Heidenhain Rotary Encoders

Rotary Encoders

November 2011

Rotary encoders from HEIDENHAIN serve as measuring sensors for rotary motion, angular velocity and, when used in conjunction with mechanical measuring standards such as lead screws, for linear motion. Application areas include electrical motors, machine tools, printing machines, woodworking machines, textile machines, robots and handling devices, as well as various types of measuring, testing, and inspection devices.

The high quality of the sinusoidal incremental signals permits high interpolation factors for digital speed control.

Rotary encoders for separate shaft coupling

Electronic handwheel

Rotary encoders with mounted stator coupling

2

This catalog supersedes all previous editions, which thereby become invalid.

The basis for ordering from HEIDEN-

HAIN is always the catalog edition valid when the contract is made.

Standards (ISO, EN, etc.) apply only where explicitly stated in the catalog.

Electrical Connection

Sales and Service

Contents

Overview and Specifi cations

Specifi cations

Selection Guide

Measuring Principles, Accuracy

Shaft Couplings

Safety-Related Position Measuring Systems

General Mechanical Information

Absolute Rotary Encoders

Mechanical Design

Types and Mounting

Rotary Encoders with Stator Coupling

Rotary Encoders for Separate Shaft Coupling

4

10

12

15

18

20

Incremental Rotary Encoders

22

Mounted Stator

Coupling

Separate Shaft

Coupling

Handwheels

ECN 100 Series

ECN 400/EQN 400 Series

ERN 100 Series

ERN 400 Series

ECN 400/EQN 400 Series with Universal Stator Coupling

ERN 400 Series with Universal Stator Coupling

ECN 1000/EQN 1000 Series ERN 1000 Series

ROD 400 Series with Synchro Flange

34

38 ROC 400/ROQ 400

RIC 400/RIQ 400 Series with Synchro Flange

ROC 400/ROQ 400 Series

RIC 400/RIQ 400 Series with Clamping Flange

ROC 1000/ROQ 1000 Series

ROD 400 Series with Clamping Flange

ROD 1000 Series

24

26

30

42

46

–

HR 1120

50

Interfaces and

Pin Layouts

PROFINET IO

SSI

Cables and Connecting Elements

Evaluation Electronics and HEIDENHAIN Measuring Equipment

General Electrical Information

More Information

Addresses in Germany

Addresses Worldwide

Incremental Signals

» 1 V

PP

« TTL

« HTL

52

54

56

58

60

64

66

68

71

74

78

79

80

Selection Guide

Rotary Encoders for Standard Applications

Rotary Encoders Absolute

Singleturn

Interface EnDat SSI

Power supply 3.6 to 14 V DC 5 V DC

With Mounted Stator Coupling

ECN/ERN 100 series

ECN 125

1)

Positions/rev: 25 bits

EnDat 2.2/22

ECN 113


EnDat 2.2/01

–

5 V DC or

10 to 30 V DC

–

Multiturn 4 096 revolutions

PROFIBUS DP

PROFINET IO

EnDat

9 to 36 V DC

10 to 30 V DC

3.6 to 14 V DC 5 V DC

– –

ECN/EQN/ERN 400 series

ECN/EQN/ERN 400 series with universal stator coupling

ECN 425


EnDat 2.2/22

–

ECN 413


EnDat 2.2/01


ECN 425


EnDat 2.2/22

–

ECN 413


EnDat 2.2/01

ECN 1023


EnDat 2.2/22

–

ECN 1013


EnDat 2.2/01

ECN 413 ECN 413

4)

EQN 437

Positions/rev: 13 bits Positions/rev: 13 bits Positions/rev: 25 bits

EnDat 2.2/22

–

EQN 425


EnDat 2.2/01

ECN 413


– EQN 437


EnDat 2.2/22

–

EQN 425


EnDat 2.2/01

– – EQN 1035


EnDat 2.2/22

–

EQN 1025


EnDat 2.2/01

For separate shaft coupling

ROC/ROQ/ROD 400

RIC/RIQ 400 series with synchro fl ange

ROC 425


EnDat 2.2/22

RIC 418


EnDat 2.1 / 01

ROC 413 ROC 413 ROQ 437


EnDat 2.2/22

RIQ 430


EnDat 2.1 / 01

ROC 413


EnDat 2.2/01

ROQ 425


EnDat 2.2/01

ROC/ROQ/ROD 400

RIC/RIQ 400 series with clamping fl ange

ROC 425


EnDat 2.2/22

RIC 418


EnDat 2.1/01

ROC 413 ROC 413 ROQ 437


EnDat 2.2/22

RIQ 430


EnDat 2.1/01

ROC 413


EnDat 2.2/01

ROQ 425


EnDat 2.2/01

ROC/ROQ/ROD 1000 series

ROC 1023


EnDat 2.2/22

– – – ROQ 1035


EnDat 2.2/22

–

ROC 1013


EnDat 2.2/01

1)

Power supply 3.6 to 5.25 V DC

2)

Up to 10 000 signal periods through integrated 2-fold interpolation

3)

Up to 36 000 signal periods through integrated 5/10-fold interpolation (higher interpolation upon request)

ROQ 1025


EnDat 2.2/01

4

–

Incremental

« TTL SSI PROFIBUS DP

PROFINET IO

« TTL

5 V DC or

10 to 30 V DC

9 to 36 V DC

10 to 30 V DC

5 V DC 10 to

30 V DC

– ERN 120

1 000 to

5 000 lines

–

« HTL » 1 V

PP

10 to

30 V DC

ERN 130

1 000 to

5 000 lines

5 V DC

ERN 180

1 000 to

5 000 lines

EQN 425

Positions/rev:

13 bits

EQN 425

4)

Positions/rev:

13 bits

ERN 420

250 to

5 000 lines

ERN 460

250 to

5 000 lines

ERN 430

250 to

5 000 lines

ERN 480

1 000 to

5 000 lines

EQN 425

Positions/rev:

13 bits

– ERN 420

250 to

5 000 lines

ERN 460

250 to

5 000 lines

ERN 430

250 to

5 000 lines

ERN 480

1 000 to

5 000 lines s s

–

ROQ 425

Positions/rev:

13 bits

–

ROQ 425

Positions/rev:

13 bits

4 096 revolutions

ERN 1020

100 to

3 600 lines

ERN 1070

3)

1 000/2 500/

3 600 lines

–

ROD 426

50 to

5 000 lines

2)

ROD 466

50 to 5 000 lines2)

ERN 1030

3 600 lines

ERN 1080

3 600 lines

ROD 436

50 to 5 000 lines

ROD 486

1 000 to

5 000 lines

ROQ 425

Positions/rev:

13 bits

ROQ 425

Positions/rev:

13 bits

4 096 revolutions

ROD 420

50 to

5 000 lines

– ROD 430

50 to 5 000 lines

ROD 480

1 000 to

5 000 lines

– – ROD 1020 –

100 to

3 600 lines

ROD 1070

3)

1 000/2 500/

3 600 lines

ROD 1030 ROD 1080

100 to

3 600 lines

100 to

3 600 lines

40

44

32

5

22

24

Selection Guide

Rotary Encoders for Motors


Singleturn

Interface EnDat

Power supply 3.6 to 14 V DC

With Integral Bearing and Mounted Stator Coupling

ERN 1023 series

– –

5 V DC

ECN/EQN 1100 series

ECN 1123


EnDat 2.2/22

Functional safety upon request

ECN 1113


EnDat 2.2/01

–

–

–

Multiturn

EnDat

3.6 to 14 V DC

–

5 V DC

–

EQN 1135


4 096 revolutions

EnDat 2.2/22


EQN 1125


4 096 revolutions

EnDat 2.2/01

–

–

– ERN 1123


Without Integral Bearing

ECI/EQI/EBI 1100 series

ECI/EQI 1300 series

ERO 1200 series

ERO 1400 series

ECN 1325


EnDat 2.2/22


ECN 1313


EnDat 2.2/01

– EQN 1337


4 096 revolutions

EnDat 2.2/22


EQN 1325


4 096 revolutions

EnDat 2.2/01

–

ECI 1118


EnDat 2.2/22

–

–

ECI 1118


EnDat 2.1/21 or

EnDat 2.1/01

ECI 1319


EnDat 2.1/01

– –

EBI 1135


65 536 revolutions (battery buffered)

EnDat 2.2/22

EQI 1130


4 096 revolutions

EnDat 2.1/21 or

EnDat 2.1/01

– EQI 1331


4 096 revolutions

EnDat 2.1/01

–

– – – –

1)

8 192 signal periods through integrated 2-fold interpolation

2)

37 500 signal periods through integrated 5/10/20/25-fold interpolation

6

Incremental

« TTL

5 V DC

ERN 1023

500 to 8 192 lines

3 signals for block commutation

–

–

» 1 V

PP

5 V DC

–

ERN 1123

500 to 8 192 lines

3 signals for block commutation

–

ERN 1321

1 024 to 4 096 lines

ERN 1326

1 024 to 4 096 lines

1)

3 TTL signals for block commutation

–

ERO 1225

1 024/2 048 lines

ERO 1420

512 to 1 024 lines

ERO 1470

1 000/1 500

2)

–

–

ERN 1381

512 to 4 096 lines

ERN 1387

2 048 lines

Z1 track for sine commutation

–

ERO 1285

1 024/2 048 lines

ERO 1480

512 to 1 024 lines

These rotary encoders are described in the Position Encoders for Servo

Drives catalog.

7

Selection Guide

Rotary Encoders for Special Applications


Singleturn

Interface EnDat

Power supply 3.6 to 14 V DC

For Drive Control in Elevators


IP 64 protection

ECN 125

1)


EnDat 2.2/22

5 V DC

ECN 113


EnDat 2.2/01

–

SSI

5 V DC

Multiturn 4 096 revolutions

EnDat

5 V DC

SSI

5 V DC

– –


IP 64 protection


IP 40 protection

ECN 425


EnDat 2.2/22


ECN 413


EnDat 2.2/01

–

ECN 1325


EnDat 2.2/22


ECN 1313


EnDat 2.2/01

–

–

–

–

–

–

–

For Potentially Explosive Atmospheres in zones 1, 2, 21 and 22

ROC/ROQ/ROD 400

4)

series with synchro fl ange

– ROC 413


EnDat 2.1/01

ROC 413


ROQ 425


EnDat 2.1/01

ROQ 425


ROC/ROQ/ROD 400

4)

series with clamping fl ange

– ROC 413


EnDat 2.1/01

ROC 413


ROQ 425


EnDat 2.1/01

ROQ 425


Electronic handwheel

HR 1120 – – – – –

8

1)

Power supply 3.6 to 5.25 V DC

2)

Up to 10 000 signal periods through integrated 2-fold interpolation

3)

8 192 signal periods through integrated 2-fold interpolation

4)

Versions with blind hollow shaft available upon request

Incremental

« TTL

5 V DC

ERN 120

1 000 to 5 000 lines

–

« TTL

10 to 30 V DC

« HTL

10 to 30 V DC

» 1 V

PP

5 V DC

ERN 130

1 000 to 5 000 lines

ERN 180

1 000 to 5 000 lines

ERN 421

1 024 to 5 000 lines

2)

– – ERN 487

2 048 lines

Z1 track for sine commutation

ERN 1321

1 024 to 5 000 lines

ERN 1326

1 024 to 4 096 lines

3)

3 TTL signals for block commutation

– – ERN 1381

512 to 4 096 lines

ERN 1387

2 048 lines

Z1 track for sine commutation ts

ROD 426

1 000 to 5 000 lines

ROD 466

1 000 to 5 000 lines

ROD 436

1 000 to 5 000 lines

ROD 486

1 000 to 5 000 lines ts

ROD 420

1 000 to 5 000 lines

–

HR 1120

100 lines

–

See catalog:

Encoders for

Servo Drives

ROD 430

1 000 to 5 000 lines

ROD 480

1 000 to 5 000 lines

Rotary Encoders for Potentially Explosive

50

24

9

Measuring Principles

Measuring Standard Measuring Methods

HEIDENHAIN encoders with optical scan-

ning incorporate measuring standards of periodic structures known as graduations.

These graduations are applied to a carrier substrate of glass or steel.

These precision graduations are manufactured in various photolithographic processes. Graduations are fabricated from:

• extremely hard chromium lines on glass,

• matte-etched lines on gold-plated steel tape, or

• three-dimensional structures on glass or steel substrates.

With the absolute measuring method, the position value is available from the encoder immediately upon switch-on and can be called at any time by the subsequent electronics. There is no need to move the axes to fi nd the reference position. The absolute position information is read from the

grating on the graduated disk, which is designed as a serial code structure or—as on the ECN 100—consists of several parallel graduation tracks.

A separate incremental track (on the

ECN 100 the track with the fi nest grating period) is interpolated for the position value and at the same time is used to generate an optional incremental signal.

In singleturn encoders, the absolute position information repeats itself with every revolution. Multiturn encoders can also distinguish between revolutions.

The photolithographic manufacturing processes developed by HEIDENHAIN produce grating periods of typically 50 µm to

4 µm.

These processes permit very fi ne grating periods and are characterized by a high definition and homogeneity of the line edges.

Together with the photoelectric scanning method, this high edge defi nition is a precondition for the high quality of the output signals.

The master graduations are manufactured by HEIDENHAIN on custom-built high-precision ruling machines.

Encoders using the inductive scanning

principle have graduation structures of copper/nickel. The graduation is applied to a carrier material for printed circuits.

Circular graduations of absolute rotary encoders

With the incremental measuring meth-

od, the graduation consists of a periodic grating structure. The position information is obtained by counting the individual increments (measuring steps) from some point of origin. Since an absolute reference is required to ascertain positions, the graduated disks are provided with an additional track that bears a reference mark.

The absolute position established by the reference mark is gated with exactly one measuring step.

The reference mark must therefore be scanned to establish an absolute reference or to fi nd the last selected datum.

10

Circular graduations of incremental rotary encoders

Accuracy

Scanning Methods

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 fi ne lines, no more than a few microns wide, and generates output signals with very small signal periods.

The ECN, EQN, ERN and ROC, ROQ, ROD rotary encoders use the imaging 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. The graduation on the measuring standard can likewise be applied to a transparent surface, but also a refl ective surface.

The ROC/ROQ 400/1000 and ECN/

EQN 400/1000 absolute rotary encoders with optimized scanning have a single large photosensor instead of a group of individual photoelements. Its structures have the same width as that of the measuring standard. This makes it possible to do without the scanning reticle with matching structure.

Other scanning principles

ECI/EQI and RIC/RIQ rotary encoders operate according to the inductive measuring principle. Here, graduation structures modulate a high-frequency signal in its amplitude and phase. The position value is always formed by sampling the signals of all receiver coils distributed evenly around the circumference.

The accuracy of position measurement with rotary encoders is mainly determined by

• the directional deviation of the radial grating,

• the eccentricity of the graduated disk to the bearing,

• the radial deviation of the bearing,

• the error resulting from the connection with a shaft coupling (on rotary encoders with stator coupling this error lies within the system accuracy),

• the interpolation error during signal processing in the integrated or external interpolation and digitizing electronics.

For incremental rotary encoders with line counts up to 5 000:

The maximum directional deviation at

20 °C ambient temperature and slow speed (scanning frequency between 1 kHz and 2 kHz) lies within

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 nearly sinusoidal electrical signals. Practical mounting tolerances for encoders with the imaging scanning principle are achieved with grating periods of 10 µm and larger.

± 18° mech. · 3 600 [angular seconds]

Line count z which equals

± 1 grating period.

20

The ROD rotary encoders generate 6 000 to 10 000 signal periods per revolution through signal doubling. The line count is important for the system accuracy.

The accuracy of absolute position values from absolute rotary encoders is given in the specifi cations for each model.

LED light source

For absolute rotary encoders with comple-

mentary incremental signals, the accuracy depends on the line count:

Condenser lens

Line count Accuracy

16 ± 480 angular seconds

32

512

2 048

± 280 angular seconds



Scanning reticle

Measuring Standard The above accuracy data refer to incremental measuring signals at an ambient temperature of 20 °C and at slow speed.

Photocells

I

90°

and I

270° photocells are not shown

Photoelectric scanning according to the imaging scanning principle

11

Mechanical Design Types and Mounting

Rotary Encoders with Stator Coupling

ECN/EQN/ERN rotary encoders have integrated bearings and a mounted stator coupling. They compensate radial runout and alignment errors without signifi cantly reducing the accuracy. The encoder shaft is directly connected with the shaft to be measured. During angular acceleration of the shaft, the stator coupling must absorb only that torque caused by friction in the bearing. The stator coupling permits axial motion of the measured shaft:

ECN/EQN/ERN 400:

± 1 mm

ECN/EQN/ERN 1000: ± 0.5 mm

ECN/ERN 100:

± 1.5 mm

Mounting

The rotary encoder is slid by its hollow shaft onto the measured shaft, and the rotor is fastened by two screws or three eccentric clamps. For rotary encoders with hollow through shaft, the rotor can also be fastened at the end opposite to the fl ange.

Rotary encoders of the ECN/EQN/

ERN 1300 series with taper shaft are particularly well suited for repeated mounting

(see the brochure Position Encoders for

Servo Drives). The stator is connected without a centering collar on a fl at surface.

The universal stator coupling of the ECN/

EQN/ERN 400 permits versatile mounting, e.g. by its thread provided for fastening it from outside to the motor cover.

