Linear Encoders for Numerically Controlled Machine Tools

Transcription

1 Linear Encoers for Numerically Controlle Machine Tools September 2005

2 Further information is available on the Internet at as well as upon request. Prouct brochures: Expose Linear Encoers Angle Encoers Rotary Encoers HEIDENHAIN subsequent electronics HEIDENHAIN controls Measuring Systems for Machine Tool Inspection an Acceptance Testing Technical Information brochures: Accuracy of Fee Axes Seale Linear Encoers with Single-Fiel Scanning EnDat 2.2 Biirectional Interface for Position Encoers Encoers for Direct Drives 2 This catalog supersees all previous eitions, which thereby become invali. The basis for orering from HEIDENHAIN is always the catalog eition vali when the contract is mae. Stanars (ISO, EN, etc.) apply only where explicitly state in the catalog. DIADUR an AURODUR are registere traemars of DR. JOHANNES HEIDENHAIN GmbH, Traunreut.

3 Content Overview Linear Encoers 4 Selection Guie 6 Technical Features an Mounting Information Measuring Principles Measuring stanar 8 Absolute measuring metho 8 Incremental measuring metho 9 Photoelectric scanning 10 Measuring Accuracy 12 Mounting an Mechanical Design Types 14 General Mechanical Information 17 Specifications Recommene measuring Linear encoer step for positioning Series or Moel For absolute position measurement to 0.1 µm LC 400 Series 18 LC 100 Series 20 For incremental linear measurement with very high repeatability to 0.1 µm LF LF For incremental linear measurement to 0.5 µm LS LS For incremental linear measurement for large measuring lengths to 0.1 µm LB 382 Single-Section 30 LB 382 Multi-Section 32 Electrical Connection Incremental Signals»1 V PP 34 Absolute Position Values EnDat 36 Fanuc an Mitsubishi 43 Connecting Elements an Cables 44 General Electrical Information 48 Evaluation Electronics 50 HEIDENHAIN Measuring Equipment 51

4 Linear Encoers for NC-Controlle Machine Tools Linear encoers from HEIDENHAIN for NC-controlle machine tools can be use nearly everywhere. They are ieal for machines an other equipment whose fee axes are in a close loop, such as milling machines, machining centers, boring machines, lathes an grining machines. The beneficial ynamic behavior of the linear encoers, their highly reliable traversing spee, an their acceleration in the irection of measurement preestine them for use on highly-ynamic conventional axes as well as on irect rives. HEIDENHAIN also supplies linear encoers for other applications, such as Manual machine tools Presses an bening machines Automation an prouction equipment Please request further ocumentation, or inform yourself on the Internet at Avantages of linear encoers Linear encoers measure the position of linear axes without aitional mechanical transfer elements. The control loop for position control with a linear encoer also inclues the entire fee mechanics. Transfer errors from the mechanics can be etecte by the linear encoer on the slie, an correcte by the control electronics. This can eliminate a number of potential error sources: Positioning error ue to thermal behavior of the recirculating ball screw Baclash Kinematic error through ball-screw pitch error Linear encoers are therefore inispensable for machines that must fulfill high requirements for positioning accuracy an machining spee. Mechanical esign The linear encoers for NC-controlle machine tools are seale encoers: An aluminum housing protects the scale, scanning carriage an its guieway from chips, ust, an fluis. Downwar-oriente elastic lips seal the housing. The scanning carriage travels in a lowfriction guie within the scale unit. A coupling connects the scanning carriage with the mounting bloc an compensates the misalignment between the scale an the machine guieways. Depening on the encoer moel, lateral an axial offsets of ± 0.2 to ± 0.3 mm between the scale an mounting bloc are permissible. 4

5 Thermal behavior The combination of increasingly rapi machining processes with completely enclose machines leas to ever-increasing temperatures within the machine s wor envelope. Therefore, the thermal behavior of the linear encoers use becomes increasingly important, since it is an essential criterion for the woring accuracy of the machine. As a general rule, the thermal behavior of the linear encoer shoul match that of the worpiece or measure object. During temperature changes, the linear encoer must expan or retract in a efine, reproucible manner. Linear encoers from HEIDENHAIN are esigne for this. The grauation carriers of HEIDENHAIN linear encoers have efine coefficients of thermal expansion (see Specifications). This maes it possible to select the linear encoer whose thermal behavior is best suite to the application. Dynamic behavior The constant increases in efficiency an performance of machine tools necessitate ever-higher fee rates an accelerations, while at the same time the high level of machining accuracy must be maintaine. In orer to transfer rapi an yet exact fee motions, very high emans are place on rigi machine esign as well as on the linear encoers use. Linear encoers from HEIDENHAIN are characterize by their high rigiity in the measuring irection. This is a very important prerequisite for high-quality path accuracies on a machine tool. In aition, the low mass of components move contributes to their excellent ynamic behavior. Availability The fee axes of machine tools travel quite large istances a typical value is m in three years. Therefore, robust encoers with goo long-term stability are especially important: They ensure the constant availability of the machine. Due to the etails of their esign, linear encoers from HEIDENHAIN function properly even after years of operation. The contact-free principle of photoelectrically scanning the measuring stanar, as well as the ball-bearing guiance of the scanning carriage in the scale housing ensure a long lifetime. This encapsulation, the special scanning principles an, if neee, the introuction of compresse air, mae the linear encoers very resistant to contamination. The complete shieling concept ensures a high egree of electrical noise immunity. Overview Scanning carriage DIADUR scale Light source Photocells Sealing lips Mounting bloc Schematic esign of the LC 183 seale linear encoer 5

6 Selection Guie Linear encoers with slimline scale housing Cross section Measuring step 1) Accuracy grae Measuring length The linear encoers with slimline scale housing are esigne for limite installation space. Larger measuring lengths an higher acceleration loas are mae possible by using mounting spars or clamping elements. Absolute linear measurement Glass scale To 0.1 µm ± 5 µm ± 3 µm 70 mm to 1240 mm With mounting spar or clamping elements: 70 mm to 2040 mm Incremental linear measurement with very high repeatability Steel scale Small signal perio To 0.1 µm ± 3 µm ± 2 µm 50 mm to 1220 mm Incremental linear measurement Glass scale To 0.5 µm ± 5 µm ± 3 µm 70 mm to 1240 mm With mounting spar: 70 mm to 2040 mm Linear encoers with full-size scale housing The linear encoers with full-size scale housing are characterize by their stury construction, high resistance to vibration an large measuring lengths. The scanning carriage is connecte with the mounting bloc over an oblique blae that permits mounting both in upright an reclining positions with the same protection rating. Absolute linear measurement Glass scale Incremental linear measurement with very high repeatability Steel scale Small signal perio To 0.1 µm ± 5 µm ± 3 µm To 0.1 µm ± 3 µm ± 2 µm 140 mm to 4240 mm 140 mm to 3040 mm Incremental linear measurement Glass scale To 0.5 µm ± 5 µm ± 3 µm 140 mm to 3040 mm Incremental linear measurement for large measuring lengths Steel scale tape To 0.1 µm ± 5 µm 440 mm to mm 1) Recommene for position measurement 2) Available in

7 Scanning Principle Incremental signals Signal perio Absolute position values Moel Page Single-fiel scanning» 1 V PP ; 20 µm EnDat 2.2 LC 483 2) 18 Fanuc 02 LC 493F 2) Mitsubishi LC 493M 2) Single-fiel scanning» 1 V PP ; 4 µm LF LC 483 Single-fiel scanning» 1 V PP ; 20 µm LS 487 2) 26 Single-fiel scanning Single-fiel scanning» 1 V PP ; 20 µm EnDat 2.2 LC 183 2) 20 Fanuc 02 LC 193F 2) Mitsubishi LC 193M 2)» 1 V PP ; 4 µm LF LS 487 Single-fiel scanning» 1 V PP ; 20 µm LS 187 2) 28 LC 183 Single-fiel scanning» 1 V PP ; 20 µm LB LF 183 LB 382 7

8 Measuring Principles Measuring Stanar Absolute Measuring Metho HEIDENHAIN encoers with optical scanning incorporate measuring stanars of perioic structures nown as grauations. These grauations are applie to a carrier substrate of glass or steel. The scale substrate for large measuring lengths is a steel tape. These precision grauations are manufacture in various photolithographic processes. Grauations can be fabricate from: extremely har chromium lines on glass, matte-etche lines on gol-plate steel tape, or three-imensional gri structures on glass or steel substrates. With the absolute measuring metho, the position value is available from the encoer immeiately upon switch-on an can be calle at any time by the subsequent electronics. There is no nee to move the axes to fin the reference position. The absolute position information is rea from the scale grauation, which is forme from a serial absolute coe structure. A separate incremental trac is interpolate for the position value an at the same time is use to generate an optional incremental signal. The photolithographic manufacturing processes evelope by HEIDENHAIN prouce grating perios of typically 40 µm to 4 µm. Along with these very fine grating perios, these processes permit a high efinition an homogeneity of the line eges. Together with the photoelectric scanning metho, this high ege efinition is a preconition for the high quality of the output signals. The master grauations are manufacture by HEIDENHAIN on custom-built highprecision ruling machines. Grauation of an absolute linear encoer 8 Schematic representation of an absolute coe structure with an aitional incremental trac (LC 483 as example)

9 Incremental Measuring Metho With the incremental measuring metho, the grauation consists of a perioic grating structure. The position information is obtaine by counting the iniviual increments (measuring steps) from some point of origin. Since an absolute reference is require to ascertain positions, the scales or scale tapes are provie with an aitional trac that bears a reference mar. The absolute position on the scale, establishe by the reference mar, is gate with exactly one measuring step. The reference mar must therefore be scanne to establish an absolute reference or to fin the last selecte atum. In some cases this may necessitate machine movement over large lengths of the measuring range. To spee an simplify such reference runs, many encoers feature istance-coe reference mars multiple reference mars that are iniviually space accoring to a mathematical algorithm. The subsequent electronics fin the absolute reference after traversing two successive reference mars only a few millimeters traverse (see table). Encoers with istance-coe reference mars are ientifie with a C after the moel esignation (e.g. LS 487C). With istance-coe reference mars, the absolute reference is calculate by counting the signal perios between two reference mars an using the following formula: P 1 = (abs B sgn B 1) x N + (sgn B sgn D) x abs M RR 2 2 where: B = 2 x M RR N Technical Features an Mounting Information an: P 1 = Position of the first traverse reference mar in signal perios abs = Absolute value sgn = Sign function ( +1 or 1 ) M RR = Number of signal perios between the traverse reference mars N = Nominal increment between two fixe reference mars in signal perios (see table) D = Direction of traverse (+1 or 1). Traverse of scanning unit to the right (when properly installe) equals +1. Grauation of an incremental linear encoer Signal perio Nominal increment N in signal perios Maximum traverse LF 4 µm mm LS 20 µm mm LB 40 µm mm Schematic representation of an incremental grauation with istance-coe reference mars (LS as example) 9

