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1 Encoder Technology Ltd Units 5 & 6 Leatherhead Industrial Estate Station Rd, Leatherhead, Surrey, KT22 7AL, UK Tel: +44 (0) Fax: +44 (0) Position Encoders for Servo Drives December 2001

2 This catalog presents a selection of encoders for use on servo drives. It is not intended as an overview of the HEIDENHAIN product program. In the selection tables you will find an overview of all HEIDENHAIN encoders for use on electric drives and the most important specifications. The descriptions of the technical features contain fundamental information on the use of rotary, angular, and linear encoders on electric drives. The mounting information and the detailed specifications refer to the rotary encoders developed especially for drive technology. The Rotary Encoders catalog contains more information. For the linear and angular encoders listed in the selection tables you will find detailed information such as mounting information, specifications and dimensions in the respective product catalogs. Other Product Catalogs Rotary Encoders Drehgeber Includes: ERN, ROD Incremental Rotary Encoders ECN, EQN, ROC, ROQ Absolute Rotary Encoders Angle Encoders Winkelmessgeräte Includes: ERA, ERM, ERO, RON, RPN, ROD Incremental Angle Encoders RCN Absolute Angle Encoders Exposed Linear Encoders Includes: LIP, PP, LIF, LIDA Incremental Linear Encoders Offene Längenmessgeräte Sealed Linear Encoders Gekapselte Längenmessgeräte Includes: LB, LF, LS Incremental Linear Encoders LC Absolute Linear Encoders 2

3 Contents Selection Tables Technical Features and Mounting Information Specifications Explanation of the Selection Tables 6 Rotary Encoders for Mounting on Motors 8 Rotary Encoders for Integration in Motors 10 Rotary and Angle Encoders for Integrated and Hollow-Shaft Motors 12 Exposed Linear Encoders for Linear Drives 14 Sealed Linear Encoders for Linear Drives 16 Rotary Encoders and Angle Encoders for Three-Phase AC and DC motors 18 Linear Encoders for Linear Drives 20 Measuring Principles Measuring Standard 22 Scanning Methods 23 Electronic Commutation with Position Encoders 24 Measuring Accuracy 25 Mechanical Designs, Mounting and Accessories Rotary Encoders with Integral Bearing and Stator Coupling 28 Rotary Encoders with Integral Bearing, for Separate Shaft Coupling 30 Rotary Encoders without Integral Bearing 32 Aligning the Rotary Encoders to the Motor EMF 34 General Mechanical Information 35 Rotary Encoders with Integral Bearing ERN 1000 Series 36 ERN/ECN/EQN 400 Series with Universal Stator Coupling 38 ROD 400 Series with Terminal Connection 40 ERN/ECN/EQN 1100 Series Stator Coupling 45 mm 42 ECN/EQN 1100 Series Stator Coupling 37 mm 44 ERN/ECN/EQN 1300 Series 46 Rotary Encoders without Integral Bearing ECI/EQI 1300 Series 48 ERO 1200 Series 50 ERO 1300 Series 52 ERO 1400 Series 54 ERM 200 Series 56 Angle Encoders Linear Encoders See Angle Encoders Catalog See Exposed Linear Encoders and Sealed Linear Encoders Catalogs Electrical connection Interfaces Incremental Signals 58 Commutation Signals 64 Absolute Position Values with EnDat Connecting Elements and Cables 71 General Electrical Specifications 76 HEIDENHAIN Measuring and Testing Devices and Evaluation Electronics 78

4 Encoders for Servo Drives Controlling systems for servo drives require measuring systems that provide feedback for the position and speed controllers and for electronic commutation. The characteristics of encoders have decisive influence on important motor characteristics such as Positioning accuracy Speed stability Bandwidth, which determines drive command-signal response and disturbance rejection capability Power loss Size Quietness Digital position and speed control Rotary encoder (actual position value, actual speed value, commutation signal) Subdivision Speed calculation Position controller Speed controller Decoupling Current controller Inverter HEIDENHAIN offers the appropriate solution for any of a wide range of applications using both rotary and linear motors: Incremental rotary encoders with and without commutation tracks, absolute rotary encoders Incremental or absolute angle encoders Incremental or absolute linear encoders Rotary encoders 4

5 All the HEIDENHAIN encoders shown in this catalog involve very little cost and effort for the motor manufacturer to mount and wire. Encoders for rotary motors are of short overall length. Some encoders, due to their special design, can perform functions otherwise handled by safety devices such as limit switches. Selection Tables Motor for digital drive systems (digital position and speed control). Rotary encoder Angle encoders Linear encoders 5

6 Explanation of the Selection Tables The tables on the following pages list the encoders suited for individual motor designs. The encoders are available with dimensions and output signals to fit specific types of motors, whether for direct current or three-phase current. Rotary encoders for mounting on motors Rotary encoders for motors with forced ventilation are either built onto the motor housing or integrated. As a result, they are frequently exposed to the unfiltered forced-air stream of the motor and must therefore provide a high degree of protection of IP64 or more. The permissible operating temperature seldom exceeds 100 C (212 F). In the Selection Table you will find: Rotary encoders with mounted stator couplings with high natural frequency, which virtually eliminate any limits on the bandwidth of the drive. Rotary encoders for separate shaft couplings, which are particularly suited for insulated mounting, and encoders with terminal strip connection. Incremental rotary encoders with sinusoidal output signals for digital speed control. Absolute rotary encoders with complementary sinusoidal incremental signals. Incremental rotary encoders with TTL- or HTL-compatible output signals. For Selection Table see page 8 Rotary encoders for integration within motors For motors without separate ventilation the rotary encoder is built into the motor housing. This configuration places no stringent requirements on the encoder for a high degree of protection. The operating temperature within the motor housing, however, can reach 100 C (212 F) and higher. In the Selection Table you will find: Incremental rotary encoders for operating temperatures up to 120 C (248 F), and absolute rotary encoders for operating temperatures up to 115 C (239 F). Rotary encoders with mounted stator couplings with high natural frequency, which virtually eliminate any limits on the bandwidth of the drive. Incremental rotary encoders for digital speed control with sinusoidal output signals of high quality even at peak operating temperatures. Absolute rotary encoders with optional sinusoidal incremental signals. Incremental rotary encoders with additional commutation signal for synchronous motors. Incremental rotary encoders with TTL-compatible output signals. For Selection Table see page 10 6

7 Rotary encoders and angle encoders for integrated motors and hollow-shaft motors Rotary encoders and angle encoders for these motors have hollow through shafts in order to allow supply lines, for example, to be conducted through the motor shaft and therefore through the encoder. Depending on the conditions of the application, the encoders either feature IP 66 protection or for example with modular encoders using optical scanning the machine must be designed to protect them from contamination. In the Selection Table you will find: Rotary encoders with the measuring standard on a steel drum, for shaft speeds up to rpm Encoders with integral bearing, with stator coupling or modular design Encoders with absolute and/or incremental output signals of high quality Encoders with good acceleration performance for a broad bandwidth in the control loop For Selection Table see page 12 Linear encoders for linear motors Linear encoders on linear motors supply the actual value both for the position controller and the velocity controller. They therefore form the basis for the servo characteristics of a linear drive. The linear encoders recommended for this application: Have low position deviation during acceleration in the measuring direction Have high tolerance to acceleration and vibration in the lateral direction Are designed for high velocities Supply sinusoidal incremental signals of high quality Exposed linear encoders are characterize by: Higher accuracy grades Higher traversing speeds Contact-free scanning, i.e. without friction between the scanning head and scale. Exposed linear encoders are suited for applications in clean environments, for example on measuring machines or production equipment in the semiconductor industry. For Selection Table see page 14 Sealed linear encoders are characterized by: A high degree of protection Easy mounting Sealed linear encoders are therefore ideal for application in typical production environments, for example on machine tools. For Selection Table see page 16 7

8 Selection Table Rotary Encoders for Mounting on Motors Degree of protection: up to IP 64 (IEC 60529) Series Recommended measuring steps per revolution (for speed control loop) Special characteristics Overall dimensions Mechanically permissible speed Natural frequency of the stator coupling Maximum permissible operating temperature Rotary Encoders with Integral Bearing and Mounted Stator Coupling ERN/ ECN measuring steps/rev ( ) Approx. 2 million 1) measuring steps/rev D 30 mm: n max = 6000 rpm D 50 mm: n max = 4000 rpm 1100 Hz 100 C 85 C 100 C ERN/ECN/ EQN measuring steps/rev ( ) Approx. 2 million 1) measuring steps/rev Universal stator coupling For encoders with standard stator coupling see the Rotary Encoders catalog rpm 1250 Hz 100 C 85 C 70 C 100 C rpm ERN measuring steps/rev ( ) Approx. 2 million 1) measuring steps/rev rpm 950 Hz 100 C 70 C 100 C 115 C Rotary encoders with integral bearing, for separate shaft coupling ROD measuring steps/rev ( ) Approx. 2 million 1) meas. steps/rev Clamping flange connection For rotary encoders with cable output or flange socket see Rotary Encoders catalog rpm 100 C 85 C 70 C 100 C ROD measuring steps/rev ( ) 3.6 million 1) meas. steps/rev (approx.) rpm 100 C 70 C 100 C 1) after 1024-fold subdivision in the controlling system 8

9 Incremental signals Absolute position values Model For more information Output signals/ power supply Signal periods per revolution Cutoff frequency ( 3dB) or scanning frequency Commutation signals/ Absolute position values; data interface TTL/5V±10% Max. 300 khz 1000 to 5000 ERN 120 Rotary Encoders HTL/10 to 30 V ERN 130 catalog 1V PP /5V±10% 180 khz typical ERN 180 1V PP /5V±5% 200 khz typical positions/rev; EnDat ECN 113 TTL/5V±10% Max. 300 khz ERN 420 Page 38 HTL/10 to 30 V ERN 430 TTL/10 to 30 V ERN 460 1V PP /5V±10% 180 khz typical ERN 480 1V PP /5V±5% 100 khz typical 200 khz typical positions/rev; EnDat ECN positions/rev 4096 revolutions; EnDat EQN 425 TTL/5V±10% Max. 300 khz ERN 1020 Page 36 HTL/10 to 30 V Max. 160 khz ERN V PP /5V±10% 180 khz typical ERN V PP /5V±5% 100 khz typical 400 khz typical Z1 track for sine commutation ERN 1085 TTL/5V±10% Max. 300 khz ROD 426 Page 40 HTL/10 to 30 V ROD 436 TTL/10 to 30 V ROD 466 1V PP /5V±10% 180 khz typical ROD 486 TTL/5V±10% Max. 300 khz 100 to 3600 ROD 1020 Rotary Encoders HTL/10 to 30 V ROD 1030 catalog 1V PP /5V±10% 180 khz typical ROD

10 Selection Table Rotary Encoders for Integration in Motors Degree of protection: up to IP 40 (IEC 60529) Series Recommended measuring steps per revolution (for speed control loop) Overall dimensions Diameter Mechanically permissible speed Natural frequency of the stator coupling Maximum permissible operating temperature Rotary Encoders with Integral Bearing and Mounted Stator Coupling ERN/ECN/ EQN measuring steps/rev ( ) Approx. 2 million 1) measuring steps/rev rpm 1500 Hz 100 C 70 C 100 C 115 C Approx ) measuring steps/rev ERN/ECN/ EQN measuring steps/rev ( ) rpm 2000 Hz 120 C Approx. 2 million 1) measuring steps/rev EQN: L = 62.5 ± 1 ERN/ECN: L = 54.5 ± rpm 115 C Rotary Encoders without Integral Bearing ECI/EQI measuring steps/rev rpm 115 C rpm ERO 1200 ERO 1300 ERO measuring steps/rev ( ) Approx. 1 million meas. steps/rev measuring steps/rev ( ) Approx. 5 million meas. steps/rev 4096 measuring steps/rev ( ) Approx. 1 million measuring steps/rev D: 8/10/12 mm rpm 100 C D: 20/24/30 mm rpm 70 C 85 C D: 4/6/8 mm rpm 70 C 1) after 1024-fold subdivision in the controlling system 10

11 Incremental signals Absolute position values Model For more information Output signals/ power supply Signal periods per revolution Cutoff frequency ( 3dB) or scanning frequency Commutation signals/ Absolute position values; data interface TTL/5V±10% Max. 300 khz ERN 1120 Page 42 HTL/10 to 30 V Max. 160 khz ERN V PP /5V±10% 180 khz typical ERN V PP / 5V±5%/7to10V 2) 100 khz typical 400 khz typical Z1 track for sine commutation ERN khz typical positions/rev; EnDat ECN 1113 Page 42/ positions/rev 4096 revolutions; EnDat EQN 1125 TTL/5V±5% Max. 300 khz ERN 1321 Page 46 3 block commutation signals ERN V PP / 200 khz typical ERN V±5%/7to10V 2) 2048 Z1 track for sine commutation ERN khz typical 200 khz typical positions/rev; EnDat ECN positions/rev 4096 revolutions; EnDat EQN V PP / 5V±5%/7to10V Max. 6 khz typical positions/rev; EnDat ECI 1317 Page positions/rev 4096 revolutions; EnDat EQI 1329 TTL/5V±10% Max. 300 khz ERO 1225 Page 50 1V PP /5V±5% 180 khz typical ERO 1285 TTL/5V±10% Max. 400 khz ERO 1324 Page 52 1V PP /5V±5% 180 khz typical ERO 1384 TTL/5V±10% Max. 160 khz ERO 1420 Page 54 1V PP /5V±5% 180 khz typical ERO ) with adaptor cable inside the motor 11

