Encoders for Servo Drives November 2013
This catalog is not intended as an overview of the HEIDENHAIN product program. Rather it presents a selection of encoders for use on servo drives. Brochure Rotary Encoders Product Overview Rotary Encoders for the Elevator Industry Produktübersicht Drehgeber für die Aufzugsindustrie In the selection tables you will find an overview of all HEIDENHAIN encoders for use on electric drives and the most important specifications.
Contents Overview Explanation of the selection tables 6 Rotary encoders for integration in motors 8 Rotary encoders for mounting on motors 10 Rotary encoders and angle encoders for integrated and hollow-shaft motors 14 Linear encoders for linear drives 16 Technical features and mounting information Rotary encoders and angle encoders for three-phase AC and DC motors 20 Linear encoders for linear drives 22 Safety-related position measuring systems 24 Measuring principles 26 Measuring accura
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.
Overview 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.
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 (DC or AC). Rotary encoders for mounting on motors Rotary encoders for motors with forced ventilation are either built onto the motor housing or integrated.
Rotary encoders, modular rotary encoders and angle encoders for integrated 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.
Selection guide Rotary encoders for integration in motors Protection: up to IP 40 (EN 60 529) Series Overall dimensions Mechanically permissible speed Natural freq. of stator connection Maximum operating temperature Voltage supply j 1 000 Hz 115 °C 3.6 V to 14 V DC i 6 000 min j 1 600 Hz 90 °C –1 i 15 000 min / i 12 000 min–1 j 1800 Hz 115 °C Rotary encoders with integral bearing and mounted stator coupling –1 i 12 000 min ECN/EQN/ ERN 1100 –1 ECN/EQN/ ERN 1300 –1 i 15 000 min 3.
Signal periods per revolution Positions per revolution Distinguishable revolutions Interface Model More information 512 8 192 (13 bits) –/4 096 EnDat 2.2 / 01 with 1 VPP ECN 1113 / EQN 1125 Page 44 – 8 388 608 (23 bits) EnDat 2.2/22 ECN 1123/EQN 11351) 500 to 8 192 3 block commutation signals TTL ERN 1123 Page 48 512/2 048 8 192 (13 bits) EnDat 2.2 / 01 with 1 VPP ECN 1313/EQN 1325 Page 50 – 33 554 432 (25 bits) EnDat 2.
Rotary encoders for mounting on motors Protection: up to IP 64 (EN 60 529) Series Overall dimensions Mechanically permissible speed Natural freq. of stator connection Maximum operating temperature Voltage supply 100 °C 5 V DC ± 0.25 V Rotary encoders with integral bearing and mounted stator coupling D i 30 mm: i 6 000 min–1 ECN/ERN 100 j 1 100 Hz 3.6 V to 5.
Signal periods per revolution Positions per revolution Distinguishable revolutions Interface Model More information 2 048 8 192 (13 bits) – EnDat 2.2 / 01 with 1 VPP ECN 113 – 33 554 432 (25 bits) EnDat 2.2/22 ECN 125 Catalog: Rotary Encoders 1 000 to 5 000 – TTL/ 1 VPP ERN 120/ERN 180 HTL ERN 130 EnDat 2.2 / 01 1 VPP ECN 413/EQN 425 512, 2 048 8 192 (13 bits) –/4 096 – 33 554 432 (25 bits) EnDat 2.
Rotary encoders for mounting on motors Protection: up to IP 64 (EN 60 529) Series Overall dimensions Mechanically permissible speed Natural freq. of stator connection Maximum operating temperature Voltage supply Rotary encoders with integral bearing and torque supports for Siemens drives –1 i 6 000 min EQN/ERN 400 100 °C 3.6 V ± 14 V DC 10 V to 30 V DC 5 V DC ± 0.5 V 10 V to 30 V DC i 6 000 min–1 ERN 401 100 °C 5 V DC ± 0.
Signal periods per revolution Positions per revolution Distinguishable revolutions Interface Model More information 2 048 8 192 (13 bits) 4 096 EnDat 2.1 / 01 with 1 VPP EQN 425 Page 56 SSI 1 024 – 1 024 –/4 096 TTL ERN 420 HTL ERN 430 TTL ERN 421 HTL ERN 431 EnDat 2.2 / 01 with 1 VPP ROC 413/ROQ 425 512, 2 048 8 192 (13 bits) – 33 554 432 (25 bits) EnDat 2.
Rotary encoders and angle encoders for integrated and hollow-shaft motors Series Overall dimensions Diameter Mechanically permissible speed Natural freq.
