Angle Encoder
Modules

04/2024

Design and applications

Table of contents

The MRP angle encoder modules from
HEIDENHAIN are the optimal marriage ofan angle encoder with a high-precision
bearing. Customers benefit from highmeasuring accuracy, high bearing accuracy,
very high resolution, extreme repeatability
and excellent smoothness due to a low
starting torque. As complete assemblies
with tested specifications, they are easy tohandle and install.

Technical characteristics and mounting information
Design and applications

2

Measuring and bearing accuracy

6

Bearing loads

8

Lubrication and moment of friction

9

The motor

10

Mechanical design types and mounting

13

Calibration charts

14

Transferable accuracy

16

EnDat 3 bus operation

15

Specifications
Angle encoder modules

SRP angle encoder modules have theadded benefit of a built-in torque motor.
This compact system consists of a motor,a precision bearing, and a high-accuracy
encoder.

Angle encoder modules with built-in
torque motor

With ¬ 10 mm hollow shaft

MRP 2000 series
MRS 2200 series

18

With ¬ 35 mm hollow shaft

MRP 5000 series

26With ¬ 100 mm hollow shaft

MRP 8000 series
MRP 8081 Dplus

32

With ¬ 80 mm hollow shaft

MRP 8100 series

42With ¬ 32 mm hollow shaft

SRP 5000 series

48

Interfaces» 1 VPP incremental signals

54

EnDat position values

55

EnDat 3 position values

56

Motor

58

Electrical connection

This brochure supersedes all previous editions, which thereby become invalid.
The basis for ordering from HEIDENHAIN is always the brochure edition valid when theorder is placed.
Standards (ISO, EN, etc.) apply only where explicitly stated in the brochure.

Further information:
For detailed descriptions of all available interfaces, as well as general electricalinformation, please refer to the Interfaces of HEIDENHAIN Encoders brochure.

2

Information about the following topics isavailable upon request or online atwww.heidenhain.com:• Angle encoders with integral bearing• HEIDENHAIN signal converters

Design and applications

DesignHEIDENHAIN manufactures the bearingsand encoders itself, thus ensuring a highly
integrated system. Fewer components areneeded than with conventional solutions,so there are also fewer joints. The result isa rigid and compact design with a notably
small profile. Our angle encoder modules
are currently available with 10 mm, 35 mm,
80 mm and 100 mm hollow shafts. The
angle encoder modules with a built-in
motor are currently available with a 32 mm
hollow shaft.

Characteristics
The rolling bearings are adapted
specifically to the requirements of highprecision rotary axes. They emphasize
high guideway accuracy, high rigidity, lowstarting torque and smooth continuous
torque. Priority was also given to a low
mass and the most compact form factor
possible. Less priority was given to highspeeds and load ratings.
These encoders meet the rigorous require­ments of the metrology and electronics
manufacturing industries. Their key features
include their very high resolution, excellent
signal quality, and exceptional repeatability,
even under varying operating tempera­
tures. The assemblies are available witheither incremental or absolute encoders.

Advantages
Angle encoder modules are the combinationof a bearing and an encoder. Because
HEIDENHAIN has already completed thenecessary assembly and adjustment work,
their technical characteristics have alreadybeen defined and tested in accordance withthe customer’s desired specifications. In
addition, their simple mechanical interfaces
eliminate the need for all critical mounting
processes, thus simplifying the installation
process and ensuring that the specified
accuracy is attained in the application. The
complex task of matching components
with each other and with the machine iseliminated, as is the need for testing.

Reproducible guideway accuracy:a key feature of bearings
The absolute guideway accuracy of an
unloaded air bearing is often superior tothat of a rolling bearing. However, whatreally matters in many applications ishaving the highest possible reproducible
guideway accuracy. In such cases, angle
encoder modules from HEIDENHAIN area viable alternative to air-bearing axes.
Rolling bearings from HEIDENHAIN exhibit
exceptional repeatability, and their rigidity
is higher than that of comparably sized air
bearings by at least a factor of 10, making
them the more accurate solution on axes
acted on by forces. Because rolling bearings
are generally less sensitive to shock loads
and do not require a regulated air supply,
they are more robust and easier to use.

Areas of application
Our angle encoder modules are designed
for high to very high bearing accuracy andextremely high repeatability at low to
medium speeds and under medium-sizedloads. They are adapted specifically to therequirements of metrology applications.
Typical applications include laser trackers in
the metrology industry, high-precisionrotary tables on measuring machines andwafer-handling machines in the electronics
manufacturing industry. Angle encoder
modules can also be used on machine
tools that handle small loads, such as
electrical discharge machines or in laser
beam machining.

Practical solutions
With HEIDENHAIN angle encoders, thebearing can be adapted to specificcustomer needs, specifically the preload,
lubrication, contact angle and materials
used. For more information, please contact
your HEIDENHAIN representative.

The SRP angle encoder modules, whichfeature a built-in torque motor, enableuniform motion control. Their highguideway accuracy is ensured by the
motor’s nearly complete lack of cogging
torque and lateral forces.

Wafer handlingHigh-precision rotary tables

Compact tilting units

Laser trackers

Comparison of a conventional precision axis versus a solution using an angle encoder module from
HEIDENHAIN

45Measuring and bearing accuracy

The accuracy of HEIDENHAIN angle
encoder modules depends on the measure­ment accuracy of their angle encoder andthe bearing accuracy of their rolling
bearing.
HEIDENHAIN takes the following measuring
and bearing accuracies into account when
determining the quality of a given angle
encoder module:
Measuring accuracy
For determining the specs of a given angle
encoder module, the relevant measuring
accuracies of the angle encoder by itself
are primarily its system accuracy and its
reproducibitiliy.
The system accuracy of the angle encoder
is its position error within a single revolu­tion. It applies to the entire range of thespecified axial load.

The angle encoder’s repeatability is
subcategorized into its single-sided anddouble-sided repeatability. Single-sided
repeatability is determined during any
number of revolutions in a single directionof motion. Individual measuring points areapproached multiple times to determine
their maximum deviation. A reference
encoder is used for comparison.
Double-sided repeatability is determined
during changing directions of rotation. The
measuring points are approached fromboth sides, and their maximum deviation
is determined. The positioning process is
supported by a reference encoder.
In both analyses, the absolute deviation
relative to the reference encoder isinconsequential and is not the aim of themeasurement.

Bearing accuracy
For the evaluation of the bearing accuracy,
the oft-cited radial runout accuracy is not asimportant as the guideway accuracy of the
bearing. The guideway accuracy is thedeviation of the actual axis of rotation fromthe ideal nominal axis of rotation of the
bearing. The radial and axial guideway
accuracy of the bearing, along with its
wobble, are determined.

The radial guideway accuracy varies
depending on the distance from the bearing
plane and should therefore be measured at
different distances. These measurements
are performed for a defined number of
revolutions. They provide the deviation of
the actual axis of rotation from the nominal
axis of rotation for every rotational angle of

The guideway accuracy is measured withthe aid of a calibration standard, such as aceramic sphere with a known degree ofroundness. The center of the sphere ispositioned at a defined distance verticallyabove the center of the bearing raceway.

the bearing. The misalignment of themeasuring standard relative to the bearing
axis is mathematically removed from theresult.
This analysis yields values that contain bothrecurring (reproducable) errors and random(non-repeatable) errors. Since the measure­ments are always performed over multiple
revolutions, the reproducible errors can beseparated from the non-reproducible
errors. This enables a reliable assessmentof both components of the guideway
accuracy and provides clear information
about the actual quality of the bearing
without external influences.

r

The radial guideway accuracy may bemeasured with two length gauges, forexample. They are positioned at right angles
and at the height of the sphere center.
When the bearing is rotated, the length
gauges then measure the sphere’s radialdeviation in the X and Y directions.
The amount of radial error in the X and Y
directions depends on the rotational angle of the
bearing. To illustrate the position-dependent
deviation, the radial deviation can be shown as a
curve.

The radius r of the smallest possible circle that
encloses all curves is the radial guideway
accuracy. This radius is determined based on the
maximum deviation of the actual axis of rotation
relative to the ideal nominal axis of rotation foreight revolutions of the bearing.

For the measurement of the axial
guideway accuracy, a length gauge iscentered above the sphere. This gaugethen records any up and down movementsof the sphere in the Z direction while thebearing is rotating.

The axial runout is similar. It is the valuethat is measured in the axial direction
perpendicularly to the surface. The guideway
accuracy of the bearing and the form errorsof the surface are contained in the axial
runout as well.

