Rotary Encoders - Automation and Metrology

1 Rotary Encoders April 2005. Rotary Encoders with mounted stator coupling Rotary Encoders for separate shaft coupling The catalogs for This catalog supersedes all previous Angle Encoders editions, which thereby become invalid. Exposed linear Encoders The basis for ordering from HEIDENHAIN. Sealed linear Encoders is always the catalog edition valid when Position Encoders for servo drives the contract is made. HEIDENHAIN subsequent electronics are available upon request. Standards (ISO, EN, etc.) apply only where explicitly stated in the catalog. 2. Content Overview and Specifications Selection Guide 4. Measuring Principles Measuring standard, measuring methods, scanning methods 6. Accuracy 7. Mechanical Design Rotary Encoders with integral bearing and stator coupling 8.

2 Types and Mounting Rotary Encoders with integral bearing for separate shaft coupling 9. Shaft couplings 10. General Mechanical Information 12. Specifications Absolute Rotary Encoders Incremental Rotary Encoders Mounted Stator ERN 1000 series 14. Coupling ECN 400/EQN 400 series ERN 400 series 16. ECN 400/EQN 400 series ERN 400 series 20. with universal stator coupling with universal stator coupling ECN 100 series ERN 100 series 24. Separate Shaft ROD 1000 series 26. Coupling ROC 400/ROQ 400 series ROD 400 series 28. with synchro flange with synchro flange ROC 415, ROC 417 32. with synchro flange ROC 400/ROQ 400 series ROD 400 series 34. with clamping flange with clamping flange Electrical Connection Interfaces and Incremental signals 1 VPP 38.

3 Pin Layouts TTL 40. HTL 42. Absolute position values EnDat 44. PROFIBUS-DP 51. SSI 54. HEIDENHAIN Measuring Equipment and Counter Cards 56. Connecting Elements and Cables 57. General Electrical Information 60. Sales and Service Worldwide 62. Germany 64. Selection Guide Rotary Absolute Encoders Singleturn Multiturn Interface EnDat / 02 EnDat SSI PROFIBUS-DP EnDat / 02 EnDat Power supply 5 V to V 5 V or 10 to 30 V 5V to V. 10 to 30 V. With Built-in Stator Coupling ERN 1000 series . ECN/EQN/ERN 400* series ECN 413 ECN 425 ECN 413 EQN 425 EQN 437. Positions/rev: 13 bits Positions/rev: 25 bits Positions/rev: 13 bits Positions/rev: 13 bits Positions/rev: 25 bits 4096 revolutions 4096 revolutions ECN/EQN/ERN 400* series ECN 413 ECN 425 EQN 425 EQN 437.

4 With universal stator coupling Positions/rev: 13 bits Positions/rev: 25 bits Positions/rev: 13 bits Positions/rev: 25 bits 4096 revolutions 4096 revolutions ECN/ERN 100 series ECN 113 ECN 125 ECN 113 . Positions/rev: 13 bits Positions/rev: 25 bits Positions/rev: 13 bits For Separate Shaft Coupling ROD 1000 series . ROC/ROQ/ROD 400* series ROC 413 ROC 425 ROC 410 ROC 413 ROQ 425 ROQ 437. with synchro flange Positions/rev: 13 bits Positions/rev: 25 bits ROC 412 Positions/rev: 13 bits Positions/rev: 13 bits Positions/rev: 25 bits 4096 revolutions 4096 revolutions ROC 413. Positions/rev: 10/12/13 bits ROC 415 . ROC 417. Positions/rev: 15/17 bits ROC/ROQ/ROD 400* series ROC 413 ROC 425 ROC 413 ROC 413 ROQ 425 ROQ 437.