1) Voltage supply System accuracy Signal periods per revolution Positions per revolution Interface Model More information 3.6 V to 14 V DC ± 5“ ± 2,5“ 16 384 67 108 864 (26 bits) 268 435 456 (28 bits) EnDat 2.2 / 02 with 1 VPP RCN 2380 RCN 2580 ± 5“ ± 2,5“ – 67 108 864 (26 bits) 268 435 456 (28 bits) EnDat 2.2/22 RCN 23103) RCN 25103) Catalog: Angle Encoders with Integral Bearing ± 5“ ± 2,5“ 16 384 67 108 864 (26 bits) 268 435 456 (28 bits) EnDat 2.
Exposed linear encoders for linear drives Series Overall dimensions Traversing speed Acceleration in measuring direction LIP 400 i 30 m/min i 200 m/s LIF 400 i 72 m/min i 200 m/s LIC 4000 Absolute linear encoder i 480 m/min i 500 m/s Accuracy grade 2 To ± 0.
Measuring lengths Voltage supply Signal period Cutoff frequency Switching –3 dB output Interface Model More information 70 mm to 420 mm 5 V DC ± 0.25 V 2 μm j 250 kHz – 1 VPP LIP 481 Catalog: Exposed Linear Encoders 70 mm to 1 020 mm 5 V DC ± 0.25 V 4 μm j 300 kHz Homing track 1 VPP Limit switches LIF 481 140 mm to 27 040 mm 3.6 V to 14 V DC – – – EnDat 2.2 / 22 LIC 4015 Resolution 0.001 μm LIC 4017 140 to 6 040 mm 140 mm to 30 040 mm 5 V DC ± 0.
Sealed linear encoders for linear drives Protection: IP 53 to IP 641) (EN 60 529) Series Overall dimensions Traversing speed Acceleration in measuring direction Natural frequency of coupling Measuring lengths LF i 60 m/min i 100 m/s 2 j 2 000 Hz 50 mm to 1220 mm LC Absolute linear encoder i 180 m/min i 100 m/s 2 j 2 000 Hz 70 mm to 2 040 mm3) LF i 60 m/min i 100 m/s 2 j 2000 Hz 140 mm to 3040 mm LC Absolute linear encoder i 180 m/min i 100 m/s 2 j 2 000Hz 140 mm to 4240 mm Lin
Accuracy grade Voltage supply Signal period Cutoff frequency Resolution –3 dB Interface2) Type More information ± 5 μm 5 V DC ± 0.25 V 4 μm j 250 kHz – 1 VPP LF 485 ± 5 μm 3.6 V to 14 V DC – – To 0.01 μm EnDat 2.2/22 LC 4154) Catalog: Linear Encoders for Numerically Controlled Machine Tools ± 3 μm To 0.001 μm ± 2 μm; ± 3 μm 5 V DC ± 0.25 V 4 μm j 250 kHz – 1 VPP LF 185 ± 5 μm 3.6 V to 14 V DC – – To 0.01 μm EnDat 2.2/22 LC 1154) EnDat 2.
Rotary encoders and angle encoders for three-phase AC 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.
Important encoder specifications can be read from the memory of the EnDat encoder for automatic self-configuration, and motor-specific parameters can be saved in the OEM memory area of the encoder. The usable size of the OEM memory on the rotary encoders in the current catalogs is at least 1.4 KB (f 704 EnDat words). Most absolute encoders themselves already subdivide the sinusoidal scanning signals by a factor of 4 096 or greater. If the transmission of absolute positions is fast enough (for example, EnDat 2.
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.
Transmission of measuring signals The information above on rotary and angle encoder signal transmission essentially applies also to 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. 0.04 μm.
Safety-related position measuring systems The term Functional Safety designates HEIDENHAIN encoders that can be used in safety-related applications. These encoders operate as single-encoder systems with purely serial data transmission via EnDat 2.2. Reliable transmission of the position is based on two independently generated absolute position values and on error bits. These are then provided to the safe control.
Function The safety strategy of the position measuring system is based on two mutually independent position values and additional error bits produced in the encoder and transmitted over the EnDat 2.2 protocol to the EnDat master. The EnDat master assumes various monitoring functions with which errors in the encoder and during transmission can be revealed. For example, the two position values are then compared. The EnDat master then makes the data available to the safe control.
Measuring principles Measuring standard HEIDENHAIN encoders with optical scanning incorporate measuring standards 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. HEIDENHAIN manufactures the precision graduations in specially developed, photolithographic processes.
Scanning methods Photoelectric scanning Most HEIDENHAIN encoders operate using the principle of photoelectric scanning. Photoelectric scanning of a measuring standard is contact-free, and as such, free of wear. This method detects even very fine lines, no more than a few microns wide, and generates output signals with very small signal periods. The ECN and EQN absolute rotary encoders with optimized scanning have a single large photosensor instead of a group of individual photoelements.
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.
Measuring accuracy The quantities influencing the accuracy of linear encoders are listed in the Linear Encoders for Numerically Controlled Machine Tools and Exposed Linear Encoders catalogs.
