Encoders for

Servo Drives

11/2021
Table of contents

This brochure is not an exhaustive overview Brochure Product Overview Overview

of the HEIDENHAIN product program, but Rotary Encoders Rotary Encoders
rather provides a selection of encoders for the Elevator Industry Information about the selection tables   6
designed for use on electric motors.
Drehgeber Produktübersicht

Drehgeber für die

Rotary encoders for mounting inside motors   8
The selection tables provide an overview
Aufzugsindustrie

of all HEIDENHAIN encoders intended for

Rotary encoders for mounting on motors  12
use on electric motors, along with the most 11/2020 06/2020 Angle encoders for built-in and hollow-shaft motors  18
relevant specifications. The descriptions of
the technical features contain fundamental Exposed linear encoders for linear motors  20
information on the use of rotary, angular,
and linear encoders on electric motors. Brochure Brochure
Sealed linear encoders for linear motors  22
Angle Encoders Modular Angle Encoders Technical features and mounting information
The mounting information and detailed With Integral Bearing With Magnetic Scanning
specifications refer to rotary encoders Rotary encoders and angle encoders for DC and three-phase AC motors  24
developed specifically for servo motors. HMC 2 and HMC 6: single-cable solutions for drives  26
Winkelmessgeräte Modulare
mit Eigenlagerung Winkelmessgeräte
mit magnetischer

For information about other rotary encoders,

Abtastung

please refer to the appropriate product Safety-related position measuring systems  28
documentation.
 30
05/2021

Measuring principles
08/2019

Measuring accuracy  33

Brochure Brochure Mechanical design types and mounting  36
Modular Angle Encoders Exposed
With Optical Scanning Linear Encoders General information  46
Modulare
General mechanical information  47
Further information:
Offene
Winkelmessgeräte Längenmessgeräte
mit optischer

Specifications
Abtastung

Regarding the linear encoders and

angle encoders listed in the selection 09/2017
05/2021
Rotary encoders ECN/EQN 1100 series  54
tables, please refer to the respective with integral bearing
product documentation to find detailed
ERN 1023  56
descriptions, including mounting ERN 1123  58
information, specifications, and Brochure Brochure
dimensions. Linear Encoders Cables and Connectors ECN/EQN 1300 series  60
For Numerically Controlled
Machine Tools
ECN/EQN 1300 S (DRIVE CLiQ) series  62
Längenmessgeräte
für gesteuerte
Werkzeugmaschinen
Kabel und
Steckverbinder ECN/EQN 400 series  64
ERN 1300 series  66
Rotary encoders ECI/EBI/EQI 1100 series  68
06/2019 04/2021

without integral bearing
ECI/EBI/EQI 1300 series  74
Brochure ECI/EBI 100 series  80
Interfaces
of HEIDENHAIN Encoders ECI 4010, EBI 4010, ECI 4090 S  82
– With ¬ 90 mm hollow shaft
Schnittstellen
– With ¬ 180 mm hollow shaft
von HEIDENHAIN-
Messgeräten

ERO 1200 series  86

02/2021
ERO 1400 series  88
Electrical connection
Interfaces  90
Cables and connecting elements 104
This brochure supersedes all previous
editions, which thereby become invalid.
Diagnostics, and inspection and testing equipment 108
The basis for ordering from HEIDENHAIN
Further information:
is always the brochure edition and
Detailed descriptions of all available product documentation valid when the
interfaces, as well as general electrical order is placed.
information, can be found in the
Interfaces of HEIDENHAIN Encoders Standards (ISO, EN, etc.) apply only
brochure. where explicitly stated in the brochure.
Encoders for electric motors

Controller systems for electric motors Encoder attributes have a critical impact on All of the HEIDENHAIN encoders listed in
require encoders that provide feedback important motor characteristics, such as: this brochure have been designed for
for the position and speed controllers, and • Positioning accuracy minimized mounting and cabling effort on
for electronic commutation. • Speed stability the part of the motor manufacturer. Overall
• Bandwidth, and therefore command rotary motor length can also be kept low.
and disturbance behavior The special design of some encoders can
• Power dissipation even eliminate the need for safety devices
• Size such as limit switches.
• Acoustic noise
• Safety

Digital position control and speed control Motor for digital drive systems (digital position and speed control)

Rotary encoder (actual position value,

actual speed value,
commutation signal,
electronic ID label)

ϕi
ii

Speed
calculation

ni is
ϕs Position ns Speed Current
Decoupling Drive Rotary encoder
controller controller controller

HEIDENHAIN can provide a well-matched

solution for rotary and linear motors used
in a variety of applications:

• Absolute and incremental rotary encoders Angle encoders

Linear encoders
with and without commutation tracks
• Absolute and incremental angle encoders
• Absolute and incremental linear encoders
• Absolute and incremental modular
encoders

Rotary encoders

4 5
Information about the selection tables

The selection tables on the following pages list the encoders that
are suitable for each motor design. Each table contains encoders
with different dimensions and output signals for the various motor
types (DC or three-phase AC motors).

Rotary encoders for mounting on motors Rotary encoders, modular encoders, and angle encoders for
Rotary encoders for motors with forced ventilation are either built-in and hollow-shaft motors
mounted on the motor housing or installed within it. These rotary The rotary encoders and angle encoders for these motors feature
encoders are often exposed to the motor’s unfiltered forced-air hollow through shafts, allowing supply lines to be routed through
stream and must therefore possess a high protection class of the hollow shaft of both the motor and the encoder. Depending
IP64 or better. The permissible operating temperature seldom on the operating conditions, these encoders must either have an
exceeds 100 °C. IP66 rating or be protected from contamination through the
machine design (as with optical modular encoders).
The selection table contains the following encoders:
• Rotary encoders with mounted stator coupling with high The selection table contains the following encoders:
natural frequency—virtually eliminating any limits on the • Encoders with high-quality absolute and/or incremental
bandwidth of the drive output signals
• Rotary encoders for separate shaft couplings, thus particularly • Angle encoders and modular encoders with the measuring
well suited for electrically isolated mounting standard on an aluminum or steel drum for shaft speeds of
• Absolute rotary encoders with purely digital data transfer up to 42 000 rpm
or additional sinusoidal TTL or HTL incremental signals • Encoders with integral bearing, with stator coupling or
• Incremental rotary encoders with high-quality sinusoidal modular design
output signals for digital speed control • Encoders with good acceleration performance for
• Incremental rotary encoders with TTL or HTL compatible high control-loop bandwidth
output signals
• Information on functional-safety rotary encoders available as For the selection table, see page 18
safety-related position measurement systems

For the selection table, see page 12

Rotary encoders for mounting inside motors Linear encoders for linear motors
In motors without forced ventilation, the rotary encoder is installed Linear encoders installed on linear motors provide actual-value
inside the motor housing. As a result, the encoder does not feedback for the position and speed controllers. These encoders
require a high protection class. Nevertheless, the operating have a decisive impact on the control characteristics of the
temperature inside the motor housing can reach 100 °C or more. linear motor. The linear encoders recommended for this type of
application exhibit the following characteristics:
The selection table contains the following encoders: • Low position error during acceleration in the direction of
• Absolute rotary encoders for operating temperatures of measurement
up to 115 °C and incremental rotary encoders for operating • High tolerance to acceleration and lateral vibration
temperatures of up to 120 °C • Design suitability for high shaft speeds
• Rotary encoders with mounted stator coupling with high • Absolute position information with purely digital data
natural frequency—virtually eliminating any limits on the transmission or high-quality sinusoidal incremental signals
bandwidth of the drive
• Absolute rotary encoders with purely digital data transmission Exposed linear encoders are characterized by:
(suitable for the HMC 6 and HMC 2 single-cable solutions) or • Higher accuracy grades
additional sinusoidal incremental signals • Higher traversing speeds
• Incremental rotary encoders for digital speed control, featuring • Contact-free scanning (i.e., no friction between scanning head
high-quality sinusoidal output signals, even under high and scale)
operating temperatures Exposed linear encoders are suitable for applications in clean
• Incremental rotary encoders with an additional commutation environments (e.g., on measuring machines or production
signal for BLDC motors equipment in the semiconductor industry).
• Incremental rotary encoders with TTL-compatible output
signals For the selection table, see page 20
• Information on functional-safety rotary encoders available as
safety-related position measurement systems Sealed linear encoders feature the following characteristics:
• High protection class
For the selection table, see page 8 • Easy mounting
Sealed linear encoders are thus suitable for applications in
high-contamination environments (e.g., on machine tools).

For the selection table, see page 22

6 7
Selection guide
Rotary encoders for mounting inside motors
Protection class: up to IP40 (EN 60529)

Series Main dimensions Mechanically Natural frequency Maximum Supply voltage Signal periods Positions Distinguishable Interface Model Further
permissible fN (typical) operating per revolution per revolution revolutions information
shaft speed of the coupling temperature

Rotary encoders without integral bearing

1) 1)
ECI/EQI 1100  15 000 rpm/ – 110 °C DC 3.6 V to 14 V – 524 288 (19 bits) –/4096 EnDat 2.2/22 ECI 1119 /EQI 1131 Page 68
 12 000 rpm
DC 4 V to 14 V EnDat 3/E30-R2

ECI/EQI 1100 DC 3.6 V to 14 V EnDat 2.2/22

36.83

with synchro flange

22.25
3)
ECI/EBI 1100 115 °C 262 144 (18 bits) –/65 536 ECI 1118/EBI 1135 Page 72

3)
ECI/EBI/EQI 1300  15 000 rpm/ – 115 °C DC 3.6 V to 14 V – 524 288 (19 bits) –/65 536/4096 EnDat 2.2/22 ECI 13191)/EBI 13351)3)/ Page 74
 12 000 rpm EQI 13311)

DC 4 V to 14 V –/4096 EnDat 3/E30-R2 ECI 13191)/EQI 13311) Page 76

100 °C DC 10 V to 28.8 V DRIVE-CLiQ ECI 1319 S/EQI 1331 S1) Page 78

ECI/EBI 100  6000 rpm – 115 °C DC 3.6 V to 14 V 32 524 288 (19 bits) – EnDat 2.1/01 with » 1 VPP ECI 119 Page 80

– –/65 5363) EnDat 2.2/22 ECI 119/EBI 135

D: 30/38/50 mm

ECI/EBI 4000  6000 rpm – 115 °C DC 3.6 V to 14 V – 1 048 576 (20 bits) –/65 5363) EnDat 2.2/22 ECI 40101)/ Page 82
EBI 40103)

100 °C DC 10 V to 28.8 V – DRIVE-CLiQ ECI 4090 S1)

D: 90/180 mm
ERO 1200  25 000 rpm – 100 °C DC 5 V ±0.5 V 1024/2048 – « TTL ERO 1225 Page 86

» 1 VPP ERO 1285

ERO 1400  30 000 rpm – 70 °C DC 5 V ±0.5 V 512/1000/1024 – « TTL ERO 1420 Page 88

DC 5 V ±0.25 V 5000 to 37 5002) « TTL ERO 1470

DC 5 V ±0.5 V 512/1000/1024 » 1 VPP ERO 1480

1)
Also available with functional safety
2)
After internal 5/10/20/25-fold interpolation
3)
Multiturn function via battery-buffered revolution counter

DRIVE-CLiQ is a registered trademark of Siemens AG.

8 9
Series Main dimensions Mechanically Natural frequency Maximum Supply voltage Signal periods Positions Distinguishable Interface Model Further
permissible fN (typical) operating per revolution per revolution revolutions information
shaft speed of the coupling temperature

Rotary encoders with integral bearing and mounted stator coupling

ECN/EQN/  12 000 rpm 1000 Hz 115 °C DC 3.6 V to 14 V 512 8192 (13 bits) –/4096 EnDat 2.2/01 with » 1 VPP ECN 1113/EQN 1125 Page 54
ERN 1100
95 °C DC 10 V to 28.8 V – 8 388 608 (23 bits) –/4096 DRIVE-CLiQ ECN 1123 S/EQN 1135 S

115 °C DC 3.6 V to 14 V EnDat 2.2/22 ECN 11231)/EQN 11351)

 6 000 rpm 1600 Hz 90 °C DC 5 V ±0.5 V 500 to 8192 3 block commutation signals « TTL ERN 1123 Page 58

ECN/EQN/  15 000 rpm/ 1800 Hz 115 °C DC 3.6 V to 14 V 512/2048 8192 (13 bits) –/4096 EnDat 2.2/01 with » 1 VPP ECN 1313/EQN 1325 Page 60
ERN 1300  12 000 rpm
– 33 554 432 (25 bits) EnDat 2.2/22 ECN 13251)/EQN 13371)

(not with ERN)

DC 4 V to 14 V EnDat 3/E30-R2 Product
Information

 15 000 rpm 120 °C DC 5 V ±0.5 V 1024/2048/4096 – « TTL ERN 1321 Page 66

ERN 1381/4096:
80 °C 3 block commutation signals ERN 1326

512/2048/4096 – » 1 VPP ERN 1381

DC 5 V ±0.25 V 2048 Z1 track for sine commutation ERN 1387

100 °C DC 10 V to 28.8 V – 16 777 216 (24 bits) –/4096 DRIVE-CLiQ ECN 1324 S/EQN 1336 S Page 62
1)
Also available with functional safety

DRIVE-CLiQ is a registered trademark of Siemens AG.

10 11
Rotary encoders for mounting on motors
Protection class: up to IP64 (EN 60529)

Series Main dimensions Mechanically Natural frequency Maximum Supply voltage Signal periods Positions Distinguishable Interface Model Further
permissible fN (typical) operating per revolution per revolution revolutions information
shaft speed of the coupling temperature

Rotary encoders with integral bearing and mounted stator coupling

ECN/ERN 100 ¬  30 mm: 1000 Hz 100 °C DC 3.6 V to 14 V 2048 8192 (13 bits) – EnDat 2.2/01 with » 1 VPP ECN 113 Brochure:
 6000 rpm Rotary
– 33 554 432 (25 bits) EnDat 2.2/22 ECN 125 Encoders
¬ > 30 mm:
 4000 rpm DC 5 V ±0.5 V 1000 to 5000 – « TTL/» 1 VPP ERN 120/ERN 180

85 °C DC 10 V to 30 V « HTL ERN 130

ECN/EQN/ERN 400 Stator coupling for plane surfaces  6000 rpm Stator coupling 100 °C DC 3.6 V to 14 V 512/2048 8192 (13 bits) –/4096 EnDat 2.2/01 » 1 VPP ECN 413/EQN 425
for plane surfaces:
With two shaft 1500 Hz – 33 554 432 (25 bits) EnDat 2.2/22 ECN 425/EQN 4371)
clampings Universal stator
(only for hollow coupling: DC 4.75 V to 30 V 512 8192 (13 bits) SSI ECN 413/EQN 425
through shaft): 1400 Hz
Universal stator coupling  12 000 rpm DC 5 V ±0.5 V 250 to 5000 – « TTL ERN 420

DC 10 V to 30 V « HTL ERN 430

70 °C « TTL ERN 460

100 °C DC 5 V ±0.5 V 1000 to 5000 » 1 VPP ERN 480

ECN/EQN/ERN 400 Stator coupling for plane surfaces  6000 rpm Stator coupling 100 °C DC 10 V to 30 V 256 to 2048 8192 (13 bits) –/4096 EnDat H  HTL EQN 425 Brochure:
for plane surfaces: SSI 41H  HTL Rotary
With two shaft 1500 Hz Encoders
clampings Universal stator DC 4.75 V to 30 V 512 to 4096 EnDat T  TTL
(only for hollow coupling: SSI 41T  TTL
through shaft): 1400 Hz
 12 000 rpm DC 3.6 V to 14 V – Þi: 33 554 432 4096 Fanuc ECN 425 F/EQN 437 F
(25 bits)

DC 10 V to 28.8 V 16 777 216 (24 bits) DRIVE-CLiQ ECN 424 S/EQN 436 S1)

ECN/EQN/ERN 400 Expanding ring coupling  15 000 rpm/ Expanding ring 100 °C DC 3.6 V to 14 V 2048 8192 (13 bits) –/4096 EnDat 2.2/01 with » 1 VPP ECN 413/EQN 425 Page 64
 12 000 rpm coupling:
1800 Hz – 33 554 432 (25 bits) EnDat 2.2/22 ECN 4251)/EQN 4371)
Plane-surface
 15 000 rpm coupling: DC 5 V ±0.5 V 1024 to 5000 – « TTL ERN 421 Product
400 Hz Information
(not with ERN) DC 5 V ±0.25 V 2048 Z1 track for sine commutation » 1 VPP ERN 487 document

Plane-surface coupling
83.2

50.5
22

1)
Also available with functional safety

DRIVE-CLiQ is a registered trademark of Siemens AG.

12 13
Rotary encoders for mounting on motors
Protection class: up to IP64 (EN 60529)

Series Main dimensions Mechanically Natural frequency Maximum Supply voltage Signal periods Positions Distinguishable Interface Model Further
permissible fN (typical) operating per revolution per revolution revolutions information
shaft speed of the coupling temperature

Rotary encoders with integral bearing and mounted stator coupling

ECN/EQN/ERN 1000  12 000 rpm 1500 Hz 100 °C DC 3.6 V to 14 V 512 8192 (13 bits) –/4096 EnDat 2.2/01 with » 1 VPP ECN 1013/EQN 1025 Brochure:
Rotary
– 8 388 608 (23 bits) EnDat 2.2/22 ECN 1023/EQN 1035 Encoders

95 °C DC 10 V to 28.8 V DRIVE-CLiQ ECN 1023 S/EQN 1035 S

ERN 1023
DC 5 V ±0.5 V 100 to 3600 – « TTL/» 1 VPP ERN 1020/ERN 1080

70 °C DC 10 V to 30 V « HTLs ERN 1030

DC 5 V ±0.25 V 5000 to 36 0001) « TTL ERN 1070

 6000 rpm 1600 Hz 90 °C DC 5 V ±0.5 V 500 to 8192 3 block commutation signals « TTL ERN 1023 Page 56
1)
After internal 5/10/20/25-fold interpolation

14 15
Rotary encoders for mounting on motors
Protection class: up to IP64 (EN 60529)

Series Main dimensions Mechanically Natural frequency Maximum Supply voltage Signal periods Positions Distinguishable Interface Model Further
permissible fN (typical) operating per revolution per revolution revolutions information
shaft speed of the coupling temperature

Rotary encoders with integral bearing for separate shaft coupling

ROC/ROQ/ROD 400 Synchro flange  12 000 rpm – 100 °C DC 3.6 V to 14 V 512/2048 8192 (13 bits) –/4096 EnDat 2.2/01 with » 1 VPP ROC 413/ROQ 425 Brochure:
Rotary
– 33 554 432 (25 bits) EnDat 2.2/22 ROC 4251)/ROQ 4371) Encoders

DC 4.75 V to 30 V 512 8192 (13 bits) SSI ROC 413/ROQ 425

Clamping flange
DC 10 V to 30 V 256 to 2048 8192 (13 bits) –/4096 EnDat H  HTL ROQ 4253)
SSI 41H  HTL

DC 4.75 V to 30 V 512 to 4096 EnDat T  TTL

SSI 41T  TTL

DC 3.6 V to 14 V – Þi: 33 554 432 4096 Fanuc ROC 425 F/ROQ 437 F

(25 bits)

DC 10 V to 28.8 V 16 777 216 (24 bits) DRIVE-CLiQ ROC 424 S/EQN 436 S1)

DC 5 V ±0.5 V 50 to 10 0002) – – « TTL ROD 426/ROD 420

DC 10 V to 30 V 50 to 5000 « HTL ROD 436/ROD 430

70 °C 50 to 10 0002) « TTL ROD 466

100 °C DC 5 V ±0.5 V 1000 to 5000 » 1 VPP ROD 486/ROD 480

ROC/ROQ/ROD 1000  12 000 rpm – 100 °C DC 3.6 V to 14 V 512 8192 (13 bits) –/4096 EnDat 2.2/01 with » 1 VPP ROC 1013/ROQ 1025 Brochure:
Rotary
– 8 388 608 (23 bits) EnDat 2.2/22 ROC 1023/ROQ 1035 Encoders

95 °C DC 10 V to 28.8 V DRIVE-CLiQ ROC 1023 S/ROQ 1035 S

100 °C DC 5 V ±0.5 V 100 to 3600 – « TTL ROD 1020

» 1 VPP ROD 1080

70 °C DC 10 V to 30 V « HTLs ROD 1030

DC 5 V ±0.25 V 5000 to 36 0002) « TTL ROD 1070

ROD 600  12 000 rpm – 80 °C DC 5 V ±0.5 V 512 to 5000 – « TTL ROD 620

« HTL ROD 630

ROD 1900  4000 rpm – 70 °C DC 10 V to 30 V 600 to 2400 – « HTL/HTLs ROD 1930

 15

199

150 18 160

1) 2) 3)
Also available with functional safety    After integrated 5/10-fold interpolation    Only clamping flange

DRIVE-CLiQ is a registered trademark of Siemens AG.

16 17
Angle encoders for built-in and hollow-shaft motors

1)
Series Main dimensions Diameter Mechanically Natural frequency Maximum Supply voltage System Signal periods Positions Interface Model Further
permissible fN (typical) operating accuracy per revolution per revolution information
shaft speed of the coupling temperature

Angle encoders with integral bearing and integrated stator coupling

RCN 2001 20 mm  1500 rpm 1000 Hz RCN 23x1: 60 °C DC 3.6 V to 14 V ±4“ 16 384 67 108 864 (26 bits) EnDat 2.2/02 RCN 2380 Brochure:
(depending RCN 25x1: 50 °C ±2” 268 435 456 (28 bits) with » 1 VPP RCN 2580 Angle
on the interface Encoders
and operating – EnDat 2.2/22 RCN 23x03) With Integral
temperature) Fanuc RCN 25x03) Bearing
Mitsubishi

RCN 5001 35 mm  1500 rpm 1000 Hz RCN 53x1: 60 °C DC 3.6 V to 14 V ±4“ 16 384 67 108 864 (26 bits) EnDat 2.2/02 RCN 5380
(depending RCN 55x1: 50 °C ±2” 268 435 456 (28 bits) with » 1 VPP RCN 5580
on the interface
and operating – EnDat 2.2/22 RCN 53x03)
temperature) Fanuc RCN 55x03)
Mitsubishi

RCN 8001 D:   60 mm  500 rpm 900 Hz 50 °C DC 3.6 V to 14 V ±2” 32 768 536 870 912 (29 bits) EnDat 2.2/02 RCN 8380
and 100 mm (depending ±1” with » 1 VPP RCN 8580
on the interface
and operating ±2” – EnDat 2.2/22 RCN 83x03)
temperature) ±1” Fanuc RCN 85x03)
Mitsubishi

Modular angle encoders with optical scanning

ECA 4000 D1: 70 mm to 512 mm  15 000 rpm – 70 °C DC 3.6 V to 14 V ±3” to ±1.5” – – EnDat 2.2 ECA 44103) Product
Scale drum with D2: 104.3 mm to  8500 rpm Information
centering collar; to 560.46 mm Fanuc ECA 4490 F document:
screwed to shaft ECA 4000
on front face Mitsubishi ECA 4490 M

ERA 4x80 D1: 40 mm to 512 mm  10 000 rpm – 80 °C DC 5 V ±0.5 V ±5” to ±2” 12 000 to 52 000 – » 1 VPP ERA 4280 C Brochure:
Scale drum with D2: 76.5 mm to  1500 rpm Modular
centering collar; to 560.46 mm 6000 to 44 000 ERA 4480 C Angle
screwed to shaft Encoders
on front face 3000 to 13 000 ERA 4880 C With Optical
Scanning
ERA 4282 D1: 40 mm to 270 mm  10 000 rpm – 80 °C DC 5 V ±0.5 V ±4” to ±1.7” 12 000 to 52 000 – » 1 VPP ERA 4282 C
Scale drum for D2: 76.5 mm to  2500 rpm
increased accuracy; to 331.31 mm
screwed to shaft
on font face

Modular angle encoders with magnetic scanning

ERM 2200 D1: 40 mm to 410 mm  22 000 rpm to – ERM 24x0: DC 5 V ±0.5 V – 512 to 3600 – « TTL ERM 2420 Brochure:
Signal period of D2: 64.37 mm  3000 rpm 100 °C Modular
approx. 200 µm to 452.64 mm ERM 2280: » 1 VPP ERM 2280 Angle
ERM 2400 60 °C ERM 2480 Encoders
Signal period of With
approx. 400 µm Magnetic
Scanning
ERM 2400 D1: 30 mm to 100 mm  60 000 rpm to – 100 °C DC 5 V ±0.5 V – 360 to 1024 – » 1 VPP ERM 2484
Signal period of D2: 45.26 mm  20 000 rpm
approx. 400 µm to 128.75 mm

ERM 2900 D1: 35 mm to 100 mm  50 000 rpm/ 180 to 400 – ERM 2984
Signal period of D2: 54.43 mm  16 000 rpm
approx. 1000 µm to 120.96 mm
1) 2) 3)
Other interfaces upon request    Not used    Also available with functional safety
18 19
Exposed linear encoders for linear motors

Series Main dimensions Traversing speed Acceleration Accuracy grade Measuring lengths Supply voltage Signal Cutoff frequency Switching Interface Model Further
in measuring direction period –3 dB output information

2
LIP 6000  240 m/min  500 m/s Down to ±1µm1) 20 mm to 3040 mm DC 5 V ±0.5 V 4 µm  1 MHz Homing track » 1 VPP LIP 6081 Brochure:
Limit switch Exposed
Linear
« TTL LIP 6071 Encoders

