Absolute Angle Encoders with Optimized Scanning
Contents
1. o 0 25 B 28 2 _ 6x 60 iol 2025C To Ps Q x d gt i 31 7 0 05 4 25 843 e e o 3 oO N o oO o6 e E 8 8 8S amp A E 5 S E 8 S 5 EB 30 3 3 5 36 3 0 1 gt 118 min amp 128 max 9 114 5 max e x 106 3 r 6x 60 9 45 z So 12 0 25 E rea EIERN hs An N o2 l N AoA amp E N E 10097 IS N g 97 7 0 04 A N E Dal E j 8o o 895 4 5 s lt 8 2 al g Ws B gt 8 n n S M5 4x 90 9 0 2510 D 180H7 i 90 2 JA ri x 188 m gt 7 0 04 A Lo D mm y m Tolerancing ISO 8015 ISO 2768 mH 4 x 90 M 02 A 6 mm 0 2 mm A Bearing of mating shaft 0 25 D 9 Required mating dimensions Mark for 0 position 5 Shown rotated by 45 Cable support Free space for customer Compressed air inlet LY Direction of shaft rotation for output signals as per the interface description 18 Measuring standard DIADUR circular scale with absolute and incremental track Line count 32768 System accuracy 1 2 1 2 Position error per signal EON lt 0 2 lt 0 2 period Absolute position values EnDat 2 2 Ordering designation EnDat 222. 71 5 max ANAL 90 2 A 66 0 06 0 03 i a 4x90 olp 945 0 06 0 03 go 12 0 25 E Gu quu 2 177777 a E US A AN lA e j 7I0 2 A Y N 7 0 03 A i c N N J oe am DA Al 8 o 7A J g e z S 9 amp FEN SZ i i zd 8 amp amp mn 8 M5 4x 90 12 0 25 D Ds 180H7 7 10 04 A o g0 2 A La 188 A Lo mm T 14 S Tolerancing ISO 8015 ISO 2768 m H 4 x 90 lt 6 mm x0 2 mm A Bearing of mating shaft 2 0 25 D 9 Required mating dimensions Mark for 0 position 5 Shown rotated by 45 Cable support Free space for customer Compressed air inlet GY Direction of shaft rotation for output signals as per the interface description 16 Measuring standard DIADUR circular scale with absolute and incremental track Line count 32768 System accuracy 1 2 1 2 Position error per signal EON lt 0 2 lt 0 2 period Absolute position values EnDat 2 2 Ordering designation EnDat 22 EnDat 02 Positions per revolution 536870912 29 bits Elec permissible speed lt 1500 min for continuous position value lt 750 min for continuous
3. Absolute Angle Encoders with Optimized Scanning The term angle encoder is typically used to describe encoders that have an accuracy of better than 5 and a line count above 10000 Angle encoders are found in applications that require the highly accurate measurement of angle in the range of a few angular seconds e g in rotary tables and swivel heads on machine tools C axes on lathes but also in measuring equipment and telescopes In contrast rotary encoders are used in applications where accuracy requirements are is less stringent e g in automation on materials handling devices electrical drives and many other applications This catalog describes absolute angle encoders with optimized scanning They feature integral bearings hollow shafts and integrated stator couplings and are distinguished in particular by e Small position error within one signal period Large mounting tolerances High permissible shaft speeds Plug in cables Functional Safety option in preparation You will find further incremental and absolute angle encoders in the corresponding product catalogs Angle Encoders with Integral Bearing and Angle Encoders without Integral Bearing Information on e Angle encoders with integral bearing e Angle encoders without integral bearing Rotary encoders Encoders for servo drives Exposed linear encoders Linear encoders for numerically controlled machine tools HEIDENHAIN controls is a
4. 4x 90 S 0 3 C E dps 7 02 A 4x 90 lt lel2o3 b Olg 0 2 A Y I Y i x x E E oa A FIF e 8 19 EE amp T s 8 g SS S os 5 N xd Q D e N Q 0 2 A 4x 90 0 3 D 0 04 0 02 M20 x 0 5 0 04 0 02 mm Tolerancing ISO 8015 ISO 2768 m H lt 6 mm x0 2 mm ll Bearing of mating shaft Required mating dimensions Mark for 0 position 5 Free space for customer Cable support Compressed air inlet Direction of shaft rotation for output signals as per the interface description 99000E on Ho du og 9 12 Measuring standard DIADUR circular scale with absolute and incremental track Line count 16384 System accuracy 325 SEM as DES 5 Position error per signal sato x04 x04 period Absolute position values EnDat 2 2 Ordering designation EnDat 22 EnDat 02 Positions per revolution 268435456 28 bits 67 108864 26 bits 268435456 28 bits 67 108864 26 bits Elec permissible speed lt 3000 min for continuous
5. male contacts or female contacts Accessories for flange sockets and M23 mounted couplings Bell seal ID 266 526 01 Threaded metal dust cap ID 219926 01 EnDat Connecting Cables PUR adapter cable 8 pin M12 EnDat without incremental signals 17 pin M23 EnDat with incremental signals Complete with 17 pin M23 coupling male ID 643 450 xx Complete with 15 pin D sub connector female Complete with 8 pin M12 coupling male PUR connecting cables ID 735987 xx ID 679671 xx 8 pin 4 x 0 14 mm 4 x 0 34 mm 6 mm 4 x 0 14 mm 4 2 x 0 14 mm 4 x 0 5 mm 8 mm 17 pin ID 727 658 xx Complete with connector female and coupling male ID 368330 xx ID 323897 xx Complete with connector female and D sub connector female for IK 220 D 533627 xx ID 332 115 xx Complete with connector female and D sub connector male for IK 115 IK 215 D 524 599 xx ID 324 544 xx With one connector female D 634 265 xx ID 309778 xx Cable without connectors 2 8 mm Mating element on connecting cable to connector on encoder cable Connector female for cable amp 8mm EA ID 266306 01 ID 291697 26 Connector on connecting cable for connection to subsequent electronics 8mm 6mm DA Connector male for cable ID 291 697 27 Coupling on connecting cable Coupling male for cable
6. 6 mm 8 mm 4 5 mm ID 291698 25 ID 291698 26 ID 291698 27 Flange socket for mounting on subsequent electronics Mounted couplings Flange socket female 6mm 8mm With flange female Bu nd ID 315892 10 ID 291 698 35 amp 6mm amp 8mm With flange male ID 291 698 41 ID 291 698 29 With central fastening amp 6to 10mm mal I ID 741 045 02 23 General Electrical Information Power Supply Connect HEIDENHAIN encoders only to subsequent electronics whose power supply is generated from PELV systems EN 50 178 In addition overcurrent protection and overvoltage protection are required in safety related applications If HEIDENHAIN encoders are to be operated in accordance with IEC 61010 1 the power must be supplied from a secondary circuit with current or power limitation as per IEC 61010 1 2001 section 9 3 or IEC 60950 1 2005 section 2 5 or a Class 2 secondary circuit as specified in UL 1310 The encoders require a stabilized DC voltage Up as power supply The respective Specifications state the required power supply and the current consumption The permissible ripple content of the DC voltage is High frequency interference Upp 250 mV with dU dt 5 V us Low frequency fundamental ripple Upp 100 mV The values apply as measured at the encoder i e without cable influences The voltage can be monitored and adjusted with the encode
