Encoders for Servo Drive - HEIDENHAIN

1 11/2017 Encoders for Servo DrivesOktober 2016 DrehgeberJuni 2017 Produkt bersichtDrehgeber f r die AufzugsindustrieJuni 2017L ngenmessger tef r gesteuerte WerkzeugmaschinenOffene L ngenmessger teApril 2016 April 2016 Produkt bersicht Drehgeberf r explosionsgef hrdete Bereiche (ATEX)M rz 2015 Winkelmessger te mit Eigenlagerung09/2017 Modulare Winkelmessger temit optischer AbtastungOktober 2015 Modulare Winkelmessger temit magnetischer AbtastungThis brochure is not intended as an overview of the HEIDENHAIN product program. Rather it presents a selection of Encoders for use on Servo the selection tables you will fi nd an overview of all HEIDENHAIN Encoders for use on electric drives and the most important specifi cations. The descriptions of the technical features contain fundamental information on the use of rotary, angular, and linear Encoders on electric mounting information and the detailed specifi cations refer to the rotary Encoders developed specifi cally for Drive technology.

2 You will fi nd more Encoders in the corresponding product EncodersProduct OverviewRotary Encoders for the Elevator IndustryBrochureLinear EncodersFor Numerically Controlled Machine ToolsBrochureExposed Linear EncodersProduct OverviewRotary Encoders for Potentially Explosive AtmospheresBrochureAngle Encoders With Integral BearingBrochureModular Angle Encoders With Optical ScanningBrochureModular Angle EncodersWith Magnetic ScanningThis brochure supersedes all previous editions, which thereby become basis for ordering from HEIDENHAIN is always the brochure edition valid when the order is (ISO, EN, etc.) apply only where explicitly stated in the brochure. For more information:Comprehensive descriptions of all available interfaces as well as general electrical information are included in the Interfaces of HEIDENHAIN Encoders brochure.

3 For more information:For the linear and angular Encoders also listed in the selection tables, you will fi nd more detailed information, such as mounting information, specifi cations and dimensions in the respective product Explanation of the selection tables 6 Rotary Encoders for integration in motors 8 Rotary Encoders for mounting on motors 12 Rotary Encoders and angle Encoders for integrated and hollow-shaft motors 18 Exposed linear Encoders for linear drives 20 Technical features and mounting information Rotary Encoders and angle Encoders for three-phase AC and DC motors 24 HMC 6 26 Linear Encoders for linear drives 28 Safety-related position measuring systems 30 Measuring principles 32 Measuring accuracy 35 Mechanical designs, mounting and accessories 38 General mechanical information 48 Specifi cations Rotary Encoders with integral bearingECN/EQN 1100 series 56 ERN 1023 58 ERN 1123 60 ECN/EQN 1300 series 62 ECN/EQN 400 series 66 ERN 1300 series 68 EQN/ERN 400 series 70 ERN 401 series 72 Rotary Encoders without integral bearingECI/EQI 1100 series 74 ECI/EBI 1100 series 76 ECI/EQI 1300 series 78 ECI/EBI 100 series 82 ECI/EBI 4000 series 84 ERO 1200 series 88 ERO 1400 series 90 Electrical connection Interfaces 92 Cables and connecting elements104 Interface electronics11 4 Diagnostic and testing equipment11 6 ContentsnsMsMiniisii4 Encoders for Servo drivesControlling systems for Servo drives require measuring systems that provide feedback for the position and speed controllers and for electronic

4 Properties of Encoders have decisive infl uence on important motor qualities such as: Positioning accuracy Speed stability Bandwidth, which determines Drive command-signal response and disturbance rejection capability Power loss Size Noise emission SafetyDigital position and speed controlPosition controllerSpeed controllerDecouplingInverterCurrent controllerCalculation of speedRotary encoder ( actual position value, actual speed value, commutation signal) HEIDENHAIN offers the appropriate solution for any of a wide range of applications using both rotary and linear motors: Absolute and incremental rotary Encoders with and without commutation tracks Absolute and incremental angle Encoders Absolute and incremental linear Encoders Absolute and incremental modular encodersRotary Encoders 5 Rotary encoderMotor for digital Drive systems (digital position and speed control)All the HEIDENHAIN Encoders shown in this brochure involve very little cost and effort for the motor manufacturer to mount and wire.

5 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 encodersAngle encoders6 Explanation of the selection tablesThe tables on the following pages list the Encoders suited for individual motor designs. The Encoders are available with dimensions and output signals to fi t specifi c types of motors (DC or AC).Rotary Encoders for mounting on motorsRotary Encoders for motors with forced ventilation are either built onto the motor housing or integrated. As a result, they are frequently exposed to the unfi ltered forced-air stream of the motor and must have a high degree of protection, such as IP64 or better. The permissible operating temperature seldom exceeds 100 the selection table you will fi nd: Rotary Encoders with mounted stator coupling with high natural frequency virtually eliminating any limits on the bandwidth of the Drive Rotary Encoders for separate shaft couplings, which are particularly suited for insulated mounting Absolute rotary Encoders with purely digital data transfer or complementary sinusoidal TTL or HTL incremental signals Incremental rotary Encoders with high quality sinusoidal output signals for digital speed control Incremental rotary Encoders with TTL or HTL compatible output signals Information on rotary Encoders that are available as safety-related position Encoders under the designation functional safety For selection table see page 12 Rotary Encoders for integration in motorsFor motors without separate ventilation, the rotary encoder is built into the motor housing.