10 Photoelectric Scanning Most HEIDENHAIN encoers operate using the principle of photoelectric scanning. The photoelectric scanning of a measuring stanar is contact-free, an therefore without wear. This metho etects even very fine lines, no more than a few microns wie, an generates output signals with very small signal perios. The finer the grating perio of a measuring stanar is, the greater the effect of iffraction on photoelectric scanning. HEIDENHAIN uses two scanning principles with linear encoers: The imaging scanning principle for grating perios from 20 µm an 40 µm. The interferential scanning principle for very fine grauations with grating perios of 8 µm an smaller. Imaging scanning principle To put it simply, the imaging scanning principle functions by means of projectelight signal generation: two scale gratings with equal or similar grating perios are move relative to each other the scale an the scanning reticle. The carrier material of the scanning reticle is transparent, whereas the grauation on the measuring stanar may be applie to a transparent or reflective surface. When parallel light passes through a grating, light an ar surfaces are projecte at a certain istance, where there is an inex grating. When the two gratings move relative to each other, the incient light is moulate. If the gaps in the gratings are aligne, light passes through. If the lines of one grating coincie with the gaps of the other, no light passes through. An array of photovoltaic cells converts these variations in light intensity into electrical signals. The specially structure grating of the scanning reticle filters the light current to generate nearly sinusoial output signals. The smaller the perio of the grating structure is, the closer an more tightly tolerance the gap must be between the scanning reticle an scale. The LC, LS an LB linear encoers operate accoring to the imaging scanning principle. Imaging scanning principle LED light source Conenser lens Measuring stanar Scanning reticle Photovoltaic cell array 10

11 Interferential scanning principle The interferential scanning principle exploits the iffraction an interference of light on a fine grauation to prouce signals use to measure isplacement. A step grating is use as the measuring stanar: reflective lines 0.2 µm high are applie to a flat, reflective surface. In front of that is the scanning reticle a transparent phase grating with the same grating perio as the scale. When a light wave passes through the scanning reticle, it is iffracte into three partial waves of the orers 1, 0, an +1, with approximately equal luminous intensity. The waves are iffracte by the scale such that most of the luminous intensity is foun in the reflecte iffraction orers +1 an 1. These partial waves meet again at the phase grating of the scanning reticle where they are iffracte again an interfere. This prouces essentially three waves that leave the scanning reticle at ifferent angles. Photovoltaic cells convert this alternating light intensity into electrical signals. A relative motion of the scanning reticle to the scale causes the iffracte wave fronts to unergo a phase shift: when the grating moves by one perio, the wave front of the first orer is isplace by one wavelength in the positive irection, an the wavelength of iffraction orer 1 is isplace by one wavelength in the negative irection. Since the two waves interfere with each other when exiting the grating, the waves are shifte relative to each other by two wavelengths. This results in two signal perios from the relative motion of just one grating perio. Interferential encoers function with grating perios of, for example, 8 µm, 4 µm an finer. Their scanning signals are largely free of harmonics an can be highly interpolate. These encoers are therefore especially suite for high resolution an high accuracy. Seale linear encoers that operate accoring to the interferential scanning principle are given the esignation LF. Interferential scanning principle (optics schematics) C Grating perio ψ Phase shift of the light wave when passing through the scanning reticle Phase shift of the light wave ue to motion X of the scale Photocells LED light source Conenser lens Scanning reticle Measuring stanar 11

12 Measuring Accuracy The accuracy of linear measurement is mainly etermine by: The quality of the grauation The quality of the scanning process The quality of the signal processing electronics The error from the scanning unit guieway to the scale A istinction is mae between position errors over relatively large paths of traverse for example the entire measuring length an those within one signal perio. Position error over the measuring range The accuracy of seale linear encoers is specifie in graes, which are efine as follows: The extreme values ±F of the measuring curves over any max. one-meter section of the measuring length lie within the accuracy grae ±a. They are ascertaine uring the final inspection, an are inicate on the calibration chart. Position error Position error a over the measuring length ML Position error within one signal perio With seale linear encoers, these values apply to the complete encoer system incluing the scanning unit. It is then referre to as the system accuracy. 0 Position ML Position error within one signal perio The position error within one signal perio is etermine by the signal perio of the encoer, as well as the quality of the grauation an the scanning thereof. At any measuring position, it oes not excee ±2% of the signal perio, an for the LC absolute linear encoers it is typically ±1%. The smaller the signal perio, the smaller the position error within one signal perio. Position error Position error u within one signal perio Signal perio of scanning signals Max. position error u within one signal perio LF ± 4 µm Approx µm LC ± 20 µm Approx. 0.2 µm Signal level Signal perio 360 elec. LS ± 20 µm Approx. 0.4 µm LB ± 40 µm Approx. 0.8 µm 12

13 All HEIDENHAIN linear encoers are inspecte before shipping for positioning accuracy an proper function. The position errors are measure by traversing in both irections, an the average curve is shown in the calibration chart. The Manufacturer s Inspection Certificate confirms the specifie system accuracy of each encoer. The calibration stanars ensure the traceability as require by ISO 9001 to recognize national or international stanars. For the LC, LF an LS series liste in this brochure, a calibration chart ocuments the position error over the measuring length, an also states the measuring step an measuring uncertainty of the calibration. Temperature range The linear encoers are inspecte at a reference temperature of 20 C. The system accuracy given in the calibration chart applies at this temperature. The operating temperature range inicates the ambient temperature limits between which the linear encoers will function properly. The storage temperature range of 20 C to 70 C applies for the evice in its pacaging. Example 13

14 Mechanical Design Types an Mounting Guielines Linear Encoers with Small Cross Section The LC, LF an LS slimline linear encoers shoul be fastene to a machine surface over their entire length, especially for highly-ynamic requirements. Larger measuring lengths an higher vibration loas are mae possible by using mounting spars or clamping elements (only for LC 4x3). The encoer is mounte so that the sealing lips are irecte ownwar or away from splashing water (also see General Mechanical Information). Thermal behavior Because they are rigily fastene using two M8 screws, the linear encoers largely aapt themselves to the mounting surface. When fastene over the mounting spar, the encoer is fixe at its mipoint to the mounting surface. The flexible fastening elements ensure reproucible thermal behavior. The LF 481 with its grauation carrier of steel has the same coefficient of thermal expansion as a mounting surface of gray cast iron or steel. 1±0.3 // 0.2 F Mounting It is surprisingly simple to mount the seale linear encoers from HEIDENHAIN: You nee only align the scale unit at several points along the machine guieway. Stop surfaces or stop pins can also be use to align the scale. Use the mounting gauge to set the gap between the scale unit an the scanning unit easily an exactly. Ensure that the lateral tolerances are also maintaine. Shipping brace Accessories: Mounting gauge I. Nr mm Mounting with clamping elements The scale housing of the LC 4x3 is fastene at both ens. In aition, it can also be attache to the mounting surface at every 400 mm by clamping elements. This maes it very easy to fasten the housing at the center of the measuring length (recommene for highly-ynamic applications with measuring lengths greater than 640 mm). This also eliminates the nee of a mounting spar for measuring lengths greater than 1240 mm. Accessories: Clamping elements I. Nr xx 14

15 Installation with mounting spar The use of a mounting spar can be of great benefit when mounting slimline linear encoers. They can be fastene as part of the machine assembly process, so that later the encoer can be easily clampe as a final step. Easy exchange also facilitates servicing. Mounting spar The universal mounting spar was evelope specifically for the LC 4x3 an the LS 4x7 with single-fiel scanning 1). It offers the following avantages: Rapi mounting The components necessary for clamping are premounte. This simplifies mounting, saves time an improves the reliability. Freely selectable cable exit The LC 4x3 an the LS 4x7 with singlefiel scanning 1) can be mounte with either sie facing the universal mounting spar. This permits the cable exit to be locate on the left or right a very important feature if installation space is limite. Mechanically compatible versions Both the universal mounting spar an the LC 4x3 an the LS 4x7 with singlefiel scanning 1) are absolutely compatible mechanically to the previous versions. Any combinations are possible, such as the LS 4x6 with the universal mounting spar, or the LC 4x3 with the previous mounting spar. Of course only the combination of the LC 4x3 or the LS 4x7 with single-fiel scanning 1) un the universal mounting spar permit selection of mounting with the cable exit at left or right. The universal mounting spar must be orere separately, even for measuring lengths over 1240 mm. 1) I. Nr x-xx; available in

16 Linear Encoers with Large Cross Section The LB, LC, LF an LS full-size linear encoers are fastene over their entire length onto a machine surface. This gives them a high vibration rating. The incline arrangement of the sealing lips permits universal mounting with vertical or horizontal scale housing with equally high protection rating. Thermal behavior The thermal behavior of the LB, LC, LF an LS 100 linear encoers with large cross section has been optimize. On the LF the steel scale is cemente to a steel carrier that is fastene irectly to the machine element. On the LB the steel scale tape is clampe irectly onto the machine element. The LB therefore taes part in all thermal changes of the mounting surface. // 0.2 F The LC an LS are fixe to the mounting surface at their mipoint. The flexible fastening elements permit reproucible thermal behavior. Mounting When mounting seale linear encoers from HEIDENHAIN, the shipping brace alreay sets the proper gap between the scale unit an the scanning unit. You nee only align the scale unit at several points along the machine guieway. Stop surfaces or stop pins can also be use for this. Shipping brace Mounting the multi-section LB 382 The LB 382 with measuring lengths over 3240 mm is mounte on the machine in iniviual sections: Mount an align the iniviual housing sections Pull in the scale tape over the entire length an tension it Pull in the sealing lips Insert the scanning unit Ajustment of the tensioning of the scale tape enables linear machine error compensation up to ± 100 µm/m. 16