ECN:

L = 41 min. with D † 25

L = 56 min. with D ‡ 38

ERN:

L = 46 min. with D † 25

L = 56 min. with D ‡ 38

ECN/EQN/ERN 400 e.g. with standard stator coupling

Blind hollow shaft

Hollow through shaft

Dynamic applications require the highest possible natural frequencies f

N

of the system (also see General Mechanical Informa-

tion). This is attained by connecting the shafts on the fl ange side and fastening the coupling by four cap screws or, on the

ECN/EQN/ERN 1000, with special washers.

Natural frequency f

E

with coupling fastened by 4 screws

coupling

Flange socket

Axial Radial

ECN/EQN/

ERN 400

Standard

Universal

1 550 Hz

1 400 Hz

1)

1 500 Hz

1 400 Hz

1 000 Hz

900 Hz

ECN/ERN 100 1 000 Hz –

1 500 Hz

2)

– ECN/EQN/ERN 1000

1)

Also when fastening with 2 screws

2)

Also when fastening with 2 screws and washers

12

400 Hz

–

Grooves visible

ECN/EQN/ERN 400 e.g. with universal stator coupling

Hollow through shaft

Washers

Mounting accessories

Washer

For ECN/EQN/ERN 1000

For increasing the natural frequency f

E

and mounting with only two screws.

ID 334 653-01

Shaft clamp ring

for ECN/EQN/ERN 400

By using a second shaft clamp ring, the mechanically permissible speed of rotary encoders with hollow through shaft can be increased to a maximum of 12 000 min

–1

.

ID 540 741-xx

À = Clamping screw with X8 hex socket

Tightening torque 1.1 ± 0.1 Nm

If the encoder shaft is subject to high

loads, for example from friction wheels, pulleys, or sprockets, HEIDENHAIN recommends mounting the ECN/EQN/ERN 400 with a bearing assembly.

Bearing assembly

For ERN/ECN/EQN 400 series with blind hollow shaft

ID 574 185-03

The bearing assembly is capable of absorbing large radial shaft loads. It prevents overload of the encoder bearing. On the encoder side, the bearing assembly has a stub shaft with 12 mm diameter and is well suited for the ERN/ECN/EQN 400 encoders with blind hollow shaft. Also, the threaded holes for fastening the stator coupling are already provided. The fl ange of the bearing assembly has the same dimensions as the clamping fl ange of the ROD 420/430 series. The bearing assembly can be fastened through the threaded holes on its face or with the aid of the mounting fl ange or the mounting bracket (see page 15).

Permissible speed n

Shaft load

Operating temperature

Bearing assembly

†6000 min

–1

Axial: 150 N; Radial: 350 N

–40 to 100 °C

13

Torque supports for the

ERN/ECN/EQN 400

For simple applications with the ERN/ECN/

EQN 400, the stator coupling can be replaced by torque supports. The following kits are available:

Wire torque support

The stator coupling is replaced by a fl at metal ring to which the provided wire is fastened.

ID 510 955-01

Pin torque support

Instead of a stator coupling, a “synchro fl ange” is fastened to the encoder. A pin serving as torque support is mounted either axially or radially on the fl ange. As an alternative, the pin can be pressed in on the customer's surface, and a guide can be inserted in the encoder fl ange for the pin.

ID 510 861-01

General accessories

Screwdriver bit

For HEIDENHAIN shaft couplings

For ExN 100/400/1000 shaft couplings

For ERO shaft couplings

Width across fl ats

Length

1.5

1.5 (ball head)

70 mm

2

2 (ball head)

2.5

3 (ball head)

4

4 (with dog point)

1)

TX8 89 mm

152 mm

ID

350 378-11

350 378-12

1)

For screws as per DIN 6912 (low head screw with pilot recess)

350 378-01

350 378-02

350 378-03

350 378-04

350 378-05

350 378-08

350 378-07

350 378-14

Screwdriver

Adjustable torque

0.2 Nm to 1.2 Nm ID 350 379-04

1 Nm to 5 Nm ID 350 379-05

14

Rotary Encoders for Separate Shaft Coupling

ROC/ROQ/ROD and RIC/RIQ rotary encoders have integrated bearings and a solid shaft. The encoder shaft is connected with the measured shaft through a separate rotor coupling. The coupling compensates axial motion and misalignment (radial and angular offset) between the encoder shaft and measured shaft. This relieves the encoder bearing of additional external loads that would otherwise shorten its service life. Diaphragm and metal bellows couplings designed to connect the rotor of the

ROC/ROQ/ROD/RIC/RIQ encoders are available (see Shaft Couplings).

ROC/ROQ/ROD 400 and RIC/RIQ 400 series rotary encoders permit high bearing loads (see diagram). They can therefore also be mounted directly onto mechanical transfer elements such as gears or friction wheels.

If the encoder shaft is subject to relatively high loads, for example from friction wheels, pulleys, or sprockets, HEIDEN-

HAIN recommends mounting the ECN/

EQN/ERN 400 with a bearing assembly.

Bearing life span of ROC/ROQ/ROD 400

and RIC/RIQ 400

The lifetime of the shaft bearing depends on the shaft load, the shaft speed, and the point of force application. The values given in the specifi cations for the shaft load are valid for all permissible speeds, and do not limit the bearing lifetime. The diagram shows an example of the different bearing lifetimes to be expected at further loads.

The different points of force application of shafts with 6 mm and 10 mm diameters have an effect on the bearing lifetime.

Bearing lifetime if shaft subjected to load

Shaft speed [rpm]

f

15

Rotary encoders with synchro fl ange

Mounting

• by the synchro fl ange with three fi xing clamps or

• by fastening threaded holes on the encoder fl ange to an adapter fl ange (for

ROC/ROQ/ROD 400 or RIC/RIQ 400).

Rotary encoders with synchro fl ange

Fixing clamps

Coupling

Coupling

Adapter fl ange


Adapter fl ange

(electrically nonconducting)

ID 257 044-01

Fixing clamps

For ROC/ROQ/ROD 400 and

RIC/RIQ 400 series

(3 per encoder)

ID 200 032-01

Fixing clamps

For ROC/ROQ/ROD 1000 series

(3 per encoder)

ID 200 032-02

16

Rotary encoders with clamping fl ange

Mounting

• by fastening the threaded holes on the encoder fl ange to an adapter fl ange or

• by clamping at the clamping fl ange.

The centering collar on the synchro fl ange or clamping fl ange serves to center the encoder.

ROC/ROQ/ROD 400 with clamping fl ange

Mounting fl ange

Coupling

Coupling


Mounting fl ange

ID 201 437-01

Mounting bracket

ID 581 296-01

3x

¬ 4.5

X

3x

¬ 3.2

48

3x 120°

15°

3x 120°

80

16

X

34

(16)

17

Shaft Couplings

ROC/ROQ/ROD 400

Diaphragm coupling

Hub bore

K 14

6/6 mm

With galvanic isolation

K 17/01

K 17/06

K 17/02

K 17/04

K 17/05

6/6 mm

6/5 mm

± 10”

6/10 mm

10/10 mm

6/9.52 mm

K 17/03

10/10 mm

Kinematic transfer error*

Torsional rigidity

± 6”

Max. torque

Max. radial offset

λ

† 0.2 mm

Max. angular error

α

† 0.5°

Max. axial motion

δ

† 0.3 mm

Moment of inertia

(approx.)

6 · 10

–6 kgm

2

Permissible speed

0.2 Nm 0.1 Nm

† 0.5 mm

† 1°

† 0.5 mm

3 · 10

–6 kgm

2

16 000 min

–1

16

–1

Torque for locking screws (approx.)

0.2 Nm

4 · 10

Weight

35 g 24 g 23 g 27.5 g

*With radial offset

λ

= 0.1 mm, angular error

α

= 0.15 mm over 100 mm ƒ 0.09° valid up to 50 °C

–6 kgm

2

ROD 1000

Metal bellows coupling

18EBN3

4/4 mm

± 40“

0.1 Nm

† 0.2 mm

† 0.5°

† 0.3 mm

0.3 · 10

–6 kgm

2

9 g

Radial offset Angular error Axial motion


Screwdriver bit

Screwdriver

See page 14

18

Metal bellows coupling 18 EBN 3

For ROC/ROQ/ROD 1000 series

With 4 mm shaft diameter

ID 200 393-02

Diaphragm coupling K 14


RIC/RIQ 400 series

With 6 mm shaft diameter

ID 293 328-01

Recommended fi t for the mating shaft: h6

Diaphragm coupling K 17 with galvanic isolation


RIC/RIQ 400 series

With 6 or 10 mm shaft diameter

ID 296 746-xx

Suitable also for potentially explosive atmospheres in zones 1, 2, 21 and 22

03

04

05

06

K 17

Variant

01

02

D1

D2

L

¬ 6 F7 ¬ 6 F7 22 mm

¬ 6 F7 ¬ 10 F7

¬ 10 F7

¬ 10 F7

22 mm

30 mm

¬ 10 F7

¬ 10 F7

22 mm

¬ 6 F7 ¬ 9.52 F7 22 mm

¬ 5 F7 ¬ 6 F7 22 mm

19

Safety-Related Position Measuring Systems

With the designation Functional Safety,

HEIDENHAIN offers safety-related position measuring systems that are based on pure serial data transfer via EnDat 2.2 and can be used in safety-oriented applications. A safety-related position measuring system can be used as a single-encoder system in conjunction with a safe control in applications with control category SIL-2 (according to EN 61 508/EN 61 800-5-2) or performance level “d” (according to EN ISO 13 849). Reliable transmission of the position is based on two independently generated absolute position values and on error bits. These are then provided to the safe control.

Field of application

Safety-related position measuring systems from HEIDENHAIN are designed so that they can be used as single-encoder systems in applications with control category

SIL-2 (according to EN 61 508). This corresponds to performance level “d” of

EN ISO 13 849 or category 3 (according to

EN 954-1). Also, the functions of the safety-related position measuring system can be used for the safety functions in the complete system (also see EN 61 800-5-2) as listed in the table below:

Basic principle

HEIDENHAIN measuring systems for safety-oriented applications are tested for compliance with EN ISO 13 849-1 (successor to

EN 954-1) as well as EN 61 508 and

EN 61 800-5-2. These standards describe the assessment of safety-oriented systems, for example based on the failure probabilities of integrated components and subsystems.

SS1

SS2

SOS

SLA

SAR

This modular approach helps manufacturers of safety-oriented systems to implement their complete systems, because they can begin with subsystems that have already been qualifi ed. Safety-related position measuring systems with purely serial data transmission via EnDat 2.2 accommodate this technique. In a safe drive, the safety-related position measuring system is such a subsystem. A safety-related po-

sition measuring system consists of:

• Encoder with EnDat 2.2 transmission component

• Data transfer line with EnDat 2.2 communication and HEIDENHAIN cable

• EnDat 2.2 receiver component with monitoring function (EnDat master)

SLS

SSR

SLP

SLI

SDI

SSM

Safe Stop 1

Safe Stop 2

Safe Operating Stop

Safely Limited Acceleration

Safe Acceleration Range

Safely Limited Speed

Safe Speed Range

Safely Limited Position

Safely Limited Increment

Safe Direction

Safe Speed Monitor

Safety functions according to EN 61 800-5-2

Safety-related position measuring system

In practice, the complete “safe servo

drive” system consists of:

• Safety-related position measuring system

• Safety-oriented control (including EnDat master with monitoring functions)

• Power stage with motor power cable and drive

• Physical connection between encoder and drive (e.g. shaft connection/coupling)

EnDat master

Drive motor

Safe control

Encoder

Power stage

Power cable

Complete safe drive system

20

Function

The safety strategy of the position measuring system is based on two mutually independent position values and additional error bits produced in the encoder and transmitted over the EnDat 2.2 protocol to the EnDat master. The EnDat master assumes various monitoring functions with which errors in the encoder and during transmission can be revealed. The two position values are then compared. The EnDat master then makes the data available to the safe control. The control periodically tests the safety-related position measuring system to monitor its correct operation.

Documentation on the integration of the position measuring system

The intended use of position measuring systems places demands on the control, the machine designer, the installation technician, service, etc. The necessary information is provided in the documentation for the position measuring systems.

In order to be able to implement a position measuring system in a safety-oriented application, a suitable control is required. The control assumes the fundamental task of communicating with the encoder and safely evaluating the encoder data.

The architecture of the EnDat 2.2 protocol makes it possible to process all safety-relevant information and control mechanisms during unconstrained controller operation.

This is possible because the safety-relevant information is saved in the additional information. According to EN 61 508, the architecture of the position measuring system is regarded as a single-channel tested system.

The requirements for integrating the EnDat master with monitoring functions in the safe control are described in the document

“Specifi cation of the E/E/PES safety requirements for the EnDat master and measures for safe control” (docu-

ment 533095). It contains, for example, specifi cations on the evaluation and processing of position values and error bits, and on electrical connection and cyclic tests of position measuring systems.

Machine and plant manufacturers need not attend to these details. These functions must be provided by the control. Product information sheets, catalogs and mounting instructions provide information to aid the selection of a suitable encoder. The prod-

uct information sheets and catalogs contain general data on function and application of the encoders as well as specifi cations and permissible ambient conditions. The

mounting instructions provide detailed information on installing the encoders.

The architecture of the safety system and the diagnostic possibilities of the control may call for further requirements. For ex-

ample, the operating instructions of the control must explicitly state whether fault exclusion is required for the loosening of the mechanical connection

between the encoder and the drive. The machine designer is obliged to inform the installation technician and service technicians, for example, of the resulting requirements.

Measured-value acquisition

Position 1

Data transmission line

(protocol and cable)

Reception of measured values

Safe control

Interface 1

EnDat

master

Interface 2

Position 2

Two independent position values

Internal monitoring

Protocol formation

Serial data transfer

Safety-related position measuring system

Catalog of measures

Position values and error bits via two processor interfaces

Monitoring functions

Effi ciency test

For more information on the topic of

Functional Safety, refer to the Technical

Information documents Safety-Related

Position Measuring Systems and Safety-

Related Control Technology as well as the

Product Information document of the

Functional Safety encoders.

21

General Mechanical Information

UL certifi cation

All rotary encoders and cables in this brochure comply with the UL safety regulations for the USA and the “CSA” safety regulations for Canada.

Acceleration

Encoders are subject to various types of acceleration during operation and mounting.

• Vibration

The encoders are qualifi ed on a test stand to operate with the specifi ed acceleration values from 55 to 2 000 Hz in accordance with EN 60 068-2-6. However, if the application or poor mounting cause long-lasting resonant vibration, it can limit performance or even damage the encoder. Comprehensive tests of

the entire system are required.

• Shock

The encoders are qualifi ed on a test stand to operate with the specifi ed acceleration values and duration in accordance with EN 60 068-2-27. This does not include permanent shock loads, which

must be tested in the application.

• The maximum angular acceleration is

10

5

rad/s

2

(DIN 32878). This is the highest permissible acceleration at which the rotor will rotate without damage to the encoder. The actually attainable angular acceleration lies in the same order of magnitude (for deviating values for ECN/

ERN 100 see Specifi cations), but it depends on the type of shaft connection.

A suffi cient safety factor is to be determined through system tests.

Humidity

The max. permissible relative humidity is

75 %. 93 % is permissible temporarily. Condensation is not permissible.

Natural frequencies

The rotor and the couplings of ROC/ROQ/

ROD and RIC/RIQ rotary encoders, as also the stator and stator coupling of ECN/EQN/

ERN rotary encoders, form a single vibrating spring-mass system.

The natural frequency f

N

should be as high as possible. A prerequisite for the highest possible natural frequency on

ROC/ROQ/ROD rotary encoders is the use of a diaphragm coupling with a high torsional rigidity C (see Shaft Couplings).

f

N

=

1

2 · þ

·

¹

C

I f

N

: Natural frequency in Hz

C: Torsional rigidity of the coupling in Nm/ rad

I: Moment of inertia of the rotor in kgm

2

ECN/EQN/ERN rotary encoders with their stator couplings form a vibrating springmass system whose natural frequency f

N

should be as high as possible. If radial and/ or axial acceleration forces are added, the stiffness of the encoder bearings and the encoder stators are also signifi cant. If such loads occur in your application, HEIDENHAIN recommends consulting with the main facility in Traunreut.

Protection against contact (EN 60 529)

After encoder installation, all rotating parts must be protected against accidental contact during operation.

Protection (EN 60 529)

Unless otherwise indicated, all rotary encoders meet protection standard IP 64

(ExN/ROx 400: IP 67) according to

EN 60 529. This includes housings, cable outlets and fl ange sockets when the connector is fastened.

Expendable parts

Encoders from HEIDENHAIN are designed for a long service life. Preventive maintenance is not required. They contain components that are subject to wear, depending on the application and manipulation. These include in particular cables with frequent fl exing.

Other such components are the bearings of encoders with integral bearing, shaft sealing rings on rotary and angle encoders, and sealing lips on sealed linear encoders.

System tests

Encoders from HEIDENHAIN are usually integrated as components in larger systems. Such applications require compre-

hensive tests of the entire system regardless of the specifi cations of the encoder.

The specifi cations given in this brochure apply to the specifi c encoder, not to the complete system. Any operation of the encoder outside of the specifi ed range or for any other than the intended applications is at the user’s own risk.

