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Linear_Scales_for_CNC_Machine_Tools_July_2010
Linear_Scales_for_CNC_Machine_Tools_July_2010
July 2010
Further information is available on the
Internet at www.heidenhain.de as well as
upon request.
Product brochures:
• Exposed Linear Encoders
• Angle Encoders with Integral Bearing
• Angle Encoders without Integral Bearing
• Rotary Encoders
• HEIDENHAIN subsequent electronics
• HEIDENHAIN controls
• Measuring Systems for Machine Tool
Inspection and Acceptance Testing
This catalog supersedes all previous
Technical Information brochures: editions, which thereby become invalid.
• Accuracy of Feed Axes The basis for ordering from HEIDENHAIN
• Sealed Linear Encoders with Single- is always the catalog edition valid when
Field Scanning the contract is made. DIADUR and AURODUR are registered
• EnDat 2.2 – Bidirectional Interface for trademarks of
Position Encoders Standards (ISO, EN, etc.) apply only DR. JOHANNES HEIDENHAIN GmbH,
• Encoders for Direct Drives where explicitly stated in the catalog. Traunreut, Germany.
2
Content
Overview
Linear Encoders 4
Selection Guide 6
Electrical Connection
Linear encoders from HEIDENHAIN for Advantages of linear encoders Mechanical design
numerically controlled machine tools can Linear encoders measure the position of The linear encoders for numerically
be used nearly everywhere. They are ideal linear axes without additional mechanical controlled machine tools are sealed
for machines and other equipment whose transfer elements. The control loop for encoders: An aluminum housing protects
feed axes are in a closed loop, such as position control with a linear encoder also the scale, scanning carriage and its
milling machines, machining centers, boring includes the entire feed mechanics. Transfer guideway from chips, dust, and fluids.
machines, lathes and grinding machines. errors from the mechanics can be detected Downward-oriented elastic lips seal the
The beneficial dynamic behavior of the by the linear encoder on the slide, and housing.
linear encoders, their highly reliable corrected by the control electronics. This
traversing speed, and their acceleration in can eliminate a number of potential error The scanning carriage travels in a low-friction
the direction of measurement predestine sources: guide within the scale unit. A coupling
them for use on highly-dynamic conventional • Positioning error due to thermal behavior connects the scanning carriage with the
axes as well as on direct drives. of the recirculating ball screw mounting block and compensates the
• Hysteresis misalignment between the scale and the
HEIDENHAIN also supplies linear encoders • Kinematic error through ball-screw pitch machine guideways.
for other applications, such as error
• Manual machine tools Depending on the encoder model, lateral
• Presses and bending machines Linear encoders are therefore indispensable and axial offsets of ± 0.2 to ± 0.3 mm
• Automation and production equipment for machines that must fulfill high between the scale and mounting block are
requirements for positioning accuracy permissible.
Please request further documentation, and machining speed.
or inform yourself on the Internet at
www.heidenhain.de.
4
Thermal behavior Dynamic behavior Availability
Overview
The combination of increasingly rapid The constant increases in efficiency and The feed axes of machine tools travel quite
machining processes with completely performance of machine tools necessitate large distances—a typical value is 10 000 km
enclosed machines leads to ever-increasing ever-higher feed rates and accelerations, in three years. Therefore, robust encoders
temperatures within the machine’s work while at the same time the high level of with good long-term stability are especially
envelope. Therefore, the thermal behavior machining accuracy must be maintained. important: They ensure the constant
of the linear encoders used becomes In order to transfer rapid and yet exact feed availability of the machine.
increasingly important, since it is an essential motions, very high demands are placed on
criterion for the working accuracy of the rigid machine design as well as on the Due to the details of their design, linear
machine. linear encoders used. encoders from HEIDENHAIN function
properly even after years of operation. The
As a general rule, the thermal behavior of Linear encoders from HEIDENHAIN are contact-free principle of photoelectrically
the linear encoder should match that of the characterized by their high rigidity in the scanning the measuring standard, as
workpiece or measured object. During measuring direction. This is a very important well as the ball-bearing guidance of the
temperature changes, the linear encoder prerequisite for high-quality path accuracies scanning carriage in the scale housing
must expand or retract in a defined, on a machine tool. In addition, the low mass ensure a long lifetime. This encapsulation,
reproducible manner. Linear encoders from of components moved contributes to their the special scanning principles and, if
HEIDENHAIN are designed for this. excellent dynamic behavior. needed, the introduction of compressed
air, make the linear encoders very resistant
The graduation carriers of HEIDENHAIN to contamination. The complete shielding
linear encoders have defined coefficients concept ensures a high degree of electrical
of thermal expansion (see Specifications). noise immunity.
This makes it possible to select the linear
encoder whose thermal behavior is best
suited to the application.
Light
DIADUR source
Scanning carriage scale
Photocells
1)
Recommended measuring step for position measurement
6
Scanning Incremental Absolute Model Page
principle signals position
Signal period values
LS 487
« TTL; – LS 477
to 1 µm
LB 382
7
Measuring Principles
Measuring Standard Absolute Measuring Method
With the incremental measuring method, In some cases this may necessitate
the graduation consists of a periodic machine movement over large lengths of
grating structure. The position information the measuring range. To speed and simplify
is obtained by counting the individual such “reference runs,” many encoders
increments (measuring steps) from some feature distance-coded reference
point of origin. Since an absolute reference marks—multiple reference marks that
is required to ascertain positions, the are individually spaced according to a
scales or scale tapes are provided with an mathematical algorithm. The subsequent
additional track that bears a reference electronics find the absolute reference
B = 2 x MRR–N
and:
P1 = Position of the first traversed N = Nominal increment between two
reference mark in signal periods fixed reference marks in signal
periods (see table below)
abs = Absolute value
D = Direction of traverse (+1 or –1).
sgn = Sign function (“+1” or “–1”) Traverse of scanning unit to the
right (when properly installed)
MRR = Number of signal periods between equals +1.
the traversed reference marks
LF 4 µm 5000 20 mm
LS 20 µm 1000 20 mm
LB 40 µm 2000 80 mm
Condenser lens
Scanning reticle
Measuring standard
Photovoltaic cell
array
10
Interferential scanning principle A relative motion of the scanning reticle to
The interferential scanning principle exploits the scale causes the diffracted wave fronts
the diffraction and interference of light on a to undergo a phase shift: when the grating
fine graduation to produce signals used to moves by one period, the wave front of the
measure displacement. first order is displaced by one wavelength in
the positive direction, and the wavelength
A step grating is used as the measuring of diffraction order –1 is displaced by one
standard: reflective lines 0.2 µm high are wavelength in the negative direction. Since
applied to a flat, reflective surface. In front the two waves interfere with each other
of that is the scanning reticle—a transparent when exiting the grating, the waves are
phase grating with the same grating period shifted relative to each other by two
as the scale. wavelengths. This results in two signal
periods from the relative motion of just
When a light wave passes through the one grating period.
scanning reticle, it is diffracted into three
partial waves of the orders –1, 0, and +1, Interferential encoders function with
with approximately equal luminous intensity. grating periods of, for example, 8 µm, 4 µm
The waves are diffracted by the scale such and finer. Their scanning signals are largely
that most of the luminous intensity is found free of harmonics and can be highly
in the reflected diffraction orders +1 and –1. interpolated. These encoders are therefore
These partial waves meet again at the especially suited for high resolution and
phase grating of the scanning reticle where high accuracy.
they are diffracted again and interfere. This
produces essentially three waves that leave Sealed linear encoders that operate
the scanning reticle at different angles. according to the interferential scanning
Photovoltaic cells convert this alternating principle are given the designation LF.
light intensity into electrical signals.
