Angle Encoders: Encoder Technology LTD

Encoder Technology Ltd
Units 5 & 6 Leatherhead Industrial Estate

Station Rd, Leatherhead,
Surrey, KT22 7AL, UK
Tel: +44 (0)1372 377985
Fax: +44 (0)1372 386973
http://www.encoder-technology.com
Angle Encoders
June 2002
Angle encoders with integral bearing
and integral stator coupling
Angle encoders with integral bearing for

separate shaft coupling
Angle encoders without integral bearing

Contents
Overview
HEIDENHAIN Angle Encoders 4

Selection Guide Angle encoders with integral bearing 6
Angle encoders without integral bearing 8
Technical Properties and Mounting Instructions
Measuring Standard of incremental and absolute angle encoders 10

Reference Marks 11
Scanning the Measuring Standard 12
Measuring Accuracy 14
Mechanical Design RON, RPN, RCN 18
Types, Mounting
and Accessories ROD 20
ERA 700, ERA 800 22
ERA 180, ERM, ERO 24
General Mechanical Information 25
Specifications Series or Model Accuracy
Angle Encoders with RON/RCN 200 series ± 5"/± 2.5" 26

Integral Bearing and
Integral Stator Coupling RON 785 ± 2" 28
RON/RCN 700 series ± 2" 30
RON/RPN 800 series ± 1" 32
RON 905 to ± 0.2" 34
Angle Encoders with ROD 200 series ± 5" 36
Integral Bearing for
Separate Shaft Coupling ROD 780 ± 2" 38
ROD 880 ± 1" 38
Angle Encoders ERA 180 series to ± 3.5" 40
without Integral Bearing
ERM 280 series to ± 11" 44
ERO 785 series to ± 2.5" 46
ERA 780 series to ± 3.2" 48
ERA 880 series to ± 3.4" 50
Electrical Connections
Interfaces Incremental signals » 1 VPP 54

Incremental signals « TTL 56
EnDat absolute position values 58
Connecting Elements and Cables 63
General Electrical Specifications 66
Evaluation and Display Units
Display Units, Interpolation and Digitizing Electronics 68

Interface Cards, HEIDENHAIN Measuring Equipment
HEIDENHAIN Angle Encoders
The term angle encoder is typically used to

describe encoders that have an accuracy of
greater than ± 5" and a line count above Rotary table
10000.
In contrast, rotary encoders are encoders
that typically have an accuracy of less than
± 10".
Angle encoders are found in applications
requiring precision angular measurement to
accuracies within several arc seconds.
Examples:
Rotary tables on machine tools
Swivel heads on machine tools
C-axes of lathes
Measuring machines for gears
Printing units of printing machines
Spectrometers
Telescopes
etc.
The tables on the following pages list

different types of angle encoders to suit the RON 886
various applications and meet different
requirements.
The RON 886 angle encoder mounted onto the rotary table of a machine tool
Angle encoders can have one of three

different mechanical designs:
Angle encoders with integral bearing,

hollow shaft and integral stator coupling
Because of the design and mounting of the
stator coupling, it has only to absorb that
torque resulting from friction in the bearing
during angular acceleration of the shaft.
RON, RPN and RCN angle encoders
therefore provide excellent dynamic
performance. With integral stator coupling,
the stated system accuracy also includes
the deviations of the shaft coupling.
Other advantages:
Small size and low mounting space
requirement
Hollow shaft diameters to 60 mm for
supply lines, etc. to be led through
Easy mounting
Selection Guide on pages 6/7
RON 886 incremental angle encoder

4
Overview
Angle encoders with integral bearing,
for separate shaft coupling
ROD angle encoders with solid shaft are
particularly suited to applications where
higher speeds and larger mounting
tolerances are required. The shaft couplings
allow axial tolerances of ± 1 mm.
ROD 800 incremental angle encoder with K 16 flat coupling
Angle encoders without integral bearing

ERA and ERO angle encoders without
integral bearing (modular angle encoders)
are intended for integration in machine
elements or apparatuses. They are well
suited to applications with the following
requirements:
Large hollow shaft diameters (up to 10 m
with a scale tape)
High rotational speeds up to 40000 rpm
No additional starting torque due to shaft
gaskets
Segment angles
ERA 180 incremental angle encoder
The ERM modular magnetic encoder is
particularly suited to applications with lower
accuracy requirements, such as the C axis
on lathes or auxiliary axes.
5
Selection Guide
Angle Encoders with integral Bearing
Series System accuracy and Recommended measuring step/ Overall dimensions Max. mechanically
line count absolute positions/rev. in mm permissible speed
With integral stator coupling
RON 200 ± 5" with 18000 0.0001° 3000 rpm

Incremental RON 275: 0.0005°
± 5" with 9000 0.005°
± 2.5" with 18000 0.0001°
RCN 200 ± 5"/± 2.5" with 16384 0.0001°

Absolute 26 bits 67108 864 positions/rev.
RON 700 ± 2" with 18000 0.0001° 1000 rpm

Incremental
± 2" with 18000 0.0001° 1000 rpm

± 2" with 36000
RCN 700 ± 2" with 32768 0.0001°

Absolute 27 bits 134 217 728 positions/rev.
RON 800 ± 1" with 36000 0.00005° 1000 rpm

Incremental
RPN 800 ± 1" with 90000 0.00001°

Incremental (180000 signal periods)
RON 900 ± 0.4" with 36000 0.00001° 100 rpm

Incremental ± 0.2" with AWE 1024
For separate shaft coupling
ROD 200 ± 5" with 18000 0.0001° 10000 rpm

Incremental ROD 260: 0.005°
ROD 270: 0.0005°
ROD 700 ± 2" with 18000 0.0001° 1000 rpm

Incremental ± 2" with 36000
ROD 800 ± 1" with 36000 0.00005°

Incremental
6
Incremental signals/ Reference marks Model See
data interface page
» 1 VPP One or RON 285 26

distance-coded RON 285
« TTL x 10 One RON 275

(10-fold interpolation)
« TTL x 2 (1 MHz) One RON 225

(2-fold interpolation)
» 1 VPP One or RON 287

distance-coded
» 1 VPP RCN 226

EnDat
» 1 VPP One or RON 785 28 RON 786

distance-coded

distance-coded
» 1 VPP RCN 727

EnDat

distance-coded
RON 905
One RPN 886
» 11 µAPP One RON 905 34
ROD 285
» 1 VPP One or ROD 280 36
distance-coded
« TTL (1 MHz) One ROD 260
« TTL One ROD 270

10-fold interpolation
» 1 VPP One or ROD 780 38

distance-coded
» 1 VPP One or ROD 880

distance-coded ROD 780
7
Selection Guide
Angle Encoders without Integral Bearing
Series Line count/ Recommended Overall dimensions Diameters Max. mechanically

system measuring step in mm D1/D2 permissible speed
accuracy1)
Grating on solid scale carrier
ERA 180 6000/± 7.5"to 0.0005° to D1: 40 to 512 mm 40000 rpm to

Steel drum 36000/± 2.5" 0.00005° D2: 80 to 562 mm 6000 rpm
1
with axial )
grating
ERM 200 600/± 37" to 0.003° to 0.001° D1: 40 to 295 mm 24000 rpm to
Steel drum 2600/± 11" D2: 75.44 to 5000 rpm
1
with magnetic ) 326.9 mm
grating
ERO 785 36000/± 2.2" 0.0001° D1: 47 mm 8000 rpm

1
Glass disk ) D2: 130 mm
with radial
grating
D1: 102 mm 6000 rpm
D2: 282 mm
D1: 155 mm 4000 rpm

D2: 257 mm
Grating on steel tape
ERA 700 Full circle1) 0.0001° to 458.62 mm 500 rpm

For inside 36000/± 3.5" 0.00002° 573.20 mm
diameter 45000/± 3.4" 1146.10 mm
mounting 90000/± 3.2"
Segment2) 318.58 mm
5000 458.62 mm
10000 573.20 mm
20000
ERA 800 Full circle1) 0.0001° to 458.04 mm 100 rpm

For outside 36000/± 3.5" 0.00002° 572.63 mm
diameter 45000/± 3.4"
mounting
Segment2) 317.99 mm
5000 458.04 mm
10000 572.63 mm
20000
1)
before mounting; additional deviations due to mounting and bearing of the drive shaft are not included
2)
angular segment from 50° to 200°; see Measuring Accuracy for the accuracy
8
Output signals Reference marks Model See
page
» 1 VPP One ERA 180 40 ERA 180
» 1 VPP One ERM 280 44
ERM 280
» 1 VPP One ERO 785 46
» 1 VPP Distance-coded ERA 780C full circle 48

(basic distance ERO 785
1000 grating
periods)
ERA 781C segment
» 1 VPP Distance-coded ERA 880C full circle 50

(basic distance
1000 grating
periods)
ERA 881C segment

with tensioning
elements
ERA 882C segment

without tensioning ERA 880
elements
9
Measuring Standard
HEIDENHAIN angle encoders incorporate The circular graduation for incremental

measuring standards made of periodic angle encoders consists of an incremental
structures known as graduations. These track and a reference mark track. The
graduations are applied to a glass or steel position information is captured by counting
substrate. Glass scales are used primarily in the individual increments (measuring steps)
encoders for speeds up to 10000 rpm. For from any desired reference point. The
higher speeds up to 40000 rpm steel reference mark is used after restarting the
drums are used. The scale substrate for machine to find the last reference point
large diameters is a steel tape. selected (see Reference Marks).
The precision graduations are

manufactured in different photolithographic
processes. Graduations are fabricated from:
Extremely hard chrome lines on glass or
gold-plated steel drums,
Matte-etched lines on gold-plated steel
tape, or
Three-dimensional structures etched into
quartz glass.
These photolithographic manufacturing

processes DIADUR and AURODUR
developed by HEIDENHAIN produce
grating periods of:
40 µm with AURODUR,
10 µm with DIADUR, and
4 µm with etched quartz glass
Circular graduations of incremental angle encoders
These processes permit very fine grating
periods, and are characterized by a high
definition and homogeneity of the line
edges. Together with the photoelectric
scanning method, this high edge definition
is a precondition for the high quality of the Absolute angle encoders consist of
output signals. several scale and code tracks. The
alignment results in absolute position value
The master graduation is manufactured by information, which is available immediately
HEIDENHAIN on a custom-built after restarting the machine. The track with
high-precision ruling machine. the finest graduation structure is
interpolated for the position value and is
Magnetic encoders use a graduation carrier also used for generating an incremental
of magnetizable steel alloy. A graduation signal (see EnDat Interface).
consisting of north poles and south poles
is formed with a grating period of 400 µm
(MAGNODUR process). Due to the short
distance of effect of electromagnetic
interaction, and the very narrow scanning
gaps required, finer magnetic graduations
are not practical.
Circular graduations of absolute angle encoders
10
Reference Marks
Photoelectric scanning of individual periodic Determining the absolute reference

graduation tracks is an incremental using distance-coded reference marks
measuring process, which means that the For determining the absolute reference, the
Technical Properties and Mounting Instructions

measured value is determined by counting. increments between two subsequent
Since a reference is required to find reference marks are counted. Depending
absolute positions, the graduated disks on the nominal increment of the fixed
feature a reference mark on an additional reference marks (reference marks that are
track next to the incremental grating. The spaced at the same distance from each
reference mark is also scanned other), the direction of rotation, and the
photoelectrically. The absolute position of total line count of the angle encoder, the
the graduated disk as identified by the position of the first reference mark
reference mark is associated with exactly traversed is calculated as follows:
one measuring step. The reference mark
must therefore be traversed in order to Þ1 = (abs Asgn A1) x I + (sgn Asgn D) x abs MRR
2 2
establish an absolute reference. In some
cases, however, this may require rotation where:
up to nearly 360°. To facilitate referencing,
HEIDENHAIN offers distance-coded A = 2 x abs MRRI
GP
reference marks as an option on angle and:
encoders of the RON and ROD product Þ1 = absolute angular position of the first
family. In addition to the incremental track, traversed reference mark to the
the graduations of such encoders have a zero position in degrees
track with reference marks spaced at
angular distances defined by an algorithm. abs = absolute value
Here the absolute reference is available
after crossing two consecutive reference sgn = signum function (sign function =
marks. +1 or 1)
Encoders with distance-coded reference MRR = measured distance between the

marks can be identified with the letter traversed reference marks in
C following their type designation, degrees
e.g. RON 786C.
I = nominal increment between two
fixed reference marks (see table)
360°
GP = grating period (line count)
D = direction of rotation (+1 or 1).

