Angle Encoders
June 2002
Angle encoders with integral bearing
and integral stator coupling
Examples:
Rotary tables on machine tools
Swivel heads on machine tools
C-axes of lathes
Measuring machines for gears
Printing units of printing machines
Spectrometers
Telescopes
etc.
Other advantages:
Small size and low mounting space
requirement
Hollow shaft diameters to 60 mm for
supply lines, etc. to be led through
Easy mounting
5
Selection Guide
Angle Encoders with integral Bearing
Series System accuracy and Recommended measuring step/ Overall dimensions Max. mechanically
line count absolute positions/rev. in mm permissible speed
6
Incremental signals/ Reference marks Model See
data interface page
ROD 285
» 1 VPP One or ROD 280 36
distance-coded
7
Selection Guide
Angle Encoders without Integral Bearing
ERM 200 600/± 37" to 0.003° to 0.001° D1: 40 to 295 mm 24000 rpm to
Steel drum 2600/± 11" D2: 75.44 to 5000 rpm
1
with magnetic ) 326.9 mm
grating
Segment2) 318.58 mm
5000 458.62 mm
10000 573.20 mm
20000
Segment2) 317.99 mm
5000 458.04 mm
10000 572.63 mm
20000
1)
before mounting; additional deviations due to mounting and bearing of the drive shaft are not included
2)
angular segment from 50° to 200°; see Measuring Accuracy for the accuracy
8
Output signals Reference marks Model See
page
ERM 280
» 1 VPP One ERO 785 46
9
Measuring Standard
10
Reference Marks
90000 180 4°
45000 90 8°
36000 72 10°
18000 36 20°
11
Scanning the Measuring Standard
Photoelectric Scanning
Most HEIDENHAIN angle encoders Imaging scanning principle The ROD, RON, RCN, ERA and ERO angle
operate on the principle of photoelectric To put it simply, the imaging scanning encoders operate according to the imaging
scanning. The photoelectric scanning of a principle functions by means of scanning principle.
measuring standard is contact-free, and projected-light signal generation: two scale
therefore without wear. It detects even the gratings with equal grating periods are Interferential scanning principle
finest graduation lines just a few moved relative to each other the circular The interferential scanning principle exploits
micrometers wide, and generates output scale and the scanning reticle. The carrier the diffraction and interference of light on a
signals with very small signal periods. material of the scanning reticle is fine graduation to produce signals used to
transparent, whereas the graduation on the measure displacement. A step grating is
The finer the grating period of a measuring measuring standard may be applied to a used as the measuring standard: reflective
standard is, the larger the distorting effect transparent or reflective surface. When lines 0.2 µm high are applied to a flat,
on the photoelectric scanning is. parallel light passes through a grating, light reflective surface. In front of that is the
HEIDENHAIN uses two scanning principles and dark surfaces are projected at a certain scanning reticle a transparent phase
with angle encoders: distance. A counter-grating with the same grating with the same grating period as
grating period is located here. When the the scale.
The imaging scanning principle for grating two gratings move relative to each other,
periods from 10 µm to approx. 40 µm. the incident light is modulated: if the gaps When a light wave passes through the
The interferential scanning principle for are aligned, light passes through. If the scanning reticle, it is diffracted into three
very fine graduations with grating periods lines of one grating coincide with the gaps partial waves of the orders 1, 0, and 1,
of 4 µm. of the other, no light passes through. with approximately equal luminous
Photocells convert these variations in light intensity. The waves are diffracted by the
intensity into nearly sinusoidal electrical scale such that most of the luminous
signals. The specially structured grating of intensity is found in the reflected diffraction
the scanning reticle filters the light current orders 1 and 1. These partial waves meet
such that nearly sinusoidal output signals again at the phase grating of the scanning
are generated. The smaller the grating reticle where they are diffracted again and
period of the grating structure is, the interfere. This produces essentially three
smaller the distance of the scanning reticle waves that leave the scanning reticle at
and circular scale must be. Practical different angles. Photocells convert these
mounting tolerances for encoders with the light intensities into electrical signals. A
imaging scanning principle are achieved relative motion of the scanning reticle to
with grating periods of 10 µm and larger. the scale causes the wave fronts to
Photocells
Condenser
LED
lens
light source
Condenser
lens
Scanning reticle
Measuring standard
Scanning
Photocells reticle
12
Magnetic Scanning
undergo a phase shift: when the grating The magnetic scanning principle uses a Magnetoresistive scanning is used primarily
moves by one period, the diffracted wave measuring standard of hard magnetic metal for comparatively low-accuracy applications
front of the first order is displaced by one carrying a permanently magnetic where exposed optical systems are
wavelength in the positive direction, and MAGNODUR graduation. The graduation is unsuitable.
the wavelength of diffraction order 1 is formed from alternating north and south
displaced by one wavelength in the poles. The scale is scanned with The ERM angle encoders operate
negative direction. Since the waves magnetoresistive sensors, which change according to the magnetoresistive
interfere with each other when exiting the their resistance in response to a magnetic scanning principle.
grating, the waves are shifted relative to field. When a voltage is applied to the
each other by two wavelengths. This sensor, the flowing current is modulated
results in two signal periods from the according to the magnetic field.
relative motion of just one grating period.
The special geometric arrangement of the
Interferential encoders function with resistive sensors ensures a high signal
average grating periods of 4 µm and finer. quality, which is a precondition for the
Their scanning signals are largely free of smallest possible deviation within one signal
harmonics and can be highly interpolated. period. A single magnetized pole pair on a
These encoders are therefore especially separate track produces a reference mark
suited for high resolution and high signal. This makes it possible to assign this
accuracy. Even so, their generous absolute position to exactly one measuring
mounting tolerances permit installation in a step.
wide range of applications.
