cutoff frequency –3 dB
Output frequency
Edge separation a
–
† 1 MHz
‡ 0.125 µs
–
† 250 kHz
‡ 0.96 µs
–
† 1 MHz
‡ 0.22 µs
‡ 180 kHz
–
–
Elec. permissible speed
–
† 166 min–1
† 333 min–1
–
Recommended
measuring step
for position measurement
0.005°
0.001°
0.0005°
0.0001°
System accuracy
± 5“
Power supply
without load
5 V ± 10 %, max. 150 mA
Electrical connection*
Cable 1 m, with or without M23 coupling
1)
RON 287
RON 2xx: One
RON 2xxC: Distance-coded
± 2.5“
Max. cable length
50 m
150 m
Shaft
Hollow through shaft D = 20 mm
Mech. perm. speed
† 3 000 min
Starting torque
† 0.08 Nm at 20 °C
–1
Moment of inertia of rotor 73 · 10–6 kgm2
Natural frequency
‡ 1 200 Hz
Permissible axial motion
of measured shaft
± 0.1 mm
Vibration 55 to 2000 Hz
Shock 6 ms
2
† 100 m/s (EN 60 068-2-6)
† 1 000 m/s2 (EN 60 068-2-27)
Operating temperature
Moving cable:
Stationary cable:
Protection IEC 60529
IP 64
Weight
Approx. 0.8 kg
–10 to 70 °C
–20 to 70 °C
0 °C to 50 °C
* Please indicate when ordering
With HEIDENHAIN cable
1)
27
RON 785
• Integrated stator coupling
• Hollow through shaft ¬ 50 mm
• System accuracy ± 2“
Dimensions in mm
Tolerancing ISO 8015
ISO 2768 - m H
< 6 mm: ±0.2 mm
5+0.2
Á
À
k
¬ 0.2 D
0.02 A
Cable radial, also usable axially
A = Bearing
k = Required mating dimensions
À = Position of the reference-mark signal (± 5°)
Á = Shown rotated by 45°
Direction of shaft rotation for output signals as per the interface description
28
Incremental
RON 785
Incremental signals
» 1 VPP
Line count
18 000
Reference mark*
RON 785: One
RON 785 C: Distance-coded
Cutoff frequency –3 dB
‡ 180 kHz
Recommended
measuring step
for position measurement
0.000 1°
System Accuracy
± 2“
Power supply
without load
5 V ± 10 %, max. 150 mA
Electrical connection*
Cable 1 m, with or without M23 coupling
Max. cable length1)
150 m
Shaft
Hollow through shaft D = 50 mm
Mech. perm. speed
† 1 000 min
Starting torque
† 0.5 Nm at 20 °C
–1
Moment of inertia of rotor 1.05 · 10-3 kgm2
Natural frequency
‡ 1 000 Hz
Permissible axial motion
of measured shaft
± 0.1 mm
Vibration 55 to 2000 Hz
Shock 6 ms
2
† 100 m/s (EN 60 068-2-6)
† 1 000 m/s2 (EN 60 068-2-27)
Operating temperature
0 °C to 50 °C
Protection IEC 60529
IP 64
Weight
Approx. 2.5 kg
* Please indicate when ordering
With HEIDENHAIN cable
1)
29
RCN 700/RCN 800 Series
• Integrated stator coupling
• Hollow through shaft ¬ 60 mm
• System accuracy ± 2“ or ± 1“
Dimensions in mm
Tolerancing ISO 8015
ISO 2768 - m H
< 6 mm: ±0.2 mm
À
Á
™
Cable radial, also usable axially
A = Bearing
k = Required mating dimensions
À = Mark for 0° position (± 5°)
Á = Shown rotated by 45°
Direction of shaft rotation for output
signals as per the interface
description
30
™
Absolute
RCN 729
RCN 829
RCN 729
RCN 829
RCN 727 F
RCN 827F
RCN 727 M
RCN 827M
Absolute position values
EnDat 2.2
EnDat 2.2
Fanuc 02 serial interface
Mitsubishi high speed
serial interface
Ordering designation*
EnDat 22
EnDat 02
Fanuc 02
Mit 02-4
Positions per rev.
536 870 912 (29 bits)
Elec. permissible speed
† 300 min–1 (for continuous position value)
Clock frequency
† 8 MHz
Calculation time tcal
5 µs
Incremental signals
–
» 1 VPP
–
Line count*
–
32768
–
Cutoff frequency –3 dB
–
‡ 180 kHz
–
Recommended
measuring step
for position measurement
RCN 72x: 0.000 1°
RCN 82x: 0.000 05°
System accuracy
RCN 72x: ± 2“
RCN 82x: ± 1“
Power supply
without load
3.6 to 5.25 V, max. 350 mA
Electrical connection*
Cable 1 m, with M12
coupling
Max. cable length1)
150 m
Shaft
Hollow through shaft D = 60 mm
Mech. perm. speed
† 1 000 min
Starting torque
† 0.5 Nm at 20 °C
134217 728 (27 bits)
† 2 MHz
–
–
Cable 1 m, with M23 coupling
30 m
–1
Moment of inertia of rotor 1.3 · 10-3 kgm2
Natural frequency
‡ 1 000 Hz
Permissible axial motion
of measured shaft
† ± 0.1 mm
Vibration 55 to 2000 Hz
Shock 6 ms
2
† 100 m/s (EN 60 068-2-6)
† 1 000 m/s2 (EN 60 068-2-27)
Operating temperature
0 °C to 50 °C
Protection IEC 60529
IP 64
Weight
Approx. 2.8 kg
* Please indicate when ordering
With HEIDENHAIN cable
1)
31
RCN 700/RCN 800 Series
• Integrated stator coupling
• Hollow through shaft ¬ 100 mm
• System accuracy ± 2“ or ± 1“
Dimensions in mm
Tolerancing ISO 8015
ISO 2768 - m H
< 6 mm: ±0.2 mm
À
Á
Cable radial, also usable axially
A = Bearing
k = Required mating dimensions
32
À = Mark for 0° position (± 5°)
Á = Shown rotated by 45°
Direction of shaft rotation for output signals as
per the interface description
Absolute
RCN 729
RCN 829
RCN 729
RCN 829
RCN 727 F
RCN 827F
RCN 727 M
RCN 827M
Absolute position values
EnDat 2.2
EnDat 2.2
Fanuc 02 serial interface
Mitsubishi high speed
serial interface
Ordering designation*
EnDat 22
EnDat 02
Fanuc 02
Mit 02-4
Positions per rev.