Rotation to the right (as seen from
the shaft side) gives +1
Line count z Number of Nominal

reference marks increment I
90000 180 4°
45000 90 8°
36000 72 10°
18000 36 20°
Distance-coded reference marks on a circular scale
11
Scanning the Measuring Standard
Photoelectric Scanning
Most HEIDENHAIN angle encoders Imaging scanning principle The ROD, RON, RCN, ERA and ERO angle
operate on the principle of photoelectric To put it simply, the imaging scanning encoders operate according to the imaging
scanning. The photoelectric scanning of a principle functions by means of scanning principle.
measuring standard is contact-free, and projected-light signal generation: two scale
therefore without wear. It detects even the gratings with equal grating periods are Interferential scanning principle
finest graduation lines just a few moved relative to each other the circular The interferential scanning principle exploits
micrometers wide, and generates output scale and the scanning reticle. The carrier the diffraction and interference of light on a
signals with very small signal periods. material of the scanning reticle is fine graduation to produce signals used to
transparent, whereas the graduation on the measure displacement. A step grating is
The finer the grating period of a measuring measuring standard may be applied to a used as the measuring standard: reflective
standard is, the larger the distorting effect transparent or reflective surface. When lines 0.2 µm high are applied to a flat,
on the photoelectric scanning is. parallel light passes through a grating, light reflective surface. In front of that is the
HEIDENHAIN uses two scanning principles and dark surfaces are projected at a certain scanning reticle a transparent phase
with angle encoders: distance. A counter-grating with the same grating with the same grating period as
grating period is located here. When the the scale.
The imaging scanning principle for grating two gratings move relative to each other,
periods from 10 µm to approx. 40 µm. the incident light is modulated: if the gaps When a light wave passes through the
The interferential scanning principle for are aligned, light passes through. If the scanning reticle, it is diffracted into three
very fine graduations with grating periods lines of one grating coincide with the gaps partial waves of the orders 1, 0, and 1,
of 4 µm. of the other, no light passes through. with approximately equal luminous
Photocells convert these variations in light intensity. The waves are diffracted by the
intensity into nearly sinusoidal electrical scale such that most of the luminous
signals. The specially structured grating of intensity is found in the reflected diffraction
the scanning reticle filters the light current orders 1 and 1. These partial waves meet
such that nearly sinusoidal output signals again at the phase grating of the scanning
are generated. The smaller the grating reticle where they are diffracted again and
period of the grating structure is, the interfere. This produces essentially three
smaller the distance of the scanning reticle waves that leave the scanning reticle at
and circular scale must be. Practical different angles. Photocells convert these
mounting tolerances for encoders with the light intensities into electrical signals. A
imaging scanning principle are achieved relative motion of the scanning reticle to
with grating periods of 10 µm and larger. the scale causes the wave fronts to
Interferential scanning principle (optics schematics)

C Grating period
y Phase shift of the light wave when passing through the
scanning reticle
Imaging scanning principle Phase shift of the light wave due to motion x of the scale
LED light source
Photocells
Condenser
LED
lens
light source
Condenser
lens
Scanning reticle
Measuring standard
Scanning
Photocells reticle
I90° and I270°

photocells Measuring standard
not shown
12
Magnetic Scanning
undergo a phase shift: when the grating The magnetic scanning principle uses a Magnetoresistive scanning is used primarily
moves by one period, the diffracted wave measuring standard of hard magnetic metal for comparatively low-accuracy applications
front of the first order is displaced by one carrying a permanently magnetic where exposed optical systems are
wavelength in the positive direction, and MAGNODUR graduation. The graduation is unsuitable.
the wavelength of diffraction order 1 is formed from alternating north and south
displaced by one wavelength in the poles. The scale is scanned with The ERM angle encoders operate
negative direction. Since the waves magnetoresistive sensors, which change according to the magnetoresistive
interfere with each other when exiting the their resistance in response to a magnetic scanning principle.
grating, the waves are shifted relative to field. When a voltage is applied to the
each other by two wavelengths. This sensor, the flowing current is modulated
results in two signal periods from the according to the magnetic field.
relative motion of just one grating period.
The special geometric arrangement of the
Interferential encoders function with resistive sensors ensures a high signal
average grating periods of 4 µm and finer. quality, which is a precondition for the
Their scanning signals are largely free of smallest possible deviation within one signal
harmonics and can be highly interpolated. period. A single magnetized pole pair on a
These encoders are therefore especially separate track produces a reference mark
suited for high resolution and high signal. This makes it possible to assign this
accuracy. Even so, their generous absolute position to exactly one measuring
mounting tolerances permit installation in a step.
wide range of applications.
HEIDENHAIN encoders with magentic
The RPN 886 angle encoder operates scanning typically have grating periods of
according to the interferential scanning 400 µm. Due to the sensitivity of magnetic
principle. scanning to variations in the scanning gap,
smaller grating periods are very difficult to
produce. Therefore, depending on the
graduation circumference, magnetic
encoders have at most 2600 grating periods
per revolution, and according to the
HEIDENHAIN definition are not angle
encoders.
Magnetoresistive scanning principle
Measuring
standard
Scanning
reticle
Magnetoresistive sensors for B+ and B not shown
13
Measuring Accuracy
The accuracy of angle encoders is For angle encoders without integral HEIDENHAIN angle encoders take these
influenced primarily by the following bearing, additional deviations resulting factors of influence into account, and
factors: from mounting, errors in the bearing of permit interpolation of the sinusoidal output
1. Quality of the graduation the drive shaft, and adjustment of the signals with subdivision accuracies of
2. Quality of the scanning process scanning head must be expected (see better than ±1% of the signal period. The
3. Quality of the signal processing Measuring Accuracy — Angle Encoders reproduceability is even better, meaning
electronics without Integral Bearing). that useful electrical subdivision factors and
4. Eccentricity of the graduation to the The system accuracy reflects position small signal periods permit small enough
bearing deviations within one revolution and those measuring steps (see Specifications).
5. Radial runout of the bearing within one signal period.
6. Elasticity of the encoder shaft and its Example:
coupling with the drive shaft Position deviations within one revolution Angle encoder with 36000 sinusoidal signal
7. Elasticity of the stator coupling (RON, become apparent in larger angular motions. periods per revolution.
RPN, RCN) or shaft coupling (ROD) Position deviations within one signal One signal period corresponds to approx.
period already become apparent in very 0.01° or 36". At a signal quality of ± 1%,
In positioning tasks, the accuracy of the small angular motions and in repeated this results in maximum position deviations
angular measurement determines the measurements. They especially lead to within one signal period of approx. 0.0001°
accuracy of the positioning of a rotary axis. speed ripples in the speed control loop. or 0.36".
The system accuracy given in the These deviations within a signal period are
Specifications is defined as follows: caused by the quality of the sinusoidal
The extreme values of the total deviations scanning signals and their subdivision. The
of a position are – referenced to their mean following factors influence the result:
value – within the system accuracy ± a. The size of the signal period,
For angle encoders with integral bearing The homogeneity and edge definition of
and integrated stator coupling, this value the graduation,
also includes the deviation due to the The quality of the optical filter structures
shaft coupling. on the scanning reticle,
For angle encoders with integral bearing The characteristics of the photoelectric
and separate shaft coupling, the angle detectors, and
error of the shaft coupling must be added The stability and dynamics during the
(see Mechanical Design Types and further processing of the analog signals.
Mounting — ROD).
Position deviation within one signal period
Signal period
360 °elec.
Signal levels
Position deviations within one revolution

Position deviation
Position deviation
Position deviation
within one
signal period
Position
14
Angle Encoders with Integral Bearing
For its angle encoders with integral The accuracy of angle encoders is The manufacturers inspection certificate
bearings, HEIDENHAIN prepares individual ascertained through five forward and five certifies the accuracy of the encoder. The
calibration charts and ships them with the backward measurements. The measuring calibration standard is indicated in order
encoder. positions per revolution are chosen to to certify traceability to the national
determine very exactly not only the standard.
The calibration chart documents the long-range error, but also the position error
devices accuracy and serves as a within one signal period. The reversal error depends on the shaft
traceability record to a calibration standard. coupling:
For the RON, RPN and RCN, which feature All measured values determined in this For angle encoders with integrated stator
an integrated coupling, the accuracy manner lie within or on the graphically coupling the values are:
specifications already include the error of depicted envelope curve. The mean value
the coupling. For angle encoders with curve shows the arithmetic mean of the RON, RCN 200 0.8"
separate shaft coupling, however, the error measured values, whereby the reversal RON, RPN, RCN 700/800 0.6"
caused by the coupling is not included in error is not included.
the encoder specification and must be
added to calculate total error (see Kinematic
error of transfer under Shaft couplings.)
Calibration chart example: RON 285

1 Graphic representation of error
Envelope curve
Mean value curve
2 Results of calibration
Guaranteed accuracy grade of the measured object
15
Measuring Accuracy
Angle Encoders without Integral Bearing
In addition to the system accuracy, the ERA 781C, ERA 881C, ERA 882C 2. Error due to eccentricity of the
mounting and adjustment of the scanning In these segment solutions, the additional graduation to the bearing
head normally have a significant effect on angular error ¹f occurs when the nominal Under normal circumstances the bearing
the accuracy that can be achieved with scale-tape bearing-surface diameter is not will have a certain amount of radial runout
angle encoders without integral bearings. exactly maintained: or shape deformation after the disk/hub
Of special importance are the mounting assembly (ERO), circumferential-scale
¹f = (1 D'/D) · Þ · 3600
eccentricity and radial runout of the drive drum (ERA 180) or scale tape (ERA 78xC
shaft. where and ERA 88xC) is mounted. When
¹f = segment deviation in angular centering using the centering collar of the
To evaluate the accuracy of angle encoders seconds hub or the drum, please note that
without integral bearings (ERA, ERM and Þ = segment angle in degrees HEIDENHAIN guarantees an eccentricity of
ERO), each of the significant errors must D = nominal scale-tape carrier diameter the graduation to the centering collar of
be considered individually. D' = actual scale-tape carrier diameter under 1 µm. For the modular rotary
encoders, this accuracy value presupposes
This error can be eliminated if the line count
1. Directional deviations of the a diameter deviation of zero between the
per 360° valid for the actual scale-tape
graduation encoder shaft and the master shaft. If
carrier diameter can be entered in the
ERA 180, ERM and ERO: The extreme the centering collar is centered to the
control. The following relationship is valid:
values of the directional deviation with bearing, then in a worst-case situation both
reference to their mean value are shown z' = z · D'/D eccentricity vectors could be added
in the Specifications as the graduation together.
where
accuracy for each model. The graduation
z = nominal line count per 360°
accuracy and the position deviation within The following relationship exists between
z' = actual line count per 360°
a signal period comprise the system the eccentricity e, the mean graduation
accuracy. The angle actually traversed in individual diameter D and the measuring error ¹f
segment solutions should be measured (see illustration at bottom of page):
ERA 700 and ERA 800 series: The with a comparative encoder, such as an
e
extreme values of the directional deviations angle encoder with integral bearing. ¹f = ± 412 ·
depend on D
the graduation accuracy, ¹f = measuring error in seconds of arc
the irregular scale-tape expansion during e = eccentricity of the radial grating to
mounting, and the bearing in µm
deviations in the scale-tape butt joints D = mean graduation diameter (ERO) or
(only for ERA 780/880). drum outside diameter (ERA 180,
ERM) and scale tape mount
The special graduation manufacturing diameter (ERA 78x and ERA 88x)
process and the butt joint precisely in millimeters
machined by HEIDENHAIN reduce
directional deviations of the graduation to M Center of graduation
within 3 to 5 angular seconds (with f True angle
accurate mounting). f Scanned angle
Angular error due to scale-tape carrier diameter Eccentricity of the graduation to the bearing
Segment version
Scanning unit
Segment
Center of graduation
16
Model Mean Deviation for 3. Error due to radial deviation of the 4. Position deviation within one signal
graduation every 1 µm of bearing period ¹fu
diameter D eccentricity The above equation for the measuring error The scanning units of all HEIDENHAIN
¹f is also valid for radial deviation of the encoders are adjusted so that the max.
ERA 180 D= 80 mm ± 5.2" bearing if the value of e is replaced with the position deviation values within one signal
D= 130 mm ± 3.2" eccentricity value, i.e. half of the radial period will not exceed the values listed
D= 180 mm ± 2.3" deviation (half of the displayed value). below, with no further electrical adjusting
D= 250 mm ± 1.6" required at mounting.
D= 330 mm ± 1.2" Bearing compliance to radial shaft loading
D= 485 mm ± 0.8" causes similar errors.
D= 562 mm ± 0.7" Model Line Position deviation
count within one
ERM 280 D = 75 mm ± 5.5" revolution (¹fu)
D= 113 mm ± 3.6"
D= 130 mm ± 3.2" ERA 180 36000 ± 0.5"
D= 150 mm ± 2.7" 18000 ± 1"
D= 176 mm ± 2.3" 9000 ± 2"
D= 260 mm ± 1.6" 6000 ± 2.5"
D= 325 mm ± 1.3"
ERM 280 2600 ± 5"
ERO 785 D = 110 mm ± 3.7" 2048 ± 6"
D = 165 mm ± 2.5" 1400 ± 10"
D = 240 mm ± 1.7" 1200 ± 11"
1024 ± 13"
ERA 78x D = 320 mm ± 1.3" 900 ± 15"
D = 460 mm ± 0.9" 600 ± 22"
D = 570 mm ± 0.7"
D = 1145 mm ± 0.4" ERO 785 36000 ± 0.5"
ERA 88x D = 320 mm ± 1.3" ERA 78x, 90000 ± 0.2"