HEIDENHAIN encoders with magentic
The RPN 886 angle encoder operates scanning typically have grating periods of
according to the interferential scanning 400 µm. Due to the sensitivity of magnetic
principle. scanning to variations in the scanning gap,
smaller grating periods are very difficult to
produce. Therefore, depending on the
graduation circumference, magnetic
encoders have at most 2600 grating periods
per revolution, and according to the
HEIDENHAIN definition are not angle
encoders.
Measuring
standard
Scanning
reticle
13
Measuring Accuracy
The accuracy of angle encoders is For angle encoders without integral HEIDENHAIN angle encoders take these
influenced primarily by the following bearing, additional deviations resulting factors of influence into account, and
factors: from mounting, errors in the bearing of permit interpolation of the sinusoidal output
1. Quality of the graduation the drive shaft, and adjustment of the signals with subdivision accuracies of
2. Quality of the scanning process scanning head must be expected (see better than ±1% of the signal period. The
3. Quality of the signal processing Measuring Accuracy — Angle Encoders reproduceability is even better, meaning
electronics without Integral Bearing). that useful electrical subdivision factors and
4. Eccentricity of the graduation to the The system accuracy reflects position small signal periods permit small enough
bearing deviations within one revolution and those measuring steps (see Specifications).
5. Radial runout of the bearing within one signal period.
6. Elasticity of the encoder shaft and its Example:
coupling with the drive shaft Position deviations within one revolution Angle encoder with 36000 sinusoidal signal
7. Elasticity of the stator coupling (RON, become apparent in larger angular motions. periods per revolution.
RPN, RCN) or shaft coupling (ROD) Position deviations within one signal One signal period corresponds to approx.
period already become apparent in very 0.01° or 36". At a signal quality of ± 1%,
In positioning tasks, the accuracy of the small angular motions and in repeated this results in maximum position deviations
angular measurement determines the measurements. They especially lead to within one signal period of approx. 0.0001°
accuracy of the positioning of a rotary axis. speed ripples in the speed control loop. or 0.36".
The system accuracy given in the These deviations within a signal period are
Specifications is defined as follows: caused by the quality of the sinusoidal
The extreme values of the total deviations scanning signals and their subdivision. The
of a position are – referenced to their mean following factors influence the result:
value – within the system accuracy ± a. The size of the signal period,
For angle encoders with integral bearing The homogeneity and edge definition of
and integrated stator coupling, this value the graduation,
also includes the deviation due to the The quality of the optical filter structures
shaft coupling. on the scanning reticle,
For angle encoders with integral bearing The characteristics of the photoelectric
and separate shaft coupling, the angle detectors, and
error of the shaft coupling must be added The stability and dynamics during the
(see Mechanical Design Types and further processing of the analog signals.
Mounting — ROD).
Signal period
360 °elec.
Signal levels
Position deviation
Position deviation
within one
signal period
Position
14
Angle Encoders with Integral Bearing
For its angle encoders with integral The accuracy of angle encoders is The manufacturers inspection certificate
bearings, HEIDENHAIN prepares individual ascertained through five forward and five certifies the accuracy of the encoder. The
calibration charts and ships them with the backward measurements. The measuring calibration standard is indicated in order
encoder. positions per revolution are chosen to to certify traceability to the national
determine very exactly not only the standard.
The calibration chart documents the long-range error, but also the position error
devices accuracy and serves as a within one signal period. The reversal error depends on the shaft
traceability record to a calibration standard. coupling:
For the RON, RPN and RCN, which feature All measured values determined in this For angle encoders with integrated stator
an integrated coupling, the accuracy manner lie within or on the graphically coupling the values are:
specifications already include the error of depicted envelope curve. The mean value
the coupling. For angle encoders with curve shows the arithmetic mean of the RON, RCN 200 0.8"
separate shaft coupling, however, the error measured values, whereby the reversal RON, RPN, RCN 700/800 0.6"
caused by the coupling is not included in error is not included.
the encoder specification and must be
added to calculate total error (see Kinematic
error of transfer under Shaft couplings.)
15
Measuring Accuracy
Angle Encoders without Integral Bearing
In addition to the system accuracy, the ERA 781C, ERA 881C, ERA 882C 2. Error due to eccentricity of the
mounting and adjustment of the scanning In these segment solutions, the additional graduation to the bearing
head normally have a significant effect on angular error ¹f occurs when the nominal Under normal circumstances the bearing
the accuracy that can be achieved with scale-tape bearing-surface diameter is not will have a certain amount of radial runout
angle encoders without integral bearings. exactly maintained: or shape deformation after the disk/hub
Of special importance are the mounting assembly (ERO), circumferential-scale
¹f = (1 D'/D) · Þ · 3600
eccentricity and radial runout of the drive drum (ERA 180) or scale tape (ERA 78xC
shaft. where and ERA 88xC) is mounted. When
¹f = segment deviation in angular centering using the centering collar of the
To evaluate the accuracy of angle encoders seconds hub or the drum, please note that
without integral bearings (ERA, ERM and Þ = segment angle in degrees HEIDENHAIN guarantees an eccentricity of
ERO), each of the significant errors must D = nominal scale-tape carrier diameter the graduation to the centering collar of
be considered individually. D' = actual scale-tape carrier diameter under 1 µm. For the modular rotary
encoders, this accuracy value presupposes
This error can be eliminated if the line count
1. Directional deviations of the a diameter deviation of zero between the
per 360° valid for the actual scale-tape
graduation encoder shaft and the master shaft. If
carrier diameter can be entered in the
ERA 180, ERM and ERO: The extreme the centering collar is centered to the
control. The following relationship is valid:
values of the directional deviation with bearing, then in a worst-case situation both
reference to their mean value are shown z' = z · D'/D eccentricity vectors could be added
in the Specifications as the graduation together.