Application-dependent error For rotary encoders with integral bearing, the specified system accuracy already includes the error of the bearing. For angle encoders with separate shaft coupling (ROD, ROC, ROQ, RIC, RIQ), the angle error of the coupling must be added (see Mechanical design types and mounting). For angle encoders with stator coupling (ERN, ECN, EQN), the system accuracy already includes the error of the shaft coupling.
The following relationship exists between the eccentricity e, the mean graduation diameter D and the measuring error M (see illustration below): M = ± 412 · e D M = Measuring error in ” (angular seconds) e = Eccentricity of the radial grating to the bearing in μm D = Graduation centerline diameter in mm Model Mean graduation diameter D Error per 1 μm of eccentricity ERO 1420 D = 24.85 mm ± 16.5” ERO 1470 ERO 1480 ERO 1225 D = 38.5 mm ERO 1285 3.
Mechanical design types and mounting Rotary encoders with integral bearing and stator coupling ECN/EQN/ERN rotary encoders have integrated bearings and a mounted stator coupling. The encoder shaft is directly connected with the shaft to be measured. During angular acceleration of the shaft, the stator coupling must absorb only that torque caused by friction in the bearing. ECN/EQN/ERN rotary encoders therefore provide excellent dynamic performance and a high natural frequency.
Mounting the ECN/EQN/ERN 1000 and ERN 1x23 The rotary encoder is slid by its hollow shaft onto the measured shaft and fastened by two screws or three eccentric clamps. The stator is mounted without a centering flange to a flat surface with four cap screws or with 2 cap screws and special washers. ECN/EQN/ERN 1000 The ECN/EQN/ERN 1000 encoders feature a blind hollow shaft, the ERN 1123 a hollow through shaft.
Mechanical design types and mounting Rotary encoders without integral bearing – ECI/EBI/EQI The ECI/EBI/EQI inductive encoders are without integral bearing. This means that mounting and operating conditions influence the functional reserves of the encoder. It is essential to ensure that the specified mating dimensions and tolerances are maintained in all operating conditions (see Mounting Instructions).
Once the encoder has been mounted, the actual working gap between the rotor and stator can be measured indirectly via the signal amplitude in the rotary encoder, using the PWM 20 adjusting and testing package. The characteristic curves show the correlation between the signal amplitude and the deviation from the ideal scanning gap, depending on various ambient conditions. The example of ECI/EQI 1100 shows the resulting deviation from the ideal scanning gap for a signal amplitude of 80 % at ideal conditions.
The ECI/EQI 1300 with EnDat01 inductive rotary encoders are mechanically compatible with the ExN 1300 photoelectric encoders. The taper shaft (a bottomed hollow shaft is available as an alternative) is fastened with a central screw. The stator of the encoder is clamped by an axially tightened bolt in the location hole. The scanning gap between rotor and stator must be set during mounting.
Rotary encoders without integral bearing – ERO The ERO rotary encoders without integral bearing consist of a scanning head and a graduated disk, which must be adjusted to each other very exactly. A precise adjustment is an important factor for the attainable measuring accuracy. ERO 1200 The ERO modular rotary encoders consist of a graduated disk with hub and a scanning unit.
Mounting accessories Screwdriver bits • For HEIDENHAIN shaft couplings • for ExN shaft and stator couplings • For ERO shaft couplings Width across flats Length ID 1.5 70 mm 350378-01 1.5 (ball head) 350378-02 2 350378-03 2 (ball head) 350378-04 2.
General information Aligning the rotary encoders to the motor EMF Synchronous motors require information on the rotor position immediately after switch-on. 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 angular seconds (see also Electronic commutation with position encoders).
General mechanical information UL certification All rotary encoders in this brochure comply with the UL safety regulations for the USA and the “CSA” safety regulations for Canada. Acceleration Encoders are subject to various types of acceleration during operation and mounting. • Vibration The encoders are qualified on a test stand to operate with the specified acceleration values at frequencies from 55 to 2 000 Hz in accordance with EN 60 068-2-6.
System tests Encoders from HEIDENHAIN are usually integrated as components in larger systems. Such applications require comprehensive tests of the entire system regardless of the specifications of the encoder. The specifications shown in this brochure apply to the specific encoder, not to the complete system. Any operation of the encoder outside of the specified range or for any other than the intended applications is at the user’s own risk.
In order to protect a motor from an excessive load, the motor manufacturer usually installs a temperature sensor near the motor coil. In classic applications, the values from the temperature sensor are led via two separate lines to the subsequent electronics, where they are evaluated. With HEIDENHAIN encoders for servo drives, the temperature sensor can be connected to the encoder cable inside the motor housing, and the values transmitted via the encoder cable.
