Product Information

ROC 415
ROC 417
Absolute Singleturn
Rotary Encoders

December 2008

ROC 415/ROC 417 with Synchro Flange• Rotary encoders for separate shaft coupling• Shaft diameter 10 mm

6x°60

M23 flange socket

Dimensions in mm
Tolerancing ISO 8015
ISO 2768 - m H< 6 mm: ±0.2 mm

2Cable radial, also usable axially
A = Bearingb = Threaded mounting holem = Measuring point for operating temperature
Direction of shaft rotation for output signals as per the interface description

Product Information ROC 415/ROC 417

12/2008

AbsoluteSingleturn
ROC 415ROC 417

Absolute position values

SSI with additional
parity bit

EnDat 2.2
Ordering designation
EnDat 01

SSI with additional
parity bit

EnDat 2.2
Ordering designation
EnDat 01

Data word length

16 bits

15 bits

18 bits

17 bits

Positions per revolution

32 768 (15 bits)

CodePure binary

Elec. permissible speed/Deviations1)† 1 500 min–1/± 40 LSB† 12 000 min–1/± 270 LSB

Calculation time tcal
Internal updating time

† 0.5 µs
† 5 µsIncremental signals» 1 VPPLine counts

2 048

Cutoff frequency –3 dB‡ 400 kHz

System accuracy± 10“ (at 20 °C)

131 072 (17 bits)† 5 µs–† 0.5 µs
† 5 µs† 5 µs–

3.6 to 14 V
† 160 mA

5V ± 5 %† 160 mA

3.6 to 14 V
† 160 mA2)

Power supply
5V ± 5 %Current consumption without † 160 mA
load
Electrical connection*• Flange socket M23, axial or radial• Cable 1 m/5 m, with or without coupling M23

Shaft

Solid shaft D = 10 mm

Mech. permissible speed n† 12 000 min

Starting torque† 0.025 Nm (at 20 °C)† 0.2 Nm (at -40 °C)

Moment of inertia of rotor

2.1 · 10–6 kgm2Shaft load3)

Axial 10 N/radial 20 N at shaft end

Vibration 55 to 2000 Hz
Shock 6 ms/2 ms† 300 m/s2 (EN 60 068-2-6)† 1 000 m/s2/† 2 000 m/s2 (EN 60 068-2-27)

Max. operating temperature

80 °C

Min. operating temperature

Flange socket or fixed cable: –40 °C
Moving cable: –10 °C

Relative air humidity† 75 %; temporary † 96 % (condensation not permissible)

Protection EN 60 529

IP 67 at housing; IP 66 at shaft inlet

WeightApprox. 0.55 kg–1Bold: This preferred version is available on short notice* Please indicate when ordering
1)
Speed-dependent deviations between absolute value and incremental signal
2)
Limited tolerances: Signal size 0.8 to 1.2 VPP
3)See also Mechanical Design Types and Mounting in the Rotary Encoders catalog

Product Information ROC 415/ROC 417

12/20083

Shaft Couplings

The shaft coupling compensates axial
movement and misalignment between theencoder shaft and the measured shaft,preventing excessive load on the encoder
bearing of the angle encoder.

Diaphragm couplings
with galvanic isolation

Flat coupling

K 03

K 17/02
K 17/04

K 17/03

K18Hub bore

10 mm

6/10 mm
10 mm

10 mm

10 mm

Kinematic transfer error*

± 2”

± 10”

Torsional rigidity

1 500 Nm/rad

200 Nm/rad

300 Nm/rad

1200 Nm/rad

Torque0.2 Nm

0.1 Nm

0.2 Nm

0.5 NmRadial offset λ† 0.3 mm

† 0.5 mm

† 0.3 mm

Angular error α† 0.5°† 1°† 0.5°

Axial motion δ† 0.2 mm

† 0.5 mm

† 0.2 mmMoment of inertia(approx.)20 · 10Permissible speed

10 000 min–6kgm2

3 · 10–6 kgm2

–1

16 000 min–1± 3”

4 · 10–6 kgm2

75 · 10–6 kgm21000 min–1

Torque for locking screws 1.2 Nm(approx.)
Weight100 g

23 g

27.5 g

117 g*With radial misalignment λ = 0.1 mm, angular error α = 0.15 mm over 100 mm ƒ 0.09° valid up to 50 °C

Radial offset

Angular error

Axial motion

Mounting Accessories
Screwdriver bit
Screwdriver
See Rotary Encoders Catalog

4

Product Information ROC 415/ROC 417

12/2008

Diaphragm coupling K 03
ID 200 313-04

Diaphragm coupling K 17
with galvanic isolation
for ROC/ROQ/ROD 400 series
with 6 or 10 mm shaft diameterID 296 746-xx