where
accuracy for each model. The graduation
z = nominal line count per 360°
accuracy and the position deviation within The following relationship exists between
z' = actual line count per 360°
a signal period comprise the system the eccentricity e, the mean graduation
accuracy. The angle actually traversed in individual diameter D and the measuring error ¹f
segment solutions should be measured (see illustration at bottom of page):
ERA 700 and ERA 800 series: The with a comparative encoder, such as an
e
extreme values of the directional deviations angle encoder with integral bearing. ¹f = ± 412 ·
depend on D
the graduation accuracy, ¹f = measuring error in seconds of arc
the irregular scale-tape expansion during e = eccentricity of the radial grating to
mounting, and the bearing in µm
deviations in the scale-tape butt joints D = mean graduation diameter (ERO) or
(only for ERA 780/880). drum outside diameter (ERA 180,
ERM) and scale tape mount
The special graduation manufacturing diameter (ERA 78x and ERA 88x)
process and the butt joint precisely in millimeters
machined by HEIDENHAIN reduce
directional deviations of the graduation to M Center of graduation
within 3 to 5 angular seconds (with f True angle
accurate mounting). f Scanned angle
Angular error due to scale-tape carrier diameter Eccentricity of the graduation to the bearing
Segment version
Scanning unit
Segment
Center of graduation
16
Model Mean Deviation for 3. Error due to radial deviation of the 4. Position deviation within one signal
graduation every 1 µm of bearing period ¹fu
diameter D eccentricity The above equation for the measuring error The scanning units of all HEIDENHAIN
¹f is also valid for radial deviation of the encoders are adjusted so that the max.
ERA 180 D= 80 mm ± 5.2" bearing if the value of e is replaced with the position deviation values within one signal
D= 130 mm ± 3.2" eccentricity value, i.e. half of the radial period will not exceed the values listed
D= 180 mm ± 2.3" deviation (half of the displayed value). below, with no further electrical adjusting
D= 250 mm ± 1.6" required at mounting.
D= 330 mm ± 1.2" Bearing compliance to radial shaft loading
D= 485 mm ± 0.8" causes similar errors.
D= 562 mm ± 0.7" Model Line Position deviation
count within one
ERM 280 D = 75 mm ± 5.5" revolution (¹fu)
D= 113 mm ± 3.6"
D= 130 mm ± 3.2" ERA 180 36000 ± 0.5"
D= 150 mm ± 2.7" 18000 ± 1"
D= 176 mm ± 2.3" 9000 ± 2"
D= 260 mm ± 1.6" 6000 ± 2.5"
D= 325 mm ± 1.3"
ERM 280 2600 ± 5"
ERO 785 D = 110 mm ± 3.7" 2048 ± 6"
D = 165 mm ± 2.5" 1400 ± 10"
D = 240 mm ± 1.7" 1200 ± 11"
1024 ± 13"
ERA 78x D = 320 mm ± 1.3" 900 ± 15"
D = 460 mm ± 0.9" 600 ± 22"
D = 570 mm ± 0.7"
D = 1145 mm ± 0.4" ERO 785 36000 ± 0.5"
17
Mechanical Design Types and Mounting
RON, RPN, RCN
Mounting
The housing of the RON, RPN and RCN is Centering collar
connected rigidly with the stationary
machine part via integral mounting flange
Drive shaft
and centering collar.
Stator
X
¬ 29.6±0.1
¬ 2.8±0.1
¬ 25 0.5
¬ 19.632±0.05
(¬ 20.174)
(¬ 19.848)
4±1
8 4 x 90°
¬ 0.25
19
Mechanical Design Types and Mounting
ROD
Radial misalignment l
Shaft coupling K 03 K 18 K 01 K 15 K 16
Diaphragm coupling Flat coupling Diaphragm coupling Flat coupling Flat coupling
Hub bore 10 mm 14 mm
Torsional rigidity 1500 Nm/rad 1200 Nm/rad 4000 Nm/rad 6000 Nm/rad 4000 Nm/rad
Moment of inertia (approx.) 20 · 106 kgm2 75 · 106 kgm2 200 · 106 kgm2 400 · 106 kgm2
Permissible speed 10 000 rpm 1000 rpm 3000 rpm 1000 rpm
Weight 100 g (0.22 lb) 117 g (0.258 lb) 180 g (0.4 lb) 250 g (0.55 lb) 410 g (0.9 lb)
20
Diaphragm coupling K 03
Id. Nr. 200313-04
Flat coupling K 18
Id. Nr. 202227-01
Diaphragm coupling K 01
Id. Nr. 200301-02
Flat coupling K 15
Id. Nr. 255797-01
Flat coupling K 16
Id. Nr. 258878-01
Dimensions in mm
21
Mechanical Design Types and Mounting
ERA 700 and ERA 800 Series
The ERA 780C and ERA 880C angle Mounting the scale tape for full-circle
encoders consist of a scanning unit and a applications
one-piece scale tape up to 30 m in length. ERA 780C: An internal slot with a certain
The steel scale tape is mounted on the diameter is required as scale tape carrier.
inside diameter (ERA 700 series) or The tape is inserted starting at the butt joint
outside diameter (ERA 800 series) and is clicked into the slot. The length is cut
of a machine element. so that the tape is held in place by its own
spring force. To make sure that the scale
The ERA 780C and ERA 880C encoders tape does not move within the slot, it is
are designed for full-circle applications. fixed at various points with adhesive in the
Thus, they are particularly suited to hollow area of the butt joint.
shafts with large inside diameters (from
approx. 300 mm) and to applications
requiring an accurate measurement over a
large circumference, e.g. large rotary ERA 880C: The scale tape is supplied with
tables, telescopes, etc. the halves of the tensioning cleat already
mounted on the tape ends. An external
In applications where there is no full slot is necessary for mounting. Space must
circle, or measurement is not required also be provided for the tensioning cleat.
over 360°, segment angles are available The tape is placed in the outside slot of the
for diameters from 300 mm. machine (along slot edge) and is tensioned
using the tensioning cleat. The scale tape
ends are manufactured so exactly that no
additional signal-form deviations occur in
the area of the butt joint.
