Documente Academic
Documente Profesional
Documente Cultură
September 2005
Content
Overview
Linear Encoders
Selection Guide
Measuring standard
Photoelectric scanning
Specifications
Linear encoder
Recommended measuring
step for positioning
to 0.1 m
to 0.1 m
to 0.5 m
to 0.1 m
10
Measuring Accuracy
12
14
17
Series or Model
LC 400 Series
18
LC 100 Series
20
LF 481
22
LF 183
24
LS 487
26
LS 187
28
LB 382 Single-Section
30
LB 382 Multi-Section
32
Electrical Connection
Incremental Signals
1 VPP
34
EnDat
36
43
44
48
Evaluation Electronics
50
51
Mechanical design
The linear encoders for NC-controlled
machine tools are sealed encoders: An
aluminum housing protects the scale,
scanning carriage and its guideway from
chips, dust, and fluids. Downward-oriented
elastic lips seal the housing.
The scanning carriage travels in a lowfriction guide within the scale unit. A
coupling connects the scanning carriage
with the mounting block and compensates
the misalignment between the scale and
the machine guideways.
Depending on the encoder model, lateral
and axial offsets of 0.2 to 0.3 mm
between the scale and mounting block are
permissible.
Dynamic behavior
The constant increases in efficiency and
performance of machine tools necessitate
ever-higher feed rates and accelerations,
while at the same time the high level of
machining accuracy must be maintained. In
order to transfer rapid and yet exact feed
motions, very high demands are placed on
rigid machine design as well as on the
linear encoders used.
Scanning carriage
Availability
The feed axes of machine tools travel quite
large distancesa typical value is 10000 km
in three years. Therefore, robust encoders
with good long-term stability are especially
important: They ensure the constant
availability of the machine.
Due to the details of their design, linear
encoders from HEIDENHAIN function
properly even after years of operation. The
contact-free principle of photoelectrically
scanning the measuring standard, as well
as the ball-bearing guidance of the
scanning carriage in the scale housing
ensure a long lifetime. This encapsulation,
the special scanning principles and, if
needed, the introduction of compressed
air, make the linear encoders very resistant
to contamination. The complete shielding
concept ensures a high degree of electrical
noise immunity.
DIADUR
scale
Light
source
Photocells
Sealing lips
Mounting block
Overview
Thermal behavior
The combination of increasingly rapid
machining processes with completely
enclosed machines leads to ever-increasing
temperatures within the machines work
envelope. Therefore, the thermal behavior
of the linear encoders used becomes
increasingly important, since it is an
essential criterion for the working accuracy
of the machine.
Selection Guide
Cross
section
Measuring Accuracy
step1)
grade
Measuring length
Absolute linear
measurement
Glass scale
To 0.1 m
5 m
3 m
70 mm to 1240 mm
With mounting spar or
clamping elements:
70 mm to 2040 mm
Incremental linear
measurement with very
high repeatability
Steel scale
Small signal period
To 0.1 m
3 m
2 m
50 mm to 1220 mm
Incremental linear
measurement
Glass scale
To 0.5 m
5 m
3 m
70 mm to 1240 mm
With mounting spar:
70 mm to 2040 mm
Absolute linear
measurement
Glass scale
To 0.1 m
5 m
3 m
140 mm to 4240 mm
Incremental linear
measurement with very
high repeatability
Steel scale
Small signal period
To 0.1 m
3 m
2 m
140 mm to 3040 mm
Incremental linear
measurement
Glass scale
To 0.5 m
5 m
3 m
140 mm to 3040 mm
Incremental linear
measurement for large
measuring lengths
Steel scale tape
To 0.1 m
5 m
440 mm to 30 040 mm
1)
2)
Scanning
Principle
Single-field 1 VPP; 20 m
scanning
Single-field 1 VPP; 4 m
scanning
Model
Page
EnDat 2.2
LC 4832)
18
Fanuc 02
LC 493F2)
Mitsubishi
LC 493M2)
LF 481
22
LC 483
Single-field 1 VPP; 20 m
scanning
LS 487
2)
26
Single-field 1 VPP; 20 m
scanning
EnDat 2.2
LC 1832)
20
Fanuc 02
LC 193F2)
Mitsubishi
LC 193M2)
Single-field 1 VPP; 4 m
scanning
LF 183
24
Single-field 1 VPP; 20 m
scanning
LS 1872)
28
LS 487
LC 183
Single-field 1 VPP; 20 m
scanning
LB 382
30
LF 183
LB 382
Measuring Principles
Measuring Standard
Nominal
increment N in
signal periods
Maximum
traverse
LF
4 m
5000
20 mm
LS
20 m
1000
20 mm
LB
40 m
2000
80 mm
Photoelectric Scanning
Condenser lens
Scanning reticle
Measuring standard
Photovoltaic cell
array
10
Photocells
LED
light source
Condenser lens
Scanning reticle
Measuring standard
11
Measuring Accuracy
Signal period of
scanning signals
LF
4 m
Approx. 0.08 m
LC
20 m
Approx. 0.2 m
LS
20 m
Approx. 0.4 m
LB
40 m
Approx. 0.8 m
12
ML
Position
Position error
Signal level
Signal period
360 elec.