The non-reproducible radial guideway
accuracy is determined by measuring thedeviation within eight revolutions at the sameangle of rotation.
The non-reproducible radial guideway accuracy
equals the maximum deviation of theascertained values.

Ideal axis

Axial runout
Position of the axis at
the angle φhAxial runout

Precision sphere formeasurement

Control accuracy at
distance h

Radial runout

Guideway accuracy inthe bearing planet

Measuring theaxial runout

Wobble refers to the tilt angle of the rotor
axis relative to the bearing axis during
rotation of the bearing. The maximum valueof the measurement is indicated. One
method of determining the wobble is tomeasure the radial guideway accuracy in
two planes.

Z

t

Y

Z

X

Y
X

Measured values and measuring locations on the rolling bearing (schematic
representation)

6

Measurement of the axial and radial guideway accuracy with five length
gaugesAs opposed to the guideway accuracy, theradial runout is the value measured by alength gauge perpendicular to a surface.
This stated value therefore includes both
the guideway accuracy of the bearing andthe form errors in the roundness andcoaxiality of the surface being measured.

Measuring theradial runout

Measurement of axial and radial runout

7Lubrication and moment of friction

Specifications
All specifications of the bearing charac­
teristics assume usage without additionalloads. It is also assumed that all of themounting components are dimensioned inaccordance with the dimension drawings
and are made of steel.

Moment of friction
Angle encoder modules from HEIDENHAIN
are characterized by a constant momentof friction and low breakaway torque. All of
the angle encoder modules undergo a
run-in process following production. This
ensures that the moment of friction remains
constant over a long period. In principle,
the moment of friction is always dependent
on the rotational speed.

Maximum permissible loads
Two factors play a key role in the specifi­
cations for the maximum permissible axial,
radial and tilting loads.

A further role is played by the limit values,
which are required in order to reach thefatigue limit. For the sake of assuming afatigue limit of the bearing, the contact
stress (Hertzian pressure at contact of therolling elements) according to DIN ISO 281
must not exceed a value of 1500 MPa.
The loads stated in the specifications aredefined such that this value is not exceeded.
The overlapping of individual loads is nottaken into account. In addition, the specified
values are for a purely static load.
In many cases, it is possible to exceed thespecified loads. The constraints in such cases
should be discussed with HEIDENHAIN in
order to more closely define possible
applications.

5 rpm

18
16

10 rpm20 rpm

14
12
10
8
6
4
2
0
0

10

20

30

40

50

Number of revolutions 
Figure 1: Axial load

Position error in arc seconds

One important factor is the position of theaxial load. While a strictly axial load (Figure 1)
has no influence on the system accuracy,
a low influence on the system accuracy isdetectable in the case of a tilting load
(Figure 2). In both cases, reproducibility is
not affected.

The specifications for the moment offriction were determined in the speed
range of  300 rpm.

Moment of friction in mNm

Bearing loads

Lubrication
The lubrication of a HEIDENHAIN angle
encoder module is designed to last through­out the service life, so that maintenanceis not required. Only high-quality lubricants
are used.

Figure 2: Off-center load5

Speed-dependent moment of friction with the MRP 5000

Without load
100 N

2.5

200 N

0

-2.5

-5
0

90

180

270

360

Position in degrees Position error in arc seconds

Position error under axial load with the MRP 5080
5

Without load
1.25 Nm

2.5

2.5 Nm

0

-2.5

-5
0

90

180

270

360

Position in degrees Position error under tilting load with the MRP 5080

8

9

The motor

Motion is provided by a slotless, iron-core
torque motor. As such, this motor combines
two normally contradictory characteristics—
high torque density and low cogging
torque. Instead of the slots employed inconventional designs, this motor uses selfretaining coils.
Thanks to the motor’s special design andhighly symmetrical component configuration,
the rotor is exposed to a constant magnetic
field throughout its entire rotation.

An iron return ring enables a comparatively
large amount of torque.
These are the resulting benefits:• Extremely low cogging torque• No interfering radial forces• Medium-sized torques• High dynamics in controlled operation• Low thermal power loss
• Compact dimensions

Self-retaining coils

Iron return ringOperation with AccurET position
controllers
The AccurET position controllers are theperfect complement to the SRP angle
encoder modules. With them, top
performance can be attained in terms ofdynamics and position stability.
The compact AccurET position controllers
accommodate a broad range of voltages
and currents. This greatly simplifies theintegration of different servomotors into asingle machine.
Multiple position controllers connected tothe same DC bus voltage can be supplied
by a single power supply. Each controller
can drive two axes.
Cogging torqueFor the plotting of the cogging torque, theintegrated torque motor is in its deenergized state and is driven by an externalsource of torque. The maximum occurring
cogging torque is typically compared withthe rated torque of the integrated torquemotor and is therefore a percentage. For
the SRP 5010 and SRP 5080 angle encoder
modules, the maximum cogging torque is 0.2% of the rated torque.

Since the position controllers do not requirea mounting rack, the amount of spacerequired depends only on the number ofaxes to be controlled. The simplified powerand communication cabling, as well as
the modular cooling unit, facilitates theinstallation and maintenance of themachine.
With the recommended AccurET controllers
from ETEL, the characteristics for protection
against thermal overloading are alreadyintegrated.

Cogging torque in mNm 

Slotless torque motor
The motor, which was specially developed
for the SRP angle encoder module, meetseven the highest requirements placed onhigh-precision rotary axes. The motor is
cogging-free and produces no disturbing
influences on the high-accuracy bearing.
This allows for exceptionally uniform
motion control and positioning accuracy.

Rotor with magnets

4
3
2
1
0
-1 0

If the instantaneous current value exceeds
the I2t RMS current limit, an integrator
circuit is activated. Once the integrator
circuit reaches the I2t time limit, thecontroller must stop the supply of current
to the motor.

Motor at standstill (shaft speed = 0):• With stall current (Is) over a very long(unlimited) time
• With continuous current (Ic) for at most
3 minutes

10

I2t RMS current limit= Is motor during standstill(shaft speed = 0)				= Ic motor during operation(shaft speed ≠ 0)

I2t time limit		

= (Ip2 – Ic2) · t

0,2

0,3

0,4

0,5

0,6

0,7

0,8

0,9

1

-2
-3

0

90

180

270

360

Position in degrees 

Cogging torque with the SRP 5000

Movement time
For the evaluation of the dynamic behaviorof the SRP 5000, a defined angular positionis specified for the device. The duration of
motion needed to approach the angular
position depends heavily on the specified
parameters for maximum speed, accelera­tion and jerk time. The load arising fromthe given application also influences the
movement time.

Movement time and settling time
Movement time1
Position in degrees

Motor during operation (shaft speed  0):• With continuous current (Ic) over a very
long (unlimited) period• With maximum current (Ip) for at most
1 s. The maximum current (Ip) must not
be exceeded.
• For current values between continuous
current (Ic) and maximum current (Ip) for
more than 1 s, the controller electronics
must provide I2t monitoring to protect
the device from thermal overload.

0,1

-4

Slotless iron-core permanent-magnet-excited AC synchronous motor

For protection against thermal overloading,suitable measures are required in thecontroller electronics (e.g., an I2t monitor).
Direct monitoring of the temperature bymeans of temperature sensors in the
motor windings is not possible.

AccurET VHP 48:
Controller with a high-speed encoder input
and special supply module for applications
with very high synchronization and position
accuracy demands.

5-5

Protection from thermal overloading
The SRP 5000 series devices can be
operated under the following conditions.
The ambient and mounting conditions
must be complied with in accordance withthe data provided in the data sheet.

AccurET Modular 48:
The AccurET Modular 48 controller isavailable in two versions. One version
permits the installation of an optional card,such as the UltimET motion controller or
the I/O card.

Zoom

1.00040.8

1.00031.0002

0.6

Settling time

1.0001

Position window

1.00000.4

0.99990.2

0.9998
500

1000

1500

1000

1500

2000

0
0

500

Movement time and settling time with position window

Time in ms

2500

11

Mechanical design types and mounting

Settling time and the position window
After the angular position has been reached,
the system requires a certain amount oftime to settle before the required position
window is reached. This time is referred toas the settling time and varies dependingon the load applied to the driven angle
encoder module. The position window is
specified by the given application.

