Heidenhain Encoders For Servo Drives PDF

Encoders for
Servo Drives
November 2006
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.
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 specifically for drive
technology. The Rotary Encoders catalog
contains more information.
For More Product Catalogs

Catalog
Rotary Encoders
Drehgeber
April 2005
Catalog
Angle Encoders with Integral Bearing
Winkelmessgerte
mit Eigenlagerung
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.
Contents:
Incremental Rotary Encoders
ERN, ROD
Absolute Rotary Encoders
ECN, EQN, ROC, ROQ
Juni 2006
Contents:
Incremental Angle Encoders
RON, RPN, ROD
Absolute Angle Encoders
RCN
Catalog
Angle Encoders without Integral Bearing
Winkelmessgerte
ohne Eigenlagerung
Contents:
Incremental Angle Encoders
ERA, ERP
September 2006
Product Information
ERM 200
Produktinformation
ERM 200
Contents:
Incremental Modular Magnetic Encoders
Magnetische
Einbau-Messgerte
Mrz 2006
Catalog
Exposed Linear Encoders
Offene
Lngenmessgerte
Contents:
Incremental Linear Encoders
LIP, PP, LIF, LIDA
August 2005
This catalog supersedes all previous

editions, which thereby become invalid.
The basis for ordering from HEIDENHAIN
is always the catalog edition valid when
the contract is made.
Lngenmessgerte
fr gesteuerte Werkzeugmaschinen
Standards (ISO, EN, etc.) apply only

where explicitly stated in the catalog.
September 2005
Catalog
Linear Encoders
for Numerically Controlled Machine Tools
Contents:
Incremental Linear Encoders
LB, LF, LS
Absolute Linear Encoders
LC
Contents
Overview
Explanation of the Selection Tables
Rotary Encoders for Mounting on Motors
Rotary Encoders for Integration in Motors
10
Angle Encoders and Rotary Encoders for Integrated and Hollow-Shaft Motors
12
Exposed Linear Encoders for Linear Drives
14
Sealed Linear Encoders for Linear Drives
16
Technical Features and Mounting Information

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
Mechanical Designs,
Mounting and
Accessories
25
Rotary Encoders with Integral Bearing and Stator Coupling
28
Rotary Encoders without Integral Bearing
30
Aligning the Rotary Encoders to the Motor EMF
33
General Mechanical Information
34
Rotary Encoders with

Integral Bearing
ERN/ECN/EQN 1100 Series
36
ECN/EQN 1300 Series
38
ERN 1300 Series
40
ECI/EQI 1100 Series
42
ECI/EQI 1300 Series
44
ERO 1200 Series
46
ERO 1300 Series
48
ERO 1400 Series
50
Specifications
Rotary Encoders
without Integral
Bearing
Angle Encoders
See Angle Encoders catalog
Linear Encoders
See Exposed Linear Encoders and Linear Encoders for

Numerically Controlled Machine Tools catalogs
Interfaces
Incremental Signals
52
Commutation Signals
56
EnDat Absolute Position Values
58
Electrical Connection
Connecting Elements and Cables
65
General Electrical Specifications
68
HEIDENHAIN Measuring and Testing Devices and Evaluation Electronics
70
Encoders for Servo Drives
The properties of encoders have decisive

influence on important motor qualities such
as:
Positioning accuracy
Speed stability
Bandwidth, which determines drive
command-signal response and
disturbance rejection capability
Power loss
Size
Quietness
Controlling systems for servo drives

require measuring systems that provide
feedback for the position and speed
controllers and for electronic commutation.
Digital position and speed control

Rotary encoders (actual position value,
actual speed value,
commutation signals)
Subdivision
Speed
calculation
Position
controller
HEIDENHAIN offers the appropriate

solution for any of a wide range of
applications using both rotary and linear
motors:
Speed
controller
Incremental rotary encoders with and

without commutation tracks, absolute
rotary encoders
Incremental and absolute
angle encoders
Incremental and absolute
linear encoders
Rotary encoders
Decoupling
Current
controller
Inverters
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.
Motor for "digital" drive systems (digital position and speed control)
Rotary encoder
Angle encoders
Linear encoders
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. As a result, they are
frequently exposed to the unfiltered forced-air stream of the motor
and must have a high degree of protection, such as IP 64 or better.
The permissible operating temperature seldom exceeds 100 C.
In the selection table you will find
Rotary encoders with mounted stator couplings with high
natural frequencyvirtually eliminating any limits on the
bandwidth of the drive
Rotary encoders for separate shaft couplings, which are
particularly suited for insulated mounting
Incremental rotary encoders with high quality 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 in 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 and higher.
Incremental rotary encoders for operating temperatures up to
120 C, and absolute rotary encoders for operating temperatures
up to 115 C
Rotary encoders with mounted stator couplings with high
natural frequencyvirtually eliminating any limits on the
bandwidth of the drive
Incremental rotary encoders for digital speed control with
sinusoidal output signals of high qualityeven at high
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
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 shaftand therefore through
the encoder. Depending on the conditions of the application, the
encoders must either feature IP 66 protection orfor example
with modular encoders using optical scanningthe machine must
be designed to protect them from contamination.
Rotary encoders with the measuring standard on a steel drum
for shaft speeds up to 40 000 rpm
Encoders with integral bearing, with stator coupling or modular
design
Encoders with high quality absolute and/or incremental
output signals
Encoders with good acceleration performance for a broad
bandwidth in the control loop
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 characterized by:
Higher accuracy grades
Higher traversing speeds
Contact-free scanning, i.e., no friction between 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.
Sealed linear encoders are characterized by:
A high degree of protection
Simple installation
Sealed linear encoders are therefore ideal for applications in
environments with airborne liquids and particles, such as on
machine tools.
Selection Guide
Rotary Encoders for Mounting on Motors
Protection: up to IP 64 (IEC 60 529)
Series
Overall dimensions
Mechanically
permissible
speed (max.)
Natural freq.
of the stator
connection
Maximum
operating
temperature
Power supply
100 C
5 V 5%
Rotary encoders with integral bearing and mounted stator coupling

D 30 mm:
6000 rpm
ECN/ERN 100
1100 Hz
3.6 to 5.25 V
D 50 mm:
4000 rpm
ECN/EQN/ERN 400
Stator coupling
12 000 rpm
5 V 10%
Stator coupling:
1500 Hz
Universal stator
coupling:
1400 Hz
85 C
10 to 30 V
100 C
5 V 10%
100 C
5 V 5%
3.6 to 5.25 V
5 V 10%
Universal stator
coupling
10 to 30 V
70 C
ERN 1000
35 max.
48.4
42.11
10 000 rpm
950 Hz
100 C
5 V 10%
100 C
5 V 10%
70 C
10 to 30 V
5 V 5%
100 C
5 V 10%
100 C
5 V 5%
Rotary encoders with integral bearing for separate shaft coupling

ROC/ROQ/ROD 400
12 000 rpm
3.6 to 5.25 V
16 000 rpm
5 V 10%
10 to 30 V
70 C
ROD 1000
36.5
10 000 rpm
34.5
100 C
5 V 10%
100 C
5 V 10%
70 C
10 to 30 V
5 V 5%
100 C
1)
After internal 5/10-fold interpolation
5 V 10%
Incremental signals
Absolute position values
Model
For more
information
Output signals
Signal periods
per revolution
Positions per
revolution
Distinguishable
revolutions
Data interface
1 VPP
2048
8 192
EnDat 2.2/01
ECN 113
EnDat 2.2 / 22
ECN 125
Catalog:
Rotary
Encoders
33 554 432
TTL
1 000 to 5 000
ERN 120
HTL
ERN 130
1 VPP
ERN 180
1 VPP
512, 2 048
8 192
33 554 432
TTL
250 to 5 000
/ 4096
EnDat 2.2/01
ECN 413/EQN 425
EnDat 2.2 / 22
ECN 425/EQN 437

ERN 420
HTL
ERN 430
TTL
ERN 460
1 VPP
1 000 to 5 000
TTL
100 to 3 600
ERN 480
ERN 1020
HTL
ERN 1030
TTL
5000 to 36 0001)
ERN 1070
1 VPP
100 to 3 600
ERN 1080
ERN 1085
Product
Information
EnDat 2.2/01
ROC 413 / ROQ 425
EnDat 2.2 / 22
ROC 425 / ROQ 437
Catalog:
Rotary
Encoders
512, 2 048
Z1 track for sine commutation
1 VPP
512, 2 048
8 192
33 554 432
TTL
50 to 10 000
HTL
50 to 5 000
ROD 436
TTL
50 to 10 000
ROD 466
1 VPP
1 000 to 5 000
ROD 486
TTL
100 to 3 600
HTL
/ 4096
ROD 426
ROD 1020
ROD 1030
TTL
5000 to 36 0001)
ROD 1070
1 VPP
100 to 3 600
ROD 1080
Selection Guide
Rotary Encoders for Integration in Motors
Protection: up to IP 40 (IEC 60 529)
Series
Overall dimensions
Diameter
Mechanically
permissible
speed (max.)
Natural freq.
of the stator
connection
Maximum
operating
temperature
1500 Hz
115 C
Rotary encoders with integral bearing and mounted stator coupling

ECN/EQN/
ERN 1100
12 000 rpm
35
ECN/EQN: L = 54.75
ERN:
L = 52.2
100 C
37
35
115 C
56
ECN/EQN/
ERN 1300
15 000 rpm
2000 Hz
115 C
12 000 rpm
50.5
15 000 rpm
120 C
Rotary encoders without integral bearing

ECI/EQI 1100
27.41.5
ECI/EQI 1300
D: 6 mm
12 000 rpm
100 C
15 000 rpm
115 C
38
12 000 rpm
ERO 1200
D: 10/12 mm
25 000 rpm
100 C
ERO 1300
D: 20/30 mm
16 000 rpm
70 C
85 C
ERO 1400
1)
After internal 5/10/20/25-fold interpolation
10
D: 4/6/8 mm
30 000 rpm
70 C
Power supply Incremental signals
5 V 5%
Output
signals
Signal periods
per revolution
Positions per
revolution
Distinguishable
revolutions
Data interface
1 VPP
512
8 192
EnDat 2.1/01
TTL
For more
information
ECN 1113
Page 36
EQN 1125
4096
5 V 10%
Model
ERN 1120
1 024/2 048/3 600
1 VPP
ERN 1180
512/2 048
ERN 1185
5 V 5%
1 VPP
512/2 048
8 192
3.6 to 5.25 V
33 554 432
5 V 5%
1 VPP
512/2 048
8 192
3.6 to 5.25 V
33 554 432
5 V 5%
TTL
1 024/2 048/4 096
ERN 1321
3 block commutation signals
ERN 1326
512/2 048/4 096
ERN 1381
2 048
ERN 1387
65 536
1 VPP
5 V 5%
4096
EnDat 2.2/01
ECN 1313
EnDat 2.2 / 22
ECN 1325
EnDat 2.2/01
EQN 1325
EnDat 2.2 / 22
EQN 1337
EnDat 2.1/21
1 VPP
32
131 072
4096
5 V 10%
TTL
1 024/2 048
1 VPP
5 V 10%
TTL
Page 42
EnDat 2.1/01
ECI 1317
Page 44
EQI 1329
ERO 1225
Page 46
ERO 1285
1 024/2 048/5 000
1 VPP
5 V 10%
Page 40
EQI 1128
4096
5 V 5%/
7 to 10 V
ECI 1116
Page 38
ERO 1324
Page 48
ERO 1384
TTL
512/1 000/1 024
TTL
5 000 to 37 5001)
ERO 1470
1 VPP
512/1 000/1 024
ERO 1480
ERO 1420
Page 50
11
Selection Guide
Rotary Encoders and Angle Encoders for Integrated and
Hollow-Shaft Motors
Series
Overall dimensions
Diameter
Mechanically
permissible
speed (max.)
Natural freq.
of the stator
connection
Maximum
operating
temperature
1200 Hz
70 C
Angle encoders with integral bearing and integrated stator coupling

RCN/RON 200
3000 rpm
50 C
RCN/RON 700
RON/RPN 800
RCN: D 60 mm 1000 rpm

D 100 mm
RON: D 60 mm
RPN: D 60 mm
60 mm:
1000 Hz
50 C
100 mm:
900 Hz
RPN: 500 Hz
Angle encoders and modular encoders without integral bearing

ERM 200
Modular rotary
encoder with
magnetic graduation
D1: 40 to
410 mm
D2: 75.44 to
452.64 mm
19 000 rpm
to 3000 rpm
100 C
ERA 4000
Steel scale drum
D1: 40 to
270 mm
D2: 76.75 to
331.31 mm
10 000 rpm
to 2500 rpm
80 C
ERA 700
For inside diameter
mounting
D1: 458.62 mm 500 rpm

