Encoders forServo Drives

08/2023

Table of contents

This brochure is not an exhaustive overview
of HEIDENHAIN products but rather
provides a selection of encoders designed
for use on electric motors.

Brochure
Rotary Encoders

The mounting information and detailed
specifications refer to rotary encoders
developed specifically for servomotors.
For information about other rotary encoders,please refer to the appropriate productdocumentation.

Overview
Information about the selection tables
Selection guideDrehgeber

The selection tables provide an overview
of all HEIDENHAIN encoders intended foruse on electric motors, along with their most
relevant specifications. The descriptionsof the technical features contain basic
information on the use of rotary, angularand linear encoders on electric motors.

Product Overview
Rotary Encoders for
the Elevator Industry

Rotary encoders for mounting inside motors

Produktübersicht

Drehgeber für die
AufzugsindustrieRotary encoders for mounting on motors
Technical features and mounting information

06/2020

11/2020

Rotary encoders and angle encoders for DC and three‑phase AC motors

Winkelmessgeräte
mit Eigenlagerung

HMC 2 and HMC 6: single-cable solutions for motors

Brochure
ModularAngle Encoders
With Magnetic Scanning

Brochure
Angle Encoders
With Integral Bearing

Safety-related position measuring systems
Measuring principles
Measuring accuracy

ModulareWinkelmessgeräte
mit magnetischer
AbtastungMechanical design types and mounting
General information

05/2021

08/2019

General mechanical information
Brochure
ModularAngle Encoders
With Optical Scanning
Further information:
For the linear encoders and angle
encoders listed in the selection tables,
please refer to the respective productdocumentation to find detailed
descriptions, including mounting
information, specifications anddimensions.

  6
  8
12

ModulareWinkelmessgeräte
mit optischer
AbtastungBrochure
ExposedLinear Encoders

Specifications
Rotary encoders
with integral bearing

ECI 1319, EQI 1331

48
50
52
54
56
58
60
62
66
68

ECI/EQI 1300 S series

70

ECI/EBI 100 series

72
74

ECN/EQN 1100 series
ERN 1023
ERN 1123

OffeneLängenmessgeräte

ECN/EQN 1300 series
09/2017

ECN/EQN 1300 S (DRIVE CLiQ) series

05/2021

ECN/EQN 400 series
BrochureLinear Encoders
For NumericallyControlled Machine Tools
Längenmessgeräte

ERN 1300 series

Brochure
Cables and Connectors

Rotary encoders
without integral bearing

Kabel undSteckverbinder

für gesteuerte
Werkzeugmaschinen

06/2019

04/2021

ECI/EQI 1100 series
ECI/EBI/EQI 1300 series

ECI 4010, EBI 4010, ECI 4090 S– With ¬ 90 mm hollow shaft– With ¬ 180 mm hollow shaft

BrochureInterfacesof HEIDENHAIN
Encoders

ERO 1200 series
ERO 1400 series

Schnittstellenvon HEIDENHAINMessgeräten

Interfaces
Cable
Testing and inspection devices, and diagnostics

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

78
80

Electrical connection

02/2021Further information:

18
20
22
24
27
30
40
41

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

82
96
101

Encoders for electric motors

Controller systems for electric motors
require encoders that provide feedback forthe position and speed controllers, and forelectronic commutation.

Encoder attributes have a critical impact onimportant motor characteristics, such as:• Positioning accuracy• Speed stability• Bandwidth, and therefore command anddisturbance behavior• Power dissipation• Size• Acoustic noise• Safety

All of the HEIDENHAIN encoders foundin this brochure have been designed tominimize the cabling and installation workrequired by the motor manufacturer.
Overall rotary motor length can also be
kept low. Some encoders feature a special
design that can even eliminate the needfor safety devices such as limit switches.

Motor for digital drive systems(digital position and speed control)

Digital position control and speed control
Rotary encoder (actual position value,
actual speed value,commutation signal,
electronic ID label)
ϕi
ii
Speed
calculationni
ϕs

Positioncontroller

ns

Speed
controllerisDecoupling

Current
controller

Rotary encoder

Drive

HEIDENHAIN provides just the rightencoder for different rotary and linear
motors in a variety of applications:• Absolute and incremental rotary encoders
with and without commutation tracks• Absolute and incremental angle encoders• Absolute and incremental linear encoders• Absolute and incremental modular
encoders

Angle encoders

Linear encoders

Rotary encoders

45

Information about the selection tables

The selection tables on the following pages list the encoders thatare suitable for each motor design. Each table contains encoders
with different dimensions and output signals for the various motor
types (DC or three-phase AC motors).

Rotary encoders for mounting on motors
Rotary encoders for motors with forced ventilation are either
mounted on the motor housing or installed within it. These rotary
encoders are often exposed to the motor’s unfiltered forced-air stream
and must therefore have a high protection rating of IP64 or better.
The permissible operating temperature seldom exceeds 100 °C.
The selection table contains the following encoders:• Rotary encoders with a mounted stator coupling featuring ahigh natural frequency (the motor’s bandwidth is virtuallyunlimited)• Rotary encoders for separate shaft couplings, particularly well
suited to electrically isolated mounting• Absolute rotary encoders with purely digital data transfer
or additional sinusoidal TTL or HTL incremental signals• Incremental rotary encoders with high-quality sinusoidal output
signals for digital speed control• Incremental rotary encoders with TTL- or HTL-compatible
output signals• Information on functionally safe rotary encoders available assafety-related position measurement systems

Rotary encoders, modular encoders and angle encoders forbuilt-in and hollow-shaft motors
The rotary encoders and angle encoders for these motors featurehollow through shafts, allowing supply lines to be routed throughthe hollow shaft of both the motor and the encoder. Depending on
the operating conditions, these encoders must either have an IP66
rating or be protected from contamination through the machine
design (as with optical modular encoders).
• Encoders with high-quality absolute and/or incremental
output signals• Angle encoders and modular encoders with their measuring
standard on an aluminum or steel drum for shaft speeds of
up to 42 000 rpm• Encoders with an integral bearing and a stator coupling, or
modular designs• Encoders with good acceleration performance for highbandwidths in the control loop
For more information, see page 2

For the selection table, see page 12
Rotary encoders for mounting inside motors
In motors without forced ventilation, the rotary encoder is installedinside the motor housing. As a result, the encoder does not requirea high protection rating. Nevertheless, the operating temperatureinside the motor housing can reach 100 °C or more.
The selection table contains the following encoders:• Absolute rotary encoders for operating temperatures of up to 115 °C,
and incremental rotary encoders for operating temperatures of
up to 120 °C• Rotary encoders with a mounted stator coupling featuring a highnatural frequency (the motor’s bandwidth is virtually unlimited)• Absolute rotary encoders with purely digital data transmission(suitable for the HMC 6 and HMC 2 single-cable solutions) oradditional sinusoidal incremental signals• Incremental rotary encoders for digital speed control, featuringhigh-quality sinusoidal output signals, even under highoperating temperatures• Incremental rotary encoders with an additional commutation
signal for BLDC motors• Incremental rotary encoders with TTL-compatible output signals• Information on functionally safe rotary encoders available assafety-related position measurement systems
For the selection table, see page 8

Linear encoders for linear motors
Linear encoders installed on linear motors provide actual-value
feedback for the position and speed controllers. These encoders
have a critical impact on the linear motor’s control characteristics.
The linear encoders recommended for this type of application
exhibit the following characteristics:• Low position error during acceleration in the direction of
measurement• High tolerance to acceleration and lateral vibration• Ability to handle high shaft speeds• Absolute position information with purely digital datatransmission or high-quality sinusoidal incremental signals
For more information, see page 2
Exposed linear encoders are characterized by:• Higher accuracy grades• Higher traversing speeds• Non-contact scanning (i.e., no friction between scanning headand scale)
Exposed linear encoders are suitable for applications in clean
environments (e.g., on measuring machines or production
equipment in the semiconductor industry).
For more information, see page 2
Sealed linear encoders feature the following characteristics:• High protection rating• Easy mounting
Sealed linear encoders are thus suitable for applications in highcontamination environments (e.g., on machine tools).
For more information, see page 2

67

Selection guideRotary encoders for mounting inside motors
Protection rating: up to IP40 (EN 60529)

SeriesMain dimensions

Mechanicallypermissible
shaft speed

Naturalfrequency fN(typical) of
the coupling

Maximum
operatingtemperature

Supply voltage

Signal periods
per revolution

Positions per
revolution

Distinguishable
revolutions

Interface

Model

Further
information

 15 000 rpm/ 12 000 rpm–

110 °C

DC 3.6 V to 14 V–

524 288 (19 bits)–/4096

EnDat 2.2/22

ECI 11191)/EQI 11311)

Page 62

Page 66

Rotary encoders without integral bearing

ECI/EQI 1100
with synchro flange
22.25

36.83

ECI/EQI 1100

ECI/EBI/EQI 1300

 15 000 rpm/ 12 000 rpm–

115 °CDC 4 V to 14 V

EnDat 3/E30-R2

DC 3.6 V to 14 V

EnDat 2.2/22

DC 3.6 V to 14 V–

524 288 (19 bits)

DC 4 V to 14 V

ECI/EBI 100

 6000 rpm–

100 °CDC 10 V to 28.8 V

115 °C

DC 3.6 V to 14 V

32

524 288 (19 bits)––/65 536/4096

3)

EnDat 2.2/22

ECI 13191)/EQI 13311)/
EBI 13351)3)–/4096

EnDat 3/E30-R2

ECI 1319 /EQI 1331

DRIVE-CLiQ

ECI 1319 S/EQI 1331 S

Page 70

EnDat 2.1/01 with » 1 VPP

ECI 119

Page 72

3)

EnDat 2.2/22

ECI 119/EBI 135–/65 536

3)

EnDat 2.2/22

ECI 40101)/EBI 40103)–

DRIVE-CLiQ

ECI 4090 S« TTL

ERO 1225» 1 VPPERO 1285« TTL

ERO 1420––/65 536

1)

1)Page 68
1)

D: 30/38/50 mm

ECI/EBI 4000

 6000 rpm–

115 °C

DC 3.6 V to 14 V

100 °CDC 10 V to 28.8 V

100 °CDC 5 V ±0.5 V–

1 048 576 (20 bits)

Page 74

1)

D: 90/180 mm

ERO 1200

ERO 1400

 25 000 rpm

 30 000 rpm

–

–

70 °C

1024/2048–

DC 5 V ±0.5 V

512/1000/1024–

DC 5 V ±0.25 V

5000 to 37 500« TTL

ERO 1470

DC 5 V ±0.5 V

512/1000/1024» 1 VPPERO 1480

2)

Page 78

Page 801)

Also available with functional safety
After internal 5/10/20/25-fold interpolation
3)
Multiturn functionality via battery-buffered revolution counter
2)

DRIVE-CLiQ is a registered trademark of Siemens AG.

89Series

Main dimensions

Mechanicallypermissible
shaft speed

Naturalfrequency fN(typical) of
the coupling

Maximum
operatingtemperature

Supply voltage

Signal periods
per revolution

Positions per
revolution

Distinguishable
revolutions

Interface

Model

Further
information

115 °C

DC 3.6 V to 14 V

512

8192 (13 bits)–/4096

EnDat 2.2/01 with » 1 VPP

ECN 1113/EQN 1125

Page 48

95 °C

DC 10 V to 28.8 V–

8 388 608 (23 bits)–/4096

DRIVE-CLiQ

ECN 1123 S/EQN 1135 S

115 °C

DC 3.6 V to 14 V

EnDat 2.2/22

ECN 1123 /EQN 1135

Rotary encoders with integral bearing and mounted stator coupling
ECN/EQN/
ERN 1100

 12 000 rpm

ECN/EQN/
ERN 1300

1000 Hz1)

1)

 6000 rpm

1600 Hz

90 °C

DC 5 V ±0.5 V

500 to 8192

3 block commutation signals« TTL

ERN 1123

Page 52

 15 000 rpm/ 12 000 rpm

1800 Hz

115 °C

DC 3.6 V to 14 V

512/2048

8192 (13 bits)

EnDat 2.2/01 with » 1 VPP

ECN 1313/EQN 1325

Page 54–

33 554 432 (25 bits)

EnDat 2.2/22

ECN 1325 /EQN 1337–/4096

DC 4 V to 14 V

1)1)

EnDat 3/E30-R2(not with ERN)

100 °C 15 000 rpm

DC 10 V to 28.8 V

120 °CDC 5 V ±0.5 V
ERN 1381/4096:
80 °C

DC 5 V ±0.25 V
1)–

16 777 216 (24 bits) –/4096

DRIVE-CLiQ

ECN 1324 S/EQN 1336 S Page 56

1024/2048/4096

–

« TTL

ERN 1321
ERN 1326

3 block commutation signals
512/2048/4096

–

2048

Z1 track for sine commutation

Page 60» 1 VPPERN 1381
ERN 1387

Also available with functional safety

DRIVE-CLiQ is a registered trademark of Siemens AG.

1011

Rotary encoders for mounting on motors
Protection class: up to IP64 (EN 60529)

SeriesMain dimensions

Mechanicallypermissible
shaft speed

Naturalfrequency fN(typical) of
the coupling

Maximum
operatingtemperature

Supply voltage

Signal periods
per revolution

Positions per
revolution

Distinguishable
revolutions

Interface

Model

Further
information

100 °C

DC 3.6 V to 14 V

2048

8192 (13 bits)–

EnDat 2.2/01 with » 1 VPP

ECN 113–33 554 432 (25 bits)

EnDat 2.2/22

ECN 125

Brochure:
RotaryEncoders

1000 to 5000–

« TTL/» 1 VPP

ERN 120/ERN 180« HTL

ERN 130

EnDat 2.2/01 » 1 VPP

ECN 413/EQN 425

Rotary encoders with integral bearing and mounted stator coupling
ECN/ERN 100¬  30 mm:
 6000 rpm

1000 Hz¬ > 30 mm:
 4000 rpm

ECN/EQN/ERN 400

Stator coupling for plane surfaces

 6000 rpm
With two shaft
clampings(only for hollow
through shaft): 12 000 rpm

DC 5 V ±0.5 V

Stator couplingfor plane
surfaces:
1500 Hz

85 °C

DC 10 V to 30 V

100 °C

DC 3.6 V to 14 V

512/2048

8192 (13 bits)–/4096–33 554 432 (25 bits)

EnDat 2.2/22

ECN 425/EQN 437

DC 4.75 V to 30 V

512

8192 (13 bits)

SSI

ECN 413/EQN 425

DC 5 V ±0.5 V

250 to 5000

–

« TTL

ERN 420« HTL

ERN 430« TTL

ERN 460» 1 VPPERN 480

EnDat H  HTL
SSI 41H  HTL

EQN 425

DC 10 V to 30 V
70 °C

ECN/EQN/ERN 400

Stator coupling for plane surfaces

 6000 rpm
With two shaft
clampings(only for hollow
through shaft): 12 000 rpm

Stator couplingfor plane
surfaces:
1500 Hz

100 °CDC 5 V ±0.5 V

1000 to 5000

100 °CDC 10 V to 30 V

256 to 2048

DC 4.75 V to 30 V

512 to 4096

DC 3.6 V to 14 V–

DC 10 V to 28.8 V
ECN/EQN/ERN 400

Expanding ring coupling 15 000 rpm/ 12 000 rpm(not with ERN) 15 000 rpm

Expanding ringcoupling:
1800 Hz
Plane-surface
coupling:
400 Hz

100 °C

DC 3.6 V to 14 V

8192 (13 bits)–/4096

1)

Brochure:
RotaryEncoders

EnDat T  TTL
SSI 41T  TTL
Þi: 33 554 432(25 bits)

4096

16 777 216 (24 bits)–/4096Fanuc

ECN 425 F/EQN 437 F

DRIVE-CLiQ

ECN 424 S/EQN 436 S1)

EnDat 2.2/01 with » 1 VPP

ECN 413/EQN 425

Page 582048

8192 (13 bits)–

33 554 432 (25 bits)

EnDat 2.2/22

ECN 425 /EQN 437

DC 5 V ±0.5 V

1024 to 5000

–

« TTL

ERN 421

DC 5 V ±0.25 V

2048

Z1 track for sine commutation» 1 VPPERN 4871)

1)

Product
Information
document

83.2

Plane-surface coupling

50.5

1)

22

Also available with functional safety

DRIVE-CLiQ is a registered trademark of Siemens AG.

1213

Rotary encoders for mounting on motors
Protection class: up to IP64 (EN 60529)

SeriesMain dimensions

Mechanicallypermissible
shaft speed

Naturalfrequency fN(typical) of
the coupling

Maximum
operatingtemperature

Supply voltage

Signal periods
per revolution

Positions per
revolution

Distinguishable
revolutions

Interface

Model

Further
information

100 °C

DC 3.6 V to 14 V

512

8192 (13 bits)–/4096

EnDat 2.2/01 with » 1 VPP

ECN 1013/EQN 1025–

8 388 608 (23 bits)

EnDat 2.2/22

ECN 1023/EQN 1035

Brochure:
RotaryEncoders

DRIVE-CLiQ

ECN 1023 S/EQN 1035 S« TTL/» 1 VPP

ERN 1020/ERN 1080

« HTLsERN 1030« TTL

ERN 1070« TTL

ERN 1023

Rotary encoders with integral bearing and mounted stator coupling
ECN/EQN/ERN 1000

 12 000 rpm

1500 Hz

95 °C
ERN 1023

DC 5 V ±0.5 V
70 °C

 6000 rpm
1)

DC 10 V to 28.8 V

1600 Hz

90 °C

100 to 3600–

DC 10 V to 30 V1)

DC 5 V ±0.25 V

5000 to 36 000

DC 5 V ±0.5 V

500 to 8192

3 block commutation signals

Page 50After internal 5/10/20/25-fold interpolation

14

15

Rotary encoders for mounting on motors
Protection class: up to IP64 (EN 60529)

SeriesMain dimensions

Mechanicallypermissible
shaft speed

Naturalfrequency fN(typical) of
the coupling

Maximum
operatingtemperature

Supply voltage

Signal periods
per revolution

Positions per
revolution

Distinguishable
revolutions

Interface

Model

Further
information

100 °C

DC 3.6 V to 14 V

512/2048

8192 (13 bits)–/4096

EnDat 2.2/01 with » 1 VPP

ROC 413/ROQ 425–

33 554 432 (25 bits)

EnDat 2.2/22

ROC 4251)/ROQ 4371)

Brochure:
RotaryEncoders

DC 4.75 V to 30 V

512

8192 (13 bits)

SSI

ROC 413/ROQ 425

DC 10 V to 30 V

256 to 2048

8192 (13 bits)

EnDat H  HTL
SSI 41H  HTL

ROQ 425

DC 4.75 V to 30 V

512 to 4096

DC 3.6 V to 14 V–

Rotary encoders with integral bearing for separate shaft coupling
ROC/ROQ/ROD 400

 12 000 rpm

Synchro flange–

Clamping flange

Fanuc

ROC 425 F/ROQ 437 F

DRIVE-CLiQ

ROC 424 S/EQN 436 S1)« TTL

ROD 426/ROD 420« HTL

ROD 436/ROD 430

50 to 10 000« TTL

ROD 466» 1 VPPROD 486/ROD 480

EnDat 2.2/01 with » 1 VPP

ROC 1013/ROQ 1025

EnDat 2.2/22

ROC 1023/ROQ 1035

DRIVE-CLiQ

ROC 1023 S/ROQ 1035 S« TTL

ROD 1020» 1 VPPROD 1080« HTLsROD 1030« TTL

ROD 1070« TTL

ROD 620« HTL

ROD 630« HTL/HTLs

ROD 1930

Þi: 33 554 432(25 bits)

 12 000 rpm–

50 to 10 0002)

DC 10 V to 30 V

50 to 5000

ROD 600

 4000 rpm–

2)

DC 5 V ±0.5 V

1000 to 5000

100 °C

DC 3.6 V to 14 V

512

8192 (13 bits)–

8 388 608 (23 bits)

95 °C

DC 10 V to 28.8 V

100 °CDC 5 V ±0.5 V

–

80 °C

70 °C

–

100 to 3600–

DC 10 V to 30 V2)

DC 5 V ±0.25 V

5000 to 36 000

DC 5 V ±0.5 V

512 to 5000

DC 10 V to 30 V

600 to 2400–––/4096

Brochure:
RotaryEncoders

199

 15

ROD 1900

 12 000 rpm–

100 °C

70 °C

4096

16 777 216 (24 bits)

DC 5 V ±0.5 V

70 °C

3)

EnDat T  TTL
SSI 41T  TTL

DC 10 V to 28.8 V

ROC/ROQ/ROD 1000–/4096

150

18

160

1)

Also available with functional safety
After integrated 5/10-fold interpolation
3)
Only clamping flange
2)

DRIVE-CLiQ is a registered trademark of Siemens AG.

1617

Rotary encoders and angle encoders for
DC and three‑phase AC motors
General information
Speed stability
In order to obtain good motor speed
stability, the encoder must provide ahigh number of measuring steps per
revolution. For this reason, HEIDENHAIN
offers encoders that output a sufficientnumber of measuring steps per revolution
for the required speed stability.

Transmission of measuring signals
For good dynamic performance with digitalspeed control, the cycle time of the speed
controller should not exceed approximately
125 μs. In addition, the actual values for the
position controller and speed controller
must be available to the controlling systemwith the least possible delay.

For digital speed control on machines withhigh dynamic-performance requirements,
a large number of measuring steps are
required—usually more than 500 000 per
revolution. For applications with standard
motors, approximately 60 000 measuring
steps per revolution are sufficient (similar
to resolvers).

HEIDENHAIN rotary encoders and angle
encoders with an integral bearing andstator coupling exhibit particularly beneficial
behavior: shaft misalignment within acertain tolerance range does not induce
position errors or impair the speed stability(see Specifications).

High clock frequencies are needed to fulfill
such demanding time requirements on
position-value transmission from the encoder
to the controlling system with serial datatransmission (see also the Interfaces of
HEIDENHAIN Encoders brochure).
HEIDENHAIN encoders for electric motors
therefore output position values over thefast, purely serial EnDat 2.2 or EnDat 3
interface or transmit additional incremental
signals that are available with virtually nodelay to the downstream electronics for
speed and position control.

HEIDENHAIN encoders for motors withdigital position and speed control are
therefore equipped with the purely serial
EnDat22/EnDat3 interface, or they output
additional sinusoidal incremental signals
at 1 VPP signal levels (EnDat01).

Position errors within one signal period
adversely affect the positioning accuracy
and speed stability of the motor. At low
feed rates, the motor moves in accordancewith the position error within one signal
period.

For standard motors, manufacturers
primarily use the highly robust ECI/EBI/EQI
encoders without integral bearing, or
rotary encoders with TTL or HTL com­
patible output signals—as well as additional
commutation signals for permanent
DC motors.

The high internal resolution of the EnDat22
and EnDat3 encoders permits resolutionsof up to 22 bits (4 194 304 measuring steps)
in inductive systems and of at least 25 bits
(approx. 33 million measuring steps) in
photoelectric encoders.
The sinusoidal incremental signals of the
EnDat01 devices can, due to their highquality, be highly subdivided in the down­
stream electronics (see Figure 1). Even at
speeds of 12 000 rpm, the signal arrives at
the input circuit of the controlling systemwith a frequency of only approximately
400 kHz (see Figure 2). Cable lengths of
up to 150 m are possible with 1 VPP incre­
mental signals (see also 1 VPP incremental
signals).