7. max particle size 0 1 um and max particle density 0 1 mg m at 1 10 Pa Total oil content Class 1 max oil concentration 0 01 mg m at 1 10 Pa Maximum pressure dew point Class 4 but with reference conditions of 3 C at2 10 Pa 3 For more information ask for our DA 300 Product Information sheet 10 For this purpose HEIDENHAIN offers the DA 300 compressed air unit filter combination with pressure regulator and fittings The compressed air introduced into the DA 300 must fulfill the requirements of the following quality classes as per ISO 8573 1 2001 edition e Max particle size and density of solid contaminants Class 4 max particle size 15 um max particle density 8 mg m Total oil content Class 4 oil content 5 mg m e Maximum pressure dew point No class 29 C at 10 10 Pa The following components are necessary for connection to the RCN angle encoders M5 connecting piece for RCN With gasket and throttle 0 3 mm For airflow rate from 1 to 4 l min ID 207835 04 Mb coupling joint swiveling with seal ID 207834 02 Temperature range The angle encoders encoders are inspected at a reference temperature of 22 C The system accuracy given in the calibration chart applies at this temperature The operating temperature range indicates the ambient temperature limits between which the angle encoders will function properly The storage temperature range of 30 C to
8. 8 8 2 60 8 t Oj H r i 8 1O B g amp 4 x 90 S e 0 25 Pitch diameter 0 50 1 x 45 0 2 0 05 x 45 bd a 4 e eo Q L Pitch diameter 4 x 90 o 0 25 Ring nut L1 L2 D1 D2 D3 B for Hollow shaft 46 0 2 40 234 052 34 463 293524 1 35 0 075 0 053 Hollow shaft 700 2 865 859 052 59 469 60 06 1 60 0 075 0 059 Hollow shaft 114 0 2 107 2 98 538 99 163 100 067 1 5 100 0 095 0 07 General Mechanical Information Degree of protection Unless otherwise indicated all RCN angle encoders meet protection standard IP 67 according to IEC 60529 or EN 60529 This includes housings and cable outlets The shaft inlet provides protection to IP 64 Splash water should not contain any substances that would have harmful effects on the encoder parts If the protection to IP 64 of the shaft inlet is not sufficient such as when the angle encoder is mounted vertically additional labyrinth seals should be provided RCN angle encoders are equipped with a compressed air inlet Connection to a source of compressed air slightly above atmospheric pressure provides additional protection against contamination The compressed air introduced directly onto the encoders must be cleaned by a microfilter and must comply with the following quality classes as per ISO 8573 1 2001 edition e Solid contaminants Class 1
9. PL PT RO RS RU SE SG SK SL TH TR UA US VE VN ZA Machinebanks Corporation Quezon City Philippines 1113 E mail info machinebanks com APS 02 489 Warszawa Poland www apserwis com pl FARRESA ELECTRONICA LDA 4470 177 Maia Portugal www farresa pt HEIDENHAIN Reprezentant Romania Brasov 500338 Romania www heidenhain ro Serbia gt BG OOO HEIDENHAIN 125315 Moscow Russia www heidenhain ru HEIDENHAIN Scandinavia AB 12739 Skarholmen Sweden www heidenhain se HEIDENHAIN PACIFIC PTE LTD Singapore 408593 www heidenhain com sg KOPRETINATN s r o 91101 Trencin Slovakia www kopretina sk Posrednistvo HEIDENHAIN NAVO d o o 2000 Maribor Slovenia www heidenhain hubl si HEIDENHAIN THAILAND LTD Bangkok 10250 Thailand www heidenhain co th T amp M M hendislik San ve Tic LTD STi 34728 Umraniye Istanbul Turkey www heidenhain com tr HEIDENHAIN Co Ltd Taichung 40768 Taiwan R O C www heidenhain com tw Gertner Service GmbH B ro Kiev 01133 Kiev Ukraine www gertner biz HEIDENHAIN CORPORATION Schaumburg IL 60173 5337 USA www heidenhain com Maquinaria Diekmann S A Caracas 1040 A Venezuela E mail purchase diekmann com ve AMS Co Ltd HCM City Vietnam E mail davidgoh amsvn com MAFEMA SALES SERVICES C C Midrand 1685 South Africa www heidenhain co za Zum Abheften hier falzen Fold here for filing
10. 70 C applies when the unit remains in its packaging Protection against contact After encoder installation all rotating parts clamping rings must be protected against accidental contact during operation Acceleration Angle encoders are subject to various types of acceleration during operation and mounting Permissible angular acceleration for angle encoders RCN 2000 series 15000 rad s RCN 5000 series 10000 rad s RCN 8000 series 3000 rad s The indicated maximum values for vibration are valid according to EN 60068 2 6 e The maximum permissible acceleration values semi sinusoidal shock for shock and impact are valid for 6 ms EN 60068 2 27 Under no circumstances should a hammer or similar implement be used to adjust or position the encoder Natural frequency fy of coupling Together the stator and stator coupling of RCN angle encoders form a single vibrating spring mass system The natural frequency fy should be as high as possible The frequency ranges given in the respective specifications are those where the natural frequencies of the encoders do not cause any significant position deviations in the measuring direction If radial and or axial acceleration occurs during operation the effect of the rigidity of the encoder bearing the encoder stator and the coupling are also significant If such loads occur in your application HEIDENHAIN recommends consulting with the main facility