2
LIF 400  240 m/min  400 m/s ±1 µm1) 70 mm to 1020 mm DC 5 V ±0.25 V 4 µm  1 MHz Homing track » 1 VPP LIF 481
Limit switch

« TTL LIF 471

2
LIC 2100  600 m/min  500 m/s ±15 µm 120 mm to 3020 mm DC 3.6 V to 14 V – – – EnDat 2.2/22 LIC 2107
Absolute Resolution
linear encoder 0.05 µm

2) 2
LIC 4100  600 m/min  500 m/s ±5 µm 140 mm to DC 3.6 V to 14 V – – – EnDat 2.2/22 LIC 4115
Absolute 27 040 mm Resolution:
linear encoder 0.001 µm

3)
±5 µm 140 mm to 6040 mm LIC 4117

4)
±3 µm or ±15 µm 70 mm to 1020 mm DC 3.6 V to 14 V – – – EnDat 2.2 LIC 4119

2
LIDA 400  480 m/min  500 m/s ±5 µm 140 mm to DC 5 V ±0.25 V 20 µm  400 kHz Limit switch » 1 VPP LIDA 485
30 040 mm

« TTL LIDA 475

1)
±5 µm 240 mm to 6040 mm » 1 VPP LIDA 487

« TTL LIDA 477

2
LIDA 200  600 m/min  200 m/s ±15 µm Up to 10 000 mm DC 5 V ±0.25 V 200 µm  50 kHz – » 1 VPP LIDA 287

« TTL LIDA 277

1)
With Zerodur glass ceramic up to a measuring length of 1020 mm
2)
Also available with Fanuc, Mitsubishi, Panasonic, and Yaskawa interfaces
3)
After linear error compensation
4)
Also available with functional safety

20 21
Sealed linear encoders for linear motors
Protection class: IP53 to IP641) (EN 60529)

2)
Series Main dimensions Traversing speed Acceleration Measuring lengths Accuracy Supply voltage Signal period Cutoff frequency Resolution Interface Model Further
in direction of grade –3 dB information
measurement

Linear encoders with slimline scale housing

2
LF  60 m/min  100 m/s 50 mm to 1220 mm ±5 µm DC 5 V ±0.25 V 4 µm  250 kHz – » 1 VPP LF 485 Brochure:
Linear
Encoders for
Numerically
Controlled
Machine Tools
LC  180 m/min  100 m/s2 70 mm to 2040 mm3) ±5 µm DC 3.6 V to 14 V – – Down to EnDat 2.2/22 LC 4154)
Absolute 0.01 µm
linear encoder
±3 µm Down to
0.001 µm

±5 µm 20 µm  150 kHz Down to EnDat 2.2/02 LC 485

0.01 µm

±3 µm Down to
0.05 µm

Linear encoders with full-size scale housing

2
LF  60 m/min  100 m/s 140 mm to ±2 µm; DC 5 V ±0.25 V 4 µm  250 kHz – » 1 VPP LF 185 Brochure:
3040 mm ±3 µm Linear
Encoders for
Numerically
Controlled
Machine Tools
LC  180 m/min  100 m/s2 140 mm to ±5 µm DC 3.6 V to 14 V – – Down to EnDat 2.2/22 LC 1154)
Absolute 4240 mm 0.01 µm
linear encoder
140 mm to ±3 µm Down to
3040 mm 0.001 µm

140 mm to ±5 µm 20 µm  150 kHz Down to EnDat 2.2/02 LC 185

4240 mm 0.01 µm

140 mm to ±3 µm Down to
3040 mm 0.05 µm

 120 m/min  100 m/s2 440 mm to ±5 µm DC 3.6 V to 14 V – – Down to EnDat 2.2/22 LC 211
(180 m/min 28 040  mm 0.01 µm
upon request)
40 µm  250 kHz EnDat 2.2/02 LC 281
with » 1 VPP

LB  120 m/min  60 m/s2 440 mm to 30 040 mm Down to DC 5 V ±0.25 V 40 µm  250 kHz – » 1 VPP LB 382
(180 m/min (up to 72 040 mm ±5 µm
upon request) upon request)

1)
After mounting in accordance with mounting instructions
2)
Interfaces for Siemens, Fanuc, and Mitsubishi controls available upon request
3)
At or above a measuring length of 1340 mm: only with mounting spar or clamping elements
4)
Also available with functional safety

22 23
Rotary encoders and angle encoders for
DC and three-phase AC motors
General information

Speed stability Transmission of measuring signals For digital speed control on machines with HEIDENHAIN absolute encoders for “digital” The benefits of this data transmission Motor currents
In order to obtain good motor speed For good dynamic performance with digital high dynamic-performance requirements, motors deliver additional sinusoidal incre­ technology are higher noise immunity Motors may exhibit impermissible current
stability, the encoder must provide a speed control, the cycle time of the speed a large number of measuring steps are mental signals with the same characteristics along the transmission path and less flowing from the rotor to the stator. This
high number of measuring steps per controller should not exceed approximately required—usually more than 500 000 per as those described above. Absolute encoders expensive connectors and cables. A large can cause the encoder bearing to overheat,
revolution. For this reason, the 125 μs. In addition, the actual values for the revolution. For applications with standard from HEIDENHAIN use the EnDat interface share of rotary encoders equipped with the thereby shortening its service life.
HEIDENHAIN product portfolio includes position controller and speed controller motors, approximately 60 000 measuring (for Encoder Data) for the serial data EnDat 2.2 or EnDat 3 interface are also HEIDENHAIN thus recommends the use
encoders that output a sufficient number must be available to the controlling system steps per revolution are sufficient (similar transmission of absolute position values able to evaluate an external temperature of encoders without an integral bearing
of measuring steps per revolution for the with the least possible delay. to resolvers). and other information for automatic sensor (e.g., located in the motor winding). or encoders with an electrically isolated
required speed stability. self-configuration, monitoring and The digitized temperature values are bearing (hybrid bearing). For more
High clock frequencies are needed to fulfill HEIDENHAIN encoders for motors with diagnosis. This makes it possible to use the transmitted as part of the EnDat 2.2 or information, please contact HEIDENHAIN.
HEIDENHAIN rotary encoders and angle such demanding time requirements on digital position and speed control are same subsequent electronics and cabling EnDat 3 protocol without an additional line.
encoders with an integral bearing and stator position-value transmission from the encoder therefore equipped with the purely serial technology for all HEIDENHAIN encoders. Fault exclusion for mechanical coupling
coupling exhibit particularly advantageous to the controlling system with serial data EnDat22/EnDat3 interface, or they output Bandwidth HEIDENHAIN encoders designed for
behavior: shaft misalignment within a transmission (see also the Interfaces of additional sinusoidal incremental signals With EnDat22 (HMC 6) and EnDat3 The attainable gain levels for the position functional safety can be mounted in such a
certain tolerance range does not induce HEIDENHAIN Encoders brochure). This is at 1 VPP signal levels (EnDat01). (HMC 2) the serial data transfer can take and speed control loops, and therefore the way that the rotor or stator fastening does
position errors or impaired speed stability why HEIDENHAIN encoders for electric place within the motor cable, thus bandwidth of the motor with regard to not accidentally loosen.
(see Specifications). motors output the position values over the The high internal resolution of the EnDat22 significantly reducing cabling and costs. command and disturbance behavior, may
fast, purely serial EnDat 2.2 or EnDat 3 and EnDat3 encoders permits resolutions be limited by the rigidity of the coupling Size
Position errors within one signal period interface or transmit additional incremental of up to 19 bits (524 288 measuring steps) For automatic configuration, important between the motor shaft and the encoder The higher a motor’s permissible operating
adversely affect the positioning accuracy signals that are available to the subsequent in inductive systems and at least 25 bits encoder specifications can be read from shaft, as well as by the natural frequency temperature is, the smaller the motor can
and speed stability of the motor. At low electronics virtually without delay for (approx. 33 million measuring steps) in the memory of the EnDat encoder, and of the stator coupling. HEIDENHAIN be made for a given torque. Since the
feed rates, the motor mimics the position speed or position control. photoelectric encoders. motor-specific parameters can be saved in therefore offers rotary and angle encoders temperature of the motor also affects the
error within one signal period. the encoder’s OEM memory area. The usable for high-rigidity shaft couplings. temperature of the encoder, HEIDENHAIN
For standard drives, manufacturers Thanks to their high signal quality, the size of the OEM memory for the rotary The stator couplings mounted on the offers encoders for permissible operating
primarily use the especially robust sinusoidal incremental signals of the encoders listed in the current brochures is encoder exhibit high natural frequencies fN. temperatures of up to 120 °C. These
ECI/EBI/EQI encoders without integral EnDat01 encoders can be highly subdivided at least 1.4 KB ( 704 EnDat words). With modular and inductive rotary encoders, encoders make it possible to implement
bearing or rotary encoders with TTL or in the subsequent electronics (see Figure 1). the stator and rotor are firmly screwed to smaller motors.
HTL compatible output signals—as well Even at speeds of 12 000 rpm, the signal Most absolute encoders internally subdivide the motor housing and the shaft (see also
as additional commutation signals for arrives at the input circuit of the controlling the sinusoidal scanning signals by a factor Mechanical design types and mounting). Power dissipation and acoustic noise
permanent DC drives. system with a frequency of only approxi­ of 4096 or greater. When these systems are This mechanical design therefore permits While the motor is running, encoder
mately 400 kHz (see Figure  2). Cable lengths operated with sufficiently fast transmission optimal coupling rigidity. position errors within one signal period
of up to 150 m are possible with 1 VPP of the absolute position values (e.g., at a affect the motor’s power dissipation as well
incremental signals (see also 1 VPP incre­ clock frequency of 2 MHz with EnDat 2.1 as the heat generation and acoustic noise
mental signals). or 16 MHz with EnDat 2.2) or EnDat3 that go along with it. For this reason, rotary
(12.5 or 25 Mbit/s), incremental signal encoders with high signal quality (better
evaluation can be eliminated altogether. than ±1% of the signal period) are preferred
(see also Measuring accuracy).

Bit error rate

Figure 1: Figure 2: For rotary encoders with a purely serial
Signal periods per revolution and the resulting number of measuring steps per revolution as a function Shaft speed and resulting output frequency as a function of the number interface for installation within motors,
of the subdivision factor of signal periods per revolution HEIDENHAIN recommends conducting a
type test for the bit error rate.
Subdivision factor Signal periods per revolution
Measuring steps per revolution 

Output frequency in kHz 

The use of functionally safe encoders
without closed metal housings and/or with
cable assemblies that do not comply with
the electrical connection directives (see
General electrical information) always
requires the bit error rate to be measured
in a type test under application conditions.

Preventive maintenance
Encoders with serial data transfer provide
information that enables monitoring of the
operating status and thus preventive
maintenance:
• Diagnostics
• Clearance gap for optimized and verifiable
mounting and application conditions
• Connectable external temperature
sensor

Signal periods per revolution  Shaft speed in rpm 

24 25
HMC 2 and HMC 6
Single-cable solutions for servomotors

Servomotors normally require two The universal design of the HMC solution
separate cables: HMC 6 gives motor and machine manufacturers
• One encoder cable for the motor encoder high flexibility, letting them use standard
• One power cable for the motor supply components on both the motor and the
control.
With the HMC solution (Hybrid Motor
Cable), HEIDENHAIN has integrated the All HEIDENHAIN encoders with
encoder cable into the power cable. Thus, EnDat22 interface or with purely serial
only a single cable is now needed data transfer without battery buffering as
between the motor and the electrical per RS-485 are suited for the HMC 6
cabinet. single-cable solution. This includes motor
encoders for servomotors in various sizes,
The HMC 6 single-cable solution was Encoder connections linear and angle encoders used in direct
(communication element)
specifically designed for the HEIDENHAIN drive motors, as well as encoders for
EnDat22 interface, and the HMC 2 version Brake connections functional safety up to SIL 3.
is for EnDat3. With purely serial data
transmission, cable lengths of up to 100 m The HMC 2 single-cable solution can be
can be realized. However, with HMC 6 all Motor connections used with motor encoders featuring the
other encoders equipped with a purely EnDat 3 interface (ordering designation:
serial RS‑485 interface (e.g., SSI) can be E30-R2) and purely serial data transmission
connected as well. A wide range of via two wires. The ExI 1100/1300 and
encoders can therefore be used without ExN 1300 series rotary encoders are
the need for introducing a new interface. available for functional safety applications
with up to SIL 3.
The HMC solution combines the wires for
the encoder, motor, and brake into a single For the controlling hardware you can
cable, which is connected to the motor via HMC 2 continue to use already deployed frequency Flange socket Connector
a special connector. For connection to the inverters or controller units. The HMC cables
frequency inverter, the cable is split into have been designed for easy assembly
power connections, brake connections, of the matching connecting elements.
and an encoder connector. Importantly, this does not impair the noise
immunity. Power wires Encoder output
When the components are correctly cable inside the
Brake wires
assembled, the connecting elements attain Components motor housing
an IP67 rating. Preparing a motor for the single-cable Temperature
solution requires only a handful of Encoder
components.

Brake connections Connecting element on the motor

The motor housing is equipped with a
Motor
connections
standard flange socket for HMC 2 or a special
Encoder connections angle flange socket for HMC 6. This angle
flange socket brings together the wires for
the encoder, motor power, and brake.
Subsequent electronics
Crimping tools for the power wires
The crimp contacts for the power and brake
wires are assembled with the usual tools. Encoder wires
Brake wires
Output cables inside the motor housing
Benefits The rotary encoder is connected by means Power wires
The HMC single-cable solutions offer a • Eliminated separate assignment of • Fewer required servicing components of the output cables inside the motor
series of cost and quality benefits for power cables and encoder cables in the • Smaller motor profile with cable housing: your pre-assembled communication
motor and machine manufacturers: machine attached, enabling easier integration into element for the HMC 6 or the two contacts
• Continued use of existing interfaces • Reduced mechanical requirements the machine housing for HMC 2 are simply plugged into the
• Realization of smaller drag chains (flange socket on the motor, cable ducts • HEIDENHAIN-tested combination of angle flange socket.
• Significant improvement in drag-chain in the machine housing) power and encoder cable
suitability thanks to fewer cables • Reduced logistics for cables and Cable with hybrid connector
• Wide range of available encoders for connectors The HMC connecting cable contains the
HMC 2 and HMC 6 transmission • Easier and faster installation wires for the encoder, power supply, and
• Reduced documentation brake.

Further information:
For more information about HMC 6 and HMC 2, refer to the respective
Product Information document and visit www.endat.de.

26 27
Safety-related position measuring systems

Safe axes Type-examined encoders Standard encoders Fault exclusion for the loosening of the can result in additional constraints in the Standard encoders
Driven axes and moving parts can represent Encoders from HEIDENHAIN are used In addition to those encoders explicitly mechanical connection permissible limit values in the specifications. In addition to those encoders explicitly
a great hazard for humans. Particularly if successfully on a variety of controls in qualified for safety applications, standard Irrespective of the interface, many safety In addition, fault exclusions for the loss or qualified for safety applications, standard
the human interacts with the machine widely differing safety designs. This applies encoders (e.g., with Fanuc interface or designs require the safe mechanical loosening of the mechanical coupling encoders (e.g., with 1 VPP signals) can be
(e.g., during workpiece setup), it must be particularly to the type-examined encoders 1 VPP signals) can also be used in safe axes. connection of the encoder. The standard usually require additional measures when used in safe applications as well. In such
ensured that the machine does not make with EnDat and DRIVE-CLiQ interfaces. The In such cases, the characteristics of the for electric drives, EN 61800-5-2, includes mounting the encoders or in the event of cases, the characteristics of the encoders
any uncontrolled movements. Here, the encoders can be operated as single-encoder encoders must be matched to the the loosening of the mechanical connection servicing, e.g. anti-rotation lock for screws. must be matched to the requirements
position information of axes is needed to systems in conjunction with a suitable requirements of the respective control. between the encoder and the drive as a These factors must be considered for the of the respective control. To this end,
conduct a safety function. As an evaluating control in applications with the control To this end, HEIDENHAIN can provide fault that requires consideration. Because selection of a suitable encoder or a mounting HEIDENHAIN can provide additional data
safety module, the control has the task of category SIL 3 (according to EN 61508) or additional data about the individual the control may not be able to detect such mode. about the individual encoders (failure rate,
detecting faulty position information and performance level “e” (of EN ISO 13849). encoders (failure rate, fault model as per errors, fault exclusion is required in many fault model as per EN 61800-5-2).
reacting to it accordingly. Unlike incremental encoders, absolute EN 61800-5-2). cases. The requirements on a fault exclusion
encoders always provide a safe absolute
Various safety strategies can be pursued, position value—including immediately after Service life
depending on the topology of the axis and switch-on or a power failure. The reliable Unless otherwise specified, HEIDENHAIN
the evaluation capabilities of the control. In transmission of the position is based on encoders are designed for a service life of
a single-encoder system, for example, only two independently generated absolute 20 years (in accordance with ISO 13849).
one encoder per axis is evaluated for the position values and on error bits provided
safety function. However, on axes with two to the safe control. The purely serial data
encoders, such as a linear axis with a rotary transmission also offers other advantages,
and a linear encoder, the two redundant such as greater reliability, improved accuracy,
position values can be compared with each diagnostic capabilities, and reduced costs
other in the control. through simpler connection technology. Further information: Further information:
Safe fault detection can be ensured only The safety-related characteristic values are Adhere to the information in the following documents to ensure the correct
if the two components—control and listed in the specifications of the encoders. and intended operation of the encoder:
encoder—are properly adapted to one The Technical Information document • Mounting Instructions
another. Here, it is to be noted that the safety Safety-Related Position Encoders provides • Product Information
designs of control manufacturers differ explanations of the characteristic values. • Customer information about fault exclusion
from one another. This also means that the Upon request, HEIDENHAIN can likewise • Technical Information document:
requirements to be fulfilled by the connected provide additional data about the individual Safety-Related Position Measuring Systems 596632
encoders can sometimes differ. products (failure rate, fault model as per
EN 61800-5-2) for the use of standard For implementation in a control with EnDat22:
encoders in safety-related applications. • Specification for Safe Control 533095

For implementation in a control with EnDat3:

• Application Conditions for Functional Safety 3000003

Measured-value Transmission line Reception of measured values

acquisition
Safety-related position measuring system
Safe control

EnDat 2.2 or EnDat 2.2 or Interface 1

EnDat 3

EnDat interface
Position 1 EnDat 3
EnDat
Master
(protocol and cable)
Position 2 Interface 2
EnDat Master

Safe control
Motor
Encoder
Catalog of measures

Two independent Serial data transmission Position values and error bits
Power cable Power stage position values via two processor interfaces
Internal monitoring Monitoring functions
DRIVE-CLiQ is a registered trademark of Protocol implementation Efficiency test
Siemens AG.
Complete safe drive system with EnDat 2.2 Safety-related position measuring system with EnDat 2.2
28 29
Measuring principles
Measuring standard Scanning methods

HEIDENHAIN encoders with optical In the absolute measuring method, the A separate incremental track, or the track Photoelectric scanning
scanning incorporate measuring standards position value is available immediately upon with the finest grating period, is interpolated Most HEIDENHAIN encoders utilize the The ECN and EQN absolute rotary encoders
consisting of periodic structures known encoder switch-on and can be requested for the position value and is simultaneously photoelectric scanning principle. Photoelectric with optimized scanning contain a single,
as graduations. by the subsequent electronics at any time. used to generate an optional incremental scanning is performed contact-free and large-surface, finely structured photosensor
These graduations are applied to a substrate There is therefore no need to search for signal. thus does not induce wear. This method rather than a group of individual photocells.
of glass or steel. For encoders with large the reference position by jogging the axes. detects even extremely fine graduation The width of the photosensor’s structures
diameters, steel tape is used as the This absolute position information is Singleturn rotary encoders repeat the lines down to a width of only a few is identical to the width of the measuring
substrate. ascertained from the graduation of the absolute position information with each micrometers and generates output signals standard’s grating structure. A scanning
graduated disk, which contains a code revolution. Multiturn encoders can with very small signal periods. reticle with a matching structure is
HEIDENHAIN manufactures its precision structure or consists of multiple parallel distinguish between additional revolutions. therefore not needed.
graduations in specially developed, graduation tracks. The ERN/ECN/EQN/ERO and ROD/RCN/
photolithographic processes: RQN rotary encoders are designed in
• AURODUR: matte-etched lines on a accordance with the imaging scanning
gold-plated steel tape; typical grating principle.
period: 40 µm
• METALLUR: contamination-tolerant Put simply, the imaging scanning principle
graduation consisting of metal lines on uses projected-light signal generation:
gold; typical grating period: 20 μm two gratings with equal or similar grating LED light source Condenser
• DIADUR: extremely robust chromium periods—the graduated disk and the Graduated Incremental track
lines on glass (typical grating period: scanning reticle—are moved relative to disk
20 μm), or three-dimensional chromium each other. The carrier material of the Absolute track
structures (typical grating period: 8 μm) scanning reticle is transparent, whereas
on glass the graduation of the measuring standard
• SUPRADUR phase grating: optically may likewise be applied to a transparent
three-dimensional, planar structure; material or to a reflective material.
particularly tolerant to contamination; When parallel light passes through a
typical grating period: 8 μm and finer grating structure, light and dark fields are
• OPTODUR phase grating: optically projected at a certain distance. At this
three-dimensional, planar structure with location there is an index grating with the
particularly high reflectance; typical same or similar grating period. When the Structured photosensor
graduation period: 2 μm and finer two graduations move relative to each
other, the incident light is modulated: if the
For magnetic encoders, a substrate made of Graduated disks of absolute rotary encoders gaps are aligned, light passes through. Photoelectric scanning according to the imaging scanning principle
magnetizable steel alloy is used. Within it, If the lines of one grating coincide with the
a graduation consisting of north and south gaps of the other, no light passes through.
poles is created with a grating period of Photocells or a structured photosensor
400 µm. Due to the short range of electro­ In the incremental measuring method, The absolute position established by the convert these fluctuations in light into nearly
magnetic interactions and the resulting the graduation consists of a periodic reference mark is assigned to exactly one sinusoidal electrical signals. In encoders
narrowness of the scanning gap, finer grating structure. Position information is measuring step. that use the imaging scanning principle,
magnetic graduations are not practical. obtained through the counting of workable mounting tolerances are attainable
individual increments (measuring steps) Thus, before an absolute reference can be starting at a minimum grating period of
Encoders that use the inductive scanning starting from a freely settable point of established or the most recently selected 10 μm.
principle employ metal graduations or origin. Since position ascertainment reference point can be refound, this
copper/nickel-based graduations. These requires an absolute reference, the reference mark must first be traversed.
graduation structures are applied to a graduated disks have an additional track Area of receiver coils
printed-circuit carrier material. containing a reference mark.
Area of exciter coils

Other scanning principles

Some encoders operate in accordance with
other scanning methods. As their measuring
standard, ERM encoders use a permanently
magnetized MAGNODUR graduation that
is scanned with magnetoresistive sensors.

ECI/EQI/EBI rotary encoders operate

according to the inductive measuring
principle. In this case, moving graduation
structures modulate the gain and phase of Moving
a high-frequency signal. By means of graduation
circumferential scanning, the position value structure
is always generated based on the signals
from the receiver coils that are distributed
along the circumference. This permits wide
Graduated disks of incremental rotary encoders mounting tolerances at high resolution. Inductive scanning
30 31
Measuring accuracy
Electronic commutation with position encoders

Commutation with permanent-magnet The variables influencing the accuracy of Encoder-specific error The following factors influence the outcome:
three-phase AC motors linear encoders are listed in the Linear In the specifications for rotary encoders, • Fineness of the signal period
Electronic commutation for a permanent- Encoders For Numerically Controlled the encoder-specific error is stated as the • Homogeneity and period definition of
magnet three-phase AC motor requires the Machine Tools and Exposed Linear Encoders system accuracy. the graduation
position of the rotor as an absolute value brochures. • Quality of scanning filter structures
prior to motor start-up. HEIDENHAIN The extreme values of the total error for • Characteristics of the sensors
rotary encoders come with different types The angular measurement accuracy is any given position relative to their mean lie • Stability and dynamic performance of
of rotor position recognition: primarily determined by the following within the system accuracy of ±a. further analog signal processing
factors:
• Absolute rotary encoders in singleturn • Quality of the graduation The system accuracy reflects position These errors are taken into account in the
and multiturn versions provide the • Scanning quality errors within one revolution as well as information about interpolation error within
absolute position information immediately • Quality of the signal processing electronics interpolation errors within one signal period one signal period. For rotary encoders with
after switch-on, allowing the exact • Eccentricity of the graduation relative to and—for rotary encoders with stator an integral bearing and sinusoidal output
position of the rotor to be derived for Graduated disk with the bearing coupling—the errors of the shaft coupling. signals, these errors are less than ±1% of
electronic commutation. serial code track and • Error of the bearing the signal period, and less than ±3% for
incremental track • Coupling with the drive shaft Interpolation error within one encoders with square-wave output signals.
• Along with delivering incremental signals, • Elasticity of the stator coupling signal period These signals are suitable for up to 100-fold
incremental rotary encoders with a (ERN, ECN, EQN) or shaft coupling The interpolation error within one signal PLL subdivision.
second track—the Z1 track—provide (ROD, ROC, ROQ) period is considered separately, since it
one sine and one cosine signal (C and D) has an effect even in very small angular Due to the higher reproducibility of a
for each revolution of the motor shaft. These factors can be divided into encoder- movements and in repeated measurements. position, much smaller measuring steps
For sine commutation, rotary encoders specific errors and application-specific It particularly causes speed ripples in the are still practical.
with a Z1 track simply require a subdivision factors. For assessment of the attainable speed control loop.
unit and a signal multiplexer in order to overall accuracy, all of these individual
obtain the absolute rotor position down factors must be taken into account. The interpolation error within one signal
to an accuracy of ±5° from the Z1 track period ±u results from the scanning quality
and to obtain the position information for and, for encoders with integrated pulse-
speed and position control from the shaping or counter electronics, the quality
incremental track (see also Interfaces: of the signal-processing electronics. For
Commutation signals). encoders with sinusoidal output signals,
however, the error from the signal
• Incremental rotary encoders with Graduated disk with processing electronics is dictated by the
block commutation tracks also output Z1 track
subsequent electronics.
three commutation signals U, V, and W,
which are used to directly drive the
power electronics. These rotary encoders
are available with various commutation
tracks. Typical versions have three signal
periods (120° mech.) or four signal
periods (90° mech.) per commutation
signal and revolution. Irrespective of this,
the incremental square-wave signals are
used for position and speed control (see
also Interfaces: Commutation signals). Interpolation error within one revolution Interpolation error within one signal period

Position error 
Position error 
Interpolation error
Commutation of synchronous within one
linear motors Graduated disk with signal period
Like absolute rotary and angular encoders, block commutation
tracks
the LIC and LC absolute linear encoder
series provide the exact position of the
motor’s moving component immediately
upon switch-on. Maximum holding load is
thereby possible even at standstill.