Figure 1:
Signal periods per revolution and the resulting number of measuring steps per revolution as afunction of the subdivision factor

HEIDENHAIN absolute encoders for“digital” motors deliver additional
sinusoidal incre­mental signals with thesame characteristics as those describedabove. Absolute encoders from
HEIDENHAIN use the EnDat interface(short for Encoder Data) for the serial datatransmission of absolute position values
and other information for automatic
self-configuration, monitoring anddiagnosis. This makes it possible to use
the same downstream electronics andcabling technology for all HEIDENHAIN
encoders.
With EnDat 22 (HMC 6) and EnDat 3(HMC 2), the serial data transmission cantake place inside the motor cable. Cabling
work and costs are thereby significantly
reduced.
For automatic configuration, important
encoder specifications can be read fromthe memory of the EnDat encoder, andmotor-specific parameters can be savedin the encoder’s OEM memory area. The
usable size of the OEM memory for therotary encoders listed in the current
brochures is at least 1.4 KB ( 704 EnDatwords).
Most absolute encoders internallysubdivide the sinusoidal scanning signals
by a factor of 4096 or greater. When thesesystems are operated with sufficiently
fast transmission of the absolute position

The benefits of this data transmission
technology are higher noise immunity
along the transmission path and morecost-efficient connectors and cables.
A large portion of rotary encoders equippedwith the EnDat 2.2 or EnDat 3 interface
are also able to evaluate an external
temperature sensor (e.g., located in the
motor winding). The digitized temperature
data is transmitted as part of the EnDat 2.2
or EnDat 3 protocol without an additionalline.
Bandwidth
The attainable gain levels for the positionand speed control loops, and therefore thebandwidth of the motor with regard tocommand and disturbance behavior, may
be limited by the rigidity of the coupling
between the motor shaft and the encoder
shaft, as well as by the natural frequency ofthe stator coupling. HEIDENHAIN therefore
offers rotary and angle encoders for highrigidity shaft couplings.
The stator couplings mounted on theencoder exhibit high natural frequencies fN.
With modular and inductive rotary encoders,
the stator and rotor are firmly screwed tothe motor housing and the shaft (see also
Mechanical design types and mounting).
This mechanical design therefore permits
optimal coupling rigidity.

Figure 2:
Shaft speed and resulting output frequency as a function of the number ofsignal periods per revolution
Signal periods per revolution
Output frequency in kHz 

Measuring steps per revolution 

Subdivision factor

Signal periods per revolution 

18values (e.g., at a clock frequency of 2 MHz
with EnDat 2.1 or 16 MHz with EnDat 2.2)
or EnDat3 (12.5 or 25 Mbit/s), incremental
signal evaluation can be eliminatedaltogether.

Motor currents
Motors may exhibit impermissible current
flowing from the rotor to the stator. Thiscan cause the encoder bearing to overheat,thus shortening its service life. HEIDENHAIN
therefore recommends the use of encoders
without an integral bearing or encoders
with an electrically isolated bearing (hybrid
bearing). For more information, pleasecontact HEIDENHAIN.
Fault exclusion for mechanical coupling
HEIDENHAIN encoders designed forfunctional safety can be mounted in such a
way that the rotor or stator fastening does
not accidentally loosen.
Size
The higher a motor’s permissible operating
temperature is, the smaller the motor canbe made for a given torque. Since thetemperature of the motor also affects thetemperature of the encoder, HEIDENHAIN
offers encoders for permissible operating
temperatures of up to 120 °C. These
encoders make it possible to implement
smaller motors.
Power dissipation and acoustic noise
While the motor is running, encoder
position errors within one signal period
affect the motor’s power dissipation as
well as the heat generation and acoustic
noise that go along with it. For this reason,rotary encoders with high signal quality(better than ±1% of the signal period) are
preferred (see also Measuring accuracy).
Bit error rate
For rotary encoders with a purely serialinterface for installation within motors,
HEIDENHAIN recommends conducting atype test for the bit error rate.
The use of functionally safe encoders
without closed metal housings and/or withcable assemblies that do not comply withthe electrical connection directives (seeGeneral electrical information) always
requires the bit error rate to be measured
in a type test under application conditions.
Preventive maintenance
Encoders with serial data transmission
provide information that enables monitoringof the operating status and thus preventive
maintenance:• Diagnostics• Clearance gap for optimized andverifiable mounting and application
conditions• Connectable external temperature
sensorShaft speed in rpm 

19

HMC 2 and HMC 6
Single-cable solutions for servomotors

Servomotors normally require two separate
connecting cables:• One encoder cable for the motor encoder• One power cable for the motor supply

The universal design of the HMC solution
gives motor and machine manufacturers
high flexibility, letting them use standard
components on both the motor and thecontrol.

HMC 6

With the HMC solution (Hybrid Motor
Cable), HEIDENHAIN has integrated theencoder cable into the power cable. Thus,
only one cable is now needed between
the motor and the electrical cabinet.
The HMC 6 single-cable solution was
specifically designed for the HEIDENHAIN
EnDat22 interface, and HMC 2 for EnDat3.
With purely serial data transmission, cable
lengths of up to 100 m can be realized.
With HMC 6, all other encoders equippedwith a purely serial RS‑485 interface (e.g.,
SSI) can be connected as well. A wide
range of encoders can therefore be usedwithout the need for introducing a newinterface.
The HMC solution combines the wires forthe encoder, motor and brake into a single
cable, which is connected to the motor
via a special connector. For connection to
the drive, the cable is split into power
connections, brake connections and an
encoder connection.

All HEIDENHAIN encoders with the
EnDat22 interface or with purely serial
data transmission without battery buffering
as per RS-485 are suitable for the HMC 6
single-cable solution. This includes motor
encoders for servomotors in various sizes,
linear and angle encoders used in directdrive motors, as well as encoders forfunctional safety up to SIL 3.

Encoder connections(communication element)
Brake connections

The HMC 2 single-cable solution can beused with motor encoders featuring the
EnDat 3 interface (ordering designation:
E30-R2) and purely serial data transmission
via two wires. The ExI 1100/1300 and
ExN 1300 series rotary encoders areavailable for functional safety applications
with up to SIL 3.

Motor connections

For the controlling hardware, you cancontinue to use already deployed frequency
inverters or controller units. The HMC cables
have been designed for easy assembly ofthe matching connecting elements.
Importantly, this does not impair noise
immunity.

HMC 2

When the components are correctly
assembled, the connecting elements attainan IP67 rating.

Flange socket

Power wires

Motorconnections

Encoder connections

Temperature

EncoderConnecting element on the motor
The motor housing is equipped with astandard flange socket for HMC 2 or a
special angle flange socket for HMC 6.
This angle flange socket brings together
the wires for the encoder, motor powerand brake.

Downstream electronics

Crimping tools for the power wires
The crimp contacts for the power andbrake wires are assembled with the usual
tools.
Benefits
The HMC single-cable solutions offer aseries of cost and quality benefits formotor and machine manufacturers:• Continued use of existing interfaces• Realization of smaller drag chains• Significant improvement in drag-chain
suitability thanks to fewer cables• Wide range of available encoders for
HMC 2 and HMC 6 transmission• Eliminated separate assignment of
power cables and encoder cables in themachine• Reduced mechanical requirements(flange socket on the motor, cable ductsin the machine housing)• Reduced logistics for cables andconnectors• Easier and faster installation• Reduced documentation• Fewer required servicing components• Smaller motor profile with cableattached, enabling easier integration into
the machine housing• HEIDENHAIN-tested combination of
power and encoder cable

Encoder wires
Brake wires
Power wires

Output cables inside the motor housing
The rotary encoder is connected by meansof the output cables inside the motor
housing: your pre-assembled communica­tion element for HMC 6 or the twocontacts for HMC 2 are simply plugged
into the angle flange socket.
Cable with hybrid connector
The HMC connecting cable contains thewires for the encoder, power supply andbrake.

Encoder output
cable inside themotor housing

Brake wires

Components
Preparing a motor for the single-cable
solution requires only a handful ofcomponents.
Brake connections

Connector

Further information:
For more information about HMC 6 and HMC 2, refer to the respective Product
Information document, and visit www.endat.de.

20

21

Safety-related position measuring systems

Various safety strategies can be pursued,
depending on the topology of the axis andthe evaluation capabilities of the control.
In a single-encoder system, for example,
only one encoder per axis is evaluated forthe safety function. However, on axes withtwo encoders, such as a linear axis witha rotary and a linear encoder, the two
redundant position values can be comparedwith each other in the control.
Safe fault detection can be ensured only
if the two components (the control andencoder) are properly matched to eachother. Please note that the safety designsof control manufacturers differ from one
another. As a result, the requirements to
be fulfilled by the connected encoders may
partially differ as well.

Type-examined encoders
Encoders from HEIDENHAIN are usedsuccessfully on a variety of controls in widelydiffering safety designs. This particularly
applies to type-examined encoders with
EnDat and DRIVE-CLiQ interfaces. These
encoders can be operated as single-encoder
systems in conjunction with a suitable
control in applications with the control
category SIL 3 (according to EN 61508) or
Performance Level “e” (of EN ISO 13849).
Unlike incremental encoders, absolute
encoders always provide a safe absolute
position value, including immediately afterswitch-on or a power failure. The reliabletransmission of the position is based on
two independently generated absolute
position values and on error bits provided
to the safe control. The purely serial datatransmission also provides other benefits,
including greater reliability, improved
accuracy, diagnostic capabilities andreduced costs through simpler connection
technology.

Further information:
The safety-related characteristic values
are listed in the specifications of theencoders. The Technical Information
document Safety-Related Position
Encoders provides explanations of thecharacteristic values.
For the use of standard encoders insafety-related applications, HEIDENHAIN
can also provide additional information
about individual products (failure rate,
fault model as per EN 61800-5-2).

Service life as per ISO 13849
Unless otherwise specified, HEIDENHAIN
encoders are designed for a service lifeof 20 years (as per ISO 13849), which isequivalent to 40 000 operating hours.
Bearing life
The bearing life L10mr as per ISO/TS 16281
at a temperature of 60 °C and maximum
bearing loads (maximum permissible shaft
offsets for encoders with an integrated
stator coupling) is greater than 2 · 1010
revolutions. Starting at a continuous use
temperature of 75 °C, the service life of thegrease is limited.

Standard encoders
In addition to encoders explicitly qualified
for safety applications, standard encoders(e.g., with Fanuc interface or 1 VPP signals)
can also be used in safe axes. In suchcases, the characteristics of the encoders
must be matched to the requirements of
the respective control. For this purpose,
HEIDENHAIN can provide additional data
about the individual encoders (failure rate,
fault model as per EN 61800-5-2).

For implementation in a control with EnDat22:• Specification for Safe Control					533095For implementation in a control with EnDat3:• Application Conditions for Functional Safety			3000003

Transmission line

Reception of measured values
Safe control

EnDat 2.2 or
EnDat 3

Position 1

Position 2

EnDat Master

EnDat 2.2 or
EnDat 3(protocol and cable)

Interface 1
EnDat
MasterInterface 2

Safe control
Encoder

Power cable

22

Adhere to the information in the following documents to ensure the correctand intended operation of the encoder:• Mounting Instructions• Operating Instructions• Product Information documents• Customer information about fault exclusion• Technical Information document:
Safety-Related Position Measuring Systems			596632

Safety-related position measuring systemMotor

coupling usually require additional
measures during installation of the encoder
or in the event of servicing (e.g., antirotation lock for screws). These factors
must be considered for the selection of asuitable encoder or mounting mode.

Further information:

Measured-value
acquisition

Catalog of measures

Please contact HEIDENHAIN if you haveany questions about the service life of thegrease.

DRIVE-CLiQ is a registered trademark of
Siemens AG.

Fault exclusion for the loosening of
the mechanical connection
Irrespective of the interface, many safety
designs require the safe mechanicalconnection of the encoder. The standard forelectric motors, EN 61800-5-2, requiresthat the loosening of the mechanicalconnection between the encoder and the
motor be considered as a fault. Because
the controller may not be able to detect
these errors, fault exclusion is required inmany cases. The requirements on a fault
exclusion can result in additional constraints
in the permissible limit values in thespecifications. In addition, fault exclusions
for the loosening of the mechanical

EnDat interface

Safe axes
Driven axes and moving parts can represent
a significant hazard for humans. Particularly
if the human interacts with the machine(e.g., during workpiece setup), it must be
ensured that the machine does not makeany uncontrolled movements. This requires
position information about the axes in order
for a safety function to be implemented.
As an evaluating safety module, the control
must be able to detect faulty position
information and react accordingly.

Integrated into the encoder cable(hybrid cable) in the case of EnDat 3
Functionally safe drive system with EnDat 2.2 or EnDat 3

Power stage

Two independent
position values

Serial datatransmission

Position values and error bits
via two processor interfaces

Internal monitoring

Monitoring functions

Protocol implementation

Efficiency test

Safety-related position measurement system with EnDat 2.2 or EnDat 3

23

Measuring principles
Measuring standard

HEIDENHAIN encoders with opticalscanning incorporate measuring standards
consisting of periodic structures known as
graduations.
These graduations are applied to a
substrate of glass or steel. For encoders
with large diameters, steel tape is used as
the substrate.
HEIDENHAIN manufactures its precision
graduations in specially developed,
photolithographic processes:• AURODUR: matte-etched lines on agold-plated steel tape; typical grating
period: 40 µm• METALLUR: contamination-tolerant
graduation consisting of metal lines ongold; typical grating period: 20 μm• DIADUR: extremely robust chromiumlines on glass (typical grating period:
20 μm), or three-dimensional chromium
structures (typical grating period: 8 μm)
on glass• SUPRADUR phase grating: opticallythree-dimensional, planar structure;
particularly tolerant to contamination;
typical grating period: 8 μm and finer• OPTODUR phase grating: opticallythree-dimensional, planar structure withparticularly high reflectance; typicalgraduation period: 2 μm and finer
For magnetic encoders, a substrate madeof magnetizable steel alloy is used. Within it,
a graduation consisting of north and south
poles is created with a grating period of
400 µm. Due to the short range of electro­
magnetic interactions and the resulting
narrowness of the scanning gap, finermagnetic graduations are not practical.
Encoders that use the inductive scanningprinciple employ metal graduations or
copper/nickel-based graduation structures.
These graduation structures are applied toa printed-circuit carrier material.

Scanning methods

In the absolute measuring method, theposition value is available immediately
upon encoder switch-on and can berequested by the downstream electronics
at any time. There is no need to move theaxes to find the reference position. Thisabsolute position information is ascertained
from the graduation of the circularscale, which contains a code structure orconsists of multiple parallel graduation
tracks.

A separate incremental track, or the trackwith the finest grating period, is interpolated
for the position value and is simultaneously
used to generate an optional incremental
signal.
Singleturn rotary encoders repeat theabsolute position information with eachrevolution. Multiturn encoders candistinguish between additional revolutions.

The circular scales of absolute rotary encoders

In the incremental measuring method,
the graduation consists of a periodic grating
structure. Position information is obtained
through the counting of individual incre­
ments (measuring steps) starting from afreely settable point of origin. Since position
ascertainment requires an absolute refe­rence, the circular scales have an additional
track containing a reference mark.

The absolute position established by thereference mark is assigned to exactly one
measuring step.
Thus, before an absolute reference can beestablished or the most recently selectedreference point can be refound, thisreference mark must first be traversed.

Photoelectric scanning
Most HEIDENHAIN encoders utilize thephotoelectric scanning principle. Photoelec­
tric scanning is touchless and therefore
does not induce wear. This method detects
even extremely fine graduation lines down
to a width of only a few micrometers andgenerates output signals with very small
signal periods.
The ERN/ECN/EQN/ERO and ROD/RCN/
RQN rotary encoders are designed inaccordance with the imaging scanningprinciple.
Put simply, the imaging scanning principle
uses projected-light signal generation:
two gratings with equal or similar grating
periods—the circular scale and thescanning reticle—are moved relative toeach other. The carrier material of thescanning reticle is transparent, whereas
the graduation of the measuring standard
may likewise be applied to a transparent
material or to a reflective material.
When parallel light passes through a grating
structure, light and dark fields are projected
at a certain distance. At this location there
is an index grating with the same or similar
grating period. When the two graduations
move relative to each other, the incident
light is modulated: if the gaps are aligned,
light passes through. If the lines of one
grating coincide with the gaps of the other,no light passes through. Photocells or astructured photosensor convert thesefluctuations in light into nearly sinusoidal
electrical signals. In encoders that use theimaging scanning principle, workable
mounting tolerances are attainable startingat a minimum grating period of 10 μm.

The ECN and EQN absolute rotary
encoders with optimized scanning containa single, large-surface, finely structured
photosensor rather than a group ofindividual photocells. The width of thephotosensor’s structures is identical to thewidth of the measuring standard’s grating
structure. A scanning reticle with amatching structure is therefore notneeded.

LED light
sourceCondenser
Circular scale

Incremental track
Absolute track

Structured photosensor
Photoelectric scanning according to the imaging scanning principle

Area of receiver coils
Area of exciter
coils

Other scanning principles
Some encoders operate in accordance withother scanning methods. As their measuring
standard, ERM encoders use a permanently
magnetized MAGNODUR graduation thatis scanned with magnetoresistive sensors.

24

The ciruclar scales of incremental rotary encoders

ECI/EQI/EBI rotary encoders operateaccording to the inductive measuring
principle. In this case, moving graduation
structures modulate the gain and phase ofa high-frequency signal. By means ofcircumferential scanning, the position value
is always generated based on the signals
from the receiver coils that are distributed
along the circumference. This permits widemounting tolerances at high resolution.

Movinggraduation
structure

Inductive scanning25

Measuring accuracy

Electronic commutation with position encoders

Commutation with permanent-magnet
three-phase AC motors
Electronic commutation for a permanentmagnet three-phase AC motor requires the
position of the rotor as an absolute value
prior to motor start-up. HEIDENHAIN rotary
encoders come with different types ofrotor position recognition:

Commutation of synchronous
linear motors
Like absolute rotary and angular encoders,the LIC and LC absolute linear encoder
series provide the exact position of the
motor’s moving component immediately
upon switch-on. Maximum holding load isthereby possible even at standstill.

Circular scale with
Z1 track

In the specifications for rotary encoders,the encoder-specific error is stated as thesystem accuracy.
The extreme values of the total error for
any given position relative to their mean lie
within the system accuracy of ±a.
The system accuracy reflects position errors
within one revolution as well as interpolation
errors within one signal period and—forrotary encoders with stator coupling—theerrors of the shaft coupling.
Interpolation error within one
signal period
The interpolation error within one signal
period is considered separately, since it has
an effect even in very small angular move­ments and in repeated measurements.
It particularly causes speed ripples in the
speed control loop.

Due to the higher reproducibility of aposition, much smaller measuring steps
are still practical.

Interpolation error within one signal period

Interpolation error
within one signal
periodPosition 

Further information:

These errors are taken into account in theinformation about interpolation error within
one signal period. For rotary encoders withan integral bearing and sinusoidal output
signals, these errors are less than ±1% of
the signal period, and less than ±3% for
encoders with square-wave output signals.
These signals are suitable for up to 100-fold
PLL subdivision.

The interpolation error within one signal
period ±u results from the scanning quality
and, for encoders with integrated pulseshaping or counter electronics, the qualityof the signal-processing electronics. For
encoders with sinusoidal output signals,
however, the error from the signal
processing electronics is dictated by thedownstream electronics.

Interpolation error within one revolution

Circular scale withblock commutation
tracks

The following factors influence the outcome:• Fineness of the signal period• Homogeneity and period definition of
the graduation• Quality of scanning filter structures• Characteristics of the sensors• Stability and dynamic performance offurther analog signal processing

Position error • Incremental rotary encoders withblock commutation tracks also output
three commutation signals U, V and W,
which are used to directly drive thepower electronics. These rotary encoders
are available with various commutation
tracks. Typical versions have three signal
periods (120° mech.) or four signal
periods (90° mech.) per commutation
signal and revolution. Irrespective of this,the incremental square-wave signals
are used for position and speed control(see also Interfaces: Commutation
signals).

These factors can be divided into encoderspecific errors and application-specificfactors. For assessment of the attainable
overall accuracy, all of these individual
factors must be taken into account.

Encoder-specific error

Signal level • Along with delivering incremental signals,
incremental rotary encoders with asecond track—the Z1 track—provide
one sine and one cosine signal (C and D)
for each revolution of the motor shaft.
For sine commutation, rotary encoders
with a Z1 track simply require a subdivision
unit and a signal multiplexer in order toobtain the absolute rotor position down
to an accuracy of ±5° from the Z1 track
and to obtain the position information forspeed and position control from theincremental track (see also Interfaces:
Commutation signals).

Circular scale withcode track andincremental track

The angular measurement accuracy is
primarily determined by the following
factors:• Quality of the graduation• Scanning quality• Quality of the signal processing
electronics• Eccentricity of the graduation relative
to the bearing• Bearing error• Coupling with the drive shaft• Elasticity of the stator coupling (ERN,
ECN, EQN) or shaft coupling ( ROD,
ROC, ROQ)

Position error • Absolute rotary encoders in singleturnand multiturn versions provide theabsolute position information immediately
after switch-on, allowing the exact
position of the rotor to be derived forelectronic commutation.

The variables influencing the accuracy of
linear encoders are listed in the Linear
Encoders For Numerically Controlled
Machine Tools and Exposed Linear Encoders
brochures.

Signal period
360 °elec.

Please note the switch-on behavior of
the encoders (see the Interfaces of
HEIDENHAIN Encoders brochure).

26

27

Application-dependent errors

For rotary encoders with an integral
bearing, the specified system accuracy
already takes the error of the bearing into
account. In the case of angle encoders
with a separate shaft coupling (ROD,
ROC, ROQ), the angular error of thecoupling must be considered as well (seeMechanical design types and mounting).
For angle encoders with stator coupling(ERN, ECN, EQN), the system accuracy
already includes the error of the shaft
coupling.
In contrast, for encoders without integral
bearing, the mounting, as well as theadjustment of the scanning head, has adecisive influence on the attainable overall
accuracy. Of particular importance are boththe mounting eccentricity of the graduationand the radial runout of the measured
shaft. Evaluation of the overall accuracyof these encoders requires that theirapplication-dependent errors be individually
measured and taken into account.

Rotary encoders withphotoelectric scanning

In addition to the system accuracy, themounting quality and adjustment of thescanning head also have a significant effecton the attainable overall accuracy of rotary
encoders without an integral bearing but
with photoelectric scanning. Of particularimportance are the mounting eccentricityof the graduation and the radial runout of
the measured shaft.
ExampleFor an ERO 1420 rotary encoder with amean graduation diameter of 24.85 mm:
A radial runout of the measured shaft of
0.02 mm results in a position error of±330 arc seconds within one revolution.
To evaluate the accuracy of modular
rotary encoders without an integral
bearing (ERO), the relevant errors must
be considered individually.

1. Directional errors of the graduation
ERO: The extreme values of the directional
errors relative to their mean are listed in
the Specifications as the accuracy of thegraduation. The system accuracy consistsof the graduation accuracy and position
error within one signal period.
2. Errors due to eccentricity of thegraduation relative to the bearing
During mounting of the disk/hub assembly,
it is to be expected that the bearing will
exhibit radial runout or eccentricity errors.
When centering via the centering collar of
the hub, bear in mind that HEIDENHAIN
guarantees an eccentricity of the graduation
relative to the centering collar of less than
5 μm for the encoders listed in this brochure.
With modular encoders, this statedaccuracy presupposes a diameter error ofzero between the motor shaft and the“master shaft.”
In the worst-case scenario, if the centeringcollar is centered relative to the bearing,then the two eccentricity vectors may becumulative.