Photocells
LED
light source
Condenser lens
Scanning reticle
Measuring standard
11
Measuring Accuracy
LF 4 µm Approx. 0.08 µm
LC 20 µm Approx. 0.2 µm
LS 20 µm Approx. 0.2 µm
LB 40 µm Approx. 0.8 µm
12
All HEIDENHAIN linear encoders are
inspected before shipping for positioning
accuracy and proper function.
Temperature range
The linear encoders are inspected at a
reference temperature of 20 °C. The
system accuracy given in the calibration
chart applies at this temperature.
The operating temperature range
indicates the ambient temperature limits
between which the linear encoders will
function properly. The storage temperature
range of –20 °C to 70 °C applies for the
unit in its packaging. Starting from a
measuring length of 3 240 mm, the
permissible storage temperature range for
encoders of the LC 183/LC 193 series is
restricted to –10 °C to +50 °C.
Example
13
Mechanical Design Types and Mounting Guidelines
Linear Encoders with Small Cross Section
Thermal behavior
Because they are rigidly fastened using
two M8 screws, the linear encoders largely
adapt themselves to the mounting surface.
When fastened over the mounting spar,
the encoder is fixed at its midpoint to the F
.1
mounting surface. The flexible fastening // 0
elements ensure reproducible thermal
behavior.
The LF 481 with its graduation carrier of
steel has the same coefficient of thermal
expansion as a mounting surface of gray
cast iron or steel.
Shipping brace
Mounting
It is surprisingly simple to mount the
sealed linear encoders from HEIDENHAIN:
You need only align the scale unit at several
points along the machine guideway. Stop
surfaces or stop pins can also be used for
this. The shipping brace already sets the
proper gap between the scale unit and the
scanning unit, as well as the lateral
tolerance. If the shipping brace needs to be
removed before mounting due to a lack of
space, then the mounting gauge is used to
set the gap between the scale unit and the
scanning unit easily and exactly. You must
also ensure that the lateral tolerances are
maintained.
Accessories:
Mounting and test gauges for slimline
linear encoders
14
Along with the standard procedure of using
two M8 screws to mount the scale unit on
a plane surface, there are also other
mounting possibilities:
Installation with mounting spar
The use of a mounting spar can be of great
benefit when mounting slimline linear
encoders. They can be fastened as part of
the machine assembly process. The
encoder is then simply clamped on during
final mounting. Easy exchange also
facilitates servicing.
A mounting spar is recommended for
highly-dynamic applications with ML
greater than 640 mm. It is always
necessary for measuring lengths starting
from 1240 mm.
The universal mounting spar was Mounting spar
developed specifically for the LC 4x3 and
LS 4x7. It can be mounted very easily, since
the components necessary for clamping
are premounted. Linear encoders with
normal head mounting blocks and—if
compatibility considerations require
them—linear encoders with short end
blocks can be mounted. Other advantages:
• Mechanically compatible versions
The universal mounting spar and the
LC 4x3 and the LS 4x7 are compatible in
their mating dimensions to the previous
versions. Any combinations are possible,
such as the LS 4x6 with the universal
mounting spar, or the LC 4x3 with the
previous mounting spar.
• Freely selectable cable outlet
The LC 4x3 and the LS 4x7 can be
mounted with either side facing the
universal mounting spar. This permits
the cable exit to be located on the left
or right—a very important feature if
installation space is limited.
The universal mounting spar must be
ordered separately, even for measuring
lengths over 1240 mm.
Accessory:
Universal mounting spar
ID 571 613-xx
Thermal behavior
The thermal behavior of the LB, LC, LF and
LS 100 linear encoders with large cross
section has been optimized:
Mounting
It is surprisingly simple to mount the
Shipping brace
sealed linear encoders from HEIDENHAIN:
You need only align the scale unit at several
points along the machine guideway. Stop
surfaces or stop pins can also be used for
this. The shipping brace already sets the
proper gap between the scale unit and the
scanning unit. The lateral gap is to be set
during mounting. If the shipping brace
needs to be removed before mounting due
to a lack of space, then the mounting
gauge is used to set the gap between the
scale unit and the scanning unit easily and
exactly. You must also ensure that the
lateral tolerances are maintained.
16
Mounting the multi-section LB 382
The LB 382 with measuring lengths over
3240 mm is mounted on the machine in
individual sections:
• Mount and align the individual housing
sections
• Pull in the scale tape over the entire
length and tension it
• Pull in the sealing lips
• Insert the scanning unit
Accessory:
Mounting aid for LC 1x3 and LS 1x7
ID 547 793-01
Example
Accessories:
Mounting and test gauges for full-size
LC, LS x Color ID
linear encoders
Mounting gauge 1.5 mm Gray 575 832-01
The mounting gauge is used to set the
gap between the scale unit and the
Max. test gauge 1.8 mm Red 575 832-02
scanning unit if the shipping brace needs
to be removed before mounting. The test
Min. test gauge 1.2 mm Blue 575 832-03
gauges are used to quickly and easily
check the gap of the mounted linear
encoder.
LB x Color ID
17
General Mechanical Information
Protection
Sealed linear encoders fulfill the The required air flow is 7 to 10 l/min per Accessory:
requirements for IP 53 protection linear encoder; permissible pressure is in DA 300 compressed air unit
according to IEC 60 529 provided that they the range of 0.6 to 1 bar). The compressed ID 348 249-01
are mounted with the sealing lips facing air flows through connecting pieces with
away from splash water. If necessary, integrated throttle (included with LB and LF HEIDENHAIN offers the DA 300
provide a separate protective cover. If the linear encoders). compressed air unit for purifying and
encoder is exposed to particularly heavy conditioning compressed air. It consists of
Accessories:
concentrations of coolant and mist, two filter stages (fine filter and activated
Connecting piece, straight
compressed air can be conducted into the carbon filter), automatic condensation trap,
with throttle and gasket
scale housing to provide IP 64 protection and a pressure regulator with pressure
ID 226 270-xx
to more effectively prevent the ingress of gauge. It also includes 25 meters of pressure
contamination. The LB, LC, LF and LS Connecting piece, straight, short tubing, as well as T-joints and connecting
sealed linear encoders from HEIDENHAIN with throttle and gasket pieces for four encoders. The DA 300 can
are therefore equipped with inlets at both ID 275 239-xx supply air for up to 10 encoders with a
end pieces and on the mounting block of maximum total measuring length of
M5 coupling joint, swiveling
the scanning unit. 35 meters.