573.20 mm
1146.1 mm
ERA 800
For outside diameter
mounting
D1: 458.04 mm
572.63 mm
12
100 rpm
50 C
3.6 to 5.25 V
5 V 10%
Model
For more
information
Catalog:
Angle
Encoders
with Integral
Bearing
Output
signals
Signal periods per

revolution
Positions per
revolution
Data interface
1 VPP
16 384
268 435 465 28 bits
EnDat 2.2/02
RCN 228
EnDat 2.2/22
RCN 228
TTL
18 0001)
1 VPP
RON 225
180 0002)
RON 275
18 000
RON 285
RON 287
3.6 to 5.25 V
5 V 10%
5 V 10%
536 870 912 29 bits
1 VPP
32 768
1 VPP
18 000 36 000
TTL
EnDat 2.2/02
RCN 729
EnDat 2.2/22
RCN 729
RON 786
36 000
RON 886
180 000
RPN 886
600 to 3 600
ERM 220
1 VPP
5 V 10%
1)
1 VPP
ERM 280
12 000 to 52 000
ERA 4280 C
6 000 to 26 000
ERA 4480 C
3 000 to 13 000
ERA 4880 C
Full circle3)
36 000/45 000/90 000
ERA 780 C
Full circle3)
36 000/45 000
ERA 880 C
After internal 2-fold interpolation
2)
After internal 10-fold interpolation
3)
Product
Information:
ERM 200
Catalog:
Angle
Encoders
without
Integral
Bearing
Segment solutions upon request
13
Selection Guide
Exposed Linear Encoders for Linear Drives
Series
Overall dimensions
Maximum
traversing speed
Acceleration
in measuring
direction
LIP 400
30 m/min
200 m/s
72 to
420 mm
LIF 400
72 m/min
200 m/s2
70 to
1020 mm
600 m/min
200 m/s2
Up to 10 000 mm
480 m/min
200 m/s2
140 to
30 040 mm
LIDA 200
ML + 30
LIDA 400
12.7
21
0.2
Measuring lengths
12
240 to
6040 mm
PP 200
Two-coordinate
encoder
1)
After linear error compensation
14
60 m/min
200 m/s
Measuring range
68 mm x 68 mm
Power supply
Incremental signals
Absolute position Model

values
For more
information
Output signals
Signal period/
Accuracy grade
Cutoff frequency
3dB
5 V 5%
1 VPP
2 m/to 0.5 m
250 kHz
LIP 481
5 V 5%
1 VPP
4 m/ 3 m
300 kHz
Homing track
Limit switches
LIF 481
5 V 5%
1 VPP
200 m/ 30 m
50 kHz
LIDA 287
Product
Information:
LIDA 200
5 V 5%
1 VPP
20 m/ 5 m
400 kHz
Limit switches
LIDA 485
Catalog:
Exposed
Linear
Encoders
20 m/ 5 m1)
5 V 5%
1 VPP
4 m/ 2 m
Catalog:
Exposed
Linear
Encoders
LIDA 487
250 kHz
PP 281
15
Selection Guide
Sealed Linear Encoders for Linear Drives
Protection: IP 53 to IP 641) (IEC 60 529)
Series
Overall dimensions
Maximum
traversing
speed
Acceleration
in measuring
direction
Natural
frequency of
coupling
Measuring
lengths
30 m/min
30 m/s
2000 Hz
50 to
1 220 mm
180 m/min
100 m/s
2000 Hz
70 to
2 040 mm
120 m/min
100 m/s
2000 Hz
70 to
2 040 mm
LF
60 m/min
100 m/s
780 Hz
140 to
3 040 mm
LC
180 m/min
100 m/s
2000 Hz
140 to
4 240 mm
LS
120 m/min
60 m/s
2000 Hz
140 to
3 040 mm
LB
120 m/min
(180 m/min
on request)
60 m/s
650 Hz
440 to
30 040 mm
Linear encoders with slimline scale housing

2
ML + 158
32.2
58.2
LF
18
ML + 138
32.2
58.2
LC
LS
18
Linear encoders with full-size scale housing
1)
2)
After installation according to mounting instructions

Depending on the adapter cable
16
Model
For more
information
LF 481
Catalog:
Linear
Encoders for
Numerically
Controlled
Machine
Tools
Output
signals
Signal periods/
Accuracy grade
Cutoff frequency Resolution

3dB
Data interface
5 V 5%
1 VPP
4 m/to 3 m
200 kHz
3.6 to 5.25 V
1 VPP2)
20 m/to 3 m
150 kHz
to 0.005 m
5 V 5%
1 VPP
20 m/to 3 m
150 kHz
LS 487
5 V 5%
1 VPP
4 m/ 2 m
200 kHz
LF 183
3.6 to 5.25 V
1 VPP2)
20 m/to 3 m
150 kHz
to 0.005 m
5 V 5%
1 VPP
20 m/to 3 m
150 kHz
LS 187
5 V 5%
1 VPP
40 m/to 5 m
250 kHz
LB 382
EnDat 2.2
EnDat 2.2
LC 483
LC 183
Catalog:
Linear
Encoders for
Numerically
Controlled
Machine
Tools
17
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.
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 s. The feedback values for the
position and speed controller must
therefore be available in the controlling
system with the least possible delay.
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.
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).
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.)
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 absolute
encoders without integral bearing (ECI/EQI)
or rotary encoders with TTL or HTL
compatible output signalsas 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
requiredusually above 500 000 per
revolution.
For applications with standard drives, as
with resolvers, approx. 60 000 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 VPP which, thanks
to their high quality, can be highly
interpolated in the subsequent electronics
(Diagram 1).
For example, a rotary encoder with
2048 signals 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, respectively. This corresponds
to a resolution of 23 bits. Even at shaft
speeds of 12 000 rpm, the signal arrives at
the input circuit of the controlling system
with a frequency of only approx. 400 kHz
(Diagram 2). 1 VPP incremental signals
permit cable lengths up to 150 meters.
(See also Incremental Signals 1 VPP)
Diagram 1:
Signal periods per revolution and the resulting number of measuring steps per revolution
as a function of the subdivision factor
Measuring steps per revolution
Subdivision factor
50 000 000
20 000 000
10 000 000
5 000 000
2 000 000
1 000 000
500 000
200 000
100 000
50 000
10 000
5 000
1 000
500
100
16
20
10 000
50
20 000
Signal periods per revolution
18
Absolute encoders from HEIDENHAIN use

the EnDat interface (for Encoder Data) for
the serial data transmission of absolute
position values and other information for
automatic self-configuration, monitoring
and diagnosis. (See Absolute Position
ValuesEnDat.) This makes it possible to
use the same subsequent electronics and
cabling technology for all HEIDENHAIN
encoders.
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.)
Some absolute encoders such as the ECI/

EQI, ECN/EQN 1300, ECN/EQN 400 or the
RCN 226 or RCN 729 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 (for example with EnDat 2.2 with
8 MHz clock frequency), it is possible with
these systems to do without incremental
signal evaluation.
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. 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.)
Diagram 2:
Shaft speed and resulting output frequency as a function of the
number of signal periods per revolution
Output frequency [kHz]
Signal periods per revolution
Shaft speed [rpm]
19
Technical Features and Mounting Information
HEIDENHAIN absolute encoders for

digital drives also supply additional
sinusoidal incremental signals with the
same characteristics as those described
above.
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 m and finer.
Production equipment in the
semiconductor industry requires
resolutions of a few nanometers.
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.
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.)
Signal period and resulting measuring step as a function of the

subdivision factor
Measuring step [m]
Subdivision factor
Signal period [m]
20

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 s, 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 m. 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
1 VPP attain a 3 dB cutoff frequency of
approx. 200 kHz and more at a permissible
cable length of up to 150 m.
The figure below illustrates the relationship
between output frequency, traversing
speeds, and signal periods of linear
encoders. Even at a signal period of 4 m
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 and Mounting)
On 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 the scale and the
machine guideways. 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 is 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 of coupling
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
Output frequency [kHz]
Signal period
Traversing speed [m/min]
For more information on linear encoders for linear drives,

refer to our catalogs Exposed Linear Encoders and Linear
Encoders for Numerically Controlled Machine Tools.
21
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.
These precision graduations are
manufactured in various photolithographic
processes. Graduations are fabricated
from:
extremely hard chromium 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.
With incremental encoders, the

graduation consists of the incremental
track and a reference mark track. The
position information is obtained by
counting the individual increments
(measuring steps) from some point of
reference. 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 m
to 4 m.
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-precision ruling machines.
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 m.
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 feature multiple coded

graduation tracks. The code arrangement
provides the absolute position information,
which is available immediately after
restarting the machine. The track with the
finest grating structure is interpolated for
the position value and at the same time is
used to generate an optional incremental
signal (see Absolute Position Values with
EnDat).
Circular graduations of absolute rotary encoders
22
Scanning Methods
Photoelectric scanning
Most HEIDENHAIN encoders operate
using the principle of photoelectric
scanning. The photoelectric scanning of a
measuring standard is contact-free, and
therefore without 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 ERN, ECN, EQN, ERO and ROD, RCN,
RQN rotary encoders use the imaging
scanning principle.
Put simply, the imaging scanning principle
functions by means of projected-light
signal generation: two graduations with
equal grating periods are moved relative to
each otherthe scale and the scanning
reticle. 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. An index grating with the
same grating period is located here. When
the two gratings move in relation 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.
Photovoltaic cells convert these variations
in light intensity into nearly sinusoidal
electrical signals. Practical mounting
tolerances for encoders with the imaging
scanning principle are achieved with grating
periods of 10 m and larger.
LED light source
Condenser lens
Scanning reticle
Measuring standard
Photocells
Photocells I90
and I270 are
not shown
Photoelectric scanning according to the imaging scanning 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 operate according
to the inductive measuring principle. Here,
moving graduation structures modulate a
high-frequency signal in its amplitude and
phase.
23
Electronic Commutation with Position Encoders
Commutation in permanent-magnet
three-phase motors
Before start-up, permanent-magnet
three-phase 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 trackthe Z1 trackprovide
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 5 and the position
information for speed and position
control from the incremental track (see
also InterfacesCommutation 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 various commutation
tracks. Typical versions provide 3 signal
periods (120 mech.) or 4 signal periods
(90 mech.) per commutation and
revolution. Independently of these
signals, the incremental square-wave
signals serve for position and speed
control. (See also Interfaces
Commutation signals.)
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.
Keep in mind the switch-on behavior of

the encoders (see General Electrical
Information).
24
Schematic
representation of a
circular scale with
absolute grating
Schematic
representation of a
circular scale Z1
track
Schematic
representation of a
circular scale with
block commutation
tracks
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.
The accuracy of angular measurement
is mainly determined by:
1. Quality of the graduation
2. Quality of scanning
3. Quality of the signal processing
electronics
4. Eccentricity of the graduation to the
bearing
5. Error due to radial deviation of the
bearing
6. Elasticity of the encoder shaft and its
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 deviations
of a position arereferenced to their mean
valuewithin the system accuracy a.
For rotary encoders with integral bearing
and integrated stator coupling, this value
also includes the deviation due to the
shaft coupling.
For rotary encoders with integral bearing

and separate shaft coupling, the angle
error of the coupling must be added.
For rotary encoders without integral
bearing, deviations 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 next
page).
The system accuracy reflects position
errors within one revolution as well as
those within one signal period.
Position errors within one revolution

become apparent in larger angular motions.
Position errors within one signal period
already become apparent in very small
angular motions and in repeated
measurements. They especially lead to
speed ripples in the rotational-speed
control loop.
HEIDENHAIN rotary encoders with integral
bearing permit interpolation of the
sinusoidal output signal 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 s and
a speed of n 24 000 rpm result in only
10 samples per revolution.
Temperatures as high as 120 C 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.
Signal level
Position error within one signal period
Signal period
360 elec.
Position error
Position error
Position deviations within one revolution
Position error within

one signal period
Position
25
Measuring Accuracy
Example
ERO 1420 rotary encoder with a mean
graduation diameter of 24.85 mm:
A radial runout of the measured shaft of
0.02 mm results in a position error within
one revolution of 330 angular seconds.
2. Error due to eccentricity of the

graduation to the bearing
Under normal circumstances, the bearing
will have a certain amount of radial
deviation or geometric error after the disk/
hub assembly is mounted. When centering
using the centering collar of the hub,
please note that, for the encoders listed in
this catalog, HEIDENHAIN guarantees an
eccentricity of the graduation to the
centering collar of under 5 m. For the
modular rotary encoders, this accuracy
value presupposes a diameter deviation of
zero between the drive shaft and the
"master shaft."
To evaluate the accuracy of modular

rotary encoders without integral
bearing (ERO), each of the significant
errors must be considered individually.
If the centering collar is centered on the

bearing, then in a worst-case situation both
eccentricity vectors could be added
together.
1. Directional deviations of the

graduation
ERO: The extreme values of the directional
deviation with respect to their mean value
are shown in the Specifications as the
graduation accuracy for each model. The
graduation accuracy and the position error
within a signal period comprise the system
accuracy.
Resultant measured
deviations for
various eccentricity
values e as a function
of mean graduation
diameter D
26
Measured deviations [angular seconds]
In addition to the 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 special importance are the mounting
eccentricity and radial runout of the drive
shaft.
500
300
ERO 1400 (D = 24.85)
200
ERO 1200 (D = 38.5)

100
50
ERO 1300 (D = 60.5)
20
15
10
7
5
10
20
30
50
Mean graduation diameter D [mm]
3. Error due to radial deviation of the

bearing
The equation for the measuring error is
also valid for radial deviation of the bearing if
the value e is replaced with the eccentricity
value, i.e. half of the radial deviation (half of
the displayed value).
The following relationship exists between

the eccentricity e, the mean graduation
diameter D and the measuring error
(see illustration below):
= 412 e
D
= Measuring error in " (angular seconds)
e = Eccentricity of the radial grating to
the bearing in m
D = Mean graduation diameter in mm
Model
Mean
graduation
diameter D
Bearing compliance to radial shaft loading

causes similar errors.
Error per
1 m of
eccentricity
10.7"
ERO 1324 D = 60.5 mm

ERO 1384
6.8"
Model Line count Position error within

one signal period u
ERO
ERO 1420 D = 24.85 mm 16.5"

