Rotary Encoders - atechauthority.com

1 November 2011 Rotary Encoders2 Rotary Encoders with mounted stator couplingRotary Encoders for separate shaft couplingThis catalog supersedes all previous edi-tions, which thereby become basis for ordering from HEIDEN-HAIN is always the catalog edition valid when the contract is (ISO, EN, etc.) apply only where explicitly stated in the Encoders from HEIDENHAIN serve as measuring sensors for Rotary mo-tion, angular velocity and, when used in conjunction with mechanical measuring standards such as lead screws, for linear motion. Application areas include electrical motors, machine tools, printing machines, woodworking machines, textile machines, robots and handling devices, as well as var-ious types of measuring, testing, and in-spection high quality of the sinusoidal incremen-tal signals permits high interpolation factors for digital speed handwheelOverview and Specifi cations Selection Guide 4 Measuring Principles, Accuracy10 Mechanical Design Types and MountingRotary Encoders with Stator Coupling12 Rotary Encoders for Separate Shaft Coupling15 Shaft Couplings 18 Safety-Related Position Measuring Systems20 General Mechanical Information 22 Specifi cations Absolute Rotary EncodersIncremental Rotary Encoders Mounted Stator CouplingECN 100 SeriesERN 100 Series24 ECN 400/EQN 400 SeriesERN 400 Series26 ECN 400/EQN 400 Serieswith Universal Stator CouplingERN 400 Serieswith Universal Stator Coupling30 ECN 1000/EQN 1000 SeriesERN 1000 Series34 Separate Shaft CouplingROC 400/ROQ 400 RIC 400/RIQ 400 Serieswith Synchro FlangeROD 400 Serieswith Synchro Flange38 ROC 400/ROQ 400 SeriesRIC 400/RIQ 400 Serieswith Clamping FlangeROD 400 Serieswith Clamping Flange42 ROC 1000/ROQ 1000 SeriesROD 1000 Series46 Handwheels HR 112050 Electrical Connection Interfaces and Pin LayoutsIncremental Signals 1 VPP52 TTL54 HTL56 Absolute

2 Position ValuesEnDat58 PROFIBUS DP60 PROFINET IO64 SSI66 Cables and Connecting Elements68 Evaluation Electronics and HEIDENHAIN Measuring Equipment71 General Electrical Information74 Sales and Service More Information78 Addresses in Germany 79 Addresses Worldwide 80 Contents4 Selection GuideRotary Encoders for Standard ApplicationsRotary EncodersAbsolute SingleturnMultiturn 4 096 revolutionsInterface EnDatSSIPROFIBUS DPPROFINET IOEnDatPower supply to 14 V DC5 V DC5 V DC or10 to 30 V DC9 to 36 V DC10 to 30 V to 14 V DC5 V DCWith Mounted Stator CouplingECN/ERN 100 seriesECN 1251)ECN 113 Positions/rev: 25 bitsEnDat : 13 bitsEnDat 400 seriesECN 425 ECN 413 ECN 4134)EQN 437 Positions/rev: 25 bitsEnDat 413 Positions/rev: 13 bitsEnDat : 13 bits Positions/rev: 13 bits Positions/rev: 25 bitsEnDat 425 Positions/rev: 13 bitsEnDat 400 series with universal stator couplingECN 425 ECN 413 EQN 437 Positions/rev: 25 bitsEnDat 413 Positions/rev: 13 bitsEnDat : 13 bitsPositions/rev: 25 bitsEnDat 425 Positions/rev: 13 bitsEnDat 1000 seriesECN 1023 EQN 1035 Positions/rev: 23 bitsEnDat 1013 Positions/rev: 13 bitsEnDat Positions/rev: 23 bitsEnDat 1025 Positions/rev: 13 bitsEnDat For separate shaft coupling ROC/ROQ/ROD 400 RIC/RIQ 400 serieswith synchro fl angeROC 425 RIC 418 ROC 413 ROC 413 ROQ 437 RIQ 430 Positions/rev: 25 bitsEnDat 413 Positions/rev: 13 bitsEnDat : 18 bitsEnDat / 01 Positions/rev: 13 bits Positions/rev: 13 bits Positions/rev: 25 bitsEnDat 425 Positions/rev: 13 bitsEnDat.