12 Selection Table Rotary and Angle Encoders for Integrated and Hollow-Shaft Motors Series Recommended measuring steps per revolution (for speed control loop) Overall dimensions Diameter Mechanically permissible speed Natural frequency of the stator coupling Maximum permissible operating temperature Angle Encoders with Integrated Bearing and Integrated Stator Coupling RON/ RCN ( ) 3000 rpm 1200 Hz 70 C ( ) 18 million 1) 50 C bits 70 C RON/ RCN 700 RON/ RPN million 1) 1000 rpm 1000 Hz 50 C bits 36 million 1) 180 million 1) Rotary and Angle Encoders without Integral Bearing ERM 200 Rotary encoders up to ( ) D1: 40 to 295 mm D2: to mm rpm to 5000 rpm 100 C up to 2.5 million 1) ERA 180 Steel drum with axial graduation 6 million to 36 million 1) D1: 40 to 512 mm D2: 80 to 562 mm rpm to 6000 rpm 80 C ERA 700 for mounting on inside diameter 36 million to 90 million 1) D1: mm mm mm D1: mm mm mm 500 rpm 50 C ERA 800 for mounting on outside diameter 25 million to 45 million 1) D1: mm mm D1: mm mm mm 100 rpm 1) after 1024-fold subdivision in the controlling system 12

13 Incremental signals Absolute position values Model For more information Output signals/ power supply Signal periods per revolution Cutoff frequency ( 3dB) or scanning frequency Commutation signals/ Absolute position values; data interface TTL/5V±10% Max. 1 MHz ) RON 225 Angle Encoders ) RON 275 catalog 1V PP /5V±10% 180 khz typical RON 285 RON 287 1V PP /5V±5% positions/rev; EnDat RCN 226 1V PP /5V±10% RON 786 1V PP /5V±5% positions/rev; EnDat RCN 727 1V PP /5V±10% RON khz typical RPN 886 TTL/5V±10% 300kHz 600to2600 ERM 220 Page 56 1V PP /5V±10% 200 khz typical ERM 280 1V PP 500 khz typical 6000 to ERA 180 Angle Encoders catalog 1V PP 180 khz typical Full circle 36000/45000/90000 ERA 780C Segment 25000/36000/45000 ERA 781C 1V PP 180 khz typical Full circle 36000/45000 Segment 25000/36000/45000 ERA 880C ERA 881C With tensioning elements ERA 882C W/o tensioning elements 2) after internal 2-fold evaluation 3) after internal 10-fold evaluation 13

14 Selection Table Exposed Linear Encoders for Linear Drives Series Recommended measuring step 1) (for speed control loop) Overall dimensions Maximum traversing velocity Maximum acceleration 2) Measuring lengths LIP 400 Approx µm 30 m/min 200 m/s 2 70 to 420 mm LIF 100 Approx µm 72 m/min 200 m/s 2 70 to 3040 mm LIDA 100 Approx µm 480 m/min 200 m/s to mm 240 to 6040 mm LIDA 400 Approx µm 480 m/min 200 m/s to mm 200 m/s to 6040 mm PP 200 Twocoordinate measuring system Approx µm 60 m/min 200 m/s 2 Measuring range 68mmx68mm 1) after 1024-fold subdivision in the controlling system 2) in measuring direction 3) after linear error compensation 14

15 Incremental signals Absolute position values Model For more information Output signals/ power supply Signal period/ Accuracy grade Cutoff frequency ( 3dB) Data interface 1V PP /5V±5% 2µm/up to ± 0.5 µm 250 khz LIP 481 Exposed Linear Encoders catalog 1V PP /5V±5% 4µm/± 3 µm 300 khz LIF 181 1V PP /5V±5% 40µm/± 5 µm 200 khz LIDA µm/± 5 µm 3) LIDA 187 1V PP /5V±5% 20µm/± 5 µm 400 khz LIDA µm/± 5 µm 3) LIDA 487 1V PP /5V±5% 4µm/± 2 µm 250 khz PP

16 Selection Table Sealed Linear Encoders for Linear Drives Degree of protection: IP 53 to IP 64 1) (IEC 60529) Series Recommended meas. step 2) (for speed control loop) Overall dimensions Maximum traversing velocity Maximum acceleration 3) Natural frequency of coupling Measuring lengths Linear Encoders with Slimline Scale Housing LF Approx µm 60 m/min 80 m/s Hz 50 to 1220 mm LS Approx µm 120 m/min 50 m/s Hz 70 to 2040 mm LC 50 m/s Hz Linear Encoders with Full-Size Scale Housing LF Approx µm 60 m/min 80 m/s Hz 140 to 3040 mm LS Approx µm 120 m/min 100 m/s Hz LB Approx µm 650 Hz 440 to mm LC Approx µm 50 m/s Hz 140 to 3040 mm 1) after installation according to mounting instructions 2) after 1024-fold subdivision in the controlling system 3) in measuring direction 16

17 Incremental signals Absolute position values Model For more information Output signals/ power supply Signal period/ Accuracy grade Cutoff frequency ( 3dB) Data interface 1V PP /5V±5% 4µm/up to±3µm 250 khz LF 481 Sealed Linear Encoders catalog 20 µm/up to±3µm 160 khz LS 487 EnDat LC 481 1V PP /5V±5% 4µm/up to±3µm 250 khz LF 183 Sealed Linear Encoders catalog 20 µm/up to±3µm 160 khz LS µm/up to±5µm LB µm/up to ± 3 µm EnDat LC

18 Rotary Encoders and Angle Encoders for Three-Phase and DC Motors General Information Speed stability To ensure smooth drive performance, an encoder must provide a large number of measuring steps per revolution. The encoders in the HEIDENHAIN product program are therefore designed to supply the necessary numbers of signal periods per revolution to meet the speed stability requirement. HEIDENHAIN rotary and angular encoders featuring integral bearings and stator couplings provide very good performance: shaft misalignment within certain tolerances (see Specifications) do not cause any position error or impair speed stability. At low speeds the position error of the encoder within one signal period affects speed stability. In encoders with purely serial data transmission the LSB (Least Significant Bit) goes into the speed stability. (See also Measuring Accuracy). Transmission of measuring signals To ensure the best possible dynamic performance with digitally controlled motors, the sampling time of the speed controller should not exceed approx. 256 µs. The feedback values for the position and speed controller must therefore be available in the controlling system with the least possible delay. High clock frequencies are needed to fulfill such demanding time requirements on position value transfer from the encoder to the controlling system with a serial data transmission (see also Interfaces; Absolute Position Values). HEIDENHAIN encoders for electric drives therefore usually provide additional incremental signals, which are available without delay for use in the subsequent electronics for speed and position control. For standard drives, manufacturers primarily use HEIDENHAIN encoders with TTL or HTL compatible output signals as well as additional commutation signals for permanent-magnet dc drives. For digital speed control on machines with high requirements for dynamics, a large number of measuring steps is required usually above per revolution. For applications with standard drives, as with resolvers, approx measuring steps per revolution are sufficient. HEIDENHAIN encoders for drives with digital position and speed control therefore provide sinusoidal incremental signals with signal levels of 1 V PP, which thanks to their high quality can be highly interpolated in the subsequent electronics (Diagram 1 below). For example, a rotary encoder with 2048 signal periods per revolution and a 1024-fold (or 4096-fold) subdivision in the subsequent electronics produces approx. 2 (or 8) million measuring steps per revolution. This corresponds to a resolution of 23 bits. Even at shaft speeds of rpm, the signal arrives at the input circuit of the controlling system with a frequency of only approx. 400 khz (Diagram 2). 1 V PP incremental signals permit cable lengths up to 150 meters (492 ft). (See also Incremental Signals - 1 V PP ). Diagram 1: Signal periods per revolution and the resulting number of measuring steps per revolution as a function of the subdivision factor. 1 billion Subdivision factor Measuring steps per revolution 500 million 100 million 50 million 10 million 5 million 2 million 1 million Signal periods per revolution 18

19 HEIDENHAIN absolute encoders for digital drives also supply additional sinusoidal incremental signals with the same characteristics as those described above. Absolute encoders from HEIDENHAIN use the EnDat (Encoder Data) interface for the serial data transmission of absolute position values and other information for automatic self-configuration, monitoring and diagnosis. (See Absolute Position Values EnDat.) This makes it possible to use the same subsequent electronics and cabling technology for all HEIDENHAIN encoders. Some absolute encoders such as the ECI/EQI 1300 or the RCN 226 or ROC 727 subdivide already in the encoder the sinusoidal scanning signals with a factor of 4096 or higher. If the transmission of absolute positions is fast enough, it is possible with these systems to do without incremental signal evaluation. Bandwidth The attainable amplification factors for the position and speed control loops, and therefore the bandwidth of the drives for command response and control reliability is sometimes limited by the rigidity of the coupling between the motor shaft and encoder shaft as well as by the natural frequency of the coupling. HEIDENHAIN therefore offers rotary and angular encoders for high-rigidity shaft coupling. The stator couplings mounted on the encoders have a high natural frequency up to 2 khz. (See also Mechanical Design and Installation.) Size A higher permissible operating temperature permits a smaller motor size for a specific rated torque. Since the temperature of the motor also affects the temperature of the encoder, HEIDENHAIN offers encoders for permissible operating temperatures up to 120 C (248 F). These encoders make it possible to design machines with smaller motors. Power loss and quietness The power loss of the motor, the accompanying heat generation, and the acoustic noise during operation are influenced by the position error of the encoder within one signal period. For this reason, rotary encoders with a high signal quality of better than 1% of the signal period are preferred. (See also Measuring Accuracy.) Technical Features and Mounting Information Diagram 2: Shaft speed and resulting output frequency as a function of the number of signal periods per revolution Signal periods per revolution Output frequency [khz] Shaft speed [rpm] 19

20 Linear Encoders for Linear Drives General Information Selection criteria for linear encoders HEIDENHAIN recommends the use of exposed linear encoders whenever the severity of contamination inherent in a particular machine environment does not preclude the use of optical measuring systems, and if relatively high accuracy is desired, e.g. for high-precision machine tools and measuring equipment, or for production, testing and inspecting equipment in the semiconductor industry. Particularly for applications on machine tools that release coolants and lubricants, HEIDENHAIN recommends sealed linear encoders. Here the requirements on the mounting surface and on machine guideway accuracy are less stringent than for exposed linear encoders, and therefore installation is faster. Speed stability To ensure smooth-running servo performance, the linear encoder must permit a resolution commensurate with the given speed control range: On handling equipment, resolutions in the range of several microns are sufficient. Feed drives for machine tools need resolutions of 0.1 µm and finer. Production equipment in the semiconductor industry requires resolutions of a few nanometers. At low traversing speeds, the position error within one signal period has a decisive influence on the speed stability of linear motors (see also Measuring Accuracy). Traversing speeds Exposed linear encoders function without contact between the scanning head and the scale: the maximum permissible traversing speed is limited only by the cutoff frequency ( 3 db) of the output signals. On sealed linear encoders, the scanning unit is guided along the scale on a ball bearing. Sealing lips protect the scale and scanning unit from contamination. The ball bearing and sealing lips permit mechanical traversing speeds up to 120 m/min (4720 ipm). Signal period and resulting measuring step as a function of the subdivision factor Subdivision factor Measuring step [µm] Signal period [µm] 20

21 Transmission of measuring signals The information above on rotary and angular encoder signal transmission essentially applies also for linear encoders. If, for example, one wishes to traverse at a minimum velocity of 0.01 m/min with a sampling time of 250 µs, and if one assumes that the measuring step should change by at least one measuring step per sampling cycle, then one needs a measuring step of approx µm. To avoid the need for special measures in the subsequent electronics, input frequencies should be limited to less than 1 MHz. Linear encoders with sinusoidal output signals are therefore best suited for high traversing speeds and small measuring steps. Sinusoidal voltage signals with levels of 1V PP attain a 3 db cutoff frequency of approx. 200 khz and more at a permissible cable length of up to 150 m (492 ft). The figure below illustrates the relationship between output signals, traversing speeds, and signal periods of linear encoders. Even at a signal period of 4 µm and a traversing velocity of 120 m/min, the frequency reaches only 500 khz. Bandwidth On linear motors, a coupling lacking in rigidity can limit the bandwidth of the position control loop. The manner in which the linear encoder is mounted on the machine has a very significant influence on the rigidity of the coupling (see Design Types ). With sealed linear encoders, the scanning unit is guided along the scale. A coupling connects the scanning carriage with the mounting block and compensates the misalignment between scale and machine slide. This permits relatively large mounting tolerances. The coupling is very rigid in the measuring direction and is flexible in the perpendicular direction. If the coupling were insufficiently rigid in the measuring direction, it could cause low natural frequencies in the position and velocity control loops and limit the bandwidth of the drive. The sealed linear encoders recommended by HEIDENHAIN for linear motors generally have a natural frequency greater than 2 khz in the measuring direction, which in most applications exceeds the mechanical natural frequency of the machine and the bandwidth of the velocity control loop by factors of 5 to 10. HEIDENHAIN linear encoders for linear motors therefore have practically no limiting effect on the position and speed control loops. Traversing speed and resulting output frequency as a function of the signal period Signal period Output frequency [khz] Traversing speed [m/min] For more information on linear encoders for linear drives, refer to our catalogs Exposed Linear Encoders and Sealed Linear Encoders. 21

22 Measuring Principles Measuring Standard HEIDENHAIN encoders with optical scanning incorporate measuring standards made of periodic structures known as graduations. These graduations are applied to a carrier substrate of glass or steel. The scale substrate for large diameters is a steel tape. The precision graduations are manufactured in different photolithographic processes. Graduations are fabricated from: Extremely hard chrome lines on glass or gold-plated steel drums, Matte-etched lines on gold-plated steel tape, or Three-dimensional structures on glass or steel substrates. The circular graduation for incremental encoders consists of an incremental track and a reference mark track. The position information is captured by counting the individual increments (measuring steps) from any desired reference point. The reference mark is used after restarting the machine to find the last reference point selected. Some rotary encoders feature additional commutation tracks for sensing the rotor position during switch-on (see Commutation Signals). The photolithographic manufacturing processes developed by HEIDENHAIN produce grating periods of typically 40 µm to 4 µm. These processes permit very fine grating periods and are characterized by a high definition and homogeneity of the line edges. Together with the photoelectric scanning method, this high edge definition is a precondition for the high quality of the output signals. The master graduation is manufactured by HEIDENHAIN on a custom-built highprecision ruling machine. Magnetic encoders use a graduation carrier of magnetizable steel alloy. A graduation consisting of north poles and south poles is formed with a grating period of 400 µm. Due to the short distance of effect of electromagnetic interaction, and the very narrow scanning gaps required, finer magnetic graduations are not practical. Encoders using the inductive scanning principle have graduation structures of copper. Circular graduations of incremental rotary encoders Absolute encoders consist of several scale and code tracks. The alignment results in absolute position value information, which is available immediately after restarting the machine. The track with the finest graduation structure is interpolated for the position value and is also used for generating an optional incremental signal (see Absolute Position Values with EnDat). 22 Circular graduations of absolute angle encoders