Information for the connection of an external temperature sensor • The external temperature sensor must comply with the following prerequisites as per EN 61800-5-1: – Voltage class A – Contamination level 2 – Overvoltage category 3 • Only connect passive temperature sensors • The connections for the temperature sensor are galvanically connected with the encoder electronics.
ECN/EQN 1100 series Absolute rotary encoders • 75A stator coupling for plane surface • Blind hollow shaft • Encoders available with functional safety $ N P ¢ £ ¤ ¥ ¦ § ¨ = = = = = = = = = = ©= ª= «= ¬= = ®= ¯= °= ±= ²= 44 Bearing of mating shaft Required mating dimensions Measuring point for operating temperature Contact surface of slot Chamfer is obligatory at start of thread for materially bonding anti-rotation lock Shaft; ensure full-surface contact! Slot required only for ECN/EQN and ECI/EQI, WELL
Absolute ECN 1113 ECN 1123 EQN 1125 EQN 1135 Interface EnDat 2.2 Ordering designation EnDat01 EnDat22 EnDat01 EnDat22 Position values/rev 8 192 (13 bits) 8 388 608 (23 bits) 8 192 (13 bits) 8 388 608 (23 bits) Revolutions – Elec. permissible speed/ Deviation2) 4 000 min–1/± 1 LSB 12 000 min–1/± 16 LSB –1 –1 12 000 min 4 000 min /± 1 LSB –1 (for contin. position value) 12 000 min /± 16 LSB 12 000 min (for contin.
ERN 1023 Incremental rotary encoders • Stator coupling for plane surface • Blind hollow shaft • Block commutation signals $= P = N= ¢ = £ = ¤= Bearing of mating shaft Measuring point for operating temperature Required mating dimensions 2 screws in clamping ring. Tightening torque: 0.6 ± 0.1 Nm, width A/F: 1.
ERN 1023 Interface TTL Signal periods/rev* 500 Reference mark One Scanning frequency Edge separation a i 300 kHz j 0.41 μs Commutation signals1) TTL (3 commutation signals U, V, W) Width* 2 x 180° (C01); 3 x 120° (C02); 4 x 90° (C03) System accuracy ± 260” Electrical connection* Cable 1 m, 5 m, without coupling Voltage supply 5 V DC ± 0.5 V Current consumption (without load) i 70 mA Shaft Blind hollow shaft D = 6 mm Mech. permiss. speed n i 6 000 min Starting torque i 0.
ERN 1123 Incremental rotary encoders • Stator coupling for plane surface • Hollow through shaft • Block commutation signals $= N= P = ¢ = £ = ¤= ¥= Bearing of mating shaft Required mating dimensions Measuring point for operating temperature 2 screws in clamping ring. Tightening torque: 0.6 ± 0.1 Nm, width A/F: 1.
ERN 1123 Interface TTL Signal periods/rev* 500 Reference mark One Scanning frequency Edge separation a i 300 kHz j 0.41 μs Commutation signals1) TTL (3 commutation signals U, V, W) Width* 2 x 180° (C01); 3 x 120° (C02); 4 x 90° (C03) System accuracy ± 260” Electrical connection Via PCB connector, 15-pin Voltage supply DC 5 V ± 0.5 V Current consumption (without load) i 70 mA Shaft Hollow through shaft 8 mm Mech. permiss. speed n i 6 000 min Starting torque i 0.
ECN/EQN 1300 series Absolute rotary encoders • 07B stator coupling with anti-rotation element for axial mounting • Taper shaft 65B • Encoders available with functional safety • Fault exclusion for rotor and stator coupling as per EN 61 800-5-2 possible *) 65 +0.02 for ECI/EQI 13xx $ N P ¢ £ ¤ ¥ ¦ = = = = = = = = §= ¨= ©= ª= 50 Bearing of mating shaft Required mating dimensions Measuring point for operating temperature Clamping screw for coupling ring, width A/F 2, tightening torque 1.25–0.
Absolute ECN 1313 ECN 1325 EQN 1325 EQN 1337 Interface EnDat 2.2 Ordering designation EnDat01 EnDat22 EnDat01 EnDat22 Position values/rev 8 192 (13 bits) 33 554 432 (25 bits) 8 192 (13 bits) 33 554 432 (25 bits) Revolutions – Elec.
ECN/EQN 400 series Absolute rotary encoders • 07B stator coupling with anti-rotation element for axial mounting • Taper shaft 65B • Encoders available with functional safety • Fault exclusion for rotor and stator coupling as per EN 61 800-5-2 possible *) 65 +0.02 for ECI/EQI 13xx $ N P ¢ £ ¤ = = = = = = ¥= ¦= §= ¨= 52 Bearing of mating shaft Required mating dimensions Measuring point for operating temperature Clamping screw for coupling ring, width A/F 2, tightening torque 1.25–0.