ERO 1470
ERO 1480
ERO 1225 D = 38.5 mm
ERO 1285
4. Position error within one signal

period u
The scanning units of all HEIDENHAIN
encoders are adjusted so that the
maximum position error values within one
signal period will not exceed the values
listed below, with no further electrical
adjusting required at mounting.
5000
2048
1500
1024
1000
512
TTL
1 VPP
8.0"
19.0"
26.0"
38.0"
40.0"
76.0"
2.7"
6.5"
8.7"
13.0"
14.0"
25.0"
The values for the position errors within

one signal period are already included in
the system accuracy. Larger errors can
occur if the mounting tolerances are
exceeded.
Scanning unit
Dj
j'
j
M
D
e
Measuring error as
a function of the mean
graduation diameter D
and the eccentricity e
M Center of graduation
"True" angle
Scanned angle
27
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.
Benefits of the stator coupling:
No axial mounting tolerances between
shaft and stator housing for ExN 1300
and ExN 1100
High natural frequency of the coupling
High torsional rigidity of shaft coupling
Low mounting or installation space
requirement
Simple installation
ERN/ECN/EQN 1300
ERN/ECN/EQN 1100
Stator coupling
45 mm
Mounting the ECN/EQN/ERN 1100 and

ECN/EQN/ERN 1300
The blind hollow shaft or the taper shaft of
the rotary 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 stator of the encoder is clamped
in a location hole by an axially tightened
screw, or on the ECN/EQN 1100 with
37 mm diameter, by a radially expanding
screw.
Mounting the ERN 1000

The rotary encoder is slid by its blind
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 1100
Stator coupling
37 mm
Mounting accessories for the ERN 1000

Washer
For increasing the natural frequency fN and
mounting with only two screws
Id. Nr. 334 653-01 (2 pieces)
28
ERN 1000
Mounting accessories
Screwdriver bit
for HEIDENHAIN shaft couplings, for
ExN 100/400/1000 shaft clamps, for ERO
shaft clamps
Width
Length
across flats
Id. Nr.
2 (ball head)
350 378-04
70 mm
3 (ball head)
350 378-08
1.5
350 378-01
350 378-03
2.5
350 378-05
350 378-07
TX8
89 mm
152 mm
Screwdriver
Adjustable torque
0.2 Nm to 1.2 Nm
1 Nm to 5 Nm
350 378-11
350 378-12
Id. Nr. 350 379-04

Id. Nr. 350 379-05
Extraction tool
For removing the PCB connector from the
ERN 1120 and ERN 1180
Id. Nr 592 818-01
29
Mechanical Design Types and Mounting

The ERO, ECI/EQI 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.
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.
ERO 1200
In the ERO 1200 series, the disk/hub

assembly is slid onto the shaft and
adjusted to the scanning unit. The scanning
unit is aligned on a centering collar and
fastened on the mounting surface.
ERO 1300
With the ERO 1300 series, the scanning

unit can be mounted from the side,
permitting installation on a through shaft.
The ERO 1400 series consists of miniature
modular encoders. 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.
ERO 1400
Mounting the ERO

modular rotary
encoder
Mounting accessories ERO 1400

Mounting accessories
Aid for removing the clip for optimal
encoder mounting
Id. Nr. 510 175-01
Accessories
Housing for ERO 14xx with axial PCB
connector and central hole
Id. Nr. 331 727-23
30
Mounting
accessories
ERO 1400
The inductive rotary encoders ECI/EQI 1100

are mechanically compatible with the
photoelectric encoders ExN 1100: the
bottomed hollow shaft is fastened with a
central screw. The stator of the encoder is
clamped by a radially tightened screw in
the location hole.
Mounting the
ECI/EQI 1100
Accessories for adjustment of the
ECI/EQI 1100
To adjust the encoder, you will need:
Adjusting screw M8
For setting the scanning gap
Id. Nr. 377 567-05
Encoder cable
for IK 215, includes adapter connector
Id. Nr. 528 703-02
Software (for Windows 2000/XP)
for inspecting the output signals in
combination with the absolute value card
IK 215 (see HEIDENHAIN Measuring and
Testing Devices)
Id. Nr. 539 862-xx
Adapter connector
3 connectors for replacement
Id. Nr. 528 694-01
31
The ECI/EQI 1300 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 screw in
the location hole.
Mounting the
ECI/EQI 1300
Accessories for adjustment of the
ECI/EQI 1300
To adjust the encoder, you will need:
Adjustment aid for setting the gap
Id. Nr. 335 529-xx
Mounting aid for adjusting the rotor
position to the motor emf
Id. Nr. 352 481-xx
Encoder cable
for IK 215, includes adapter connector
Id. Nr. 528 703-02
Software (for Windows 2000/XP)
for inspecting the output signals in
combination with the absolute value card
IK 215 (see HEIDENHAIN Measuring and
Testing Devices)
Id. Nr. 539 862-xx
Adjustment aid
Adapter connector
3 connectors for replacement
Id. Nr 528 694-01
Mounting aid
32
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 coarse 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. 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
approximatelyfor example with the aid
of the line markers on the encoder or the
reference mark signaland mounted on
the motor shaft. The fine adjustment is quite
easy with a PWM 9 phase angle measuring
device (see HEIDENHAIN Measuring and
Testing Devices): the stator of the encoder
is turned until the PWM 9 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 215 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 215 adapter card for PCs
and the accompanying software. For the
ECI/EQI 1300, 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. For the ECI/EQI with pure
serial operation (EnDat 21), 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.
Encoder aligned
Encoder poorly aligned
Motor current of adjusted and very poorly adjusted rotary encoder
Aligning the rotary encoder to the motor emf with the aid of the
adjusting and testing software for the IK 215
Manual alignment of ECI/EQI 1300
33
General Mechanical Information
UL certification
All rotary encoders and cables in this
brochure comply with the UL safety
regulations "
" for the USA and the
CSA safety regulations for Canada.
They are listed under file no. E205635.
Acceleration
Encoders are subject to various types of
acceleration during operation and
mounting.
The indicated maximum values for
vibration apply for frequencies of
55 to 2000 Hz at room temperature
(IEC 60 068-2-6). If the operating
temperatures exceed the values given
in the specifications, the vibration load
must be reduced (see Specifications).
Any acceleration exceeding permissible
values, for example due to resonance
depending on the application and
mounting, might damage the encoder.
Comprehensive tests of the entire
system are required.
The maximum permissible acceleration
values (semi-sinusoidal shock) for shock
and impact are valid for 6 ms
(IEC 60 068-2-27).
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 and angle
encoders is over 105 rad/s2.
The maximum values for vibration and
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
Measuring Accuracy must be ensured.
If the application includes increased
shock and vibration loads, please ask for
comprehensive assistance from
HEIDENHAIN.
Humidity
The max. permissible relative humidity is
75%. 95% are permissible temporarily.
Condensation is not permissible.
34
Natural frequency fN of coupling

Angle encoders and rotary encoders,
together with the separate shaft coupling
or the mounted stator coupling, form a
single vibrating spring-mass system whose
natural frequency should be as high as
possible.
For the ROC, ROQ, ROD, the natural
frequency fN depends, besides the moment
of inertia of the rotor, primarily on the
torsional rigidity C of the shaft coupling.
fN = 1
2
fN: Natural frequency of coupling in Hz

C: Torsionial rigidity of the coupling
in Nm/rad
: Moment of inertia of the rotor in kgm2
For the encoders with stator couplings,
ECN, EQN, ERN, and RCN, RPN, RON,
the natural frequency of coupling is
determined by the stator coupling and the
stator.
If radial and/or axial acceleration forces are
added, the stiffness of the encoder bearings
and the encoder stators are also significant.
If such loads occur in your application,
HEIDENHAIN recommends consulting
with the main facility in Traunreut.
Magnetic fields
Magnetic fields > 30 mT can impair the
proper function of encoders. If required,
please contact HEIDENHAIN, Traunreut.
Protection against contact (IEC 60 529)
After encoder installation, all rotating parts
must be protected against accidental
contact during operation.
Protection (IEC 60 529)
The degree of protection shown in the
catalog is adapted to the usual mounting
conditions. You will find the respective
values in the Specifications. If the given
degree of protection is not sufficient (such
as when the encoders are mounted
vertically), the encoders should be
protected by suited measures such as
covers, labyrinth seals, or other methods.
Splash water must not contain any
substances that would have harmful
effects on the encoder parts.
Expendable parts
HEIDENHAIN encoders contain components
that are subject to wear, depending on the
application and manipulation. These include
in particular the following parts:
LED light source
Cables with frequent flexing
Additionally for encoders with integral
bearing:
Bearings
Shaft sealing rings for rotary and angular
encoders
Sealing lips for sealed linear encoders
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 given in the 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 safety-oriented systems, the
higher-level system must verify the
position value of the encoder after
switch-on.
Assembly
Work steps to be performed and
dimensions to be maintained during
mounting are specified solely in the
mounting instructions supplied with the
unit. All data in this catalog regarding
mounting are therefore provisional and
not binding; they do not become terms
of a contract.
Temperature ranges
For the unit in its packaging, the storage
temperature range is 30 to 80 C
The operating temperature range
indicates the temperatures the encoder
may reach during operation in the actual
installation environment. The function of
the encoder is guaranteed within this range
(DIN 32 878). The operating temperature
is measured on the face of the encoder
flange and must not be confused with the
ambient temperature.
The temperature of the encoder is
influenced by:
Mounting conditions
The ambient temperature
Self-heating of the encoder
The self-heating of an encoder depends
both on its design characteristics (stator
coupling/solid shaft, shaft sealing ring, etc.)
and on the operating parameters (rotational
speed, power supply). Higher heat generation
in the encoder means that a lower ambient
temperature is required to keep the encoder
within its permissible 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. 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 maximum permissible ambient
temperature, special versions are available
on request with reduced degree of
protection (without shaft seal and its
concomitant frictional heat).
Self-heating at supply voltage
15 V
30 V
ERN/ROD
Approx. 5 K
Approx. +10 K
ECN/EQN/ROC/ROQ
Approx. 5 K
Approx. +10 K
Typical self-heating of the encoder at power supplies from 10 to 30 V. In 5-V versions,

self-heating is negligible.
Heat generation at speed nmax

Solid shaft
ROC/ROQ/ROD
Approx. + 5 K with protection class IP 64

Blind hollow shaft
ECN/EQN/ERN 400

ERN 1000
Approx. +10 K
ECN/ERN 100
ECN/EQN/ERN 400

Hollow through
shaft
An encoder's typical self-heating values depend on its design characteristics at maximum

permissible speed. The correlation between rotational speed and heat generation is nearly
linear.
2D_anb_2
(C
(F)
Measuring the actual operating temperature at the defined measuring point of the rotary
encoder (see Specifications)
35
ERN/ECN/EQN 1100 Series

Rotary Encoders with Integral Bearings for Integration in Motors
Mounted stator coupling 45 mm or 37 mm (for ECN/EQN)
Compact dimensions
Blind hollow shaft
ECN/EQN
ERN
L1
12.3 max.
(2.6)
L2
SW2.5
10
( 36.5 max.)
7.85
0.5 max.
0.03 A
12.5 min.
3.9
10 min.
6H7 e
1
30
Tolerancing ISO 8015

ISO 2768 - m H
< 6 mm: 0.2 mm
A
k
m
*)
36
7.9 min. *)
2 min.
3.750.2
0.5 *)
3.8
0.02 A
+0.2
M3
Dimensions in mm
0.1
13.60.5
37 +0.02
0
36.5
0.1
37 0
SW2.5
7.8
80.1
4.5
ECN/EQN
391
5.5
45
5.5
0.2
0.5 max.
= Bearing
*)
2.5 min./6.5 max. *)
= Required mating dimensions
101 *)
= Measuring point for operating temperature
= To fasten the ring coupling, turn the eccentric screw (M4)
to the right by approx. 90. Tightening torque 2 0.1 Nm
= ERN: Connector 15-pin; ERN 1185: Connector 14-pin
= M3 x 10 ISO 4762 max. torque 1.2 0.1 Nm, width A/F 2.5
= Self-locking screw ISO 4762 width A/F 2.5, ECN: M3 x 16, EQN: M3 x 30. Tightening torque 1.2 0.1 Nm
= Special setscrew M4x7.8 to fasten the ring coupling, width A/F 2. Tightening torque 0.45 0.05 Nm.
Before coupling is mounted, screw is driven in to protrude by approx. 0.8 mm
= For different dimensions of ECI/EQI 1100, see page 42
Direction of shaft rotation for output signals as per the interface description
0.02 *) A
6g7 e
(37.55)
81
3.250.5
45F8 e
+0.2
0.5
L3
40.4 +0.5/1.1 (37.8)
ECN/EQN 42.451
8 min./14 max.
L2
L3
0
12.3 1
M3
ERN: 8 min./ 17 max.