Signal period

Signal level 
Position 
360 °elec.

Further information:
Please note the switch-on behavior of
the encoders (see the Interfaces of
HEIDENHAIN Encoders brochure).

32 33
Application-dependent errors

For rotary encoders with an integral Rotary encoders with 1. Directional errors of the graduation The following relationship exists between 3. Radial runout of the bearing Rotary encoders with
bearing, the specified system accuracy photoelectric scanning ERO: The extreme values of the directional the eccentricity e, the mean graduation The stated relationship for the measuring inductive scanning
already takes the error of the bearing into In addition to the system accuracy, the errors relative to their mean are listed in diameter D, and the measuring error ¹j error ¹j also applies to the radial runout of As with all rotary encoders without an
account. In the case of angle encoders mounting quality and adjustment of the the Specifications as the accuracy of the (see figure below): the bearing when the eccentricity e is integral bearing, the attainable accuracy of
with a separate shaft coupling (ROD, ROC, scanning head also have a significant effect graduation. The system accuracy consists replaced by one half of the radial runout inductive-scanning encoders without an
ROQ), the angular error of the coupling on the attainable overall accuracy of rotary of the graduation accuracy and position ¹j = ±412 · e (half of the displayed value). integral bearing depends on the mounting
D
must be considered as well (see Mechanical encoders without an integral bearing but error within one signal period. Bearing compliance under a radial load and application conditions. The stated
design types and mounting). For angle with photoelectric scanning. Of particular ¹j = M
easuring error in ” (arc seconds) applied to the shaft causes similar errors. system accuracy assumes a temperature
encoders with stator coupling (ERN, importance are the mounting eccentricity 2. Errors due to eccentricity of the e = E ccentricity of the radial grating of 20 °C and a low shaft speed. The
ECN, EQN), the system accuracy already of the graduation and the radial runout of graduation relative to the bearing relative to the bearing in µm 4. Position error within one signal utilization of all permissible tolerances for
includes the error of the shaft coupling. the measured shaft. During mounting of the disk/hub assembly, D = M
ean graduation diameter in mm period ¹ju the operating temperature, speed, supply
it is to be expected that the bearing will The scanning units of all HEIDENHAIN voltage, scanning gap, and mounting
In contrast, for encoders without integral Example exhibit radial runout or eccentricity errors. encoders are adjusted such that, without condition must be taken into account for
bearing, the mounting, as well as the For an ERO 1420 rotary encoder with a When centering via the centering collar of Version Graduation Error per any further electrical adjustment during determining the typical total error.
adjustment of the scanning head, has a mean graduation diameter of 24.85 mm: the hub, bear in mind that HEIDENHAIN centerline 1 µm of mounting, the maximum position error
decisive influence on the attainable overall A radial runout of the measured shaft of guarantees an eccentricity of the graduation diameter D eccentricity within one signal period (listed below) is Since inductive rotary encoders use
accuracy. Of particular importance are both 0.02 mm results in a position error of relative to the centering collar of less than not exceeded. circumferential scanning, their overall error
the mounting eccentricity of the graduation ±330 arc seconds within one revolution. 5 μm for the encoders listed in this brochure. ERO 1420 D = 24.85 mm ±16.5” is generally lower than that of optical rotary
and the radial runout of the measured shaft. With modular encoders, this stated ERO 1470 encoders without an integral bearing.
Evaluation of the overall accuracy of these To evaluate the accuracy of modular accuracy presupposes a diameter error of ERO 1480 Model Line Position error within Because overall error cannot be determined
encoders requires that their application- rotary encoders without an integral zero between the motor shaft and the count one signal period ¹ju through a simple calculation, these values
dependent errors be individually measured bearing (ERO), the relevant errors must “master shaft.” ERO 1225 D = 38.5 mm ±10.7” are provided in the following table.
and taken into account. be considered individually. ERO 1285 TTL 1 VPP
In the worst-case scenario, if the centering
collar is centered relative to the bearing, Model System Total
ERO 2048  ±19.0”  ±  6.5” accuracy error
then the two eccentricity vectors may be 1500  ±26.0”  ±  8.7”
cumulative. 1024  ±38.0”  ±13.0” ECI 1100 ±120” ±280”
1000  ±40.0”  ±14.0” EBI 1100
 512  ±76.0”  ±25.0” EQI 1100
EnDat22
These values for the position error within E30-R2
one signal period are already included in
the system accuracy. Greater error can ECI 1300 (S) ±65” ±120”
arise if the mounting tolerances are EQI 1300 (S)
exceeded. EnDat22
E30-R2
DQ01

ECI 100 ±90” ±180”

EBI 100

ECI 4000 (S) ±25” ±140”

EBI 4000
90 mm hollow shaft
Scanning unit
Measuring ¹j in angular seconds 

EnDat22
DQ01

ECI 4000 (S) ±40” ±150”

EBI 4000
180 mm hollow shaft
EnDat22 DQ01

Dependency of the
measuring error ¹j
on the mean graduation
diameter D and the
Resultant measuring eccentricity e.
error ¹j for various
eccentricity values e as a M = Center of graduation
function of the mean Eccentricity e in µm  j = "True" angle
graduation diameter D j‘ = Scanned angle
34 35
Mechanical design types and mounting
Rotary encoders with integral bearing and stator coupling

The ECN/EQN/ERN rotary encoders Mounting the ECN/EQN/ERN 1000

feature an integral bearing and a mounted ECN/EQN 1100
and ERN 1x23
stator coupling. With these models, the The hollow shaft of these rotary encoders is ECN/EQN/ERN 1000
encoder shaft is directly connected to the slid onto the measured shaft and clamped
measured shaft. During angular acceleration on the rotor side with two screws. These
of the shaft, the stator coupling must encoders are mounted on the stator side
absorb only the torque arising from friction without a centering flange onto a plane
within the bearing. ECN/EQN/ERN rotary surface via four clamping screws or via two
encoders thus exhibit excellent dynamic clamping screws and washers.
performance and a high natural frequency. The ECN/EQN/ERN 1000 encoders have a
blind hollow shaft, but the ERN 1123 has a
Benefits of the stator coupling:
hollow through shaft.
• No axial mounting tolerance between
the shaft and stator housing
• High natural frequency of the coupling
Accessory for ECN/EQN/ERN 1000
• High torsional rigidity of shaft coupling
• Minimized space requirement for
Washer
external and internal mounting
For increasing the natural frequency fN
• Easy axial mounting
ECN/EQN/ERN 1300 when fastening with only two screws.
ID 334653-01 (2 washers)
Mounting the ECN/EQN 1100 and
ECN/EQN/ERN 1300
The blind hollow shaft or the tapered shaft
of the rotary encoder is connected at the
encoder’s front face to the measured shaft
by way of a central screw. Proper centering
onto the motor shaft is accomplished via
the hollow shaft or tapered shaft. On its
stator side, the ECN/EQN 1100 is connected
to a plane surface with two clamping
screws (without a centering collar). The
stator side of the ECN/EQN/ERN 1300 is
clamped in a mating hole with an axial
screw. The versions with fault exclusion
feature an additional nose for a positive
lock in the stator.

Mounting accessories
ECN/EQN/ECI/EQI 1100: Mounting aid
For turning the encoder shaft from the rear.
This facilitates finding the positive-locking
connection between the encoder and the
measured shaft.
ID 821017-03
ERN/ECN/EQN 1300: Inspection tool
For inspecting the shaft connection
(fault exclusion for rotor coupling).
ID 680644-01
HEIDENHAIN recommends inspecting the
holding torque of non-positive-locking shaft
connections (e.g., tapered shafts, blind
hollow shafts).
The inspection tool is screwed into the
M10 back-off thread from the rear of the
encoder. Due to the short thread engage­
ment, the fastening screw for the shaft is
not touched. With the motor shaft locked in
place, the testing torque is applied to the
extension by means of a torque wrench
(hexagonal, width A/F: 6.3 mm). After any
nonrecurring settling, it must be ensured
that there is no relative motion between
the motor shaft and the encoder shaft.

36 37
ECI/EBI/EQI rotary encoders without integral bearing

The ECI/EBI/EQI inductive encoders have Permissible scanning gap

0.05 A

Amplitude in % 
no integral bearing. This means that the Cx T1 The size of the scanning gap between Tolerance at the time of shipping, including influence of
mounting and operating conditions influence the rotor and the stator is dictated by the the supply voltage
the encoder’s function reserves. It is also Scanning gap a = 0.65 mm ±0.3 mm mounting situation. Later adjustment is Temperature influence at max./min. operating temperature
essential to ensure that the specified mating possible only through the insertion of
dimensions and tolerances are maintained shim rings.
T2
for all operating conditions (see mounting

instructions). X1, X2
The maximum permissible error specified
in the mating dimensions applies to both
The application analysis must yield values mounting and operation. Thus, the tolerances
within specification for all possible operating exploited during mounting are no longer
conditions (particularly under maximum load available during operation.
0.05 A
and at minimum and maximum operating
temperature) and with the signal amplitude Schematic Once the encoder has been mounted, the
taken into account (inspection of the representation of actual scanning gap between the rotor and ECI 1118/
b
EBI 1135 with EnDat 2.2 Deviation from the ideal scanning gap in mm 
scanning gap and mounting tolerance at ECI/EBI 100 the stator can be indirectly measured with
room temperature). This particularly applies the PWM 21 adjusting and testing package
to the following determined factors: using a signal amplitude inside the rotary Tolerance at the time of shipping, including influence of the

Amplitude in % 
• Maximum radial runout of the motor shaft encoder. The characteristic curves illustrate supply voltage
• Maximum axial runout of the motor shaft the relationship between the signal amplitude Temperature influence at max./min. operating temperature
relative to the mounting surface and the deviation from the ideal scanning
• Maximum and minimum scanning gap (a), gap under different ambient conditions.
including in combination with, for example,
the following: The example of the ECI/EBI 1100 shows
– The length ratio between the motor the resulting deviation from the ideal
shaft and the motor housing under the scanning gap for a signal amplitude of 80%
influence of temperature (T1; T2; 1; 2), under ideal conditions. Due to tolerances
depending on the position of the fixed within the rotary encoder, the deviation is
bearing (b) between +0.03 mm and +0.2 mm. Thus,
– The bearing play (CX) the maximum permissible motion of the
–N on-dynamic shaft offsets due to measured shaft during operation ranges
load (X1) from –0.33 mm to +0.1 mm (green arrows). ECI/EBI 100 Deviation from the ideal scanning gap in mm 
– The effect of the motor brakes being Mounting the ECI 119
engaged (X2) Display of the scanning gap
The latest generation of encoders supports
The ECI/EBI 100 rotary encoders are the display of the mounting dimension in
pre-aligned on a plane surface and, with the ATS software. This additional data can
their hollow shaft locked, are slid onto the also be requested by the drive during
measured shaft. Fastening and shaft closed-loop operation.
clamping are achieved with axial screws.

The ECI/EBI/EQI 1100 inductive rotary

encoders are mounted flush on their axis.
Their blind hollow shaft is fastened with a
central screw. The stator of these rotary
encoders is clamped onto a shoulder with
two axial screws.
Mounting the
ECI/EQI 1100
ID ExI mounting Mounting ID ExI mounting Mounting ID ExI mounting Mounting
Mounting accessory wizard interface wizard interface wizard interface
Mounting aid for removing the
PCB connector (see page 42). 728563-xx  811811-xx  1259551-xx 

820725-xx  811815-xx  1259552-xx 

1164809-xx  810661-xx  1286377-xx 

1164811-xx  810662-xx  1286388-xx 

1164812-xx  823405-xx 

1164813-xx  823406-xx 

823407-xx 

38 39
ERO rotary encoders without integral bearing

The ECI/EBI/EQI 1300 inductive rotary The ERO rotary encoders without an ERO 1200
encoders are mounted flush on their axis. integral bearing consist of a scanning head
Their blind hollow shaft is fastened with a and a graduated disk that must be brought
central screw. The stator of these rotary into mutual alignment during mounting.
encoders is clamped to a shoulder by three Precise alignment is an important factor in
axial screws. reaching the attainable measuring accuracy.

The ERO modular rotary encoders consist

of a disk/hub assembly and a scanning unit.
These encoders are particularly well suited ERO 1400
for limited installation space, low axial offsets,
and low radial runout, or for applications
Mounting the where friction of any type must be avoided.
ECI/EQI 1300
with EnDat22 and In the ERO 1200 series, the disk/hub
EnDat3 assembly is pressed onto the shaft and Mounting the ERO
brought into alignment with the scanning
The scale drum of the ECI/EBI 4000 unit. The scanning unit is aligned on a
inductive rotary encoders is slid onto the centering collar and fastened to the
centering collar of the measured shaft and mounting surface.
fastened (with/without a key, depending
on the version). Then the stator is fastened The encoders of the ERO 1400 series are
via an external centering diameter. miniaturized modular rotary encoders.
These encoders feature a special built-in
mounting aid that centers the graduated
disk relative to the scanning unit and adjusts
the gap between the graduated disk and
the scanning reticle. Short installation time
can thus be attained. The encoder comes
with a cover cap for protection against
extraneous light.
Mounting the
ECI/EBI 4000

Mounting accessories for the ERO 1400

Mounting accessory
Aid for removing the clip in order to achieve
optimal encoder mounting.
ID 510175-01

Accessory
Housing for the ERO 14xx with an axial
PCB connector and central hole.
ID 331727-23

Mounting accessories
for the ERO 1400

40 41
Information on output cables General testing accessories for modular encoders and the PWM 21

Mounting and commissioning must be Accessory Testing cable for directly Adapter connector* for ID 621742-01
performed with appropriate ESD protection. Mounting aid for disengaging the PCB connecting a modular rotary Three connectors for replacement.
Do not engage or disengage the connecting connector. Suitable for all rotary encoders 12-pin: ID 528694-01
element when it is under power. To avoid in this brochure, except for the ERO 1200 encoder to a PWM 21 15-pin: ID 528694-02
overstressing the individual wires during series (ID 1075573-01). *Adapter connectors should be replaced
disengagement of the connecting element, Testing cable for modular rotary encoders after 500 connection cycles
HEIDENHAIN recommends using the To avoid damaging the cable, apply pulling with EnDat (EnDat22, EnDat01, or E30-R2)
mounting aid for disconnecting the force only to the connector and never to or SSI interface Testing cable for the ERN 138xx, with
PCB connector. the wires. For other encoders, use tweezers Includes three 12-pin adapter connectors commutation signals for sinusoidal
or the mounting aid as needed. and three 15-pin adapter connectors. commutation
Strain relief ID 621742-01 Includes three 14-pin adapter connectors.
Avoid torque or tensile stress, and use ID 1118892-02
strain relief wherever necessary. Connecting cable for EnDat or Testing cables for modular rotary encoders
Mounting aid for PCB connector
SSI interface Connecting cable for ERN 1387
Straight M12 flange socket For extending the testing cable; completely For extending the testing cable
Retention force of polarizing key: assembled with a 15-pin D-sub connector Completely assembled with 15-pin D-sub
max. 1 Nm. Cable length (rated length) Electromagnetic compatibility (male) and a 15-pin D-sub connector (female), connector (male) and 15-pin D-sub connector
For output cables with a crimp on the Cables from HEIDENHAIN are tested for max. 3 m. (female), max. 3 m.
Screws encoder side for strain relief and a shield electromagnetic compatibility. For output ID 1080091-xx ID 675582-xx
For output cables with standard M12 or contact, the cable length is specified up to cables with wires for temperature sensors,
M23 flange sockets, use M2.5 screws. the crimp sleeve. Exceptions apply, for electromagnetic compatibility must be Adapter connector for ID 1118892-02
example, to output cables without a crimp ensured in the entire system. Testing cable for modular rotary Three connectors for replacement.
The mounting method with M2.5 screws on the encoder side and to those with a encoders with DRIVE-CLiQ interface ID 528694-04
was designed for the following tightening sensor connection at the subsequent Crimp connector Includes three 12-pin adapter connectors
torques: electronics or with a shield connection For joining (crimping) the wires of the and three 15-pin adapter connectors.
For M12, M23:   min. Tt 0.4 Nm clamp. Upon request, you can obtain temperature-sensor output cable to the ID 621742-01 EnDat 3 adapter (SA 1210)
  max. Tt 0.5 Nm binding information (a dimension drawing) wires of the temperature sensor inside Adapter for connecting an encoder with
Load-bearing thread length: min. 4 mm corresponding to the ID number of the the motor (ID 1148157-01). Only in connection with: EnDat 3 (E30-R2) to the PWM 21
Minimum tensile strength respective output cable (see Cables and Adapter cable for DRIVE-CLiQ,  6.8 mm 15-pin D-sub connector (male) and
of the screws: 800 N/mm2 connecting elements). 15-pin D-sub (female) and 15-pin D-sub connector (female)
6-pin RJ45 Ethernet connector ID 1317260-01
with IP20 metal housing. EnDat 3 adapter (SA 1210)
To prevent self-loosening of the screws,
ID 1228399-01
HEIDENHAIN recommends using a
material bonding threadlocker.

Adapter cables for connecting Adapter cable  8 mm Adapter cable  9.3 mm
Designation of the cable components the flange socket on the motor for EnDat01, EnDat Hx, EnDat Tx, or EnDat 3 interface (E30-R2) for HMC 2,
SSI interface with incremental signals only in combination with EnDat3 adapter
Electrical connection 1 to the PWM 21 17-pin M23 connector (female) and M12 SpeedTEC hybrid connector (female),
Wire length Cable length (L)
(customer side) 15-pin D-sub connector (male). four power wires, two brake wires, and
Electrical connection 2 Cable design 1 (data transmission) Pin layout 1 Adapter cable  6 mm ID 324544-xx two communication wires
(rotary encoder) Cable type 1, color, number of shields, outer shield for the EnDat22 interface 15-pin D-sub connector (male).
9-pin M23 connector (female) Adapter cable  8 mm ID 1189174-xx
8-pin M12 coupling (male). 12-pin M23 connector (female)
ID 1136863-xx (ID 524599-xx is additionally 15-pin D-sub connector (male). Adapter cable  9.3 mm
Cable end 1 Cable end 2 required: 15-pin M12 (female) and ID 310196-xx M23 SpeedTEC hybrid connector (female),
with sheath or shield Electrical connection 5 Cable design 2 with sheath or shield 15-pin D-sub connector (male))
(temperature sensor) assembly 2 four power wires, two signal wires, and
assembly 1 Pin layout 2
Adapter cable  13.6 mm, two communication wires
Adapter cables,  6 mm/8 mm version for HMC 6 15-pin D-sub connector (male).
Cable length (L1) of the additional cable 8-pin M12 connector (female) M23 SpeedTEC hybrid connector (female), ID 1275291-xx
15-pin D-sub connector (male). five power wires, two brake wires,
Temperature sensor signals via electrical connection 1 ID 1036526-xx    6 mm and six communication wires
ID 1129753-xx    8 mm 15-pin D-sub connector (male).
Wire length Cable length (L) Electrical connection 1
(customer side) ID 1189174-xx
Electrical connection 2 Cable design 1 (data transmission) Pin layout 1
Cable type 1, color, number of shields, outer shield Adapter cable  6.8 mm
(rotary encoder)
for the DRIVE-CLiQ interface
9-pin M23 connector (female)
6-pin RJ45 Ethernet connector
with IP20 metal housing.
Cable bushing 1 or Cable bushing 2
Cable design 2 Electrical connection 5 or sheath and shield ID 1117540-xx
sheath and shield
assembly 1 (temperature sensor) Pin layout 2 assembly 2
Adapter cable,  6.8 mm
DRIVE-CLiQ is a registered trademark of
Cable length (L1) of the additional cable 8-pin M12 connector (female) Siemens AG.
6-pin RJ45 Ethernet connector
Temperature sensor signals via rotary encoder PCBA with IP20 metal housing. SpeedTEC is a registered trademark of TE
ID 1093042-xx Connectivity Industrial GmbH.
42 43
Compatible mounting dimensions Mounting accessories

Mating dimensions and tolerances must Screwdriver bits Screwdriver

be taken into account during the mounting • For HEIDENHAIN shaft couplings When using screwdrivers with adjustable
of rotary encoders. Within some rotary • For ExN shaft clampings and stator torque, make sure that they comply with
encoder series, the mating dimensions couplings DIN EN ISO 6789 for fulfilling the required
may exhibit only slight differences or even • For ERO shaft clampings torque tolerances.
be identical. Certain rotary encoders are
therefore mounting-compatible with each Width across Length ID Adjustable torque, with accuracy of ±6%
other, allowing different encoders to be flats 0.2 Nm to 1.2 Nm ID 350379-04
mounted to the same motor as the 1 Nm to 5 Nm ID 350379-05
requirements dictate. 1.5 70 mm 350378-01
All dimensions, tolerances, and required
mating dimensions are indicated in the 1.5 (spherical head) 350378-02
dimension drawing of the respective series.
Deviating values for rotary encoders with 2 350378-03
functional safety (FS) are provided in the
corresponding Product Information 2 (spherical head) 350378-04
documents.
Series Differences 2.5 350378-05
All absolute rotary encoders of the ECN/EQN 1100 FS Standard, with slot for FS devices 3 (spherical head) 350378-08
ECN/EQN 1100 FS, ECI/EQI 1100 FS,
ECI/EBI 1100, and ECI/EQI 1100 series are ECI/EQI 1100 FS Same as ECN/EQN 1100 FS, but with a different tolerance for the 4 350378-07
mounting-compatible within the respective deviation between the shaft and coupling surfaces
series, exhibiting only minor differences 4 (with dog point)1) 350378-14
in the permissible deviation between the ECI 1118/EBI 1135 Same as ECN/EQN 1100 FS, but with a different tolerance for the
shaft surface and coupling surface. deviation between the shaft and coupling surfaces 150 mm 756768-44

ECI 1119/EQI 1131 Same as ECN/EQN 1100 FS, but with a different tolerance for the TX8   89 mm 350378-11
deviation between the shaft and coupling surfaces 152 mm 350378-12
1)
For DIN 6912 screws
TX15   70 mm 756768-42 (low head screw with pilot recess)

Some rotary encoders of the ERN 1300, Series Required mating dimensions Screws
ECN/EQN 1300, ECI/EBI/EQI 1300 FS, and Screw Securing method ID
ECN/EQN 400 series are also mounting- ERN 1300 ECN/ ECI/EBI/ ECN/
compatible with each other and can be M3x8-8.8 ISO 4762 MKL Material bonding anti-rotation lock 202264-67
EQN 1300 FS EQI 1300 FS EQN 400 FS
mounted to identical motors. Minor M3x10-8.8 ISO 4762 MKL Material bonding anti-rotation lock 202264-87
differences, such as the anti-rotation ERN 1300   
element and a limited tolerance for the M3x16 A2 ISO 4762 KLF Self-locking 202264-30
inside diameter, must be taken into ECN/EQN 1300 FS   M3x20 A2 ISO 4762 KLF Self-locking 202264-45
account.
M3x22-8.8 ISO 4762 MKL Material bonding anti-rotation lock 202264-65
ECI/EQI 1300 FS
M3x25-8.8 ISO 4762 MKL Material bonding anti-rotation lock 202264-86
ECN/EQN 400 FS   M3x25 A2 ISO 4762 KLF Self-locking 202264-26
M3x35-8.8 ISO 4762 MKL Material bonding anti-rotation lock 202264-66
M4x10-8.8 ISO 4762 MKL Material bonding anti-rotation lock 202264-85
Series Differences M5x25-8.8 DIN 6912 MKL Material bonding anti-rotation lock 202264-55
ERN 1300 Standard, deployable for taper shaft M5x30-8.8 DIN 6912 MKL Material bonding anti-rotation lock 202264-76
M5x35-8.8 ISO 4762 KLF Self-locking 202264-80
ECN/EQN 1300 Same as ERN 1300, but with an additional ridge as an anti-rotation
element (stator coupling) M5x50-8.8 DIN 6912 KLF Self-locking 202264-36
M5x50-8.8 DIN 6912 MKL Material bonding anti-rotation lock 202264-54
ECI/EBI/EQI 1300 FS Same as ERN 1300, but with an anti-rotation element (flange)
Fastener kit Material bonding anti-rotation lock 20 pieces:
• M3 fixing clamp 1264352-01
ECN/EQN 400 Same as ECN/EQN 1300
• Spring washer: 3x0.70
DIN 128 A-FS ISO 200 pieces:
• Screw: M3x10 8.8 1264352-02
DIN EN ISO 4762

