Rotary Encoders

November 2005
Selection Guide

Rotary Encoders Absolute

Singleturn Multiturn

Interface EnDat 2.2/01 EnDat 2.2/22 SSI PROFIBUS-DP EnDat 2.2/01 EnDat 2.2/22

Power 5V 3.6 to 5.25 V 5 V or 10 to 30 V 5V 3.6 to 5.25 V

supply 10 to 30 V

With Built-in Stator Coupling

ERN 1000 series – – – – – –

ECN/EQN/ERN 400* series ECN 413 ECN 425 ECN 413 – EQN 425 EQN 437
Positions/rev: 13 bits Positions/rev: 25 bits Positions/rev: 13 bits Positions/rev: 13 bits Positions/rev: 25 bits
4096 revolutions 4096 revolutions

ECN/EQN/ERN 400* series ECN 413 ECN 425 – – EQN 425 EQN 437
with universal stator coupling Positions/rev: 13 bits Positions/rev: 25 bits Positions/rev: 13 bits Positions/rev: 25 bits
4096 revolutions 4096 revolutions

ECN/ERN 100 series ECN 113 ECN 125 ECN 113 – – –

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

For Separate Shaft Coupling

ROD 1000 – – – – – –

series

ROC/ROQ/ROD 400* series ROC 413 ROC 425 ROC 410 ROC 413 ROQ 425 ROQ 437
With synchro flange Positions/rev: 13 bits Positions/rev: 25 bits ROC 412 Positions/rev: 13 bits Positions/rev: 13 bits Positions/rev: 25 bits
4096 revolutions 4096 revolutions
ROC 413
Positions/rev:
10/12/13 bits

ROC 415 –
ROC 417
Positions/rev:
15/17 bits

ROC/ROQ/ROD 400* series ROC 413 ROC 425 ROC 413 ROC 413 ROQ 425 ROQ 437
with clamping flange Positions/rev: 13 bits Positions/rev: 25 bits Positions/rev: 13 bits Positions/rev: 13 bits Positions/rev: 13 bits Positions/rev: 25 bits
4096 revolutions 4096 revolutions

*Versions with EEx protection on request

4
 Incremental

Introduction
SSI PROFIBUS-DP « TTL « TTL « HTL » 1 VPP

5 V or 10 to 30 V 5V 10 to 30 V 10 to 30 V 5V
10 to 30 V

– – ERN 1020 – ERN 1030 ERN 1080 14

100 to 60 to 100 to
3600 lines 3600 lines 3600 lines

EQN 425 – ERN 420 ERN 460 ERN 430 ERN 480 16
s Positions/rev: 250 to 250 to 250 to 1000 to 5000
13 bits 5000 lines 5000 lines 5000 lines lines
4096
revolutions

– – ERN 420 ERN 460 ERN 430 ERN 480 20

s 250 to 250 to 250 to 1000 to 5000
5000 lines 5000 lines 5000 lines lines

– – ERN 120 – ERN 130 ERN 180 24

1000 to 5000 1000 to 5000 1000 to 5000
lines lines lines

– – ROD 1020 – ROD 1030 ROD 1080 26

100 to 60 to 100 to
3600 lines 3600 lines 3600 lines

ROQ 425 ROQ 425 ROD 426 ROD 466 ROD 436 ROD 486 28
s Positions/rev: Positions/rev: 50 to 50 to 50 to 1000 to 5000
13 bits 13 bits 10 000 lines 10 000 lines 5000 lines lines
4096 4096
revolutions revolutions

32

ROQ 425 ROQ 425 ROD 420 – ROD 430 ROD 480 34
s Positions/rev: Positions/rev: 50 to 50 to 1000 to 5000
13 bits 13 bits 5000 lines 5000 lines lines
4096 4096
revolutions revolutions

5
Measuring Principles
Measuring Standard Measuring Methods

HEIDENHAIN encoders with optical With the absolute measuring method, The track with the finest grating period is
scanning incorporate measuring standards the position value is available from the interpolated for the position value and at
of periodic structures known as graduations. encoder immediately upon switch-on and the same time is used to generate an
These graduations are applied to a carrier can be called at any time by the subse- optional incremental signal.
substrate of glass or steel. quent electronics. There is no need to
move the axes to find the reference In singleturn encoders the absolute
These precision graduations are manu- position. The absolute position information position information repeats itself with
factured in various photolithographic pro- is read from the disk graduation, which every revolution. Multiturn encoders can
cesses. Graduations are fabricated from: consists of several parallel graduation also distinguish between revolutions.
• extremely hard chromium lines on glass, tracks.
• matte-etched lines on gold-plated steel
tape, or
• three-dimensional structures on glass or
steel substrates.

The photolithographic manufacturing

processes developed by HEIDENHAIN
produce grating periods of typically 50 µm
to 4 µm.

These processes permit very fine grating

periods and are characterized by a high
definition and homogeneity of the line
edges. Together with the photoelectric
scanning method, this high edge definition
is a precondition for the high quality of the
output signals.

The master graduations are manufactured

by HEIDENHAIN on custom-built high- Circular graduations of absolute rotary encoders
precision ruling machines.

With the incremental measuring The absolute position established by the

method, the graduation consists of a reference mark is gated with exactly one
periodic grating structure. The position measuring step.
information is obtained by counting the
individual increments (measuring steps) The reference mark must therefore be
from some point of origin. Since an scanned to establish an absolute reference
absolute reference is required to ascertain or to find the last selected datum.
positions, the graduated disks are provided
with an additional track that bears a
reference mark.