17 General Mechanical Information Mounting To simplify cable routing, the mounting bloc of the scanning unit is usually screwe onto a stationary machine part. The mounting location for the linear encoers shoul be carefully consiere in orer to ensure both optimum accuracy an the longest possible service life. The encoer shoul be mounte as closely as possible to the woring plane to eep the Abbe error low. To function properly, linear encoers must not be continuously subjecte to strong vibration; the more soli parts of the machine tool provie the best mounting surface in this respect. Encoers shoul not be mounte on hollow parts or with aapters. A mounting spar is recommene for the seale linear encoers with small cross section. The linear encoers shoul be mounte away from sources of heat to avoi temperature influences. Acceleration Linear encoers are subject to various types of acceleration uring operation an mounting. The inicate maximum values for vibration apply for frequencies of 55 to 2000 Hz (IEC ). Any acceleration exceeing permissible values, for example ue to resonance epening on the application an mounting, might amage the encoer. Comprehensive tests of the entire system are require. The maximum permissible acceleration values (semi-sinusoial shoc) for shoc an impact are vali for 11 ms (IEC ).Uner no circumstances shoul a hammer or similar implement be use to ajust or position the encoer. Require moving force The require moving force is the maximum force require to move the scale unit relative to the scanning unit. Expenable parts In particular the following parts in encoers from HEIDENHAIN are subject to wear: LED light source Bearings Sealing lips Protection Seale linear encoers fulfill the requirements for IP 53 protection accoring to IEC 60529, provie that they are mounte with the sealing lips facing away from splash water. If necessary, provie a separate protective cover. If the encoer is expose to particularly heavy concentrations of coolant an mist, compresse air can be conucte into the scale housing to provie IP 64 protection to more effectively prevent the ingress of contamination. The LB, LC, LF an LS seale linear encoers from HEIDENHAIN are therefore equippe with inlets at both en pieces an on the mounting bloc of the scanning unit. The compresse air introuce irectly onto the encoers must be cleane by a microfilter an must comply with the following quality classes as per ISO : Soli contaminant: Class 1 (max. particle size 0.1 µm an max. particle ensity 0.1 mg/m 3 at Pa) Total oil content: Class 1 (max. oil concentration 0.01 mg/m 3 at Pa) Maximum pressure ew point: Class 4 (+3 C at Pa) DA 300 Compresse Air Unit The require air flow is 7 to 10 l/min per linear encoer; permissible pressure is in the range of 0.6 to 1 bar (9 to 14 psi). The compresse air flows through connecting pieces with integrate throttle (inclue with LB, LC, LF, LS 1x6, an LS 4x6 linear encoers). HEIDENHAIN offers the DA 300 Compresse Air Unit for purifying an conitioning compresse air. It consists of two filter stages (fine filter an activate carbon filter), automatic conensation trap, an a pressure regulator with pressure gauge. It also inclues 25 meters of pressure tubing as well as T-joints an connecting pieces for four encoers. The DA 300 can supply air for up to 10 encoers with a maximum total measuring length of 35 meters. At an operating pressure of 7 bars, the compresse air conucte to the encoer by far excees the require purity. Its pressure gauge an automatic pressure switch (available as accessories) effectively monitor the DA

18 LC 400 Series Absolute linear encoers for measuring steps to 0.1 µm (resolution to µm) High positioning accuracy an traversing spee through single-fiel scanning For limite installation space Ô 18± ± F 5 M8 x 25 DIN ML (ML + 115) ± ± s 110±5 P1 ML F 16.5±0.5 ML P F P1... P2 M5 0± ± Õ (m x 200) ±0.5 (ML/2 + 15) ±0.5 (m x 200) ±0.5 (ML/2 + 15) ±0.5 1x45 (ML/ ) ±0.5 ML s 0±0.5 ML F ±0.2 1± Dimensions in mm Tolerancing ISO 8015 ISO m H < 6 mm: ±0.2 mm Ô = Without mounting spar Õ = With mounting spar F = Machine guieway P = Gauging points for alignment = Require mating imensions = Compresse air inlet s = Beginning of measuring length (ML) (at 20 mm) = Direction of scanning unit motion for output signals in accorance with interface escription Mounting spar ML m

19 LC 483 without mounting spar LC 483 with mounting spar Specifications LC 483 1) LC 493F 1) LC 493M 1) Measuring stanar Expansion coefficient DIADUR glass scale with absolute trac an incremental trac Þ therm approx. 8 x 10 6 K 1, with mounting spar: Þ therm approx. 9 x 10 6 K 1 Accuracy grae* ± 3 µm, ± 5 µm Measuring length ML* in mm Mounting spar* or clamping elements* optional Only with mounting spar* or clamping elements* Absolute position values EnDat 2.2 Serial interface Fanuc 02 Mitsubishi high-spee serial interface Resolution Accuracy ± 3 µm Accuracy ± 5 µm Calculation time tcal EnDat 2.1 comman set EnDat 2.2 comman set µm 0.01 µm < 1 ms 5 µs 0.01 µm 0.05 µm Specifications Incremental signals» 1 V PP 2) Grating perio/signal perio 20 µm Cutoff frequency 3B 150 Hz Power supply without loa Electrical connection 3.6 to 5.25 V/< 300 ma Separate aapter cable (1 m/3 m/6 m/9 m) connectable to mounting bloc Cable length 3) Traversing spee Require moving force 150 m; epening on the interface an subsequent electronics 180 m/min 5 N 30 m 20 m Vibration 55 to 2000 Hz Shoc 11 ms Acceleration Without mounting spar: 100 m/s 2 (IEC ) With mounting spar an cable exit right/left: 200 m/s 2 /100 m/s 2 (IEC ) 300 m/s 2 (IEC ) 100 m/s 2 in measuring irection Operating temperature 0 to 50 C Protection IEC Weight IP 53 when installe accoring to mounting instructions IP 64 with use of compresse air from DA 300 Encoer: 0.2 g g/m measuring length, mounting spar: 0.9 g/m * Please select when orering 1) Available in Specifications preliminary. 2) Depens on aapter cable 3) With HEIDENHAIN cable 19

20 LC 100 Series Absolute linear encoers for measuring steps to 0.1 µm (resolution to µm) High positioning accuracy an traversing spee through single-fiel scanning High vibration rating Horizontal mounting possible F F 7 76±0.2 M5 a 37 ML P1 P3 P5 P4 a a a a P2 0.2 F 35 (ML/2 + 65) ±0.2 (ML/2 + 30) ± ±0.2 (n x 100) ± A ±1 s ML 0.2 F ±0.2 7 P1...P ± A x ISO HV (ISO HV) ISO M6 x (ISO M5 x ) 1.5±0.3 7 SW ISO M ± ISO M6 x ±0.3 37±0.3 2±0.3 M5 7±0.2 25±0.2 Dimensions in mm Tolerancing ISO 8015 ISO m H < 6 mm: ±0.2 mm Ô, Õ, Ö = Mounting options F = Machine guieway P = Gauging points for alignment = Require mating imensions = Compresse air inlet s = Beginning of measuring length (ML) (at 20 mm) z = Not require if (ML/2 + 30)/100 is an integer = Direction of scanning unit motion for output signals in accorance with interface escription 20

21 Specifications LC 183 1) LC 193F 1) LC 193M 1) Measuring stanar Expansion coefficient DIADUR glass scale with absolute trac an incremental trac Þ therm approx. 8 x 10 6 K 1 Accuracy grae* ± 3 µm (up to measuring length 3240), ± 5 µm Measuring length ML* in mm Absolute position values EnDat 2.2 Serial interface Fanuc 02 Mitsubishi high-spee serial interface Resolution Accuracy ± 3 µm Accuracy ± 5 µm µm 0.01 µm 0.01 µm 0.05 µm Calculation time t cal EnDat 2.1 comman set EnDat 2.2 comman set < 1 ms 5 µs Incremental signals» 1 V PP 2) Grating perio/signal perio 20 µm Cutoff frequency 3B 150 Hz Power supply without loa Electrical connection 3.6 to 5.25 V/< 300 ma Separate aapter cable (1 m/3 m/6 m/9 m) connectable to either sie of mounting bloc Cable length 3) 150 m; epening on the interface an subsequent electronics 30 m 20 m Traversing spee Require moving force Vibration 55 to 2000 Hz Shoc 11 ms Acceleration 180 m/min, starting from measuring length 3240: 120 m/min 4 N 200 m/s 2 (IEC ) 300 m/s 2 (IEC ) 100 m/s 2 in measuring irection Operating temperature 0 to 50 C Protection IEC Weight IP 53 when installe accoring to mounting instructions IP 64 with use of compresse air from DA g g/m measuring length * Please select when orering 1) Available in Specifications preliminary. 2) Depens on aapter cable 3) With HEIDENHAIN cable 21

22 LF 481 Incremental linear encoer for measuring steps to 0.1 µm High positioning accuracy through single-fiel scanning Thermal behavior similar to steel or cast iron For limite installation space Ô ± F M M8 x 25 ML (ML+135) ±0.4 P 1... P ±5 ML 20/ 70 4 P 1'... P 2' P F P 2 15 P 1' P 2' M ±0.5 31±2 s 5 Z ML r Zi r F 0± ± c Õ (m x 200) ±0.5 (m x 200) ±0.5 (ML/2 +25) ±0.5 (ML/2 +25) ±0.5 1x (ML/ ) 11.9 ML M3 x 5 ISO 4762 M4 x 8 M5 x s 14.5±0.5 ML F ± ± Dimensions in mm Tolerancing ISO 8015 ISO m H < 6 mm: ±0.2 mm 22 Ô = Without mounting spar Õ = With mounting spar F = Machine guieway P = Gauging points for alignment = Require mating imensions = Compresse air inlet r = Reference mar position on LF reference mars for measuring lengths z = 25 zi = ML 50 z = 35 zi = ML 70 c = Reference mar position on LF 481C s = Beginning of measuring length (ML) = Direction of scanning unit motion for output signals in accorance with interface escription 0.05 Mounting spar ML m