with seal
ID 207 834-xx
The compressed air introduced directly The compressed air introduced into the
onto the encoders must be appropriately DA 300 must fulfill the requirements of the
conditioned, and must comply with the following quality classes as per ISO 8573-1
following quality classes as per ISO 8573-1 (1995 edition):
(1995 edition): • Max. particle size and density of solid
• Solid contaminants: Class 1 contaminants:
(max. particle size 0.1 µm and max. Class 4 (max. particle size 15 µm,
particle density 0.1 mg/m3 at 1 · 105 Pa) max. particle density 8 mg/m3)
• Total oil content: Class 1 • Total oil content:
(max. oil concentration 0.01 mg/m3 Class 4 (oil content: 5 mg/m3)
at 1 · 105 Pa) • Max. pressure dew point:
• Max. pressure dew point: Class 4, Not defined
but with reference conditions of Class 7
+3 °C at 2 · 105 Pa
DA 300
compressed air unit
18
Mounting Acceleration Expendable parts
To simplify cable routing, the mounting Linear encoders are subjected to various HEIDENHAIN encoders contain components
block of the scanning unit is usually types of acceleration during operation and that are subject to wear, depending on the
screwed onto a stationary machine part. mounting. application and manipulation. These include
The mounting location for the linear • The indicated maximum values for in particular the following parts:
encoders should be carefully considered in vibration apply for frequencies of • LED light source
order to ensure both optimum accuracy 55 to 2000 Hz (IEC 60 068-2-6). Any • Cables with frequent flexing
and the longest possible service life. acceleration exceeding permissible Additionally for encoders with integral
• The encoder should be mounted as values, for example due to resonance bearing:
closely as possible to the working plane depending on the application and • Bearing
to keep the Abbé error small. mounting, might damage the encoder. • Shaft sealing rings for rotary and angular
• To function properly, linear encoders Comprehensive tests of the entire encoders
must not be continuously subjected to system are required. • Sealing lips for sealed linear encoders
strong vibration. the more solid parts • The maximum permissible acceleration
of the machine tool provide the best values (semi-sinusoidal shock) for
mounting surface in this respect. shock and impact are valid for 11 ms
Encoders should not be mounted on (IEC 60 068-2-27). Under no circumstances
hollow parts or with adapters. A mounting should a hammer or similar implement System tests
spar is recommended for the sealed be used to adjust or position the encoder. Encoders from HEIDENHAIN are usually
linear encoders with small cross section. integrated as components in larger
• The linear encoders should be mounted Required moving force systems. Such applications require
away from sources of heat to avoid The required moving force stated is the comprehensive tests of the entire
temperature influences. maximum force required to move the scale system regardless of the specifications
unit relative to the scanning unit. of the encoder.
The specifications given in the brochure
apply to the specific encoder, not to the
complete system. Any operation of the
encoder outside of the specified range or
for any other than the intended applications
is at the user's own risk.
In safety-oriented systems, the higher-
level system must verify the position
value of the encoder after switch-on.
Mounting
Work steps to be performed and
dimensions to be maintained during
mounting are specified solely in the
mounting instructions supplied with the
unit. All data in this catalog regarding
mounting are therefore provisional and
not binding; they do not become terms
of a contract.
19
LC 400 Series
• Absolute linear encoders for measuring steps to 0.1 µm (resolution to 0.005 µm)
• For limited installation space
• Up to two additional scanning units are possible
Ô ¬ 15
18.25±0.05
0.1 F
18±0.2
¬ 9.6
6
(ML + 138) ±0.4
P1 P2
M5
32.2
(58.2)
16
d d
Ö
25
1±0.3 k
4.6
0±0.2 k
56 k
16.5±0.5 ML
2x
0.1 F CZ 0.05
s 13 18
97.5
115
0±0.5
12.5 P1 P3 P2
18±0.2
11
12
SW3
1x45°
k
36.1
60.1
26
6.5
20
LC 483 without mounting spar
Measuring standard DIADUR glass scale with absolute track and incremental track
Expansion coefficient Þtherm 8 x 10–6 K–1 (mounting type Ô); with mounting spar: Þtherm 9 x 10–6 K–1 (mounting type Õ)
Absolute position values* EnDat 2.2 Fanuc 02 serial interface Mitsubishi high speed serial
Ordering designation EnDat 02 interface, Mit 02-4 or Mitsu 01
Resolution
Accuracy ± 3 µm 0.005 µm 0.01 µm
Specifications
Accuracy ± 5 µm 0.01 µm 0.05 µm
Electrical connection Separate adapter cable (1 m/3 m/6 m/9 m) connectable to mounting block
Operating temperature 0 °C to 50 °C
Weight Encoder: 0.2 kg + 0.5 kg/m measuring length, mounting spar: 0.9 kg/m
21
LC 100 Series
• Absolute linear encoders for measuring steps to 0.1 µm (resolution to 0.005 µm)
• High vibration rating
• Horizontal mounting possible
• Up to two additional scanning units are possible
Ã
Ã
Dimensions in mm Ô, Õ,
Ö = Mounting options
F = Machine guideway
P = Gauging points for alignment
a = Cable connection usable at either end
k = Required mating dimensions
d = Compressed air inlet usable at either end
s = Beginning of measuring length ML (= 20 mm absolute)
À = Mechanical fixed point (should be preferred)
Á = Mechanical fixed point (coincides with the spacing interval of 100 mm)
 = Mechanical fixed point compatible to predecessor model
à = Alternative mating dimensions
Ö = Direction of scanning unit motion for output signals in accordance with interface description
22
Specifications LC 183 LC 193 F LC 193 M
Measuring standard DIADUR glass scale with absolute track and incremental track
Expansion coefficient Þtherm 8 x 10–6 K–1
Measuring length ML* in mm 140 240 340 440 540 640 740 840 940 1040 1140 1240 1340 1440
1 540 1 640 1 740 1 840 2040 2240 2440 2640 2840 3040 3240 3440 3640 3840
4 040 4 240
Absolute position values* EnDat 2.2 Fanuc 02 serial interface Mitsubishi high speed serial
Ordering designation EnDat 02 interface, Mit 02-4 or Mitsu 01
Resolution
Accuracy ± 3 µm 0.005 µm 0.01 µm
Accuracy ± 5 µm 0.01 µm 0.05 µm
Electrical connection Separate adapter cable (1 m/3 m/6 m/9 m) connectable to either side of mounting block
Operating temperature 0 °C to 50 °C (starting from ML 3 240 mm, the storage temperature is restricted to –10 °C to +50 °C)
23
LF 481
• Incremental linear encoder for measuring steps to 0.1 µm
• Thermal behavior similar to steel or cast iron
• For limited installation space
Ô ¬ 15
18.2±0.2
¬ 9.6 0.1 F
6
5
M8 x 25
ML + 158
110±5 ML 20/70 4
P1' ... P2'
13.5
d P1 0.1 F P2
M5
32.2
P1' P2'
7.8
4.6
Ö
25
d
1±0.3 k
28.7±0.5 k
ML
0.05
s 13 56 k 0.1 F 18
r r
5 91
10.004
10.012
10.008
60
40