The following relationship exists between
the eccentricity e, the mean graduation
diameter D, and the measuring error ¹j(see figure below):¹j = ±412 · eD¹j = Measuring error in ” (arc seconds)
e = E
 ccentricity of the radial grating
relative to the bearing in µm
D = M ean graduation diameter in mm

Model

Graduation
centerline
diameter D

Error per
1 µm ofeccentricity

ERO 1420 D = 24.85 mm ±16.5”
ERO 1470
ERO 1480
ERO 1225 D = 38.5 mm
ERO 1285±10.7”

3. Radial runout of the bearing
The stated relationship for the measuring
error ¹j also applies to the radial runout of
the bearing when the eccentricity e isreplaced by one half of the radial runout(half of the displayed value).
Bearing compliance under a radial load
applied to the shaft causes similar errors.
4. Position error within one signal
period ¹ju
The scanning units of all HEIDENHAIN
encoders are adjusted such that, without
any further electrical adjustment duringmounting, the maximum position error
within one signal period (listed below) is
not exceeded.

Model Line count Position error within
one signal period ¹ju

ERO

2048
1500
1024
1000
512

TTL

1 VPP

 ±19.0” ±26.0” ±38.0” ±40.0”
 ±76.0”

 ± 6.5”
 ± 8.7”
 ±13.0”
 ±14.0”
 ±25.0”

These values for the position error within
one signal period are already included in
the system accuracy. Greater error canarise if the mounting tolerances are
exceeded.

Measuring ¹j in angular seconds 

Scanning unit

28

Resultant measuring
error ¹j for various
eccentricity values e asa function of the mean
graduation diameter D

Rotary encoders with inductive
scanning

As with all rotary encoders without an
integral bearing, the attainable accuracy of
inductive-scanning encoders without an
integral bearing depends on the mounting
and application conditions. The statedsystem accuracy assumes a temperatureof 20 °C and a low shaft speed. The
utilization of all permissible tolerances forthe operating temperature, speed, supply
voltage, scanning gap and mounting
condition must be taken into account for
determining the typical total error.
Since inductive rotary encoders use
circumferential scanning, their overall error
is generally lower than that of optical rotary
encoders without an integral bearing.
Because overall error cannot be determinedthrough a simple calculation, these values
are provided in the following table.
Model

Systemaccuracy

Total error

ECI 1100
EBI 1100
EQI 1100
EnDat22
E30-R2

±120”

±280”

ECI 1300 (S)EQI 1300 (S)EnDat22
E30-R2
DQ01

±65”

±120”

ECI 100
EBI 100

±90”

±180”

ECI 4000 (S) ±25”
EBI 4000
90 mm
hollow shaft
EnDat22
DQ01

±140”

ECI 4000 (S) ±40”
EBI 4000
180 mmhollow shaft
EnDat22
DQ01

±150”

Dependency of themeasuring error ¹j on
the mean graduation
diameter D and theeccentricity e.
Eccentricity e in µm 

M = Center of graduationj = "True" anglej‘ = Scanned angle

29

Mechanical design types and mounting
Rotary encoders with integral bearing and stator coupling

The ECN/EQN/ERN rotary encoders
feature an integral bearing and a mounted
stator coupling. With these models, theencoder shaft is directly connected to themeasured shaft. During angular accelerationof the shaft, the stator coupling must
absorb only the torque arising from friction
within the bearing. ECN/EQN/ERN rotary
encoders thus exhibit excellent dynamic
performance and a high natural frequency.
Benefits of the stator coupling:• No axial mounting tolerance between
the shaft and stator housing• High natural frequency of the coupling• High torsional rigidity of shaft coupling• Minimized space requirement forexternal and internal mounting• Easy axial mounting
Mounting the ECN/EQN 1100 and
ECN/EQN/ERN 1300
The blind hollow shaft or the tapered shaftof the rotary encoder is connected at theencoder’s front face to the measured shaft
by way of a central screw. Proper centering
onto the motor shaft is accomplished via
the hollow shaft or tapered shaft. On its
stator side, the ECN/EQN 1100 is connected
to a plane surface with two clamping
screws (without a centering collar). The
stator side of the ECN/EQN/ERN 1300 is
clamped in a mating hole with an axial screw.
The versions with fault exclusion feature
an additional nose for a positive lock in thestator.

ECN/EQN 1100

Mounting the ECN/EQN/ERN 1000
and ERN 1x23
The hollow shaft of these rotary encoders
is slid onto the measured shaft and clamped
on the rotor side with two screws. These
encoders are mounted on the stator side
without a centering flange onto a planesurface via four clamping screws or via two
clamping screws and washers.
The ECN/EQN/ERN 1000 encoders have ablind hollow shaft, but the ERN 1123 has ahollow through shaft.

ECN/EQN/ERN 1000

Accessory for ECN/EQN/ERN 1000

ECN/EQN/ERN 1300

Washer
For increasing the natural frequency fN
when fastening with only two screws.
ID 334653-01 (2 washers)

Mounting accessories
ECN/EQN/ECI/EQI 1100: Mounting aid
For turning the encoder shaft from the rear.
This facilitates finding the positive-locking
connection between the encoder and themeasured shaft.
ID 821017-03
ERN/ECN/EQN 1300: Inspection tool
For inspecting the shaft connection(fault exclusion for rotor coupling).
ID 680644-01
HEIDENHAIN recommends inspecting theholding torque of non-positive-locking shaft
connections (e.g., tapered shafts, blindhollow shafts).
The inspection tool is screwed into theM10 back-off thread from the rear of theencoder. Due to the short thread engage­
ment, the fastening screw for the shaft is
not touched. With the motor shaft lockedin place, the testing torque is applied to theextension by means of a torque wrench(hexagonal, width A/F 6.3 mm). After any
nonrecurring settling, it must be ensured
that there is no relative motion between
the motor shaft and the encoder shaft.

30

31

ECI/EBI/EQI rotary encoders without integral bearing

The application analysis must yield values
within specification for all possible operating
conditions (particularly under maximum load
and at minimum and maximum operating
temperature) and with the signal amplitude
taken into account (inspection of thescanning gap and mounting tolerance atroom temperature). This particularly applies
to the following determined factors:• Maximum radial runout of the motor shaft• Maximum axial runout of the motor shaft
relative to the mounting surface• Maximum and minimum scanning gap (a),including in combination with, for example,
the following:– The length ratio between the motor
shaft and the motor housing under the
influence of temperature (T1; T2; 1; 2),depending on the position of the fixedbearing (b)– The bearing play (CX)–N on-dynamic shaft offsets due toload (X1)– The effect of the motor brakes being
engaged (X2)

Scanning gap a = 0.65 mm±0.3 mm

X1, X20.05 A

Schematic representationof ECI/EBI 100

Mounting the ECI 119b

The maximum permissible error specified
in the mating dimensions applies to bothmounting and operation. Thus, thetolerances exploited during mounting are
no longer available during operation.
Once the encoder has been mounted, theactual scanning gap between the rotor andthe stator can be indirectly measured with
the PWM 21 adjusting and testing package
using a signal amplitude inside the rotary
encoder. The characteristic curves illustrate
the relationship between the signal
amplitude and the deviation from the ideal
scanning gap under different ambientconditions.
The example of the ECI/EBI 1100 shows
the resulting deviation from the ideal
scanning gap for a signal amplitude of 80%
under ideal conditions. Due to tolerances
within the rotary encoder, the deviation is
between +0.03 mm and +0.2 mm. Thus,
the maximum permissible motion of themeasured shaft during operation ranges
from –0.33 mm to +0.1 mm (green
arrows).

Tolerance at the time of shipping, including influence ofthe supply voltage
Temperature influence at max./min. operating temperature

ECI 1118/
EBI 1135 with EnDat 2.2

Deviation from the ideal scanning gap in mm Tolerance at the time of shipping, including influence of the
supply voltage
Temperature influence at max./min. operating temperature

ECI/EBI 100

Deviation from the ideal scanning gap in mm 

Display of the scanning gap
The latest generation of encoders supports
the display of the mounting dimension in
the ATS software. This additional data canalso be requested by the drive duringclosed-loop operation.

The ECI/EBI/EQI 1100 inductive rotary
encoders are mounted flush on their axis.
Their blind hollow shaft is fastened with acentral screw. The stator of these rotary
encoders is clamped onto a shoulder with
two axial screws.
Mounting the
ECI/EQI 1100

32

Permissible scanning gap
The size of the scanning gap between therotor and the stator is dictated by themounting situation. Later adjustment ispossible only through the insertion of shimrings.

T2

The ECI/EBI 100 rotary encoders are prealigned on a plane surface and, with their
hollow shaft locked, are slid onto themeasured shaft. Fastening and shaft
clamping are achieved with axial screws.

Mounting accessory
Mounting aid for removing the
PCB connector (see page 36).

0.05 A

T1

Amplitude in % CxAmplitude in % 

The ECI/EBI/EQI inductive encoders haveno integral bearing. This means that themounting and operating conditions influence
the encoder’s function reserves. It is alsoessential to ensure that the specified
mating dimensions and tolerances aremaintained for all operating conditions (seemounting instructions).

ID

ExI
mounting
wizard728563-xx
820725-xx

Mounting
interfaceID

ExI
mounting
wizardMounting
interfaceID

ExI
mounting
wizardMounting
interface811811-xx

1259551-xx

811815-xx

1259552-xx



1164809-xx

810661-xx

1286377-xx



1164811-xx

810662-xx

1286388-xx



1164812-xx

823405-xx



1164813-xx

823406-xx

823407-xx

33

ERO rotary encoders without integral bearing

The ECI/EBI/EQI 1300 inductive rotary
encoders are mounted flush on their axis.
Their blind hollow shaft is fastened with acentral screw. The stator of these rotary
encoders is clamped to a shoulder by three
axial screws.

The ERO rotary encoders without an
integral bearing consist of a scanning head
and a circular scale that must be brought
into mutual alignment during mounting.
Precise alignment is an important factor inreaching the attainable measuring
accuracy.

Mounting the
ECI/EQI 1300
with EnDat22 andEnDat3The scale drum of the ECI/EBI 4000
inductive rotary encoders is slid onto thecentering collar of the measured shaft andfastened (with/without a key, depending on
the version). Then the stator is fastened via
an external centering diameter.

Mounting the
ECI/EBI 4000

ERO 1200

The ERO modular rotary encoders consistof a disk/hub assembly and a scanning unit.
These encoders are particularly well suitedfor limited installation space, low axial offsets,
and low radial runout, or for applications
where friction of any type must be avoided.
In the ERO 1200 series, the disk/hub
assembly is pressed onto the shaft andbrought into alignment with the scanning
unit. The scanning unit is aligned on acentering collar and fastened to themounting surface.

ERO 1400

Mounting the ERO

The encoders of the ERO 1400 series areminiaturized modular rotary encoders.
These encoders feature a special built-in
mounting aid that centers the circularscale relative to the scanning unit andadjusts the gap between the circular scale
and the scanning reticle. Short installation
time can thus be attained. The encoder
comes with a cover cap for protection
against extraneous light.
Mounting accessories for the ERO 1400
Mounting accessory
Aid for removing the clip in order to achieve
optimal encoder mounting.
ID 510175-01
Accessory
Housing for the ERO 14xx with an axial
PCB connector and central hole.
ID 331727-23

Mounting accessories
for the ERO 1400

34

35

Information on output cables

Mounting and commissioning must be
performed with appropriate ESD protection.
Do not engage or disengage any connecting
element while under power. To avoid
overstressing the individual wires during
disengagement of the connecting element,
HEIDENHAIN recommends using themounting aid for disconnecting the PCB
connector.
Strain relief
Avoid torque or tensile stress, and use
strain relief wherever necessary.

General testing accessories for modular encoders and the PWM 21

Testing cable for directly
connecting a modular rotary
encoder to a PWM 21

Accessory
Mounting aid for disengaging the PCB
connector. Suitable for all rotary encoders
in this brochure, except for the ERO 1200
series (ID 1075573-01).

Testing cable for modular rotary
encoders with EnDat (EnDat22, EnDat01
or E30-R2) or SSI interface
Includes three 12-pin adapter connectors
and three 15-pin adapter connectors.
ID 621742-01

To avoid damaging the cable, apply pulling
force only to the connector and never tothe wires. For other encoders, use tweezers
or the mounting aid as needed.

Mounting aid for PCB connector

Straight M12 flange socket
Retention force of polarizing key:
max. 1 Nm.
ScrewsFor output cables with standard M12 or
M23 flange sockets, use M2.5 screws.
The mounting method with M2.5 screws
was designed for the following tightening
torques:
For M12, M23:	  min. Md
0.4 Nm			  max. Md
0.5 NmLoad-bearing thread length: min. 4 mm
Minimum tensile strengthof the screws: 		
800 N/mm2

Cable length (rated length)
For output cables with a crimp on theencoder side for strain relief and a shieldcontact, the cable length is specified up to
the crimp sleeve. Exceptions apply, forexample, to output cables without a crimp
on the encoder side and to those with asensor connection at the downstream
electronics or with a shield connection via
a cable clamp. Upon request, you canobtain binding information (a dimension
drawing) corresponding to the ID numberof the respective output cable (see Cables
and Connectors brochure).

Electromagnetic compatibility
Cables from HEIDENHAIN are tested forelectromagnetic compatibility. For output
cables with wires for temperature sensors,
electromagnetic compatibility must be
ensured in the entire system.
Crimp connector
For joining (crimping) the wires of thetemperature-sensor output cable to thewires of the temperature sensor inside themotor (ID 1148157-01).

To prevent self-loosening of the screws,
HEIDENHAIN recommends using amaterial bonding threadlocker.
Designation of the cable components
Wire length

Cable length (L)Cable design 1 (data transmission)
Cable type 1, color, number of shields, outer shield

Electrical connection 2(rotary encoder)

Cable bushing 1
with sheath or shieldassembly 1

Cable design 2(temperature sensor)

Electrical connection 5
Pin layout 2Electrical connection 1(customer side)
Pin layout 1

Cable bushing 2
with sheath or shieldassembly 2

Cable length (L1) of the additional cable
Temperature sensor signals via electrical connection 1
Wire length

Cable length (L)Cable design 1 (data transmission)
Cable type 1, color, number of shields, outer shield

Electrical connection 2(rotary encoder)

Cable bushing 1 or
sheath and shieldassembly 1

Cable design 2(temperature sensor)
Cable length (L1) of the additional cable

Temperature sensor signals via PCB of rotary encoder

36

Electrical connection 5
Pin layout 2Electrical connection 1(customer side)
Pin layout 1

Cable bushing 2
with sheath or shieldassembly 2

Connecting cable for EnDat or
SSI interface
For extending the testing cable;
completely assembled with a 15-pin D-sub
connector (male) and a 15-pin D-sub
connector (female), max. 3 m
ID 675582-xx
Testing cable for modular rotary
encoders with DRIVE-CLiQ interface
Includes three 12-pin adapter connectors
and three 15-pin adapter connectors.
ID 621742-01
Only in connection with:
Adapter cable for DRIVE-CLiQ,  6.8 mm
15-pin D-sub (female) and
6-pin RJ45 Ethernet connector
with metal housing (IP20)
ID 1228399-01

Adapter cables for connecting
the flange socket on the motor
to the PWM 21
For the EnDat22 interface,
adapter cable  6 mm
9-pin M23 connector (female)
8-pin M12 coupling (male).
ID 1136863-xx(ID 524599-xx is additionally required:15-pin M12 (female) and 15-pin D-sub
connector (male))
Adapter cables  6 mm/8 mm
8-pin M12 connector (female) and15-pin D-sub connector (male).
ID 1036526-xx	   6 mm
ID 1129753-xx	   8 mm

Adapter connector* for ID 621742-01
Three connectors for replacement
12-pin: ID 528694-01
15-pin: ID 528694-02*Adapter connectors should be replaced
after 500 connection cycles
Testing cable for the ERN 1387, with
commutation signals for sinusoidal
commutation
Includes three 14-pin adapter connectors.
ID 1118892-02

Testing cable for modular rotary encoders

Connecting cable for ERN 1387
For extending the testing cableCompletely assembled with 15-pin D-sub
connector (male) and 15-pin D-sub
connector (female), max. 3 m.
ID 675582-xx
Adapter connector for ID 1118892-02
Three connectors for replacement
14-pin: ID 528694-04
EnDat 3 adapter (SA 1210)
Adapter for connecting an encoder with
EnDat 3 (E30-R2) to the PWM 21
15-pin D-sub connector (male) and15-pin D-sub connector (female)
ID 1317260-01

For EnDat01, EnDat Hx, EnDat Tx or
SSI interface with incremental signals,
adapter cable  8 mm
17-pin M23 connector (female) and15-pin D-sub connector (male).
ID 324544-xx
Adapter cable  8 mm
12-pin M23 connector (female)
15-pin D-sub connector (male).
ID 310196-xx
Version for HMC 6,
adapter cable  13.6 mm
M23 SpeedTEC hybrid connector (female),with five power wires, two brake wires
and six communication wires
15-pin D-sub connector (male).
ID 1189174-xx

EnDat 3 adapter (SA 1210)

EnDat 3 interface (E30-R2) for HMC 2,
only in combination with EnDat3 adapter
Adapter cable  9.3 mm
M12 SpeedTEC hybrid connector (female),four power wires, two brake wires andtwo communication wires
15-pin D-sub connector (male).
ID 1189174-xx
Adapter cable  9.3 mm
M23 SpeedTEC hybrid connector (female),four power wires, two signal wires andtwo communication wires
15-pin D-sub connector (male).
ID 1275291-xx

For the DRIVE-CLiQ interface,
adapter cable  6.8 mm
9-pin M23 connector (female)
6-pin RJ45 Ethernet connector
with IP20 metal housing
ID 1117540-xx
Adapter cable  6.8 mm
8-pin M12 connector (female)
6-pin RJ45 Ethernet connector
with IP20 metal housing.
ID 1093042-xx

DRIVE-CLiQ is a registered trademark of
Siemens AG.
SpeedTEC is a registered trademark of
TE Connectivity Industrial GmbH.

37

Compatible mounting dimensions

Mounting accessories

Mating dimensions and tolerances must
be taken into account during the mountingof rotary encoders. Within some rotary
encoder series, the mating dimensions
may exhibit only slight differences or evenbe identical. Certain rotary encoders are
therefore mounting-compatible with eachother, allowing different encoders to be
mounted to the same motor as therequirements dictate.

Screwdriver bits
• For HEIDENHAIN shaft couplings• For ExN shaft clampings and stator
couplings• For ERO shaft clampings

Screwdriver
When using screwdrivers with adjustable
torque, make sure that they comply withDIN EN ISO 6789 for fulfilling the required
torque tolerances.

Width across flats Length

ID

1.5

350378-01

Adjustable torque, with accuracy of ±6%
0.2 Nm to 1.2 Nm
ID 350379-04
1 Nm to 5 Nm
ID 350379-05

All dimensions, tolerances and required
mating dimensions are indicated in thedimension drawing of the respective
series. Deviating values for rotary encoders
with functional safety (FS) are provided in
the corresponding Product Information
documents.
All absolute rotary encoders of the ECN/
EQN 1100 FS, ECI/EQI 1100 FS, ECI/EBI 1100
and ECI/EQI 1100 series are mountingcompatible within the respective series,
exhibiting only minor differences in thepermissible deviation between the shaft
surface and coupling surface.

Some rotary encoders of the ERN 1300,
ECN/EQN 1300, ECI/EBI/EQI 1300 FS andECN/EQN 400 series are also mountingcompatible with each other and can bemounted to identical motors. Minor
differences, such as the anti-rotation
element and a limited tolerance for theinside diameter, must be taken into
account.

SeriesDifferences

ECN/EQN 1100 FS

Standard, with slot for FS devices

ECI/EQI 1100 FS

Same as ECN/EQN 1100 FS, but with a different tolerance for thedeviation between the shaft and coupling surfaces

ECI 1118/EBI 1135

Same as ECN/EQN 1100 FS, but with a different tolerance for thedeviation between the shaft and coupling surfaces

ECI 1119/EQI 1131

Same as ECN/EQN 1100 FS, but with a different tolerance for thedeviation between the shaft and coupling surfaces

SeriesERN 1300

ECN/
EQN 1300 FS

ECI/EBI/EQI 1300 FS

ECN/
EQN 400 FS











ECN/EQN 1300 FS
ECI/EQI 1300 FS
ECN/EQN 400 FS

Series38

1.5 (spherical head)

350378-022350378-03

2 (spherical head)

350378-04

2.5350378-05

3 (spherical head)

350378-08

4350378-07
1)350378-14

4 (with dog point)

150 mm 756768-44
TX8

89 mm 350378-11
152 mm 350378-12

TX15

70 mm 756768-42

1)	For DIN 6912 screws(low head screw with pilot recess)ScrewsRequired mating dimensions
ERN 1300

70 mm

Differences

Screw

Securing method

ID

M3x8-8.8 ISO 4762 MKL

Material bonding anti-rotation lock202264-67

M3x10-8.8 ISO 4762 MKL

Material bonding anti-rotation lock202264-87

M3x16 A2 ISO 4762 KLF

Self-locking

202264-30

M3x20 A2 ISO 4762 KLF

Self-locking

202264-45

M3x22-8.8 ISO 4762 MKL

Material bonding anti-rotation lock202264-65

M3x25-8.8 ISO 4762 MKL

Material bonding anti-rotation lock202264-86

M3x25 A2 ISO 4762 KLF

Self-locking

202264-26

M3x35-8.8 ISO 4762 MKL

Material bonding anti-rotation lock202264-66

M4x10-8.8 ISO 4762 MKL

Material bonding anti-rotation lock202264-85

M5x25-8.8 DIN 6912 MKL

Material bonding anti-rotation lock202264-55

M5x30-8.8 DIN 6912 MKL

Material bonding anti-rotation lock202264-76

ERN 1300

Standard, deployable for taper shaft

M5x35-8.8 ISO 4762 KLF

Self-locking

202264-80

ECN/EQN 1300

Same as ERN 1300, but with an additional ridge as ananti-rotation element (stator coupling)

M5x50-8.8 DIN 6912 KLF

Self-locking

202264-36

M5x50-8.8 DIN 6912 MKL

Material bonding anti-rotation lock202264-54

ECI/EBI/EQI 1300 FS

Same as ERN 1300, but with an anti-rotation element (flange)

Material bonding anti-rotation lock

ECN/EQN 400

Same as ECN/EQN 1300

Fastener kit• M3 fixing clamp• Spring washer: 3x0.70
DIN 128 A-FS ISO• Screw: M3x10 8.8
DIN EN ISO 4762

20 pieces:1264352-01
200 pieces:1264352-02

39

General information
Alignment of rotor positions between encoders and motors

General mechanical information

Immediately after a synchronous motor isswitched on, information is needed about
its absolute rotor position. Rotary encoders
with additional commutation signals are
suitable for this task but provide compara­tively rough position information. Absoluterotary encoders in singleturn or multiturndesigns are also well suited, delivering theexact angular position down to an accuracyof a few arc seconds (see also Electronic
commutation with position encoders). To
achieve the most constant motor currents
possible, the rotor positions of the motor
and of the encoder must be brought into
mutual alignment when the encoder ismounted. Inadequate alignment of therotor positions will cause significant motor
noise and high power dissipation.

Certification by NRTL (Nationally
Recognized Testing Laboratory)
All of the rotary encoders in this brochurecomply with the UL safety regulations for
the U.S. and the CSA safety regulations
for Canada.

