Product Information

PWM 21ATS Software

05/2024

Adjusting and testing package

PWM 21 inspection device
PWM 21HEIDENHAIN offers an adjusting andtesting package for the diagnosis andadjustment of HEIDENHAIN encoders withabsolute and incremental interfaces. This
package is made up of the following
components:• PWM 21: inspection device with USB
connectability to a PC
• ATS software: adjusting and testing
software with integrated local encoder
database for automatic encoder
identification
We recommend sending the PWM 21 tothe HEIDENHAIN calibration service inTraunreut, Germany, every two years toensure traceable and accurate testing
performance.
For servicing purposes, an encoder
diagnostics set can be ordered through theHEIDENHAIN Service department. This set
contains the following extra components:• A sturdy case
• Cables for connecting various encoders
or for monitoring mode
For more information, please contact theHEIDENHAIN Service department.
Or visit: www.heidenhain.com/service.
Inspection and testing devices fromHEIDENHAIN
HEIDENHAIN encoders provide all theinformation needed for initial setup,monitoring and diagnostics. For the analysisof these encoders, HEIDENHAIN offersthe appropriate PWM inspection devices
and PWT testing units. The PWM inspection
devices, which are universally deployable,feature low measuring tolerances and canbe calibrated. Testing devices such as thePWT 101 provide fewer functions, havewider tolerances, and cannot be calibrated.
Mounting wizard
For mounting exposed or multi-section
linear encoders, or modular angle encoders,
we recommend using the PWM 21 inconjunction with the ATS software. ThePWT 101 can be used as well if it supports
the encoder interface. but with limitations.
Please note the information in the encoder
documentation regarding mounting andthe availability of a mounting wizard.
Overview of important new functions
with ATS software V3.8:• Support for SA2380– EnDat 3 monitoring mode
– EnDat 3 support for the PWM 20• Software options with a limited validity
period are available• Support for AMO encoders with theSSI interface• Adapted layout of the measurement
functions for incremental interfaces• Extended mounting wizard for newencoders• Report function adapted to display
inspection limits

Range of functions
The ATS software guides the user throughthe encoder inspection process. After theencoder is connected, various functions areavailable depending on the encoder interface
or the operating mode. A mounting wizard
provides support for encoder-mounting
functions or for testing functional safety.
Based on the measurement function, there
are various possibilities for recording theresults. In certain cases, a signal adapter
may be needed as well.

Inspection device

PWM 21

Area of application• Functional testing of absolute and incremental HEIDENHAIN encoders• Mounting wizard for HEIDENHAIN encoders

Encoder input
only for HEIDENHAIN encoders• EnDat 3 (ordering designations: E30-R2, E30-R4, E30-RB and E30- RM)*
• EnDat 2.2 (EnDat 2.1/EnDat 2.2 without incremental signals;
ordering designations: EnDat22, EnDat21)• EnDat 2.1 (EnDat 2.1/EnDat 2.2 with incremental signals;
ordering designations: EnDat0x, EnDatHx, EnDatTx)• DRIVE-CLiQ• Fanuc Serial Interface• Mitsubishi high speed interface• Panasonic Serial Interface• Yaskawa Serial Interface• SSI• 1 VPP (3 VPP for servicing purposes only)• 1 VPP with Z1 track• 11 µAPP (25 µAPP for servicing purposes only)• TTL• HTL (via signal adapter, for servicing purposes only)

Encoder output

Monitoring mode for certain interfaces (see Diagnostics under Range of functions);a signal adapter is required for galvanic isolation and EnDat 3 (see Operating modes andsignal adapters)

InterfaceUSB 2.0 (High Speed)Supply voltage

AC 100 V to 240 V (±10%), 50 Hz to 60 Hz (±2 Hz)
Supply voltage: DC 24 V (±2.4 V)
Power consumption ≈ 20 W

Operating temperature

0 °C to 45 °C

Protection EN 60529

IP20Dimensions

258 mm × 154 mm × 55 mm

Software options
The ATS software permits the user toexpand the standard performance rangeof the software by entering a product key.
The product key is subject to a charge andis valid only for the serial number of thePWM 21.

* Depending on the ordering designation, an SA 23xx or SA 1210 signal converter may be needed

ATS software
Encoders

Mounting and the mounting wizard

LIC 21xx, LIC 31xx, LIF 4xx, LIF 1xx,
LIDA 4xx, LIDA 2xx and ERM 2xxx

PWT 101 or PWM 21with ATS software

LIC 41xx, LIP 3xx, LB 3xx, LC 2xx, PP 281,
ECA 4xxx, ECM 24xx, ERA 4xxx, ERA 7xxx,ERA 8xxx and ERP 880

Possible with the PWT 101 to a limited
extent:For optimal mounting quality, please use
the PWM 21 with the ATS software

LIP 2xx, LIP 6xxx, ERP 1xxx, ERO 2xxx,PP 6xxx and MKV 1xxx

PWM 21 with ATS software required

ATS software V3.8
Download

The ATS software is not included in delivery and can be downloaded from the HEIDENHAIN
software filebase at www.heidenhain.com/service/downloads/software.
For notifications about new ATS software versions, sign up for our newsletter at
www.heidenhain.com/newsletter-signup.