20
Õ 15.5 30
M4 1.1+0.1
10 15 3.5
36.1
12
5.5
11
(m x 200) ±0.5 k k
1x45°
(m x 200) ±0.5 7
ML + 125
28
M4 x 8
19
M3 x 5 ISO 4762 M5 x 10
d
k
18
k
32.2
64.1
8
d
s
25
k 1±0.3
0.1 F
14.5±0.5
10±0.2 k
ML + 125 18
0.05
24
LF 481 without mounting spar
Specifications LF 481
Grating period 8 µm
Signal period 4 µm
Electrical connection Separate adapter cable (1 m/3 m/6 m/9 m) connectable to mounting block
Operating temperature 0 °C to 50 °C
25
LF 183
• Incremental linear encoder for measuring steps to 0.1 µm
• Thermal behavior similar to steel or cast iron
• High vibration rating
• Horizontal mounting possible
ML + 150
88
5
0.1 F 0.04 7 76±0.2 k
0.1
M5
d
37
P1 P3 P4 P2
70 0.1 F
(n x 100) ±0.2 k
45 100±0.2 k A
d
62.5
85
B
8.5
Ö
25
17
28.5±2 ML/2 40
0.2 F 20
ML k
40±0.2
s r 25
5 A
10.016
10.012
10.004
10.008
c A-A
0
80
60
20
40
18.2
P1...P4 6
B
6
M5 x 20 M5 x 20 M5 x 20
¬ 9.4
8
¬6
6
6
21.5
k
k
k
35.5
48.5
k
k
1.5±0.2
1.5±0.2
1.5±0.2
58.5
k
62±0.2
62±0.2
79±0.2
M6 x 35 M6 DIN 555 M6
SW 10.3
2
2±0.2 k
8
37±0.2 k 2±0.2 k 35
M5
7±0.2 k
25±0.2 k
Dimensions in mm Ô, Õ,
Ö = Mounting options
F = Machine guideway
Tolerancing ISO 8015 P = Gauging points for alignment
ISO 2768 - m H k = Required mating dimensions
d = Compressed air inlet
< 6 mm: ±0.2 mm
r = Reference-mark position on LF 183
c = Reference-mark position on LF 183 C
s = Beginning of measuring length (ML)
Ö = Direction of scanning unit motion for output signals in accordance with interface description
26
Specifications LF 183
Measuring length ML* in mm 140 240 340 440 540 640 740 840 940 1040 1140 1240 1340 1440
1 540 1 640 1 740 1 840 2040 2240 2440 2640 2840 3040
Grating period 8 µm
Signal period 4 µm
Electrical connection Separate adapter cable (1 m/3 m/6 m/9 m) connectable to mounting block
Operating temperature 0 °C to 40 °C
27
LS 400 Series
• Incremental linear encoder for measuring steps to 0.5 µm
• For limited installation space
Ô ¬ 15
18.25±0.05
0.1 F
18±0.2
¬ 9.6
6
5
(ML + 138) ±0.4
P1 P2
M5
d
32.2
(46.2)
4
d
Ö
1±0.3 k
d
4.6
13
16.5±2 Z Zi 56 k 0±0.2 k
ML 2x
0.05
0.1 F CZ 18
s 12
5 97.5
r r 115
10.02
10.06
10.04
c
0
20
40
60
d
d
4
d
26.5±1 k
0±2
12.5 P1 P3 P2
18±0.2
11
12
SW3
1x45°
k
36.1
48.1
26
6.5
Ô = Without mounting spar (with M8 screws) 1 reference mark at midpoint of measuring 70 ... 520 0
Õ = Short end piece, as replacement for length ML = 70 570 ... 920 1
predecessor with and without mounting spar. 2 reference marks for measuring lengths
1020 ... 1340 2
If attached directly with M4 screws, than 120 ... 1020 1140 ... 2040
1440 ... 1740 3
specifications are restricted. Z = 35 Z = 45
Ö = With mounting spar Zi = ML – 70 Zi = ML – 90 1840 ... 2040 4
28
LS 4x7 without mounting spar
Grating period 20 µm 20 µm 20 µm 20 µm
Integrated interpolation* – 5-fold 10-fold 20-fold
Signal period 20 µm 4 µm 2 µm 1 µm
Scanning frequency* – 100 kHz 50 kHz 100 kHz 50 kHz 25 kHz 50 kHz 25 kHz
Edge separation a ‡ 0.5 µs ‡ 1 µs ‡ 0.25 µs ‡ 0.5 µs ‡ 1 µs ‡ 0.25 µs ‡ 0.5 µs
Electrical connection Separate adapter cable (1 m/3 m/6 m/9 m) connectable to mounting block
Operating temperature 0 °C to 50 °C
Protection IEC 60 529 IP 53 when installed according to mounting instructions, IP 64 with compressed air from DA 300
29
LS 100 Series
• Incremental linear encoder for measuring steps to 0.5 µm
• High vibration rating
• Horizontal mounting possible
Â
Â
Dimensions in mm
Ô, Õ,
Ö = Mounting options
F = Machine guideway
P = Gauging points for alignment
a = Cable connection usable at either end
k = Required mating dimensions
d = Compressed air inlet usable at either end
s = Beginning of measuring length (ML)
r = Reference-mark position on LS 1xx
c = Reference-mark position on LS 1xx C
À = Mechanical fixed point (should be preferred)
Á = Mechanical fixed point (coincides with the spacing interval of 100 mm)
 = Alternative mating dimension
Ö = Direction of scanning unit motion for output signals in accordance with interface description
30
Specifications LS 187 LS 177
Measuring length ML* in mm 140 240 340 440 540 640 740 840 940 1040 1140 1240 1340 1440
1 540 1 640 1 740 1 840 2040 2240 2440 2640 2840 3040
Reference marks* LS 1x7 Selectable with magnets every 50 mm, standard setting: 1 reference mark in the center
LS 1x7 C Distance-coded
Grating period 20 µm 20 µm 20 µm 20 µm
Integrated interpolation* – 5-fold 10-fold 20-fold
Signal period 20 µm 4 µm 2 µm 1 µm
Scanning frequency* – 100 kHz 50 kHz 100 kHz 50 kHz 25 kHz 50 kHz 25 kHz
Edge separation a ‡ 0.5 µs ‡ 1 µs ‡ 0.25 µs ‡ 0.5 µs ‡ 1 µs ‡ 0.25 µs ‡ 0.5 µs
Electrical connection Separate adapter cable (1 m/3 m/6 m/9 m) connectable to mounting block
Operating temperature 0 °C to 50 °C
31
LB 382 up to 3040 mm Measuring Length (Single-Section Housing)
• Incremental linear encoder for measuring steps to 0.1 µm
• Horizontal mounting possible
• Mirror-image version available
ML + 276
88
0.1 F 0.05 50
25 0.3 7 76±0.2 k 25
SW3
M5
50
28
d
d
58.5
18
85
63
B Ö
25
35
ML/2 0.1 F 40
8.5
17
58±2 ML 25
105
40±0.2 k
r
s A
5
40.04 40.08
c
0
80
160
M5 x 50 (55) B5.3 DIN 125 M5 x 50 (55) B5.3 DIN 125 M5 x 50 (55) B5.3 DIN 125
[M6 x 50 (55)] [B6.4 DIN 433] [M6 x 50 (55)] [B6.4 DIN 433] [M6 x 50 (55)] [B6.4 DIN 433]
6
0.1
6
1±0.3 k
1±0.3 k
62±0.3 k
k
k
1±0.3
62±0.3
79±0.3
M6 DIN 555
M6 x 35
8
Dimensions in mm Ô, Õ, A-A B
Ö = Mounting options
F = Machine guideway 50
1.2x45° 7.5
Tolerancing ISO 8015 k = Required mating dimensions
ISO 2768 - m H d = Compressed air inlet
r = Reference-mark position on LB 3x2
< 6 mm: ±0.2 mm
26
40
10
35
32
Specifications LB 382 up to ML 3 040 mm
Accuracy grade ± 5 µm
Reference marks* LB 382 Selectable with selector plates every 50 mm, standard setting: 1 reference mark in the center
LB 382 C Distance-coded
Grating period 40 µm
Signal period 40 µm
Electrical connection Separate adapter cable (1 m/3 m/6 m/9 m) connectable to mounting block
1)
Cable length † 150 m
Operating temperature 0 °C to 50 °C
33
LB 382 up to 30 040 mm Measuring Length (Multi-Section Housing)
• Incremental linear encoder for long measuring ranges up to 30 m
• Measuring steps to 0.1 µm
• Horizontal mounting possible
• Mirror-image version available
ML + 276
398 g 468
1.5
SW3
M5
50
28
d
d
1.5
58.5
18
85
63
B Ö
25
35
20 + (k x 50) (k= 0,1,2, ...) 0.1 F 40
17
8.5
58±2 ML 25
105
40±0.2 k
r
s A
5
40.04 40.08
c
0
80
160
M5 x 50 (55) B5.3 DIN 125 M5 x 50 (55) B5.3 DIN 125 M5 x 50 (55) B5.3 DIN 125
[M6 x 50 (55)] [B6.4 DIN 433] [M6 x 50 (55)] [B6.4 DIN 433] [M6 x 50 (55)] [B6.4 DIN 433]
6
0.1
6
1±0.3 k
1±0.3 k
62±0.3 k
k
k
1±0.3
62±0.3
79±0.3
M6 DIN 555
M6 x 35
8
34
Specifications LB 382 from ML 3 240 mm
Accuracy grade ± 5 µm
Measuring length ML* Kit with single-section AURODUR steel tape and housing section lengths for measuring lengths
from 3 240 mm to 30 040 mm in 200-mm steps.