23 LF 481 without mounting spar LF 481 with mounting spar Specifications LF 481 Measuring stanar Expansion coefficient DIADUR phase grating on steel Þ therm approx. 10 x 10 6 K 1, with mounting spar: Þ therm ca. 9 x 10 6 K 1 Accuracy grae* ± 3 µm, ± 5 µm Measuring length ML* in mm Incremental signals Grating perio Signal perio Reference mars* LF 481 LF 481C Mounting spar* recommene »1 V PP 8 µm 4 µm ML 50 mm: 1 reference mar at mipoint ML 100 to 1000 mm: 2, locate 25 mm from the beginning an en of the measuring length From ML 1120 mm: 2, locate 35 mm from the beginning an en of the measuring length Distance-coe Cutoff frequency 3B 200 Hz Power supply without loa Electrical connection Cable length 1) Traversing spee Require moving force Vibration 55 to 2000 Hz Shoc 11 ms Acceleration 5 V ± 5 %/< 200 ma Separate aapter cable (1 m/3 m/6 m/9 m) connectable to mounting bloc 150 m 30 m/min 5 N 80 m/s 2 (IEC ) 100 m/s 2 (IEC ) 30 m/s 2 in measuring irection Operating temperature 0 to 50 C Protection IEC IP 53 when installe accoring to mounting instructions IP 64 with use of compresse air from DA 300 Weight without mounting spar 0.4 g g/m measuring length * Please select when orering 1) With HEIDENHAIN cable 23

24 LF 183 Incremental linear encoer for measuring steps to 0.1 µm High positioning accuracy through single-fiel scanning Thermal behavior similar to steel or cast iron High vibration rating Horizontal mounting possible ML F ± M5 70 P 1 P 3 P 4 P 2 (n x 100) ± ±0.2 A 0.1 F 62.5 B 28.5±2 s 5 ML/2 ML r 0.2 F ±0.2 A c A-A 18.2 M5 x 20 62± ± M5 x 20 62± ± M5 x 20 79± ± P 1...P B 8 M6 x 35 2±0.2 M6 DIN ±0.2 M6 2±0.2 M SW ±0.2 25±0.2 Dimensions in mm Tolerancing ISO 8015 ISO m H < 6 mm: ±0.2 mm Ô, Õ, Ö = Mounting options F = Machine guieway P = Gauging points for alignment = Require mating imensions = Compresse air inlet r = Reference mar position on LF 183 c = Reference mar position on LF 183C s = Beginning of measuring length (ML) = Direction of scanning unit motion for output signals in accorance with interface escription 24

25 Specifications LF 183 Measuring stanar Expansion coefficient DIADUR phase grating on steel Þ therm approx. 10 x 10 6 K 1 Accuracy grae* ± 3 µm, ± 2 µm Measuring length ML* in mm Incremental signals Grating perio Signal perio Reference mars* LF 183 LF 183C»1 V PP 8 µm 4 µm Selectable with magnets every 50 mm Stanar setting: 1 reference mar in the center Distance-coe Cutoff frequency 3B 200 Hz Power supply without loa Electrical connection Cable length 1) Traversing spee Require moving force Vibration 55 to 2000 Hz Shoc 11 ms Acceleration 5 V ± 5 %/< 200 ma Separate aapter cable (1 m/3 m/6 m/9 m) connectable to mounting bloc 150 m 60 m/min 4 N 150 m/s 2 (IEC ) 300 m/s 2 (IEC ) 100 m/s 2 in measuring irection Operating temperature 0 to 40 C Protection IEC Weight IP 53 when installe accoring to mounting instructions IP 64 with use of compresse air from DA g g/m measuring length * Please select when orering 1) With HEIDENHAIN cable 25

26 LS 487 Incremental linear encoer for measuring steps to 0.5 µm For limite installation space With single-fiel scanning Ô 18± ± F 11.5 ML (ML + 115) ±0.4 M8 x 25 DIN ±5 ML P1... P ± ±0.5 s P1 Z ML r c Zi r F 13 0± M P F ± Õ (m x 200) ±0.5 (ML/2 + 15) ±0.5 (m x 200) ±0.5 (ML/2 + 15) ±0.5 1x45 10 (ML/ ) ±0.5 ML s 0±0.5 ML F ±0.2 1± Dimensions in mm Tolerancing ISO 8015 ISO m H < 6 mm: ±0.2 mm 26 Ô = Without mounting spar Õ = With mounting spar F = Machine guieway P = Gauging points for alignment = Require mating imensions = Compresse air inlet r = Reference mar position on LS reference mars for measuring lengths z = 35 zi = ML 70 z = 45 zi = ML 90 c = Reference mar position on LS 487C s = Beginning of measuring length (ML) = Direction of scanning unit motion for output signals in accorance with interface escription Mounting spar ML m

27 LS 487 without mounting spar LS 487 with mounting spar Specifications LS 487 1) Measuring stanar Expansion coefficient Glass scale with DIADUR grauation Þ therm approx. 8 x 10 6 K 1, with mounting spar: Þ therm approx. 9 x 10 6 K 1 Accuracy grae* ± 5 µm, ± 3 µm Measuring length ML* in mm Mounting spar* recommene Only with mounting spar* Reference mars* LS 487 Incremental signals LS 487C Selectable with magnets every 50 mm; Stanar: ML 70 mm: 1 in the center; up to ML 1020 mm: 2, each 35 mm from beginning/en of ML; from ML 1140mm: 2, each 45 mm from beginning/en of ML Distance-coe» 1 V PP Grating perio/signal perio 20 µm Cutoff frequency 3B 160 Hz Power supply without loa Electrical connection Cable length 2) Traversing spee Require moving force Vibration 55 to 2000 Hz Shoc 11 ms Acceleration 5 V ± 5 %/< 120 ma Separate aapter cable (1 m/3 m/6 m/9 m) connectable to mounting bloc 150 m 120 m/min 5 N Without mounting spar: 100 m/s 2 (IEC ) With mounting spar an cable exit right/left: 200 m/s 2 /100 m/s 2 (IEC ) 300 m/s 2 (IEC ) 100 m/s 2 in measuring irection Operating temperature 0 to 50 C Protection IEC Weight IP 53 when installe accoring to mounting instructions IP 64 with use of compresse air from DA g g/m measuring length * Please select when orering 1) I. Nr x-xx. Available in Specifications preliminary. 2) With HEIDENHAIN cable 27

28 LS 187 Incremental linear encoer for measuring steps to 0.5 µm Define thermal behavior High vibration rating Horizontal mounting possible With single-fiel scanning F F 7 76±0.2 M5 a 37 ML P1 (ML/2 + 65) ± ±0.2 P3 (n x 100) ±0.2 P4 P2 0.2 F A 19±2.7 s 5 ML/2 ML r 0.2 F ± c 7 P1...P4 62± A x ISO HV (ISO HV) ISO M6 x (ISO M5 x ) 1.5±0.3 7 SW ISO M ± ISO M6 x ±0.3 37±0.3 2±0.3 M5 7±0.2 25±0.2 Dimensions in mm Tolerancing ISO 8015 ISO m H < 6 mm: ±0.2 mm Ô, Õ, Ö = Mounting options F = Machine guieway P = Gauging points for alignment = Require mating imensions = Compresse air inlet r = Reference mar position on LS 1xx c = Reference mar position on LS 1xxC s = Beginning of measuring length (ML) = Direction of scanning unit motion for output signals in accorance with interface escription 28

29 Specifications LS 187 1) Measuring stanar Expansion coefficient Glass scale with DIADUR grauation Þ therm approx. 8 x 10 6 K 1 Accuracy grae* ± 5 µm, ± 3 µm Measuring length ML* in mm Reference mars* LS 187 LS 187 C Incremental signals Selectable with magnets every 50 mm, stanar setting: 1 reference mar in the center Distance-coe» 1 V PP Grating perio/signal perio 20 µm Cutoff frequency 3B 160 Hz Power supply without loa Electrical connection Cable length 2) Traversing spee Require moving force Vibration 55 to 2000 Hz Shoc 11 ms Acceleration 5 V ± 5 %/< 120 ma Separate aapter cable (1 m/3 m/6 m/9 m) connectable to mounting bloc 150 m 120 m/min 4 N 200 m/s 2 (IEC ) 400 m/s 2 (IEC ) 60 m/s 2 in measuring irection Operating temperature 0 to 50 C Protection IEC Weight IP 53 when installe accoring to mounting instructions IP 64 with use of compresse air from DA g g/m measuring length * Please select when orering 1) Available in Specifications preliminary. 2) With HEIDENHAIN cable 29

30 LB 382 up to 3040 mm Measuring Length (Single-Section Housing) Incremental linear encoer for measuring steps to 0.1 µm High positioning accuracy an traversing spee through single-fiel scanning Horizontal mounting possible Mirror-inverte version available ML F ± SW3 50 M5 28 A 98 (n x 200) ±0.15 (168) 80± ± F B 35 58±2 s ML/2 ML r 160 c 0.1 F A 40± M5 x 50 (55) [M6 x 50 (55)] B5.3 DIN 125 [B6.4 DIN 433] M5 x 50 (55) [M6 x 50 (55)] B5.3 DIN 125 [B6.4 DIN 433] M5 x 50 (55) [M6 x 50 (55)] B5.3 DIN 125 [B6.4 DIN 433] 62± ±0.3 62± ±0.3 79±0.3 1± M6 DIN ±0.3 M6 x ± ±0.3 15±0.3 M5 8 25±0.2 Dimensions in mm Tolerancing ISO 8015 ISO m H < 6 mm: ±0.2 mm Ô, Õ, Ö = Mounting options F = Machine guieway = Require mating imensions = Compresse air inlet r = Reference mar position on LB 382 c = Reference mar position on LB 382C s = Beginning of measuring length (ML) = Direction of scanning unit motion for output signals in accorance with interface escription 1.2x45 40 A-A 50 SW B

31 Specifications Measuring stanar Expansion coefficient LB 382 up to ML 3040 mm Stainless steel tape with AURODUR grauation Þ therm approx. 10 x 10 6 K 1 Accuracy grae* ± 5 µm Measuring length ML* in mm Reference mars* LB 382 LB 382C Incremental signals Single-section housing Selectable with selector plates every 50 mm, stanar setting: 1 reference mar in the center Distance-coe» 1 V PP Grating perio/signal perio 40 µm Cutoff frequency 3B 250 Hz Power supply without loa Electrical connection Cable length 1) Traversing spee Require moving force Vibration 55 to 2000 Hz Shoc 11 ms Acceleration 5 V ± 5 %/< 150 ma Separate aapter cable (1 m/3 m/6 m/9 m) connectable to mounting bloc 150 m 120 m/min (180 m/min on request) 15 N 300 m/s 2 (IEC ) 300 m/s 2 (IEC ) 60 m/s 2 in measuring irection Operating temperature 0 to 50 C Protection IEC Weight IP 53 when installe accoring to mounting instructions IP 64 with use of compresse air from DA g g/m measuring length * Please select when orering 1) With HEIDENHAIN cable 31