Absolute ECN 413 ECN 425 EQN 425 EQN 437 Interface EnDat 2.2 Ordering designation EnDat01 EnDat22 EnDat01 EnDat22 Position values/rev 8 192 (13 bits) 33 554 432 (25 bits) 8 192 (13 bits) 33 554 432 (25 bits) Revolutions – Elec.
ERN 1300 series Incremental rotary encoders • Stator coupling 06 for axis mounting • Taper shaft 65B *) 65 +0.02 for ECI/EQI 13xx Alternative: ECN/EQN 1300 mating dimensions with slot for stator coupling for anti-rotation element also applicable. $ = N= P= ¢= £= ¤= ¥= ¦= §= ¨= ©= ª= «= 54 Bearing of mating shaft Required mating dimensions Measuring point for operating temperature Clamping screw for coupling ring, width A/F 2. Tightening torque: 1.25 – 0.
Incremental ERN 1321 ERN 1381 Interface TTL 1 VPP1) Line count*/system accuracy 1 024/± 64" 2 048/± 32" 4 096/± 16" 512/± 60" 2 048/± 20" 4 096/± 16" Reference mark One Scanning frequency Edge separation a Cutoff frequency –3 dB i 300 kHz j 0.35 μs – Commutation signals – 1 VPP1) TTL Width* – Z1 track 2) 3 x 120°; 4 x 90°3) Electrical connection Via 12-pin PCB connector Via PCB connector, Via PCB connector, 16-pin 14-pin Voltage supply 5 V DC ± 0.5 V 5 V DC ± 0.
EQN/ERN 400 series Absolute and incremental rotary encoders • Torque support • Blind hollow shaft • Replacement for Siemens 1XP8000 Siemens model Replacement model = = = = = = 56 HTL ERN 430 1XP8032-10 ERN 430 HTL 1XP8012-20 ERN 4201) TTL 1XP8032-20 ERN 420 1XP8014-10 EQN 425 1XP8024-10 EQN 425 1XP8014-20 EQN 425 SSI 1XP8024-20 EQN 425 SSI 1) $ N P ¢ £ ¤ 1) 1XP8012-10 ID Description 597331-76 Cable 0.
Absolute Incremental EQN 425 ERN 420 ERN 430 Interface* EnDat 2.1 SSI TTL HTL Ordering designation EnDat01 SSI41r1 – – Positions per revolution 8 192 (13 bits) – – Revolutions 4 096 – – Code Pure binary Gray – – Elec.
ERN 401 series Incremental rotary encoders • Stator coupling via fastening clips • Blind hollow shaft • Replacement for Siemens 1XP8000 $ % N P ¢ = = = = = 58 Bearing of mating shaft Bearing of encoder Required mating dimensions Measuring point for operating temperature Direction of shaft rotation for output signals as per the interface description Siemens model Replacement ID model 1XP8001-2 ERN 421 538724-71 1XP8001-1 ERN 431 538725-02
Incremental ERN 421 ERN 431 Interface TTL HTL Line counts 1 024 Reference mark One Scanning frequency Edge separation a i 300 kHz j 0.39 μs System accuracy 1/20 of grating period Electrical connection Binder flange socket, radial Voltage supply 5 V DC ± 0.5 V 10 V to 30 V DC Current consumption without load i 120 mA i 150 mA Shaft Solid shaft with M8 external thread, 60° centering taper 1) Mech. permiss. speed n Starting torque i 6 000 min–1 At 20 °C i 0.
ECI/EQI 1100 series Absolute rotary encoders • Flange for axis mounting • Blind hollow shaft • Without integral bearing $ N P ¢ £ ¤ ¥ ¦ § ¨ © Bearing of mating shaft Required mating dimensions Measuring point for operating temperature PCB connector, 15-pin 2 Permissible surface pressure (material: aluminum 230 N/mm ) Centering collar Bearing surface Clamping surfaces Self-locking screw M3 x 20, ISO 4762, width A/F 2.5, tightening torque: 1.2 ±0.
Absolute ECI 1118 Interface EnDat 2.1 Ordering designation* EnDat01 Position values/revolution 262 144 (18 bits) Revolutions – Elec.
ECI 1118 Absolute rotary encoders • Flange for axis mounting • Blind hollow shaft • Without integral bearing $ N P ¢ £ ¤ ¥ ¦ § ¨ © ª = = = = = = = = = = = = 62 Bearing of mating shaft Required mating dimensions Measuring point for operating temperature Clamping surface Proposed attachment: washer and self-locking screw M3, ISO 4762, width A/F 2.5. Tightening torque: 1.2±0.1 Nm PCB connector, 15-pin Centering collar Bearing surface of stator Self-locking screw M3 x 25, ISO 4762, width A/F 2.