23 Scanning Methods Photoelectric scanning Most HEIDENHAIN encoders operate on the principle of photoelectric scanning. The photoelectric scanning of a measuring standard is contact-free, and therefore without wear. It detects even the finest graduation lines just a few micrometers wide, and generates output signals with very small signal periods. The ERN, ECN, EQN, ERO and ROD, RCN, RQN rotary encoders operate according to the imaging scanning principle. To put it simply, the imaging scanning principle functions by means of projectedlight signal generation: two scale gratings the circular scale and the scanning reticle with for example equal grating periods are moved relative to each other. The carrier material of the scanning reticle is transparent, whereas the graduation on the measuring standard may be applied to a transparent or reflective surface. When parallel light passes through a grating, light and dark surfaces are projected at a certain distance. A countergrating 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 are aligned, light passes through. If the lines of one grating coincide with the gaps of the other, no light passes through. Photocells convert these variations in light intensity into nearly sinusoidal electrical signals. Practical mounting tolerances for encoders with the imaging scanning principle are achieved with grating periods of 10 µm and larger. LED light source Measuring standard Condenser lens Scanning reticle Photocells I 90 and I 270 photocells are not shown Photoelectric scanning according to the imaging principle Other scanning principles Some encoders function according to other scanning methods. ERM encoders use a permanently magnetized MAGNODUR graduation that is scanned with magnetoresistive sensors. ECI/EQI rotary encoders operating according to the inductive measuring principle. Here, moving graduation structures modulate a high-frequency signal in its amplitude and phase. 23

24 Electronic Commutation with Position Encoders Commutation in permanent-magnet three-phase motors Before start-up, permanent-magnet threephase motors must have an absolute position value available for electrical commutation. HEIDENHAIN rotary encoders are available with different types of rotor position recognition: Absolute rotary encoders in singleturn and multiturn versions provide the absolute position information immediately after switch-on. This makes it immediately possible to derive the exact position of the rotor and use it for electronic commutation. Incremental rotary encoders with a second track the Z1 track provide one sine and one cosine signal (C and D) for each motor shaft revolution in addition to the incremental signals. For sine commutation, rotary encoders with a Z1 track need only a subdivision unit and a signal multiplexer to provide both the absolute rotor position from the Z1 track with an accuracy of ± 0.5 and the position information for speed and position control from the incremental track (see also Interfaces Commutation Signals). Incremental rotary encoders with block commutation tracks also output three commutation signals I, II, and III, which are used to drive the power electronics directly. These encoders are available with commutation signals of 120 mechanical width for 3-pole and 6-pole motors, or with 90 mechanical width for 4-pole and 8-pole motors. The incremental square-wave signals serve for position and speed control independently of the commutation signals. (See also Interfaces Commutation Signals). Circular scale with absolute graduation Circular scale with Z1 track Commutation of synchronous linear motors Like absolute rotary and angular encoders, absolute linear encoders of the LC series provide the exact position of the moving motor part immediately after switch-on. This makes it possible to start with maximum holding load on vertical axes even at a standstill. Circular scale with block commutation tracks 24

25 Measuring Accuracy The quantities influencing the accuracy of linear encoders are listed in the Sealed Linear Encoders and Exposed Linear Encoders catalogs. The accuracy of angle encoders is influenced primarily by the following factors: 1. Quality of the graduation 2. Quality of the scanning process 3. Quality of the signal processing electronics 4. Eccentricity of the graduation to the bearing 5. Radial runout of the bearing 6. Elasticity of the encoder shaft and ist coupling with the drive shaft 7. Elasticity of the stator coupling (RON RPN, RCN) or shaft coupling (ROD) In positioning tasks, the accuracy of the angular measurement determines the accuracy of the positioning of a rotary axis. The system accuracy given in the Specifications is defined as follows: The extreme values of the total error of a position are with respect to their mean value within the system accuracy ± a. For rotary encoders with integral bearing and integrated stator coupling, this value also includes the error due to the shaft coupling. For rotary encoders with integral bearing and separate shaft coupling, the angle error of the shaft coupling must be added For rotary encoders without integral bearing, error resulting from mounting, from the bearing of the drive shaft, and from adjustment of the scanning head must be expected in addition to the system error (see following page). The system accuracy reflects position error within one revolution and that within one signal period. Position error within one revolution becomes apparent in larger angular movements. Position error within one signal period already becomes apparent in very small angular motions and in repeated measurements. In particular it results in speed ripples in the rotational speed control loop. HEIDENHAIN rotary encoders with integral bearing permit interpolation of the sinusoidal output signals with subdivision accuracies of better than ± 1% of the signal period. Example: Rotary encoder with 2048 sinusoidal signal periods per revolution One signal period corresponds to approx. 600". This results in maximum position deviations within one signal period of approx. ± 6". The position error of the encoder within one signal period always affects the calculation of the actual speed on the basis of the actual position values of two successive sampling cycles. The position error of the encoder within one revolution is relevant for the speed control loop only if no more than a few actual position values per revolution are being evaluated. For example: a sampling time of 250 µs and a speed of n rpm result in only 10 samples per revolution. Temperatures as high as 120 C (248 F) such as can typically be found on motors cause only a very small position error in HEIDENHAIN encoders. Encoders with square-wave output signals have a position error of approx. ± 3% of the signal period. These signals are suitable for up to 100-fold phase-locked loop subdivision. Position error within one signal period Position error Position error within one revolution Position error within one signal period Position error Signal level Signal period 360 elec. Position 25

26 Measuring Accuracy Rotary Encoder without Integral Bearing In addition to the specified system accuracy, the mounting and adjustment of the scanning head normally have a significant effect on the accuracy that can be achieved with rotary encoders without integral bearings. Of particular importance are the mounting eccentricity of the graduation and the radial runout of the measured shaft. Example ERM 280 rotary encoder with 1024 lines and mean graduation diameter of 130 mm (outside diameter): A radial runout of the measured shaft of 0.02 mm results in a position error within one revolution of ± 31 seconds of arc. To evaluate the accuracy of rotary encoders without integral bearings (ERM and ERO) each of the significant types of error must be considered individually. 1. Directional error of the graduation ERM and ERO: The extreme values of the directional error with reference to their mean value are shown as accuracy of the graduation under the Specifications for each model. The accuracy of the graduation and the position error within one signal period result in the system accuracy. 2. Error due to eccentricity of the graduation to the bearing Under normal circumstances the bearing will have a certain amount of radial runout or geometric error after the disk/hub assembly (ERO) or circumferential-scale drum (ERM) is mounted. When centering using the centering collar of the hub or drum, please note that for the models listed in this catalog, HEIDENHAIN guarantees an eccentricity of the graduation to the centering collar of under 5 µm. For the modular angle encoders, this accuracy value presupposes a diameter deviation of zero between the encoder shaft and the master shaft. Error [seconds of arc] 26 Resultant error for various eccentricity values e as a function of mean graduation diameter D. Mean graduation diameter D [mm]

27 The following relationship exists between the eccentricity e, the mean graduation diameter D and the measuring error (see illustration at bottom of page): = ± 412 e D = measuring error in seconds of arc e = eccentricity of the radial grating to the bearing in µm D = mean graduation diameter (ERO) or drum outside diameter (ERM) in millimeters Model ERO 1420 ERO 1480 ERO 1225 ERO 1285 ERO 1324 ERO 1384 Mean graduation diameter Error per 1µm eccentricity D = mm ± 17.5" D = 38.5 mm ± 10.7" D = 60.5 mm ± 6.8" ERM 280 D = 75 mm D = 113 mm D = 130 mm D = 150 mm D = 176 mm D = 260 mm D = 325 mm ± 5.5" ± 3.6" ± 3.2" ± 2.7" ± 2.3" ± 1.6" ± 1.3" 3. Error due to radial deviation of the bearing The above equation for the measuring error is also valid for radial deviation of the bearing if the value of e is replaced with half of the radial deviation (half of the displayed value). Bearing compliance to radial shaft loading causes similar errors. 4. Position error within one signal period u The scanning units of all HEIDENHAIN encoders are adjusted so that the max. position error values within one signal period will not exceed the values listed below, with no further electrical adjusting required at mounting. Model Line count Position error within one signal period ( u ) ERO ERM ± 8" ± 19" ± 38" ± 40" ± 76" ± 5" ± 6" ± 10" ± 11" ± 13" ± 15" ± 22" The values for the position error within one signal period are already included in the system accuracy. Greater error values can occur if the mounting tolerances are exceeded. Scanning unit Measuring error as a function of the mean graduation diameter D and the eccentricity e. M Center of graduation True angle Scanned angle 27

28 Mechanical Design Types and Mounting Rotary Encoders with Integral Bearing and Stator Coupling ERN/ECN/EQN rotary encoders have integral bearings and an externally mounted stator coupling. ERN/ECN/EQN 1300 The shaft of these encoders is connected directly to the measured shaft. During angular acceleration of the shaft the stator coupling must absorb only that torque resulting from friction in the bearing. ERN/ECN/EQN rotary encoders therefore provide excellent dynamic performance and high natural frequencies. Benefits of stator couplings: No axial mounting tolerances between shaft and stator housing for ExN 1300 and ExN 1100 High natural frequency High rigidity of shaft coupling Low mounting or installation space requirement Easy mounting ERN/ECN/EQN 1100 Stator coupling 45 mm Mounting the ERN/ECN/EQN and ERN/ECN/EQN 1300 The bottomed hollow shaft or the taper shaft of the encoder is connected at its end through a central screw with the measured shaft. The encoder is centered on the motor shaft by the hollow shaft or taper shaft. The encoder is clamped in a location hole at the stator side by an axial screw, or on the ECN/EQN 1100 with 37 mm diameter, over a radially expanding screw. ECN/EQN 1100 Stator coupling 37 mm Mounting the ERN 1000 The rotary encoder with its bottomed hollow shaft is slid onto the measured shaft and the rotor is fastened radially to the shaft with two screws. The stator is mounted without a centering flange to a flat surface with four cap screws or with 2 cap screws and special washers. Mounting accessories Washer To increase the natural frequency f E when fastening with only two screws. Id. Nr (2 pieces) ERN

29 Mounting the ERN/ECN/EQN 400 The encoder is slid with its hollow shaft onto the measured shaft and the rotor is fastened with two screws. For the bottomed hollow shaft, the encoder is fastened by its flange. The ERN 400 with hollow through shaft can be fastened either by its flange or housing. On the stator, the encoder coupling is fastened to a flat surface without a centering flange with two or four cap screws. 2x M3 The universal stator coupling permits a versatile installation, e.g. through the provided thread onto the motor cover from outside. The ERN/ECN/EQN 400 series of encoders with standard stator coupling are also suited for mounting on motors (see Rotary Encoders catalog). 2x M3 Torque Supports for ERN/ECN/EQN 400 For simple applications with the ERN/ECN/ EQN 400, the stator coupling can be replaced by torque supports. There are two kinds of supports available. Wire torque support The stator coupling is replaced by a flat metal ring to which the provided wire is fastened. Id. Nr Pin torque support Instead of a stator coupling, a synchro flange is fastened to the encoder. A pin serves as torque support that is mounted either axially or radially on the flange. As an alternative, the pin can be pressed in on the customer's surface, and a guide can be inserted in the encoder flange for the pin. Id. Nr

30 Mechanical Design Types and Mounting Rotary Encoders with Integral Bearing, for separate shaft coupling Rotary encoders with solid shaft The rotary encoders of the ROD/ROC/ ROQ 400 series feature integral bearings and solid shafts. Beside the versions with clamping connection for electrical contact described in this catalog, there are also versions with cable exit or flange socket (see Rotary Encoder catalog). Mounting These rotary encoders with synchro flange are mounted by the synchro flange and three fixing clamps, the fastening thread on the flange face and an adapter flange. The centering collar on the flange serves to center the encoder. The shaft is connected by a separate coupling. Fixing clamps (3 per encoder) Id. Nr Insulated mounting If a compensating current is expected on the motor shaft, HEIDENHAIN recommends insulated mounting to protect the encoder. The insulation should include both the rotor and the stator. 30

31 Accessories for insulated mounting of rotary encoders with solid shaft and synchro flange Adapter flange Diaphragm coupling K 17 (electrically nonconducting) Adapter flange Electrically nonconducting Id. Nr Diaphragm coupling K 17 with metallic isolation for ROD/ROC/ROQ 400 series with 6 mm or 10 mm shaft diameter Id. Nr xx K17 Variant D1 D2 L 01 6F7 6F7 22 mm 02 6F7 10F7 22 mm Shaft couplings Shaft couplings also compensate axial motion and misalignment between the encoder shaft and the measured shaft, thereby preventing excessive bearing load on the encoder shaft. Radial misalignment Angular error Axial motion K17/01 K17/02 Kinematic error of transfer ± 10" at = 1 mm; = 0.09 Torsional rigidity 150 Nm/rad 200 Nm/rad Permissible torque 0.1 Nm Permissible radial misalignment 0.5 mm Permissible angular error 1 Permissible axis motion 0.5 mm Moment of inertia (approx.) kgm 2 Permissible speed Torque for cap screws (approx.) rpm 1.2 Nm Weight 24 g 23 g 31