44 45
General information General mechanical information
Alignment of rotor positions between encoders and motors

Immediately after a synchronous motor is Certification by NRTL (Nationally Natural frequencies Starting torque and operating torque
switched on, information is needed about Encoder aligned
Recognized Testing Laboratory) In conjunction with the stator coupling, the The starting torque is the torque required
its absolute rotor position. Rotary encoders All of the rotary encoders in this brochure ECN/EQN/ERN rotary encoders form an to put the rotor into motion from standstill.
with additional commutation signals Encoder out of alignment comply with the UL safety regulations for oscillation-capable spring-mass system If the rotor is already rotating, then a
are suitable for this task but provide the U.S. and the CSA safety regulations for whose natural frequency fN of the coupling certain operating torque is acting on the
comparatively rough position information. Canada. should be as high as possible in the direction encoder. The starting torque and operating
Absolute rotary encoders in singleturn or of measurement. The natural frequency of torque are influenced by various factors,
multiturn designs are also well suited, Accelerations the coupling is influenced by the rigidity of such as the temperature, prior standstill
delivering the exact angular position down During mounting and operation, encoders the stator coupling and by the customer-side time, and the amount of wear on the
to an accuracy of a few arc seconds (see are subjected to various types of mounting situation. The stated typical natural bearings and seals.
also Electronic commutation with position acceleration. frequencies may vary depending on the
encoders). To achieve the most constant • Vibration encoder variant (e.g., singleturn or multiturn), The typical values stated in the specifications
motor currents possible, the rotor positions The encoders are qualified on a test stand production tolerances, and differing mounting are mean values based on encoder-specific
of the motor and of the encoder must be under the acceleration values stated in conditions. If radial and/or axial acceleration test series performed at room temperature
brought into mutual alignment when the the specifications at frequencies of forces also come into play, then the rigidity and at a stabilized operating temperature.
encoder is mounted. Inadequate alignment 55 Hz to 2000 Hz in accordance with of the encoder bearing and of the encoder The typical operating torques are also based
of the rotor positions will cause significant EN 60068-2-61). However, if the application stator has an effect as well. If such loads on constant shaft speeds. For applications
motor noise and high power dissipation. or mounting situation causes long-duration occur within your application, HEIDENHAIN in which the torque has a significant
resonant vibration, then proper functioning recommends consulting with the main influence, HEIDENHAIN recommends
First, the rotor of the motor is turned to the of the encoder may be impaired, or the facility in Traunreut. consulting with the main facility in Traunreut.
preferred position through the application encoder may incur damage.
of a DC current. Comprehensive testing of the entire HEIDENHAIN generally recommends Protection against contact (EN 60529)
system is therefore required. determining the natural frequency of the After completed installation, any rotating
Rotary encoders with commutation • Shock stator coupling in the complete system. parts must be sufficiently protected from
signals are then roughly aligned (e.g., using The encoders are qualified on a test unintentional contact during operation.
Motor current of an encoder when aligned and significantly out of alignment
the line markers on the encoder or the stand under the acceleration values Humidity
reference mark signal) and are mounted to stated in the specifications and under The maximum permissible relative humidity Protection EN 60529
the motor shaft. Fine adjustment is then the exposure times in accordance with is 75%. A relative humidity of 93% is The ingress of contamination can impair
performed with the PWT 101 testing EN 60068-2-27 for non-repetitive, semi- temporarily permissible. Condensation is proper functioning of the encoder. Unless
device (see Diagnostics, and inspection sinusoidal shock. Continuous shock not permissible. otherwise indicated, all of the rotary
and testing equipment): the stator of the loads are therefore not covered and encoders have an IP64 rating (ExN/ROx 400:
rotary encoder is turned until the PWT 101 must be tested in the application. Magnetic fields IP67) in accordance with EN 60529. These
displays a distance from the reference • The maximum angular acceleration Magnetic fields > 30 mT can affect encoder specifications apply to the housing, cable
mark of nearly zero. is 105 rad/s2. This is the maximum functioning. Please contact HEIDENHAIN outlet, and flange socket versions when
permissible angular acceleration of the in Traunreut, Germany, as needed. engaged.
Absolute rotary encoders are first rotor without the encoder incurring
completely mounted, after which a datum damage. The actual attainable angular Acoustic noise The shaft inlet meets an IP64 rating.
shift is used to assign the value “zero” to the acceleration is within the same order of Running noise can occur during operation. Splash water must not be allowed to have
preferred motor position. This is performed magnitude but can vary depending on This is particularly true of encoders with any harmful effect on the encoder’s parts.
with the adjusting and testing package (see the type of shaft connection (for deviating integral bearing and multiturn rotary If the protection rating of the shaft inlet is
Diagnostics, and inspection and testing values for the ECN/ERN 100, see the encoders (with gears). The intensity may not sufficient (e.g., due to vertical mounting
equipment). This package features complete Specifications). An adequate safety vary depending on the mounting situation of the encoder), then the encoders should be
EnDat functionality, allowing not only datum factor must be determined through and shaft speed. additionally protected with labyrinth seals.
shifts but also the use of other inspection system tests. Many encoders are also available with an
functions and the setting of write-protection IP66 rating for the shaft inlet. Depending
to prevent unintentional changes to saved Deviating values for rotary encoders with on the application, the radial shaft seal rings
values. Alignment of the rotor positions by means of the adjusting and functional safety are provided in the used for sealing are subjected to wear due
testing package corresponding Product Information to friction.
For the ECI/EQI rotary encoders with documents.
additional 1 VPP signals, manual adjustment
is possible as well. Please follow the
1)
information in the respective mounting Information on values below 55 Hz is
instructions. available upon request.

Online diagnostics of the PWT 101

46 47
For the fault exclusion design for functional safety, the following material properties and Conditions for longer storage periods Temperature ranges Self-heating at
System tests
conditions for the mating surfaces are assumed: For a storage period of twelve months or For encoders still in their packaging, a shaft speed nmax
Encoders from HEIDENHAIN are usually
Aluminum Steel longer, HEIDENHAIN recommends the storage temperature range of –30 °C to
integrated as components into complete
following: 65 °C applies (HR 1120: –30 °C to 70 °C). Solid shaft / ≈+5K
systems. Such applications require
Material type Hardenable wrought Unalloyed hardened steel • Leave the encoders in their original The operating temperature range tapered shaft ≈ +10 K
comprehensive testing of the complete
aluminum alloy packaging specifies the temperatures that a rotary ExN 400/1300 for IP66 protection
system, irrespective of the encoder’s
• The storage location should be dry, encoder is permitted to reach during
specifications.
Tensile strength Rm  220 N/mm2  600 N/mm2 free of dust, and temperature-regulated. operation in the actual installation Blind hollow shaft ≈ + 30 K
The specifications provided in this
It should also be free of vibration, environment. Within this range, proper ECN/EQN/ ≈ +40 K
brochure apply only to the encoder and
mechanical shock, and chemical functioning of the rotary encoder is ERN 400/1300 for IP66 protection
not to the complete system. Any operation
Yield strength Rp0.2 or Not applicable  400 N/mm2 environmental influences ensured. The operating temperature is
of the encoder outside of the specified
yield point Re • Every twelve months, rotate the shafts measured at the defined measuring point ECN/EQN/ Approx. +10 K
range or outside of its proper and intended
of the encoders with integral bearing at (see dimension drawing) and must not be ERN 1000
use is solely at the user’s own risk.
Shear strength τa  130 N/mm2  390 N/mm2 low speed and without axial or radial shaft confused with the ambient temperature.
loading so that the bearing lubrication Hollow through shaft ≈ +40 K
Interface pressure pG  250 N/mm2  660 N/mm2 becomes evenly redistributed (e.g., such The temperature of the rotary encoder is ECN/ERN 100 for IP64 protection
Mounting as when first breaking in an encoder) influenced by the following factors:
The steps and dimensions that must ECN/EQN/ERN 400 ≈ +50 K
Modulus of elasticity E 70 kN/mm to
2
200 kN/mm2 to • Installation situation for IP66 protection
be complied with during mounting are Parts subject to wear • Ambient temperature
specified solely in the mounting (at 20 °C) 75 kN/mm2 215 kN/mm2
Encoders from HEIDENHAIN are designed • Encoder self-heating
instructions supplied with the device. –6 –1 for a long service life. Preventive maintenance Typical self-heating values of a rotary encoder at
All mounting-related information in this Coefficient of thermal  25 · 10 K 10 · 10–6K–1 to maximum permissible shaft speed based on its
expansion Þtherm (at 20 °C) 17 · 10–6K–1 is not required. However, they do contain An encoder’s susceptibility to self-heating
brochure is therefore only provisional design characteristics. The relationship between
components that are subject to wear, depends both on its design characteristics
and non-binding, and will not become shaft speed and heat generation is nearly linear.
Surface roughness Rz  16 µm depending on the application and how they (stator coupling / solid shaft, shaft sealing
the subject matter of a contract. are deployed. This especially applies to cables ring, etc.) and on its operating parameters
Friction values Mounting surfaces must be clean and free of grease. that are subjected to frequent flexing. (shaft speed, supply voltage). A temporary
All provided information on screw Other parts subject to wear are the bearings period of intensified self-heating can also
connections assumes a mounting Use screws from HEIDENHAIN in their delivery
condition. in encoders with integral bearing, the radial occur after very long breaks in operation
temperature of 15 °C to 35 °C. shaft seal rings in rotary encoders and (of several months). Please allow for a two-
Tightening procedure Use a signal-emitting torque wrench in accordance angle encoders, and the sealing lips on minute break-in period at low shaft speeds.
with DIN EN ISO 6789, with an accuracy of ±6% sealed linear encoders. The greater susceptibility to self-heating
Screws with material bonding In order to avoid damage from current that an encoder exhibits, the lower the
anti-rotation lock flows, some rotary encoders are available ambient temperature needs to be in order
Mounting temperature 15 °C to 35 °C
Mounting screws and central screws from with hybrid bearings. In general, these to keep the encoder within its permissible
HEIDENHAIN (not included in delivery) bearings exhibit greater wear at high operating temperature range.
feature a coating that, after hardening, temperatures than standard bearings.
provides a material bonding anti-rotation This table shows the approximate self-
lock. As a result, these screws cannot be Rotary encoders may exert a torque Service life heating values to be expected for the rotary
reused. Their minimum shelf life is two of up to 1 Nm on the mating shaft. Unless otherwise specified, HEIDENHAIN encoders. In the worst case, the amount of
years (storage at  30 °C and  65% The customer-side mechanical design encoders are designed for a service self-heating may be affected by multiple
relative humidity). Their expiration date is must be made for this load. life of 20 years, which is equivalent to operating parameters, such as a 30 V supply
printed on the package. The respective Product information 40 000 operating hours under typical voltage and maximum shaft speed. Thus, if
documents will describe any other operating conditions. an encoder is being operated close to its
Screw insertion and the application of prerequisites. maximum permissible specifications, then
tightening torque must therefore be the actual operating temperature should be
completed within five minutes. The measured directly at the encoder. Suitable
required strength is reached at room Modifications to the encoder measures must then be taken (fan, heat
temperature after six hours. The lower The proper functioning and accuracy of sinks, etc.) to sufficiently reduce the
the temperature is, the longer the curing encoders from HEIDENHAIN are ensured ambient temperature so that the maximum
process will take. Curing temperatures only if the encoders have not been permissible operating temperature will not
below 5 °C are not permissible. modified. Any modification, even a minor be exceeded during continuous operation. Measuring the actual operating temperature at
Screws with material bonding anti-rotation one, can impair the proper functioning, the defined measuring point of the rotary encoder
(see Specifications)
lock must not be used more than once. reliability, and safety of the encoders, For high shaft speeds at the maximum
If a replacement becomes necessary, and result in a loss of warranty. This also permissible ambient temperature, special
recut the threads and use new screws. includes the use of any additional or non- versions with a reduced protection rating
On threaded holes, a chamfer is required prescribed locking varnishes, lubricants are available (without a radial shaft seal ring
in order to keep the adhesive coating (e.g., for screws), or adhesives. If you are and its concomitant frictional heat).
from being scraped off. in doubt, we recommend that you consult
with HEIDENHAIN in Traunreut, Germany.

48 49
Electrical resistance Temperature measurement in motors

Encoders with an integral bearing, M12/M23 Transmission of temperature values Encoder Interface Internal External
pluggable output cable, and standard Further information: To protect the motor from overloads, the temperature sensor1) temperature sensor
bearing motor manufacturer usually monitors the Connection
Check the resistance between the flange When connecting an external temperature temperature of the motor winding. In classic
<1 sensor, please refer to the information
socket and the rotor. applications, the temperature sensor data ECI/EQI 1100 EnDat22  (±1 K) Possible
Nominal value: < 1 ohm about electromagnetic compatibility in are sent via two separate lines to the
the General electrical information section subsequent electronics, where they are E30-R2
of the Interfaces of HEIDENHAIN then evaluated. Depending on their version,
Encoders brochure. HEIDENHAIN rotary encoders with the ECI/EBI 1100 EnDat22  (±5 K) –
EnDat 2.2, EnDat 3, or DRIVE-CLiQ interface
Encoders with hybrid bearing or EnDat 3
feature an internal temperature sensor ECN/EQN 1100 EnDat22  (±5 K) Possible
(E30-R2)
<< 1 
 integrated into the encoder electronics and
Check the resistance between the flange b)
b)
an evaluation circuit for connection to an EnDat01 – –
socket and the rotor a), and between
external temperature sensor. In both cases,
the flange socket and the stator (metal
a) T the respective digitized measured tempera­ DQ  (±7 K) Possible (±7 K)
housing) b). a)
ture value is transmitted purely serially
Nominal value: < 1 ohm
over the interface protocol. As a result, no ECN/EQN 1300 EnDat22  (±4 K) Possible
separate lines are needed from the motor
to the motor controller. E30-R2  (±1 K) –
T+ = =
T+ BN BN
T– = GN
T– = GN Signaling of a temperature exceedance EnDat01 – –
When it comes to the internal temperature
sensor, such rotary encoders can support DQ01  (±7 K) Possible
the dual-level cascaded signaling of a
Exposed encoders (ExI 100) without 1. 2. temperature exceedance. This signaling ECN/EQN 400 EnDat22  (±4 K) Possible
integral bearing but with a pluggable consists of a warning (only EnDat) and an
cable <1 error message. EnDat01 – –
Check the electrical resistance between The integrated memory can be read to
the flange socket and the rotor a), and determine whether the respective encoder ECI/EBI/EQI 1300 EnDat22  (±1 K) Possible
between the flange socket and the stator a) supports this warning and error message
(mounting screw) b). b) functionality. ECI/EQI 1300 E30-R2  (±1 K) Possible
Nominal value: < 1 ohm The warning threshold for the internal
temperature sensor can be individually ECI/EQI 1300 S DQ
adjusted. At the time the encoder is
shipped, a default value equivalent to the ECI/EBI 100 EnDat22  (±4 K) Possible
maximum permissible operating temperature
is stored here (temperature at measuring EnDat01 – –
point M1 as per the dimension drawing).
The temperature measured by the internal ECI/EBI 4000 EnDat22  (±1 K) Possible
temperature sensor is higher by a device-
Clamp must be screwed to the motor housing
specific amount than the temperature at 1)
In parentheses: accuracy at 125 °C
so as to be conductive.
measuring point M1.
Exposed encoders (ExI 4000) without an The encoder features a further, albeit non- HEIDENHAIN recommends adjusting the For more information on configuring and
integral bearing but with a pluggable adjustable trigger threshold for the internal warning threshold based on the application reading the temperature information, please
output cable <1 temperature sensor; an error message is such that this threshold is sufficiently below refer to the respective Application Notes:
Check the electrical resistance between output when this threshold is reached. This the trigger threshold for the "Temperature EnDat 2.2: Document 722024
the flange socket and the rotor a), the b) trigger threshold is device-specific and, if exceeded" error message. Compliance EnDat 3: Document 3000005
flange socket and the stator b), and the present, is stated in the specifications. with the operating temperature at measuring DRIVE-CLiQ: Document 1236334
flange socket and the crimp sleeve c). point M1 is also required for adherence to
Nominal value: < 1 ohm a) the encoder’s proper and intended use.
c)

Exposed encoders (ExI 1100, ExI 1300) 1. 2.

without an integral bearing but with a
pluggable output cable <1 b)
Check the resistance between the flange
socket and the rotor a), and between the
flange socket and the stator (metal Further information:
a)
housing) b). When connecting an external temperature
Nominal value: < 1 ohm sensor, please refer to the information
about electromagnetic compatibility in
the General electrical information section
of the Interfaces of HEIDENHAIN
Clamp (when present) must be screwed to the Encoders brochure.
motor housing so as to be conductive.
50 51
Information on connecting an external Connectable temperature sensors
With EnDat22 encoders, the temperature

Resistance in  
temperature sensor Flange sockets
• The external temperature sensor must evaluation performed within the rotary
comply with the following requirements encoder is designed for a KTY 84-130
as per EN 61800-5-1: PTC thermistor. For other temperature
– Voltage class A Power wires Encoder output sensors, the output value (value in additional
– Contamination level 2 cable inside the data 1) must be converted into a
Brake wires
– Overvoltage category 3 motor housing temperature value.
Temperature
• Connect only passive temperature Encoder
sensors. Figure 1 illustrates the relationship between
• The connections for the temperature the output value and the resistance of the
sensor are galvanically connected with temperature sensor.
the encoder electronics. When a KTY 84-130 is used, the temperature
• Depending on the application, the value equals the output value. The value
temperature sensor assembly (sensor + has an increment of 0.1 kelvins.
Output value 
cable assembly) must be mounted such
that it is insulated from its environment Cable configuration of the temperature wires in the motor Figure 1: Relationship between the output value and resistance
with double or reinforced insulation.
• The accuracy of the temperature The accuracy of the temperature measurement Example for the KTY 84-130 temperature sensor:
measurement depends on the depends on the sensor being used and on the Sensor resistance = 1000   Output value (temperature value) 3751,
temperature range. temperature range. which is equal to 375.1 K or 102 °C.
• Take into account the tolerance of the
KTY 83-110 KTY 84-130 PT 1000
temperature sensor.
• The transmitted temperature value is not
–40 °C to +80 °C ±6 K ±6 K ±6 K
a safe value in terms of functional safety.
• The motor manufacturer is responsible Figure 2 illustrates the relationship for
80.1 °C to 160 °C ±3 K ±3 K ±4 K 5000
for the quality and accuracy of the

Temperature value 
EnDat22 encoders between the output
temperature sensor, as well as for 200°
160.1 °C to 200 °C ±6 K ±6 K ±6 K value and the temperature value for a 4500
ensuring electrical safety. Measuring
PT 1000. In the graph, the temperature
• Use a crimp connector with a suitable range
value for the PT 1000 can be determined 4000
temperature range (e.g., up to 150 °C based on the output value.
ID 1148157-01). 3500

General notes on the evaluation: 3000

For encoders with E30-R2 and DRIVE-CLiQ Specifications for the evaluation • Output signals ≤ 1151 indicate a
interface, the encoder can be configured short-circuit at the sensor input 2500
for the connected temperature sensor. The Resolution 0.1 K (with KTY 84-130) • Output signals > 6000 indicate a 40°
correct temperature value is then output high-impedance sensor input 2000
directly over the interface. Supply voltage of sensor 3.3 V over dropping resistor RV = 2 k (e.g., due to a broken wire) 2000 2500 3000 3500 4000 4500 5000
KTY 84–130 Output value 
Measuring current (typical) 1.2 mA at 595  PT1000
1.0 mA at 990  Notes on the conversion: KTY 83–110
The conversion for PT 1000 and KTY 83-110
Total delay 160 ms max. must be performed for encoders that do Figure 2: Relationship between the output value and the temperature value using the example of the
of temperature evaluation1) not inherently support this conversion.
PT 1000 and KTY 83-110

Cable length2) 1m Example for the PT 1000 temperature sensor:

With wire cross section of 0.16 mm2 for TPE, Output value = 3751  Temperature value = 2734 (equivalent to 0.3 °C).
or 0.25 mm2 for cross-linked polyolefine The following polynomial can be used to calculate the temperature value:

1)
Filter time constants and conversion time are taken into account; the time constants / TemperaturePT1000 = 1.3823 · 10–7 · A3 – 1.2005 · 10–3 · A2 + 4.6807 · A – 5.2276 · 103
response delay of the temperature sensor and the time lag for reading via the encoder
interface are not included in this. A = Output value. The PT 1000 polynomial is valid for: 3400 ≤ A ≤ 4810.
2)
Limitation of the cable length due to interference; the measuring error due to the line
resistance is negligible.
Example for the KTY 83-110 temperature sensor:
Output value = 3751  Temperature value = 2981 (equivalent to 25.0 °C).
The following polynomial can be used to calculate the temperature value:

TemperatureKTY83-110 = 3.007 · 10–8 · A3 – 3.041 · 10–4 · A2 + 1.786 · A – 1.027 · 103

A = Output value. The KTY83-110 polynomial is valid for: 2880 ≤ A ≤ 5460.

52 53
ECN/EQN 1100 series Absolute

Absolute rotary encoders ECN 1113 ECN 1123 EQN 1125 EQN 1135
• 75A stator coupling for plane surface ECN 1123 S EQN 1135 S
• Blind hollow shaft
• Encoders available with functional safety Interface EnDat 2.2 ECN 1123: EnDat 2.2 EnDat 2.2 EQN 1135: EnDat 2.2
ECN 1123 S: DRIVE-CLiQ EQN 1135 S: DRIVE-CLiQ

Ordering designation EnDat01 ECN 1123: EnDat22 EnDat01 EQN 1135: EnDat22
ECN 1123 S: DQ01 EQN 1135 S: DQ01

Position values per rev. 8192 (13 bits) 8 388 608 (23 bits) 8192 (13 bits) 8 388 608 (23 bits)

Revolutions – 4096 (12 bits)

Elec. permiss. shaft speed/   4000 rpm/±1 LSB 12 000 rpm (for continuous   4000 rpm/±1 LSB 12 000 rpm (for continuous
1)
deviations 12 000 rpm/±16 LSB position value) 12 000 rpm/±16 LSB position value)
4)
Calc. tcal / clock freq.  9 µs /  2 MHz ECN 1123:  7 µs /  8 MHz  9 µs /  2 MHz EQN 1135:  7 µs /  8 MHz

Calculation time – ECN 1123 S:  8 µs – EQN 1135 S:  8 µs

5)
TIME_MAX_ACTVAL
2)
Incremental signals » 1 VPP – » 1 VPP2) –

Line count 512 – 512 –

Cutoff frequency –3 dB  190 kHz –  190 kHz –

Required mating dimensions
System accuracy ±60”
3)
Electrical connection 15-pin 15-pin 15-pin 15-pin3)

Supply voltage DC 3.6 V to 14 V ECN 1123: DC 3.6 to 14 V DC 3.6 V to 14 V EQN 1135: DC 3.6 to 14 V
ECN 1123 S: DC 10 to 28.8 V EQN 1135 S: DC 10 to 28.8 V

Power consumption 3.6 V:  0.6 W ECN 1123: 3.6 V:  0.6 W 3.6 V:  0.7 W EQN 1135: 3.6 V:  0.7 W
(maximum) 14 V:  0.7 W 14 V:  0.7 W 14 V:  0.8 W 14 V:  0.8 W
ECN 1123 S: 10 V:  0.85 W EQN 1135 S: 10 V:  0.95 W
28.8 V: ≤ 0.9 W 28.8 V: ≤ 1 W

Current consumption (typical) 5 V: 85 mA 5 V: 85 mA (without load) 5 V: 105 mA 5 V: 105 mA (without load)

(without load) 24 V: 32 mA (without load) (without load) 24 V: 35 mA (without load)

Shaft Blind hollow shaft ¬ 6 mm with positive-locking element

Mech. permiss. shaft speed n 12 000 rpm

Starting torque (typical) 0.001 Nm (at 20 °C) 0.002 Nm (at 20 °C)

–6
Moment of inertia of rotor  0.4 · 10 kgm2

Permissible axial motion of ±0.5 mm

measured shaft
2
Vibration 55 Hz to 2000 Hz    200 m/s (EN 60068-2-6)
Shock 6 ms  1000 m/s2 (EN 60068-2-27)