D = 460 mm ± 0.9" ERA 88x 45000 ± 0.4"
D = 570 mm ± 0.7" 36000 ± 0.5"
The values for the position deviations

within one signal period are already
included in the system accuracy. Larger
deviations can occur if the mounting
tolerances are exceeded.
Resultant measured deviations ¹f for various eccentricity values e as a function of mean
graduation diameter D
Measured deviations ¹f [seconds of arc]
Mean graduation diameter D [mm]
17
Mechanical Design Types and Mounting
RON, RPN, RCN
RON, RPN and RCN angle encoders have

an integral bearing, a hollow shaft and a
Integrated coupling
stator coupling. The drive shaft is
connected directly to the encoder shaft.
The reference mark can be assigned to a Hollow shaft
desired angular position of the drive shaft
from the rear of the encoder during
mounting.
The graduated disk of RON encoders is Light source

rigidly affixed to the hollow shaft. The (LED) with
scanning unit rides on the shaft on ball condenser lens Photocells
bearings and is connected to the housing
DIADUR
with a coupling on the stator side. During
angular acceleration of the shaft the graduated disk
coupling must absorb only the torque
resulting from bearing friction. RON and Cross section of the RON 886 Angle Encoder
RCN angle encoders are therefore
characterized by excellent dynamic
performance.
Mounting
The housing of the RON, RPN and RCN is Centering collar
connected rigidly with the stationary
machine part via integral mounting flange
Drive shaft
and centering collar.
Shaft coupling with ring nut

The RON, RPN and RCN series have a
hollow through shaft. During mounting, the
encoder shaft is slid onto the machine shaft
and is secured at the back with a ring nut.
RON 905 shaft coupling

The RON 905 has a bottomed hollow shaft.
The shaft connection is made via an axial
central screw.
Shaft coupling on end face

For rotary tables in particular, it is often
advantageous to integrate the angle
encoder in the table in such a way that the
encoder is freely accessible when the rotor Ring nut
is lifted. This method of mounting from
above reduces mounting times, increases
Mounting a RON angle encoder with hollow through shaft
serviceability and improves accuracy, as the
encoder is closer to the rotary table bearing
and the measuring or machining plane. The
hollow shaft is coupled to the machine via
threaded mounting holes on the end face
and mounting elements that are suited to Customized version
the particular design (not supplied as
accessories).
To ensure that tolerances for radial and
axial runout are met, the internal bore Rotor
diameter 1 and the end surface 2 are to
be used as limits for end-face coupling of RON 786
the shaft.
Stator
End-face shaft coupling with RON 786

18
Ring nuts for RON, RPN and RCN
HEIDENHAIN offers special ring nuts for
the RON, RPN and RCN angle encoders
with integral bearing and hollow through
shaft with integral coupling. The tolerance
of the shaft thread should be selected so
that the ring nut can move easily with an
axial slack of approx. 0.2 mm. This
guarantees an even load of the shaft
coupling and prevents distortion of the
hollow shaft of the encoder.
Ring nut for RON/RCN 200

Id. Nr. 336669-03 0.5 x 45°
60°
X
X
¬ 29.6±0.1
¬ 2.8±0.1
¬ 25 0.5
¬ 19.632±0.05
(¬ 20.174)
(¬ 19.848)
4±1
8 4 x 90°
¬ 0.25
Ring nut for RON 785

Id. Nr. 336669-05
Ring nut for RON 786
RON/RPN 886
RCN 727
Id. Nr. 336669-01
L1 L2 L3
RON 785 ¬ 62 M50 × 1 ¬ 55

± 0.2
RON 786 ¬ 70 M60 × 1 ¬ 65

RON/RPN 886 ± 0.2
RCN 727
19
ROD
Angle encoders of the ROD product family Rotary

require a separate coupling for connection table
to the drive shaft. The shaft coupling
compensates axial movement and
misalignment between the shafts,
Additional
preventing excessive load on the encoder protection
bearing. It is important that the encoder against fluids
shaft and the drive shaft be optimally
aligned for high measurement accuracies
to be realized. The HEIDENHAIN product
program includes diaphragm couplings and
flat couplings designed for connecting the
shaft of the ROD angle encoder to the drive
shaft. Mounting Shaft
example ROD 880 coupling
Mounting ROD 880
ROD angle encoders are provided with an
integral mounting flange with centering
collar. The encoder shaft is connected to ROD
the drive shaft by way of a diaphragm
coupling or flat coupling.
Centering collar
Shaft couplings
Shaft couplings compensate axial motion
and misalignment between the encoder Flat coupling
shaft and the drive shaft, thereby
preventing excessive bearing load on the
encoder shaft
Radial misalignment l
Agular error Þ Mounting

a ROD
Axial motion d
ROD 200 Series ROD 700 Series, ROD 800 Series
Shaft coupling K 03 K 18 K 01 K 15 K 16
Diaphragm coupling Flat coupling Diaphragm coupling Flat coupling Flat coupling
Hub bore 10 mm 14 mm
Kinematic ± 2" ± 3" ± 1" ± 0.5"

error of transfer at l 0.1 mm and a 0.09° at l 0.05 mm and a 0.03°
Torsional rigidity 1500 Nm/rad 1200 Nm/rad 4000 Nm/rad 6000 Nm/rad 4000 Nm/rad
Perm. torque 0.2 Nm 0.5 Nm
Perm. radial misalignment l 0.3 mm
Perm. angular error a 0.5° 0.2° 0.5°
Perm. axial motion d 0.2 mm 0.1 mm 1 mm
Moment of inertia (approx.) 20 · 106 kgm2 75 · 106 kgm2 200 · 106 kgm2 400 · 106 kgm2
Permissible speed 10 000 rpm 1000 rpm 3000 rpm 1000 rpm
Torque for clamping 1.2 Nm 2.5 Nm 1.2 Nm

screws (approx.)
Weight 100 g (0.22 lb) 117 g (0.258 lb) 180 g (0.4 lb) 250 g (0.55 lb) 410 g (0.9 lb)
20
Diaphragm coupling K 03
Id. Nr. 200313-04
Flat coupling K 18
Id. Nr. 202227-01
Diaphragm coupling K 01
Id. Nr. 200301-02
Flat coupling K 15
Id. Nr. 255797-01
Flat coupling K 16
Id. Nr. 258878-01
Dimensions in mm
21
ERA 700 and ERA 800 Series
The ERA 780C and ERA 880C angle Mounting the scale tape for full-circle
encoders consist of a scanning unit and a applications
one-piece scale tape up to 30 m in length. ERA 780C: An internal slot with a certain
The steel scale tape is mounted on the diameter is required as scale tape carrier.
inside diameter (ERA 700 series) or The tape is inserted starting at the butt joint
outside diameter (ERA 800 series) and is clicked into the slot. The length is cut
of a machine element. so that the tape is held in place by its own
spring force. To make sure that the scale
The ERA 780C and ERA 880C encoders tape does not move within the slot, it is
are designed for full-circle applications. fixed at various points with adhesive in the
Thus, they are particularly suited to hollow area of the butt joint.
shafts with large inside diameters (from
approx. 300 mm) and to applications
requiring an accurate measurement over a
large circumference, e.g. large rotary ERA 880C: The scale tape is supplied with
tables, telescopes, etc. the halves of the tensioning cleat already
mounted on the tape ends. An external
In applications where there is no full slot is necessary for mounting. Space must
circle, or measurement is not required also be provided for the tensioning cleat.
over 360°, segment angles are available The tape is placed in the outside slot of the
for diameters from 300 mm. machine (along slot edge) and is tensioned
using the tensioning cleat. The scale tape
ends are manufactured so exactly that no
additional signal-form deviations occur in
the area of the butt joint.
Mounting the scale tape for segment

angles
ERA 781C: An internal slot with a certain
diameter is required as scale tape carrier.
Both bearing pieces are fixed in this slot,
and are adjusted with the cam disks so that
the scale can be pressed into the slot while
under tension.
Cam disks
ERA 881C: The scale tape is delivered with

premounted bearing pieces. An external
slot with recesses for the bearing pieces is
required for placing the scale tape. The Spring
scale tape is fitted with tension springs,
which create an optimal bearing preload for
increasing the accuracy of the scale tape,
and evenly distribute the expansion over
the entire length of the scale tape.
ERA 882C: An external slot or a one-sided

axial stop is recommended for placing the
scale tape. The scale tape is supplied
without tensioning elements. It must be
preloaded with a spring balance, and fixed
with the two long holes.
22
The following points must be kept in mind Basic slot diameter Line count projected on a
for segment applications: full circle
Determining the slot diameter
In order to guarantee the correct ERA 781C 318.58 + n · 12.73111 25000 + n · 1000
functioning of the distance-coded
reference marks, the circumference of ERA 881C/ 317.99 + n · 12.73178 25000 + n · 1000
the full circle must be a multiple of 1000 ERA 882C
grating periods. This also facilitates
adaptation to the NC control, which can
mostly only calculate integer line counts.
The connection between the basic slot
diameter and the line count can be seen
in the table.
Segment angle Measuring range
The measuring range available for the
segment angle should be a multiple of
1000 signal periods, since these versions Basic slot diameter
are available more quickly.
Theoretical full circle
Mounting the scanning head

A spacer foil is placed against the scale
tape. The scanning head is pushed up
against the spacer foil in such a way that
the foil is only located beneath the two
Spacer foil
mechanical support points on the mounting
bracket. The scanning head is secured in
this position and the foil is removed.
Adjusting the scanning head A, B 0,5 . . . . 1,0 . . . . 1,5 V
Accurate alignment of the scanning

head with the scale tape is critical for the R RI
ERA 700/800 to provide accurate and

reliable measurements (Moirè setting). If PWT
the scanning head is not properly aligned,
the quality of the output signals will be
poor. The quality of the output signals can
be checked using HEIDENHAINs PWT
phase angle test unit. When the scanning
head is moved along the scale tape, the
PWT unit graphically displays the quality of
the signals as well as the position of the
reference mark. The PWM 8 phase angle
test unit calculates a quantitative value for
the deviation of the actual signals output
from the ideal signals (see HEIDENHAIN
Measuring Equipment).
23
ERA 180, ERM, ERO
The ERA 180, ERM and ERO modular

angle encoders consist of either a
Scanning unit
circumferential-scale drum (ERA, ERM)
or a disk/hub assembly (ERO) and the
corresponding scanning unit. Special design Scale drum
features assure comparably fast mounting
and easy adjustment.
Mounting ERA 180, ERM

The circumferential-scale drum is slid onto
the drive shaft and fastened with screws.
HEIDENHAIN recommends using a Protective cover
transition fit for mounting the scale drum
(max. overlap of 4 µm). For mounting, the Cross
scale drum may be slowly warmed on a section of
heating plate over a period of 10 minutes to ERA 180
a temperature of max. 100 °C. The scale
drum is centered via the centering collar on
its inner circumference. The scanning unit
is supplied with a spacer foil on the
circumferential-scale drum. The scanning
unit is pressed against the foil, the screws
are tightened, and the foil is removed.
To protect the ERA 180 against

contamination, HEIDENHAIN supplies
a protective cover for drum diameters
up to 270 mm. For larger diameters,
HEIDENHAIN recommends integrating a
protective cover into the machine itself.
Mounting the
ERA 180 and
the ERM 280
(in principle)
Mounting ERO
The disk/hub assembly is slid onto the drive Graduated disk
shaft, centered, and secured with screws.
The scanning unit is then slid onto the Hub
centering collar of the hub and the screws
tightened. The gap between the graduated
disk and the scanning unit is set with
spacer foils.
Scanning unit
Cross
section of
ERO 785
24
General Mechanical Information
Temperature range Protection against contact: Natural frequency fN of coupling