Example
13
14
10.3
.2
// 0
Shipping brace
Mounting spar
15
.2
// 0
16
Shipping brace
Mounting
To simplify cable routing, the mounting
block of the scanning unit is usually
screwed onto a stationary machine part.
The mounting location for the linear
encoders should be carefully considered in
order to ensure both optimum accuracy
and the longest possible service life.
The encoder should be mounted as
closely as possible to the working plane
to keep the Abbe error low.
To function properly, linear encoders
must not be continuously subjected to
strong vibration; the more solid parts of
the machine tool provide the best
mounting surface in this respect.
Encoders should not be mounted on
hollow parts or with adapters. A
mounting spar is recommended for the
sealed linear encoders with small cross
section.
The linear encoders should be mounted
away from sources of heat to avoid
temperature influences.
Acceleration
Linear encoders are subject to various
types of acceleration during operation and
mounting.
The indicated maximum values for
vibration apply for frequencies of 55 to
2000 Hz (IEC 60 068-2-6). Any
acceleration exceeding permissible
values, for example due to resonance
depending on the application and
mounting, might damage the encoder.
Comprehensive tests of the entire
system are required.
The maximum permissible acceleration
values (semi-sinusoidal shock) for shock
and impact are valid for 11 ms
(IEC 60 068-2-27).Under no circumstances should a hammer or similar
implement be used to adjust or position
the encoder.
Required moving force
The required moving force is the maximum
force required to move the scale unit
relative to the scanning unit.
Protection
Sealed linear encoders fulfill the requirements for IP 53 protection according to
IEC 60529, provided that they are mounted
with the sealing lips facing away from
splash water. If necessary, provide a
separate protective cover. If the encoder is
exposed to particularly heavy concentrations
of coolant and mist, compressed air can be
conducted into the scale housing to provide
IP 64 protection to more effectively prevent
the ingress of contamination. The LB, LC,
LF and LS sealed linear encoders from
HEIDENHAIN are therefore equipped
with inlets at both end pieces and on the
mounting block of the scanning unit.
The compressed air introduced directly onto
the encoders must be cleaned by a microfilter and must comply with the following
quality classes as per ISO 8573-1:
Solid contaminant: Class 1
(max. particle size 0.1 m and max.
particle density 0.1 mg/m3 at 1 105 Pa)
Total oil content: Class 1
(max. oil concentration 0.01 mg/m3 at
1 105 Pa)
Maximum pressure dew point: Class 4
(+3 C at 2 105 Pa)
DA 300
Compressed Air Unit
Expendable parts
In particular the following parts in encoders
from HEIDENHAIN are subject to wear:
LED light source
Bearings
Sealing lips
17
LC 400 Series
Absolute linear encoders for measuring steps to 0.1 m (resolution to 0.005 m)
High positioning accuracy and traversing speed through single-field scanning
For limited installation space
180.2
18.250.05
15
0.1 F
9.6
M8 x 25 DIN 6912
ML + 138
ML 20
0.1 F
P2
M5
ML
16.50.5
00.2 k
2.5
56
25
4.6
7.8
16
24.5
P1
5.5
13.5
13.5
P1 ... P2
70
32.2
1105
28.70.5 k
6.5
9.1
0.05
0.1 F
13
10.3 k
11.5
18
97.5
115
16.5
1.1+0.1
7
12
11
(m x 200) 0.5
(m x 200) 0.5 k
1x45
13
6.5
36.1
18 k
10
k
ML + 105
28.25
18 k
60.1
19.1
0.1 F
00.5
Dimensions in mm
Tolerancing ISO 8015
ISO 2768 - m H
< 6 mm: 0.2 mm
18
ML + 105
=
=
F =
P =
k=
d=
s=
10.3 k
d
100.2 k
10
0.05
Mounting spar
ML
70 ... 520
1)
LC 493M1)
Specifications
LC 483
LC 493F