Housing section lengths: 1000 mm, 1200 mm, 1400 mm, 1600 mm, 1800 mm, 2000 mm
Grating period 40 µm
Signal period 40 µm
Electrical connection Separate adapter cable (1 m/3 m/6 m/9 m) connectable to mounting block
1)
Cable length † 150 m
Operating temperature 0 °C to 50 °C
35
Interfaces
Incremental Signals » 1 VPP
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 Alternative
signal shape
information even at low speeds. (rated value)
36
Input circuitry of the Incremental signals
subsequent electronics Reference-mark Encoder Subsequent electronics
signal
Dimensioning
Operational amplifier MC 34074 Ra < 100 −, typ. 24 −
Z0 = 120 − Ca < 50 pF
R1 = 10 k− and C1 = 100 pF ΣIa < 1 mA
U0 = 2.5 V ± 0.5 V
R2 = 34.8 k− and C2 = 10 pF (relative to 0 V of the
UB = ± 15 V power supply)
U1 approx. U0
Pin layout
12-pin M23 coupling 12-pin M23 connector 15-pin D-sub connector, female
for HEIDENHAIN controls and IK 220
Electrical Connection
12 2 10 11 5 6 8 1 3 4 7/9 / /
1 9 2 11 3 4 6 7 10 12 5/8/14/15 13 /
Brown/ Blue White/ White Brown Green Gray Pink Red Black / Violet Yellow
Green Green
37
Interfaces
Incremental Signals « TTL
38
Input circuitry of the subsequent Incremental signals Encoder Subsequent electronics
electronics Reference-mark
signal
Dimensioning
IC1 = Recommended differential line
receivers
DS 26 C 32 AT
Only for a > 0.1 µs:
AM 26 LS 32 Fault-detection
MC 3486 signal
SN 75 ALS 193
R1 = 4.7 k−
R2 = 1.8 k−
Z0 = 120 −
C1 = 220 pF (serves to improve noise
immunity)
Pin layout
12-pin 12-pin
flange socket M23 connector
or
M23 coupling
12 2 10 11 5 6 8 1 3 4 7 / 9
1)
UP Sensor 0V Sensor Ua1 Ua2 £ Ua0 ¤ ¥ Vacant Vacant2)
UP 0V
Brown/ Blue White/ White Brown Green Gray Pink Red Black Violet – Yellow
Green Green
39
Interfaces
Absolute Position Values
C3 = 330 pF
Z0 = 120 −
Incremental signals
Depending on
encoder
40
Benefits of the EnDat Interface Ordering Command set Incremental Clock Power supply
• Automatic self-configuration: All designation signals frequency
information required by the subsequent
electronics is already stored in the EnDat 01 EnDat 2.1 or With † 2 MHz See specifications
encoder. EnDat 2.2 of the encoder
• High system security through alarms EnDat 21 Without
and messages for monitoring and
diagnosis. EnDat 02 EnDat 2.2 With † 2 MHz Expanded range
• High transmission reliability through 3.6 to 5.25 V or
cyclic redundancy checks. EnDat 22 EnDat 2.2 Without † 16 MHz 14 V
• Datum shift for faster commissioning.
Specification of the EnDat interface (bold print indicates standard versions)
Other benefits of EnDat 2.2
• A single interface for all absolute and
incremental encoders.
• Additional information (limit switch,
temperature, acceleration)
• Quality improvement: Position value Versions Functions
calculation in the encoder permits The extended EnDat interface version 2.2 The EnDat interface transmits absolute
shorter sampling intervals (25 µs). is compatible in its communication, position values or additional physical
• Online diagnostics through valuation command set and time conditions with quantities (only EnDat 2.2) in an
numbers that indicate the encoder’s version 2.1, but also offers significant unambiguous time sequence and serves
current functional reserves and make it advantages. It makes it possible, for to read from and write to the encoder’s
easier to plan the machine servicing. example, to transfer additional information internal memory. Some functions are
• Safety concept for designing safety- with the position value without sending a available only with EnDat 2.2 mode
oriented control systems consisting of separate request for it. The interface commands.
safe controls and safe encoders based protocol was expanded and the time
on the DIN EN ISO 13 849-1 and conditions (clock frequency, processing Position values can be transmitted with
IEC 61 508 standards. time, recovery time) were optimized. or without additional information. The
additional information types are selectable
Advantages of purely serial Ordering designation via the Memory Range Select (MRS) code.
transmission Indicated on the ID label and can be read Other functions such as Read parameter
specifically for EnDat 2.2 encoders out via parameter. and Write parameter can also be called
• Cost optimization through simple after the memory area and address have
subsequent electronics with EnDat Command set been selected. Through simultaneous
receiver component and simple The command set is the sum of all transmission with the position value,
connection technology: Standard available mode commands. (See “Selecting additional information can also be
connecting element (M12; 8-pin), single- the transmission type“). The EnDat 2.2 requested of axes in the feedback loop,
shielded standard cables and low wiring command set includes EnDat 2.1 mode and functions executed with them.
cost. commands. When a mode command from
• Minimized transmission times through the EnDat 2.2 command set is transmitted Parameter reading and writing is possible
high clock frequencies up to 16 MHz. to EnDat-01 subsequent electronics, the both as a separate function and in connection
Position values available in the subsequent encoder or the subsequent electronics with the position value. Parameters can be
electronics after only approx. 10 µs. may generate an error message. read or written after the memory area and
• Support for state-of-the-art machine address is selected.
designs e.g. direct drive technology. Incremental signals
EnDat 2.1 and EnDat 2.2 are both available Reset functions serve to reset the
with or without incremental signals. encoder in case of malfunction. Reset is
EnDat 2.2 encoders feature a high internal possible instead of or during position value
resolution. Therefore, depending on the transmission.
control technology being used, interrogation
of the incremental signals is not necessary. Servicing diagnostics make it possible to
To increase the resolution of EnDat 2.1 inspect the position value even at a standstill.
encoders, the incremental signals are A test command has the encoder transmit
interpolated and evaluated in the subsequent the required test values.
electronics.
Power supply
Encoders with ordering designations
EnDat 02 and EnDat 22 have an extended
power supply range.
EnDat 2.1
additional information, or parameters. • Encoder receive parameters
The type of information to be transmitted • Encoder transmit parameters
is selected by mode commands. Mode • Encoder receive reset1)
commands define the content of the • Encoder transmit test values
EnDat 2.2
transmitted information. Every mode • Encoder receive test command
command consists of three bits. To ensure
reliable transmission, every bit is transmitted • Encoder transmit position value with additional information
redundantly (inverted or double). The • Encoder transmit position value and receive selection of memory area2)
EnDat 2.2 interface can also transfer • Encoder transmit position value and receive parameters2)
parameter values in the additional • Encoder transmit position value and transmit parameters2)
information together with the position • Encoder transmit position value and receive error reset2)
value. This makes the current position • Encoder transmit position value and receive test command2)
values constantly available for the control • Encoder receive communication command3)
loop, even during a parameter request.