Circular graduations of incremental rotary encoders

6
 Accuracy
Scanning Methods

Photoelectric scanning The accuracy of position measurement

Most HEIDENHAIN encoders operate with rotary encoders is mainly determined
using the principle of photoelectric by
scanning. The photoelectric scanning of a • the directional deviation of the radial
measuring standard is contact-free, and grating,
therefore without wear. This method • the eccentricity of the graduated disk to
detects even very fine lines, no more than the bearing,
a few microns wide, and generates output • the radial deviation of the bearing,
signals with very small signal periods. • the error resulting from the connection
with a shaft coupling (on rotary encoders
The ECN, EQN, ERN and ROC, ROQ, ROD with stator coupling this error lies within
rotary encoders use the imaging scanning the system accuracy),
principle. • the interpolation error during signal
processing in the integrated or external
Put simply, the imaging scanning principle interpolation and digitizing electronics.
functions by means of projected-light
signal generation: two graduations with
equal grating periods are moved relative to
each other—the scale and the scanning
reticle. The carrier material of the scanning For incremental rotary encoders with line
reticle is transparent, whereas the counts up to 5000:
graduation on the measuring standard may The maximum directional deviation at
be applied to a transparent or reflective 20 °C ambient temperature and slow
surface. When parallel light passes through speed (scanning frequency between 1 kHz
a grating, light and dark surfaces are and 2 kHz) lie within
projected at a certain distance. An index
grating with the same grating period is ± 18° mech. · 3600 [angular seconds]
located here. When the two gratings move Line count z
relative to each other, the incident light is which equals
modulated. If the gaps in the gratings are
aligned, light passes through. If the lines of ± 1 grating period.
one grating coincide with the gaps of the 20
other, no light passes through. Photovoltaic ROD rotary encoders with 6000 to 10000
cells convert these variations in light signal periods per revolution have a system
intensity into nearly sinusoidal electrical accuracy of ± 12 angular seconds.
signals. Practical mounting tolerances for
encoders with the imaging scanning
principle are achieved with grating periods
of 10 µm and larger.

The accuracy of absolute position values

LED light source from absolute rotary encoders is given in
the specifications for each model.

For absolute rotary encoders with

complementary incremental signals, the
Condenser lens accuracy depends on the line count:

Line count Accuracy

512 ± 60 angular seconds
2048 ± 20 angular seconds
Scanning reticle 8192 ± 10 angular seconds
Measuring standard
The above accuracy data refer to
incremental measuring signals at an
ambient temperature of 20 °C and at slow
Photocells speed.

I90° and I270°

photocells are not
shown

Photoelectric scanning according to the imaging scanning principle

7
Mechanical Design Types and Mounting
Rotary Encoders with Integral Bearing and Stator Coupling

ECN/EQN/ERN rotary encoders have

ECN/ERN 100
integrated bearings and a mounted stator

D
coupling. They compensate radial runout
and alignment errors without significantly
reducing the accuracy. The encoder shaft is
directly connected with the shaft to be 1 max.
measured. During angular acceleration of
the shaft, the stator coupling must absorb L
only that torque caused by friction in the
ECN:
bearing. The stator coupling permits axial
L = 41 min. with D † 25
motion of the measured shaft: L = 56 min. with D ‡ 38

ECN/EQN/ERN 400: ± 1 mm ERN:

ERN 1000: ± 0.5 mm L = 46 min. with D † 25
L = 56 min. with D ‡ 38
ECN/ERN 100: ± 1.5 mm
Mounting
The rotary encoder is slid by its hollow ECN/EQN/ERN 400 e.g. with standard stator coupling
shaft onto the measured shaft, and the
rotor is fastened by two screws or three Blind hollow shaft
eccentric clamps. For rotary encoders with
hollow through shaft, the rotor can also be
fastened at the end opposite to the flange.
With their with taper shafts, rotary
encoders of the ECN/EQN/ERN 1300 1 max.
series are particularly well suited for
repeated mounting (see brochure titled
11 min./19 max.
Position Encoders for Servo Drives). The
stator is connected without a centering
collar on a flat surface. The universal Hollow through shaft
stator coupling of the ECN/EQN/ERN 400
permits versatile mounting, e.g. by its
thread provided for fastening it from 1 max.
outside to the motor cover. Dynamic
56 min.
applications require the highest possible
natural frequencies fN of the system (also Grooves remain
see General Mechanical Information). This is visible
attained by connecting the shafts on the
flange side and fastening the coupling by ECN/EQN/ERN 400
four cap screws or, on the ERN 1000, with e.g. with universal stator coupling 1 max.
special washers (see Mounting Accessories). 56 min.
Hollow through shaft
Natural frequency fN with coupling fastened by 4 screws

Stator Cable Flange socket

coupling 2x M3
Axial Radial

ECN/EQN/ Standard 1550 Hz 1500 Hz 1000 Hz

1)
ERN 400 Universal 1400 Hz 1400 Hz 900 Hz

ECN/ERN 100 1000 Hz – 400 Hz ERN 1000

2)
ERN 1000 950 Hz – –
1)
Also when fastening with 2 screws
2)
Also when fastening with 2 screws and thrust pads
If the encoder shaft is subject to high
loads, for example from friction wheels,
pulleys, or sprockets, HEIDENHAIN
1 max.
recommends mounting the ECN/EQN/
ERN 400 with a bearing assembly (see 6 min./21max.
Mounting Accessories).