ExN: 8 min./ 14 max.
L1
ERN
13.60.5
6g7 e
45
Absolute
Incremental
ECN 1113
EQN 1125
ERN 1120
ERN 1180
ERN 1185
VPP1)
VPP1)
Incremental signals
VPP1)
TTL
Line count*/
System accuracy
512/ 60"
1024/ 64"
2048/ 32"
3600/ 18"
Reference mark
One
Scanning frequency
Edge separation a
Cutoff frequency 3dB
200 kHz
300 kHz
0.39 s
EnDat 2.1
VPP1)
Ordering designation
EnDat 01
Position values/rev
8192 (13 bits)
Z1 track2)
Revolutions
Elec. permissible speed/

System accuracy
4 000 rpm/ 1 LSB

12 000 rpm/ 16 LSB
Calculation time tcal
0.25 s
Power supply
5 V 5%
5 V 10%
Current consumption
(without load)
160 mA
Electrical connection
Via 12-pin PCB connector
Shaft
Blind hollow shaft 6 mm
Blind hollow shaft 6 mm
Stator coupling*
45 mm or 37 mm
45 mm
Mech. perm. speed n
12 000 rpm
12 000 rpm
Starting torque
0.001 Nm (at 20 C)
0.001 Nm (at 20 C)
200 mA
Moment of inertia of rotor Approx. 0.4 10
kgm2
180 kHz
512 lines:
100 kHz
2048 lines:
350 kHz
120 mA
14-pin
Specifications
4096 (12 bits)
512/ 60"
2048/ 40"
Approx. 0.3 106 kgm2
Natural frequency of
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
2
200 m/s (IEC 60 068-2-6)
1000 m/s2 (IEC 60 068-2-27)
2
100 m/s (IEC 60 068-2-6)
1000 m/s2 (IEC 60 068-2-27)
Max. operating temp.
115 C
100 C
Min. operating temp.
40 C
30 C
Protection IEC 60 529
IP 40 when mounted
IP 40 when mounted
Weight (approx.)
0.1 kg
0.1 kg
115 C
* Please indicate when ordering

Restricted tolerances
Signal amplitude:
0.80 to 1.2 VPP
Asymmetry:
0.05
Amplitude ratio:
0.9 to 1.1
Phase angle:
90 5 elec.
Signal-to-noise ratio E, F: 100 mV
2)
For sine commutation: One sine and one cosine signal per revolution
1)
37
ECN/EQN 1300 Series

Mounted stator coupling
Installation diameter 65 mm
Taper shaft
*) 65 +0.02 for ECI/EQI 13xx
Dimensions in mm
ISO 2768 - m H
< 6 mm: 0.2 mm
A
B
k
m
38
= Bearing of mating shaft

= Bearing of encoder
= Clamping screw for coupling ring width A/F 2; Tightening torque 1.25 Nm
= ERN/ECN/EQN: Plug connector 12-pin (and 4 pins for temperature sensor, on ECN 1325/EQN 1337)
ERN with Z1 track: Plug connector 14-pin
ERN with block commutation: Plug connector 16-pin
= Screw plug sizes 3 and 4; tightening torque 5 +0.5 Nm
= Die-cast cover
= Self-tightening screw M5 x 50 DIN 6912 width A/F 4; tightening torque 5 +0.5 Nm
= Back-off thread M10
Absolute
ECN 1313
1)
ECN 1325
EQN 1325
EQN 1337
Incremental signals
VPP
VPP1)
Line count*/
System accuracy
512/ 60"
2048/ 20"
2048/ 20"
512/ 60"
2048/ 20"
2048/ 20"
2048 lines: 200 kHz

512 lines: 100 kHz
2048 lines: 200 kHz

512 lines: 100 kHz
EnDat 2.2
EnDat 01
EnDat 22
EnDat 01
EnDat 22
Position values/rev
8192 (13 bits)
33 554 432 (25 bits)
8192 (13 bits)
33 554 432 (25 bits)
Revolutions

System accuracy
512 lines:
5 000 rpm/ 1 LSB
12 000 rpm/ 100 LSB
2048 lines:
1 500 rpm/ 1 LSB
12 000 rpm/ 50 LSB
12 000 rpm
(for continuous position
value)
512 lines:
5 000 rpm/ 1 LSB
12 000 rpm/ 100 LSB
2048 lines:
1 500 rpm/ 1 LSB
12 000 rpm/ 50 LSB
12 000 rpm
(for continuous position
value)
0.25 s
5 s
0.25 s
5 s
Power supply
5 V 5%
3.6 to 5.25 V
5 V 5%
3.6 to 5.25 V
Current consumption
(without load)
160 mA
150 mA
200 mA
180 mA
Electrical connection via

PCB connector
12-pin
Rotary encoder: 12-pin

2)
Temperature sensor :
4-pin
12-pin
Rotary encoder: 12-pin

Temperature sensor2):
4-pin
Shaft
Taper shaft 9.25 mm; taper 1:10
Mech. perm. speed n
15 000 rpm
Starting torque
at 20 C
0.01 Nm
4096 (12 bits)
12 000 rpm
Moment of inertia of rotor 2.6 106 kgm2

stator coupling
1800 Hz

of measured shaft
0.5 mm
Shock 6 ms
2 3)
300 m/s (IEC 60 068-2-6)
1000 m/s2 / 2000 m/s2 (IEC 60 068-2-27)
115 C
40 C
IP 40 when mounted
Weight (approx.)
0.25 kg
2
150 m/s (IEC 60 068-2-6)
1000 m/s2 / 2000 m/s2 (IEC 60 068-2-27)

Signal amplitude
0.75 to 1.2 VPP
Asymmetry:
0.05
Amplitude ratio:
0.9 to 1.1
Phase angle:
90 5 elec.
2)
Evaluation optimized for KTY 84
Only use sensors with double or reinforced insulation. Ensure that the lines are routed inside the motor housing.
3)
As per standard for room temperature, the following applies for operating temperature
Up to 100 C: 300 m/s2
Up to 115 C: 150 m/s2
1)
39
ERN 1300 Series

Mounted stator coupling
Taper shaft
*) 65 +0.02 for ECI/EQI 13xx
Dimensions in mm
ISO 2768 - m H
< 6 mm: 0.2 mm
A
B
k
m
40
= Bearing of mating shaft

= Bearing of encoder
= Clamping screw for coupling ring width A/F 2; Tightening torque 1.25 Nm
= ERN/ECN/EQN: Plug connector 12-pin (and 4 pins for temperature sensor, on ECN 1325/EQN 1337)
ERN with Z1 track: Plug connector 14-pin
ERN with block commutation: Plug connector 16-pin
= Screw plug sizes 3 and 4; tightening torque 5 +0.5 Nm
= Die-cast cover
= Self-tightening screw M5 x 50 DIN 6912 width A/F 4; tightening torque 5 +0.5 Nm
Incremental
ERN 1381
Incremental signals
TTL
VPP2)
Line count*/
System accuracy
1024/ 64"
2048/ 32"
4096/ 16"
512/ 60"
2048/ 20"
4096/ 16"
Reference mark
One
Scanning frequency
Edge separation a
300 kHz
0.35 s
VPP2)
TTL
Position values/rev
Z1 track3)
3 x TTL4)
Power supply
5 V 10%
5 V 5%
Current consumption
(without load)
120 mA
130 mA
150 mA
Electrical connection via

PCB connector
12-pin
14-pin
16-pin
Shaft
Taper shaft 9.25 mm; taper 1:10
Mech. perm. speed n
15 000 rpm
Starting torque
at 20 C
0.01 Nm
120 C
120 C;
Moment of inertia of rotor 2.6 10
ERN 1387
1)
ERN 1321
ERN 1326
TTL
2048/ 20"
1024/ 64"
2048/ 32"
4096/ 16"
300 kHz
0.35 s
210 kHz
kgm2
stator coupling
1800 Hz

of measured shaft
0.5 mm
Shock 6 ms
2 5)
300 m/s (IEC 60 068-2-6)
1000 m/s2 / 2000 m/s2 (IEC 60 068-2-27)
120 C;
40 C
IP 40 when mounted
Weight (approx.)
0.25 kg

Available in 2nd quarter of 2007; for the previous version, see the ERN 1326, October 2006
2)
Signal amplitude
0.75 to 1.2 VPP
Asymmetry:
0.05
Amplitude ratio:
0.9 to 1.1
Phase angle:
90 5 elec.
3)
One sine and one cosine signal per revolution
4)
Three square-wave signals with signal periods of 90 or 120 mechanical phase shift
5)
As per standard for room temperature, the following applies for operating temperature
Up to 100 C: 300 m/s2
Up to 115 C: 150 m/s2
1)
41
ECI/EQI 1100 Series

Rotary Encoders without Integral Bearings for Integration in Motors
Blind hollow shaft
27.41.5
9.21
380.04
0m Dm
4
80.1
7.8
37 0.01
0.03
6H7 e
.5
3.8
270.6
0.1 A
+0.2
6g7e
0.2
0.5
M3
0.02 A
2 min.
0.01 A
30.5
80.1
Dimensions in mm
20

ISO 2768 - m H
< 6 mm: 0.2 mm
A
k
m
42
= Bearing
= Measuring point for operating temperature below removable cover on metal surface
= Screw for securing the cable covering, tightening torque 1.2 0.1 Nm
= Plug connector, 12-pin
= Clamping diameter
= Removable cover
= Self-locking screw M3 x 20 ISO 4762 width A/F 2.5, tightening torque 1.2 0.1 Nm
= Setscrew M4 for clamping, width A/F 2, tightening torque 1.2 0.1 Nm
= Permissible thread length for
Direction of shaft rotation for output signals according to interface description
38.1 min.
0m Bm
3.750.2
8 min./14 max.
71
38 +0.03
SW2.5
37 +0.02
Absolute
ECI 1116
EnDat 2.1
EnDat 21
Position values/rev
65 536 (16 bits)
Revolutions
Elec. permissible speed
12 000 rpm for continuous position value
System accuracy
480 (typ. 310)
8 s
Power supply
5 V 5%
Current consumption
(without load)
200 mA
PCB connector FCI Berg, 12-pin
Magnetic field
compatibility
Shaft
Blind hollow shaft 6 mm, axial clamping
Mech. perm. speed n
12 000 rpm
EQI 1128
4096 (12 bits)
260 mA
1)
30 mT
Moment of inertia of rotor 0.76 106 kgm2

of measured shaft
0.2 mm
Shock 6 ms
300 m/s2 (IEC 60 068-2-6)

1000 m/s2 (IEC 60 068-2-27)
100 C
20 C
IP 20 when mounted
Weight (approx.)
0.1 kg
1)
Reference value for encoder mounting area (air). If this value is exceeded, then a clarification of details with the multiturn encoder
mounted must be reached with HEIDENHAIN.
43
ECI/EQI 1300 Series

Taper shaft or blind hollow shaft
39.251
35.251
24.91
20.91
4.15
64.990.05
M6
70
10
4.5
4.5
(43.75)
(31.1)
13.50.1
8.3
12G6
0.5x15
0.3 ... 0.9
36+0.3/0.1
0.02 A
A
M5
12h6
65+0.02
0.1 A
25
14
M5
9.25
= Bearing
25
0.1
< 8.5
= Mounting screw
= Plug connector, 12-pin
= Cable outlet for ribbon cable
= Cable outlet for round cable
= Clamping area
= Cylinder head screw
ISO 4762 M5 x 35-A2
for hollow shaft
0.02 A
ISO 4762 M5 x 50-A2
for taper shaft
1 : 10
Tightening torque 5 Nm
> 20
7.50.1
= Setting tool for scanning gap
= Permissible scanning gap range
over all operating conditions
44
27.5+0.4
20...30

ISO 2768 - m H
< 6 mm: 0.2 mm
0.3 ... 0.9
5.30.3
(4.5)
Dimensions in mm
M5
20
M5
8.3
15
4.5
4
< 5.5
> 10
> 21
0.02 A
65+0.02
(20
20
64.990.05
(17)
(35
m
(21)
A
k
m
(65
15
4.15
6.40.5
9.25
10.40.5
Absolute
ECI 1317
Incremental signals
1 VPP
Line count/
System accuracy
32/ 280"
6 kHz typical
EQI 1329
Absolute position values1) EnDat 2.1

EnDat 01
Position values/rev
131 072 (17 bits)
Revolutions

System accuracy
5 000 rpm/ 40 LSB

15 000 rpm/ 56 LSB
8 s
Power supply
5 V 5% or 7 to 10 V
Current consumption
(without load)
170 mA
Shaft*/Moment of inertia Taper shaft

9.25 mm;
of rotor
Hollow shaft 12.0 mm;
4096 (12 bits)
6
2
Taper 1:10 /2.2 x 10 kgm
Length 5 mm /3.2 x 106 kgm2
Mech. perm. speed n
15 000 rpm

of measured shaft
0.2/+0.4 mm with 0.5 mm scanning gap
Shock 6 ms
2
100 m/s (IEC 60 068-2-6)
1000 m/s2 (IEC 60 068-2-27)
115 C
20 C
IP 20 when mounted
Weight (approx.)
0.13 kg
12 000 rpm

Encoders with analog signals are to be operated with a minimum scanning cycle of 2 ms.
Encoders without analog signals require a scanning cycle of less than 800 s
1)
45
ERO 1200 Series