A = Bearing of mating shaft Max. operating temperature 115 °C ECN 1123: 115 °C 115 °C EQN 1135: 115 °C
M1 = Measuring point for operating temperature ECN 1123 S:   95 °C EQN 1135 S:   95 °C
M2 = Measuring point for vibration
1 = Contact surface of slot Min. operating temperature –40 °C
2 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock
3 = Shaft surface; ensure full-surface contact!
4 = Slot required only for ECN/EQN and ECI/EQI, WELLA1 = 1KA
Protection EN 60529 IP40 (read about “insulation” under Electrical safety in the Interfaces of HEIDENHAIN Encoders brochure);
5 = ECI/EQI FS flange surface: ensure full-surface contact! contamination from the ingress of fluid must be prevented)
6 = Coupling surface of ECN/EQN
7 = Maximum permissible deviation between shaft and coupling surfaces. Compensation of mounting tolerances and thermal expansion, Mass  0.1 kg
of which ±0.15 mm of dynamic axial motion is permitted
8 = Maximum permissible deviation between the shaft surface and flange surface; compensation of mounting tolerances and thermal expansion ID number 803427-xx ECN 1123: 803429-xx 803428-xx EQN 1135: 803430-xx
9 = ECI/EBI flange surface; ensure full-surface contact! ECN 1123 S: 1211015-xx EQN 1135 S: 1211017-xx
10 = Undercut
11 = Possible centering hole 1) 4)
Speed-dependent deviations between absolute and incremental signals Applies only to EnDat rotary encoders
12 = 15-pin PCB connector 2)
Deviating tolerances Signal amplitude: 0.80 VPP to 1.2 VPP Asymmetry: 0.05 5)
Applies only to DRIVE-CLiQ rotary encoders
13 = Cable fastener with crimp sleeve; diameter: 4.3 mm ±0.1 mm; length: 7 mm
Signal ratio: 0.9 to 1.1 Phase angle: 90° elec. ±5° elec.
14 = Positive locking element; ensure correct engagement in Slot 4 (e.g., by measuring the device overhang) 3)
15 = Direction of shaft rotation for ascending position values See Temperature measurement in motors
16 = Uncoated; shaft coating not permitted For dimensions and specifications of encoders with functional safety, see the Product Information document.
54 55
ERN 1023 ERN 1023

Incremental rotary encoders

• Stator coupling for plane surface Interface « TTL
• Blind hollow shaft
• Block commutation signals Signal periods per rev.* 500 512 600 1000 1024 1250 2000 2048 2500 4096 5000 8192

Reference mark One

Output frequency  300 kHz

Edge separation a  0.41 μs

Commutation signals1) « TTL (3 commutation signals U, V, W)

Width* 2 x 180° (C01); 3 x 120° (C02); 4 x 90° (C03)

System accuracy ±260” ±130”

Electrical connection* Cable 1 m, 5 m, without coupling

Supply voltage DC 5 V ±0.5 V

Current consumption  70 mA
(without load)

 Shaft Blind hollow shaft ¬ 6 mm


Mech. permiss. shaft speed n  6000 rpm

Starting torque (typical) 0.005 Nm (at 20 °C)

Moment of inertia of rotor 0.5 · 10–6 kgm2

 Permissible axial motion of ±0.15 mm

measured shaft

Vibration 25 Hz to 2000 Hz    100 m/s2 (EN 60068-2-6)

Shock 6 ms  1000 m/s2 (EN 60068-2-27)

Max. operating temperature 90 °C

Min. operating temperature Fixed cable: –20 °C

Moving cable: –10 °C

Protection EN 60529 IP64

Mass  0.07 kg (without cable)

ID number 684703-xx

Bold: This preferred version is available on short notice
* Please select when ordering
1)
Three square-wave signals with signal periods with 90°, 120°, or 180° mech. phase shift; see Commutation signals for block commutation
in the Interfaces of HEIDENHAIN Encoders brochure


A = Bearing of mating shaft

k = Required mating dimensions
M = Measuring point for operating temperature
1 = Two screws in clamping ring; tightening torque: 0.6 Nm ±0.1 Nm; width A/F 1.5
2 = Reference mark position ±10°
3 = Compensation of mounting tolerances and thermal expansion, no dynamic motion permitted
4 = Ensure protection against contact (EN 60529)
5 = Direction of shaft rotation for ascending position values

56 57
ERN 1123 ERN 1123

Incremental rotary encoders

• Stator coupling for plane surface Interface « TTL
• Hollow through shaft
• Block commutation signals Signal periods per rev.* 500 512 600 1000 1024 1250 2000 2048 2500 4096 5000 8192

Reference mark One

Output frequency  300 kHz

Edge separation a  0.41 μs

Commutation signals1) « TTL (3 commutation signals U, V, W)

Width* 2 x 180° (C01); 3 x 120° (C02); 4 x 90° (C03)

System accuracy ±260” ±130”

Electrical connection 15-pin

Supply voltage DC 5 V ±0.5 V

 Current consumption  70 mA
 (without load)

Shaft Hollow through shaft (¬ 8 mm)


Mech. permiss. shaft speed n  6000 rpm

Starting torque (typical) 0.005 Nm (at 20 °C)

 Moment of inertia of rotor 0.5 · 10–6 kgm2

Permissible axial motion of ±0.15 mm

measured shaft

Vibration 25 Hz to 2000 Hz    100 m/s2 (EN 60068-2-6)

Shock 6 ms  1000 m/s2 (EN 60068-2-27)

Operating temperature –20 °C to 90 °C

2)
Protection EN 60529 IP00

Mass  0.06 kg

ID number 684702-xx

Bold: This preferred version is available on short notice

* Please select when ordering
 1)
Three square-wave signals with signal periods with 90°, 120°, or 180° mech. phase shift; see Commutation signals for block commutation
in the Interfaces of HEIDENHAIN Encoders brochure
2)
Electromagnetic compatibility must be ensured in the entire system

A = Bearing of mating shaft

k = Required mating dimensions
M = Measuring point for operating temperature
1 = Two screws in clamping ring; tightening torque: 0.6 Nm ±0.1 Nm; width A/F 1.5
2 = Reference mark position ±10°
3 = 15-pin PCB connector
4 = Compensation of mounting tolerances and thermal expansion, no dynamic motion permitted
5 = Ensure protection against contact (EN 60529)
6 = Direction of shaft rotation for ascending position values

58 59
ECN/EQN 1300 series Absolute

Absolute rotary encoders ECN 1313 ECN 1325 EQN 1325 EQN 1337
• 07B stator coupling with anti-rotation element for axial mounting
• 65B tapered shaft Interface EnDat 2.2
• Encoders available with functional safety
• Fault exclusion for rotor coupling and stator coupling as per EN 61800-5-2 possible Ordering designation EnDat01 EnDat22 EnDat01 EnDat22

Position values per rev. 8192 (13 bits) 33 554 432 (25 bits) 8192 (13 bits) 33 554 432 (25 bits)

Revolutions – 4096 (12 bits)

Elec. permiss. shaft speed/ 512 lines: 15 000 rpm 512 lines: 15 000 rpm
deviations2)   5 000 rpm/±1 LSB (for continuous position   5 000 rpm/±1 LSB (for continuous position
12 000 rpm/±100 LSB value) 12 000 rpm/±100 LSB value)
2048 lines: 2048 lines:
  1500 rpm/±1 LSB   1500 rpm/±1 LSB
12 000 rpm/±50 LSB 12 000 rpm/±50 LSB

Calculation time tcal  9 µs  7 µs  9 µs  7 µs

Clock frequency  2 MHz  8 MHz  2 MHz  8 MHz

Incremental signals » 1 VPP1) – » 1 VPP1) –

Line count* 512 2048 2048 512 2048 2048

Cutoff frequency –3 dB 2048 lines:  400 kHz – 2048 lines:  400 kHz –
  512 lines:  130 kHz   512 lines:  130 kHz

System accuracy 512 lines: ±60”; 2048 lines: ±20”

Electrical connection 12-pin 16-pin with connection 12-pin 16-pin with connection
3)
for temperature sensor for temperature sensor3)

Supply voltage DC 3.6 V to 14 V

Power consumption 3.6 V:  0.6 W 3.6 V:  0.7 W

(maximum) 14 V:  0.7 W 14 V:  0.8 W

Current consumption (typical) 5 V: 85 mA (without load) 5 V: 105 mA (without load)

Shaft Tapered shaft ¬ 9.25 mm; taper 1:10

Required mating dimensions *) ¬ 65+0.02 for ECI/EQI 13xx Mech. permiss. shaft speed n  15 000 rpm  12 000 rpm

Starting torque (typical) 0.01 Nm (at 20 °C)

Moment of inertia of rotor 2.6 · 10–6 kgm2

Natural frequency fN (typical) 1800 Hz

Permissible axial motion of ±0.5 mm

measured shaft

Vibration 55 Hz to 2000 Hz    300 m/s2 4) (EN 60068-2-6)

Shock 6 ms  2000 m/s2 (EN 60068-2-27)

Operating temperature –40 °C to 115 °C

Protection EN 60529 IP40 when mounted

Mass  0.25 kg

 = Bearing of mating shaft ID number 768295-xx 683643-xx 827039-xx 683645-xx

M1 = Measuring point for operating temperature
M2 = Measuring point for vibration (see D741714) 2)
* Please select when ordering Speed-dependent deviations between absolute and
1 = Clamping screw for coupling ring: width A/F 2; tightening torque: 1.25 Nm –0.2 Nm 1)
Deviating tolerances Signal amplitude: 0.8 VPP to 1.2 VPP incremental signals
2 = Die-cast cover 3)
Asymmetry: 0.05 Evaluation optimized for KTY 84-130
3 = Screw plug: widths A/F 3 and 4; tightening torque: 5 Nm +0.5 Nm 4)
4 = 16-pin header Amplitude ratio: 0.9 to 1.1 Valid as per standard at room temp.; the following applies
5 = Screw: DIN 6912 – M5x50 – 08.8 – MKL; width A/F 4; tightening torque: 5 Nm +0.5 Nm Phase angle: 90° elec. ±5° elec. at operating temps. up to 100 °C:  300 m/s2;
6 = M10 back-off thread Signal-to-noise ratio E, F:  100 mV up to 115 °C:  150 m/s2
7 = Compensation of mounting tolerances and thermal expansion; no dynamic motion permitted
For dimensions and specifications of encoders with functional safety, see the Product Information document.
8 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock
9 = Direction of shaft rotation for ascending position values

60 61
ECN/EQN 1300 S series Absolute

Absolute rotary encoders ECN 1324 S EQN 1336 S

• 07B stator coupling with anti-rotation element for axial mounting
• 65B tapered shaft Interface DRIVE-CLiQ
• Encoders available with functional safety
• Fault exclusion for rotor coupling and stator coupling as per EN 61800-5-2 possible Ordering designation DQ01

Position values per rev. 16 777 216 (24 bits)

Revolutions – 4096 (12 bits)

Shaft speed  15 000 rpm (at  2 position requests  12 000 rpm (at  2 position requests
per revolution) per revolution)

Calculation time  8 µs
TIME_MAX_ACTVAL

Incremental signals –

System accuracy ±20”

Electrical connection 16-pin with connection for temperature sensor1)

Supply voltage DC 10 V to 28 V

Power consumption 10 V:  0.9 W 10 V:  1 W

(maximum) 28.8 V:  1 W 28.8 V:  1.1 W

Current consumption (typical) 24 V: 38 mA (without load) 24 V: 43 mA (without load)

Shaft Tapered shaft ¬ 9.25 mm; taper 1:10

Starting torque (typical) 0.01 Nm (at 20 °C)

Moment of inertia of rotor 2.6 · 10–6 kgm2

Natural frequency fN (typical) 1800 Hz

Permissible axial motion of ±0.5 mm

measured shaft

Vibration 55 Hz to 2000 Hz    300 m/s2 (EN 60068-2-6)

Required mating dimensions
Shock 6 ms  2000 m/s2 (EN 60068-2-27)

Operating temperature –30 °C to 100 °C

Protection EN 60529 IP40 when mounted

Mass  0.25 kg

ID number 1179144-xx 1179145-xx

For dimensions and specifications of encoders with functional safety, see the Product Information document.
1)
Evaluation optimized for the KTY 84-130 and PT 1000 (see Temperature measurement in motors)

DRIVE-CLiQ is a registered trademark of Siemens AG.

 = Bearing of mating shaft

M1 = Measuring point for operating temperature
M2 = Measuring point for vibration (see D741714)
1 = Clamping screw for coupling ring: width A/F 2; tightening torque: 1.25 Nm –0.2 Nm
2 = Die-cast cover
3 = Screw plug: widths A/F 3 and 4; tightening torque: 5 Nm +0.5 Nm
4 = 16-pin header
5 = Screw: DIN 6912 – M5x50 – 08.8 – MKL; width A/F 4; tightening torque: 5 Nm +0.5 Nm
6 = M10 back-off thread
7 = Compensation of mounting tolerances and thermal expansion, no dynamic motion permitted
8 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock
9 = Direction of shaft rotation for ascending position values

62 63
ECN/EQN 400 series Absolute

Absolute rotary encoders ECN 413 ECN 425 EQN 425 EQN 437
• 07B stator coupling with anti-rotation element for axial mounting
• 65B tapered shaft Interface EnDat 2.2
• Encoders available with functional safety
• Fault exclusion for rotor coupling and stator coupling as per EN 61800-5-2 possible Ordering designation EnDat01 EnDat22 EnDat01 EnDat22

Position values per rev. 8192 (13 bits) 33 554 432 (25 bits) 8192 (13 bits) 33 554 432 (25 bits)

Revolutions – 4096 (12 bits)

Elec. permiss. shaft speed/   1500 rpm/±1 LSB 15 000 rpm   1500 rpm/±1 LSB 15 000 rpm
deviations2) 12 000 rpm/±50 LSB (for continuous 12 000 rpm/±50 LSB (for continuous
position value) position value)

Calculation time tcal  9 µs  7 µs  9 µs  7 µs

Clock frequency  2 MHz  16 MHz  2 MHz  16 MHz

Incremental signals » 1 VPP1) – » 1 VPP1) –

Line count 2048

Cutoff frequency –3 dB  400 kHz –  400 kHz –

System accuracy ±20”

Electrical connection* Cable (5 m) with or Cable (5 m) with Cable (5 m) with or Cable (5 m) with
without M23 coupling M12 coupling without M23 coupling M12 coupling

Supply voltage DC 3.6 V to 14 V

Power consumption 3.6 V:  0.6 W 3.6 V:  0.7 W

(maximum) 14 V:  0.7 W 14 V:  0.8 W

Current consumption (typical) 5 V: 85 mA (without load) 5 V: 105 mA (without load)

Shaft Tapered shaft ¬ 9.25 mm; taper 1:10

Mech. permiss. shaft speed n  15 000 rpm  12 000 rpm

Required mating dimensions
Starting torque (typical) 0.01 Nm (at 20 °C)

Moment of inertia of rotor 2.6 · 10–6 kgm2

Natural frequency fN (typical) 1800 Hz

Permissible axial motion of ±0.5 mm

measured shaft

Vibration 55 Hz to 2000 Hz    300 m/s2 (EN 60068-2-6)

Shock 6 ms  2000 m/s2 (EN 60068-2-27)

Max. operating temp. 100 °C

Min. operating temperature Fixed cable: –40 °C

Moving cable: –10 °C

Protection EN 60529 IP64 when mounted

Mass  0.25 kg

 = Bearing of mating shaft

ID number 1065932-xx 683644-xx 1109258-xx 683646-xx
M1 = Measuring point for operating temperature
M2 = Measuring point for vibration (see D741714) * Please select when ordering
1)
1 = Clamping screw for coupling ring: width A/F 2; tightening torque: 1.25 Nm –0.2 Nm Deviating tolerances Signal amplitude: 0.8 VPP to 1.2 VPP
2 = Screw plug: widths A/F 3 and 4; tightening torque: 5 Nm +0.5 Nm Asymmetry: 0.05
3 = Screw: DIN 6912 – M5x50 – 08.8 – MKL; width A/F 4; tightening torque: 5 Nm +0.5 Nm Amplitude ratio: 0.9 to 1.1
4 = Back-off thread M10 Phase angle: 90° elec. ±5° elec.
5 = Compensation of mounting tolerances and thermal expansion; no dynamic movement permitted 2)
Speed-dependent deviations between absolute and incremental signals
6 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock
7 = Direction of shaft rotation for ascending position values For dimensions and specifications of encoders with functional safety, see the Product Information document.

64 65
ERN 1300 series Incremental

Incremental rotary encoders ERN 1321 ERN 1381 ERN 1387 ERN 1326
• 06 stator coupling for axial mounting 1)
• 65B tapered shaft Interface  TTL » 1 VPP  TTL

Line count*/ 1024/±64”  512/±60” 2048/±20” 1024/±64” 8192/±16”5)

System accuracy 2048/±32” 2048/±20” 2048/±32”
4096/±16” 4096/±16” 4096/±16”

Reference mark One

Output frequency  300 kHz –  300 kHz  150 kHz

Edge separation a  0.35 µs –  0.35 µs  0.22 µs
Cutoff frequency –3 dB –  210 kHz – –

Commutation signals – » 1 VPP1)  TTL

Width* – Z1 track2) 3 x 120°; 4 x 90°3)

  Electrical connection 12-pin 14-pin 16-pin

Supply voltage DC 5 V ±0.5 V DC 5 V ±0.25 V DC 5 V ±0.5 V

Current consumption  120 mA  130 mA  150 mA

(without load)

Shaft Tapered shaft ¬ 9.25 mm; taper 1:10

  Mech. permiss. shaft speed n  15 000 rpm

 Starting torque (typical) 0.01 Nm (at 20 °C)

Moment of inertia of rotor 2.6 · 10–6 kgm2

Natural frequency fN (typical) 1800 Hz

Permissible axial motion of ±0.5 mm

measured shaft
 Vibration 55 Hz to 2000 Hz    300 m/s2 4) (EN 60068-2-6)
 Shock 6 ms  2000 m/s2 (EN 60068-2-27)

Max. operating temperature 120 °C 120 °C 120 °C

4096 lines: 80 °C

Min. operating temperature –40 °C

Protection EN 60529 IP40 when mounted

*) ¬ 65+0.02 for ECI/EQI 13xx Mass  0.25 kg

Alternative: ID number 385423-xx 534118-xx 749144-xx 574485-xx

 ECN/EQN 1300 mating dimensions with slot for stator
coupling for the anti-rotation element are also usable. * Please select when ordering
1)
Deviating tolerances Signal amplitude: 0.8 VPP to 1.2 VPP
Asymmetry: 0.05
Amplitude ratio: 0.9 to 1.1
Phase angle: 90° elec. ±5° elec.
Signal-to-noise ratio E, F: 100 mV
2)
One sine and one cosine signal per revolution; see the Interfaces of HEIDENHAIN Encoders brochure
3)
Three square-wave signals with signal periods with 90° or 120° mech. phase shift; see the Interfaces of HEIDENHAIN Encoders brochure
4)
Valid as per standard at room temperature; at operating temperatures up to 100 °C:  300 m/s2;
A = Bearing of mating shaft up to 120 °C:  150 m/s2
k = Required mating dimensions 5)
Via integrated signal doubling
M = Measuring point for operating temperature
1 = Clamping screw for coupling ring: width A/F 2; tightening torque: 1.25 Nm –0.2 Nm
2 = Die-cast cover
3 = Screw plug: widths A/F 3 and 4; tightening torque: 5 Nm +0.5 Nm
4 = 12-pin, 14-pin, or 16-pin PCB connector
5 = Reference mark position on shaft and cap
6 = M10 back-off thread
7 = Self-tightening screw as per ISO 6912 – M5 x 50 – 08.8, width A/F 4; tightening torque: 5 Nm +0.5 Nm
8 = Compensation of mounting tolerances and thermal expansion; no dynamic movement permitted
9 = Direction of shaft rotation for ascending position values

66 67
ECI/EQI 1100 series Absolute, singleturn Absolute, multiturn

Absolute rotary encoders ECI 1119 EQI 1131

• Flange for axial mounting
• Blind hollow shaft Interface EnDat 2.2 EnDat 3 EnDat 2.2 EnDat 3
• Without integral bearing
Ordering designation EnDat22 E30-R2 EnDat22 E30-R2

 Position values per rev. 524 288 (19 bits)

19.9  
Revolutions – 4096 (12 bits)
 3.2
15 Calculation time tcal  5 µs –  5 µs –
Clock frequency  16 MHz  16 MHz

2   XEL.time HPFout – ≤ 11 µs at 12.5 Mbit/s – ≤ 11 µs at 12.5 Mbit/s

data rate ≤ 8.2 µs at 25 Mbit/s ≤ 8.2 µs at 25 Mbit/s
12.55  

Propagation time – 14 µs (typical) – 14 µs (typical)

System accuracy ±120”

17 19 Electrical connection 15-pin (with connection for external temperature sensor)1)

3.44  
 
12   (19.25) 19.9  18 Cable length EnDat 3: ≤ 100 m at 12.5 Mbit/s; ≤ 40 m at 25 Mbit/s
22.25   16 EnDat 2.2: ≤ 100 m2)

Supply voltage DC 3.6 V to 14 V

Required mating dimensions
Power consumption 3.6 V:  0.65 W 12 V: 45 mA (without 3.6 V:  0.75 W 12 V: 50 mA (without
9 (maximum) 14 V:  0.7 W communication) 14 V:  0.85 W communication)
 3.55
Current consumption (typical) 5 V: 95 mA (without 4 V: ≤ 0.85 W; 5 V: 115 mA 4 V: ≤ 0.95 W;
load) 14 V: ≤ 0.9 W (without load) 14 V: ≤ 1 W
9.4

Shaft* Blind hollow shaft for axial clamping ¬ 6 mm without positive-locking element (82A) or
 

  
with positive-locking element (1KA)
 
Shaft speed  15 000 rpm  12 000 rpm

Moment of inertia of rotor 0.2 · 10–6 kgm2

 1 · 105 rad/s2

  
Angular acceleration of rotor

Permissible axial motion of ±0.4 mm

measured shaft

Vibration 55 Hz to 2000 Hz Stator: ≤ 400 m/s2; rotor: ≤ 600 m/s2 (EN 60068-2-6)
Shock 6 ms  2000 m/s2 (EN 60068-2-27)
 

Operating temperature –40 °C to 110 °C

Trigger threshold 125 °C (measuring accuracy of the internal temperature sensor: ±1 K)

  

A = Bearing of mating shaft of temperature exceedance

M1 = Measuring point for operating temperature error message
M2 = Measuring point for vibration
1 = Contact surface of slot 3)
Protection EN 60529 IP00 when mounted
2 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock
3 = Shaft surface; ensure full-surface contact!
4 = Slot required only for ECN/EQN and ECI/EQI with WELLA1 = 1KA   Mass  0.04 kg
5 = ECI/EQI flange surface; ensure full-surface contact!
6 = Coupling surface of ECN/EQN ID number 1164809-xx 1259551-xx 1164811-xx 1259552-xx
7 = Mounting dimension: maximum permissible deviation between the shaft surface and coupling surface;
compensation of mounting tolerances and thermal expansion, of which ±0.15 mm of dynamic axial motion is permitted (ECN/EQN) * Please select when ordering
8 = Maximum permissible deviation between the shaft surface and flange surface; compensation of mounting tolerances and thermal expansion; 1)
EnDat22: Evaluation optimized for the KTY 84-130 temperature sensor; E30-R2: Evaluation optimized for the KTY 84-130 and PT 1000
dynamic motion permitted over entire range (ECI/EBI/EQI) (see Temperature measurement in motors)
9 = ECI/EBI flange surface; ensure full-surface contact! 2)
Also see the Interfaces of HEIDENHAIN Encoders brochure
10 = Undercut 3)
11 = Possible centering hole
See Electromagnetic compatibility under General electrical information in the Interfaces of HEIDENHAIN Encoders brochure.
12 = Distance to cover; note the opening for header, header connector, and wires For dimensions and specifications of encoders with functional safety, see the Product Information document.
13 = Screw: ISO 4762 – M3x10 – 8.8 – MKL; tightening torque: 1 Nm ±0.1 Nm
14 = Screw: ISO 4762 – M3x25 – 8.8 – MKL; tightening torque: 1 Nm ±0.1 Nm
15 = Positive-locking element; ensure correct engagement in the slot (e.g., by measuring the device overhang)
16 = Direction of shaft rotation for ascending position values
17 = 15-pin header
18 = Dimension for JH standard cable
19 = Ensure installation space for cable 
68 69
ECI/EQI 1100 series Singleturn Multiturn

Absolute rotary encoders ECI 1119 EQI 1131

• 70F synchro flange for axial mounting
• 82A blind hollow shaft Interface EnDat 2.2
• Without integral bearing
• Mounting-compatible with ECN/EQN 1100 optical rotary encoders Ordering designation EnDat22
and the ECI/EBI/EQI 1100 inductive series 21.9 0.5
Position values per rev. 524 288 (19 bits)
2+0.15
0 EnDat22
12 14
0
2.3-0.2 Revolutions – 4096 (12 bits)
0.5 0.5
Calculation time tcal  5 µs

21.9+1
 

0
10 Clock frequency  16 MHz
13
System accuracy ±120”
14 1)
Electrical connection 15-pin (with connection for external temperature sensor)
36.83)

0.3

34.4) EnDat01

36.5)
12 14 Cable length ≤ 100 m
6)
12.25

(
(

(
(

Supply voltage DC 3.6 V to 14 V

23.9+1
0
(4)
 Power consumption 3.6 V:  0.65 W 3.6 V:  0.75 W
13 (maximum) 14 V:  0.7 W 14 V:  0.85 W
10 3.44 0.2
10
Current consumption (typical) 5 V: 95 mA (without load) 5 V: 115 mA
15 
12 0.8
(19.25) Shaft Blind hollow shaft for axial clamping ¬ 6 mm
22.25 0.6
Required mating dimensions 6
9 Shaft speed  15 000 rpm  12 000 rpm
 3.55
Moment of inertia of rotor 0.2 · 10–6 kgm2

Permissible axial motion of ±0.4 mm

9.4 3
 9 E3 E4 E5 measured shaft
 

  
Vibration 55 Hz to 2000 Hz Stator: ≤ 400 m/s2; rotor: ≤ 600 m/s2 (EN 60068-2-6)
  Shock 6 ms  2000 m/s2 (EN 60068-2-27)

Operating temperature –40 °C to 110 °C

2)