SRP 5000 with different loads

Settling time at different position windows
with the AccurET VHP 48 position
controller and the specified parameters:

Without load

Maximum speed

The angle encoder module consists of apreloaded bearing unit with a mounted
angle encoder. Proper mounting is criticalfor ensuring good guideway accuracy forthe bearing. During mounting, pleaseobserve the following:• The flatness of the mounting parts• Compliance with the specified screw
torque values• The screw tightening sequence• The specified load direction• The transferable torque of the respective
joints1800 °/s
Mass: 5 kg,
Moment of inertia: 6 · 10–3 kgm2

2

Acceleration

34 000 °/s

Jerk time

0.0052 s

Movement time and settling time in s

0.5

Without load
Mass: 0.5 kg; moment of inertia: 6 · 10–4 kgm2

0.3

Mounting option 2

Materials for mounting
Steel is recommended for the mounting part.
The material must have a thermal coefficientof expansion of  = (10 to 12) · 10–6 K–1.
The material must also meet the following
specifications:• Re  235 N/mm2• Rm  400 N/mm2

Position window: 0.02”

0.4

Mounting option 1

A precise alignment of the angle encoder
module is not required, because the angle
encoder module and bearing are already
optimally aligned relative to each other.
Centering collars on the mounting parts,
however, can facilitate mounting.
Angle encoder modules must not be
combined or stressed with a second fixedbearing. If another support bearing isrequired, then it must be designed as afloating bearing.

Mass: 0.5 kg,
Moment of inertia:: 6 · 10–4 kgm2

1 = Required direction for axial forces on the rotor
2 = Rotor
3 = Stator

Mass: 5 kg; moment of inertia: 6 · 10–3 kgm2

0.2
0.1

Mounting options of the MRP 5010 devices

0
0.01

0.1

1

10

100

Positioning step in degrees

Movement time and settling time in s

0.5
Position window: 0.16”

Without load

0.4

Mass: 0.5 kg; moment of inertia: 6 · 10–4 kgm2
Mass: 5 kg; moment of inertia: 6 · 10–3 kgm2

0.3

Protection against environmental
factors
Suitable measures must be employed inorder to protect the devices fromenvironmental factors. The information in
the Specifications must be complied with.

0.2
0.1
0

0.01

0.1

1

10

100

Positioning step in degrees

12

Electromagnetic compatibility
For devices with an IP00 rating, thecustomer must provide a suitable
protective cap and shield connection.

Connect the shield to the crimp sleeve.
Provide strain relief for the cable!

13

Calibration charts

Transferable accuracy

Prior to shipping, HEIDENHAIN tests each
enocder module for proper functioning.

In order to achieve accuracies in the high-end range, customers must often perform avery complex and time-consuming calibration of the entire machine. Under the motto“transferable accuracy,” HEIDENHAIN contributes to facilitating the mounting process forthe customer and to transferring the high accuracy of its encoders to the customer’s
application without loss. For the MRP 8081 Dplus encoders, this is achieved through thefollowing features:

A Quality Inspection Certificate documents
the system accuracy, which is determinedthrough eight forward and eight reverse
measurements. The measuring positions
per revolution are selected such that boththe long-range error and the position error
within a single signal period are ascertainedwith great accuracy.

• Robust mechanical mounting interface• Combination of rigid bearing unit and pre-adjusted scanning• Four scanning heads for position calculation for robust angle measurement• Compensation data for boosting the system accuracy

The mean value curve shows thearithmetic mean of the measured values.
Hysteresis is not taken into consideration.

Electrical connection
The MRP 8081 Dplus angle encoder
module has four separate connections(D-sub, 15-pin) with the 1 VPP interface.
HEIDENHAIN EIB 74x signal converters
can be used to operate the product.
The product can also be connected todownstream electronics from third-party
suppliers if they provide four 1 VPP inputs.

The calibration standard stated in the
Quality Inspection Certificate establishes
the link to national and international
standards and ensures traceability.

The Quality Inspection Certificate documents the system accuracy.

An additional Quality Inspection Certificate
documents the radial guideway accuracy.
This measurement is performed during
eight forward movements at a definedvertical distance above the center of the
bearing’s raceway.

Compensation data file
The included compensation data file in
CSV format contains a two-dimensional
table. In this table, the angular positions
from the four scanning heads, which havealready been taken into account in thecalculation, are assigned the corresponding
compensation values for boosting
accuracy. The compensation data file isprovided on a USB flash drive included
with the encoder.

Position calculation with an EIB 74x
or downstream electronics fromthird-party suppliers
For the system to be able to reach thespecified accuracy, the positions of all
scanning heads must be averaged.
Xavg =










(X1abs + X2abs + X3abs + X4abs)
4

X1abs ... X4abs:	Positions of the scanning
heads
Xavg:		Arithmetic mean value of
inputs X1abs to X4abs


Mounting option 1

For more information about implementing
the position calculation, please refer to the
MRP 8081 Dplus installation instructions.









Xavg in °0
5.625
11.25016.87522.50028.125The measurement curve shows thedeviation of the actual axis of rotation fromthe ideal nominal axis of rotation withrespect to the bearing’s rotation angle.

0.489
0.397
0.274
0.188
0.144
0.151





Mounting option 2

1 Customer rotor (mounting option 1)
2 Customer stator
3 Customer rotor (mounting option 2)
4 Scanning head 1 (with ID label)
5 Scanning heads 2 to 4 (without ID label)
6 ID label

Corr in ”

The non-reproducible radial guideway
accuracy is the maximum deviation among
all of the measuring points at the sameangular position.

Corr in ”

Xavg in °The Quality Inspection Certificate documents the radial guideway accuracy.

14

15

Bus operation

Principle of operation
The MRP 2030 and MRS 223x encoders
use the EnDat 3 interface, which enables
bus operation in daisy-chain mode. Two wire
pairs, one for power and one for com­munication, connect the EnDat 3 MasterRS 485

Cm

Power supply and cables
The interlinking of multiple encoders gives
rise to high supply current in individual
sections of the network. It is therefore
important that the supply wires have asufficiently large cross section. To limit
losses in the cables, comply with thefollowing recommendation: the participantthat is farthest away (Bus Address 1)
should be supplied with at least 9 V. The
cables must be suitable for EnDat 3
communication. We recommend using the
Y coupler (ID 1341637-03) and original
HEIDENHAIN cable.

to the network. Each encoder has fourcommunication connectors (two for each
communication wire pair). Each slave
listens to all communication as it passes
through the slave network.

R

For connecting the encoder to the Y coupler,a suitable output cable must be used. For
cabling a Y adapter to a Y adapter, EnDat22
cable assemblies can be used (see theCables and Connectors brochure).
See also General electrical informationin the Cables of HEIDENHAIN Encoders
brochure. For more information about
EnDat 3, visit www.endat.de.

R

Downstream
electronics
Subsequent
unit

Principle of operation:
Slave network

Slave 2

1

SD–_NEXT

SD+_NEXT

UP
0V

SD–

SD+

SD–_NEXT

SD+_NEXT

UP
0V

SD–

SD+

Downstream
electronics
2

Bus address
5

Slave 1

1

2

Bus address
4

1

2

Bus address
3

1

2

Bus address
2

Bus address
1

Sample setup

Communication
In bus operation, the master sends arequest in the form of a broadcast andanticipates responses from all theconnected participants. The participant
with the address “Slave 1” is the firstone o send its response (RSP 1). The
next participant (“Slave 2”) listens to
the response and, immediately after
completion of the response, sends its
own. The following figure illustrates theprocedure for three participants:

Master
RSP 1

Bus communication requires that thecorresponding bus addresses must be
programmed in the encoder. This canbe done with the PWM 21 testing device(ATS software) or with downstream
electronics.

12.5 Mbit/s*

6 participants at a total
cable length of 100 m

25 Mbit/s

3 participants at a total
cable length of 40 m

*With the MRP 2030 and MRS 223x
encoders, up to 8 participants can beconnected to each other with a maximum
cable length of 10 m.