8
Rotary Encoders with Integral Bearing for Separate Shaft Coupling

ROC/ROQ/ROD rotary encoders have

Rotary encoders with synchro flange
integrated bearings and a solid shaft. The
encoder shaft is connected with the
measured shaft through a separate rotor
coupling. The coupling compensates axial
motion and misalignment (radial and
angular offset) between the encoder shaft
and measured shaft. This relieves the
encoder bearing of additional external loads
that would otherwise shorten its service
life. Diaphragm and metal bellows
couplings designed to connect the rotor of Fixing clamps
the ROC/ROQ/ROD encoders are available
(see Shaft Couplings). Coupling

ROC/ROQ/ROD 400 series rotary encoders

permit high bearing loads (see diagram). Coupling
They can therefore also be mounted
directly onto mechanical transfer elements
such as gears or friction wheels.
If the encoder shaft is subject to relatively
high loads, for example from friction
Adapter flange
wheels, pulleys, or sprockets,
HEIDENHAIN recommends mounting the
ECN/EQN/ERN 400 with a bearing
assembly.
ROC/ROQ/ROD 400 with clamping flange

Mounting
Rotary encoders with synchro flange Mounting flange
• by the synchro flange with three fixing
clamps (see Mounting Accessories), or Coupling
• by the fastening thread on the flange
face and an adapter flange (for ROC/
ROQ/ROD 400 see Mounting
Accessories).

Rotary encoders with clamping flange Coupling

• by the fastening thread on the flange
face and an adapter flange (see
Mounting Accessories) or
• by clamping at the clamping flange.

The centering collar on the synchro flange

or clamping flange serves to center the MD † 3 Nm
encoder.

Bearing lifetime of ROC/ROQ/ROD 400

The lifetime of the shaft bearing depends Bearing lifetime if shaft subjected to load
on the shaft load, the shaft speed, and the 40 000
point of force application. The values given 35 000
¬6 F = 40 N F = 60 N
in the specifications for the shaft load are
30 000
Bearing lifetime

valid for all permissible speeds, and do not ¬ 10

limit the bearing lifetime. The diagram 25 000
shows an example of the different bearing 20 000
lifetimes to be expected at further loads. 15 000
The different points of force application of
10 000
shafts with 6 mm and 10 mm diameters
have an effect on the bearing lifetime. 5 000
0
0 2 000 4 000 6 000 8 000 10 000 12 000 14 000 16 000

Shaft speed [rpm]

9
Shaft Couplings

ROC/ROQ/ROD 400 ROD 1000 ROC 415, ROC 417

Diaphragm couplings Metal bellows Diaphragm Flat

with galvanic isolation coupling coupling coupling

K 14 K 17/01 K 17/02 K 17/03 18EBN3 K 03 K 18

K 17/06 K 17/04

Hub bore 6 mm 6 mm 6/10 mm 10 mm 4/4 mm 10 mm 10 mm

6/5 mm 10 mm

Kinematic ± 6” ± 10” ± 40“ ± 2” ± 3”

transfer error*

Torsional rigidity 500 Nm 150 Nm 200 Nm 300 Nm 60 Nm 1500 Nm 1200 Nm

rad rad rad rad rad rad
Max. torque 0.2 Nm 0.1 Nm rad 0.2 Nm 0.1 Nm 0.2 Nm 0.5 Nm

Max. radial offset λ † 0.2 mm † 0.5 mm † 0.2 mm † 0.3 mm

Max. angular error α † 0,5° † 1° † 0,5° † 0,5°

Max. axial offset δ † 0.3 mm † 0.5 mm † 0.3 mm † 0.2 mm

–6 2
Moment of inertia 6 · 10 kgm 3 · 10–6 kgm2 4 · 10–6 kgm2 0.3 · 10–6 kgm2 20 · 10–6 kgm2 75 · 10–6 kgm2
(approx.)

Permissible speed 16 000 rpm 16 000 rpm 12000 rpm 10000 rpm 1000 rpm

Torque for locking 1.2 Nm 0.8 Nm 1.2 Nm

screws (approx.)

Weight 35 g 24 g 23 g 27.5 g 9g 100 g 117 g

*With radial misalignment λ = 0.1 mm, angular error α = 0.15 mm over 100 mm ƒ 0.09° to 50 °C

Radial misalignment Angular error Axial motion

Mounting
Accessories
Screwdriver bit
Screwdriver
See page 23

10
18 EBN 3 metal bellows coupling
for encoders of the ROD 1000 series
with 4 mm shaft diameter
Id. Nr. 200393-02

K14 diaphragm coupling Recommended fit for the

for ROC/ROQ/ROD 400 Series customer shaft: h6
with 6 mm shaft diameter
Id. Nr. 293328-01

K 17 diaphragm coupling with K 17 D1 D2 L

galvanic isolation variants
for ROC/ROQ/ROD 400 Series
with 6 or 10 mm shaft diameter 01 ¬ 6 F7 ¬ 6 F7 22 mm
Id. Nr. 296746-xx
02 ¬ 6 F7 ¬ 10 F7 22 mm