Measuring standard
Expansion coefficient
Accuracy grade*
3 m, 5 m
420
470
520
570
620
720
770
EnDat 2.2
0.005 m
0.01 m
0.01 m
0.05 m
< 1 ms
5 s
Incremental signals
1 VPP2)
20 m
Cutoff frequency
150 kHz
Accuracy 3 m
Accuracy 5 m
3dB
Specifications
Resolution
Electrical connection
Cable length3)
Traversing speed
180 m/min
5N
Vibration 55 to 2000 Hz
Shock 11 ms
Acceleration
2
Without mounting spar: 100 m/s (IEC 60 068-2-6)
2
2
With mounting spar and cable exit right/left: 200 m/s /100 m/s (IEC 60 068-2-6)
300 m/s2 (IEC 60 068-2-27)
100 m/s2 in measuring direction
Operating temperature
0 to 50 C
Weight
Encoder: 0.2 kg + 0.5 kg/m measuring length, mounting spar: 0.9 kg/m
1)
2)
30 m
20 m
3)
19
LC 100 Series
90
7
0.03
0.1 F
0.1 F
760.2
M5
37
d
ML + 121
P1
P3
a
60
1000.2
P2
k
k
0.2 F
(n x 100) 0.2 k
d
25
0.2 F
ML
18.51
25
400.2
6
35
SW 10.3
1.50.3 k
35.5
0.1
0.1
ISO 4032 M6 - 8
ISO 4762 M6 x 35 - 8.8
20.3 k
370.3 k
0.1
20.3
1.2x45
13
30
50.3
620.2 k
19
70.2 k
Dimensions in mm
Tolerancing ISO 8015
ISO 2768 - m H
< 6 mm: 0.2 mm
20
106
P1...P5
18.5
790.2 k
85
17
62.5
35
P4
58.5
P5
M5
250.2 k
, ,
= Mounting options
F = Machine guideway
P = Gauging points for alignment
k = Required mating dimensions
d = Compressed air inlet
s = Beginning of measuring length (ML)
(at 20 mm)
z = Not required if (ML/2 + 30)/100 is an integer
= Direction of scanning unit motion for output signals in accordance with interface description
Specifications
LC 1831)
LC 193F1)
LC 193M1)
Measuring standard
Expansion coefficient
Accuracy grade*
140
240
340
440
540
640
740
840
940 1040 1140 1240 1340 1440
1540 1640 1740 1840 2040 2240 2440 2640 2840 3040 3240 3440 3640 3840
4040 4240
EnDat 2.2
0.005 m
0.01 m
0.01 m
0.05 m
< 1 ms
5 s
Incremental signals
1 VPP
20 m
Cutoff frequency
150 kHz
Resolution
Accuracy 3 m
Accuracy 5 m
2)
3dB
Power supply
without load
Electrical connection
Separate adapter cable (1 m/3 m/6 m/9 m) connectable to either side of mounting block
3)
Cable length
Traversing speed
4N
Vibration 55 to 2000 Hz
Shock 11 ms
Acceleration
Operating temperature
0 to 50 C
Weight
30 m
20 m
21
LF 481
Incremental linear encoder for measuring steps to 0.1 m
High positioning accuracy through single-field scanning
Thermal behavior similar to steel or cast iron
For limited installation space
15
0.1 F
9.6
18.20.2
M8 x 25
ML + 158
ML 20/70
7.8
M5
d
Zi
ML
15.5
13
2.5
56
00.2
18
91
60
30
1.1+0.1
M4
15
3.5
12
5.5
(m x 200) 0.5 k
(m x 200) 0.5
1x45
11
36.1
10
0.05
0.1 F
10.012
40
10.008
20
10.004
16
28.70.5 k
P2'
312
0.1 F
P1'
32.2
P1
P1 ... P2
15
4.6
13.5
24.5
1105
10.3 k
(ML+135) 0.4
25
11.5
10
11.9
k
ML + 125
28
M4 x 8
M3 x 5 ISO 4762
M5 x 10
25
0.1 F
100.2 k
ML + 125
18
0.05
Dimensions in mm
Tolerancing ISO 8015
ISO 2768 - m H
< 6 mm: 0.2 mm
=
=
F =
P =
k=
d=
r=
z = 25
zi = ML 50
z = 35
zi = ML 70
22
Mounting spar
ML
50 ... 500
32.2
14.50.5
m
0
64.1
10.3
19
18
19
LF 481
Measuring standard
Expansion coefficient
Accuracy grade*
3 m, 5 m
1 VPP
Grating period
Signal period
8 m
4 m
Reference marks*
LF 481
LF 481 C
Cutoff frequency
3dB
400
450
500
600
650
700
Power supply
without load
5 V 5 %/< 200 mA
Electrical connection
1)
550
Cable length
150 m
Traversing speed
30 m/min
5N
Vibration 55 to 2000 Hz
Shock 11 ms
Acceleration
2
80 m/s (IEC 60 068-2-6)
100 m/s2 (IEC 60068-2-27)
30 m/s2 in measuring direction
Operating temperature
0 to 50 C
1)
23
LF 183
0.1 F
760.2
37
M5
P1
70
P3
P4
(n x 100) 0.2
45
1000.2
P2
0.1 F
k
A
85
62.5
25
ML/2
0.2 F
25
A-A
18.2
20.2
24
9.4
58.5
2
70.2
35
M5
250.2
Dimensions in mm
21.5
1.50.2
48.5
M6
370.2
790.2
1.50.2
M6 DIN 555
M6 x 35
0.1
k
620.2
620.2
1.50.2
0.1