Hollow through shaft
Dimensions in mm
D
10h6 e

ISO 2768 - m H
< 6 mm: 0.2 mm
A
k
46
12h6 e
Z
= Bearing
= Disk/hub assembly
= Offset screwdriver ISO 2936 2.5 (I2 shortened)
Direction of shaft rotation for output signals
according to interface description
ERO 1225
ERO 1285
0.05 0.02
1024
0.6 0.2
2048
0.2 0.05
1024
2048
0.2 0.03
0.03 0.02
Incremental
ERO 1225
ERO 1285
Incremental signals
TTL
1 VPP
Line count*
1024
2048
System accuracy1)/
1024 lines: 92"/ 6"
Accuracy of the graduation2) 2048 lines: 73"/ 6"
Reference mark
One
Scanning frequency
Edge separation a
300 kHz
0.39 s
Power supply
5 V 10%
Current consumption
(without load)
150 mA
Shaft*
Hollow through shaft 10 mm or 12 mm
1024 lines: 67"/ 6"

2048 lines: 60"/ 6"
180 kHz typical
6
2
Moment of inertia of rotor Shaft 10 mm: 2.2 10 kgm
6
Shaft 12 mm: 2.15 10 kgm2
Mech. perm. speed n
25 000 rpm

of measured shaft
1024 lines: 0.2 mm

2048 lines: 0.05 mm
Shock 6 ms
100 m/s2 (IEC 60 068-2-6)

1000 m/s2 (IEC 60 068-2-27)
100 C
40 C
IP 00
Weight (approx.)
0.07 kg
0.03 mm

Before installation. Additional error caused by mounting inaccuracy and inaccuracy from the bearing of the drive shaft are not included.
2)
For other errors, see Measuring Accuracy
1)
47
ERO 1300 Series

Rotary Encoders without Integral Bearings for
Integration in Motors
Hollow through shaft
ERO 1324
ERO 1384
Dimensions in mm
ISO 2768 - m H
< 6 mm: 0.2 mm
A = Bearing
k = Required mating dimensions
= Disk/hub assembly
Direction of shaft rotation for output signals
as per the interface description
48
D
20h6 e
30h6 e
a
ERO 1324
0.20.1
0.05
0.02
ERO 1384
0.15 0.04
0.03
0.02
Incremental
ERO 1324
ERO 1384
Incremental signals
TTL
1 VPP
Line count*
1024
2048
5000
System accuracy1)/
1024 lines: 72"/ 15"
Accuracy of the graduation2) 2048 lines: 53"/ 5"
5000 lines: 42"/ 3.5"
Reference mark
One
Scanning frequency
Edge separation a
400 kHz
0.29 s
Power supply
5 V 10%
Current consumption
(without load)
150 mA

(Adapter cable Id. Nr. 295 545-xx)
Shaft*
Hollow through shaft 20 mm or 30 mm
1024 lines: 47"/ 15"

2048 lines: 40.5"/ 5"
5000 lines: 37"/ 3.5"
180 kHz

(Adapter cable Id. Nr. 372 164-xx)
6
2
Moment of inertia of rotor Shaft 20 mm: 26 10 kgm
6
Shaft 30 mm: 35 10 kgm2
Mech. perm. speed n
16 000 rpm

of measured shaft
0.05 mm
Shock 6 ms
2
100 m/s (IEC 60 068-2-6)
1000 m/s2 (IEC 60 068-2-27)
70 C
0 C
IP 00
Weight (approx.)
0.2 kg
0.04 mm
85 C

2)
For other errors, see Measuring Accuracy
1)
49
ERO 1400 Series

For integration in motors with PCB connector (protection IP 00)
For mounting on motors with cable outlet (protection IP 40)
With axial PCB connector
1.6
6.5
19.90.5
4.5
30.5
With cable exit
.5
32
14
12.850.5
6.4
25
2.5
22
(9.85)
22
21.70.5
38.4
k
0.3 A
0.2
A
0.1/40
D 0.2
22
2x
M2
0.5 max.
L
32.5
25.20.5
4.80.2
10
26.20.5
M3
121
7
Axial PCB connector and round cable
29.2 ca.
32
(22)
10
3.70.2
a A
0.90.1
Axial PCB connector and ribbon cable
Dimensions in mm
ISO 2768 - m H
< 6 mm: 0.2 mm
A
k
50
= Bearing
= Accessory: Round cable
= Accessory: Ribbon cable
= Setscrew 2x90 offset M3, width A/F 1.5 Md = 0.25 0.05 Nm
= Version for repeated assembly
= Version featuring housing with central hole (accessory)
13+4.5/3
10 min.
Bend radius R
Stationary
cable
Moving cable
Ribbon cable
R 2 mm
R 10 mm
ERO 1420
0.03
0.1
4h6 e
ERO 1470
0.02
0.05
ERO 1480
6h6 e
8h6 e
Incremental
ERO 1420
ERO 1470
ERO 1480
Incremental signals
TTL
TTL x 5
Line count*
512, 1000, 1024
1000
1500
Integrated interpolation*
5-fold
10-fold
20-fold
25-fold
Signal periods/rev
512, 1000, 1024
5000
7500
10 000
15 000
20 000
30 000
25 000
37 500
512, 1000, 1024
Edge separation a
0.39 s
0.47 s
0.22 s
0.17 s
0.07 s
Scanning frequency
300 kHz
100 kHz
62.5 kHz
100 kHz
System accuracy
512 lines: 139"

1000 lines: 112"
1024 lines: 112"
Reference mark
One
Power supply
5 V 10%
Current consumption
(without load)
150 mA
Electrical connection*
Over 12-pin axial PCB connector

Cable 1 m, radial, without connecting element (not with ERO 1470)
Shaft*
Blind hollow shaft 4 mm; 6 mm or 8 mm

or hollow through shaft in housing with bore (accessory)
TTL x 10 TTL x 20 TTL x 25 1 VPP

512, 1000, 1024
180 kHz
1000 lines: 130"
1500 lines: 114"
155 mA
512 lines: 190"

1000 lines: 163"
1024 lines: 163"
200 mA
150 mA
Moment of inertia of rotor Shaft 4 mm: 0.28 106 kgm2

Mech. perm. speed n
30 000 rpm

of measured shaft
0.1 mm
Shock 6 ms
2
100 m/s (IEC 60 068-2-6)
1000 m/s2 (IEC 60 068-2-27)
70 C
10 C
With PCB connector: IP 00

With cable outlet: IP 40
Weight (approx.)
0.07 kg
0.05 mm
Bold: These preferred versions are available on short notice

1)
51
Interfaces
Incremental Signals 1 VPP
HEIDENHAIN encoders with 1-VPP

interface provide voltage signals that can
be highly interpolated.
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 Aapplies for the direction
of motion shown in the dimension
drawing.
The reference mark signal R has a usable
component G of approx. 0.5 V. Next to
the reference mark, the output signal can
be reduced by up to 1.7 V to a quiescent
value H. This must not cause the subsequent
electronics to overdrive. Even at the
lowered signal level, signal peaks with the
amplitude G can also appear.
Interface
Sinusoidal voltage signals 1 VPP
Incremental signals
2 nearly sinusoidal signals A and B

Signal amplitude M:
0.6 to 1.2 VPP; typ. 1 VPP
Asymmetry |P N|/2M:
0.065
Signal ratio MA/MB:
0.8 to 1.25
Phase angle |1 + 2|/2:
90 10 elec.
Reference mark
signal
1 or more signal peaks R

Usable component G:
Quiescent value H:
Signal-to-noise ratio E, F:
Zero crossovers K, L:
Connecting cable
HEIDENHAIN cable with shielding

PUR [4(2 x 0.14 mm2) + (4 x 0.5 mm2)]
Max. 150 m distributed capacitance 90 pF/m
6 ns/m
Cable length
Propagation time
0.2 to 0.85 V
0.04 V to 1.7 V
40 mV
180 90 elec.
Any limited tolerances in the encoders are listed in the specifications.
The data on signal amplitude apply when

the power supply given in the specifications
is connected to the encoder. They refer to a
differential measurement at the 120-ohm
terminating resistor between the associated
outputs. The signal amplitude decreases
with increasing frequency. The cutoff
frequency indicates the scanning frequency
at which a certain percentage of the original
signal amplitude is maintained:
3 dB cutoff frequency:
70 % of the signal amplitude
6 dB cutoff frequency:
50 % of the signal amplitude
Signal period
360 elec.
Interpolation/resolution/measuring step
The output signals of the 1 VPP interface
are usually interpolated in the subsequent
electronics in order to attain sufficiently
high resolutions. For velocity control,
interpolation factors are commonly over
1000 in order to receive usable velocity
information even at low speeds.
(Rated value)
Short-circuit stability
A temporary short circuit of one signal
output to 0 V or UP (except encoders with
UP min= 3.6 V) does not cause encoder
failure, but it is not a permissible operating
condition.
Short circuit at
20 C
125 C
One output
< 3 min
< 1 min
All outputs
< 20 s
<5s
A, B, R measured with oscilloscope in differential mode
Cutoff frequency
Typical signal
amplitude curve with
respect to the
scanning frequency
Signal
amplitude [%]
Measuring steps for position measurement

are recommended in the specifications.
For special applications, other resolutions
are also possible.
3 dB cutoff frequency
6 dB cutoff frequency
52
Scanning
frequency [kHz]
Input circuitry of the subsequent

electronics
Incremental signals
Reference mark
signal
Dimensioning
Operational amplifier MC 34074
Z0 = 120
R1 = 10 k and C1 = 100 pF
R2 = 34.8 k and C2 = 10 pF
UB = 15 V
U1 approx. U0
Encoder
Subsequent electronics
Ra < 100 ,
approx. 24
Ca < 50 pF
Ia < 1 mA
U0 = 2.5 V 0.5 V
(relative to 0 V of the
power supply)
3dB cutoff frequency of circuitry

Approx. 450 kHz
Approx. 50 kHz and C1 = 1000 pF
and C2 = 82 pF
The circuit variant for 50 kHz does reduce
the bandwidth of the circuit, but in doing
so it improves its noise immunity.
Circuit output signals

Ua = 3.48 VPP typical
Gain 3.48
Signal monitoring
A threshold sensitivity of 250 mVPP is
to be provided for monitoring the 1-VPP
incremental signals.
Pin layout
12-pin M23 coupling
12-pin
PCB connector
15-pin
PCB connector
b
a
12
15-pin D-sub connector for IK 115/IK 215
15 13 11 9 7 5 3 1
15
123 4 5 6
14 12 10 8 6 4 2
Power supply
Incremental signals
Other signals
12
10
11
12
10
11
14
5/8/13/15
13
12
2a
2b
1a
1b
6b
6a
5b
5a
4b
4a
3a
15
13
11
14
12
8/9/10/15
UP
Sensor
UP
0V
Sensor
0V
A+
B+
R+
Vacant
Brown/
Green
Blue
White/
Green
White
Brown
Green
Gray
Pink
Red
Black
Output cable
inside the motor housing
for ERN 1381
Id. Nr. 340 111-xx
17-pin
flange socket
M23
Violet
Yellow
12-pin PCB connector

b
a
123 4 5 6
Incremental signals
Other signals
10
15
16
12
13
2a
2b
1a
1b
6b
6a
5b
5a
4b
4a
8/9/11/
14/17
3a/3b
UP
Sensor
UP
0V
Sensor
0V
A+
B+
R+
T+
T1)
Vacant
Brown/
Green
Blue
White/
Green
White
Brown
Green
Gray
Pink
Red
Black
White1)
Violet
1)
Brown1)
Cable shield connected to housing; UP = power supply voltage

Sensor: The sensor line is connected internally with the corresponding power line
Vacant pins or wires must not be used!
1)
Only for encoder cable inside the motor housing
53
Electrical Connection
Power supply
12
Vacant Vacant
Interfaces
Incremental Signals TTL
HEIDENHAIN encoders with TTL

interface incorporate electronics that digitize
sinusoidal scanning signals with or without
interpolation.
The incremental signals are transmitted as
the square-wave pulse trains 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. In addition, the
integrated electronics produce their inverse
signals , and for noise-proof
transmission. The illustrated sequence of
output signalswith Ua2 lagging Ua1
applies for the direction of motion shown
in the dimension drawing.
The fault-detection signal indicates
fault conditions such as breakage of the
power line or failure of the light source. It
can be used for such purposes as machine
shut-off during automated production.
The distance between two successive
edges of the incremental signals Ua1 and
Ua2 through 1-fold, 2-fold or 4-fold
evaluation is one measuring step.
The subsequent electronics must be
designed to detect each edge of the
square-wave pulse. The minimum edge
separation a listed in the Specifications
applies for the illustrated input circuitry
with a cable length of 1 m, and refers to
a measurement at the output of the
differential line receiver. Propagation-time
differences in cables additionally reduce
the edge separation by 0.2 ns per meter
of cable length. To prevent counting error,
design the subsequent electronics to
process as little as 90% of the resulting
edge separation. The max. permissible
shaft speed or traversing velocity must
never be exceeded.
Interface
Square-wave signals TTL
Incremental signals
2 TTL square-wave signals Ua1, Ua2 and their inverted signals

,
Reference mark
signal
Pulse width
Delay time
1 or more TTL square-wave pulses Ua0 and their inverted

pulses
90 elec. (other widths available on request); LS 323: ungated
|td| 50 ns
Fault detection
signal
1 TTL square-wave pulse

Improper function: LOW (upon request: Ua1/Ua2 high impedance)
Proper function: HIGH
tS 20 ms
Pulse width
Signal level
Differential line driver as per EIA standard RS 422

UH 2.5 V at IH = 20 mA
UL 0.5 V at IL = 20 mA
Permissible load
between associated outputs

