Rotary Encoders

02/2024

Table of contents
Introduction

4

Selection guide

The high quality of their sinusoidal
incremental signals permits highinterpolation factors for digital speed
control.

Mechanical design types and mounting

Rotary encoders for separate shaft couplingSpecifications
Mounted stator coupling

Electronic handwheel

Separate shaft coupling;synchro flange

Separate shaft coupling;clamping flange

Rotary encoders with mounted stator coupling

Visit www.heidenhain.com for more
information about:• Encoders for servo drives• Sealed angle encoders• Modular angle encoders with opticalscanning• Modular angle encoders with magnetic
scanning• Linear encoders for numericallycontrolled machine tools• Exposed linear encoders• Signal converters• HEIDENHAIN controls, and• Cables and connecting elements

2

14

Measuring principles and accuracy

Rotary encoders from HEIDENHAIN
serve as feedback devices for rotary
motion and angular speed. When used inconjunction with mechanical measuring
standards such as lead screws, they canalso measure linear motion. Possible
applications include electric motors,
machine tools, printing machines,
woodworking machines, textile machines,
robots, and handling devices, as well as awide variety of measuring, testing, andinspection devices.

Rotary encoders with stator coupling

16

Rotary encoders for separate shaft coupling

19

Shaft couplings

24

General mechanical information

27

Safety-related position measuring systems

30

Absolute rotary encoders

Incremental rotary encoders

ECN 1000/EQN 1000 series

ERN 1000 series

32

ECN 400/EQN 400 series

ERN 400 series36

ECN 400 F/EQN 400 F series–

44

ECN 400 S/EQN 400 S series–

ECN 100 series

ERN 100 series

46

ROC/ROQ 1000 series

ROD 1000 series

48

ROC/ROQ 400 series

ROD 400 series

52

ROC 400 F/ROQ 400 F series–

60

ROC 400 S/ROQ 400 S series–

ROC 425 series
featuring high accuracy–

62

ROC/ROQ 400 series

ROD 400 series

64

ROC 400 F/ROQ 400 F series–

68

ROC 400 S/ROQ 400 S series–
ROD 600 series

70

Separate shaft coupling;
mounting via flange/base–

ROD 1930
Sturdy design

72

Handwheels–

HR 1120

74

Interfaces

Incremental signals

76

Position feedback

81

Electrical connection

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

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

Cables and connecting elements

86

Signal converters

90

Testing and inspection devices, and diagnostics

92

Selection guideRotary encoders for standard applications

Rotary encoders

Absolute

Singleturn
Interface

EnDat

Incremental

Multiturn (4096 revolutions)
Fanuc
Siemens

SSI

–

–

EnDat

Fanuc
Siemens

SSI

EQN 1035

–

–

« TTL

« HTL

» 1 VPPWith mounted stator coupling
ECN/EQN/ERN 1000 series

ERN 1020

ERN 1030

ERN 1080

Positions/rev: 23 bits
EnDat 2.2/22

ECN 1023

Positions/rev: 23 bits
EnDat 2.2/22

100 to 3600 lines

100 to 3600 lines

100 to 3600 lines

ECN 1013

EQN 10251)
1000/2500/3600 lines

Positions/rev: 13 bits
EnDat 2.2/01

ECN/EQN/ERN 400 series

ECN 425

ECN 425 F

ECN 413

EQN 437

EQN 437 F

EQN 4253)

ERN 420

ERN 430

ERN 4804)

Positions/rev: 25 bits
EnDat 2.2/22
Available withfunctional safety

Positions/rev: 25 bits
Fanuc i

Positions/rev: 13 bits

Positions/rev: 25 bits
EnDat 2.2/22
Available withfunctional safety

Positions/rev: 25 bits
Fanuc i

Positions/rev: 13 bits

250 to 5000 lines

250 to 5000 lines

1000 to 5000 lines

Positions/rev: 13 bits
EnDat 2.2/01

Positions/rev: 24 bits
DRIVE-CLiQ
Available withfunctional safety

ECN 125–

ECN 413

ECN/ERN 100 series

ERN 1070

Positions/rev: 13 bits
EnDat 2.2/01

ECN 424 S

Positions/rev: 13 bits
EnDat 2.2/01––

EQN 425–

Positions/rev: 25 bits
EnDat 2.2/22

36

ERN 4602)

EQN 436 S

Positions/rev: 24 bits
DRIVE-CLiQ
Available withfunctional safety

3)

32

250 to 5000 lines–

ERN 120

ERN 130

ERN 180

1000 to 5000 lines

1000 to 5000 lines

1000 to 5000 lines

46

ECN 113

Positions/rev: 13 bits
EnDat 2.2/01

1)

Up to 36 000 signal periods via integrated 5/10-fold interpolation (higher interpolation upon request)
Supply voltage: DC 10 V to 30 V
3)
Also available with TTL or HTL signal transmission
4)
Available with mechanical fault exclusion; for deviating specifications and special mounting information,
see the Fault Exclusion Customer Information document
2)

DRIVE-CLiQ is a registered trademark of Siemens AG.

45

Rotary encoders for standard applications

Rotary encoders

Absolute

Singleturn
Interface EnDat

Incremental´Multiturn (4096 revolutions)
Fanuc
Siemens

SSI

EnDat

Fanuc
Siemens

SSI

ROQ 1035

–

–

« TTL

« HTL

» 1 VPPFor separate shaft coupling, with synchro flange
ROC/ROQ/ROD 1000 series

ROD 1020

ROD 1030

ROD 1080

Positions/rev: 23 bits
EnDat 2.2/22

ROC 1023––

Positions/rev: 23 bits
EnDat 2.2/22

100 to 3600 lines

100 to 3600 lines

100 to 3600 lines

ROC 1013

ROQ 10252)
1000/2500/3600 lines

Positions/rev: 13 bits
EnDat 2.2/01

ROC/ROQ/ROD 400 series
with synchro flange

ROC 425

ROC 425 F

ROC 413

ROQ 437

ROQ 437 F

ROQ 425

Positions/rev: 25 bits
EnDat 2.2/22
Available withfunctional safety

Positions/rev: 25 bits
Fanuc i

Positions/rev: 13 bits

Positions/rev: 25 bits
EnDat 2.2/22
Available withfunctional safety

Positions/rev: 25 bits
Fanuc i

Positions/rev: 13 bits

Positions/rev: 13 bits
EnDat 2.2/01

Positions/rev: 24 bits
DRIVE-CLiQ
Available withfunctional safety

ROC 425–

ROC 413

ROC 425for high accuracy

ROD 1070

Positions/rev: 13 bits
EnDat 2.2/01

ROC 424 S

48

ROD 426

1)
50 to 5000 lines

ROD 436

ROD 4865)

50 to 5000 lines

1000 to 5000 lines

52

ROD 4663)

ROQ 436 S

50 to 5000 lines2)

Positions/rev: 13 bits
EnDat 2.2/01

Positions/rev: 24 bits
DRIVE-CLiQ
Available withfunctional safety

–

–

–

–

–

–

–

62

64

ROQ 425

Positions/rev: 25 bits
EnDat 2.2/01

For separate shaft coupling, with clamping flange
ROC/ROQ/ROD 400 series
with clamping flange

ROC 425

ROC 425 F

ROC 413

ROQ 437

ROQ 437 F

ROQ 425

ROD 420

ROD 430

ROD 4805)

Positions/rev: 25 bits
EnDat 2.2/22
Available withfunctional safety

Positions/rev: 25 bits
Fanuc i

Positions/rev: 13 bits

Positions/rev: 25 bits
EnDat 2.2/22
Available withfunctional safety

Positions/rev: 25 bits
Fanuc i

Positions/rev: 13 bits

50 to 5000 lines

50 to 5000 lines

1000 to 5000 lines

ROC 413

Positions/rev: 13 bits
EnDat 2.2/01

ROC 424 S

Positions/rev: 24 bits
DRIVE-CLiQ
Available withfunctional safety4)

ROQ 425

Positions/rev: 13 bits
EnDat 2.2/01

ROQ 436 S

Positions/rev: 24 bits
DRIVE-CLiQ
Available withfunctional safety

1)

Up to 10 000 signal periods via integrated 2-fold interpolation
Up to 36 000 signal periods via integrated 5/10-fold interpolation (higher interpolation upon request)
3)
Supply voltage: DC 10 V to 30 V
4)
Also available with TTL or HTL signal transmission5)
 Available with mechanical fault exclusion; for deviating specifications and special mounting information,
see the Fault Exclusion Customer Information document
2)

DRIVE-CLiQ is a registered trademark of Siemens AG.

67

Rotary encoders for motors

Rotary encoders

Absolute
Singleturn

MultiturnInterface EnDat

Siemens

EnDat

–

–

These rotary encoders are described in the
Encoders for Servo Drives brochure.

Incremental
Siemens« TTL» 1 VPPERN 1023–

With integral bearing and mounted stator coupling
ERN 1023 IP64

–

–

–

–

500 to 8192 lines
Three signals for block commutation

ECN/EQN 1100 series

ERN 1123 IP00

ECN 1123

ECN 1113

Positions/rev: 23 bits
EnDat 2.2/22
Available withfunctional safety

Positions/rev: 13 bits
EnDat 2.2/01

–

–

–

–

EQN 1135

EQN 1125

Positions/rev: 23 bits
4096 revolutions
EnDat 2.2/22
Available withfunctional safety

Positions/rev: 13 bits
4096 revolutions
EnDat 2.2/01

–

–

–

–

–

–

ERN 1123–

500 to 8192 lines
Three signals for block commutation

ECN/EQN/ERN 1300 series IP40
ECN/EQN/ERN 400 series IP64

ECN 1325

ECN 1313

ECN 1324 S

EQN 1337

EQN 1325

EQN 1336 S

ERN 1321

ERN 13812)

Positions/rev: 25 bits
EnDat 2.2/22
EnDat 3/E30-R2
Available withfunctional safety

Positions/rev: 13 bits
EnDat 2.2/01

Positions/rev: 24 bits
DRIVE-CLiQ
Available withfunctional safety

Positions/rev: 25 bits
4096 revolutions
EnDat 2.2/22
EnDat 3/E30-R2
Available withfunctional safety

Positions/rev: 13 bits
4096 revolutions
EnDat 2.2/01

Positions/rev: 24 bits
4096 revolutions
DRIVE-CLiQ
Available withfunctional safety

1024 to 4096 lines

512 to 4096 lines

ECN 425

Positions/rev: 25 bits
EnDat 2.2/22
Available withfunctional safety

ECN 413

Positions/rev: 13 bits
EnDat 2.2/01

EQN 437

Positions/rev: 25 bits
4096 revolutions
EnDat 2.2/22
Available withfunctional safety

EQN 425

Positions/rev: 13 bits
4096 revolutions
EnDat 2.2/01

ERN 1326

ERN 13872)

1)1024 to 4096 lines
Three TTL signals for block commutation

2048 lines
Z1 track for sine commutation

ERN 421

ERN 4871024 to 4096 lines

2048 lines
Z1 track for sine commutation

1)

8192 signal periods via integrated 2-fold interpolation
 Available with mechanical fault exclusion; for restrictions on specifications and for special mounting information,
see the Fault Exclusion customer information document

2)

DRIVE-CLiQ is a registered trademark of Siemens AG.

89

Rotary encoders

Absolute
Singleturn

MultiturnInterface EnDat

Siemens

These rotary encoders are described in the
Encoders for Servo Drives brochure.

Incremental

EnDat

Siemens« TTL» 1 VPP

–

–

–

–

–

Without integral bearing
ECI/EQI/EBI 1100 series

ECI 1118

ECI 1119

Positions/rev: 18 bits
EnDat 2.2/22

Positions/rev: 19 bits
EnDat 2.2/22,
EnDat 3/E30-R2
Available withfunctional safety

13 with ECI/EBIECI/EQI 1300 series

ECI/EBI 100 series–

EBI 1135

EQI 1131

Positions/rev: 18 bits
65 536 revolutions(buffer battery backup)
EnDat 2.2/22

Positions/rev: 19 bits
4096 revolutions
EnDat 2.2/22,
EnDat 3/E30-R2
Available withfunctional safety

ECI 1319

ECI 1319

ECI 1319 S

EQI 1331

EQI 1331

EQI 1331 S

Positions/rev: 19 bits
EnDat 2.2/22
EnDat 3/E30-R2
Available withfunctional safety

Positions/rev: 19 bits
EnDat 3/E30-R2
Available withfunctional safety

Positions/rev: 19 bits
DRIVE-CLiQ
Available withfunctional safety

Positions/rev: 19 bits
4096 revolutions
EnDat 2.2/22
EnDat 3/E30-R2
Available withfunctional safety

Positions/rev: 19 bits
4096 revolutions
EnDat 3/E30-R2
Available withfunctional safety

Positions/rev: 19 bits
4096 revolutions
DRIVE-CLiQ
Available withfunctional safety

ECI 119––

EBI 135

–

–

–

–

–

–

–

–

–

–

Positions/rev: 19 bits
EnDat 2.2/22 or
EnDat 2.1/01

Positions/rev: 19 bits
65 536 revolutions(buffer battery backup)
EnDat 2.2/22

D: 30/38/50 mm

ECI/EBI 4000 series

ECI 4010–

Positions/rev: 20 bits
EnDat 2.2/22
Available withfunctional safety

ECI 4090 S

EBI 4010

Positions/rev: 20 bits
DRIVE-CLiQ
Available withfunctional safety

Positions/rev: 20 bits
65 536 revolutions(buffer battery backup)
EnDat 2.2/22
Available withfunctional safety––

D: 90/180 mm

ERO 1400 Series––

ERO 1420

ERO 1480

512 to 1024 lines

512 to 1024 lines

ERO 14701)
1000/1500 lines
1)

Up to 37 500 signal periods via integrated 5/10/20/25-fold interpolation

DRIVE-CLiQ is a registered trademark of Siemens AG.

1011

Rotary encoders for special applications

Rotary encoders

Absolute

Singleturn
Interface EnDat´Multiturn (4096 revolutions)
SSI

EnDat

SSI

–

–

–

Incremental
« TTL

« HTL

» 1 VPPROD 620

ROD 630–512 to 5000 lines

512 to 5000 lines

70

–

72

For high bearing loads
ROD 600–

ROD 1930

–

–

–

–

–

ROD 1930

199

 15

600 to 2400 lines

150

18

160

For more information, please refer to therespective Product Information document

Electronic handwheel
HR 1120

–

–

–

–

HR 1120––

ERN 421

ERN 431–1024 lines1024 lines

100 lines

74

For Siemens asynchronous motors
ERN 401 series

–

–

–

–

For more information, please refer to therespective Product Information document

EQN/ERN 400 series––

EQN 425

EQN 425

ERN 420

ERN 430

Positions/rev: 13 bits
EnDat 2.1/01

Positions/rev: 13 bits

1024 lines1024 lines–

For more information, please refer to therespective Product Information document

1213

Measuring principles
Measuring standards Measuring methods

HEIDENHAIN encoders with opticalscanning use measuring standards
consisting of periodic structures known as
graduations. These graduations are applied
to a carrier substrate made of glass or steel
and are manufactured by means of various
photolithographic processes. Graduations
are made from the following materials:• Extremely hard chromium lines on glass• Matte-etched lines on gold-plated
steel tape
• Three-dimensional structures on glassor steel substrates

In the absolute measuring method, theposition value is available immediately upon
encoder switch-on and can be requestedby the downstream electronics at any time.
There is therefore no need to search forthe reference position by jogging the axes.
The resulting absolute position informationis read from the circular scale, which
exhibits a code structure.