03 ¬ 10 F7 ¬ 10 F7 30 mm

04 ¬ 10 F7 ¬ 10 F7 22 mm

06 ¬ 5 F7 ¬ 6 F7 22 mm

K 03 diaphragm coupling
Id. Nr. 200313-04
for
ROC 417
ROC 415

K 18 flat coupling
Id.-Nr. 202227-01
for
ROC 417
ROC 415

Dimensions in mm

Tolerancing ISO 8015

ISO 2768 - m H

A = Ball bearing
11
General Mechanical Information

UL certification Natural frequencies Expendable parts

All rotary encoders and cables in this The rotor and the couplings of ROC/ROQ/ HEIDENHAIN encoders contain
brochure comply with the UL safety ROD rotary encoders, as also the stator components that are subject to wear,
regulations “ ” for the USA and the and stator coupling of ECN/EQN/ERN depending on the application and
“CSA” safety regulations for Canada. They rotary encoders, form a single vibrating manipulation. These include in particular
are listed under file no. E205635. spring-mass system. the following parts:
• LED light source
Acceleration The natural frequency fN should be as • Bearings in encoders with integral
Encoders are subject to various types of high as possible. A prerequisite for the bearing
acceleration during operation and highest possible natural frequency on • Shaft sealing rings for rotary and angular
mounting. ROC/ROQ/ROD rotary encoders is the encoders
• The indicated maximum values for use of a diaphragm coupling with a high • Cables subject to frequent flexing
vibration are apply for frequencies of 55 torsional rigidity C (see Shaft Couplings).
to 2000 Hz (IEC 60 068-2-6). Any
¹CI
System tests
acceleration exceeding permissible fN = 1 · Encoders from HEIDENHAIN are usually
2·þ
values, for example due to resonance integrated as components in larger
depending on the application and fN: Natural frequency in Hz systems. Such applications require
mounting, might damage the encoder. C: Torsionial rigidity of the coupling in Nm/ comprehensive tests of the entire
Comprehensive tests of the entire rad system regardless of the specifications
2
system are required. I: Moment of inertia of the rotor in kgm of the encoder.
• The maximum permissible acceleration
values (semi-sinusoidal shock) for shock ECN/EQN/ERN rotary encoders with their The specifications given in the brochure
and impact are valid for 6 ms and 2 ms, stator couplings form a vibrating spring- apply to the specific encoder, not to the
respectively (IEC 60 068-2-27). Under no mass system whose natural frequency fN complete system. Any operation of the
circumstances should a hammer or should be as high as possible. If radial and/ encoder outside of the specified range
similar implement be used to adjust or or axial acceleration forces are added, the or for any other than the intended
position the encoder. stiffness of the encoder bearings and the applications is at the user‘s own risk.
• The permissible angular acceleration encoder stators are also significant. If such
for all encoders is over 105rad/s2. loads occur in your application, HEIDEN- In safety-oriented systems, the higher-
HAIN recommends consulting with the level system must verify the position
The maximum values for vibration and main facility in Traunreut. value of the encoder after switch-on.
shock indicate the limits up to which the
encoder can be operated without failure.
For an encoder to realize its highest
potential accuracy, the environmental and
operating conditions described under Protection against contact (IEC 60529)
Mounting
Measuring Accuracy must be ensured. After encoder installation, all rotating parts
Work steps to be performed and
must be protected against accidental
dimensions to be maintained during
If the application includes increased shock contact during operation.
mounting are specified solely in the
and vibration loads, please ask for mounting instructions supplied with the
comprehensive assistance from Degree of protection (IEC 60529)
unit. All data in this catalog regarding
HEIDENHAIN. Unless otherwise indicated, all rotary
mounting are therefore provisional and
encoders meet protection standard IP64
not binding; they do not become terms
(ExN/ROx 400: IP 67) according to
of a contract.
IEC 60529.

This includes housings, cable outlets and

flange sockets when the connector is
fastened.The shaft inlet provides
protection to IP 64 or IP 65. Splash water
should not contain any substances that
would have harmful effects on the encoder
parts. If the standard protection of the
shaft inlet is not sufficient (such as when
the encoders are mounted vertically),
additional labyrinth seals should be
provided.

Many encoders are also available with

protection to class IP 66 for the shaft inlet.
The sealing rings used to seal the shaft are
subject to wear due to friction, the amount
of which depends on the specific
application.

12
Temperature ranges Self-heating at supply voltage 15 V 30 V
For the unit in its packaging, the storage
temperature range is –30 to 80 °C. The ERN/ROD Approx. +5 K Approx. +10 K
operating temperature range indicates
the temperatures that the encoder may ECN/EQN/ROC/ROQ Approx. +5 K Approx. +10 K
reach during operation in the actual
installation environment. The function of
the encoder is guaranteed within this range Typical self-heating of the encoder at power supplies from 10 to 30 V. In 5-V versions, self-
(DIN 32878). The operating temperature is heating is negligible.
measured on the face of the encoder
flange (see dimension drawing) and must
not be confused with the ambient Heat generation at speed nmax
temperature.
Solid shaft ROC/ROQ/ROD Approx. + 5 K with protection class IP 64
The temperature of the encoder is Approx. + 10 K with protection class IP 66
influenced by:
• Mounting conditions Blind hollow shaft ECN/EQN/ERN 400 Approx. + 30 K with protection class IP 64
• The ambient temperature Approx. + 40 K with protection class IP 66
• Self-heating of the encoder
ERN 1000 Approx. +10 K
The self-heating of an encoder depends
both on its design characteristics (stator Hollow through ECN/ERN 100 Approx. + 40 K with protection class IP 64
coupling/solid shaft, shaft sealing ring, etc.) shaft ECN/EQN/ERN 400 Approx. + 50 K with protection class IP 66
and on the operating parameters (rotational
speed, power supply). Higher heat
generation in the encoder means that a An encoder‘s typical self-heating values depend on its design characteristics at maximum
lower ambient temperature is required to permissible speed. The correlation between rotational speed and heat generation is nearly
keep the encoder within its permissible linear.
operating temperature range.