Z0 100
|IL| 20 mA
max. load per output
Cload 1000 pF
with respect to 0 V
Outputs protected against short circuit to 0 V
Switching times
(10% to 90%)
t+ / t 30 ns (typically 10 ns)
with 1 m cable and recommended input circuitry
Connecting cable

PUR [4(2 0.14 mm2) + (4 0.5 mm2)]
Max. 100 m ( max. 50 m) distributed capacitance 90 pF/m
6 ns/m
Cable length
Propagation time
Fault
Signal period 360 elec.
Measuring step after

4-fold evaluation
tS
UaS
The permissible cable length for

transmission of the TTL square-wave
signals to the subsequent electronics
depends on the edge separation a. It is
max. 100 m, or 50 m for the fault detection
signal. This requires, however, that the
power supply (see Specifications) be
ensured at the encoder. The sensor lines
can be used to measure the voltage at the
encoder and, if required, correct it with an
automatic system (remote sense power
supply).
Permissible cable
length
with respect to the
edge separation
Cable length [m]
Inverse signals , , are not shown
100
Without
75
50
With
25
6
0.7
0.6
0.5
0.4
0.3
0.2
0.1 0.05
Edge separation [s]
54

electronics
Incremental signals
Reference mark
signal
Dimensioning
IC1 = Recommended differential line
receivers
DS 26 C 32 AT
Only for a > 0.1 s:
AM 26 LS 32
MC 3486
SN 75 ALS 193
R1
R2
Z0
C1
Encoder
Fault detection
signal
= 4.7 k
= 1.8 k
= 120
= 220 pF (serves to improve noise
immunity)
Pin layout
12-pin
flange socket
or
coupling M23
12-pin
connector M23
15-pin
D-sub connector
for IK 115/IK 215
15 13 11 9 7 5 3 1
b
a
12
123 4 5 6
Power supply
15-pin
PCB connector
15
14 12 10 8 6 4 2
Incremental signals
Other signals
12
10
11
12
10
11
14
13
5/6/8
15
12
2a
2b
1a
1b
6b
6a
5b
5a
4b
4a
3a
3b
15
13
11
14
12
UP
Sensor
UP
0V
Sensor
0V
Ua1
Ua2
Ua0
1)
Brown/
Green
Blue
White/
Green
White
Brown
Green
Gray
Pink
Red
Black
Violet
1)
1)
8/9/
/
10/15
Vacant Vacant2)
Yellow

Sensor: The sensor line is connected internally with the corresponding power line
1)
2)
LS 323/ERO 14xx: Vacant
Exposed linear encoders: Switchover TTL/11 APP for PWT
55
Interfaces
Commutation Signals for Sinusoidal Commutation
The commutation signals C and D are

taken from the so-called Z1 track and form
one sine or cosine period per revolution.
They have a signal amplitude of typically
1 VPP at 1 k.
The recommended 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 . The ERN 1185 and
ERN 1387 are rotary encoders with commutation signals for sinusoidal commutation.
Interface
Sinusoidal voltage signals 1 VPP
Commutation
signals
2 nearly sinusoidal signals C and D

For signal levels see Incremental Signals 1 VPP
Incremental signals
See Incremental Signals 1 VPP
Connecting cable

PUR [4(2 x 0.14 mm2) + 4(2 x 0.14 mm2) + (4 x 0.5 mm2)]
Max. 150 m
6 ns/m
Cable length
Propagation time
Electronic commutation with Z1 track

Position
value output
Analog switch
A/D converter
One revolution
Absolute position value

coarse commutation
EEPROM
and counter
Z1 track
Incremental signals
Incremental signals
Multiplexer
Reference mark signal
Subdivision
electronics
Absolute position value

exact commutation
Pin layout
17-pin
HEIDENHAIN
coupling or
flange socket
M23

b
a
1 23 45 6 7
Power supply
Incremental signals
10
11
15
16
12
13
1b
7a
5b
3a
6b
2a
3b
5a
4b
4a
UP
Sensor
UP1)
0V
Sensor
0 V1)
Inside
shield
A+
B+
R+
Brown/
Green
Blue
White/
Green
White
Green/
Black
Yellow/
Black
Blue/
Black
Red/
Black
Red
Black
Other signals
56
14
17
7b
1a
2b
6a
C+
D+
T+2)
T2)
Gray
Pink
Yellow
Violet
Green
Brown
Cable shield connected to housing;

UP = power supply; T = temperature
Sensor: The sensor line is connected internally with the
corresponding power line.
1)
Not assigned if a power of 7 to 10 V is supplied via

motor-internal adapter cable
2)
Only for motor-internal adapter cables
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 levels.
The ERN 1326 is a rotary encoder with
output signals for block commutation.
Interface
Square-wave signals TTL
Commutation
signals
Width
Signal level
Three square-wave signals I, II, III and their inverse signals I, II, III
Incremental signals
See Incremental Signals TTL
Connecting cable

2
2
2
PUR [4(2 x 0.14 mm ) + 4(2 x 0.14 mm ) + (4 x 0.5 mm )]
Max. 100 m
6 ns/m
120 mech. or 90 mech. (other versions upon request)

See Incremental Signals TTL
Cable length
Propagation time
Example of a signal sequence for block

commutation
Ua0
36
I
12
II
24
III
Pin layout
17-pin
flange socket
M23
Power supply
Incremental signals
10
11
15
16
12
13
1b
2b
1a
5b
5a
4b
4a
3b
3a
UP
Sensor
UP
0V
Inside
shield
Ua1
Ua2
Ua0
Brown/
Green
Blue
White/
Green
Green/
Black
Yellow/
Black
Blue/
Black
Red/
Black
Red
Black
Other signals
4
14
17
2a
8b
8a
6b
6a
7b
7a
II
II
III
III
White
Green
Brown
Yellow
Violet
Gray
Pink
Cable shield connected to housing;

UP = power supply voltage
Sensor: The sensor line is
connected internally with the
corresponding power line.
Vacant pins or wires must not be
used!
57
Interfaces
Absolute Position Values
The EnDat interface is a digital, bidirectional

interface for encoders. It is capable of
transmitting position values from both
absolute andwith EnDat 2.2incremental
encoders, as well as reading and updating
information stored in the encoder, or of
saving new information. Thanks to the
serial transmission method only four
signal lines are required. The data are
transmitted in synchronism with the clock
signal from the subsequent electronics.
The type of transmission (position values,
parameters, diagnostics, etc.) is selected
by mode commands that the subsequent
electronics send to the encoder.
Interface
EnDat serial bidirectional
Data transfer
Absolute position values, parameters and additional information
Data input
Differential line receiver according to EIA standard RS 485 for the

CLOCK, CLOCK, DATA and DATA
Data output
Differential line driver according to EIA standard RS 485 for the

DATA and DATA
Code
Pure binary code
Position values
Ascending during traverse in direction of arrow (see Dimensions)
Incremental signals
1 VPP (see Incremental Signals 1 VPP) depending on unit
Clock frequency and cable length

Without propagation-delay compensation,
the clock frequencydepending on the
cable lengthis variable between 100 kHz
and 2 MHz. Because large cable lengths
and high clock frequencies increase the
signal run time to the point that they can
disturb the unambiguous assignment of
data, the delay can be measured in a test
run and then compensated. With this
propagation-delay compensation in the
subsequent electronics, clock frequencies
up to 8 MHz at cable lengths up to a
maximum of 100 m are possible. The
maximum clock frequency is mainly
determined by the cables and connecting
elements used. To ensure proper function
at clock frequencies above 2 MHz, use only
original ready-made HEIDENHAIN cables.
Connecting cable
With
Incremental PUR [(4 x 0.14 mm2) + 4(2 x 0.14 mm2) + (4 x 0.5 mm2)]
Without signals
PUR [(4 x 0.14 mm2) + (4 x 0.34 mm2)]
Max. 150 m
Propagation time
Max. 10 ns; approx. 6 ns/m
Cable length [m]
Cable length
0 300
1 000
2 000
4 000
6 000
8 000
Clock frequency [kHz]

EnDat 2.1; EnDat 2.2 without delay compensation
EnDat 2.2 with propagation-delay compensation

electronics
Data transfer
Dimensioning
IC1 = RS 485 differential line receiver and
driver
C3 = 330 pF
Z0 = 120
Incremental signals
Depends on encoder
58
Encoder
Versions
The extended EnDat interface version 2.2 is
compatible in its communication, command
set and time conditions with version 2.1, but
also offers significant advantages. It makes
it possible, for example, to transfer additional
information with the position value without
sending a separate request for it. The
interface protocol was expanded and the
time conditions (clock frequency, processing
time, recovery time) were optimized. In
addition, encoders with ordering designations
EnDat 02 or EnDat 22 have an extended
power supply range.
Both EnDat 2.1 and EnDat 2.2 are available
in versions with or without incremental
signals. EnDat 2.2 encoders feature a high
internal resolution. Therefore, depending
on the control technology being used,
interrogation of the incremental signals is
not necessary. To increase the resolution
of EnDat 2.1 encoders, the incremental
signals are evaluated in the subsequent
electronics.
Command set
The command set is the sum of all
available mode commands. The EnDat 2.2
command set includes EnDat 2.1 mode
commands. When a mode command from
the EnDat 2.2 command set is transmitted
to EnDat-01 subsequent electronics, the
encoder or the subsequent electronics
may generate an error message.
EnDat 2.2 command set (includes
EnDat 2.1 command set)
Position values for incremental and
absolute encoders
Additional information on position value
- Diagnostics and test values
- Absolute position values after reference
run of incremental encoders
- Parameter upload/download
- Commutation
- Acceleration
- Limit position signal
- Temperature of the encoder PCB
- Temperature evaluation of an external
temperature sensor (e.g. in the motor
winding)
EnDat 2.1 command set
Parameter upload/download
Reset
Test command and test values
Interface
Command
set
Ordering
designation
Version
Clock
frequency
EnDat
EnDat 2.1
or
EnDat 2.2
EnDat 01
With incremental signals
2 MHz
EnDat 21
Without incremental signals
EnDat 2.2
EnDat 02
With incremental signals
EnDat 2.2
EnDat 22
Without incremental signals 8 MHz
2 MHz
Benefits of the EnDat Interface
Functions
Automatic self-configuration: All

information required by the subsequent
electronics is already stored in the
encoder.
High system security through alarms
and messages for monitoring and
diagnosis.
High transmission reliability through
cyclic redundancy checks.
Faster configuration during installation:
Datum shifting through offsetting by a
value in the encoder.
The EnDat interface transmits absolute

position values or additional physical
quantities (only EnDat 2.2) in an
unambiguous time sequence and serves
to read from and write to the encoders
internal memory. Some functions are
available only with EnDat 2.2 mode
commands.
Other benefits of EnDat 2.2

A single interface for all absolute and
incremental encoders.
Additional information (limit switch,
temperature, acceleration).
Quality improvement: Position value
calculation in the encoder permits
shorter sampling intervals (25 s).
Advantages of purely serial
transmission specifically for EnDat 2.2
encoders
Simple subsequent electronics with
EnDat receiver chip.
Simple connection technology:
Standard connecting elements (M12,
8-pin), single-shielded standard cable
and low wiring costs.
Minimized transmission times through
adaptation of the data word length to the
resolution of the encoder.
High clock frequencies up to 8 MHz.
Position values available in the
subsequent electronics after only
approx. 10 s.
Support for state-of-the-art machine
designs e.g. direct drive technology.
Position values can be transmitted with or

without additional information. The additional
information types are selectable via the
Memory Range Select (MRS) code. Other
functions such as parameter reading and
writing can also be called after the memory
area and address have been selected.
Through simultaneous transmission with
the position value, additional information can
also be requested of axes in the feedback
loop, and functions executed with them.
Parameter reading and writing is possible
both as a separate function and in connection
with the position value. Parameters can be
read or written after the memory area and
address is selected.
Reset functions serve to reset the encoder
in case of malfunction. Reset is possible
instead of or during position value
transmission.
Servicing diagnostics make it possible
to inspect the position value even at a
standstill. A test command has the encoder
transmit the required test values.
You can find more information in the

Technical Information document for
EnDat 2.2 or on the Internet at
www.endat.de
59
Control cycles for transfer of position

values
The transmission cycle begins with the
first falling clock edge. The measured
values are saved and the position value
calculated. After two clock pulses (2T),
to select the type of transmission, the
subsequent electronics transmit the mode
command Encoder transmit position
value (with/without additional information).
After successful calculation of the absolute
position value (tcalsee table), the start
bit begins the data transmission from the
encoder to the subsequent electronics. The
subsequent error messages, error 1 and
error 2 (only with EnDat 2.2 commands),
are group signals for all monitored functions
and serve as failure monitors.
Beginning with the LSB, the encoder then
transmits the absolute position value
as a complete data word. Its length varies
depending on which encoder is being
used. The number of required clock pulses
for transmission of a position value is
saved in the parameters of the encoder
manufacturer. The data transmission of the
position value is completed with the Cyclic
Redundancy Check (CRC).
In EnDat 2.2, this is followed by additional
information 1 and 2, each also concluded
with a CRC. With the end of the data word,
the clock must be set to HIGH. After 10 to
30 s or 1.25 to 3.75 s (with EnDat 2.2
parameterizable recovery time tm) the data
line falls back to LOW. Then a new data
transmission can begin by starting the
clock.
60
Mode commands
Encoder transmit position value

Selection of the memory area
Encoder receive parameters
Encoder transmit parameters
Encoder receive reset1)
Encoder transmit test values
Encoder receive test commands
Encoder transmit position value with additional information