Scanning methods

A separate incremental track is interpolated
for the position value and is simultaneously
used for generating an optional incremental
signal.
In singleturn encoders, the absolute
position information repeats itself withevery revolution. Multiturn encoders candistinguish between additional revolutions.

Photoelectric scanning
Most HEIDENHAIN encoders utilize thephotoelectric scanning principle.
Photoelectric scanning is performed
contact-free and thus does not induce wear.
This method detects even extremely finegraduation lines down to a width of only a
few micrometers and generates output
signals with very small signal periods.

The absolute rotary encoders that use thisscanning principle have a single, large, andfinely structured photosensor as opposed
to a group of discrete photocells. The widthof the photosensor’s structures is identicalto the width of the measuring standard’s
grating structure. A scanning reticle with amatching structure is therefore notneeded.

The ECN, EQN, ERN, ROC, ROQ, and
ROD rotary encoders utilize the imaging
scanning principle.

Other scanning principles
ECI/EBI/EQI rotary encoders operateaccording to the inductive measuring
principle. In this case, the graduation
structures modulate the gain and phaseof a high-frequency signal. By means ofcircumferential scanning, the position value
is always generated based on the signals
from the receiver coils that are evenly
distributed along the circumference.

Put simply, the imaging scanning principle
uses projected-light signal generation; forexample, two gratings (a scale and a scanning reticle) with the same grating period
are moved relative to each other. The carriermaterial of the scanning reticle is transparent. The graduation on the measuring standard can be applied to either a transparent
surface or a reflective surface.

The photolithographic manufacturing
processes developed by HEIDENHAIN
allow for typical grating periods ranging
from 50 µm down to 4 µm.
These processes yield fine grating periods
characterized by excellent edge definitionand high homogeneity. In combination withthe photoelectric scanning method, thesecharacteristics are crucial for attaining highquality output signals.
The master graduations are manufactured
by HEIDENHAIN on custom-built, highprecision dividing engines.
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.

Accuracy

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
increments (measuring steps) startingfrom a freely settable point of origin.
Since position ascertainment requires
an absolute reference, the circular scales
have an additional track containing areference 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.

Rotary encoder accuracy is primarily
determined by the following factors:• The directional error of the radial grating• The eccentricity of the circular scale
relative to the bearing• The radial runout of the bearing• The error arising from connection via ashaft coupling; for rotary encoders withstator coupling, this error lies within thesystem accuracy• The interpolation error that arises during
signal processing in the integrated or
external digitizing and interpolationelectronics

The following applies to incremental
rotary encoders with line counts of
up to 5000:
The maximum direction error at 20 °C
ambient temperature and slow rotation(sampling frequency between 1 kHz and
2 kHz) is within

When parallel light passes through a grating
structure, light and dark fields are projected
at a certain distance. At the place wherethese fields are projected lies an index
grating with the same grating period. Whenthese two graduations move relative toeach other, the incident light is modulated:
If the gaps are aligned, light passes through.
If the lines of one grating coincide with thegaps of the other, no light passes through.
Photocells convert these light fluctuations
into nearly sinusoidal electrical signals. In
encoders that use the imaging scanningprinciple, workable mounting tolerances
are attainable starting at a minimum grating
period of 10 μm.

±18° mech. · 3600 [arc seconds]
Line count z
which equals± 1 grating period.
20
In the case of ROD rotary encoders,the 6000 to 10 000 signal periods per
revolution are generated via signal
doubling. The line count must be
considered in determining the systemaccuracy.

For absolute rotary encoders, theaccuracy of the absolute position values
is stated in the specifications of therespective encoder.

LED light source

Condenser

Scanning reticle
Measuring standard

Photocells

For absolute rotary encoders withcomplementary incremental signals,
the accuracy depends on the line count:Line count Accuracy
512		
±60 arc seconds
2048		
±20 arc seconds
2048		±10 arc seconds(ROC 425 with highaccuracy)This accuracy information applies toincremental measurement signals at 20 °C
ambient temperature and slow rotation.

Photocells I90°
and I270° not shown

14

Circular scales of incremental rotary encoders

Photoelectric scanning according to the imaging scanning principle

15

Mechanical design types and mounting
Rotary encoders with stator coupling

Mounting accessories

The ECN/EQN/ERN rotary encoders
feature integrated bearings and a mounted
stator coupling. The stator coupling
compensates for radial runout andalignment errors without significantly
reducing the accuracy. The rotary encoder
shaft is directly connected to the measured
shaft. During angular acceleration of the
shaft, the stator coupling must absorb only
the torque resulting from friction within the
bearing. The stator coupling permits acertain amount of axial motion in themeasured shaft:

Clamping ring
For the ECN/EQN/ERN 400
Through the use of a second clamping ring,the maximum mechanically permissible
shaft speed of rotary encoders with ahollow through shaft can be increased by
up to 12 000 rpm.
ID 540741-xx
L = 41 min. with D ≤ 25
L = 56 min. with D ≥ 38

ECN/EQN/ERN 400: ±1 mm
ECN/EQN/ERN 1000: ±0.5 mm
ECN/ERN 100:
±1.5 mm

ECN/EQN/ERN 400 with standard stator coupling

Mounting
The hollow shaft of the rotary encoder isslid onto the measured shaft and fastenedon the rotor side by two screws or threeeccentric clamps. Rotary encoders with ahollow through shaft can be clamped on
the housing side as well. Particularly well
suited for repeated mounting are the ECN/
EQN/ERN 1300 series rotary encoders
featuring a tapered shaft (see the Encoders
for Servo Drives brochure). Stator-side
mounting is performed on a plane surface
without a centering collar.

Blind hollow shaft

Clamping ring for 10 mm
Clamping ring for 12 mm

Bearing assembly
For ECN/EQN/ERN 400
With blind hollow shaft
ID 574185-03

Dynamic applications require the highest
possible natural frequencies fN of thesystem’s coupling (see also Generalmechanical information). These natural
frequencies can be attained through theshaft clamping on the flange side and acoupling with four screws. The ECN/EQN/
ERN 1000 encoders offer an alternativewith two screws and two washers.

Statorcoupling

CablesFlange socket
Axially
RadialStandard1550 Hz

1500 Hz

1000 Hz

ECN/ERN 100

1000 Hz–

400 HzECN/EQN/ERN 1000

1500 Hz––

Bearing assembly
Permiss. shaft speed n≤ 6000 rpm

Shaft load

Axial: 150 N; radial: 350 N

operating temperature–40 °C to 100 °C

Protection EN 60529

IP64

The bearing assembly is able to absorb large
radial shaft loads and prevents overloadingof the encoder bearing. On the encoderside, the bearing assembly features a shaft
stub with a diameter of 12 mm, thus making
it suitable for the ECN/EQN/ERN 400
encoders featuring a blind hollow shaft.
The threaded holes for fastening the stator
coupling are also already provided. The
flange of the bearing assembly has thesame dimensions as those of the clamping
flange for the ROD 420/430 series. The
bearing assembly can be fastened via thefront-face threaded hole, via the mounting
flange or via the mounting bracket. For
more information, see page 21.

Typical natural frequency fN of the connection with stator-side
coupling via four screws:

1)

3 = X8 clamping screw with hexalobular
socket; tightening torque: 1.1 Nm ±0.1 Nm

ID 540741-06
ID 540741-07

When high shaft loads are involved,
such as with friction wheels, pulleys, or
sprockets, HEIDENHAIN recommends
mounting the ECN/EQN/ERN 400 witha bearing assembly.

Visible grooves

1)

Service life
Unless otherwise specified, HEIDENHAIN
encoders are designed for a service life of
20 years, equivalent to 40 000 operating
hours under typical conditions (maximum
permissible misalignment and radial runout
in accordance with the required mating
dimensions).

Hollow through shaft

Mechanical fault exclusion is possible for
the ECN/EQN/ERN 400 series rotary
encoders featuring a standard stator
coupling and blind hollow shaft.

ECN/EQN/ERN 400

In the case of safe, hollow-shaft
connections, repeated fastening reduces
the screw force. In order to maintain therequired safety factor for friction-typeconnections, the maximum number of
permissible screw tightening repetitions islimited to four. Beyond this number ofrepetitions, mechanical fault exclusion
cannot be guaranteed. In such cases, newclamping rings must be ordered separately.

Washers

Also with fastening via two screws and washers

16

17

Rotary encoders for separate shaft coupling

The ROC/ROQ/ROD rotary encoders
feature an integral bearing and a solid shaft.
The encoder shaft is connected to themeasured shaft with a separate shaft
coupling. This coupling compensates foraxial movement and misalignment (radial
and angular misalignment) between therotary encoder and the drive shaft. Thus,
the encoder bearing is not subjected toadditional external loads, and its service life
remains unaffected. Diaphragm and metalbellows couplings are available for therotor-side connection of ROD/RIC/RIQ
rotary encoders (see page 24).

Washer
For the ECN/EQN/ERN 1000
For increasing the natural frequency fN
when fastening with only two screws
ID 334653-01

Bearing service life of ROC/ROQ/ROD 400
The expected service life of the encoder
bearing depends on the shaft loading, theplace where force is applied and the shaft
speed. The Specifications state themaximum shaft loads permitted at theend of the shaft. The relationship between
bearing life and maximum shaft load isshown in the diagram for 6 mm and
10 mm shaft diameters. Under an axial
load of 10 N and a radial load of 20 N at
the shaft end, the expected bearing service
life at maximum shaft speed is greaterthan 40 000 hours.

Torque supports for ECN/EQN/ERN 400
In simpler applications with the ECN/EQN/
ERN 400, the stator coupling can be
replaced by torque supports. The following
mounting kits are available:
Wire torque support
The stator coupling is replaced by ametal plate to which the included wireis fastened as a coupling.
ID 510955-01
Pin torque support
In place of a stator coupling, a “synchro
flange” is fastened via screws. Torquesupport is provided by a pin mounted
axially or radially on the flange. Alternatively,
the pin can be inserted on the customer
side. A guide on the encoder’s flange isthen used for the pin coupling.
ID 510861-01

The shafts to be connected must be
mounted with minimum relative offset
to each other. For typical mounting
tolerances, refer to the “Kinematictransfer error” on page 24.

When high loads are involved, such aswith friction wheels, pulleys, or sprockets,
HEIDENHAIN recommends using an
ECN/EQN/ERN 400 mounted to a bearing
assembly. For very high bearing loads, theROD 1930 is a suitable choice.

Service life at shaft load

Shaft speed in rpm 

IDScrewdriver bit• For HEIDENHAIN shaft couplings• For ExN 100/400/1000 shaft clampings• For ERO shaft clampings

1.5350378-01

Screwdriver
Adjustable torque; accuracy: ±6 %0.2 Nm to 1.2 Nm
ID 350379-04
1 Nm to 5 Nm		ID 350379-05

70 mm

1.5 (spherical head)

350378-022350378-03

2 (spherical head)

350378-04

2.5350378-05

3 (spherical head)

350378-08

4350378-07
1)

4 (with dog point)1)	For DIN 6912 screws(low head screw with pilot recess)350378-14TX889 mm 350378-11
152 mm 350378-12

TX15

70 mm 756768-42

F = 30 N
F = 50 N
F = 50 N
F = 75 N

F = 50 N
F = 50 N
F = 75 N
F = 75 N

Shaft speed in rpm 

Bearing service life of the ROD 1930
The ROD 1930 is designed for a longservice life under very high bearing loads.

Service life at shaft load
Bearing life in hours Width across flats Length

Service life at shaft load
Bearing life in hours 

Bearing life of the ROD 600
Rotary encoders of the ROD 600 series aredesigned for a long service life under highbearing loads.

General accessories

18

The ROC/ROQ/ROD 400 and ROD 600
series rotary encoders permit high bearing
loads (see diagrams). The bearing service
life L10h is calculated in accordance with
DIN 281.

Bearing life in hours Mounting accessories

350 000
300 000
250 000

100 N
100 N
150 N
150 N

200 000
150 000

100 N
150 N
150 N
200 N

100 000
50 000
1 000

2 000

3 000

4 000

Shaft speed in rpm 

19

Rotary encoders withsynchro flange

Rotary encoders withclamping flange

Rotary encoders with synchro flange

Mounting• Via the synchro flange with three fixing
clamps, or• To an adapter flange via the fastening
screw threads on the front face (forROC/ROQ/ROD 400)
Mechanical fault exclusion is possible
upon consultation with HEIDENHAIN
in Traunreut, Germany.

Mounting• Via a mounting flange via the fastening
threads on the front face, or• Via clamping at the clamping flange, or• With three fixing clamps (for encoders
with an additional groove on theclamping flange)
Fixing clamps

ROC/ROQ/ROD 400 with clamping flange

Mounting flange
Coupling

Centering is performed via the centeringcollar on the synchro flange or via theclamping flange.

Coupling
Coupling

Coupling

Mechanical fault exclusion is possible
upon consultation with HEIDENHAIN
in Traunreut, Germany.

Adapter flange

Mounting accessories

Mounting accessories

Adapter flange(electrically non-conductive)
ID 257044-01

Mounting flange
ID 201437-01

Mounting bracket
ID 581296-01




20

































Fixing clamps
For the ROC/ROQ/ROD 1000 series(three per encoder)
ID 200032-02


 



 

Fixing clamps
For the ROC/ROQ/ROD 400 series(three per encoder)
ID 200032-01


 



21

Rotary encoder withflange/base mounting

ROD 600 rotary encoders
with clamping flange

Mounting• Via mounting flange, or• Via base
Fastening is performed with four
M8 screws.

Mounting• To a mounting flange via the fastening
threads on the front face

The terminal box can be mounted atany 90° orientation.
Shaft coupling
For optimum torque transmission, theencoder shaft is equipped with a key.
The C19 and C 212 couplings, which
are available as accessories, featurea matching keyway.