11. Mitsubishi RCN LC adapter cable Encoders with expanded voltage supply range For encoders with expanded supply voltage range the current consumption has a nonlinear relationship with the supply voltage On the other hand the power consumption follows a linear curve see Current and power consumption diagram The maximum power consumption at minimum and maximum supply voltage is listed in the Specifications The power consumption at maximum supply voltage worst case accounts for e Recommended receiver circuit Cable length 1 m Age and temperature influences Proper use of the encoder with respect to clock frequency and cycle time The typical current consumption at no load only supply voltage is connected for 5 V supply is specified The actual power consumption of the encoder and the required power output of the subsequent electronics are measured while taking the voltage drop on the supply lines in four steps Influence of cable length on the power output of the subsequent electronics example representation Step 1 Resistance of the supply lines The resistance values of the power lines adapter cable and encoder cable can be calculated with the following formula 105 Lc u Step 2 Coefficients for calculation of the drop in line voltage PEmax PEmin b RL U j UEmax UEmin p Bee qe Demi Emax Emin Step 3 Voltage drop based on the coefficients b and c AU 0 5 b V
12. Position errors within one signal period Position errors within one signal period already become apparent in very small angular motions and in repeated measurements They especially lead to speed ripples in the speed control loop These errors within one signal period are caused by the quality of the graduation and its scanning The smaller the signal period the smaller the errors HEIDENHAIN RCN angle encoders with optimized scanning permit interpolation of the sinusoidal output signals with subdivision accuracies of better than 0 5 of the signal period The reproducibility is even better meaning that useful electric subdivision factors and small signal periods permit small enough measuring steps Position error within one revolution A ap g Position error within 2 one signal period 9 B o E 0 84 0 90 180 2702 360 Position gt Position error u within one signal period u g S 3 a U L P H l 13 A Signal period p 360 elec E T 2 o For its angle encoders with integral bearings HEIDENHAIN prepares individual quality inspection certificates and ships them with the encoder The quality inspection certificate documents the encoder s accuracy and serves as a traceability record to a calibration standard The system accuracy of angle encode
13. for within motors and a few cables on encoders are sheathed in a special elastomer EPG cable These cables are identified in the specifications or in the cable tables with EPG Durability PUR cables are resistant to oil and hydrolysis in accordance with VDE 0472 Part 803 test type B and resistant to microbes in accordance with VDE 0282 Part 10 They are free of PVC and silicone and comply with UL safety directives The UL certification AWM STYLE 20963 80 C 30 V E63216 is documented on the cable EPG cables are resistant to oil in accordance with VDE 0472 Part 803 test type B and to hydrolysis in accordance with VDE 0282 Part 10 They are free of silicone and halogens In comparison with PUR cables they are only conditionally resistant to media frequent flexing and continuous torsion Fixed cable Frequent flexing _ Frequent flexing Temperature range HEIDENHAIN cables can be used for rigid configuration PUR 40 to 80 C rigid configuration EPG 40 to 120 C frequent flexing PUR 10t0 80 C PUR cables with limited resistance to hydrolysis and microbes are rated for up to 100 C If needed please ask for assistance from HEIDENHAIN Traunreut Lengths The cable lengths listed in the Specifications apply only for HEIDENHAIN cables and the recommended input circuitry of subsequent electronics Cable Bend radius R Fixed cable Frequent flexing 3 7 mm gt 8
14. position value Clock frequency lt 16 MHz lt 2 MHz Calculation time tcal 5 us at 8 MHz clock frequency Incremental signals E Ve Cutoff frequency 3 dB gt 400 kHz Electrical connection Separate adapter cable connectable to encoder via quick disconnect Power supply DC 3 6 to 14 V Power consumption SHOWS TET WW maximum 14 V 1 4 W Current consumption typical Shaft 5 V 225 mA without load Hollow through shaft D 2 60 mm Mech permissible speed lt 500 min temporary lt 1500 min Starting torque lt 0 7 Nm at 20 C Moment of inertia of rotor 1 3 10 kgm Permissible axial motion 0 3 mm of measured shaft Natural frequency gt 900 Hz Vibration 55 to 2000 Hz Shock 6 ms lt 200 m s EN 60068 2 6 1000 m s EN 60068 2 27 Operating temperature 0 C t9 TI C Protection EN 60529 IP 64 Weight Approx 2 8 kg 1 See General Electrical Information Speeds over 500 min require consultation 17 RCN 8000 Series e Integrated stator coupling Hollow through shaft 100 mm e System accuracy 1 and 2
15. EnDat 02 Positions per revolution 536870912 29 bits Elec permissible speed lt 1500 min for continuous position value lt 750 min for continuous position value Clock frequency lt 16 MHz lt 2 MHz Calculation time tcal 5 us at 8 MHz clock frequency Incremental signals E Ve Cutoff frequency 3 dB gt 400 kHz Electrical connection Separate adapter cable connectable to encoder via quick disconnect Power supply DC 3 6 to 14 V Power consumption SHOWS TET WW maximum 14 V 1 4 W Current consumption typical Shaft 5 V 225 mA without load Hollow through shaft D 2 100 mm Mech permissible speed lt 500 min temporary lt 1500 min 2 Starting torque lt 1 5 Nm at 20 C Moment of inertia of rotor 3 3 10 kgm Permissible axial motion 0 3 mm of measured shaft Natural frequency gt 900 Hz Vibration 55 to 2000 Hz Shock 6 ms lt 200 m s EN 60068 2 6 1000 m s EN 60068 2 27 Operating temperature DT SIT Protection EN 60529 IP 64 Weight Approx 2 6 kg 1 See General Electrical Information Speeds over 500 min require consultation 19 Interfaces Absolute Position Values EnDat The EnDat interface is a digital bidirectional interface for encoders It is Interface EnDat serial bidirectiona capable both of transmanting position Data transfer Absolute position values paramet
16. at 01 and EnDat 02 21 Cables and Connecting Elements General Information Connector insulated A connecting element with a coupling ring Available with male or female contacts E B Symbols M12 45 d M23 28 Coupling insulated Connecting element with external thread available with male or female contacts Symbols BE Mounted coupling with central fastening Mounted coupling with flange Cutout for mounting M23 M12 475 14 8 M12x1 M23 Flange socket Permanently mounted on the encoder or a housing with external thread like a coupling available with male or female contacts Symbols M23 24 6 927 Y 8 19 8 0 1 D sub connector For HEIDENHAIN controls counters and IK absolute value cards Symbols J 5I 43 47 76 51 With integrated interpolation electronics The pins on connectors are numbered in the direction opposite to those on couplings or flange sockets regardless of whether the connecting elements are E 2 oO When engaged the connections provide protection to IP 67 D sub connector IP 50 EN 60529 When not engaged there is no protection