Encoder aligned
Encoder out of alignment

First, the rotor of the motor is turned to thepreferred position through the applicationof a DC current.
Rotary encoders with commutation
signals are then roughly aligned (e.g., using
the line markers on the encoder or thereference mark signal) and are mounted tothe motor shaft. Fine adjustment is thenperformed with the PWT 101 testing
device (see Testing and inspection devices,and diagnostics): the stator of the rotary
encoder is turned until the PWT 101 displays
a distance from the reference mark ofnearly zero.
Absolute rotary encoders are firstcompletely mounted, after which a datum
shift is used to assign the value “zero” tothe preferred motor position. This isperformed with the adjusting and testing
package (see Testing and inspection
devices, and diagnostics). This packagefeatures complete EnDat functionality,
allowing not only datum shifts but also theuse of other inspection functions and thesetting of write-protection to prevent
unintentional changes to saved values.
For the ECI/EQI rotary encoders withadditional 1 VPP signals, manual adjustment
is possible as well. Please follow the
information in the respective mounting
instructions.

Motor current of aligned encoder and strongly out-of-alignment encoder

Alignment of the rotor positions by means of the adjusting and testing
package

Accelerations
During mounting and operation, encoders
are subjected to various types ofacceleration.
• Vibration
The encoders are qualified on a test
stand under the acceleration values
stated in the specifications at frequenciesof 55 Hz to 2000 Hz in accordance with
EN 60068-2-61). However, if the applica­tion or mounting situation causes longduration resonant vibration, then proper
functioning of the encoder may be
impaired, or the encoder may incurdamage. Thorough testing of thecomplete system is therefore required.
• Shock
The encoders are qualified on a test
stand under the acceleration values
stated in the specifications and underthe exposure times in accordance with
EN 60068-2-27 for non-repetitive, semisinusoidal shock. Continuous shockloads are therefore not covered andmust be tested in the application.
• The maximum angular acceleration
is 105 rad/s2. This is the maximum
permissible angular acceleration of therotor without the encoder incurring
damage. The actual attainable angularacceleration is within the same order ofmagnitude but can vary depending on
the type of shaft connection (for deviating
values for the ECN/ERN 100, see theSpecifications). An adequate safety
factor must be determined throughsystem tests.
Deviating values for rotary encoders
with functional safety are provided in thecorresponding Product Information
documents.
1)

Natural frequencies
In conjunction with the stator coupling, theECN/EQN/ERN rotary encoders form an
oscillation-capable spring-mass system
whose natural frequency fN of the couplingshould be as high as possible in the directionof measurement. The natural frequency ofthe coupling is influenced by the rigidity ofthe stator coupling and by the customerside mounting situation. The stated typicalnatural frequencies may vary dependingon the encoder variant (e.g., singleturn or
multiturn), production tolerances anddiffering mounting conditions. If radial and/or axial acceleration forces also come into
play, then the rigidity of the encoder bearing
and of the encoder stator has an effectas well. If such loads occur within yourapplication, HEIDENHAIN recommends
consulting with the main facility inTraunreut.

Starting torque and operating torqueThe starting torque is the torque required
to put the rotor into motion from standstill.
If the rotor is already rotating, then acertain operating torque is acting on theencoder. The starting torque and operating
torque are influenced by various factors,
such as the temperature, prior standstilltime and the amount of wear on the
bearings and seals.

HEIDENHAIN generally recommends
determining the natural frequency of thestator coupling in the complete system.

Protection against contact (EN 60529)
After completed installation, any rotatingparts must be sufficiently protected fromunintentional contact during operation.

Humidity
The maximum permissible relative humidity
is 75%. A relative humidity of 93% is
temporarily permissible. Condensation is
not permissible.
Magnetic fields
Magnetic fields > 30 mT can affect encoder
functioning. Please contact HEIDENHAIN
in Traunreut, Germany, as needed.
Acoustic noise
Running noise can occur during operation.
This is particularly true of encoders withintegral bearing and multiturn rotary
encoders (with gears). The intensity mayvary depending on the mounting situationand shaft speed.

The typical values stated in the specifica­
tions are mean values based on encoderspecific test series performed at room
temperature and at a stabilized operating
temperature. The typical operating torques
are also based on constant shaft speeds.
For applications in which the torque hasa significant influence, HEIDENHAIN
recommends consulting with the main
facility in Traunreut.

Protection EN 60529
The ingress of contamination can impair
proper functioning of the encoder. Unlessotherwise indicated, all of the rotary encoders
have an IP64 rating (ExN/ROx 400: IP67)
in accordance with EN 60529. These
specifications apply to the housing, cableoutlet and flange socket versions whenengaged.
The shaft inlet meets an IP64 rating.
Splash water must not be allowed to have
any harmful effect on the encoder’s parts.
If the protection rating of the shaft inlet is
not sufficient (e.g., due to vertical mountingof the encoder), then the encoders should
be additionally protected with labyrinth
seals. Many rotary encoders are alsoavailable with an IP66 rating for the shaft
inlet. Depending on the application, theradial shaft seal rings used for sealing are
subjected to wear due to friction.

Information on values below 55 Hz isavailable upon request.

Online diagnostics of the PWT 101

40

41

System tests
Encoders from HEIDENHAIN are usually
integrated as components into complete
systems. Such applications requirecomprehensive testing of the complete
system, irrespective of the encoder’sspecifications.
The specifications provided in this brochureapply only to the encoder and not to thecomplete system. Any operation of theencoder outside of the specified range oroutside of its proper and intended use issolely at the user’s own risk.
Mounting
The work steps and dimensions to befollowed during mounting apply only to themounting instructions available for theencoder. All mounting-related informationin this brochure is therefore only provisionaland non-binding, and will not become thesubject matter of a contract.
In addition, the machine manufacturer must
define the other required final mounting
information for the given application(e.g., tightening torque, mechanical fault
exclusion for screws needed or not). In
addition, the stated tolerance ranges in the
product’s dimension drawing and mounting
instructions must be considered.

For the fault exclusion design for functional safety, the following material properties andconditions for the mating surfaces are assumed:
Aluminum

Steel

Material type

Hardenable wrought
aluminum alloy

Unalloyed hardened steel

Tensile strength Rm

 220 N/mm2

 600 N/mm2

Yield strength Rp0.2 oryield point Re

Not applicable 400 N/mm2

Shear strength τa 130 N/mm2

 390 N/mm2

Interface pressure pG

 250 N/mm2

 660 N/mm2

Modulus of elasticity E(at 20 °C)

70 kN/mm2 to
75 kN/mm2

200 kN/mm2 to
215 kN/mm2

Coefficient of thermal
expansion Þtherm (at 20 °C)–6 –1
 25 · 10 K

10 · 10–6K–1 to17 · 10–6K–1

Surface roughness Rz

 16 µm

Friction values

Mounting surfaces must be clean and free of grease.
Use screws from HEIDENHAIN in their delivery condition.

Tightening procedure

Use a signal-emitting torque wrench in accordancewith DIN EN ISO 6789, with an accuracy of ±6%

Mounting temperature

15 °C to 35 °C

All provided information on screw connections assumes a mounting temperatureof 15 °C to 35 °C.
Screws with material bondinganti-rotation lock
Mounting screws and central screws from
HEIDENHAIN (not included in delivery)
feature a coating that, after hardening,provides a material bonding anti-rotation
lock. As a result, these screws cannot bereused. Their minimum shelf life is two
years (storage at  30 °C and  65%
relative humidity). Their expiration date is
printed on the package.
Screw insertion and the application oftightening torque must therefore be com­pleted within five minutes. The required
strength is reached at room temperature
after six hours. The lower the temperatureis, the longer the curing process will take.
Curing temperatures below 5 °C are notpermissible.
Screws with material bonding anti-rotation
lock must not be used more than once. If a
replacement becomes necessary, recut thethreads and use new screws. On threadedholes, a chamfer is required in order tokeep the adhesive coating from being
scraped off.

42

Rotary encoders may exert a torque ofup to 1 Nm on the mating shaft. In addition,other forces and torques (e.g., from vibra­
tional loads and angular acceleration) must
be taken into account. The customer’s
mechanical elements must be designed
for these loads (see also EN 61800-5-2 andEN ISO 13849).
The respective Product information docu­
ments will describe any other prerequisites.
Modifications to the encoder
The proper functioning and accuracy of
encoders from HEIDENHAIN are ensured
only if the encoders have not been
modified. Any modification, even a minor
one, can impair the proper functioning,
reliability and safety of the encoders, andresult in a loss of warranty. This also
includes the use of any additional or nonprescribed locking varnishes, lubricants(e.g., for screws), or adhesives. If you are in
doubt, we recommend that you consult
with HEIDENHAIN in Traunreut, Germany.

Conditions for longer storage periods
For a storage period of twelve months or
longer, HEIDENHAIN recommends thefollowing:• Leave the encoders in their original
packaging• The storage location should be dry,
free of dust and temperature-regulated.
It should also be free of vibration,mechanical shock and chemical environ­mental influences• Every twelve months, rotate the shafts ofthe encoders with integral bearing at low
speed and without axial or radial shaft
loading so that the bearing lubrication
becomes evenly redistributed (e.g., suchas when first breaking in an encoder)
Parts subject to wear
Encoders from HEIDENHAIN are designed
for a long service life. Preventive mainte­
nance is not required. However, they docontain components that are subject to wear,
depending on the application and how they
are deployed. This especially applies tocables that are subjected to frequentflexing.
Other parts subject to wear are thebearings in encoders with integral bearing,
the radial shaft seal rings in rotary encoders
and angle encoders, and the sealing lips onsealed linear encoders.
In order to avoid damage from current
flows, some rotary encoders are available
with hybrid bearings. In general, thesebearings exhibit greater wear at hightemperatures than standard bearings.
Service life
Unless otherwise specified, HEIDENHAIN
encoders are designed for a service lifeof 20 years, which is equivalent to 40 000
operating hours under typical operating
conditions.

Temperature ranges
For encoders still in their packaging, astorage temperature range of –30 °C to
65 °C applies (HR 1120: –30 °C to 70 °C).
The operating temperature range specifies
the temperatures that a rotary encoder ispermitted to reach during operation in theactual installation environment. Within thisrange, proper functioning of the rotary
encoder is ensured. The operating tempe­
rature is measured at the defined measuring
point (see dimension drawing) and mustnot be confused with the ambient
temperature.
The temperature of the rotary encoder isinfluenced by the following factors:• Installation situation• Ambient temperature• Encoder self-heating
An encoder’s susceptibility to self-heating
depends both on its design characteristics(stator coupling / solid shaft, shaft sealing
ring, etc.) and on its operating parameters(shaft speed, supply voltage). A temporary
period of intensified self-heating can also
occur after very long breaks in operation(of several months). Please allow for a twominute break-in period at low shaft speeds.
The greater susceptibility to self-heatingthat an encoder exhibits, the lower theambient temperature needs to be in orderto keep the encoder within its permissible
operating temperature range.
This table shows the approximate selfheating values to be expected for the rotary
encoders. In the worst case, the amountof self-heating may be affected by multiple
operating parameters, such as a 30 V supply
voltage and maximum shaft speed. Thus,
if an encoder is being operated close to its
maximum permissible specifications, thenthe actual operating temperature should bemeasured directly at the encoder. Suitablemeasures must then be taken (fan, heatsinks, etc.) to sufficiently reduce theambient temperature so that the maximum
permissible operating temperature will not
be exceeded during continuous operation.
For high shaft speeds at the maximum
permissible ambient temperature, special
versions with a reduced protection rating
are available (without a radial shaft seal ringand its concomitant frictional heat).

Self-heating at shaft speed nmax
ECN/EQN/
ERN 1000≈ +10 K

ROC/ROQ/ROD
Solid shaft≈ +5 K
With IP66 rating:≈ +10 K

ECN/EQN/ERN 400/1300
Tapered shaft≈ +5 K
With IP66 rating:≈ +10 K

ECN/EQN/ERN 400/1300
Blind hollow shaft≈ +30 K
With IP66 rating:≈ +40 K

ECN/EQN/ERN 400
Hollow through shaft≈ +40 K
With IP66 rating:≈ +50 K

ECN/ERN 100
Hollow through shaft≈ +50 KROD 600≈ +75 K

Typical self-heating values of a rotary encoder at
maximum permissible shaft speed based on its
design characteristics. The relationship between
shaft speed and heat generation is nearly linear.

Measuring the actual operating temperature at thedefined measuring point of the rotary encoder(see Specifications)43Electrical resistance

Encoders with an integral bearing,pluggable output cable and standard
bearing
Check the resistance between the flange
socket and the rotor.
Nominal value: < 1 ohm

Encoders with hybrid bearing or EnDat 3(E30-R2)
Check the resistance between the flange
socket and the rotor a), and between
the flange socket and the stator (metal
housing) b).
Nominal value: < 1 ohm

Temperature measurement in motors

M12/M23

Further information:
When connecting an external temperature
sensor, please refer to the information
about electromagnetic compatibility in
the General electrical information sectionof the Interfaces of HEIDENHAIN
Encoders brochure.

<1

<< 11 


b)
b)

a)
a)

T

T+ = BNT– = GN
T+ = BNT– = GN

Exposed encoders (ExI 100) without
integral bearing but with a pluggable
output cable
Check the electrical resistance between
the flange socket and the rotor a), andbetween the flange socket and the stator(mounting screw) b).
Nominal value: < 1 ohm

1.

2.

<1

a)

b)

Clamp must be screwed to the motor housing
so as to be conductive.

Exposed encoders (ExI 4000) without
an integral bearing but with a pluggable
output cable
Check the electrical resistance between
the flange socket and the rotor a), theflange socket and the stator b), and theflange socket and the crimp sleeve c).
Nominal value: < 1 ohm

Exposed encoders (ExI 1100, ExI 1300)
without an integral bearing but with apluggable output cable
Check the resistance between the flange
socket and the rotor a), and between
the flange socket and the stator (metal
housing) b).
Nominal value: < 1 ohm

44

<1
b)
a)

c)

1.
<1

Transmission of temperature data
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 downstream electronics, where they
are then evaluated. Depending on theirfeatures, HEIDENHAIN rotary encoders with
the EnDat 2.2, EnDat 3 or DRIVE CLiQ
interface have an internal temperature
sensor integrated into the encoder’s elec­
tronics and an evaluation circuit to which
the external temperature sensor can beconnected. In both cases, the respective
digitized measured temperature value istransmitted purely serially over the interface
protocol. As a result, no separate lines areneeded from the motor to the motor
controller.
Signaling of a temperature exceedance
When it comes to the internal temperature
sensor, such rotary encoders can support
the dual-level cascaded signaling of a tem­
perature exceedance. This signaling consistsof a warning (only EnDat) and an error
message.
The integrated memory can be read todetermine whether the respective encoder
supports this warning and error message
functionality.
The warning threshold for the internal
temperature sensor can be individually
adjusted. At the time the encoder is shipped,
a default value equivalent to the maximum
permissible operating temperature isstored here (temperature at measuring
point M1 as per the dimension drawing).
The temperature measured by the internal
temperature sensor is higher by a devicespecific amount than the temperature
at measuring point M1.
The encoder features a further, albeit nonadjustable trigger threshold for the internal
temperature sensor; an error message is
output when this threshold is reached. This
trigger threshold is device-specific and, if
present, is stated in the specifications.

EncoderInterface

Internal
temperature
sensor1)

External
temperature sensor
Connection

ECI/EQI 1100

EnDat22

 (±1 K)

Possible

E30-R2
ECI/EBI 1100

EnDat22

 (±5 K)–

ECN/EQN 1100

EnDat22

 (±5 K)

Possible

EnDat01––DQ (±7 K)

Possible (±7 K)

EnDat22

 (±4 K)

Possible

E30-R2

 (±1 K)–

EnDat01

–

–

DQ01

 (±1 K)

Possible

EnDat22

 (±4 K)

Possible

EnDat01––

ECI/EBI/EQI 1300

EnDat22

 (±1 K)

Possible

ECI/EQI 1300

E30-R2

 (±1 K)

Possible

ECI/EQI 1300 S

DQ

ECI/EBI 100

EnDat22

 (±4 K)

Possible

EnDat01––

EnDat22

 (±1 K)

Possible

ECN/EQN 1300

ECN/EQN 400

ECI/EBI 4000
1)

In parentheses: accuracy at 125 °C

HEIDENHAIN recommends adjusting thewarning threshold based on the applicationsuch that this threshold is sufficiently below
the trigger threshold for the "Temperature
exceeded" error message. Compliance withthe operating temperature at measuring
point M1 is also required for adherence tothe encoder’s proper and intended use.

For more information on configuring andreading the temperature information, pleaserefer to the respective Application Notes:
EnDat 2.2:
Document 722024
EnDat 3:Document 3000005
DRIVE-CLiQ: Document 1236334

2.
b)Further information:a)Clamp (when present) must be screwed to themotor housing so as to be conductive.

When connecting an external temperature
sensor, please refer to the information
about electromagnetic compatibility in
the General electrical information sectionof the Interfaces of HEIDENHAIN
Encoders brochure.

45Power wires

Encoder output
cable inside themotor housing

Brake wires
Temperature wires

EncoderConnectable temperature sensors
In the case of EnDat 3 encoders with an
E30-R2 interface, the encoder can be con­figured for the connected temperature
sensor (KTY 83-110, KTY 84-130 or PT 1000).
For encoders with the DRIVE CLiQ interface,
you can choose between the KTY 84-130
or PT 1000. The correct temperature value
is then output directly over the interface.
With EnDat22 encoders, the temperatureevaluation performed within the rotary
encoder is designed for a KTY 84-130 PTC
thermistor. For other temperature sensors,
the output value (value in additional data 1)
must be converted into a temperature
value.

Cable configuration of the temperature wires in the motor

The accuracy of the temperature measure­ment depends on the sensor being used
and on the temperature range.
KTY 84-130

PT 1000–40 °C to +80 °C

±6 K

±6 K

±6 K

80.1 °C to 160 °C

±3 K

±3 K

±4 K

160.1 °C to 200 °C

±6 K

±6 K

±6 K

Specifications for the evaluation
Resolution

0.1 K (with KTY 84-130)

Supply voltage of sensor

3.3 V over dropping resistor RV = 2 kMeasuring current (typical)

1.3 mA at 595 
1.1 mA at 990 

Total delay
1)of temperature evaluation

160 ms max.

2)

1)

Output value Figure 1: Relationship between the output value and resistance

Example for the KTY 84-130 temperature sensor:
Sensor resistance = 1000   Output value (temperature value) 3751,
which is equal to 375.1 K or 102 °C.

KTY 83-110

Cable lengthWith wire cross section of 0.16 mm2for TPE, or 0.25 mm2 for cross-linked
polyolefin

Resistance in  Flange sockets

1m	Filter time constants and conversion time are taken into account; the time constants /response delay of the temperature sensor and the time lag for reading via the encoderinterface are not included in this.
2)	Limitation of the cable length due to interference; the measuring error due to the line
resistance is negligible.

Figure 1 illustrates the relationship between
the output value and the resistance of thetemperature sensor.
When a KTY 84-130 is used, the temperature
value equals the output value. The value
has an increment of 0.1 kelvins.
Figure 2 illustrates the relationship for
EnDat22 encoders between the output value
and the temperature value for a PT 1000.
In the graph, the temperature value for the
PT 1000 can be determined based on the
output value.
General notes on the evaluation:• Output signals ≤ 1151 indicate a shortcircuit at the sensor input• Output signals > 6000 indicate a highimpedance sensor input (e.g., due to abroken wire)
Notes on the conversion:
The conversion for the PT 1000 and
KTY 83-110 must be performed for
encoders that do not inherently support
this conversion.

Temperature value 

Information on connecting an external
temperature sensor• The external temperature sensor mustcomply with the following requirements
as per EN 61800-5-1:– Voltage class A– Contamination level 2– Overvoltage category 3• Connect only passive temperature
sensors.
• The connections for the temperature
sensor are galvanically connected withthe encoder electronics.
• Depending on the application, thetemperature sensor assembly (sensor +cable assembly) must be mounted suchthat it is insulated from its environment
with double or reinforced insulation.
• The accuracy of the temperature mea­
surement depends on the temperature
range.
• Take into account the tolerance of thetemperature sensor.
• The transmitted temperature value is nota safe value in terms of functional safety.
• The motor manufacturer is responsible
for the quality and accuracy of the temperature sensor, as well as for ensuring
electrical safety.
• Use a crimp connector with a suitabletemperature range (e.g., up to 150 °C
ID 1148157-01).

5000
4500

200°

Measuring
range

4000
3500
3000
2500

40°
2000
2000

2500

KTY 84–130
PT1000
KTY 83–110

3000

3500

4000

4500

5000

Output value Figure 2: Relationship between the output value and the temperature value using the example of thePT 1000 and KTY 83-110

Example for the PT 1000 temperature sensor:
Output value = 3751  Temperature value = 2734 (equivalent to 0.3 °C).
The following polynomial can be used to calculate the temperature value:
TemperaturePT1000 = 1.3823 · 10–7 · A3 – 1.2005 · 10–3 · A2 + 4.6807 · A – 5.2276 · 103
A = Output value. The PT 1000 polynomial is valid for: 3400 ≤ A ≤ 4810.
Example for the KTY 83-110 temperature sensor:
Output value = 3751  Temperature value = 2981 (equivalent to 25.0 °C).
The following polynomial can be used to calculate the temperature value:
TemperatureKTY83-110 = 3.007 · 10–8 · A3 – 3.041 · 10–4 · A2 + 1.786 · A – 1.027 · 103
A = Output value. The KTY83-110 polynomial is valid for: 2880 ≤ A ≤ 5460.

46

47

ECN/EQN 1100 series

Absolute

Absolute rotary encoders• 75A stator coupling for plane surface• Blind hollow shaft• Encoders available with functional safety

13

12

ECN 1113

ECN 1123
ECN 1123 S

EQN 1125

EQN 1135
EQN 1135 S

Interface

EnDat 2.2

ECN 1123: EnDat 2.2
ECN 1123 S: DRIVE-CLiQ

EnDat 2.2

EQN 1135: EnDat 2.2
EQN 1135 S: DRIVE-CLiQ

Ordering designation

EnDat01

ECN 1123: EnDat22
ECN 1123 S: DQ01

EnDat01

EQN 1135: EnDat22
EQN 1135 S: DQ01

Position values per revolution

8192 (13 bits)

8 388 608 (23 bits)

8192 (13 bits)

8 388 608 (23 bits)

Revolutions–

4096 (12 bits)

Elec. permiss. shaft speed/1)deviations

4000 rpm/±1 LSB 12 000 rpm (for continuous
12 000 rpm/±16 LSB position value)

4000 rpm/±1 LSB 12 000 rpm (for continuous
12 000 rpm/±16 LSB position value)

4)

11

14

 3.5 ± 0.1

–0.3

≥9
≥ 3.55



+0.3

≥ 11



–0.2

 0.06 A(

L2  E1  E2 E3
L3  E4 E5 E6 E7
0.05 A
0.1 A

0.02 A E2 E3
 E1flange / Encoder
Encoder Encoder
Geberﬂansch/
Baureihe
Schnittstelle
L2
Series Gebername StatorkupplungInterface
Stator coupling Geberwelle
name
shaft
EnDat01/22 2 ± 0.5
E1
ECN/EQN
75A
1KA
DQ01
E2/E3

ECI/EQI

70C

1KA/82A

E4/E6

ECI/EQI

70F

82A

E5
E7

ECI/EQIECI/EBI

70F
70E

82A
82C

EnDat22/
E30-R2
EnDat22/
E30-R2
EnDat01
EnDat2248

L3–

2 ± 0.4––––0 ± 0.30 ± 0.30 ± 0.4

45°≤  7.5

A = Bearing of mating shaft
M1 = Measuring point for operating temperature
M2 = Measuring point for vibration
1 = Contact surface of slot
1.6 ± 0.1
2 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock
≤ 0.4
3 = Shaft surface; ensure full-surface contact!
4 = Slot required only for ECN/EQN and ECI/EQI, WELLA1 = 1KA
5 = EXI flange surface; ensure full-surface contact!
6 = Coupling surface of ECN/EQN
7 =	Maximum permissible deviation between shaft and coupling surfaces.
Compensation of mounting tolerances and thermal expansion,of which ±0.15 mm of dynamic axial motion is permitted
8 =	Maximum permissible deviation between shaft and flange surfaces;
compensation of mounting tolerances and thermal expansion
9 = Undercut
10 = Possible centering hole
≤ 0.7
11 = 15-pin PCB connector
12 = Cable fastener with crimp sleeve; diameter: 4.3 mm ±0.1 mm; length: 7 mm
13 = Positive locking element; ensure correct engagement in Slot 4 (e.g., by measuring the device overhang)
14 = Direction of shaft rotation for ascending position values
15 = Uncoated; shaft coating not permitted

ECN 1123:  7 µs /  8 MHz  9 µs /  2 MHz

EQN 1135:  7 µs /  8 MHz

Calculation time
5)
TIME_MAX_ACTVAL–ECN 1123 S:  8 µs–

EQN 1135 S:  8 µs

Incremental signals» 1 VPP2)–» 1 VPP2)–Line count

512

–

512

–

Cutoff frequency –3 dB

 190 kHz– 190 kHz–

System accuracy±60”

Electrical connection

15-pin15-pin15-pin15-pin3)

Supply voltage

DC 3.6 V to 14 V

ECN 1123: DC 3.6 to 14 V DC 3.6 V to 14 V
ECN 1123 S: DC 10 to 28.8 V

EQN 1135: DC 3.6 to 14 V
EQN 1135 S: DC 10 to 28.8 V

Power consumption (max.)