32 LB 382 up to mm Measuring Length (Multi-Section Housing) Incremental linear encoer for long measuring ranges up to 30 m Measuring steps as fine as 0.1 µm High positioning accuracy an traversing spee through single-fiel scanning Horizontal mounting possible Mirror-inverte version available ML g F ± ± SW3 50 M5 A 98 80±0.15 (n x 200) ± ± ±0.15 (168) 0.3 F B 35 58±2 s ( x 50) (= 0,1,2,...) ML r c 0.1 F ±0.2 A M5 x 50 (55) [M6 x 50 (55)] B5.3 DIN 125 [B6.4 DIN 433] M5 x 50 (55) [M6 x 50 (55)] B5.3 DIN 125 [B6.4 DIN 433] M5 x 50 (55) [M6 x 50 (55)] B5.3 DIN 125 [B6.4 DIN 433] 62± ±0.3 62± ±0.3 79±0.3 1± M6 DIN ±0.3 M6 x ± ±0.3 15±0.3 M5 8 25±0.2 Dimensions in mm Tolerancing ISO 8015 ISO m H < 6 mm: ±0.2 mm Ô, Õ, Ö = Mounting options F = Machine guieway = Require mating imensions = Compresse air inlet r = Reference mar position on LB 382 c = Reference mar position on LB 382C s = Beginning of measuring length (ML) g = Housing section lengths = Direction of scanning unit motion for output signals in accorance with interface escription 1.2x A-A 50 SW B

33 Specifications Measuring stanar Expansion coefficient LB 382 from ML 3240 mm Stainless steel tape with AURODUR grauation Same as machine main casting Accuracy grae* ± 5 µm Measuring length ML* Reference mars* LB 382 LB 382C Incremental signals Kit with single-section AURODUR steel tape an housing sections for measuring lengths from 3240 mm to mm in 200 mm steps. Housing section lengths: 1000 mm, 1200 mm, 1400 mm, 1600 mm, 1800 mm, 2000 mm Selectable with selector plates every 50 mm Distance-coe» 1 V PP Grating perio/signal perio 40 µm Cutoff frequency 3B 250 Hz Power supply without loa Electrical connection Cable length 1) Traversing spee Require moving force Vibration 55 to 2000 Hz Shoc 11 ms Acceleration 5 V ± 5 %/< 150 ma Separate aapter cable (1 m/3 m/6 m/9 m) connectable to mounting bloc 150 m 120 m/min 15 N 300 m/s 2 (IEC ) 300 m/s 2 (IEC ) 60 m/s 2 in measuring irection Operating temperature 0 to 50 C Protection IEC Weight IP 53 when installe accoring to mounting instructions IP 64 with use of compresse air from DA g g/m measuring length * Please select when orering 1) With HEIDENHAIN cable 33

34 Interfaces Incremental Signals» 1 V PP HEIDENHAIN encoers with» 1 V PP interface provie voltage signals that can be highly interpolate. The sinusoial incremental signals A an B are phase-shifte by 90 elec. an have an amplitue of typically 1 V PP. The illustrate sequence of output signals with B lagging A applies for the irection of motion shown in the imension rawing. The reference mar signal R has a usable component G of approx. 0.5 V. Next to the reference mar, the output signal can be reuce by up to 1.7 V to a quiescent value H. This must not cause the subsequent electronics to overrive. Even at the lowere signal level, signal peas with the amplitue G can also appear. The ata on signal amplitue apply when the power supply given in the specifications is connecte to the encoer. They refer to a ifferential measurement at the 120 ohm terminating resistor between the associate outputs. The signal amplitue ecreases with increasing frequency. The cutoff frequency inicates the scanning frequency at which a certain percentage of the original signal amplitue is maintaine: 3 B cutoff frequency: 70 % of the signal amplitue 6 B cutoff frequency: 50 % of the signal amplitue Interpolation/resolution/measuring step The output signals of the 1 V PP interface are usually interpolate in the subsequent electronics in orer to attain sufficiently high resolutions. For velocity control, interpolation factors are commonly over 1000 in orer to receive usable velocity information even at low spees. Measuring steps for position measurement are recommene in the specifications. For special applications, other resolutions are also possible. Interface Incremental signals Reference mar signal Connecting cable Cable lengths Propagation time Sinusoial voltage signals» 1 V PP 2 sinusoial signals A an B Signal level M: 0.6 to 1.2 V PP ; typically 1 V PP Asymmetry P N /2M: Amplitue ratio M A /M B : 0.8 to 1.25 Phase angle ϕ1 + ϕ2 /2: 90 ± 10 elec. 1 or more signal peas R Usable component G: Quiescent value H: Switching threshol E, F: Zero crossovers K, L: 0.2 to 0.85 V 0.04 V to 1.7 V 40 mv 180 ± 90 elec. HEIDENHAIN cable with shieling PUR [4(2 x 0.14 mm 2 ) + (4 x 0.5 mm 2 )] Max. 150 m istribute capacitance 90 pf/m 6 ns/m Any limite tolerances in the encoers are liste in the specifications. Signal perio 360 elec. Rate value A, B, R measure with oscilloscope in ifferential moe Short-circuit stability A temporary short circuit of one output to 0 V or 5 V oes not cause encoer failure, but it is not a permissible operating conition. Short circuit at 20 C 125 C One output < 3 min < 1 min All outputs < 20 s < 5 s Cutoff frequency Typical signal amplitue curve with respect to the scanning frequency Signal amplitue [%] 3B cutoff frequency 6B cutoff frequency Scanning frequency [Hz] 34

35 Input circuitry of the subsequent electronics Dimensioning Operational amplifier MC Z 0 = 120 R 1 = 10 an C 1 = 100 pf R 2 = 34.8 an C 2 = 10 pf U B = ±15 V U 1 approx. U 0 Incremental signals Reference mar signal R a < 100, typ. 24 C a < 50 pf ΣI a < 1 ma U 0 = 2.5 V ± 0.5 V (relative to 0 V of the power supply) Encoer Subsequent electronics 3B cutoff frequency of circuitry Approx. 450 Hz Approx. 50 Hz with C 1 = 1000 pf an C 2 = 82 pf The circuit variant for 50 Hz oes reuce the banwith of the circuit, but in oing so it improves its noise immunity. Circuit output signals U a = 3.48 V PP typical Gain 3.48 Signal monitoring A threshol sensitivity of 250 mv PP is to be provie for monitoring the 1 V PP incremental signals. Pin layout 12-pin coupling M23 12-pin connector M23 15-pin D-sub connector for IK 115/IK 215 or on encoer Power supply Incremental signals Other signals / /8/13/15 14 / Electrical Connection U P Sensor 0 V Sensor U P 0 V A+ A B+ B R+ R Vacant Vacant Vacant Brown/ Green Blue White/ Green White Brown Green Gray Pin Re Blac / Violet Yellow Shiel on housing; U P = power supply voltage Sensor: The sensor line is connecte internally with the corresponing power line 35

36 Interfaces Absolute Position Values The EnDat interface is a igital, biirectional interface for encoers. It is capable of transmitting position values from both absolute an with EnDat 2.2 incremental encoers, as well as reaing an upating information store in the encoer, or of saving new information. Thans to the serial transmission metho only four signal lines are require. The ata are transmitte in synchronism with the cloc signal from the subsequent electronics. The type of transmission (position values, parameters, iagnostics, etc.) is selecte by moe commans that the subsequent electronics sen to the encoer. Cloc frequency an cable length Without propagation-elay compensation, the cloc frequency epening on the cable length is variable between 100 Hz an 2 MHz. Interface Data transfer Data input Data output Coe Position values Incremental signals Connecting cable With incremental Without signals Cable lengths EnDat serial biirectional Absolute position values, parameters an aitional information Differential line receiver accoring to EIA stanar RS 485 for CLOCK, CLOCK, DATA an DATA signals Differential line river accoring to EIA stanar RS 485 for the DATA an DATA signals Pure binary coe Ascening in traverse irection inicate by arrow (see Dimensions)» 1 V PP (see Incremental Signals 1 V PP ) epening on unit HEIDENHAIN cable with shieling PUR [(4 x 0.14 mm 2 ) + 4(2 x 0.14 mm 2 ) + (4 x 0.5 mm 2 )] PUR [(4 x 0.14 mm 2 ) + (4 x 0.34 mm 2 )] Max. 150 m Because large cable lengths an high cloc frequencies increase the signal run time to the point that they can isturb the unambiguous assignment of ata, the elay can be measure in a test run an then compensate. With this propagation-elay compensation in the subsequent electronics, cloc frequencies up to 8 MHz at cable lengths up to a maximum of 100 m are possible. The maximum cloc frequency is mainly etermine by the cables an connecting elements use. To ensure proper function at cloc frequencies above 2 MHz, use only original HEIDENHAIN cables. Propagation time Cable length [m] Max. 10 ns; approx. 6 ns/m Cloc frequency [Hz] EnDat 2.1; EnDat 2.2 without elay compensation EnDat 2.2 with propagation-elay compensation Input circuitry of the subsequent electronics Data transfer Encoer Subsequent electronics Dimensioning IC 1 = RS 485 ifferential line receiver an river C 3 = 330 pf Z 0 = 120 Incremental signals Depens on encoer 36