Mounting accessories
Mounting flange (small)
ID 728587-01
Mounting flange (large)
ID 728587-02

Mounting bracket
ID 728587-03

22

23

Shaft couplings

ROC/ROQ/ROD 400

ROD 1930
ROD 600

ROC/ROQ/ROD 1000

Diaphragm coupling

Diaphragm coupling

Metal bellows
coupling
18 EBN 3

K 14

K 17/01
K 17/06

K 17/02
K 17/04
K 17/05

K 17/03

C 19

Hub bore

6/6 mm

6/6 mm
6/5 mm6/10 mm10/10 mm
6/9.52 mm

10/10 mm15/15

Galvanic isolation

–







–

Kinematictransfer error*

±6“

±10“

Torsional rigidity

500 Nmrad

150 Nmrad

Torque≤ 0.2 Nm

≤ 0.1 Nm

Radial offset l≤ 0.2 mm

≤ 0.5 mm

≤ 0.3 mm

≤ 0.2 mm

Angular error ≤ 0.5°≤ 1°≤ 1.5°≤ 0.5°

Axial offset d≤ 0.3 mm

≤ 0.5 mm

≤ 1.7 mm

≤ 0.3 mmMoment of inertia(approx.)6 · 1015 · 10–6 kgm2

0.3 · 10–6 kgm2

Permiss. shaft speed

16 000 rpm

20 000 rpm

Tightening torque ofclamping screws(approx.)

1.2 Nm1.37 Nm

0.8 Nm

Mass

35 g

75 g

9g

–6

kgm2

200 Nmrad

3 · 10–6 kgm2

24 g

4/4 mm



–

±13“

±40“

300 Nmrad1700 Nm
rad

60 Nm
rad

≤ 0.2 Nm

≤ 3.9 Nm

4 · 10–6 kgm2

23 g

C 212

27.5 g18 EBN 3 metal bellows coupling
For the ROC/ROQ/ROD 1000 series
with 4 mm shaft diameter
ID 200393-02≤ 5 Nm6000 rpm

K 14 diaphragm coupling
For the ROC/ROQ/ROD 400 series
with 6 mm shaft diameterID 293328-01

Recommended fit forthe mating shaft: h6≤ 0.1 Nm

12 000 rpm* In the case of typical mounting tolerances: Radial offset l = 0.1 mm; angular error  = 0.09° (0.15 mm of error over 100 mm)
Radial offset

Mounting accessories
Screwdriver bit
Screwdriver
See page 18.

24

Angular error

Axial offset

K 17 diaphragm couplingWith galvanic isolation
For the ROC/ROQ/ROD 400 series
with 6 mm or 10 mm shaft diameter
ID 1246841-xx

K 17
Variant

D1

D2

01

¬ 6 F7 ¬ 6 F7

22 mm

02

¬ 6 F7 ¬ 10 F7

22 mm

03

¬ 10 F7 ¬ 10 F7

30 mm

04

¬ 10 F7 ¬ 10 F7

22 mm

05

¬ 6 F7 ¬ 9.52 F7 22 mm

06¬ 5 F7 ¬ 6 F7

L

22 mm

25

General mechanical information

C 19 diaphragm coupling
For the ROD 1930 and ROD 600 rotary
encoders with 15 mm shaft diameterand key
ID 731374-01

C 212 diaphragm couplingWith galvanic isolation
For the ROD 1930 and ROD 600 rotary
encoders with 15 mm shaft diameterand key
ID 731374-02

Certification by NRTL (Nationally
Recognized Testing Laboratory)
All rotary encoders in this brochure comply
with the UL safety regulations for the USA
and the CSA safety regulations for Canada.

Magnetic fields
Magnetic fields > 30 mT can affect proper
encoder functioning. Please contact
HEIDENHAIN in Traunreut, Germany,as needed.

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 60068-2-6. However, if the application
or mounting situation causes longduration resonant vibration, then proper
functioning of the encoder may be
impaired, or the encoder itself 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 orderof magnitude but can vary dependingon the type of shaft connection (fordeviating values for the ECN/ERN 100,
see the Specifications). An adequate
safety factor must be determinedthrough system tests.

Natural frequencies
With the ROC/ROQ/ROD rotary encoders,
the rotor and the shaft coupling together
form an oscillation-capable spring-masssystem. In the case of the ECN/EQN/ERN,
this applies to the stator and stator
coupling.

Deviating values for rotary encoders withfunctional safety are provided in thecorresponding Product Information
documents.
Air humidity
The max. permissible relative humidity
is 75%. A relative humidity of 93% is
temporarily permissible. Condensation
is not permissible.

The natural frequency fN should be as
high as possible. In order for the highest
possible natural frequency to be attainedwith the ROC/ROQ/ROD rotary encoders,a diaphragm coupling with a high torsional
rigidity C must be used (see Shaft
couplings).
		fN = 1 ·2xπ¹CI

fN: Natural frequency of the coupling in Hz
C: Torsional rigidity of the coupling in
Nm/radI: Moment of inertia of the rotor in kgm2
In conjunction with the stator coupling, theECN/EQN/ERN rotary encoders form an
oscillation-capable spring-mass system
whose natural frequency fN of thecoupling in the direction of measurement
should be as high as possible. The natural
frequency of the coupling is influenced by
the rigidity of the stator coupling and by thecustomer-side mounting situation. The
stated typical natural frequencies may varydepending on the encoder variant (e.g.,singleturn or multiturn), production
tolerances, and differing mounting
conditions. If radial and/or axial acceleration
forces also come into play, then the rigidityof the encoder bearing and of the encoder
stator has an effect as well. If such loads
occur within your application, HEIDENHAIN
recommends consulting with the main
office in Traunreut.
HEIDENHAIN generally recommends
determining the natural frequency of thestator coupling within the complete
system.
Strain relief
Make sure to provide strain relief for theencoder connection cable.

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
bearing and seal.
The typical values stated in thespecifications are mean values based on
encoder-specific test series performed atroom temperature and at a stabilized
operating temperature. The typicaloperating torques are also based on
constant shaft speeds. For applications inwhich the torque has a significant
influence, HEIDENHAIN recommends
consulting with the main office in Traunreut.
Protection from contact (EN 60529)
After completed installation of the encoder,any rotating parts must be sufficiently
protected from unintentional contact during
operation.
Protection rating (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, cable outlet, and flange
socket versions when engaged.
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 verticalmounting of the encoder), then theencoders should be additionally protectedwith labyrinth seals. Many encoders arealso available with an IP66 rating for theshaft inlet. Depending on the application,
the radial shaft seal rings used for sealing
are subjected to wear due to friction.
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.

≤ 0.5 m26

27

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 tothe mounting 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 ordesigner must define the other required
final mounting information for the given
application (e.g., tightening torque,mechanical fault exclusion for screws
needed or not). The stated tolerance ranges
in the product’s dimension drawing andmounting instructions must also be
considered.
All provided information on screw
connections assumes a mounting
temperature of 15 °C to 35 °C.

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

Steel

Material

Hardenable wrought
aluminum alloy

Unalloyed hardened steel

Tensile strength Rm≥ 220 N/mm2≥ 600 N/mm2

Yield strength Rp0.2 or yield
point ReNot relevant≥ 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 expansionÞtherm (at 20 °C)≤ 25 · 10

Surface roughness Rz≤ 16 µm

Friction values

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

–6

10 · 10–6K–1 to17 · 10–6K–1

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

Screws with material bonding antirotation 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. The minimum shelf life of these
unused screws 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 becompleted within five minutes. The
required strength is reached at room
temperature after six hours. The lower thetemperature, the longer the curing process
will take. Curing temperatures below 5 °C
are not permissible.
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.

28

K–1

Rotary encoders with bearing and functionalsafety may exert a torque of up to 1 Nm on
the mating shaft. In addition, other forces
and torques (e.g., from vibrational loads
and angular acceleration) must be taken
into account. The customer’s mechanicalelements must be designed for these loads(see also EN 61800-5-2 and EN ISO 13849).
The respective Product information
documents describe any otherrequirements.
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, freeof dust, and temperature-regulated. It
should also be free of vibration,mechanical shock, and chemical
environmental influences• Every twelve months, rotate the shaftsof the encoders with integral bearing at
low speed and without axial or radial
shaft loading so that the bearing
lubrication becomes evenly redistributed(e.g., such as when first breaking in an
encoder)
Parts subject to wear
Encoders from HEIDENHAIN are designed
for a long service life. Preventive maintenance is not required. However, they docontain components that are subject towear, depending on the application andhow they are deployed. This especially­applies to cables that are subjected to­frequent flexing.
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 life of
20 years, which is equivalent to 40 000
operating hours under typical operating
conditions. The encoders’ service life may
be limited by the bearing service life,
depending on the application. Starting at acontinuous use temperature of 75 °C, theservice life may be limited by the service
life of the grease. Please contact
HEIDENHAIN if you have any questions
about the service life of the grease.

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 is permitted to reach during
operation in the actual installation
environment. Within this range, proper
functioning of the rotary encoder isensured. The operating temperature ismeasured at the defined measuring point(see dimension drawing) and must not be
confused with the ambient temperature.
The temperature of the rotary encoder isinfluenced by the following factors:• The mounting conditions• The ambient temperature• The encoder’s susceptibility to
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 heightened self-heating can also
occur after very long breaks in operation (ofseveral 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 therotary encoders. In the worst case, theamount of self-heating may be affected bymultiple 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, then the actual operating
temperature should be measured directlyat the encoder. Suitable measures mustthen be taken (fan, heat sinks, etc.) tosufficiently reduce the ambient temperatureso that the maximum permissible operating
temperature will not be exceeded duringcontinuous operation.

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≈ +40 K
With IP64 rating:≈ +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
the defined measuring point of the rotary
encoder (see Specifications)

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).

29

Safety-related position measuring systems

Various safety strategies can be pursued
depending on the topology of the axis andthe evaluation capabilities of the controller.
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 with arotary and a linear encoder, the two
redundant position values can becompared with 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 inwidely differing safety designs. Thisparticularly applies to type-examined
encoders with EnDat and DRIVE-CLiQ
interfaces. These encoders can be
operated as single-encoder systems inconjunction with a suitable control inapplications with the control category SIL 3(according to EN 61508) or Performance
Level “e” (according to EN ISO 13849).
Unlike incremental encoders, absolute
encoders always provide a safe absolute
position value, including immediately afterswitch-on or a power failure. Reliable
position transmission is based on two
independently generated absolute position
values and on error bits provided to thesafe 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. These characteristic values are
explained in the Technical Information
document Safety-Related Position
Encoders.
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 life of
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
the grease is limited. Please contact
HEIDENHAIN if you have any questions
about the service life of the grease.

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. To this end,
HEIDENHAIN can provide additional data
about the individual encoders (failure rate,
fault model as per EN 61800-5-2).

30

exclusions for the loosening of themechanical coupling usually require
additional measures during installation of
the encoder or in the event of servicing(e.g., anti-rotation lock for screws). These
factors must be considered for theselection of a suitable encoder or mounting
mode.

Further information:
Comply with the requirements described in the following documents to ensure correctand intended operation:• Mounting Instructions• Operating Instructions• Product Information documents• Customer information about fault exclusion• Technical Information: Safety-Related Position Measuring Systems	 596632
For implementation in a control with EnDat22:• Specifications for Safe Control

533095For implementation in a control with EnDat3:• Application Conditions for Functional Safety				

3000003

Measured-value
acquisition

Transmission line

Safety-related position measuring system

Position 1

Position 2

EnDat Master

Motor

Reception of measured values
Safe controller

EnDat 2.2 or
EnDat 3

Interface 1
EnDat 2.2 or EnDat 3(protocol and cable)

EnDat
MasterInterface 2

Safe controller
Encoder

Power cable
DRIVE-CLiQ is a registered trademark of
Siemens AG.

Fault exclusion for the loosening of themechanical connection
Irrespective of the interface, many safety
designs require the safe mechanicalconnection of the encoder. The standard
for electric motors, EN 61800-5-2, defines
the loosening or loss of the mechanicalconnection between the encoder andmotor as a fault that requires consideration.
Because the controller may not be able todetect these errors, fault exclusion isrequired in many cases. The requirements
for fault exclusion can result in additional
constraints in the permissible limit values
in the specifications. In addition, fault

EnDat interface

Functionally safe axes
Driven axes and moving parts canrepresent a significant hazard for humans.
Particularly if the human interacts with themachine (e.g., during workpiece setup), it
must be ensured that the machine does
not make any 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 reactaccordingly.

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

Catalog of measures

Power module

Two independent
position values

Serial data transmission

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

31

ECN/EQN/ERN 1000 series
Absolute and incremental rotary encoders• Stator coupling for plane surface• Blind hollow shaft*

Incremental
ERN 1020

ERN 1030

ERN 1080

Interface« TTL« HTLs» 1 VPPLine counts*

100	 200	 250	 360	 400	 500	 720	 9001000 1024 1250 1500 2000 2048 2500 3600

Reference markOne

Integrated interpolation*–

Cutoff frequency –3 dB
Scanning frequency
Edge separation a–≤ 300 kHz≥ 0.39 µs

System accuracy

1/20 of grating period

Electrical connection*

Cable (1 m/5 m) with or without M23 coupling

Cable (5 m) without connecting element

Supply voltage

DC 5 V ±0.5 V

DC 10 V to 30 V

DC 5 V ±0.5 V

DC 5 V ±0.25 V

Current consumption
without load

≤ 120 mA

≤ 150 mA

≤ 120 mA

≤ 155 mA

Shaft

Blind hollow shaft ( 6 mm)

100 °C

70 °C

534913-xx

534912-xx–≤ 160 kHz
≥ 0.76 µs

ERN 1070
1)≥ 180 kHz
–
–

« TTL
1000

2500 3600

5fach

10fach–≤ 100 kHz
≥ 0.47 µs–≤ 100 kHz
≥ 0.22 µs

Mech. permiss. shaft speed n ≤ 12 000 rpm
Starting torque (typical)

0.001 Nm (at 20 °C)

Moment of inertia of rotor≤ 0.5 · 10

Permiss. axial motion of
measured shaft±0.5 mm

–6

kgm2

2

Vibration: 55 Hz to 2000 Hz ≤   100 m/s (EN 60068-2-6)≤ 1000 m/s2 (EN 60068-2-27)
Shock: 6 ms
2)

Required mating dimensions

Max. operating temp.

100 °C

Min. operating temp.