Slave 3
RSP 2

Currently valid limitations on thenumber of participants in bus operation

RSP 3

Slave 2
RSP 1

RSP 2

Slave 1
RSP 1

Bus operation: example with 3 participants

16

17

MRP 2000 series

Angle encoder modules with built-in encoder and bearing• Particularly compact dimensions• High measuring and bearing accuracy• Hollow shaft diameter: 10 mm

Encoder characteristics

Incremental
MRP 2080

Measuring standard

Bearing properties

Incremental
MRP 2080

DIADUR circular scale

Shaft

Hollow through shaft D = 10 mm

Signal periods

2048

Max. permissible axial load3)

50 N (centered load)

System accuracy±7”

Max. permissible radial load3)

45 N

Position error per signal period±1.5”

Max. permissible tilting torque3) 0.8 Nm

Repeatability

From both directions: 3”

Contact stiffness

RMS position noise

Typically 0.07”

Typically 0.10”

Axial: 25 N/µm
Radial: 77 N/µm
(calculated values)

Interface 1 VPPEnDat 2.2

EnDat 3

Resistance to tilt

2.16 Nm/mrad (calculated value)

Ordering designation–

EnDat22

E30-RB

Mech. permissible speed

2000 rpm

Position values per revolution–

25 bits

Moment of friction

 0.020 Nm

Clock frequency
Calculation time tcal–

 16 MHz 7 µsStarting torque 0.010 Nm

Reference marks

1–

Max. transferable shaft torque3)

0.3 NmCutoff frequency –3 dB

 210 kHz–

Moment of inertia of rotor

3.5 · 10–6 kgm2

Bus operation (daisy chain)––

Radial guideway accuracy

Measured at a distance of h = 20 mm from the rotor mating surface:  0.60 µm

Data rate––

12.5 Mbit/s (25 Mbit/s)

Non-reproducible radial
guideway accuracy

Measured at a distance of h = 20 mm from the rotor mating surface:  0.70 µm

Cycle time––

Typically > 25 µs

Axial guideway accuracy

 ±0.3 µm

Electrical connection

14-pin PCB connector; adapter cable plus
quick connector as an accessory

16-pin PCB connector(12+4 for additional sensor)

Axial runout of the surface

 8 µmCable length1)

 30 m (with HEIDENHAIN cable)

Wobble of the axis

2.5”

Vibration 55 Hz to 2000 Hz
Shock 6 ms

 200 m/s2 (EN 60068-2-6)
 1000 m/s2 (EN 60068-2-27)(without load)

Protection EN 605292)

IP001)

Operating temperature
Storage temperature

0 °C to 50 °C
0 °C to 50 °C

Relative air humidity

 75% without condensation

Mass

0.12 kg (without cable or connector)

Supply voltage

DC 5 V ±0.25 V

Power consumption (maximum) 5.25 V:  0.7 W
Current consumption (typical)
1)

Without load: IP = 60 mA; max. 120 mA
With load:max. 130 mA

Absolute
MRP 2010

MRP 2030

25 Mbit/s; up to 3 bus
participants: ≤ 40 m
12.5 Mbit/s; up to 6 bus
participants: ≤ 100 m
12.5 Mbit/s; up to 8 bus
participants: ≤ 10 m
DC 3.6 V to 14 V
3.6 V:  0.6 W
14 V:  0.7 W

3.6 V:  0.45 W
14 V:  0.65 W

5 V: 85 mA(without load)

12 V: 25 mA(without load)

Absolute
MRP 2010

MRP 2030

1)

The electromagnetic compatibility of the complete system must be ensured through appropriate measures taken during installation.
When mounted
3)
Purely static load, without additional vibrations or shock loads
2)

The cable length refers to the entire transmission distance.

MRP 2080/
MRP 2010/
MRP 2030

18

19

MRP 2000 series
MRP 2010, MRP 2030, MRP 2080

Mating dimensions of the mounting parts

Note the information onmechanical design types
and mounting.

1 = Tightening torque of the M2.5 – 8.8 cylinder head screws: 0.6 Nm ±0.03 Nm
2 = Tightening torque of the M4 – 8.8 cylinder head screws: 2.5 Nm ±0.13 Nm
3 = Mark for 0° position ±5°
4 = Direction of shaft rotation for ascending position values
5 = Required direction for axial forces

20

1 = Rotor
2 = Stator (do not use as rotor)
3 = Required mating dimensions for the transfer of the maximum permissible loads as per the specifications
4 = Optional: recommended mating dimensions
5 =	Screw: ISO 4762 – M2.5 – 8.8; materially bonding threadlocker required; washer: ISO 7092 – 2.5 – 200HV;
tightening torque: 0.6 Nm ±0.03 Nm
6 =	Screw: ISO 4762 – M4 – 8.8; materially bonding threadlocker required; washer: ISO 7092 – 3 – 200HV;
tightening torque: 2.5 Nm ±0.13 Nm
7 = The customer is responsible for electrical shielding and for connecting cables

21

MRS 2200 series

Angle encoder module with integrated encoder and bearing• Compact dimensions• High measuring and bearing accuracy• Hollow shaft diameter: 10 mm• High resistance to tilt
Encoder characteristics

Incremental
MRS 2280

Measuring standard

Absolute
MRS 2230

Incremental
MRS 2281

Absolute
MRS 2231

Bearing properties

Incremental
MRS 2280

DIADUR circular scale

Shaft

Hollow through shaft D = 10 mm

Signal periods

2048

Max. permissible axial load1)

100 N (centered load)

System accuracy±10”

Max. permissible radial load1)

45 N

Position error per signal period±1.5”

Max. permissible tilting torque1) 5 Nm

2.5 NmRepeatability

From both directions: 3”

Contact stiffness

RMS position noise

Typically 0.07”

Typically 0.10”

Typically 0.07”

Typically 0.10”

Axial: 54 N/µm
Radial: 153 N/µm
(calculated values)

Axial: 27 N/µm
Radial: 77 N/µm
(calculated values)

Interface 1 VPPEnDat 3

 1 VPPEnDat 3

Resistance to tilt

52 Nm/mrad (calculated value)

24 Nm/mrad (calculated value)

Ordering designation–

E30-RB–

E30-RB

Mech. permissible speed

1000 rpm

Positions/revolution–

25 bits–

25 bits

Moment of friction

 20 mNm

 15 mNm

Reference marks

One

–

One

–

Starting torque 30 mNm

 20 mNm

Cutoff frequency –3 dB

 210 kHz– 210 kHz–

Max. transferable shaft torque1)

1 Nm

Bus operation (daisy chain)

–



–



Moment of inertia of rotor

1.5 · 10–5 kgm2

0.9 · 10–5 kgm2

Data rate–

12.5 Mbit/s (25 Mbit/s)–

12.5 Mbit/s (25 Mbit/s)

Radial guideway accuracy≤ 0.8 μm2)

≤ 2.4 μm2)

Cycle time–

Typically > 25 µs–

Typically > 25 µs≤ 0.5 μm2)

≤ 1.6 μm2)

Electrical connection

14-pin PCB connector;
16-pin PCB connector
accessory: adapter cable (12+4 for additionalwith quick connector
sensor)

Non-reproducible radial
guideway accuracy
Axial runout of the surface

 20 µm

 30 µm

Cable length1)

 30 m (withHEIDENHAIN cable)

Radial runout

 30 µm

 50 µm

Vibration 55 Hz to 2000 Hz
Shock 6 ms

 200 m/s2 (EN 60068-2-6)
 1000 m/s2 (EN 60068-2-27)(without load)

Protection EN 60529

IP003)

Operating temperature
Storage temperature

0 °C to 50 °C
0 °C to 50 °C

Relative air humidity

 75% without condensation

Mass

0.34 kg (without cable or connector)

14-pin PCB connector;
16-pin PCB connector
accessory: adapter cable (12+4 for additionalwith quick connector
sensor)25 Mbit/s; up to 3 bus  30 m (withHEIDENHAIN cable)
participants: ≤ 40 m
12.5 Mbit/s; up to 6 bus
participants: ≤ 100 m
12.5 Mbit/s; up to 8 bus
participants: ≤ 10 m

25 Mbit/s; up to 3 bus
participants: ≤ 40 m
12.5 Mbit/s; up to 6 bus
participants: ≤ 100 m
12.5 Mbit/s; up to 8 bus
participants: ≤ 10 m

DC 5 V ±0.25 V

DC 3.6 V to 14 V

DC 5 V ±0.25 V

DC 3.6 V to 14 V

Power consumption (maximum) 5.25 V:  0.7 W

3.6 V:  0.45 W
14 V:  0.65 W

5.25 V:  0.7 W

3.6 V:  0.45 W
14 V:  0.65 W

Supply voltage

Current consumption (typical)

1)

Without load: IP = 60 mA; 12 V: 25 mA
max. 120 mA(without load)
With load: max. 130 mA

Without load: IP = 60 mA; 12 V: 25 mA
max. 120 mA(without load)
With load: max. 130 mA

The cable length refers to the entire transmission distance.