37 Versions The extene EnDat interface version 2.2 is compatible in its communication, comman set an time conitions with version 2.1, but also offers significant avantages. It maes it possible, for example, to transfer aitional information with the position value without sening a separate request for it. The interface protocol was expane an the time conitions (cloc frequency, processing time, recovery time) were optimize. In aition, encoers with orering esignations EnDat 02 or EnDat 22 have an extene power supply range. Interface EnDat Comman set EnDat 2.1 or EnDat 2.2 Orering esignation Version Cloc frequency EnDat 01 With incremental signals 2 MHz EnDat 21 Without incremental signals EnDat 2.2 EnDat 02 With incremental signals 2 MHz EnDat 2.2 EnDat 22 Without incremental signals 8 MHz Both EnDat 2.1 an EnDat 2.2 are available in versions with or without incremental signals. EnDat 2.2 encoers feature a high internal resolution. Therefore, epening on the control technology being use, interrogation of the incremental signals is not necessary. To increase the resolution of EnDat 2.1 encoers, the incremental signals are evaluate in the subsequent electronics. Comman set The comman set is the sum of all available moe commans. The EnDat 2.2 comman set inclues EnDat 2.1 moe commans. When a moe comman from the EnDat 2.2 comman set is transmitte to EnDat-01 subsequent electronics, the encoer or the subsequent electronics may generate an error message. EnDat with comman set 2.2 (inclues EnDat 2.1 comman set) Position values for incremental an absolute encoers Aitional information on position value - Diagnostics an test values - Absolute position values after reference run of incremental encoers - Parameter uploa/ownloa - Commutation - Acceleration - Limit position signal - Temperature of the encoer PCB - Temperature evaluation of an external temperature sensor (e.g. in the motor wining) EnDat with comman set 2.1 Absolute position values Parameter uploa/ownloa Reset Test comman an test values Benefits of the EnDat Interface Automatic self-configuration: All information require by the subsequent electronics is alreay store in the encoer High system security through alarms an messages for monitoring an iagnosis High transmission reliability through cyclic reunancy checing Faster configuration uring installation: Datum shifting through offsetting by a value in the encoer Other benefits of EnDat 2.2 A single interface for all absolute an incremental encoers Aitional information (limit switch, temperature, acceleration) Quality improvement: Position value calculation in the encoer permits shorter sampling intervals (25 µs) Avantages of purely serial transmission specifically for EnDat 2.2 encoers Simple subsequent electronics with EnDat receiver chip Simple connection technology: Stanar connecting element (M12; 8-pin), single-shiele stanar cable an few wires Minimize transmission times through aaptation of the ata wor length to the resolution of the encoer High cloc frequencies up to 8 MHz. Position values available in the subsequent electronics after only approx. 10 µs Support for state-of-the-art machine esigns e.g. irect rive technology Functions The EnDat interface transmits absolute position values or aitional physical quantities (only EnDat 2.2) in an unambiguous time sequence an serves to rea from an write to the encoer s internal memory. Some functions are available only with EnDat 2.2 moe commans. Position values can be transmitte with or without aitional information. The aitional information types are selectable via the Memory Range Select (MRS) coe. Other functions such as parameter reaing an writing can also be calle after the memory area an aress have been selecte. Through simultaneous transmission with the position value, aitional information can also be requeste of axes in the feebac loop, an functions execute with them. Parameter reaing an writing is possible both as a separate function an in connection with the position value. Parameters can be rea or written after the memory area an aress is selecte. Reset functions serve to reset the encoer in case of malfunction. Reset is possible instea of or uring position value transmission. Servicing iagnosis maes it possible to inspect the position value even at stanstill. A test comman has the encoer transmit the require test values. You can fin more information in the Technical Information for EnDat 2.2 ocument or on the Internet at 37

38 Selecting the transmission type Transmitte ata are ientifie as either position values, position values with aitional information, or parameters. The type of information to be transmitte is selecte by moe commans. Moe commans efine the content of the transmitte information. Every moe comman consists of three bits. To ensure reliable transmission, every bit is transmitte reunantly (inverte or ouble). If the encoer etects an erroneous moe transmission, it transmits an error message. The EnDat 2.2 interface can also transfer parameter values in the aitional information together with the position value. This maes the current position values constantly available for the control loop, even uring a parameter request. Control cycles for transfer of position values The transmission cycle begins with the first falling cloc ege. The measure values are save an the position value calculate. After two cloc pulses (2T), to select the type of transmission the subsequent electronics transmit the moe comman Encoer transmit position value (with/without aitional information). After successful calculation of the absolute position value (t cal see Specifications), the start bit initiates the ata transmission from the encoer to the subsequent electronics. The subsequent error messages, error 1 an error 2 (only with EnDat 2.2 commans), are group signals for all monitore functions an serve as failure monitors. Moe commans Encoer transmit position value Selection of the memory area Encoer receive parameters Encoer transmit parameters Encoer receive reset 1) Encoer transmit test values Encoer receive test commans Encoer transmit position value with aitional information Encoer transmit position value an receive selection of memory area 2) Encoer transmit position value an receive parameters 2) Encoer transmit position value an transmit parameters 2) Encoer transmit position value an receive error reset 2) Encoer transmit position value an receive test comman 2) Encoer receive communication comman 3) 1) Same reaction as switching the power supply off an on 2) Selecte aitional information is also transmitte 3) Reserve for encoers that o not support the safety system The time absolute linear encoers nee for calculating the position values t cal iffers epening on whether EnDat 2.1 or EnDat 2.2 moe commans are transmitte (see the Specifications). If the incremental signals are evaluate for axis control, then the EnDat 2.1 moe commans shoul be use. Only in this manner can an active error message be transmitte synchronously to the currently requeste position value. EnDat 2.1 moe commans shoul not be use for pure serial position-value transfer for axis control. EnDat 2.1 EnDat 2.2 Beginning with the LSB, the encoer then transmits the absolute position value as a complete ata wor. Its length epens on the encoer being use. The number of require cloc pulses for transmission of a position value is save in the parameters of the encoer manufacturer. The ata transmission of the position value is complete with the Cyclic Reunancy Chec (CRC). In EnDat 2.2, this is followe by aitional information 1 an 2, each also conclue with a CRC. With the en of the ata wor, the cloc must be set to HIGH. After 10 to 30 µs or 1.25 to 3.75 µs (with EnDat 2.2 parameterizable recovery time t m ) the ata line falls bac to LOW. Then a new ata transmission can begin by starting the cloc. Without elay compensation With elay compensation Cloc frequency f c 100 Hz... 2 MHz 100 Hz... 8 MHz Calculation time for Position value Parameters t cal t ac See Specifications Max. 12 ms Recovery time t m EnDat 2.1: 10 to 30 µs EnDat 2.2: 10 to 30 µs or 1.25 to 3.75 µs (f c 1 MHz) (parameterizable) t R Max. 500 ns t ST 2 to 10 µs Data elay time t D ( x cable length in m) µs Pulse with t HIGH t LOW 0.2 to 10 µs 0.2 to 50 ms/30 µs (with LC) Pulse with fluctuation HIGH to LOW max. 10% 38

39 EnDat 2.2 Transfer of Position Values EnDat 2.2 can transmit position values selectably with or without aitional information. Encoer saves Position value without aitional information position value Subsequent electronics transmit moe comman t cal t m t R t ST S F1 F2 L M Moe comman Position value CRC S = start, F1 = error 1, F2 = error 2, L = LSB, M = MSB Diagram oes not epict the propagation-elay compensation Encoer saves position value Subsequent electronics transmit moe comman Data pacet with position value an aitional information 1 an 2 t cal t m t R t ST S F1 F2 L M Moe comman Position value CRC Aitional info 2 CRC Aitional info 1 CRC S = start, F1 = error 1, F2 = error 2, L = LSB, M = MSB Diagram oes not epict the propagation-elay compensation Aitional information With EnDat 2.2, one or two pieces of aitional information can be appene to the position value. Each aitional information is 30 bits long with LOW as first bit, an ens with a CRC chec. The aitional information supporte by the respective encoer is save in the encoer parameters. The content of the aitional information is etermine by the MRS coe an is transmitte in the next sampling cycle for aitional information. This information is then transmitte with every sampling until a selection of a new memory area changes the content. WRN RM The aitional information always begins with: Status ata Warning WRN Reference mar RM Parameter request busy Acnowlegment of aitional information Busy 30 bits Aitional information Acnowlegment of the aitional information 8 bits Aress or ata The aitional information can contain the following ata: Aitional information 1 Diagnosis Position value 2 Memory parameters MRS-coe acnowlegment Test values Temperature 8 bits Data 5 bits CRC Aitional information 2 Commutation Acceleration Limit position signals 39

40 EnDat 2.1 Transfer of Position Values EnDat 2.1 can transmit position values selectably with interrupte cloc pulse (as in EnDat 2.2) or continuous cloc pulse. Encoer saves position value Subsequent electronics transmit moe comman Interrupte cloc The interrupte cloc is intene particularly for time-cloce systems such as close control loops. At the en of the ata wor the cloc signal is set to HIGH level. After 10 to 30 µs (t m ), the ata line falls bac to LOW. Then a new ata transmission can begin by starting the cloc. Continuous cloc For applications that require fast acquisition of the measure value, the EnDat interface can have the cloc run continuously. Immeiately after the last CRC bit has been sent, the ata line is switche to high for one cloc cycle, an then to low. The new position value is save with the very next falling ege of the cloc an is output in synchronism with the cloc signal immeiately after the start bit an alarm bit. Because the moe comman Encoer transmit position value is neee only before the first ata transmission, the continuous-cloc transfer moe reuces the length of the cloc-pulse group by 9 perios per position value. Save new position value CRC Moe comman n = 0 to 7; epening on system Interrupte cloc Position value Continuous cloc Position value CRC Cyclic Reunancy Chec Save new position value Synchronization of the serially transmitte coe value with the incremental signal Absolute encoers with EnDat interface can exactly synchronize serially transmitte absolute position values with incremental values. With the first falling ege (latch signal) of the CLOCK signal from the subsequent electronics, the scanning signals of the iniviual tracs in the encoer an counter are frozen, as are also the A/D converters for subiviing the sinusoial incremental signals in the subsequent electronics. The coe value transmitte over the serial interface unambiguously ientifies one incremental signal perio. The position value is absolute within one sinusoial perio of the incremental signal. The subivie incremental signal can therefore be appene in the subsequent electronics to the serially transmitte coe value. Encoer 1 V PP 1 V PP After power on an initial transmission of position values, two reunant position values are available in the subsequent electronics. Since encoers with EnDat interface guarantee a precise synchronization regarless of cable length of the serially transmitte absolute value with Subsequent electronics Latch signal Counter Subivision Parallel interface Comparator the incremental signals, the two values can be compare in the subsequent electronics. This monitoring is possible even at high shaft spees thans to the EnDat interface s short transmission times of less than 50 µs. This capability is a prerequisite for moern machine esign an safety systems. 40

