Product Information

ERP 1000 Series
Angle Encoders
without Integral Bearing

09/2020

ERP 1000 series• Very high resolution and accuracy• Low mass and low mass moment of inertia• Consisting of an AK scanning head and TKN circular scale

Mounting adapter

AⓇ
1
2
3
4
5
6
7

= Bearing= Reference mark= Centering collar= Fine adjustment of the scanning head for attainment of
optimal incremental signals= Marks for circular scale centering (3x120°)= Optical centering point= For centering of circular scale with two scanning heads= Positive direction of rotation= Alternative cable outlet and connector are available

LE = Line element (ISO 1101: 2008)
SP = Signal periods

2Product Information ERP 1000   09/2020

AⓇ
123456= Bearing= Position of the reference mark= Positive direction of rotation= Fine adjustment of the scanning head for attainment of
optimal incremental signals= Optical centering point= Alternative cable outlet and connector are available= Center of rotation= Adjustable

LE = Line element (ISO 1101: 2008)
SP = Signal periods
MR = Measuring range
MR* = Required range for electronic fine adjustment

Product Information ERP 1000   09/2020

3Specifications

Scanning head

AK ERP 1070

Interface« TTL

Reference mark signal

Square-wave pulse

Integrated interpolation*

1-fold1)

5-foldScanning frequency2)

 450 kHz

10-fold

25-fold

50-fold

100-fold

500-fold

1000-fold 312.5 kHz

 250 kHz 125 kHz 62.5 kHz  12.5 kHz  6.25 kHz

Edge separation a 0.125 µs  0.135 µs  0.07 µs

 0.03 µs

Electrical connection*

15-pin D-sub connector (male) with 0.5 m/1 m/1.5 m cable, interface electronics in the connector;
cable outlet: left or right and straight or angled

Cable lengthWith HEIDENHAIN cable:  20 m; during signal adjustment with the PWM 21:  3 m

Supply voltage

DC 5 V ±0.5 V

Current consumption

 300 mA (without load)

Scanning head

AK ERP 1080

Interface» 1 VPP

Reference mark signal

Square-wave pulse

Cutoff frequency –3 dB

 1 MHz

Electrical connection*

15-pin D-sub connector (male) with 0.5 m/1 m/1.5 m/3 m cable;
12-pin SHR-12V-S connector (female) with 0.5 m/1 m/1.5 m/3 m cable;
cable outlet: left or right and straight or angled

Cable lengthWith HEIDENHAIN cable:  20 m; during signal adjustment with the PWM 21:  3 m

Supply voltage

DC 5 V ±0.5 V

Current consumption

 150 mA (without load)* Please select when ordering1)	Suitable for applications that measure the time between the individual clock edges of the TTL output singals;
non-clocked output signals permit low edge jitter2)
Maximum scanning frequency during referencing: 70 kHz

4

Product Information ERP 1000   09/2020

Scanning head

AK ERP 1010

Interface

EnDat 2.2

Ordering designation

EnDat22

Clock frequency

 16 MHz

Calculation time tcal

 5 µsElectrical connection*

15-pin D-sub connector (male) with 0.5 m/1 m/1.5 m/3 m cable; interface electronics inside the connector;
cable outlet: left or right and straight or angled

Cable lengthWith HEIDENHAIN cable:  100 m; during signal adjustment with the PWM 21:  3 m

Supply voltage

DC 3.6 V to 14 V

Power consumption (max.)