Fixed cable: –30 °C; moving cable: –10 °C

Protection EN 60529

IP64

Mass

≈ 0.1 kg

Valid for ID

534909-xx

70 °C

534911-xx

Bold: This preferred version is available on short notice.
* Please select when ordering
1)
Limited tolerances: signal amplitude: 0.8 VPP to 1.2 VPP
2)For the correlation between the operating temperature and the shaft speed or supply voltage, see General mechanical information

A = Bearing of mating shaft
m = Measuring point for operating temperaturer = Reference mark position ±20°
1 = Two screws in clamping ring; tightening torque: 0.6 Nm ±0.1 Nm; width A/F: 1.5
2 = Compensation of mounting tolerances and thermal expansion; no dynamic motion permitted
3 = Ensure protection against contact (EN 60529)
4 =	Incremental rotary encoders: Direction of shaft rotation for output signals according to interface description
Absolute rotary encoders: Direction of shaft rotation for ascending position values

32

33

AbsoluteSingleturn

MultiturnECN 1023

ECN 1013

EQN 1035

EQN 1025

Interface

EnDat 2.2

Ordering designation

EnDat22

EnDat01

EnDat22

EnDat01

Positions/revolution

8 388 608 (23 bits)

8192 (13 bits)

8 388 608 (23 bits)

8192 (13 bits)

Revolutions–

4096 (12 bits)

Code

Pure binary

Pure binary

Elec. permiss. shaft speed
1)
Deviations≤ 12 000 rpm
for continuous position value≤ 4000 rpm/≤ 12 000 rpm±1 LSB/±16 LSB≤ 12 000 rpm
for continuous position value≤ 4000 rpm/ ≤ 12 000 rpm±1 LSB/±16 LSB

Calculation time tcal
Clock frequency≤ 7 µs≤ 8 MHz≤ 9 µs
≤ 2 MHz≤ 7 µs≤ 8 MHz≤ 9 µs
≤ 2 MHz

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

–

512

–

512

Cutoff frequency –3 dB–≥ 190 kHz–≥ 190 kHz

System accuracy±60“Electrical connection

Cable (1 m) with M12 coupling

Cable (1 m) with M23 coupling

Cable (1 m) with M12 coupling

Cable (1 m) with M23 coupling

Supply voltage

DC 3.6 V to 14 V

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, without load)

5 V: 85 mA

5 V: 105 mA

Shaft

Blind hollow shaft (¬ 6 mm)

Mech. permiss. shaft speed n 12 000 rpm
Starting torque (typical)

0.001 Nm (at 20 °C)

Moment of inertia of rotor≈ 0.5 · 10

Permiss. axial motion of
measured shaft±0.5 mm–60.002 Nm (at 20 °C)

kgm2

2

Vibration: 55 Hz to 2000 Hz ≤   100 m/s (EN 60068-2-6)≤ 1000 m/s2 (EN 60068-2-27)
Shock: 6 ms
Max. operating temp.

100 °C

Min. operating temp.

Fixed cable: –30 °C; moving cable: –10 °C

Protection EN 60529

IP64

Mass

≈ 0.1 kg

Valid for ID

606683-xx

1)
2)

606681-xx

606688-xx

606686-xx

Speed-dependent deviations between absolute and incremental signals
Limited tolerances: signal amplitude: 0.8 VPP to 1.2 VPP

34

35

ECN/EQN/ERN 400 series

Incremental
ERN 420

Absolute and incremental rotary encoders• Stator coupling for plane surface• Blind hollow shaft or hollow through shaft

Blind hollow shaft

Hollow through shaft

Connector coding
A = Axial, R = Radial
Flange socket

ERN 460

Interface« TTLLine counts*

250

500

1000

1024

ERN 430

ERN 480« HTL» 1 VPP

1)–1250 2000 2048 2500 3600 4096 5000

Reference markOne

Cutoff frequency –3 dB
Output frequency
Edge separation a–≤ 300 kHz≥ 0.39 µs

System accuracy

1/20 of grating period

Electrical connection*• M23 flange socket, radial and axial (with blind hollow shaft)• Cable (1 m), free cable end

Supply voltage

DC 5 V ±0.5 V

DC 10 V to 30 V

DC 10 V to 30 V

DC 5 V ±0.5 V

Current consumption
without load

≤ 120 mA

≤ 100 mA

≤ 150 mA

≤ 120 mA

Shaft*

Blind hollow shaft or hollow through shaft (both available in  8 mm or  12 mm)

Mech. permiss. shaft
2)
speed n≤ 6000 rpm/≤ 12 000 rpm3)Starting torque (typical)
at 20 °C

Blind hollow shaft: 0.01 Nm
Hollow through shaft: 0.025 Nm (with IP66: 0.075 Nm)

Moment of inertia of rotor≤ 4.3 · 10

Permiss. axial motion of
measured shaft±1 mm≥ 180 kHz
–
–

–6

kgm2

2

2

Vibration: 55 Hz to 2000 Hz ≤  300 m/s ; flange socket version: 150 m/s (EN 60068-2-6); higher values upon request≤ 2000 m/s2 (EN 60068-2-27)
Shock: 6 ms
2)

100 °C4)

Max. operating temp.

100 °C

Min. operating temp.

Flange socket or fixed cable: –40 °C; moving cable: –10 °C

Protection EN 60529

At housing: IP67 (IP66 with hollow through shaft)
At shaft inlet: IP64 (with  12 mm: IP66 upon request)

Mass≈ 0.3 kg

Valid for ID

385420-xx

70 °C

385460-xx

385430-xx

5)385480-xx

Bold: This preferred version is available on short notice.
* Please select when ordering
1)
Limited tolerances: signal amplitude: 0.8 VPP to 1.2 VPP
2)For the relationship of operating temperature to shaft speed and supply voltage, see General mechanical information
3)
With two shaft clampings (only with hollow through shaft)
4)
80 °C for ERN 480 with 4096 or 5000 lines5)
Available with mechanical fault exclusion; for deviating specifications and special mounting information,
see the Fault Exclusion Customer Information document

36

Radial cable (can also be used axially)
A = Bearing of mating shaft
m = Measuring point for operating temperature
1 = Clamping screw with X8 hexalobular socket
2 = Compensation of mounting tolerances and thermal expansion; no dynamic motion permissible
3 = Ensure protection against contact (EN 60529)
4 =	Incremental rotary encoders: Direction of shaft rotation for output signals according to interface description
Absolute rotary encoders: Direction of shaft rotation for ascending position values
1) = Clamping ring on housing side (delivery condition)2) = Clamping ring on coupling side (optionally mountable)37

AbsoluteSingleturn

MultiturnECN 425

ECN 413Interface*

EnDat 2.2

EnDat 2.2

Ordering designation

EnDat22

EnDat01

Positions/revolution

33 554 432 (25 bits)

8192 (13 bits)

Revolutions

–

Code

Pure binary

Elec. permiss. shaft speed
Deviations1)≤ 12 000 rpm
for continuous position value

512 lines:

Calculation time tcal
Clock frequency≤ 7 µs≤ 8 MHz≤ 9 µs
≤ 2 MHz

Incremental signals

Without» 1 VPP2)Line counts*–

512

Cutoff frequency –3 dB
Output frequency

EQN 437

EQN 425

SSI

EnDat 2.2

EnDat 2.2

SSI

SSI39r1

EnDat22

EnDat01

SSI41r1

33 554 432 (25 bits)

8192 (13 bits)

4096
Gray

Pure binary≤ 12 000 rpm±12 LSB≤ 12 000 rpm
for continuous position value

512 lines:≤ 5 µs–≤ 7 µs≤ 8 MHz≤ 9 µs
≤ 2 MHz

Without» 1 VPP2)

512

–

512

–
–

512 lines: ≥ 130 kHz; 2048 lines: ≥ 400 kHz–––

512 lines: ≥ 130 kHz; 2048 lines: ≥ 400 kHz–

System accuracy±20“

512 lines: ±60“; 2048 lines: ±20“

±20“

512 lines: ±60“; 2048 lines: ±20“Electrical connection*• M12 flange socket, radial• Cable (1 m) with M12 coupling• M23 flange socket, radial• Cable (1 m) with M23 coupling or free cable end• M12 flange socket, radial• Cable (1 m) with M12 coupling• M23 flange socket, radial• Cable (1 m) with M23 coupling or free cable end

Supply voltage

DC 3.6 V to 14 V

DC 4.75 V to 30 V

DC 3.6 V to 14 V

DC 3.6 V to 14 V

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

5 V: ≤ 0.8 W
10 V: ≤ 0.65 W
30 V: ≤ 1 W

3.6 V: ≤ 0.7 W
14 V: ≤ 0.8 W

5 V: ≤ 0.95 W
10 V: ≤ 0.75 W
30 V: ≤ 1.1 W

Current consumption(typical, without load)

5 V: 85 mA

5 V: 90 mA
24 V: 24 mA

5 V: 105 mA

5 V: 120 mA
24 V: 28 mA

Shaft*

Blind hollow shaft or hollow through shaft (both available in  8 mm or  12 mm)

2048 lines:

 5000/12 000 rpm≤±1 LSB/±100 LSB
≤ 1500/12 000 rpm±1 LSB/±50 LSB

2048

Gray

2048 lines:

 5000/10 000 rpm≤±1 LSB/±100 LSB
≤ 1500/10 000 rpm±1 LSB/±50 LSB

2048≤ 12 000 rpm±12 LSB≤ 5 µs–512

DC 4.75 V to 30 V

Mech. permiss. shaft speed n3) ≤ 6000 rpm/≤ 12 000 rpm4)
Starting torque (typical)
at 20 °C

Blind hollow shaft: 0.01 Nm; hollow through shaft: 0.025 Nm (with IP66: 0.075 Nm)

Moment of inertia of rotor≤ 4.3 · 10–6 kgm2

Permiss. axial motion of
measured shaft±1 mm

Vibration: 55 Hz to 2000 Hz
Shock: 6 ms

≤  300 m/s2; flange socket version: ≤ 150 m/s2 (EN 60068-2-6); higher values upon request≤ 2000 m/s2 (EN 60068-2-27)

Max. operating temp.3)

100 °C

Min. operating temp.

Flange socket or fixed cable: –40 °C; moving cable: –10 °C

Protection EN 60529

At housing: IP67 (IP66 with hollow through shaft)
At shaft inlet: IP64 (with  12 mm: IP66 upon request)

Mass≈ 0.3 kg

Valid for ID

683644-xx5)/1178024-xx5) 6)1065932-xx

Bold: This preferred version is available on short notice.
* Please select when ordering
1)
Speed-dependent deviations between absolute value and incremental signal
2)
Limited tolerances: signal amplitude: 0.8 VPP to 1.2 VPP

381132405-xx/1353129-xx6)

683646-xx5)/1178025-xx5) 6)

1109258-xx

1132407-xx/1353131-xx6)

3)

For the relationship of operating temperature to shaft speed and supply voltage, see General mechanical information
With two shaft clampings (only with hollow through shaft)5)
Also available with functional safety; for dimensions and specifications, see the Product Information document
6)
Successor variants
4)

39

EQN 425

Absolute
EQN 425 multiturn

Rotary encoder for absolute position values with blind hollow shaft• Stator coupling for plane surface• EnDat interface• Additional incremental signals with TTL or HTL levels

Interface

EnDat 2.2

Ordering designation*

EnDatH

Positions/revolution

8192 (13 bits)

Revolutions

4096 (12 bits)

Code

Pure binary

Calculation time tcal
Clock frequency≤ 9 µs
≤ 2 MHz

Incremental signals

HTL

Signal periods*

512

1024

2048

512

2048

4096

Edge separation a≥ 2.4 µs

≥ 0.8 µs

≥ 0.6 µs

≥ 2.4 µs

≥ 0.6 µs

≥ 0.2 µs

Output frequency≤ 52 kHz≤ 103 kHz≤ 205 kHz≤ 52 kHz≤ 205 kHz≤ 410 kHz

System accuracy

±60“

±60“

±20“

±60“

±20“

±20“

Electrical connection

17-pin M23 radial flange socket (male)1)

2)

0.05 AA = Bearing of mating shaft
m = Measuring point for operating temperature
1 = Connector coding
2 = Clamping screw with X8 hexalobular socket; tightening torque: 1.1 Nm ±0.1 Nm
3 = Compensation of mounting tolerances and thermal expansion; no dynamic movement permitted
4 = Direction of shaft rotation for ascending position values

TTL

Cable length≤ 100 m (with HEIDENHAIN cable)

Supply voltage

DC 10 V to 30 V

DC 4.75 V to 30 V

Power consumption (max.)See Power consumption diagram

At 4.75 V: ≤ 900 mW
At 30 V: ≤ 1100 mW

Current consumption(typical, without load)

At 10 V: ≤ 56 mA
At 24 V: ≤ 34 mA

At 5 V: ≤ 100 mA
At 24 V: ≤ 25 mA

Shaft

Blind hollow shaft ( 12 mm)

Mech. permiss. shaft
4)
speed n≤ 6000 rpm

Starting torque (typical)

0.01 Nm (at 20 °C)

Moment of inertia of rotor

4.3 · 10Permiss. axial motion of
measured shaft≤ ±1 mm

Vibration: 10 Hz to 2000 Hz
Shock: 6 ms

≤   150 m/s (EN 60068-2-6)≤ 2000 m/s2 (EN 60068-2-27)

3)Required mating dimensions

EnDatT

–6

kgm2

2

Max. operating temp.

4)

100 °C

Min. operating temp.

4)–40 °C

Protection EN 60529

Housing: IP67
Shaft exit: IP64

Mass

≈ 0.30 kg

Valid for ID

1042545-xx

1042540-xx* Please select when ordering
For absolute position value; accuracy of the incremental signal upon request
2)
For HTL signals, the maximum cable length depends on the output frequency (see the Cable length for HTL diagrams)
3)
See General electrical information in the Interfaces of HEIDENHAIN Encoders brochure4)
For the relationship of operating temperature to shaft speed and supply voltage, see General mechanical information
1)

40

41

EQN 425

Absolute
EQN 425 multiturn

Rotary encoder for absolute position values with blind hollow shaft• Stator coupling for plane surface• SSI interface• Additional incremental signals with TTL or HTL levels

Interface

SSI

Ordering designation*

SSI41H

Positions/revolution

8192 (13 bits)

Revolutions

4096 (12 bits)

Code

Gray

Calculation time tcal
Clock frequency≤ 5 µs≤ 1 MHz

Incremental signals

HTL

Signal periods*

512

1024

2048

512

2048

4096

Edge separation a≥ 2.4 µs

≥ 0.8 µs

≥ 0.6 µs

≥ 2.4 µs

≥ 0.6 µs

≥ 0.2 µs

Output frequency≤ 52 kHz≤ 103 kHz≤ 205 kHz≤ 52 kHz≤ 205 kHz≤ 410 kHz

System accuracy

±60“

±60“

±20“

±60“

±20“

±20“

Electrical connection

12-pin M23 radial flange socket (male)

5)

1)

2)

0.05 AA = Bearing of mating shaft
m = Measuring point for operating temperature
1 = Connector coding
2 = Clamping screw with X8 hexalobular socket; tightening torque: 1.1 Nm ±0.1 Nm
3 = Compensation of mounting tolerances and thermal expansion; no dynamic movement permitted
4 = Direction of shaft rotation for ascending position values

TTL

17-pin M23 radial flange socket (male)

Cable length≤ 100 m (with HEIDENHAIN cable)

Supply voltage

DC 10 V to 30 V

DC 4.75 V to 30 V

Power consumption (max.)See Power consumption diagram

At 4.75 V: ≤ 900 mW
At 30 V: ≤ 1100 mW

Current consumption(typical, without load)

At 10 V: ≤ 56 mA
At 24 V: ≤ 34 mA

At 5 V: ≤ 100 mA
At 24 V: ≤ 25 mA

Shaft

Blind hollow shaft ( 12 mm)

Mech. permiss. shaft
4)
speed n≤ 6000 rpm

Starting torque (typical)

0.01 Nm (at 20 °C)

Moment of inertia of rotor

4.3 · 10Permiss. axial motion of
measured shaft≤ ±1 mm

Vibration: 10 Hz to 2000 Hz
Shock: 6 ms

≤   150 m/s (EN 60068-2-6)≤ 2000 m/s2 (EN 60068-2-27)

3)Required mating dimensions

SSI41T

–6

kgm2

2

Max. operating temp.