Encoder transmit position value and receive selection of memory area2)
Encoder transmit position value and receive parameters2)
Encoder transmit position value and transmit parameters2)
Encoder transmit position value and receive error reset2)
Encoder transmit position value and receive test command2)
Encoder receive communication command3)
1)
Same reaction as switching the power supply off and on

Selected additional information is also transmitted
3)
Reserved for encoders that do not support the safety system
2)
The time absolute linear encoders need for

calculating the position values tcal differs
depending on whether EnDat 2.1 or
EnDat 2.2 mode commands are transmitted
(see Specifications in the Linear Encoders
for Numerically Controlled Machine Tools
brochure). If the incremental signals are
evaluated for axis control, then the EnDat 2.1
mode commands should be used. Only in
this manner can an active error message
be transmitted synchronously with the
currently requested position value. EnDat 2.1
mode commands should not be used for
purely serial position-value transfer for axis
control.
Clock frequency
fc
Calculation time for

Position value
tcal
Parameters
tac
Recovery time
Without delay
compensation
With delay
compensation
100 kHz ... 2 MHz
100 kHz ... 8 MHz
See Specifications
Max. 12 ms
tm
EnDat 2.1: 10 to 30 s
EnDat 2.2: 10 to 30 s or 1.25 to 3.75 s (fc 1 MHz)
(parameterizable)
tR
Max. 500 ns
tST
Data delay time
tD
(0.2 + 0.01 x cable length in m) s
Pulse width
tHI
0.2 to 10 s
tLO
0.2 to 50 ms/30 s (with LC)
2 to 10 s
Pulse width fluctuation

HIGH to LOW max. 10%
EnDat 2.2
Transmitted data are identified as either

position values, position values with
additional information, or parameters. The
type of information to be transmitted is
selected by mode commands. Mode
commands define the content of the
transmitted information. Every mode
command consists of three bits. To ensure
reliable transmission, every bit is transmitted
redundantly (inverted or redundant). If the
encoder detects an erroneous mode
transmission, it transmits an error message.
The EnDat 2.2 interface can also transfer
parameter values in the additional
information together with the position
value. This makes the current position
values constantly available for the control
loop, even during a parameter request.
EnDat 2.1
Selecting the Transmission Type
EnDat 2.2 Transmission of

Position Values
Encoder saves
position value
Position value without additional information
EnDat 2.2 can transmit position values with

or without additional information.
transmit mode command
tm
tcal
tR
tST
M
S F1 F2 L
Mode command
Position value
CRC
S = start, F1 = error 1, F2 = error 2, L = LSB, M = MSB

Diagram does not depict the propagation-delay compensation
Encoder saves
position value
Data packet with position value and additional information 1 and 2

tm
tcal
tR
tST
S F1 F2 L
Mode command
Position value
Additional
information 2
CRC
Additional
information 1
CRC
CRC
S = start, F1 = error 1, F2 = error 2, L = LSB, M = MSB

Diagram does not depict the propagation-delay compensation
Additional information
With EnDat 2.2, one or two pieces of
additional information can be appended
to the position value. Each additional
information is 30 bits long with LOW as
first bit, and ends with a CRC check. The
additional information supported by the
respective encoder is saved in the encoder
parameters.
30 bits
Additional information
WRN
5 bits
CRC
RM Busy
Acknowledgment
of the additional
information
The content of the additional information

is determined by the MRS code and is
transmitted in the next sampling cycle for
additional information. This information is
then transmitted with every sampling until
a selection of a new memory area changes
the content.
8 bits
address or
data
8 bits
Data
The additional information

always begins with:
The additional information can contain the following data:
Status data
Warning WRN
Reference markRM
Parameter requestbusy
Acknowledgment of
additional information
Additional information 1
Diagnosis
Position value 2
Memory parameters
MRS-code acknowledgment
Test values
Temperature
Additional information 2
Commutation
Acceleration
Limit position signals
61
EnDat 2.1 Transmission of

Position Values
Encoder saves
position value
EnDat 2.1 can transmit position values with

interrupted clock pulse (as in EnDat 2.2) or
continuous clock pulse.
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
10 to 30 s (tm), the data line falls back to
LOW. A new data transmission can then
begin when started by the clock.
Mode command
Position value
Cyclic Redundancy
Check
Interrupted clock
Synchronization of the serially

transmitted 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.
62
Save new
position value
Save new
position value
CRC
Position value
n = 0 to 7; depending on system
Encoder
CRC
Continuous clock
Latch signal
Comparator
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 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
continuous-clock transfer mode reduces
the length of the clock-pulse group by
10 periods per position value.
1 VPP
Counter
1 VPP
Subdivision
Parallel
interface
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
synchronizationregardless of cable
lengthof 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 interfaces short transmission times
of less than 50 s. This capability is a
prerequisite for modern machine design
and safety systems.
Parameters and Memory Areas

The encoder provides several memory areas
for parameters. These can be read from by
the subsequent electronics, and some 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 the encoder is exchanged,
it is therefore essential that its parameter
settings are correct. Attempts to configure
machines without including OEM data can
result in malfunctions. If there is any doubt
as to the correct parameter settings, the
OEM should be consulted.
Parameters of the encoder manufacturer
This write-protected memory area contains
all information specific to the encoder,
such as encoder type (linear/angular,
singleturn/multiturn, etc.), signal periods,
position values per revolution, transmission
format of position values, direction of
rotation, maximum speed, accuracy
dependent on shaft speeds, warnings and
alarms, part number and serial number.
This information forms the basis for
automatic configuration. A separate
memory area contains the parameters
typical for EnDat 2.2: Status of additional
information, temperature, acceleration,
support of diagnostic and error messages,
etc.
Parameters of the OEM

In this freely definable memory area, the
OEM can store his information, e.g. the
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 for a datum shift and
the configuration of diagnostics. 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 to interrogate
their status. Once activated, the write
protection cannot be reversed.
Safety System
Safety-related encoders that are based on
data transmission via the EnDat 2.2 interface
can be used in safety-related applications.
The systems are inspected for compliance
with IEC 61 508, ISO 13 849 and EN 954-1.
Absolute encoder
Subsequent
electronics
1 VPP A*)
Incremental
signals *)
Absolute
position value
Operating
parameters
Operating
status
Parameters Parameters of the encoder

of the OEM manufacturer for
EnDat 2.1
EnDat interface
1 VPP B*)
Monitoring and Diagnostic

Functions
The EnDat interface enables comprehensive
monitoring of the encoder without requiring
an additional transmission line. The alarms
and warnings supported by the respective
encoder are saved in the parameters of
the encoder manufacturer memory area.
Error message
An error message becomes active if a
malfunction of the encoder might result
in incorrect position values. The exact
cause of the disturbance is saved in the
operating status memory and can be
interrogated in detail. Errors include, for
example,
Light unit failure
Signal amplitude too low
Error in calculation of position value
Power supply too high/low
Current consumption is excessive
Here the EnDat interface transmits the
error bitserror 1 and error 2 (only with
EnDat 2.2 commands). These are group
signals for all monitored functions and
serve for failure monitoring. The two error
messages are generated independently
from each other.
Warning
This collective bit is transmitted in the
status data of the additional information.
It indicates that certain tolerance limits
of the encoder have been reached or
exceededsuch as shaft speed or the limit
of light source intensity compensation
through voltage regulationwithout
implying that the measured position values
are incorrect. This function makes it
possible to issue preventive warnings in
order to minimize idle time.
Cyclic Redundancy Check
To ensure 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.
*) Depends on
encoder
EnDat 2.2
63
Pin Layout
Pin layout
17-pin
coupling or
flange socket
M23

b
a
123 4 5 6
Power supply
Incremental signals
1)
10
11
15
16
12
13
14
17
1b
6a
4b
3a
2a
5b
4a
3b
6b
1a
2b
5a
UP
Sensor2)
UP
0V
Inside
shield
A+
B+
DATA
DATA
Brown/
Green
Blue
White/
Green
Green/
Black
Yellow/
Black
Blue/
Black
Red/
Black
Gray
Pink
Other signals
5
T+3)
T3)
2)
Sensor
0V
White
CLOCK CLOCK
Violet
Yellow
Cable shield connected to housing; UP = power supply voltage; T = temperature

Sensor: The sensor line is connected internally with the corresponding power line.
1)
Only with ordering designations 01 and 02

Not assigned if a power of 7 to 10 V is supplied via motor-internal adapter cable
3)
Only for motor-internal adapter cables
2)
Brown3) White3)
8-pin
coupling or
flange socket
M12
6
7
1
Power supply
1)
5
8
4
3
2
UP1)
UP
0 V1)
0V
DATA
DATA
CLOCK
CLOCK
Blue
Brown/Green
White
White/Green
Gray
Pink
Violet
Yellow
For parallel supply lines
15-pin
D-sub connector, male
for IK 115/IK 215
15-pin
D-sub connector, female
for HEIDENHAIN controls
and IK 220
Incremental signals 1)
Power supply
12
10
11
13
15
11
13
14
15
UP
Sensor
UP
0V
Sensor
0V
Inside
shield
A+
B+
DATA
DATA
Brown/
Green
Blue
White/
Green
White
Green/
Black
Yellow/
Black
Blue/
Black
Red/
Black
Gray
Pink
1)
Only with ordering designation 01 and 02
Sensor: The sensor line is connected internally with the corresponding power line.
64
CLOCK CLOCK
Violet
Yellow

General Information
Insulated connector: Connecting

element with coupling ring; available
with male or female contacts.
Insulated coupling:
Connecting element with external thread.
Available with male or female contacts.
Symbols
Symbols
M12
M23
M12
M23
Mounted coupling
with central fastening
Cutout for mounting
M23
Mounted coupling
with flange
Flange socket: Permanently mounted

on the encoder or a housing, with
external thread (like the coupling), and
available with male or female contacts.
M23
Right-angle flange socket (rotatable) on adapter cable inside

the motor with connection for temperature sensor
M12
M23
Symbols
M23
D-sub connector: For HEIDENHAIN

controls, counters and IK absolute value
cards.
Symbols
The pins on connectors are numbered in

the direction opposite to those on
couplings or flange socket, regardless of
whether the contacts are
with integrated interpolation

electronics
Bell seal
Id. Nr. 266 526-01
Male contacts or
Female contacts
1)
Accessories for flange socket and M23

mounted couplings
Threaded metal dust cap

Id. Nr. 219 926-01
When engaged, the connections provide

protection to IP 67 (D-sub connector:
IP 50; IEC 60 529). When not engaged,
there is no protection.
65

Encoder Cable
Encoder cable inside the motor housing

Cable diameter 4.5 mm
16xAWG30/7
for
Complete
With PCB connector and
right-angle socket M23,
17-pin
Complete
With one connector
With PCB connector and right- With PCB connector
angle socket M12, 8-pin for
pure serial data transmission
PCB
connector
Crimp sleeve
ECN 1113
EQN 1125
12-pin
4.5 mm
349 851-xx
349 825-xx
ECI 1116
EQI 1128
12-pin
4.5 mm
392 107-xx
2
[4 x (2 x 0.14 mm )]
ERN 1120
ERN 1180
15-pin
4.5 mm
541 249-xx
ERN 1185
14-pin
4.5 mm
316 594-xx
317 900-xx
ECN 1313
EQN 1325
ECI 1317
EQI 1329
12-pin
6 mm
332 201-xx
332 202-xx
ECN 1325
EQN 1337
12-pin,
4-pin
6 mm
530 094-01
ERN 1387
14-pin
6 mm
332 199-xx
332 200-xx
ERN 1326
16-pin
6 mm
341 370-xx
341 369-xx
ERN 1321
ERN 1381
12-pin
6 mm
340 111-xx
333 276-xx
1)
1)
Without separate connections for temperature sensor
Encoder cable
for
With one connector

with 12-pin PCB connector
Cable 4.5 mm
with shield connection clamp
Cable 4.5 mm
Ribbon cable
ERO 1225
ERO 1285
ERO 1384
372 164-xx
ERO 1324
295 545-xx
ERO 1420
ERO 1470
ERO 1480
364 439-xx
365 509-xx
66
Connecting Cables
8-pin
M12
for
EnDat
without
incremental
signals
PUR connecting cable
8-pin:
12-pin:
17-pin:
12-pin 17-pin
M23 M23
for
1 VPP
TTL
for
EnDat with
incremental
signals
SSI
[(4 0.14 mm2) + (4 0.34 mm2)]

6 mm
[4(2 0.14 mm2) + (4 0.5 mm2)]
8 mm
[(4 0.14 mm2) + 4(2 0.14 mm2) + (4 0.5 mm2)] 8 mm
Complete with connector (female) and

coupling (male)
368 330-xx
298 401-xx
323 897-xx

connector (male)
298 399-xx

D-sub connector (female) for IK 220
310 199-xx
332 115-xx

D-sub connector (male) for IK 115/IK 215
524 599-xx
310 196-xx
324 544-xx
With one connector (female)
559 346-xx
309 777-xx
309 778-xx
Cable only, 8 mm
244 957-01
266 306-01
Mating element on connecting cable to

connector on encoder cable
Connector (female) for cable 8 mm
291 697-05
291 697-26
Connector on cable for connection to

subsequent electronics
Connector (male)
for cable 8 mm
6 mm
291 697-08
291 697-07
291 697-27
Coupling on connecting cable
Coupling (male)
for cable 4.5 mm