536 870 912 (29 Bit)
Elec. permissible speed
† 300 min–1 (for continuous position value)
Clock frequency
† 8 MHz
Calculation time tcal
5 µs
Incremental signals
–
» 1 VPP
–
Line count*
–
32768
–
Cutoff frequency –3 dB
–
‡ 180 kHz
–
Recommended
measuring step
for position measurement
RCN 72x: 0.000 1°
RCN 82x: 0.000 05°
System accuracy
RCN 72x: ± 2“
RCN 82x: ± 1“
Power supply
without load
3.6 to 5.25 V, max. 350 mA
Electrical connection*
Cable 1 m, with M12
coupling
Max. cable length1)
150 m
Shaft
Hollow through shaft D = 100 mm
Mech. perm. speed
† 1 000 min
Starting torque
† 1.5 Nm at 20 °C
134217 728 (27 bits)
† 2 MHz
–
–
Cable 1 m, with M23 coupling
30 m
–1
Moment of inertia of rotor 3.3 · 10-3 kgm2
Natural frequency
‡ 900 Hz
Permissible axial motion
of measured shaft
† ± 0.1 mm
Vibration 55 to 2000 Hz
Shock 6 ms
2
† 100 m/s (EN 60 068-2-6)
† 1 000 m/s2 (EN 60 068-2-27)
Operating temperature
0 °C to 50 °C
Protection IEC 60529
IP 64
Weight
Approx. 2.6 kg
* Please indicate when ordering
With HEIDENHAIN cable
1)
33
RON 786/RON 886/RPN 886
• Integrated stator coupling
• Hollow through shaft ¬ 60 mm
• System accuracy ± 2“ or ± 1“
Dimensions in mm
Tolerancing ISO 8015
ISO 2768 - m H
< 6 mm: ±0.2 mm
À
Á
™
Cable radial, also usable axially
A = Bearing
k = Required mating dimensions
À = Position of the reference-mark
signal (± 5°)
Á = Shown rotated by 45°
Direction of shaft rotation for
output signals as per the interface
description
34
™
Incremental
RON 786
RON 886
RPN 886
36000
90000
(ƒ 180000 signal periods)
Incremental signals
» 1 VPP
Line count*
18 000
36 000
Reference mark*
RON x86: One
RON x86 C: Distance-coded
One
Cutoff frequency –3 dB
–6 dB
‡ 180 kHz
‡ 800 kHz
‡ 1300 kHz
Recommended
measuring step
for position measurement
0.000 1°
0.00005°
System accuracy
± 2“
± 1“
Power supply
without load
5 V ± 10 %, max. 150 mA
Electrical connection*
Cable 1 m, with or without M23 coupling
Max. cable length1)
150 m
Shaft
Hollow through shaft D = 60 mm
Mech. perm. speed
† 1 000 min
Starting torque
† 0.5 Nm at 20 °C
0.00001°
5 V ± 10 %, max. 250 mA
–1
Moment of inertia of rotor 1.2 · 10-3 kgm2
Natural frequency
‡ 1 000 Hz
Permissible axial motion
of measured shaft
† ± 0.1 mm
Vibration 55 to 2000 Hz
Shock 6 ms
† 100 m/s2 (EN 60 068-2-6)
† 1 000 m/s2 (EN 60 068-2-27)
Operating temperature
0 °C to 50 °C
Protection IEC 60529
IP 64
Weight
Approx. 2.5 kg
‡ 500 Hz
2
† 50 m/s (EN 60068-2-6)
† 1000 m/s2 (EN 60068-2-27)
* Please indicate when ordering
With HEIDENHAIN cable
1)
35
RON 905
• Integrated stator coupling
• Blind hollow shaft
• System accuracy ± 0.4“
Dimensions in mm
Tolerancing ISO 8015
ISO 2768 - m H
< 6 mm: ±0.2 mm
¬ 0.2 C
Cable radial, also usable axially
A = Bearing
k = Required mating dimensions
Direction of shaft rotation for output signal I2 lagging I1
36
Incremental
RON 905
Incremental signals
» 11 µAPP
Line count
36 000
Reference mark
One
Cutoff frequency –3 dB
‡ 40 kHz
Recommended
measuring step
for position measurement
0.000 01°
System accuracy
± 0.4“
Power supply
without load
5 V ± 5 %, max. 250 mA
Electrical connection
Cable 1 m, with M23 connector
Max. cable length1)
15 m
Shaft
Blind hollow shaft
Mech. perm. speed
† 100 min
Starting torque
† 0.05 Nm at 20 °C
–1
Moment of inertia of rotor 0.345 · 10-3 kgm2
Natural frequency
‡ 350 Hz
Permissible axial motion
of measured shaft
† ± 0.2 mm
Vibration 55 to 2000 Hz
Shock 6 ms
2
† 50 m/s (EN 60 068-2-6)
† 1 000 m/s2 (EN 60 068-2-27)
Operating temperature
10 °C to 30 °C
Protection IEC 60529
IP 64
Weight
Approx. 4 kg
1)
With HEIDENHAIN cable
37
ROD 200 Series
• For separate shaft coupling
• System accuracy ± 5“
Dimensions in mm
Tolerancing ISO 8015
ISO 2768 - m H
< 6 mm: ±0.2 mm
À
Cable radial, also usable axially
A = Bearing
À = Position of the reference-mark signal
ROD 220/270/280: ±10°
ROD 280C: ±5°
Direction of shaft rotation for output signals as per the interface description
38
Incremental
ROD 220
ROD 270
ROD 280
Incremental signals
« TTL x 2
« TTL x 10
» 1 VPP
Line count
Integrated interpolation
Output signals/rev
9 000
2-fold
18 000
18000
10-fold
180000
18000
–
18000
Reference mark*
One
Cutoff frequency –3 dB
Output frequency
Edge separation a
–
† 1 MHz
‡ 0.125 µs
–
† 1 MHz
‡ 0.22 µs
‡ 180 kHz
–
–
Elec. permissible speed
3 333 min–1
† 333 min–1
–
Recommended
measuring step
for position measurement
0.005°
0.0005°
0.0001°
System accuracy
± 5“
Power supply
without load
5 V ± 10 %, max. 150 mA
Electrical connection*
Cable 1 m, with or without M23 coupling
1)
ROD 280: One
ROD 280C: Distance-coded
Max. cable length
100 m
150 m
Shaft
Solid shaft D = 10 mm
Mech. perm. speed
† 10 000 min
Starting torque
† 0.01 Nm at 20 °C
–1
Moment of inertia of rotor 20 · 10-6 kgm2
Shaft load
Axial: 10 N
Radial: 10 N at shaft end
Vibration 55 to 2000 Hz
Shock 6 ms
† 100 m/s2 (EN 60 068-2-6)
† 1 000 m/s2 (EN 60 068-2-27)
Operating temperature
Moving cable:
Stationary cable:
Protection IEC 60529
IP 64
Weight
Approx. 0.7 kg
–10 to 70 °C
–20 to 70 °C
* Please indicate when ordering
With HEIDENHAIN cable
1)
39
ROD 780/ROD 880
• For separate shaft coupling
• System accuracy ROD 780: ± 2“
ROD 880: ± 1“
Dimensions in mm
Tolerancing ISO 8015
ISO 2768 - m H
< 6 mm: ±0.2 mm
Cable radial, also usable axially
A = Bearing
À = Position of the reference-mark signal (± 5°)
Direction of shaft rotation for output signals as per the interface description
40
Incremental
ROD 780
ROD 880
Incremental signals
» 1 VPP
Line count*
18 000
36 000
Reference mark*
ROD x80: One
ROD x80 C: Distance-coded
Cutoff frequency –3 dB
‡ 180 kHz
Recommended
measuring step
for position measurement
0.000 1°
0.00005°
System accuracy
± 2“
± 1“
Power supply
without load
5 V ± 10 %, max. 150 mA
Electrical connection*
Cable 1 m, with or without M23 coupling
Max. cable length1)
150 m
Shaft
Solid shaft D = 14 mm
Mech. perm. speed
† 1 000 min
Starting torque
† 0.012 Nm at 20 °C
36000
–1
Moment of inertia of rotor 0.36 · 10-3 kgm2
Shaft load
Axial: 30 N
Radial: 30 N at shaft end
Vibration 55 to 2000 Hz
Shock 6 ms
† 100 m/s2 (EN 60 068-2-6)
† 300 m/s2 (EN 60 068-2-27)
Operating temperature
0 °C to 50 °C
Protection IEC 60529
IP 64
Weight
Approx. 2.0 kg
* Please indicate when ordering
With HEIDENHAIN cable
1)
41
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 to the direction
of motion shown in the dimension
drawing.
The reference mark signal R has a usable
component G of approx. 0.5 V. Next to the
reference mark, the output signal can be
reduced by up to 1.7 V to a quiescent value
H. This must not cause the subsequent
electronics to overdrive. Even at the
lowered signal level, signal peaks with the
amplitude G can also appear.
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 ƒ 70 % of the signal amplitude
• –6 dB ƒ 50 % of the signal amplitude
Interface
Sinusoidal voltage signals » 1 VPP
Incremental signals
2 nearly sinusoidal signals A and B
Signal amplitude M:
0.6 to 1.2 VPP; typically 1 VPP
Asymmetry |P – N|/2M:
† 0.065
Signal ratio MA/MB:
0.8 to 1.25
Phase angle |ϕ1 + ϕ2|/2:
90° ± 10° elec.
Reference-mark
signal
One or more signal peaks R
Usable component G:
Quiescent value H:
Switching threshold E, F:
Zero crossovers K, L:
Connecting cable
Shielded HEIDENHAIN cable
PUR [4(2 x 0.14 mm2) + (4 x 0.5 mm2)]
Max. 150 m at 90 pF/m distributed capacitance
6 ns/m
Cable length
Propagation time
‡ 0.2 V
† 1.7 V
0.04 to 0.68 V
180° ± 90° elec.
These values can be used for dimensioning of the subsequent electronics. Any limited
tolerances in the encoders are listed in the specifications. For encoders without integral
bearing, reduced tolerances are recommended for initial servicing (see the mounting
instructions).
Signal period
360° elec.