41 Parameters an Memory Areas The encoer provies several memory areas for parameters. These can be rea from by the subsequent electronics, an some can be written to by the encoer manufacturer, the OEM, or even the en user. Certain memory areas can be writeprotecte. The parameters, which in most cases are set by the OEM, largely efine the function of the encoer an the EnDat interface. When the encoer is exchange, it is therefore essential that its parameter settings are correct. Attempts to configure machines without incluing OEM ata can result in malfunctions. If there is any oubt as to the correct parameter settings, the OEM shoul be consulte. Parameters of the encoer manufacturer This write-protecte memory area contains all information specific to the encoer, such as encoer type (linear/angular, singleturn/multiturn, etc.), signal perios, position values per revolution, transmission format of position values, irection of rotation, maximum spee, accuracy epenent on shaft spees, support of warnings an alarms, part number an serial number. This information forms the basis for automatic configuration. A separate memory area contains the parameters typical for EnDat 2.2: Status of aitional information, temperature, acceleration, support of iagnostic an error messages, etc. Operating parameters Operating status Absolute encoer Parameters of the OEM Parameters of the OEM In this freely efinable memory area, the OEM can store his information, e.g. the electronic ID label of the motor in which the encoer is integrate, inicating the motor moel, maximum current rating, etc. Operating parameters This area is available for a atum shift an the configuration of iagnostics. It can be protecte against overwriting. Operating status This memory area provies etaile alarms or warnings for iagnostic purposes. Here it is also possible to activate write protection for the OEM parameter an operating parameter memory areas, an to interrogate their status. Once write protection is activate, it cannot be remove. Safety System The safety system is in preparation. Safetyoriente controls are the planne application for encoers with EnDat 2.2 interface. Refer to IEC stanar Ajustable spee electrical power rive systems Part 5-2. Incremental signals *) Absolute position value Parameters of the encoer manufacturer for EnDat interface Subsequent electronics» 1 V PP A*)» 1 V PP B*) *) Depens on encoer Monitoring an Diagnostic Functions The EnDat interface enables comprehensive monitoring of the encoer without requiring an aitional transmission line. The alarms an warnings supporte by the respective encoer are save in the parameters of the encoer manufacturer memory area. Diagnosis Cyclic information on encoer function an aitional iagnostic values are transmitte in the aitional information. Error message An error message becomes active if a malfunction of the encoer might result in incorrect position values. The exact cause of the isturbance is save in the operating status memory an can be interrogate in etail. Errors inclue, for example, Light unit failure Signal amplitue too low Error in calculation of position value Power supply too high/low Current consumption is excessive Here the EnDat interface transmits the error bits, error 1 an error 2 (only with EnDat 2.2 commans). These are group signals for all monitore functions an serve for failure monitoring. The two error messages are generate inepenently from each other. Warning This collective bit is transmitte in the status ata of the aitional information. It inicates that certain tolerance limits of the encoer have been reache or exceee such as shaft spee or the limit of light source intensity compensation through voltage regulation without implying that the measure position values are incorrect. This function maes it possible to issue preventive warnings in orer to minimize ile time. Cyclic Reunancy Chec To ensure reliability of ata transfer, a cyclic reunancy chec (CRC) is performe through the logical processing of the iniviual bit values of a ata wor. This 5-bit long CRC conclues every transmission. The CRC is ecoe in the receiver electronics an compare with the ata wor. This largely eliminates errors cause by isturbances uring ata transfer. EnDat 2.1 EnDat

42 Pin Layout for 17-pin coupling M23 Power supply Incremental signals Absolute position values U P Sensor 0 V Sensor U P 0 V Insie shiel A+ A B+ B DATA DATA CLOCK CLOCK Brown/ Green Blue White/ Green White / Green/ Blac Yellow/ Blac Blue/ Blac Re/ Blac Gray Pin Violet Yellow Shiel on housing; U P = Power supply voltage Sensor: The sensor line is connecte internally with the corresponing power line Vacant pins or wires must not be use! 8-pin coupling M Power supply Absolute position values U P 1) U P 0 V 1) 0 V DATA DATA CLOCK CLOCK Blue Brown/Green White White/Green Gray Pin Violet Yellow Shiel on housing; U P = power supply voltage 1) For power lines configure in parallel Vacant pins or wires must not be use! 15-pin D-sub connector (male) for IK 115/IK pin D-sub connector (female) for HEIDENHAIN controls an IK 220 Power supply Incremental signals 1) Absolute position values U P Sensor 0 V Sensor U P 0 V Insie shiel A+ A B+ B DATA DATA CLOCK CLOCK Brown/ Green Blue White/ Green White / Green/ Blac Yellow/ Blac Blue/ Blac Re/ Blac Gray Pin Violet Yellow Shiel on housing; U P = power supply voltage Sensor: The sensor line is connecte internally with the corresponing power line Vacant pins or wires must not be use! 1) Not assigne for aapter cable I. Nr xx for IK 115/IK215 42

43 Interfaces Fanuc an Mitsubishi Pin Layouts Fanuc pin layout HEIDENHAIN encoers with the coe letter F after the moel esignation are suite for connection to Fanuc controls with Serial interface Fanuc 01 with 1 MHz communication rate Serial interface Fanuc 02 with 1 MHz or 2 MHz communication rate 15-pin Fanuc connector 17-pin HEIDENHAIN coupling Power supply Absolute position values 9 18/ U P Sensor U P 0 V Sensor 0 V Shiel Serial Data Serial Data Request Request Brown/ Green Blue White/ Green White Gray Pin Violet Yellow Shiel on housing; U P = power supply voltage Sensor: The sensor line is connecte internally with the corresponing power line Vacant pins or wires must not be use! Mitsubishi pin layout HEIDENHAIN encoers with the coe letter M after the moel esignation are suite for connection to controls with the Mitsubishi high-spee serial interface. 20-pin Mitsubishi connector 17-pin HEIDENHAIN coupling Power supply Absolute position values U P Sensor U P 0 V Sensor 0 V Serial Data Serial Data Request Frame Request Frame Brown/Green Blue White/Green White Gray Pin Violet Yellow Shiel on housing; U P = power supply voltage Sensor: The sensor line is connecte internally with the corresponing power line Vacant pins or wires must not be use! 43

44 Connecting Elements an Cables General Information Connector insulate: Connecting element with coupling ring, available with male or female contacts. Symbols Coupling insulate: Connecting element with external threa; Available with male or female contacts. Symbols M12 M12 M23 M23 Mounte coupling with central fastening Cutout for mounting M23 Flange socet: Permanently mounte on the encoer or a housing, with external threa (lie the coupling), an available with male or female contacts. Mounte coupling with flange M23 Symbols M23 The pins on connectors are numbere in the irection opposite to those on couplings or flange socets, regarless of whether the connecting elements are Male contacts or Female contacts When engage, the connections provie protection to IP 67 (D-sub connector: IP 50; IEC 60529). When not engage, there is no protection. D-sub connector: For HEIDENHAIN controls, counters an IK absolute value cars. Symbols Accessories for flange socet an M23 mounte couplings Bell seal I. Nr Threae metal ust cap I. Nr x: 41.7 y:

45 Aapter Cables For incremental linear encoers Cable LB 382 LF 183 LF 481 LS 187 LS 487 Aapter cable with M23 coupling (male) Aapter cable without connector 6 mm xx xx xx 6 mm xx xx xx Aapter cable with M23 connector (male) 6 mm 4.5 mm xx xx xx xx Aapter cable in metal armor with M23 connector (male) Aapter cable with D-sub connector (15-pin) 10 mm xx xx xx 6 mm xx xx xx For absolute linear encoers EnDat Cable LC 183 LS 483 with incremental signals LC 183 LS 483 without incremental signals Aapter cable with M23 coupling (male) Aapter cable in metal armor with M23 coupling (male) Aapter cable with D-sub connector Aapter cable with M12 coupling (male) Aapter cable in metal armor with M12 coupling (male) M12 M12 6 mm xx 10 mm xx 6 mm xx 4.5 mm xx 10 mm xx For absolute linear encoers Fanuc/Mitsubishi Cable LC 193F LC 493F LC 193M LC 493M Aapter cable with M23 coupling (male) 6 mm 4.5 mm xx Aapter cable with Fanuc connector 6 mm 4.5 mm xx Available cable lengths: 1 m/3 m/6 m/9 m 45

46 Connecting Cables 12-pin» 1 V PP 17-pin EnDat/Fanuc/Mitsubishi PUR connecting cable 8 mm for encoers with coupling or flange socet PUR connecting cable 8 mm for encoers with connector Complete with M23 connector (female) an M23 connector (male) 12-pin xx Complete with M23 coupling (female) an M23 connector (male) 12-pin xx Complete with M23 connector (female) an M23 coupling (male) 17-pin xx With one M23 coupling (female) 12-pin xx Complete with M23 connector (female) an D-sub connector (female) for HEIDENHAIN controls an IK pin xx 17-pin xx Complete with M23 connector (female) an D-sub connector (male) for IK 115/IK pin xx With one M23 connector (female) 12-pin xx 17-pin xx Cable without connectors 12-pin [4(2 x 0.14 mm 2 ) + (4 x 0.5 mm 2 )] 17-pin [(4 x 0.14 mm 2 ) + 4(2 x 0.14 mm 2 ) + (4 x 0.5 mm 2 )] Connecting cable for EnDat 2.2 encoers without incremental signals with M12 connecting element Complete with M12 connector (female), 8-pin, an M12 connector (male), 8-pin xx Complete with M12 connector (female) an D-sub connector (male) for IK 115/IK 215 M12 M12 M xx PUR aapter cable for Fanuc interface, ia. 8 mm PUR aapter cable for Mitsubishi interface,ia. 8 mm Complete with M23 connector (female), 17-pin, an Fanuc connector [(2 x 2 x 0.14 mm 2 ) + (4 x 1 mm 2 )] xx Complete with M23 connector (female), 17-pin, an Mitsubishi connector [(2 x 2 x 0.14 mm 2 ) + (4 x 0.5 mm 2 )] xx Cable without connectors [(2 x 2 x 0.14 mm 2 ) + (4 x 1 mm 2 )] Cable without connectors [(2 x 2 x 0.14 mm 2 ) + (4 x 1 mm 2 )]

47 Connecting Elements 12-pin» 1 V PP 17-pin EnDat M23 connectors an couplings Coupling on encoer cable M23 coupling (male) Mating element to coupling on encoer cable or flange socet M23 connector (female) For cable 4.5 mm 6 mm 12-pin pin pin For connecting cable, iameter 8 mm 12-pin pin Connector on encoer cable M23 connector (male) Mating element on connecting cable for encoer connector M23 coupling (female) For cable 4.5 mm 6 mm 12-pin pin For connecting cable, iameter 8 mm 12-pin Connector for connection to subsequent electronics M23 connector (male) For connecting cable, iameter 8 mm 12-pin pin Couplings an M23 flange socet for mounting M23 flange socet (female) M23 coupling on mounting base with flange (male) 12-pin pin For cable 6 mm 8 mm 12-pin pin pin M23 coupling on mounting base with central fastening (male) M23 coupling on mounting base with flange (female) For cable 6 mm 12-pin pin For cable 6 mm 8 mm 12-pin pin pin Aapter connector» 1 V PP /» 11 µa PP For converting the 1-V PP output signals to 11-µA PP input signals for the subsequent electronics; M23 connector (female, 12-pin) an M23 connector (male, 9-pin)