The operating temperature range After encoder installation, all rotating parts The rotor and the shaft coupling of a ROD
indicates the limits of ambient temperature (coupling on ROD, locking ring on RON, angle encoder, as also the stator and stator
within which the values given in the RPN and RCN) must be protected against coupling of the RON, RPN and RCN angle
specifications for angle encoders are accidental contact during operation. encoders, form a single vibrating
maintained (DIN 32 878). The storage spring-mass system. The natural
temperature range of 30 to +80 °C is valid Acceleration frequency fN should be as high as
when the unit remains in its packaging. Angle encoders are subject to various types possible. With the RON, RPN and RCN
The RON 905 should not be stored at of acceleration during operation and angle encoders, the natural frequency fN is
temperatures beyond 30 to +50 °C: mounting. given in the respective specifications. A
exceeding this temperature range could The permissible angular acceleration prerequisite for the highest possible natural
result in irreversible changes of up to 0.05 for all RON, RPN, RCN and ROD frequency on ROD angle encoders is the
angular seconds to the units accuracy. encoders is greater than 105 rad/s2. use of a shaft coupling with a high
The indicated maximum values for torsional rigidity C.
Protection vibration are valid according to
1 C
Unless otherwise indicated, all RON, RPN, IEC 60068-2-6. fN = ·
RCN and ROD angle encoders meet The maximum permissible acceleration 2·þ I
protection standard IP 67 according to values (semi-sinusoidal shock) for shock fN: Natural frequency in Hz
IEC 60529. This includes housings and and impact are valid at 6 ms C: Torsional rigidity of the coupling
cable outlets. The shaft inlet provides (IEC 60068-2-27). Under no in Nm/rad
protection to IP 64. circumstances should a hammer or I: Moment of inertia of the rotor in kgm2.
similar implement be used to adjust or
Splashwater should not contain any position the encoder. If radial and/or axial acceleration occurs
substances that would have harmful during operation, the effect of the rigidity of
effects on the encoder parts. When the encoder bearing, of the encoder stator
protection to IP 64 for the shaft inlet is not and of the coupling will also increase. If
sufficient (such as when mounting the such loads occur during your application,
encoders vertically), additional labyrinth we recommend you seek advice from our
seals should be provided. RON, RPN, RCN headquarters in Traunreut.
and ROD angle encoders are provided with
compressed air inlets. Connection to a
source of compressed air slightly above
atmospheric pressure provides additional
protection against contamination. For this
purpose, HEIDENHAIN offers the DA 300
compressed air unit (filter combination
with pressure regulator and fittings). The
compressed air introduced into the encoder
must fulfill the requirements of the
following quality classes as per ISO 8573-1:
Max. particle size and density of solid
contaminants
Class 4 (max. particle size 15 µm, max.
particle density 8 mg/m3)
Total oil content
Class 4 (oil content 5 mg/m3)
Max. pressure dew point
(+29 °C at 10 x 105 Pa)
No classification
The following components are necessary

for connection to the ROD, RON, RPN and
RCN angle encoders:
M5 connecting piece for
ROD/RON/RPN/RCN
with gasket and throttle (dia. 0.3 mm)
for air-flow rate from 1 to 4 l/min
Id. Nr. 207835-01
M5 coupling joint, swiveling
with gasket
Id. Nr. 207834-01
DA 300
25
RON/RCN 200 Series
Integral stator coupling
Hollow through shaft, diameter 20 mm
System accuracy ± 5" and ± 2.5"
Dimensions in mm
System accuracy ± 2.5" ± 5"

D1 ¬ 20H6 e ¬ 20H7 e
D2 ¬ 30H6 e ¬ 30H7 e
A = Ball bearing D3 ¬ 20g6 e ¬ 20g7 e
k = Required mating dimensions
T1 0.01 0.02
26
Incremental Absolute
RON 225 RON 275 RON 285 RON 287 RCN 226 RCN 226
Incremental signals « TTL x 2 « TTL x 10 » 1 VPP » 1 VPP

(with 2-fold (with 10-fold
interpolation) interpolation)
Line count (pulses/rev) 9000 (18000) 18000 (180000) 18000 16384
Reference mark* One RON 2xx: one

RON 2xxC: distance-coded
Output frequency Max. 1 MHz

Cutoff frequency (3dB) 180 kHz 180 kHz
Data interface EnDat
Absolute 67108864 (26 bits)

position values/rev. 0.0000054° 0.02"
Elect. perm. speed for 1500 rpm

absolute position value
Specifications
Recommended 0.005° 0.0005° 0.0001° 0.0001°
measuring step
System accuracy ± 5" ± 2.5" ± 5" ± 2.5"
Power supply 5 V ± 10%/ 5 V ± 5%/

max. 150 mA (with no load) max. 300 mA (with no load)
Electrical connection* Cable 1 m (3.3 ft), can be used radially and axially; Cable 1 m (3.3 ft), can be used
with or without coupling radially and axially;
with or without coupling
Max. cable length1) 50 m (164 ft) 150 m (492 ft) 150 m (492 ft)
Mech. perm. speed Max. 3000 rpm Max. 3000 rpm
Starting torque 0.08 Nm at 20 °C (68 °F) 0.08 Nm at 20 °C (68 °F)
Moment of inertia of rotor 73 · 106 kgm2 73 · 106 kgm2
Natural frequency 1200 Hz 1200 Hz
Perm. axial movement of ± 0.1 mm ± 0.1 mm

drive shaft
Vibration (55 to 2000 Hz) 100 m/s2 (IEC 60068-2-6) 100 m/s2 (IEC 60068-2-6)
Shock (6 ms) 1000 m/s2 (IEC 60068-2-27) 1000 m/s2 (IEC 60068-2-27)
Max. operating 70 °C (158 °F) 50 °C (122 °F) 70 °C (158 °F) 50 °C (122 °F)
temperature
Min. operating
temperature
Moving cable 10 °C (14 °F) 0 °C (32 °F) 10 °C (14 °F) 0 °C (32 °F)
Rigid cable 20 °C (4 °F) 0 °C (32 °F) 20 °C (4 °F) 0 °C (32 °F)
Protection (IEC 60529) IP 64 IP 64
Weight Approx. 0.8 kg (1.8 lb) Approx. 0.8 kg (1.8 lb)
* please select when ordering

1)
with HEIDENHAIN cable, see Connectors and Cables
27
RON 785
System accuracy ± 2"
Dimensions in mm
A = Ball bearing
28
Incremental
RON 785
Incremental signals » 1 VPP
Line count 18000
Reference mark* RON 785: one

RON 785C: distance-coded
Cutoff frequency (3dB) 180 kHz
Recommended 0.0001°
measuring step
Power supply 5 V ± 10%/

max. 150 mA
Electrical connection* Cable 1 m (3.3 ft), can be used radially and axially;
Max. cable length1) 150 m (492 ft)
Mech. perm. speed Max. 1000 rpm
Starting torque 0.5 Nm at 20 °C (68 °F)
Moment of inertia of rotor 1.7 · 103 kgm2
Natural frequency 1000 Hz
Perm. axial movement of ± 0.1 mm

drive shaft
Vibration (55 to 2000 Hz) 100 m/s2 (IEC 60068-2-6)

Shock (6 ms) 1000 m/s2 (IEC 60068-2-27)
Max. operating 50 °C (122 °F)

temperature
Min. operating 0 °C (32 °F)

temperature
Protection (IEC 60529) IP 64
Weight Approx. 3.1 kg (6.8 lb)

1)
29
RON/RCN 700 Series
Dimensions in mm
28.2±0.1
A = Ball bearing
30
Incremental Absolute
RON 786 RCN 7272) RCN 7232)
Incremental signals » 1 VPP » 1 VPP
Line count 18000 32768

36000
Reference mark* RON 786: one

Cutoff frequency (3dB) 180 kHz 180 kHz
Data interface EnDat
Absolute 134217728 (27 bits) 8388608 (23 bits)

position values/rev. 0.0000027° 0.01" 0.000043° 0.18"
Elect. perm. speed for 300 rpm 30 rpm

absolute position value
Recommended 0.0001° 0.0001°

measuring step
System accuracy ± 2" ± 2"
Power supply 5 V ± 10%/ 5 V ± 5%/

Electrical connection* Cable 1 m (3.3 ft), can be used Cable 1 m (3.3 ft), can be used radially and axially;
radially and axially; with coupling
Max. cable length1) 150 m (492 ft) 150 m (492 ft)
Mech. perm. speed Max. 1000 rpm Max. 1000 rpm
Starting torque 0.5 Nm at 20 °C (68 °F) 0.5 Nm at 20 °C (68 °F)
Moment of inertia of rotor 1.2 · 103 kgm2 1.2 · 103 kgm2
Natural frequency 1000 Hz 1000 Hz 600 Hz
Perm. axial movement of ± 0.1 mm ± 0.1 mm

drive shaft
Max. operating 50 °C (122 °F) 50 °C (122 °F)

temperature
Min. operating 0 °C (32 °F) 0 °C (32 °F)

temperature
Protection (IEC 60529) IP 64 IP 64
Weight Approx. 3.1 kg (6.8 lb) Approx. 3.1 kg (6.8 lb) Approx. 3.3 kg (7.3 lb)

1)
2)
RCN 727 planned for delivery middle of 2002; until then the RCN 723 (with current specifications) is available
31
RON/RPN 800 Series
Dimensions in mm
28.2±0.1
A = Ball bearing
32
Incremental
RON 886 RPN 886
Line count 36000 90000 (180000 Signal periods)
Reference mark* RON 886: one One

Cutoff (3dB) 180 kHz 800 kHz

frequency (6dB) 1300 kHz
Recommended 0.00005° 0.00001°

measuring step
Power supply 5 V ± 10%/ 5 V ± 10%/


drive shaft

temperature

temperature

1)
33
RON 905
Blind hollow shaft
System accuracy ± 0.4"
± 0.2" with AWE 1024 interpolation electronics
Dimensions in mm
A = Ball bearing
34
Incremental
RON 905
Incremental signals » 11 µAPP
Line count 36000
Reference mark One
measuring step
System accuracy ± 0.4"; ± 0.2" with compensation via AWE 1024
Power supply 5 V ± 5%/max. 250 mA
Electrical connection Cable 1 m (3.3 ft), radial, with connector
Max. cable length1) 15 m (49.3 ft)

drive shaft

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

temperature

temperature
Weight Approx. 4 kg (8.8 lb)

1)
Evaluation and counter unit for RON 905
AWE 1024
Interpolation 1024-fold
Interfaces Measured value: IEEE 488-Bus

Incremental signal: » 11 µAPP
Compensation Angle-referenced compensation of the scanning signals,

240 support points/rev.; non-volatile memory
Power supply 100/120/140/200/220/240 V; +10/15 %; 50 to 60 Hz (± 2 Hz)
35
ROD 200 Series
Dimensions in mm
A = Ball bearing
36
Incremental
ROD 260 ROD 270 ROD 280
Incremental signals « TTL « TTL with 10-fold interpolation » 1 VPP
Line count 18000
Reference mark* One ROD 280: one

ROD 280C: distance-coded
Output frequency Max. 1 MHz

Recommended 0.005° 0.0005° 0.0001°

measuring step

max. 150 mA (with no load)
Max. cable length1) Max. 100 m (328 ft) Max. 150 m (492 ft)
Moment of inertia of rotor 20 · 106 kgm2
Shaft load Axial: 10 N

Radial: 10 N at shaft end

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

temperature
Min. operating
temperature
Moving cable 10 °C (14 °F)
Rigid cable 20 °C (4 °F)

1)
37
ROD 780/ROD 880
System accuracy ROD 780: ± 2"
ROD 880: ± 1"
Dimensions in mm
A = Ball bearing
38
Incremental
ROD 780 ROD 880
Line count* 18000 36000

36000
Reference mark* ROD x80: one

ROD x80C: distance-coded
Recommended 0.0001° 0.00005°

measuring step
System accuracy ± 2" ± 1"
Power supply 5 V ± 10%/max. 150 mA (with no load)
Max. cable length1) Max. 150 m (492 ft)
Shaft load Axial: 30 N

Radial: 30 N at shaft end

Shock (6 ms) 300 m/s2 (IEC 60068-2-27)

temperature

temperature

1)
39
ERA 180
Modular angle encoder
Grating on steel drum
Incremental signals
Reference mark
Cutoff frequency (3dB)
Power supply
Electrical connection
Max. cable length1)

ERA 180
Drum inside diameter*
Drum outside diameter*
Line count
System accuracy2)
Accuracy of graduation3)
Recommended measuring step
Mech. perm. speed
Moment of inertia of rotor
Perm. axial movement
Vibration (55 to 2000 Hz)