The data in the signal description apply to
motions at up to 20% of the –3 dB cutoff
frequency.
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.
Short-circuit stability
A temporary short circuit of one signal
output to 0 V or UP (except encoders with
UPmin = 3.6 V) does not cause encoder
failure, but it is not a permissible operating
condition.
Short circuit at
20 °C
125 °C
One output
< 3 min
< 1 min
All outputs
< 20 s
<5s
42
A, B, R measured with oscilloscope in differential mode
Cutoff frequency
Typical signal
amplitude curve with
respect to the
scanning frequency
Signal amplitude [%]!
Measuring steps for position
measurement are recommended in the
specifications. For special applications,
other resolutions are also possible.
(Rated value)
Alternative signal
shape
–3 dB cutoff frequency
–6 dB cutoff frequency Scanning frequency [kHz]!
Input circuitry of the
subsequent electronics
Incremental signals
Reference-mark
signal
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
Encoder
Subsequent electronics
Ra < 100 −, typically 24 −
Ca < 50 pF
ΣIa < 1 mA
U0 = 2.5 V ± 0.5 V
(relative to 0 V of the
power supply)
–3dB cutoff frequency of circuitry
Approx. 450 kHz
Approx. 50 kHz with C1 = 1000 pF
and C2 =
82 pF
The circuit variant for 50 kHz 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
Electrical Connection
Monitoring of the incremental signals
The following sensitivity levels are
recommended for monitoring the signal
amplitude M:
Lower threshold:
0.30 VPP
Upper threshold:
1.35 VPP
Pin Layout
12-pin M23 coupling
15-pin D-sub connector, female
for HEIDENHAIN controls and IK 220
12-pin M23 connector
Power supply
Incremental signals
Other signals
12
2
10
11
5
6
8
1
3
4
7/9
/
/
1
9
2
11
3
4
6
7
10
12
5/8/13/14/15
/
/
UP
Sensor
UP
0V
Sensor
0V
A+
A–
B+
B–
R+
R–
Vacant
Brown/
Green
Blue
White/
Green
White
Brown
Green
Gray
Pink
Red
Black
/
Vacant Vacant
Violet
Yellow
Shield on housing; UP = power supply voltage
Sensor: The sensor line is connected internally with the corresponding power line.
Vacant pins or wires must not be used!
43
Interfaces
Incremental signals « TTL
HEIDENHAIN encoders with « TTL
interface incorporate electronics that digitize
sinusoidal scanning signals with or without
interpolation.
Interface
Square-wave signals « TTL
Incremental signals
2 TTL square-wave signals Ua1, Ua2 and their inverted signals
$, £
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 4, £ and ¤ for
noise-proof transmission. The illustrated
sequence of output signals—with Ua2
lagging Ua1—applies to the direction of
motion shown in the dimension drawing.
Reference-mark
signal
Pulse width
Delay time
1 or more TTL square-wave pulses Ua0 and their inverted
pulses ¤
90° elec. (other widths available on request); LS 323: ungated
|td| † 50 ns
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 a listed in the Specifications
applies to the illustrated input circuitry with
a cable length of 1 m, and refers to a
measurement at the output of the
differential line receiver. Cable-dependent
differences in the propagation times
additionally reduce the edge separation by
0.2 ns per meter of cable. To prevent
counting errors, 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.
Fault-detection signal 1 TTL square-wave pulse ¥
Improper function: LOW (upon request: Ua1/Ua2 high impedance)
Proper function: HIGH
Pulse width
tS ‡ 20 ms
Signal level
Differential line driver as per EIA standard RS 422
UH ‡ 2.5 V at –IH = 20 mA
UL † 0.5 V at IL = 20 mA
Permissible load
Z0 ‡ 100 −
between associated outputs
|IL| † 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
Shielded HEIDENHAIN cable
PUR [4(2 × 0.14 mm2) + (4 × 0.5 mm2)]
Max. 100 m (¥ max. 50 m) at 90 pF/m distributed capacitance
6 ns/m
Cable length
Propagation time
Fault
Signal period 360° elec.
Measuring step after
4-fold evaluation
tS
UaS
The permissible cable length for
transmission of the TTL square-wave
signals to the subsequent electronics
depends on the edge separation a. It is
100 m or 50 m max. 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 a
closed-loop system (remote sense power
supply).
Permissible cable
length
with respect to the
edge separation
Cable length [m] !
Inverse signals 4, £, ¤ are not shown
100
Without ¥
75
50
With ¥
25
6
0.7
0.6
0.5
0.4
0.3
0.2
0.1 0.05
Edge separation [µs] !
44
Input circuitry of the
subsequent electronics
Incremental signals
Reference-mark
signal
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
Encoder
Subsequent electronics
Fault-detection
signal
R1 = 4.7 k−
R2 = 1.8 k−
Z0 = 120 −
C1 = 220 pF (serves to improve noise
immunity)
Pin Layout
12-pin
flange socket
or
M23 coupling
12-pin
M23 connector
Power supply
Incremental signals
Other signals
12
2
10
11
5
6
8
1
3
4
7
9
UP
Sensor
UP
0V
Sensor
0V
Ua1
$
Ua2
£
Ua0
¤
¥
1)
Vacant2)
Brown/
Green
Blue
White/
Green
White
Brown
Green
Gray
Pink
Red
Black
Violet
Yellow2)
Shield on housing; UP = power supply voltage
Sensor: The sensor line is connected internally with the corresponding power line.
1)
2)
LS 323/ERO 14xx: Vacant
Exposed linear encoders: TTL/11 µAPP conversion for PWT, otherwise vacant
Vacant pins or wires must not be used!
45
Interfaces
Absolute Position Values
Clock frequency and cable length
Without propagation-delay compensation,
the clock frequency—depending on the
cable length—is variable between 100 kHz
and 2 MHz.
Because large cable lengths and high clock
frequencies increase the propagation time
to the point that they can disturb the
unambiguous assignment of data, the
delay can be measured in a test run and
then compensated. With this propagationdelay compensation in the subsequent
electronics, clock frequencies up to
16 MHz at cable lengths up to a maximum
of 100 m (fCLK † 8 MHz) are possible. The
maximum clock frequency is mainly
determined by the cables and connecting
elements used. To ensure proper function
at clock frequencies above 2 MHz, use only
original ready-made HEIDENHAIN cables.
Interface
EnDat serial bidirectional
Data transfer
Absolute position values, parameters and additional information
Data input
Differential line receiver according to EIA standard RS 485 for the
signals CLOCK, CLOCK, DATA and DATA
Data output
Differential line driver according to EIA standard RS 485 for the
signals DATA and DATA
Code
Pure binary code
Position values
Ascending during traverse in direction of arrow (see dimensions
of the encoders)
Incremental signals
» 1 VPP (see Incremental signals 1 VPP) depending on unit
Connecting cable
Shielded HEIDENHAIN cable
With
Incremental PUR [(4 x 0.14 mm2) + 4(2 x 0.14 mm2) + (4 x 0.5 mm2)]
Without signals
PUR [(4 x 0.14 mm2) + (4 x 0.34 mm2)]
Cable length
Max. 150 m
Propagation time
Max. 10 ns; typ. 6 ns/m
Cable length [m] !
The EnDat interface is a digital,
bidirectional interface for encoders. It is
capable of transmitting position values
from both absolute and—with EnDat 2.2—
incremental encoders, as well as reading
and updating information stored in the
encoder, or of saving new information.
Thanks to the serial transmission
method, only four signal lines are
required. The data is transmitted in
synchronism with the CLOCK signal from
the subsequent electronics. The type of
transmission (position values, parameters,
diagnostics, etc.) is selected by mode
commands that the subsequent
electronics send to the encoder.
300
2 000
4 000
8 000
12 000
16 000
Clock frequency [kHz]!
EnDat 2.1; EnDat 2.2 without propagation-delay compensation
EnDat 2.2 with propagation-delay compensation
Input circuitry of the subsequent
electronics
Data transfer
Dimensioning
IC1 = RS 485 differential line receiver and
driver
C3 = 330 pF
Z0 = 120 −
Incremental signals
depending on
encoder
46
Encoder
Subsequent electronics
Benefits of the EnDat Interface
• Automatic self-configuration: All
information required by the subsequent
electronics is already stored in the
encoder.
• High system security through alarms
and messages for monitoring and
diagnosis.