6 mm
8 mm
291 698-14
291 698-03
291 698-04
291 698-25
291 698-26
291 698-27
Flange socket for mounting on the

subsequent electronics
Coupling (female)
315 892-08
315 892-10
Mounted couplings
With flange (female)
6 mm
8 mm
291 698-17
291 698-07
291 698-35
With flange (male)
6 mm
8 mm
291 698-08
291 698-31
291 698-41
291 698-29
With central fastening

(male)
6 mm
291 698-33
291 698-37
364 914-01
Adapter connector 1 VPP/11 APP

For converting the 1 VPP signals to 11 APP;
M23 connector (female) 12-pin and M23
connector (male) 9-pin
67
General Electrical Information
Power Supply
Cable
The encoders require a stabilized dc

voltage UP as power supply. The respective
Specifications state the required power
supply and the current consumption. The
permissible ripple content of the dc voltage
is:
High frequency interference
UPP < 250 mV with dU/dt > 5 V/s
Low frequency fundamental ripple
UPP < 100 mV
The values apply as measured at the
encoder, i.e., without cable influences. The
voltage can be monitored and adjusted
with the encoders 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.
Calculation of the voltage drop:
L I
U = 2 103 C
56 AP
where U:
LC:
I:
AP:
Line drop in V
Cable length in m
Current consumption in mA
Cross section of power lines
in mm2
Switch-on/off behavior of the encoders

The output signals are valid no sooner
than after switch-on time tSOT = 1.3 s (see
diagram). During time tSOT they can have any
levels up to 5.5 V (with HTL encoders up to
UPmax). If an interpolation electronics unit is
inserted between encoder and power supply,
the electronics switch-on/switch-off characteristics must also be considered. When
the power supply is switched off, or when
the supply voltage falls below Umin, the
output signals are also undefined. The given
data applies only for the encoders listed in
the catalogcustom-designed interfaces
are not taken into account.
It is absolutely necessary to use

HEIDENHAIN cables for safety-related
applications. The cable lengths listed in
the Specifications apply only for
HEIDENHAIN cables and the
recommended input circuitry of the
subsequent electronics.
Durability
All encoders have polyurethane (PUR)
cables. PUR cables are resistant to oil,
hydrolysis and microbes in accordance
with VDE 0472. They are free of PVC
and silicone and comply with UL safety
directives. The UL certification
AWM STYLE 20963 80 C 30 V E63216
is documented on the cable.
Encoders with new features and increased

performance range may take longer to
switch on (longer time tSOT). If you are
responsible for developing subsequent
electronics, please contact HEIDENHAIN
in good time.
Temperature range
HEIDENHAIN cables can be used
for rigid configuration
40 to 85 C
for frequent flexing
10 to 85 C
Cables with limited resistance to hydrolysis
and microbes are rated for up to 100 C.
If required, please ask for assistance from
HEIDENHAIN Traunreut.
Isolation
The encoder housings are isolated against
internal circuits.
Rated surge voltage: 500 V
(preferred value as per VDE 0110 Part 1, overvoltage category II, contamination level 2)
Bending radius
The permissible bending radii R depend on
the cable diameter and the configuration:
Initial transient response of the supply voltage and switch-on/switch-off behavior

U
Stationary cable
Up max
Up min
UPP
Moving cable
tsot
Moving cable
Output signals invalid
Connect HEIDENHAIN position encoders

only to subsequent electronics whose
power supply is generated through double
or strengthened insulation against line
voltage circuits. Also see IEC 364-4-41:
1992, modified Chapter 411 regarding
protection against both direct and indirect
touch (PELV or SELV). If position encoders
or electronics are used in safety-related
applications, they must be operated with
protective extra-low voltage (PELV) and
provided with overcurrent protection or, if
required, with overvoltage protection.
Valid
Cable
Bend radius R
Cross section of power supply lines AP

1 VPP/TTL/HTL
3.7 mm 0.05 mm2
11 APP
EnDat/SSI EnDat 4)
17-pin
8-pin
Station- Moving
ary cable cable
8 mm 40 mm
4.5 mm 0.14/0.052) mm2 0.05 mm2 0.05 mm2 0.14 mm2 10 mm 50 mm

5.1 mm
6 mm
0.19/0.143) mm2
1)
10 mm
0.08 mm2 0.34 mm2 20 mm 75 mm

35 mm 75 mm
8 mm
0.5 mm2
1)
14 mm
0.5 mm2
1)
Metal armor
68
Invalid
2)
1 mm2
Length gauges
3)
LIDA 400
1 mm2
4)
40 mm 50 mm
100 mm 100 mm
Also Fanuc, Mitsubishi
Electrically Permissible Speed/

Traversing Speed
The maximum permissible shaft speed or
traversing velocity of an encoder is derived
from
the mechanically permissible shaft
speed/traversing velocity (if listed in
Specifications)
and
the electrically permissible shaft speed
or traversing velocity.
For encoders with sinusoidal output
signals, the electrically permissible shaft
speed or traversing velocity is limited by
the 3dB/ 6dB cutoff frequency or the
permissible input frequency of the
subsequent electronics.
For encoders with square-wave signals,
the electrically permissible shaft speed/
traversing velocity is limited by
the maximum permissible scanning
frequency fmax of the encoder
and
the minimum permissible edge
separation a for the subsequent
electronics.
For angular or rotary encoders
fmax
z
nmax =
60 103
For linear encoders
vmax = fmax SP 60 103
where:
nmax: Electrically permissible speed in rpm
vmax: Electrically permissible traversing
velocity in m/min
fmax: Maximum scanning/output
frequency of the encoder or input
frequency of the subsequent
electronics in kHz
z:
Line count of the angle or rotary
encoder per 360
SP: Signal period of the linear encoder
in m
Noise-Free Signal Transmission

Electromagnetic compatibility/
CE compliance
When properly installed and when
HEIDENHAIN connecting cables and cable
assemblies are used, HEIDENHAIN
encoders fulfill the requirements for
electromagnetic compatibility according to
89/336/EEC with respect to the generic
standards for:
Noise immunity IEC 61 000-6-2:
Specifically:
ESD
IEC 61 000-4-2
Electromagnetic
fields
IEC 61 000-4-3
Burst
IEC 61 000-4-4
Surge
IEC 61 000-4-5
Conducted
disturbances
IEC 61 000-4-6
Power frequency
magnetic fields
IEC 61 000-4-8
Pulse
magnetic fields
IEC 61 000-4-9
Interference IEC 61 000-6-4:
Specifically:
For industrial, scientific and medical
(ISM) equipment
IEC 55 011
For information technology
equipment
IEC 55 022
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 and electric motors
Relays, contactors and solenoid valves
High-frequency equipment, pulse
devices, and stray magnetic fields from
switch-mode power supplies
AC power lines and supply lines to the
above devices
Protection against electrical noise

The following measures must be taken to
ensure disturbance-free operation:
Use only HEIDENHAIN cables.
Use connectors or terminal boxes with
metal housings. Do not conduct any
extraneous signals.
Connect the housings of the encoder,
connector, terminal box and evaluation
electronics through the shield of the
cable. Connect the shielding in the area
of the cable inlets to be as induction-free
as possible (short, full-surface contact).
Connect the entire shielding system with
the protective ground.
Prevent contact of loose connector
housings with other metal surfaces.
The cable shielding has the function of
an equipotential bonding conductor.
If compensating currents are to be
expected within the entire system, a
separate equipotential bonding
conductor must be provided. See also
EN 50 178/4.98 Chapter 5.2.9.5 regarding
protective connection lines with small
cross section.
Do not lay signal cables in the direct
vicinity of interference sources (inductive
consumers such as contacts, motors,
frequency inverters, solenoids, etc.).
Sufficient decoupling from interferencesignal-conducting cables can usually be
achieved by an air clearance of 100 mm
or, when cables are in metal ducts, by a
grounded partition.
A minimum spacing of 200 mm to
inductors in switch-mode power supplies
is required. Also see EN 50 178 / 4.98
Chapter 5.3.1.1 regarding cables and
lines, EN 50 174-2 / 09.01 Chapter 6.7
regarding grounding and potential
compensation.
When using multiturn encoders in
electromagnetic fields greater than
30 mT, HEIDENHAIN recommends
consulting with the main facility in
Traunreut.
Both the cable shielding and the metal
housings of encoders and subsequent
electronics have a shielding function. The
housings 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 mm2 (Cu).
Minimum distance from sources of interference
69
HEIDENHAIN Measuring Equipment

For Incremental Encoders
The PWM 9 is a universal measuring device

for checking and adjusting HEIDENHAIN
incremental encoders. There are different
expansion modules available for checking
the different encoder signals. The values
can be read on an LCD
monitor. Soft keys
provide ease of
operation.
PWM 9
Inputs
Expansion modules (interface boards) for 11 APP; 1 VPP;

TTL; HTL; EnDat*/SSI*/commutation signals
*No display of position values or parameters
Features
Measures signal amplitudes, current consumption,

operating voltage, scanning frequency
Graphically displays incremental signals (amplitudes,
phase angle and on-off ratio) and the reference-mark
signal (width and position)
Displays symbols for the reference mark, fault
detection signal, counting direction
Universal counter, interpolation selectable from single
to 1024-fold
Adjustment support for exposed linear encoders
Outputs
Inputs are connected through to the subsequent

electronics
BNC sockets for connection to an oscilloscope
Power supply
10 to 30 V, max. 15 W
Dimensions
150 mm 205 mm 96 mm
For Absolute Encoders

The IK 215 is an adapter card for PCs for
inspecting and testing absolute
HEIDENHAIN encoders with EnDat or SSI
interface. Parameters can be read and
written via the EnDat interface.
70
IK 215
Encoder inputs
EnDat 2.1 (absolute value or incremental signals) or SSI
Interface
PCI bus, Rev. 2.1
Application software
Operating system: Windows 2000/XP

Features:
Display of position value
Counter for incremental signals
EnDat functionality
Installation software for ExI 1100/1300
Signal subdivision
for incremental signals
Up to 1024-fold
Dimensions
100 mm x 190 mm
Evaluation Electronics
IK 220
Universal PC counter card
The IK 220 is an expansion board for
AT-compatible PCs for recording the
measured values of two incremental or
absolute linear or angle encoders. The
subdivision and counting electronics
subdivide the sinusoidal input signals
to generate up to 4096 measuring steps
per input signal period. A driver software
package is included in delivery.
IK 220
11 APP
Input signals
(switchable)
1 VPP
Encoder inputs
Two D-sub connectors (15-pin), male
Max. input frequency
500 kHz
Max. cable length
60 m
33 kHz
EnDat 2.1 SSI
10 m
Signal subdivision
(signal period to meas. step) Up to 4096-fold
Data register for measured 48 bits (44 bits used)
values (per channel)
For more information see the IK 220

Product Information
Internal memory
For 8192 position values
Interface
PCI bus (plug and play)
Driver software and

demonstration program
For WINDOWS 98/NT/2000/XP

In VISUAL C++, VISUAL BASIC and
BORLAND DELPHI
Dimensions
Approx. 190 mm 100 mm
Windows is a registered trademark of the Microsoft Corporation.
71
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{ +420 2 72 65 81 31
E-Mail: [email protected]
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AR
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Croatia SL
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Slovakia CZ
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{ +36 (1) 4 21 09 52
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Heidenhain Encoders For Servo Drives PDF

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What products does the catalog present?

What products does the catalog present?

What information can be found in the selection tables?

What information can be found in the selection tables?

Encoders for

This catalog is not intended as an overview

For More Product Catalogs

For the linear and angular encoders

This catalog supersedes all previous

Standards (ISO, EN, etc.) apply only

Rotary Encoders for Mounting on Motors

Rotary Encoders for Integration in Motors

Exposed Linear Encoders for Linear Drives

Sealed Linear Encoders for Linear Drives

Technical Features and Mounting Information

Linear Encoders for Linear Drives

Electronic Commutation with Position Encoders

Rotary Encoders without Integral Bearing

Aligning the Rotary Encoders to the Motor EMF

General Mechanical Information

Rotary Encoders with

ERN/ECN/EQN 1100 Series

ECN/EQN 1300 Series

ERN 1300 Series

ECI/EQI 1100 Series

ECI/EQI 1300 Series

ERO 1200 Series

ERO 1300 Series

ERO 1400 Series

See Angle Encoders catalog

See Exposed Linear Encoders and Linear Encoders for

EnDat Absolute Position Values

Connecting Elements and Cables

General Electrical Specifications

HEIDENHAIN Measuring and Testing Devices and Evaluation Electronics

Encoders for Servo Drives

The properties of encoders have decisive

Controlling systems for servo drives

Digital position and speed control

HEIDENHAIN offers the appropriate

Incremental rotary encoders with and

All the HEIDENHAIN encoders shown in

Explanation of the Selection Tables

Rotary encoders for mounting on motors

Rotary encoders for integration in motors

Rotary encoders and angle encoders for integrated and

Linear encoders for linear motors

Rotary encoders with integral bearing and mounted stator coupling

Rotary encoders with integral bearing for separate shaft coupling

After internal 5/10-fold interpolation

Absolute position values

ECN 413/EQN 425

ECN 425/EQN 437

ROC 413 / ROQ 425

ROC 425 / ROQ 437

Z1 track for sine commutation

Rotary encoders with integral bearing and mounted stator coupling

Rotary encoders without integral bearing

After internal 5/10/20/25-fold interpolation