4)

100 °C

Min. operating temp.

4)–40 °C

Protection EN 60529

Housing: IP67
Shaft outlet: IP64

Mass

≈ 0.30 kg

Valid for ID

1065029-xx

1042533-xx* Please select when ordering
For absolute position value; accuracy of the incremental signal upon request
2)
For HTL signals, the maximum cable length depends on the output frequency (see the Cable length for HTL diagrams)
3)
See General electrical information in the Interfaces of HEIDENHAIN Encoders brochure4)
For the relationship of operating temperature to shaft speed and supply voltage, see General mechanical information
5)
HTLs upon request
1)

42

43

ECN/EQN 400 F/S series
Absolute rotary encoders• Stator coupling for plane surface• Blind hollow shaft or hollow through shaft• Fanuc Serial Interface or Siemens DRIVE-CLiQ interface
Blind hollow shaft

Hollow through shaft

Required mating dimensions

Absolute
Singleturn

MultiturnECN 425 F

ECN 424 S

EQN 437 F

EQN 436 S

Interface

Fanuc Serial Interface(i Interface)

DRIVE-CLiQ

Fanuc Serial Interface(i Interface)

DRIVE-CLiQ

Ordering designation

Fanuc05

DQ01

Fanuc061)

DQ01

Positions/revolution

i: 33 554 432 (25 bit)
: 8 388 608 (23 bit)

16 777 216 (24 bits)

33 554 432 (25 bits)

16 777 216 (24 bits)

Revolutions

8192 via revolution
counter–i: 4096

4096

Code

Pure binary

Elec. permiss. shaft speed≤ 15 000 rpm for continuous position values

Calculation time tcal

≤ 5 µs≤ 8 µs2)≤ 5 µs≤ 8 µs2)

System accuracy±20“Electrical connection

M12 flange socket, radial

Cable length≤ 30 m≤ 95 m3)≤ 30 m≤ 95 m3)

DC supply voltage

3.6 V to 14 V

10 V to 36 V

3.6 V to 14 V

10 V to 36 V

Power consumption(maximum)5 V: ≤ 0.7 W
14 V: ≤ 0.8 W

10 V: ≤ 1.4 W
36 V: ≤ 1.5 W

5 V: ≤ 0.75 W
14 V: ≤ 0.85 W

10 V: ≤ 1.4 W
36 V: ≤ 1.5 W

Current consumption(typical, without load)

5 V: 90 mA

24 V: 37 mA

5 V: 100 mA

24 V: 43 mA

Shaft*

Blind hollow shaft or hollow through shaft ( 12 mm);with DRIVE-CLiQ, also available with blind hollow shaft ( 10 mm)

Mech. permiss. shaft
4)
speed n≤ 6000 rpm/≤ 12 000 rpm 5)

Starting torque (typical)
at 20 °C

Blind hollow shaft: 0.01 Nm
Hollow through shaft: 0.025 Nm (with IP66: 0.075 Nm)

Moment of inertia of rotor≤ 4.6 · 10

Permiss. axial motion of
measured shaft

±1 mm

1)

–6

kgm2

2

Vibration: 55 Hz to 2000 Hz ≤   150 m/s (EN 60068-2-6)≤ 2000 m/s2 (EN 60068-2-27)
Shock: 6 ms
4)

A = Bearing of mating shaft
m = Measuring point for operating temperature
1 = Connector coding
2 = Clamping screw with X8 hexalobular socket; tightening torque: 1.1 Nm ±0.1 Nm
3 = Ensure protection against contact (EN 60529)
4 = Compensation of mounting tolerances and thermal expansion; no dynamic motion permissible
5 = Direction of shaft rotation for ascending position values
1) = Clamping ring on housing side (delivery condition)2) = Clamping ring on coupling side (optionally mountable)
DRIVE-CLiQ is a registered trademark of Siemens AG.

44

Max. operating temp.

100 °C

Min. operating temp.

–30 °C

Protection EN 60529

At housing: IP67 (IP66 with hollow through shaft);
At shaft inlet: IP64 (with DQ01 ( 12 mm), available with blind hollow shaft, Fanuc06, Mit03-4,
IP66 upon request)

Mass≈ 0.3 kg

Valid for ID

1081302-xx

6)1036798-xx

1081301-xx

1036801-xx6)* Please select when ordering
1)
Optimized for Fanuc machine tool controls2)
Calculation time TIME_MAX_ACTVAL
3)
See the Interfaces of HEIDENHAIN Encoders brochure; with nEN = 1 (including adapter cable)
4)
For the relationship of operating temperature to shaft speed and supply voltage, see General mechanical information
5)
With two shaft clampings (only with hollow through shaft)
6)
Also available with functional safety; for dimensions and specifications, see the Product Information document45

ECN/ERN 100 series

Absolute
Singleturn

Absolute and incremental rotary encoders• Stator coupling for plane surface• Hollow through shaft

ECN 125

ECN 113

ERN 120

ERN 130

ERN 180

Interface

EnDat 2.2

EnDat 2.2

« TTL

« HTL

» 1 VPP

Ordering designation

EnDat22

EnDat01–

Positions/revolution

33 554 432 (25 bits)

8192 (13 bits)

–

Code

Pure binary–

Elec. permiss. shaft speed
1)
Deviations

nmax for continuous ≤ 600 rpm/nmax
position value±1 LSB/±50 LSB–

Calculation time tcal
Clock frequency≤ 7 µs≤ 16 MHz≤ 9 µs
≤ 2 MHz–

Incremental signals

Without» 1 VPP

« TTL

« HTL

» 1 VPP2)Line counts*

–

2048

1000

Reference mark

–

–

One

Cutoff frequency –3 dB
Output frequency
Edge separation a–––≥ 400 kHz (typ.)–––≤ 300 kHz≥ 0.39 µs

System accuracy±20“

1/20 of grating period

Electrical connection*• M12 flange• M23 flange
socket, radialsocket, radial• Cable (1 m/5 m)• Cable (1 m/5 m)with M12 couplingwith or without
M23 coupling• M23 flange socket, radial• Cable (1 m/5 m) with or without M23 coupling

Supply voltage

DC 3.6 V to 14 V

DC 5 V ±0.5 V

Power consumption (max.)

3.6 V: ≤ 620 mW/14 V: ≤ 720 mW–

Current consumption
without load

5 V: ≤ 85 mA (typical)≤ 120 mA

Shaft*

Hollow through shaft ( 20 mm,  25 mm,  38 mm,  50 mm)
3)Connector coding
R = Radial

46

Incremental

Radial cable (can also be used axially)
A = Bearingm = Measuring point for operating temperature
1 = ERN: reference mark position ±15°; ECN: zero position ±15°2 = Compensation of mounting tolerances and thermal expansion; no dynamic motion permitted
3 = Ensure protection against contact (EN 60529)
4 =	Incremental rotary encoders: Direction of shaft rotation for output signals according to interface description
Absolute rotary encoders: Direction of shaft rotation for ascending position values

2)

1024

2)

2048 2500 3600 5000

≥ 180 kHz (typ.)––DC 10 V to 30 V

DC 5 V ±0.5 V≤ 150 mA

≤ 120 mA

Mech. permiss. shaft speed n

 > 30 mm: ≤ 4000 rpm;  ≤ 30 mm: ≤ 6000 rpm

Starting torque (typical)
at 20 °C > 30 mm: 0.2 Nm ≤ 30 mm: 0.15 Nm

Moment of inertia of rotor/
4)
angular acceleration

 50 mm: 220 · 10–6 kgm2/≤ 5 · 104 rad/s2;  38 mm: 350 · 10–6 kgm2/≤ 2 · 104 rad/s2
 25 mm: 96 · 10–6 kgm2/≤ 3 · 104 rad/s2;  20 mm: 100 · 10–6 kgm2/≤ 3 · 104 rad/s2

Permiss. axial motion of
measured shaft±1.5 mm

Vibration: 55 Hz to 2000 Hz
Shock: 6 ms

≤   200 m/s ; flange-socket version: ≤ 100 m/s (EN 60068-2-6)≤ 1000 m/s2 (EN 60068-2-27)

Max. operating temp.3)

100 °C (85 °C with ERN 130)

Min. operating temp.

Flange socket or fixed cable: –40 °C; moving cable: –10 °C

Protection EN 60529

IP64

Mass

0.6 kg to 0.9 kg, depending on the hollow-shaft version

Valid for ID

810801-xx

22810800-xx

589611-xx

589612-xx

589614-xx

Bold: This preferred version is available on short notice.   * Please select when ordering
1)
Speed-dependent deviations between absolute value and incremental signal
2)
Limited tolerances: signal amplitude: 0.8 VPP to 1.2 VPP
3)For the relationship between shaft speed and operating temperature, see General mechanical information
4)
At room temperature, calculated; mating shaft material: 1.4104

47

ROC/ROQ/ROD 1000 series

Incremental

Absolute and incremental rotary encoders• Synchro flange• Solid shaft for separate shaft coupling*

ROD 1020

ROD 1030

ROD 1080

Interface« TTL« HTLs» 1 VPPLine counts*

100	 200	 250	 360	 400	 500	 720	 9001000 1024 1250 1500 2000 2048 2500 3600

Reference markOne

Integrated interpolation*–

Cutoff frequency –3 dB
Scanning frequency
Edge separation a–≤ 300 kHz≥ 0.39 µs

System accuracy

1/20 of grating period

Electrical connection

Cable (1 m/5 m) with or without M23 coupling

Cable (5 m) without connecting element

Supply voltage

DC 5 V ±0.5 V

DC 10 V to 30 V

DC 5 V ±0.5 V

DC 5 V ±5%

Current consumption
without load

≤ 120 mA

≤ 150 mA

≤ 120 mA

≤ 155 mA

Shaft

Solid shaft ( 4 mm)

100 °C

70 °C

534904-xx

534903-xx–≤ 160 kHz
≥ 0.76 µs

1)≥ 180 kHz––ROD 1070
« TTL
1000

2500 3600

5fach

10fach–≤ 100 kHz
≥ 0.47 µs–≤ 100 kHz
≥ 0.22 µs

Mech. permiss. shaft speed n ≤ 12 000 rpm①

Starting torque (typical)

0.001 Nm (at 20 °C)

Moment of inertia of rotor≤ 0.5 · 10

Shaft load

Axial: 5 N
Radial: 10 N at shaft end

–6

kgm2

2

Vibration: 55 Hz to 2000 Hz ≤   100 m/s (EN 60068-2-6)≤ 1000 m/s2 (EN 60068-2-27)
Shock: 6 ms
2)

Max. operating temp.

100 °C

Min. operating temp.

Fixed cable: –30 °C; moving cable: –10 °C

Protection EN 60529

IP64

Mass

≈ 0.09 kg

Valid for ID

534900-x

70 °C

534901-xx

Bold: This preferred version is available on short notice.
* Please select when ordering
1)
Limited tolerances: signal amplitude: 0.8 VPP to 1.2 VPP
2)For the relationship of operating temperature to shaft speed and supply voltage, see General mechanical information

Radial cable (can also be used axially)
A = Bearingb = Fastening threadm = Measuring point for operating temperaturer = Reference mark position ±20°
1 =	Incremental rotary encoders: Direction of shaft rotation for output signals according to interface description
Absolute rotary encoders: Direction of shaft rotation for ascending position values

48

49

AbsoluteSingleturn

MultiturnROC 1023

ROC 1013

ROQ 1035

ROQ 1025

Interface

EnDat 2.2

Ordering designation

EnDat22

EnDat01

EnDat22

EnDat01

Positions/revolution

8 388 608 (23 bits)

8192 (13 bits)

8 388 608 (23 bits)

8192 (13 bits)

Revolutions–

4096 (12 bits)

Code

Pure binary

Pure binary

Elec. permiss. shaft speed
1)
Deviations≤ 12 000 rpm
for continuous position value≤ 4000 rpm/≤ 12 000 rpm±1 LSB/±16 LSB≤ 12 000 rpm
for continuous position value≤ 4000 rpm/≤ 12 000 rpm±1 LSB/±16 LSB

Calculation time tcal
Clock frequency≤ 7 µs≤ 8 MHz≤ 9 µs
≤ 2 MHz≤ 7 µs≤ 8 MHz≤ 9 µs
≤ 2 MHz

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

–

512

–

512

Cutoff frequency –3 dB–≥ 190 kHz–≥ 190 kHz

System accuracy±60“Electrical connection

Cable (1 m) with M12 coupling

Cable (1 m) with M23 coupling

Cable (1 m) with M12 coupling

Cable (1 m) with M23 coupling

Supply voltage

DC 3.6 V to 14 V

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, without load)

5 V: 85 mA

5 V: 105 mA

Shaft

Solid shaft (¬ 4 mm)

Mech. permiss. shaft speed n 12 000 rpm
Starting torque (typical)

0.001 Nm (at 20 °C)

Moment of inertia of rotor≈ 0.5 · 10

Shaft load

Axial: 5 N
Radial: 10 N at shaft end–60.002 Nm (at 20 °C)

kgm2

2

Vibration: 55 Hz to 2000 Hz ≤   100 m/s (EN 60068-2-6)≤ 1000 m/s2 (EN 60068-2-27)
Shock: 6 ms
Max. operating temp.

100 °C

Min. operating temp.