22
The following points must be kept in mind Basic slot diameter Line count projected on a
for segment applications: full circle
Determining the slot diameter
In order to guarantee the correct ERA 781C 318.58 + n · 12.73111 25000 + n · 1000
functioning of the distance-coded
reference marks, the circumference of ERA 881C/ 317.99 + n · 12.73178 25000 + n · 1000
the full circle must be a multiple of 1000 ERA 882C
grating periods. This also facilitates
adaptation to the NC control, which can
mostly only calculate integer line counts.
The connection between the basic slot
diameter and the line count can be seen
in the table.
Segment angle Measuring range
The measuring range available for the
segment angle should be a multiple of
1000 signal periods, since these versions Basic slot diameter
are available more quickly.
23
Mechanical Design Types and Mounting
ERA 180, ERM, ERO
Mounting the
ERA 180 and
the ERM 280
(in principle)
Mounting ERO
The disk/hub assembly is slid onto the drive Graduated disk
shaft, centered, and secured with screws.
The scanning unit is then slid onto the Hub
centering collar of the hub and the screws
tightened. The gap between the graduated
disk and the scanning unit is set with
spacer foils.
Scanning unit
Cross
section of
ERO 785
24
General Mechanical Information
DA 300
25
RON/RCN 200 Series
Integral stator coupling
Hollow through shaft, diameter 20 mm
System accuracy ± 5" and ± 2.5"
Dimensions in mm
26
Incremental Absolute
RON 225 RON 275 RON 285 RON 287 RCN 226 RCN 226
Specifications
Recommended 0.005° 0.0005° 0.0001° 0.0001°
measuring step
Electrical connection* Cable 1 m (3.3 ft), can be used radially and axially; Cable 1 m (3.3 ft), can be used
with or without coupling radially and axially;
with or without coupling
Max. cable length1) 50 m (164 ft) 150 m (492 ft) 150 m (492 ft)
Vibration (55 to 2000 Hz) 100 m/s2 (IEC 60068-2-6) 100 m/s2 (IEC 60068-2-6)
Shock (6 ms) 1000 m/s2 (IEC 60068-2-27) 1000 m/s2 (IEC 60068-2-27)
Max. operating 70 °C (158 °F) 50 °C (122 °F) 70 °C (158 °F) 50 °C (122 °F)
temperature
Min. operating
temperature
Moving cable 10 °C (14 °F) 0 °C (32 °F) 10 °C (14 °F) 0 °C (32 °F)
Rigid cable 20 °C (4 °F) 0 °C (32 °F) 20 °C (4 °F) 0 °C (32 °F)
Dimensions in mm
A = Ball bearing
k = Required mating dimensions
28
Incremental
RON 785
Recommended 0.0001°
measuring step
Electrical connection* Cable 1 m (3.3 ft), can be used radially and axially;
with or without coupling
29
RON/RCN 700 Series
Integral stator coupling
Hollow through shaft, diameter 60 mm
System accuracy ± 2"
Dimensions in mm
28.2±0.1
A = Ball bearing
k = Required mating dimensions
30
Incremental Absolute
Electrical connection* Cable 1 m (3.3 ft), can be used Cable 1 m (3.3 ft), can be used radially and axially;
radially and axially; with coupling
with or without coupling
Vibration (55 to 2000 Hz) 100 m/s2 (IEC 60068-2-6) 100 m/s2 (IEC 60068-2-6)
Shock (6 ms) 1000 m/s2 (IEC 60068-2-27) 1000 m/s2 (IEC 60068-2-27)
Weight Approx. 3.1 kg (6.8 lb) Approx. 3.1 kg (6.8 lb) Approx. 3.3 kg (7.3 lb)
31
RON/RPN 800 Series
Integral stator coupling
Hollow through shaft, diameter 60 mm
System accuracy ± 1"
Dimensions in mm
28.2±0.1
A = Ball bearing
k = Required mating dimensions
32
Incremental
Electrical connection* Cable 1 m (3.3 ft), can be used radially and axially;
with or without coupling
Vibration (55 to 2000 Hz) 100 m/s2 (IEC 60068-2-6) 50 m/s2 (IEC 60068-2-6)
Shock (6 ms) 1000 m/s2 (IEC 60068-2-27) 1000 m/s2 (IEC 60068-2-27)
33
RON 905
Integral stator coupling
Blind hollow shaft
System accuracy ± 0.4"
± 0.2" with AWE 1024 interpolation electronics
Dimensions in mm
A = Ball bearing
k = Required mating dimensions
34
Incremental
RON 905
Recommended 0.00001°
measuring step
AWE 1024
Interpolation 1024-fold
35
ROD 200 Series
For separate shaft coupling
System accuracy ± 5"
Dimensions in mm
A = Ball bearing
36
Incremental
Electrical connection* Cable 1 m (3.3 ft), can be used radially and axially;
with or without coupling
Max. cable length1) Max. 100 m (328 ft) Max. 150 m (492 ft)
Min. operating
temperature
Moving cable 10 °C (14 °F)
Rigid cable 20 °C (4 °F)
37
ROD 780/ROD 880
For separate shaft coupling