32 Mechanical Design Types and Mounting Rotary Encoder without Integral Bearing The ERM, ERO, ECI/EQI modular angle encoders typically consist of two components the scanning head and a graduated disk or scale drum, which must be adjusted to each other very exactly. A precise adjustment is an important factor for the attainable measuring accuracy. Rotary encoders of the ERM 200 series consist of a scale drum and a scanning unit. The circumferential-scale drum is slid or shrunk onto the drive shaft and fastened with screws. HEIDENHAIN recommends using a transition fit for mounting the scale drum (max. overlap of 4 µm). The scale drum is centered via the centering collar on its inner circumference. The scanning unit is supplied with a spacer foil on the circumferential-scale drum. The scanning unit is pressed against the foil, the screws are tightened, and the foil is removed. Mounting the ERM 200 The ERO modular rotary encoders consist of a graduated disk with hub and a scanning unit. They are particularly well suited for applications with limited installation space and negligible axial and radial runout, or for applications where friction of any type must be avoided. The ERO 1200 series is suited for shaft diameters of 10 mm and 12 mm. The disk/hub assembly is slid onto the shaft, and the scanning unit is adjusted. The scanning unit is aligned on a centering collar and fastened on the mounting surface. With the ERO 1300 series, the scanning unit can be mounted from the side, permitting installation on a through shaft with diameters of 20 mm and 30 mm. The ERO 1400 series are miniature modular encoders for shafts with 4 mm, 6 mm, and 8 mm diameter. These rotary encoders have a special built-in mounting aid that centers the graduated disk to the scanning unit and adjusts the gap between the disk and the scanning reticle. This makes it possible to install the encoder in a very short time. The encoder is supplied with a cover cap for protection from extraneous light, contamination and electromagnetic fields. ERO 1200 ERO 1300 ERO 1400 Mounting the ERO modular rotary encoder 32

33 The ECI/EQI 1300 inductive rotary encoders are mechanically exchangeable with the photoelectric rotary encoders ExN The taper shaft (a bottomed hollow shaft is available as an alternative) is fastened with a central screw. On the stator side, the encoder is clamped by an axially tightened screw in the location hole. Mounting the ECI/EQI 1300 To mount you will need: Adjustment aid for adjusting the scanning gap Id. Nr xx Mounting aid for adjusting the rotor position to the motor emf Id. Nr Software for inspecting the output signals in conjunction with the IK 115 absolute value card (see HEIDENHAIN Measuring and Testing Devices) Id. Nr xx 33

34 Aligning the Rotary Encoder to the Motor EMF Synchronous motors require information on the rotor position immediately after switchon. This information can be provided by rotary encoders with additional commutation signals, which provide relatively rough position information. Also suitable are absolute rotary encoders in multiturn and singleturn versions, which transmit the exact position information within a few seconds of arc (see also Electronic Commutation with Position Encoders). When these encoders are mounted, the rotor positions of the encoder must be assigned to those of the motor in order to ensure the most constant possible motor current. Any inadequate assignment to the motor emf will cause loud motor noises and high power loss. Rotary encoders with integral bearing First, the rotor of the motor is brought to a preferred position by the application of a dc current. Rotary encoders with commutation signals are aligned approximately for example with the aid of the line markers on the encoder or the reference mark signal and mounted on the motor shaft. The fine adjustment is quite easy with a PWM 8 phase angle measuring device (see HEIDENHAIN Measuring and Testing Devices): the stator of the encoder is turned until the PWM 8 displays, for example, the value zero as the distance from the reference mark. Absolute rotary encoders are at first mounted as a complete unit. Then the preferred position of the motor is assigned the value zero. The IK 115 adapter card for PCs and the accompanying software (see HEIDENHAIN Measuring and Testing Devices) serve this purpose. They feature the complete range of EnDat functions and make it possible to shift datums, set write protection against unintentional changes in saved values, and use further inspection functions. Rotary encoders without integral bearing ECI/EQI rotary encoders are mounted as complete units and then adjusted with the aid of the IK 115 adapter card for PCs and the accompanying software (see HEIDENHAIN Measuring and Testing Devices). Then the central screw is loosened again and the encoder rotor is turned with the mounting aid to the desired position until, for example, an absolute value of approximately zero appears in the position data. As an alternative, electronic compensation is also possible: the ascertained compensation value is saved in the encoder and can be read out by the control electronics to calculate the position value. 34 Encoder aligned Encoder poorly aligned Motor current of adjusted and very poorly adjusted rotary encoder Aligning the encoder to the motor emf with the aid of the adjusting and testing software for the IK 115. Manual alignment of ECI/EQI

35 General Mechanical Information Temperature range The operating temperature range indicates the limits of ambient temperature within which the values given in the specifications for encoders are maintained (DIN 32878). The storage temperature range of 30 to 80 C ( 22 to 176 F) applies when the unit remains in its packaging. Protection (IEC 60529) The degree of protection indicated for the individual models shown in this catalog is adapted to the encoder's normal operating conditions. Sealed linear encoders generally fulfill the requirements for IP 64 or IP 66 protection; encoders for integration have an IP 20 or IP 00 rating. The ratings are listed in this catalog under Specifications for each model. Splashwater: Splashwater must not contain any substances that would have harmful effects on the encoder parts. ERM: If the coolant or lubricant that comes into contact with the installed drum of the ERM carries abrasives or chips, the space between the drum and scanning head must be purged with air or with clean coolant or lubricant, respectively. Protection against contact (IEC 60529) After encoder installation, all rotating parts must be protected against accidental contact during operation. Acceleration Encoders are subject to various types of acceleration during operation and mounting. The indicated maximum values for vibration apply at frequencies of 55 to 2000 Hz (IEC ). The max. permissible acceleration values (semi-sinusoidal shock) for shock and impact are valid at 6 ms (IEC ). Under no circumstances should a hammer or similar implement be used to adjust or position the encoder. The permissible angular acceleration for all rotary encoders is greater than 10 5 rad/s 2. The maximum values for vibration and shock loading indicate the limits up to which the encoder will operate without failure. To ensure maximum accuracy, ensure compliance with the ambient and operating conditions described under Measuring Accuracy. For applications in which high shock and vibration loads are expected, contact HEIDENHAIN Traunreut for more specific information. Natural frequencies The stator coupling of a rotary encoder forms a single vibrating spring-mass system whose natural frequency f E should be as high as possible. If the encoder is also subjected to radial and/or axial acceleration, the rigidity of the encoder bearing and stator also plays a role. If your application involves such acceleration loads, we recommend closer consultation with HEIDENHAIN in Traunreut. 35

36 ERN 1000 Series Rotary encoder with integral bearing for mounting on motors Mounted stator coupling Small dimensions Bottomed hollow shaft Dimensions in mm = Ball bearing = Required mating dimensions = Variable depending on the coupling 36

37 Incremental ERN 1020 ERN 1030 ERN 1080 ERN 1085 Incremental signals TTL HTL 1V PP Line count*/ System accuracy Reference mark 1024/± 64" 2048/± 32" 3600/± 18" One 512/± 60" 2048/± 40" Scanning frequency Cutoff frequency ( 3dB) Max. 300 khz Max. 160 khz 180 khz 512 lines: 100 khz 2048 lines: 400 khz Absolute position values 1V PP Position values per rev. Z1 track 1) Distinguishable revolutions Elec. permissible speed/ System accuracy Power supply 5V±10% 10to30V 5V±10% 5V±5% Current consumption (without load) Electrical connection* 150 ma Cable 1 m (3.3 ft), without connecting element or with coupling pin Max. cable length 100 m (329 ft) 150 m (492 ft) Specifications Shaft Mech. perm. speed n Starting torque (at 20 C) Bottomed hollow shaft, 6mm rpm Nm Moment of inertia of rotor Approx kgm 2 Natural frequency of the stator coupling Permissible axial motion of measured shaft Vibration (55 to 2000 Hz) Shock (6 ms) 950 Hz when secured with 4 screws or with washers (see Mounting) ± 0.5 mm 100 m/s 2 (IEC ) 1000 m/s 2 (IEC ) Max. operating temp. 100 C (212 F) 70 C (158 F) 100 C (212 F) 115 C (239 F) Min. operating temp. For frequent flexing: 40 C ( 40 F) For rigid configuration: 10 C (14 F) Protection (IEC 60529) IP 64 Weight Approx. 0.1 kg (3.5 oz) Bold: These preferred versions are available on short notice. * Please indicate when ordering. 1) For sine commutation: One sine and one cosine signal per revolution 37

38 ERN/ECN/EQN 400 Series Rotary encoder with integral bearing for mounting on motors Mounted universal stator coupling Bottomed hollow shaft or hollow through shaft (possible on ERN 4x0) Dimensions in mm = Ball bearing = Required mating dimensions = Clamping ring on housing side = Clamping ring on flange side = Bottomed hollow shaft L ERN 4x0/ 46 ECN 413 EQN

39 Incremental Absolute ERN 420 ERN 460 ERN 430 ERN 480 ECN 413 EQN 425 Incremental signals TTL HTL 1V PP 1V PP Line count*/ System accuracy 1024/± 64" 2048/± 32" 512/± 126" 2048/± 32" 512/± 60" 2048/± 20" Reference mark One Scanning frequency Max. 300 khz Cutoff frequency ( 3 db) ( 6 db) 180 khz 450 khz 512 lines: 100 khz; 2048 lines: 200 khz Absolute position values EnDat Position values per rev (13 bits) Distinguishable revolutions Elec. permissible speed/ System accuracy 4096 (12 bits) 512 lines: 5000 rpm/± 1 LSB n max. /± 100 LSB 2048 lines: 1500 rpm/± 1 LSB n max. /± 50 LSB Power supply 5V±10% 10to30V 5V±10% 5V±5% Current consumption (without load) 150 ma 150 ma 250 ma Electrical connection* Cable 1 m (3.3 ft), radial, without connecting element or with coupling Cable 1 m (3.3 ft), radial, without connecting element or with coupling Max. cable length 100 m (329 ft) 300 m (984 ft) 150 m (492 ft) 150 m (492 ft) Shaft* Bottomed hollow shaft or hollow through shaft, 12 mm Bottomed hollow shaft, 12 mm Mech. perm. speed n Max rpm Max rpm Max rpm Starting torque (at 20 C) Bottomed hollow shaft: 0.01 Nm Hollow through shaft: Nm 0.01 Nm Moment of inertia of rotor Bottomed hollow shaft: kgm 2 Hollow through shaft: kgm kgm kgm 2 Natural frequency of the stator coupling Permissible axial motion of measured shaft Vibration (55 to 2000 Hz) Shock (6 ms) 1250 Hz ±1mm 100 m/s 2 (IEC ) 1000 m/s 2 (IEC ) 1250 Hz ±1mm 100 m/s 2 (IEC ) 1000 m/s 2 (IEC ) Max. operating temp. 100 C (212 F) 70 C (158 F) 85 C (185 F) (100 C if U P <15V) 100 C (212 F) 100 C (212 F) Min. operating temp. For frequent flexing: 40 C ( 40 F) For rigid configuration: 10 C (14 F) For frequent flexing: 40 C ( 40 F) For rigid configuration: 10 C (14 F) Protection (IEC 60529) IP 67 at housing; IP 64 at shaft inlet IP 67 at housing; IP 64 at shaft inlet Weight Approx kg (8.8 oz) Approx kg (11 oz) Bold: These preferred versions are available on short notice. * Please indicate when ordering. 39

40 ROD 400 Series Rotary encoder with integral bearing for mounting on motors With solid shaft for separate shaft coupling Non-conducting mounting via adapter flange Electrical connection via terminal strip Dimensions in mm = Ball bearing = Threaded mounting hole = 10-pin terminal strip = M20 x 1.5 with shielded connection and cover disk, cable 6mm 12 mm 40

41 Incremental ROD 426 ROD 466 ROD 436 ROD 486 Incremental signals TTL HTL 1V PP Line count*/ 1024/± 64" System accuracy 1) 2048/± 32" 512/± 126" 2048/± 32" Reference mark One Scanning frequency Max. 300 khz Cutoff frequency ( 3 db) ( 6 db) 180 khz 450 khz Power supply 5V±10% 10to30V 5V±10% Current consumption (without load) Electrical connection 150 ma Terminal strip Max. cable length 100 m (329 ft) 300 m (984 ft) 150 m (492 ft) Shaft Mech. perm. speed n Starting torque (at 20 C) Solid shaft, 6mm Max rpm 0.01 Nm Moment of inertia of rotor kgm 2 Shaft load n 6000 rpm: axial 40 N radial 60 N at shaft end n > 6000 rpm: axial 10 N radial 20 N at shaft end Vibration (55 to 2000 Hz) Shock (6 ms) 100 m/s 2 (IEC ) 1000 m/s 2 (IEC ) Max. operating temp. 100 C (212 F) 70 C (158 F) 85 C (185 F) 100 C (212 F) Min. operating temp. Protection (IEC 60529) Weight 40 C ( 40 F) IP 67 at housing; IP 64 at shaft inlet Approx. 0.4 kg (14.1 oz) * Please indicate when ordering. 1) Additional errors due to shaft coupling are not included 41

42 ERN/ECN/EQN 1100 Series Rotary encoder with integral bearing for integration in motors Mounted stator coupling, 45 mm Small dimensions Bottomed hollow shaft ERN ECN/EQN Dimensions in mm = Ball bearing = Required mating dimensions = Measuring point for operating temperature = Encoder shown without cover = Cast-metal cover for cable with crimp sleeve 4.3±0.3x7 = To fasten the coupling, turn eccentric screw (M4) approx. 90 to the right, max. tightening torque 2 Nm = M3 x 10 ISO 4762 SW2.5, max. tightening torque 1.1 Nm 42