Fixed cable: –30 °C; moving cable: –10 °C

Protection EN 60529

IP64

Mass

≈ 0.09 kg

Valid for ID

606693-xx

1)
2)

606691-xx

606696-xx

606694-xx

Speed-dependent deviations between absolute and incremental signals
Limited tolerances: signal amplitude: 0.8 VPP to 1.2 VPP

50

51

ROC/ROQ/ROD 400 series
Absolute and incremental rotary encoders• Synchro flange• Solid shaft for separate shaft coupling

Incremental
ROD 426

ROD 466

ROD 436

ROD 486« HTL» 1 VPP512–Interface« TTLLine counts*

50

100

150

200

250

360

1000

1024

1250 1500

1800

2000 2048 2500 3600 4096 5000

500

2)
2)
2)
2)
6000 8192 9000 10 000

720

1)

–

Reference markOne

Cutoff frequency –3 dB
Scanning frequency
Edge separation a–
2)≤ 300 kHz/≤ 150 kHz2)≥ 0.39 µs/≥ 0.25 µs

System accuracy

1/20 of grating period

Electrical connection*• M23 flange socket, radial and axial• Cable (1 m/5 m) with or without M23 coupling

Supply voltage

DC 5 V ±0.5 V

DC 10 V to 30 V

DC 10 V to 30 V

DC 5 V ±0.5 V

Current consumption
without load

≤ 120 mA

≤ 100 mA

≤ 150 mA

≤ 120 mA

Shaft

Solid shaft ( 6 mm)≥ 180 kHz––

Mech. permiss. shaft speed n ≤ 16 000 rpm
Starting torque (typical)

0.01 Nm (at 20 °C)

Moment of inertia of rotor≤ 2.7 · 10

Shaft load3)

Axial: ≤ 40 N; radial: ≤ 60 N at shaft end

–6

kgm2

2

Vibration: 55 Hz to 2000 Hz ≤   300 m/s (EN 60068-2-6)≤ 2000 m/s2 (EN 60068-2-27)
Shock: 6 ms
4)

100 °C5)

Max. operating temp.

100 °C

Min. operating temp.

Flange socket or fixed cable: –40 °C; moving cable: –10 °C

Protection EN 60529

IP67 at housing; IP64 at shaft inlet (IP66 upon request)

Mass≈ 0.3 kg

Valid for ID

376846-xx

70 °C

376866-xx

376836-xx

6)376886-xx

Bold: This preferred version is available on short notice.
* Please select when ordering
1)
Limited tolerances: signal amplitude: 0.8 VPP to 1.2 VPP
2)Signal periods; generated by integrated 2-fold interpolation (TTL x 2)
3)
See also Mechanical design types and mounting
4)
For the relationship of operating temperature to shaft speed and supply voltage, see General mechanical information
5)
80 °C for ROD 486 with 4096 or 5000 lines6)
 Available with mechanical fault exclusion; for deviating specifications and special mounting information,
see the Fault Exclusion Customer Information document
Radial cable (can also be used axially)
A = Bearingb = Fastening threadm = Measuring point for operating temperature
1 = Connector coding
2 = ROD reference mark position for shaft and flange ±30°
3 =	Incremental rotary encoders: Direction of shaft rotation for output signals according to interface description
Absolute rotary encoders: Direction of shaft rotation for ascending position values5253

AbsoluteSingleturn

MultiturnROC 425

ROC 413Interface*

EnDat 2.2

EnDat 2.2

Ordering designation

EnDat22

EnDat01

Positions/revolution

33 554 432 (25 bits)

8192 (13 bits)

Revolutions

–

Code

Pure binary

Elec. permiss. shaft speed
1)
Deviations≤ 15 000 rpm
for continuous position value

Calculation time tcal
Clock frequency

ROQ 437

ROQ 425

SSI

EnDat 2.2

EnDat 2.2

SSI

SSI39r1

EnDat22

EnDat01

SSI41r1

33 554 432 (25 bits)

8192 (13 bits)

8192 (13 bits)

4096
Gray

Pure binary

512 lines:≤ 5000/12 000 rpm±1 LSB/±100 LSB
2048 lines:≤ 1500/12 000 rpm±1 LSB/±50 LSB

12 000 rpm±12 LSB≤ 15 000 rpm
for continuous position value

512 lines:≤ 5000/10 000 rpm±1 LSB/±100 LSB
2048 lines:≤ 1500/10 000 rpm±1 LSB/±50 LSB

12 000 rpm±12 LSB≤ 7 µs≤ 8 MHz≤ 9 µs
≤ 2 MHz≤ 5 µs–≤ 7 µs≤ 8 MHz≤ 9 µs
≤ 2 MHz≤ 5 µs–Incremental signals

Without» 1 VPP2)

Without» 1 VPP2)Line counts*

–

512

512

–

512

Cutoff frequency –3 dB–

512 lines: ≥ 130 kHz; 2048 lines: ≥ 400 kHz–

512 lines: ≥ 130 kHz; 2048 lines: ≥ 400 kHz

System accuracy±20“

512 lines: ±60“; 2048 lines: ±20“

±20“

512 lines: ±60“; 2048 lines: ±20“Electrical connection*• M12 flange socket, radial• Cable (1 m) with M12 coupling• M23 flange socket, axial or radial• Cable (1 m/5 m) with or without M23 coupling• M12 flange socket, radial• Cable (1 m) with M12 coupling• M23 flange socket, axial or radial• Cable (1 m/5 m) with or without M23 coupling

Supply voltage

DC 3.6 V to 14 V

DC 3.6 V to 14 V

DC 4.75 V to 30 V

DC 3.6 V to 14 V

DC 3.6 V to 14 V

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

5 V: ≤ 0.8 W
10 V: ≤ 0.65 W
30 V: ≤ 1 W

3.6 V: ≤ 0.7 W
14 V: ≤ 0.8 W

5 V: ≤ 0.95 W
10 V: ≤ 0.75 W
30 V: ≤ 1.1 W

Current consumption(typical, without load)

5 V: 85 mA

5 V: 90 mA
24 V: 24 mA

5 V: 105 mA

5 V: 120 mA
24 V: 28 mA

Shaft

Solid shaft ( 6 mm)

2048

Mech. permiss. shaft speed n ≤ 15 000 rpm

2048

512

DC 4.75 V to 30 V

≤ 12 000 rpm

Starting torque (typical)

0.01 Nm (at 20 °C)

Moment of inertia of rotor≤ 2.7 · 10

Shaft load

Axial: ≤ 40 N; radial: ≤ 60 N at shaft end (see also Mechanical design types and mounting)

–6

Gray

kgm2

2

Vibration: 55 Hz to 2000 Hz ≤ 300 m/s (EN 60068-2-6)
ROC/ROQ: ≤ 2000 m/s2; RIC/RIQ: ≤ 1000 m/s2 (EN 60068-2-27)
Shock: 6 ms
3)

Max. operating temp.

100 °C

Min. operating temp.

Flange socket or fixed cable: –40 °C; moving cable: –10 °C

Protection EN 60529

IP67 at housing; IP64 at shaft inlet (IP66 upon request)

Mass≈ 0.35 kg

Valid for ID

683639-xx /1322268-xx

4)

4) 5)

1109254-xx

Bold: This preferred version is available on short notice.
* Please select when ordering
1)
Speed-dependent deviations between absolute value and incremental signal

541131750-xx/1353113-xx5)

683641-xx4)/1322273-xx4)5)

1109256-xx

1131752-xx/1353117-xx5)

2)

Limited tolerances: signal amplitude: 0.8 VPP to 1.2 VPP
For the relationship of operating temperature to shaft speed and supply voltage, see General mechanical information
4)
Also available with functional safety; for dimensions and specifications, see the Product Information document
5)
Successor variants

3)

55

ROQ 425

Absolute
MultiturnRotary encoder for absolute position values with solid shaft for separate shaft coupling• EnDat interface• Additional incremental signals with TTL or HTL levels

ROQ 425
Interface

EnDat 2.2

Ordering designation*

EnDatH

Positions/revolution

8192 (13 bits)

Revolutions

4096 (12 bits)

Code

Pure binary

Calculation time tcal
Clock frequency≤ 9 µs
≤ 2 MHz

Incremental signals

HTL

Signal periods*

512

1024

2048

512

2048

4096

Edge separation a≥ 2.4 µs

≥ 0.8 µs

≥ 0.6 µs

≥ 2.4 µs

≥ 0.6 µs

≥ 0.2 µs

Output frequency≤ 52 kHz≤ 103 kHz≤ 205 kHz≤ 52 kHz≤ 205 kHz≤ 410 kHz

System accuracy

±60“

±60“

±20“

±60“

±20“

±20“

Electrical connection

17-pin M23 radial flange socket (male)

1)

2)

TTL

Cable length≤ 100 m (with HEIDENHAIN cable)

Supply voltage

DC 10 V to 30 V

DC 4.75 V to 30 V

Power consumption (max.)See Power consumption diagram

At 4.75 V: ≤ 900 mW
At 30 V: ≤ 1100 mW

Current consumption(typical, without load)

At 10 V: ≤ 56 mA
At 24 V: ≤ 34 mA

At 5 V: ≤ 100 mA
At 24 V: ≤ 25 mA

Shaft

Solid shaft (¬ 10 mm) with flat

Mech. permiss. shaft
4)
speed n≤ 12  000 rpm

Starting torque (typical)

0.025 Nm (at 20 °C)

Moment of inertia of rotor

2.7 · 10

Shaft load

Axial: ≤ 40 Nm
Radial: ≤ 60 Nm at shaft end(see also Mechanical design types and mounting)Vibration: 10 Hz to 2000 Hz
Shock: 6 ms

≤   150 m/s2 (EN 60068-2-6)≤ 1000 m/s2 (EN 60068-2-27)

3)

A = Bearingb = Fastening thread
M1 = Measuring point for operating temperature
M2 = Measuring point for vibration, see also D 774714
1 = Connector coding
2 = Direction of shaft rotation for ascending position values

EnDatT

4)

–6

kgm2

Max. operating temp.

100 °C

Min. operating temp.

–40 °C

Protection EN 60529

Housing: IP67
Shaft exit: IP66

Mass

≈ 0.30 kg

Valid for ID

1042530-xx

1042529-xx* Please select when ordering
For absolute position value; accuracy of the incremental signal upon request
2)
For HTL signals, the maximum cable length depends on the output frequency (see the Cable length for HTL diagrams)
3)
See General electrical information in the Interfaces of HEIDENHAIN Encoders brochure4)
For the relationship of operating temperature to shaft speed and supply voltage, see General mechanical information
1)

56

57

ROQ 425

Absolute
MultiturnRotary encoder for absolute position values with solid shaft for separate shaft coupling• SSI interface• Additional incremental signals with TTL or HTL levels

ROQ 425
Interface

SSI

Ordering designation*

SSI41H

Positions/revolution

8192 (13 bits)

Revolutions

4096 (12 bits)

Code

Pure binary

Calculation time tcal
Clock frequency≤ 9 µs
≤ 2 MHz

Incremental signals

HTL

Signal periods*

512

1024

2048

512

2048

4096

Edge separation a≥ 2.4 µs

≥ 0.8 µs

≥ 0.6 µs

≥ 2.4 µs

≥ 0.6 µs

≥ 0.2 µs

Output frequency≤ 52 kHz≤ 103 kHz≤ 205 kHz≤ 52 kHz≤ 205 kHz≤ 410 kHz

System accuracy

±60“

±60“

±20“

±60“

±20“

±20“

Electrical connection

12-pin M23 radial flange socket (male)

5)

1)

2)

TTL

17-pin M23 radial flange socket (male)

Cable length≤ 100 m (with HEIDENHAIN cable)

Supply voltage

DC 10 V to 30 V

DC 4.75 V to 30 V

Power consumption (max.)See Power consumption diagram

At 4.75 V: ≤ 900 mW
At 30 V: ≤ 1100 mW

Current consumption(typical, without load)

At 10 V: ≤ 56 mA
At 24 V: ≤ 34 mA

At 5 V: ≤ 100 mA
At 24 V: ≤ 25 mA

Shaft

Solid shaft (¬ 10 mm) with flat

Mech. permiss. shaft
4)
speed n≤ 12  000 rpm

Starting torque (typical)

0.025 Nm (at 20 °C)

Moment of inertia of rotor

2.7 · 10

Shaft load

Axial: ≤ 40 Nm
Radial: ≤ 60 Nm at shaft end(see also Mechanical design types and mounting)Vibration: 10 Hz to 2000 Hz
Shock: 6 ms

≤   150 m/s2 (EN 60068-2-6)≤ 1000 m/s2 (EN 60068-2-27)

3)

A = Bearingb = Fastening thread
M1 = Measuring point for operating temperature
M2 = Measuring point for vibration, see also D 774714
1 = Connector coding
2 = Direction of shaft rotation for ascending position values

SSI41T

4)

–6

kgm2

Max. operating temp.

100 °C

Min. operating temp.

–40 °C

Protection EN 60529

Housing: IP67
Shaft exit: IP66

Mass

≈ 0.30 kg

Valid for ID

1065028-xx

1042524-xx* Please select when ordering
For absolute position value; accuracy of the incremental signal upon request
2)
For HTL signals, the maximum cable length depends on the output frequency (see the Cable length for HTL diagrams)
3)
See General electrical information in the Interfaces of HEIDENHAIN Encoders brochure4)
For the relationship of operating temperature to shaft speed and supply voltage, see General mechanical information
5)
HTLs upon request
1)

58

59

ROC/ROQ 400 F/S series

Absolute
Singleturn

Absolute rotary encoders• Synchro flange• Solid shaft for separate shaft coupling• Fanuc Serial Interface or Siemens DRIVE-CLiQ interface

ROC/ROQ 400 F①

ROC 425 F

ROC 424 S

ROQ 437 F

ROQ 436 S

Interface

Fanuc Serial Interface(i Interface)

DRIVE-CLiQ

Fanuc Serial Interface(i Interface)

DRIVE-CLiQ

Ordering designation

Fanuc05

DQ01

Fanuc061)

DQ01

Positions/revolution

i: 33 554 432(25 bits)
: 8 388 608(23 bits)

16 777 216(24 bits)

33 554 432(25 bits)

16 777 216(24 bits)

Revolutions

8192 via revolution
counter–i: 4096

4096

Code

Pure binary

Elec. permiss. shaft speed≤ 15 000 rpm for continuous position values

Calculation time tcal

≤ 5 µs≤ 8 µs2)≤ 5 µs≤ 8 µs2)

System accuracy±20“Electrical connection

M12 flange socket, radial

Cable length≤ 30 m≤ 95 m3)≤ 30 m≤ 95 m3)

DC supply voltage

3.6 V to 14 V

10 V to 36 V

3.6 V to 14 V

10 V to 36 V

Power consumption(maximum)5 V: ≤ 0.7 W
14 V: ≤ 0.8 W

10 V: ≤ 1.4 W
36 V: ≤ 1.5 W

5 V: ≤ 0.75 W
14 V: ≤ 0.85 W

10 V: ≤ 1.4 W
36 V: ≤ 1.5 W

Current consumption(typical, without load)

5 V: 90 mA

24 V: 37 mA

5 V: 100 mA

24 V: 43 mA

Shaft

Solid shaft ( 6 mm) for ROC 424 S and ROQ 436 S with flat

Mech. permiss. shaft
4)
speed n≤ 15 000 rpm

Starting torque (typical)

0.01 Nm (at 20 °C)

Moment of inertia of rotor≤ 2.9 · 10

Shaft load

Axial: 40 N; radial: 60 N at shaft end (see also Mechanical design types and mounting)

1)②

ROC/ROQ 400 S①②

Multiturn–6≤ 12 000 rpm

kgm2

2

Vibration: 55 Hz to 2000 Hz ≤   300 m/s (EN 60068-2-6)≤ 2000 m/s2 (EN 60068-2-27)
Shock: 6 ms
4)

A = Bearingb = Fastening threadm = Measuring point for operating temperature
1 = Connector coding
2 = Direction of shaft rotation for ascending position values
DRIVE-CLiQ is a registered trademark of Siemens AG.