5 With clamping flange Positions/rev: 13 bits Positions/rev: 25 bits Positions/rev: 13 bits Positions/rev: 13 bits Positions/rev: 13 bits Positions/rev: 25 bits 4096 revolutions 4096 revolutions *Versions with EEx protection on request 4. Incremental Introduction SSI PROFIBUS-DP TTL TTL HTL 1 VPP. 5 V or 10 to 30 V 5V 10 to 30 V 10 to 30 V 5V. 10 to 30 V. ERN 1020 ERN 1030 ERN 1080 14. 100 to 60 to 100 to 3600 lines 3600 lines 3600 lines EQN 425 ERN 420 ERN 460 ERN 430 ERN 480 16. Positions/rev: 250 to 250 to 250 to 1000 to 13 bits 5000 lines 5000 lines 5000 lines 5000 lines 4096 revolutions ERN 420 ERN 460 ERN 430 ERN 480 20. 250 to 250 to 250 to 1000 to 5000 lines 5000 lines 5000 lines 5000 lines ERN 120 ERN 130 ERN 180 24.

6 1000 to 1000 to 1000 to 5000 lines 5000 lines 5000 lines ROD 1020 ROD 1030 ROD 1080 26. 100 to 60 to 100 to 3600 lines 3600 lines 3600 lines ROQ 425 ROQ 425 ROD 426 ROD 466 ROD 436 ROD 486 28. Positions/rev: Positions/rev: 50 to 50 to 50 to 1000 to 13 bits 13 bits 10 000 lines 10 000 lines 5000 lines 5000 lines 4096 revolutions 4096 revolutions 32. ROQ 425 ROQ 425 ROD 420 ROD 430 ROD 480 34. Positions/rev: Positions/rev: 50 to 50 to 1000 to 13 bits 13 bits 5000 lines 5000 lines 5000 lines 4096 revolutions 4096 revolutions 5. Measuring Principles Measuring Standard Measuring Methods HEIDENHAIN Encoders with optical With absolute measuring methods, the The track with the finest grating period is scanning incorporate measuring standards position value is available from the encoder interpolated for the position value and at of periodic structures known as graduations.

7 Immediately upon switch-on and can be the same time is used to generate an These graduations are applied to a carrier called at any time by the subsequent optional incremental signal. substrate of glass or steel. electronics. There is no need to move the axes to find the reference position. The In singleturn Encoders the absolute These precision graduations are absolute position information is read from position information repeats itself with manufactured in various photolithographic the disk graduation, which consists of every revolution. Multiturn Encoders can processes. Graduations are fabricated several parallel graduation tracks. also distinguish between revolutions. from: extremely hard chromium lines on glass, matte-etched lines on gold-plated steel tape, or three-dimensional structures on glass or steel substrates.

8 The photolithographic manufacturing processes developed by HEIDENHAIN. produce grating periods of typically 50 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 Circular graduations of absolute Rotary Encoders by HEIDENHAIN on custom-built high- precision ruling machines. With incremental measuring methods, The absolute position established by the the graduation consists of a periodic reference mark is gated with exactly one grating structure. The position information measuring step.

9 Is obtained by counting the individual increments (measuring steps) from some The reference mark must therefore be point of origin. Since an absolute reference scanned to establish an absolute reference is required to ascertain positions, the or to find the last selected datum. graduated disks are provided with an additional track that bears a reference mark. Circular graduations of incremental Rotary Encoders 6. Accuracy Scanning Methods Photoelectric Scanning The accuracy of position measurement Most HEIDENHAIN Encoders operate with Rotary Encoders is mainly determined using the principle of photoelectric by: scanning. The photoelectric scanning of a the directional deviation of the radial measuring standard is contact-free, and grating, therefore without wear.

10 This method the eccentricity of the graduated disk to detects even very fine lines, no more than the bearing, a few microns wide, and generates output the radial deviation of the bearing, signals with very small signal periods. the error resulting from the connection with a shaft coupling (on Rotary Encoders The ECN, EQN, ERN and ROC, ROQ, ROD with stator coupling this error lies within Rotary Encoders use the imaging scanning the system accuracy), principle. the interpolation error during signal processing in the integrated or external Put simply, the imaging scanning principle interpolation and digitizing electronics. functions by means of projected-light signal generation: two graduations with equal grating periods are moved relative to each other the scale and the scanning reticle.