Mounting

Work steps to be performed and dimensions to be maintained during mounting are specifi ed 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.

Magnetic fi elds

Magnetic fi elds > 30 mT can impair the proper function of encoders. If required, please contact HEIDENHAIN, Traunreut.

RoHS

HEIDENHAIN has tested the products for harmlessness of the materials as per European Directives 2002/95/EC (RoHS) and

2002/96/EC (WEEE). For a Manufacturer

Declaration on RoHS, please refer to your sales agency.

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 the standard protection of the shaft inlet is not suffi cient

(such as when the encoders are mounted vertically), additional labyrinth seals should be provided.

Many encoders are also available with protection to class IP 66 for the shaft inlet. The sealing rings used to seal the shaft are subject to wear due to friction, the amount of which depends on the specifi c application.

Changes to the encoder

The correct operation and accuracy of encoders from HEIDENHAIN is ensured only if they have not been modifi ed. Any changes, even minor ones, can impair the operation and reliability of the encoders, and result in a loss of warranty. This also includes the use of additional retaining compounds, lubricants (e.g. for screws) or adhesives not explicitly prescribed. In case of doubt, we recommend contacting

HEIDENHAIN in Traunreut.

22

Temperature ranges

For the unit in its packaging, the storage

temperature range is –30 to 80 °C

(HR 1120: –30 to 70 °C). The operating

temperature range indicates the temperatures that the encoder may reach during operation in the actual installation environment. The function of the encoder is guaranteed within this range (DIN 32 878). The operating temperature is measured on the face of the encoder fl ange (see dimension drawing) and must not be confused with the ambient temperature.

Self-heating at supply voltage

ERN/ROD

ECN/EQN/ROC/

ROQ/RIC/RIQ

Heat generation at speed n max

15 V

Approx. + 5 K

Approx. + 5 K

30 V

Approx. + 10 K

Approx. + 10 K

The temperature of the encoder is infl uenced by:

• Mounting conditions

• The ambient temperature

• Self-heating of the encoder

Solid shaft

Blind hollow shaft

ROC/ROQ/ROD/

RIC/RIQ

ECN/EQN/ERN 400

Approx. + 5 K with IP 64 protection




ECN/EQN/ERN 1000

Approx. + 10 K

The self-heating of an encoder depends both on its design characteristics (stator coupling/solid shaft, shaft sealing ring, etc.) and on the operating parameters (rotational speed, power supply). Temporarily increased self-heating can also occur after very long breaks in operation (of several months). Please take a two-minute run-in period at low speeds into account. Higher heat generation in the encoder means that a lower ambient temperature is required to keep the encoder within its permissible operating temperature range.

Hollow through shaft ECN/ERN 100

ECN/EQN/ERN 400



An encoder's typical self-heating values depend on its design characteristics at maximum permissible speed. The correlation between rotational speed and heat generation is nearly linear.

These tables show the approximate values of self-heating to be expected in the encoders. In the worst case, a combination of operating parameters can exacerbate selfheating, for example a 30 V power supply and maximum rotational speed. Therefore, the actual operating temperature should be measured directly at the encoder if the encoder is operated near the limits of permissible parameters. Then suitable measures should be taken (fan, heat sinks, etc.) to reduce the ambient temperature far enough so that the maximum permissible operating temperature will not be exceeded during continuous operation.

Measuring the actual operating temperature at the defi ned measuring point of the rotary encoder

(see Specifi cations)

For high speeds at maximum permissible ambient temperature, special versions are available on request with reduced degree of protection (without shaft seal and its concomitant frictional heat).

23

ECN/ERN 100 Series

• Rotary encoders with mounted stator coupling

• Hollow through shaft up to ¬ 50 mm

Connector coding

R = radial

Cable radial, also usable axially

A = Bearing k = Required mating dimensions m = Measuring point for operating temperature

À = ERN: reference-mark position ± 15°; ECN: zero position ± 15°

Á = Compensation of mounting tolerances and thermal expansion, no dynamic motion

Â = Direction of shaft rotation for output signals as per the interface description

24

D L1

¬ 20h7 41

¬ 25h7 41

¬ 38h7 56

¬ 50h7 56

L2 L3

43.5

40

43.5

40

58.5

55

58.5

55

L4

32

32

47

47

L5

26.5

26.5

41.5

41.5

Absolute

Singleturn

Positions per revolution

Code

Elec. permissible speed

Deviations

1)

Calculation time t cal

Incremental signals

Line counts*

Reference mark

Cutoff frequency –3 dB

Scanning frequency

Edge separation a

System accuracy

Power supply

Current consumption

without load

Electrical connection*

ECN 125

Absolute position values* EnDat 2.2

Ordering designation EnDat 22

ECN 113

EnDat 2.2

EnDat 01

–

–

–

–

–

33 554 432 (25 bits) 8 192 (13 bits)

Pure binary n max

for continuous position value

† 600 min

–1

/n max

± 1 LSB/± 50 LSB

† 5 µs

Without

† 0.25 µs

» 1 V

PP

2)

2 048

–

Typically‡ 200 kHz

–

–

± 20“

3.6 to 5.25 V DC

† 200 mA

5 V DC ± 5 %

† 180 mA

Incremental

ERN 120

–

–

–

–

–

« TTL

ERN 130 ERN 180

1 000 1 024 2 048 2 500 3 600 5 000

One

–

† 300 kHz

‡ 0.39 µs

1/20 of grating period

5 V DC ± 10 %

† 120 mA

« HTL

• Flange socket

M12, radial

• Cable 1 m/5m, with M12 coupling

•

•

Flange socket

M23, radial

Cable 1 m

/5 m, with or without coupling M23

10 to 30 V DC

† 150 mA

» 1 V

PP

2)

Typ. ‡ 180 kHz

–

–

5 V DC ± 10 %

† 120 mA

Shaft*

Mech. perm. speed n

3)

Hollow through shaft D = 20 mm, 25 mm, 38 mm, 50 mm

D > 30 mm: † 4 000 min

–1

D

†

30 mm: † 6 000 min

–1

Starting torque

at 20 °C

D > 30 mm: † 0.2 Nm

D

†

30 mm: † 0.15 Nm

Moment of inertia of rotor/

angle acceleration

4)

D = 50 mm

220 · 10

–6

kgm

2

/† 5 · 10

4

rad/s

2

D = 38 mm

350 · 10

–6

kgm

2

/† 2 · 10

4

rad/s

2

D = 25 mm

96 · 10

–6

kgm

2

/† 3 · 10

4

rad/s

2

D = 20 mm

100 · 10

–6

kgm

2

/† 3 · 10

4

rad/s

2

Permissible axial motion of measured shaft

± 1.5 mm

Vibration 55 Hz to 2 000 Hz

Shock 6 ms

† 200 m/s

2

; † 100 m/s

2

with fl ange-socket version (EN 60 068-2-6)

† 1 000 m/s

2

(EN 60 068-2-27)

Max. operating temp.

3)

100 °C 85 °C (100 °C at

U

P

< 15 V)

100 °C

Min. operating temp.

Protection

3)

EN 60 529

Flange socket or fi xed cable: –40 °C; Moving cable: –10 °C

IP 64

Weight

0.6 kg to 0.9 kg depending on the hollow shaft version

Bold: These preferred versions are available on short notice

* Please select when ordering

1)

Velocity-dependent deviations between the absolute value and incremental signal

2)

Restricted tolerances: Signal amplitude 0.8 to 1.2 V

PP

3)

For the correlation between the protection class, shaft speed and operating temperature, see General Mechanical Information

4)

At room temperature, calculated; material of mating shaft: 1.4104

25

ECN/EQN/ERN 400 Series

•

•

Rotary encoders with mounted stator coupling

Blind hollow shaft or hollow through shaft

Blind hollow shaft

Hollow through shaft

Connector coding

A = axial, R = radial

Flange socket

26


A = Bearing of mating shaft k = Required mating dimensions m = Measuring point for operating temperature

À = Clamping screw with X8 hexalobular socket

Á = Compensation of mounting tolerances and thermal expansion, no dynamic motion permitted

Â = Direction of shaft rotation for output signals as per the interface description

1 = Clamping ring on housing side (condition upon delivery)

2 = Clamping ring on coupling side (optionally mountable)

Incremental

ERN 420


Line counts*

« TTL

250 500

ERN 460 ERN 430

« HTL

1 000 1 024 1 250 2 000 2 048 2 500 3 600 4 096 5 000

One Reference mark


Scanning frequency

Edge separation a

System accuracy

–

† 300 kHz

‡ 0.39 µs

Power supply


without load



5 V DC ± 10 %

120 mA

10 to 30 V DC

100 mA

10 to 30 V DC

150 mA

Shaft*


2)

•

•

Flange socket

M23, radial and axial (with blind hollow shaft)

Cable

1 m, without connecting element

Blind hollow shaft or hollow through shaft; D = 8 mm or D = 12 mm

† 6 000 min

–1

/† 12 000 min

–1 3)

Starting torque

At 20 °C

Below –20 °C

Blind hollow shaft: † 0.01 Nm

Hollow through shaft: † 0.025 Nm

† 1 Nm

Moment of inertia of rotor † 4.3 · 10

–6

kgm

2


± 1 mm


Shock 6 ms/2 ms

† 300 m/s

2

; fl ange socket version: 150 m/s

2

(EN 60 068-2-6)

† 1 000 m/s

2

/† 2 000 m/s

2

(EN 60 068-2-27)


2)

100 °C 70 °C 100 °C

4)


Flange socket or fi xed cable: –40 °C

Moving cable: –10 °C

ERN 480

» 1 V

–

PP

1)

‡ 180 kHz

–

–

5 V DC ± 10 %

120 mA

Protection EN 60 529

Weight

IP 67 at housing (IP 66 with hollow through shaft); IP 64 at shaft inlet

Approx. 0.3 kg



1)


PP

2)

For the correlation between the operating temperature and the shaft speed or supply voltage, see General Mechanical Information

3)

With two shaft clamps (only for hollow through shaft)

4)

80° for ERN 480 with 4 096 or 5 000 lines

27

Absolute

Singleturn

ECN 425




Revolutions

Code


Deviations

1)

33 554 432 (25 bits)

–

Pure binary

† 12 000 min

–1 for continuous position value

ECN 413

EnDat 2.2

EnDat 01

8 192 (13 bits)

ECN 413

SSI

SSI 39r1

Calculation time t


Line counts*


Scanning frequency

Edge separation a

System accuracy

Power supply*

Power consumption

(maximum) cal

† 7 µs

Without

–

–

–

–

± 20“

3.6 to 14 V DC

3.6 V: † 600 mW

14 V: † 700 mW

512 lines:

† 5 000/12 000 min

–1

± 1 LSB/± 100 LSB

2 048 lines:

† 1 500/12 000 min

–1

± 1 LSB/± 50 LSB

512 lines: ± 60“; 2 048 lines: ± 20“

3.6 to 14 V DC

Gray

† 12 000 min

± 12 LSB

† 9 µs

» 1 V

PP

2)

† 5 µs

512

512 lines: ‡ 130 kHz; 2 048 lines: ‡ 400 kHz

–

–

–1

5 V DC ± 5 % or 10 to 30 V DC

5 V: † 800 mW

10 V: † 650 mW

30 V: † 1 000 mW

Current consumption

(typical; without load)


5 V: 85 mA


M12, radial

• Cable 1 m, with M12 coupling

Shaft*


3)

Starting torque

At 20 °C

Below –20 °C



† 1 Nm


–6

kgm

2


± 1 mm


Shock 6 ms/2 ms


3)

† 300 m/s

2


2

(EN 60 068-2-6)

† 1 000 m/s

2

/† 2 000 m/s

2

(EN 60 068-2-27)

100 °C




5 V: 90 mA

24 V: 24 mA


M23, radial

• Cable 1 m, with M23 coupling or without connecting element


† 6 000 min

–1

/† 12 000 min

–1 4)


Weight

IP 67 at housing; IP 64 at shaft inlet

Approx. 0.3 kg



1)

2)



PP

28

DC

Multiturn

EQN 437

EnDat 2.2

EnDat 22

33 554 432 (25 bits)

4 096

Pure binary

† 12 000 min


† 7 µs

–

–

–

Without

–

± 20“

3.6 to 14 V DC

3.6 V: † 700 mW

14 V: † 800 mW

5 V: 105 mA


M12, radial


EQN 425

EnDat 2.2

EnDat 01

8 192 (13 bits)

EQN 425

SSI

SSI 41r1

512 lines:

† 5 000/10 000 min

–1

± 1 LSB/± 100 LSB

2 048 lines:

† 1 500/10 000 min

–1

± 1 LSB/± 50 LSB

† 9 µs

» 1 V

PP

2)

Gray

† 12 000 min

± 12 LSB

† 5 µs

–1

512


–

–

512 lines: ± 60“; 2 048 lines: ± 20“

3.6 to 14 V DC

5 V DC ± 5 % or 10 to 30 V DC

5 V: † 950 mW

10 V: † 750 mW

30 V: † 1 100 mW

5 V: 120 mA

24 V: 28 mA


M23, radial


3)

For the correlation between the operating temperature and the shaft speed or power supply, see General Mechanical Information

4)

With 2 shaft clamps (only for hollow through shaft)

29


• Rotary encoders with mounted universal stator coupling

• Blind hollow shaft or hollow through shaft

Blind hollow shaft

Hollow through shaft

Connector coding


Flange socket

30


A = Bearing of mating shaft k = Required mating dimensions m = Measuring point for operating temperature

À = Clamping screw with X8 hexalobular socket

Á = Hole circle for fastening, see coupling

Â = Compensation of mounting tolerances and thermal expansion, no dynamic motion permitted

Ã = Direction of shaft rotation for output signals as per the interface description

1 = Clamping ring on housing side (condition upon delivery)

2 = Clamping ring on coupling side (optionally mountable)

Incremental

ERN 420


Line counts*

« TTL

250 500

ERN 460 ERN 430

« HTL

ERN 480

» 1 V

PP

1)

–

Reference mark


Scanning frequency

Edge separation a

System accuracy

Power supply


without load


1 000 1 024 1 250 2 000 2 048 2 500 3 600 4 096 5 000

One

–

† 300 kHz

‡ 0.39 µs


5 V DC ± 10 %

120 mA

10 to 30 V DC

100 mA

10 to 30 V DC

150 mA

‡ 180 kHz

–

–

5 V DC ± 10 %

120 mA

Shaft*


2)

•

•

Flange socket

M23, radial and axial (with blind hollow shaft)

Cable

1 m, without connecting element


† 6 000 min

–1

/† 12 000 min

–1 3)

Starting torque

At 20 °C

Below –20 °C



† 1 Nm


–6

kgm

2


± 1 mm


Shock 6 ms/2 ms

† 300 m/s

2


2

(EN 60 068-2-6)

† 1 000 m/s

2

/† 2 000 m/s

2

(EN 60 068-2-27)


2)

100 °C 70 °C 100 °C

4)





At housing: IP 67 (IP 66 for hollow through shaft)

At shaft inlet: IP 64 (IP 66 upon request)

Approx. 0.3 kg

Weight



1)


PP

2)


3)

With two shaft clamps (only for hollow through shaft)

4)

80° for ERN 480 with 4 096 or 5 000 lines

31

Absolute

Singleturn


Revolutions

Code


Deviations

1)



Line counts*


Scanning frequency

Edge separation a

System accuracy

Power supply*

ECN 425



† 7 µs

–

–

–

Without

–

± 20“

3.6 to 14 V DC

ECN 413

EnDat 2.2

EnDat 01

8 192 (13 bits)

ECN 413

SSI

SSI 39r1

Power consumption

(maximum)

33 554 432 (25 bits)

–

Pure binary

† 12 000 min


3.6 V: † 600 mW

14 V: † 700 mW

512 lines:

† 5 000/12 000 min

–1

± 1 LSB/± 100 LSB

2 048 lines:

† 1 500/12 000 min

–1

± 1 LSB/± 50 LSB

512 lines: ± 60“; 2 048 lines: ± 20“

3.6 to 14 V DC

Gray

† 12 000 min

± 12 LSB

† 9 µs

» 1 V

PP

2)

† 5 µs

512


–

–

–1

5 V DC ± 5 % or

10 to 30 V DC

5 V: † 800 mW

10 V: † 650 mW

30 V: † 1 000 mW

Current consumption



5 V: 85 mA


M12, radial


Shaft*


3)

Starting torque

At 20 °C

Below –20 °C



† 1 Nm


–6

kgm

2


± 1 mm


Shock 6 ms/2 ms


3)

† 300 m/s

2


2

(EN 60 068-2-6)

† 1 000 m/s

2

/† 2 000 m/s

2

(EN 60 068-2-27)

100 °C




5 V: 90 mA

24 V: 24 mA


M23, radial



† 6 000 min

–1

/† 12 000 min

–1 4)


Weight

IP 67 at housing, IP 64 at shaft end (IP 66 available on request)

Approx. 0.3 kg



1)


32

Multiturn

EQN 437

EnDat 2.2

EnDat 22

33 554 432 (25 bits)

4 096

Pure binary

† 12 000 min


† 7 µs

–

–

–

Without

–

± 20“

3.6 to 14 V DC

3.6 V: † 700 mW

14 V: † 800 mW

5 V: 105 mA


M12, radial


EQN 425

EnDat 2.2

EnDat 01

8 192 (13 bits)