Absolute ECI 1118 Interface EnDat 2.2 Ordering designation EnDat22 Position values/revolution 262 144 (18 bits) Revolutions – Elec. permissible speed/ deviations1) 15 000 min–1 for continuous position value Calculation time tcal Clock frequency i 6 μs i 8 MHz System accuracy ± 120" Electrical connection Via PCB connector, 15-pin Voltage supply 3.6 V to 14 V DC Power consumption (max.) 3.
EBI 1135 Absolute rotary encoders • Flange for axis mounting • Blind hollow shaft • Without integral bearing • Multiturn function via battery-buffered revolution counter $ N P ¢ £ ¤ ¥ ¦ § ¨ © ª « ¬ = Bearing of mating shaft = Required mating dimensions = Measuring point for operating temperature = Clamping surface = Screw ISO 4762 – M3x16, tightening torque 1.15±0.
Absolute EBI 1135 Interface EnDat 2.2 Ordering designation EnDat221) Position values/revolution 262 144 (18 bits; 19-bit data word length with LSB = 0) Revolutions 65 536 (16 bits) Elec. permissible speed i 12 000 min–1 for continuous position value Calculation time tcal Clock frequency i 6 μs i 8 MHz System accuracy ± 120“ Electrical connection Via PCB connector, 15-pin Voltage supply Rotary encoders UP: Buffer battery UBAT:: Power consumption (max.) Normal operation with 3.
ECI/EQI 1300 series Absolute rotary encoders • Flange for axis mounting; adjusting tool required • Taper shaft or blind hollow shaft • Without integral bearing All dimensions under operating conditions $ N P ¢ £ ¤ = = = = = = ¥ ¦ § ¨ © ª = = = = = = 66 Bearing Required mating dimensions Measuring point for operating temperature Eccentric bolt. For mounting: Turn back and tighten with 2–0.5 Nm torque (Torx 15) 12-pin PCB connector Cylinder head screw: ISO 4762 – M5x35–8.8, tightening torque 5+0.
Absolute ECI 1319 EQI 1331 Interface EnDat 2.2 Ordering designation EnDat01 Position values/revolution 524 288 (19 bits) Revolutions – 4 096 (12 bits) Elec.
ECI/EQI 1300 series Absolute rotary encoders • Mounting-compatible to photoelectric rotary encoders with 07B stator coupling • 0YA flange for axis mounting • Blind hollow shaft 12.
Absolute ECI 1319 EQI 1331 Interface EnDat 2.2 Ordering designation EnDat22 Position values/revolution 524 288 (19 bits) Revolutions – Elec. permissible speed/ deviations1) i 15 000 min–1 (for continuous position value) Calculation time tcal Clock frequency i 5 μs i 16 MHz System accuracy ± 65” Electrical connection via PCB connector Rotary encoder: 12-pin Thermistor1): 4-pin Cable length i P Voltage supply 3.6 V to 14 V DC Power consumption (maximum) At 3.
ECI/EBI 100 series Absolute rotary encoders • Flange for axis mounting • Hollow through shaft • Without integral bearing • EBI 135: Multiturn function via battery-buffered revolution counter $ N P ¢ £ ¤ ¥ ¦ § ¨ © ª = = = = = = = = = = = = 70 Bearing of mating shaft Required mating dimensions Measuring point for operating temperature Cylinder head screw ISO 4762-M3 with ISO 7092 (3x) washer. Tightening torque 0.9±0.05 Nm SW2.0 (6x).
Absolute ECI 119 EBI 135 Interface EnDat 2.1 EnDat 2.2 Order designation* EnDat01 EnDat22 Position values per revolution 524 288 (19 bits) Revolutions – Elec.
ERO 1200 series Incremental rotary encoders • Flange for axis mounting • Hollow through shaft • Without integral bearing D 10h6 H 12h6 H Z $ N ¢ £ ¤ = = = = = 72 Bearing Required mating dimensions Disk/hub assembly Offset screwdriver ISO 2936 – 2.5 (I2 shortened) Direction of shaft rotation for output signals as per the interface description ERO 1225 1 024 2 048 ERO 1285 1 024 2 048 a f c 0.6 ± 0.2 0.05 0.02 0.2 ± 0.03 0.03 0.02 0.2 ± 0.
Incremental ERO 1225 ERO 1285 Interface TTL 1 VPP Line count* 1 024 2 048 Accuracy of the graduation2) ± 6" Reference mark One Scanning frequency Edge separation a Cutoff frequency –3 dB i 300 kHz j 0.