M5 x 20
M5 x 20
0.1
35.5
80
10.016
60
10.012
40
10.008
20
c
P1...P4
20.2
M5 x 20
400.2
r
10.004
40
20
ML
SW 10.3
28.52
17
8.5
, ,
= Mounting options
F = Machine guideway
P = Gauging points for alignment
k = Required mating dimensions
d = Compressed air inlet
r = Reference mark position on LF 183
c = Reference mark position on LF 183 C
s = Beginning of measuring length (ML)
= Direction of scanning unit motion for output signals in accordance with interface description
Specifications
LF 183
Measuring standard
Expansion coefficient
Accuracy grade*
3 m, 2 m
140
1540
Incremental signals
1 VPP
Grating period
Signal period
8 m
4 m
Reference marks*
LF 183
LF 183 C
Cutoff frequency
3dB
240
340
440
540
640
740
840
940 1040 1140
1640 1740 1840 2040 2240 2440 2640 2840 3040
1240
1340
1440
Power supply
without load
5 V 5 %/< 200 mA
Electrical connection
Cable length1)
150 m
Traversing speed
60 m/min
4N
Vibration 55 to 2000 Hz
Shock 11 ms
Acceleration
Operating temperature
0 to 40 C
Weight
1)
25
LS 487
Incremental linear encoder for measuring steps to 0.5 m
For limited installation space
With single-field scanning
180.2
18.250.05
15
0.1 F
9.6
M8 x 25 DIN 6912
ML + 138
ML 20
70
P1 ... P2
P2
d
Zi
7.7
4.6
16.50.5
ML
56
10.06
6.5
0.05
18
0.1 F
97.5
r
c
1.1+0.1
16.5
d
9.1
115
60
40
20
10.04
00.2 k
2.5
13
10.02
7
12
11
(m x 200) 0.5
(m x 200) 0.5 k
28.25
ML + 105
0.1 F
100.2
=
=
F =
P =
k=
d=
r=
48.1
6.5
ML + 105
z = 35
zi = ML 70
z = 45
zi = ML 90
26
00.5
Dimensions in mm
25.7
19.1
10
10.3 k
1x45
13
6.5
36.1
18 k
32.2
24.5
M5
0.05
Mounting spar
ML
70 ... 520
13
0.1 F
P1
16
14.8
1105
10.3 k
13.5
28.70.5 k
11.5
LS 4871)
Measuring standard
Expansion coefficient
Accuracy grade*
5 m, 3 m
320
370
420
470
520
570
620
720
770
LS 487
LS 487 C
Incremental signals
1 VPP
20 m
Cutoff frequency
160 kHz
3dB
Power supply
without load
5 V 5 %/< 120 mA
Electrical connection
2)
Cable length
150 m
Traversing speed
120 m/min
5N
Vibration 55 to 2000 Hz
Shock 11 ms
Acceleration
2
Without mounting spar: 100 m/s (IEC 60 068-2-6)
With mounting spar and cable exit right/left: 200 m/s2/100 m/s2 (IEC 60 068-2-6)
300 m/s2 (IEC 60 068-2-27)
100 m/s2 in measuring direction
Operating temperature
0 to 50 C
Weight
27
LS 187
0.03
0.1 F
0.1 F
760.2
M5
37
d
ML + 121
P1
60
P3
P4
P2
0.2 F
k
(n x 100) 0.2 k
1000.2
d
25
ML/2
0.2 F
ML
192.7
25
400.2
80
10.08
60
10.06
20
18.5
6
35
0.1
ISO 4032 M6 - 8
ISO 4762 M6 x 35 - 8.8
20.3 k
370.3 k
0.1
20.3
SW 10.3
1.50.3 k
35.5
0.1
790.2 k
13
1.2x45
22
P1...P4
30
50.3
6
620.2 k
40
10.04
10.02
0
70.2 k
Dimensions in mm
Tolerancing ISO 8015
ISO 2768 - m H
< 6 mm: 0.2 mm
28
106
85
17
62.5
58.5
35
M5
250.2 k
, ,
= Mounting options
F = Machine guideway
P = Gauging points for alignment
k = Required mating dimensions
d = Compressed air inlet
r = Reference mark position on LS 1xx
c = Reference mark position on LS 1xxC
s = Beginning of measuring length (ML)
= Direction of scanning unit motion for output signals in accordance with interface description
Specifications
LS 1871)
Measuring standard
Expansion coefficient
Accuracy grade*
5 m, 3 m
140
240
340
440
540
640
740
840
940 1040 1140 1240 1340 1440
1540 1640 1740 1840 2040 2240 2440 2640 2840 3040
Reference marks*
Selectable with magnets every 50 mm, standard setting: 1 reference mark in the center
Distance-coded
LS 187
LS 187 C
Incremental signals
1 VPP
20 m
Cutoff frequency
160 kHz
3dB
Power supply
without load
5 V 5 %/< 120 mA
Electrical connection
2)
Cable length
150 m
Traversing speed
120 m/min
4N
Vibration 55 to 2000 Hz
Shock 11 ms
Acceleration
Operating temperature
0 to 50 C
Weight
29
ML + 276
88
0.05