3.6 V:  0.6 W
14 V:  0.7 W

ECN 1123: 3.6 V:  0.6 W 3.6 V:  0.7 W
			 14 V:  0.7 W
14 V:  0.8 W
ECN 1123 S: 10 V:  0.85 W
			 28.8 V: ≤ 0.9 W

EQN 1135: 3.6 V:  0.7 W
			
14 V:  0.8 W
EQN 1135 S: 10 V:  0.95 W
			 28.8 V: ≤ 1 W

Current consumption (typical)

5 V: 85 mA(without load)

5 V: 85 mA (without load)
24 V: 32 mA (without load)

5 V: 105 mA (without load)
24 V: 35 mA (without load)

Shaft

1KA blind hollow shaft (¬ 6 mm) with positive-locking element

Mech. permiss. shaft speed n

12 000 rpm

Starting torque (typical)

0.001 Nm (at 20 °C)

Moment of inertia of rotor 0.4 · 10

Permissible axial motion of
measured shaft±0.5 mm

Vibration 55 Hz to 2000 Hz
Shock: 6 ms

2
 200 m/s (EN 60068-2-6)
2
 1000 m/s (EN 60068-2-27)

3)

≥ 2.3

0.06 B)40

0.01 A

2.3 ± 0.1

E4 E5 E6 E7

 6g7

3 +0.10 36.8E7

43

≥

9.4



 9 µs /  2 MHz



90°...120°

0.05 A+0.2

2 ± 0.1

M3

2G10

 0.1 DM3

2x

 9.3 ≤ D ≤  14

Required mating dimensions

Calc. tcal / clock freq.

Max. operating temperature 115 °C

0.002 Nm (at 20 °C)

kgm2

ECN 1123: 115 °C
ECN 1123 S:	  95 °C

115 °CEQN 1135: 115 °C
EQN 1135 S:	  95 °C

Min. operating temperature–40 °C

Protection rating EN 60529

IP40 (read about insulation under Electrical safety in the Interfaces of HEIDENHAIN Encoders brochure);contamination from the ingress of fluid must be prevented)

Mass 0.1 kg

ID number

803427-xx

10

 4.5 ± 0.1

15

 3.2 ± 0.1

60°

–6

5 V: 105 mA(without load)

ECN 1123: 803429-xx
ECN 1123 S: 1211015-xx

803428-xx

EQN 1135: 803430-xx
EQN 1135 S: 1211017-xx

1)

4)
Speed-dependent deviations between absolute and incremental signals 		
Applies only to EnDat rotary encoders
5)
Deviating tolerances Signal amplitude: 0.80 VPP to 1.2 VPP
Asymmetry: 0.05
Applies only to DRIVE-CLiQ rotary encoders
					
Signal ratio: 0.9 to 1.1		
Phase angle: 90° elec. ±5° elec.
3)
See Temperature measurement in motors
2)

For dimensions and specifications of encoders with functional safety, see the Product Information document.

49

ERN 1023

ERN 1023

Incremental rotary encoders• Stator coupling for plane surface• Blind hollow shaft• Block commutation signals

Interface« TTL

Signal periods per revolution* 500
Reference markOne

Output frequency
Edge separation a 300 kHz
 0.41 μs
1)




512

600

1000

1024

1250

Commutation signals« TTL (3 commutation signals U, V, W)

Width*

2 x 180° (C01); 3 x 120° (C02); 4 x 90° (C03)

System accuracy±260”

Electrical connection*

Cable 1 m, 5 m, without coupling

Supply voltage

DC 5 V ±0.5 V

Current consumption(without load)

 70 mA

Shaft

Blind hollow shaft ¬ 6 mm

2000 2048 2500 4096 5000 8192

±130”

Mech. permiss. shaft speed n  6000 rpm

Starting torque (typical)

0.005 Nm (at 20 °C)

Moment of inertia of rotor

0.5 · 10Permissible axial motion of
measured shaft±0.15 mm

Vibration 25 Hz to 2000 Hz
Shock 6 ms

 100 m/s (EN 60068-2-6)
 1000 m/s2 (EN 60068-2-27)

–6

kgm2

2

Max. operating temperature 90 °C
Min. operating temperature Fixed cable: –20 °C
Moving cable: –10 °C

Protection EN 60529

IP64

Mass

 0.07 kg (without cable)

ID number

684703-xx

Bold: This preferred version is available on short notice* Please select when ordering1)	Three square-wave signals with signal periods with 90°, 120° or 180° mech. phase shift; see Commutation signals forblock commutation in the Interfaces of HEIDENHAIN Encoders brochure



A
k
M
1
2
3
4
5

50

= Bearing of mating shaft= Required mating dimensions= Measuring point for operating temperature= Two screws in clamping ring; width A/F 1.5= Reference mark position ±10°
= Compensation of mounting tolerances and thermal expansion, no dynamic motion permitted= Ensure protection against contact (EN 60529)= Direction of shaft rotation for output signals as per the interface description

51

ERN 1123

ERN 1123

Incremental rotary encoders• Stator coupling for plane surface• Hollow through shaft• Block commutation signals

Interface« TTL

Signal periods per revolution* 500
Reference markOne

Output frequency
Edge separation a 300 kHz
 0.41 μs
1)







512

600

1000

1024

Commutation signals« TTL (3 commutation signals U, V, W)

Width*

2 x 180° (C01); 3 x 120° (C02); 4 x 90° (C03)

System accuracy±260”

Electrical connection

15-pinSupply voltage

DC 5 V ±0.5 V

Current consumption(without load)

 70 mA

Shaft

Hollow through shaft (¬ 8 mm)

Mech. permiss. shaft speed n

 6000 rpm

Starting torque (typical)

0.005 Nm (at 20 °C)

Moment of inertia of rotor

0.5 · 10Permissible axial motion of
measured shaft±0.15 mm

Vibration 25 Hz to 2000 Hz
Shock 6 ms

 100 m/s (EN 60068-2-6)
 1000 m/s2 (EN 60068-2-27)

Operating temperature–20 °C to 90 °C

Protection EN 60529

IP00

Mass

 0.06 kg

ID number

684702-xx

1250

2000 2048 2500 4096 5000 8192

±130”

–6

kgm2

2

2)

Bold: This preferred version is available on short notice* Please select when ordering1)	Three square-wave signals with signal periods with 90°, 120° or 180° mech. phase shift; see Commutation signals forblock commutation in the Interfaces of HEIDENHAIN Encoders brochure
2)
Electromagnetic compatibility must be ensured in the entire system





A
k
M
1
2
3
4
5
6

52

= Bearing of mating shaft= Required mating dimensions= Measuring point for operating temperature= Two screws in clamping ring; width A/F 1.5= Reference mark position ±10°
= 15-pin PCB connector= Compensation of mounting tolerances and thermal expansion, no dynamic motion permitted= Ensure protection against contact (EN 60529)= Direction of shaft rotation for output signals according to interface description

53ECN/EQN 1300 series

Absolute

Absolute rotary encoders• 07B stator coupling with anti-rotation element for axial mounting• 65B tapered shaft• Encoders available with functional safety• Fault exclusion for rotor coupling and stator coupling as per EN 61800-5-2 possible

Required mating dimensions

ECN 1313
EQN 1325

ECN 1325
EQN 1337

ECN 1325
EQN 1337

Interface

EnDat 2.2

Ordering designation

EnDat01

EnDat22

E30-R2

Position values per revolution

8192 (13 bits)

33 554 432 (25 bits)

33 554 432 (25 bits)

Revolutions

ECN 1313: –EQN 1325: 4096 (12 bits)

ECN 1325: –EQN 1337: 4096 (12 bits)

Elec. permiss. shaft speed/2)deviations

512 lines:
5 000 rpm/±1 LSB
12 000 rpm/±100 LSB
2048 lines:
1500 rpm/±1 LSB
12 000 rpm/±50 LSB

15 000 rpm (for continuous position value)

Calculation time tcal
Clock frequency

 9 µs
 2 MHz 7 µs 8 MHz–

XEL.time HPFout data rate––

 11 μs at 12.5 Mbit/s;
 8.2 μs at 25 Mbit/s

Incremental signals» 1 VPP1)–

Line count*

512

2048

Cutoff frequency –3 dB

2048 lines:  400 kHz
512 lines:  130 kHz

System accuracy

512 lines: ±60”; 2048 lines: ±20”Electrical connection

12-pinSupply voltage

DC 3.6 V to 14 V

Power consumption(maximum)

ECN 1313 / ECN 1325
		
EQN 1325 / EQN 1337
		

Current consumption (typical)

ECN 1313 / ECN 1325 At 5 V: 85 mA (without load)
EQN 1325 / EQN 1337 At 5 V: 105 mA (without load)

Shaft

Tapered shaft ¬ (9.25 mm); taper: 1:10*) ¬ 65+0.02 for ECI/EQI 13xx

EnDat3

2048

–

3)

16-pin (12+4-pin); with connection for external temperature sensor

DC 4 V to 14 V (12 V recommended)
At 3.6 V:  0.6 W
At 14 V:  0.7 W
At 3.6 V:  0.7 W
At 14 V:  0.8 W

ECN 1325 At 4 V:  700 mW;
At 14 V:  750 mW
EQN 1337 At 4 V:  800 mW;
At 14 V:  850 mW
ECN 1325 At 12 V: 30 mA(without communication)
EQN 1337 At 12 V: 40 mA(without communication)

Mech. permiss. shaft speed n ECN 1313 / ECN 1325:  15 000 rpm; EQN 1325 / EQN 1337:  12 000 rpm

 = Bearing of mating shaft
M1 = Measuring point for operating temperature
M2 = Measuring point for vibration (see D741714)
1 = Clamping screw for coupling ring; width A/F 2
2 = Die-cast cover
3 = Screw plug; widths A/F 3 and 4
4 = 16-pin (12+4-pin) header
5 = Screw: DIN 6912 – M5x50 – 08.8 – MKL SW4
6 = M10 back-off thread
7 = Compensation of mounting tolerances and thermal expansion, no dynamic motion permitted
8 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock
9 = Direction of shaft rotation for ascending position values

54

Starting torque (typical)

0.01 Nm (at 20 °C)

Moment of inertia of rotor

2.6 · 10Natural frequency fN (typical)

1800 Hz

Permissible axial motion of
measured shaft±0.5 mm

Vibration 55 Hz to 2000 Hz
Shock 6 ms

2 4)
 300 m/s (EN 60068-2-6)
 2000 m/s2 (EN 60068-2-27)

Operating temperature–40 °C to 115 °C

Protection EN 60529

IP40 when mounted

Mass 0.3 kg

ID number

ECN 1313: 768295-xx
EQN 1325: 827039-xx

–6

kgm2

ECN 1325: 1178019-xx
EQN 1337: 1178020-xx* Please select when ordering
Deviating tolerances
Signal amplitude:
0.8 VPP to 1.2 VPP					Asymmetry:
0.05
					
Amplitude ratio:
0.9 to 1.1
					Phase angle:
90° elec. ±5° elec.
					
Signal-to-noise ratio E, F:  100 mV1)

ECN 1325: 1296522-xx
EQN 1337: 1296523-xx

2)	Speed-dependent deviations between absolute andincremental signals
3)
Evaluation optimized for KTY 84-130 / PT1000 with EnDat3
4)
	Valid as per standard at room temp.; the following applies
at operating temps. up to 100 °C:  300 m/s2;
up to 115 °C:  150 m/s2

For dimensions and specifications of encoders with functional safety, see the Product Information document.

55

ECN/EQN 1300 S series
Absolute rotary encoders• 07B stator coupling with anti-rotation element for axial mounting• 65B tapered shaft• Encoders available with functional safety• Fault exclusion for rotor coupling and stator coupling as per EN 61800-5-2 possible

Required mating dimensions

Absolute
ECN 1324 S

EQN 1336 S

Interface

DRIVE-CLiQ

Ordering designation

DQ01

Position values per revolution

16 777 216 (24 bits)

Revolutions–

4096 (12 bits)

Shaft speed 15 000 rpm(at  2 position requests per revolution)

 12 000 rpm(at  2 position requests per revolution)

Calculation time
TIME_MAX_ACTVAL

 8 µsIncremental signals–

System accuracy±20”

Electrical connection

16-pin (12+4-pin); with connection for external temperature sensor

Supply voltage

DC 10 V to 28 V

Power consumption (max.)

10 V:  0.9 W
28.8 V:  1 W

10 V:  1 W
28.8 V:  1.1 W

Current consumption (typical)

24 V: 38 mA (without load)

24 V: 43 mA (without load)

Shaft

Tapered shaft (¬ 9.25 mm); taper 1:10

Starting torque (typical)

0.01 Nm (at 20 °C)

Moment of inertia of rotor

2.6 · 10Natural frequency fN (typical)

1800 Hz

Permissible axial motion of
measured shaft±0.5 mm

Vibration 55 Hz to 2000 Hz
Shock 6 ms

2
 300 m/s (EN 60068-2-6)
 2000 m/s2 (EN 60068-2-27)

Operating temperature–30 °C to 100 °C

Protection EN 60529

IP40 when mounted

Mass 0.25 kg

ID number

1179144-xx

1)

–6

kgm2

1179145-xx

For dimensions and specifications of encoders with functional safety, see the Product Information document.
1)

Evaluation optimized for the KTY 84-130 and PT 1000 (see Temperature measurement in motors)

DRIVE-CLiQ is a registered trademark of Siemens AG.

 = Bearing of mating shaft
M1 = Measuring point for operating temperature
M2 = Measuring point for vibration (see D741714)
1 = Clamping screw for coupling ring; width A/F 2
2 = Die-cast cover
3 = Screw plug; widths A/F 3 and 4
4 = 16-pin (12+4-pin) header
5 = Screw: DIN 6912 – M5x50 – 08.8 – MKL SW4
6 = M10 back-off thread
7 = Compensation of mounting tolerances and thermal expansion, no dynamic motion permitted
8 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock
9 = Direction of shaft rotation for ascending position values

56

57

ECN/EQN 400 series
Absolute rotary encoders• 07B stator coupling with anti-rotation element for axial mounting• 65B tapered shaft• Encoders available with functional safety• Fault exclusion for rotor coupling and stator coupling as per EN 61800-5-2 possible

Absolute
ECN 413

ECN 425

EQN 425

EQN 437

Interface

EnDat 2.2

Ordering designation

EnDat01

EnDat22

EnDat01

EnDat22

Position values per revolution

8192 (13 bits)

33 554 432 (25 bits)

8192 (13 bits)

33 554 432 (25 bits)

Revolutions–

Elec. permiss. shaft speed/2)deviations

1500 rpm/±1 LSB
12 000 rpm/±50 LSB

15 000 rpm (for con­tinuous position value)

1500 rpm/±1 LSB
12 000 rpm/±50 LSB

15 000 rpm (for con­tinuous position value)

Calculation time tcal
Clock frequency

 9 µs
 2 MHz 7 µs 16 MHz 9 µs
 2 MHz 7 µs 16 MHz

Incremental signals» 1 VPP–» 1 VPP1)–

Line count

2048

Cutoff frequency –3 dB

 400 kHz– 400 kHz–

System accuracy±20”

Electrical connection*

Cable 5 m, with orwithout M23 coupling

Cable 5 mwith M12 coupling

Cable 5 m, with orwithout M23 coupling

Cable 5 mwith M12 coupling

Supply voltage

DC 3.6 V to 14 V

Power consumption(maximum)3.6 V:  0.6 W
14 V:  0.7 W

3.6 V:  0.7 W
14 V:  0.8 W

Current consumption (typical)

5 V: 85 mA (without load)

5 V: 105 mA (without load)

Shaft

Tapered shaft ¬ (9.25 mm); taper: 1:10

4096 (12 bits)

1)

Mech. permiss. shaft speed n  15 000 rpm
Required mating dimensions

 12 000 rpm

Starting torque (typical)

0.01 Nm (at 20 °C)

Moment of inertia of rotor

2.6 · 10Natural frequency fN (typical)

1800 Hz

Permissible axial motion of
measured shaft±0.5 mm

Vibration 55 Hz to 2000 Hz
Shock 6 ms

2
 300 m/s (EN 60068-2-6)
 2000 m/s2 (EN 60068-2-27)

–6

kgm2

Max. operating temperature 100 °C
Min. operating temperature Fixed cable: –40 °C
Moving cable: –10 °C

 = Bearing of mating shaft
M1 = Measuring point for operating temperature
M2 = Measuring point for vibration (see D741714)
1 = Clamping screw for coupling ring; width A/F 2
2 = Screw plug; widths A/F 3 and 4
3 = Screw: DIN 6912 – M5x50 – 08.8 – MKL SW4
4 = Back-off thread M10
5 = Compensation of mounting tolerances and thermal expansion; no dynamic movement permitted
6 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock
7 = Direction of shaft rotation for ascending position values

58

Protection EN 60529

IP64 when mounted

Mass 0.25 kg

ID number

1065932-xx

683644-xx

1109258-xx

683646-xx* Please select when ordering
Deviating tolerances
Signal amplitude:
0.8 VPP to 1.2 VPP					Asymmetry:
0.05
					
Amplitude ratio:
0.9 to 1.1
					Phase angle:
90° elec. ±5° elec.
2)
Speed-dependent deviations between absolute and incremental signals
1)

For dimensions and specifications of encoders with functional safety, see the Product Information document.

59

ERN 1300 series

Incremental

Incremental rotary encoders• 06 stator coupling for axial mounting• 65B tapered shaft















ERN 1321

ERN 1381

ERN 1387

Interface

 TTL» 1 VPPLine count*/
System accuracy

1024/±64”2048/±32”4096/±16”512/±60”
2048/±20”4096/±16”

Reference markOne

Output frequency
Edge separation a
Cutoff frequency –3 dB

 300 kHz 0.35 µs–

Commutation signals–» 1 VPP

Width*–

Z1 track

3 x 120°; 4 x 90°3)

Electrical connection

12-pin14-pin16-pinSupply voltage

DC 5 V ±0.5 V

DC 5 V ±0.25 V

DC 5 V ±0.5 V

Current consumption(without load) 120 mA

 130 mA

 150 mA

Shaft

Tapered shaft ¬ (9.25 mm); taper: 1:10

1)

ERN 1326
 TTL

2048/±20”–– 210 kHz
1)

2)

5)

1024/±64”2048/±32”4096/±16”8192/±16” 300 kHz 0.35 µs–

 150 kHz
 0.22 µs–

 TTL

Mech. permiss. shaft speed n  15 000 rpm
Starting torque (typical)

0.01 Nm (at 20 °C)

Moment of inertia of rotor

2.6 · 10Natural frequency fN (typical)

1800 Hz

Permissible axial motion of
measured shaft±0.5 mm

Vibration 55 Hz to 2000 Hz
Shock 6 ms

2 4)
 300 m/s (EN 60068-2-6)
 2000 m/s2 (EN 60068-2-27)

–6

kgm2

Max. operating temperature 120 °C

120 °C4096 lines: 80 °C

120 °C

534118-xx

749144-xx

Min. operating temperature –40 °C*) ¬ 65+0.02 for ECI/EQI 13xx



A
k
M
1
2
3
4
5
6
7
8
9

60

Alternative:
ECN/EQN 1300 mating dimensions with slot for stator
coupling for the anti-rotation element are also usable.

= Bearing of mating shaft= Required mating dimensions= Measuring point for operating temperature= Clamping screw for coupling ring; width A/F 2= Die-cast cover= Screw plug; widths A/F 3 and 4= 12-pin, 14-pin or 16-pin PCB connector= Reference mark position on shaft and cap= M10 back-off thread= Self-locking screw: ISO 6912 – M5 x 50 – 08.8; width A/F 4= Compensation of mounting tolerances and thermal expansion; no dynamic movement permitted= Direction of shaft rotation for output signals as per the interface description

Protection EN 60529

IP40 when mounted

Mass 0.25 kg

ID number

385423-xx

574485-xx* Please select when ordering
1)
Deviating tolerances
Signal amplitude:
0.8 VPP to 1.2 VPP					Asymmetry:
0.05
					
Amplitude ratio:
0.9 to 1.1
					Phase angle:
90° elec. ±5° elec.
					
Signal-to-noise ratio E, F: 100 mV
2)
One sine and one cosine signal per revolution; see the Interfaces of HEIDENHAIN Encoders brochure3)
Three square-wave signals with signal periods with 90° or 120° mech. phase shift; see the Interfaces of HEIDENHAIN Encoders brochure4)
Valid as per standard at room temperature; at operating temperatures up to 100 °C:  300 m/s2;
up to 120 °C:  150 m/s2
5)
Via integrated signal doubling61

ECI/EQI 1100 series
Absolute rotary encoders• Flange for axial mounting• Blind hollow shaft• Without integral bearing
19.9  
 3.2
15

12.55  

2  

17 19
3.44  
12  

 
19.9 

(19.25)22.25  18

9
 3.559.4
         

A = Bearing of mating shaft
M1 = Measuring point for operating temperature
M2 = Measuring point for vibration
1 = Contact surface of slot
2 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock3 = Shaft surface; ensure full-surface contact!
 