• High transmission reliability through
cyclic redundancy checks.
• Datum shift for faster commissioning.
Ordering
designation
Command set
Incremental
signals
Clock
frequency
Power supply
EnDat 01
EnDat 2.1
or EnDat 2.2
With
† 2 MHz
See specifications
of the encoder
Extended range
3.6 to 5.25 V or
14 V
EnDat 21
Without
EnDat 02
EnDat 2.2
With
† 2 MHz
EnDat 22
EnDat 2.2
Without
† 16 MHz
Specification of the EnDat interface (bold print indicates standard versions)
Other benefits of EnDat 2.2
• A single interface for all absolute and
incremental encoders.
• Additional information (limit switch,
temperature, acceleration)
• Quality improvement: Position value
calculation in the encoder permits
shorter sampling intervals (25 µs).
• Online diagnostics through valuation
numbers that indicate the encoder’s
current functional reserves and make it
easier to plan the machine servicing.
• Safety concept for designing safetyoriented control systems consisting of
safe controls and safe encoders based
on the DIN EN ISO 13 849-1 and
IEC 61 508 standards.
Advantages of purely serial
transmission
specifically for EnDat 2.2 encoders
• Cost optimization through simple
subsequent electronics with EnDat
receiver component and simple
connection technology: Standard
connecting element (M12; 8-pin), singleshielded standard cables and low wiring
cost.
• Minimized transmission times through
high clock frequencies up to 16 MHz.
Position values available in the
subsequent electronics after only approx.
10 µs.
• Support for state-of-the-art machine
designs e. g. direct drive technology
Versions
Functions
The extended EnDat interface version 2.2
is compatible in its communication,
command set and time conditions with
version 2.1, but also offers significant
advantages. It makes it possible, for
example, to transfer additional information
with the position value without sending a
separate request for it. The interface
protocol was expanded and the time
conditions (clock frequency, processing
time, recovery time) were optimized.
The EnDat interface transmits absolute
position values or additional physical
quantities (only EnDat 2.2) in an
unambiguous time sequence and serves to
read from and write to the encoder’s
internal memory. Some functions are
available only with EnDat 2.2 mode
commands.
Ordering designation
Indicated on the ID label and can be read
out via parameter.
Command set
The command set is the sum of all
available mode commands. (See “Selecting
the transmission type“). The EnDat 2.2
command set includes EnDat 2.1 mode
commands. When a mode command from
the EnDat 2.2 command set is transmitted
to EnDat-01 subsequent electronics, the
encoder or the subsequent electronics
may generate an error message.
Incremental signals
EnDat 2.1 and EnDat 2.2 are both available
with or without incremental signals.
EnDat 2.2 encoders feature a high internal
resolution. Therefore, depending on the
control technology being used,
interrogation of the incremental signals is
not necessary. To increase the resolution of
EnDat 2.1 encoders, the incremental
signals are interpolated and evaluated in
the subsequent electronics.
Position values can be transmitted with or
without additional information. The
additional information types are selectable
via the Memory Range Select (MRS) code.
Other functions such as Read parameter
and Write parameter can also be called
after the memory area and address have
been selected. Through simultaneous
transmission with the position value,
additional information can also be
requested of axes in the feedback loop,
and functions executed with them.
Parameter reading and writing is possible
both as a separate function and in
connection with the position value.
Parameters can be read or written after the
memory area and address is selected.
Reset functions serve to reset the
encoder in case of malfunction. Reset is
possible instead of or during position value
transmission.
Servicing diagnostics make it possible to
inspect the position value even at a
standstill. A test command has the
encoder transmit the required test values.
Power supply
Encoders with ordering designations
EnDat 02 and EnDat 22 have an extended
power supply range.
You can find more information in
the EnDat 2.2 Technical Information
document or on the Internet at
www.endat.de.
47
Mode commands
•
•
•
•
•
•
•
Encoder transmit position value
Selection of memory area
Encoder receive parameters
Encoder transmit parameters
Encoder receive reset1)
Encoder transmit test values
Encoder receive test command
•
•
•
•
•
•
•
Encoder transmit position value with additional information
Encoder transmit position value and receive selection of memory area2)
Encoder transmit position value and receive parameters2)
Encoder transmit position value and transmit parameters2)
Encoder transmit position value and receive error reset2)
Encoder transmit position value and receive test command2)
Encoder receive communication command3)
EnDat 2.2
Transmitted data are identified as either
position values, position values with
additional information, or parameters. The
type of information to be transmitted is
selected by mode commands. Mode
commands define the content of the
transmitted information. Every mode
command consists of three bits. To ensure
reliable transmission, every bit is
transmitted redundantly (inverted or
double). The EnDat 2.2 interface can also
transfer parameter values in the additional
information together with the position
value. This makes the current position
values constantly available for the control
loop, even during a parameter request.
EnDat 2.1
Selecting the Transmission Type
1)
Control cycles for transfer of position
values
The transmission cycle begins with the
first falling clock edge. The measured
values are saved and the position value is
calculated. After two clock pulses (2T), to
select the type of transmission, the
subsequent electronics transmit the mode
command “Encoder transmit position
value” (with/without additional information).
The subsequent electronics continue to
transmit clock pulses and observe the data
line to detect the start bit. The start bit
starts data transmission from the encoder
to the subsequent electronics. Time tcal is
the smallest time duration after which the
position value can be read by the encoder.
The subsequent error messages, error 1
and error 2 (only with EnDat 2.2
commands), are group signals for all
monitored functions and serve as failure
monitors.
Beginning with the LSB, the encoder then
transmits the absolute position value as a
complete data word. Its length varies
depending on which encoder is being
used. The number of required clock pulses
for transmission of a position value is saved
in the parameters of the encoder
manufacturer. The data transmission of
the position value is completed with the
Cyclic Redundancy Check (CRC).
In EnDat 2.2, this is followed by additional
information 1 and 2, each also concluded
with a CRC. With the end of the data word,
the clock must be set to HIGH. After 10 to
30 µs or 1.25 to 3.75 µs (with EnDat 2.2
parameterizable recovery time tm) the data
line falls back to LOW. Then a new data
transmission can begin by starting the
clock.
48
Same reaction as switching the power supply off and on
Selected additional information is also transmitted
3)
Reserved for encoders that do not support the safety system
2)
The time absolute linear encoders need for
calculating the position values tcal differs
depending on whether EnDat 2.1 or
EnDat 2.2 mode commands are
transmitted (see Specifications in the
brochure:Linear Encoders for Numerically
Controlled Machine Tools). If the
incremental signals are evaluated for axis
control, then the EnDat 2.1 mode
commands should be used. Only in this
manner can an active error message be
transmitted synchronously with the
currently requested position value.
EnDat 2.1 mode commands should not be
used for purely serial position value transfer
for axis control.
Clock frequency
fc
Calculation time for
Position value tcal
Parameter
tac
Recovery time
Without delay
compensation
With delay compensation
100 kHz ... 2 MHz
100 kHz ... 16 MHz
See Specifications
Max. 12 ms
tm
EnDat 2.1: 10 to 30 µs
EnDat 2.2: 10 to 30 µs or 1.25 to 3.75 µs (fc ‡ 1 MHz)
(parameterizable)
tR
Max. 500 ns
tST
–
Data delay time
tD
(0.2 + 0.01 x cable length in m) µs
Pulse width
tHI
0.2 to 10 µs
tLO
0.2 to 50 ms/30 µs (with LC)
2 to 10 µs
Pulse width fluctuation HIGH
to LOW max. 10%
EnDat 2.2 – Transmission of
Position Values
Encoder saves position
value
EnDat 2.2 can transmit position values with
or without additional information.
Position value without additional information
Subsequent electronics
transmit mode command
tm
tcal
tR
tST
M
S F1 F2 L
Mode command
Position value
CRC
S = start, F1 = error 1, F2 = error 2, L = LSB, M = MSB
Diagram does not depict the propagation-delay compensation
Encoder saves
position value
Data packet with position value and additional information
Subsequent electronics
transmit mode command
tm
tcal
tR
tST
S F1 F2 L
Mode command
M
Position value
Additional
information 2
CRC
Additional
information 1
CRC
CRC
S = start, F1 = error 1, F2 = error 2, L = LSB, M = MSB
Diagram does not depict the propagation-delay compensation
Additional information
With EnDat 2.2, one or two pieces of
additional information can be appended to
the position value. Each additional
information is 30 bits long with LOW as
first bit, and ends with a CRC check. The
additional information supported by the
respective encoder is saved in the encoder
parameters.