EQN 425

SSI

SSI 41r1

512 lines:

† 5 000/10 000 min

–1

± 1 LSB/± 100 LSB

2 048 lines:

† 1 500/10 000 min

–1

± 1 LSB/± 50 LSB

† 9 µs

» 1 V

PP

2)

Gray

† 12 000 min

± 12 LSB

† 5 µs

–1

512


–

–

512 lines: ± 60“; 2 048 lines: ± 20“

3.6 to 14 V DC

5 V DC ± 5 % or

10 to 30 V DC

5 V: † 950 mW

10 V: † 750 mW

30 V: † 1 100 mW

5 V: 120 mA

24 V: 28 mA


M23, radial


2)


PP

3)


4)

With 2 shaft clamps (only for hollow through shaft)

33


•

•

•

Rotary encoders with mounted stator coupling

Compact dimensions

Blind hollow shaft ¬ 6 mm

A = Bearing of mating shaft k = Required mating dimensions m = Measuring point for operating temperature r = Reference mark position ± 20°

À = 2 screws in clamping ring. Tightening torque 0.6±0.1 Nm, width across fl ats 1.5

Á = Compensation of mounting tolerances and thermal expansion, no dynamic motion

Ã = Direction of shaft rotation for output signals as per the interface description

34

Incremental


Line counts*

ERN 1020

« TTL

ERN 1030

« HTLs

ERN 1080

» 1 V

PP

1)

100 200 250 360 400 500 720 900

1 000 1 024 1 250 1 500 2 000 2 048 2 500 3 600

Reference mark

Integrated interpolation*


Scanning frequency

Edge separation a

One

–

–

† 300 kHz

‡ 0.39 µs

–

† 160 kHz

‡ 0.76 µs

System accuracy

Power supply

Current consumption without load


5 V DC ± 10 %

† 120 mA

10 to 30 V DC

† 150 mA

‡ 180 kHz

–

–

5 V DC ± 10 %

† 120 mA

ERN 1070

« TTL

1 000 2 500 3 600

5-fold

–

† 100 kHz

‡ 0.47 µs

5 V DC ± 5 %

† 155 mA

10-fold

–

† 100 kHz

‡ 0.22 µs


Cable 1 m/5 m, with or without coupling M23

Shaft

Blind hollow shaft D = 6 mm

Mech. permissible speed n

† 12 000 min

–1

Starting torque

† 0.001 Nm (at 20 °C)


–6

kgm

2

Cable 5 m without M23 coupling


± 0.5 mm


Shock 6 ms

† 100 m/s

† 1 000 m/s

2

2

(EN 60 068-2-6)

(EN 60 068-2-27)


2)

100 °C 70 °C




Weight

IP 64

Approx. 0.1 kg

100 °C 70 °C



1)

Restricted tolerances: Signal amplitude: 0.8 to 1.2 V

PP

2)

For the correlation between the operating temperature and the shaft speed or supply voltage, see General Mechanical Information

35

Absolute

Singleturn

Absolute position values

Ordering designation


Revolutions

Code


Deviations



Line count

1)


System accuracy

Power supply

ECN 1023

EnDat 2.2

EnDat 22

8 388 608 (23 bits)

–

Pure binary

12 000 min

–1

(for continuous position value)

† 7 µs

–

–

–

± 60“

3.6 V to 14 V DC

Power consumption

(maximum)

3.6 V: † 600 mW

14 V: † 700 mW

Current consumption


Electrical connection

5 V: 85 mA

Cable 1 m, with M12 coupling

Shaft

Blind hollow shaft ¬ 6 mm


12 000 min

–1

Starting torque

† 0.001 Nm (at 20 °C)

Moment of inertia of rotor Approx. 0.5 · 10

–6

kgm

2


± 0.5 mm


Shock 6 ms

† 100 m/s

† 1 000 m/s

2

2

(EN 60 068-2-6)

(EN 60 068-2-27)


100 °C


Protection EN 60 529 IP 64

Weight

Approx. 0.1 kg

1)

Velocity-dependent deviations between the absolute and incremental signals

2)


PP

ECN 1013

EnDat 01

8 192 (13 bits)

4 000 min

–1

/12 000 min

–1

± 1 LSB/± 16 LSB

† 9 µs

» 1 V

PP

2)

512

‡ 190 kHz


36

Multiturn

EQN 1035

EnDat 22

8 388 608 (23 bits)

4 096 (12 bits)

–

–

12 000 min

–1


† 7 µs

–

3.6 V: † 700 mW

14 V: † 800 mW

5 V: 105 mA


† 0.002 Nm (at 20 °C)

EQN 1025

EnDat 01

8 192 (13 bits)

4 000 min

–1

/12 000 min

–1

± 1 LSB/± 16 LSB

† 9 µs

» 1 V

PP

2)

512

‡ 190 kHz


37

ROC/ROQ/ROD 400 and RIC/RIQ 400 Series

With Synchro Flange

• Rotary encoders for separate shaft coupling

ROC/ROQ/ROD 4xx

RIC/RIQ 4xx

Connector coding


ROC 413/ROQ 425 with PROFIBUS DP/PROFINET IO

38


A = Bearing b = Threaded mounting hole m = Measuring point for operating temperature

À = ROD reference mark position on shaft and fl ange ±30°

Á = Direction of shaft rotation for output signals as per the interface description


Line counts*

Reference mark


Scanning frequency

Edge separation a

System accuracy

Incremental

ROD 426

« TTL

ROD 466 ROD 436

« HTL

1 000 1 024 1 250 1 500 1 800 2 000 2 048 2 500 3 600 4 096 5 000

6 000

2)

8 192

2)

9 000

2)

10 000

2)

–

ROD 486

» 1 V

PP

1)

–

One

–

† 300 kHz/† 150 kHz

2)

‡ 0.39 µs/‡ 0.25 µs

2)

1/20 of grating period (see page 11)

Power supply


without load


5 V DC ± 10 %

120 mA

10 to 30 V DC

100 mA

•

•

Flange socket

M23, radial and axial

Cable 1 m/

5 m, with or without coupling M23

Shaft

Solid shaft D = 6 mm


† 16 000 min

–1

10 to 30 V DC

150 mA

Starting torque

† 0.01 Nm (at 20 °C)


–6

kgm

2

Shaft load

3)

Axial 10 N/radial 20 N at shaft end


Shock 6 ms/2 ms

† 300 m/s

2

† 1 000 m/s

2

(EN 60 068-2-6)

/† 2 000 m/s

2

(EN 60 068-2-27)


4)

100 °C 70 °C



100 °C

5)




‡ 180 kHz

–

–

5 V DC ± 10 %

120 mA

Weight

Approx. 0.3 kg



1)


PP

2)

Signal periods; generated through integrated 2-fold interpolation (TTL x 2)

3)

See also Mechanical Design and Installation

4)


5)

80° for ROD 486 with 4 096 or 5 000 lines

39

Absolute

Singleturn

ROC 425



Positions per rev

Revolutions

Code


Deviations

1)

ROC 413

EnDat 2.2

EnDat 01

33 554 432 (25 bits) 8 192 (13 bits)

–



Line counts*


System accuracy

Power supply*

SSI

SSI 39r1

PROFIBUS DP

PROFINET IO

8 192 (13 bits)

3)

RIC 418

EnDat 2.1

EnDat 01

262 144 (18 bits)

–

–

Pure binary

† 12 000 min


Gray

512 lines:

† 5 000/12 000 min

–1

± 1 LSB/± 100 LSB

2 048 lines:

† 1 500/12 000 min

–1

± 1 LSB/± 50 LSB

12 000 min

–1

± 12 LSB

† 7 µs

Without

† 9 µs

» 1 V

PP

2)

† 5 µs

Pure binary

512

–

512 lines: ‡ 130 kHz; 2 048 lines: ‡ 400 kHz –

† 5 000/12 000 min

–1

± 1 LSB/± 100 LSB

–

Without

† 4 000/15 000 min

–1

± 400 LSB/± 800 LSB

† 8 µs

» 1 V

PP

16

‡ 6 kHz

± 480“ ± 20“

3.6 to 14 V DC

512 lines: ± 60“; 2 048 lines: ± 20“

3.6 to 14 V DC

5 V DC ± 5 % or

10 to 30 V DC

± 60“

9 to 36 V DC

10 to 30 V DC

5 V ± 5 % DC

Power consumption

(maximum)

Current consumption



3.6 V: † 600 mW

14 V: † 700 mW

5 V: † 800 mW

10 V: † 650 mW

30 V: † 1 000 mW

9 V: † 3.38 W

36 V: † 3.84 W

24 V: 125 mA 5 V: 85 mA 5 V: 90 mA

24 V: 24 mA


M12, radial

• Cable 1 m, with

M12 coupling


M23, axial or radial

• Cable 1 m/5 m, with or without

M23 coupling

Three fl ange sock-

ets, M12 radial

5 V: † 950 mW

5 V: 125 mA


M23, radial

• Cable 1 m, with

M23 coupling

Shaft



† 12 000 min

–1

Starting torque

† 0.01 Nm (at 20 °C)


–6

kgm

2

Shaft load


Shock 6 ms/2 ms

Axial 10 N / radial 20 N on shaft end (see also Mechanical Design Types and Mounting)

† 300 m/s

2

; PROFIBUS-DP: † 100 m/s

2

(EN 60 068-2-6)

† 1 000 m/s

2

/† 2 000 m/s

2

(EN 60 068-2-27)


4)

100 °C 70 °C 100 °C




–40 °C

Flange socket or fi xed

cable: –40 °C



Weight


Approx 0.35 kg



1)


40

Multiturn

ROQ 437

EnDat 2.2

EnDat 22

33 554 432 (25 bits)

4 096

Pure binary

† 12 000 min


† 7 µs

Without

–

–

± 20“

3.6 to 14 V DC

3.6 V: † 700 mW

14 V: † 800 mW

5 V: 105 mA


M12, radial

• Cable 1 m, with

M12 coupling

ROQ 425

EnDat 2.2

EnDat 01

8 192 (13 bits)

SSI

SSI 41r1

8 192 (13 bits)

PROFIBUS DP

PROFINET IO

512 lines:

† 5 000/10 000 min

–1

± 1 LSB/± 100 LSB

2 048 lines:

† 1 500/10 000 min

–1

± 1 LSB/± 50 LSB

Gray

10 000 min

± 12 LSB

–1

† 9 µs

» 1 V

PP

2)

† 5 µs

512


8 192 (13 bits)

3)

4 096

3)

Pure binary

† 5 000/10 000 min

–1

± 1 LSB/± 100 LSB

–

–

–

Without

512 lines: ± 60“; 2 048 lines: ± 20“

3.6 to 14 V DC

5 V DC ± 5 % or

10 to 30 V DC

5 V: † 950 mW

10 V: † 750 mW

30 V: † 1 100 mW

5 V: 120 mA

24 V: 28 mA

9 to 36 V DC

10 to 30 V DC

9 V: † 3.38 W

36 V: † 3.84 W

24 V: 125 mA



• Cable 1 m/5 m, with or without M23 coupling

Three fl ange sockets,

M12, radial

RIQ 430

EnDat 2.1

EnDat 01

262 144 (18 bits)

4 096

† 4 000/15 000 min

–1

± 400 LSB/± 800 LSB

† 8 µs

» 1 V

PP

16

‡ 6 kHz

± 480“

5 V ± 5 % DC

5 V: † 1 100 mW

5 V: 150 mA


M23, radial

• Cable 1 m, with

M23 coupling

100 °C



70 °C

–40 °C

100 °C


cable: –40 °C


2)


PP

3)

These functions are programmable

4)

For the correlation between the operating temperature and shaft speed or power supply, see General Mechanical Information

41

ROC/ROQ/ROD 400 and RIC/RIQ 400 Series

With Clamping Flange

• Rotary encoders for separate shaft coupling

ROC/ROQ/ROD 4xx

RIC/RIQ 4xx

Connector coding


ROC 413/ROQ 425 with PROFIBUS DP/PROFINET IO


A = Bearing b = Threaded mounting hole M3x5 on ROD; M4x5 on ROC/ROQ/RIC/RIQ m = Measuring point for operating temperature

À = ROD: Reference mark position on shaft and fl ange ± 15°

Á = Direction of shaft rotation for output signals as per the interface description

42

Incremental

ROD 420


Line counts*

Reference mark


Scanning frequency

Edge separation a

System accuracy

« TTL

ROD 430

« HTL

ROD 480

» 1 V

PP

1)

–

1 000 1 024 1 250 1 500 1 800 2 000 2 048 2 500 3 600 4 096 5 000

One

–

† 300 kHz

‡ 0.39 µs

‡ 180 kHz

–

–

Power supply


without load



5 V DC ± 10 %

120 mA

10 to 30 V DC

150 mA

5 V DC ± 10 %

120 mA

Shaft


•

•

Flange socket

M23, radial and axial

Cable 1 m/

5 m, with or without coupling M23


† 12 000 min

–1

Starting torque

† 0.01 Nm (at 20 °C)


–6

kgm

2

Shaft load

2)

Axial 10 N/radial 20 N at shaft end


Shock 6 ms/2 ms

† 300 m/s

2

† 1 000 m/s

2

(EN 60 068-2-6)

/† 2 000 m/s

2

(EN 60 068-2-27)


3)

100 °C

4)





Weight


Approx. 0.3 kg



1)


PP

2)

See also Mechanical Design and Installation

3)


4)

80 °C for ROD 480 with 4 096 or 5 000 lines

43

Absolute

Singleturn


Revolutions

Code


Deviations

1)

ROC 425



ROC 413

EnDat 2.2

EnDat 01

SSI

SSI 39r1

33 554 432 (25 bits) 8 192 (13 bits)

–

Pure binary

† 12 000 min


Gray

512 lines:

† 5 000/12 000 min

–1

± 1 LSB/± 100 LSB

2 048 lines:

† 1 500/12 000 min

–1

± 1 LSB/± 50 LSB

12 000 min

–1

± 12 LSB

PROFIBUS DP

PROFINET IO

8 192 (13 bits)

Pure binary

3)

† 5 000/12 000 min

–1

± 1 LSB/± 100 LSB

RIC 418

EnDat 2.1

EnDat 01

262 144 (18 bits)

† 4 000/15 000 min

–1

± 400 LSB/± 800 LSB



Line counts*


System accuracy

Power supply*

Power consumption

(maximum)

Current consumption



† 7 µs

Without

–

–

† 9 µs

» 1 V

PP

2)

† 5 µs

512

–

512 lines: ‡ 130 kHz; 2 048 lines: ‡ 400 kHz –

–

Without

† 8 µs

» 1 V

PP

16

‡ 6 kHz

± 480“ ± 20“

3.6 to 14 V DC

± 60“

3.6 to 14 V DC

3.6 V: † 600 mW

14 V: † 700 mW

5 V DC ± 5 % or

10 to 30 V DC

9 to 36 V DC

10 to 30 V DC

5 V: † 800 mW

10 V: † 650 mW

30 V: † 1 000 mW

9 V: † 3.38 W

36 V: † 3.84 W

24 V: 125 mA 5 V: 85 mA 5 V: 90 mA

24 V: 24 mA


M12, radial

• Cable 1 m, with

M12 coupling



• Cable 1 m/5 m, with or without

M23 coupling

Three fl ange

sockets, M12 radial

5 V DC ± 5 %

5 V: † 900 mW

5 V: 125 mA


M23, radial

• Cable 1 m, with

M23 coupling

Shaft



† 12 000 min

–1

Starting torque

† 0.01 Nm (at 20 °C)


–6

kgm

2

Shaft load


Shock 6 ms/2 ms

Axial 10 N / radial 20 N on shaft end (see also Mechanical Design Types and Mounting)

† 300 m/s

2

; PROFIBUS-DP: † 100 m/s

2

(EN 60 068-2-6)

† 1 000 m/s

2

/† 2 000 m/s

2

(EN 60 068-2-27)


4)

100 °C 70 °C 100 °C




–40 °C


cable: –40 °C



Weight

IP 67 at housing, IP 64 at shaft inlet

4)

(IP 66 available on request)

Approx 0.35 kg



1)


44

Multiturn

ROQ 437

EnDat 2.2

EnDat 22

33 554 432 (25 bits)

4 096

Pure binary

† 12 000 min


† 7 µs

Without

–

–

± 20“

3.6 to 14 V DC

3.6 V: † 700 mW

14 V: † 800 mW

5 V: 105 mA


M12, radial

• Cable 1 m, with

M12 coupling

ROQ 425

EnDat 2.2

EnDat 01

8 192 (13 bits)

SSI

SSI 41r1

8 192 (13 bits)

PROFIBUS DP

PROFINET IO

512 lines:

† 5 000/10 000 min

–1

± 1 LSB/± 100 LSB

2 048 lines:

† 1 500/10 000 min

–1

± 1 LSB/± 50 LSB

Gray

10 000 min

± 12 LSB

–1

† 9 µs

» 1 V

PP

2)

† 5 µs

512


8 192 (13 bits)

3)

4 096

3)