43 Incremental Absolute ERN 1120 ERN 1130 ERN 1180 ERN 1185 ECN 1113 EQN 1125 Incremental signals TTL HTL 1V PP 1V PP Line count*/ System accuracy 1024/± 64" 2048/± 32" 3600/± 18" 512/± 60" 2048/± 40" 512/± 60" Reference mark One Scanning frequency Cutoff frequency ( 3dB) Max. 300 khz Max. 160 khz 180 khz 512 lines: 100 khz 2048 lines: 400 khz 200 khz Absolute position values 1V PP EnDat Position values per rev. Z1 track 1) 8192 (13 bits) Distinguishable revolutions Elec. permissible speed/ System accuracy 4096 (12 bits) 4000 rpm/± 1 LSB rpm/± 16 LSB Power supply 5V±10% 10to30V 5V±10% 5V±5%(or7to10Vwith adapter cable inside motor) Current consumption (without load) 150 ma 160 ma 200 ma Electrical connection Via 12-pin PCB connector Via 12-pin PCB connector Max. cable length 100 m (329 ft) 150 m (492 ft) 150 m (492 ft) Shaft Bottomed hollow shaft, 6 mm Bottomed hollow shaft, 6mm Mech. perm. speed n rpm rpm Starting torque (at 20 C) Nm Nm Moment of inertia of rotor Approx kgm 2 Approx kgm 2 Natural frequency of the stator coupling 1500 Hz 1500 Hz Permissible axial motion of measured shaft ± 0.5 mm ± 0.5 mm Vibration (55 to 2000 Hz) Shock (6 ms) 100 m/s 2 (IEC ) 1000 m/s 2 (IEC ) 200 m/s 2 (IEC ) 1000 m/s 2 (IEC ) Max. operating temp. 100 C (212 F) 70 C (158 F) 100 C (212 F) 115 C (239 F) 115 C (239 F) Min. operating temp. 40 C ( 40 F) 40 C ( 40 F) Protection (IEC 60529) IP 40 IP 40 Weight Approx kg (2.5 oz) Approx kg (2.5 oz) * Please indicate when ordering. 1) For sine commutation: One sine and one cosine signal per revolution 43

44 ECN/EQN 1100 Series Rotary encoder with integral bearing for integration in motors Mounted stator coupling, 37 mm Small dimensions Taper shaft Dimensions in mm = Ball bearing = Required mating dimensions = Coupling ring = Self-locking screw ISO 4762 SW2.5, tightening torque 1.1 Nm = Setscrew M4x6 for clamping the coupling ring SW2, tightening torque 0.6 Nm Screw inserted approx. 0.8 mm into encoder before mounting 44

45 Absolute ECN 1113 EQN 1125 Incremental signals Line count/ System accuracy 1V PP 512/± 60" Scanning frequency Cutoff frequency ( 3dB) 200 khz Absolute position values Position values per rev. Distinguishable revolutions Elec. permissible speed/ System accuracy Power supply EnDat 8192 (13 bits) 4096 (12 bits) 4000 rpm/± 1 LSB rpm/± 16 LSB 5V±5% Current consumption (without load) Electrical connection Max. cable length 160 ma Via 12-pin PCB connector 150 m (492 ft) 200 ma Shaft Taper shaft, 5.5 mm; taper 1:3 Mech. perm. speed n Starting torque (at 20 C) rpm Nm Moment of inertia of rotor Approx kgm 2 Natural frequency of the stator coupling Permissible axial motion of measured shaft Vibration (55 to 2000 Hz) Shock (6 ms) Max. operating temp. Min. operating temp Hz ± 0.5 mm 200 m/s 2 (IEC ) 1000 m/s 2 (IEC ) 115 C (239 F) 40 C ( 40 F) Protection (IEC 60529) IP 40 Weight Approx kg (2.5 oz) 45

46 ERN/ECN/EQN 1300 Series Rotary encoder with integral bearing for integration in motors Mounted stator coupling, 64.8 mm Taper shaft Dimensions in mm = Ball bearing = Required mating dimensions = Measuring point for operating temperature = Locking screw for coupling ring SW2 torque 1.25 Nm = Pin connector, 12-pin (ERN 1321/ECN 1313/EQN 1325) Pin connector, 14-pin (ERN 1381/ERN 1387) Pin connector, 16-pin (ERN 1326) = Cast-metal cover for cable with crimp sleeve 6+0.3x10 = Back-off thread core 5.2 = Self-locking screw M5 x 70 ISO 4762 SW4 (EQN 1325) Self-locking screw M5 x 50 ISO 4762 SW4 (ExN 13xx) torque 5.2 Nm = Gear teeth for special version (EQN 1325) L L1 EQN ECN ERN 1321/ ERN 1326/ ERN 1381/ ERN

47 Incremental Absolute ERN 1321 ERN 1381 ERN 1387 ERN 1326 ECN 1313 EQN 1325 Incremental signals TTL 1V PP TTL 1V PP Line count*/ System accuracy 1024/± 64" 2048/± 32" 4096/± 16" 512/± 60" 2048/± 20" 4096/± 16" 2048/± 20" 1024/± 64" 2048/± 32" 4096/± 16" 512/± 60" 2048/± 20" Reference mark One Scanning frequency or Cutoff frequency ( 3 db) Max. 300 khz 200 khz Max. 300 khz 2048 lines: 200 khz 512 lines: 100 khz Absolute position values 1V PP TTL EnDat Position values per rev. Z1 track 1) 3x TTL 2) 8192 (13 bits) Distinguishable revolutions Elec. permissible speed/ System accuracy 4096 (12 bits) 512 lines: 6000 rpm/± 1 LSB rpm/± 50 LSB 2048 lines: 1500 rpm/± 1 LSB rpm/± 50 LSB Power supply 5V ± 5%(or7Vto12Vwith adapter cable inside motor) 5V ± 5%(or7Vto12Vwith adapter cable inside motor) Current consumption (without load) Electrical connection via PCB connector 120 ma 150 ma 150 ma 250 ma 12-pin 14-pin 16-pin 12-pin Max. cable length 150 m (492 ft) 100 m (329 ft) 150 m (492 ft) Shaft Taper shaft 9.25 mm; taper 1:10 Taper shaft 9.25 mm; taper 1:10 Mech. perm. speed n rpm rpm rpm Starting torque at 20 C 0.01 Nm 0.01 Nm 0.02 Nm Moment of inertia of rotor Approx kgm 2 Approx kgm 2 Natural frequency of the stator coupling 2000 Hz 2000 Hz Permissible axial motion of measured shaft ± 0.5 mm ± 0.5 mm Vibration (55 to 2000 Hz) Shock (6 ms) 100 m/s 2 (IEC ) 1000 m/s 2 (IEC ) 100 m/s 2 (IEC ) 1000 m/s 2 (IEC ) Max. operating temp. 120 C (248 F) 3) 115 C (239 F) Min. operating temp. 40 C ( 40 F) 30 C ( 22 F) Protection (IEC 60529) IP 40 IP 40 Weight Approx kg (8.8 oz) Approx kg (8.8 oz) * Please indicate when ordering. 1) For sine commutation: One sine and one cosine signal per revolution 2) For block commutation: Three square-wave signals with 90 or 120 mech. phase shift 3) ERN 1381 with 4096 lines: 80 C (176 F) 47

48 ECI/EQI 1300 Series Rotary encoder without integral bearing for integration in motors Installation diameter 65 mm Taper shaft or bottomed hollow shaft Dimensions in mm = Ball bearing = Required mating dimensions = Mounting screw = Pin connector, 12-pin = Ribbon cable exit = Screw M5 x 50 ISO 4762 = Scanning gap = Clamping surface = Round cable exit = Back-off thread M6 48

49 Absolute ECI 1317 EQI 1329 Incremental signals Line count/ System accuracy Cutoff frequency ( 3dB) Absolute position values Position values per rev. Distinguishable revolutions Elec. permissible speed/ System accuracy Power supply* Current consumption (without load) Electrical connection Max. cable length Shaft*/Moment of inertia of rotor 1V PP 32/± 400" Typically 6 khz EnDat (17 bits) 4096 (12 bits) 5000 rpm/± 40 LSB rpm/± 56 LSB 5V±5%or7to10V 250 ma Via 12-pin PCB connector 150 m (492 ft) Taper shaft 9.25 mm; taper 1:10 /2.2 x 10 6 kgm 2 Hollow shaft 12.0 mm; length 5 mm /3.2 x 10 6 kgm 2 Mech. perm. speed n rpm rpm Permissible axial motion of measured shaft Vibration (55 to 2000 Hz) Shock (6 ms) Max. operating temp. Min. operating temp. ± 0.2 mm (depending on tolerance exhaustion during mounting) 100 m/s 2 (IEC ) 1000 m/s 2 (IEC ) 115 C (239 F) 20 C ( 4 F) Protection (IEC 60529) IP 20 Weight Approx kg (4.6 oz) * Please indicate when ordering. 49

50 ERO 1200 Series Rotary encoder without integral bearing for integration in motors Installation diameter 52 mm Hollow through shaft Dimensions in mm D 10h6 12h6 = Ball bearing = Required mating dimensions = Disk/hub assembly = Offset screwdriver SW2.5, ISO 2936, shortened Z a f c ERO ± ± 0.05 ERO ±

51 Incremental ERO 1225 ERO 1285 Incremental signals TTL 1V PP Line count* System accuracy 1) / Accuracy of the graduation 2) Reference mark 1024 lines: ± 53"/± 15" 2048 lines: ± 26.5"/± 7.5" One Scanning frequency Cutoff frequency ( 3dB) Max. 300 khz Typically 180 khz Power supply Current consumption (without load) Electrical connection 5V±10% 150 ma Via 12-pin PCB connector Max. cable length 100 m (329 ft) 150 m (492 ft) Shaft* Hollow through shaft, 10 mm or 12 mm Moment of inertia of rotor Shaft 10 mm: kgm 2 Shaft 12 mm: kgm 2 Mech. perm. speed n Permissible axial motion of measured shaft Vibration (55 to 2000 Hz) Shock (6 ms) Max. operating temp. Min. operating temp rpm ± 0.05 mm ± 0.03 mm 100 m/s 2 (IEC ) 1000 m/s 2 (IEC ) 100 C (212 F) 40 C ( 40 F) Protection (IEC 60529) IP 00 Weight Approx kg (2.5 oz) * Please indicate when ordering. 1) Before mounting; additional errors due to mounting and bearing of the drive shaft are not included 2) For other errors, see Measuring Accuracy 51

52 ERO 1300 Series Rotary encoder without integral bearing for integration in motors Installation diameter 75 mm Hollow through shaft ERO 1324 ERO 1384 Dimensions in mm D 20h6 30h6 = Ball bearing = Required mating dimensions = Disk/hub assembly a f c ERO ± ERO ±

53 Incremental ERO 1324 ERO 1384 Incremental signals TTL 1V PP Line count* System accuracy 1) / Accuracy of the graduation 2) Reference mark 1024 lines: ± 53"/± 15" 2048 lines: ± 26.5"/± 7.5" 5000 lines: ± 11.5"/± 3.5" One Scanning frequency Cutoff frequency ( 3dB) Max. 400 khz 180 khz Power supply Current consumption (without load) Electrical connection 5V±10% 150 ma Via 12-pin PCB connector (adapter cable Id. Nr xx) Via 12-pin PCB connector (adapter cable Id. Nr xx) Max. cable length 100 m (329 ft) 150 m (492 ft) Shaft* Hollow through shaft 20 mm or 30 mm Moment of inertia of rotor Shaft 20 mm: kgm 2 Shaft 30 mm: kgm 2 Mech. perm. speed n Permissible axial motion of measured shaft Vibration (55 to 2000 Hz) Shock (6 ms) rpm ± 0.05 mm ± 0.03 mm 100 m/s 2 (IEC ) 1000 m/s 2 (IEC ) Max. operating temp. 70 C (158 F) 85 C (185 F) Min. operating temp. 0 C (32 F) Protection (IEC 60529) IP 00 Weight Approx. 0.2 kg (7 oz) * Please indicate when ordering. 1) Before mounting; additional errors due to mounting and bearing of the drive shaft are not included 2) For other errors, see Measuring Accuracy 53

54 ERO 1400 Series Rotary encoder without integral bearing For integration in motors with PCB connector (degree of protection IP 00) For mounting on motors with cable exit (degree of protection IP 40) Installation diameter 44 mm With cable exit With axial PCB connector Axial PCB connector and round cable Dimensions in mm Axial PCB connector and ribbon cable = Ball bearing = Required mating dimensions = Setscrew offset 2x90 M3 SW1.5/= 0.6±0.1 Nm = Accessory: Round cable with shielded connection = Accessory: Ribbon cable with shielded connection a b ERO ± 0.1 ERO ± 0.05 D 4h6 6h6 54

55 Incremental ERO 1420 ERO 1480 Incremental signals TTL 1V PP Line count* System accuracy 1) / Accuracy of the graduation 2) Reference mark 512 lines: ± 106"/± 30" 1000 lines: ± 55"/± 15" 1024 lines: ± 53"/± 15" One Scanning frequency Cutoff frequency ( 3dB) Max. 300 khz 180 khz Power supply Current consumption (without load) Electrical connection* 5V±10% 150 ma Via 12-pin PCB connector, axial or cable 1 m (3.3 ft), radial, without connecting element Max. cable length 100 m (329 ft) 150 m (492 ft) Shaft* Bottomed hollow shaft, 4 mm; 6mmor 8mm Moment of inertia of rotor Shaft 4 mm: kgm 2 Shaft 6 mm: kgm 2 Shaft 8 mm: kgm 2 Mech. perm. speed n Permissible axial motion of measured shaft Vibration (55 to 2000 Hz) Shock (6 ms) Max. operating temp. Min. operating temp rpm ± 0.1 mm ± 0.05 mm 100 m/s 2 (IEC ) 1000 m/s 2 (IEC ) 70 C (158 F) 0 C (32 F) Protection (IEC 60529) With PCB connector: IP 00 With cable exit: IP 40 Weight Approx kg (2.5 oz) Bold: These preferred versions are available on short notice. * Please indicate when ordering. 1) Before mounting; additional errors due to mounting and bearing of the drive shaft are not included 2) For other errors, see Measuring Accuracy 55

56 ERM 200 Series Rotary encoder without integral bearing for integration in motors For large shaft diameters up to 295 mm Magnetic scanning principle Dimensions in mm = Ball bearing = Mounting gap 0.1 adjusted with spacer foil D1 D2 D3 E