System requirements andrecommendations• PC with dual-core processor > 2 GHz• Main memory > 2 GB
• ≈ 500 MB of free memory space• Screen resolution ≥ 1024 x 768• Operating system: Windows 7, 8, 10 (32-bit or 64-bit), Windows 11

Software options

Management of product keys for optional functions

Languages*

German, English, French, Italian, Spanish, Korean, Chinese (simplified), Chinese (traditional)* Full availability of the languages depends on the specific version of the ATS V3.8 software

DRIVE-CLiQ is a registered trademark of Siemens AG2PWM 21 Product Information    05/2024

PWM 21 Product Information    05/20243

Range of functions

1428286-20

Connection dialog
For establishing a connection with theencoder, the following information isneeded:• Supply voltage• Interface• Information about mounting• Information about position resolution
Via the integrated encoder database, all of
this information is available upon entry of
the ID number. In the case of manual entry,
only part of the information is available.
As a result, some functions cannot beenabled, or their availability is limited.

ATS24

1277664-24

1428272-24

1428286-24

ATS29

1277664-29

1428272-29

1428286-29

Operating mode
The range of functions depends on theoperating mode. The table shows the rangeof encoder diagnostics. In monitoring
mode, the range of functions is limited.
Signal adapter
For certain interfaces and, depending onwhether a PWM 20 or PWM 21 is used,a signal adapter may be needed. For
monitoring mode, a signal adapter isrecommended.

Additional functions integrated into ATS14for encoders with the DRIVE-CLiQ interface:• Expanded parameter display• Temperature display: additional display of
the temperature within the encoder*• Datum shift*
The signal limit values can be changed
with ATS20. The inspection and settings
limits for signal monitoring are preset tothe (standard) values documented in theInterfaces of HEIDENHAIN Encoders
brochure (ID 1078628-xx). Customized or
high-accuracy encoders may have different
signal tolerances, such as tighter tolerances
for the output signal amplitudes, on-to-off
ratios or phase angles. The “Customizing”
function allows for manual editing (adapting),saving and loading of signal limit values.

Additional function integrated into ATS24
for encoders with the Fanuc, Mitsubishi,
Panasonic and Yaskawa interfaces:• Datum shift*
Additional function integrated into ATS29
for encoders with an EnDat interface• Datum shift**	If supported by the encoder. For more
information, please contact HEIDENHAIN.

HTL3)1428272-20

TTL

1277664-20

1 VPP2)
11 µAPP2)

ATS20

Panasonic

1428286-14

Yaskawa

1428272-14

DRIVE-CLiQ

1277664-14

SSIATS14

Range of functions of the PWM 21 andATS software V3.8

Mitsubishi

Test version

Fanuc

Limited periodtime

EnDat 2.1

Unlimited periodof time

EnDat 2.2

Product key

EnDat 3

The table on the following page shows adetailed overview of the ATS software
functions. For more information about thefunctions, refer to the User’s Manual:
www.heidenhain.com/service/downloads/documentation

Connection dialog; encoder connection via:
• Encoder ID number• Entry of interface and supply voltage• ID number of HEIDENHAIN motor

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Position display
Display of absolution positions
Support for daisy-chain bus
Display of the incremental position (if available)
Display and resetting of error messages
Display and resetting of warnings
Display of the transmission status
PWT display of incremental signals
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()
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–
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–––
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––
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–––()––
––––

Diagnostics
Display of online diagnostics
Display of online diagnostics in the control loop1)
Monitoring mode permitted with the PWM 21
Display of operating status dataDisplay of encoder information
Circular diagram of incremental signals
Evaluation of the reference signal
Incremental counter
Display of supply voltage and supply current
Homing/limit display
Signal recording
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––
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–
–

Mounting wizards/inspection wizards
Mounting wizards
Inspection wizard for encoders with functional safety
Assistant for tensioning the scale tapeSee “Mounting wizard”; for more information, see the encoder documentation––––––––

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
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–––
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–

Miscellaneous functions
Comparison of absolute position with incremental position
Datum shift (“electric zeroing”), including information
display4)
Configuration wizard (addresses, characteristic curvesof sensors, etc.)
Display of temperatures
Display of additional position values
Display of additional sensors
Display of limit position signals
Expanded status display
Memory contents
Display of memory contents
Modification of memory contents
Storing of memory assignments
Comparison of current memory contents with saved
memory contents
Backing up the encoder memory

–()

–()

()

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()

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–()

–()