System accuracy ROD 780: ± 2"
ROD 880: ± 1"
Dimensions in mm
A = Ball bearing
38
Incremental
Electrical connection* Cable 1 m (3.3 ft), can be used radially and axially;
with or without coupling
39
ERA 180
Modular angle encoder
Grating on steel drum
Incremental signals
Reference mark
Power supply
Electrical connection
Line count
System accuracy2)
Accuracy of graduation3)
Protective cover*
40
Incremental
ERA 180
» 1 VPP
One
500 kHz
40000 rpm 25000 rpm 18000 rpm 13000 rpm 10000 rpm 7000 rpm 6000 rpm
0.58 · 103 kgm2 3.45 · 103 kgm2 11.1 · 103 kgm2 35.7 · 103 kgm2 82.6 · 103 kgm2 281.8 · 103 kgm2 399.7 · 103 kgm2
Approx. 0.5 kg Approx. 1.08 kg Approx. 1.17 kg Approx 2.85 kg Approx. 3.3 kg Approx. 5 kg Approx. 5.3 kg
(1.1 lb) (2.38 lb) (2.58 lb) (6.28 lb) (7.3 lb) (11 lb) (12 lb)
41
ERA 180
Dimensions in mm
Protective cover
A = Ball bearing
m = Mounting surfaces
À = Mounting clearance set with spacer foil
Á = Mounting hole
 = Back-off thread
42
Scale drum inside diameter
40 mm to 180 mm
270 mm
425 mm
512 mm
Scale drum
inside diameter
D1 e D2 D3 D4 D5 D6 D7 a E
43
ERM 280
Modular encoder
Magnetic scanning principle
Dimensions in mm
D1 D2 D3 E
¬ 40 0.001 ¬ 50 ¬ 75.44 43.4
0.008
¬ 70 0.001 ¬ 85 ¬ 113.16 62.3
0.008
¬ 80 0.001 ¬ 95 ¬ 128.75 70.1
0.008
¬ 120 0.001 ¬ 135 ¬ 150.88 81.2
0.008
¬ 130 0.001 ¬ 145 ¬ 176 93.7
0.008
¬ 180 0.001 ¬ 195 ¬ 257.5 134.5
0.008
A = Ball bearing
À = Mounting distance of 0.1 mm set with spacer foil ¬ 295 0.001 ¬ 310 ¬ 326 169.2
0.008
44
Incremental
ERM 280
Scale drum outside 75.44 mm 113.16 mm 128.75 mm 150.88 mm 176 mm 257.5 mm 326.9 mm
diameter*
Mech. perm. speed 24000 rpm 20000 rpm 18000 rpm 12000 rpm 10000 rpm 8000 rpm 5000 rpm
Moment of inertia of rotor 0.3 · 103 1.6 · 103 2.65 · 103 3.5 · 103 7.8 · 103 38 · 103 44 · 103
kgm2 kgm2 kgm2 kgm2 kgm2 kgm2 kgm2
Weight
Scale drum Approx. Approx. Approx. Approx. Approx. Approx. Approx.
0.36 kg 0.71 kg 0.93 kg 0.76 kg 1.3 kg 3.1 kg 1.82 kg
(0.793 lb) (1.56 lb) (2.05 lb) (1.67 lb) (2.8 lb) (6.8 lb) (4 lb)
45
ERO 785
Modular angle encoder
Circular scale with hub
Dimensions in mm
102.2 mm
47.2 mm
46
Incremental
ERO 785
Recommended 0.0001°
measuring step
Electrical connection Cable 0.3 m (11.3 in) with flange socket (male) on mounting base
Hub inside diameter* 47.2 mm (1.86 in) 102.2 mm (4.02 in) 155.1 mm (6.11 in)
Mech. perm. speed Max. 8000 rpm Max. 6000 rpm Max. 4000 rpm
Moment of inertia of rotor 620 · 106 kgm2 3700 · 106 kgm2 26000 · 106 kgm2
Perm. axial movement See the tolerance of scanning gap B in the dimensioning drawing
Weight
Scanning unit Approx. 0.185 kg (0.4 lb)
Disk/hub assembly 0.46 kg (1.0 lb) 0.87 kg (1.9 lb) 2.6 kg (5.7 lb)
47
ERA 700 Series
Modular angle encoder for inside diameters
Full-circle and segment versions
Dimensions in mm
48
Incremental
Line count
ERA 780C full circle 36000 45000 90000
System accuracy2) 3)
± 3.5" ± 3.4" ± 3.2"
Max. operating 50 °C (122 °F) (thermal coefficient of expansion of the scale substrate beween 9 ppm/K and 12 ppm/K)
temperature
Weight
Scanning unit Approx. 0.35 kg (0.77 lb)
49
ERA 800 Series
Modular angle encoder for outside diameters
Full-circle and segment versions
50
Incremental
Line count
ERA 880C full circle 36000 45000
System accuracy2) 3)
± 3.5" ± 3.4"
Max. operating 50 °C (122 °F) (thermal coefficient of expansion of the scale substrate beween 9 ppm/K and 12 ppm/K)
temperature
Weight
Scanning unit Approx. 0.35 kg (0.77 lb)
51
ERA 800 Series
Dimensions in mm
52
ERA 881C Scale tape
53
Output Signals
Incremental Signals » 1 VPP
The sinusoidal incremental signals A and B RON, RCN, ROD, ERA, ERM, ERO
are phase-shifted by 90° and have a signal
level of 1 VPP. The usable component of Output signals Sinusoidal voltage signals » 1 VPP
the reference mark signals is approximately Incremental signals 2 nearly sinusoidal signals A and B
0.5 V. Data on signal amplitude apply when Signal level M: 0.6 to 1.2 VPP
UP = 5 V ± 5% or 5 V ± 10% at the Typically 1 VPP
encoder (see Specifications), and refer Asymmetry IP NI/2M: 0.065
to a difference measured at a 120 Signal ratio MA/MB: 0.8 to 1.25
terminating resistor between the Phase angle If1 + f2I/2: 90° ± 10° elec.