4 = Slot required only for ECN/EQN and ECI/EQI with WELLA1 = 1KA
5 = ECI/EQI flange surface; ensure full-surface contact!
6 = Coupling surface of ECN/EQN
7 =	Mounting dimension: maximum permissible deviation between the shaft surface and coupling surface;compensation of mounting tolerances and thermal expansion, of which ±0.15 mm of dynamic axial motion is permitted (ECN/EQN)
8 =	Maximum permissible deviation between the shaft surface and flange surface; compensation of mounting tolerances and thermal expansion;
dynamic motion permitted over entire range (ECI/EBI/EQI)
9 = ECI/EBI flange surface; ensure full-surface contact!
10 = Undercut
11 = Possible centering hole
12 = Distance to cover; note the opening for header, header connector and wires
13 = Screw: ISO 4762 – M3x10 – 8.8 – MKL; tightening torque: 1 Nm ±0.1 Nm
14 = Screw: ISO 4762 – M3x25 – 8.8 – MKL; tightening torque: 1 Nm ±0.1 Nm
15 = Positive-locking element; ensure correct engagement in the slot (e.g., by measuring the device overhang)
16 = Direction of shaft rotation for ascending position values
17 = 15-pin header
18 = Dimension for JH standard cable
19 = Ensure installation space for cable62

Absolute, multiturn

ECI 1119

EQI 1131Interface

EnDat 2.2

EnDat 3

EnDat 2.2

EnDat 3

Ordering designation

EnDat22

E30-R2

EnDat22

E30-R2

Position values per revolution

524 288 (19 bits)

Revolutions–

Calculation time tcal
Clock frequency

 5 µs 16 MHz– 5 µs 16 MHz–

XEL.time HPFout
data rate–≤ 11 µs at 12.5 Mbit/s≤ 8.2 µs at 25 Mbit/s–≤ 11 µs at 12.5 Mbit/s≤ 8.2 µs at 25 Mbit/s

Propagation time–

14 µs (typical)–

14 µs (typical)

System accuracy±120”

Electrical connection

15-pin (with connection for external temperature sensor)

Cable length

EnDat 3: ≤ 100 m at 12.5 Mbit/s; ≤ 40 m at 25 Mbit/s
EnDat 2.2: ≤ 100 m2)

Supply voltage

DC 3.6 V to 14 V

Power consumption(maximum)3.6 V:  0.65 W
14 V:  0.7 W

12 V: 45 mA (without
communication)

3.6 V:  0.75 W
14 V:  0.85 W

12 V: 50 mA (without
communication)

Current consumption (typical)

5 V: 95 mA (withoutload)

4 V: ≤ 0.85 W;
14 V: ≤ 0.9 W

5 V: 115 mA(without load)

4 V: ≤ 0.95 W;
14 V: ≤ 1 W

Shaft*

Blind hollow shaft for axial clamping ¬ 6 mm without positive-locking element (82A) orwith positive-locking element (1KA)

Shaft speed 15 000 rpm

Moment of inertia of rotor

0.2 · 10Angular acceleration of rotor 1 · 105 rad/s2

Permissible axial motion of
measured shaft±0.4 mm

Vibration 55 Hz to 2000 Hz
Shock 6 ms

Stator: ≤ 400 m/s ; rotor: ≤ 600 m/s (EN 60068-2-6)
 2000 m/s2 (EN 60068-2-27)

Operating temperature–40 °C to 110 °C

Trigger thresholdfor exceeded temperatureerror message

125 °C (measuring accuracy of the internal temperature sensor: ±1 K)

Protection EN 60529

IP00 when mounted

Mass 0.04 kg

ID number

1164809-xx

16

Required mating dimensions

Absolute, singleturn4096 (12 bits)

1)–6

 12 000 rpm

kgm2

2

2

3)

1259551-xx

1164811-xx

1259552-xx* Please select when ordering	EnDat22: Evaluation optimized for the KTY 84-130 temperature sensor; E30-R2: Evaluation optimized for the KTY 84-130 and PT 1000
(see Temperature measurement in motors)
2)
Also see the Interfaces of HEIDENHAIN Encoders brochure3)	See Electromagnetic compatibility under General electrical information in the Interfaces of HEIDENHAIN Encoders brochure.
1)

For dimensions and specifications of encoders with functional safety, see the Product Information document.

63

ECI/EQI 1100 series
Absolute rotary encoders• 70F synchro flange for axial mounting• 82A blind hollow shaft• Without integral bearing• Mounting-compatible with ECN/EQN 1100 optical rotary encoders and the ECI/EBI/EQI 1100 inductive series
21.9 0.5
2+0.150

EnDat220.5 0.5



10

12 14

21.9+100
2.3-0.2



13

EnDat0112 14

23.9+1
0

(

(

(

(

6)

36.5)


34.4)

12.25 0.3

36.83)

14

(4)

13
10

10

3.44 0.2
12 0.8

15(19.25)22.25 0.6

Required mating dimensions6

9
 3.553

E3 E4 E59   

9.4

  

 

E2
17 E1


M
1
2
3
4
5

6
7
8
9
10
11
12
13
14
15
16
17

64

Name Flange Shaft
Interface
L2
L3
ECN/EQN OUA
1KA EnDat01/22 2±0.5–
ECI/EQI
70C 1KA/82A EnDat22 2±0.4–
ECI/EQI
70F
82A
EnDat22–0±0.4
ECI/EQI
70F
82A
EnDat01–
0±0.3
ECI/EBI
70E
82C
EnDat22–0±0.3

ECI 1119

EQI 1131

EnDat 2.2

Ordering designation

EnDat22

Position values per revolution

524 288 (19 bits)

Revolutions–

Calculation time tcal
Clock frequency

 5 µs 16 MHz

System accuracy±120”

Electrical connection

15-pin (with connection for external temperature sensor)

Cable length≤ 100 mSupply voltage

DC 3.6 V to 14 V

Power consumption(maximum)3.6 V:  0.65 W
14 V:  0.7 W

3.6 V:  0.75 W
14 V:  0.85 W

Current consumption (typical)

5 V: 95 mA (without load)

5 V: 115 mA

Shaft

Blind hollow shaft for axial clamping ¬ 6 mm

Shaft speed 15 000 rpm

Moment of inertia of rotor

0.2 · 10Permissible axial motion of
measured shaft±0.4 mm

Vibration 55 Hz to 2000 Hz
Shock 6 ms

Stator: ≤ 400 m/s ; rotor: ≤ 600 m/s (EN 60068-2-6)
 2000 m/s2 (EN 60068-2-27)

Operating temperature–40 °C to 110 °C

Protection EN 60529

IP00 when mounted

Mass 0.04 kg

ID number

1164812-xx

2)4096 (12 bits)

1)–6

 12 000 rpm

kgm2

2

2

2)

1164813-xx

Evaluation optimized for the KTY 84-130 temperature sensor (see Temperature measurement in motors)
See Electromagnetic compatibility under General electrical information in the Interfaces of HEIDENHAIN Encoders brochure.

L3 5 E3 E4 E5  

Series
E1
E2
E3
E4
E5

 

6

MultiturnInterface1)

L2 5 E1 E2Singleturn16= Bearing of mating shaft
11= Measuring point for operating temperature= Direction of shaft rotation for ascending position values16 = Shaft surface; ensure full-surface contact!
= Flange surface; ensure full-surface contact!
= Slot necessary only for 1KA shaft=	Mounting dimension: maximum permissible deviation between the shaft surface and flange surface;compensation of mounting tolerances and thermal expansion; ECI/EQI/EBI: dynamic motion permitted over entire range;
ECN/EQN: ±0.15 mm dynamic axial motion permitted(with use of ATS software for mounting inspection, the display value for the mounting clearance is shown as 2 mm instead of 0 mm)= Chamfer at start of thread is mandatory for material bonding anti-rotation lock= Shaft fastening screw: DIN EN ISO 4762 – M3x25 – 8.8 with material bonding anti-rotation lock: ID 202264-86; tightening torque: 1 Nm ±0.1 Nm= Clamping surface= Contact surface of slot
= Possible flange fastening with fastening kit (ID 1264352-xx); tightening torque: 1 Nm ±0.1 Nm; pay attention to the orientation of the flat!
= Possible centering hole
= 15-pin header= Dimension for JH standard cable= Ensure installation space for cable= Distance to cover; note the opening for header, header connector and wires= Undercut= Coupling surface of ECN/EQN

65

ECI/EBI/EQI 1300 series

Absolute
ECI 1319

Absolute rotary encoders• Mounting-compatible with photoelectric rotary encoders with a 07B stator coupling• 0YA flange for axial mounting• 44C blind hollow shaft ¬ 12.7 mm• Without integral bearing• Cost-optimized mating dimensions upon request

EQI 1331

EBI 1335

4096 (12 bits)

65 536 (16 bits)

Interface

EnDat 2.2

Ordering designation

EnDat22

Position values per revolution

524 288 (19 bits)

Revolutions–

Elec. permiss. shaft speed/
deviations

 15 000 rpm (for continuous position value)

Calculation time tcal
Clock frequency

 5 µs 16 MHz

System accuracy±65”

Electrical connection

16-pin with connection for temperature sensor

Cable length 100 mSupply voltage

DC 3.6 V to 14 V

Power consumption (max.)

3.6 V:  0.65 W
14 V:  0.7 W

3.6 V:  0.75 W
14 V:  0.85 W

3.6 V:  0.65 W
14 V:  0.7 W

Current consumption (typical)

5 V: 95 mA (without load)

5 V: 115 mA (without load)

Normal operation at 5 V:
95 mA (without load)
Backup battery:2)
160 µA (rotating shaft)
16 µA (at standstill)

Shaft

Blind hollow shaft for axial clamping (¬ 12.7 mm)

1)

Rotary encoder UP:
DC 3.6 V to 14 V
Backup battery UBAT:
DC 3.6 V to 5.25 V

Required mating dimensions

90°...120°

Mech. permiss. shaft speed n  15 000 rpm

D1

D2

 12.7G6  12.7h6 90°...120°

 = Bearing of mating shaft
M1 = Measuring point for operating temperature
M2 = Measuring point for vibration (see D741714)
1 = 16-pin PCB connector
2 = Screw plug; widths A/F 3 and 4
3 = Screw: ISO 26912 – M5x30 – 08.8 – MKL SW4
4 = Screw: ISO 4762 – M4x10 – 8.8 – MKL SW3
5 = Functional diameter of taper for ECN/EQN 13xx
6 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock
7 = Flange surface ExI/resolver; ensure full-surface contact!
8 = Shaft surface; ensure full-surface contact!
9 =	Mounting dimension: maximum permissible deviation between the shaft surface andflange surface; compensation of mounting tolerances and thermal expansion;
ECI/EQI: dynamic motion permitted over entire range; ECN/EQN: no dynamic motion permitted
10 = M10 back-off thread
11 = Direction of shaft rotation for ascending position values

66

3)

–6

 12 000 rpm

kgm2

Moment of inertia of rotor

2.6 · 10Permissible axial motion of
measured shaft±0.5 mm

Vibration 55 Hz to 2000 Hz
Shock 6 ms

Stator:  400 m/s ; rotor:  600 m/s (EN 60068-2-6)
 2000 m/s2 (EN 60068-2-27)

Operating temperature–40 °C to 115 °C

Trigger thresholdof temperature exceedance
error message

130 °C (measuring accuracy of the internal temperature sensor: ±1 K)

Protection EN 60529

IP20 when mounted

Mass 0.13 kg

ID number

810661-xx

2

2

810662-xx

1230275-xx

1)

Evaluation optimized for KTY 84-130
At T = 25 °C; UBAT = 3.6 V
3)	Compliance with EnDat Specification 297403 and the EnDat Application Notes 722024, Chapter 13, Battery-buffered encoders,is required for correct control of the encoder2)

For dimensions and specifications of encoders with functional safety, see the Product Information document.
8

67

ECI 1319, EQI 1331

Absolute
ECI 1319 singleturn

Rotary encoders for absolute position values with safe singleturn information• Robust inductive scanning principle• Mounting-compatible with photoelectric rotary encoders with a 07B stator coupling• 0YA mounting flange• Blind hollow shaft for axial clamping ¬ 12.7 mm (44C) or ¬ 12 mm (44A)• Cost-optimized mating dimensions upon request



74

Required mating dimensionsD90°...120°

90°...120°

EQI 1331 multiturn

Interface

EnDat 3

Ordering designation

E30–R2

Position values per revolution

524 288 (19 bits)

Revolutions–

XEL.time HPFout
data rate≤ 11 µs at 12.5 Mbit/s≤ 8.2 µs at 25 Mbit/s

Propagation time1)

14 µs (typical)

System accuracy±65”

Electrical connection

16-pin PCB connector (12+4; with separate connection option for external temperature sensor)3)

Cable length

At 12.5 Mbit/s:  100 m; at 25 Mbit/s:  40 m

Supply voltage

DC 4 V to 14 V (recommended: 12 V)

Power consumption2)(maximum)4 V: ≤ 0.85 W
14 V: ≤ 0.9 W

4 V: ≤ 0.95 W
14 V: ≤ 1 W

Current consumption (typical)

12 V: ≤ 45 mA (without communication)

12 V: ≤ 50 mA (without communication)

Shaft

Blind hollow shaft for axial clamping ¬ 12.7 mm (44C) or ¬ 12 mm (44A)

Shaft speed 15 000 rpm

 12 000 rpm

Moment of inertia of rotor

2.45 · 10–6 kgm2

2.6 · 10–6 kgm2

Angular acceleration of rotor 1 · 105 rad/s2

Axial motion of measured
shaft

 ±0.5 mm

Vibration 55 Hz to 2000 Hz
Shock 6 ms

Stator: ≤ 400 m/s2; rotor: ≤ 600 m/s2 (EN 60068-2-6)≤ 2000 m/s2 (EN 60068-2-27)

Operating temperature–40 °C to 115 °C

Trigger thresholdof temperature exceedance
error message

130 °C (measuring accuracy of the internal temperature sensor: ±1 K)

Relative humidity

 93% (40 °C/21 d as per EN 60068-2-78); condensation excluded

Protection rating EN 60529

IP20

Mass

 0.13 kg

ID number

44C shaft: 1286377-01; 44A shaft: 1286377-06

4096 (12 bits)

44C shaft: 1286378-01; 44A shaft: 1286378-06

1)

See EnDat Application Notes
See General electrical information in the Interfaces of HEIDENHAIN Encoders brochure or at www.heidenhain.com
3)
Evaluation optimized for the KTY 84-130 and PT 1000 (see Temperature measurement in motors)
2) = Bearing of mating shaft
M1 = Measuring point for operating temperature
M2 = Measuring point for vibration (see D741714)
1 = 16-pin (12+4-pin) PCB connector
2 = SW3 and SW4 screw plug
3 = Screw: DIN 6912 – M5x30 – 08.8 – MKL SW4
4 = Screw: ISO 4762 – M4x10 – 8.8 – MKL SW3
5 = Functional diameter of taper for ECN/EQN 13xx
6 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock
7 = ExI/resolver flange surface; ensure full-surface contact!
8 = Shaft surface; ensure full-surface contact!
9 =	Mounting clearance between shaft surface and flange surface;compensation of mounting tolerances and thermal expansion;
ECI/EQI: dynamic motion permitted over entire range;
ECN/EQN: no dynamic motion permitted
10 = M10 back-off thread
11 = Direction of shaft rotation for ascending position values

68





For dimensions and specifications of encoders with functional safety, see the Product Information document.

869

ECI/EQI 1300 S series

Absolute
ECI 1319 S

Absolute rotary encoders• Mounting-compatible with photoelectric rotary encoders with a 07B stator coupling• 0YA flange for axial mounting• 44C blind hollow shaft ¬ 12.7 mm• Without integral bearing• Cost-optimized mating dimensions upon request

Required mating dimensions

90°...120°

EQI 1331 S

Interface

DRIVE-CLiQ

Ordering designation

DQ01

Position values per revolution

524 288 (19 bits)

Revolutions–

Calculation time
TIME_MAX_ACTVAL 12 µs

System accuracy±65”

Electrical connection

16-pin with connection for temperature sensor

Cable length 40 mSupply voltage

DC 24 V (10 V to 28.8 V; up to DC 36 V possible without impairing the functional safety)

Power consumption(maximum)10 V:  1.1 W
28.8 V:  1.25 W

10 V:  1.2 W
28.8 V:  1.35 W

Current consumption (typical)

24 V: 40 mA (without load)

24 V: 45 mA (without load)

Shaft

Blind hollow shaft for axial clamping (¬ 12.7 mm)

4096 (12 bits)

1)

Mech. permiss. shaft speed n  15 000 rpm–6

 12 000 rpm

kgm2

Moment of inertia of rotor

2.6 · 10Permissible axial motion of
measured shaft±0.5 mm

Vibration 55 Hz to 2000 Hz
Shock 6 ms

Stator:  400 m/s ; rotor:  600 m/s (EN 60068-2-6)
 2000 m/s2 (EN 60068-2-27)

Operating temperature–40 °C to 100 °C

Trigger thresholdof temperature exceedance
error message

120 °C (measuring accuracy of the internal temperature sensor: ±1 K)

Protection EN 60529

IP20 when mounted

Mass 0.13 kg

ID number

1222049-xx

221222051-xx

D1

D2

1)

 12.7G6  12.7h6 

For dimensions and specifications of encoders with functional safety, see the Product Information document.

Evaluation optimized for the KTY 84-130 and PT 1000 (see Temperature measurement in motors)

DRIVE-CLiQ is a registered trademark of Siemens AG.
90°...120°

 = Bearing of mating shaft
M1 = Measuring point for operating temperature
M2 = Measuring point for vibration (see D741714)
1 = 16-pin PCB connector
2 = SW3 and SW4 screw plug
3 = Screw: ISO 6912 – M5x30 – 08.8 – MKL SW4
4 = Screw: ISO 4762 – M4x10 – 8.8 – MKL SW3
5 = Functional diameter of taper for ECN/EQN 13xx
6 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock
7 = Flange surface ExI/resolver; ensure full-surface contact!
8 = Shaft surface; ensure full-surface contact!
9 =	Mounting dimension: maximum permissible deviation between the shaft surface andflange surface; compensation of mounting tolerances and thermal expansion;
ECI/EQI: dynamic motion permitted over entire range; ECN/EQN: no dynamic motion permitted
10 = M10 back-off thread
11 = Direction of shaft rotation for ascending position values

70

8

71

ECI/EBI 100 series

Absolute
ECI 119

Absolute rotary encoders• Flange for axial mounting• Hollow through shaft• Without integral bearing• EBI 135: multiturn functionality via battery-buffered revolution counter














EBI 135

Interface*

EnDat 2.1

EnDat 2.2

EnDat 2.2

Ordering designation

EnDat01

EnDat22

1)

EnDat221)

Position values per revolution

524 288 (19 bits)

Revolutions–

Elec. permiss. shaft speed/
deviations3)

 3000 rpm/±128 LSB
 6000 rpm/±256 LSB

 6000 rpm (for continuous position value)

Calculation time tcal
Clock frequency

 8 µs
 2 MHz 6 µs 16 MHz

Incremental signals» 1 VPP––Line count

32

–

–

Cutoff frequency –3 dB

 6 kHz (typical)––

System accuracy±90”

Electrical connection

15-pinCable length≤ 100mSupply voltage

DC 3.6 V to 14 V

Power consumption (max.)

3.6 V:  0.58 W
14 V:  0.7 W

Normal operation at 3.6 V:0.53 W
Normal operation at 14 V: 0.63 W

Current consumption (typical)

5 V: 80 mA(without load)

5 V: 75 mA(without load)

Shaft*

Hollow through shaft ¬ = 30 mm, 38 mm, 50 mm

2)

65 536 (16 bits)

4)

15-pin with connection for temperature sensor

Rotary encoder UP:
Backup battery UBAT:

DC 3.6 V to 14 V
DC 3.6 V to 5.25 V

Normal operation at 5 V:
75 mA (without load)
5)
Buffer mode :			25 µA (rotating shaft)
12 µA (at standstill)

Mech. permiss. shaft speed n  6000 rpm
Moment of inertia of rotor–62¬ = 30 mm: 64 · 10 kgm–6¬ = 38 mm: 58 · 10 kgm2–62
¬ = 50 mm: 64 · 10 kgm

Permissible axial motion of
measured shaft±0.3 mm

Vibration 55 Hz to 2000 Hz
Shock 6 ms

2
 300 m/s (EN 60068-2-6)
2
 1000 m/s (EN 60068-2-27)

Operating temperature–30 °C to 115 °C

Protection EN 60529

IP20 when mounted

Mass¬ = 30 mm:  0.19 kg¬ = 38 mm:  0.16 kg¬ = 50 mm:  0.14 kg

ID number

823406-xx





M
1
2
3
4
5
6
7
8
9

72

= Bearing of mating shaft= Required mating dimensions= Measuring point for operating temperature= Cylinder head screw: ISO 4762-M3 with three ISO 7092 washers= Width A/F 2.0 (6x); tighten evenly crosswise with increasing tightening torque= Shaft detent: for manner of functioning, see the mounting instructions= 15-pin PCB connector= Compensation of mounting tolerances and thermal expansion; no dynamic motion= Protection against contact as per EN 60529= Required up to max. ¬ 92 mm= Required mounting frame for output cable with cable clamp (accessory); bending radius of connecting wires: at least R3 mm= Direction of shaft rotation for ascending position values

6)823407-xx

823405-xx* Please select when ordering
Valuation numbers are not supported2)	Compliance with EnDat Specification 297403 and the EnDat Application Notes 722024, Chapter 13, Battery-buffered encoders,is required for correct control of the encoder3)
Speed-dependent deviations between absolute and incremental signals
4)
Evaluation optimized for the KTY 84-130 (see Temperature measurement in motors)
5)
At T = 25 °C; UBAT = 3.6 V
6)
See Electromagnetic compatibility under General electrical information in the Interfaces of HEIDENHAIN Encoders brochure.
1)73

ECI 4010, EBI 4010, ECI 4090 S
Rotary encoders for absolute position values• Robust inductive scanning principle• Hollow through shaft (¬ 90 mm)• EBI 4010: multiturn functionality through battery-buffered revolution counter• Consists of a scanning unit and scale drum

Required mating dimensions

 = Bearing of mating shaft
M1 = Measuring point for operating temperature on housing
M2 = Measuring point for vibration on housing
1 = Position of zero point ±5°
2 =	Maximum permissible axial deviation between the shaft surface and flange surface;compensation of mounting tolerances and thermal expansion; dynamic motion permitted over entire range
3 =	Use screws with material bonding anti-rotation lock: ISO 4762 – M4 x 25 – 8.8 – MKL as per DIN 267-27 (not included in delivery, ID 202264‑88);
tightening torque 2.2 Nm ±0.13 Nm
4 = Space required when encoder cover is closed
5 = Space required for opening the encoder cover
6 = Total runout of mating shaft
7 = Coaxiality of stator mating surface
8 = Bearing surface of rotor
9 = Bearing surface of stator
10 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock
11 = Direction of shaft rotation for ascending position values
12 = This area of the mating surface does not need to be fully covered by the scanning unit

74

Specifications

ECI 4010
singleturn

EBI 4010
multiturn

ECI 4090 S
singleturn

Interface/ordering
designation

EnDat 2.2 / EnDat22

Position values per revolution

1 048 576 (20 bits)

Revolutions–

Calculation time tcal/
clock frequency

 5 µs/ 16 MHz

System accuracy±25”

Electrical connection

15-pin with connection for temperature sensor2)

Cable length 100 mSupply voltage

DC 3.6 V to 14 V

Power consumption4)(maximum)3.6 V:  0.63 W;
14 V:  0.7 W

Current consumption (typical)

5 V: 95 mA (without load)

Shaft

Hollow through shaft (¬ 90 mm)

Shaft speed 6000 rpm

Moment of inertia of rotor

4.26 · 10–4 kgm2 (without screws)

Angular acceleration of rotor 2 · 104 rad/s2

Axial motion of measured
shaft

 ±1.5 mm

Vibration 55 Hz to 2000 Hz
Shock 6 ms

AE scanning unit:  400 m/s2; TTR scale drum:  600 m/s2 (EN 60068-2-6)
 2000 m/s2 (EN 60068-2-27)

Operating temperature–40 °C to 115 °C(at the measuring point and on the entire scale drum)–40 °C to 100 °C(at the measuring point and on
the entire scale drum)

Trigger thresholdfor exceeded temperatureerror message

130 °C (measuring accuracy of the internal temperature
sensor: ±1 K)

120 °C (measuring accuracyof the internal temperature
sensor: ±1 K)

Protection EN 60529

Complete encoder, mounted: IP206); scanning unit: IP40 (read about insulation under Electrical safety
in the Interfaces of HEIDENHAIN Encoders brochure)

Mass

AE scanning unit:  0.27 kg; TTR scale drum:  0.17 kg

ID number

AE ECI4010 scanning unit:
ID 1130167-xx

DRIVE-CLiQ / DQ01

65 536 (16 bits)–
 11 µs1)

 40 m3)
Rotary encoder UP:
DC 3.6 V to 14 V
Buffer battery UBat:
DC 3.6 to 5.25 V

DC 24 V (10 V to 28.8 V);
up to 36 V possible without
impairing the functional safety
10 V:  1.1 W;
28.8 V:  1.25 W

Normal operation at 5 V:
95 mA (without load)
Buffer mode5):
220 μA (rotating shaft)
25 μA (shaft at standstill)

AE EBI4010 scanning unit:
ID 1130173-xx

24 V: 40 mA (without load)

AE ECI4090S scanning unit:
ID 1130171-xx

TTR EXI4000 scale drum: ID 1130175-xx
1)

Calculation time TIME_MAX_ACTVAL
Evaluation optimized for the KTY 84-130, with DQ01 also for the PT 1000 (see Temperature measurement in motors)
3)
At an output cable length (inside motor) ≤ 1 m
4)
See General electrical information in the Interfaces of HEIDENHAIN Encoders brochure
5)
At T = 25 °C; UBAT = 3.6 V
6)The encoder must be protected from abrasive and harmful media in the application; use an appropriate enclosure as needed.
2)

For dimensions and specifications of encoders with functional safety, see the Product Information document.
DRIVE-CLiQ is a registered trademark of Siemens AG.