MRS 2280/
MRS 2230

22

Absolute
MRS 2230

Incremental
MRS 2281

Absolute
MRS 2231

50 N (centered load)

0.23 kg (without cable or connector)

1)

Purely static load, without additional vibrations or shock load. The overlapping of individual loads is not taken into account.
 easured at distance of h = 20 mm from the rotor mating surface; see Measuring and bearing accuracy
M
3)
The electromagnetic compatibility of the complete system must be ensured through appropriate measures during installation.
2)

MRS 2281/
MRS 2231

23

MRS 2200 series
MRS 2280, MRS 2230

MRS 2281, MRS 2231

64±0.1
+0.1
31 0

(8)

15±0.17.5±0.1( 3.7)

(8)

8±0.3
6

A

( 3.7)

 54±0.1

A

M4 (6x)-0.020( 30 f7 -0.041)

0.02 C-D-E






°

60

6x

9.7±0.1

0 1(3x-0.

10.5

60°±0.1° (3x)

10.5

C

)

0.2 B A

0.5x15°19

0.03 C-D-E-0.016C(A

 15 f7 -0.034

)

7.5

+0.1

41-0.2







D
B

2.6x45°

8.78

+0.1

210

9.3

 22





 24

7.5
8





.

D

0.03 C-D-E

5.95

0.05 C-D-E

10x17°



0.2 B A



60°±0.1°(3x)M4 (6x)

+1

B

E

5.2 0

A

10±0.2E

0.2 B A

 3H7 x 6 (2x)

11.25



 3H7 (3x)


9±0.5





1 = Tightening torque of the M4 – 8.8 cylinder head screw: 2.5 Nm ±0.13 Nm
2 = Mark for 0° position ±5°
3 = Direction of shaft rotation for ascending position values
4 = LED position
5 = Permitted for shaft clamping
6 = Area available for flex PCB

24

A-A

1 = Tightening torque of the M4 – 8.8 cylinder head screw: 2.5 Nm ±0.13 Nm
2 = Mark for 0° position ±5°
3 = Direction of shaft rotation for ascending position values
4 = LED position
5 = Permitted for shaft clamping
6 = Area available for flex PCB

25

MRP 5000 series

Angle encoder modules with integrated encoder and bearing• Compact dimensions• High measuring and bearing accuracy• Hollow shaft diameter: 35 mm

Encoder characteristics

Incremental
MRP 5080

Absolute
MRP 5010

Bearing properties

Incremental
MRP 5080

Measuring standard

OPTODUR circular scale

DIADUR circular scale

Shaft

Hollow through shaft D = 35 mm

Signal periods

30 00016 384Max. permissible axial load3)

200 N (centered load)

System accuracy*±2.5” or ±5”±2.5”±2.5” or ±5”

Max. permissible radial load3)

60 N

Position error per signal period±0.23”±0.12”±0.40”

Max. permissible tilting torque3) 2.5 Nm

Repeatability

From both directions: 0.3”

From both directions: 0.9”

RMS position noise

Typically 0.007”

Typically 0.020”

Contact stiffness(values calculated)

Axial: 303 N/µm
Radial: 181 N/µm

Axial: 364 N/µm
Radial: 217 N/µm

Axial: 303 N/µm
Radial: 181 N/µm

Interface 1 VPPEnDat 2.2

Contact stiffness(value calculated)

102 Nm/mrad

122 Nm/mrad

102 Nm/mrad

Ordering designation–

EnDat22

Mech. permissible speed

300 rpm

150 rpm

300 rpm

Position values per revolution–

28 bits

Moment of friction

 0.025 Nm

 0.045 Nm

 0.025 Nm

Clock frequency
Calculation time tcal–

 16 MHz 5 µsStarting torque 0.015 Nm

 0.025 Nm

 0.015 Nm

Reference marks

80 (distance-coded)–

Max. transferable shaft torque3)

2 Nm

Cutoff frequency –3 dB

 500 kHz

Moment of inertia of rotor

0.13 · 10–3 kgm2

Electrical connection

1.5 m cable with 15-pin D-sub connector;
interface electronics inside connector

Radial guideway accuracy

Measured at a distance of h = 40 mm from the rotor mating surface:  0.20 µm (without load)
Measured at a distance of h = 40 mm from the rotor mating surface:  0.35 µm (without load)

Cable length 30 m (with HEIDENHAIN cable)

Non-reproducible radial
guideway accuracy

Supply voltage

DC 5 V ±0.25 V

Axial guideway accuracy

 ±0.2 µm

Axial runout of the shaft

 5 µmWobble of the axis

0.7”

Vibration 55 Hz to 2000 Hz
Shock 6 ms

 200 m/s2 (EN 60068-2-6)
 1000 m/s2 (EN 60068-2-27)(without load)

Protection EN 605292)

IP20

Operating temperature
Storage temperature

0 °C to 50 °C
0 °C to 50 °C

Relative air humidity

 75% without condensation

Mass

0.5 kg (without cable or connector)

MRP 5280

Typically 0.004”

 300 kHz–15-pin PCB connector; adapter cable plus
quick connector as an accessory

DC 3.6 V to 14 V

Power consumption (maximum) 5.25 V:  950 mW

5.25 V:  900 mW

3.6 V:  1.1 W
14 V:  1.3 W

Current consumption (typical)

105 mA (without load)

5 V: 140 mA (without load)

175 mA (without load)* Please select when ordering

MRP 5280

Absolute
MRP 5010

IP001) or IP40

1)

The electromagnetic compatibility of the complete system must be ensured through appropriate measures taken during installation.
When mounted
3)
Purely static load, without additional vibrations or shock loads
2)

MRP 5080/MRP 5280

26

MRP 5010

MRP 5010
with cover

27

MRP 5000 series
MRP 5010

MRP 5010 with coverk = Required mating dimensions
1		 = Tightening torque of the M3 – 8.8 cylinder head screws: 1.1 Nm ±0.05 Nm
2		 = Mark for 0° position ±5°3		 = Comply with distance to the cover4		 = Direction of rotation of the shaft for ascending position values
5		 = Required direction for axial forces

1 = Tightening torque of the M3 – 8.8 cylinder head screws: 1.1 Nm ±0.05 Nm
2 = Mark for 0° position ±5°
3 = Direction of shaft rotation for ascending position values
4 = Required direction for axial forces

28

29

MRP 5080, MRP 5280

Mating dimensions of the mounting parts

Note the information onmechanical design types
and mounting.

2.1 MRP 5010/MRP 5080

MRP 5010 with cover

MRP 5010/MRP 5080

MRP 5010 with cover

MRP 5010
MRP 5010/MRP 5080
with cover

1 = Tightening torque of the M3 – 8.8 cylinder head screws: 1.1 Nm ±0.05 Nm
2 = Mark for 0° position ±5°
3 = Direction of shaft rotation for ascending position values
4 = Required direction for axial forces

30

1 = Rotor
2 = Stator (do not use as rotor)
3 = Required mating dimensions for the transfer of the maximum permissible loads as per the specifications
4 = Optional: recommended mating dimensions
5 = Do not use the edge as a stop surface!
6 =	Screw: ISO 4762 – M3 – 8.8; materially bonding threadlocker required. Washer: ISO 7092 – 3 – 200HV;
tightening torque: 1.1 Nm ±0.05 Nm
7 =	Material for customer’s mounted parts: steel
Re ≥ 235 N/mm2		
Rm ≥ 400 N/mm2
8 = Thermal coefficient of expansion therm: 10 · 10–6 K–1 to 12 · 10–6 K–1

31

MRP 8000 series

Angle encoder modules with integrated encoder and bearing• Compact dimensions• High measuring and bearing accuracy• Hollow shaft  100 mm

Encoder characteristics

Incremental
MRP 8080

Absolute
MRP 8010

Bearing properties

Incremental
MRP 8080

Measuring standard

OPTODUR circular scale

DIADUR circular scale

Shaft

Hollow through shaft D = 100 mm

Signal periods

63 00032 768Max. permissible axial load3)

300 N (centered load)

System accuracy*±1” or ±2”

Max. permissible radial load3)

100 N

Position error per signal period±0.10”±0.20”

Max. permissible tilting torque3) 6 Nm

Repeatability

From both directions: 0.2”

From both directions: 0.5”

Contact stiffness

RMS position noise

Typically 0.003”

Typically 0.010”

Axial: 684 N/µm
Radial: 367 N/µm
(calculated values)