Shock (6 ms)
Max. operating temperature

ERA 180 with protective cover
Min. operating temperature
Protection (IEC 60529)
Weight Scale drum
Protective cover*
Scanning head with cable
40
Incremental
ERA 180
» 1 VPP
One
500 kHz
5 V ± 10%/max. 150 mA (with no load)
Cable 1 m (3.3 ft) with coupling
150 m (492 ft)
40 mm 80 mm 120 mm 180 mm 270 mm 425 mm 512 mm
80 mm 130 mm 180 mm 250 mm 330 mm 485 mm 562 mm
6000 9000 9000 18000 18000 36000 36000
± 7.5" ± 5" ± 5" ± 4" ± 4" ± 2.5" ± 2.5"
± 5" ± 3" ± 3" ± 3" ± 3" ± 2" ± 2"
0.0015° 0.001° 0.001° 0.0005° 0.0005° 0.0001° 0.0001°
40000 rpm 25000 rpm 18000 rpm 13000 rpm 10000 rpm 7000 rpm 6000 rpm
0.58 · 103 kgm2 3.45 · 103 kgm2 11.1 · 103 kgm2 35.7 · 103 kgm2 82.6 · 103 kgm2 281.8 · 103 kgm2 399.7 · 103 kgm2
± 0.5 mm (scale drum relative to scanning head)
100 m/s2 (IEC 60068-2-6)

1000 m/s2 (IEC 60068-2-27)
80° (176 °F)
10° (14 °F)
IP 00; IP 40 with protective cover and compressed air
Approx. 0.5 kg Approx. 1.08 kg Approx. 1.17 kg Approx 2.85 kg Approx. 3.3 kg Approx. 5 kg Approx. 5.3 kg
(1.1 lb) (2.38 lb) (2.58 lb) (6.28 lb) (7.3 lb) (11 lb) (12 lb)
Approx. 0.226 kg Approx. 0.365 kg Approx. 0.505 kg Approx. 0.675 kg

(0.498 lb) (0.805 lb) (1.11 lb) (1.49 lb)
Approx. 0.2 kg (0.44 lb)

1)
2)
3)
for other errors, see Measuring Accuracy
41
ERA 180
Dimensions in mm
Protective cover
A = Ball bearing
m = Mounting surfaces
À = Mounting clearance set with spacer foil
Á = Mounting hole
Â = Back-off thread
42
Scale drum inside diameter
40 mm to 180 mm
270 mm
425 mm
512 mm
Scale drum
inside diameter
D1 e D2 D3 D4 D5 D6 D7 a E
40 mm ¬ 40 0.001 ¬ 50 ¬ 64 ¬ 80 ¬ 80.4 ¬ 100 ¬ 110 60

0.005
80 mm ¬ 80 0.001 ¬ 95 ¬ 112 ¬ 130 ¬ 130.4 ¬ 150 ¬ 160 85
0.005
120 mm ¬ 120 0.001 ¬ 140 ¬ 162 ¬ 180 ¬ 180.4 ¬ 200 ¬ 210 144° 110
0.008
180 mm ¬ 180 0.001 ¬ 200 ¬ 232 ¬ 250 ¬ 250.4 ¬ 270 ¬ 280 150° 145
0.008
270 mm ¬ 270 0.01 ¬ 290 ¬ 312 ¬ 330 185
425 mm ¬ 425 0.01 ¬ 445 ¬ 467 ¬ 485 262.5
512 mm ¬ 512 0.015 ¬ 528 ¬ 544 ¬ 562 301
43
ERM 280
Modular encoder
Magnetic scanning principle
Dimensions in mm
D1 D2 D3 E
¬ 40 0.001 ¬ 50 ¬ 75.44 43.4
0.008
¬ 70 0.001 ¬ 85 ¬ 113.16 62.3
0.008
¬ 80 0.001 ¬ 95 ¬ 128.75 70.1
0.008
¬ 120 0.001 ¬ 135 ¬ 150.88 81.2
0.008
¬ 130 0.001 ¬ 145 ¬ 176 93.7
0.008
¬ 180 0.001 ¬ 195 ¬ 257.5 134.5
0.008
A = Ball bearing
À = Mounting distance of 0.1 mm set with spacer foil ¬ 295 0.001 ¬ 310 ¬ 326 169.2
0.008
44
Incremental
ERM 280
Reference mark One
Electrical connection Cable 1 m (3.3 ft) with coupling
Scale drum inside 40 mm 70 mm 80 mm 120 mm 130 mm 180 mm 295 mm

diameter*
Scale drum outside 75.44 mm 113.16 mm 128.75 mm 150.88 mm 176 mm 257.5 mm 326.9 mm
diameter*
Line count 600 900 1024 1200 1400 2048 2600
System accuracy2) ± 37" ± 25" ± 23" ± 21" ± 20" ± 12" ± 11"
Accuracy of graduation3) ± 15" ± 10" ± 10" ± 10" ± 10" ± 6" ± 6"
Recommended 0.003° 0.002° 0.002° 0.002° 0.002° 0.001° 0.001°

measuring step
Mech. perm. speed 24000 rpm 20000 rpm 18000 rpm 12000 rpm 10000 rpm 8000 rpm 5000 rpm
Moment of inertia of rotor 0.3 · 103 1.6 · 103 2.65 · 103 3.5 · 103 7.8 · 103 38 · 103 44 · 103
kgm2 kgm2 kgm2 kgm2 kgm2 kgm2 kgm2
Perm. axial movement ± 1 mm

Shock (6 ms) 1000 m/s2 (IEC 60068-2-27)
Max. operating 100 °C (212 ° F)

temperature

temperature
Weight
Scale drum Approx. Approx. Approx. Approx. Approx. Approx. Approx.
0.36 kg 0.71 kg 0.93 kg 0.76 kg 1.3 kg 3.1 kg 1.82 kg
(0.793 lb) (1.56 lb) (2.05 lb) (1.67 lb) (2.8 lb) (6.8 lb) (4 lb)
Scanning head Approx. 0.15 kg (0.33 lb)

with cable
* please select when ordering; other versions available upon request

1)
2)
3)
45
ERO 785
Modular angle encoder
Circular scale with hub
Dimensions in mm
Hub inside diameter

155.1 mm
102.2 mm
47.2 mm
Hub inside Line count E B C

diameter
1) Mean graduation diameter 155.1 36000 132 0.05 ±0.02 0.02
A = Ball bearing 102.2 94.5 0.20 ±0.02
m = Cutout for mounting
47.2 67.35 0.08 ±0.01 0.01
46
Incremental
ERO 785
Line count 36000
Reference mark One
measuring step
System accuracy1) ± 4.2" ± 3" ± 2.2"
Accuracy of graduation2) ± 3.7" ± 2.5" ± 1.7"

max. 150 mA
Electrical connection Cable 0.3 m (11.3 in) with flange socket (male) on mounting base
Max. cable length3) Max. 150 m (492 ft)
Hub inside diameter* 47.2 mm (1.86 in) 102.2 mm (4.02 in) 155.1 mm (6.11 in)
Mech. perm. speed Max. 8000 rpm Max. 6000 rpm Max. 4000 rpm
Moment of inertia of rotor 620 · 106 kgm2 3700 · 106 kgm2 26000 · 106 kgm2
Perm. axial movement See the tolerance of scanning gap B in the dimensioning drawing

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

temperature

temperature
Weight
Scanning unit Approx. 0.185 kg (0.4 lb)
Disk/hub assembly 0.46 kg (1.0 lb) 0.87 kg (1.9 lb) 2.6 kg (5.7 lb)

1)
2)
3)
47
ERA 700 Series
Modular angle encoder for inside diameters
Full-circle and segment versions
Dimensions in mm
ERA 781C Scale tape
* = Max. change during operation

A = Ball bearing
k = Required mating dimensions for the scale tape slot (not to scale)
L = Distance of the mounting holes
L1 = Traverse path
L2 = Measuring range in radian measure
Þ = Measuring range in degrees (segment angle)
À = Scanning gap (distance between scanning reticle and scale-tape surface)
Á = Mounting clearance for mounting bracket. Spacer foil 0.5 mm
Â = Scale tape thickness
Ã = Distance between floor of scale-tape slot and threaded mounting hole
Ä = Distance between mounting surface and scale tape slot
Å = View of customer boring
Æ = Cam disk for tensioning the scale tape
Ç = Position of the first reference mark
È = Notch for removing scale tape (1 x b = 2 mm)
48
Incremental
ERA 780C Full-circle version

ERA 781C Segment version, scale-tape mounting with tensioning elements
Reference mark Distance-coded, basic distance of 1000 grating periods
Scale-slot diameter* 318.58 458.62 573.20 1146.1
Line count
ERA 780C full circle 36000 45000 90000
ERA 781C segment* 72°: 50004) 50°: 5000 160°: 20000

144°: 100004) 100°: 10000
200°: 20000
Recommended 0.0002° 0.0001° 0.00005° 0.00002°

measuring step
System accuracy2) 3)
± 3.5" ± 3.4" ± 3.2"
Accuracy of graduation3) ± 3"
Perm. axial movement ± 0.2 mm

Shock (6 ms) 1000 m/s2 (IEC 60068-2-27)
Max. operating 50 °C (122 °F) (thermal coefficient of expansion of the scale substrate beween 9 ppm/K and 12 ppm/K)
temperature

temperature
Weight
Scale tape 30 g/m (7.1 oz/m)

1)
2)
3)
4)
corresponds to 25000 lines on a full circle
49
ERA 800 Series
Modular angle encoder for outside diameters
Full-circle and segment versions
ERA 881C Segment version,

scale-tape mounting via tensioning elements
ERA 882C Segment version,

scale tape without tensioning elements
50
Incremental

ERA 881C Segment version, scale-tape mounting via tensioning elements
ERA 882C Segment version, scale tape without tensioning elements
Reference mark Distance-coded, basic distance of 1000 grating periods
Scale-slot diameter* 317.99 458.04 572.63
Line count
ERA 880C full circle 36000 45000
ERA 881C/ 72°: 50004) 50°: 5000 160°: 20000

ERA 882C segment* 144°: 100004) 100°: 10000
200°: 20000
Recommended 0.0002 0.0001 0.00005°

measuring step
System accuracy2) 3)
± 3.5" ± 3.4"
Accuracy of graduation3) ± 3"
Perm. axial movement ± 0.2 mm

Shock (6 ms) 1000 m/s2 (IEC 60068-2-27)
Max. operating 50 °C (122 °F) (thermal coefficient of expansion of the scale substrate beween 9 ppm/K and 12 ppm/K)
temperature

temperature
Weight
Scale tape 30 g/m (7.1 oz/m)

1)
bei HEIDENHAIN-Kabel, siehe Connectors and Cables
2)
3)
4)
corresponds to 25000 lines on a full circle
51
ERA 800 Series
Dimensions in mm
ERA 880C Scale tape
* = Max. change during operation

A = Ball bearing
k = Required mating dimensions for the scale tape slot (not to scale)
À = Scanning gap (distance between scanning reticle and scale-tape surface)
Á = Mounting clearance for mounting bracket. Spacer foil 0.5 mm
Â = Scale tape thickness
Ã = Distance between floor of scale-tape slot and threaded mounting hole
Ä = Distance between mounting surface and scale tape slot
52
ERA 881C Scale tape
ERA 882C Scale tape
* = Max change during operation