60

Max. operating temp.

100 °C

Min. operating temp.

–30 °C

Protection EN 60529

IP67 at housing; IP64 at shaft inlet

Mass≈ 0.35 kg

Valid for ID

1081305-xx

5)1036789-xx

1081303-xx

1036786-xx5)

1)

Optimized for Fanuc machine tool controls
Calculation time TIME_MAX_ACTVAL
3)
See the Interfaces of HEIDENHAIN Encoders brochure; with nEN = 1 (including adapter cable)
4)
For the relationship of operating temperature to shaft speed and supply voltage, see General mechanical information
5)
Also available with functional safety; for dimensions and specifications, see the Product Information document
2)61

ROC 425 series

Absolute
Singleturn

Absolute rotary encoders• Steel synchro flange• High accuracy• Solid shaft for separate shaft coupling• Version with stainless steel housing

ROC 425, steel

ROC 425, stainless steel

Interface

EnDat 2.2

Ordering designation

EnDat01

Positions/revolution

33 554 432 (25 bits)

Revolutions

–

Code

Pure binary

Elec. permiss. shaft speed
1)
Deviations≤ 1500/15 000 rpm±1200 LSB/±9200 LSB

Calculation time tcal
Clock frequency≤ 9 µs
≤ 2 MHz

Incremental signals» 1 VPPLine count

2048

Cutoff frequency –3 dB≥ 400 kHz

System accuracy±10“Electrical connection*• M23 flange socket, axial or radial• Cable (1 m/5 m) with or without M23 coupling

Supply voltage

DC 3.6 V to 14 V

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

Current consumption(typical, without load)

5 V: 85 mA

Shaft

Solid shaft ( 10 mm),length 20 mm

M23 flange socket, radial

Solid shaft ( 10 mm),length 15 mm

Mech. permiss. shaft speed n ≤ 12 000 rpm
Starting torque (typical)

0.025 Nm (at 20 °C)

Moment of inertia of rotor≤ 2.1 · 10

Shaft load

Axial: ≤ 40 N; radial: ≤ 60 N at shaft end (see also Mechanical design types and mounting)–60.025 Nm (at 20 °C)

kgm2

2

Vibration: 55 Hz to 2000 Hz ≤   300 m/s (EN 60068-2-6)≤ 2000 m/s2 (EN 60068-2-27)
Shock: 6 ms
3)

Radial cable (can also be used axially)
A = Bearingb = Fastening threadm = Measuring point for operating temperature
1 = Connector coding
2 =	Direction of shaft rotation for ascending
position values

62

Stainless steel version
Shaft
Flange, housing, flange socket

Material
1.41041.4301 (V2A)

Max. operating temp.

80 °C

Min. operating temp.

Flange socket or fixed cable: –40 °C; moving cable: –10 °C

Protection EN 60529

IP67 at housing; IP66 at shaft inlet

Mass≈ 0.50 kg

Valid for ID

638726-xx / 1350876-xx≈ 0.55 kg
4)1080335-xx

Bold: This preferred version is available on short notice.
* Please select when ordering
1)
Speed-dependent deviations between absolute value and incremental signal
2)
Limited tolerances: signal amplitude: 0.8 VPP to 1.2 VPP
3)For the relationship of operating temperature to shaft speed and supply voltage, see General mechanical information4)
Successor variants

63ROC/ROQ/ROD 400 series
Absolute and incremental rotary encoders• Clamping flange• Solid shaft for separate shaft coupling

Incremental
ROD 420

ROD 430

ROD 480

Interface

« TTL

« HTL

» 1 VPPLine counts*

50

100

150

200

250

360

1000

1024

1250 1500

1800

2000 2048 2500 3600 4096 5000

500

1)

512

720

–

Reference markOne

Cutoff frequency –3 dB
Output frequency
Edge separation a–≤ 300 kHz≥ 0.39 µs

System accuracy

1/20 of grating period

Electrical connection*• M23 flange socket, radial and axial• Cable (1 m/5 m) with or without M23 coupling

Supply voltage

DC 5 V ±0.5 V

DC 10 V to 30 V

DC 5 V ±0.5 V

Current consumption
without load

≤ 120 mA

≤ 150 mA

≤ 120 mA

Shaft

Solid shaft ( 10 mm)≥ 180 kHz––

Mech. permiss. shaft speed n ≤ 16 000 rpm
Starting torque (typical)

0.01 Nm (at 20 °C)

Moment of inertia of rotor≤ 2.1 · 10

Shaft load2)

Axial: ≤ 40 N; radial: ≤ 60 N at shaft end

–6

kgm2

2

Vibration: 55 Hz to 2000 Hz ≤   300 m/s (EN 60068-2-6)≤ 2000 m/s2 (EN 60068-2-27)
Shock: 6 ms
3)

Max. operating temp.

100 °C (80 °C for ROD 480 with 4096 or 5000 lines)

Min. operating temp.

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

Protection EN 60529

IP67 at housing; IP64 at shaft inlet (IP66 upon request)

Mass≈ 0.3 kg

Valid for ID

376840-xx

376834-xx

4)376880-xx

Bold: This preferred version is available on short notice.
* Please select when ordering
1)
Limited tolerances: signal amplitude: 0.8 VPP to 1.2 VPP
2)See also Mechanical design types and mounting
3)
For the relationship of operating temperature to shaft speed and supply voltage, see General mechanical information
4)
 Available with mechanical fault exclusion; for deviating specifications and special mounting information,
see the Fault Exclusion Customer Information document

Radial cable (can also be used axially)
A = Bearingb = Fastening threadm = Measuring point for operating temperature
1 = Connector coding
2 = ROD reference mark position on shaft and flange ±15°
3 =	Incremental rotary encoders: Direction of shaft rotation for output signals according to interface description
Absolute rotary encoders: Direction of shaft rotation for ascending position values

64

65AbsoluteSingleturn

MultiturnROC 425

ROC 413Interface*

EnDat 2.2

EnDat 2.2

Ordering designation

EnDat22

EnDat01

Positions/revolution

33 554 432 (25 bits)

8192 (13 bits)

Revolutions

–

Code

Pure binary

Elec. permiss. shaft speed
1)
Deviations≤ 15 000 rpm
for continuous position value

Calculation time tcal
Clock frequency

ROQ 437

ROQ 425

SSI

EnDat 2.2

EnDat 2.2

SSI

SSI39r1

EnDat22

EnDat01

SSI41r1

33 554 432 (25 bits)

8192 (13 bits)

4096
Gray

Pure binary

512 lines:≤ 5000/12 000 rpm±1 LSB/±100 LSB
2048 lines:≤ 1500/12 000 rpm±1 LSB/±50 LSB

12 000 rpm±12 LSB≤ 15 000 rpm
for continuous position value

512 lines:≤ 5000/10 000 rpm±1 LSB/±100 LSB
2048 lines:≤ 1500/10 000 rpm±1 LSB/±50 LSB

12 000 rpm±12 LSB≤ 7 µs≤ 8 MHz≤ 9 µs
≤ 2 MHz≤ 5 µs–≤ 7 µs≤ 8 MHz≤ 9 µs
≤ 2 MHz≤ 5 µs–Incremental signals

Without» 1 VPP2)

Without» 1 VPP2)Line counts*

–

512

512

–

512

Cutoff frequency –3 dB–

512 lines: ≥ 130 kHz; 2048 lines: ≥ 400 kHz–

512 lines: ≥ 130 kHz; 2048 lines: ≥ 400 kHz

System accuracy±20“

512 lines: ±60“; 2048 lines: ±20“

±20“

512 lines: ±60“; 2048 lines: ±20“Electrical connection*• M12 flange socket, radial• Cable (1 m) with M12 coupling• M23 flange socket, axial or radial• Cable (1 m/5 m) with or without M23 coupling• M12 flange socket, radial• Cable (1 m) with M12 coupling• M23 flange socket, axial or radial• Cable (1 m/5 m) with or without M23 coupling

Supply voltage

DC 3.6 V to 14 V

DC 3.6 V to 14 V

DC 4.75 V to 30 V

DC 3.6 V to 14 V

DC 3.6 V to 14 V

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

5 V: ≤ 0.8 W
10 V: ≤ 0.65 W
30 V: ≤ 1 W

3.6 V: ≤ 0.7 W
14 V: ≤ 0.8 W

5 V: ≤ 0.95 W
10 V: ≤ 0.75 W
30 V: ≤ 1.1 W

Current consumption(typical, without load)

5 V: 85 mA

5 V: 90 mA
24 V: 24 mA

5 V: 105 mA

5 V: 120 mA
24 V: 28 mA

Shaft

Solid shaft ( 10 mm)

1)

2048

Mech. permiss. shaft speed n ≤ 15 000 rpm

2048

512

DC 4.75 V to 30 V

≤ 12 000 rpm

Starting torque (typical)

0.01 Nm (at 20 °C)

Moment of inertia of rotor≤ 2.3 · 10

Shaft load

Axial: ≤ 40 N; radial: ≤ 60 N at shaft end (see also Mechanical design types and mounting)

–6

Gray

kgm2

2

Vibration: 55 Hz to 2000 Hz ≤ 300 m/s ; (EN 60068-2-6); higher values upon request
ROC/ROQ: ≤ 2000 m/s2; RIC/RIQ: ≤ 1000 m/s2 (EN 60068-2-27)
Shock: 6 ms
3)

Max. operating temp.

100 °C

Min. operating temp.

Flange socket or fixed cable: –40 °C; moving cable: –10 °C

Protection EN 60529

IP67 at housing; IP64 at shaft inlet (IP66 upon request)

Mass≈ 0.35 kg

Valid for ID

683640-xx /1322269-xx

4)

4) 5)

1109255-xx

Bold: This preferred version is available on short notice.
* Please select when ordering
1)
Speed-dependent deviations between absolute value and incremental signal

661131751-xx/1353114-xx5)

683642-xx4)/1322274-xx4) 5)

1109257-xx

1131753-xx/1353118-xx5)

2)

Limited tolerances: signal amplitude: 0.8 VPP to 1.2 VPP
For the relationship of operating temperature to shaft speed and supply voltage, see General mechanical information
4)
Also available with functional safety; for dimensions and specifications, see the Product Information document
5)
Successor variants

3)67

ROC/ROQ 400 F/S series

Absolute
Singleturn

Absolute rotary encoders• Clamping flange with additional slot for fastening with fixing clamps• Solid shaft for separate shaft coupling• Fanuc Serial Interface or Siemens DRIVE-CLiQ interface

ROC 425 F

ROC 424 S

ROQ 437 F

ROQ 436 S

Interface

Fanuc Serial Interface(i Interface)

DRIVE-CLiQ

Fanuc Serial Interface(i Interface)

DRIVE-CLiQ

Ordering designation

Fanuc05

DQ01

Fanuc061)

DQ01

Positions/revolution

i: 33 554 432 (25 bits)
: 8 388 608 (23 bits)

16 777 216 (24 bits)

33 554 432 (25 bits)

16 777 216

Revolutions

8192 via revolution
counter–i: 4096

4096

Code

Pure binary

Elec. permiss. shaft speed≤ 15 000 rpm for continuous position values

Calculation time tcal

≤ 5 µs≤ 8 µs2)≤ 5 µs≤ 8 µs2)

System accuracy±20“Electrical connection

M12 flange socket, radial

Cable length≤ 30 m≤ 95 m3)≤ 30 m≤ 95 m3)

DC supply voltage

3.6 V to 14 V

10 V to 36 V

3.6 V to 14 V

10 V to 36 V

Power consumption(maximum)5 V: ≤ 0.7 W
14 V: ≤ 0.8 W

10 V: ≤ 1.4 W
36 V: ≤ 1.5 W

5 V: ≤ 0.75 W
14 V: ≤ 0.85 W

10 V: ≤ 1.4 W
36 V: ≤ 1.5 W

Current consumption(typical, without load)

5 V: 90 mA

24 V: 37 mA

5 V: 100 mA

24 V: 43 mA

Shaft

Solid shaft ( 10 mm) for ROC 424 S and ROQ 436 S with flat

Mech. permiss. shaft
4)
speed n≤ 15 000 rpm

Starting torque (typical)

0.01 Nm (at 20 °C)

Moment of inertia of rotor≤ 2.9 · 10

Shaft load

Axial: 40 N; radial: 60 N at shaft end (see also Mechanical design types and mounting)

1)

ROC/ROQ 400 F


ROC/ROQ 400 S

Multiturn–6≤ 12 000 rpm

kgm2

2

Vibration: 55 Hz to 2000 Hz ≤   300 m/s (EN 60068-2-6)≤ 2000 m/s2 (EN 60068-2-27)
Shock: 6 ms
4)

A = Bearingb = Fastening threadm = Measuring point for operating temperature
1 = Connector coding
2 = Direction of shaft rotation for ascending position values
DRIVE-CLiQ is a registered trademark of Siemens AG.

68

Max. operating temp.

100 °C

Min. operating temp.

–30 °C

Protection EN 60529

IP67 at housing; IP64 at shaft inlet

Mass≈ 0.35 kg

Valid for ID

1081306-xx

5)1036790-xx

1081304-xx

1036792-xx5)

1)

Optimized for Fanuc machine tools
Calculation time TIME_MAX_ACTVAL
3)
See the Interfaces of HEIDENHAIN Encoders brochure; with nEN = 1 (including adapter cable)
4)
For the relationship of operating temperature to shaft speed and supply voltage, see General mechanical information
5)
Also available with functional safety; for dimensions and specifications, see the Product Information document
2)69

ROD 600 series

Incremental• Incremental rotary encoders with sturdy design• Clamping flange• Solid shaft for separate shaft coupling

ROD 620

ROD 630

Incremental signals

« TTL

« HTL

Line counts*

512

Reference markOne

Scanning frequency
Edge separation a≤ 300 kHz≥ 0.39 µs

System accuracy±1/20 of grating period

Electrical connection

Flange socket 1¼"; 18UNEF 17-pin, radial

Supply voltage
Current consumption
without load

DC 5 V ±0.5 V≤ 120 mA

Shaft

Solid shaft ( 15 mm) with key

1000

1024

2048 5000

2)

DC 10 V to 30 V
≤ 150 mA

Mech. permiss. shaft speed n ≤ 12 000 rpm
Starting torque (typical)

0.05 Nm (at 20 °C)

Moment of inertia of rotor≤ 11 · 10

Shaft load

Axial: 75 N
Radial: 75 N at shaft end

–6

kgm2

2

Vibration: 55 Hz to 2000 Hz ≤   200 m/s (EN 60068-2-6)≤ 2000 m/s2 (EN 60068-2-27)
Shock: 6 ms
1)

 = Encoder bearing
M1 = Measuring point for operating temperature
1 = Connector coding
2 = Direction of shaft rotation for output signals according to interface description

70

Max. operating temp.