Interface 1 VPPEnDat 2.2

Resistance to tilt

1250 Nm/mrad (calculated value)

Ordering designation–

EnDat22

Mech. permissible speed

300 rpm

Position values per revolution–

29 bits

Moment of friction

 0.2 Nm

Clock frequency
Calculation time tcal–

 16 MHz 5 µsStarting torque 0.2 Nm

Reference marks

150 (distance-coded)–

Max. transferable shaft torque3)

10 Nm

Cutoff frequency –3 dB

 500 kHz–

Moment of inertia of rotor

2.8 · 10–3 kgm2

Electrical connection

1.5 m cable with 15-pin D-sub connector;
interface electronics inside connector

15-pin PCB connector; adapter cable plus
quick connector as an accessory

Radial guideway accuracy

Measured at a distance of h = 70 mm from the rotor mating surface:  0.15 µm
Measured at a distance of h = 70 mm from the rotor mating surface:  0.20 µm

Cable length 30 m (with HEIDENHAIN cable)

Non-reproducible radial
guideway accuracy

Supply voltage

DC 5 V ±0.25 V

Axial guideway accuracy

 ±0.15 µm

Axial runout of the shaft

 4 µmWobble of the axis

0.5”

Vibration 55 Hz to 2000 Hz
Shock 6 ms

 200 m/s2 (EN 60068-2-6)
 1000 m/s2 (EN 60068-2-27)(without load)

Protection EN 605292)

IP20

Operating temperature
Storage temperature

0 °C to 50 °C
0 °C to 50 °C

Relative air humidity

 75% without condensation

Mass

2.15 kg (without cable or connector)

DC 3.6 V to 14 V

Power consumption (maximum) 5.25 V:  950 mW

3.6 V:  1.1 W
14 V:  1.3 W

Current consumption (typical)

5 V: 140 mA (without load)

175 mA (without load)* Please select when ordering

Absolute
MRP 8010

IP001) or IP40

1)

The electromagnetic compatibility of the complete system must be ensured through appropriate measures taken during installation.
When mounted
3)
Purely static load, without additional vibrations or shock loads
2)

MRP 8080

32

MRP 8010

MRP 8010 with cover

33

MRP 8000 series
MRP 8010

MRP 8010 with coverk = Required mating dimensions
1		 = Tightening torque of the M4 – 8.8 cylinder head screws: 2.5 Nm ±0.13 Nm
2		 = Tightening torque of the M3 – 8.8 cylinder head screws: 1.1 Nm ±0.05 Nm
3		 = Mark for 0° position ±5°4		 = Minimum clearance
5		 = Direction of rotation of the shaft for ascending position values
6		 = Required direction for axial forces

1 = Tightening torque of the M3 – 8.8 cylinder head screws: 1.1 Nm ±0.05 Nm
2 = Tightening torque of the M4 – 8.8 cylinder head screws: 2.5 Nm ±0.13 Nm
3 = Mark for 0° position ±5°
4 = Direction of shaft rotation for ascending position values
5 = Required direction for axial forces

34

35

MRP 8080

Mating dimensions of the mounting parts







MRP 8010/MRP 8080

MRP 8010 with cover

MRP 8010 with cover

MRP 8010/MRP 8080



Note the information onmechanical design types
and mounting.

1 = Tightening torque of the M4 – 8.8 cylinder head screws: 2.5 Nm ±0.13 Nm
2 = Tightening torque of the M3 – 8.8 cylinder head screws: 1.1 Nm ±0.05 Nm
3 = Mark for 0° position ±5°
4 = Direction of shaft rotation for ascending position values
5 = Required direction for axial forces

36

1 = Rotor
2 = Stator (do not use as rotor)
3 = Required mating dimensions for the transfer of the maximum permissible loads as per the specifications
4 = Optional: recommended mating dimensions
5 = Do not use the edge as a stop surface!
6 =	Screw: ISO 4762 – M3 – 8.8; materially bonding threadlocker required; washer: ISO 7092 – 3 – 200HV;
tightening torque: 1.1 Nm ±0.05 Nm
7 =	Screw: ISO 4762 – M4 – 8.8; materially bonding threadlocker required; washer: ISO 7092 – 4 – 200HV;
tightening torque: 2.5 Nm ±0.13 Nm
8 =	Material for customer’s mounted parts: steel
Re ≥ 235 N/mm2		
Rm ≥ 400 N/mm2
9 = Thermal coefficient of expansion therm: 10 · 10–6 K–1 to 12 · 10–6 K–1

37

MRP 8081 Dplus

Angle encoder module with four scanning heads and compensation data
• Very high system accuracy• Resilient angle measurement• Hollow shaft diameter: 100 mm• Axial load of up to 300 N
Encoder characteristics

Incremental
MRP 8081 Dplus

Bearing properties

Incremental
MRP 8081 Dplus

Measuring standard

OPTODUR circular scale

Shaft

Hollow through shaft D = 100 mm

Signal periods

63 000Max. permissible axial load1)

300 N (centered load)

System accuracy±0.40”

Max. permissible radial load1)

100 N

Position error per signal period±0.06”

Max. permissible tilting torque1) 6 Nm

Repeatability

From both directions: 0.1”

Contact stiffness

RMS position noise

Typically 0.0015”

Axial: 684 N/µm
Radial: 367 N/µm
(calculated values)

Interface1)

4 x  1 VPPResistance to tilt

1250 Nm/mrad (calculated value)

Reference marks

150 (distance-coded)

Mech. permissible speed

300 rpm

Cutoff frequency –3 dB≥ 500 kHz

Moment of friction≤ 0.2 Nm

Electrical connection1)

4 x 1.5 m cable with 15-pin D-sub connector; interface electronics inside the connector

Starting torque≤ 0.2 Nm

Cable length1)≤ 30 m (with HEIDENHAIN cable)

Max. transferable shaft torque1)

10 Nm

Supply voltage1)

DC 5 V ±0.25 V

Moment of inertia of rotor

2.8 · 10–3 kgm2

Power consumption1) (max.)

5.25 V: ≤ 950 mW

Radial guideway accuracy≤ 0.15 µm (measured at a distance of h = 70 mm from the rotor mating surface2))

Current consumption (typical)1)

175 mA (without load)

Non-reproducible radial
guideway accuracy≤ 0.20 µm (measured at a distance of h = 70 mm from the rotor mating surface2))

Axial guideway accuracy≤ ±0.15 µm

Axial runout of the shaft≤ 4 µmWobble of the axis

0.5”

Vibration 55 Hz to 2000 Hz
Shock 6 ms

≤ 200 m/s2 (EN 60068-2-6)≤ 1000 m/s2 (EN 60068-2-27)(without load)

Protection EN 605293)

IP20

Operating temperature
Storage temperature

0 °C to 50 °C
0 °C to 50 °C

Relative air humidity≤ 75 % without condensation

Mass

2.15 kg (without cable or connector)

1)

Separate electrical connection for each scanning head1)

Purely static load, without additional vibrations or shock loads
See the Measuring and bearing accuracy
3)
When mounted
2)

MRP 8081 Dplus

38

39

MRP 8081 Dplus

Mating dimensions of the mounting parts

37.6  0.5

33.5



32.6  0.5

A

2  0.2

B-B

A-A
0.01 B
0.004 B

0.004 B≥  113
 104.5

≤  96





≥ 10





 112 f79

 0.025 A

5
 0.025 A

6

 0.025 A

10

 100 H7  160 f7

0.01 B5 100 H7 

640.01 B

6x
°

60

1.5

100 f7 A
M4 (6x) t=4.6

A-A
 0.2 A

A

Rz 16
Rz 10






0.003
 3.4 (12 x 30°)≤  134 ≥  164≥ 13

B

6x 60°
30°

(12
2 A
 0.