17. b 4 0 Where UEmax Uemin Minimum or maximum supply voltage of the encoder in V PEmin PEmax Maximum power consumption at minimum and maximum power supply respectively in W Us Supply voltage of the subsequent electronics in V Step 4 Parameters for subsequent electronics and the encoder Voltage at encoder Up Up AU Current requirement of encoder lE AU RL Power consumption of encoder Pe Ue le Power output of subsequent electronics Ps Up IE RL UP Uemin Ri Cable resistance for both directions in ohms AU Voltage drop in the cable in V 1 05 Length factor due to twisted wires Le Cable length in m Ap Cross section of power lines in mm Current and power consumption with respect to the supply voltage example representation l i 14 ym Don 18 S 8 12 g E 3 14 3 2 e g 110 Sa AS 08 mU amp t i BS EE 08 38 2 07 m o o3 E S 0 6 05 Sao Tg oso ES PEE Supply voltage V 8 a Encoder cable adapter cable Connecting cable Total 1 3m 3m 2 20m 20m 3 3m 17m 20m 4 3m 47m 50m 5 3m 97m 100 m 6 7 8 9 9 mn 2 19 14 Supply voltage V Power consumption of encoder normalized to value at 5 V Current requirement of encoder normalized to value at 5 V 25 Electrically P
18. e length between 100 kHz 5 and 2 MHz With propagation delay p compensation in the subsequent 2 20 electronics clock frequencies up to o 16 MHz at cable lengths up to 100 m 10 are possible 300 2000 4000 8000 12000 16000 Clock frequency kHz gt EnDat 2 1 EnDat 2 2 without propagation delay compensation EnDat 2 2 with propagation delay compensation 20 Input Circuitry of the Data transfer Encoder Subsequent electronics Subsequent Electronics Dimensioning IC RS 485 differential line receiver and driver C3 330 pF Zo 1209 Incremental signals depending on For a description of the 1 Vpp encoder incremental signals see catalog Angle Encoders with Integral Bearing Pin layout 8 pin M12 coupling Power supply Absolute position values 2 5 1 4 7 6 Sensor Up ov Sensor 0 V DATA CLOCK CLOCK e a Blue White Green White Pink Violet Yellow 15 pin D sub connector For HEIDENHAIN controls and IK Power supply Incremental signals 10 16 12 9 2 13 6 14 15 ov Internal A B CLOCK CLOCK OV shield Yellow Violet Yellow Black Cable shield connected to housing Up power supply voltage Sensor The sensor line is connected in the encoder with the corresponding power line Vacant pins or wires must not be used 1 Only with ordering designations EnD
19. e shaft thread such that the ring nut can be tightened easily with a minor axial play This guarantees that the load is evenly distributed on the shaft connection and prevents distortion of the encoder s hollow shaft Ring nut for RCN 200 Series Ring nut for the RCN 2xxx Hollow shaft 20 mm ID 336 669 03 Ring nut for the RCN 5xxx Hollow shaft 35 mm ID 336669 17 Ring nut for the RCN 8xxx Hollow shaft 60 mm ID 336669 11 Hollow shaft 100 mm ID 336669 16 Mounting tool for HEIDENHAIN ring nuts The mounting tool is used to tighten the ring nut Its pins lock into the bore holes in the ring nuts A torque wrench provides Ring nut for the necessary tightening torque RCN 5000 series Mounting tool for ring nuts with Hollow shaft 20 mm ID 530334 03 Hollow shaft 35 mm ID 530334 17 Hollow shaft 60 mm ID 530334 11 Hollow shaft 100 mm ID 530334 16 PWW inspection tool for angle encoders The PWW makes a simple and quick inspection of the most significant mating dimensions possible The integrated measuring equipment measures position and radial runout regardless of the type of shaft coupling for example PWW for Hollow shaft 20 mm ID 516211 01 Hollow shaft 35 mm ID 516211 06 Hollow shaft 60 mm ID 516211 03 Hollow shaft 100 mm ID 516211 05 0 5 0 1 x 45 60 F 8 D co o N N M o S S
20. ehe www heidenhain de For complete and further addresses see www heidenhain de FARRESA ELECTRONICA S A 08028 Barcelona Spain www farresa es HEIDENHAIN Scandinavia AB 02770 Espoo Finland www heidenhain fi HEIDENHAIN FRANCE sarl 92310 S vres France www heidenhain fr HEIDENHAIN G B Limited Burgess Hill RH15 9RD United Kingdom www heidenhain co uk MB Milionis Vassilis 17341 Athens Greece www heidenhain gr HEIDENHAIN LTD Kowloon Hong Kong E mail sales heidenhain com hk Croatia gt SL HEIDENHAIN Kereskedelmi K pviselet 1239 Budapest Hungary www heidenhain hu PT Servitama Era Toolsindo Jakarta 13930 Indonesia E mail ptset group gts co id NEUMO VARGUS MARKETING LTD Tel Aviv 61570 Israel E mail neumo neumo vargus co il HEIDENHAIN Optics amp Electronics India Private Limited Chennai 600 031 India www heidenhain in HEIDENHAIN ITALIANA S r l 20128 Milano Italy www heidenhain it HEIDENHAIN K K Tokyo 194 0215 Japan www heidenhain co jp HEIDENHAIN Korea LTD Gasan Dong Seoul Korea 153 782 www heidenhain co kr Montenegro gt SL Macedonia gt BG HEIDENHAIN CORPORATION MEXICO 20235 Aguascalientes Ags Mexico E mail info heidenhain com ISOSERVE Sdn Bhd 56100 Kuala Lumpur Malaysia E mail isoserve po jaring my HEIDENHAIN NEDERLAND B V 6716 BM Ede Netherlands www heidenhain nl HEIDENHAIN Scandinavia AB 7300 Orkanger Norway www heidenhain no PH
21. ermissible Speed Traversing Speed The maximum permissible shaft speed or traversing velocity of an encoder is derived from e the mechanically permissible shaft speed traversing velocity if listed in the Specifications and the electrically permissible shaft speed traversing velocity For encoders with sinusoidal output signals the electrically permissible shaft speed traversing velocity is limited by the 3dB 6dB cutoff frequency or the permissible input frequency of the subsequent electronics For encoders with square wave signals the electrically permissible shaft speed traversing velocity is limited by the maximum permissible scanning frequency fmax of the encoder and the minimum permissible edge separation a for the subsequent electronics For angular or rotary encoders Nmax fmax 60 10 For linear encoders Vmax fmax E SP s 60 10 Where Nmax Elec permissible speed in min Vmax Elec permissible traversing velocity in m min fmax Max scanning output frequency of encoder or input frequency of subsequent electronics in kHz 2 Line count of the angle or rotary encoder per 360 SP Signal period of the linear encoder in um 1 26 Cable For safety related applications use HEIDENHAIN cables and connectors Versions The cables of almost all HEIDENHAIN encoders and all adapter and connecting cables are sheathed in polyurethane PUR cable Most adapter cables