3 18 bitsEnDat / 01 ROC/ROQ/ROD 400 RIC/RIQ 400 serieswith clamping fl angeROC 425 RIC 418 ROC 413 ROC 413 ROQ 437 RIQ 430 Positions/rev: 25 bitsEnDat 413 Positions/rev: 13 bitsEnDat : 18 bitsEnDat : 13 bits Positions/rev: 13 bits Positions/rev: 25 bitsEnDat 425 Positions/rev: 13 bitsEnDat : 18 bitsEnDat 1000 seriesROC 1023 ROQ 1035 Positions/rev: 23 bitsEnDat 1013 Positions/rev: 13 bitsEnDat Positions/rev: 23 bitsEnDat 1025 Positions/rev: 13 bitsEnDat 1)Power supply to V DC2) Up to 10 000 signal periods through integrated 2-fold interpolation3) Up to 36 000 signal periods through integrated 5/10-fold interpolation (higher interpolation upon request) 5 Introduction Incremental SSIPROFIBUS DPPROFINET IO TTL TTL HTL 1 VPP 5 V DC or10 to 30 V DC9 to 36 V DC10 to 30 V DC5 V DC10 to 30 V DC10 to 30 V DC5 V DC ERN 120 ERN 130 ERN 180 22 1 000 to 5 000 lines 1 000 to 5 000 lines1 000 to 5 000 lines EQN 425 EQN 4254)ERN 420 ERN 460 ERN 430 ERN 480 24 Positions/rev: 13 bitsPositions/rev: 13 bits250 to 5 000 lines250 to 5 000 lines250 to 5 000 lines1 000 to 5 000 lines EQN 425 ERN 420 ERN 460 ERN 430 ERN 480 28 Positions/rev.

4 13 bits250 to 5 000 lines250 to 5 000 lines250 to 5 000 lines1 000 to 5 000 lines ERN 1020 ERN 1030 ERN 1080 32 100 to 3 600 linesERN 10703)1 000/2 500/3 600 lines 100 to 3 600 lines100 to 3 600 lines ROQ 425 ROQ 425 ROD 426 ROD 466 ROD 436 ROD 486 36sPositions/rev: 13 bitsPositions/rev:13 bits4 096 revolutions50 to 5 000 lines2)50 to 5 000lines2)50 to 5 000lines1 000 to 5 000 lines ROQ 425 ROQ 425 ROD 420 ROD 430 ROD 480 40sPositions/rev: 13 bitsPositions/rev: 13 bits4 096 revolutions50 to 5 000 lines 50 to 5 000lines1 000 to 5 000 lines ROD 1020 ROD 1030 ROD 1080 44 100 to 3 600 linesROD 10703)1 000/2 500/3 600 lines 100 to 3 600 lines100 to 3 600 lines 22283644326 Selection GuideRotary Encoders for MotorsRotary Encoders Absolute SingleturnMultiturn Interface EnDatEnDatPower supply to 14 V DC5 V to 14 V DC5 V DCWith Integral Bearing and Mounted Stator CouplingERN 1023 series ECN/EQN 1100 seriesECN 1123 EQN 1135 Positions/rev: 23 bitsEnDat safety upon requestECN 1113 Positions/rev: 13 bitsEnDat : 23 bits4 096 revolutionsEnDat safety upon requestEQN 1125 Positions/rev: 13 bits4 096 revolutionsEnDat 1123 ECN/EQN/ERN 1300 seriesECN 1325 EQN 1337 Positions/rev: 25 bitsEnDat safety upon requestECN 1313 Positions/rev: 13 bitsEnDat.

5 25 bits4 096 revolutionsEnDat safety upon requestEQN 1325 Positions/rev: 13 bits4 096 revolutionsEnDat Integral BearingECI/EQI/EBI 1100 seriesECI 1118 ECI 1118 EBI 1135 EQI 1130 Positions/rev: 18 bitsEnDat : 18 bitsEnDat or EnDat : 18 bits65 536 revolutions (battery buffered)EnDat : 18 bits4 096 revolutionsEnDat or EnDat 1300 series ECI 1319 EQI 1331 Positions/rev: 19 bitsEnDat : 19 bits4 096 revolutionsEnDat 1200 series ERO 1400 series 1) 8 192 signal periods through integrated 2-fold interpolation2) 37 500 signal periods through integrated 5/10/20/25-fold interpolation7 Incremental TTL 1 VPP5 V DC5 V DC ERN 1023 500 to 8 192 lines3 signals for block commutation ERN 1123 500 to 8 192 lines3 signals for block commutationERN 1321 ERN 13811 024 to 4 096 linesERN 13261 024 to 4 096 lines1)3 TTL signals for block commutation512 to 4 096 linesERN 13872 048 linesZ1 track for sine commutation ERO 1225 ERO 12851 024/2 048 lines1 024/2 048 linesERO 1420 ERO 1480512 to 1 024 linesERO 14701 000/1 5002)

6 512 to 1 024 lines These Rotary Encoders are described in the Position Encoders for Servo Drives see Product Informationct Inforfmamaiiitttatatiiiionionion8 Rotary EncodersAbsolute SingleturnMultiturn 4 096 revolutions Interface EnDatSSIEnDatSSIP ower supply to 14 V DC5 V DC5 V DC5 V DC5 V DCFor Drive Control in ElevatorsECN/ERN 100 seriesIP 64 protectionECN 1251)ECN 113 Positions/rev: 25 bitsEnDat : 13 bitsEnDat 400 seriesIP 64 protectionECN 425 Positions/rev: 25 bitsEnDat safety upon requestECN 413 Positions/rev: 13 bitsEnDat 1300 seriesIP 40 protectionECN 1325 Positions/rev: 25 bitsEnDat safety upon requestECN 1313 Positions/rev: 13 bitsEnDat Potentially Explosive Atmospheres in zones 1, 2, 21 and 22 ROC/ROQ/ROD 4004) serieswith synchro fl ange ROC 413 ROC 413 ROQ 425 ROQ 425 Positions/rev: 13 bitsEnDat : 13 bitsPositions/rev: 13 bitsEnDat : 13 bitsROC/ROQ/ROD 4004) serieswith clamping fl ange ROC 413 ROC 413 ROQ 425 ROQ 425 Positions/rev: 13 bitsEnDat : 13 bitsPositions/rev: 13 bitsEnDat.