48 General Electrical Information Power Supply The encoers require a stabilize c voltage U P as power supply. The respective specifications state the require power supply an the current consumption. The permissible ripple content of the c voltage is: High frequency interference U PP < 250 mv with U/t > 5 V/µs Low frequency funamental ripple U PP < 100 mv Typically 500 ms Initial transient response of the supply voltage e.g. 5 V ± 5 % U PP The values apply as measure at the encoer, i.e., without cable influences. The voltage can be monitore an ajuste with the evice s sensor lines. If a controllable power supply is not available, the voltage rop can be halve by switching the sensor lines parallel to the corresponing power lines. Calculation of the voltage rop: ¹U = L C I 56 A P with ¹U: Voltage attenuation in V L C : Cable length in m I: Current consumption of the encoer in ma (see Specifications) A P : Cross section of power lines in mm 2 Electrically Permissible Spee/ Traversing Spee The maximum permissible shaft spee or traversing velocity of an encoer is erive from the mechanically permissible shaft spee or traversing velocity (if liste in Specifications) an the electrically permissible shaft spee or traversing velocity. For encoers with sinusoial output signals, the electrically permissible shaft spee or traversing velocity is limite by the 3B/ 6B cutoff frequency or the permissible input frequency of the subsequent electronics. For encoers with square-wave signals, the electrically permissible shaft spee or traversing velocity is limite by the maximum permissible scanning/ output frequency f max of the encoer an the minimum permissible ege separation a for the subsequent electronics For angular or rotary encoers n max = f max z For linear encoers v max = f max SP where n max : Electrically permissible spee in rpm v max : Electrically permissible spee in m/min f max : Maximum scanning/output frequency of the encoer or input frequency of the subsequent electronics in Hz z: Line count of the angle or rotary encoer per 360 SP: Signal perio of the linear encoer in µm Cables Lengths The cable lengths liste in the Specifications apply only for HEIDENHAIN cables an the recommene input circuitry of subsequent electronics. Durability All encoers have polyurethane (PUR) cables. PUR cables are resistant to oil, hyrolysis an microbes in accorance with VDE They are free of PVC an silicone an comply with UL safety irectives. The UL certification AWM STYLE C 30 V E63216 is ocumente on the cable. Temperature range HEIDENHAIN cables can be use: for stationary cables 40 to 85 C for moving cables 10 to 85 C Cables with limite resistance to hyrolysis an microbes are rate for up to 100 C (except cables with M12 connecting elements). Bening raius The permissible bening raii R epen on the cable iameter an the configuration: Stationary cable Moving cable Moving cable HEIDENHAIN cables Stationary cable Moving cable HEIDENHAIN cables Cross section of power supply lines A P 1 V PP /TTL/HTL 11 µa PP EnDat/SSI 17-pin EnDat 8-pin 3.7 mm R 8 mm R 40 mm 4.5 mm 5.1 mm R 10 mm R 50 mm 3.7 mm 0.05 mm 2 4.5/5.1 mm 0.14/0.05 2) mm mm mm 2 6/10 1) mm 0.19/ ) mm mm mm 2 8/14 1) mm 0.5 mm 2 1 mm mm 2 1 mm ) Metal armor 2) Only on length gauges 3) Only for LIDA mm R 20 mm R 75 mm 8 mm R 40 mm R 100 mm 10 mm 1) R 35 mm R 75 mm 14 mm 1) R 50 mm R 100 mm

49 Reliable Signal Transmission Electromagnetic compatibility/ CE compliance When properly installe, HEIDENHAIN encoers fulfill the requirements for electromagnetic compatibility accoring to 89/336/EEC with respect to the generic stanars for: Noise immunity IEC : Specifically: ESD IEC Electromagnetic fiels IEC Burst IEC Surge IEC Conucte isturbances IEC Power frequency magnetic fiels IEC Pulse magnetic fiels IEC Interference IEC : Specifically: For inustrial, scientific an meical (ISM) equipment IEC For information technology equipment IEC Transmission of measuring signals electrical noise immunity Noise voltages arise mainly through capacitive or inuctive transfer. Electrical noise can be introuce into the system over signal lines an input or output terminals. Possible sources of noise are: Strong magnetic fiels from transformers an electric motors Relays, contactors an solenoi valves High-frequency equipment, pulse evices, an stray magnetic fiels from switch-moe power supplies AC power lines an supply lines to the above evices Isolation The encoer housings are isolate against all circuits. Rate surge voltage: 500 V (preferre value as per VDE 0110 Part 1) Protection against electrical noise The following measures must be taen to ensure isturbance-free operation: Use only original HEIDENHAIN cables. Watch for voltage attenuation on the supply lines. Use connectors or terminal boxes with metal housings. Do not conuct any extraneous signals. Connect the housings of the encoer, connector, terminal box an evaluation electronics through the shiel of the cable. Connect the shieling in the area of the cable inlets to be as inuction-free as possible (short, full-surface contact). Connect the entire shieling system with the protective groun. Prevent contact of loose connector housings with other metal surfaces. The cable shieling has the function of an equipotential boning conuctor. If compensating currents are to be expecte within the entire system, a separate equipotential boning conuctor must be provie. Also see EN 50178/4.98 Chapter regaring protective connection lines with small cross section. Connect HEIDENHAIN position encoers only to subsequent electronics whose power supply is generate through ouble or strengthene insulation against line voltage circuits. Also see IEC : 1992, moifie Chapter 411 regaring protection against both irect an inirect touch (PELV or SELV). Do not lay signal cables in the irect vicinity of interference sources (inuctive consumers such as contacts, motors, frequency inverters, solenois, etc.). Sufficient ecoupling from interferencesignal-conucting cables can usually be achieve by an air clearance of 100 mm (4 in.) or, when cables are in metal ucts, by a groune partition. A minimum spacing of 200 mm (8 in.) to inuctors in switch-moe power supplies is require. Also see EN 50178/4.98 Chapter regaring cables an lines, an EN /09.01, Chapter 6.7 regaring grouning an potential compensation. When using multiturn encoers in electromagnetic fiels greater than 30 mt, HEIDENHAIN recommens consulting with the main facility in Traunreut. Both the cable shieling an the metal housings of encoers an subsequent electronics have a shieling function. The housings must have the same potential an be connecte to the main signal groun over the machine chassis or by means of a separate potential compensating line. Potential compensating lines shoul have a minimum cross section of 6 mm 2 (Cu). Minimum istance from sources of interference 49

50 Evaluation Electronics IBV series Interpolation an igitizing electronics Interpolation an igitizing electronics interpolate an igitize the sinusoial output signals (» 1 V PP ) from HEIDENHAIN encoers up to 100-fol, an convert them to TTL square-wave pulse sequences. Input signals Encoer inputs IBV 101 IBV 102 IBV 660» 1 V PP Interpolation (ajustable) 5-fol 10-fol Flange socet, 12-pin female 25-fol 50-fol 100-fol 25-fol 50-fol 100-fol 200-fol 400-fol Minimum ege separation Ajustable from 2 to µs, epening on input frequency Ajustable from 0.8 to 0.1 µs, epening on input frequency IBV 101 For more information, see the Interpolation an Digitizing Electronics brochure for IBV 660 as well as the IBV 100/EXE 100 prouct overview. Output signals Power supply 5 V ± 5% 2 TTL square-wave pulse trains U a1 an U a2 an their inverte signals an Reference pulse U a0 an Interference signal IK 220 Universal PC Counter Car The IK 220 is an expansion boar for ATcompatible PCs for recoring the measure values of two incremental or absolute linear or angle encoers. The subivision an counting electronics subivie the sinusoial input signals up to 4096-fol. A river software pacage is inclue in elivery. Input signals (switchable) Encoer inputs IK 220» 1 V PP» 11 µa PP EnDat 2.1 SSI Two D-sub connectors (15-pin), male Max. input frequency 500 Hz 33 Hz Max. cable length 60 m 10 m For more information, see the IK 220 Prouct Information sheet. Signal subivision (signal perio : meas. step) Data register for measure values (per channel) Internal memory Interface Driver software an emonstration program Dimensions Up to 4096-fol 48 bits (44 bits use) For 8192 position values PCI bus (plug an play) For WINDOWS 98/NT/2000/XP In VISUAL C++, VISUAL BASIC an BORLAND DELPHI Approx. 190 mm 100 mm 50

51 HEIDENHAIN Measuring Equipment The PWM 9 is a universal measuring evice for checing an ajusting HEIDENHAIN incremental encoers. There are ifferent expansion moules available for checing the ifferent encoer signals. The values can be rea on an LCD monitor. Soft eys provie ease of operation. PWM 9 Inputs Expansion moules (interface boars) for 11 µa PP ; 1 V PP ; TTL; HTL; EnDat 2.1*/SSI*/commutation signals *No isplay of position values or parameters Features Measurement of signal amplitues, current consumption, operating voltage, scanning frequency Graphic isplay of incremental signals (amplitues, phase angle an on-off ratio) an the reference-mar signal (with an position) Display symbols for the reference mar, fault etection signal, counting irection Universal counter, interpolation selectable from single to 1024-fol Ajustment support for expose linear encoers Outputs Power supply Dimensions Inputs are connecte through to the subsequent electronics BNC socets for connection to an oscilloscope 10 to 30 V, max. 15 W 150 mm 205 mm 96 mm The IK 215 is an aapter car for PCs for inspecting an testing absolute HEIDENHAIN encoers with EnDat or SSI interface. All parameters can be rea an written via the EnDat interface. IK 215 Encoer input EnDat (absolute value or incremental signals) or SSI Interface PCI bus, Rev. 2.1 Application software Operating system: Winows 2000/XP (Winows 98 in preparation) Features: Position value isplay Counter for incremental signals EnDat functions Signal subivision for incremental signals Dimensions Up to 1024-fol 100 mm x 190 mm 51