22. ers and additional information values as well as transmitting or updating information stored in the encoder or saving Data input Differential line receiver according to EIA standard RS 485 for the new information Thanks to the serial transmission method only four signal signals CLOCK CLOCK DATA and DATA lines are required The data is transmitted in synchronism with the clock signal from the subsequent electronics The type of Data output Differential line driver according to EIA standard RS 485 for the signals DATA and DATA transmission position values parameters diagnostics etc is selected through mode commands that the subsequent Position values Ascending during traverse in direction of arrow see dimensions of the encoders electronics send to the encoder Some functions are available only with EnDat 2 2 mode commands Incremental signals w 1 Vpp see Incremental Signals 1 Vpp depending on the unit For more information refer to the EnDat Ordering Command set Incremental Power supply Technical Information sheet or visit designation signals www endat de EnDat 01 EnDat 2 1 With See specifications Position values can be transmitted with or or EnDat 2 2 of the encoder without additional information e g position EnDat 21 Without value 2 temperature sensors diagnostics limit position signals Besides the position EnDat 02 EnDat 2 2 With Expanded range additional informa
23. ff characteristics must also be considered If the power supply is switched off or when the supply voltage falls below Umin the output signals are also invalid During restart the signal level must remain below 1 V for the time tsor before power on These data apply to the encoders listed in the catalog customerspecific interfaces are not included Encoders with new features and increased performance range may take longer to Switch on longer time tsor If you are responsible for developing subsequent electronics please contact HEIDENHAIN in good time Isolation The encoder housings are isolated against internal circuits Rated surge voltage 500 V preferred value as per VDE 0110 Part 1 overvoltage category ll contamination level 2 Transient response of supply voltage and switch on switch off behavior Up max Up min dU dt gt 10 V s t Output signals invalid Valid Invalid Cable Cross section of power supply lines Ap 1Vpp TTL HTL 11 pApp EnDat SSI EnDat 17 pin 8 pin 3 7 mm 0 05 mm 0 09 mm 4 3 mm 0 24 mm 4 5mmEPG 0 05 mm 0 05 mm 0 09 mm 4 5 mm 0 14 0 09 mm 0 05 mm 0 05 0 149 mm 0 14 mm 5 1mm 0 057 9 mm 6 mm 0 19 0 142 9 mm 0 08 0 199 mm 0 34 mm 10 mm 2 2 2 2 8 mm 0 5mm 1mm 0 5mm 1mm amp 14 mm 1 Metal armor 2 Rotary encoders 3 Length gauges LIDA 400 5 Also Fanuc
24. her speeds up to 20000 min steel drums are used The scale substrate for large diameters is a steel tape These precision graduations are manufactured in various photolithographic processes Graduations are fabricated from e extremely hard chromium lines on glass or gold plated steel drums matte etched lines on gold plated steel tape or e three dimensional structures etched into quartz glass These photolithographic manufacturing processes DIADUR AURODUR or METALLUR developed by HEIDENHAIN produce grating periods of e 40 um with AURODUR 20 um with METALLUR 10 um with DIADUR 4 um and less with etched silica glass 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 output signals The master graduations are manufactured by HEIDENHAIN on custom built high precision ruling machines Absolute measuring method With the absolute measuring method the position value is available from the encoder immediately upon switch on and can be called at any time by the subsequent electronics There is no need to move the axes to find the reference position The absolute position information is read from the graduated disk which is formed from a serial absolute code structure The code structure is unique over one revol
25. in Traunreut Expendable parts HEIDENHAIN encoders contain components that are subject to wear depending on the application and handling These include in particular the following parts ED light source Cables with frequent flexing Additionally for encoders with integral bearing Bearing e Shaft sealing rings for rotary and angular encoders Sealing lips for sealed linear encoders System tests Encoders from HEIDENHAIN are usually integrated as components in larger systems Such applications require comprehensive tests of the entire system regardless of the specifications of the encoder The specifications given in the brochure apply to the specific encoder not to the complete system Any operation of the encoder outside of the specified range or for any other than the intended applications is at the user s own risk In safety related systems the higher level system must verify the position value of the encoder after switch on Mounting Work steps to be performed and dimensions to be maintained during mounting are specified solely in the mounting instructions supplied with the unit All data in this catalog regarding mounting are therefore provisional and not binding they do not become terms of a contract 11 RCN 2000 Series e Integrated stator coupling Hollow through shaft 20 mm System accuracy 2 5 and 5 ot
26. ing tolerances to facilitate mounting During angular acceleration of the shaft the coupling must absorb only that torque caused by friction in the bearing Angle encoders with integrated stator coupling therefore provide excellent dynamic performance Mounting The RCN housing is firmly connected to the stationary machine part with an integral mounting flange and a centering collar Shaft coupling with ring nut The shaft of the RCN is designed as a hollow through shaft For installation the hollow through shaft of the angle encoder is placed over the machine shaft and is fixed with a ring nut from the front of the encoder The ring nut can easily be tightened with the mounting tool Front end shaft coupling It is often helpful especially with rotary tables to integrate the angle encoder in the table so that it is freely accessible when the rotor is lifted The hollow shaft is connected by threaded holes on the face with the aid of special mounting elements adapted to the respective design not included in delivery To comply with radial and axial runout specifications the internal bore 1 and the shoulder surface 2 are to be used as mounting surfaces for shaft coupling at the face of the encoder Sr Ring nut Mounting aid Example of shaft connection at encoder face Ring nuts for the RCN HEIDENHAIN offers special ring nuts for RCN angle encoders Choose the tolerance of th