These tables show the approximate values

of self-heating to be expected in the
encoders. In the worst case, a combination
of operating parameters can exacerbate
self-heating, for example a 30 V power
supply and maximum rotational speed.
Therefore, the actual operating
temperature should be measured directly
at the encoder if the encoder is operated
near the limits of permissible parameters. 2D_anb_2

Then suitable measures should be taken

(fan, heat sinks, etc.) to reduce the ambient
temperature far enough so that the
maximum permissible operating
temperature will not be exceeded during
continuous operation. For high speeds at (°C
maximum permissible ambient (°F)
temperature, special versions are available
on request with reduced degree of
protection (without shaft seal and its
concomitant frictional heat). Measuring the actual operating temperature directly at the encoder

13
ROC/ROQ/ROD 400 Series with Synchro Flange
Rotary encoders for separate shaft coupling

ROC/ROQ/ROD 4xx

L
ROD 42.7
ROC/ROQ 512 lines
ROC/ROQ 2048 lines 43.2
ROC 425/ROQ 437

ROC 413/ROQ 425 with PROFIBUS DP

Dimensions in mm
Cable radial, also usable axially
A = Ball bearing
Tolerancing ISO 8015
b = Threaded mounting hole
ISO 2768 - m H
À = Shown rotated by 40°
Direction of shaft rotation for output signals is described in interface description.
28
 Absolute Incremental

Singleturn Multiturn

ROC 425 ROC 413 ROC 410 ROC 413 ROQ 437 ROQ 425 ROQ 424 ROQ 425 ROD 426 ROD 466 ROD 436 ROD 486
ROC 412 ROQ 425
ROC 413

Absolute position values* EnDat 2.2 EnDat 2.2 SSI PROFIBUS-DP EnDat 2.2 EnDat 2.2 SSI PROFIBUS-DP –

Ordering designation EnDat 22 EnDat 01 EnDat 22 EnDat 01

Positions per rev 33554432 (25 bits) 8192 (13 bits) 1024 (10 bits) 8192 (13 bits)2) 33554432 (25 bits) 8192 (13 bits) 4096 (12 bits) 8192 (13 bits)2) –
4096 (12 bits) 8192 (13 bits)
8192 (13 bits)
2)
Revolutions – 4096 4096 –

Code Pure binary Gray Pure binary Pure binary Gray Pure binary –

Elec. permissible † 12 000 rpm 512 lines: † 5000 rpm/± 1 LSB † 12000 rpm 512 lines: † 5000 rpm/± 1 LSB –
speed/ for continuous † 12000 rpm/± 100 LSB for continuous † 10000 rpm/± 100 LSB
at accuracy position value 2 048 lines: † 1500 rpm/± 1 LSB position value 2048 lines: † 1500 rpm/± 1 LSB
† 12000 rpm/± 50 LSB † 10000 rpm/± 50 LSB

Calculation time tcal † 5 µs † 0.25 µs † 0.5 µs – † 5 µs † 0.25 µs † 0.5 µs – –

1)
Incremental signals Without » 1 VPP – Without » 1 VPP1) – « TTL « HTL » 1 VPP1)

Line counts* – 512 2048 512 512 (internal only) – 512 2 048 512 512 (internal only) 50 100 150 200 250 360 500 512 720 –

1000 1024 1250 1500 1800 2000 2048 2500 3600 4096
4) 4) 4) 4)
5000 6000 8 192 9000 10000

Cutoff freq. –3 dB – 512 lines: ‡100 kHz; 2048 lines: ‡ 200 kHz – – 512 lines: ‡100 kHz; 2048 lines: ‡ 200 kHz – – ‡ 180 kHz
4)
Scanning frequency – – – – † 300 kHz/† 150 kHz –
4)
Edge separation a – – – – ‡ 0.39 µs/‡ 0.25 µs –

System accuracy ± 20“ 512 lines: ± 60“; 2048 lines: ± 20“ ± 60“ ± 20“ 512 lines: ± 60“; 2048 lines: ± 20“ 1/20 of grating period

Power supply* 3.6 to 5.25 V 5V ± 5 % 5 V ± 5 % or 10 to 30 V 3.6 to 5.25 V 5V ± 5 % 5 V ± 5 % or 10 to 30 V 5 V ± 10 % 10 to 30 V 10 to 30 V 5 V ± 10 %

10 to 30 V 10 to 30 V
Current con. without load † 150 mA † 160 mA † 160 mA † 125 mA at 24 V † 180 mA † 200 mA † 200 mA † 125 mA at 24 V 120 mA 100 mA 150 mA 120 mA

Electrical connection* • Flange socket • Flange socket M23, axial or radial Screw terminals; • Flange socket • Flange socket M23, axial or radial Screw terminals; • Flange socket M23, radial and axial
M12, radial • Cable 1 m/5 m, with or without radial cable exit M12, radial • Cable 1 m/5 m, with or without radial cable exit • Cable 1 m/5 m, with or without coupling M23
• Cable 1 m, with coupling M23 • Cable 1 m, with coupling M23
coupling M12 coupling M12

Shaft Solid shaft D = 6 mm Solid shaft D = 6 mm

Mech. permissible speed n † 12 000 rpm † 16000 rpm

Starting torque † 0.01 Nm (at 20 °C) † 0.01 Nm (at 20 °C)

Moment of inertia of rotor 2.7 · 10–6 kgm2 3.6 · 10–6 kgm2 2.7 · 10–6 kgm2 3.8 · 10–6 kgm2 2.7 · 10–6 kgm2

Shaft load5) Axial 10 N/radial 20 N at shaft end Axial 10 N/radial 20 N at shaft end

Vibration 55 to 2000 Hz † 300 m/s2 (IEC 60 068-2-6) 2

† 300 m/s (IEC 60068-2-6)
Shock 6 ms/2 ms † 1000 m/s2/† 2000 m/s2 (IEC 60068-2-27) † 1000 m/s /† 2000 m/s2 (IEC 60068-2-27)
2