The content of the additional information is
determined by the MRS code and is
transmitted in the next sampling cycle for
additional information. This information is
then transmitted with every sampling until
a selection of a new memory area changes
the content.
30 bits
Additional information
WRN
5 bits
CRC
RM Busy
Acknowledgment of
additional information
8 bits
address or
data
8 bits
data
The additional information
always begins with:
The additional information can contain the following data:
Status data
Warning – WRN
Reference mark – RM
Parameter request – busy
Acknowledgment of
additional information
Additional information 1
Diagnosis (valuation
numbers)
Position value 2
Memory parameters
MRS-code acknowledgment
Test values
Encoder temperature
External temperature
sensors
Sensor data
Additional information 2
Commutation
Acceleration
Limit position signals
Operating status error
sources
49
EnDat 2.1 – Transmission of
Position Values
Encoder saves
position value
Subsequent electronics
transmit mode command
EnDat 2.1 can transmit position values with
interrupted clock pulse (as in EnDat 2.2) or
continuous clock pulse.
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. A new data transmission
can then begin when started by the clock.
Mode command
Position value
Cyclic Redundancy
Check
Interrupted clock
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 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.
50
Save new position
value
CRC
Save new position
value
Position value
n = 0 to 7; depending on system
Encoder
CRC
Continuous clock
Subsequent electronics
Latch signal
Comparator
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 transmit position value is 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.
1 VPP
Counter
1 VPP
Subdivision
Parallel
interface
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 code
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 systems.
Parameters of the OEM
In this freely definable memory area, the
OEM can store his information, e.g. the
“electronic ID label” of the motor in which
the encoder is integrated, indicating the
motor model, maximum current rating, etc.
Parameters and Memory Areas
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 writeprotected.
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.
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,
position values per revolution, transmission
format of position values, direction of
rotation, maximum speed, accuracy
dependent on shaft speeds, warnings and
alarms, ID number and serial number. This
information forms the basis for automatic
configuration. A separate memory area
contains the parameters typical for
EnDat 2.2: Status of additional information,
temperature, acceleration, support of
diagnostic and error messages, etc.
Operating parameters
This area is available for a datum shift, the
configuration of diagnostics and for
instructions. 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 initialize certain encoder
functions, activate write protection for the
OEM parameters and operating parameters
memory areas, and to interrogate their
status. Once activated, the write
protection cannot be reversed.
Subsequent
electronics
» 1 VPP A*)
Incremental
signals *)
Absolute
position value
Parameters Parameters of the encoder
of the OEM manufacturer for
EnDat 2.1
EnDat 2.2
EnDat interface
» 1 VPP B*)
Operating
status
The EnDat interface enables
comprehensive monitoring of the
encoder without requiring an additional
transmission line. The alarms and warnings
supported by the respective encoder are
saved in the “parameters of the encoder
manufacturer” memory area.
Error message
An error message becomes active if a
malfunction of the encoder might result
in incorrect position values. The exact
cause of the disturbance is saved in the
encoder’s “operating status” memory.
Interrogation via the “Operating status
error sources” additional information is also
possible. Here the EnDat interface
transmits the error bits—error 1 and error 2
(only with EnDat 2.2 commands). These are
group signals for all monitored functions
and serve for failure monitoring. The two
error messages are generated
independently of each other.
Warning
This collective bit is transmitted in the
status data of the additional information. It
indicates 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.
Absolute encoder
Operating
parameters
Monitoring and Diagnostic
Functions
*) Depending on
encoder
Online diagnostics
Encoders with purely serial interfaces do
not provide incremental signals for
evaluation of encoder function. EnDat 2.2
encoders can therefore cyclically transmit
so-called valuation numbers from the
encoder. The valuation numbers provide
the current state of the encoder and
ascertain the encoder’s “functional
reserves.” The identical scale for all
HEIDENHAIN encoders allows uniform
valuation. This makes it easier to plan
machine use and servicing.
Cyclic Redundancy Check
To ensure 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.
51
Pin Layout
17-pin
M23 coupling
1)
Power supply
7
1
10
UP
Sensor
UP
0V
Brown/
Green
Blue
White/
Green
Absolute position values
Incremental signals
4
11
15
16
12
13
14
17
A+
A–
B+
B–
DATA
DATA
Green/
Black
Yellow/
Black
Blue/
Black
Red/
Black
Gray
Pink
Sensor Internal
0V
shield
White
/
8
9
CLOCK CLOCK
Violet
Yellow
Shield on housing; UP = power supply voltage
Sensor: The sensor line is connected internally with the corresponding power line.
Vacant pins or wires must not be used!
1)
Only with ordering designations EnDat 01 and EnDat 02
8-pin M12 coupling
6
7
1
5
8
4
3
2
Power supply
Absolute position values
2
8
1
5
3
4
7
6
UP1)
UP
0 V1)
0V
DATA
DATA
CLOCK
CLOCK
Blue
Brown/Green
White
White/Green
Gray
Pink
Violet
Yellow
Shield on housing; UP = power supply voltage
Vacant pins or wires must not be used!
1)
For parallel supply lines
15-pin
D-sub connector, male
for IK 115/IK 215
15-pin
D-sub connector, female
for HEIDENHAIN controls
and IK 220
Incremental signals1)
Power supply
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
0V
A+
A–
B+
B–
DATA
DATA
Brown/
Green
Blue
White/
Green
Green/
Black
Yellow/
Black
Blue/
Black
Red/
Black
Gray
Pink
Sensor Internal
0V
shield
White
/
Shield on housing; UP = power supply voltage
Sensor: The sensor line is connected internally with the corresponding power line.
Vacant pins or wires must not be used!
1)
Only with ordering designations EnDat 01 and EnDat 02
52
Absolute position values
CLOCK CLOCK
Violet
Yellow
Interfaces
Fanuc and Mitsubishi Pin Layouts
Fanuc pin layout
HEIDENHAIN encoders with the code
letter F after the model designation are
suited for connection to Fanuc controls
with
• Serial Interface Fanuc 01
with 1 MHz communication rate
• Serial Interface Fanuc 02
with 1 MHz or 2 MHz communication
rate
15-pin
Fanuc connector
17-pin
HEIDENHAIN
coupling
10 . . . . . . . 1
Power supply
Absolute position values
9
18/20
12
14
16
1
2
5
6
7
1
10
4
–
14
17
8
9
UP
Sensor
UP
0V
Sensor
0V
Shield
Request
Request
Brown/
Green
Blue
White/
Green
White
–
Violet
Yellow
Serial Data Serial Data
Gray
Pink
Mitsubishi pin layout
HEIDENHAIN encoders with the code
letter M after the model designation are
suited for connection to controls with the
Mitsubishi high-speed serial interface.
10 or 20-pin
Mitsubishi connector
17-pin
HEIDENHAIN coupling
1 . . . . . . . 10
Power supply
Absolute position values
10-pin
1
–
2
–
7
8
3
4
20-pin
20
19
1
11
6
16
7
17
7
1
10
4
14
17
8
9
UP
Sensor
UP
0V
Sensor
0V
Serial Data
Serial Data
Request
Frame
Request
Frame
Brown/Green
Blue
White/Green
White
Gray
Pink
Violet
Yellow
Shield on housing; UP = power supply voltage
Sensor: The sensor line is connected internally with the corresponding power line.
Vacant pins or wires must not be used!
53
Connecting Elements and Cables
General Information
Connector (insulated): Connecting
element with coupling ring; available
with male or female contacts.
Coupling (insulated):
Connecting element with external thread;
available with male or female contacts.
Symbols
Symbols
M12
M23
M12
M23
Mounted coupling
with central fastening
Cutout for mounting
Mounted coupling
with flange
M23
M23
Flange socket: Permanently mounted
on the encoder or a housing, with
external thread (like the coupling), and
available with male or female contacts.
Symbols
M23
D-sub connector: For HEIDENHAIN
controls, counters and IK absolute value
cards.
Symbols
The pins on connectors are numbered in
the direction opposite to those on
couplings or flange sockets, regardless of
whether the contacts are
With integrated interpolation
electronics
54
Bell seal
ID 266 526-01
male contacts or
female contacts.