57 Incremental ERM 220 ERM 280 Incremental signals Reference mark ERM 220: TTL ERM 280: 1V PP One Scanning frequency Cutoff frequency ( 3dB) ERM 220: Max. 300 khz ERM 280: 200 khz Power supply Current consumption (without load) Electrical connection Max. cable length 5V±10% 150 ma Cable 1 m (3.3 ft) with coupling 150 m (492 ft) Drum inside diameter* 40 mm 70 mm 80 mm 120 mm 130 mm 180 mm 295 mm Drum outside diameter* mm mm mm mm 176 mm mm mm Line count System accuracy 1) ± 37" ± 25" ± 23" ± 21" ± 20" ± 12" ± 11" Accuracy of the ± 15" ± 10" ± 10" ± 10" ± 10" ± 6" ± 6" graduation 2) Recommended measuring step Mech. perm. speed n rpm rpm rpm rpm rpm 8000 rpm 5000 rpm Moment of inertia of rotor kgm 2 kgm 2 kgm 2 kgm 2 kgm 2 kgm 2 kgm 2 Perm. axial movement Vibration (55 to 2000 Hz) Shock (6 ms) Max. operating temp. Min. operating temp. ±1mm 100 m/s 2 (IEC ) 1000 m/s 2 (IEC ) 100 C (212 F) 10 C (14 F) Protection (IEC 60529) IP 66 Weight Scale drum (approx.) 0.36 kg 0.71 kg 0.93 kg 0.76 kg 1.3 kg 3.1 kg 1.82 kg Scanning head with cable Approx kg * Please indicate when ordering; other versions upon request 1) Before mounting; additional errors due to mounting and bearing of the drive shaft are not included 2) For other errors, see Measuring Accuracy 57

58 Interfaces Incremental signals 1V PP The sinusoidal incremental signals A and B are phase-shifted by 90 and have an amplitude of 1 V PP. The usable component of the reference mark signal is approx. 0.5 V. Data on signal amplitude apply when U P =5V±5%or5V±10%attheencoder (see Specifications), and refer to a difference measured at a 120 terminating resistor between the associated outputs. The signal amplitude decreases with increasing scanning frequency. Output Signals Incremental signals Reference mark signal Connecting cable Cable length Propagation time ERN, ECN, EQN, ERM, ERO Sinusoidal voltage signals 1V PP 2 nearly sinusoidal signals A and B Signal amplitude M: 0.8 to 1.2 V PP Typically 1 V PP Asymmetry IP NI/2M: 0.065/0.05 1) Signal ratio M A /M B : 0.8 to 1.25/0.9 to 1.1 1) Phase angle I 1+ 2I/2: 90 ± 10 elec./± 5 elec. 1) 1 or more signal peaks R Useable component G: 0.2 to 0.85 V Signal-to-noise ratio E, F: Min. 40 mv/100 mv 1) Zero crossovers K, L: 180 ± 90 elec. HEIDENHAIN shielded cable PUR [4( mm 2 )+(4 0.5mm 2 )] Max. 150 m (492 ft) with distributed capacitance 90 pf/m 6 ns/m 1) only for ERN 138x, ERN 1185, ECN 1x13, EQN 1x25 Signal period 360 elec. 1V PP : Recommended input circuitry of subsequent electronics Dimensioning Operational amplifier e.g. RC 4157 R 1 =10k and C 1 = 220 pf R 2 = 34.8 k and C 2 =10pF Z 0 = 120 U B =±15V U 1 approx. U 0 3dB cutoff frequency of circuitry Approx. 450 khz Approx. 50 khz with C 1 = 1000 pf and C 2 = 82pF Output signals of circuitry U a = 3.48 V PP typical Gain 3.48-fold Signal monitoring A threshold sensitivity of 250 mv PP is to be provided for monitoring the output signals. (Rated value) A, B, R measured with an oscilloscope in differential mode Incremental signals Reference mark signal R a < 100, typically 24 C a <50pF I a <1mA U 0 = 2.5 V ± 0.5 V (relative to 0 V of the power supply) 1V PP 58

59 Cutoff frequency The cutoff frequency indicates the frequency at which a certain percentage of the original signal amplitude is maintained. 3dB cutoff frequency: 70 % of the signal amplitude 6dB cutoff frequency: 50 % of the signal amplitude Recommended measuring step The recommended measuring step for speed control results essentially from the signal period and the quality of the scanning signals. Signal amplitude [%] 3dB cutoff frequency 6dB cutoff frequency Scanning frequency [khz] Typical curve of the signal amplitude as a function of the scanning frequency Pin Layout 12-pin HEIDENHAIN coupling 15-pin D-sub connector, female 12-pin PCB connector / /8/13/15 14 / 6b 6a 5b 5a 4b 4a 2a 1a 2b 1b / 3a / A B R 5V (U P ) V (U N ) 5V Sensor 0V Sensor Vacant Vacant Vacant Brown Green Gray Pink Red Black Brown/ Green White/ Green Blue White / Violet Yellow EN Adapter cable inside the motor for ERN 1381 Id. Nr xx 17-pin HEIDENHAIN flange socket 12-pin PCB connector /9/11/ 14/17 6b 6a 5b 5a 4b 4a 2a 1a 2b 1b 3a/3b A B R 5V (U P ) 0V (U N ) U P Sensor 0V Sensor Temperature 1) Brown Green Gray Pink Red Black Brown/ Green White/ Green Vacant Blue White Brown 1) White 1) Violet Electrical connection Shield on housing; UP = power supply Sensor is connected internally with the respective power supply. EN ) only for motor-internal adapter cable 59

60 Interfaces Incremental Signals TTL Encoders with TTL square-wave output signals incorporate circuitry that digitizes sinusoidal scanning signals without interpolation, or after 2-fold interpolation. They provide two 90 (elec.) phase-shifted square-wave pulse trains U a1 and U a2, and one reference pulse U a0, which is gated with the incremental signals. A fault-detection signal indicates fault conditions such as an interruption in the supply lines, failure of the light source, etc. It can be used, for example, in automated production to switch off the machine. The integrated electronics also generate the inverse signals of all square-wave pulse trains. The distance between two successive edges of the combined pulse trains U a1 and U a2 after 1-fold, 2-fold or 4-fold evaluation is one measuring step. To ensure reliable operation, the input circuitry of the subsequent electronics must be designed to detect each edge of the square-wave pulse. To prevent counting errors in the subsequent electronics, the edge separation a must never exceed the maximum possible scanning frequency. The minimum edge separation a is guaranteed over the entire operating temperature range. Output Signals Incremental signals Edge separation Ref. mark signal Pulse width Delay time Fault detection signal ERN 420/460, ERN 1x2x, ERO, ROD 42x, ROD 466 Square-wave signals TTL 2 TTL square-wave signals U a1,u a2 and their inverted signals, a 0.4 µs at scanning frequency of 400 khz a 0.45 µs at scanning frequency of 300 khz a 0.8 µs at scanning frequency of 160 khz a 1.3 µs at scanning frequency of 100 khz 1 square-wave pulse U a0 and inverted pulse 90 elec. (other widths available on request) t d 50 ns 1 square-wave pulse (improper function: LOW; proper function: HIGH) Signal level Differential line driver as per EIA standard RS 422 U H 2.5 V with I H =20mA U L 0.5 V with I L =20mA Permissible load Switching times (10% to 90%) Connecting cable Cable length Propagation time R 100 (between associated outputs) I L 20 ma (max. load per output) C load 1000 pf with respect to 0 V Outputs protected against short circuit after 0 V Rise time Fall time t + 50 ns t 50 ns with 1 m cable and recommended input circuitry HEIDENHAIN shielded cable PUR [4(2 x 0.14 mm 2 )+(4x0.5mm 2 )] Max. 100 m ( max. 50 m) with distributed capacitance 90 pf/m 6 ns/m Incremental signals U a1 lags U a2 with clockwise rotation (viewed from flange side) Signal period 360 elec. Reference mark signal Edge separation TTL: Recommended input circuitry of subsequent electronics Dimensioning Recommended differential line receiver AM 26 LS 32 MC 3486 SN 75 ALS 193 R 1 = 4.7 k R 2 = 1.8 k Z 0 = 120 Incremental signals Reference mark signal Fault detection signal + 5 V 60

61 Cable lengths TTL square-wave signals can be transmitted to the subsequent electronics over cable up to 100 m (329 ft), provided that the specified 5 V ± 10% supply voltage is maintained at the encoder. The sensor lines enable the subsequent electronics to measure the voltage at the encoder and, if required, correct it with a line-drop compensator. Cable length [m] Output frequency [khz] Permissible cable length in relation to output frequencies Pin Layout 12-pin HEIDENHAIN flange socket or coupling 12-pin HEIDENHAIN PCB connector / 6b 6a 5b 5a 4b 4a 2a 1a 2b 1b 3a 3b / U a1 U a2 U a0 5V U P 0V U N 5V Sensor 0V Sensor Vacant Vacant Brown Green Gray Pink Red Black Brown/ Green White/ Green Blue White Violet / Yellow Shield on housing; U P = power supply Sensor is connected internally with the respective power supply. EN Motor-internal adapter cable for ERN 1321 Id. Nr xx 17-pin HEIDENHAIN flange socket 12-pin PCB connector /9/11/ 14/17 6b 6a 5b 5a 4b 4a 2a 1a 2b 1b 3a/3b U a1 U a2 U a0 5V (U P ) 0V (U N ) U P Sensor 0V Sensor Temperature 1) + Vacant Brown Green Gray Pink Red Black Brown/ Green White/ Green Blue White Brown 1) White 1) Violet Shield on housing; U P = power supply Sensor is connected internally with the respective power supply. EN ) only for motor-internal adapter cable 61

62 Interfaces Incremental Signals HTL Encoders with HTL square-wave output signals incorporate circuitry that digitizes sinusoidal scanning signals. They provide two 90 (elec.) phase-shifted square-wave pulse trains U a1 and U a2, and one reference pulse U a0, which is gated with the incremental signals. A fault-detection signal indicates fault conditions such as an interruption in the supply lines, failure of the light source, etc. The integrated electronics also generate the inverse signals of all square-wave pulse trains (not with ERN 1x30). The distance between two successive edges of the combined pulse trains U a1 and U a2 after 1-fold, 2-fold or 4-fold evaluation is one measuring step. To ensure reliable operation, the input circuitry of the subsequent electronics must be designed to detect each edge of the square-wave pulse. To prevent counting errors in the subsequent electronics, the edge separation a must never exceed the maximum possible scanning frequency. The minimum edge separation a is guaranteed over the entire operating temperature range. Output Signals Incremental signals Edge separation Ref. mark signal Pulse width Delay time Fault detection signal Signal level Permissible load Switching times (10% to 90%) Connecting cable Cable length Propagation time ERN 430, ERN 1x30, ROD 43x Square-wave signals HTL 2 HTL square-wave signals U a1,u a2 and their inverted signals, (ERN 1x30 without, ) a 0.45 µs at scanning frequency of 300 khz a 0.8 µs at scanning frequency of 160 khz a 1.3 µs at scanning frequency of 100 khz 1 square-wave pulse U a0 and inverted pulse (ERN 1x30 w/o ) 90 elec. (other widths available on request) t d 50 ns with gated reference pulse 1 square-wave pulse (improper function: LOW; proper function: HIGH) U H 21 V with I H =20mA U L 2.8 V with I L =20mA with power supply U P = 24 V, without cable I L 100 ma (max. load per output, except ) C load 10 nf with respect to 0 V Outputs protected against short circuit after 0 V (except ) Rise time t ns Fall time t 200 ns with 1 m cable and recommended input circuitry HEIDENHAIN shielded cable PUR [4(2 x 0.14 mm 2 )+(4x0.5mm 2 )] Max. 300 m (ERN 1x30 max. 100 m) 6 ns/m Incremental signals U a1 lags U a2 with clockwise rotation (viewed from flange side) Signal period 360 elec. Reference mark signal Edge separation HTL: Recommended input circuitry of subsequent electronics ERN For cable lengths over 50 m, the corresponding 0 V signal lines must be connected with 0 V of the subsequent electronics to increase noise immunity.