Max. operating temp. UP = 5 V: 100 °C; UP = 10 to 30 V: 85 °C 60 °C UP = 5 V: 100 °C; UP = 10 to 30 V: 85 °C 60 °C 100 °C 70 °C 100 °C

Min. operating temp. Flange socket or fixed cable: –40 °C –20 °C Flange socket or fixed cable:–40 °C -20 °C Flange socket or fixed cable:–40 °C
Moving cable: –10 °C Moving cable: –10 °C Moving cable: –10 °C
3)
Protection IEC 60529 IP 67 at housing; IP 64 at shaft end IP 67 at housing; IP 64 at shaft end3)

Weight Approx. 0.35 kg Approx. 0.3 kg

2) 4)
Bold: These preferred versions are available on short notice These functions are programmable Only on ROD 426, ROD 466 through integrated signal doubling
3) 5)
* Please select when ordering IP 66 upon request Also see Mechanical Design and Installation
1)
Restricted tolerances: Signal amplitude 0.8 to 1.2 VPP
29 30
Interfaces
Incremental Signals « TTL

HEIDENHAIN encoders with « TTL Interface Square-wave signals « TTL

interface incorporate electronics that
digitize sinusoidal scanning signals with or Incremental signals 2 TTL square-wave signals Ua1, Ua2 and their inverted signals
without interpolation.
, £
The incremental signals are transmitted Reference mark 1 or more square-wave pulses Ua0 and their inverted pulses
as the square-wave pulse trains Ua1 and signal ¤
Ua2, phase-shifted by 90° elec. The Pulse width 90° elec. (other widths available on request); LS 323: ungated
reference mark signal consists of one or Delay time |td| † 50 ns
more reference pulses Ua0, which are
gated with the incremental signals. In Fault detection 1 TTL square-wave pulse ¥
addition, the integrated electronics produce signal Improper function: LOW (upon request: Ua1/Ua2 at high impedance)
their inverse signals
, £ and ¤ for Proper function: HIGH
noise-proof transmission. The illustrated Pulse width tS ‡ 20 ms
sequence of output signals—with Ua2
lagging Ua1—applies for the direction of Signal level Differential line driver as per EIA standard RS 422
motion shown in the dimension drawing. UH ‡ 2.5 V at –IH = 20 mA
UL † 0.5 V at IL = 20 mA
The fault-detection signal ¥ indicates
fault conditions such as breakage of the Permissible load Z0 ‡ 100 − between associated outputs
power line or failure of the light source. It |IL| † 20 mA max. load per output
can be used for such purposes as machine Cload † 1000 pF with respect to 0 V
shut-off during automated production. Outputs protected against short circuit to 0 V
The distance between two successive Switching times t+ / t– † 30 ns (typically 10 ns)
edges of the incremental signals Ua1 and (10% to 90%) with 1 m cable and recommended input circuitry
Ua2 through 1-fold, 2-fold or 4-fold
evaluation is one measuring step. Connecting cable HEIDENHAIN cable with shielding
PUR [4(2 × 0.14 mm2) + (4 × 0.5 mm2)]
The subsequent electronics must be Cable length Max. 100 m (¥ max. 50 m) distributed capacitance 90 pF/m
designed to detect each edge of the Propagation time 6 ns/m
square-wave pulse. The minimum edge
separation a listed in the Specifications
applies for the illustrated input circuitry
with a cable length of 1 m, and refers to a Signal period 360° elec. Fault
measurement at the output of the
differential line receiver. Propagation-time
differences in cables additionally reduce
the edge separation by 0.2 ns per meter of
cable length. To prevent counting error,
design the subsequent electronics to
Measuring step after
process even as little as 90% of the 4-fold evaluation
resulting edge separation.

The max. permissible shaft speed or tS

traversing velocity must never be
exceeded. UaS

Inverse signals
, £, ¤ are not shown

The permissible cable length for Permissible

transmission of the TTL square-wave cable length
signals to the subsequent electronics with respect to the 100
depends on the edge separation a. It is Without ¥
Cable length [m]

edge separation
max. 100 m, or 50 m for the fault detection
75
signal. This requires, however, that the
power supply (see Specifications) be
ensured at the encoder. The sensor lines 50
can be used to measure the voltage at the with ¥
encoder and, if required, correct it with an 25
automatic system (remote sense power
6
supply).
0.7 0.6 0.5 0.4 0.3 0.2 0.1 0.05

Edge separation [µs]

40
Input circuitry of the subsequent Incremental signals Encoder Subsequent electronics
electronics Reference mark
signal
Dimensioning
IC1 = Recommended differential line
receiver
DS 26 C 32 AT
Only for a > 0.1 µs:
AM 26 LS 32 Fault detection
MC 3486 signal
SN 75 ALS 193

R1 = 4.7 k−
R2 = 1.8 k−
Z0 = 120 −
C1 = 220 pF (serves to improve noise
immunity)

Pin layout
12-pin flange socket 12-pin
or coupling M23 connector M23

15-pin 12-pin PCB connector

D-sub connector
b
at encoder a
123 4 5 6

Power supply Incremental signals Other signals

12 2 10 11 5 6 8 1 3 4 7 / 9

4 12 2 10 1 9 3 11 14 7 13 5/6/8 15

2a 2b 1a 1b 6b 6a 5b 5a 4b 4a 3a 3b /
1)
UP Sensor 0V Sensor Ua1
Ua2 £ Ua0 ¤ ¥ Vacant Vacant2)
UP 0V

Brown/ Blue White/ White Brown Green Gray Pink Red Black Violet – Yellow
Green Green

Shield on housing; UP = power supply voltage

Sensor: The sensor line is connected internally with the corresponding power line
1)
LS 323/ERO 14xx: Vacant 2) Exposed linear encoders: TTL/11 µAPP conversion for PWT
41
Connecting Elements and Cables
General Information

Connector insulated: Connector insulated: M12

Connecting element with coupling ring. Connecting element with external thread.
Available with male or female contacts. Available with male or female contacts.