D1D2L02¬ 6 F7¬ 10 F722 mm

03¬ 10 F7¬ 10 F730 mm

04¬ 10 F7¬ 10 F722 mm

K 17variants

Flat coupling K 18
ID 202 227-01

Dimensions in mmTolerancing ISO 8015
ISO 2768 - m H< 6 mm: ±0.2 mm

Product Information ROC 415/ROC 417

12/20085

Interfaces
SSI Absolute Position Values

The absolute position value beginningwith the Most Significant Bit (MSB first) istransferred on the DATA lines in synchronism
with a CLOCK signal transmitted by thecontrol. The position value is followed by aparity bit. The data word length therefore
deviates from the SSI standard. On theROC 415 it is 16 bits and on the ROC 417,18 bits. In addition to the absolute position
values, sinusoidal incremental signals
with 1-VPP levels are transmitted. For signal
description see Incremental signals 1 VPP.

Interface

SSI serial

Data transfer

Absolute position values

Data input

Differential line receiver according to EIA standard RS 485 for the
CLOCK and CLOCK signals

Data output

Differential line driver according to EIA standard RS 485 for thesignals DATA and DATA

CodePure binary code

Ascending positionvalues

With clockwise rotation (viewed from flange side)

Incremental signals» 1 VPP (see Incremental signals 1 VPP)

Connecting cable

HEIDENHAIN cable with shielding
PUR [(4 x 0.14 mm2) + 4(2 x 0.14 mm2) + (4 x 0.5 mm2)]
Max. 150 m at 90 pF/m distributed capacitance
6 ns/mCable length
Propagation time

Control cycle for complete data format
When not transmitting, the clock and datalines are on high level. The current position
value is stored on the first falling edge ofthe clock. The stored data is then clockedout on the first rising edge.
After transmission of a complete data
word, the data line remains low for a periodof time (t2) until the encoder is ready forinterrogation of a new value. If anotherdata-output request (CLOCK) is received
within this time, the same data will beoutput once again.

Data transfer
T = 1 to 10 µs
tcal see Specifications
t1 † 0.4 µs(without cable)
t2 = 17 to 20 µs
n = Data word length
16 bits for ROC 415
18 bits for ROC 417
P = Parity bit

PPermissible clock
frequency withrespect to cablelengths

Cable length [m]CLOCK and DATA not shown
If the data output is interrupted (CLOCK =high for t ‡ t2), a new position value will
be stored on the next falling edge of theclock, and on the subsequent rising edge it
will be clocked out to the subsequent
electronics.

Clock frequency [kHz]6Product Information ROC 415/ROC 417

12/2008

Input circuitry of thesubsequent electronics

Data transfer

Encoder

Subsequent electronics

Dimensioning
IC1 = Differential line receiverand driver
E.g. SN 65 LBC 176
LT 485Z0 = 120 −C3 = 330 pF (serves to improve noiseimmunity)

Incremental signals

For an interface description of 1 VPP and EnDat see Rotary Encoders catalog.

Product Information ROC 415/ROC 417

12/2008

7Electrical Connection

Pin layout
17-pincoupling M23

Power supply
7110UPSensor
UP0VBrown/
GreenBlueWhite/
Green

Incremental signals
411Sensor Internal
0V
shieldWhite/

Absolute position values

1516

12

13

14

17

8

A+A–

B+

B–

DATA

DATA

CLOCK CLOCK

Green/Black

Yellow/
Black

Blue/
BlackRed/Black

GreyPink

VioletShield is on housing; UP = power supply
Sensor: The sensor line is connected internally to the respective power supply.
Vacant pins or wires must not be used.

Connecting cable, 17-pin M23
Connecting cable PUR [(4 × 0.14 mm2) + 4(2 × 0.14 mm2) + (4 × 0.5 mm2)]
Complete with connector(female) and coupling (male)323 897-xx

Complete with connector (female) andD-sub connector (female) for IK 220

332 115-xx

Complete with connector (female)and D-sub connector (male) for IK 115/IK 215

324 544-xx

With one connector (female)309 778-xx

Cable without connectors, ¬ 8 mm

266 306-01

Mating element on connecting
cable to connector on encoder cableConnector (female)for cable¬ 8 mm291 697-26

Connector on cable for connection
to subsequent electronics

Connector (male)for cable¬ 8 mm291 697-27

Coupling on connecting cable

Coupling (male)for cable¬ 6 mm¬ 8 mm291 698-26
291 698-27

Flange socket for mounting
on the subsequent electronics

Flange socket (female)

315 892-10

For more information• Catalog: Rotary Encoders
DR. JOHANNES HEIDENHAIN GmbH
Dr.-Johannes-Heidenhain-Straße 583301 Traunreut, Germany{ +49 (8669) 31-0
| +49 (8669) 5061
E-mail: info@heidenhain.dewww.heidenhain.de627 679 · 00 · A · 02 · 12/2008 · Subject to change without notice

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