0.3
0.1 F
25
50
760.2
25
SW3
28
50
M5
d
A
(n x 200) 0.15 k
98
800.15
2000.15
(168)
0.3 F
ML/2
ML
40.08
80
M5 x 50 (55)
[M6 x 50 (55)]
M5 x 50 (55)
[M6 x 50 (55)]
790.3
10.3 k
0.1
10.3 k
620.3
10.3
M5 x 50 (55)
[M6 x 50 (55)]
105
5
40.04
40
25
400.2
620.3 k
0.1 F
17
582
8.5
25
35
160
M6 DIN 555
100.3
0.1
M6 x 35
450.3 k
100.3
M5
150.3 k
0.1
250.2
A-A
50
10
35
30
7.5
26
1.2x45
SW10.3
, ,
= Mounting options
F = Machine guideway
k = Required mating dimensions
d = Compressed air inlet
r = Reference mark position on LB 382
c = Reference mark position on LB 382 C
s = Beginning of measuring length (ML)
= Direction of scanning unit motion for output
signals in accordance with interface
description
40
Dimensions in mm
85
18
58.5
63
Specifications
LB 382 up to ML 3040 mm
Measuring standard
Expansion coefficient
Accuracy grade*
5 m
1240
1440
1640
1840
Selectable with selector plates every 50 mm, standard setting: 1 reference mark in the center
Distance-coded
Incremental signals
1 VPP
40 m
Cutoff frequency
250 kHz
3dB
Power supply
without load
5 V 5 %/< 150 mA
Electrical connection
Cable length1)
150 m
Traversing speed
15 N
Vibration 55 to 2000 Hz
Shock 11 ms
Acceleration
Operating temperature
0 to 50 C
Weight
1)
31
ML + 276
398
468
40.3
0.05
0.3
0.1 F
1.5
25
88
50
760.2
25
SW3
28
50
M5
d
A
(n x 200) 0.15 k
98
800.15
2000.15
(168)
8
18
25
40
25
400.2
r
40.08
M5 x 50 (55)
[M6 x 50 (55)]
M5 x 50 (55)
[M6 x 50 (55)]
790.3
10.3 k
0.1
620.3 k
620.3
10.3
M5 x 50 (55)
[M6 x 50 (55)]
80
40.04
105
160
0.1 F
ML
582
8.5
17
35
10.3 k
M6 DIN 555
100.3
0.1
M6 x 35
450.3 k
100.3
M5
150.3 k
0.1
250.2
50
10
35
32
7.5
26
1.2x45
k
B
SW10.3
A-A
40
Dimensions in mm
, ,
= Mounting options
F = Machine guideway
k = Required mating dimensions
d = Compressed air inlet
r = Reference mark position on LB 382
c = Reference mark position on LB 382 C
s = Beginning of measuring length (ML)
g = Housing section lengths
= Direction of scanning unit motion for output
signals in accordance with interface
description
85
1.5
0.3 F
58.5
63
900.15
Specifications
Measuring standard
Expansion coefficient
Accuracy grade*
5 m
Kit with single-section AURODUR steel tape and housing sections for measuring lengths
from 3240 mm to 30 040 mm in 200 mm steps.
Housing section lengths: 1000 mm, 1200 mm, 1400 mm, 1600 mm, 1800 mm, 2000 mm
Incremental signals
1 VPP
40 m
Cutoff frequency
250 kHz
3dB
Power supply
without load
5 V 5 %/< 150 mA
Electrical connection
1)
Cable length
150 m
Traversing speed
120 m/min
15 N
Vibration 55 to 2000 Hz
Shock 11 ms
Acceleration
Operating temperature
0 to 50 C
Weight
1)
33
Interfaces
Incremental Signals 1 VPP
Interface
Incremental signals
Reference mark
signal
Connecting cable
Cable lengths
Propagation time
0.2 to 0.85 V
0.04 V to 1.7 V
40 mV
180 90 elec.
Signal period
360 elec.
Interpolation/resolution/measuring step
The output signals of the 1 VPP interface
are usually interpolated in the subsequent
electronics in order to attain sufficiently
high resolutions. For velocity control,
interpolation factors are commonly over
1000 in order to receive usable velocity
information even at low speeds.
Rated value
Short-circuit stability
A temporary short circuit of one output to
0 V or 5 V does not cause encoder failure,
but it is not a permissible operating
condition.
Short circuit at
20 C
125 C
One output
< 3 min
< 1 min
All outputs
< 20 s
<5s
Cutoff frequency
Typical signal
amplitude curve with
respect to the
scanning frequency
Measuring steps for position measurement are recommended in the specifications. For special applications, other
resolutions are also possible.