1)
Same reaction as switching the power supply off and on
Control cycles for transfer of position 2)
Selected additional information is also transmitted
values 3)
Reserved for encoders that do not support the safety system
The transmission cycle begins with the
first falling clock edge. The measured
values are saved and the position value
calculated. After two clock pulses (2T), to
select the type of transmission, the
subsequent electronics transmit the mode The time absolute linear encoders need for
command “Encoder transmit position value” calculating the position values tcal differs
(with/without additional information). depending on whether EnDat 2.1 or
The subsequent electronics continue to EnDat 2.2 mode commands are transmitted
transmit clock pulses and observe the data (see Specifications in the Linear Encoders
line to detect the start bit. The start bit for Numerically Controlled Machine Tools
starts data transmission from the encoder brochure). If the incremental signals are
to the subsequent electronics. Time tcal is evaluated for axis control, then the
the smallest time duration after which the EnDat 2.1 mode commands should be
position value can be read by the encoder. used. Only in this manner can an active
The subsequent error messages, error 1 error message be transmitted synchronously
and error 2 (only with EnDat 2.2 commands), with the currently requested position value.
are group signals for all monitored EnDat 2.1 mode commands should not be
functions and serve as failure monitors. used for purely serial position value transfer
for axis control.
Beginning with the LSB, the encoder then
transmits the absolute position value as a
complete data word. Its length varies Without delay With delay compensation
depending on which encoder is being used. compensation
The number of required clock pulses for
transmission of a position value is saved in Clock frequency fc 100 kHz ... 2 MHz 100 kHz ... 16 MHz
the parameters of the encoder manufacturer.
The data transmission of the position value Calculation time for
is completed with the Cyclic Redundancy Position value tcal See Specifications
Check (CRC). Parameters tac Max. 12 ms
In EnDat 2.2, this is followed by additional
information 1 and 2, each also concluded Recovery time tm EnDat 2.1: 10 to 30 µs
with a CRC. With the end of the data word, EnDat 2.2: 10 to 30 µs or 1.25 to 3.75 µs (fc ‡ 1 MHz)
the clock must be set to HIGH. After 10 to (parameterizable)
30 µs or 1.25 to 3.75 µs (with EnDat 2.2
parameterizable recovery time tm) the data tR Max. 500 ns
line falls back to LOW. Then a new data
transmission can begin by starting the tST – 2 to 10 µs
clock.
Data delay time tD (0.2 + 0.01 x cable length in m) µs
42
EnDat 2.2 – Transmission of Encoder saves Position value without additional information
Position Values position value
EnDat 2.2 can transmit position values with Subsequent electronics
or without additional information. transmit mode command
tcal tm tR
tST
S F1 F2 L M
Encoder saves Data packet with position value and additional information 1 and 2
position value
Subsequent electronics
transmit mode command
tcal tm tR
tST
S F1 F2 L M
Additional Additional
Mode command Position value CRC CRC CRC
information 2 information 1
Additional information
With EnDat 2.2, one or two pieces of 30 bits
additional information can be appended to
the position value. Each additional Additional information 5 bits
information is 30 bits long with LOW as CRC
first bit, and ends with a CRC check. The
additional information supported by the
respective encoder is saved in the encoder
parameters. WRN RM Busy
The content of the additional information is
Acknowledgment of
determined by the MRS code and is
additional information 8 bits 8 bits
transmitted in the next sampling cycle for Address Data
additional information. This information is or data
then transmitted with every sampling until
a selection of a new memory area changes
the content.
The additional information The additional information can contain the following data:
always begins with:
43
EnDat 2.1 – Transmission of Encoder saves
Position Values position value
Subsequent electronics
EnDat 2.1 can transmit position values with transmit mode command
interrupted clock pulse (as in EnDat 2.2) or
continuous clock pulse.
Interrupted clock
The interrupted clock is intended
particularly for time-clocked systems such
as closed control loops. At the end of the
data word the clock signal is set to HIGH
Cyclic Redundancy
level. After 10 to 30 µs (tm), the data line Mode command Position value
Check
falls back to LOW. A new data transmission
can then begin when started by the clock.
Interrupted clock
Continuous clock
For applications that require fast acquisition
of the measured value, the EnDat interface Save new Save new
can have the clock run continuously. position value position value
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
CRC Position value CRC
before the first data transmission, the
continuous-clock transfer mode reduces
the length of the clock-pulse group by
10 periods per position value.
n = 0 to 7; depending on system Continuous clock
Comparator
values. With the first falling edge (latch
signal) of the CLOCK signal from the 1 VPP
subsequent electronics, the scanning
signals of the individual tracks in the Counter
encoder and counter are frozen, as are the
A/D converters for subdividing the
1 VPP Subdivision
sinusoidal incremental signals in the
subsequent electronics.
Parallel
The code value transmitted over the serial interface
interface unambiguously identifies one
incremental signal period. The position value After power on and initial transmission of signals, the two values can be compared in
is absolute within one sinusoidal period of position values, two redundant position the subsequent electronics. This monitoring
the incremental signal. The subdivided values are available in the subsequent elec- is possible even at high shaft speeds thanks
incremental signal can therefore be tronics. Since encoders with EnDat interface to the EnDat interface’s short transmission
appended in the subsequent electronics to guarantee a precise synchronization— times of less than 50 µs. This capability is a
the serially transmitted code value. regardless of cable length—of the serially prerequisite for modern machine design
transmitted code value with the incremental and safety systems.
44
Parameters and Memory Areas Parameters of the OEM Monitoring and Diagnostic
The encoder provides several memory In this freely definable memory area, the Functions
areas for parameters. These can be read OEM can store his information, e.g. the The EnDat interface enables comprehensive
from by the subsequent electronics, and “electronic ID label” of the motor in which monitoring of the encoder without requiring
some can be written to by the encoder the encoder is integrated, indicating the an additional transmission line. The alarms
manufacturer, the OEM, or even the end motor model, maximum current rating, etc. and warnings supported by the respective
user. Certain memory areas can be write- encoder are saved in the “parameters of
protected. Operating parameters the encoder manufacturer” memory area.
This area is available for a datum shift, the
The parameters, which in most cases configuration of diagnostics and for Error message
are set by the OEM, largely define the instructions. It can be protected against An error message becomes active if a
function of the encoder and the EnDat overwriting. malfunction of the encoder might result in
interface. When the encoder is exchanged, incorrect position values. The exact cause
it is therefore essential that its parameter Operating status of the disturbance is saved in the encoder’s
settings are correct. Attempts to configure This memory area provides detailed alarms “operating status” memory.
machines without including OEM data can or warnings for diagnostic purposes. Here it Interrogation via the “Operating status
result in malfunctions. If there is any doubt is also possible to initialize certain encoder error sources” additional information is also
as to the correct parameter settings, the functions, activate write protection for the possible. Here the EnDat interface transmits
OEM should be consulted. OEM parameter and operating parameter the error 1 and error 2 error bits (only with
memory areas, and to interrogate their EnDat 2.2 commands). These are group
Parameters of the encoder manufacturer status. Once activated, the write protection signals for all monitored functions and
This write-protected memory area contains cannot be reversed. serve for failure monitoring. The two error
all information specific to the encoder, messages are generated independently
such as encoder type (linear/angular, from each other.
singleturn/multiturn, etc.), signal periods,
position values per revolution, transmission Warning
format of position values, direction of This collective bit is transmitted in the
rotation, maximum speed, accuracy status data of the additional information.
dependent on shaft speeds, warnings and It indicates that certain tolerance limits
alarms, ID number and serial number. This of the encoder have been reached or
information forms the basis for automatic exceeded—such as shaft speed or the limit
configuration. A separate memory area of light source intensity compensation
contains the parameters typical for through voltage regulation—without
EnDat 2.2: Status of additional information, implying that the measured position values
temperature, acceleration, support of are incorrect. This function makes it
diagnostic and error messages, etc. possible to issue preventive warnings in
order to minimize idle time.