  
Protection EN 60529 IP00 when mounted

Mass  0.04 kg
E2
17 E1 ID number 1164812-xx 1164813-xx
6 1)
L2 5 E1 E2   Evaluation optimized for the KTY 84-130 temperature sensor (see Temperature measurement in motors)
Series Name Flange Shaft Interface L2 L3 2)
L3 5 E3 E4 E5 See Electromagnetic compatibility under General electrical information in the Interfaces of HEIDENHAIN Encoders brochure.
E1 ECN/EQN OUA 1KA EnDat01/22 2±0.5 –
E2 ECI/EQI 70C 1KA/82A EnDat22 2±0.4 –
E3 ECI/EQI 70F 82A EnDat22 – 0±0.4
  

E4 ECI/EQI 70F 82A EnDat01 – 0±0.3

16
E5 ECI/EBI 70E 82C EnDat22 – 0±0.3

 = Bearing of mating shaft

11
M = Measuring point for operating temperature
1 = Direction of shaft rotation for ascending position values
2 = Shaft surface; ensure full-surface contact!   16
3 = Flange surface; ensure full-surface contact!
4 = Slot necessary only for 1KA shaft
5 = Mounting dimension: maximum permissible deviation between the shaft surface and flange surface;
compensation of mounting tolerances and thermal expansion; ECI/EQI/EBI: dynamic motion permitted over entire range;
ECN/EQN: ±0.15 mm dynamic axial motion permitted
(with use of ATS software for mounting inspection, the display value for the mounting clearance is shown as 2 mm instead of 0 mm)
6 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock
7 = Shaft fastening screw: DIN EN ISO 4762 – M3x25 – 8.8 with material bonding anti-rotation lock: ID 202264-86; tightening torque: 1 Nm ±0.1 Nm
8 = Clamping surface
9 = Contact surface of slot
10 = Possible flange fastening with fastening kit (ID 1264352-xx); tightening torque: 1 Nm ±0.1 Nm; pay attention to the orientation of the flat!
11 = Possible centering hole
12 = 15-pin header
13 = Dimension for JH standard cable
14 = Ensure installation space for cable
15 = Distance to cover; note the opening for header, header connector, and wires
16 = Undercut
17 = Coupling surface of ECN/EQN
70 71
ECI/EBI 1100 series Absolute

Absolute rotary encoders ECI 1118 EBI 1135

• Flange for axial mounting
• Blind hollow shaft Interface EnDat 2.2
• Without integral bearing 1)
• EBI 1135: multiturn functionality via battery-buffered revolution counter Ordering designation EnDat22

Position values per rev. 262 144 (18 bits) 262 144 (18 bits; 19-bit data word length with
LSB = 0)

Revolutions – 65 536 (16 bits)2)

Calculation time tcal  6 µs

Clock frequency  8 MHz

System accuracy ±120”

Electrical connection 15-pin

Cable length ≤ 100 m

Supply voltage DC 3.6 V to 14 V Rotary encoder UP: DC 3.6 V to 14 V

Backup battery UBAT: DC 3.6 V to 5.25 V

Power consumption Normal operation at 3.6 V: 0.52 W

(maximum) Normal operation at 14 V: 0.6 W

Current consumption (typical) 5 V: 80 mA (without load) Normal operation at 5 V: 80 mA (without load)

Required mating dimensions Buffer mode3): 22 µA (rotating shaft)
12 µA (at standstill)

Shaft Blind hollow shaft ¬ 6 mm, axial clamping

Mech. permiss. shaft speed n  15 000 rpm  12 000 rpm

Mech. permiss. acceleration  105 rad/s2

Moment of inertia of rotor 0.2 · 10–6 kgm2

Permissible axial motion of ±0.3 mm

measured shaft

Vibration 55 Hz to 2000 Hz    300 m/s2 (EN 60068-2-6)

Shock 6 ms  1000 m/s2 (EN 60068-2-27)

Operating temperature –20 °C to 115 °C

4)
Protection EN 60529 IP00

Mass  0.02 kg

ID number 728563-xx 820725-xx

1)
External temperature sensor and online diagnostics are not supported.
2)
Compliance with EnDat Specification 297403 and the EnDat Application Notes 722024, Chapter 13, Battery-buffered encoders,
is required for correct control of the encoder.
3)
At T = 25 °C; UBAT = 3.6 V
4)
See Electromagnetic compatibility under General electrical information in the Interfaces of HEIDENHAIN Encoders brochure.
 = Bearing of mating shaft
M = Measuring point for operating temperature
1 = Contact surface of slot
2 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock
3 = Shaft surface; ensure full-surface contact!
4 = Slot required only for ECN/EQN and ECI/EQI, WELLA1 = 1KA
5 = Flange surface of ECI/EQI; ensure full-surface contact!
6 = Coupling surface of ECN/EQN
7 = Maximum permissible deviation between the shaft surface and coupling surface; compensation of mounting tolerances and thermal expansion,
of which ±0.15 mm of dynamic axial motion is permitted
8 = Maximum permissible deviation between the shaft surface and flange surface; compensation of mounting tolerances and thermal expansion
9 = Flange surface of ECI/EBI; ensure full-surface contact!
10 = Undercut
11 = Possible centering hole
12 = Clamping surface
13 = Screw: ISO 4762 – M3x16 – 8.8, with materially bonding anti-rotation lock; tightening torque: 1.15 Nm ±0.05 Nm
14 = Direction of shaft rotation for ascending position values
72 73
ECI/EBI/EQI 1300 series Absolute

Absolute rotary encoders ECI 1319 EQI 1331 EBI 1335

• Mounting-compatible with photoelectric rotary encoders with a 07B stator coupling
• 0YA flange for axial mounting Interface EnDat 2.2
• 44C blind hollow shaft ¬ 12.7 mm
• Without integral bearing Ordering designation EnDat22
• Cost-optimized mating dimensions upon request
Position values per rev. 524 288 (19 bits)
3)
Revolutions – 4096 (12 bits) 65 536 (16 bits)

Elec. permiss. shaft speed/  15 000 rpm (for continuous position value)
deviations

Calculation time tcal  5 µs

Clock frequency  16 MHz

System accuracy ±65”

1)
Electrical connection 16-pin with connection for temperature sensor

Cable length  100 m

Supply voltage DC 3.6 V to 14 V Rotary encoder UP:

DC 3.6 V to 14 V
Backup battery UBAT:
Required mating dimensions DC 3.6 V to 5.25 V

Power consumption 3.6 V:  0.65 W 3.6 V:  0.75 W 3.6 V:  0.65 W

90°...120° (maximum) 14 V:  0.7 W 14 V:  0.85 W 14 V:  0.7 W

Current consumption (typical) 5 V: 95 mA (without load) 5 V: 115 mA (without load) Normal operation at 5 V:
95 mA (without load)
Backup battery:
160 µA (rotating shaft)2)
16 µA (at standstill)

Shaft Blind hollow shaft for axial clamping ¬ 12.7 mm

Mech. permiss. shaft speed n  15 000 rpm  12 000 rpm

Moment of inertia of rotor 2.6 · 10–6 kgm2

Permissible axial motion of ±0.5 mm

measured shaft

Vibration 55 Hz to 2000 Hz Stator:  400 m/s2; rotor:  600 m/s2 (EN 60068-2-6)
Shock 6 ms  2000 m/s2 (EN 60068-2-27)

D1 D2
Operating temperature –40 °C to 115 °C

 12.7G6   12.7h6  Trigger threshold 130 °C (measuring accuracy of the internal temperature sensor: ±1 K)
of temperature exceedance
error message

90°...120°
Protection EN 60529 IP20 when mounted

Mass  0.13 kg

 = Bearing of mating shaft ID number 810661-xx 810662-xx 1230275-xx

M1 = Measuring point for operating temperature
M2 = Measuring point for vibration; see also D 741714 1)
Evaluation optimized for KTY 84-130
1 = 16-pin PCB connector 2)
At T = 25 °C; UBAT = 3.6 V
2 = Screw plug: widths A/F 3 and 4; tightening torque: 5 Nm +0.5 Nm 3)
3 = Screw: ISO 26912 – M5x30 – 08.8 – MKL, width A/F 4; tightening torque: 5 Nm +0.5 Nm
Compliance with EnDat Specification 297403 and the EnDat Application Notes 722024, Chapter 13, Battery-buffered encoders,
4 = Screw: ISO 4762 – M4x10 – 8.8 – MKL; width A/F 3; tightening torque: 2 Nm ±0.1 Nm is required for correct control of the encoder
5 = Functional diameter of taper for ECN/EQN 13xx For dimensions and specifications of encoders with functional safety, see the Product Information document.
6 = Chamfer at start of thread is obligatory for materially bonding anti-rotation lock 8
7 = Flange surface ExI/resolver; ensure full-surface contact!
8 = Shaft; ensure full-surface contact!
9 = Mounting dimension: maximum permissible deviation between the shaft surface and
flange surface; compensation of mounting tolerances and thermal expansion; ECI/
EQI: dynamic motion permitted over entire range; ECN/EQN: no dynamic motion permitted
10 = M10 back-off thread
11 = Direction of shaft rotation for ascending position values
74 75
ECI 1319, EQI 1331 Absolute

Rotary encoders for absolute position values with safe singleturn information ECI 1319 singleturn EQI 1331 multiturn
• Robust inductive scanning principle
• Mounting-compatible with photoelectric rotary encoders with a 07B stator coupling Interface EnDat 3
• 0YA mounting flange
Ordering designation E30–R2
• Blind hollow shaft for axial clamping ¬ 12.7 mm (44C) or ¬ 12 mm (44A)
• Cost-optimized mating dimensions upon request
Position values per rev. 524 288 (19 bits)

Revolutions – 4096 (12 bits)

XEL.time HPFout ≤ 11 µs at 12.5 Mbit/s

data rate ≤ 8.2 µs at 25 Mbit/s
1)
Propagation time 14 µs (typical)

System accuracy ±65”

Electrical connection 16-pin PCB connector (12+4; with separate connection option for external temperature sensor)3)

Cable length At 12.5 Mbit/s:  100 m; at 25 Mbit/s:  40 m

Supply voltage DC 4 V to 14 V (recommended: 12 V)

Power consumption2) 4 V: ≤ 0.85 W 4 V: ≤ 0.95 W

Required mating dimensions (maximum) 14 V: ≤ 0.9 W 14 V: ≤ 1 W

Current consumption (typical) 12 V: ≤ 45 mA (without communication) 12 V: ≤ 50 mA (without communication)

90°...120°
Shaft Blind hollow shaft for axial clamping ¬ 12.7 mm (44C) or ¬ 12 mm (44A)

Shaft speed  15 000 rpm  12 000 rpm

Moment of inertia of rotor 2.45 · 10–6 kgm2 2.6 · 10–6 kgm2

Angular acceleration of rotor  1 · 105 rad/s2

Axial motion of  ±0.5 mm

measured shaft

Vibration 55 Hz to 2000 Hz Stator: ≤ 400 m/s2; rotor: ≤ 600 m/s2 (EN 60068-2-6)
Shock 6 ms ≤ 2000 m/s2 (EN 60068-2-27)

Operating temperature –40 °C to 115 °C

Trigger threshold 130 °C (measuring accuracy of the internal temperature sensor: ±1 K)

of temperature exceedance
error message

Relative humidity  93% (40 °C/21 d as per EN 60068-2-78); condensation excluded

Protection rating EN 60529 IP20

Mass  0.13 kg

90°...120° ID number 44C shaft: 1286377-01; 44A shaft: 1286377-06 44C shaft: 1286378-01; 44A shaft: 1286378-06
1)
See EnDat Application Notes
2)
 = Bearing of mating shaft See General electrical information in the Interfaces of HEIDENHAIN Encoders brochure or at www.heidenhain.com
3)
M1 = Measuring point for operating temperature Evaluation optimized for the KTY 84-130 and PT 1000 (see Temperature measurement in motors)
M2 = Measuring point for vibration; see also D 741714
1 = 16-pin (12+4-pin) PCB connector For dimensions and specifications of encoders with functional safety, see the Product Information document.
2 = Screw plug: widths A/F 3 and 4; tightening torque: 5 Nm +0.5 Nm
3 = Screw: DIN 6912 – M5x30 – 08.8 – MKL, width A/F 4; tightening torque: 5 Nm +0.5 Nm
4 = Screw: ISO 4762 – M4x10 – 8.8 – MKL, width A/F 3, tightening torque: 2 Nm 0.1 Nm
5 = Functional diameter of taper for ECN/EQN 13xx
6 = Chamfer at start of thread is obligatory for material bonding anti-rotation lock
8
7 = ExI/resolver flange surface; ensure full-surface contact!
8 = Shaft surface; ensure full-surface contact!
9 = Mounting clearance between shaft surface and flange surface;
compensation of mounting tolerances and thermal expansion;
ECI/EQI: dynamic motion permitted over entire range;
ECN/EQN: no dynamic motion permitted
10 = M10 back-off thread
11 = Direction of shaft rotation for ascending position values

76 77
ECI/EQI 1300 S series Absolute

Absolute rotary encoders ECI 1319 S EQI 1331 S

• Mounting-compatible with photoelectric rotary encoders with a 07B stator coupling
• 0YA flange for axial mounting Interface DRIVE-CLiQ
• 44C blind hollow shaft ¬ 12.7 mm
• Without integral bearing Ordering designation DQ01
• Cost-optimized mating dimensions upon request
Position values per rev. 524 288 (19 bits)

Revolutions – 4096 (12 bits)

Calculation time  12 µs
TIME_MAX_ACTVAL

System accuracy ±65”

1)
Electrical connection 16-pin with connection for temperature sensor

Cable length  40 m

Supply voltage DC 24 V (10 V to 28.8 V; up to DC 36 V possible without impairing the functional safety)

Power consumption 10 V:  1.1 W 10 V:  1.2 W

(maximum) 28.8 V:  1.25 W 28.8 V:  1.35 W

Current consumption (typical) 24 V: 40 mA (without load) 24 V: 45 mA (without load)

Required mating dimensions
Shaft Blind hollow shaft for axial clamping ¬ 12.7 mm

90°...120° Mech. permiss. shaft speed n  15 000 rpm  12 000 rpm

Moment of inertia of rotor 2.6 · 10–6 kgm2

Permissible axial motion of ±0.5 mm

measured shaft

Vibration 55 Hz to 2000 Hz Stator:  400 m/s2; rotor:  600 m/s2 (EN 60068-2-6)
Shock 6 ms  2000 m/s2 (EN 60068-2-27)

Operating temperature –40 °C to 100 °C

Trigger threshold 120 °C (measuring accuracy of the internal temperature sensor: ±1 K)

of temperature exceedance
error message

Protection EN 60529 IP20 when mounted

Mass  0.13 kg

ID number 1222049-xx 1222051-xx

D1 D2
 12.7G6   12.7h6  1)
Evaluation optimized for the KTY 84-130 and PT 1000 (see Temperature measurement in motors)
For dimensions and specifications of encoders with functional safety, see the Product Information document.

DRIVE-CLiQ is a registered trademark of Siemens AG.

90°...120°

 = Bearing of mating shaft

M1 = Measuring point for operating temperature
M2 = Measuring point for vibration; see also D 741714
1 = 16-pin PCB connector
2 = Screw plug: widths A/F 3 and 4; tightening torque: 5 Nm +0.5 Nm
3 = Screw: ISO 6912 – M5x30 – 08.8 – MKL, width A/F 4; tightening torque: 5 Nm +0.5 Nm
4 = Screw: ISO 4762 – M4x10 – 8.8 – MKL; width A/F 3; tightening torque: 2 Nm ±0.1 Nm
5 = Functional diameter of taper for ECN/EQN 13xx
6 = Chamfer at start of thread is obligatory for materially bonding anti-rotation lock 8
7 = Flange surface ExI/resolver; ensure full-surface contact!
8 = Shaft; ensure full-surface contact!
9 = Mounting dimension: maximum permissible deviation between the shaft surface and
flange surface; compensation of mounting tolerances and thermal expansion;
ECI/EQI: dynamic motion permitted over entire range; ECN/EQN: no dynamic motion permitted
10 = M10 back-off thread
11 = Direction of shaft rotation for ascending position values
78 79
ECI/EBI 100 series Absolute

Absolute rotary encoders ECI 119 EBI 135

• Flange for axial mounting
• Hollow through shaft Interface* EnDat 2.1 EnDat 2.2 EnDat 2.2
• Without integral bearing
• EBI 135: multiturn functionality via battery-buffered revolution counter Ordering designation EnDat01 EnDat221) EnDat221)

Position values per rev. 524 288 (19 bits)


Revolutions – 65 536 (16 bits)2)
 Elec. permiss. shaft speed/  3000 rpm/±128 LSB  6000 rpm (for continuous position value)

deviations3)  6000 rpm/±256 LSB

Calculation time tcal  8 µs  6 µs

 Clock frequency  2 MHz  16 MHz
 Incremental signals » 1 VPP – –

Line count 32 – –

Cutoff frequency –3 dB  6 kHz (typical) – –

System accuracy ±90”

 Electrical connection 15-pin 15-pin with connection for temperature sensor

4)

Cable length ≤ 100m

Supply voltage DC 3.6 V to 14 V Rotary encoder UP: DC 3.6 V to 14 V

Backup battery UBAT: DC 3.6 V to 5.25 V

Power consumption 3.6 V:  0.58 W Normal operation at 3.6 V: 0.53 W
 (maximum) 14 V:  0.7 W Normal operation at 14 V: 0.63 W

Current consumption (typical) 5 V: 80 mA 5 V: 75 mA Normal operation at 5 V: 75 mA (without load)

(without load) (without load) Buffer mode5): 25 µA (rotating shaft)
12 µA (at standstill)

Shaft* Hollow through shaft ¬ = 30 mm, 38 mm, 50 mm

Mech. permiss. shaft speed n  6000 rpm

 Moment of inertia of rotor ¬ = 30 mm: 64 · 10–6 kgm2

¬ = 38 mm: 58 · 10–6 kgm2
¬ = 50 mm: 64 · 10–6 kgm2

Permissible axial motion of ±0.3 mm

measured shaft

Vibration 55 Hz to 2000 Hz    300 m/s2 (EN 60068-2-6)

Shock 6 ms  1000 m/s2 (EN 60068-2-27)

Operating temperature –30 °C to 115 °C

6)
Protection EN 60529 IP20 when mounted

Mass ¬ = 30 mm:  0.19 kg

 = Bearing of mating shaft
 = Required mating dimensions ¬ = 38 mm:  0.16 kg
M = Measuring point for operating temperature ¬ = 50 mm:  0.14 kg
1 = Cylinder head screw: ISO 4762-M3, with three ISO 7092 washers; tightening torque: 0.9 Nm ±0.05 Nm
2 = Width A/F 2.0 (6x); tighten evenly crosswise with increasing tightening torque; final tightening torque: 0.5 Nm ±0.05 Nm ID number 823406-xx 823407-xx 823405-xx
3 = Shaft detent: for manner of functioning, see the mounting instructions
4 = 15-pin PCB connector * Please select when ordering
5 = Compensation of mounting tolerances and thermal expansion; no dynamic motion 1)
Valuation numbers are not supported
6 = Protection against contact as per EN 60529 2)
Compliance with EnDat Specification 297403 and the EnDat Application Notes 722024, Chapter 13, Battery-buffered encoders,
7 = Required up to max. ¬ 92 mm
8 = Required mounting frame for output cable with cable clamp (accessory); bending radius of connecting wires: at least R3 mm is required for correct control of the encoder
3)
9 = Direction of shaft rotation for ascending position values Speed-dependent deviations between absolute and incremental signals
4)
Evaluation optimized for the KTY 84-130 (see Temperature measurement in motors)
5)
At T = 25 °C; UBAT = 3.6 V
6)
See Electromagnetic compatibility under General electrical information in the Interfaces of HEIDENHAIN Encoders brochure.

80 81
ECI 4010, EBI 4010, ECI 4090 S Specifications ECI 4010
singleturn
EBI 4010
multiturn
ECI 4090 S
singleturn
Rotary encoders for absolute position values
• Robust inductive scanning principle Interface/ EnDat 2.2 / EnDat22 DRIVE-CLiQ / DQ01
• Hollow through shaft (¬ 90 mm) ordering designation
• EBI 4010: multiturn functionality through battery-buffered revolution counter
• Consists of a scanning unit and scale drum Position values per rev. 1 048 576 (20 bits)

Revolutions – 65 536 (16 bits) –

Calculation time tcal/  5 µs/ 16 MHz  11 µs1)

clock frequency

System accuracy ±25”

Electrical connection 15-pin with connection for temperature sensor2)

Cable length  100 m  40 m3)

Supply voltage DC 3.6 V to 14 V Rotary encoder UP: DC 24 V (10 V to 28.8 V);

DC 3.6 V to 14 V up to 36 V possible without
Buffer battery UBat: impairing the functional safety
DC 3.6 to 5.25 V

Required mating dimensions Power consumption4) 3.6 V:  0.63 W; 10 V:  1.1 W;

(maximum) 14 V:  0.7 W 28.8 V:  1.25 W

Current consumption (typical) 5 V: 95 mA (without load) Normal operation at 5 V: 24 V: 40 mA (without load)

95 mA (without load)
Buffer mode5):
220 μA (rotating shaft)
25 μA (shaft at standstill)

Shaft Hollow through shaft (¬ 90 mm)

Shaft speed  6000 rpm

–4
Moment of inertia of rotor 4.26 · 10 kgm2 (without screws)

Angular acceleration of rotor  2 · 104 rad/s2

Axial motion of  ±1.5 mm

measured shaft

Vibration 55 Hz to 2000 Hz AE scanning unit:  400 m/s2; TTR scale drum:  600 m/s2 (EN 60068-2-6)
Shock 6 ms  2000 m/s2 (EN 60068-2-27)

Operating temperature –40 °C to 115 °C –40 °C to 100 °C

(at the measuring point and on the entire scale drum) (at the measuring point and
on the entire scale drum)

Trigger threshold 130 °C (measuring accuracy of the internal temperature sensor: ±1 K) 120 °C (measuring accuracy
of temperature exceedance of the internal temperature
error message sensor: ±1 K)

Protection EN 60529 Complete encoder, mounted: IP206); scanning unit: IP40 (read about insulation under Electrical safety
in the Interfaces of HEIDENHAIN Encoders brochure)

Mass AE scanning unit:  0.27 kg; TTR scale drum:  0.17 kg

 = Bearing of mating shaft
M1 = Measuring point for operating temperature on housing ID number AE ECI4010 scanning unit: AE EBI4010 scanning unit: AE ECI4090S scanning unit:
M2 = Measuring point for vibration on housing ID 1130167-xx ID 1130173-xx ID 1130171-xx
1 = Position of zero point ±5°
2 = Maximum permissible axial deviation between the shaft surface and flange surface;
compensation of mounting tolerances and thermal expansion; dynamic motion permitted over entire range TTR EXI4000 scale drum: ID 1130175-xx
3 = Use screws with material bonding anti-rotation lock: ISO 4762 – M4 x 25 – 8.8 – MKL as per DIN 267-27 (not included in delivery, ID 202264‑88); 1)
tightening torque: 2.2 Nm ±0.13 Nm Calculation time TIME_MAX_ACTVAL
2)
4 = Space required when encoder cover is closed Evaluation optimized for the KTY 84-130, with DQ01 also for the PT 1000 (see Temperature measurement in motors)
3)
5 = Space required for opening the encoder cover At an output cable length (inside motor) ≤ 1 m
6 = Total runout of mating shaft 4)
See General electrical information in the Interfaces of HEIDENHAIN Encoders brochure
7 = Coaxiality of stator mating surface 5)
At T = 25 °C; UBAT = 3.6 V
8 = Bearing surface of rotor 6)
The encoder must be protected from abrasive and harmful media in the application; use an appropriate enclosure as needed
9 = Bearing surface of stator
10 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock For dimensions and specifications of encoders with functional safety, see the Product Information document.
11 = Direction of shaft rotation for ascending position values
12 = This area of the mating surface does not need to be fully covered by the scanning unit DRIVE-CLiQ is a registered trademark of Siemens AG.

