Product Information

KCI 419 Dplus
Absolute Inductive
Rotary Encoder withAdditional Axial
Distance Measurement

11/2020KCI 419 Dplus: motor control• Absolute inductive rotary encoder with additional functionality• Axial distance measurement• Robust inductive scanning principle• Consists of a scanning unit (AE) and a rotor unit (TKW circular scale shaft)

33.5
24.5

20.5
M1 M2

18

34.7



28.7±0.1

30°

A

 73

+0.1

C

A-A

11



  21.5

BB 0.1 AM5


(83.64)

 0.2 B C

10

R1
0

45°(4x)M3

 65 0 A 82.933)

10

 5.5

 56

 64.5
 64.9

 73

 54

 12

 21



A-A

1
20



25


B

Rz 16



0.9
0.05 A

57  x  61

 12 H7 

All drawings are shown with brakes released

A
±0.05


0.1 B CZ
0.05 CZ = Bearing of motor shaft
 = Reference surface of coil carrier = Centerline of coil carrier
 = Required mating dimensions
M1 = Measuring point for operating temperature on flange
M2 = Measuring point for operating temperature on PCB
M3 = Measuring point for vibration
1 = Cylinder head screw: ISO 4762 – M6x16 – 8.8;
tightening torque: 8.5 Nm ±0.5 Nm
2 = Cylinder head screw: ISO 4762 – M5x12 – 8.8;
tightening torque: 4.5 Nm ±0.3 Nm
3 = Permissible axial motion of the motor shaft
4 = Surface of rotary encoder flange
5 = Parallelism/Flatness of the two armature plates in thearea of the bearing surface of the encoder flange
6 = Nominal scanning gap between the graduation andscanning unit (adjustable with the mounting aid)
7 = Coaxiality of the hole (¬ 65) of the coil carrier withrespect to the bearing of the motor shaft

2

B-B

1.5±0.1

B-B



8= Maximum permissible stroke of thearmature plates: 0.9 mm
9 = Direction of shaft rotation for ascending
position values
10 = 8-pin M12 circular connector
11 = Provide strain relief for the cable near therotary encoder ( 0.2 m);
the strain relief must not hinder
movement of the scanning unit in the axial
direction.

Product Information KCI 419 Dplus  11/2020

Motor control

Specifications

KCI 419 Dplus singleturn
For position measurement and motor control (rotatory)

Interface

EnDat 2.2

Ordering designation

EnDat22

Position values per revolution

524 288 (19 bits)

Calculation time tcal
Clock frequency

 5 µs 16 MHz

Data age (typical)

14 µs

System accuracy (typical)±90”

Electrical connection

8-pin M12 flange socket, axial

Supply voltage

DC 4.5 V to 14 V

Cable length 15 mPower consumption (max.)

At 4.5 V:  0.65 W; at 14 V:  0.7 W

Current consumption (typical)

At 5 V: 95 mA (without load)

Shaft

 12 mm with axial clamping via expansion cone

Shaft speed

 1500 rpm

Moment of inertia

AE scanning unit: 2.1 · 10–4 kgm2; rotor unit TKW (2KA): 3 · 10–6 kgm2

Angular acceleration of rotor

1 · 105 rad/s2

Natural frequency of thestator coupling (typical)

730 HzAxial motion of measured
shaft±0.05 mm (see ③ in the "Motor control” drawing)

Vibration 55 Hz to 2000 Hz
Shock 6 ms

AE scanning unit:  300 m/s2; TKW rotor unit:  600 m/s2 (EN 60068-2-6)2)
 2000 m/s2 (EN 60068-2-27)

Operating temperature–40 °C to 100 °C (at the measuring point (M1) and on the TKW rotor unit)

Relative humidity

 93 % (40 °C/21 d as per EN 60068-2-78), without condensation

Protection EN 60529

Complete encoder, mounted: IP37 ; AE scanning unit: IP67 (read about "insulation" under"Electrical safety" in the Interfaces of HEIDENHAIN Encoders brochure)

Mass

AE scanning unit: 0.28 kg; TKW rotor unit: 0.03 kg

ID numberAE scanning unit for KCI 419 Dplus:
ID 1282569-01
TWK rotor unit for KCI 419 Dplus:
ID 1282571-01

1)

1)

The encoder must be protected from abrasive and harmful media in the application. Use an appropriate enclosure as needed.
	10 Hz to 55 Hz, 5 mm constant peak to peak at the scanning unit (AE);10 Hz to 55 Hz, 10 mm constant peak to peak at the rotor unit (TKW)

2)

Product Information KCI 419 Dplus  11/2020

3

KCI 419 Dplus: axial distance measurement• Absolute inductive rotary encoder with additional functionality• Axial distance measurement• Robust inductive scanning principle• Consists of a scanning unit (AE) and a rotor unit (TKW circular scale shaft)