27. ion Separate adapter cable connectable to encoder via quick disconnect Power supply DC 3 6 to 14 V Power consumption SHOWS TET WW maximum 14 V 1 4 W Current consumption typical Shaft 5 V 225 mA without load Hollow through shaft D 2 35 mm Mech permissible speed lt 1500 min temporary lt 3000 min 2 Starting torque Moment of inertia of rotor lt 0 08 Nm at 20 C 140 10 kgm Permissible axial motion 0 3 mm of measured shaft Natural frequency gt 1000 Hz Vibration 55 to 2000 Hz Shock 6 ms lt 200 m s EN 60068 2 6 1000 m s EN 60068 2 27 Operating temperature REN 5520 Gto RCN 53xx 20 C to 60 C Protection EN 60529 IP 64 Weight Approx 0 9 kg 1 See General Electrical Information Speeds over 1500 min require consultation 15 RCN 8000 Series e Integrated stator coupling Hollow through shaft 60 mm System accuracy 1 and 2 40 0 365 9 28 2 e 4x 90 2 0 25 C 25 843 at e 31720 05 x e x 2 m 3c d Be e 3 Aal e km Q N Q N 1 Q a 3043 8 3 5 36 3 0 1 80 min 90 max
28. isches B ro Mitte 08468 Heinsdorfergrund Deutschland 03765 69544 HEIDENHAIN Technisches B ro West 44379 Dortmund Deutschland 0231 618083 0 HEIDENHAIN Technisches B ro S dwest 70771 Leinfelden Echterdingen Deutschland 0711 993395 0 HEIDENHAIN Technisches B ro S dost 83301 Traunreut Deutschland 08669 31 1345 NAKASE SRL B1653AOX Villa Ballester Argentina www heidenhain com ar HEIDENHAIN Techn B ro sterreich 83301 Traunreut Germany www heidenhain de FCR Motion Technology Pty Ltd Laverton North 3026 Australia E mail vicsales fcrmotion com Bosnia and Herzegovina gt SL HEIDENHAIN NV SA 1760 Roosdaal Belgium www heidenhain be ESD Bulgaria Ltd Sofia 1172 Bulgaria www esd bg DIADUR Industria e Com rcio Ltda 04763 070 S o Paulo SP Brazil www heidenhain com br Belarus GERTNER Service GmbH 50354 Huerth Germany www gertner biz HEIDENHAIN CORPORATION Mississauga OntarioL5T2N2 Canada www heidenhain com HEIDENHAIN SCHWEIZ AG 8603 Schwerzenbach Switzerland www heidenhain ch DR JOHANNES HEIDENHAIN CHINA Co Ltd Beijing 101312 China www heidenhain com cn HEIDENHAIN s r o 102 00 Praha 10 Czech Republic www heidenhain cz TPTEKNIK A S 2670 Greve Denmark www tp gruppen dk 747 218 21 15 10 2010 H Printed in Germany ES FI FR GB GR HK HR HU JP KR ME MK MX MY NL NO Vollst ndige und weitere Adressen si
29. lectrical signals Its structures have the same width as that of the measuring standard The special structure filters the light current to generate nearly sinusoidal output signals Graduated disk with serial code track and incremental track Light source Condenser Graduated Incremental track Disk Absolute track Structured photosensor Single field scanning principle Measuring Accuracy The accuracy of angular measurement is mainly determined by 1 the quality of the graduation 2 the quality of the scanning process 3 the quality of the signal processing electronics 4 the eccentricity of the graduation to the bearing 5 the radial runout of the bearing 6 the elasticity of the encoder shaft and its coupling with the drive shaft 7 and the elasticity of the stator coupling Position error within one revolution The system accuracy given in the Specifications is defined as follows The extreme values of the total errors of a position with respect to their mean value are within the system accuracy a The total errors are ascertained at constant temperature 22 C during the final inspection and is recorded on the quality inspection certificate The system accuracy reflects position errors within one revolution as well as those within one signal period and for angle encoders with integral bearing and integral stator coupling the errors of the shaft coupling
30. mm 2 40mm 4 3 mm 2 10mm gt 50mm 4 5 mm EPG gt 18mm 4 5 mm gt 10mm gt 50mm 5 1mm 6 mm gt 20mm gt 75mm 10 mm gt 35mm gt 75mm 8mm gt 40mm gt 100 mm 14 mm gt 100 mm gt 100 mm 1 Metal armor Noise Free Signal Transmission Electromagnetic compatibility CE compliance When properly installed and when HEIDENHAIN connecting cables and cable assemblies are used HEIDENHAIN encoders fulfill the requirements for electromagnetic compatibility according to 2004 108 EC with respect to the generic standards for Noise EN 61000 6 2 Specifically ESD EN 61000 4 2 Electromagnetic fields EN 61000 4 3 Burst EN 61000 4 4 Surge EN 61 000 4 5 Conducted disturbances EN 61000 4 6 Power frequency magnetic fields EN 61000 4 8 Pulse magnetic fields EN 61 000 4 9 Interference EN 61000 6 4 Specifically For industrial scientific and medical equipment ISM 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 include Strong magnetic fields from transformers brakes and electric motors Relays contactors and solenoid valves High frequency equipment p
31. position value lt 1500 min for continuous position value Clock frequency lt 16 MHz lt 2 MHz Calculation time tcal 5 us at 8 MHz clock frequency Incremental signals E Ve Cutoff frequency 3 dB gt 400 kHz Electrical connection Separate adapter cable connectable to encoder via quick disconnect Power supply DC 3 6 to 14 V Power consumption SHOWS TET WW maximum 14 V 1 4 W Current consumption typical Shaft 5 V 225 mA without load Hollow through shaft D 2 20 mm Mech permissible speed lt 1500 min temporary lt 3000 min Starting torque Moment of inertia of rotor lt 0 08 Nm at 20 C 188 10 kgm Permissible axial motion 0 3 mm of measured shaft Natural frequency gt 1000 Hz Vibration 55 to 2000 Hz Shock 6 ms lt 200 m s EN 60068 2 6 1000 m s EN 60068 2 27 Operating temperature J3NE25x c IS Gto RCN 23xx 20 C to 60 C Protection EN 60529 IP 64 Weight Approx 1 0 kg 1 See General Electrical Information Speeds over 1500 min require consultation 13 RCN 5000 Series e Integrated stator coupling Hollow through shaft 35 mm System accuracy 2 5 and 5 e6 EnDat22 4 5 38 5 2 5 33 1 5 4x 90 8 o3 c LO E 4 lt e N 2 4x 90 Q SZ