A = Ball bearing
Å = View of customer boring
Æ = Position of the first reference mark
L = Distance of the mounting holes
L1 = Traverse path
L2 = Measuring range in radian measure
Þ = Measuring range in degrees (segment angle)
53
Output Signals
Incremental Signals » 1 VPP
The sinusoidal incremental signals A and B RON, RCN, ROD, ERA, ERM, ERO
are phase-shifted by 90° and have a signal
level of 1 VPP. The usable component of Output signals Sinusoidal voltage signals » 1 VPP
the reference mark signals is approximately Incremental signals 2 nearly sinusoidal signals A and B
0.5 V. Data on signal amplitude apply when Signal level M: 0.6 to 1.2 VPP
UP = 5 V ± 5% or 5 V ± 10% at the Typically 1 VPP
encoder (see Specifications), and refer Asymmetry IP NI/2M: 0.065
to a difference measured at a 120 Signal ratio MA/MB: 0.8 to 1.25
terminating resistor between the Phase angle If1 + f2I/2: 90° ± 10° elec.
associated outputs. The signal amplitude
decreases with increasing scanning Reference mark signal 1 or more signal peaks R
frequency. Sensor lines enable the Useable component G: 0.2 to 0.85 V
subsequent electronics to measure the Signal-to noise ratio E, F: Min. 40 mV
voltage at the encoder and, if required, to Zero crossovers K, L: 180° ± 90° elec.
correct it with a line-drop compensator.
Verbindungskabel HEIDENHAIN cable with shielding
PUR [4(2 · 0.14 mm2) + (4 · 0.5 mm2)]
Cable lengths Max. 150 m with distributed capacitance 90 pF/m
Propagation time 6 ns/m
Signal period
360° elec.
» 1 VPP: Recommended input circuitry (Rated value)

of subsequent electronics
Dimensioning
Operational amplifier e.g. RC 4157 A, B, R measured with an oscilloscope in differential mode
R1 = 10 k and C1 = 220 pF
R2 = 34.8 k and C2 = 10 pF
Z0 = 120
Incremental
UB = ± 15 V
signals
U1 approx. U0
Reference mark
signal
3dB cutoff frequency of circuitry
Approx. 450 kHz Ra < 100 , typ. 24
Approx. 50 kHz with C1 = 1000 pF Ca < 50 pF
and C2 = 82 pF Sum Ia < 1 mA 1 VPP
U0 = 2.5 V ± 0.5 V
Output signals of circuitry (relative to 0 V of the
Ua = 3.48 VPP typical power supply)
Gain 3.48-fold
Signal monitoring
A threshold sensitivity of 250 mVPP is to be
provided for monitoring the output signals.
54
Scanning Signals
Signal amplitude
For encoders with sinusoidal output
Signal amplitude [%]

signals, the signal amplitude is a function of 3dB cutoff frequency
the supply voltage and therefore also of the
voltage drop ¹U and the scanning
frequency.
Cutoff frequency
For encoders with sinusoidal output
signals:
The 3dB cutoff frequency indicates the
frequency at which 70% of the original
signal amplitude is maintained.
Recommended measuring step

The recommended measuring steps
shown in the Specifications result from:
the signal period and the quality of the
scanning signals,
the system accuracy of the encoder, and Scanning frequency [kHz]
the interpolation factor of the external or
integrated interpolation and digitizing
electronics. Typical signal amplitude curve for sinusoidal output signals (1 VPP) as a function of the
scanning frequency
Pin layout
12-pin 12-pin
HEIDENHAIN HEIDENHAIN
coupling connector
15-pin D-sub connector, female,

on HEIDENHAIN adapter cable
for HEIDENHAIN controls and IK 220
5 6 8 1 3 4 12 10 2 11 9 7 /
Electrical Connection
3 4 6 7 10 12 1 2 9 11 5/8/13/15 14 /
A B R 5V 0V 5V 0V Vacant Vacant Vacant

(UP) (UN) Sensor Sensor
+ + +
Brown Green Gray Pink Red Black Brown/ White/ Blue White / Violet Yellow
Green Green
IEC 50178
The sensor lines are connected internally with the supply lines.
Shield on housing.
55
Output Signals
Incremental signals « TTL
Encoders with TTL square-wave output RON 225, RON 275, ROD 260, ROD 270
signals incorporate circuitry that digitizes
sinusoidal scanning signals without Output signals Square-wave signals « TTL
interpolation, or after 2-fold or 10-fold Incremental signals 2 TTL square-wave signals Ua1, Ua2 and their
interpolation. They provide two 90° (elec.) inverted signals ¢, £
phase-shifted square-wave pulse trains
Ua1 and Ua2, and one or more reference Reference mark signal 1 or more square-wave pulses Ua0 and their
pulses Ua0 that are gated with the inverted pulse ¤
incremental signals. A fault-detection Pulse width 90° elec.
signal ¥ indicates fault conditions such
as an interruption in the supply lines, failure Fault detection signal 1 square-wave pulse ¥
of the light source, etc. It can be used, for Improper function: LOW (optional: output Ua1/Ua2 at
example, in automated production to Improper function: high-impedance)
switch off the machine. The integrated Proper function: HIGH
electronics also generate the inverse
signals of all square-wave pulse trains. The Signal level Differential line driver as per EIA standard RS 422
distance between two successive edges of UH 2.5 V with IH = 20 mA
the combined pulse trains Ua1 and Ua2 after UL 0.5 V with IL = 20 mA
1-fold, 2-fold or 4-fold evaluation is one
measuring step. Permissible load R 100 (terminating resistance between
associated outputs)
To ensure reliable operation, the input
|ILI 20 mA (max. load per output)
circuitry of the subsequent electronics
CLoad 1000 pF with respect to 0 V
must be designed to detect each edge of
Outputs protected against short circuit after 0 V
the square-wave pulse. To prevent
counting errors in the subsequent Switching times Rise time t+ 50 ns
electronics, the edge separation a must (10% to 90%) Fall time t 50 ns
never exceed the maximum possible
with 1 m cable and recommended input circuitry
scanning frequency. The minimum edge
separation a is guaranteed over the entire
Connecting cable HEIDENHAIN cable with shielding
operating temperature range.
PUR [4(2 · 0.14 mm2) + (4 · 0.5 mm2)]
Cable lengths Max. 100 m with distributed capacitance of 90 pF/m
Propagation time 6 ns/m
Encoder Interpolation Line count Measuring step Electrically Minimum edge Scanning
after 4-fold permissible separation frequency/
evaluation speed output frequency
RON 225 2-fold 9000 0.0005° 3333 rpm 0.125 µs 500 kHz/1 MHz
ROD 260 None 18000 1 MHz/1 MHz
RON 275 10-fold 0.00005° 333 rpm 0.25 µs 100 kHz/1 MHz
ROD 270
Signal period of the

Signal period scanning signals
360° elec. Signal period of the square-wave signals
Measuring step
Edge separation
Reference pulse Reference pulse
Square-wave signals without previous interpolation of the scanning Square-wave signals with 10-fold interpolation of the scanning
signals signals
56
« TTL: Recommended input circuitry
Incremental signals
of subsequent electronics
Reference mark
signal
Dimensioning
IC1 = Recommended differential line
receiver
AM 26 LS 32
MC 3486
Fault detection
SN 75 ALS 193
signal
R1 = 4.7 k
R2 = 1.8 k
Z0 = 120
Cable lengths
TTL square-wave signals can be
transmitted to the subsequent electronics
Cable lengths [m]
over cable up to 100 m (329 ft), provided

that the specified 5 V ± 10% supply voltage
is maintained at the encoder. The sensor
lines enable the subsequent electronics to
measure the voltage at the encoder and, if
required, correct it with a line-drop
compensator.
Output frequency [kHz]

Permissible cable length in relation to output frequencies
Pin layout
12-pin 12-pin
HEIDENHAIN HEIDENHAIN
coupling connector
5 6 8 1 3 4 12 10 2 11 7 9 /
Ua1 ¢ Ua2 £ Ua0 ¤ 5V 0V 5V 0V ¥ Vacant Vacant

(UP) (UN) Sensor Sensor
Brown Green Gray Pink Red Black Brown/ White/ Blue White Violet / Yellow
Green Green
IEC 50178
The sensor lines are connected internally with the supply lines.
Shield on housing.
57
Interfaces
2.1 Absolute Position Values
As a bidirectional interface, the EnDat RCN 226, RCN 727

(Encoder Data) interface for absolute
encoders is capable of outputting absolute Interface EnDat (serial bidirectional)
position values as well as requesting or
updating information stored in the encoder. Code signals
Thanks to the serial data transmission, Datainput Differential line receiver according to EIA standard RS-485 for
only four signal lines are required. The CLOCK and CLOCK as well as DATA and DATA signals
type of transmission (i.e., whether position Cable termination Z0 = 120
values or parameters) is selected through
mode commands transmitted from the Data output Differential line driver according to EIA standard RS-485 for DATA
subsequent electronics to the encoder. and DATA signals
Data is transmitted in synchronism with a
CLOCK signal from the subsequent Signal levels Differential voltage outputs > 1.7 V with 120 load*)
electronics. (EIA standard RS-485)
Code Pure binary code

Advantages of the EnDat Interface
One interface for all absolute encoders, Direction of Code values increase with clockwise ratation (viewed from flange
whereby the subsequent electronics can rotation side)
automatically distinguish between EnDat
and SSI. Incremental signals » 1 VPP (see 1 VPP Incremental Signals)
Complementary output of incremental
signals (option: usable for highly dynamic Connecting cable HEIDENHAIN cable with shielding
control loops). PUR [(4 · 0.14 mm2) + 2(4 · 0.14 mm2) + (4 · 0.5 mm2)]
Automatic self-configuration during Cable lengths Max. 150 m with distributed capacitance 90 pF/m
encoder installation, since all information Propagation time 6 ns/m
required by the subsequent electronics is *) Terminating and receiver input resistor
already stored in the encoder.
Reduced wiring cost. For standard EnDat interface: Recommended input circuitry of subsequent electronics
applications six lines are sufficient. Code signals
High system security through alarms
and messages that can be evaluated in IC1 =
the subsequent electronics for monitoring Differential line
and diagnosis. No additional lines are receiver and driver
required.
R3 = 100
Minimized transmission times through
R4 = 1 k
adaptation of the data word length to the
resolution of the encoder and through
high clock frequencies.
High reliability of transmission through
cyclic redundancy checks.
Datum shift through an offset value in
the encoder.
It is possible to form a redundant
system, since the absolute value and Incremental signals
incremental signals are output
independently from each other.
Cable lengths [m]
Permissible clock
frequency with
respect to
Clock frequency [kHz]
cable lengths
58
Function of the EnDat Interface
Absolute encoder Subsequent
electronics
The EnDat interface outputs absolute
position values, optionally makes
incremental signals available, and permits
» 1 VPP A
reading from and writing to the memory in Incremental
the encoder. signals
» 1 VPP B
Selection of transmission mode
EnDat interface
UP Power
Position values and memory contents are
0 V supply
transmitted serially through the DATA lines.
The type of transmission is selected
through mode commands that define the
Absolute
content of the subsequent information. Position value
Each mode command consists of 3 bits. To
ensure transmission reliability, each bit is
also transmitted inverted. If the encoder
recognizes a faulty mode transmission, an
error message follows. The following mode
commands are available: Operating Parameters Parameters Operating
Encoder transmit absolute position value parameters of the encoder of the OEM status
Select the memory area (e.g., datum maufacturer
Encoder transmit/receive parameters of shift)
the last defined memory area
Encoder transmit test values
Encoder receive test command Block diagram: Absolute encoder with EnDat interface
Encoder receive RESET Encoder Memory Areas Monitoring and Diagnostic Functions
Parameters Parameters of the encoder manufacturer Alarms and warnings

The encoder provides several memory This write-protected memory area contains The EnDat interface permits extensive
areas that can be read from by the all information specific to the encoder monitoring of the encoder without requiring
subsequent electronics, some of which can such as encoder type (linear encoder, angle additional transmission lines.
be written to by the encoder manufacturer, encoder, singleturn/multiturn, etc.), signal
the OEM, or even the end user. Certain An alarm becomes active if there is a
periods, number of position values per
memory areas can be write-protected. malfunction in the encoder that is presumably
revolution, transmission format of absolute
causing incorrect position values. At the
position values, direction of rotation,
The parameters, which in most cases same time, an alarm bit is set in the data
maximum permissible speed, accuracy
are set by the OEM, largely define the word. Alarm conditions include, for example:
with respect to shaft speed, support
function of the encoder and the EnDat Failure of the light unit
through warnings and alarms, part number,
interface. When an EnDat encoder is Insufficient signal amplitude
and serial number. This information forms
exchanged it is therefore essential that the Error in calculation of the position value
the basis for automatic configuration.
encoder parameter settings be correct. Operating voltage too high or too low
Putting a machine into operation with Current consumption too high
Parameters of the OEM
incorrect parameters can result in In this freely definable memory area the Warnings indicate that certain tolerance
malfunctions. If there is any doubt as to the OEM can store his information. A motor limits of the encoder have been reached or
correct parameter settings, the OEM manufacturer, for example, can save an exceeded such as shaft speed or the limit
should be consulted. electronic ID label of the motor in which of light source intensity compensation
the encoder is integrated, indicating the through voltage regulation without
motor model, maximum current rating, etc. implying that the measured position values
are incorrect. This function enables
Operating parameters preventive maintenance and therefore
This area is available to the customer for a minimizes machine downtime.
datum shift. It can be protected against
The alarms and warnings supported by the
overwriting.
respective encoder are stored in the encoder
manufacturers parameter memory area.
Operating status
This memory area provides detailed Reliable data transfer
alarms or warnings for diagnostic purposes. To increase the reliability of data transfer, a
Here it is also possible to activate write cyclic redundancy check (CRC) is
protection for the OEM-parameter and performed through the logical processing of
operating-parameter memory areas, and the individual bit values of a data word. This
interrogate its status. Once activated, the 5-bit long CRC concludes every transmission.
write protection cannot be reversed. The CRC is decoded in the receiver
electronics and compared with the data
word. This largely eliminates errors caused by
disturbances during data transfer.
59
Data transfer Interrupted clock
The two types of EnDat data transfer are The interrupted clock is intended level. After the time tm (10 to 30 µs) the
position value transfer and parameter particularly for time-clocked systems such data line returns to low and can begin a
transfer. as closed control loops. At the end of the new transmission when started by the
data word the clock signal is set to high clock signal.
Control Cycles for Transfer of Position
Encoder saves
Values
position value
The clock signal is transmitted by the Subsequent electronics
subsequent electronics to synchronize the transmit mode command
data output from the encoder. When not
transmitting, the clock line is high. The
transmission cycle begins with the first
falling edge. The encoder saves the
measured values and calculates the
position value.
After two clock pulses (2T), the subsequent Cyclic redundancy