B

Rz 16



0.9
0.05 A

57  x  61

 12 H7 

All drawings are shown with brakes released

A
±0.05


0.1 B CZ
0.05 CZ



B-B




1
2
3
4

4

B-B

1.5±0.1

= Bearing of motor shaft= Reference surface of coil carrier= Required mating dimensions= Permissible axial motion of the motor
shaft= Parallelism/Flatness of the two armatureplates in the area of the bearing surface ofthe rotary encoder flange= Nominal scanning gap between thegraduation and the scanning unit;
adjustable with the mounting aid= Maximum permissible stroke of thearmature plates: 0.9 mm

Product Information KCI 419 Dplus  11/2020

Axial distance measurement

Specifications

KCI 419 Dplus: linear measurement
Additional functionality of axial distance measurement

Interface

EnDat 2.2 (for additional data 1, data format, and description, see EnDat Application Note)

Reproducibility of the
distance measurement(typical)±100 µm

Axial spring rate (typical)

105 N/mm

Data age

1.9 msNatural frequency of the stator 730 Hz
coupling (axial)
1)

Measuring range

0.5 mm to 1.6 mm

Measuring step

4 µm

Measuring strokes (typical)

10

1)

7

Under ideal conditions: measuring range of 0.2 mm to 2.1 mm

Intelligent integration of position values,
brake-stroke monitoring, andtemperature monitoring
In addition to providing motor feedback, the
new KCI 419 Dplus considerably enhances
availability and safety by providing data formonitoring the safety brake and thetemperature. It also featurescomprehensive online self-diagnostic
functionality. Normally required
microswitches are eliminated, along withthe cost and effort of mounting, wiring,
adjusting, and maintaining them.

By virtue of its direct proximity to themotor and brake, the KCI 419 Dplus
elevator rotary encoder also provides
meaningful temperature monitoring data
without additional cabling. The temperature
data can then be used to infer thepresence of malfunctions. Further benefits
include improved remote monitoring andpredictive maintenance capabilities. Its
inductive scanning method is highly
immune to contamination and vibration,and is known for its operational reliability.

In addition to transmitting rotational
position values, the KCI 419 Dplus
inductive rotary encoder for elevators alsomeasures distance in the axial direction.
When mechanically coupled with thearmature plate of the brake, theKCI 419 Dplus can detect the brake stroke.
Based on this information, the subsequent
electronics can determine the state of thebrake (released or engaged) and the levelof brake wear.

Product Information KCI 419 Dplus  11/2020

Data age
Due to the influence of propagation delay
times in the electronics, the position valuethat is formed deviates from the actual
physical position of the encoder. These
deviations arise in the encoder during
analog-to-digital conversion and throughpropagation times from the serial interface
to the subsequent electronics. The sum ofthese propagation influences is referred toas the data age. These influences lead to a
speed-dependent deviation of thedetermined position from the actual
physical position of the encoder.

5Electrical resistance

Check the electrical resistance between
the coil carrier and the screw of the rotor
unit.
Nominal value: < 1 ohm

Check the electrical resistance between
the coil carrier and the M12 housing screwa) as well as the armature plate b).
Nominal value: < 1 ohm

6

Product Information KCI 419 Dplus  11/2020

Transmission of temperature values

To protect the motor from overloads, themotor manufacturer usually monitors thetemperature of the motor winding. In
conventional applications, the temperature
sensor data are sent via two separate lines
to the subsequent electronics, where they
are then evaluated. Depending on theirconfiguration, HEIDENHAIN rotary
encoders with the EnDat 2.2 interface may
feature an internal temperature sensor
integrated into the encoder electronics, aswell as an evaluation circuit to which an
additional temperature sensor can beconnected. In the case of the
KCI 419 Dplus, an additional temperature
sensor is provided on the PCB for
temperature monitoring of the brake. The
coil carrier of the brake encloses thescanning unit of the KCI 419 Dplus and isconnected in a thermally conductive
manner via its fastening. Both sensor
values are transmitted purely serially as
digitized temperature values via the EnDat
protocol (as part of the additional data).

In compliance with the EnDat specification,
when the temperature reaches thewarning threshold for the temperature
exceedance of the internal temperature
sensor, an EnDat warning is issued(EnDat memory area “Operating status,”
word 1 “Warnings,” bit 21 “Temperature
exceeded”). This warning threshold for theinternal temperature sensor is stored in
the EnDat memory area “Operating
parameters,” word 6 “Trigger thresholdwarning bit for excessive temperature,” andcan be individually adjusted. At the timethe encoder is shipped, a default value
equivalent to the maximum permissible
operating temperature is stored here
(temperature at measuring point M1 as per
the dimension drawing). The temperatures
measured by the internal temperature
sensor (Temp. 2) and the PCB temperature
sensor (Temp. 1) are higher by devicespecific values than the temperature atmeasuring point M1.

Product Information KCI 419 Dplus  11/2020

Accuracy of the Temp. 1 temperature
sensor• –40 °C to 80 °C: ±7 K
• 80 °C to 100 °C: ±5 K
Accuracy of the Temp. 2 temperature
sensor• At 100 °C: ±1 K

7

MountingAccessory
The mounting aid facilitates handling of therotor unit during mounting and also sets
the scanning gap of 1.5 mm.
Mounting aid

1274500-60

The mounting aid is used to simply press
the rotor unit into the cylindrical hole of the
motor shaft. This automatically sets thecorrect distance for the scanning gap.
When the central screw is tightened, therotor unit is splayed by the internal taper,clamping the rotor unit within the motor
shaft.