Symbols Symbols

M23

M12

Mounted coupling Cutout for mounting M23

with central fastening
M23

Mounted coupling M23

with flange

Flange socket: Permanently mounted Right-angle flange socket (rotatable) on adapter cable inside
on the encoder or a housing, with the motor with connection for temperature sensor
external thread (like the coupling), and
available with male or female contacts. M12 M23
Symbols
M23

The pins on connectors are numbered in Accessories for flange socket and M23
D-sub connector: For HEIDENHAIN
the direction opposite to those on mounted couplings
controls, counters and IK absolute value
couplings or flange sockets, regardless of
cards.
whether the connecting elements are Bell seal
Symbols Id. Nr. 266526-01
male or
Threaded metal dust cap
female. Id. Nr. 219926-01

When engaged, the connections provide

protection to IP 67 (D-sub connector:
IP 50; IEC 60529). When not engaged,
there is no protection.
x: 41,7 y: 15,2

56
Connecting Cables 8-pin 12-pin 17-pin
M12 M23 M23

for EnDat for For

without » 1 VPP EnDat with
incremental « TTL incremental
signals SSI signals

PUR connecting cable 8-pin: [(4 × 0.14 mm2) + (4 × 0.34 mm2)] ¬ 6 mm

12-pin: [4(2 × 0.14 mm2) + (4 × 0.5 mm2)] ¬ 8 mm
17-pin: [(4 × 0.14 mm2) + 4(2 × 0.14 mm2) + (4 × 0.5 mm2)] ¬ 8 mm

Complete with connector 368330-xx 298401-xx 323897-xx

(female) and coupling (male)

Complete with connector (female) – 298399-xx –

and connector (male)

Complete with connector (female) and D- 530627-xx 310199-xx 332115-xx

sub connector (female) for IK 220

Complete with connector (female) and D- 524599-xx 310196-xx 324544-xx

sub connector (male) for IK 115/IK 215

With one connector (female) 559346-xx 309777-xx 309778-xx

Cable only, ¬ 8 mm – 244957-01 266306-01

Mating element on connecting cable to Connector (female) for cable ¬ 8 mm – 291697-05 291697-26
connector on encoder cable

Connector on cable for connection to Connector (female) for cable ¬ 8 mm – 291697-08 291697-27
subsequent electronics ¬ 6 mm 291697-07

Coupling on connecting cable Coupling (male) for cable ¬ 4.5 mm – 291698-14 291698-25
¬ 6 mm 291698-03 291698-26
¬ 8 mm 291698-04 291698-27

Flange socket for connection to Coupling (female) – 315892-08 315892-10

subsequent electronics

Mounted couplings With flange (female) ¬ 6 mm – 291698-17 291698-35

¬ 8 mm 291698-07

With flange (male) ¬ 6 mm – 291698-08 291698-41

¬ 8 mm 291698-31 291698-29

With central fastening ¬ 6 mm – 291698-33 291698-37

(male)

Adapter connector » 1 VPP/11 µAPP – 364914-01 –

For converting the 1 VPP signals to 11 µAPP;
M23 connector (female) 12-pin and M23
connector (male) 9-pin

57
General Electrical Information

Power Supply Electrically Permissible Speed/ Cable

Traversing Speed
The encoders require a stabilized dc Lengths
voltage UP as power supply. The The maximum permissible shaft speed or The cable lengths listed in the Specifications
respective specifications state the required traversing velocity of an encoder is derived apply only for HEIDENHAIN cables and the
power supply and the current from recommended input circuitry of
consumption. The permissible ripple • the mechanically permissible shaft subsequent electronics.
content of the dc voltage is: speed/traversing velocity (if listed in
• High frequency interference Specifications), and Durability
UPP < 250 mV with dU/dt > 5 V/µs • the electrically permissible shaft speed All encoders have polyurethane (PUR)
• Low frequency fundamental ripple or traversing velocity. cables. PUR cables are resistant to oil,
UPP < 100 mV hydrolysis and microbes in accordance
For encoders with sinusoidal output with VDE 0472. They are free of PVC and
signals, the electrically permissible shaft silicone and comply with UL safety
speed or traversing velocity is limited by directives. The UL certification AWM
the –3dB/ –6dB cutoff frequency or the STYLE 20963 80 °C 30 V E63216 is
permissible input frequency of the documented on the cable.
subsequent electronics.
UPP
Temperature range
For encoders with square-wave signals, HEIDENHAIN cables can be used:
the electrically permissible shaft speed or for stationary cables –40 to 85 °C
traversing velocity is limited by for moving cables –10 to 85 °C
– the maximum permissible scanning/
output frequency fmax of the encoder Cables with limited resistance to hydrolysis
and and microbes are rated for up to 100 °C.
Typically 500 ms
– the minimum permissible edge separation
Initial transient response of the supply a for the subsequent electronics Bending radius
voltage e. g. 5 V ± 5 % The permissible bending radii R depend on
For angular or rotary encoders the cable diameter and the configuration:
fmax
The values apply as measured at the nmax = · 60 · 103
z
encoder, i.e., without cable influences. The Stationary cable
voltage can be monitored and adjusted For linear encoders
with the device‘s sensor lines. If a
controllable power supply is not available, vmax = fmax · SP · 60 · 10–3
the voltage drop can be halved by
switching the sensor lines parallel to the where
corresponding power lines. nmax: Electrically permissible speed in rpm
vmax: Electrically permissible speed in m/min Moving cable
Calculation of the voltage drop:
fmax: Maximum scanning/
–3 L ·I
¹U = 2 · 10 · C output frequency of the encoder or
56 · AP
input frequency of the subsequent
with electronics in kHz Moving cable
¹U: Voltage attenuation in V z: Line count of the angle or rotary
LC: Cable length in m encoder per 360°
I: Current consumption of the encoder SP: Signal period of the linear encoder
in mA (see Specifications) in µm
AP: Cross section of
power supply lines in mm2