1)
Accessories for flange sockets and
M23 mounted couplings
When engaged, the connections provide
protection to IP 67
(D-sub connector: IP 50; EN 60 529). When
not engaged, there is no protection.
Threaded metal dust cap
ID 219 926-01
Connecting Cables » 1 VPP
« TTL
12-pin
M23
» 1 VPP
« TTL
PUR connecting cables
12-pin: [4(2 × 0.14 mm2) + (4 × 0.5 mm2)] ¬ 8 mm
Complete with connector (female) and
coupling (male)
298401-xx
Complete with connector (female) and
connector (male)
298399-xx
Complete with connector (female) and
D-sub connector (female) for IK 220
310199-xx
Complete with connector (female) and
D-sub connector (male) for IK 115/IK 215
310196-xx
With one connector (female)
309777-xx
Cable without connectors, ¬ 8 mm
244957-01
Mating element on connecting cable to
connector on encoder cable
Connector (female) for cable
¬ 8 mm
291697-05
Connector on cable for connection to
subsequent electronics
Connector (male) for cable
¬ 8 mm
¬ 6 mm
291697-08
291697-07
Coupling on connecting cable
Coupling (male) for cable
¬ 4.5 mm
¬ 6 mm
¬ 8 mm
291698-14
291698-03
291698-04
Flange socket for mounting on the
subsequent electronics
Flange socket (female)
Mounted couplings
With flange (female)
¬ 6 mm
¬ 8 mm
291698-17
291698-07
With flange (male)
¬ 6 mm
¬ 8 mm
291698-08
291698-31
With central fastening
(male)
¬ 6 mm
291698-33
Adapter connector » 1 VPP/11 µAPP
For converting the 1 VPP signals to 11 µAPP;
M23 connector (female) 12-pin and M23
connector (male) 9-pin
315 892-08
364914-01
55
Connecting Cables EnDat
8-pin
M12
17-pin
M23
EnDat without
incremental signals
PUR connecting cables
8-pin: [(4 × 0.14 mm2) + (4 × 0.34 mm2)]
17-pin: [(4 × 0.14 mm2) + 4(2 × 0.14 mm2) + (4 × 0.5 mm2)]
EnDat with
incremental signals
¬ 6 mm
¬ 8 mm
Complete with connector (female) and
coupling (male)
368330-xx
323897-xx
Complete with connector (female) and
D-sub connector (female) for IK 220
533 627-xx
332115-xx
Complete with connector (female) and
D-sub connector (male) for IK 215/ND 28x
524599-xx
324544-xx
With one connector (female)
559346-xx
309778-xx
Cable without connectors, ¬ 8 mm
–
266306-01
Mating element on connecting cable to
connector on encoder cable
Connector (female) for cable
¬ 8 mm
–
291697-26
Connector on cable for connection to
subsequent electronics
Connector (male) for cable
¬ 8 mm
¬ 6 mm
–
291697-27
Coupling on connecting cable
Coupling (male) for cable
¬ 4.5 mm
¬ 6 mm
¬ 8 mm
–
291698-25
291698-26
291698-27
Flange socket for mounting on the
subsequent electronics
Flange socket (female)
–
315 892-10
Mounted couplings
With flange (female)
¬ 6 mm
¬ 8 mm
–
291698-35
With flange (male)
¬ 6 mm
¬ 8 mm
–
291698-41
291698-29
With central fastening
(male)
¬ 6 mm
–
291698-37
56
Connecting Cables Fanuc
Mitsubishi
Cable
Fanuc
Mitsubishi
¬ 8 mm
534855-xx
–
¬ 6 mm
–
367958-xx
¬ 8 mm
–
573661-xx
¬ 8 mm
354608-01
PUR connecting cables
Complete
with 17-pin M23 connector (female)
and Fanuc connector
[(2 x 2 x 0.14 mm2) + (4 x 1 mm2)]
Complete
with 17-pin M23 connector (female) and
20-pin Mitsubishi connector
[(2 x 2 x 0.14 mm2) + (4 x 0.5 mm2)]
Complete
with 17-pin M23 connector (female) and
10-pin Mitsubishi connector
2
2
[(2 x 2 x 0.14 mm ) + (4 x 1 mm )]
Cable without connectors
2
2
[(2 x 2 x 0.14 mm ) + (4 x 1 mm )]
Fanuc
Mitsubishi
20-pin
Mitsubishi
10-pin
57
General Electrical Information
Power supply
Cables
The encoders require a stabilized dc
voltage UP as power supply. The required
power supply and the current consumption
are given in the respective Specifications.
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 encoder’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 line drop:
L · I
¹U = 2 · 10–3 · C
56 · AP
where ¹U:
LC:
I:
AP:
Line drop in V
Cable length in m
Current consumption in mA
Cross section of power lines
in mm2
Switch-on/off behavior of the encoders
The output signals are valid no sooner than
after switch-on time tSOT = 1.3 s (2 s for
PROFIBUS-DP) (see diagram). During time
tSOT they can have any levels up to 5.5 V
(with HTL encoders up to UPmax). If an
interpolation electronics unit is inserted
between the encoder and the power supply,
the unit’s switch-on/off characteristics must
also be considered. If the power supply is
switched off, or when the supply voltage
falls below Umin, the output signals are also
invalid. These data apply to the encoders
listed in the catalog—customer-specific
interfaces are not considered.
HEIDENHAIN cables are mandatory for
safety-related applications.
The cable lengths listed in the
Specifications apply only toHEIDENHAIN
cables and the recommended input
circuitry of the subsequent electronics.
Durability
All encoders have polyurethane (PUR)
cables. PUR cables are resistant to oil,
hydrolysis and microbes in accordance
with VDE 0472. They are free of PVC and
silicone and comply with UL safety
directives. The UL certification AWM STY
LE 20963 80 °C 30 V E63216 is
documented on the cable.
Encoders with new features and increased
performance range may take longer to
switch on (longer time tSOT). If you are
responsible for developing subsequent
electronics, please contact HEIDENHAIN
in good time.
Temperature range
HEIDENHAIN cables can be used for
• fixed cables
–40 °C to 85 °C
• frequent flexing
–10 °C to 85 °C
Cables with limited resistance to hydrolysis
and microbes are rated for up to 100 °C. If
necessary, please ask for assistance from
HEIDENHAIN Traunreut.
Isolation
The encoder housings are isolated against
internal circuits.
Rated surge voltage: 500 V
(preferred value as per VDE 0110 Part 1,
overvoltage category II, contamination
level 2)
Bend radius
The permissible bend radii R depend on
the cable diameter and the configuration:
Transient response of supply voltage and switch-on/switch-off behavior
U
Fixed cable
Up max
Up min
UPP
Frequent flexing
t SOT
Frequent flexing
Output signals invalid
Connect HEIDENHAIN position encoders
only to subsequent electronics whose
power supply is generated through double
or strengthened insulation against line
voltage circuits. Also see IEC 364-4-41:
1992, modified Chapter 411 regarding
“protection against both direct and indirect
touch” (PELV or SELV). If position encoders
or electronics are used in safety-related
applications, they must be operated with
protective extra-low voltage (PELV) and
provided with overcurrent protection or, if
required, with overvoltage protection.