Pure binary

† 5 000/10 000 min

–1

± 1 LSB/± 100 LSB

–

–

–

Without

± 60“

3.6 to 14 V DC

5 V DC ± 5 % or

10 to 30 V DC

5 V: † 950 mW

10 V: † 750 mW

30 V: † 1 100 mW

5 V: 120 mA

24 V: 28 mA

9 to 36 V DC

10 to 30 V DC

9 V: † 3.38 W

36 V: † 3.84 W

24 V: 125 mA



• Cable 1 m/5 m, with or without M23 coupling

Three fl ange sockets,

M12, radial

RIQ 430

EnDat 2.1

EnDat 01

262 144 (18 bits)

4 096

† 4 000/15 000 min

–1

± 400 LSB/± 800 LSB

† 8 µs

» 1 V

PP

16

‡ 6 kHz

± 480“

5 V DC ± 5 %

5 V: † 1 100 mW

5 V: 150 mA


M23, radial

• Cable 1 m, with

M23 coupling

100 °C



70 °C

–40 °C

100 °C

Flange socket or

fi xed cable: –40 °C


2)


PP

3)

These functions are programmable

4)

For the correlation between the operating temperature and shaft speed or power supply, see General Mechanical Information

45

ROC, ROQ, ROD 1000 Series

•

•

•

Rotary encoders for separate shaft coupling

Compact dimensions

Synchro fl ange

46


A = Bearing b = Threaded mounting hole m = Measuring point for operating temperature r = Reference mark position ± 20°

À = Direction of shaft rotation for output signals as per the interface description

Incremental


Line counts*

ROD 1020

« TTL

ROD 1030

« HTLs

ROD 1080

» 1 V

PP

1)

100 200 250 360 400 500 720 900

1 000 1 024 1 250 1 500 2 000 2 048 2 500 3 600

One Reference mark

Integrated interpolation*


Scanning frequency

Edge separation a

System accuracy

–

–

† 300 kHz

‡ 0.39 µs

–

† 160 kHz

‡ 0.76 µs


5 V DC ± 10 %

† 120 mA

10 to 30 V DC

† 150 mA

‡ 180 kHz

–

–

Power supply


without load


Shaft


5 V DC ± 10 %

† 120 mA

Cable 1 m/5 m, with or without coupling M23


† 12 000 min

–1

Starting torque

† 0.001 Nm (at 20 °C)


–6

kgm

2

Shaft load


2)

Axial: 5 N

Radial: 10 N at shaft end


Shock 6 ms

† 100 m/s

† 1 000 m/s

2

2

(EN 60 068-2-6)

(EN 60 068-2-27)

100 °C 70 °C


For fi xed cable: –30 °C

100 °C

ROD 1070

« TTL

1 000 2 500 3 600

5-fold

–

† 100 kHz

‡ 0.47 µs

5 V DC ± 5 %

† 155 mA

Cable 5 m without M23 coupling

70 °C

10-fold

–

† 100 kHz

‡ 0.22 µs


Weight

IP 64

Approx. 0.09 kg



1)


PP

2)

For the correlation between the operating temperature and the shaft speed or supply voltage, see General Mechanical Information

47

Absolute

Singleturn

Absolute position values

Ordering designation


Revolutions

Code


Deviations



Line count

1)


System accuracy

Power supply

ROC 1023

EnDat 2.2

EnDat 22

8 388 608 (23 bits)

–

Pure binary

12 000 min

–1


† 7 µs

–

–

–

± 60“

3.6 V to 14 V DC

Power consumption

(maximum)

Current consumption



3.6 V: † 600 mW

14 V: † 700 mW

5 V: 85 mA

Shaft



Stub shaft ¬ 4 mm

12 000 min

–1

Starting torque

† 0.001 Nm (at 20 °C)

Moment of inertia of rotor Approx. 0.5 · 10

–6

kgm

2

Shaft load


Shock 6 ms

Axial: 5 N

Radial: 10 N at shaft end

† 100 m/s

† 1 000 m/s

2

2

(EN 60 068-2-6)

(EN 60 068-2-27)

100 °C





IP 64

Weight

Approx. 0.09 kg

1)

Velocity-dependent deviations between the absolute and incremental signals

2)


PP

ROC 1013

EnDat 01

8 192 (13 bits)

4 000 min

–1

/12 000 min

–1

± 1 LSB/± 16 LSB

† 9 µs

» 1 V

PP

2)

512

‡ 190 kHz


48

Multiturn

ROQ 1035

EnDat 22

8 388 608 (23 bits)

4 096 (12 bits)

–

–

12 000 min

–1


† 7 µs

–

3.6 V: † 700 mW

14 V: † 800 mW

5 V: 105 mA


† 0.002 Nm (at 20 °C)

ROQ 1025

EnDat 01

8 192 (13 bits)

4 000 min

–1

/12 000 min

–1

± 1 LSB/± 16 LSB

† 9 µs

» 1 V

PP

2)

512

‡ 190 kHz


49

HR 1120

• Electronic handwheel

• With mechanical detent

• For general automation technology

À = Cutout for mounting

Á = Direction for output signals as per the interface description

Á

50


Line count

Scanning frequency

Switching times

Power supply

Current consumption without load


Cable length

Detent

Mech. permissible speed

Torque

Vibration (10 to 200 Hz)



Protection (EN 60 529)

Weight

Incremental

HR 1120

« TTL

100

† 5 kHz t

+

/ t

–

† 100 ns

5 V DC ± 5%

† 160 mA

Via M3 screw terminals

† 30 m (cable not included in delivery)

Mechanical

100 detent positions per revolution

Detent position within the low level of U a1

and U a2

† 200 min

–1

† 0.1 Nm (at 25 °C)

† 20 m/s

2

0 °C

60 °C

IP 00; IP 40 when mounted

No condensation permitted

Approx. 0.18 kg

Mounting information

The HR 1120 is designed for mounting in a panel. CE compliance of the complete system must be ensured by taking the correct measures during installation.

51

Interfaces

Incremental Signals » 1 V

PP

HEIDENHAIN encoders with »1 V

PP

The sinusoidal incremental signals A and

B are phase-shifted by 90° elec. and have an amplitude of typically 1 V

PP

. The illustrated sequence of output signals—with B lagging A—applies for the direction of motion shown in the dimension drawing.

interface provide voltage signals that can be highly interpolated.

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 level

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 specifi cations 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 V

PP

Incremental signals 2 nearly sinusoidal signals A and B

Signal amplitude M:

Asymmetry |P – N|/2M:

0.6 to 1.2 V

† 0.065

PP

; typically 1 V

PP

Amplitude ratio M

A

/M

B

:

Phase angle I ϕ

1 + ϕ

2I/2:

0.8 to 1.25

90° ± 10° elec.

Reference-mark signal

One or several signal peaks R

Usable component G: ‡ 0.2 V

Quiescent value H: † 1.7 V

Switching threshold E, F: 0.04 to 0.68 V

Zero crossovers K, L: 180° ± 90° elec.

Connecting cable

Cable length

Propagation time

Shielded HEIDENHAIN cable

PUR [4(2 x 0.14 mm ) + (4 x 0.5 mm

2

)]

Max. 150 m at 90 pF/m distributed capacitance

6 ns/m

2

These values can be used for dimensioning of the subsequent electronics. Any limited tolerances in the encoders are listed in the specifi cations. For encoders without integral bearing, reduced tolerances are recommended for initial operation (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 V

PP

interface are usually interpolated in the subsequent electronics in order to attain suffi ciently high resolutions. For velocity control, interpolation factors are commonly over

1000 in order to receive usable velocity information even at low speeds.

(rated value)

Alternative signal shape

Measuring steps for position measure-

ment are recommended in the specifi cations. For special applications, other resolutions are also possible.

Short-circuit stability

A temporary short circuit of one signal output to 0 V or U

P

(except encoders with

U

Pmin

= 3.6 V) does not cause encoder failure, but it is not a permissible operating condition.

A, B, R measured with oscilloscope in differential mode

Cutoff frequency

Typical signal amplitude curve with respect to the scanning frequency

Short circuit at

One output

All outputs

20 °C 125 °C

< 3 min < 1 min

< 20 s < 5 s

Scanning frequency [kHz]

f

–3 dB cutoff frequency

–6 dB cutoff frequency

52

Input Circuitry of the Subsequent Electronics

Dimensioning

Operational amplifi er MC 34074

Z

0

= 120 −

R

1

= 10 k− and C

1

= 100 pF

R

2

= 34.8 k− and C

2

= 10 pF

U

B

= ±15 V

U

1

approx. U

0

–3 dB cutoff frequency of circuitry

Approx. 450 kHz

Approx. 50 kHz with C

1

= 1000 pF and C

2

= 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

U a

= 3.48 V

PP

typically

Gain 3.48

Monitoring of the incremental signals

The following thresholds are recommended for monitoring of the signal level M:

Lower threshold:

Upper threshold:

0.30 V

PP

1.35 V

PP



R a

< 100 −, typ. 24 −

C a

< 50 pF

Σ

I a

< 1 mA

U

0

= 2.5 V ± 0.5 V

(relative to 0 V of the power supply)

Encoder Subsequent electronics

Pin Layout

12-pin coupling, M23 12-pin connector, M23

15-pin D-sub connector

For IK215/PWM 20

12

4

Power supply

2 10 11

10

5

1

6

9

Incremental signals

8 1

3 11

3

14 12 2

U

P

Brown/

Green

Sensor

U

P

0 V

Blue White/

Green

Sensor

0 V

White

A+

Brown

A–

Green

B+

Gray

B–

Pink

Shield on housing; U

P

= Power supply voltage

Sensor: The sensor line is connected in the encoder with the corresponding power line.

R+

Red Black

4

7

R–

9

Other signals

7 /

5/6/8/15 13 /

Vacant Vacant Vacant

/ Violet Yellow

53

Interfaces

Incremental Signals « TTL

HEIDENHAIN encoders with « TTL interface incorporate electronics that digitize sinusoidal scanning signals with or without interpolation.

The incremental signals are transmitted as the square-wave pulse trains U a1

and

U a2

, phase-shifted by 90° elec. The refer-

ence mark signal consists of one or more reference pulses U a0

, which are gated with the incremental signals. In addition, the integrated electronics produce their inverted

signals , £ and ¤ for noise-proof transmission. The illustrated sequence of output signals—with U a2

lagging U a1

—applies to the direction of motion shown in the dimension drawing.

The fault-detection signal ¥ indicates fault conditions such as breakage of the power line or failure of the light source. It can be used for such purposes as machine shut-off during automated production.

The distance between two successive edges of the incremental signals U a1

and

U a2

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 squarewave pulse. The minimum edge separa-

tion a listed in the Specifi cations 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. Propagation-time differences in cables additionally reduce the edge separation by 0.2 ns per meter of cable length. 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 tra-

versing velocity must never be exceeded.

Interface

Square-wave signals « TTL

Incremental signals 2 square-wave signals U a1

, £

, U a2

and their inverted signals


Pulse width

Delay time

Fault-detection signal

1 or more TTL square-wave pulses U a0

and their inverted pulses ¤

90° elec. (other widths available on request)

|t d

| † 50 ns

1 TTL square-wave pulse ¥

Improper function: LOW (upon request: U a1

/U a2

high impedance)

Proper function: HIGH t

S

‡ 20 ms

Pulse width

Signal amplitude

Permissible load

Differential line driver as per EIA standard RS-422

U

H

‡ 2.5 V at –I

H

= 20 mA

U

L

† 0.5 V at I

L

= 20 mA

Z

0

‡ 100 −

|I

L

| † 20 mA

Between associated outputs

Max. load per output

C load

† 1000 pF With respect to 0 V

Outputs protected against short circuit to 0 V

Switching times

(10 % to 90 %)

Connecting cables

Cable length

Propagation time t

+

/ t

–

† 30 ns (typically 10 ns) with 1 m cable and recommended input circuitry

Shielded HEIDENHAIN cable

PUR [4(2 × 0.14 mm

2

) + (4 × 0.5 mm

2

)]

Max. 100 m (¥ max. 50 m) at distributed capacitance 90 pF/m

6 ns/m

Signal period 360° elec.

Measuring step after

4-fold evaluation

Fault

Inverse signals , £, ¤ are not shown

The permissible cable length for transmission of the TTL square-wave signals to the subsequent electronics depends on the edge separation a. It is at most 100 m, or

50 m for the fault detection signal. This requires, however, that the power supply

(see Specifi cations) be ensured at the encoder. The sensor lines can be used to measure the voltage at the encoder and, if required, correct it with an automatic control system (remote sense power supply).

Permissible cable length

with respect to the edge separation

Without ¥

With ¥

Edge separation [µs]

f

54

Input Circuitry of the Subsequent Electronics

Dimensioning

IC

1

= Recommended differential line receiver

DS 26 C 32 AT

Only for a > 0.1 µs:

AM 26 LS 32

SN 75 ALS 193

R

1

= 4.7 k−

R

2

= 1.8 k−

Z

0

= 120 −

C

1

= 220 pF (serves to improve noise immunity)

ERN, ROD Pin Layout

12-pin fl ange socket or

M23 coupling

15-pin D-sub connector

For IK215/PWM 20



Encoder


12-pin connector, M23

12-pin PCB connector

Subsequent electronics

12

4

2a

Power supply

2 10

12

2b

2

1a

11

10

1b

5

1

6b

6

9

6a

Incremental signals

8 1

3 11

3

14

5b 5a 4b

4

7

4a

13

3a

7

Other signals

/ 9

5/6/8

3b

15

/

U

P

Brown/

Green

Sensor

U

P

0 V

Blue White/

Green

Sensor

0 V

White

U a1

Brown Green

U a2

Gray

£

Pink

U a0

Red


P

= Power supply voltage


1)

ERO 14xx: free

2)

Exposed linear encoders: TTL/11 µA

PP

conversion for PWT

¤

Black

¥

1)

Vacant Vacant

2)

Violet – Yellow

HR Pin Layout

Screw-terminal connection

Connection

Signal

Power supply

+ -

UP

5 V

U

N

0 V

A

U a1

Incremental signals

A B

U a2

B

£

A shielded cable with a cross section of at least 0.5 mm

2

is recommended when connecting the handwheel to the power supply.

The handwheel is connected electrically via screw terminals. The appropriate wire end sleeves must be attached to the wires.

55

Interfaces

Incremental Signals « HTL

HEIDENHAIN encoders with « HTL interface incorporate electronics that digitize sinusoidal scanning signals with or without interpolation.

The incremental signals are transmitted as the square-wave pulse trains U a1

and

U a2

, phase-shifted by 90° elec. The refer-

ence mark signal consists of one or more reference pulses U a0

, which are gated with the incremental signals. In addition, the integrated electronics produce their inverted

signals , £ and ¤ for noise-proof transmission (does not apply to HTLs).

The illustrated sequence of output signals—with U a2

lagging U a1

—applies to the direction of motion shown in the dimension drawing.

The fault-detection signal ¥ indicates fault conditions such as failure of the light source. It can be used for such purposes as machine shut-off during automated production.

The distance between two successive edges of the incremental signals U a1

and

U a2

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 Specifi cations refers to a measurement at the output of the given differential input circuitry. To prevent counting errors, the subsequent electronics should be designed to process as little as 90 % of the edge separation a.

The max. permissible shaft speed or

traversing velocity must never be exceeded.

Interface



Pulse width

Delay time


Pulse width

Signal levels

Permissible load

Switching times

(10 % to 90 %)

Connecting cables

Cable length

Propagation time

Signal period 360° elec.

Square-wave signals « HTL, « HTLs

2 HTL square-wave signals U a1

, U a2

and their inverted signals , £ (HTLs without , £)

1 or more HTL square-wave pulses U a0

and their inverted pulses ¤ (HTLs without ¤)

90° elec. (other widths available on request)

|t d

| † 50 ns

1 HTL square-wave pulse ¥

Improper function: LOW

Proper function: HIGH t

S

‡ 20 ms

U

H

‡ 21 V at –I

H

= 20 mA

U

L

† 2.8 V with I

L

= 20 mA

With power supply of

U

P

= 24 V, without cable

|I

L

| † 100 mA

C load

† 10 nF

Max. load per output, (except ¥)

With respect to 0 V

Outputs short-circuit proof for max. 1 minute after 0 V and

U

P

(except ¥) t

+

/t

–

† 200 ns (except ¥) with 1 m cable and recommended input circuitry

HEIDENHAIN cable with shielding

PUR [4(2 × 0.14 mm

2

) + (4 × 0.5 mm

2

)]

Max. 300 m (HTLs max. 100 m) at distributed capacitance 90 pF/m

6 ns/m

Measuring step after 4-fold evaluation

Fault

The permissible cable length for incremental encoders with HTL signals depends on the scanning frequency, the effective power supply, and the operating temperature of the encoder.

HTL

Inverse signals , £, ¤ are not shown

HTLs


f

56


The current consumption for encoders with

HTL output signals depends on the output frequency and the cable length to the subsequent electronics. The diagrams show typical curves for push-pull transmission with a 12-line HEIDENHAIN cable. The maximum current consumption can be

50 mA higher.


f


f

Input Circuitry of Subsequent Electronics

HTL


HTLs


Pin Layout

12-pin fl ange socket or

coupling M23

12-pin PCB connector

12

2a

Power supply

2 10

2b 1a

11

1b

5

6b

6

6a

Incremental signals

8 1

5b 5a

3

4b

4

4a

7

Other signals

/ 9

3a 3b /

HTL

HTLs

U

P

Sensor

U

P

0 V

Sensor

0 V

U a1

U a2

£

U a0

0 V 0 V

Brown/

Green

Blue White/

Green

White Brown Green Gray Pink


P

= power supply voltage


Red

¤

0 V

Black

¥

Violet

Vacant

/

Vacant

Yellow

57

Interfaces

Absolute Position Values

The EnDat interface is a digital, bidirec-

tional interface for encoders. It is capable both of transmitting position values as well as transmitting or updating information stored in the encoder, or saving new information. Thanks to the serial transmission

method, only four signal lines are required. The data is transmitted in synchro-

nism with the clock signal from the subsequent electronics. The type of transmission

(position values, parameters, diagnostics, etc.) is selected through mode commands that the subsequent electronics send to the encoder. Some functions are available only with EnDat 2.2 mode commands.