7 13 bitsElectronic handwheelHR 1120 1)Power supply to V DC2) Up to 10 000 signal periods through integrated 2-fold interpolation3) 8 192 signal periods through integrated 2-fold interpolation4) Versions with blind hollow shaft available upon requestSelection GuideRotary Encoders for Special Applications9 Incremental TTL TTL HTL 1 VPP 5 V DC10 to 30 V DC10 to 30 V DC5 V DC ERN 120 ERN 130 ERN 180 241 000 to 5 000 lines 1 000 to 5 000 lines1 000 to 5 000 lines ERN 421 ERN 4871 024 to 5 000 lines2)2 048 linesZ1 track for sine commutation ERN 1321 ERN 1381 1 024 to 5 000 linesERN 13261 024 to 4 096 lines3)3 TTL signals for block commutation512 to 4 096 linesERN 13872 048 linesZ1 track for sine commutation ROD 426 ROD 466 ROD 436 ROD 486ts1 000 to 5 000 lines1 000 to 5 000 lines1 000 to 5 000 lines1 000 to 5 000 lines ROD 420 ROD 430 ROD 480 ts1 000 to 5 000 lines 1 000 to 5 000 lines1 000 to 5 000 lines HR 1120 50100 lines See catalog: Encoders for Servo DrivesSee product overview: Rotary Encoders for Potentially Explosive AtmospheresSee product overview: Rotary Encoders for the Elevator Industry24 SSeeproduct overvivieww:See product overview: Rotary Encoders for the Elevator IndustryAtmo10 Measuring PrinciplesMeasuring StandardMeasuring MethodsHEIDENHAIN Encoders with optical scan-ning incorporate measuring standards of periodic structures known as graduations are applied to a carrier substrate of glass or precision graduations are manufac-tured in various photolithographic process-es.

8 Graduations are fabricated from:extremely hard chromium lines on glass, matte-etched lines on gold-plated steel tape, orthree-dimensional structures on glass or steel photolithographic manufacturing pro-cesses developed by HEIDENHAIN pro-duce grating periods of typically 50 m to 4 processes permit very fi ne grating periods and are characterized by a high def-inition and homogeneity of the line edges. Together with the photoelectric scanning method, this high edge defi nition is a pre-condition for the high quality of the output master graduations are manufactured by HEIDENHAIN on custom-built high-pre-cision ruling using the inductive scanning principle have graduation structures of copper/nickel. The graduation is applied to a carrier material for printed the absolute measuring method, the position value is available from the en-coder immediately upon switch-on and can be called at any time by the subsequent electronics. There is no need to move the axes to fi nd the reference position.

9 The ab-solute position information is read from the grating on the graduated disk, which is designed as a serial code structure or as on the ECN 100 consists of several paral-lel graduation separate incremental track (on the ECN 100 the track with the fi nest grating period) is interpolated for the position value and at the same time is used to generate an optional incremental singleturn Encoders , the absolute posi-tion information repeats itself with every revolution. Multiturn Encoders can also distinguish between graduations of absolute Rotary encodersWith the incremental measuring meth-od, the graduation consists of a periodic grating structure. The position information is obtained by counting the individual in-crements (measuring steps) from some point of origin. Since an absolute reference is required to ascertain positions, the grad-uated disks are provided with an additional track that bears a reference absolute position established by the reference mark is gated with exactly one measuring reference mark must therefore be scanned to establish an absolute reference or to fi nd the last selected graduations of incremental Rotary encoders11 Scanning MethodsPhotoelectric scanningMost HEIDENHAIN Encoders operate us-ing the principle of photoelectric scanning.

10 Photoelectric scanning of a measuring standard is contact-free, and as such, free of wear. This method detects even very fi ne lines, no more than a few microns wide, and generates output signals with very small signal ECN, EQN, ERN and ROC, ROQ, ROD Rotary Encoders use the imaging scanning simply, the imaging scanning principle functions by means of projected-light sig-nal generation: two graduations with equal grating periods are moved relative to each other the scale and the scanning reticle. The carrier material of the scanning reticle is transparent. The graduation on the mea-suring standard can likewise be applied to a transparent surface, but also a refl ective parallel light passes through a grat-ing, 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 relative to each other, the incident light is modulated. If the gaps in the gratings are aligned, light passes through.