Valid
Cable
Bend radius R
Cross section of power supply lines AP
1 VPP/TTL/HTL
¬ 3.7 mm 0.05 mm2
2
¬ 4.3 mm 0.24 mm
2)
5)
11 µAPP
EnDat/SSI EnDat
17-pin
8-pin
Fixed
cable
–
–
‡
–
2
¬ 4.5 mm 0.14/0.09 mm
¬ 5.1 mm 0.053) mm2
–
–
2
–
2
0.05 mm 0.05 mm
Frequent
flexing
8 mm ‡ 40 mm
‡ 10 mm ‡ 50 mm
2
0.14 mm
‡ 10 mm ‡ 50 mm
¬ 6 mm
0.19/0.144) mm2 –
1)
¬ 10 mm
0.08 mm2 0.34 mm2 ‡ 20 mm ‡ 75 mm
‡ 35 mm ‡ 75 mm
¬ 8 mm
0.5 mm2
1)
¬ 14 mm
0.5 mm2
1)
5)
58
Invalid
1 mm2
Metal armor 2) Rotary encoders
Also Fanuc, Mitsubishi
3)
1 mm2
Length gauges
4)
‡ 40 mm ‡ 100 mm
‡ 100 mm ‡ 100 mm
LIDA 400
Electrically permissible speed/
traversing speed
The maximum permissible shaft speed or
traversing speed 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 maximum permissible scanning/
output frequency fmax of the encoder
and
– the minimum permissible edge
separation a of the subsequent
fmax
electronics.
z
For angular or rotary encoders
nmax =
· 60 · 103
For linear encoders
vmax = fmax · SP · 60 · 10–3
where
nmax: Electrically permissible speed in
min–1
vmax: Electrically permissible traversing
speed in m/min
fmax: Max. scanning/output frequency of
encoder or input frequency of
subsequent electronics in kHz
z:
Line count of the angle or rotary
encoder per 360°
SP: Signal period of the linear encoder
in µm
Noise-free signal transmission
Electromagnetic compatibility/
CE compliance
When properly installed, and when
HEIDENHAIN connecting cables and cable
assemblies are used, HEIDENHAIN
encoders fulfill the requirements for
electromagnetic compatibility according to
2004/108/EC with respect to the generic
standards for:
• Noise immunity EN 61 000-6-2:
Specifically:
– ESD
EN 61 000-4-2
– Electromagnetic fields EN 61000-4-3
– Burst
EN 61000-4-4
– Surge
EN 61000-4-5
– Conducted disturbances EN 61000-4-6
– Power frequency
magnetic fields
EN 61000-4-8
– Pulse magnetic fields EN 61000-4-9
• Interference EN 61 000-6-4:
Specifically:
– For industrial, scientific and medical
(ISM) equipment
EN 55 011
– For information technology
equipment
EN 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, brakes 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
Protection against electrical noise
The following measures must be taken to
ensure disturbance-free operation:
• Use only HEIDENHAIN cables.
• 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 outlets to be as inductionfree 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. Also see
EN 50 178/4.98 Chapter 5.2.9.5 regarding
“protective connection lines with small
cross section.”
• 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
or, when cables are in metal ducts, by a
grounded partition.
• A minimum spacing of 200 mm to
inductors in switch-mode power supplies
is required. See also EN 50 178/4.98,
Chapter 5.3.1.1, regarding cables and
lines, as well as EN 50 174-2/09.01,
Chapter 6.7, regarding grounding and
potential compensation.
• When using rotary encoders in
electromagnetic fields greater than
30 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
59
Evaluation and Display Units
ND 200
Position Display Units
HEIDENHAIN encoders with 11-µAPP or
1-VPP signals and EnDat 2.2 interface can
be connected to the position display units
of the ND 200 series. The ND 280 position
display provides the basic functions for
simple measuring tasks. The ND 287 also
features other functions such as sorting
and tolerance check mode, minimum/
maximum value storage, measurement
series storage. It calculates the mean value
and standard deviations and creates
histograms or control charts. The ND 287
permits optional connection of a second
encoder for sum/difference measurement
or of an analog sensor.
The ND 28x have serial interfaces for
measured value transfer.
ND 280
Input signals1)
1 x » 11 µAPP, » 1 µAPP or EnDat 2.2
Encoder inputs
D-sub connector (female), 15-pin
Input frequency
» 1 VPP: † 500 kHz; 11 µAPP: † 100 kHz
Signal subdivision
Up to 1 024-fold (adjustable)
Display step
(adjustable)
Linear axis:
0.5 to 0.002 µm
Angular axis: 0.5° to 0.000 01° and/or 00°00‘00.1”
Functions
• REF Reference mark evaluation
• 2 datums
–
• Sorting and tolerance checking
• Measurement series (max. 10 000
measured values)
• Minimum/maximum value storage
• Statistics functions
• Sum/difference display (option)
Switching I/O
–
Yes
Interface
V.24/RS-232-C; USB (UART); Ethernet (option for ND 287)
1)
For more information, see brochure: Digital
Readouts/Linear Encoders.
IBV Series
Interpolation and
Digitizing Electronics
Interpolation and digitizing electronics
interpolate and digitize the sinusoidal
output signals (» 1 VPP) from
HEIDENHAIN angle encoders up to
100-fold, and convert them to TTL squarewave pulse trains.
ND 287
Automatic detection of interface
IBV 101
IBV 102
Input signals
» 1 VPP
Encoder inputs
Flange socket, 12-pin female
Interpolation (adjustable)
5-fold
10-fold
25-fold
50-fold
100-fold
Minimum edge separation Adjustable from 2 to 0.125 µs,
depending on input frequency
60
25-fold
50-fold
100-fold
200-fold
400-fold
Adjustable from
0.8 to 0.1 µs,
depending on
input frequency
Output signals
• Two TTL square-wave pulse trains Ua1 and Ua2 and their
inverted signals 4 and £
• Reference pulse Ua0 and ¤
• Fault detection signal ¥
Power supply
5V ± 5 %
IBV 101
For more information, see the Interpolation
and Digitizing Electronics brochure for
IBV 660 as well as the product overview:
IBV 100/EXE 100.
IBV 660
For more information, see the IK 220
Product Information document as well as
the Product Overview of Interface
Electronics.
IK 220
Input signals
(switchable)
» 1 VPP
Encoder inputs
2 D-sub connections (15-pin) male
Input frequency
† 500 kHz
Cable length
† 60 m
Signal subdivision
(signal period : meas. step)
Up to 4096-fold
» 11 µAPP EnDat 2.1
† 33 kHz
SSI
–
† 50 m
† 10 m
Data register for
measured values
(per channel)
48 bits (44 bits used)
Internal memory
For 8192 position values
Interface
PCI bus
Driver software and
demonstration program
For Windows 98/NT/2000/XP
in VISUAL C++, VISUAL BASIC and BORLAND DELPHI
Dimensions
Approx. 190 mm × 100 mm
Evaluation and Display Units
IK 220
Universal PC Counter Card
The IK 220 is an expansion board for PCs
for recording the measured values of two
incremental or absolute linear or angle
encoders. The subdivision and counting
electronics subdivide the sinusoidal input
signals up to 4096-fold. A driver software
package is included in delivery.
61
HEIDENHAIN Measuring Equipment
For Incremental Angle Encoders
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.
The PWT is a simple adjusting aid for
HEIDENHAIN incremental encoders. In a
small LCD window the signals are shown
as bar charts with reference to their
tolerance limits.
62
PWM 9
Inputs
Expansion modules (interface boards) for 11 µAPP; 1 VPP;
TTL; HTL; EnDat*/SSI*/commutation signals
*No display of position values and parameters
Functions
• 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 position)
• Displays symbols for the reference mark, fault
detection signal, counting direction
• Universal counter, interpolation selectable from
single to 1 024-fold
• Adjustment support for exposed linear encoders
Outputs
• Inputs are connected through to the subsequent
electronics
• BNC sockets for connection to an oscilloscope
Power supply
10 to 30 V, max. 15 W
Dimensions
150 mm × 205 mm × 96 mm
PWT 10
PWT 17
PWT 18
Encoder input
» 11 µAPP
« TTL
» 1 VPP
Functions
Measurement of signal amplitude
Wave-form tolerance
Amplitude and position of the reference mark signal
Power supply
Via power supply unit (included)
Dimensions
114 mm x 64 mm x 29 mm
For Absolute Angle Encoders
HEIDENHAIN offers an adjusting and
testing package for diagnosis and
adjustment of HEIDENHAIN encoders with
absolute interface.
• IK 215 PC expansion board
• ATS adjusting and testing software
IK 215
Encoder input
• EnDat 2.1 or EnDat 2.2 (absolute value with/
without incremental signals)
• Fanuc serial interface
• Mitsubishi high speed serial interface
• SSI
Interface
PCI bus, Rev. 2.1
System requirements
• Operating system: Windows XP (Vista upon
request)
• Approx. 20 MB free space on the hard disk
Signal subdivision
for incremental signals
Up to 65 536-fold
Dimensions
100 mm x 190 mm
ATS
Languages
Choice between German or English
Functions
•
•
•
•
•
•
Position display
Connection dialog
Diagnostics
Mounting wizard for ECI/EQI
Additional functions (if supported by the encoder)
Memory contents
63
HEIDENHAIN s.r.o.
106 00 Praha 10, Czech Republic
{ +420 272658131
E-Mail: heidenhain@heidenhain.cz
NL
HEIDENHAIN NEDERLAND B.V.