ERO 1400 series Incremental rotary encoders • Flange for axis mounting • Hollow through shaft • Without integral bearing; self-centering With cable outlet With axial PCB connector Axial PCB connector and round cable Axial PCB connector and ribbon cable L $ N ¶ · ¢ £ ¤ ¥ = = = = = = = = 74 Bearing Required mating dimensions Accessory: Round cable Accessory: Ribbon cable Setscrew, 2x90° offset, M3, width A/F 1.5 Md = 0.25 ±0.
Incremental ERO 1420 ERO 1470 ERO 1480 Interface TTL 1 VPP Line count* 512 1 000 1 024 1 000 1 500 Integrated interpolation* – 5-fold 10-fold 20-fold 25-fold – Signal periods/revolution 512 1 000 1 024 5 000 7 500 10 000 15 000 20 000 30 000 25 000 37 500 512 1 000 1 024 Edge separation a j 0.39 μs j 0.47 μs j 0.22 μs j 0.17 μs j 0.07 μs – Scanning frequency i 300 kHz i 100 kHz i 62.
Interfaces Incremental signals 1 VPP HEIDENHAIN encoders with 1 VPP interface provide voltage signals that can be highly interpolated. Signal period 360° elec. The sinusoidal incremental signals A and B are phase-shifted by 90° elec. and have an amplitude of typically 1 VPP. The illustrated sequence of output signals— with B lagging A—applies for the direction of motion shown in the dimension drawing. The reference mark signal R has an unambiguous assignment to the incremental signals.
Incremental signals TTL HEIDENHAIN encoders with TTL interface incorporate electronics that digitize sinusoidal scanning signals with or without interpolation. Fault Signal period 360° elec. The incremental signals are transmitted as the square-wave pulse trains Ua1 and Ua2, phase-shifted by 90° elec. The reference mark signal consists of one or more reference pulses Ua0, which are gated with the incremental signals.
Pin layout Output cable for ERN 1321 in the motor ID 667343-01 17-pin flange socket, M23 12-pin PCB connector 12 Power supply 12 Incremental signals Other signals 7 1 10 4 15 16 12 13 3 2 5 6 2a 2b 1a 1b 6b 6a 5b 5a 4b 4a / / 8/9/11/ 14/17 3a/3b UP Sensor UP 0V Sensor 0V Ua1 Ua2 Ua0 T–1) Vacant Brown/ Green Blue White/ Green White Brown Green Gray Red Black Pink 1) T+ Brown1) White1) / ERN 421 pin layout 12-pin Binder flange socket BC A K J L M D
Incremental signals HTL, HTLs HEIDENHAIN encoders with HTL interface incorporate electronics that digitize sinusoidal scanning signals with or without interpolation. The incremental signals are transmitted as the square-wave pulse trains Ua1 and Ua2, phase-shifted by 90° elec. The reference mark signal consists of one or more reference pulses Ua0, which are gated with the incremental signals.
Commutation signals for block commutation The block commutation signals U, V and W are derived from three separate absolute tracks. They are transmitted as square-wave signals in TTL levels. The ERN 1x23 and ERN 1326 are rotary encoders with commutation signals for block commutation. Comprehensive descriptions of all available interfaces as well as general electrical information is included in the Interfaces for HEIDENHAIN Encoders brochure, ID 1078628-xx.
Commutation signals for sinusoidal commutation The commutation signals C and D are taken from the Z1 track and form one sine or cosine period per revolution. They have a signal amplitude of typically 1 VPP at 1 k. The input circuitry of the subsequent electronics is the same as for the 1 VPP interface. The required terminating resistor of Z0, however, is 1 k instead of 120 .
Position values The EnDat interface is a digital, bidirectional interface for encoders. It is capable both of transmitting position values as well as transmitting or updating information stored in the encoder, or saving new information. Thanks to the serial transmission method, only four signal lines are required. The DATA data is transmitted in synchronism with the CLOCK signal from the subsequent electronics. The type of transmission (position values, parameters, diagnostics, etc.
Pin layout 8-pin coupling or flange socket M12 9-pin flange socket, M23 4-pin PCB connector 12-pin PCB connector 15-pin PCB connector 4 15 12 Power supply Other signals3) Position values M12 8 2 5 1 3 4 7 6 / / / / M23 3 7 4 8 5 6 1 2 / / / / 4 / / / / / / / / 1a 1b / / 12 1b 6a 4b 3a 6b 1a 2b 5a / / / / 15 13 11 14 12 7 8 9 10 5 6 / / UP Sensor UP2) 0V Sensor 0 V2) DATA DATA CLOCK CLOCK T+3) T–3) T+1) 3) T–1) 3) Brown/ Gr
Pin layout of EBI 135/EBI 1135 15-pin PCB connector 15 8-pin flange socket M12 9-pin flange socket M23 Power supply 13 11 14 12 7 8 9 10 5 6 M12 8 2 5 1 3 4 7 6 / / M23 3 7 4 8 5 6 1 2 / / UP UBAT 0V 0 VBAT DATA DATA CLOCK CLOCK T+ T– Brown/ Green Blue White/ Green White Gray Pink Violet Yellow Brown Green 15 UP = power supply; UBAT = external buffer battery (false polarity can result in damage to the encoder) Vacant pins or wires must not be used! 1) O
EBI 135/EBI 1135 – external buffer battery The multiturn function of the EBI 135 and EBI 1135 is realized through a revolution counter. To prevent loss of the absolute position information during power failure, the EBI must be driven with an external buffer battery. Ensure correct polarity of the buffer battery in order to avoid damage to the encoder. If the application requires compliance with DIN EN 60 086-4 or UL 1642, an appropriate protective circuit is required for protection from wiring errors.