32. r s sensor lines If a controllable power supply is not available the voltage drop can be halved by Switching the sensor lines parallel to the corresponding power lines Calculation of the voltage drop 105 lLc 1 H AU 22 10 56 Ap where AU Voltage attenuation in V 1 05 Length factor due to twisted wires Lc Cable length in m I Current consumption in mA Ap Cross section of power lines in mm The voltage actually applied to the encoder is to be considered when calculating the encoder s power requirement This voltage consists of the supply voltage Up provided by the subsequent electronics minus the line drop at the encoder For encoders with an expanded supply range the voltage drop in the power lines must be calculated under consideration of the nonlinear current consumption see next page 24 If the voltage drop is known all parameters for the encoder and subsequent electronics can be calculated e g voltage at the encoder current requirements and power consumption of the encoder as well as the power to be provided by the subsequent electronics Switch on off behavior of the encoders The output signals are valid no sooner than after switch on time tsor 1 3 s 2 s for PROFIBUS DP see diagram During time tsor they can have any levels up to 5 5 V with HTL encoders up to Upmax If an interpolation electronics unit is inserted between the encoder and the power supply this unit s switch on o
33. rs is ascertained through five forward and five backward measurements The measuring positions per revolution are chosen to determine very exactly not only the long range error but also the position error within one signal period The mean value curve shows the arithmetic mean of the measured values 5 in which the reversal error is not included D The reversal error is ascertained with forward and backward measurements at 4 ten positions The maximum value and M i i 7 90 180 270 360 a are documented on the Fon un Burke niece err ens ee eo i Dis neu wird an 10 Messposi onen im without mechanical yaleneais The mecfumcal LJ The following limits apply to the reversal De cal dos VAriabusengecis bette i re T error Positionsatweichung Ap des Winkelmassger ies Ap p Su Position error A af the angle encoder Ap s 9v Ps Masspositon des Vergleichnonmais ds posiion manaured by Me reference standant RCN 2XXX Max 0 6 Pu Mensposios des Pr fings ev pasion measured by Me maaswed cache RCN 5xxx Max 0 6 ur Masaboree era 3807 tur of bw error curve min 360 p v RCN 8xxx Max 0 4 mene trip E re apii piod som a ehai The calibration standard is indicated in Mason amr Ment our order to certify the traceability to the Unsicherhst der Messmascting wefanyoffemewumpmsme 000 national standard LM o MN Messerig Omm Messi wort ud Anzahl der Meesposisonen pro Umdshung RO Number of reason Dane per wu 30 Diasa
34. s Winhaimessgerkt wurde unter strengen This angle encoder Mas Bean mancfacfused and inspected in und gepr ft sccanterce wih lhe stringer quailty slendercts legt bei The position eror at a rolerence tempereture of 22 C bes win won 22 C innerhalb der 60 the accuracy grade 5 0 LM NM E ERP 840 8 OKD K 12801 2008 04 ERP MO 991 OKD A 12901 2009 04 1908200 Alam DR JOHANNES HEIDENHAIN GmbH 63301 Traunreut wwe heidenhan de Telefon 49 8669 31 0 Fax 49 8568 5061 Profestingpected by A Hauser Example Determination of the reversal error with forward and backward measurements Measuring point Reference mark 0 36 723 108 144 180 216 252 288 324 360 Mechanical Design Types and Mounting RCN RCN angle encoders feature an integral bearing a hollow shaft and a stator coupling The measured shaft is directly connected with the shaft of the angle encoder Design The graduated disk is rigidly affixed to the hollow shaft The scanning unit rides on the shaft on ball bearings and is connected to the housing with a coupling on the stator side The stator coupling and the sealing design of the RCN with optimized scanning greatly compensates axial and radial mounting errors without restricting function or accuracy This permits relatively large mount
35. stator coupling with improved torsional rigidity Position error within one signal period Revised shaft sealing for large axial and example RCN 2580 1 position deviation 0 8 radial movements between the rotor and stator RCN 5000 Large hollow shaft with small mounting space e Stator can be mounted to the same mating dimensions as the RCN 2000 110 mm flange diameter Hollow shaft with 35 mm has more than three times the cross section of the RCN 2000 More space for stiffer shafts or hydraulic lines Reduced overall height of 42 mm for the RCN 5000 instead of 55 mm for the RCN 2000 Plug in electrical connection enables L 35 mm e Selectable lengths of connecting cable through separately ordered cable assemblies e Simple connection through quick disconnects no tools required High tightness level of IP 67 Large hollow shaft of RCN 5000 New scanning and evaluation electronics for High shaft speeds up to 3000 min with purely serial data transmission e Increased power supply range of 3 6 V to 14V Encoder monitoring and diagnostics without an additional line Plug in cable Measuring Principles Measuring standard HEIDENHAIN encoders incorporate measuring standards of periodic structures known as graduations These graduations are applied to a glass or steel substrate Glass scales are used primarily in encoders for speeds up to 10000 min For hig
36. tion can be interrogated 3 6 to 5 25V in the closed loop and functions can be EnDat 22 EnDat 2 2 Without or 14V performed with the EnDat 2 2 interface f Versions of the EnDat interface bold print indicates standard versions Parameters are saved in various memory areas e g Encoderspecific information e Information of the OEM e g electronic D label of the motor T Operating parameters datum shift Absolute encoder Subsequent electronics instructions etc AJ 1Vpp At Operating status alarm or warning i g is 1 Vep B Monitoring and diagnostic functions of the EnDat interface make a detailed inspection of the encoder possible Error messages e Warnings Online diagnostics based on valuation numbers EnDat 2 2 messages 4 i OV CLOCK CLOCK DATA DATA Depends on Parameters of the encoder i i Operating Operating Parameters manufacturer for encoder Incremental signals parameters status of the OEM l EnDat E SE available with or Abe 2 Elbe without incremental signals EnDat 21 and EnDat 22 encoders feature a high internal resolution An evaluation of the incremental signal is therefore unnecessary 9 100 Clock frequency and cable length E The clock frequency is variable depending 50 on the cabl