HEIDENHAIN Cross section of power supply lines AP HEIDENHAIN Stationary Moving

cables cables cable cable
1 VPP/TTL/HTL 11 µAPP EnDat/SSI EnDat
17-pin 8-pin ¬ 3.7 mm R ‡ 8 mm R ‡ 40 mm

¬ 3.7 mm 0.05 mm2 – – – ¬ 4.5 mm R ‡ 10 mm R ‡ 50 mm

¬ 5.1 mm
¬ 4.5/5.1 mm 0.14/0.052) mm2 0.05 mm2 0.05 mm2 –
¬ 6 mm R ‡ 20 mm R ‡ 75 mm
1) 3) 2
¬ 6/10 mm 0.19/ 0.14 mm – 0.08 mm2 0.34 mm2
¬ 8 mm R ‡ 40 mm R ‡ 100 mm
¬ 8/141) mm 0.5 mm
2
1 mm2 0.5 mm2 1 mm2 1)
¬ 10 mm R ‡ 35 mm R ‡ 75 mm

1)
Metal armor 2)
Only on length gauges 3)
Only for LIDA 400 ¬ 14 mm1) R ‡ 50 mm R ‡ 100 mm

58
Reliable Signal Transmission
Electromagnetic compatibility/ Protection against electrical noise • Do not lay signal cables in the direct
CE compliance The following measures must be taken to vicinity of interference sources (inductive
When properly installed, HEIDENHAIN ensure disturbance-free operation: consumers such as contacts, motors,
encoders fulfill the requirements for • Use only original HEIDENHAIN cables. frequency inverters, solenoids, etc.).
electromagnetic compatibility according to Watch for voltage attenuation on the • Sufficient decoupling from interference-
89/336/EEC with respect to the generic supply lines. signal-conducting cables can usually be
standards for: • Use connectors or terminal boxes with achieved by an air clearance of 100 mm
• Noise immunity IEC 61 000-6-2: metal housings. Do not conduct any or, when cables are in metal ducts, by a
Specifically: extraneous signals. grounded partition.
– ESD IEC 61 000-4-2 • Connect the housings of the encoder, • A minimum spacing of 200 mm to
– Electromagnetic connector, terminal box and evaluation inductors in switch-mode power supplies
fields IEC 61 000-4-3 electronics through the shield of the is required. See also EN 50178/4.98
– Burst IEC 61 000-4-4 cable. Connect the shielding in the area Chapter 5.3.1.1 regarding cables and
– Surge IEC 61 000-4-5 of the cable inlets to be as induction-free lines, EN 50174-2/09.01 Chapter 6.7
– Conducted as possible (short, full-surface contact). regarding grounding and potential
disturbances IEC 61 000-4-6 • Connect the entire shielding system with compensation.
– Power frequency the protective ground. • When using multiturn encoders in
magnetic fields IEC 61 000-4-8 • Prevent contact of loose connector electromagnetic fields greater than
– Pulse magnetic housings with other metal surfaces. 30 mT, HEIDENHAIN recommends
fields IEC 61 000-4-9 • The cable shielding has the function of consulting with the main facility in
• Interference IEC 61 000-6-4: an equipotential bonding conductor. If Traunreut.
Specifically: compensating currents are to be
– For industrial, scientific and medical expected within the entire system, a Both the cable shielding and the metal
(ISM) equipment IEC 55 011 separate equipotential bonding housings of encoders and subsequent
– For information conductor must be provided. electronics have a shielding function. The
technology equipment IEC 55 022 See also EN 50178/4.98 Chapter 5.2.9.5 housings must have the same potential
regarding “protective connection lines and be connected to the main signal ground
Transmission of measuring signals— with small cross section.” over the machine chassis or by means of a
electrical noise immunity • Connect HEIDENHAIN position separate potential compensating line.
Noise voltages arise mainly through encoders only to subsequent electronics Potential compensating lines should have a
capacitive or inductive transfer. Electrical whose power supply is generated minimum cross section of 6 mm2 (Cu).
noise can be introduced into the system over through double or strengthened
signal lines and input or output terminals. insulation against line voltage circuits.
Possible sources of noise are: Also see IEC 364-4-41: 1992, modified
• Strong magnetic fields from Chapter 411 regarding “protection
transformers and electric motors against both direct and indirect touch”
• Relays, contactors and solenoid valves (PELV or SELV).
• High-frequency equipment, pulse
devices, and stray magnetic fields from
switch-mode power supplies
• AC power lines and supply lines to the
above devices

Isolation
The encoder housings are isolated against
all circuits.
Rated surge voltage: 500 V
(preferred value as per VDE 0110 Part 1)

Minimum distance from sources of interference

59