0.005


8

 14

Rz 16
Rz 10

0.003





 100 f7  ≥  116 ≤  96

≥ 13

M3



1.5



1.2 ... 3

 
6.4
x) t=

 160 H7  174 ± 0.5

12x 30°


M



10

4
(6
 x) t
0. =6
3
.
A 4

4.5



Note the information onmechanical design types
and mounting.

k = Required mating dimensions
1		 = Tightening torque of the M3 – 8.8 cylinder head screws: 1.1 Nm ±0.05 Nm
2		 = Tightening torque of the M4 – 8.8 cylinder head screws: 2.5 Nm ±0.13 Nm
3		 = Mark for 0° position ±5°4		 = Direction of shaft rotation for output signals in accordance with the interface description
5		 = Required mating dimensions for transferring the maximum permissible loads in accordance with the specifications
6		 = Optional recommended customer-side mating dimensions
7		 =	Material for customer’s mounting component: steel
Re ≥ 235 N/mm2		
Rm ≥ 400 N/mm28		 = Thermal coefficient of expansion therm: 10 · 10–6 K–1 to 12 · 10–6 K–1
9		 = Recommended direction of force; if dynamic overloads are possible, then comply with the recommended direction of force

40

41

MRP 8100 series

Angle encoder modules with integrated encoder and bearing• Compact dimensions• High measuring and bearing accuracy• Hollow shaft diameter: 80 mm• Axial load of up to 1500 N
Encoder characteristics

Incremental
MRP 8180

Absolute
MRP 8110

Bearing properties

Incremental
MRP 8180

Measuring standard

OPTODUR circular scale

DIADUR circular scale

Shaft

Hollow through shaft D = 80 mm

Signal periods

63 00032 768Max. permissible axial load3)

1500 N (centered load)

System accuracy*±1” or ±2”

Max. permissible radial load3)

800 N

Position error per signal period±0.10”±0.20”

Max. permissible tilting torque3) 100 Nm

Repeatability

From both directions: 0.2”

From both directions: 0.5”

Contact stiffness

RMS position noise

Typically 0.003”

Typically 0.010”

Axial: 1000 N/µm
Radial: 500 N/µm
(calculated values)

Interface 1 VPPEnDat 2.2

Resistance to tilt

1700 Nm/mrad (calculated value)

Ordering designation–

EnDat22

Mech. permissible speed

300 rpm

Position values per revolution–

29 bits

Moment of friction

 0.4 Nm

Clock frequency
Calculation time tcal–

 16 MHz 5 µsStarting torque 0.4 Nm

Reference marks

150 (distance-coded)–

Max. transferable shaft torque3)

20 Nm

Cutoff frequency –3 dB

 500 kHz–

Moment of inertia of rotor

5 · 10–3 kgm2

Electrical connection

1.5 m cable with 15-pin D-sub connector;
interface electronics inside connector

15-pin PCB connector; adapter cable plus
quick connector as an accessory

Radial guideway accuracy

Measured at a distance of h = 75 mm from the rotor mating surface:  0.25 µm
Measured at a distance of h = 75 mm from the rotor mating surface:  0.30 µm

Cable length 30 m (with HEIDENHAIN cable)

Non-reproducible radial
guideway accuracy

Supply voltage

DC 5 V ±0.25 V

Axial guideway accuracy

 ±0.25 µm

Axial runout of the shaft

 4 µm or  2 µm

Wobble of the axis

0.7”

Vibration 55 Hz to 2000 Hz
Shock 6 ms

 200 m/s2 (EN 60068-2-6)
 1000 m/s2 (EN 60068-2-27)(without load)

Protection EN 605292)

IP20

Operating temperature
Storage temperature

0 °C to 50 °C
0 °C to 50 °C

Relative air humidity

 75% without condensation

Mass

4 kg

DC 3.6 V to 14 V

Power consumption (maximum) 5.25 V:  950 mW

3.6 V:  1.1 W
14 V:  1.3 W

Current consumption (typical)

5 V: 140 mA (without load)

175 mA (without load)* Please select when ordering

Absolute
MRP 8110IP001) or IP40

1)

The electromagnetic compatibility of the complete system must be ensured through appropriate measures taken during installation.
When mounted
3)
Purely static load, without additional vibrations or shock loads
2)

MRP 818042

MRP 8110

MRP 8110 with cover

43

MRP 8100 series
MRP 8110

MRP 8110 with cover

2.5

A-A
A-A

B
2:1

k = Required mating dimensions
1		 = Tightening torque of the M5 – 8.8 cylinder head screws: 4.5 Nm ±0.25 Nm
2		 = Tightening torque of the M4 – 8.8 cylinder head screws: 2.5 Nm ±0.15 Nm
3		 = Mark for 0° position ±5°4		 = Customer is responsible for shield coverage
5		 = Direction of rotation of the shaft for ascending position values
6		 =	Recommended direction of force;
if dynamic overloading is possible, then comply with the recommended direction of force
7		 = Cable support

44

k = Required mating dimensions
1		 = Tightening torque of the M5 – 8.8 cylinder head screws: 4.5 Nm ±0.25 Nm
2		 = Tightening torque of the M4 – 8.8 cylinder head screws: 2.5 Nm ±0.15 Nm
3		 = Mark for 0° position ±5°4		 = Direction of rotation of the shaft for ascending position values
5		 =	Recommended direction of force;
if dynamic overloading is possible, then comply with the recommended direction of force

45

MRP 8180

Mating dimensions of the mounting parts

A-A

Alternative
optionAlternative mounting
Montagemöglichkeit

k = Required mating dimensions
1		 = Tightening torque of the M5 – 8.8 cylinder head screws: 4.5 Nm ±0.25 Nm
2		 = Tightening torque of the M4 – 8.8 cylinder head screws: 2.5 Nm ±0.15 Nm
3		 = Mark for 0° position ±5°4		 = Direction of rotation of the shaft for ascending position values
5		 =	Recommended direction of force;
if dynamic overloading is possible, then comply with the recommended direction of force46

1 = Rotor
2 = Stator (do not use as rotor)
3 = Required mating dimensions for the transfer of the maximum permissible load as per the specifications
4 = Optional: recommended customer-side mating dimensions
5 = Do not use the edge as a stop surface!
6 =	Screw: ISO 4762 – M5 – 8.8; materially bonding threadlocker required; washer: ISO 7092 – 5 – 200HV;
tightening torque: 4.5 Nm ±0.25 Nm
7 =	Screw: ISO 4762 – M4 – 8.8; materially bonding threadlocker required; washer: ISO 7092 – 4 – 200HV;
tightening torque: 2.5 Nm ±0.15 Nm
8 =	Material for customer’s mounted parts: steel
Re ≥ 235 N/mm2		
Rm ≥ 400 N/mm2
9 = Thermal coefficient of expansion therm: 10 · 10–6 K–1 to 12 · 10–6 K–1

47

SRP 5000 series

Angle encoder modules with integrated encoder, bearing, and motor• Compact dimensions• High measuring and bearing accuracy• Particularly smooth motion control• Hollow shaft diameter: 32 mm
Incremental
SRP 5080

Absolute
SRP 5010

Measuring standard

OPTODUR circular scale

DIADUR circular scale

Signal periods

30 00016 384

System accuracy*±2.5” or ±5”

Position error per signal period±0.23”±0.40”

Repeatability

From both directions: 0.3”

From both directions: 0.9”

RMS position noise

Typically 0.007”

Typically 0.020”

Interface 1 VPPEnDat 2.2

Ordering designation–

EnDat22

Position values per revolution–

28 bits

Clock frequency
Calculation time tcal–

 16 MHz 5 µsReference marks

80 (distance-coded)–

Cutoff frequency –3 dB

 500 kHz–Electrical connection

1.5 m cable with 15-pin D-sub connector;
interface electronics inside connector

1.5 m cable with 8-pin M12 coupling

Cable length 30 m (with HEIDENHAIN cable)

Supply voltage

DC 5 V ±0.25 V

3.00
2.700

Peak torque2.50

Rated torque

2.00
1.569

1.50
1.00
0.50
0.00

0.385
0.128

0

50

100

150

200

250

300

Speed in rpm Characteristic curve of torque at DC 48 V

DC 3.6 V to 14 V

Power consumption (maximum) 5.25 V:  950 mW

3.6 V:  1.1 W
14 V:  1.3 W

Current consumption (typical)

5 V: 140 mA (without load)

175 mA (without load)

Mounting conditions
The stated motor characteristics apply tothe following mounting conditions:• Ambient temperature: 20 °C• Coil temperature: 40 °C• Stator screwed to steel plate with thefollowing characteristics:– Total surface area: 0.016 m2– Specific thermal conductivity:
460 J/kgK (at 20 °C)– Specific thermal conductivity:
30 W/mK (at 20 °C)

Torque [Nm] 

Encoder characteristics* Please select when ordering

SRP 500048

49

Bearing properties

Motor characteristics

Shaft

Hollow through shaft with  32 mm

Peak torque2.70 Nm

Max. permissible axial load2)

200 N (centered load)Rated torque0.385 Nm

Max. permissible radial load2)