SSI position values The position value beginning with the Most Significant Bit (MSB first) is transferred on the DATA lines in synchronism with a CLOCK signal transmitted by the control. The SSI standard data word length for singleturn absolute encoders is 13 bits, and for multiturn absolute encoders 25 bits. In addition to the absolute position values, incremental signals can also be transmitted. For signal description see Incremental signals 1 VPP.
Cables and connecting elements General information Connector (insulated): Connecting element with coupling ring; available with male or female contacts (see symbols). Coupling (insulated): Connecting element with external thread; available with male or female contacts (see symbols).
Cables inside the motor housing Cables inside the motor housing Cable diameter: 4.5 mm or TPE single wire with shrink-wrap or braided sleeving Cable length: Available in fixed length increments up to the specified maximum length.
Complete with PCB connector Complete with PCB connector and 9-pin M23 right-angle socket and M12, 8-pin flange socket, (TPE single wires with braided sleeving without shield connection) Complete with PCB connector and M23 coupling, 17-pin with mounted cable bushing With one PCB connector (free cable end or cable is cut off) – – – 640067-xx1) (length i 2 m) EPG 16 x AWG30/7 824632-xx1) (length i P (3* > x PP @ – – 1) 826313-xx (length i 2 m) (3* > x PP @ – – 675539-xx (max.
Connecting cables 1 VPP, TTL PUR connecting cable 12-pin M23 [4(2 × 0.14 mm2) + (4 × 0.5 mm2)]; AV = 0.
EnDat connecting cables 8-pin M12 17-pin M23 EnDat without incremental signals EnDat with SSI incremental signals 6 mm 3.
Diagnostic and testing equipment HEIDENHAIN encoders are provided with all information necessary for commissioning, monitoring and diagnostics. The type of available information depends on whether the encoder is incremental or absolute and which interface is used. Incremental encoders mainly have 1 VPP, TTL or HTL interfaces. TTL and HTL encoders monitor their signal amplitudes internally and generate a simple fault detection signal.
PWM 20 Together with the ATS adjusting and testing software, the PWM 20 phase angle measuring unit serves for diagnosis and adjustment of HEIDENHAIN encoders. PWM 20 Encoder input • EnDat 2.1 or EnDat 2.2 (absolute value with/without incremental signals) • DRIVE-CLiQ • Fanuc serial interface • Mitsubishi high speed interface • Yaskawa serial interface • SSI • 1 VPP/TTL/11 μAPP Interface USB 2.
Interface electronics Interface electronics from HEIDENHAIN adapt the encoder signals to the interface of the subsequent electronics. They are used when the subsequent electronics cannot directly process the output signals from HEIDENHAIN encoders, or if additional interpolation of the signals is necessary. You can find more detailed information in the Interface Electronics Product Overview and the respective product information documents.
Outputs Inputs Interface Quantity Interface TTL 1 1 VPP 11 μAPP TTL/ 1 VPP Adjustable 2 1 VPP Design – degree of protection Interpolation1) or subdivision Model Box design – IP 65 5/10-fold IBV 101 20/25/50/100-fold IBV 102 Without interpolation IBV 600 25/50/100/200/400-fold IBV 660 B Plug design – IP 40 5/10/20/25/50/100-fold APE 371 Version for integration – IP 00 5/10-fold IDP 181 20/25/50/100-fold IDP 182 5/10-fold EXE 101 20/25/50/100-fold EXE 102 Without
DR. JOHANNES HEIDENHAIN GmbH Dr.-Johannes-Heidenhain-Straße 5 83301 Traunreut, Germany { +49 8669 31-0 | +49 8669 5061 E-mail: info@heidenhain.de DE HEIDENHAIN Vertrieb Deutschland 83301 Traunreut, Deutschland ^ 08669 31-3132 _ 08669 32-3132 E-Mail: hd@heidenhain.de ES FARRESA ELECTRONICA S.A. 08028 Barcelona, Spain www.farresa.es PL APS 02-384 Warszawa, Poland www.heidenhain.