Arm
atu
re

pla
te

Coil carrier
Motor shaft

8

Product Information KCI 419 Dplus  11/2020

The scanning unit is press-fitted onto thecoil carrier until stopping at the armatureplates. It is attached with two screws, bywhich the cross-slotted coupling is preloaded.
The axial change in position of the scanning
unit relative to the rotor unit can now bemeasured. The position of the scanning
unit changes by the same amount as the
position of the armature plates relative tothe coil carrier of the brakes (brake stroke).
Protection against contact (EN 60529)
After encoder installation, all rotating parts
must be protected from accidental
touching during operation.

Further information:
For further mounting information andmounting aids, please refer to therelevant mounting instructions and the
Encoders for Servo Drives brochure.
Product Information KCI 419 Dplus  11/2020

9

Diagnostics, inspection, and testing devices

HEIDENHAIN encoders provide all of theinformation needed for commissioning,monitoring, and diagnostics. The type of
information available depends on whether
the encoder is incremental or absolute andon which interface is being used.
Absolute encoders employ serial datatransmission. The signals arecomprehensively monitored within theencoder. The monitoring results (particularly
valuation numbers) can be transmitted tothe subsequent electronics along with theposition values via the serial interface(digital diagnostics interface). The
following information is available:• Error message: position value is notreliable• Warning: an internal functional limit of
the encoder has been reached• Valuation numbers:– Detailed information on the encoder’sfunction reserve– Identical scaling for all HEIDENHAIN
encoders– Cyclic reading is possible

This enables the subsequent electronics toevaluate the current status of the encoderwith little effort, even in Closed Loopmode.
For the analysis of these encoders,
HEIDENHAIN offers the appropriate PWM
inspection devices and PWT testing
devices. Based on how these devices areintegrated, a distinction is made between
two types of diagnostics:• Encoder diagnostics: the encoder isconnected directly to the testing or
inspection device, thereby enabling adetailed analysis of encoder functions.

• Monitoring mode: the PWM inspection
device is interposed within the closed
control loop (via suitable testing adapters
as needed). This enables real-time
diagnosis of the machine or equipment
during operation. The available functions
depend on the interface.

Diagnostics with the PWM 21 and ATS software

10

Product Information KCI 419 Dplus  11/2020

PWM 21
The PWM 21 phase-angle measuring unit,
in conjunction with the ATS adjusting andtesting software, serves as an adjusting
and testing package for the diagnosis andadjustment of HEIDENHAIN encoders.

PWM 21
Encoder input• EnDat 2.1 or EnDat 2.2 (absolute value with or without
incremental signals)• DRIVE-CLiQ• Fanuc Serial Interface• Mitsubishi high speed interface• Yaskawa Serial Interface• Panasonic serial interface• SSI• 1 VPP/TTL/11 µASS
• HTL (via signal adapter)

InterfaceUSB 2.0

Supply voltage

AC 100 V to 240 V or DC 24 V

Dimensions

258 mm × 154 mm × 55 mm

For more information, see thePWM 21/ATS Software Product
Information document.

Product Information KCI 419 Dplus  11/2020

11

Electrical connection

Adapter cables and connecting cables
Connecting cable, adapter cable2 (2 × 0.09 mm2) + 2 (2 × 0.16 mm2); AP = 2 × 0.16 mm2Connecting cable with 8-pin M12connector (female) and 8-pin M12
coupling (male)

ID 1036372-xx

Connecting cable with 8-pin M12connector (female) and unstrippedcable end

ID 1129581-xx

Adapter cable with 8-pin M12 connector(female) and 15-pin D-sub connector(female)ID 1036521-xx

Adapter cable with 8-pin M12 connector(female) and 15-pin D-sub connector(male)

ID 1036526-xx

1)

AP: Cross section of power supply lines
Connecting element must be suitable for the maximum clock frequency used!

1)

EnDat22 pin layout
8-pin M12 coupling or flange socket

Power supply

Serial data transmission

8

2

5

1

3

4

7

6

UP

SensorUP

0V

Sensor
0V

DATA

DATA

CLOCK

CLOCK

Brown/GreenBlue

White/Green

White

Gray

Pink

VioletYellow

Cable shield connected to housing; UP = Power supply voltage
Sensor: The sense line is connected in the encoder with the corresponding power line.
Vacant pins or wires must not be used!

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1298630 · 01 · A · 02 · 11/2020 · 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:
Comply with the requirements described in the following documents to ensure thecorrect and intended operation of the encoder:• Brochure: Encoders for Servo Drives
208922-xx• Brochure: Interfaces of HEIDENHAIN Encoders
1078628-xx• Brochure: Cables and Connectors
1206103-xx• Mounting instructions: KCI 419 Dplus
1298987-xx/1299278-xx• EnDat Application Notes
722024-xx• KCI 419 Dplus Application Notes
1283658-xx