63 Current consumption The current consumption for rotary encoders with HTL output signals depends on the output frequency and the cable length of the subsequent electronics. The diagrams at right show typical curves for push-pull signal transmission with a 12-line HEIDENHAIN cable. The maximum current consumption can be 50 ma higher. ma m 200 m 100 m 20 m ma m m m m khz khz Typical current consumption at U P =24V Typical current consumption at U P =15V Cable lengths For incremental rotary encoders with HTL signals, the permissible cable length depends on the scanning frequency and the effective power supply. The limit on cable length ensures the correct switching times and edge steepness of output signals. Cable length [m] Scanning frequency [khz] Pin Layout 12-pin HEIDENHAIN flange socket or coupling 12-pin HEIDENHAIN PCB connector / 6b 6a 5b 5a 4b 4a 2a 1a 2b 1b 3a / U a1 U a2 U a V U P 0V 10 30V U N Sensor 0V Sensor Vacant Brown Green Gray Pink Red Black Brown/ Green White/ Green Blue White Violet Yellow Shield on housing; U P = power supply Sensor is connected internally with the respective power supply. ERN 1x30 without inverted signals, and. EN

64 Interfaces Commutation Signals for Sinusoidal Commutation The commutation signals C and D are derived from the so-called Z1 track and appear as one sinusoidal or cosine period, respectively, per revolution. Their signal amplitude is typically 1 V PP. The recommended input circuitry of the subsequent electronics corresponds to the 1V PP interface. Output Signals Commutation signals Connecting cable Cable length Propagation time ERN 1085, ERN 1185, ERN 1387 Sinusoidal voltage signals 1V PP 2 nearly sinusoidal signals C and D For signal levels, see Incremental signals 1V PP HEIDENHAIN shielded cable PUR [4(2 x 0.14 mm 2 ) + 4(2 x 0.14 mm 2 )+(4x0.5mm 2 )] Max. 150 m (492 ft) 6 ns/m Electronic commutation with the Z1 track One revolution Analog switch A/D converter Position value output Z1 track Absolute position value coarse commutation Absolute position value coarse commutation EEPROM and counter Incremental signals Incremental signals Reference mark signal Incremental signals Absolute position reference exact commutation Multiplexer Subdivision electronics Pin Layout 17-pin HEIDENHAIN coupling or flange socket 14-pin HEIDENHAIN PCB connector b 2a 3b 5a 4b 4a 1b 5b 7a 3a A B R U P 0V (U N ) U P 1) Sensor 0V 1) Sensor Internal shield Green/ Black Yellow/ Black Blue/ Black Red/ Black Red Black Brown/ Green White/ Green Blue White / EN b 17 1a 9 2b 8 6a 5 6 Shield on housing; U P = power supply Sensor is connected internally with the respective power supply. Vacant pins or wires must not be used! C D Temperature 2) 1) Not assigned if 7 to 12 V power is supplied via ) motor-internal adapter cable. 2) only for motor-internal adapter cables Gray Pink Yellow Violet Green Brown 64

65 Commutation Signals for Block Commutation The block commutation signals I, II and III are derived from three separate absolute tracks. They are transmitted as square-wave signals in TTL level. Output Signals Commutation signals Width Signal level Connecting cable Cable length Propagation time ERN 1326 Square-wave signals TTL Three square-wave signals I, II, III and their inverted signals I, II, III 120 mech. for 3-pin or 6-pin motors or 90 mech. for 4-pin or 8-pin motors See Incremental signals TTL HEIDENHAIN shielded cable PUR [4(2 x 0.14 mm 2 ) + 4(2 x 0.14 mm 2 )+(4x0.5mm 2 )] Max. 100 m (329 ft) 6 ns/m Signal sequence of commutation signals for block commutation Pin Layout 17-pin HEIDENHAIN flange socket 16-pin HEIDENHAIN PCB connector b 5a 4b 4a 3b 3a 1b 1a 2b U a1 U a2 U a0 5V (U P ) 0V (U N ) U P Sensor Internal shield Green/ Black Yellow/ Black Blue/ Black Red/ Black Red Black Brown/ Green White/ Green Blue / EN / 2a 5 8b 6 8a 14 6b 17 6a 9 7b 8 7a Shield on housing; U P = power supply Sensor is connected internally with I I II II III III the respective power supply. Vacant pins or wires must not be used! / Green Brown Gray Pink Violet Yellow 65

66 Interfaces 2.1 Absolute Position Values As a bidirectional interface, the EnDat (Encoder Data) interface for absolute encoders is capable of outputting absolute position values as well as requesting or updating information stored in the encoder. Thanks to the serial data transmission, only four signal lines are required. The type of transmission (i.e., whether position values or parameters) is selected through mode commands transmitted from the subsequent electronics to the encoder. Data is transmitted in synchronism with a CLOCK signal from the subsequent electronics. Interface Code signals Data input Data output Signal level Code EnDat 2.1 (serial bidirectional) Differential line receiver according to EIA standard RS-485 for CLOCK and CLOCK as well as DATA and DATA signals Terminating resistor Z 0 = 120 Differential line driver according to EIA standard RS-485 for DATA and DATA signals Differential voltage outputs > 1.7 V with 120 load*) (EIA standard RS-485) Pure binary code Advantages of the EnDat Interface One interface for all absolute encoders, whereby the subsequent electronics can automatically distinguish between EnDat and SSI. Complementary output of incremental signals (option: usable for highly dynamic control loops). Automatic self-configuration during encoder installation, since all information required by the subsequent electronics is already stored in the encoder. Reduced wiring cost. Six lines are sufficient for standard applications. High system security through alarms and warning messages that can be evaluated in the subsequent electronics for monitoring and diagnosis. No additional lines are required. Minimized transmission times through adaptation of the data word length to the resolution of the encoder and through high clock frequencies. High reliability of transmission through cyclic redundancy checks. Datum shift through an offset value in the encoder. It is possible to form a redundant system, since the absolute value and incremental signals are output independently from each other. Direction of rotation EnDat interface: Recommended input circuitry of subsequent electronics Code signals IC 1 = differential line receiver and driver R 3 = 100 R 4 =1k Incremental signals Code values increase with clockwise rotation (viewed from flange side) Incremental signals 1V PP (See Incremental signals 1 V PP ) Connecting cable Cable length Propagation time *) terminating and receiver input resistor HEIDENHAIN shielded cable PUR [(4 x 0.14 mm 2 ) + 2(4 x 0.14 mm 2 )+(4x0.5mm 2 )] Max. 150 m (492 ft) with distributed capacitance 90 pf/m 6 ns/m 66 Permissible clock frequency with respect to cable lengths Cable length [m] Clock frequency [khz]

67 Function of the EnDat Interface The EnDat interface outputs absolute position values, optionally makes incremental signals available, and permits reading from and writing to the memory in the encoder. Selection of transmission mode Position values and memory contents are transmitted serially through the DATA lines. The type of transmission is selected through mode commands that define the content of the subsequent information. Each mode command consists of three bits. To ensure transmission reliability, each bit is also transmitted inverted. If the encoder recognizes a faulty mode transmission, an error message follows. The following mode commands are available: Encoder transmit absolute position value Select the memory area Encoder transmit/receive parameters of the last defined memory area Encoder transmit test values Encoder receive test command Encoder receive RESET Operating parameters (e.g., datum shift) Encoder Memory Areas Absolute encoder Parameters of the encoder manufacturer Parameters of the OEM Incremental signals Absolute position value Operating status Block diagram: Absolute encoder with EnDat interface EnDat interface Subsequent electronics 1V PP A 1V PP B U P Power 0 V supply Monitoring and Diagnostic Functions Parameters The encoder provides several memory areas that can be read from by the subsequent electronics, some of which can be written to by the encoder manufacturer, the OEM, or even the end user. Certain memory areas can be write-protected. The parameters, which in most cases are set by the OEM, largely define the function of the encoder and the EnDat interface. When an EnDat encoder is exchanged it is therefore essential that the encoder parameter settings be correct. Putting a machine into operation with encoders with missing OEM data can result in malfunctions. If you have any doubt, consult with the OEM. Parameters of the encoder manufacturer This write-protected memory area contains all information specific to the encoder such as encoder type (linear encoder, angle encoder, singleturn/multiturn, etc.), signal periods, number of position values per revolution, transmission format of absolute position values, direction of rotation, maximum permissible speed, accuracy with respect to shaft speed, support through warnings and alarms, part number, and serial number. This information forms the basis for automatic configuration. Parameters of the OEM OEMs can store their information in this freely definable memory area. A motor manufacturer, for example, can save an electronic ID label of the motor in which the encoder is integrated, indicating the motor model, maximum current rating, etc. Operating parameters This area is available to the customer for a datum shift. It can be protected against overwriting. Operating status This memory area provides detailed alarms or warnings for diagnostic purposes. Here it is also possible to activate write protection for the OEM-parameter and operating-parameter memory areas, and interrogate its status. Once activated, the write protection cannot be reversed. Alarms and warnings The EnDat interface permits extensive monitoring of the encoder without requiring additional transmission lines. An alarm becomes active if there is a malfunction in the encoder that is presumably causing incorrect position values. At the same time, an alarm bit is set in the data word. Alarm conditions include, for example: Failure of the light unit Insufficient signal amplitude Error in calculation of the position value Operating voltage too high or too low Current consumption too high Warnings indicate that certain tolerance limits of the encoder have been reached or exceeded such as shaft speed or the limit of light-source intensity compensation through voltage regulation without implying that the measured position values are incorrect. This function enables preventive maintenance and therefore minimizes machine downtime. The alarms and warnings supported by the respective encoder are stored in the encoder manufacturer's parameter memory area. Reliable data transfer To increase the reliability of data transfer, a cyclic redundancy check (CRC) is performed through the logical processing of the individual bit values of a data word. This 5-bit long CRC concludes every transmission. The CRC is decoded in the receiver electronics and compared with the data word. This largely eliminates errors caused by disturbances during data transfer. 67

68 Data transfer The two types of EnDat data transfer are position value transfer and parameter transfer. Control Cycles for Transfer of Position Values The clock signal is transmitted by the subsequent electronics to synchronize the data output from the encoder. When not transmitting, the clock line is high. The transmission cycle begins with the first falling edge. The encoder saves the measured values and calculates the position value. Interrupted clock The interrupted clock is intended particularly for time-clocked systems such as closed control loops. At the end of the data word, the clock signal is set to high level. After the Encoder saves position value Subsequent electronics transmit mode command time t m (10 to 30 µs) the data line returns to low and can begin a new transmission when started by the clock signal. After two clock pulses (2T), the subsequent electronics send the mode command encoder transmit position value. Mode command Position value Cyclic redundancy check After the encoder has completed calculation of the absolute position value (t cal see table), it begins with the start bit to transmit data to the subsequent electronics. The subsequent alarm bit is a common signal for all monitored functions and serves for failure monitoring. It becomes active if there is a malfunction in the encoder that could result in incorrect position values. The exact cause of the alarm is saved in the operating-status memory area where it can be interrogated. The absolute position value is then transmitted beginning with the LSB. Its length depends on the encoder. It is saved in the encoder manufacturer's memory area. Since EnDat does not need to fill superfluous bits with zeros as is common in SSI, the transmission time of the position value to the subsequent electronics is minimized. Continuous clock For applications that require fast acquisition of the measured value, the EnDat interface can have the clock run continuously. Immediately after the last CRC bit has been sent, the data line is switched to high for one clock cycle, and then to low. The new position value is saved with the very next falling edge of the clock and is output in Save new position value synchronism with the clock signal immediately after the start bit and alarm bit. Because the mode command encoder transmit position value is needed only before the first data transmission, the continuousclock transfer mode reduces the length of the clock-pulse group by 10 periods per position value. Save new position value Data transmission is concluded with the cyclic redundancy check (CRC). CRC Position value CRC ROC, ECN, ECI/EQI RCN 2) ROQ, EQN 1) LC 3) Clock frequency f C 100 khz to 2 MHz Calculation time for Position value t cal Parameter t ac 250 ns Max. 12 ms 5µs Max. 12 ms 10 µs Max. 12 ms 1ms Max. 12 ms Recovery time t m 10 to 30 µs HIGH pulse width t HI 0.2 to 10 µs LOW pulse width t LO 0.2 µs to 50 ms 0.2 to 30 µs 1) See also Rotary Encoders catalog.; 2) See Angle Encoders catalog. 3) See Sealed Linear Encoders catalog. 68

69 Control cycles for transfer of parameters (mode command ) Before parameter transfer, the memory area is determined with the mode command select the memory area and a subsequent memory-range-select code (MRS). The possible memory areas are stored in the parameters of the encoder manufacturer. Due to the internal access times to the individual memory areas, the time t ac may reach 12 ms. Reading parameters from the encoder (mode command ) After selecting the memory area, the subsequent electronics transmits a complete communications protocol beginning with the mode command encoder transmit parameters, followed by an 8-bit address and 16 bits with random content. The encoder answers with the repetition of the address and 16 bits with the contents of the parameter. The transmission cycle is concluded with a CRC check. Writing parameters to the encoder (mode command ) After selecting the memory area, the subsequent electronics transmit a complete communications protocol beginning with the mode command encoder receive parameters, followed by an 8-bit address and a 16-bit parameter value. The encoder answers by repeating the address and the contents of the parameter. The CRC check concludes the cycle. Transmitter in encoder inactive Transmitter in encoder active Receiver in encoder active 8 Bit 16 Bit 8 Bit 16 Bit MRS code Address Address x = random y = parameter MRS code Address Address Acknowledgment Parameter Synchronization of the serially transferred code value with the incremental signal Absolute encoders with EnDat interface can exactly synchronize serially transmitted absolute position values with incremental values. With the first falling edge (latch signal) of the CLOCK signal from the subsequent electronics, the scanning signals of the individual tracks in the encoder and counter are frozen, as are the A/D converters for subdividing the sinusoidal incremental signals in the subsequent electronics. The code value transmitted over the serial interface unambiguously identifies one incremental signal period. The position value is absolute within one sinusoidal period of the incremental signal. The subdivided incremental signal can therefore be appended in the subsequent electronics to the serially transmitted code value. After power on and initial transmission of position values, two redundant position values are available in the subsequent electronics. Since encoders with EnDat interface guarantee a precise synchronization regardless of cable length of the serially transmitted absolute value with the incremental signals, the two values can be compared in the subsequent electronics. This monitoring is possible even at high shaft speeds thanks to the EnDat interface's short transmission times of less than 50 µs. This capability is a prerequisite for modern machine design and safety concepts. Encoder Subsequent electronics Latch signal 1V PP Counter Comparator Subdivision Parallel interface 69

70 EnDat Pin Layout 17-pin HEIDENHAIN coupling or flange socket 12-pin PCB connector a 5b 4a 3b 1b 4b 6a 3a A B Vacant Vacant U P 0V (U N ) + + U P 1) Sensor 0V 1) Sensor Internal shield Green/ Black Yellow/ Black Blue/ Black Red/ Black Red Black Brown/ Green White/ Green Blue White / IEC 742 EN b 17 1a 8 2b 9 5a 5 6 Shield on housing; U P = power supply Sensor is connected internally with the respective power supply. DATA DATA CLOCK CLOCK Temperature 2) Vacant pins or wires must not be used. + Gray Pink Violet Yellow Brown 2) White 2) 1) Not assigned if 7 to 12 V power is supplied via 1) motor-internal adapter cable. 2) only for motor-internal adapter cables 15-pin D-sub connector, male, on HEIDENHAIN adapter cable for IK pin D-sub connector, female, on HEIDENHAIN connecting cable for HEIDENHAIN controls and IK A B Vacant Vacant U P 0V (U N ) + + U P Sensor 0V Sensor Internal shield Green/ Black Yellow/ Black Blue/ Black Red/ Black Red Black Brown/ Green White/ Green Blue White / EN Shield on housing; U P = power supply Sensor is connected internally with the DATA DATA CLOCK CLOCK respective power supply. Vacant pins or wires must not be used. Gray Pink Violet Yellow 70