Online diagnostics
Encoders with purely serial interfaces do
not provide incremental signals for
evaluation of encoder function. EnDat 2.2
Absolute encoder Subsequent encoders can therefore cyclically transmit
electronics so-called valuation numbers from the
encoder. The valuation numbers provide
» 1 VPP A*)
Incremental the current state of the encoder and
signals *) ascertain the encoder’s “functional
» 1 VPP B*)
reserves.” The identical scale for all
HEIDENHAIN encoders allows uniform
EnDat interface
45
Pin Layout
1)
Power supply Incremental signals Absolute position values
7 1 10 4 11 15 16 12 13 14 17 8 9
Brown/ Blue White/ White / Green/ Yellow/ Blue/ Red/ Gray Pink Violet Yellow
Green Green Black Black Black Black
8 2 5 1 3 4 7 6
UP1) 1)
UP 0V 0V DATA DATA CLOCK CLOCK
15-pin 15-pin
D-sub connector, male D-sub connector, female
for IK 115/IK 215 for HEIDENHAIN controls
and IK 220
4 12 2 10 6 1 9 3 11 5 13 8 15
1 9 2 11 13 3 4 6 7 5 8 14 15
Brown/ Blue White/ White / Green/ Yellow/ Blue/ Red/ Gray Pink Violet Yellow
Green Green Black Black Black Black
46
Interfaces
Fanuc and Mitsubishi Pin Layouts
15-pin 10 . . . . . . . 1
17-pin
Fanuc connector HEIDENHAIN
coupling
20 . . . . . . . 11
9 18/20 12 14 16 1 2 5 6
7 1 10 4 – 14 17 8 9
10 or 20-pin 17-pin
1 . . . . . . . 10
Mitsubishi HEIDENHAIN
connector coupling
11 . . . . . . . 20
10-pin 1 – 2 – 7 8 3 4
20-pin 20 19 1 11 6 16 7 17
7 1 10 4 14 17 8 9
47
Connecting Elements and Cables
General Information
Symbols Symbols
M12 M23
Symbols
male contacts or
female contacts.
1)
With integrated interpolation electronics
48
Adapter Cables
Adapter cable in metal armor 10 mm 310 126-xx 310 121-xx 344 451-xx
with 12-pin M23 connector (male)
Adapter cable 6 mm –
with 17-pin M23 coupling (male) 4.5 mm 547 300-xx
Adapter cable
with 15-pin Fanuc connector 4.5 mm 545 547-xx –
with 20-pin Mitsubishi connector 6 mm – 599 685-xx
with 10-pin Mitsubishi connector 6 mm – 640 915-xx
Complete with connector (female) and 298 401-xx 323 897-xx 368 330-xx
coupling (male)
Complete with connector (female) and 310 199-xx 332 115-xx 533 627-xx
D-sub connector (female) for IK 220
Complete with connector (female) and 310 196-xx 324 544-xx 524 599-xx
D-sub connector (male) for IK 115/IK 215
Mating element on connecting cable to Connector (female) for cable ¬ 8 mm 291 697-05 291 697-26 –
connector on encoder cable
Connector on cable for connection to Connector (male) for cable ¬ 4.5 mm 291 697-06 291 697-27 –
subsequent electronics ¬ 8 mm 291 697-08
¬ 6 mm 291 697-07
Coupling on connecting cable Coupling (male) for cable ¬ 4.5 mm 291 698-14 291 698-25 –
¬ 6 mm 291 698-03 291 698-26
¬ 8 mm 291 698-04 291 698-27
Flange socket for mounting on the Flange socket (female) 315 892-08 315 892-10 –
subsequent electronics
50
Connecting Cables Fanuc
Mitsubishi
for for
Fanuc Mitsubishi
51
General Electrical Information
Power Supply
Connect HEIDENHAIN encoders only to If the voltage drop is known, all parameters level must remain below 1 V for the time
subsequent electronics whose power for the encoder and subsequent electronics tSOT before power up. These data apply to
supply is generated from PELV systems can be calculated, e.g. voltage at the the encoders listed in the catalog—
(EN 50 178). In addition, overcurrent encoder, current requirements and power customer-specific interfaces are not
protection and overvoltage protection are consumption of the encoder, as well as the included.
required in safety-related applications. power to be provided by the subsequent
electronics. Encoders with new features and increased
If HEIDENHAIN encoders are to be performance range may take longer to
operated in accordance with IEC 61010-1, Switch-on/off behavior of the encoders switch on (longer time tSOT). If you are
the power must be supplied from a The output signals are valid no sooner than responsible for developing subsequent
secondary circuit with current or power after switch-on time tSOT = 1.3 s (2 s for electronics, please contact HEIDENHAIN
limitation as per IEC 61010-1:2001, section PROFIBUS-DP) (see diagram). During time in good time.
9.3 or IEC 60950-1:2005, section 2.5 or a tSOT they can have any levels up to 5.5 V
Class 2 secondary circuit as specified in (with HTL encoders up to UPmax). If an Isolation
UL1310. interpolation electronics unit is inserted The encoder housings are isolated against
between the encoder and the power supply, internal circuits.
The encoders require a stabilized DC this unit’s switch-on/off characteristics
voltage UP as power supply. The must also be considered. If the power Rated surge voltage: 500 V
respective Specifications state the supply is switched off, or when the supply (preferred value as per VDE 0110 Part 1,
required power supply and the current voltage falls below Umin, the output signals overvoltage category II, contamination
consumption. The permissible ripple are also invalid. During restart, the signal level 2)
content of the DC voltage is:
• High frequency interference
UPP < 250 mV with dU/dt > 5 V/µs
Transient response of supply voltage and switch-on/switch-off behavior
• Low frequency fundamental ripple
UPP < 100 mV
1.05 · LC · I
¹U = 2 · 10–3 ·
56 · AP
where Cable Cross section of power supply lines AP
¹U: Voltage attenuation in V
5)
1.05: Length factor due to twisted 1 VPP/TTL/HTL 11 µAPP EnDat/SSI EnDat
wires 17-pin 8-pin
LC: Cable length in m 2
¬ 3.7 mm 0.05 mm – – 0.09 mm2
I: Current consumption in mA
AP: Cross section of power lines in 2
¬ 4.3 mm 0.24 mm – – –
mm2 2 2
¬ 4.5 mm EPG 0.05 mm – 0.05 mm 0.09 mm2
The voltage actually applied to the encoder ¬ 4.5 mm 2)
0.14/0.09 mm
2
0.05 mm2 0.05 mm2 0.14 mm2
is to be considered when calculating the ¬ 5.1 mm 0.05
2), 3)
mm
2
encoder’s power requirement. This
voltage consists of the supply voltage UP ¬ 6 mm 0.19/0.142), 4) mm2 – 0.08 mm2 0.34 mm2
provided by the subsequent electronics ¬ 10 mm1)
minus the line drop at the encoder. For
encoders with an expanded supply range, ¬ 8 mm 0.5 mm2 1 mm2 0.5 mm2 1 mm2
the voltage drop in the power lines must ¬ 14 mm1)
be calculated under consideration of the 1) 2) 3) 4)
nonlinear current consumption (see next Metal armor Rotary encoders Length gauges LIDA 400
5)
page). Also Fanuc, Mitsubishi
52
Encoders with expanded voltage supply Step 1: Resistance of the supply lines Step 4: Parameters for subsequent
range The resistance values of the power lines electronics and the encoder
For encoders with expanded supply (adapter cable and encoder cable) can be Voltage at encoder:
voltage range the current consumption has calculated with the following formula: UE = UP – ¹U
a nonlinear relationship with the supply
1.05 · LC Current requirement of encoder:
voltage. On the other hand, the power RL = 2 ·
56 · AP IE = ¹U / RL
consumption follows a linear curve (see
Current and power consumption diagram). Power consumption of encoder:
The maximum power consumption at Step 2: Coefficients for calculation of PE = UE · IE
minimum and maximum supply voltage is the drop in line voltage
Power output of subsequent electronics:
listed in the Specifications. The power
P – PEmin PS = UP · IE
consumption at maximum supply voltage b = –RL · Emax – UP
UEmax – UEmin
(worst case) accounts for:
• Recommended receiver circuit PEmax – PEmin
• Cable length: 1 m c = PEmin · RL + · RL · (UP – UEmin)
UEmax – UEmin
• Age and temperature influences
• Proper use of the encoder with respect Step 3: Voltage drop based on the
to clock frequency and cycle time coefficients b and c
The typical current consumption at no load ¹U = –0.5 · (b + ¹b2 – 4 · c)
(only supply voltage is connected) for 5 V
supply is specified.