associated outputs. The signal amplitude
decreases with increasing scanning Reference mark signal 1 or more signal peaks R
frequency. Sensor lines enable the Useable component G: 0.2 to 0.85 V
subsequent electronics to measure the Signal-to noise ratio E, F: Min. 40 mV
voltage at the encoder and, if required, to Zero crossovers K, L: 180° ± 90° elec.
correct it with a line-drop compensator.
Verbindungskabel HEIDENHAIN cable with shielding
PUR [4(2 · 0.14 mm2) + (4 · 0.5 mm2)]
Cable lengths Max. 150 m with distributed capacitance 90 pF/m
Propagation time 6 ns/m
Signal period
360° elec.
Dimensioning
Operational amplifier e.g. RC 4157 A, B, R measured with an oscilloscope in differential mode
R1 = 10 k and C1 = 220 pF
R2 = 34.8 k and C2 = 10 pF
Z0 = 120
Incremental
UB = ± 15 V
signals
U1 approx. U0
Reference mark
signal
3dB cutoff frequency of circuitry
Approx. 450 kHz Ra < 100 , typ. 24
Approx. 50 kHz with C1 = 1000 pF Ca < 50 pF
and C2 = 82 pF Sum Ia < 1 mA 1 VPP
U0 = 2.5 V ± 0.5 V
Output signals of circuitry (relative to 0 V of the
Ua = 3.48 VPP typical power supply)
Gain 3.48-fold
Signal monitoring
A threshold sensitivity of 250 mVPP is to be
provided for monitoring the output signals.
54
Scanning Signals
Signal amplitude
For encoders with sinusoidal output
Cutoff frequency
For encoders with sinusoidal output
signals:
The 3dB cutoff frequency indicates the
frequency at which 70% of the original
signal amplitude is maintained.
Pin layout
12-pin 12-pin
HEIDENHAIN HEIDENHAIN
coupling connector
5 6 8 1 3 4 12 10 2 11 9 7 /
Electrical Connection
3 4 6 7 10 12 1 2 9 11 5/8/13/15 14 /
Brown Green Gray Pink Red Black Brown/ White/ Blue White / Violet Yellow
Green Green
IEC 50178
The sensor lines are connected internally with the supply lines.
Shield on housing.
55
Output Signals
Incremental signals « TTL
Encoders with TTL square-wave output RON 225, RON 275, ROD 260, ROD 270
signals incorporate circuitry that digitizes
sinusoidal scanning signals without Output signals Square-wave signals « TTL
interpolation, or after 2-fold or 10-fold Incremental signals 2 TTL square-wave signals Ua1, Ua2 and their
interpolation. They provide two 90° (elec.) inverted signals ¢, £
phase-shifted square-wave pulse trains
Ua1 and Ua2, and one or more reference Reference mark signal 1 or more square-wave pulses Ua0 and their
pulses Ua0 that are gated with the inverted pulse ¤
incremental signals. A fault-detection Pulse width 90° elec.
signal ¥ indicates fault conditions such
as an interruption in the supply lines, failure Fault detection signal 1 square-wave pulse ¥
of the light source, etc. It can be used, for Improper function: LOW (optional: output Ua1/Ua2 at
example, in automated production to Improper function: high-impedance)
switch off the machine. The integrated Proper function: HIGH
electronics also generate the inverse
signals of all square-wave pulse trains. The Signal level Differential line driver as per EIA standard RS 422
distance between two successive edges of UH 2.5 V with IH = 20 mA
the combined pulse trains Ua1 and Ua2 after UL 0.5 V with IL = 20 mA
1-fold, 2-fold or 4-fold evaluation is one
measuring step. Permissible load R 100 (terminating resistance between
associated outputs)
To ensure reliable operation, the input
|ILI 20 mA (max. load per output)
circuitry of the subsequent electronics
CLoad 1000 pF with respect to 0 V
must be designed to detect each edge of
Outputs protected against short circuit after 0 V
the square-wave pulse. To prevent
counting errors in the subsequent Switching times Rise time t+ 50 ns
electronics, the edge separation a must (10% to 90%) Fall time t 50 ns
never exceed the maximum possible
with 1 m cable and recommended input circuitry
scanning frequency. The minimum edge
separation a is guaranteed over the entire
Connecting cable HEIDENHAIN cable with shielding
operating temperature range.
PUR [4(2 · 0.14 mm2) + (4 · 0.5 mm2)]
Cable lengths Max. 100 m with distributed capacitance of 90 pF/m
Propagation time 6 ns/m
Encoder Interpolation Line count Measuring step Electrically Minimum edge Scanning
after 4-fold permissible separation frequency/
evaluation speed output frequency
RON 225 2-fold 9000 0.0005° 3333 rpm 0.125 µs 500 kHz/1 MHz
RON 275 10-fold 0.00005° 333 rpm 0.25 µs 100 kHz/1 MHz
ROD 270
Measuring step
Edge separation
Square-wave signals without previous interpolation of the scanning Square-wave signals with 10-fold interpolation of the scanning
signals signals
56
« TTL: Recommended input circuitry
Incremental signals
of subsequent electronics
Reference mark
signal
Dimensioning
IC1 = Recommended differential line
receiver
AM 26 LS 32
MC 3486
Fault detection
SN 75 ALS 193
signal
R1 = 4.7 k
R2 = 1.8 k
Z0 = 120
Cable lengths
TTL square-wave signals can be
transmitted to the subsequent electronics
Cable lengths [m]
Pin layout
12-pin 12-pin
HEIDENHAIN HEIDENHAIN
coupling connector
5 6 8 1 3 4 12 10 2 11 7 9 /
Brown Green Gray Pink Red Black Brown/ White/ Blue White Violet / Yellow
Green Green
IEC 50178
The sensor lines are connected internally with the supply lines.