75

ECI 4010, EBI 4010, ECI 4090 S
Rotary encoders for absolute position values• Robust inductive scanning principle• Hollow through shaft (¬ 180 mm)• EBI 4010: multiturn functionality through battery-buffered revolution counter• Consists of a scanning unit and scale drum

Shown withcustomer’s side

 

Required mating dimensions = Bearing of mating shaft
M1 = Measuring point for operating temperature
M2 = Measuring point for vibration on scanning unit
1 = Marking of the 0° position ±5°
2 = Slot for feather key DIN 6885 – A – 10 x 8 x 20
3 = Feather key DIN 6885 – A – 10 x 8 x 20
4 =	Maximum permissible axial deviation between the shaft surface and flange surface;compensation of mounting tolerances and thermal expansion; dynamic motion permitted over entire range
5 =	Fastening screws: ISO 4762 – M4 x 25 – 8.8; a suitable anti-rotation lock must be used for the screw connection (e.g., screw with material bondinganti-rotation lock: ISO 4762 – M4 x 25 – 8.8 MKL as per DIN 267-27, ID 202264-88)
6 = Space required when encoder cover is closed
7 = Space required for opening the encoder cover
8 = Coaxiality of stator mating surface
9 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock
10 = Bearing surface of stator
11 = Bearing surface of rotor
12 = Direction of shaft rotation for ascending position values
13 = This area of the mating surface does not need to be fully covered by the scanning unit

76

Specifications

ECI 4010
singleturn

EBI 4010
multiturn

ECI 4090 S
singleturn

Interface/ordering
designation

EnDat 2.2 / EnDat22

Position values per revolution

1 048 576 (20 bits)

Revolutions–

Calculation time tcal/
clock frequency

 5 µs/ 16 MHz

System accuracy±40”

Electrical connection

15-pin with connection for temperature sensor2)

Cable length 100 mSupply voltage

DC 3.6 V to 14 V

Power consumption4)(maximum)3.6 V:  0.63 W;
14 V:  0.7 W

Current consumption (typical)

5 V: 95 mA (without load)

Shaft

Hollow through shaft ¬ 180 mm (with keyway)

Shaft speed 6000 rpm

Moment of inertia of rotor

3.1 · 10–3 kgm2 (without screws, without key)

Angular acceleration of rotor 2 · 104 rad/s2

Axial motion of measured
shaft

 ±1.5 mm

Vibration 55 Hz to 2000 Hz
Shock 6 ms

AE scanning unit:  400 m/s2; TTR scale drum:  600 m/s2 (EN 60068-2-6)
 2000 m/s2 (EN 60068-2-27)

Operating temperature–40 °C to 115 °C(at the measuring point and on the entire scale drum)–40 °C to 100 °C(at the measuring point andon the entire scale drum)

Trigger thresholdfor exceeded temperatureerror message

130 °C (measuring accuracy of the internal temperature
sensor: ±1 K)

120 °C (measuring accuracyof the internal temperature
sensor: ±1 K)

Protection EN 60529

Complete encoder, mounted: IP206); scanning unit: IP40 (read about insulation under Electrical safety
in the Interfaces of HEIDENHAIN Encoders brochure)

Mass

AE scanning unit:  0.39 kg; TTR scale drum:  0.33 kg

ID number

AE ECI4010 scanning unit:
ID 1087526-xx

DRIVE-CLiQ / DQ01

65 536 (16 bits)–
 11 µs1)

 40 m3)
Rotary encoder UP:
DC 3.6 V to 14 V
Buffer battery UBat:
DC 3.6 to 5.25 V

DC 24 V (10 V to 28.8 V);
up to 36 V possible without
impairing the functional safety
10 V:  1.1 W;
28.8 V:  1.25 W

Normal operation at 5 V:
95 mA (without load)
Buffer mode5):
220 μA (rotating shaft)
25 μA (shaft at standstill)

AE EBI4010 scanning unit:
ID 1097530-xx

24 V: 40 mA (without load)

AE ECI4090S scanning unit:
ID 1087527-xx

TTR EXI4000 scale drum: ID 1113606-xx
1)

Calculation time TIME_MAX_ACTVAL
Evaluation optimized for the KTY 84-130, with DQ01 also for the PT 1000 (see Temperature measurement in motors)
3)
At an output cable length (inside motor) ≤ 1 m
4)
See General electrical information in the Interfaces of HEIDENHAIN Encoders brochure
5)
At T = 25 °C; UBAT = 3.6 V
6)The encoder must be protected from abrasive and harmful media in the application; use an appropriate enclosure as needed.
2)

For dimensions and specifications of encoders with functional safety, see the Product Information document.
DRIVE-CLiQ is a registered trademark of Siemens AG.

77

ERO 1200 series

Incremental

Incremental rotary encoders• Flange for axial mounting• Hollow through shaft• Without integral bearing

ERO 1225

ERO 1285Interface

 TTL» 1 VPPLine count*

1024
2)



Accuracy of graduation±6”

Reference markOne

Output frequency
Edge separation a
Cutoff frequency –3 dB

 300 kHz 0.39 µs–––
 180 kHz (typical)

System accuracy1024 lines: ±92”2048 lines: ±73”1024 lines: ±67”2048 lines: ±60”

Electrical connection

12-pinSupply voltage

DC 5 V ±0.5 V

Current consumption(without load) 150 mA

Shaft*

Hollow through shaft ¬ = 10 mm or ¬ = 12 mm

Moment of inertia of rotor–6
2
Shaft ¬ 10 mm: 2.2 · 10 kgm–6
Shaft ¬ 12 mm: 2.2 · 10 kgm2

1)



2048

Mech. permiss. shaft speed n  25 000 rpm







Permissible axial motion of
measured shaft

1024 lines: ±0.2 mm
2048 lines: ±0.05 mm

Vibration 55 Hz to 2000 Hz
Shock 6 ms

 100 m/s (EN 60068-2-6)
 1000 m/s2 (EN 60068-2-27)

Operating temperature–40 °C to 100 °C

Protection EN 60529

IP00

Mass

 0.07 kg

ID number

1037521-xx (scanning unit)
332378-xx (disk/hub assembly)±0.03 mm21037522-xx (scanning unit)
332378-xx (disk/hub assembly)* Please select when ordering
1)
When not mounted; additional deviations due to mounting and bearing of the measured shaft are not taken into account2)
For other errors, see Measuring accuracyD¬ 10h6 e¬ 12h6 e

A
k
M
1
2
3

78

= Bearing of mating shaft= Required mating dimensions= Measuring point for operating temperature= Disk/hub assembly= Offset screwdriver: ISO 2936 – 2.5 (I2 shortened)= Direction of shaft rotation for output signals as per the interface description

a

f

c

ERO 1225 1024Z

0.4 ±0.2

0.05¬ 0.022048

0.2 ±0.05

ERO 1285 10242048

0.2 ±0.03

0.03¬ 0.02

79

ERO 1400 series

Incremental
ERO 1420

Incremental rotary encoders• Flange for axial mounting• Hollow through shaft• Without integral bearing; self-centeringWith axial PCB
connector

ERO 1480

Interface TTLLine count*

512
1000
1024

1000
1500

Integrated interpolation*–

5-fold10-fold

20-fold

25-fold–

Signal periods per revolution

512
1000
1024

5000
7500

10 000
15 000

20 00030 00025 00037 500

512
1000
1024

Edge separation a 0.39 µs

 0.47 µs

 0.22 µs

 0.17 µs

 0.07 µs–

Scanning frequency

 300 kHz 100 kHz 62.5 kHz

 100 kHz–Cutoff frequency –3 dB–

Reference mark

One
1)



ERO 1470» 1 VPP
512
1000
1024

 180 kHz

System accuracy

512 lines: ±139”1000 lines: ±112”1024 lines: ±112”

Electrical connection*

12-pin, axial

Supply voltage

1000 lines: ±130”1500 lines: ±114”

512 lines: ±190”1000 lines: ±163”1024 lines: ±163”

DC 5 V ±0.5 V

DC 5 V ±0.25 V

DC 5 V ±0.5 V

Current consumption(without load) 150 mA

 155 mA

Shaft*

Blind hollow shaft ¬ 4 mm, ¬ 6 mm or ¬ 8 mm,
or hollow through shaft in housing with bore (accessory)

Moment of inertia of rotor–6
2
Shaft ¬ 4 mm: 0.28 · 10 kgm–6
Shaft ¬ 6 mm: 0.27 · 10 kgm2
Shaft ¬ 8 mm: 0.25 · 10–6 kgm22)

 200 mA

 150 mA

Mech. permiss. shaft speed n  30 000 rpm



Axial PCB connector and round cablePermissible axial motion of
measured shaft±0.1 mm±0.05 mm

Vibration 55 Hz to 2000 Hz
Shock 6 ms

 100 m/s (EN 60068-2-6)
 1000 m/s2 (EN 60068-2-27)

Operating temperature–10 °C to 70 °C

Protection EN 60529

With PCB connector: IP00
With cable outlet: IP40

Mass

 0.07 kg

ID number

360731-xx

2360736-xx

360737-xx

Bold: This preferred version is available on short notice* Please select when ordering
1)
When not mounted; additional deviations due to mounting and bearing of the measured shaft are not taken into account2)
Upon request, cable (1 m), radial, free cable end (not for ERO 1470)

Axial PCB connector and ribbon cable

L 13 +4.5/–3 10 min.

A
k
Ô
Õ
1
2
3
4

80

= Bearing of mating shaft= Required mating dimensions= Accessory: round cable= Accessory: ribbon cable= Two M3 setscrews offset by 90°; width across flats 1.5= Version for repeated mounting= Version featuring housing with central hole (accessory)= Direction of shaft rotation for output signals according to interface description

Bend radius R

Fixed cable

Frequent
flexing

Ribbon cableR  2 mmR  10 mmab

D

ERO 1420 0.03

±0.1

¬ 4h6 eERO 1470 0.02

±0.05

¬ 6h6 eERO 1480¬ 8h6 e81

Interfaces» 1 VPP incremental signals« TTL incremental signals

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

HEIDENHAIN encoders with the « TTL
interface incorporate electronics that
digitize sinusoidal scanning signals with orwithout interpolation.

Signal period
360° elec.

The sinusoidal incremental signals A and
B are phase-shifted by 90° elec. and havea typical amplitude of 1 VPP. The illustrated
sequence of output signals—with B
lagging A—applies to the direction of
motion shown in 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.

The incremental signals are transmitted
as the square-wave pulse trains Ua1 andUa2, phase-shifted by 90° elec. The refe­rence mark signal consists of one or morerefe­rence pulses Ua0, which are gatedwith the incremental signals. In addition,
the integrated electronics produce theirinverted signals ¢, £ and ¤ fornoise-proof transmission. The illustrated
sequence of output signals—with Ua2
lagging Ua1—applies to the direction of
motion shown in the dimension drawing.

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

(rated value)

Measuring step after
4-fold evaluation

The inverted signals ¢, £, and ¤ are not shown.

The fault detection signal ¥ indicatesmalfunctions such as an interruption in the
supply lines, failure of the light source, etc.

Alternative
signal shape

The distance between two successive
edges of the incremental signals Ua1 and Ua2
through 1-fold, 2-fold or 4-fold evaluation is
one measuring step.

A, B, R measured with oscilloscope in differential mode

Pin layout

Fault

Signal period 360° elec.

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

Pin layout

12-pin M23 coupling

15-pin D-sub connector for PWM 21

12-pin PCB connector

12-pin M23 flange socket
or coupling

12-pin M23 connector

15-pin D-sub connector
for IK 215 / PWM 21

12-pin PCB connector

12Power supply

12

Incremental signals

12

2

10

11

5

6

8

1

3

4

9

7

/

4

12

2

10

1

9

3

11

14

7

5/6/8/15

13

/

2a

2b

1a

1b

6b

6a

5b

5a

4b

4a

3b

3a

/

UP

Sensor1)
UP

0V

Sensor1)
0V

A+

A–

B+

B–

R+

R–

VacantBrown/
GreenBlue

White/
Green

White

Brown

Green

Gray

Pink

Red

Black

/

Output cable for ERN 1381
inside the motor housing
ID 667343-01

17-pinM23 flange socket

Vacant Vacant
VioletYellow

12

Incremental signals

Other signals

7

1

10

4

15

16

12

13

3

2

5

6

2a

2b

1a

1b

6b

6a

5b

5a

4b

4a

/

/

8/9/11/
14/17
3a/3b

UP

SensorUP

0V

Sensor
0V

A+

A–

B+

B–

R+

R–

T+2)

T–2)

VacantBrown/
GreenBlue

White/
Green

White

Brown

Green

Gray

Pink

Red

Black

Brown

White2)/2)

12Power supply

12

Incremental signals

Other signals

12

2

10

11

5

6

8

1

3

4

7

/

9

4

12

2

10

1

9

3

11

14

7

13

5/6/8

15

2a

2b

1)

1a

1b1)

6b

6a

5b

5a

4b

4a

3a

3b

/

UP

SensorUP

0V

Sensor
0V

Ua1

¢

Ua2

£

Ua0

¤

¥1)

VacantVacant2)

Brown/
GreenBlue

White/
Green

White

Brown

Green

Gray

Pink

Red

Black

Violet/Yellow

12-pin PCB connector

Power supply

12

Other signals

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!
1)
ERO 14xx: vacant2)
Exposed linear encoders: conversion from TTL to 11 µAPP for the PWT, otherwise not assigned

1)
2)
Cable shield connecting with housing; UP = Power supply voltage LIDA 2xx: vacant; For connecting a temperature sensor
Sensor: The sense line is connected in the encoder with the corresponding power line.
Vacant pins or wires must not be used!

82

83

Commutation signals for block commutation

Pin layout
Output cable for ERN 1321
inside the motor
ID 667343-01

17-pinM23 flange socket

12-pin PCB connector
12Power supply

12

The block commutation signals U, V,
and W are obtained from three separate
absolute tracks. They are transmitted as
square-wave signals in TTL levels.

Incremental signals

Detailed descriptions of all available
interfaces, as well as general electricalinformation, can be found in the Interfacesof HEIDENHAIN Encoders brochure.

The ERN 1x23 and ERN 1326 are rotary
encoders with commutation signals forblock commutation.

Other signals

7

1

10

4

15

16

12

13

3

2

5

6

2a

2b

1a

1b

6b

6a

5b

5a

4b

4a

/

/

8/9/11/
14/17
3a/3b

UP

SensorUP

0V

Sensor
0V

Ua1

¢

Ua2

£

Ua0

¤

T+1)

T–1)

VacantBrown/
GreenBlue

White/
Green

White

Brown

Green

Gray

Pink

Red

Black

Brown

White1)/

1)Further information:

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!
1)	Connections for an external temperature sensor (only for output cables inside the motor, see Temperature measurement in motors);
if used, please refer to the information about electromagnetic compatibility in the General electrical information section of theInterfaces of HEIDENHAIN Encoders brochure.

ERN 1123, ERN 1326 pin layout
17-pinM23 flange
socket16-pin PCB connector

15-pin PCB connector

1615Power supply

Incremental signals

7

1

10

11

15

16

12

13

3

2

16

1b

2b

1a

/

5b

5a

4b

4a

3b

3a

15

13

/

14

/

1

2

3

4

5

6

UP

SensorUP

0V

Internal
shield

Ua1



Ua2



Ua0



Brown/
GreenBlue

White/
Green/

Green/Black

Yellow/
Black

Blue/
Black

Red/
Black

Red

Black

Cable shield connected to housing;
UP = Power supply
Sensor: The sense line is connectedin the encoder with the corresponding
power line (only with ERN 1326).

Other signals
4

5

6

14

17

9

8

16

2a

8b

8a

6b

6a

7b

7a

15

/

7

8

9

10

11

12

¥

U

U

V

V

W

W

White

Green

Brown

Yellow

VioletGray

Pink

Vacant pins or wires must not
be used!

Pin layout for ERN 1023
Power supply

Incremental signals

Other signals

UP

0V

Ua1



Ua2



Ua0

White

Black

Red

Pink

Olive
Green

Blue

Yellow Orange



U

U

V

V

W

W

Beige

Brown

Green

Gray

Light
Blue

VioletCable shield connected to housing;
UP = Power supply
Vacant pins or wires must not be used!

84

85

Commutation signals for sine commutation

Position values

The commutation signals C and D are
obtained from the Z1 track and are equal to
one sine or cosine period per revolution.
They have a signal amplitude of 1 VPP (typical)
at 1 k.

The EnDat interface is a digital, bidirec­
tional interface for encoders. It is capableof outputting position values, reading
infor­mation stored in the encoder, updating
this information, and storing new informa­tion. Because the interface uses serialtransmission, only four signal lines are
required. The data (DATA) are transmitted insynchronism with the CLOCK signal fromthe downstream electronics. The type oftransmission (position values, parameters,
diagnostics, etc.) is selected via mode
commands sent to the encoder by thedownstream electronics. Some functions
are available only with EnDat 2.2 mode
commands.

The input circuit of the downstream
electronics is equivalent to the » 1 VPP
interface. However, the required terminating
resistance Z0 is 1 k instead of 120 .

Further information:
Detailed descriptions of all available
interfaces, as well as general electricalinformation, can be found in the Interfacesof HEIDENHAIN Encoders brochure.

The ERN 1387 is a rotary encoder with
output signals for sinusoidal commutation.

Pin layout
17-pinM23 coupling or
flange socket

14-pin PCB connector

Ordering designation

Command set

Incremental signals

EnDat01
EnDat H
EnDat T

EnDat 2.1 or EnDat 2.2

1 VPP
HTL
TTL

EnDat21–

EnDat02

EnDat 2.2

1 VPP

EnDat22

EnDat 2.2–

E30-R2

EnDat 3.0

Versions of the EnDat interface
Absolute encoder

Downstream electronics
Incremental
signals *)A/Ua1*)

Power supply

Incremental signals

7

1

10

4

11

15

16

12

13

3

2

1b

7a

5b

3a

/

6b

2a

3b

5a

4b

4a

UP

SensorUP

0V

Sensor0V

Internal
shield

A+

A–

B+

B–

R+

R–

Blue

White/
Green

White

/

Green/
Black

Brown/
Green

Yellow/
Black

Blue/
Black

Red/
Black

Red

Detailed descriptions of all available
interfaces, as well as general electricalinformation, can be found in the Interfacesof HEIDENHAIN Encoders brochure.

Absolute
position value

Operatingparameters

Black

Operatingstatus

B/Ua2*)

EnDat interface

Further information:

Parameters of the encoder
Parameters manufacturer forof the OEM
EnDat 2.1
EnDat 2.2*) E ncoder-specific:
1 VPP, HTL or TTL

Pin layout for EnDat01/EnDat02
17-pin M23 coupling or flange socket

Other signals
14

17

9

8

5

6

7b

1a

2b

6a

/

/
1)

C–

D+

D–

T+

T–

Gray

Pink

Yellow

Violet

Green

Brown

Cable shield connected to housing;
UP = Voltage supply; T = Temperature
Sensor: The sense line is connected internally to the respective the power line.
Vacant pins or wires must not be used!
1)	Connections for an external temperature sensor (only for output cables inside the motor, see Temperature measurement in motors);
if used, please refer to the information about electromagnetic compatibility in the General electrical information section of theInterfaces of HEIDENHAIN Encoders brochure.

15-pin PCB
connector

12

1)

C+

12-pin PCB
connector

1)

Power supply

15

Serial data transmission

Incremental signals

7

1

10

4

11

15

16

12

13

14

17

8

9

12

1b

6a

4b

3a

/

2a

5b

4a

3b

6b

1a

2b

5a

15

13

11

14

12

/

1

2

3

4

7

8

9

10

UP

Sensor
UP

0V

A+

A–

B+

B–

DATA

DATA

CLOCK CLOCK

Brown/
GreenBlue

White/
Green

Green/Black

Yellow/
Black

Blue/
Black

Red/
Black

Gray

Pink

VioletOther signals
5

6

12

/

/

15

/

/
2)

T+

Sensor Internal
0V
shieldWhite/

Yellow

Cable shield connected with housing; UP = Power supply voltage; T = Temperature
Sensor: The sense line is connected in the encoder with the corresponding power line.
Vacant pins or wires must not be used!
1)
Only with the ordering designations EnDat 01 and EnDat 02
2)
	Connections for an external temperature sensor (only for output cables inside the motor, see Temperature
measurement in motors); if used, please refer to the information about electromagnetic compatibility
in the General electrical information section of the Interfaces of HEIDENHAIN Encoders brochure.

T–2)

Brown2) White2)8687

EnDat22 pin layout

Pin layout

8-pin M12 coupling or
flange socket

9-pin M23 SpeedTEC
angle flange socket

HMC 6 flange socket
K
1

X

2

E

6

16-pin (12+4-pin)
PCB connector

15-pin PCB connectorba123456

Power supply

Serial data transmission

E

Other signals

M12

8

2

5

1

3

4

7

6

/

/

M23

3

7

4

8

5

6

1

2

/

/

16

1b

6a

4b

3a

6b

1a

2b

5a

1a

1b

15

13

11

14

12

7

8

9

10

5

6

UP

Sensor1)
UP2)

0V

Sensor1)
0 V2)

DATA

DATA

CLOCK

CLOCK

T+3)

T–3)

Brown/
GreenBlue

White/
Green

White

Gray

Pink

VioletYellow

Brown

Green

Cable shield connected with housing; UP = Power supply; T = Temperature
Sensor: The sense line is connected in the encoder with the corresponding power line.
Vacant pins or wires must not be used!
1)
UBAT for EBI 1335; 2) ECI 1118 EnDat22: vacant3)	Connections for an external temperature sensor (only EnDat22, except ECI 1118, see Temperature measurement in motors); if used,
please refer to the information about electromagnetic compatibility in the General electrical information section of the Interfaces of
HEIDENHAIN Encoders brochure.