Influence of cable length on the power output of the subsequent Current and power consumption with respect to the supply
electronics (example representation) voltage (example representation)
Power output of subsequent
electronics (normalized)
53
Electrically Permissible Speed/ Cable
Traversing Speed
For safety-related applications, use
The maximum permissible shaft speed or Fixed cable
HEIDENHAIN cables and connectors.
traversing velocity of an encoder is derived
from Versions
• the mechanically permissible shaft The cables of almost all HEIDENHAIN
speed/traversing velocity (if listed in the encoders and all adapter and connecting
Specifications) cables are sheathed in polyurethane (PUR
and cable). Most adapter cables for within
• the electrically permissible shaft speed/ Frequent flexing
motors and a few cables on encoders are
traversing velocity. sheathed in a special elastomer (EPG
cable). These cables are identified in the
For encoders with sinusoidal output specifications or in the cable tables with
signals, the electrically permissible shaft Frequent flexing
“EPG.”
speed/traversing velocity is limited by the
–3dB/ –6dB cutoff frequency or the Durability
permissible input frequency of the PUR cables are resistant to oil and
subsequent electronics. hydrolysis in accordance with VDE 0472
(Part 803/test type B) and resistant to Temperature range
For encoders with square-wave signals, microbes in accordance with VDE 0282 HEIDENHAIN cables can be used for
the electrically permissible shaft speed/ (Part 10). They are free of PVC and silicone rigid configuration (PUR) –40 to 80 °C
traversing velocity is limited by and comply with UL safety directives. The rigid configuration (EPG) –40 to 120 °C
– the maximum permissible scanning UL certification AWM STYLE 20963 80 °C frequent flexing (PUR) –10 to 80 °C
frequency fmax of the encoder and 30 V E63216 is documented on the cable.
PUR cables with limited resistance to
– the minimum permissible edge EPG cables are resistant to oil in hydrolysis and microbes are rated for up to
separation a for the subsequent accordance with VDE 0472 (Part 803/test 100 °C. If needed, please ask for
electronics. type B) and to hydrolysis in accordance assistance from HEIDENHAIN Traunreut.
with VDE 0282 (Part 10). They are free of
For angular or rotary encoders silicone and halogens. In comparison with Lengths
PUR cables, they are only conditionally The cable lengths listed in the
fmax
nmax = · 60 · 103 resistant to media, frequent flexing and Specifications apply only for HEIDENHAIN
z
continuous torsion. cables and the recommended input
For linear encoders circuitry of subsequent electronics.
Where:
nmax: Elec. permissible speed in min–1
vmax: Elec. permissible traversing
velocity in m/min
fmax: Max. scanning/output frequency of
Cable Bend radius R
encoder or input frequency of
subsequent electronics in kHz Fixed cable Frequent flexing
z: Line count of the angle or rotary
encoder per 360 ° ¬ 3.7 mm ‡ 8 mm ‡ 40 mm
SP: Signal period of the linear encoder ¬ 4.3 mm ‡ 10 mm ‡ 50 mm
in µm
¬ 4.5 mm EPG ‡ 18 mm –
¬ 4.5 mm ‡ 10 mm ‡ 50 mm
¬ 5.1 mm
¬ 6 mm ‡ 20 mm ‡ 75 mm
1)
¬ 10 mm ‡ 35 mm ‡ 75 mm
¬ 8 mm ‡ 40 mm ‡ 100 mm
¬ 14 mm1) ‡ 100 mm ‡ 100 mm
1)
Metal armor
54
Noise-Free Signal Transmission
Electromagnetic compatibility/ Transmission of measuring signals— routed through these elements.
CE -compliance electrical noise immunity Applications in which additional signals
When properly installed, and when Noise voltages arise mainly through are sent through the connecting element
HEIDENHAIN connecting cables and cable capacitive or inductive transfer. Electrical require specific measures regarding
assemblies are used, HEIDENHAIN noise can be introduced into the system electrical safety and EMC.
encoders fulfill the requirements for over signal lines and input or output • Connect the housings of the encoder,
electromagnetic compatibility according to terminals. connecting elements and subsequent
2004/108/EC with respect to the generic Possible sources of noise include: electronics through the shield of the
standards for: • Strong magnetic fields from cable. Ensure that the shield has
• Noise EN 61 000-6-2: transformers, brakes and electric motors complete contact over the entire surface
Specifically: • Relays, contactors and solenoid valves (360°). For encoders with more than one
– ESD EN 61 000-4-2 • High-frequency equipment, pulse electrical connection, refer to the
– Electromagnetic fields EN 61 000-4-3 devices, and stray magnetic fields from documentation for the respective
– Burst EN 61 000-4-4 switch-mode power supplies product.
– Surge EN 61 000-4-5 • AC power lines and supply lines to the • For cables with multiple shields, the
– Conducted above devices inner shields must be routed separately
disturbances EN 61 000-4-6 from the outer shield. Connect the inner
– Power frequency Protection against electrical noise shield to 0 V of the subsequent
magnetic fields EN 61 000-4-8 The following measures must be taken to electronics. Do not connect the inner
– Pulse magnetic ensure disturbance-free operation: shields with the outer shield, neither in
fields EN 61 000-4-9 • Use only original HEIDENHAIN cables. the encoder nor in the cable.
• Interference EN 61 000-6-4: Consider the voltage attenuation on • Connect the shield to protective ground
Specifically: supply lines. as per the mounting instructions.
– For industrial, scientific and medical • Use connecting elements (such as • Prevent contact of the shield (e.g.
equipment (ISM) EN 55 011 connectors or terminal boxes) with metal connector housing) with other metal
– For information technology housings. Only the signals and power surfaces. Pay attention to this when
equipment EN 55 022 supply of the connected encoder may be installing cables.
• Do not install signal cables in the direct
vicinity of interference sources (inductive
consumers such as contacts, motors,
frequency inverters, solenoids, etc.).
– Sufficient decoupling from
interference-signal-conducting cables
can usually be achieved by an air
clearance of 100 mm or, when cables
are in metal ducts, by a grounded
partition.
– A minimum spacing of 200 mm to
inductors in switch-mode power
supplies is required.
• If compensating currents are to be
expected within the overall system, a
separate equipotential bonding
conductor must be provided. The shield
does not have the function of an
equipotential bonding conductor.
• Only provide power from PELV systems
(EN 50 178) to position encoders.
Provide high-frequency grounding with
low impedance (EN 60 204-1
Chap. EMC).
• For encoders with 11-µAPP interface: For
extension cables, use only HEIDENHAIN
cable ID 244 955-01. Overall length:
max. 30 m.
55
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{ +49 8669 31-0
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