––––––

–––––––––––

5)
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

–––––

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––––––––––––––

––––––––––––––––––––––––––––


––––––––––––

––––––––––––––––––––––





–



–––1)

In feed-through mode; preferably in conjunction with a signal adapter (see Operating modes and signal adapters)
25 µAPP/3 VPP for servicing purposes
3)
Via signal adapter, for servicing purposes
4)
Software option required and is available only for certain encoders
5)
Including conversion for PT 1000 sensors when EnDat memory parameters are appropriately set() See the ATS Software Operating Instructions
2)

DRIVE-CLiQ is a registered trademark of Siemens AG4

PWM 21 Product Information    05/2024

PWM 21 Product Information    05/20245

Operating modes and signal adapter

Encoder diagnostics
The encoder is connected directly to thetesting or inspection device. This makes acomprehensive analysis of encoder
functions possible.
Monitoring modeThe PWM inspection device is inserted
within the closed control loop (via suitable
testing adapters as needed). This enables
real-time diagnosis of the machine orequipment during operation. The available
functions depend on the interface.

Incremental signal function: analog view

Result of the online diagnostics in the X/Y display

Recorded data loaded from a file

Result of the online diagnostics in a bar graph

Overview

PWM 21Interface

Output signals(selection)

Encoderdiagnostics

Monitoring
mode

EnDat 3

Position value
Valuation numbers

Yes
Yes

Yes
Yes

EnDat 2.1
(with incremental signals)

Position value
Incremental signals

Yes
Yes

No
Yes

EnDat 2.2(without incrementalsignals)

Position value
Valuation numbers

Yes
Yes

Yes
Yes1)

DRIVE-CLiQ

Position value
Valuation numbers

Yes
Yes

NoNo

Fanuc

Position value
Valuation numbers

Yes
Yes

Yes
Yes

Mitsubishi

Position value
Valuation numbers

Yes
Yes2)

Yes
Yes1) 2)

Panasonic

Position value
Valuation numbers

Yes
Yes

Yes
Yes1)

Yaskawa

Position value
Valuation numbers

Yes
Yes3)

No4)
No4)

SSI

Position value
Incremental signals

Yes
Yes

No
Yes

1 VPP

Incremental signals

Yes

Yes

11 µAPP

Incremental signals

Yes

Yes

TTL

Incremental signals
Scanning Signals

YesYes5)

YesNo

HTL

Incremental signals

Yes6)

NoCommutation

Block commutation
Yes6)
Sinusoidal commutation YesNoYes1)

Information must be requested by the control and transmitted
Not available for encoders with the ordering designation Mitsu01
3)
Not available for the EIB 3391Y
4)This function is currently not available
5)
If supported by the encoder (PWT function)
6)
Via corresponding signal adapter
2)

Sensors view

6

Configuration view

PWM 21 Product Information    05/2024

PWM 21 Product Information    05/2024

7Signal adapters are available for the PWM 21
in order to expand the range of functions:Control
1Position
2 controller

Speedcontroller
3Motor4

Encoder
5Motor4

Encoder5

HTL signal adapter
Connection of encoders with HTL interface
for servicing purposes.
SA 1210Connection of encoders with the E30-R2
ordering designation (the SA 1210 cannot
be used in conjunction with the PWM 20).

PWM
6Encoder diagnostics
Control
1SA 2380• The SA 2380 replaces the SA 100 andSA 110• The SA 100 and SA 110 signal adapters
are designed for a maximum supply
voltage of 5.5 V and are therefore
unsuitable for the inspection of EnDat 3encoders• Recommended for monitoring modedue to galvanic isolation of the RS-485
and 1 VPP signals• Connectability of an external power
supply, specifically if multiple encoders
are connected in bus mode and thepower cannot be made available via thePWM 21• For the connectability of EnDat 3encoders, see the following table

DR. JOHANNES HEIDENHAIN GmbH
Dr.-Johannes-Heidenhain-Straße 583301 Traunreut, Germany +49 8669 31-0
 +49 8669 32-5061
info@heidenhain.dewww.heidenhain.com

752745 · 11 · A · 02 · 05/2024 · PDF

Position
2 controller

Speedcontroller
3PWM
7Signalconverter
6Monitoring mode with signal converter (potential segregation)

Ordering designation

PWM 20PWM 21

E30-R2

SA 2380 needed

SA 2380 or SA 1210 needed

E30-R4

SA 2380 needed

E30-RBSA 2380 needed (SA 2380 needed only if
the PWM 21 cannot providethe maximum power)

E30-RM

SA 2380 neededThis Product Information document supersedes all previous editions, which thereby
become invalid. The basis for ordering from HEIDENHAIN is always the ProductInformation document edition valid when the order is placed.
Further information:
Information on correct and intended operation is provided in the following documents:• Brochure: Interfaces of HEIDENHAIN Encoders
1078628-xx• Brochure: Cables and Connectors
1206103-xx