Data input

Data output

EnDat serial bidirectional

Absolute position values, parameters and additional information

For more information, refer to the

EnDat Technical Information sheet or visit

www.endat.de.

Ordering designation

Command set Incremental signals

Power supply

Position values can be transmitted with or without additional information (e.g. position value 2, temperature sensors, diagnostics, limit position signals).

EnDat 01

EnDat 21

EnDat 2.1 or EnDat 2.2

With

Without

See specifi cations of the encoder

EnDat 02 EnDat 2.2

With

Besides the position, additional information can be interrogated in the closed loop and functions can be performed with the

EnDat 2.2 interface.

EnDat 22

EnDat 2.2

Without

Versions of the EnDat interface (bold print indicates standard versions)

Extended range 3.6 to 5.25 V DC or 14 V

DC

Parameters are saved in various memory areas, e.g.:

• Encoder-specifi c information

• Information of the OEM (e.g. “electronic

ID label” of the motor)

• Operating parameters (datum shift, instruction, etc.)

• Operating status (alarm or warning messages)

Absolute encoder

Incremental signals *)


» 1 V

PP

A*)

» 1 V

PP

B*)

Monitoring and diagnostic functions of the EnDat interface make a detailed inspection of the encoder possible.

• Error messages

• Warnings

• Online diagnostics based on valuation numbers (EnDat 2.2)

Absolute position value

Operating parameters

Operating status

Parameters of the OEM

Parameters of the encoder manufacturer for

EnDat 2.1 EnDat 2.2

*) Depends on encoder


EnDat encoders are available with or without incremental signals. EnDat 21 and

EnDat 22 encoders feature a high internal resolution. An evaluation of the incremental signal is therefore unnecessary.

Clock frequency and cable length

The clock frequency is variable—depending on the cable length (max. 150 m)—between 100 kHz and 2 MHz. With propagation-delay compensation in the subsequent electronics, clock frequencies up to 16 MHz at cable lengths up to 100 m are possible

(for other values see Specifi cations).

Interface

Data transfer

Differential line receiver according to EIA standard RS 485 for the signals CLOCK, CLOCK, DATA and DATA

Differential line driver according to EIA standard RS 485 for the signals DATA and DATA

Position values Ascending during traverse in direction of arrow (see dimensions of the encoders)


» 1 V

PP

(see Incremental Signals 1 V

PP

) depending on the unit

Clock frequency [kHz]

f

EnDat 2.1; EnDat 2.2 without propagation-delay compensation

EnDat 2.2 with propagation-delay compensation

58

Input Circuitry of Subsequent

Electronics

Dimensioning

IC

1

= RS 485 differential line receiver and driver

C

3

= 330 pF

Z

0

= 120 −

Data transfer

Encoder


depending on encoder


1 V

PP

Pin Layout

8-pin coupling, M12

8

U

P

Brown/Green

2

Power supply

5

0 V

SensorU

P

Blue White/Green

1

Sensor0 V

White

3

DATA

Gray

17-pin

coupling M23

15-pin

D-sub connector, male

For IK215/PWM 20

Absolute position values

4 7

DATA

Pink

CLOCK

Violet

6

CLOCK

Yellow

7

4

Power supply

1

12

10

2

4

10

11

6

15

Incremental signals

1)

16 12 13

1 9 3 11

B– U

P

Brown/

Green

Sensor

U

P

0 V

Blue White/

Green

Sensor

0 V

White

Internal shield

/

A+ A–

Green/

Black

Yellow/

Black

B+

Blue/

Black

Red/

Black

Cable shield connected to housing; U

P



Vacant pins or wires must not be used!

1)

Only with ordering designation EnDat 01 and EnDat 02

14


17 8 9

5

DATA

13

DATA

8 15

CLOCK CLOCK

Gray Pink Violet Yellow

59

Interface

PROFIBUS-DP Absolute Position Values

PROFIBUS DP

PROFIBUS is a nonproprietary, open fi eld bus in accordance with the international

EN 50 170 standard. The connecting of sensors through fi eld bus systems minimizes the cost of cabling and reduces the number of lines between encoder and subsequent electronics.

E.g.: LC 183 absolute linear encoder

Topology and bus assignment

The PROFIBUS-DP is designed as a linear structure. It permits transfer rates up to

12 Mbps. Both mono-master and multi master systems are possible. Each master can serve only its own slaves (polling). The slaves are polled cyclically by the master.

Slaves are, for example, sensors such as absolute rotary encoders, linear encoders, or also control devices such as motor frequency inverters.

E.g.: Frequency inverter with motor

Physical characteristics

The electrical features of the PROFIBUS-DP comply with the RS-485 standard. The bus connection is a shielded, twisted two-wire cable with active bus terminations at each end.

Bus structure of PROFIBUS-DP

E.g.: ROQ 425 multiturn rotary encoder

E.g.: ROC 413 singleturn rotary encoder

E.g.: RCN 729 absolute angle encoder

Initial confi guration

The characteristics of HEIDENHAIN encoders required for system confi guration are included as “electronic data sheets”—also called device identifi cation records (GSD)— in the gateway. These device identifi cation records (GSD) completely and clearly describe the characteristics of a unit in an exactly defi ned format. This makes it possible to integrate the encoders into the bus system in a simple and application-friendly way.

Confi guration

PROFIBUS-DP devices can be confi gured and the parameters assigned to fi t the requirements of the user. Once these settings are made in the confi guration tool with the aid of the GSD fi le, they are saved in the master. It then confi gures the PRO-

FIBUS devices every time the network starts up. This simplifi es exchanging the devices: there is no need to edit or reenter the confi guration data.

Two different GSD fi les are available for selection:

• GSD fi le for the DP-V0 profi le

• GSD fi le for the DP-V1 and DP-V2 profi les

* With EnDat interface

60

PROFIBUS-DP profi le

The PNO (PROFIBUS user organization) has defi ned standard, nonproprietary profi les for the connection of absolute encoders to the PROFIBUS-DP. This ensures high fl exibility and simple confi guration on all systems that use these standardized profi les.

Function of Class DP-V0

Feature

Data word width

Class

Pos. value, pure binary code 1, 2

Rotational encoders Linear encoders

† 16 bits † 31 bits

1)

† 31 bits

1)

✓ ✓ ✓

Data word length

1, 2 16 32 32

DP-V0 profi le

This profi le can be obtained from the Profi bus user organization (PNO) in Karlsruhe,

Germany, under the order number 3.062.

There are two classes defi ned in the profi le, where class 1 provides minimum support, and class 2 allows additional, in part optional functions.

Scaling function

2

2

Counting direction reversal

1, 2

✓

✓

✓

✓

✓

✓

–

–

–

Preset (output data 16 or

32 bits)

2

✓ ✓ ✓

DP-V1 and DP-V2 profi les

These profi les can be obtained from the

Profi bus user organization (PNO) in

Karlsruhe, Germany, under the order number 3.162. This profi le also distinguishes between two device classes:

• Class 3 with the basic functions and

• Class 4 with the full range of scaling and preset functions.

Optional functions are defi ned in addition to the mandatory functions of classes 3 and 4.

Supported functions

Particularly important in decentralized fi eld bus systems are the diagnostic functions

(e.g. warnings and alarms), and the elec-

tronic ID label with information on the type of encoder, resolution, and measuring range. But also programming functions such as counting direction reversal, preset/

zero shift and changing the resolution

(scaling) are possible. The operating time and the velocity of the encoder can also be recorded.

Diagnostic functions

Warnings and alarms

Operating time recording

Velocity

Profi le version

Functions of Class DP-V1, DP-V2

Feature

Data word width

2

2

2

2

✓

✓

✓

✓

2)

✓

✓

✓

✓

2)

✓

✓

–

✓

Serial number

2

✓ ✓ ✓

1)

With data word width > 31 bits, only the upper 31 bits are transferred

2)

Requires a 32-bit confi guration of the output data and 32 + 16-bit confi guration of the input data

Telegram

Scaling function

Class

3, 4

4

Rotational encoders

† 32 bits

81-84

✓

> 32 bits

84

✓

Linear encoders

81-84

–

Reversal of counting direction

4

✓ ✓

–

Preset/

Datum shift

4

✓ ✓ ✓

Acyclic parameters

3, 4

Channel-dependent diagnosis via alarm channel

3, 4

✓

✓

✓

✓

✓

✓

Operating time recording

3, 4

Velocity


3, 4

3, 4

✓

1)

✓

1)

✓

✓

1)

✓

1)

✓

✓

1)

–

✓

3, 4

✓ ✓ ✓

Serial number

1)

Not supported by DP V2

61

Encoders with PROFIBUS-DP

The absolute rotary encoders with inte-

grated PROFIBUS-DP interface are connected directly to the PROFIBUS. LEDs on the rear of the encoder display the power supply and bus status operating states.

Addressing of tens digit

The coding switches for the addressing

(0 to 99) and for selecting the terminating resistor are easily accessible under the bus housing. The terminating resistor is to be activated if the rotary encoder is the last participant on the PROFIBUS-DP and the external terminating resistor is not used.

Power supply

Accessory:

Adapter M12 (male), 4-pin, B-coded

Fits 5-pin bus output, with PROFIBUS terminating resistor. Required for last participant if the encoder’s internal terminating resistor is not to be used.

ID 584 217-01

Connection

PROFIBUS-DP and the power supply are connected via the M12 connecting elements. The necessary mating connectors are:

Bus input:

M12 connector (female), 5-pin, B-coded

Bus output:

M12 coupling (male), 5-pin, B-coded

Power supply:

M12 connector, 4-pin, A-coded

Bus input

Bus output

Terminating resistor

Addressing of ones digit

Pin Layout

Mating connector:

Bus output

5-pin connector (female)

M12 B-coded

1 3

BUS in /

U

1)

/

0 V

1)

BUS out

1)

For supplying the external terminating resistor


Power supply


M12 A-coded

Power supply

5

Shield

Shield

1

U

P

3

0 V

2

Vacant

62

Housing

Shield

Shield


Bus output

5-pin coupling (male)

M12 B-coded


2

DATA (A)

DATA (A)

4

DATA (B)

DATA (B)

4

Vacant

Encoders with EnDat interface

All absolute encoders from HEIDENHAIN with EnDat interface can be connected to the PROFIBUS-DP over a gateway. the information available via PROFIBUS is generated on the basis of the EnDat 21 interface regardless of the encoder interface. The position value corresponds to the absolute value transmitted via the EnDat interface without interpolation of the 1 V

PP

signals.

The complete interface electronics are integrated in the gateway, as well as a voltage converter for supplying EnDat encoders with 5 V DC ± 5 %. This offers a number of benefi ts:

• Simple connection of the fi eld bus cable, since the terminals are easily accessible.

• Encoder dimensions remain small.

• No temperature restrictions for the encoder. All temperature-sensitive components are in the gateway.

Besides the EnDat encoder connector, the gateway provides connections for the

PROFIBUS and the power supply. In the gateway there are coding switches for addressing and selecting the terminating resistor. Since the gateway is connected directly to the bus lines, the cable to the encoder is not a stub line, although it can be up to 150 meters long.

For more information, see the Gateway

Product Information sheet.

Specifi cations

Input

Connection*

Cable length

Output

PROFIBUS clock frequency

Bus connection*

(bus in, bus out, power)

Cable length

Power supply

Operating temperature


Fastening

PROFIBUS DP Gateway

Absolute encoders with EnDat interface

M12 fl ange socket (female) 8-pin or

M23 fl ange socket (female) 17-pin

† 40 m (with HEIDENHAIN cable)

PROFIBUS DP-V0, classes 1 and 2

PROFIBUS DP-V1, DP-V2, classes 3 and 4

Integrated T-junction and bus termination

(can be switched off)

9.6 kb/s to 12 Mb/s

3 x M12 connecting element, 4 or 5 pins, or

3 x PG9

1)

cable gland (terminal strip in the device)

† 400 m for 1.5 Mb/s

† 100 m for 12 Mb/s

9 to 36 V DC

–40 to 80 °C

IP 65

Top-hat rail mounting

2)


1)

2)

Only in connection with the M23 input connector

A mounting kit is available under ID 680 406-01 for mounting on the existing holes of the

ID 325 771 gateway.

1)

2)

1)

Maximum values, depending on whether PG or M12

2)

Maximum values, depending on whether M12 or M23

63

Interface

Absolute Position Values PROFINET IO

PROFINET IO

PROFINET IO is the open Industrial Ethernet Standard for industrial communication.

It builds on the fi eld-proven function model of PROFIBUS-DP, however is used fast

Ethernet technology as physical transmission medium and is therefore tailored for fast transmission of I/O data. It offers the possibility of transmission for required data, parameters and IT functions at the same time.

PROFINET makes it possible to connect local fi eld devices to a controller and describe the data exchange between the controller and the fi eld devices, as well as the parameterization and programming.

The PROFINET technique is arranged in modules. Cascading functions can be selected by the user himself. These functions differ essentially in the type of data exchange in order to satisfy high requirements on velocity.

Topology and bus assignment

A PROFINET-IO system consists of:

• IO controller

(control/PLC, controls the automation task)

• IO device

(local fi eld device, e.g. rotary encoder)

• IO supervisor

(development or diagnostics tool, e.g. PC or programming device)

PROFINET IO functions according to the provider-consumer model, which supports communication between Ethernet peers.

An advantage is that the provider transmits its data without any prompting by the communication partner.

Physical characteristics

HIEDENHAIN encoders are connected according to 100BASE-TX (IEEE 802.3 Clause

25) through one shielded, twisted wire pair per direction to PROFINET. The transmission rate is 100 Mbit/s (Fast Ethernet).

PROFINET profi le

HEIDENHAIN encoders fulfi ll the defi nitions as per Profi le 3.162, Version 4.1.

The device profi le describes the encoder functions. Class 4 (full scaling and preset) functions are supported. More detailed information on PROFINET can be ordered from the PROFIBUS User Organization

PNO.

Supported functions

Position value

Isochron mode

Functionality of class 4

Measuring units per revolution

Total measuring range

Cyclic operation (binary scaling)

Preset

Preset control G1_XIST1

Compatibility mode

(encoder profi le V.3.1)

Operating time

Velocity


Permanent storage of the offset value

Identifi cation & maintenance (I & M)

External fi rmware upgrade

Class

3, 4

3, 4

4

4

4

4

4

4

4

4

4

3, 4

3, 4

3, 4

3, 4

4

Further fi eld devices

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

Rotary encoders

Singleturn Multiturn

✓ ✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

64

Initial confi guration

To put an encoder with a PROFINET interface into operation, a device identifi cation record (GSD) must be downloaded and imported into the confi guration software. The

GSD contains the execution parameters required for a PROFINET-IO device.

Confi guration

Profi les are predefi ned confi gurations of available functions and performance characteristics of PROFINET for use in certain devices or applications such as rotary encoders. They are defi ned and published by the workgroups of the PROFIBUS &

PROFINET International (PI).

Profi les are important for openness, interoperability and exchangeability so that the end user can be sure that similar devices from different manufacturers function in a standardized manner.

Power supply

Encoders with PROFINET

The absolute rotary encoders with integrated PROFIBUS interface are connected directly to the network. Addresses are distributed automatically over a protocol integrated in PROFINET. A PROFINET-IO fi eld devices is addressed within a network through its physical device MAC address.

Pin Layout

PORTs 1 and 2


M12 D-coded

On their rear faces, the encoders feature two double-color LIDs for diagnostics of the bus and the device.

A terminating resistor for the last participant is not necessary.

Connection

PROFINET and the power supply are connected via the M12 connecting elements.

The necessary mating connectors are:

PORTs 1 and 2:

M12 coupling (male), 4-pin, D-coded

Power supply:

M12 connector, 4-pin, A-coded

PORT 1/2

1

Tx+

Power supply

4-pin coupling (male)

M12 A-coded

1

U

P

2


3 4

Rx+ Tx– Rx–

3

0 V

PORT 1

2

Vacant

PORT 2

4

Vacant

Housing

Shield

65

Interfaces

SSI Absolute Position Values

The absolute position value beginning with the Most Signifi cant Bit (MSB fi rst) is transferred on the DATA lines in synchronism with a CLOCK signal transmitted by the control. The SSI standard data word length for singleturn absolute encoders is

13 bits, and for multiturn absolute encoders

25 bits. In addition to the absolute position values, sinusoidal incremental signals with 1-V

PP

levels are transmitted. For signal description see Incremental signals 1 V

PP

.

For the ECN/EQN 4xx and ROC/ROQ 4xx rotary encoders, the following functions can be activated via the programming inputs of the interfaces by applying the supply voltage U

P

:

• Direction of rotation

Continuous application of a HIGH level to pin 2 reverses the direction of rotation

•

for ascending position values.