electronics send the mode command Mode command Position value dheck
encoder transmit position value.
After the encoder has completed

calculation of the absolute position value
(tcal see table), it begins with the start
bit to transmit data to the subsequent Continuous clock
electronics. For applications that require fast acquisition synchronism with the clock signal
of the measured value, the EnDat interface immediately after the start bit and alarm bit.
The subsequent alarm bit is a common can have the clock run continuously. Because the mode command encoder
signal for all monitored functions and Immediately after the last CRC bit has been transmit position value is needed only
serves for failure monitoring. It becomes sent, the data line is switched to high for before the first data transmission, the
active if there is a malfunction in the one clock cycle, and then to low. The new continuous-clock transfer mode reduces
encoder that could result in incorrect position value is saved with the very next the length of the clock-pulse group by
position values. The exact cause of the falling edge of the clock and is output in 10 periods per position value.
alarm is saved in the operating-status
memory area where it can be interrogated. Save new Save new
position value position value
The absolute position value is then
transmitted beginning with the LSB. Its
length depends on the encoder. It is saved
in the encoder manufacturers memory
area. Since EnDat does not need to fill
superfluous bits with zeros as is common
in SSI, the transmission time of the position
value to the subsequent electronics is
minimized.
CRC Position value CRC
Data transmission is concluded with the

cyclic redundancy check (CRC).
ROC, ECN, ROQ, EQN* RCN LC**
Clock frequency fC 100 kHz to 2 MHz
Calculation time for

Position value tcal 250 ns 10 µs 1 ms
Parameter tac Max. 12 ms Max. 12 ms Max. 12 ms
Recovery time tm 10 to 30 µs
HIGH pulse width tHI 0.2 to 10 µs
LOW pulse width tLO 0.2 µs to 50 ms 0.2 to 30 µs

*) see Rotary Encoders catalog
**) see Sealed Linear Encoders catalog
60
Control cycles for transfer of parameters Reading parameters from the encoder Writing parameters to the encoder
(mode command 001110) (mode command 100011) (mode command 011100)
Before parameter transfer, the memory After selecting the memory area, the After selecting the memory area, the
area is determined with the mode subsequent electronics transmits a subsequent electronics transmit a
command select the memory area and a complete communications protocol complete communications protocol
subsequent memory-range-select code beginning with the mode command beginning with the mode command
(MRS). The possible memory areas are encoder transmit parameters, followed by encoder receive parameters, followed by
stored in the parameters of the encoder an 8-bit address and 16 bits with random an 8-bit address and a 16-bit parameter
manufacturer. Due to the internal access content. The encoder answers with the value. The encoder answers by repeating
times to the individual memory areas, the repetition of the address and 16 bits with the address and the contents of the
time tac may reach 12 ms. the contents of the parameter. The parameter. The CRC check concludes the
transmission cycle is concluded with a CRC cycle.
check.
Transmitter in encoder inactive Transmitter in encoder active
Receiver in encoder active
8 Bit 16 Bit 8 Bit 16 Bit
MRS code MRS code

Address Address Parameter
Address Address
x = random y = parameter Acknowledgment
Synchronization of the serially The code value transmitted over the serial After power on and initial transmission of
transferred code value with the interface unambiguously identifies one position values, two redundant position
incremental signal incremental signal period. The position values are available in the subsequent
Absolute encoders with EnDat interface value is absolute within one sinusoidal electronics. Since encoders with EnDat
can exactly synchronize serially transmitted period of the incremental signal. The interface guarantee a precise
absolute position values with incremental subdivided incremental signal can therefore synchronization regardless of cable
values. With the first falling edge (latch be appended in the subsequent electronics length of the serially transmitted
signal) of the CLOCK signal from the to the serially transmitted code value. This absolute value with the incremental signals,
subsequent electronics, the scanning makes it possible to increase the resolution the two values can be compared in the
signals of the individual tracks in the of the absolute rotary encoder. subsequent electronics. This monitoring is
encoder and counter are frozen, as are possible even at high shaft speeds thanks
the A/D converters for subdividing the to the EnDat interfaces short transmission
sinusoidal incremental signals in the times of less than 50 µs. This capability is a
subsequent electronics. prerequisite for modern machine design
and safety concepts.
Encoder Subsequent electronics
Latch signal
Comparator
1 VPP
Counter
Subdivision
Parallel
interface
61
EnDat Pin Layout
17-pin
HEIDENHAIN coupling
15 16 12 13 3 2 7 10 1 4 11
A B Vacant Vacant UP 0V UP 0V Internal

(UN) Sensor Sensor shield
+ +
Green/ Yellow/ Blue/ Red/ Red Black Brown/ White/ Blue White /
Black Black Black Black Green Green
IEC 50178
14 17 8 9 5 6 UP = Power supply.
Shield on housing.
DATA DATA CLOCK CLOCK Vacant Vacant Non-used pins or wires
may not be assigned.
Gray Pink Violet Yellow Green Brown
15-pin D-sub connector, 15-pin D-sub connector,

male, female,
on HEIDENHAIN on HEIDENHAIN
adapter cable for connecting cable
IK 115 for HEIDENHAIN
controls and IK 220
1 9 3 11 14 7 4 2 12 10 6
3 4 6 7 10 12 1 2 9 11 13
A B Vacant Vacant UP 0V UP 0V Internal

(UN) Sensor Sensor shield
+ +
Green/ Yellow/ Blue/ Red/ Red Black Brown/ White/ Blue White /
Black Black Black Black Green Green
IEC 50178
5 13 8 15 UP = Power supply.
Shield on housing.
5 8 14 15 Non-used pins or wires
may not be assigned.
DATA DATA CLOCK CLOCK
Gray Pink Violet Yellow
62
Connecting Elements and Cables
General Information
Pin numbering Contacts: Protection:

The pins on connectors are numbered in When engaged, the connections (except
directions opposite to those on the Male contact for the D-sub connector) provide protection
couplings, regardless of whether the to IP 67 (IEC 60529 / IEC 144). When not
contacts are male or female. Since flange Female contact engaged, there is no protection (IP 00).
sockets and couplings both have external
threads, they have the same pin-numbering
direction.
Connector:
A connecting element with a knurled
coupling ring, regardless of whether the
contacts are male or female.
Coupling:
A connecting element with external thread,
regardless of whether the contacts are
male or female.
Connector insulated Coupling insulated
Flange socket:
A flange socket is intended for permanent
mounting on the encoder, mounting block or y
machine housing, has an external thread, and
is available with male or female contacts. x: 42.7
y: 41.7
Flange socket D-sub connector
D-sub connector:
D-sub connectors fit on HEIDENHAIN
controls and IK counter cards.
Coupling on mounting base insulated
63
Connecting Elements and Cables
» 1 VPP and « TTL
Coupling on encoder cable Coupling (male), 12-pin,

shield on housing
For encoder cable dia. 6 mm 291 698-03
Coupling on mounting base Coupling on mounting base

(male), shield on housing
For encoder cable dia. 6 mm 291 698-08
Polyurethane (PUR) connecting cable dia. 8 mm

[4(2 x 0.14 mm2) + (4 x 0.5 mm2)] shield on housing
for encoders with coupling
Complete with connector (female) 298 399-xx Complete with connector (female) 310 199-xx
and connector (male) and D-sub connector (female) 15-pin
for HEIDENHAIN controls and IK 220
With one connector (female) 309 777-xx
Mating element on connecting cable Connector (female),

to coupling or flange socket on 12-pin,
encoder cable shield on housing
For connecting cable dia. 8 mm 291 697-05
Connector on connecting cable Connector (male),

to subsequent electronics 12-pin,
shield on housing
Cable only 244 957-01
Flange socket for connecting cable to subsequent electronics
Flange socket (female), 12-pin: 315 892-08
Coupling on mounting base (female), for cable dia. 8 mm, 12-pin: 291 698-07
64
EnDat Interface
Connecting element on encoder Coupling (male),

cable 17-pin
For encoder cable dia. 4.5 mm 291 698-25

dia. 6 mm 291 698-26
Polyurethane (PUR) connecting [(4 x 0.14 mm2) + 4(2 x 0.14 mm2) + (4 x 0.5 mm2)]
cable dia. 8 mm
Complete with connector (female) 324 544-xx Complete with connector (female) 322 115-xx
and D-sub connector (male) for and D-sub connector (female) for
IK 115 HEIDENHAIN controls and IK 220
With one connector (female) 309 778-xx
Mating element on connecting cable Connector (female), 17-pin

to connecting element on encoder
cable
Connector on connecting cable Connector (male), 17-pin

to subsequent electronics
Coupling on extension cable
For extension cable dia. 8 mm 291 698-27
Cable only 266 306-01
65
General Electrical Specifications
Power Supply Electrically permissible speed Cable

A stabilized dc voltage is necessary as The maximum permissible speed of an Durability
the power supply for the angle encoders. angle encoder is derived from All angle encoders use polyurethane cables
The voltage and current consumption are the mechanically permissible speed that are resistant to oil, hydrolysis and
given in the individual specifications. (see Specifications) microbes in accordance with VDE 0472.
The permissible ripple amplitude of the dc and They are free of PVC and silicone and
voltage is: the electrically permissible speed. comply with UL safety directives. The
High-frequency interference UL certification AWM STYLE 20963 80 °C
UPP < 250 mV with dU/dt > 5 V/µs For encoders with sinusoidal signals 30V E63216 is documented on the cable.
Low-frequency fundamental ripple the electrically permissible speed is
UPP < 100 mV limited by the 3 dB and 6 dB cutoff Bending radius
frequency of the encoder and by the The permissible bending radii R depend on
Initial transient of the power supply input frequency fmax of the subsequent the cable diameter and the cable
voltage, e.g. 5 V ± 5 % electronics. configuration:
For encoders with square-wave signals Cable diameter 4.5 mm (0.18 in.)
the electrically permissible speed is Rigid configuration R 10 mm (0.4 in.)
limited by Frequent flexing R 50 mm (2 in.)
the maximum permissible output
frequency fmax of the encoder and Cable diameter 6 mm (0.24 in.)
UPP the minimum edge separation a for Rigid configuration R 20 mm (0.8 in.)
the subsequent electronics. Frequent flexing R 75 mm (3 in.)
nmax = fmax [kHz] · 103 · 60 min1 Cable diameter 8 mm (0.31 in.)

z
Rigid configuration R 40 mm (1.6 in.)
where nmax: Maximum electrically Frequent flexing R 100 mm (4 in.)
permissible speed
Typically 500 ms fmax: Maximum scanning
frequency of the encoder
or input frequency of the Rigid configuration
These values apply as measured at the subsequent electronics
encoder, i.e., without cable influences. The z: Line count of the angle
voltage at the encoder can be monitored encoder
and adjusted with the devices sensor
lines. If a controllable power supply is not
available, the voltage drop can be halved by
switching the sensor lines parallel to the Frequent flexing
corresponding power lines.
The voltage drop for HEIDENHAIN cable

is calculated as:
LC[m] · I[mA]
¹U[V] = 2 · 103 ·
56 · AP[mm2]
Where LC: Cable lengths
I: Current consuption of
angle encoder
(see Specifications)
AP: Cross section of power line Temperature range
HEIDENHAIN cable can be used in the
following temperature ranges:
for stationary configuration 40 to 85 °C
Cable Cross-section of the power
(40 to 185 °F),
External supply wires
for frequent flexing 10 to 85 °C
diameter Incremental Absolute
(14 to 185 °F).
¬ 4.5 mm 0.14 mm2 0.05 mm2
Cables with limited restistance to
(0.18 in.) (AWG 26) (AWG 30)
hydrolysis and microbes are rated for
up to 100 °C (212 °F).
¬ 6 mm 0.19 mm2 0.08 mm2
(0.24 in.) (AWG 24) (AWG 28)
¬ 8 mm 0.5 mm2 0.5 mm2