C

X

15

16-pin (12+4-pin)
PCB connector

7

8
D

16

12

3
4

5

A

Travel range

B

15-pinPCB connectorba12345615

16

12

Encoder
Power supply

Serial data transmission

Other signals

1

2

3

4

5

6

/

/

16

1b

4b

6b

1a

2b

5a

1a

1b

15

13

14

7

8

9

10

5

6

UP

0V

DATA

DATA

CLOCK

CLOCK

T+1)

T–1)

Brown/GreenWhite/Green

Gray

Pink

VioletYellow

Brown

Green

Motor
Brake

Power

7

8

A

B

C

D

E

Pin layout for EBI 135/EBI 1135/EBI 4010

BRAKE–BRAKE+

U

V

W

/

PE

15-pin PCB connector

White

White/Black

Blue

Brown

Black

/

Yellow/Green15

8-pin M12 flange socket

Outer shield of the encoder output cable on housing of communication element K.
Vacant pins or wires must not be used!
HMC 6 is not suited for encoders with buffer battery backup (EBI 135, EBI 1335, EBI 1135, EBI 4010)
1)
	Connections for an external temperature sensor (except ECI 1118, see Temperature measurement in motors); if used, please refer tothe information about electromagnetic compatibility in the General electrical information section of the Interfaces of HEIDENHAIN
Encoders brochure.

9-pin M23 SpeedTEC
angle flange socket

Power supply

1)

Serial data transmission

Other signals

13

11

14

12

7

8

9

10

5

6

M12

8

2

5

1

3

4

7

6

/

/

M23

3

7

4

8

5

6

1

2

/

/

UP

UBAT

0 V2)

0 VBAT2)

DATA

DATA

CLOCK

CLOCK

T+3)

T– 3)

Brown/
GreenBlue

White/
Green

White

Gray

Pink

VioletYellow

Brown

Green

15

UP = Power supply; UBAT = External buffer battery (false polarity can result in damage to the encoder)
Vacant pins or wires must not be used!
1)
Only for EBI 135
2)
Connected inside encoder3)	Connections for an external temperature sensor (see Temperature measurement in motors); if used, please refer to the information
about electromagnetic compatibility in the General electrical information section of the Interfaces of HEIDENHAIN Encoders brochure.
SpeedTEC is a registered trademark of TE Connectivity Industrial GmbH.

88

89

HMC 2 (EnDat3/E30-R2) M12

EnDat 3 combines the features and benefitsof EnDat in a new architecture and offersinteresting enhanced functions for digitalproduction. EnDat 3 requires two wires forcommunication. Two other wires are
generally used with EnDat 3 for supplying
power to the encoder. Since the digital data
current has no DC component, it is possible
to modulate the communication on the
supply wires, and so to reduce the numberof wires for certain applications (e.g., hybrid
motor cables) to a total of just two wires(HMC 2). The EnDat 3 interface specification
is based on the standardized OSI layer
model.
The encoder-end of the interface is called
the slave, and the downstream electronics
the master. A communication cycle consistsof a request from the master followed bya response from the slave.

Pin layout of ECI, EQI 11xx
Application
Layer

47
Angle

31
16 bit MT

8-pin M12 SpeedTEC
angle flange socket

0
32 bit ST

15-pin PCB connector
D
C

M12
BGD

Transport
Layer

Data Link
Layer and
Network Layer

ForegroundandBackground

BUS REQ

A
B

3
2

4

15

2

2

1

1

Encoder

Word 0Power supply / Serial data transfer

Word 1
Word 2

A

B

/

/

15

9

10

5

6

2

–

–

2

1

P_SD+

P_SD–1)

T+2)

T–2)

VioletYellow

Brown

Green

M12

HPF LPH LPF LPF

Other signals

1)

Motor

Physical Layer

Brake
M12

Further information:
Find out more about EnDat atwww.endat.de

Power

C

D

1

2

3

4

Brake +

Brake –

U

V

W

PE

1)

Power supply and data: P_SD+ includes UP; P_SD– includes 0 V
	Connections for an external temperature sensor; evaluation optimized for KTY 84-130, PT 1000 and others (see Temperature
measurement in motors); if used, please refer to the information about electromagnetic compatibility in the General electricalinformation section of the Interfaces of HEIDENHAIN Encoders brochure.

2)

Ordering designations
The ordering designation defines key communication characteristics:

90

Vacant pins or wires must not be used!

Supported communication types

E30-R2

E30-R4

E30-RB

Communication modulated onto power supply wires



–

–

Communication + separate power supply wires (4 wires)

–





Bus operation

–

–



Sensor box integration

–





SpeedTEC is a registered trademark of TE Connectivity Industrial GmbH.

91

HMC 2 (EnDat3/E30-R2) M23

DRIVE-CLiQ interface

Pin layout of ECI, EQI, ECN, EQN 13xx

HEIDENHAIN encoders with the code
letter S after the model designation aresuitable for connection to Siemens controls
with the DRIVE-CLiQ interface• Ordering designation: DQ01

8-pin M23 SpeedTEC
HMC 2 angle flange socket

16-pin (12+4-pin)
PCB connector

D 3
C

M23

4

12

2

2

b
a

B
A 1

123456

2

DRIVE-CLiQ is a registered trademark of
Siemens AG.

Power supply / Serial data transfer

Other signals

M23

A

B

/

/

12

2b

5a

/

/

4

/

/

1a

1b

2

/

/

2

1

P_SD+

P_SD–1)

T+2)

T–2)

VioletYellow

Brown

Green

Motor
Brake
M23

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

412

Encoder1)1Further information:

Power

C

D

1

4

3

2

Brake +

Brake –

U

V

W

PE

Siemens pin layout for encoder cables (AGK)8-pin
M12 SPEEDCON
flange socket
16-pin (12+4-pin)
PCB connector

16

15123456

12

Serial data transmission

Other signals

M12

8

2

1

5

3

4

7

6

/

/

M23

3

7

8

4

5

6

1

2

/

/

16

1b

6a

3a

4b

6b

1a

2b

5a

1a

1b

15

13

11

12

14

7

8

9

10

5

6

–

–

UP

0V

RXP

RXN

TXP

TXN

T+1)

T–1)

Brown/
Green

Blue

White

White/
Green

Gray

Pink

VioletYellow

Brown

Green

Supply voltage and data: P_SD+ contains UP (power supply); P_SD– contains 0 V
2)	Connections for an external temperature sensor; evaluation optimized for KTY 84-130, PT 1000 and others (see Temperature
measurement in motors); if used, please refer to the information about electromagnetic compatibility in the General electricalinformation section of the Interfaces of HEIDENHAIN Encoders brochure.

SpeedTEC is a registered trademark of TE Connectivity Industrial GmbH.

15-pin PCB connectorbaPower supply

1)

Vacant pins or wires must not be used!

9-pin
M23 SpeedTEC
angle flange
socket*Cable shield connected to housing; UP = Power supply voltage
Vacant pins or wires must not be used!
Output cables with a cable length > 0.5 m require strain relief for the cable1)	Connections for an external temperature sensor (see Temperature measurement in motors); if used, please refer to the information
about electromagnetic compatibility in the General electrical information section of the Interfaces of HEIDENHAIN Encoders brochure.

Siemens pin layout for adapter cables (APK) and connecting cables (VBK)
RJ45 connector

8-pin M12 connector

8-pin M12 couplingPower supply
RJ45
M12
M23

*

9-pin M23 SpeedTEC connector

Serial data transmission

A

B

3

6

1

2

1

5

7

6

3

4

8

4

1

2

5

6

UP

0V

TXP

TXN

RXP

RXN

Red

Black

Green

Yellow

Pink

Blue* Note how the color assignment of encoder cables differs from adapter cables and connecting cables
SpeedTEC is a registered trademark of TE Connectivity Industrial GmbH.
SPEEDCON is a registered trademark of Phoenix Contact GmbH & Co. KG.

92

93

EBI 1135/EBI 1335/EBI 135/EBI 4010: external backup battery

SSI position values

The multiturn functionality of the EBI 1135,
EBI 1335, EBI 135 and EBI 4000 is imple­
mented by means of a revolution counter.
In order for the absolute position information
to still be available after loss of power, theEBI must be operated with an external
backup battery.

The position value is transmitted, startingwith the most significant bit (MSB), overthe data lines (DATA) in synchronism witha clock signal (CLOCK) provided by thecontrol. The SSI standard data word lengthfor singleturn encoders is 13 bits, and for
multiturn encoders, 25 bits. In addition to
the absolute position values, incremental
signals can transmitted as well. For a
description of the signals, see 1 VPP
incremental signals.

To prevent damage to the encoder, ensure
correct polarity of the backup battery.
HEIDENHAIN recommends operating each
encoder with its own backup battery.

Downstream electronics

1 = Protective circuit

Please note:
Compliance with EnDat Specification 297403
and the EnDat Application Notes 722024,
Chapter 13, Battery-buffered encoders, isrequired for correct control of the encoder.

94

CLOCK and DATA
not shown

For detailed descriptions of all available
interfaces, as well as general electricalinformation, please refer to the Interfacesof HEIDENHAIN Encoders brochure.
Normal operation at UBAT = 3.6 V

Pin layout
Operating temperature in °C 

17-pin M23 coupling

EBI 1135/135: typical discharge current during normal operation (UB = 3.6 V)

Power supply

Battery current in μA

Low battery current continues to floweven during normal operation of the EBI.
The amount of current depends on theoperating temperature.

The following functions can be activated
via programming inputs:• Direction of rotation• Zeroing (setting to zero)

Further information:

If the application requires compliance withDIN EN 60 086-4 or UL 1642, then an
appropriate protective circuit is required forprotection from wiring errors.
If the backup battery voltage falls below
certain thresholds, then the encoder issues
the following warnings or error messages,
which are transmitted over the EnDatinterface:• “Battery charge” warning 2.8 V ±0.2 V
in normal operating mode
• “M Power interruption” error message
 2.2 V ±0.2 V
in battery-buffered mode (encoder must
be re-referenced)

T = 1 to 10 µs
tcal	See thespecifications
t1 	0.4 µs(without cable)
t2 = 17 to 20 µs
tR  5 µs
n =	Data word length
13 bits for ECN/ROC
25 bits for EQN/ROQ

Backup battery connection

Battery current in μA 

A lithium thionyl chloride battery with 3.6 V
and 1200 mAh is recommended for the
backup battery. The typical battery service
life is over nine years (EBI 1135/135) or six
years (EBI 4010, EBI 1335) under the rightconditions (two ten-hour shifts under normal
operation, battery temperature of 25 °C
and typical self-discharging). To reach thetypical service life, the main power supply(UP) must be connected to the encoder
during or immediately after connection of
the backup battery so that the encoder isfully initialized after being completely
without power. Otherwise, the encoder
will consume a significantly higher amountof battery current until main power is firstsupplied.

Encoder

Data transmission

7

1

10

UP

SensorUP

0V

Brown/ Blue
Green

Incremental signals
4

11

Sensor Internal
0 V shield1)

White/ White
Green

/

Serial data transmission

15

16

12

13

14

A+

A–

B+

B–

DATA DATA CLOCK CLOCK Direc‑ Zeroingtion ofrotation

Blue/
Black

Red/
Black

Gray

Green/ Yellow/
Black Black

17

Pink

8

Violet9Other signals

Yellow

2

Black

5

Green

Shield on housing; UP = Power supply voltage
Sensor: With a 5 V supply voltage, the sense line is connected in the encoder with the corresponding power line.
1)
Vacant with the ECN/EQN 10xx and ROC/ROQ 10xx

Operating temperature in °C
EBI 4010: typical discharge current during normal operation (UBAT = 3.6 V)

95

Cables
Output cables: EnDat (EnDat22)

1129083-xx 2)

MRP 2010

Output cables: EnDat (EnDat22)2)1137151-xx

MRP 5010
MRP 8010

M23* SpeedTEC angle flange socket with O-ring vibration protection (male)(with O-ring for Hypertac connector; remove O-ring for SpeedTEC)

9-pin

*

1120948-01 1)

ECI 1319 (FCI)EQI 1331 (FCI)ECN 1325 (FCI)
EQN 1337 (FCI)

1143830-30 2)

1180955-xx

M23

4)

AEF 1323 (FCI)

Servo
controller

3)1180959-xx

4)1173166-xx 5)
1120947-03 1)

ECI 119 (JAE)
EBI 135 (JAE) 3)

825855-03 1)*

ECI 11xx/13xx
621742-01 1)
OutputEQI 11xx/13xxcables: EnDat (EnDat01)
ExN 11xx/13xx

1235648-xx 5)
TNC 3)

4)

ECI 4010 (JAE)
EBI 4010 (JAE) 3)

PWM 21

4)1116479-03 1)*

1121041-03 1)

1136863-xx  6 mm
1136874-xx  8 mm*

1120940-30 1)

KCI 1xx Dplus

8-pin

M12

EnDat 01

17-pin 1080091-xx

1311046-02

4)
4)509667-xx
M23

1311047-02
1)606079-012)
1129083-xx
3)1311061-02

605090-xx1)

M121137151-xx 2)
640030-012)

MRP 5010
MRP
8010(JAE)
ECI 1118
EQI 1130 (JAE)1117412-xx 2)

PWM 21

TNC (EnDat)
Siemens SMC20 (EnDat)

ECN 1113 (JAE)MRP
EQN20101125 (JAE)

M121108078-01 1)

PWM 21M23

4)

ECN 1123 (JAE)
EQN 1135 (JAE)

M12640067-N31)

ECI 119 (JAE)805320-01 2)
ECI 1118 (JAE)735784-01 2)
ECN 1313 (FCI)
EQN 1325 (FCI)ECI 1323
1319 (FCI)
(FCI)
AEF
EQI 1331 (FCI)

1119952-15 2)
ECI 1119 (JAE)
EQI 1131 (JAE)
KCI 1319 (JAE)

1119958-15 2)804201-01 2)

EBI 1135 (JAE) 3)
KBI 1335 (JAE)4)

ECI 4010 (JAE)
EBI 4010 (JAE) 3)332202-011)
1180959-xx

323897-xx

M23

3)

4)

640055-01 2)
Testing cables to PWM 211117280-01 2)
ECI 1319 (FCI)EQI 1331 (FCI)ECN 1325 (FCI)
EQN 1337 (FCI)

3)

332201-011)
1180955-xx

ECI 11xx/13xx
EQI 11xx/13xx
ExN 11xx/13xx

4)1108076-01 1)
1100199-N3 2)1143830-30 3)

15-pinPWM 21

PWM 21

4)675582-xx
1080091-xx

1287818-01 1)

1)

EPG cable
2)
TPE single wires in heat-shrink tubing or braided sleeve (without shield)
3)
The TNC does not support any buffer battery backup multiturn functions
4)
Wires for temperature sensors: 2 TPE single wires in heat-shrink tubing
5)
Not for EBI

15-pin621742-01 1)

KCI 1xx Dplus

1311046-02

ECI 11xx/13xx
EQI 11xx/13xx
ExN 11xx/13xx

621742-01 1)
1311047-02

1080091-xx
PWM 21

PWM 211311061-02
1)

EPG cable
Cable clamp included
3)
Wires for temperature sensors: 2 TPE wires in heat-shrink tubing
2)

SpeedTEC is a registered trademark of TE Connectivity Industrial GmbH.

96

97

M12

1279930-15 1)
ECI 1119 (JAE)
EQI 1131 (JAE)

Output cables: HMC 2 (E30-R2)

2)

PWM 21 5)M12*1302347-xx

Output cables: DRIVE-CLiQ

1279881-xx 4)
 9.3 mm3)

HMC 2 output cables and power cables with encoder communication
HMC 2
M12

M23
HMC 2
M23

8-pin
1279930-15 1)
ECI 1119 (JAE)
EQI 1131 (JAE)2)

ECI 1319 (FCI)
EQI1331 (FCI)4)
1279881-xx
ECN 1325 (FCI)
 9.3 mm
EQN 1337 (FCI)

M12*1302347-xx

8-pin

1275042-30 1)
PWM 21 5)*

M231302701-30 1)

ECN 1324S (FCI)
EQN 1336S (FCI)* M23
PWM 21 5)1120945-xx 1)
1275291-xx 4)

ECI 4090S (JAE)1275042-30 1)* SpeedTEC angle flange socket
1)
ETFE
twisted
ECI
1319(FCI)single wires
2)
Wires
for (FCI)
temperature sensors: 2 ETFE wires in heat-shrink tubing
and 2-pin connector (male)
EQI
1331
*
3)
Wires
for temperature
sensors: 2 ETFE wires in heat-shrink tubingM23
1275291-xx 4)
ECN
1325
(FCI)
4)
Adapter
cable1302701-30 1)
EQN1337(FCI)to inspection device
 11 mm
5)
SA 1210 signal adapter needed for E30-R2
SpeedTEC is a registered trademark of TE Connectivity Industrial GmbH.
ECI 1319 (FCI)EQI 1331 (FCI)ECN 1325 (FCI)
EQN 1337 (FCI)

1302763-30 2)1302763-30 2)

M12

M12

RJ45
IP67
**

1121546-xx
RJ45
IP20

1117540-xx

1125408-N3 1)
M12

PWM 21 5)

8-pin

Further information:

M12

See the HMC 2 Product Information
document

1217143-xx 1)

ECN 1123S (JAE)
EQN 1135S (JAE)

Output cables: HMC 6 (EnDat22)8-pin
1093042-xx

822504-xx

2)

M12

1181373-xx 1)

ECN 1324S (FCI)
EQN 1336S (FCI)

Temp

RJ45
IP20

1094652-xx

2) *

Temp

1093042-xx

822504-xx

1121536-xx*

1125403-N3 1)
ECI 1319 (FCI)EQI 1331 (FCI)ECN 1325 (FCI)
EQN 1337 (FCI)

**

8-pin

2)

 11 mm

3)

HMC 2
M23

8-pin

9-pin

RJ45
IP20

2)
1094652-xx

1160559-01 1)

ECI 4090S (JAE)

RJ45
IP67

HMC 6 output cables and power cables with encoder communication
HMC 6
M23

HMC 6

1121591-xx
RJ45
IP67

M23
ECN 1123 (JAE)
EQN 1135 (JAE)1035857-15 1)2)1034953-15 1)*

Testing cables to PWM 21
1188098-xx

ECI 4090S
ExN 13xxS

 13.6 mm, 1.5 mm2
ECI 119 (JAE)
ECI/EQI 11xx (JAE)1072652-02 1)*
2)

15-pin621742-01 1)

1228399-01

RJ45
IP20
PWM 211188099-xx
 16.6 mm, 4 mm21035387-03 1)
ECI 1319 (FCI)EQI 1331 (FCI)ECN 1325 (FCI)
EQN 1337 (FCI)

2)
1034913-03 1)

*

*
**

1189174-xx
 13.6 mm

PWM 21

1)
2)

SpeedTEC angle flange socket with O-ring vibration protection (male) (with O-ring for Hypertac connector; remove O-ring for SpeedTEC connector)
SpeedTEC connector (female)
EPG cable
Wires for temperature sensors: 2 TPE wires in heat-shrink tubing

DRIVE-CLiQ is a registered trademark of Siemens Aktiengesellschaft.
SpeedTEC hybrid flange socket is not included in delivery.
1)
2)

EPG cable
Wires for temperature sensors: 2 TPE wires in heat-shrink tubing

SpeedTEC is a registered trademark of TE Connectivity Industrial GmbH.

98

Further information:
For more information about HMC 6,
please refer to the HMC 6 Product
Information document.

99

Testing and inspection devices, and diagnostics

Output cables: 1 VPP or TTL

17-pinHEIDENHAIN encoders provide all of theinformation needed for initial setup,monitoring, and diagnostics. The type of
information available depends on whether
the encoder is incremental or absolute andon which interface is being used.

M23
M23

ERN 1123 (JAE)

Incremental encoders have 1 VPP, TTL or
HTL interfaces. TTL and HTL encoders
monitor their signal amplitudes internallyand generate a simple fault detection
signal. With 1 VPP signals, an analysis of theoutput signals is possible only with external
testing devices or through the use ofcomputation resources in the downstream
electronics (analog diagnostic interface).

738976-01 2)
323897-xx
M23333276-01 1)

ERN 1321 (FCI)ERN 1381 (FCI)

667343-01 1)
4)

ERN 1326 (FCI)

Absolute encoders use serial datatransmission. Depending on the interface,
additional 1 VPP incremental signals can be
output. The signals are extensively monitored
within the encoder. The monitoring results(particularly valuation numbers) can betransmitted to the downstream electronics
along with the position values via the serialinterface (digital diagnostic 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 downstream electronics
to evaluate the current status of theencoder with little effort, even in Closed
Loop mode.

341369-01 1)

332200-xx 1)
ERN 1387 (FCI)

332199-01 1)
4)

ERO 14x0 (FCI)ERO 12x5 (Hirose)
ERP 880 (Hirose)

346439-01 3)

372164-01 3)

15-pinMRP 2080

1160480-xx 3)

15-pinTesting cables to PWM 21
ERN 1387

675582-xx

1118892-02
PWM 21

1)

EPG cable
TPE single wires in heat-shrink tubing (without shield)
3)
Cable clamp included
4)
Wires for temperature sensors: 2 polyolefin wires in the heat shrink tubing
2)

100

PWM 21

Diagnostics with the PWM 21 and ATS software

Initial setup with the PWM 21 and ATS software

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.

101

PWT 101
The PWT 101 is a testing device for thefunctional testing and adjustment of
incremental and absolute HEIDENHAIN
encoders. Thanks to its compact
dimensions and rugged design, thePWT 101 is ideal for portable use.

Level display

PWT 101
Encoder input
only for HEIDENHAIN
encoders• EnDat• Fanuc Serial Interface• Mitsubishi high speed interface• Panasonic Serial Interface• Yaskawa Serial Interface• 1 VPP• 11 µAPP• TTL

Display

4.3-inch color flat-panel display (touchscreen)

Supply voltage

DC 24 VPower consumption: max. 15 W

Operating temperature

0 °C to 40 °C

Protection EN 60529

IP20

Dimensions

 145 mm × 85 mm × 35 mm

PWM 21The PWM 21 phase angle measuring unit,
in conjunction with the included ATS
adjustment and testing software, provides
an adjustment and testing package for the
diagnosis and adjustment of HEIDENHAIN
encoders.

PWM 21
Encoder input• EnDat 2.1, EnDat 2.2 or EnDat 3 (absolute value with orwithout incremental signals)• DRIVE-CLiQ• Fanuc Serial Interface• Mitsubishi high speed interface• Yaskawa Serial Interface• Panasonic serial interface• SSI• 1 VPP/TTL/11 µAPP
• 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 the PWM 21,
ATS Software Product Information
document.

ATS
Languages

German or English (selectable)

Functions• Position display• Connection dialog• Diagnostics• Mounting wizard for EBI/ECI/EQI, LIP 200, LIC 4000
and others• Additional functions (if supported by the encoder)• Memory contents

System requirements
and recommendations

PC (dual-core processor > 2 GHz)
RAM > 2 GB
Operating systems: Windows 7, 8 and 10 (32-bit / 64-bit)
500 MB of free hard drive space

DRIVE-CLiQ is a registered trademark of Siemens AG.

PWT display

102

103

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
208922-2N · 1 · 08/2023 · CD · Printed in Germany

HEIDENHAIN
worldwide