Zeroing

(datum setting)

Applying a positive edge (t min

> 1 ms) to pin 5 sets the current position to zero.

Note: The programming inputs must always be terminated with a resistor

(see Input Circuitry of the Subsequent

Electronics).

Interface

Ordering designation

Data transfer

Data input

SSI serial

Singleturn: SSI 39r1

Multiturn: SSI 41r1


Differential line receiver according to EIA standard RS 485 for the CLOCK and CLOCK signals

Data output

Connecting cable

Cable length

Propagation time

Differential line driver according to EIA standard RS 485 for the signals DATA and DATA

Gray Code

Ascending position values

With clockwise rotation viewed from fl ange side (can be switched via interface)


» 1 V

PP

(see Incremental signals 1 V

PP

)

Programming inputs

Direction of rotation and zero reset (for ECN/EQN 4xx,

ROC/ROQ 4xx)

Inactive

Active

Switching time

LOW < 0.25 x U

P

HIGH > 0.6 x U

P t min

> 1 ms

HEIDENHAIN cable with shielding

PUR [(4 x 0.14 mm

2

) + 4(2 x 0.14 mm

2

) + (4 x 0.5 mm

2

)]

Max. 100 m with 90 pF/m distributed capacitance

6 ns/m

Control cycle for complete data format

When not transmitting, the clock and data lines are on high level. The internally and cyclically formed position value is stored on the fi rst falling edge of the clock. The stored data is then clocked out on the fi rst rising edge.

After transmission of a complete data word, the data line remains low for a period of time (t

2

) until the encoder is ready for interrogation of a new value. Encoders with

SSI 39r1 and SSI 41r1 interfaces additionally require a subsequent clock pause t

R

. If another data-output request (CLOCK) is received within this time (t

2

or t

2

+t

R

), the same data will be output once again.

If the data output is interrupted (CLOCK = high for t ‡ t

2

), a new position value will be stored on the next falling edge of the clock.

With the next rising clock edge the subsequent electronics adopts the data.

Data transfer

T = 1 to 10 µs t cal

see Specifi cations t

1

† 0.4 µs

(without cable) t

2

= 17 to 20 µs t

R

‡ 5 µs

13 bits for ECN/ROC

25 bits for EQN/ROQ

CLOCK and DATA not shown

Permissible clock frequency with respect to cable lengths

Clock frequency [kHz]

f

66

Input Circuitry of the

Subsequent Electronics

Dimensioning

IC

1

= Differential line receiver and driver

Example: SN 65 LBC 176

Z

0

= 120 −

C

3

= 330 pF (serves to improve noise immunity)

Data transfer

Encoder


Programming via connector

ROC/ROQ 4xx

Zero reset

Direction of rotation


Pin Layout

17-pin

coupling M23

Power supply

1 10 11 15

Incremental signals

16 12 13


14 17 8 9

Other signals

2 5 7

U

P

4

Sensor

U

P

0 V Sensor

0 V

Internal shield

A+ A– B+ B– DATA DATA CLOCK CLOCK Direction of rotation

1)

Zero reset

1)

Gray Pink Violet Yellow Black Green Brown/

Green

Blue White/

Green

White / Green/

Black

Yellow/

Black

Blue/

Black

Red/

Black


P


Sensor: With a 5 V supply voltage, the sensor line is connected in the encoder with the corresponding power line.

1)

Vacant on ECN/EQN 10xx and ROC/ROQ 10xx

67

Cables and Connecting Elements

General Information

Connector (insulated): A connecting element with a coupling ring. Available with male or female contacts.

Symbols

Coupling (insulated): Connecting element with external thread; available with male or female contacts.

Symbols

M12

M23

M12

Mounted coupling with central fastening

Cutout for mounting

M23

M23

Mounted coupling with fl ange

M23

Flange socket: Permanently mounted on a housing, with external thread (like the coupling), and available with male or female contacts.

Symbols

M23

The pins on connectors are numbered in the direction opposite to those on couplings or fl ange sockets, regardless of whether the connecting elements are male or female contacts.

When engaged, the connections are pro-

tected to IP 67 (D-sub connector: IP 50;

EN 60 529). When not engaged, there is no protection.

Accessories for fl ange sockets and M23 mounted couplings

Bell seal

ID 266 526-01

Threaded metal dust cap

ID 219 926-01

D-sub connector: For HEIDENHAIN controls, counters and IK absolute value cards.

Symbols

1)

With integrated interpolation electronics

68

Connecting Cables 1 V

PP

, TTL 12-Pin

M23

PUR connecting cables

Complete with connector

(female) and coupling (male)

Complete with connector (female) and connector (male)

Complete with connector (female) and

D-sub connector (female), 15-pin, for TNC


D-sub connector (female), 15-pin, for PWM 20/EIB 741

With one connector (female)

For

» 1 V

PP

« TTL

« HTL

12-pin:

[4(2 × 0.14 mm

2

) + (4 × 0.5 mm

2

)] ¬ 8 mm

298 401-xx

298 399-xx

310 199-xx

309 777-xx

Cable without connectors, ¬ 8 mm

Mating element on connecting cable to connector on encoder cable

Connector (female) for cable ¬ 8 mm

244 957-01

291 697-05

Connector on connecting cable for connection to subsequent electronics

Connector (male) for cable ¬ 8 mm

¬ 6 mm

291 697-08

291 697-07

Coupling on connecting cable

Coupling (male) for cable ¬ 4.5 mm

¬ 6 mm

¬ 8 mm

291 698-14

291 698-03

291 698-04

Flange socket for mounting on subsequent electronics

Mounted couplings

Flange socket (female)

With fl ange (female)

With fl ange (male)

¬ 6 mm

¬ 8 mm

315 892-08

291 698-17

291 698-07

¬ 6 mm

¬ 8 mm

291 698-08

291 698-31

Adapter » 1 V

PP

/11 µA

PP

For converting the 1 V

PP

signals to 11 µA

PP

;

12-pin M23 connector (female) and 9-pin

M23 connector (male)

With central fastening ¬ 6 mm to 10 mm

(male)

741 045-01

364 914-01

69

EnDat Connecting Cables 8-Pin 17-Pin

PUR connecting cables

Complete with connector

(female) and coupling (male)

Complete with right-angle connector (female) and coupling (male)


D-sub connector (female), 15-pin, for TNC (position inputs)


D-sub connector (female), 25-pin, for TNC (rotational speed inputs)


D-sub connector (female), 15-pin, for IK 215, PWM 20, EIB 741 etc.

Complete with right-angle connector

(female) and D-sub connector (male),

15-pin, for IK 215, PWM 20, EIB 741 etc.

For

EnDat without incremental signals

For

EnDat with incremental signals

SSI

8-pin:

[(4 × 0.14 mm

2

17-pin:

[(4 × 0.14 mm

2

) + (4 × 0.34 mm

2

) + 4(2 × 0.14 mm

)]

2

) + (4 × 0.5 mm

2

)]

6 mm 3.7 mm Cable diameter 8 mm

368 330-xx 801 142-xx 323 897-xx

340 302-xx

373 289-xx 801 149-xx –

535 627-xx

641 926-xx

524 599-xx

722 025-xx

–

–

801 529-xx

801 140-xx

332 115-xx

336 376-xx

350 376-xx

–

With one connector (female)

With one right-angle connector,

(female)

559 346-xx

606 317-xx

–

–

309 778-xx

309 778-xx

1)

–

Cable without connectors

–

Italics: Cable with assignment for “speed encoder“ input (MotEnc EnDat)

1)

Without incremental signals

–

70

Evaluation Electronics

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 4 096-fold. A driver software package is included in delivery.

For more information, see the IK 220

Product Information document as well as the

Product Overview of Interface Electronics.

Input signals

(switchable)

Encoder inputs

Input frequency

IK 220

» 1 V

PP

» 11 µA

PP

EnDat 2.1

Two D-sub connections (15-pin, male)

† 500 kHz † 33 kHz

Cable length † 60 m

Signal subdivision

(signal period : meas. step)

Up to 4 096-fold

Data register for mea-

sured values (per channel)

48 bits (44 bits used)

–

† 50 m

Internal memory

Interface

Driver software and demonstration program

Dimensions

For 8 192 position values

PCI bus

For Windows 98/NT/2000/XP

SSI

† 10 m in VISUAL C++, VISUAL BASIC and BORLAND DELPHI

Approx. 190 mm × 100 mm

EIB 741

External Interface Box

The EIB 741 is ideal for applications requiring high resolution, fast measured-value acquisition, mobile data acquisition or data storage.

Up to four incremental or absolute

HEIDENHAIN encoders can be connected to the EIB 741. The data is output over a standard Ethernet interface.

Encoder inputs

switchable

Connection

Input frequency

Signal subdivision

Internal memory

Interface

Driver software and demo program

For more information, see the EIB 741

Product Information sheet.

EIB 741

» 1 V

PP

EnDat 2.1

Four D-sub connections (15-pin, female)

† 500 kHz

4 096-fold

–

–

Typically 250 000 position values per input

Ethernet as per IEEE 802.3 († 1 Gbit)

For Windows, Linux, LabView

Example programs

EnDat 2.2

Windows is a registered trademark of the Microsoft Corporation.

71

HEIDENHAIN Measuring Equipment

For Incremental Encoders

PWM 9 is a universal measuring device for checking and adjusting HEIDENHAIN incremental encoders. Expansion modules are available for checking the various types of encoder signals. The values can be read on an LCD monitor. Soft keys provide ease of operation.

Inputs

Functions

Outputs

Power supply

Dimensions

Expansion modules (interface boards) for 11 µA

PP

; 1 V

PP

;

TTL; HTL; EnDat*/SSI*/commutation signals

*No display of position values or parameters

•

•

•

•

•

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

• Inputs are connected through to the subsequent electronics

• BNC sockets for connection to an oscilloscope

10 to 30 V DC, max. 15 W

150 mm × 205 mm × 96 mm

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.

Encoder input

Functions

Power supply

Dimensions

PWT 10 PWT 17 PWT 18

» 11 µA

PP

« TTL » 1 V

PP

Measurement of the signal amplitude

Tolerance of signal shape

Amplitude and position of the reference-mark signal

Via power supply unit (included)

114 mm x 64 mm x 29 mm

72

For Absolute Encoders

The PWM 20 phase angle measuring unit serves together with the provided ATS adjusting and testing software for diagnosis and adjustment of HEIDENHAIN encoders.

Encoder input

Interface

Power supply

Dimensions

• EnDat 2.1 or EnDat 2.2 (absolute value with/without incremental signals)

• DRIVE-CLiQ

• FANUC serial interface

• Mitsubishi High Speed Serial Interface

• SSI

USB 2.0

100 V AC to 240 V AC or 24 V DC

258 mm 154 mm 55 mm

ATS

Languages

Choice between English or German

Functions

System requirements

• Position display

• Connection dialog

• Diagnostics

• Mounting wizard for EBI/ECI/EQI, LIP 200, LIC 4000

• Additional functions (if supported by the encoder)

• Memory contents

PC (Dual-Core processor; > 2 GHz); main memory> 1 GB;

Windows XP, Vista, 7 (32-bit);

100 MB free space on hard disk

73

General Electrical Information

Power Supply

Connect HEIDENHAIN encoders only to subsequent electronics whose power supply is generated from PELV systems

(EN 50 178). In addition, overcurrent protection and overvoltage protection are required in safety-related applications.

If HEIDENHAIN encoders are to be operated in accordance with IEC 61010-1, power must be supplied from a secondary circuit with current or power limitation as per

IEC 61010-1:2001, section 9.3 or

IEC 60950-1:2005, section 2.5 or a Class 2 secondary circuit as specifi ed in UL1310.

The encoders require a stabilized DC volt-

age U

P

as power supply. The respective

Specifi cations state the required power supply and the current consumption. The permissible ripple content of the DC voltage is:

• High frequency interference

•

U

PP

< 250 mV with dU/dt > 5 V/µs

Low frequency fundamental ripple

U

PP

< 100 mV

The values apply as measured at the encoder, i.e., without cable infl uences. 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.

If the voltage drop is known, all parameters for the encoder and subsequent electronics can be calculated, e.g. voltage at the encoder, current requirements and power consumption of the encoder, as well as the power to be provided by the subsequent electronics.

Switch-on/off behavior of the encoders

The output signals are valid no sooner than after switch-on time t

SOT

= 1.3 s (2 s for

PROFIBUS-DP) (see diagram). During time t

SOT

they can have any levels up to 5.5 V

(with HTL encoders up to U

Pmax

). If an interpolation electronics unit is inserted between the encoder and the power supply, this unit’s switch-on/off characteristics must also be considered. If the power supply is switched off, or when the supply voltage falls below U min

, the output signals are also invalid. During restart, the signal level must remain below 1 V for the time t

SOT before power on. These data apply to the encoders listed in the catalog—customerspecifi c interfaces are not included.

Encoders with new features and increased performance range may take longer to switch on (longer time t

SOT

). If you are responsible for developing subsequent electronics, please contact HEIDENHAIN in good time.

Insulation

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)

Transient response of supply voltage and switch-on/switch-off behavior

U

PP

Calculation of the voltage drop:

¹U = 2 · 10

–3

·

1.05 · L

C

· I

56 · A

P where ¹U: Voltage drop in V

Output signals invalid Valid Invalid

L

C

A

P wires

: Cable length in m

Cross section of power lines in mm

2

The voltage actually applied to the encoder is to be considered when calculating the

encoder’s power requirement. This voltage consists of the supply voltage U

P

provided by the subsequent electronics minus the line drop at the encoder. For encoders with an expanded supply range, the voltage drop in the power lines must be calculated under consideration of the nonlinear current consumption (see next page).

Cables

Cross section of power supply lines A

P

1 V

PP

/TTL/HTL 11 µA

PP

EnDat/SSI

17-pin

¬ 3.7 mm

¬ 4.3 mm

0.05 mm

2

0.24 mm

2

¬ 4.5 mm EPG

0.05 mm

2

¬ 4.5 mm

¬ 5.1 mm

¬ 6 mm

¬ 10 mm

1)

0.14/0.09

2) mm

2

0,05

2), 3)

mm

2

0.19/0.14

2), 4)

mm

2

¬ 8 mm

¬ 14 mm

1)

0.5 mm

2

–

–

–

0.05 mm

–

1 mm

2

2

–

–

0.05 mm

0.05 mm

0.08/0.19

2

2

6)

mm

2

EnDat

8-pin

0.09 mm

–

5)

2

0.09 mm

2

0.14 mm

2

0.34 mm

2

1 mm

2

1)

Metal armor

5)

Also Fanuc, Mitsubishi

2)

Rotary encoders

3)

Length gauges

6)

Adapter cables for RCN, LC

4)

LIDA 400

74

Encoders with expanded supply voltage range

For encoders with expanded supply voltage range, the current consumption has a nonlinear relationship with the supply voltage. On the other hand, the power consumption follows a linear curve (see Cur-

rent and power consumption diagram). The maximum power consumption at minimum and maximum supply voltage is listed in the Specifi cations. The maximum power consumption (worst case) accounts for:

• Recommended receiver circuit

• Cable length 1 m

• Age and temperature infl uences

• Proper use of the encoder with respect to clock frequency and cycle time

The typical current consumption at no load

(only supply voltage is connected) for 5 V supply is specifi ed.

Step 1: Resistance of the supply lines

The resistance values of the supply lines

(adapter cable and encoder cable) can be calculated with the following formula:

R

L

= 2 ·

1.05 · L

56 · A

P

C

Step 2: Coeffi cients for calculation of the drop in line voltage

b = –R

L

P

·

Emax

– P

Emin

U

Emax

– U

Emin

U

P c = P

Emin

· R

L

P

U

Emax

Emax

– P

– U

Emin

Emin

L

· (U

P

– U

Emin

)

Step 4: Parameters for subsequent electronics and the encoder

Voltage at encoder:

U

E

= U

P

– ¹U

Current requirement of encoder:

I

E

= ¹U / R

L

Power consumption of encoder:

P

E

= U

E

· I

E

Power output of subsequent electronics:

P

S

= U

P

· I

E

Step 3: Voltage drop based on the coeffi cients b and c

¹U = –0.5 · (b +

¹ b

2

– 4 · c)

The actual power consumption of the encoder and the required power output of the subsequent electronics are measured, while taking the voltage drop on the supply lines into consideration, in four steps:

Where:

U

Emax

,

U

Emin age of the encoder in V

P

Emin

,

P

Emax

: Maximum power consumption at minimum or maximum power supply, respectively, in W

U

P electronics in V

R

L directions) in ohms

L

C

: Cable length in m

A

P

Cross section of power lines in mm

2

Infl uence of cable length on the power output of the subsequent electronics (example representation)

Current and power consumption with respect to the supply voltage

(example representation)

Encoder cable/adapter cable

Supply voltage [V]

Connecting cable Total

Supply voltage [V]

Power consumption of encoder

(normalized to value at 5 V)

Current requirement of encoder

(normalized to value at 5 V)

75

Electrically Permissible Speed/

Traversing Speed

The maximum permissible shaft speed or traversing velocity of an encoder is derived from

• the mechanically permissible shaft speed/traversing velocity (if listed in the

Specifi cations) 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

–3 dB/ –6 dB 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/

– the minimum permissible edge separation a for the subsequent electronics.