60 N

Stall torque0.253 Nm

Max. permissible tilting torque2) 2.5 Nm

Standstill speed

0.013 rpm

Contact stiffness

Axial: 303 N/µm
Radial: 181 N/µm
(calculated values)

Maximum speed

300 rpm

Torque constant

0.668 Nm/Arms

Resistance to tilt

102 Nm/mrad (calculated value)

Back-electromotive force constant

0.397 Vrms/(rad/s)

Mech. permissible speed

300 rpm

Motor constant0.181 Nm/√W

Max. transferable shaft torque2)

2 Nm

Electrical resistance R20 (at 20 °C)

9.06 

Moment of inertia of rotor

1.16 · 10–3 kgm2

Electrical inductance2.42 mH

Radial guideway accuracy

Measured at a distance of h = 50 mm from the rotor mating surface:  0.20 µm (without load)

Maximum current

4.24 Arms

Non-reproducible radial
guideway accuracy

Measured at a distance of h = 50 mm from the rotor mating surface:  0.35 µm (without load)Rated current

0.688 Arms

Stall current

Axial guideway accuracy

 ±0.2 µm

0.487 Arms

Max. rated power loss

6.94 W

Axial runout of the shaft* 5 µm or  1 µm

Max. DC-link voltage

DC 48 V

Wobble of the axis

0.7”    20 m/s2 (EN 60068-2-6)
 1000 m/s2 (EN 60068-2-27)(without load)

Number of poles

20

Vibration 55 Hz to 2000 Hz
Shock 6 ms

Max. cogging torque< 0.2 % of rated torqueProtection EN 605291)

Electrical connection

4-pin M12 (male)

IP40

Cable diameter 7.0 mm

Operating temperature
Storage temperature

0 °C to 40 °C
0 °C to 50 °C

Cable length≤5m

Relative air humidity

 75% without condensation

Number of phases

3

Elevation< 2000 m

Mass

1.82 kg (without cable or connector)* Please select when ordering
1)
When mounted
2)
Purely static load, without additional vibrations or shock loads

50

51

SRP 5010/SRP 5080
Dimensions

Dimensions of the connecting elements

Required mating dimensions

5

A = Bearingk = Required mating dimensions
1		 = Mark for 0° position ±5°2		 = Please select when ordering
3		 = Protective conductor connection
4		 =	Direction of rotation of the shaft forascending position values

52

3 = Rotor
4 = Stator
5 = Screw: ISO 4762 – M3 – 8.8; materially bonding threadlocker required; washer: ISO 7092 – 3 – 200HV; tightening torque: 0.95 Nm ±0.05 Nm
6 = Screw: ISO 4762 – M4 – 8.8; materially bonding threadlocker required. Washer: ISO 7092 – 4 – 200HV; tightening torque: 2.2 Nm ±0.12 Nm
7 = Required mating dimensions for the transfer of the maximum permissible load as per the specifications
8 = Optional: recommended mating dimensions

53

Interfaces» 1 VPP incremental signals

Position values

The EnDat interface is a digital, bidirec­
tional interface for encoders. It is able tooutput position values and read infor­
mation stored in the encoder, as well as
update this information or store new
information. Because the interface uses
serial transmission, only four signallines are required. The data (DATA) aretransmitted in synchronism with the
CLOCK signal from the downstream
electronics. The type of transmission(position values, parameters, diagnostics,etc.) is selected via mode commands
sent to the encoder by the downstream
electronics. Some functions are available
only with EnDat 2.2 mode commands.

Signal period
360° elec.

The sinusoidal incremental signals A and
B are phase-shifted by 90° elec. and have atypical amplitude of 1 VPP. The illustrated
sequence of output signals, with B lagging
A, applies to the direction of motion shownin the dimension drawing.
The reference mark signal R has a uniqueassignment to the incremental signals. The
output signal may be lower next to thereference mark.

Command set

Incremental signals

EnDat01

EnDat 2.1 or
EnDat 2.2

With

EnDat02

EnDat 2.2

With

EnDat22

EnDat 2.2

Without

EnDat21Further information:

Without

Versions of the EnDat interface
Absolute encoder

Downstream electronics
Incremental
signals*

Alternative signal
shape(rated value)

Absolute
position value» 1 VPP A*» 1 VPP B*

Further information:
A, B, R measured with oscilloscope in differential mode

For detailed descriptions of all available
interfaces, as well as general electricalinformation, please refer to the Interfacesof HEIDENHAIN Encoders brochure.

For detailed descriptions of all available
interfaces, as well as general electricalinformation, please refer to the Interfacesof HEIDENHAIN Encoders brochure.

Pin layout

Pin layout

15-pin D-sub connector

8-pin M12 coupling or flange socket

14-pin PCB connector

12-pin PCB connector

Operatingparameter

OperatingStatusPower supply

Incremental signals

4

12

2

10

1

9

3

11

14

7

5/6/8/15

13

/

1b

7a

5b

3a

6b

2a

3b

5a

4b

4a

/

/

/

UP

SensorUP

0V

Sensor
0V

A+

A–

B+

B–

R+

R–

VacantBrown/
GreenBlue

White/
Green

White

Brown

Green

Gray

Pink

Red

Black

/

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!

Vacant Vacant
Yellow* Depends on thedevice15
Power supply

Other signals

VioletParameters of the encoder
Parameters manufacturer forof the OEM
EnDat 2.1
EnDat 2.2

15-pin PCB connector

12

14

54

Ordering designation

EnDat interface

HEIDENHAIN encoders with the » 1 VPP
interface provide voltage signals that arehighly interpolatable.

Position values

M12

8

2

5

1

3

4

7

6

12

1b

6a

4b

3a

6b

1a

2b

5a

15

13

11

14

12

7

8

9

10

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!

55

Position values

EnDat 3 carries forward the features andbenefits of EnDat into the future of digitalmanufacturing. To achieve this feat, EnDat 3
relies on a new architecture that builds
upon proven technology, ensuring optimal
continuity and compatibility with predecessor
interfaces.

Interface

EnDat 3 characteristics:• Hybrid cable transmission• Bus topologies• Sensors: versatile data contents andsensor box• Functional safety: black-channel
communication• Higher data bandwidth• Definable send lists• System installation: introduction ofaccess levels

ProtocolRequest-response procedures in half-duplex mode

Physical layer

RS-485: 4-wire or 2-wire

Data rate

12.5 Mbit/s (25 Mbit/s)

Cable length

For 12.5 Mbit/s: max. 100 m / for 25 Mbit/s: max. 40 m

HPF send time(position availability in themaster)Typically 10 µs (the parameter XEL.timeHPFout indicatesthe duration between position value generation (stored
via latch) and transmission of the complete HPF, without
cable effects)

Cycle time

Typically > 25 µs

Bus operation

Daisy chain

Functional safety

Designed for up to SIL 3, black-channel communication

Ordering designations
The ordering designation defines key
communication characteristics

Further information:www.endat.de

Supported
communication types

E30-R2

E30-R4

E30-RB

EnDat 3:
communication modulated
onto power supply wires



–

–

EnDat 3:–
communication + separate
power supply wires (4 wires)

EnDat 3: bus operation

–

–



Sensor box integration

–





Block diagram: 2-wireD

Encoder
Encoder+

Cc-

Diagnostics

For condition monitoring and predictive maintenanceConnection
Connection
designation
designation

System information

Automated configuration and storage of operating
status data

P_SD+

C TR

R

User authentication (e.g., for datum shift, OEM memory)

P_SD-

Rs

R

Housing
Housing

56

Subsequent
unit
Downstream

electronics

D

Functions

Access control

UE

L

Ubat
GND

L

RS-485Cm

Housing
Housing57

MotorAngle encoder modules with integrated
motor have a slotless iron-core permanentmagnet AC synchronous motor with threephases.

Pin layout

1

2

3

4

Phase 1

Phase 2Phase 3GND

ID 1140842-xx

1

2

3

4

Phase 1

Phase 2Phase 3

GND

White

Brown

Green

Yellow

Further information:
For detailed descriptions of cables,
please refer to the Cables andConnectors brochure.

58

Mastering nanometer accuracy

DR. JOHANNES HEIDENHAIN GmbH
Dr.-Johannes-Heidenhain-Straße 583301 Traunreut, Germany +49 8669 31-0
 +49 8669 32-5061
info@heidenhain.dewww.heidenhain.com
1102713-25 · 2 · 04/2024 · H · Printed in Germany

HEIDENHAIN
worldwide