At 3.6 V: 1220 mW; at 14 V: 1430 mW

Current consumption(typical)At 5 V: 175 mA (without load)

1)1)Absolute position value after crossing of the reference mark in “Position value 2”

Scanning headGeneral (AK ERP 1070 / AK ERP 1080 / AK ERP 1010)

Vibration
55 Hz to 2000 Hz
Shock 6 ms

 500 m/s (EN 60068-2-6)

Operating temperature–10 °C to 70 °C

Protection

IP50

Mass

Scanning headConnectorCable2

 1000 m/s2 (EN 60068-2-27)

 5 g (without cable)
 75 g 22 g/m

Product Information ERP 1000   09/2020

5

Circular scale

TKN ERP 1000 (full circle)

Measuring standard

OPTODUR graduation on glass

Signal periods*

23 00030 00050 00063 000Accuracy of graduation

±4”

±3”

±1.8”

±1.5” or ±0.9”

Position error per2)
signal period±0.06”±0.04”±0.025”±0.02”RMS position noise(1 MHz)0.006”

0.004”

0.003”

0.002”

Positions/rev.

376 832 000

491 520 000

819 200 000

1 032 192 000

Measuring step3)

0.0034”0.0026”0.0016”0.0013”

Reference marks

One

Inside diameter of hub

13 mm

32 mm

62 mm

104 mmOutside diameterof circular scale

57 mm

75 mm

109 mm

151 mmMech. permissible speed

 2600 rpm

 2000 rpm

 1200 rpm

 950 rpm

Elec. permiss. shaft3)4)
speed 2600 rpm

 2000 rpm

 1200 rpm

 950 rpm

Moment of inertia

1.6 · 10–5 kgm2

5.7 · 10–5 kgm2

3.1 · 10–4 kgm2

1.1 · 10–3 kgm2

Protection EN 60529

Complete, mounted encoder: IP00Mass 57 g

 185 g 289 g1)

3)

 92 g* Please select when ordering
1)
When centered with two scanning heads2)	The position error within one signal period and the accuracy of the graduation together determine the encoder-specific error;
for additional error resulting from the mounting and bearing of the measured shaft, see Measuring accuracy in the brochure
Modular Angle Encoders with Optical Scanning
3)
With serial interface4)
With TTL serial interface and depending on the selected interpolation

6Product Information ERP 1000   09/2020

Circular scale

TKN ERP 1002 (segment)

Measuring standard

OPTODUR graduation on glass

Signal periods*

23 00030 00050 00063 000

Position error per
signal period±0.06”±0.04”±0.025”±0.02”RMS position noise(1 MHz)0.006”

0.004”

0.003”

0.002”

Positions/rev.
over 360°

376 832 000

491 520 000

819 200 000

1 032 192 000

Measuring step1)

0.0034”0.0026”0.0016”0.0013”

Reference marks

One

Measuring range

10°/23°/36°

8°/16°/31°

5°/11°/21°

4°/8°/15°

Elec. permiss. shaft1)2)
speed 2600 rpm

 2000 rpm

 1200 rpm

 950 rpm

Protection EN 60529

Complete, mounted encoder: IP00Mass

 0.6 g/1 g/1.7 g1)* Please select when ordering
1)
With serial interface
2)
With TTL serial interface and depending on the selected interpolation

Product Information ERP 1000   09/2020

7Signal-quality indicator

The ERP 1010 and ERP 1070 modular angle
encoders feature an integrated signal-quality
indicator with a multicolor LED, permitting
fast and easy signal-quality checks duringoperation.
This feature provides a number of benefits:• Scanning-signal quality visualization via
a multicolor LED• Continuous monitoring of incremental
signals over the entire angularmeasurement range• Indication of the reference-mark signalbehavior• Quick signal-quality checks in the field
without additional aids

ERP 1010 and ERP 1070:
Signal-quality indicator in the interface electronics

The built-in status indicator permits a reliable
assessment of the incremental signals andinspection of the reference mark signal.
The quality of the incremental signals is
indicated by different colors. A blue LED
indicates traversal of the reference mark.

LED indicator for incremental signals
LED color

Quality of thescanning signals

Optimal

AcceptableUnsatisfactory

LED indicator for the reference marksignalWhen the reference mark is traversed,
the LED briefly switches to blue. In theERP 1070 encoders, the LED can also be
used for checking the reference marksignal: Out of tolerance In tolerance

LED indicator for control margin
In the encoders with a TTL interface(ERP 1070), a flashing LED (briefly goesdark every 2.5 s) indicates when thecontrol margin of the scanning ASIC (HSP)
is nearly exhausted. Clean the measuring
standard and the scanning window of thescanning head in compliance with therelevant information in the mounting
instructions. The encoder may also need
to be checked for correct mounting.