6716 BM Ede, Netherlands
{ +31 (318) 581800
E-Mail: verkoop@heidenhain.nl
DK
TP TEKNIK A/S
2670 Greve, Denmark
{ +45 (70) 100966
E-Mail: tp-gruppen@tp-gruppen.dk
NO
HEIDENHAIN Scandinavia AB
7300 Orkanger, Norway
{ +47 72480048
E-Mail: info@heidenhain.no
ES
PH
HEIDENHAIN Technisches Büro Nord
12681 Berlin, Deutschland
{ (030) 54705-240
E-Mail: tbn@heidenhain.de
FARRESA ELECTRONICA S.A.
08028 Barcelona, Spain
{ +34 934092491
E-Mail: farresa@farresa.es
Machinebanks` Corporation
Quezon City, Philippines 1113
{ +63 (2) 7113751
E-Mail: info@machinebanks.com
FI
PL
HEIDENHAIN Technisches Büro Mitte
08468 Heinsdorfergrund, Deutschland
{ (03765) 69544
E-Mail: tbm@heidenhain.de
HEIDENHAIN Scandinavia AB
02770 Espoo, Finland
{ +358 (9) 8676476
E-Mail: info@heidenhain.fi
APS
02-489 Warszawa, Poland
{ +48 228639737
E-Mail: aps@apserwis.com.pl
FR
PT
HEIDENHAIN Technisches Büro West
44379 Dortmund, Deutschland
{ (0231) 618083-0
E-Mail: tbw@heidenhain.de
HEIDENHAIN FRANCE sarl
92310 Sèvres, France
{ +33 0141143000
E-Mail: info@heidenhain.fr
FARRESA ELECTRÓNICA, LDA.
4470 - 177 Maia, Portugal
{ +351 229478140
E-Mail: fep@farresa.pt
GB
RO
Romania − HU
RU
HEIDENHAINTechnisches Büro Südwest
70771 Leinfelden-Echterdingen, Deutschland
{ (0711) 993395-0
E-Mail: tbsw@heidenhain.de
HEIDENHAIN (G.B.) Limited
Burgess Hill RH15 9RD, United Kingdom
{ +44 (1444) 247711
E-Mail: sales@heidenhain.co.uk
GR
SE
HEIDENHAIN Technisches Büro Südost
83301 Traunreut, Deutschland
{ (08669) 31-1345
E-Mail: tbso@heidenhain.de
MB Milionis Vassilis
17341 Athens, Greece
{ +30 (210) 9336607
E-Mail: bmilioni@otenet.gr
OOO HEIDENHAIN
125315 Moscow, Russia
{ +7 (495) 931-9646
E-Mail: info@heidenhain.ru
HK
HEIDENHAIN LTD
Kowloon, Hong Kong
{ +852 27591920
E-Mail: service@heidenhain.com.hk
HEIDENHAIN Scandinavia AB
12739 Skärholmen, Sweden
{ +46 (8) 53193350
E-Mail: sales@heidenhain.se
SG
HEIDENHAIN PACIFIC PTE LTD.
Singapore 408593,
{ +65 6749-3238
E-Mail: info@heidenhain.com.sg
SK
Slovakia − CZ
SL
PT Servitama Era Toolsindo
Jakarta 13930, Indonesia
{ +62 (21) 46834111
E-Mail: ptset@group.gts.co.id
Posredništvo HEIDENHAIN
SAŠO HÜBL s.p.
2000 Maribor, Slovenia
{ +386 (2) 4297216
E-Mail: hubl@siol.net
TH
NEUMO VARGUS MARKETING LTD.
Tel Aviv 61570, Israel
{ +972 (3) 5373275
E-Mail: neumo@neumo-vargus.co.il
HEIDENHAIN (THAILAND) LTD
Bangkok 10250, Thailand
{ +66 (2) 398-4147-8
E-Mail: info@heidenhain.co.th
TR
ASHOK & LAL
Chennai – 600 030, India
{ +91 (44) 26151289
E-Mail: ashoklal@satyam.net.in
T&M Mühendislik San. ve Tic. LTD. ŞTİ.
34738 Erenköy-Istanbul, Turkey
{ +90 (216) 3022345
E-Mail: info@tmmuhendislik.com.tr
TW
HEIDENHAIN ITALIANA S.r.l.
20128 Milano, Italy
{ +39 02270751
E-Mail: info@heidenhain.it
HEIDENHAIN Co., Ltd.
Taichung 407, Taiwan
{ +886 (4) 23588977
E-Mail: info@heidenhain.com.tw
UA
Ukraine − RU
DR. JOHANNES HEIDENHAIN GmbH
Dr.-Johannes-Heidenhain-Straße 5
83301 Traunreut, Germany
{ +49 (8669) 31-0
| +49 (8669) 5061
E-Mail: info@heidenhain.de
www.heidenhain.de
DE
AR
AT
AU
BE
BG
BR
NAKASE SRL.
B1653AOX Villa Ballester, Argentina
{ +54 (11) 47684242
E-Mail: nakase@nakase.com
HEIDENHAIN Techn. Büro Österreich
83301 Traunreut, Germany
{ +49 (8669) 31-1337
E-Mail: tba@heidenhain.de
FCR Motion Technology Pty. Ltd
Laverton North 3026, Australia
{ +61 (3) 93626800
E-Mail: vicsales@fcrmotion.com
HEIDENHAIN NV/SA
1760 Roosdaal, Belgium
{ +32 (54) 343158
E-Mail: sales@heidenhain.be
ESD Bulgaria Ltd.
Sofia 1172, Bulgaria
{ +359 (2) 9632949
E-Mail: info@esd.bg
DIADUR Indústria e Comércio Ltda.
04763-070 – São Paulo – SP, Brazil
{ +55 (11) 5696-6777
E-Mail: diadur@diadur.com.br
HR
Croatia − SL
HU
HEIDENHAIN Kereskedelmi Képviselet
1239 Budapest, Hungary
{ +36 (1) 4210952
E-Mail: info@heidenhain.hu
ID
IL
IN
IT
JP
HEIDENHAIN K.K.
Tokyo 102-0073, Japan
{ +81 (3) 3234-7781
E-Mail: sales@heidenhain.co.jp
US
HEIDENHAIN CORPORATION
Schaumburg, IL 60173-5337, USA
{ +1 (847) 490-1191
E-Mail: info@heidenhain.com
BY
Belarus − RU
CA
HEIDENHAIN CORPORATION
Mississauga, Ontario L5T 2N2, Canada
{ +1 (905) 670-8900
E-Mail: info@heidenhain.com
KR
HEIDENHAIN LTD.
Gasan-Dong, Seoul, Korea 153-782
{ +82 (2) 2028-7430
E-Mail: info@heidenhain.co.kr
VE
Maquinaria Diekmann S.A.
Caracas, 1040-A, Venezuela
{ +58 (212) 6325410
E-Mail: purchase@diekmann.com.ve
CH
HEIDENHAIN (SCHWEIZ) AG
8603 Schwerzenbach, Switzerland
{ +41 (44) 8062727
E-Mail: verkauf@heidenhain.ch
MK
Macedonia − BG
VN
MX
HEIDENHAIN CORPORATION MEXICO
20235 Aguascalientes, Ags., Mexico
{ +52 (449) 9130870
E-Mail: info@heidenhain.com
AMS Advanced Manufacturing
Solutions Pte Ltd
HCM City, Viêt Nam
{ +84 (8) 9123658 - 8352490
E-Mail: davidgoh@amsvn.com
ZA
MY
ISOSERVE Sdn. Bhd
56100 Kuala Lumpur, Malaysia
{ +60 (3) 91320685
E-Mail: isoserve@po.jaring.my
MAFEMA SALES SERVICES C.C.
Midrand 1685, South Africa
{ +27 (11) 3144416
E-Mail: mailbox@mafema.co.za
CN
CS
DR. JOHANNES HEIDENHAIN
(CHINA) Co., Ltd.
Beijing 101312, China
{ +86 10-80420000
E-Mail: sales@heidenhain.com.cn
Serbia and Montenegro − BG
Vollständige Adressen siehe www.heidenhain.de
For complete addresses see www.heidenhain.de
591 109-21 · 40 · 6/2008 · H · Printed in Germany · Subject to change without notice
Zum Abheften hier falzen! / Fold here for filing!
CZ
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