Shield on housing.
57
Interfaces
2.1 Absolute Position Values
Permissible clock
frequency with
respect to
Clock frequency [kHz]
cable lengths
58
Function of the EnDat Interface
Absolute encoder Subsequent
electronics
The EnDat interface outputs absolute
position values, optionally makes
incremental signals available, and permits
» 1 VPP A
reading from and writing to the memory in Incremental
the encoder. signals
» 1 VPP B
EnDat interface
UP Power
Position values and memory contents are
0 V supply
transmitted serially through the DATA lines.
The type of transmission is selected
through mode commands that define the
Absolute
content of the subsequent information. Position value
Each mode command consists of 3 bits. To
ensure transmission reliability, each bit is
also transmitted inverted. If the encoder
recognizes a faulty mode transmission, an
error message follows. The following mode
commands are available: Operating Parameters Parameters Operating
Encoder transmit absolute position value parameters of the encoder of the OEM status
Select the memory area (e.g., datum maufacturer
Encoder transmit/receive parameters of shift)
the last defined memory area
Encoder transmit test values
Encoder receive test command Block diagram: Absolute encoder with EnDat interface
Encoder receive RESET Encoder Memory Areas Monitoring and Diagnostic Functions
Recovery time tm 10 to 30 µs
60
Control cycles for transfer of parameters Reading parameters from the encoder Writing parameters to the encoder
(mode command 001110) (mode command 100011) (mode command 011100)
Before parameter transfer, the memory After selecting the memory area, the After selecting the memory area, the
area is determined with the mode subsequent electronics transmits a subsequent electronics transmit a
command select the memory area and a complete communications protocol complete communications protocol
subsequent memory-range-select code beginning with the mode command beginning with the mode command
(MRS). The possible memory areas are encoder transmit parameters, followed by encoder receive parameters, followed by
stored in the parameters of the encoder an 8-bit address and 16 bits with random an 8-bit address and a 16-bit parameter
manufacturer. Due to the internal access content. The encoder answers with the value. The encoder answers by repeating
times to the individual memory areas, the repetition of the address and 16 bits with the address and the contents of the
time tac may reach 12 ms. the contents of the parameter. The parameter. The CRC check concludes the
transmission cycle is concluded with a CRC cycle.
check.
Synchronization of the serially The code value transmitted over the serial After power on and initial transmission of
transferred code value with the interface unambiguously identifies one position values, two redundant position
incremental signal incremental signal period. The position values are available in the subsequent
Absolute encoders with EnDat interface value is absolute within one sinusoidal electronics. Since encoders with EnDat
can exactly synchronize serially transmitted period of the incremental signal. The interface guarantee a precise
absolute position values with incremental subdivided incremental signal can therefore synchronization regardless of cable
values. With the first falling edge (latch be appended in the subsequent electronics length of the serially transmitted
signal) of the CLOCK signal from the to the serially transmitted code value. This absolute value with the incremental signals,
subsequent electronics, the scanning makes it possible to increase the resolution the two values can be compared in the
signals of the individual tracks in the of the absolute rotary encoder. subsequent electronics. This monitoring is
encoder and counter are frozen, as are possible even at high shaft speeds thanks
the A/D converters for subdividing the to the EnDat interfaces short transmission
sinusoidal incremental signals in the times of less than 50 µs. This capability is a
subsequent electronics. prerequisite for modern machine design
and safety concepts.
Latch signal
Comparator
1 VPP
Counter
Subdivision
Parallel
interface
61
EnDat Pin Layout
17-pin
HEIDENHAIN coupling
15 16 12 13 3 2 7 10 1 4 11
Green/ Yellow/ Blue/ Red/ Red Black Brown/ White/ Blue White /
Black Black Black Black Green Green
IEC 50178
14 17 8 9 5 6 UP = Power supply.
Shield on housing.
DATA DATA CLOCK CLOCK Vacant Vacant Non-used pins or wires
may not be assigned.
Gray Pink Violet Yellow Green Brown
1 9 3 11 14 7 4 2 12 10 6
3 4 6 7 10 12 1 2 9 11 13
Green/ Yellow/ Blue/ Red/ Red Black Brown/ White/ Blue White /
Black Black Black Black Green Green
IEC 50178
5 13 8 15 UP = Power supply.
Shield on housing.
5 8 14 15 Non-used pins or wires
may not be assigned.
DATA DATA CLOCK CLOCK
62
Connecting Elements and Cables
General Information
Connector:
A connecting element with a knurled
coupling ring, regardless of whether the
contacts are male or female.
Coupling:
A connecting element with external thread,
regardless of whether the contacts are
male or female.
Connector insulated Coupling insulated
Flange socket:
A flange socket is intended for permanent
mounting on the encoder, mounting block or y
machine housing, has an external thread, and
is available with male or female contacts. x: 42.7
y: 41.7
D-sub connector:
D-sub connectors fit on HEIDENHAIN
controls and IK counter cards.