In the encoders with a serial interface(ERP 1010), an error bit is set when a red LED
is displayed. Error bits can be displayed andcleared with the ATS mounting wizard.

8Product Information ERP 1000   09/2020

Cable outlets

Right-side cable outlet

Left-side cable outlet

Right-side cable outlet,
angled (0°)

Left-side cableoutlet, angled (0°)

Cable bend radius RConnectors
D-SUB» 1 VPP, TTL, EnDat

SHR-12V-S» 1 VPP

Cable clip(M3x6 screw)

Pre-adjustment
Optional pre-adjustment of the scanning head by means of a pin ( 2 mm).

Alternative cable outlet

Product Information ERP 1000   09/2020

9

Electrical connection
Pin layout

Pin layout
15-pin D-sub connector(male)

12-pin SHR-12V-S connector(female)1 2 3 4 5 6 7 8 9 10 11 12Power supply

EnDat

Incremental signals

Serial data transmission/other signals

4122101931114713155681–2–3465879111210/

UPSensor
UP0VSensor
0V//////DATA

CLOCKDATA

Ua1

Ua1

Ua2

Ua2

Ua0

Ua0UaS

Vacant Vacant1) Vacant1) Vacant1)

A+A–

B+

B–

R+R–

Brown Green Gray

Pink

RedBlackTTL» 1 VPP
Brown/
Green/White/
Green/

Vacant CLOCK1)
1)
Vacant Vacant Vacant Vacant Vacant

VioletYellow///

Shield lies on housing; UP = Power supply voltage
Sensor: The sense line is connected in the connector with the corresponding power line.
Vacant wires and pins must not be used.
1)
Required for signal adjustment with the PWM 21

10

Product Information ERP 1000   09/2020

Cables

1 VPP, TTL adapter cables and connecting cables
PUR 6 x (2 x 0.19 mm2); AP = 2 x 0.19 mm2
PUR 4 x (2 x 0.14 mm2) + (4 x 0.5 mm2); AP = 2 x 0.5 mm2¬ 8 mm¬ 6 mm1)

Adapter cable with 15-pin D-sub connector (female)and 12-pin M23 connector (male)331693-xx

355215-xx

Adapter cable with 15-pin D-sub connector (female)and 15-pin D-sub connector (male)

335074-xx

355186-xx

Connecting cable with 15-pin D-sub connector (female)and stripped cable end

332433-xx

355209-xx

Connecting cable with 15-pin D-sub connector (female)and pin layout for the IK 220

335077-xx

349687-xx

Signal cable with stripped cable ends (for 15 pins)

816317-xx

816323-xx

1)

Cable length for ¬ 6 mm: max. 9 m
AP: Cross section of power supply lines

EnDat adapter cable and connecting cable
2 x (2 x 0.09 mm2) + 2 x (2 x 0.16 mm2); AP = 2 x 0.16 mm2¬ 6 mmAdapter cable with 15-pin D-sub connector (female)and 8-pin M12 coupling (male)

1120686-xx

Connecting cable with 15-pin D-sub connector (female)without locking screws, and 15-pin D-sub connector (male)

1080091-xx

AP: Cross section of supply lines

Accessory
Adapter connector from SHR-12V-S to D-sub for signal adjustment with the PWM 21

Product Information ERP 1000   09/2020

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1166961 · 03 · A · 02 · 09/2020 · PDF

This Product Information document supersedes all previous editions, which thereby
become invalid. The basis for ordering from HEIDENHAIN is always the Product
Information document edition valid when the order is placed.
Further information:• Brochure: Modular Angle Encoders with Optical Scanning• Brochure: Interfaces of HEIDENHAIN Encoders

1222041-xx
1078628-xx