34
Incremental signals
Reference mark
signal
Dimensioning
Operational amplifier MC 34074
Z0 = 120
R1 = 10 k and C1 = 100 pF
R2 = 34.8 k and C2 = 10 pF
UB = 15 V
U1 approx. U0
Encoder
Subsequent electronics
Pin layout
15-pin D-sub connector
for IK 115/IK 215 or on encoder
Power supply
Incremental signals
Electrical Connection
Other signals
12
10
11
12
10
11
14
5/8/13/15
14
UP
Sensor
UP
0V
Sensor
0V
A+
B+
R+
Vacant
Brown/
Green
Blue
White/
Green
White
Brown
Green
Gray
Pink
Red
Black
Vacant Vacant
Violet
Yellow
35
Interfaces
Absolute Position Values
Interface
Data transfer
Data input
Data output
Code
Position values
Incremental signals
Connecting cable
HEIDENHAIN cable with shielding
With
incremental PUR [(4 x 0.14 mm2) + 4(2 x 0.14 mm2) + (4 x 0.5 mm2)]
Without signals
PUR [(4 x 0.14 mm2) + (4 x 0.34 mm2)]
Cable lengths
Max. 150 m
Propagation time
0 300
1 000
2 000
3 000
4 000
6 000
8 000
Data transfer
Dimensioning
IC1 = RS 485 differential line receiver and
driver
C3 = 330 pF
Z0 = 120
Incremental signals
Depends on encoder
36
Encoder
Subsequent electronics
Versions
The extended EnDat interface version 2.2 is
compatible in its communication, command
set and time conditions with version 2.1,
but also offers significant advantages. It
makes it possible, for example, to transfer
additional information with the position
value without sending a separate request
for it. The interface protocol was expanded
and the time conditions (clock frequency,
processing time, recovery time) were
optimized. In addition, encoders with
ordering designations EnDat 02 or EnDat 22
have an extended power supply range.
Both EnDat 2.1 and EnDat 2.2 are available
in versions with or without incremental
signals. EnDat 2.2 encoders feature a high
internal resolution. Therefore, depending on
the control technology being used,
interrogation of the incremental signals is
not necessary. To increase the resolution of
EnDat 2.1 encoders, the incremental signals
are evaluated in the subsequent electronics.
Command set
The command set is the sum of all
available mode commands. The EnDat 2.2
command set includes EnDat 2.1 mode
commands. When a mode command from
the EnDat 2.2 command set is transmitted
to EnDat-01 subsequent electronics, the
encoder or the subsequent electronics
may generate an error message.
EnDat with command set 2.2 (includes
EnDat 2.1 command set)
Position values for incremental and
absolute encoders
Additional information on position value
- Diagnostics and test values
- Absolute position values after reference
run of incremental encoders
- Parameter upload/download
- Commutation
- Acceleration
- Limit position signal
- Temperature of the encoder PCB
- Temperature evaluation of an external
temperature sensor (e.g. in the motor
winding)
EnDat with command set 2.1
Absolute position values
Parameter upload/download
Reset
Test command and test values
Interface
Command
set
Ordering
designation
Version
Clock
frequency
EnDat
EnDat 2.1 or
EnDat 2.2
EnDat 01
2 MHz
EnDat 21
EnDat 2.2
EnDat 02
2 MHz
EnDat 2.2
EnDat 22
8 MHz
Functions
37
Mode commands
1)
Clock frequency
fc
Without delay
compensation
With delay
compensation
See Specifications
Max. 12 ms
tm
EnDat 2.1: 10 to 30 s
EnDat 2.2: 10 to 30 s or 1.25 to 3.75 s (fc 1 MHz)
(parameterizable)
tR
Max. 500 ns
tST
tD
Pulse width
tHIGH 0.2 to 10 s
tLOW
38
EnDat 2.2
EnDat 2.1
2 to 10 s
Encoder saves
position value
Subsequent electronics
transmit mode command
tm
tcal
tR
tST
M
S F1 F2 L
Mode command
Position value
CRC
Encoder saves
position value
tcal
tR
tST
S F1 F2 L
Mode command
Position value
CRC
Additional info 2
CRC
Additional info 1
CRC
Additional information
With EnDat 2.2, one or two pieces of
additional information can be appended to
the position value. Each additional
information is 30 bits long with LOW as
first bit, and ends with a CRC check. The
additional information supported by the
respective encoder is saved in the encoder
parameters.
30 bits
Additional information
WRN
5 bits
CRC
RM Busy
Acknowledgment of
the additional
information
8 bits
Address or
data
8 bits
Data
Status data
WarningWRN
Reference markRM
Parameter requestbusy
Acknowledgment of
additional information
Additional information 1
Diagnosis
Position value 2
Memory parameters
MRS-code acknowledgment
Test values
Temperature
Additional information 2
Commutation
Acceleration
Limit position signals
39
Encoder saves
position value
Subsequent electronics
transmit mode command
Mode command
Position value
Cyclic Redundancy
Check
Interrupted clock
40
CRC
Position value
n = 0 to 7; depending on system
Encoder
CRC
Continuous clock
Subsequent electronics
Latch signal
Comparator
Continuous clock
For applications that require fast acquisition
of the measured value, the EnDat interface
can have the clock run continuously.
Immediately after the last CRC bit has
been sent, the data line is switched to
high for one clock cycle, and then to low.
The new position value is saved with the
very next falling edge of the clock and is
output in synchronism with the clock signal
immediately after the start bit and alarm
bit. Because the mode command Encoder
transmit position value is needed only
before the first data transmission, the
continuous-clock transfer mode reduces
the length of the clock-pulse group by
9 periods per position value.
1 VPP
Counter
1 VPP
Subdivision
Parallel
interface
Operating parameters
This area is available for a datum shift and
the configuration of diagnostics. It can be
protected against overwriting.
Operating status
This memory area provides detailed
alarms or warnings for diagnostic
purposes. Here it is also possible to
activate write protection for the OEM
parameter and operating parameter
memory areas, and to interrogate their
status. Once write protection is activated,
it cannot be removed.