71 Connecting Elements and Cables General Information Connector: A connecting element with a knurled coupling ring; available with male or female contacts. Coupling: A connecting element with external thread; available with male or female contacts. Connector, insulated Coupling, insulated x Flange socket: A flange socket is intended for permanent mounting on the encoder, the mounting block or the machine housing. It has an external thread and is available with male or female contacts. x: 42.7 y: 41.7 y Flange socket D-sub connector D-sub connector: for HEIDENHAIN controls, counters and IK absolute value cards. The direction of pin numbering on connectors is opposite to that on the couplings for flange sockets, regardless of whether the connecting element has Coupling on mounting base, insulated male contacts or female contacts. When engaged, the connections provide protection to IP 67 (D-sub connector: IP 30; IEC When not engaged, there is no protection. HEIDENHAIN right-angle flange socket (rotatable), on motor-internal adapter cable with connection for temperature sensor 71

72 Connecting Elements and Cables (17-pin) for encoders with synchronous-serial interface for encoders with Z1 track for encoders with block commutation Connecting element for rotary encoder cable Coupling (male), 17-pin Connecting element on linear encoder cable Adapter cable with coupling (male), 17-pin length 1 m, 3 m, 6 m, 9 m for encoder cable 4.5 mm 6mm Cable 6 mm xx Polyurethane connecting cable PUR 8mm Complete with connector (female) and coupling (male) [(4 x 0.14 mm 2 ) + 4(2 x 0.14 mm 2 )+(4x0.5mm 2 )] xx Complete with connector (female) and D-sub connector (female) for IK xx Complete with connector (female) and D-sub connector (male) for IK xx With one connector (female) xx Mating element on connecting cable to connector on encoder cable Connector (female), 17-pin for connecting cable 8 mm Connector on connecting cable to the subsequent electronics Connector (male), 17-pin for connecting cable 8 mm Coupling on connecting cable Coupling (male), 17-pin for connecting cable 8 mm Cable only 8 mm

73 Adapter Cables inside Motor For ECN 1113, EQN 1125 For ECN 1313, EQN 1325 For ECI 1317, EQI 1329 Complete with 12-pin PCB connector and 17-pin right-angle socket With crimp sleeve 4.3 mm With crimp sleeve 6mm With crimp sleeve 6mm xx 16xAWG30/7; Crimp sleeve 6mm for 5 V power supply xx 16xAWG30/7; Crimp sleeve 4.3 mm xx 16xAWG30/7; Crimp sleeve 6mm for 7 to 12 V power supply and xx 16xAWG30/7; Crimp sleeve 4.3 mm integral voltage converter to 5 V With one PCB connector, 12-pin xx 16xAWG30/7; Crimp sleeve 6mm for 5 V power supply xx 16xAWG30/7; Crimp sleeve 4.3 mm For ERN 1185 For ERN 1387 With crimp sleeve 4.5 mm With crimp sleeve 6mm Complete with 14-pin PCB connector and 17-pin right-angle socket xx 16xAWG30/7; Crimp sleeve 4.5 mm xx 16xAWG30/7; Crimp sleeve 6mm for 5 V power supply xx 16xAWG30/7; Crimp sleeve 4.5 mm xx 16xAWG30/7; Crimp sleeve 6mm for 7 to 12 V power supply and integral voltage converter to 5 V With one PCB connector, 14-pin xx 16xAWG30/7; Crimp sleeve 4.5 mm xx 16xAWG30/7; Crimp sleeve 6mm for 5 V power supply For ERN 1326 Complete with 16-pin PCB connector and 17-pin right-angle socket xx 16xAWG30/7; Crimp sleeve 6 mm for 5 V power supply With one PCB connector, 16-pin xx 16xAWG30/7; Crimp sleeve 6 mm for 5 V power supply For ERN 1321, ERN 1381 (Id. Nr xx) Complete with 12-pin PCB connector and 17-pin right-angle socket xx 16xAWG30/7; Crimp sleeve 6 mm for 5 V power supply With one PCB connector, 12-pin xx 16xAWG30/7; Crimp sleeve 6 mm for 5 V power supply 73

74 Connecting Elements and Cables (12-pin) for encoders with HEIDENHAIN standard connecting elements TTL, HTL and 1V PP Coupling on encoder cable Coupling (male), 12-pin, shield on housing for encoder cable 6mm 4.5 mm Flange socket on encoder Flange socket (male), 12-pin, shield on housing Polyurethane connecting cable PUR 8mm [4(2 x 0.14 mm 2 )+(4x0.5mm 2 )] shield on housing for encoders with coupling or flange socket Complete with connector (female) and connector (male) xx With one connector (female) xx Mating connector on connecting cable to coupling on encoder cable or to flange socket Connector (female), 12-pin, shield on housing for connecting cable 8 mm Connector on connecting cable to subsequent electronics Connector (male), 12-pin, shield on housing for connecting cable 8mm 6mm Cable only 8mm Flange socket for the connecting cable to the subsequent electronics Flange socket (female), 12-pin: Coupling (female) on mounting base, for cable 8 mm, 12-pin:

75 Adapter Cables For Rotary Encoders TTL, HTL and 1V PP ERO 1225, ERO 1285, ERO 1384 ERO 1324 ERN 1120, ERN 1130, ERN 1180 ERN 1321, ERN 1381 Adapter cable 4.5 mm xx xx xx xx ERO 1420, ERO 1480 with electric connection via PCB connector Adapter cable 4.5 mm xx with shield connection clamp Adapter cable, ribbon xx with shield connection clamp Adapter cable for PC counter cards For IK 220 For IK 115 Adapter cable with connector (female) xx for 1V PP ; xx for EnDat/SSI Adapterkabel mit Stecker (female) xx Cable length up to 60 m (197 ft) Cable length up to 100 m (329 ft) Cable diameter 8 mm (0.3 in.) Cable diameter 8 mm (0.3 in.) 75

76 General Electrical Specifications Power supply A stabilized dc voltage is required as the power supply for the encoders. The voltage and current consumption are given in the individual specifications. The permissible ripple amplitude 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 Initial transient of the power supply voltage, e.g.5v±5% These voltage values apply as measured at the encoder, i.e., without cable influences. The voltage at the encoder can be monitored and adjusted with the device's sensor lines. If a controllable power supply is not available, the voltage drop can be halved by switching the sensor lines parallel to the corresponding power lines. The voltage drop for HEIDENHAIN cable is calculated as: U[V]= L C [m] I [ma] 56 A P [mm 2 ] Where L C : Cable length I: Current consumption of angle encoder (see Specifications) A P : Cross section of power line Cable External diameter 4.5 mm.18 in. 6mm.24 in. Typically 500 ms U PP Cross-section of the power supply wires Incremental Absolute 0.14 mm 2 (AWG 26) 0.19 mm 2 (AWG 24) 0.05 mm 2 (AWG 30) 0.08 mm 2 (AWG 28) Electrically permissible speed The maximum permissible speed of an angle encoder is derived from the mechanically permissible speed (see Specifications) and the electrically permissible speed. For encoders with sinusoidal signals the electrically permissible speed is limited by the 3 db and 6 db cutoff frequency of the encoder and by the input frequency f max of the subsequent electronics. For encoders with square-wave signals the electrically permissible speed is limited by the maximum permissible output frequency f max of the encoder and the minimum edge separation a for the subsequent electronics. n max = f max [khz] rpm z where n max : Maximum electrically permissible speed f max : Maximum scanning frequency of the encoder or input frequency of the subsequent electronics z: Line count of the rotary encoder Cable Durability All angle encoders use polyurethane (PUR) cables that are resistant to oil, hydrolysis and microbes in accordance with VDE They are free of PVC and silicone and comply with UL safety directives. The UL certification AWM STYLE C 30V E63216 is documented on the cable. Bending radius The permissible bending radii R depend on the cable diameter and the cable configuration: Cable diameter 4.5 mm (0.18 in.) Rigid configuration R 10 mm (0.4 in.) Frequent flexing R 50 mm (2 in.) Cable diameter 6 mm (0.24 in.) Rigid configuration R 20 mm (0.8 in.) Frequent flexing R 75 mm (3 in.) Cable diameter 8 mm (0.31 in.) Rigid configuration R 40 mm (1.6 in.) Frequent flexing R 100 mm (4 in.) Rigid configuration Frequent flexing Temperature range HEIDENHAIN cable can be used in the following temperature ranges: for stationary configuration 40 to 85 C ( 40 to 185 F) for frequent flexing 10 to 85 C (14 to 185 F) Cables with limited resistance to hydrolysis and microbes are rated for up to 100 C (212 F). 8mm.31 in mm 2 (AWG 20) 0.5 mm 2 (AWG 20)

77 Reliable Signal Transmission Electromagnetic compatibility (EMC) When properly installed, HEIDENHAIN encoders fulfill the requirement for electromagnetic compatibility according to 89/336/EWG. Compliance with the regulations of the EMC Guidelines is based on conformance to the following standards: IEC Electromagnetic compatibility Immunity for industrial environments Specifically: ESD IEC Electromagnetic fields IEC Burst IEC Surge IEC Conducted disturbances IEC Power frequency magnetic fields IEC Pulse magnetic fields IEC EN Electromagnetic compatibility Generic emission standard Specifically: for industrial, scientific and medical (ISM) equipment EN for information technology equipment EN Protection against electrical noise Use only the recommended HEIDENHAIN cable for signal lines. To connect signal lines, use only HEIDENHAIN connectors. The shielding should conform to EN Do not lay signal cable in the direct vicinity of interference sources (air clearance > 100 mm (4 in.). A minimum spacing of 200 mm (8 in.) to inductors is usually required, for example in switch-mode power supplies. HEIDENHAIN encoders should be connected only to subsequent electronics whose power supplies comply with EN (protective low voltage). Configure the signal lines for minimum length and avoid the use of intermediate terminals. In metal cable ducts, sufficient decoupling of signal lines from interference signal transmitting cable can usually be achieved with a grounded partition. For applications using multiturn rotary encoders in electromagnetic fields stronger than 10 mt (for EQN 400 and EQN 1300) or stronger than 30 mt (for EQN 1100), we recommend consulting with HEIDENHAIN in Traunreut. Both the cable shielding and the metal housings of encoders and subsequent electronics have a shielding function. The housing must have the same potential and be connected to the main signal ground over the machine chassis or by means of a separate potential compensating line. Potential compensating lines should have a minimum cross section of 6 mm 2 (Cu). Transmission of measuring signals electrical noise immunity Noise voltages arise mainly through capacitive or inductive transfer. Electrical noise can be introduced into the system over signal lines and input or output terminals. Possible sources of noise are: Strong magnetic fields from transformers, brakes and electric motors Relays, contactors and solenoid valves High-frequency equipment, pulse devices, and stray magnetic fields from switch-mode power supplies Power lines and supply lines to the above devices > 100 mm M > 100 mm > 200 mm Isolation The encoder housings are isolated from the electronics. Dielectric strength Air clearance and leakage distance Insulation resistance 500 V/50 Hz for max. 1 minute > 1 mm > 50 M Minimum distance from sources of interference 77

78 HEIDENHAIN Measuring Equipment For Incremental Encoders PWM 8 Encoder inputs 11 µa PP /1 V PP /TTL/HTL signals via expansion modules Functions Measuring the signal amplitudes, current consumption, power supply Display of phase angle, on-off ratio, scanning frequency Display symbols for reference signal, disturbance signal, count direction Integrated universal counter Outputs Power supply Dimensions Incremental signals for subsequent electronics Incremental signals for oscilloscope via BNC sockets 10 to 30 V, max. 15 W 150 mm 205 mm 96 mm The PWM 8 is a universal measuring device for checking and adjusting HEIDENHAIN incremental encoders. There are various expansion modules available for checking different encoder signals. The values can be read on a small LCD monitor. Soft keys provide ease of operation. For Absolute Encoders The IK 115 is a PC expansion card for monitoring and testing absolute HEIDENHAIN encoders with EnDat or SSI interface. Parameters can be read and written via the EnDat interface. Encoder input Interface IK 115 EnDat (absolute value and incremental signals) or SSI ISA bus Application software Operating system: Windows 95/98 Functions: Display position value Counter for incremental signals EnDat functionality Signal subdivision for incremental signals Dimensions Up to 1024-fold 158 mm x 107 mm 78

79 Evaluation Electronics IK 220 Universal PC counter card The IK 220 is an adapter card for AT compatible PCs for measured value acquisition of two incremental or absolute linear and angular encoders. The subdivision and counting electronics subdivide the sinusoidal input signals up to 4096 fold. Driver software is included. Input signals (switchable) Encoder inputs IK 220 1V PP EnDat SSI 11 µa PP Two D-sub ports (15-pin), male Input frequency (max.) 500 khz 33 khz Cable length (max.) 60 m (197 ft.) 10 m (32.8 ft.) For more information, see the IK 220 data sheet. Signal subdivision (signal period : meas. step) Data register for measured values (per channel) Internal memory Interface Driver software and demonstration program Dimensions Up to 4096-fold 48 bits (44 bits used) For 8192 position values PCI bus (plug and play) For WINDOWS NT/95/98 in VISUAL C++, VISUAL BASIC and BORLAND DELPHI Approx. 190 mm 100 mm IK 410V Counter card with 16-bit microcomputer interface The IK 410V is an interpolation and counter PCB for one incremental encoder with additional input for commutation signals (Z1-track: one sine/cosine per revolution). It is inserted directly into the PCB of customer-specific electronics. For more information, see the IK 410V data sheet. Input signals Signal subdivision (signal period : meas. step) Input frequency Counter Interface Driver software Data format Dimensions Permissible cable length from encoder to IK IK 410V Incremental signals: 1 1V PP Commutation signals: 1 sine/cosine (1 V PP ) Up to 1024-fold Max. 350 khz 32 bits 16-bit microcomputer interface Borland C and C++, Turbo-Pascal MOTOROLA or INTEL format 100mm 65mm 60 m (197 ft.) 79