63
Connecting Elements and Cables
» 1 VPP and « TTL
Complete with connector (female) 298 399-xx Complete with connector (female) 310 199-xx
and connector (male) and D-sub connector (female) 15-pin
for HEIDENHAIN controls and IK 220
Coupling on mounting base (female), for cable dia. 8 mm, 12-pin: 291 698-07
64
EnDat Interface
Polyurethane (PUR) connecting [(4 x 0.14 mm2) + 4(2 x 0.14 mm2) + (4 x 0.5 mm2)]
cable dia. 8 mm
Complete with connector (female) 324 544-xx Complete with connector (female) 322 115-xx
and D-sub connector (male) for and D-sub connector (female) for
IK 115 HEIDENHAIN controls and IK 220
65
General Electrical Specifications
For encoders with square-wave signals Cable diameter 4.5 mm (0.18 in.)
the electrically permissible speed is Rigid configuration R 10 mm (0.4 in.)
limited by Frequent flexing R 50 mm (2 in.)
the maximum permissible output
frequency fmax of the encoder and Cable diameter 6 mm (0.24 in.)
UPP the minimum edge separation a for Rigid configuration R 20 mm (0.8 in.)
the subsequent electronics. Frequent flexing R 75 mm (3 in.)
66
Reliable Signal Transmission
Electromagnetic Compatibility (EMC) Protection against electrical noise Both the cable shielding and the metal
When properly installed, HEIDENHAIN Use only the recommended housings of encoders and subsequent
encoders fulfill the requirement for HEIDENHAIN cable for signal lines electronics have a shielding function. The
electromagnetic compatibility according (see Accessories). housing must have the same potential
to 89/336/EWG. To connect signal lines, use only and be connected to the main signal
HEIDENHAIN connectors (see ground over the machine chassis or by
Compliance with the regulations of the EMC Accessories). means of a separate potential
Guidelines is based on conformance to the The shielding should conform to compensating line. Potential compensating
following standards: EN 50178. lines should have a minimum cross section
IEC 61000-6-2 Do not lay signal cable in the direct of 6 mm2 (Cu).
Electromagnetic compatibility vicinity of interference sources (air
Immunity for industrial environments clearance > 100 mm (4 in.)).
Specifically: A minimum spacing of 200 mm (8 in.) to
ESD IEC 61000-4-2 inductors is usually required (such as in
Electromagnetic fields IEC 61000-4-3 switch-mode power supplies).
Burst IEC 61000-4-4 HEIDENHAIN encoders should be
Surge IEC 61000-4-5 connected only to subsequent electronics
Conducted disturbances IEC 61000-4-6 whose power supplies comply with
Power frequency magnetic fields EN 50178 (protective low voltage).
IEC 61000-4-8 Configure the signal lines for minimum
Pulse magnetic fields length and avoid the use of intermediate
IEC 61000-4-9 terminals.
EN 50081-1 In metal cable ducts, sufficient
Electromagnetic compatibility decoupling of signal lines from
Generic emission standard interference signal transmitting cable can
Specifically: usually be achieved with a grounded
for industrial, scientific and medical partition.
(ISM) equipment EN 55011
for information technology
equipment EN 55022
67
Evaluation and Display Units
ND 281B ND 281B
Position display unit
The ND 281B position display unit contains Input signals » 1 VPP » 11 µAPP
special display ranges for angle measure-
ment. You can directly connect incremental Encoder inputs Flange socket, 12-pin female Flange socket, 9-pin female
angle encoders with » 1-VPP output
signals and any line count with up to Input frequency Max. 500 kHz Max. 100 kHz
999999 signal periods per revolution. The
display value is available via the RS-232-C/ Max. cable lengths 60 m (197 ft) 30 m (98.5 ft)
V.24 interface for further processing or
print-out. Signal interpolation Up to 1024-fold (adjustable)
Functions Sorting and tolerance check mode with two limit values
Display stop
Two switching limits
Reference-mark evaluation with REF
Output signals Two TTL square-wave pulse sequences Ua1 and Ua2
and their inverse signals ¢ and £
Reference pulse Ua0 and ¤
Interference signal ¥
For more information, see the Interpolation
and Digitizing Electronics catalog. Power supply 5V±5%
68
IK 220 IK 220
Universal PC counter card
The IK 220 is an adapter card for AT Input signals » 1 VPP » 11 µAPP EnDat SSI
compatible PCs for measured value (switchable)
acquisition of two incremental or
absolute linear and angular encoders. Encoder inputs 2 D-sub ports (15-pin), male
The subdivision and counting electronics
subdivide the sinusoidal input signals up Input frequency (max.) 500 kHz 33 kHz
to 4096 fold. Driver software is included.
Cable lengths (max.) 60 m (197 ft) 10 m (33 ft)
For more information, see the IK 220 data Dimensions Approx. 190 mm × 100 mm
sheet.
IK 410V IK 410V
Counter card with 16-bit microcomputer
interface Input signals Incremental signals: 1 × » 1 VPP
The IK 410V is an interpolation and counter Commutation signals: 1 × sine/cosine (1 VPP)
PCB for incremental encoders with
additional input for commutation signals Signal subdivision Up to 1024-fold
(Z1-track: one sine/cosine per revolution). (signal period : meas. step)
It is inserted directly into the PCB of a
customer-specific electronics. Input frequency Max. 350 kHz
Counter 32 bits
Dimensions 100 mm × 65 mm
69
HEIDENHAIN Measuring Equipment
for Incremental Angle Encoders
With the modular angle encoders, the accurately during mounting. HEIDENHAIN
scanning head moves over the graduation offers various measuring and testing
without mechanical contact. Thus, to equipment for checking the quality of the
ensure highest quality output signals, the output signals.
scanning head needs to be aligned very
PWM 8
Dimensions 114 mm x 64 mm x 29 mm
70