Safety System
The safety system is in preparation. Safetyoriented controls are the planned application
for encoders with EnDat 2.2 interface. Refer
to IEC 61800 standard Adjustable speed
electrical power drive systems Part 5-2.
Subsequent
electronics
1 VPP A*)
Incremental
signals *)
Absolute
position value
EnDat interface
1 VPP B*)
Operating
status
Absolute encoder
Operating
parameters
Warning
This collective bit is transmitted in the
status data of the additional information.
It indicates that certain tolerance limits
of the encoder have been reached or
exceededsuch as shaft speed or the
limit of light source intensity compensation
through voltage regulationwithout
implying that the measured position
values are incorrect. This function makes
it possible to issue preventive warnings in
order to minimize idle time.
Cyclic Redundancy Check
To ensure reliability of data transfer, a
cyclic redundancy check (CRC) is performed through the logical processing
of the individual bit values of a data word.
This 5-bit long CRC concludes every
transmission. The CRC is decoded in the
receiver electronics and compared with the
data word. This largely eliminates errors
caused by disturbances during data
transfer.
*) Depends on
encoder
EnDat 2.2
41
17-pin
coupling M23
Power supply
Incremental signals
10
11
15
16
12
13
14
17
UP
Sensor
UP
0V
Sensor
0V
Inside
shield
A+
B+
DATA
DATA
Brown/
Green
Blue
White/
Green
White
Green/
Black
Yellow/
Black
Blue/
Black
Red/
Black
Gray
Pink
CLOCK CLOCK
Violet
Yellow
8-pin
coupling M12
6
7
1
5
8
4
3
2
Power supply
UP 1)
UP
0 V1)
0V
DATA
DATA
CLOCK
CLOCK
Blue
Brown/Green
White
White/Green
Gray
Pink
Violet
Yellow
1)
15-pin
D-sub connector (male)
for IK 115/IK 215
15-pin
D-sub connector (female)
for HEIDENHAIN controls
and IK 220
Incremental signals1)
Power supply
4
12
10
11
13
15
11
13
14
15
UP
Sensor
UP
0V
Sensor
0V
Inside
shield
A+
B+
DATA
DATA
Brown/
Green
Blue
White/
Green
White
Green/
Black
Yellow/
Black
Blue/
Black
Red/
Black
Gray
Pink
42
CLOCK CLOCK
Violet
Yellow
Interfaces
Fanuc and Mitsubishi Pin Layouts
17-pin
HEIDENHAIN coupling
Power supply
18/20
12
14
16
10
14
17
UP
Sensor UP
0V
Sensor 0 V
Shield
Serial Data
Serial Data
Request
Request
Brown/
Green
Blue
White/
Green
White
Gray
Pink
Violet
Yellow
20-pin
Mitsubishi connector
17-pin
HEIDENHAIN coupling
Power supply
20
19
11
16
17
10
14
17
UP
Sensor UP
0V
Sensor 0 V
Serial Data
Serial Data
Request
Frame
Request
Frame
Brown/Green
Blue
White/Green
White
Gray
Pink
Violet
Yellow
43
Coupling insulated:
Connecting element with external thread;
Available with male or female contacts.
Symbols
Symbols
M12
M23
Mounted coupling
with central fastening
M23
Mounted coupling
with flange
Symbols
The pins on connectors are numbered in
the direction opposite to those on
couplings or flange sockets, regardless of
whether the connecting elements are
M23
Male contacts or
Female contacts
x: 41.7
44
M12
y: 15.2
M23
Adapter Cables
Cable
LB 382
LF 183
LF 481
LS 187
LS 487
Adapter cable
with M23 coupling (male)
6 mm
310128-xx
310123-xx
360645-xx
Adapter cable
without connector
6 mm
310131-xx
310134-xx
354319-xx
Adapter cable
with M23 connector (male)
6 mm
4.5 mm
310127-xx
310122-xx
344228-xx
352611-xx
10 mm
310126-xx
310121-xx
344451-xx
Adapter cable
with D-sub connector (15-pin)
6 mm
298429-xx
298430-xx
360974-xx
Cable
LC 183
LS 483
LC 183
LS 483
Adapter cable
with M23 coupling (male)
6 mm
533631-xx
10 mm
558362-xx
Adapter cable
with D-sub connector
6 mm
558717-xx
Adapter cable
with M12 coupling (male)
M12
4.5 mm
533661-xx
M12
10 mm
550678-xx
Cable
LC 193F
LC 493F
LC 193M
LC 493M
Adapter cable
with M23 coupling (male)
6 mm
4.5 mm
545547-xx
Adapter cable
with Fanuc connector
6 mm
4.5 mm
547300-xx
45
12-pin 298402-xx
12-pin 244957-01
17-pin 266306-01
2
2
[4(2 x 0.14 mm ) + (4 x 0.5 mm )]
[(4 x 0.14 mm2) + 4(2 x 0.14 mm2) + (4 x 0.5 mm2)]
Connecting cable for EnDat 2.2 encoders without incremental signals with M12 connecting element
Complete
with M12 connector (female), 8-pin,
and M12 connector (male), 8-pin
M12
368 330-xx