82 83
ECI 4010, EBI 4010, ECI 4090 S Specifications ECI 4010
singleturn
EBI 4010
multiturn
ECI 4090 S
singleturn
Rotary encoders for absolute position values
• Robust inductive scanning principle Interface/ EnDat 2.2 / EnDat22 DRIVE-CLiQ / DQ01
• Hollow through shaft (¬ 180 mm) ordering designation
• EBI 4010: multiturn functionality through battery-buffered revolution counter
• Consists of a scanning unit and scale drum Position values per rev. 1 048 576 (20 bits)

Revolutions – 65 536 (16 bits) –

Calculation time tcal/  5 µs/ 16 MHz  11 µs1)

Shown with clock frequency
customer’s side
System accuracy ±40”

Electrical connection 15-pin with connection for temperature sensor2)

Cable length  100 m  40 m3)

Supply voltage DC 3.6 V to 14 V Rotary encoder UP: DC 24 V (10 V to 28.8 V);

DC 3.6 V to 14 V up to 36 V possible without
Buffer battery UBat: impairing the functional safety
DC 3.6 to 5.25 V

Power consumption4) 3.6 V:  0.63 W; 10 V:  1.1 W;

(maximum) 14 V:  0.7 W 28.8 V:  1.25 W

Current consumption (typical) 5 V: 95 mA (without load) Normal operation at 5 V: 24 V: 40 mA (without load)

95 mA (without load)
Buffer mode5):
220 μA (rotating shaft)
25 μA (shaft at standstill)

Shaft Hollow through shaft ¬ 180 mm (with keyway)

Required mating dimensions

Shaft speed  6000 rpm

–3
Moment of inertia of rotor 3.1 · 10 kgm2 (without screws, without key)

Angular acceleration of rotor  2 · 104 rad/s2

Axial motion of  ±1.5 mm

 measured shaft
 

Vibration 55 Hz to 2000 Hz AE scanning unit:  400 m/s2; TTR scale drum:  600 m/s2 (EN 60068-2-6)
Shock 6 ms  2000 m/s2 (EN 60068-2-27)

Operating temperature –40 °C to 115 °C –40 °C to 100 °C

(at the measuring point and on the entire scale drum) (at the measuring point and
on the entire scale drum)

Trigger threshold 130 °C (measuring accuracy of the internal temperature sensor: ±1 K) 120 °C (measuring accuracy
of temperature exceedance of the internal temperature
error message sensor: ±1 K)

Protection EN 60529 Complete encoder, mounted: IP206); scanning unit: IP40 (read about insulation under Electrical safety
in the Interfaces of HEIDENHAIN Encoders brochure)

Mass AE scanning unit:  0.39 kg; TTR scale drum:  0.33 kg

 = Bearing of mating shaft
M1 = Measuring point for operating temperature
M2 = Measuring point for vibration on scanning unit
ID number AE ECI4010 scanning unit: AE EBI4010 scanning unit: AE ECI4090S scanning unit:
1 = Marking of the 0° position ±5° ID 1087526-xx ID 1097530-xx ID 1087527-xx
2 = Slot for feather key DIN 6885 – A – 10 x 8 x 20
3 = Feather key DIN 6885 – A – 10 x 8 x 20 TTR EXI4000 scale drum: ID 1113606-xx
4 = Maximum permissible axial deviation between the shaft surface and flange surface;
compensation of mounting tolerances and thermal expansion; dynamic motion permitted over entire range 1)
Calculation time TIME_MAX_ACTVAL
5 = Fastening screws: ISO 4762 – M4 x 25 – 8.8; tightening torque: 2.2 Nm ±0.13 Nm; a suitable anti-rotation lock must be used for the screw connection 2)
Evaluation optimized for the KTY 84-130, with DQ01 also for the PT 1000 (see Temperature measurement in motors)
(e.g., screw with material bonding anti-rotation lock: ISO 4762 – M4 x 25 – 8.8 MKL as per DIN 267-27, ID 202264-88) 3)
At an output cable length (inside motor) ≤ 1 m
6 = Space required when encoder cover is closed 4)
See General electrical information in the Interfaces of HEIDENHAIN Encoders brochure
7 = Space required for opening the encoder cover 5)
8 = Coaxiality of stator mating surface At T = 25 °C; UBAT = 3.6 V
6)
9 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock The encoder must be protected from abrasive and harmful media in the application; Use an appropriate enclosure as needed.
10 = Bearing surface of stator
For dimensions and specifications of encoders with functional safety, see the Product Information document.
11 = Bearing surface of rotor
12 = Direction of shaft rotation for ascending position values
DRIVE-CLiQ is a registered trademark of Siemens AG.
13 = This area of the mating surface does not need to be fully covered by the scanning unit
84 85
ERO 1200 series Incremental

Incremental rotary encoders ERO 1225 ERO 1285

• Flange for axial mounting
• Hollow through shaft Interface  TTL » 1 VPP
• Without integral bearing
Line count* 1024 2048

Accuracy of graduation2) ±6”

Reference mark One

 Output frequency  300 kHz –

Edge separation a  0.39 µs –
Cutoff frequency –3 dB –  180 kHz (typical)

System accuracy1) 1024 lines: ±92” 1024 lines: ±67”

2048 lines: ±73” 2048 lines: ±60”

Electrical connection 12-pin


Supply voltage DC 5 V ±0.5 V

Current consumption  150 mA

(without load)

Shaft* Hollow through shaft ¬ = 10 mm or ¬ = 12 mm

Moment of inertia of rotor Shaft ¬ 10 mm: 2.2 · 10–6 kgm2

Shaft ¬ 12 mm: 2.2 · 10–6 kgm2

Mech. permiss. shaft speed n  25 000 rpm

Permissible axial motion of 1024 lines: ±0.2 mm ±0.03 mm

 measured shaft 2048 lines: ±0.05 mm

Vibration 55 Hz to 2000 Hz    100 m/s2 (EN 60068-2-6)
Shock 6 ms  1000 m/s2 (EN 60068-2-27)

Operating temperature –40 °C to 100 °C

 Protection EN 60529 IP00

Mass  0.07 kg

ID number 1037521-xx (scanning unit) 1037522-xx (scanning unit)

332378-xx (disk/hub assembly) 332378-xx (disk/hub assembly)

* Please select when ordering

1)
When not mounted; additional deviations due to mounting and bearing of the measured shaft are not taken into account
2)
For other errors, see Measuring accuracy

D
¬ 10h6 e
¬ 12h6 e

Z a f c
A = Bearing of mating shaft
ERO 1225 1024 0.4 ±0.2 0.05 ¬ 0.02
k = Required mating dimensions
M = Measuring point for operating temperature 2048 0.2 ±0.05
1 = Disk/hub assembly ERO 1285 1024 0.2 ±0.03 0.03 ¬ 0.02
2 = Offset screwdriver: ISO 2936 – 2.5 (I2 shortened) 2048
3 = Direction of shaft rotation for ascending position values

86 87
ERO 1400 series Incremental

Incremental rotary encoders ERO 1420 ERO 1470 ERO 1480

• Flange for axial mounting
• Hollow through shaft Interface  TTL » 1 VPP
• Without integral bearing; self-centering
Line count* 512 1000 512
1000 1500 1000
1024 1024

Integrated interpolation* – 5-fold 10-fold 20-fold 25-fold –

With axial PCB connector
Signal periods per rev. 512 5000 10 000 20 000 25 000 512
1000 7500 15 000 30 000 37 500 1000
1024 1024

Edge separation a  0.39 µs  0.47 µs  0.22 µs  0.17 µs  0.07 µs –

Scanning frequency  300 kHz  100 kHz  62.5 kHz  100 kHz –

Cutoff frequency –3 dB –  180 kHz

 
Reference mark One

System accuracy1)   512 lines: ±139” 1000 lines: ±130”   512 lines: ±190”
1000 lines: ±112” 1500 lines: ±114” 1000 lines: ±163”
1024 lines: ±112” 1024 lines: ±163”

Electrical connection* 12-pin, axial2)

Supply voltage DC 5 V ±0.5 V DC 5 V ±0.25 V DC 5 V ±0.5 V

Current consumption  150 mA  155 mA  200 mA  150 mA

 (without load)

Shaft* Blind hollow shaft ¬ 4 mm, ¬ 6 mm, or ¬ 8 mm,

or hollow through shaft in housing with bore (accessory)

Moment of inertia of rotor Shaft ¬ 4 mm: 0.28 · 10–6 kgm2

Shaft ¬ 6 mm: 0.27 · 10–6 kgm2
Shaft ¬ 8 mm: 0.25 · 10–6 kgm2
 
Mech. permiss. shaft speed n  30 000 rpm

Permissible axial motion of ±0.1 mm ±0.05 mm

measured shaft

Vibration 55 Hz to 2000 Hz    100 m/s2 (EN 60068-2-6)

Shock 6 ms  1000 m/s2 (EN 60068-2-27)

Operating temperature –10 °C to 70 °C

Protection EN 60529 With PCB connector: IP00

With cable outlet: IP40
Axial PCB connector and round cable Axial PCB connector and ribbon cable
Mass  0.07 kg

ID number 360731-xx 360736-xx 360737-xx

Bold: This preferred version is available on short notice

* Please select when ordering
1)
When not mounted; additional deviations due to mounting and bearing of the measured shaft are not taken into account
2)
Upon request, cable (1 m), radial, free cable end (not for ERO 1470)
L 13 +4.5/–3 10 min.

Bend radius R Fixed cable Frequent

flexing
A = Bearing of mating shaft Ribbon cable R  2 mm R  10 mm
k = Required mating dimensions
Ô = Accessory: round cable
a b D
Õ = Accessory: ribbon cable
1 = Two M3 setscrews offset by 90°; width A/F 1.5; tightening torque: 0.25 Nm ±0.05 Nm ERO 1420 0.03 ±0.1 ¬ 4h6 e
2 = Version for repeated mounting ERO 1470 0.02 ±0.05 ¬ 6h6 e
3 = Version featuring housing with central hole (accessory)
4 = Direction of shaft rotation for ascending position values ERO 1480 ¬ 8h6 e

88 89
Interfaces
» 1 VPP incremental signals « TTL incremental signals

HEIDENHAIN encoders with the » 1 VPP Signal period HEIDENHAIN encoders with the « TTL Fault
Signal period 360° elec.
interface provide voltage signals that are 360° elec. interface incorporate electronics that
highly interpolatable. digitize sinusoidal scanning signals with or
without interpolation.
The sinusoidal incremental signals A and B
are phase-shifted by 90° elec. and have a
The incremental signals are transmitted
typical amplitude of 1 VPP. The illustrated
as the square-wave pulse trains Ua1 and Ua2,
sequence of output signals—with B Measuring step after
phase-shifted by 90° elec. The reference
lagging A—applies to the direction of 4-fold evaluation
mark signal consists of one or more
motion shown in the dimension drawing.
reference pulses Ua0, which are gated with
The reference mark signal R has a unique
the incremental signals. In addition, the
assignment to the incremental signals.
integrated electronics produce their inverted
The output signal may be lower next to the
signals ¢, £, and ¤ for noise-proof
reference mark.
transmission. The illustrated sequence of
output signals—with Ua2 lagging Ua1—
The inverted signals ¢, £, and ¤ are not shown.
applies to the direction of motion shown in
the dimension drawing.
The distance between two successive
The fault detection signal ¥ indicates edges of the incremental signals Ua1 and Further information:
Further information: Alternative
malfunctions such as an interruption in the Ua2 through 1-fold, 2-fold, or 4-fold
signal shape For detailed descriptions of all available
For detailed descriptions of all available (rated value) supply lines, failure of the light source, etc. evaluation is one measuring step.
interfaces, as well as general electrical interfaces, as well as general electrical
information, please refer to the Interfaces information, please refer to the Interfaces
of HEIDENHAIN Encoders brochure. A, B, R measured with oscilloscope in differential mode
of HEIDENHAIN Encoders brochure.

Pin layout Pin layout

12-pin M23 coupling 15-pin D-sub connector for PWM 21 12-pin PCB connector 12-pin 12-pin
M23 flange socket M23 connector
12 or coupling

Power supply Incremental signals Other signals 15-pin 12-pin PCB connector
D-sub connector
12 2 10 11 5 6 8 1 3 4 9 7 / for IK 215 / PWM 21 12

4 12 2 10 1 9 3 11 14 7 5/6/8/15 13 /
Power supply Incremental signals Other signals
12 2a 2b 1a 1b 6b 6a 5b 5a 4b 4a 3b 3a /
12 2 10 11 5 6 8 1 3 4 7 / 9
Sensor1) 1)
UP 0V Sensor A+ A– B+ B– R+ R– Vacant Vacant Vacant
UP 0V 4 12 2 10 1 9 3 11 14 7 13 5/6/8 15
1) 1)
Brown/ Blue White/ White Brown Green Gray Pink Red Black / Violet Yellow 12 2a 2b 1a 1b 6b 6a 5b 5a 4b 4a 3a 3b /
Green Green
1) 2)
UP Sensor 0V Sensor Ua1 ¢ Ua2 £ Ua0 ¤ ¥ Vacant Vacant
UP 0V
Output cable for ERN 1381 17-pin M23 12-pin PCB connector
inside the motor housing flange socket Brown/ Blue White/ White Brown Green Gray Pink Red Black Violet / Yellow
ID 667343-01 12
Green Green

Cable shield connected to housing; UP = Power supply voltage

Power supply Incremental signals Other signals Sensor: The sense line is connected in the encoder with the corresponding power line.
Vacant pins or wires must not be used!
7 1 10 4 15 16 12 13 3 2 5 6 8/9/11/ 1)
ERO 14xx: vacant
14/17 2)
Exposed linear encoders: conversion from TTL to 11 µAPP for the PWT, otherwise not assigned
12 2a 2b 1a 1b 6b 6a 5b 5a 4b 4a / / 3a/3b
2)
UP Sensor 0V Sensor A+ A– B+ B– R+ R– T+ T–2) Vacant
UP 0V

Brown/ Blue White/ White Brown Green Gray Pink Red Black Brown2) White2) /
Green Green

Cable shield connecting with housing; UP = Power supply voltage 1) LIDA 2xx: vacant; 2) For connecting a temperature sensor
Sensor: The sense line is connected in the encoder with the corresponding power line.
Vacant pins or wires must not be used!
90 91
Commutation signals for block commutation

Pin layout The block commutation signals U, V,

and W are obtained from three separate Further information:
Output cable for ERN 1321 17-pin 12-pin PCB connector
absolute tracks. They are transmitted as
inside the motor M23 flange socket Detailed descriptions of all available
square-wave signals in TTL levels.
ID 667343-01 interfaces, as well as general electrical
12 information, can be found in the Interfaces
The ERN 1x23 and ERN 1326 are rotary
encoders with commutation signals for of HEIDENHAIN Encoders brochure.
block commutation.
Power supply Incremental signals Other signals

7 1 10 4 15 16 12 13 3 2 5 6 8/9/11/
14/17
12 2a 2b 1a 1b 6b 6a 5b 5a 4b 4a / / 3a/3b
1) ERN 1123, ERN 1326 pin layout
UP Sensor 0V Sensor Ua1 ¢ Ua2 £ Ua0 ¤ T+ T–1) Vacant
UP 0V 17-pin M23 16-pin PCB connector 15-pin PCB connector
flange socket
Brown/ Blue White/ White Brown Green Gray Pink Red Black Brown1) White1) /
Green Green 16 15

Cable shield connected to housing; UP = Power supply voltage Power supply Incremental signals
Sensor: The sense line is connected in the encoder with the corresponding power line.
Vacant pins or wires must not be used! 7 1 10 11 15 16 12 13 3 2
1)
Connections for an external temperature sensor (only for output cables inside the motor, see Temperature measurement in motors);
if used, please refer to the information about electromagnetic compatibility in the General electrical information section of the 16 1b 2b 1a / 5b 5a 4b 4a 3b 3a
Interfaces of HEIDENHAIN Encoders brochure.
15 13 / 14 / 1 2 3 4 5 6

UP Sensor 0V Internal Ua1  Ua2  Ua0 

UP shield

Brown/ Blue White/ / Green/ Yellow/ Blue/ Red/ Red Black

Green Green Black Black Black Black

Other signals Cable shield connected to housing;

UP = Power supply
4 5 6 14 17 9 8 Sensor: The sense line is connected
in the encoder with the corresponding
16 2a 8b 8a 6b 6a 7b 7a power line (only with ERN 1326).
Vacant pins or wires must not be
15 / 7 8 9 10 11 12 used!

¥ U U V V W W

White Green Brown Yellow Violet Gray Pink

Pin layout for ERN 1023

Power supply Incremental signals Other signals

UP 0V Ua1  Ua2  Ua0  U U V V W W

White Black Red Pink Olive Blue Yellow Orange Beige Brown Green Gray Light Violet
Green Blue

Cable shield connected to housing;

UP = Power supply
Vacant pins or wires must not be used!

92 93
Commutation signals for sine commutation Position values

The commutation signals C and D are The EnDat interface is a digital, bidirec- Ordering designation Command set Incremental signals
obtained from the Z1 track and are equal Further information: tional interface for encoders. It is capable
to one sine or cosine period per revolution. of outputting position values, reading EnDat01 EnDat 2.1 or EnDat 2.2 1 VPP
They have a signal amplitude of 1 VPP Detailed descriptions of all available ­information stored in the encoder, updating EnDat H HTL
(typical) at 1 k. interfaces, as well as general electrical this information, and storing new informa- EnDat T TTL
The input circuit of the subsequent information, can be found in the Interfaces tion. Because the interface uses serial
electronics is the same as that of the of HEIDENHAIN Encoders brochure. transmission, only four signal lines are EnDat21 –
» 1 VPP interface. However, the required required. The data (DATA) are transmitted in
terminating resistance Z0 is 1 k instead synchronism with the CLOCK signal from EnDat02 EnDat 2.2 1 VPP
of 120 . the subsequent electronics. The type of
The ERN 1387 is a rotary encoder with transmission (position values, parameters, EnDat22 EnDat 2.2 –
output signals for sinusoidal commutation. diagnostics, etc.) is selected via mode
commands that the subsequent electronics E30-R2 EnDat 3.0
Pin layout send to the encoder. Some functions
are available only with EnDat 2.2 mode Versions of the EnDat interface
17-pin 14-pin PCB connector
commands.
M23 flange socket Absolute encoder Subsequent electronics
or coupling
Incremental A/Ua1*)
signals *)
B/Ua2*)
Power supply Incremental signals

EnDat interface
Further information:
7 1 10 4 11 15 16 12 13 3 2
Detailed descriptions of all available
interfaces, as well as general electrical Absolute
1b 7a 5b 3a / 6b 2a 3b 5a 4b 4a position value
information, can be found in the Interfaces
UP Sensor 0V Sensor Internal A+ A– B+ B– R+ R– of HEIDENHAIN Encoders brochure.
UP 0V shield
Parameters of the encoder
Operating Operating Parameters manufacturer for *) Encoder-specific:
Brown/ Blue White/ White / Green/ Yellow/ Blue/ Red/ Red Black
parameters status of the OEM 1 VPP, HTL, or TTL
Green Green Black Black Black Black EnDat 2.1 EnDat 2.2

Other signals
Pin layout for EnDat01/EnDat02
17-pin 12-pin 15-pin
14 17 9 8 5 6 M23 flange socket PCB connector PCB connector
or coupling
7b 1a 2b 6a / /
12 15
C+ C– D+ D– T+1) T–1)
1)
Power supply Incremental signals Serial data transmission
Gray Pink Yellow Violet Green Brown
7 1 10 4 11 15 16 12 13 14 17 8 9
Cable shield connected to housing;
UP = Voltage supply; T = Temperature 12 1b 6a 4b 3a / 2a 5b 4a 3b 6b 1a 2b 5a
Sensor: The sense line is connected internally to the respective the power line.
Vacant pins or wires must not be used! 15 13 11 14 12 / 1 2 3 4 7 8 9 10
1) Connections for an external temperature sensor (only for output cables inside the motor, see Temperature measurement in motors);
if used, please refer to the information about electromagnetic compatibility in the General electrical information section of the UP Sensor 0V Sensor Internal A+ A– B+ B– DATA DATA CLOCK CLOCK
Interfaces of HEIDENHAIN Encoders brochure. UP 0V shield

Brown/ Blue White/ White / Green/ Yellow/ Blue/ Red/ Gray Pink Violet Yellow
Green Green Black Black Black Black

Other signals Cable shield connected with housing; UP = Power supply; T = Temperature
Sensor: The sense line is connected in the encoder with the corresponding power line.
5 6 Vacant pins or wires must not be used!
1)
Only with the ordering designations EnDat 01 and EnDat 02
2)
12 / / Connections for an external temperature sensor (only for output cables inside the motor, see Temperature
measurement in motors); if used, please refer to the information about electromagnetic compatibility
15
/ / in the General electrical information section of the Interfaces of HEIDENHAIN Encoders brochure.

T+2) T–2)

Brown2) White2)

94 95
EnDat22 pin layout Pin layout
8-pin M12 coupling 9-pin M23 SpeedTEC HMC 6 flange socket
or flange socket angle flange socket K
1
X
2
E

6 3
8 7
5 4
16-pin PCB connector 15-pin PCB connector D
E
A
Travel range
C B
X
16 15

Power supply Serial data transmission Other signals 16-pin 15-pin

PCB connector PCB connector
M12 8 2 5 1 3 4 7 6 / / 16 15

M23 3 7 4 8 5 6 1 2 / / Encoder

16 1b 6a 4b 3a 6b 1a 2b 5a 8a 8b Power supply Serial data transmission Other signals

15 13 11 14 12 7 8 9 10 5 6 1 2 3 4 5 6 / /

Sensor1) 1)
UP 0V Sensor DATA DATA CLOCK CLOCK T+3) T–3) 16 1b 4b 6b 1a 2b 5a 8a 8b
UP2) 0 V2)
15 13 14 7 8 9 10 5 6
Brown/ Blue White/ White Gray Pink Violet Yellow Brown Green
Green Green UP 0V DATA DATA CLOCK CLOCK T+1) T–1)

Cable shield connected with housing; UP = Power supply; T = Temperature Brown/Green White/Green Gray Pink Violet Yellow Brown Green
Sensor: The sense line is connected in the encoder with the corresponding power line.
Vacant pins or wires must not be used!
1)
UBAT for EBI 1335; 2) ECI 1118 EnDat22: vacant Motor
3)
Connections for an external temperature sensor (only EnDat22, except ECI 1118, see Temperature measurement in motors); if used,
please refer to the information about electromagnetic compatibility in the General electrical information section of the Interfaces of Brake Power
HEIDENHAIN Encoders brochure.
7 8 A B C D E
Pin layout for EBI 135/EBI 1135/EBI 4010 BRAKE– BRAKE+ U V W / PE
15-pin PCB connector
15
White White/Black Blue Brown Black / Yellow/Green

Outer shield of the encoder output cable on housing of communication element K.

8-pin M12 flange socket 9-pin M23 SpeedTEC Vacant pins or wires must not be used!
angle flange socket HMC 6 is not suited for encoders with buffer battery backup (EBI 135, EBI 1335, EBI 1135, EBI 4010)
1)
Connections for an external temperature sensor (except ECI 1118, see Temperature measurement in motors); if used, please refer to
the information about electromagnetic compatibility in the General electrical information section of the Interfaces of HEIDENHAIN
Encoders brochure.
1)
Power supply Serial data transmission Other signals

15 13 11 14 12 7 8 9 10 5 6

M12 8 2 5 1 3 4 7 6 / /

M23 3 7 4 8 5 6 1 2 / /

UP UBAT 0 V2) 0 VBAT2) DATA DATA CLOCK CLOCK T+3) T– 3)

Brown/ Blue White/ White Gray Pink Violet Yellow Brown Green
Green Green

UP = Power supply; UBAT = External buffer battery (false polarity can result in damage to the encoder)
Vacant pins or wires must not be used!
1)
Only for EBI 135
2)
Connected inside encoder
3)
Connections for an external temperature sensor (see Temperature measurement in motors); if used, please refer to the information
about electromagnetic compatibility in the General electrical information section of the Interfaces of HEIDENHAIN Encoders brochure.
SpeedTEC is a registered trademark of TE Connectivity Industrial GmbH.

96 97
HMC 2 (EnDat3/E30-R2) M12

EnDat 3 combines the features and benefits Pin layout of ECI, EQI 11xx
of EnDat in a new architecture and offers
47 31 0 8-pin M12 SpeedTEC 15-pin PCB connector
interesting enhanced functions for digital Application
Angle 16 bit MT 32 bit ST angle flange socket
production. EnDat 3 requires two wires for Layer C
D A
B

communication, and usually two additional

3
15 2 2 1

wires for encoder power. Since the digital M12 2 4 1

data current has no DC component, it is

possible to modulate the communication BGD
Encoder
on the supply wires, and so to reduce the Word 0
number of wires for certain applications Transport Foreground
Layer and Word 1 Power supply / Serial data transfer Other signals
(e.g., hybrid motor cables) to a total of just Background
two wires (HMC 2). The EnDat 3 interface Word 2
M12 A B / /
specification is oriented on the standardized
OSI layer model.
15 9 10 5 6
The encoder side of the interface is Data Link Layer
and BUS REQ HPF LPH LPF LPF 2 – – 2 1
referred to as the slave, and the
subsequent electronics side as the master. Network Layer
1)
P_SD+ P_SD–1) T+2) T–2)
A communication cycle consists of a
request from the master followed by a
Violet Yellow Brown Green
response from the slave.

Physical Layer
Motor

Brake Power

Further information: M12 C D 1 2 3 4

Find out more about EnDat at
Brake + Brake – U V W PE
www.endat.de
1)
Power supply and data: P_SD+ includes UP; P_SD– includes 0 V
2)
Connections for an external temperature sensor; evaluation optimized for KTY 84-130, PT 1000, and others; (see Temperature
measurement in motors); if used, please refer to the information about electromagnetic compatibility in the General electrical information
Ordering designations section of the Interfaces of HEIDENHAIN Encoders brochure.
The ordering designation defines key communication characteristics:
Vacant pins or wires must not be used!
Supported communication types E30-R2 E30-R4 E30-RB
SpeedTEC is a registered trademark of TE Connectivity Industrial GmbH.
Communication modulated onto power supply wires  – –

Communication + separate power supply wires (4 wires) –  

Bus operation – – 

Sensor box integration –  

98 99
HMC 2 (EnDat3/E30-R2) M23 DRIVE-CLiQ interface

Pin layout of ECI, EQI, ECN, EQN 13xx HEIDENHAIN encoders with the code
letter S after the model designation are Further information:
8-pin M23 SpeedTEC 16-pin (12+4)
12
suitable for connection to Siemens controls
HMC 2 angle flange socket D 3
PCB connector For detailed descriptions of all available
C
4
with the DRIVE-CLiQ interface
2
b 2 2 1 • Ordering designation: DQ01 interfaces, as well as general electrical
M23 B a information, please refer to the Interfaces
A 1 4
123456 12 of HEIDENHAIN Encoders brochure.
DRIVE-CLiQ is a registered trademark of
Encoder Siemens AG.