(0.31 in.) (AWG 20) (AWG 20)
66
Reliable Signal Transmission
Electromagnetic Compatibility (EMC) Protection against electrical noise Both the cable shielding and the metal
When properly installed, HEIDENHAIN Use only the recommended housings of encoders and subsequent
encoders fulfill the requirement for HEIDENHAIN cable for signal lines electronics have a shielding function. The
electromagnetic compatibility according (see Accessories). housing must have the same potential
to 89/336/EWG. To connect signal lines, use only and be connected to the main signal
HEIDENHAIN connectors (see ground over the machine chassis or by
Compliance with the regulations of the EMC Accessories). means of a separate potential
Guidelines is based on conformance to the The shielding should conform to compensating line. Potential compensating
following standards: EN 50178. lines should have a minimum cross section
IEC 61000-6-2 Do not lay signal cable in the direct of 6 mm2 (Cu).
Electromagnetic compatibility vicinity of interference sources (air
Immunity for industrial environments clearance > 100 mm (4 in.)).
Specifically: A minimum spacing of 200 mm (8 in.) to
ESD IEC 61000-4-2 inductors is usually required (such as in
Electromagnetic fields IEC 61000-4-3 switch-mode power supplies).
Burst IEC 61000-4-4 HEIDENHAIN encoders should be
Surge IEC 61000-4-5 connected only to subsequent electronics
Conducted disturbances IEC 61000-4-6 whose power supplies comply with
Power frequency magnetic fields EN 50178 (protective low voltage).
IEC 61000-4-8 Configure the signal lines for minimum
Pulse magnetic fields length and avoid the use of intermediate
IEC 61000-4-9 terminals.
EN 50081-1 In metal cable ducts, sufficient
Electromagnetic compatibility decoupling of signal lines from
Generic emission standard interference signal transmitting cable can
Specifically: usually be achieved with a grounded
for industrial, scientific and medical partition.
(ISM) equipment EN 55011
for information technology
equipment EN 55022
Transmission of measuring signals

electrical noise immunity
Noise voltages arise mainly through
capacitive or inductive transfer. Electrical
noise can be introduced into the system
over signal lines and input or output
terminals. Possible sources of noise are:
Strong magnetic fields from transformers
and electric motors
Relays, contactors and solenoid valves
High-frequency equipment, pulse
devices, and stray magnetic fields from
switch-mode power supplies
Power lines and supply lines to the above
devices
Isolation Minimum distance from sources of interference

The encoder housings are isolated from the
electronics.
Dielectric strength 500 V/50 Hz for
max. 1 minute
Air clearance and
leakage distance > 1 mm
Isolation resistance > 50 M
67
Evaluation and Display Units
ND 281B ND 281B
Position display unit
The ND 281B position display unit contains Input signals » 1 VPP » 11 µAPP
special display ranges for angle measure-
ment. You can directly connect incremental Encoder inputs Flange socket, 12-pin female Flange socket, 9-pin female
angle encoders with » 1-VPP output
signals and any line count with up to Input frequency Max. 500 kHz Max. 100 kHz
999999 signal periods per revolution. The
display value is available via the RS-232-C/ Max. cable lengths 60 m (197 ft) 30 m (98.5 ft)
V.24 interface for further processing or
print-out. Signal interpolation Up to 1024-fold (adjustable)
Display step Decimal degrees: 0.1° to 0.000002°

(adjustable) Degrees, minutes, seconds: to 1"
Display range 0 to 360°

(adjustable) 180° .... 0 ..... +180°
0 to ± max. display range
Functions Sorting and tolerance check mode with two limit values
Display stop
Two switching limits
Reference-mark evaluation with REF
External operation Zero reset, preset and latch command

For more information, see the Numerical
Displays for Length and Angle catalog. Interface RS-232-C/V.24; max. 38400 baud
IBV 600 series IBV 610 IBV 650 IBV 660

Interpolation and digitizing electronics
Interpolation and digitizing electronics Input signals » 1 VPP
interpolate and digitize the sinusoidal
output signals (» 1 VPP) from Encoder inputs Flange socket, 12-pin female
HEIDENHAIN encoders up to 400-fold,
and convert them to TTL square-wave Interpolation (adjustable) 5-fold 50-fold 25-fold
pulse sequences. 10-fold 50-fold
100-fold
200-fold
400-fold
Input frequency/ 5-fold interpolation 40 kHz/0.125 µs Depending on

minimum edge 200 kHz/0.25 µs 20 kHz/0.25 µs interpolation:
separation (adustable) 100 kHz/0.5 µs 10 kHz/0.5 µs 100 kHz/0.1 µs
50 kHz/1 µs 5 kHz/1 µs to
25 kHz/2 µs 0.78 kHz/0.8 µs
10-fold interpolation
200 kHz/0.125 µs
100 kHz/0.25 µs
50 kHz/0.5 µs
25 kHz/1 µs
Output signals Two TTL square-wave pulse sequences Ua1 and Ua2
and their inverse signals ¢ and £
Reference pulse Ua0 and ¤
Interference signal ¥
For more information, see the Interpolation
and Digitizing Electronics catalog. Power supply 5V±5%
68
IK 220 IK 220
Universal PC counter card
The IK 220 is an adapter card for AT Input signals » 1 VPP » 11 µAPP EnDat SSI
compatible PCs for measured value (switchable)
acquisition of two incremental or
absolute linear and angular encoders. Encoder inputs 2 D-sub ports (15-pin), male
The subdivision and counting electronics
subdivide the sinusoidal input signals up Input frequency (max.) 500 kHz 33 kHz
to 4096 fold. Driver software is included.
Cable lengths (max.) 60 m (197 ft) 10 m (33 ft)
Signal subdivision Up to 4096-fold

(signal period: meas. step)
Data register for measured 48 bits (44 bits used)

values (per channel)
Internal memory For 8192 position values
Interface PCI bus (plug and play)
Driver software and For WINDOWS NT/95/98

demonstration program in VISUAL C++, VISUAL BASIC and
BORLAND DELPHI
For more information, see the IK 220 data Dimensions Approx. 190 mm × 100 mm
sheet.
IK 410V IK 410V
Counter card with 16-bit microcomputer
interface Input signals Incremental signals: 1 × » 1 VPP
The IK 410V is an interpolation and counter Commutation signals: 1 × sine/cosine (1 VPP)
PCB for incremental encoders with
additional input for commutation signals Signal subdivision Up to 1024-fold
(Z1-track: one sine/cosine per revolution). (signal period : meas. step)
It is inserted directly into the PCB of a
customer-specific electronics. Input frequency Max. 350 kHz
Counter 32 bits
Interface 16-bit microcomputer interface
Driver software Borland C and C++, Turbo-Pascal
Data format MOTOROLA or INTEL format
Dimensions 100 mm × 65 mm
Permissible cable length 60 m (197 ft)

For more information, see the IK 410V data from encoder to IK
sheet.
Electronics
69
HEIDENHAIN Measuring Equipment
for Incremental Angle Encoders
With the modular angle encoders, the accurately during mounting. HEIDENHAIN
scanning head moves over the graduation offers various measuring and testing
without mechanical contact. Thus, to equipment for checking the quality of the
ensure highest quality output signals, the output signals.
scanning head needs to be aligned very
PWM 8
Encoder inputs 11 µAPP/1 VPP/TTL/HTL signals via expansion modules
Functions Measuring the signal amplitudes, current,

consumption, power supply
Display of phase angle, on-off ratio,
scanning frequency
Display symbols for reference signal, disturbance signal,
count direction
Integrated universal counter
Outputs Incremental signals for subsequent electronics

Incremental signals for oscilloscope via BNC sockets
The PWM 8 is a universal measuring
device for checking and adjusting Power supply 10 to 30 V, max 15 W
HEIDENHAIN incremental encoders. There
are different expansion modules available Dimensions 150 mm × 205 mm × 96 mm
for checking the different encoder signals.
The values can be read on a small LCD
monitor. Soft keys provide ease of
operation.
The PWT 18 is a simple adjusting aid for PWT 18

HEIDENHAIN incremental encoders. In a
small LCD window the signals are shown Encoder inputs 1 VPP
as bar charts with reference to their
tolerance limits. Functions Measuring signal amplitude
Tolerance of signal form
Amplitude and position of the reference mark signal
Power supply Via power supply unit (supplied as accessory)
Dimensions 114 mm x 64 mm x 29 mm
for Absolute Angle Encoders

The IK 115 is a PC expansion card for IK 115
monitoring and testing absolute
HEIDENHAIN encoders with EnDat or Encoder inputs EnDat (absolute value and incremental signals) or SSI
SSI interface. Parameters can be read
and written via the EnDat interface. Interface ISA bus
Application software Operating system: Windows 95/98

Functions: Display position value
Counter for incremental signals
EnDat functionality
Dimensions 158 mm x 107 mm
70

Angle Encoders: Encoder Technology LTD

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Encoder Technology Ltd

Units 5 & 6 Leatherhead Industrial Estate

Angle encoders with integral bearing for

Angle encoders without integral bearing

HEIDENHAIN Angle Encoders 4

Measuring Standard of incremental and absolute angle encoders 10

Angle Encoders with RON/RCN 200 series ± 5"/± 2.5" 26

Interfaces Incremental signals » 1 VPP 54

Display Units, Interpolation and Digitizing Electronics 68

The term angle encoder is typically used to

The tables on the following pages list

Angle encoders can have one of three

Angle encoders with integral bearing,

Selection Guide on pages 6/7

RON 886 incremental angle encoder

Selection Guide on pages 6/7

ROD 800 incremental angle encoder with K 16 flat coupling

Angle encoders without integral bearing

Selection Guide on pages 8/9

With integral stator coupling

RON 200 ± 5" with 18000 0.0001° 3000 rpm

± 5" with 9000 0.005°

± 2.5" with 18000 0.0001°

RCN 200 ± 5"/± 2.5" with 16384  0.0001°

RON 700 ± 2" with 18000 0.0001° 1000 rpm

± 2" with 18000 0.0001° 1000 rpm

RCN 700 ± 2" with 32768  0.0001°

RON 800 ± 1" with 36000 0.00005° 1000 rpm

RPN 800 ± 1" with 90000 0.00001°

RON 900 ± 0.4" with 36000 0.00001° 100 rpm

For separate shaft coupling

ROD 200 ± 5" with 18000 0.0001° 10000 rpm

ROD 700 ± 2" with 18000 0.0001° 1000 rpm

ROD 800 ± 1" with 36000 0.00005°

» 1 VPP One or RON 285 26

« TTL x 10 One RON 275

« TTL x 2 (1 MHz) One RON 225

» 1 VPP One or RON 287

» 1 VPP  RCN 226

» 1 VPP One or RON 785 28 RON 786

» 1 VPP One or RON 786 30

» 1 VPP  RCN 727

» 1 VPP One or RON 886 32

» 11 µAPP One RON 905 34

« TTL (1 MHz) One ROD 260

« TTL One ROD 270

» 1 VPP One or ROD 780 38

» 1 VPP One or ROD 880

Series Line count/ Recommended Overall dimensions Diameters Max. mechanically

Grating on solid scale carrier

ERA 180 6000/± 7.5"to 0.0005° to D1: 40 to 512 mm 40000 rpm to

ERO 785 36000/± 2.2" 0.0001° D1: 47 mm 8000 rpm

D1: 155 mm 4000 rpm

Grating on steel tape

ERA 700 Full circle1) 0.0001° to 458.62 mm 500 rpm

ERA 800 Full circle1) 0.0001° to 458.04 mm 100 rpm

» 1 VPP One ERA 180 40 ERA 180

» 1 VPP One ERM 280 44

» 1 VPP Distance-coded ERA 780C full circle 48

ERA 781C segment

» 1 VPP Distance-coded ERA 880C full circle 50

ERA 881C segment

ERA 882C segment

RCN 200 ± 5"/± 2.5" with 16384 0.0001°

RCN 700 ± 2" with 32768 0.0001°

» 1 VPP RCN 226

» 1 VPP RCN 727

D = direction of rotation (+1 or 1).

Magnetoresistive sensors for B+ and B not shown

ERA 88x D = 320 mm ± 1.3" ERA 78x, 90000 ± 0.2"

Perm. radial misalignment l 0.3 mm

Perm. angular error a 0.5° 0.2° 0.5°

Perm. axial motion d 0.2 mm 0.1 mm 1 mm

Mounting ERA 180, ERM

Reference mark* One RON 2xx: one

Output frequency Max. 1 MHz

Data interface EnDat

Absolute 67108864 (26 bits)

Elect. perm. speed for 1500 rpm

Starting torque 0.08 Nm at 20 °C (68 °F) 0.08 Nm at 20 °C (68 °F)

Moment of inertia of rotor 73 · 106 kgm2 73 · 106 kgm2

Natural frequency 1200 Hz 1200 Hz