37. ulse devices and stray magnetic fields from switch mode power supplies AC power lines and supply lines to the above devices Protection against electrical noise The following measures must be taken to ensure disturbance free operation Use only original HEIDENHAIN cables Consider the voltage attenuation on supply lines Use connecting elements such as connectors or terminal boxes with metal housings Only the signals and power supply of the connected encoder may be routed through these elements Applications in which additional signals are sent through the connecting element require specific measures regarding electrical safety and EMC ER gt 100 mm gt 100 mm VA Minimum distance from sources of interference Connect the housings of the encoder connecting elements and subsequent electronics through the shield of the cable Ensure that the shield has complete contact over the entire surface 360 For encoders with more than one electrical connection refer to the documentation for the respective product e For cables with multiple shields the inner shields must be routed separately from the outer shield Connect the inner shield to 0 V of the subsequent electronics Do not connect the inner shields with the outer shield neither in the encoder nor in the cable Connect the shield to protective ground as per the mounting instructions Pre
38. ution A separate incremental track is read with the single field scanning principle and interpolated for the position value Photoelectric scanning Most HEIDENHAIN encoders operate using the principle of photoelectric scanning Photoelectric scanning of a measuring standard is contact free and as such free of wear This method detects even very fine lines in the micrometer range and less and generates output signals with very small signal periods The RCN angle encoders with integral bearing operation according to the imaging scanning principle Put simply the imaging scanning principle functions by means of projected light signal generation two graduations with equal or similar grating periods the scale and the scanning reticle are moved relative to each other The scale carrier material is steel The graduation on the measuring standard can likewise be applied to a transparent surface but also a reflective surface When parallel light passes through a grating light and dark surfaces are projected at a certain distance An index grating with the same or similar grating period is located here When the two gratings move relative to each other the incident light is modulated If the gaps in the gratings are aligned light passes through If the lines of one grating coincide with the gaps of the other no light passes through A large finely structured photosensor converts these variations in light intensity into e
39. vailable on request as well as on the Internet at www heidenhain de 2 This catalog supersedes all previous editions which thereby become invalid The basis for ordering from HEIDENHAIN is always the catalog edition valid when the contract is made Standards ISO EN etc apply only where explicitly stated in the catalog Contents Advantages Measuring Principles Measuring Accuracy Mechanical Design Types and Mounting General Mechanical Information RCN 2000 Series RCN 5000 Series 35 mm RCN 8000 Series Absolute Position Values Cables and Connecting Elements General Electrical Information Advantages Advantages of Angle Encoders with Optimized Scanning High signal quality thanks to optimized scanning Previous scanning principle Only two graduation tracks previously S up to 23 parallel graduation tracks e Absolute track with serial code structure e Incremental track with single field scanning e Relatively insensitive to contamination thanks to a large scanning surface e Scanning signals with high signal quality through special optical filtering Significantly reduced position error within one signal period 0 0 ingle field scanning 0 8 0 6 0 4 Position error 20 gt 0 2 0 90 180 270 360 Large mounting tolerances through Angle gt Optimized integrated
40. vent contact of the shield e g connector housing with other metal surfaces Pay attention to this when installing cables Do not install signal cables in the direct vicinity of interference sources inductive consumers such as contacts motors frequency inverters solenoids etc Sufficient decoupling from interference signal conducting cables can usually be achieved by an air clearance of 100 mm or when cables are in metal ducts by a grounded partition A minimum spacing of 200 mm to inductors in switch mode power supplies is required f compensating currents are to be expected within the overall system a separate equipotential bonding conductor must be provided The shield does not have the function of an equipotential bonding conductor Only provide power from PELV systems EN 50 178 to position encoders Provide high frequency grounding with low impedance EN 60204 1 Chap EMC For encoders with 11 uApp interface For extension cables use only HEIDENHAIN cable ID 244 955 01 Overall length max 30 m 27 HEIDENHAIN DR JOHANNES HEIDENHAIN GmbH e FAX Dr Johannes Heidenhain Stra e 5 83301 Traunreut Germany 49 8669 31 0 49 8669 5061 E mail info heidenhain de www heidenhain de DE AR AT AU BA BE BG BR BY CA CH CN CZ DK HEIDENHAIN Technisches B ro Nord 12681 Berlin Deutschland 030 54705 240 HEIDENHAIN Techn
41. x amp 2 0 2518 e mec gt d i e 4 No 8 239 0 02 A 0 2 A mm 4x 90 80 3 D 0 2 A Tolerancing ISO 8015 ISO 2768 m H lt 6 mm 0 2 mm 14 0 07 0 023 ll Bearing of mating shaft Required mating dimensions Mark for 0 position 5 Free space for customer Cable support Compressed air inlet Direction of shaft rotation for output signals as per the interface description 99000E on Ho du og 9 Measuring standard DIADUR circular scale with absolute and incremental track Line count 16384 System accuracy 325 SEM as DES 5 Position error per signal SEEDS lt 04 lt 04 period Absolute position values EnDat 2 2 Ordering designation EnDat 22 EnDat 02 Positions per revolution 268435 456 28 bits 67 108864 26 bits 268 435 456 28 bits 67 108864 26 bits Elec permissible speed lt 3000 min for continuous position value lt 1500 min for continuous position value Clock frequency lt 16 MHz lt 2 MHz Calculation time tcal 5 us at 8 MHz clock frequency Incremental signals E Ve Cutoff frequency 3 dB gt 400 kHz Electrical connect
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