Power supply / Serial data transfer Other signals

Siemens pin layout for encoder cables (AGK)
M23 A B / /
8-pin M12 SPEEDCON 9-pin M23 SpeedTEC
2b 5a / / flange socket angle flange socket
12

4 / / 1a 1b

/ / 2 1 16-pin PCB connector 15-pin PCB connector

2
16 15
P_SD+1) P_SD–
1)
T+
2)
T–
2)

Violet Yellow Brown Green Power supply Serial data transmission Other signals

M12 8 2 1 5 3 4 7 6 / /
Motor
M23 3 7 8 4 5 6 1 2 / /
Brake Power
16 1b 6a 3a 4b 6b 1a 2b 5a 8a 8b
M23 C D 1 4 3 2
15 13 11 12 14 7 8 9 10 5 6
Brake + Brake – U V W PE
1)
– – UP 0V RXP RXN TXP TXN T+ T–1)
1)
Supply voltage and data: P_SD+ contains UP (power supply); P_SD– contains 0 V
2)
Connections for an external temperature sensor; evaluation optimized for KTY 84-130, PT 1000, and others (see Temperature * Brown/ Blue White White/ Gray Pink Violet Yellow Brown Green
measurement in motors); if used, please refer to the information about electromagnetic compatibility in the General electrical information Green Green
section of the Interfaces of HEIDENHAIN Encoders brochure.
Cable shield connected to housing; UP = Power supply voltage
Vacant pins or wires must not be used! Vacant pins or wires must not be used.
Output cables with a cable length > 0.5 m require strain relief for the cable
1)
SpeedTEC is a registered trademark of TE Connectivity Industrial GmbH. Connections for an external temperature sensor (see Temperature measurement in motors); if used, please refer to the information
about electromagnetic compatibility in the General electrical information section of the Interfaces of HEIDENHAIN Encoders brochure.

Siemens pin layout for adapter cables (APK) and connecting cables (VBK)
RJ45 connector 8-pin M12 connector 8-pin M12 coupling 9-pin M23 SpeedTEC connector

Power supply Serial data transfer

RJ45 A B 3 6 1 2

M12 1 5 7 6 3 4

M23 8 4 1 2 5 6

UP 0V TXP TXN RXP RXN

* Red Black Green Yellow Pink Blue

* Pay attention to the different color assignments of encoder cables compared to adapter cables and connecting cables

SpeedTEC is a registered trademark of TE Connectivity Industrial GmbH.

SPEEDCON is a registered trademark of Phoenix Contact GmbH & Co. KG.
100 101
EBI 1135/EBI 1335/EBI 135/EBI 4010: external backup battery SSI position values

The multiturn functionality of the EBI 1135, The position value is transmitted, starting Data transmission
EBI 1335, EBI 135, and EBI 4000 is with the most significant bit (MSB), over
implemented by means of a revolution the data lines (DATA) in synchronism with T = 1 to 10 µs
counter. In order for the absolute position Encoder Subsequent electronics a clock signal (CLOCK) provided by the tcal See Specifications
information to still be available after loss control. The SSI standard data word length t1  0.4 µs
of power, the EBI must be operated with for singleturn encoders is 13 bits, and for (without cable)
an external backup battery. multiturn encoders, 25 bits. In addition to t2 = 17 to 20 µs
the absolute position values, incremental tR  5 µs
n = Data word length
A lithium thionyl chloride battery with 3.6 V signals can transmitted as well. For a
13 bits for ECN/ROC
and 1200 mAh is recommended for the description of the signals, see 1 VPP 25 bits for EQN/ROQ
backup battery. The typical battery service incremental signals.
life is over nine years (EBI 1135/135) or six CLOCK and DATA not
years (EBI 4010, EBI 1335) under the right The following functions can be activated shown
conditions (two ten-hour shifts under normal via programming inputs:
operation, battery temperature of 25 °C, 1 = Protective circuit • Direction of rotation
and typical self-discharging). In order for • Zeroing (setting to zero)
this to be achieved, the main power supply Backup battery connection
(UP) must be connected to the encoder
during or immediately after connection of
the backup battery so that the encoder is
fully initialized after being completely
without power. Otherwise, the encoder
Battery current in μA 

will consume a significantly higher amount Further information:

of battery current until main power is first
supplied. For detailed descriptions of all available
interfaces, as well as general electrical
To avoid damage to the encoder, ensure information, please refer to the Interfaces
the correct polarity of the backup battery. of HEIDENHAIN Encoders brochure.
HEIDENHAIN recommends operating each Normal operation at UBAT = 3.6 V
encoder with its own backup battery.

If the application requires compliance with

DIN EN 60 086-4 or UL 1642, then an
appropriate protective circuit is required for
protection from wiring errors. Pin layout
Operating temperature in °C  17-pin M23 coupling
If the backup battery voltage falls below
certain thresholds, the encoder issues the EBI 1135/135: typical discharge current during normal operation (UB = 3.6 V)
following warnings or error messages, which
are transmitted over the EnDat interface:
• “Battery charge” warning Power supply Incremental signals Serial data transmission Other signals
 2.8 V ±0.2 V
in normal operating mode 7 1 10 4 11 15 16 12 13 14 17 8 9 2 5
• “M Power interruption” error message
 2.2 V ±0.2 V UP Sensor 0V Sensor Internal A+ A– B+ B– DATA DATA CLOCK CLOCK Dir. of Zeroing
Battery current in μA

in battery-buffered mode (encoder must 1)

UP 0 V shield rotation
be re-referenced)
Brown/ Blue White/ White / Green/ Yellow/ Blue/ Red/ Gray Pink Violet Yellow Black Green
Low battery current continues to flow Green Green Black Black Black Black
even during normal operation of the EBI.
The amount of current depends on the Shield on housing; UP = Power supply voltage
operating temperature. Sensor: With a 5 V supply voltage, the sense line is connected in the encoder with the corresponding power line.
1)
Vacant with the ECN/EQN 10xx and ROC/ROQ 10xx

Please note:
Compliance with EnDat Specification 297403
and the EnDat Application Notes 722024, Operating temperature in °C
Chapter 13, Battery-buffered encoders, is
required for correct control of the encoder. EBI 4010: typical discharge current during normal operation (UBAT = 3.6 V)

102 103
Cables and connecting elements
Output cables inside the motor housing

Output cables inside the motor housing With PCB connector and With PCB connector and With PCB connector and 8-pin M12 flange With PCB connector and stripped or With PCB connector and contact insert for
Cable diameter: 4.5 mm, 3.7 mm or TPE single wires 17-pin M23 angle flange socket, 9-pin M23 angle flange socket, socket (TPE single wires with braided unstripped cable end, and wires for HMC 6 hybrid connecting element, and wires
2
with shrink-wrap or braided sleeve. and wires for temperature sensor and wires for temperature sensor sleeve without shield), and wires for temperature sensor (TPE 2 x 0.16 mm ) for temperature sensor (TPE 2 x 0.16 mm2)
2 2
(cross-linked polyolefin (TPE 2 x 0.16 mm ) temperature sensor (TPE 2 x 0.16 mm )
2 x 0.25 mm2)
7)

7)

Rotary encoder Interface PCB connector Crimp sleeve With wires for temperature sensor t With wires for temp. sensor t With wires for temperature sensor t With wires for temperature sensor t With wires for temperature sensor t
1)
ECI 119 EnDat01 15-pin – – – – 640067-xx –
EPG 16 x 0.06 mm2
1) 4)
ECI 119 EnDat22 15-pin – – 1120947-xx t – 825855-xx1) 1072652-xx1) t
EPG 1 x (4 x 0.06 mm2) + EPG 4 x 2 x 0.16 mm2 EPG 1 x (4 x 0.06 mm2) + 4 x 0.06 mm2
2
6) 4 x 0.06 mm
EBI 135 EnDat22 15-pin – – – –
1116479-xx1) t
EPG 1 x (4 x 0.06 mm2) + 4 x 0.06 mm2
ECI 1119 EnDat22 15-pin – – – 1119952-xx t 1119958-xx t 1072652-xx1) t
EQI 1131 TPE 8 x 0.16 mm2 TPE 8 x 0.16 mm2 EPG 1 x (4 x 0.06 mm2) + 4 x 0.06 mm2
t 1302347-xx10) 13) t
10) 12) 13)
ECI 1119 EnDat3 15-pin 1279930-xx –
EQI 1131 (E30-R2) ETFE 2 x 0.15 mm2 ETFE 2 x 0.15 mm2
ECI 1118 EnDat22 15-pin – – – 805320-xx 735784-xx2) –
2
TPE 6 x 0.16 mm TPE 6 x 0.16 mm2
6)
EBI 1135 EnDat22 15-pin – – – 804201-xx 640055-xx2) –
2
TPE 8 x 0.16 mm TPE 8 x 0.16 mm2
4)
ECI 1319 EnDat22 16-pin or ¬ 6 mm – 1120948-xx t 1117280-xx t 1108076-xx t 1035387-xx t
EQI 1331 12-pin + 4-pin EPG 1 x (4 x 0.06 mm2) + TPE 8 x 0.16 mm2 EPG 1 x (4 x 0.06 mm2) + 4 x 0.06 mm2 EPG 1 x (4 x 0.06 mm2) + 4 x 0.06 mm2
EBI 13356) 4 x 0.06 mm2
1100199-xx
ECN 1325 Not for EBI 1335
TPE 8 x 0.16 mm2
EQN 1337
1143830-xx t
TPE 8 x 0.16 mm2
10) 11)
ECI 1319 EnDat3 – 1275042-xx – 1302701-xx10) –
EQI 1331 (E30-R2) ETFE 2 x 0.15 mm2 ETFE 2 x 0.15 mm2
ECN 1325 9)
Analog 4-pin 1302763-xx t 1302763-xx9) t
EQN 1337
temp. sensor ETFE 2 x 0.15 mm2 ETFE 2 x 0.15 mm2
4)
ECI 1319 S DRIVE-CLiQ 16-pin or ¬ 6 mm – 1120945-xx t 1181373-xx5) t – –
EQI 1331 S 12-pin + 4-pin EPG 2 x (2 x 0.06 mm2) + EPG 2 x (2 x 0.06 mm2) + 4 x 0.06 mm2
ECN 1324 S 4 x 0.06 mm2
EQN 1336 S
ECN 1113 EnDat01 15-pin ¬ 4.5 mm 606079-xx t – – 605090-xx –
EQN 1125 EPG 16 x 0.06 mm2 EPG 16 x 0.06 mm2
ECN 1123 EnDat22 15-pin ¬ 4.5 mm – – 1117412-xx
2
t 1108078-xx t 1035857-xx t
EQN 1135 TPE 8 x 0.16 mm EPG 1 x (4 x 0.06 mm2) + 4 x 0.06 mm2 EPG 1 x (4 x 0.06 mm2) + 4 x 0.06 mm2
5)
ECN 1123 S DRIVE-CLiQ 15-pin ¬ 4.5 mm – – 1217143-xx t – –
EQN 1135 S EPG 2 x (2 x 0.06 mm2) + 4 x 0.06 mm2
ECN 1313 EnDat01 12-pin ¬ 6 mm 332201-xx t2 – – 332202-xx –
EQN 1325 EPG 16 x 0.06 mm EPG 16 x 0.06 mm2

1) 7)
Attention: For output cables, electromagnetic compatibility With cable clamp for shield connection Connecting element must be suitable for the maximum data rate used
2) 8) Further information:
must be ensured in the entire system. Single wires in heat shrink tubing, without shield Single wires without heat shrink tubing, without shield
3) 9)
The shield connection must be implemented Note the max. temperature (see the Interfaces of HEIDENHAIN Single wires in heat shrink tubing, without shield, with connector, For more information about HMC 6 or
on the motor. Encoders brochure) 2-pin only for temperature sensor HMC 2, refer to the respective Product
4) 10)
SpeedTEC angle flange socket (male) with O-ring for vibration Twisted single wires, without shield Information document.
SpeedTEC is a registered trademark of 11)
protection (for threaded connector with O-ring; 8-pin M23 SpeedTEC angle flange socket without vibration O-ring For information about output cables
TE Connectivity Industrial GmbH. 12)
for SpeedTEC connector, remove O-ring) 8-pin M12 SpeedTEC angle flange socket (male), bolt circle dia. 23.75 mm, inside the motor, please refer to the
5)
EPG cable with one-sided shield connection without vibration O-ring Cables and Connectors brochure.
6) 13)
Not suited for HMC 6, not supported by the TNC With wires for temperature sensor (ETFE 2 x 0.15 mm²) in heat shrink tubing
104 105
Output cables inside the motor housing With PCB connector and With PCB connector and With PCB connector and 8-pin M12 flange With PCB connector and stripped or With PCB connector and contact insert for
Cable diameter: 4.5 mm, 3.7 mm or TPE single wires 17-pin M23 angle flange socket, 9-pin M23 angle flange socket, socket (TPE single wires with braided unstripped cable end, and wires for HMC 6 hybrid connecting element, and wires
2
with shrink-wrap or braided sleeve. and wires for temperature sensor and wires for temperature sensor sleeve without shield), and wires for temperature sensor (TPE 2 x 0.16 mm ) for temperature sensor (TPE 2 x 0.16 mm2)
2 2
(cross-linked polyolefin (TPE 2 x 0.16 mm ) temperature sensor (TPE 2 x 0.16 mm )
2 x 0.25 mm2) 6)

6)

Rotary encoder Interface PCB connector Crimp sleeve With wires for temperature sensor t With wires for temp. sensor t With wires for temperature sensor t With wires for temperature sensor t With wires for temperature sensor t
2)
ERN 1123 TTL 15-pin – – – – 738976-xx –
TPE 14 x 0.16 mm2
ERN 1321 TTL 12-pin ¬ 6 mm 667343-xx t2 – – 333276-xx –
ERN 1381 1 VPP EPG 16 x 0.06 mm EPG 16 x 0.06 mm2
ERN 1326 TTL 16-pin ¬ 6 mm – – – 341369-xx –
2
EPG 16 x 0.06 mm
ERN 1387 1 VPP 14-pin ¬ 6 mm 332199-xx t2 – – 332200-xx –
EPG 16 x 0.06 mm EPG 16 x 0.06 mm2
1)3)
ERO 1225 TTL 12-pin ¬ 4.5 mm – – – 372164-xx –
ERO 1285 1 VPP PUR [4(2 x 0.05 mm2) + (4 x 0.16 mm2)]
1)3)
ERO 1420 TTL 12-pin ¬ 4.5 mm – – – 346439-xx –
ERO 1470 TTL PUR [4(2 x 0.05 mm2) + (4 x 0.16 mm2)]
ERO 1480 1 VPP
4)
ECI 4010 EnDat22 15-pin ¬ 4.5 mm – 1121041-xx – – –
EBI 40105) EPG 1 x (4 x 0.06 mm2) +
4 x 0.06 mm2
4)
1120940-xx t
EPG 1 x (4 x 0.06 mm2) +
4 x 0.06 mm2
4)
ECI 4090 S DRIVE-CLiQ 15-pin ¬ 4.5 mm – 1125408-xx – – –
EPG 2 x (2 x 0.06 mm2) +
4 x 0.06 mm2
4)
1125403-xx t
EPG 2 x (2 x 0.06 mm2) +
4 x 0.06 mm2

1) 5)
Attention: For output cables, electromagnetic compatibility With cable clamp for shield connection Not suited for HMC 6, not supported by the TNC
2) 6)
must be ensured in the entire system. Single wires with heat shrink tubing, without shield Connecting element must be suitable for the maximum data rate used
3) 7)
The shield connection must be implemented Note the max. temperature (see the Interfaces of HEIDENHAIN Single wires without heat shrink tubing, without shield
on the motor. Encoders brochure)
4)
SpeedTEC angle flange socket (male) with O-ring for vibration
DRIVE-CLiQ is a registered trademark of Siemens AG. protection (for threaded connector with O-ring; for SpeedTEC
SpeedTEC is a registered trademark of connector, remove O-ring)
TE Connectivity Industrial GmbH.

Further information:
For more information about HMC 6,
please refer to the HMC 6 Product
Information document.

106 107
Diagnostics, and inspection and testing equipment

HEIDENHAIN encoders provide all of the PWT 101 PWT 101

information needed for commissioning, The PWT 101 is a testing device for the
monitoring, and diagnostics. The type of functional testing and adjustment of Encoder input • EnDat
information available depends on whether incremental and absolute HEIDENHAIN only for • Fanuc Serial Interface
the encoder is incremental or absolute and encoders. Thanks to its compact HEIDENHAIN encoders • Mitsubishi high speed interface
on which interface is being used. dimensions and rugged design, the • Panasonic Serial Interface
PWT 101 is ideal for portable use. • Yaskawa Serial Interface
Incremental encoders have 1 VPP, TTL, or • 1 VPP
HTL interfaces. TTL and HTL encoders • 11 µAPP
monitor their signal amplitudes internally • TTL
and generate a simple fault detection
signal. With 1 VPP signals, an analysis of Display 4.3-inch color flat-panel display (touchscreen)
the output signals is possible only with
external testing devices or through the Supply voltage DC 24 V
expenditure of computation resources in Power consumption: max. 15 W
the subsequent electronics (analog
diagnostic interface). Diagnostics with the PWM 21 and ATS software Operating temperature 0 °C to 40 °C
Absolute encoders employ serial data Protection EN 60529 IP20
transmission. Depending on the interface,
additional 1 VPP incremental signals can be Dimensions  145 mm × 85 mm × 35 mm
output. The signals are extensively monitored
within the encoder. The monitoring results
(particularly valuation numbers) can be
transmitted to the subsequent electronics
along with the position values via the serial
interface (digital diagnostics interface).
The following information is available:
• Error message: position value is not
reliable
• Warning: an internal functional limit of
the encoder has been reached
• Valuation numbers:
– Detailed information on the encoder’s
function reserve
Level display
– Identical scaling for all
HEIDENHAIN encoders
– Cyclic reading is possible
This enables the subsequent electronics to
evaluate the current status of the encoder
with little effort, even in Closed Loop mode. Commissioning with the PWM 21 and ATS software

For the analysis of these encoders,

HEIDENHAIN offers the appropriate PWM
inspection devices and PWT testing
devices. Based on how these devices are
integrated, a distinction is made between
two types of diagnostics:
• Encoder diagnostics: the encoder is
PWT display
connected directly to the inspection or
testing device, thereby enabling a
detailed analysis of encoder functions.
• Monitoring mode: the PWM inspection
device is interposed within the closed
control loop (via suitable testing adapters
as needed). This enables real-time
diagnosis of the machine or equipment
during operation. The available functions
depend on the interface.

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
Vollständige und weitere Adressen siehe www.heidenhain.de
PWM 21 PWM 21 
 For complete and further addresses see www.heidenhain.com
The PWM 21 phase angle measuring unit,
in conjunction with the included ATS Encoder input • EnDat 2.1, EnDat 2.2, or EnDat 3 (absolute value with
adjustment and testing software, provides DE HEIDENHAIN Vertrieb Deutschland DK Denmark  SE NZ Llama ENGINEERING Ltd
or without incremental signals) 83301 Traunreut, Deutschland 5012 Wellington, New Zealand
an adjustment and testing package • DRIVE-CLiQ  08669 31-3132 ES FARRESA ELECTRONICA S.A. E-mail: [email protected]
for the diagnosis and adjustment of • Fanuc Serial Interface | 08669 32-3132 08028 Barcelona, Spain
HEIDENHAIN encoders. E-Mail: [email protected] www.farresa.es PH MACHINEBANKS' CORPORATION
• Mitsubishi high speed interface Quezon City, Philippines 1113
• Yaskawa Serial Interface HEIDENHAIN Technisches Büro Nord FI HEIDENHAIN Scandinavia AB E-mail: [email protected]
• Panasonic serial interface 12681 Berlin, Deutschland 01740 Vantaa, Finland
 030 54705-240 www.heidenhain.fi PL APS
• SSI 02-384 Warszawa, Poland
• 1 VPP/TTL/11 µAPP HEIDENHAIN Technisches Büro Mitte FR HEIDENHAIN FRANCE sarl www.heidenhain.pl
• HTL (via signal adapter) 07751 Jena, Deutschland 92310 Sèvres, France
 03641 4728-250 www.heidenhain.fr PT FARRESA ELECTRÓNICA, LDA.
4470 - 177 Maia, Portugal
Interface USB 2.0 HEIDENHAIN Technisches Büro West GB HEIDENHAIN (G.B.) Limited www.farresa.pt
44379 Dortmund, Deutschland Burgess Hill RH15 9RD, United Kingdom
 0231 618083-0 www.heidenhain.co.uk RO HEIDENHAIN Reprezentanţă Romania
Supply voltage AC 100 V to 240 V or DC 24 V Braşov, 500407, Romania
HEIDENHAIN Technisches Büro Südwest GR MB Milionis Vassilis www.heidenhain.ro
Dimensions 258 mm × 154 mm × 55 mm 70771 Leinfelden-Echterdingen, Deutschland 17341 Athens, Greece
 0711 993395-0 www.heidenhain.gr RS Serbia  BG
For more information, see the PWM 21, HEIDENHAIN Technisches Büro Südost HR Croatia  SL RU GERTNER Service
ATS Software Product Information 83301 Traunreut, Deutschland 119002 Moscow, Russian Federation
 08669 31-1337 HU HEIDENHAIN Kereskedelmi Képviselet www.heidenhain.ru
document. ATS 1239 Budapest, Hungary
www.heidenhain.hu SE HEIDENHAIN Scandinavia AB
Languages German or English (selectable) 12739 Skärholmen, Sweden
AR NAKASE SRL. ID PT Servitama Era Toolsindo www.heidenhain.se
B1653AOX Villa Ballester, Argentina Jakarta 13930, Indonesia
Functions • Position display www.heidenhain.com.ar E-mail: [email protected] SG HEIDENHAIN PACIFIC PTE LTD
• Connection dialog Singapore 408593
AT HEIDENHAIN Techn. Büro Österreich IL NEUMO VARGUS MARKETING LTD. www.heidenhain.com.sg
• Diagnostics 83301 Traunreut, Germany Holon, 5885948, Israel
• Mounting wizard for EBI/ECI/EQI, LIP 200, LIC 4000 www.heidenhain.de E-mail: [email protected] SK KOPRETINA TN s.r.o.
and others 91101 Trencin, Slovakia
AU FCR MOTION TECHNOLOGY PTY LTD IN HEIDENHAIN Optics & Electronics www.kopretina.sk
• Additional functions (if supported by the encoder) Ravenhall Victoria 3023, Australia India Private Limited
• Memory contents E-mail: [email protected] Chetpet, Chennai 600 031, India SL NAVO d.o.o.
www.heidenhain.in 2000 Maribor, Slovenia
BE HEIDENHAIN NV www.heidenhain.si
System requirements PC (dual-core processor > 2 GHz) 1760 Roosdaal, Belgium IT HEIDENHAIN ITALIANA S.r.l.
and recommendations RAM > 2 GB www.heidenhain.be 20128 Milano, Italy TH HEIDENHAIN (THAILAND) LTD
Operating systems: Windows 7, 8, and 10 (32-bit / 64-bit) www.heidenhain.it Bangkok 10250, Thailand
BG ESD Bulgaria Ltd. www.heidenhain.co.th
500 MB of free hard drive space Sofia 1172, Bulgaria JP HEIDENHAIN K.K. ·
www.esd.bg Tokyo 102-0083, Japan TR T&M Mühendislik San. ve Tic. LTD. ŞTI.
DRIVE-CLiQ is a registered trademark of Siemens AG. www.heidenhain.co.jp 34775 Y. Dudullu –
BR HEIDENHAIN Brasil Ltda. Ümraniye-Istanbul, Turkey
04763-070 – São Paulo – SP, Brazil KR HEIDENHAIN Korea Ltd. www.heidenhain.com.tr
www.heidenhain.com.br Anyang-si, Gyeonggi-do, 14087
South Korea TW HEIDENHAIN CO., LTD.
BY GERTNER Service www.heidenhain.co.kr Taichung 40768, Taiwan
220026 Minsk, Belarus www.heidenhain.com.tw
www.heidenhain.by MX HEIDENHAIN CORPORATION MEXICO
20290 Aguascalientes, AGS., Mexico UA GERTNER Service
CA HEIDENHAIN CORPORATION E-mail: [email protected] 02094 Kiev, Ukraine
Mississauga, OntarioL5T2N2, Canada www.heidenhain.ua
www.heidenhain.com MY ISOSERVE SDN. BHD.
43200 Balakong, Selangor US HEIDENHAIN CORPORATION
CH HEIDENHAIN (SCHWEIZ) AG E-mail: [email protected] Schaumburg, IL 60173-5337, USA
8603 Schwerzenbach, Switzerland www.heidenhain.us
www.heidenhain.ch NL HEIDENHAIN NEDERLAND B.V.
6716 BM Ede, Netherlands VN AMS Co. Ltd
CN DR. JOHANNES HEIDENHAIN www.heidenhain.nl HCM City, Vietnam
(CHINA) Co., Ltd. E-mail: [email protected]
Beijing 101312, China NO HEIDENHAIN Scandinavia AB
www.heidenhain.com.cn 7300 Orkanger, Norway ZA MAFEMA SALES SERVICES C.C.
www.heidenhain.no Kyalami 1684, South Africa
CZ HEIDENHAIN s.r.o. www.heidenhain.co.za
102 00 Praha 10, Czech Republic
www.heidenhain.cz

208922-2L · 5 · 11/2021 · CD · Printed in Germany

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