M12
Complete
524599-xx
with M12 connector (female) and D-sub
connector (male) for IK 115/IK 215
M12
Complete
with M23 connector (female), 17-pin,
and Fanuc connector
[(2 x 2 x 0.14 mm2) + (4 x 1 mm2)]
534 855-xx
Complete
with M23 connector (female), 17-pin,
and Mitsubishi connector
[(2 x 2 x 0.14 mm2) + (4 x 0.5 mm2)]
344625-xx
354 608-01
354608-01
46
For cable
12-pin 291697-05
17-pin 291697-26
For cable
12-pin 291697-06
12-pin 291697-07
12-pin 291698-02
12-pin 291697-08
17-pin 291697-27
4.5 mm
6 mm
4.5 mm
6 mm
M23 coupling on
mounting base with
flange (male)
For cable
6 mm
8 mm
M23 coupling on
mounting base with
central fastening (male)
For cable
6 mm
12-pin 291698-33
17-pin 291698-37
12-pin 291698-08
12-pin 291698-31
17-pin 291698-29
M23 coupling on
mounting base with
flange (female)
For cable
6 mm
8 mm
12-pin 291698-17
12-pin 291698-07
17-pin 291698-35
364914-01
47
Power Supply
The encoders require a stabilized dc
voltage UP as power supply. The
respective specifications state the required
power supply and the current
consumption. The permissible ripple
content of the dc voltage is:
High frequency interference
UPP < 250 mV with dU/dt > 5 V/s
Low frequency fundamental ripple
UPP < 100 mV
UPP
Typically 500 ms
Cables
Lengths
The cable lengths listed in the Specifications
apply only for HEIDENHAIN cables and the
recommended input circuitry of subsequent
electronics.
Durability
All encoders have polyurethane (PUR)
cables. PUR cables are resistant to oil,
hydrolysis and microbes in accordance with
VDE 0472. They are free of PVC and silicone
and comply with UL safety directives. The
UL certification AWM STYLE 20963 80 C
30 V E63216 is documented on the cable.
Temperature range
HEIDENHAIN cables can be used:
for stationary cables
40 to 85 C
for moving cables
10 to 85 C
Cables with limited resistance to hydrolysis
and microbes are rated for up to 100 C
(except cables with M12 connecting
elements).
Bending radius
The permissible bending radii R depend on
the cable diameter and the configuration:
Stationary cable
Moving cable
Moving cable
3.7 mm
3.7 mm
R 8 mm R 40 mm
1 VPP/TTL/HTL
2
0.05 mm
11 APP
EnDat/SSI EnDat
17-pin
8-pin
4.5 mm
5.1 mm
R 10 mm R 50 mm
6 mm
R 20 mm R 75 mm
8 mm
R 40 mm R 100 mm
10 mm1)
R 35 mm R 75 mm
1)
R 50 mm R 100 mm
3)
2
0.19/ 0.14 mm
8/141) mm
0.5 mm
48
1 mm2
0.08 mm2
0.34 mm2
0.5 mm2
1 mm2
1)
Metal armor
2)
Only on
length gauges
3)
Only for
LIDA 400
14 mm
Isolation
The encoder housings are isolated against
all circuits.
Rated surge voltage: 500 V
(preferred value as per VDE 0110 Part 1)
49
Evaluation Electronics
IBV series
Interpolation and digitizing electronics
Interpolation and digitizing electronics
interpolate and digitize the sinusoidal
output signals ( 1 VPP) from
HEIDENHAIN encoders up to 100-fold, and
convert them to TTL square-wave pulse
sequences.
IBV 101
IBV 102
Input signals
1 VPP
Encoder inputs
Interpolation (adjustable)
5-fold
10-fold
IBV 660
25-fold
50-fold
100-fold
25-fold
50-fold
100-fold
200-fold
400-fold
IBV 101
IK 220
Universal PC Counter Card
The IK 220 is an expansion board for ATcompatible PCs for recording the measured
values of two incremental or absolute
linear or angle encoders. The subdivision
and counting electronics subdivide the
sinusoidal input signals up to 4096-fold.
A driver software package is included in
delivery.
Adjustable from
0.8 to 0.1 s,
depending on
input frequency
Output signals
Power supply
5 V 5%
IK 220
Input signals
(switchable)
1 VPP
Encoder inputs
500 kHz
60 m
Signal subdivision
(signal period : meas. step)
Up to 4096-fold
33 kHz
SSI
10 m
50
Internal memory
Interface
Dimensions
PWM 9
Inputs
Features
Outputs
Power supply
10 to 30 V, max. 15 W
Dimensions
150 mm 205 mm 96 mm
IK 215
Encoder input
Interface
Application software
Operating system:
Features:
Signal subdivision
for incremental signals
Up to 1024-fold
Dimensions
100 mm x 190 mm
Windows 2000/XP
(Windows 98 in preparation)
Position value display
Counter for incremental signals
EnDat functions
51
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