For angle or rotary encoders

n output frequency f and max

= f max z

· 60 · 10

3

For linear encoders

max

of the encoder,

Cable

For safety-related applications, use

HEIDENHAIN cables and connectors.

Versions

The cables of almost all HEIDENHAIN encoders and all adapter and connecting cables are sheathed in polyurethane (PUR

cables). Most adapter cables for within motors and a few cables on encoders are sheathed in a special elastomer (EPG ca-

bles). These cables are identifi ed in the specifi cations or in the cable tables with

“EPG”.

Durability

PUR cables are resistant to oil and hydrolysis in accordance with VDE 0472 (Part 803/ test type B) and resistant to microbes in accordance with VDE 0282 (Part 10). They are free of PVC and silicone and comply with UL safety directives. The UL certifi ca-

tion AWM STYLE 20963 80 °C 30 V

E63216 is documented on the cable.

EPG cables are resistant to oil in accordance with VDE 0472 (Part 803/test type

B) and to hydrolysis in accordance with

VDE 0282 (Part 10). They are free of silicone and halogens. In comparison with

PUR cables, they are only somewhat resistant to media, frequent fl exing and continuous torsion.

v max

= f max

· SP · 60 · 10

–3

Where:

n max

: Elec. permissible speed in min

–1

v max

: Elec. permissible traversing velocity in m/min

f max

: 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

Cable

¬ 3.7 mm

¬ 4.3 mm

¬ 4.5 mm EPG

¬ 4.5 mm

¬ 5.1 mm

¬ 6 mm

¬ 10 mm

1)

¬ 8 mm

¬ 14 mm

1)

1)

Metal armor

Bend radius R

Rigid confi guration

‡ 8 mm

‡ 10 mm

‡ 18 mm

‡ 10 mm

‡ 20 mm

‡ 35 mm

‡ 40 mm

‡ 100 mm

Rigid confi guration

Frequent fl exing


Temperature range

HEIDENHAIN cables can be used for

Rigid confi guration (PUR) –40 to 80 °C

Rigid confi guration (EPG) –40 to 120 °C

Frequent fl exing (PUR) –10 to 80 °C

PUR cables with limited resistance to hydrolysis and microbes are rated for up to

100 °C. If needed, please ask for assistance from HEIDENHAIN Traunreut.

Lengths

The cable lengths listed in the Specifi ca-

tions apply only for HEIDENHAIN cables and the recommended input circuitry of subsequent electronics.


‡ 40 mm

‡ 50 mm

–

‡ 50 mm

‡ 75 mm

‡ 75 mm

‡ 100 mm

‡ 100 mm

76

Noise-Free Signal Transmission

Electromagnetic compatibility/

CE compliance

When properly installed, and when

HEIDENHAIN connecting cables and cable assemblies are used, HEIDENHAIN encoders fulfi ll the requirements for electromagnetic compatibility according to 2004/108/EC with respect to the generic standards for:

• Noise immunity EN 61 000-6-2:

Specifi cally:

–

– EN 61 000-4-3

–

–

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 include:

• Strong magnetic fi elds from transformers, brakes and electric motors

• Relays, contactors and solenoid valves

• High-frequency equipment, pulse devices, and stray magnetic fi elds from switch-mode power supplies

• AC power lines and supply lines to the above devices magnetic fi elds EN 61 000-4-8

– EN 61 000-4-9

• Interference EN 61 000-6-4:

Specifi cally: equipment (ISM) EN 55 011

Protection against electrical noise

The following measures must be taken to ensure disturbance-free operation:

• Use only original HEIDENHAIN cables.

Consider the voltage drop on supply lines.

• Use connecting elements (such as connectors or terminal boxes) with metal housings. Only the signals and power supply of the connected encoder may be routed through these elements. Applications in which additional signals are sent through the connecting element require specifi c measures regarding electrical safety and EMC.

• Connect the housings of the encoder, connecting elements and subsequent electronics through the shield of the cable. Ensure that the shield has complete contact over the entire surface (360°).

For encoders with more than one electrical connection, refer to the documentation for the respective product.

• For cables with multiple shields, the inner shields must be routed separately from the outer shield. Connect the inner shield to 0 V of the subsequent electronics. Do not connect the inner shields with the outer shield, neither in the encoder nor in the cable.

• Connect the shield to protective ground as per the mounting instructions.

• Prevent contact of the shield (e.g. connector housing) with other metal surfaces. Pay attention to this when installing cables.

• Do not install signal cables in the direct vicinity of interference sources (inductive consumers such as contacts, motors, frequency inverters, solenoids, etc.).

– Suffi cient decoupling from interference-signal-conducting cables can usually be achieved by an air clearance of

100 mm or, when cables are in metal ducts, by a grounded partition.

ductors in switch-mode power supplies is required.

• If compensating currents are to be expected within the overall system, a separate equipotential bonding conductor must be provided. The shield does not have the function of an equipotential bonding conductor.

• Only provide power from PELV systems

(EN 50 178) to position encoders. Provide high-frequency grounding with low impedance (EN 60 204-1 Chap. EMC).

• For encoders with 11 µA

PP

interface: For extension cables, use only HEIDENHAIN cable ID 244 955-01. Overall length: max. 30 m.

Minimum distance from sources of interference

77

Sales and Service

More Information

Other devices for angular measurement

from HEIDENHAIN include rotary encoders, which are used primarily on electrical motors, for elevator control and for potentially explosive atmospheres.

Angle encoders from HEIDENHAIN serve for high-accuracy position acquisition of angular movements.

Messgeräte für

elektrische Antriebe

Catalog

Encoders for Servo Drives

Contents:

Rotary Encoders

Angle Encoders

Linear Encoders

April 2011

Absolute

Winkelmessgeräte

mit optimierter Abtastung

Catalog

Absolute Angle Encoders with Optimized

Scanning

Contents:

Absolute Angle Encoders

RCN 2000, RCN 5000, RCN 8000

Oktober 2010


mit Eigenlagerung

Juni 2006


ohne Eigenlagerung

Catalog

Angle Encoders with Integral Bearing

Contents:

Absolute Angle Encoders

RCN

Incremental Angle Encoders

RON, RPN, ROD

Catalog

Angle Encoders without Integral Bearing

Contents:

Incremental Angle Encoders

ERA, ERP

September 2007

Catalog

Modular Magnetic Encoders

Magnetische

Einbau-Messgeräte

September 2010

Product Overview

Rotary Encoders for the Elevator Industry

Produktübersicht

Drehgeber für die

Aufzugsindustrie

Oktober 2007

Produktübersicht

Drehgeber

für explosionsgefährdete

Bereiche (ATEX)

Januar 2009

Product Overview

Rotary Encoders for Potentially

Explosive Atmospheres

Further HEIDENHAIN products

• Linear encoders

• Length gauges

• Measuring systems for machine tool inspection and acceptance testing

• Subsequent electronics

• NC controls for machine tools

• Touch probes

78

HEIDENHAIN on the Internet

Visit our home page at www.heidenhain.

com for up-to-date information on:

• The company

• The products

Also included:

• Technical articles

• Press releases

• Addresses

• CAD drawings

Addresses in Germany

HEIDENHAIN is represented in Germany and all other important industrial nations as well. In addition to the addresses listed on the back page, there are many service agencies located worldwide. For their addresses, please refer to the Internet or contact HEIDENHAIN Traunreut.

Germany – Technical Information

HEIDENHAIN Technisches Büro Nord

Rhinstraße 134

12681 Berlin, Deutschland

{ 030 54705-240

| 030 54705-200

E-Mail: [email protected]

HEIDENHAIN Technisches Büro Mitte

Kaltes Feld 22

08468 Heinsdorfergrund, Deutschland

{ 03765 69544

| 03765 69628


HEIDENHAIN Technisches Büro West

Revierstraße 19

44379 Dortmund, Deutschland

{ 0231 618083-0

| 0231 618083-29


HEIDENHAIN Technisches Büro Südwest

Ebene 6

Gutenbergstraße 17

70771 Leinfelden-Echterdingen, Deutschland

{ 0711 993395-0

| 0711 993395-28


Germany – Information and Sales

TEDI Technische Dienste GmbH

Im Hegen 14a

22113 Oststeinbek

{ 040 7148672-0


RHEINWERKZEUG GmbH & Co.KG

Gablonzstraße 8

38114 Braunschweig

{ 0531 25659-0


FRIEDRICH STRACK

Maschinen GmbH

Buchenhofener Straße 19

42329 Wuppertal

{ 0202 385-0


Walter BAUTZ GmbH

Mess- und Spanntechnik

Mühlenweg 8

64347 Griesheim

{ 06155 8422-0


BRAUN Werkzeugmaschinen

Vertrieb und Service GmbH

Industriestraße 41

72585 Riederich

{ 07123 9343-0


HAAS Werkzeugmaschinen GmbH

Heinrich-Hertz-Straße 16

78052 VS-Villingen

{ 07721 9559-0


BRAUN Werkzeugmaschinen

Vertrieb und Service GmbH

Anton-Pendele-Straße 3

82275 Emmering

{ 08141 9714


HEIDENHAIN Technisches Büro Südost

Dr.-Johannes-Heidenhain-Straße 5

83301 Traunreut, Deutschland

{ 08669 311345

| 08669 5061



Werkstraße 113

19061 Schwerin

{ 0385 61721-0



Lindenallee 18

39179 Barleben

{ 039203 7518-10


MOSER

Industrie-Elektronik GmbH

Geneststraße 5

10829 Berlin

{ 030 7515737



Großenhainer Straße 99

01127 Dresden

{ 0351 4278020


WWZ-Vertrieb GmbH

Werkzeugmaschinen

An der Allee 9

99848 Wutha-Farnroda

{ 036921 23-0


HEMPEL Werkzeugmaschinen

Pestalozzistraße 58

08393 Meerane

{ 03764 3064


KL Messtechnik & Service GmbH & Co. KG

Im Gewerbegebiet 4

91093 Heßdorf

{ 09135 73609-0


79

DR. JOHANNES HEIDENHAIN GmbH

Dr.-Johannes-Heidenhain-Straße 5

83301 Traunreut, Germany

{ +49 8669 31-0

| +49 8669 5061

E-mail: [email protected]

www.heidenhain.de

Vollständige und weitere Adressen siehe www.heidenhain.de

For complete and further addresses see www.heidenhain.de

DE HEIDENHAIN Vertrieb Deutschland



HEIDENHAIN Technisches Büro Nord

12681 Berlin, Deutschland

ES

2670 Greve, Denmark www.tp-gruppen.dk

FARRESA ELECTRONICA S.A.

08028 Barcelona, Spain www.farresa.es

HEIDENHAIN Technisches Büro Mitte

08468 Heinsdorfergrund, Deutschland

44379 Dortmund, Deutschland

HEIDENHAIN Technisches Büro Südwest

70771 Leinfelden-Echterdingen, Deutschland

02770 Espoo, Finland www.heidenhain.fi

FR HEIDENHAIN FRANCE sarl

92310 Sèvres, France www.heidenhain.fr

GB HEIDENHAIN (G.B.) Limited

Burgess Hill RH15 9RD, United Kingdom www.heidenhain.co.uk

HEIDENHAIN Technisches Büro Südost


17341 Athens, Greece www.heidenhain.gr

AT HEIDENHAIN Techn. Büro Österreich

AU FCR Motion Technology Pty. Ltd

BA

B1653AOX Villa Ballester, Argentina www.heidenhain.com.ar

83301 Traunreut, Germany www.heidenhain.de

Laverton North 3026, Australia


Bosnia and Herzegovina − SL

1760 Roosdaal, Belgium www.heidenhain.be

BG ESD Bulgaria Ltd.

Sofi a 1172, Bulgaria www.esd.bg

BR DIADUR Indústria e Comércio Ltda.

04763-070 – São Paulo – SP, Brazil www.heidenhain.com.br

BY Belarus

GERTNER Service GmbH

50354 Huerth, Germany www.gertnergroup.com

Kowloon, Hong Kong


HR

Croatia − SL

HU HEIDENHAIN Kereskedelmi Képviselet

1239 Budapest, Hungary www.heidenhain.hu

ID PT Servitama Era Toolsindo

Jakarta 13930, Indonesia


IL NEUMO VARGUS MARKETING LTD.

Tel Aviv 61570, Israel


IN HEIDENHAIN Optics & Electronics

India Private Limited

Chetpet, Chennai 600 031, India www.heidenhain.in

IT HEIDENHAIN ITALIANA S.r.l.

20128 Milano, Italy www.heidenhain.it

Mississauga, OntarioL5T2N2, Canada www.heidenhain.com

8603 Schwerzenbach, Switzerland www.heidenhain.ch

CN DR. JOHANNES HEIDENHAIN

(CHINA) Co., Ltd.

Beijing 101312, China www.heidenhain.com.cn

102 00 Praha 10, Czech Republic www.heidenhain.cz

Tokyo 102-0083, Japan www.heidenhain.co.jp

KR HEIDENHAIN Korea LTD.

Gasan-Dong, Seoul, Korea 153-782 www.heidenhain.co.kr

ME

Montenegro − SL

MK

Macedonia − BG

MX HEIDENHAIN CORPORATION MEXICO

20235 Aguascalientes, Ags., Mexico


MY ISOSERVE Sdn. Bhd

56100 Kuala Lumpur, Malaysia


NL HEIDENHAIN NEDERLAND B.V.

6716 BM Ede, Netherlands www.heidenhain.nl

7300 Orkanger, Norway www.heidenhain.no

Quezon City, Philippines 1113


PL APS

02-489 Warszawa, Poland www.apserwis.com.pl

PT FARRESA ELECTRÓNICA, LDA.

4470 - 177 Maia, Portugal www.farresa.pt

Bras¸ov, 500338, Romania www.heidenhain.ro

RS

Serbia − BG

125315 Moscow, Russia www.heidenhain.ru

12739 Skärholmen, Sweden www.heidenhain.se

SG HEIDENHAIN PACIFIC PTE LTD.

Singapore 408593 www.heidenhain.com.sg

SK KOPRETINA s.r.o.

91101 Trencin, Slovakia www.kopretina.sk

NAVO d.o.o.

2000 Maribor, Slovenia www.heidenhain-hubl.si

TH HEIDENHAIN (THAILAND) LTD

Bangkok 10250, Thailand www.heidenhain.co.th

TR T&M Mühendislik San. ve Tic. LTD. S¸TI

·

.

34728 Ümraniye-Istanbul, Turkey www.heidenhain.com.tr

TW HEIDENHAIN Co., Ltd.

Taichung 40768, Taiwan R.O.C.

www.heidenhain.com.tw

UA Gertner Service GmbH Büro Kiev

01133 Kiev, Ukraine www.gertnergroup.com

Schaumburg, IL 60173-5337, USA www.heidenhain.com

VE Maquinaria Diekmann S.A.

Caracas, 1040-A, Venezuela


VN AMS Co. Ltd

HCM City, Vietnam


ZA MAFEMA SALES SERVICES C.C.

Midrand 1685, South Africa www.heidenhain.co.za

349 529-2B · 30 · 10/2011 · H · Printed in Germany

Heidenhain Rotary Encoders

Rotary Encoders

Contents

Selection Guide

Rotary Encoders for Standard Applications

Rotary Encoders Absolute

With Mounted Stator Coupling

For separate shaft coupling

Incremental

Selection Guide

Rotary Encoders for Motors

Rotary Encoders Absolute

With Integral Bearing and Mounted Stator Coupling

Without Integral Bearing

Incremental

Selection Guide

Rotary Encoders for Special Applications

Rotary Encoders Absolute

For Drive Control in Elevators

For Potentially Explosive Atmospheres in zones 1, 2, 21 and 22

Electronic handwheel

Incremental

Measuring Principles

Measuring Standard Measuring Methods

Accuracy

Scanning Methods

Mechanical Design Types and Mounting

Rotary Encoders with Stator Coupling

Rotary Encoders for Separate Shaft Coupling

Rotary encoders with synchro fl ange

Rotary encoders with clamping fl ange

Shaft Couplings

Safety-Related Position Measuring Systems

General Mechanical Information

ECN/ERN 100 Series

†

†

ECN/EQN/ERN 400 Series

ECN/EQN/ERN 400 Series

ECN/EQN/ERN 1000 Series

ROC/ROQ/ROD 400 and RIC/RIQ 400 Series

With Synchro Flange

ROC/ROQ/ROD 400 and RIC/RIQ 400 Series

With Clamping Flange

ROC, ROQ, ROD 1000 Series

HR 1120

Á

Interfaces

Incremental Signals » 1 V

Input Circuitry of the Subsequent Electronics

Pin Layout

Interfaces

Incremental Signals « TTL

Input Circuitry of the Subsequent Electronics

ERN, ROD Pin Layout

HR Pin Layout

Interfaces

Incremental Signals « HTL

Input Circuitry of Subsequent Electronics

HTL

HTLs

Pin Layout

Interfaces

Absolute Position Values

Input Circuitry of Subsequent

Electronics

Pin Layout

Interface

PROFIBUS-DP Absolute Position Values

Pin Layout

Interface

Absolute Position Values PROFINET IO

Pin Layout

Interfaces

SSI Absolute Position Values

Input Circuitry of the

Subsequent Electronics

Pin Layout

Cables and Connecting Elements

General Information