6 This confi guration 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 the selection table you will fi nd: Absolute rotary Encoders for operating temperatures up to 115 C, incremental rotary Encoders for operating temperatures up to 120 C Rotary Encoders with mounted stator coupling with high natural frequency virtually eliminating any limits on the bandwidth of the Drive Absolute rotary Encoders with purely digital data transfer suited for the HMC 6 single-cable solutions or complementary sinusoidal incremental signals Incremental rotary Encoders for digital speed control with sinusoidal output signals of high quality even at high operating temperatures Incremental rotary Encoders with additional commutation signal for synchronous motors Incremental rotary Encoders with TTL-compatible output signals Information on rotary Encoders that are available as safety-related position Encoders under the designation functional safety For selection table see page 8 7 Rotary

7 Encoders , modular Encoders and angle Encoders for integrated and hollow-shaft motorsRotary Encoders and angle Encoders for these motors have hollow through shafts in order to allow supply lines, for example, to be conducted through the motor shaft and therefore through the encoder. Depending on the conditions of the application, the Encoders must either feature up to IP66 protection or for example with modular Encoders using optical scanning the machine must be designed to protect them from the selection table you will fi nd: Encoders with high quality absolute and/or incremental output signals Angle Encoders and modular Encoders with the measuring standard on an aluminum or steel drum for shaft speeds up to 42 000 rpm Encoders with integral bearing, with stator coupling or modular design Encoders with good acceleration performance for a broad bandwidth in the control loopFor selection table see page 18 Linear Encoders for linear motorsLinear Encoders on linear motors supply the actual value both for the position controller and the velocity controller.

8 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 Provide absolute position information with purely digital data transmission or high-quality sinusoidal incremental signalsExposed linear Encoders are characterized by: Higher accuracy grades Higher traversing speeds Contact-free scanning, , no friction between scanning head and scaleExposed linear Encoders are suited for applications in clean environments, for example on measuring machines or production equipment in the semiconductor selection table see page 20 Sealed linear Encoders are characterized by: A high degree of protection Simple installationSealed linear Encoders are therefore ideal for applications in environments with airborne liquids and particles, such as on machine selection table see page 228 Selection guide Rotary Encoders for integration in motorsProtection.

9 Up to IP40 (EN 60 529)SeriesOverall dimensionsMechanically permissible speedNatural frequency of stator couplingMaximum operating temperatureVoltage supplyRotary Encoders without integral bearingECI/EQI 1100 15 000 rpm/ 12 000 rpm 110 CDC V to 14 VECI/EBI 1100115 CECI/EQI 1300 15 000 rpm/ 12 000 rpm 115 CDC V to 10 VDC V to 14 VECI/EBI 100 6000 rpm 115 CDC V to 14 VECI/EBI 4000 6000 rpm 115 CDC V to 14 V100 CDC 10 V to VERO 1200 25 000 rpm 100 CDC 5 V VERO 1400 30 000 rpm 70 CDC 5 V VDC 5 V VDC 5 V V1) Also available with functional safety 2) After internal 5/10/20/25-fold interpolationD: 30/38/50 mmD: 90/180 mm 9 Signal periods per revolutionPositions per revolutionDistinguishable revolutionsInterfaceModelFurther information 524 288 (19 bits) /4096 EnDat 11191)/EQI 11311)Page 74262 144 (18 bits) /65 5363)ECI 1118/EBI 1135 Page 7632524 288 (19 bits) /4096 EnDat with 1 VPPECI 13191)/EQI 13311)Page 78 EnDat 8032524 288 (19 bits) EnDat with 1 VPPECI 119 Page 82 /65 5363)EnDat 119/EBI 135 1 048 576 (20 bits) /65 5363)EnDat 4010 Page 84 Drive -CLiQECI 4090S1024/2048 TTLERO 1225 Page 88 1 VPPERO 1285512/1000/1024 TTLERO 1420 Page 905000 to 37 5002) TTLERO 1470512/1000/1024 1 VPPERO 14803) Multiturn function via battery-buffered revolution counter10 SeriesOverall dimensionsMechanically permissible speedNatural freq.

10 Of the stator couplingMaximum operating temperatureVoltage supplyRotary Encoders with integral bearing and mounted stator couplingECN/EQN/ERN 1100 12 000 rpm 1000 Hz115 CDC V to 14 V 6000 rpm 1600 Hz90 CDC 5 V VECN/EQN/ERN 1300 15 000 rpm/ 12 000 rpm 1800 Hz115 CDC V to 14 V 15 000 rpm120 CERN 1381/4096:80 CDC 5 V VDC 5 V VDC 10 V to V1) Also available with functional safety (not with ERN) 11 Signal periods per revolutionPositions per revolutionDistinguishable revolutionsInterfaceModelFurther Information5128192 (13 bits) /4096 EnDat with 1 VPPECN 1113/EQN 1125 Page 56 8 388 608 (23 bits)EnDat 11231)/EQN 11351)500 to 81923 block commutation signals TTLERN 1123 Page 60512/20488192 (13 bits) /4096 EnDat with 1 VPPECN 1313/EQN 1325 Page 62 33 554 432 (25 bits)EnDat 13251)/EQN 13371)1024/2048/4096 TTLERN 1321 Page 683 block commutation signalsERN 1326512/2048/4096 1 VPPERN 13812048Z1 track for sine commutationERN 1387 16 777 216 (24 bits) /4096 Drive -CLiQECN 1324 S/EQN 1336 S Page 6412 Rotary Encoders for mounting on motorsProtection.