85 °C

Min. operating temp.

–20 °C

Relative humidity≤ 93 % (40 °C/4 d as per EN 60068-2-78); without condensation

Protection EN 60529

IP66

Mass

≈ 0.8 kg

Valid for ID

1145260-xx

1145261-xx* Please select when ordering
Self-heating during operation of the rotary encoder at room temperature and a shaft speed of 6000 rpm: approx. +50 K
2)Compatible mating connector: ID 1094831-01, cable only: ID 816317-xx
1)71

ROD 1930

Incremental

Incremental rotary encoders• For fastening with flange or base
• Solid shaft with key for separate shaft coupling

Solid shaft

Solid through shaft

ROD 1930
Interface*« HTLLine counts*

600

Reference mark–Output frequency
Edge separation a≤ 160 kHz
≤ 0.76 μs

System accuracy±1/10 of grating period

Electrical connection

Terminal box with screw terminals

Supply voltage

DC 10 V to 30 V

Current consumption(typical, without load)

15 V: 60 mA

Shaft*

Solid shaft or solid through shaft ( 15 mm) with key

Mech. permiss. shaft speed≤ 4000 rpm

Starting torque (typical)
at 20 °C

Solid shaft: 0.05 Nm
Solid through shaft: 0.15 Nm

Moment of inertia of rotor

2.5 · 10Permissible angularacceleration≤ 4 · 104 rad/s2

Shaft load1)

Axial: ≤ 150 N
Radial: ≤ 200 N at shaft end

Vibration: 25 Hz to 200 Hz
Shock: 6 ms

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

2)« HTLs

1024

1200

2400
One

–5

kgm2

2

Operating temperature–20 °C to 70 °C

Protection EN 60529

IP66

Mass

≈ 4.5 kg

Valid for ID

Solid shaft: 1043373-xx
Solid through shaft: 1043377-xx* Please select when ordering
See also Mechanical design types and mounting
2)
Special versions upon request (e.g., with water jacket)
1)

A = Bearingm = Measuring point for operating temperature
1 = Direction of shaft rotation for output signals according to interface description

7273

HR 1120
Electronic handwheel• Version for integration• With mechanical detent

Incremental
HR 1120
Interface« TTLLine count100

Output frequency≤ 5 kHz

Switching times

t+/t– ≤ 100 ns

Electrical connection

Via M3 screw terminals

Cable length≤ 30 mSupply voltage

DC 5 V ±0.25 V

Current consumption
without load

≤ 160 mA

DetentMechanical
100 detent positions per revolution
Detent positions defined within the LOW level of Ua1 and Ua2

Mech. permiss. shaft speed ≤ 200 rpm
Torque≤ 0.1 Nm (at 25 °C)

Vibration: 10 Hz to 200 Hz≤ 20 m/s

Max. operating temp.

60 °C

Min. operating temp.

0 °C

Protection EN 60529

IP00; IP40 when mounted
No condensation permitted

Mass≈ 0.15 kg

Valid for ID

687617-xx

2

1 = Cutout for mounting
2 = Direction of output signals as per the interface description

7475

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 withor without interpolation.

Signal period
360° elec.

The sinusoidal incremental signals A and
B are phase-shifted by 90° elec. and have atypical amplitude of 1 VPP. The illustrated
sequence of output signals, with B lagging
A, applies to the direction of motion shownin the dimension drawing.

The incremental signals are output as thesquare-wave pulse trains Ua1 and Ua2 witha 90° elec. phase shift. The reference marksignal consists of one or more reference
pulses Ua0, which are gated with theincremental signals. In addition, theintegrated electronics generate theinverted signals ¢, £, and ¤ fornoise-immune transmission. The illustrated
sequence of output signals—with Ua2
lagging Ua1—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.

Further information:(rated value)

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

The fault detection signal ¥ indicatesmalfunctions such as supply line breakage,
failure of the light source, etc.

Alternative
signal shape

Fault

Signal period 360° elec.

Measuring step after
4-fold evaluation

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

The distance between two successive
edges of the incremental signals Ua1 andUa2 through 1-fold, 2-fold, or 4-foldevaluation is one measuring step.

A, B, R measured with oscilloscope in differential mode

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

ERN and ROD pin layouts

To adapt encoders to the interface of thedownstream electronics, HEIDENHAIN
offers signal converters. For information
about this, please refer to the Signal
Converters Product Overview.

12-pin M23 flange socket or coupling

12-pin M23 connector

17-pin flange socket
1¼" – 18UNEF

M A B
L T
P C
D
N
S
R
J
E
H G F

K

Supply voltage

Incremental signals

Other signals

12

2

10

11

5

6

8

1

3

4

7

9

H

F

K

M

A

N

C

R

B

P

S

D/E/G/J/L/T

UP

SensorUP

0V

Sensor
0V

Ua1

¢

Ua2

£

Ua0

¤

¥1)

Vacant2)

Brown/
GreenBlue

White/
Green

White

Brown

Green

Gray

Pink

Red

Black

VioletYellow

M23
1¼"

Pin layout
12-pin M23 coupling

12-pin M23 connector

Shield lies on housing; UP = Power supply voltage
Sensor: The sense line is connected in the encoder with the corresponding power line.
1)
2)
ERO 14xx: Vacant		
Exposed linear encoders: Switchover: TTL/11 µAPP for PWTSupply voltage

Incremental signals

12

2

10

11

5

6

8

1

3

4

9

UP

Sensor1)
UP

0V

Sensor1)
0V

A+

A–

B+

B–

R+

R–

VacantBrown/
GreenBlue

White/
Green

White

Brown

Green

Gray

Pink

Red

Black

/

Cable shield connected to housing; UP = Power supply voltage
Sensor: The sense line is connected in the encoder with the corresponding power line.
Vacant pins or wires must not be used!
1)
LIDA 2xx: Vacant76

Other signals
7/

HR pin layout

A shielded cable with a cross section of atleast 0.5 mm2 is recommended whenconnecting the handwheel to the voltage
supply.

Screw-terminal connection

Vacant Vacant
VioletYellow

Supply voltage

Incremental signals

Connection

+

–

A

A

B

B

Signal

UP
5V

UN
0V

Ua1

¢

Ua2

£

The handwheel is connected via screw
terminals. The wires must be provided withthe appropriate ferrules.

77« HTL, HTLs incremental signals

The fault detection signal ¥ indicates amalfunction such as failure of the lightsource, etc.

Measuring step after
4-fold evaluation

The maximum permissible output
frequency is shown in the specifications.
This frequency occurs at the maximum
permissible shaft speed. The output
frequency for any shaft speed is calculatedusing the following formula:f = (n/60) · z · 10–3

78

Output frequency in kHz 

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

Power consumption in mW Maximum permissible cable length for the HTL interface

The distance between two successive
edges of the incremental signals Ua1 andUa2 through 1-fold, 2-fold, or 4-foldevaluation is one measuring step.

Output frequency in kHz 

Maximum permissible cable length for HTLs interface

Output frequency in kHz 

Power consumption (maximum) for the HTL interface and supply voltage UP = 30 V



Where
f = Output frequency in kHz
n = Shaft speed in rpm
z = Number of signal periods per 360°

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

Power consumption in mW 

For the rotary encoders with additional HTL
output signals, the power consumption
also depends on the output frequency andcable length. The power consumption
values for the HTL and HTLs interfaces
therefore be read off separately from thediagrams.

For those rotary encoders with additional
HTL output signals, the maximum
permissible cable length may varydepending on several criteria:• Output frequency• Supply voltage• operating temperature
The diagrams show these relationships
separately for the HTL and HTLs interfaces.
At a supply voltage of DC 10 V, there are no
limitations on cable length.

Power and current consumption
For encoders with a wide supply voltage
range, the current consumption exhibits anonlinear relationship to the supply voltage.
It is determined using the calculation
described in the Interfaces of HEIDENHAIN
Encoders brochure.

Cable length for HTL

Cable length in m 

The incremental signals are output as thesquare-wave pulse trains Ua1 and Ua2 witha 90° elec. phase shift. The reference marksignal consists of one or more reference
pulses Ua0, which are gated with theincremental signals. In addition, theintegrated electronics generate theinverted signals ¢, £, and ¤ fornoise-immune transmission (not withHTLs). The illustrated sequence of output
signals—with Ua2 lagging Ua1—applies tothe direction of motion shown in thedimension drawing.

Fault

Signal period 360° elec.

Cable length in m 

HEIDENHAIN encoders with the « HTL
interface contain electronics that digitize
sinusoidal scanning signals with or without
interpolation.



Output frequency in kHz 

Power consumption (maximum) for the HTLs interface and supply voltage UP = 30 V

79Position values

12-pin M23 flange socket or coupling

17-pin flange socket
1¼" – 18UNEF

Supply voltage

M A B
L T
P C
D
K
N
S
R
J
E
H G F

Incremental signals

Other signals

M23

12

2

10

11

5

6

8

1

3

4

7

9

1¼"

H

F

K

M

A

N

C

R

B

P

S

D/E/G/J/L/T

UP

SensorUP

0V

Sensor
0V

Ua1

¢

Ua2

£

Ua0

¤

¥

VacantHTL
HTLs*

Brown/
GreenBlue

White/
Green

White

0V
Brown

0V

Green

Gray

Pink

0V
Red

Black

Violet

The EnDat interface is a digital,bidirectional interface for encoders. It iscapable of outputting position values,
reading information stored in the encoder,
updating this information, and storing new
information. Because the interface uses
serial transmission, only four signal lines
are required. The data (DATA) aretransmitted in synchronism with the
CLOCK signal from the downstream
electronics. The type of transmission(position values, parameters, diagnostics,etc.) is selected via mode commands sent
to the encoder by the downstream
electronics. Some functions are available
only with EnDat 2.2 mode commands.

Ordering designation

Command set

Incremental signals

EnDat01
EnDatH
EnDatT

EnDat 2.1 or EnDat 2.2

1 VPP
HTL
TTL

EnDat21–

EnDat02

EnDat 2.2

1 VPP

EnDat22

EnDat 2.2–

Versions of the EnDat interface

Absolute encoder

Yellow

Shield lies on housing; UP = Power supply voltage
Sensor: The sense line is connected in the encoder with the corresponding power line.
* Only with 12-pin flange socket or M23 coupling

For connection, a shielded cable with a2cross section of at least 0.5 mm is
recommended for the power supply.
The connection is performed via screw
terminals. The wires must be provided withthe appropriate ferrules.

Screw-terminal connection

Supply voltage

Incremental signals

Connection

1

2

3

4

5

6

HTL

UP

UN
0V

Ua1

¢

Ua2



Ua2

0V

Ua0

HTLs

80

Absolute
position value

Further information:

ROD 1930 pin layout

Downstream electronics
Incremental
signals*)

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

Integrated temperature evaluation
Rotary encoders with EnDat 2.2 feature aninternal temperature sensor integrated into
the encoder electronics. The digitized
temperature value is transmitted purely
serially via the EnDat protocol. Please bearin mind that this temperature measurement
and transmission is not safe in terms offunctional safety.

Operatingparameter

OperatingStatusA/Ua1*)
EnDat interface

Pin layout

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

With regard to the internal temperature
sensor, these rotary encoders support
the two-stage cascaded signaling of atemperature exceedance. This signaling
consists of an EnDat warning and an
EnDat error message.

EnDat warning is issued (EnDat memoryarea “Operating status,” word 1 “Warnings,”
bit 21 “Temperature exceeded”). Thiswarning threshold for the internal
temperature sensor is stored in the EnDat
memory area “Operating parameters,”
word 6 “Trigger threshold warning bit forexcessive temperature,” and can be
individually adjusted. A device-specificdefault value is saved here before shipping.
The temperature measured by the internal
temperature sensor is higher by a devicespecific and application-specific amountthan the temperature at measuring point
M1 in accordance with the dimension
drawing.

In compliance with the EnDat specification,
when the temperature reaches the warning
threshold for the temperature exceedanceof the internal temperature sensor, an

The encoders feature a further, albeit nonadjustable, trigger threshold of the internal
temperature sensor, which, when
exceeded, triggers an EnDat error

B/Ua2*)*) Depends on encoder
1 VPP, HTL, or TTL

message (the EnDat memory area
“Operating status,” word 0 “Error
messages,” bit 22 “Position,” and in
additional data 2 “Operating status error
sources,” bit 26 “Temperature exceeded”).
This threshold may vary depending on theencoder and is stated in the specifications.
HEIDENHAIN recommends adjusting thewarning threshold based on the applicationsuch that this threshold is sufficiently
below the trigger threshold for the“Temperature exceeded” EnDat error
message. Compliance with the operating
temperature at measuring point M1 isrequired for adherence to the encoder’s
proper and intended use.

81

Fanuc pin layout

Pin layout

Fanuc pin layout
HEIDENHAIN encoders with the code
letter F after the model designation are
optimized for connection to Fanucmachine-tool controls with the
Fanuc Serial Interface ( Interface)• Ordering designation: Fanuc02 normal
and high speed, two-pair transmission

8-pin M12 coupling

Supply voltage

Serial data transmission

8

2

5

1

3

4

7

6

UP

SensorUP

0V

Sensor
0V

DATA

DATA

CLOCK

CLOCK

Brown/GreenBlue

White/Green

White

Gray

Pink

VioletYellow

Fanuc Serial Interface (i Interface)• Ordering designation: Fanuc05 highspeed, one-pair transmission
Incorporates the Þ Interface (normal andhigh speed, two-pair transmission)• Ordering designation: Fanuc06
high speed, one-pair transmission

20-pin Fanuc connector

8-pin M12 coupling

Supply voltage

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!

17-pin M23 coupling

Serial data transmission

9

18/20

12

14

16

1

2

5

6

8

2

5

1

–

3

4

7

6

UP

SensorUP

0V

Sensor0V

ShieldRequestRequestBrown/
GreenBlue

White/
Green

White

–

VioletYellow

Serial Data Serial Data
Gray

Pink

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!
Incremental signals1)

Supply voltage
7

1

10

UP

SensorUP

0V

Brown/
GreenBlue

White/
Green

4

11

Sensor Internal
0V
shield2)
White/

Serial data transmission

15

16

12

13

14

17

8

9

A+

A–

B+

B–

DATA

DATA

CLOCK CLOCK

Green/Black

Yellow/
Black

Blue/
Black

Red/
Black

Gray

Pink

VioletYellow

Cable shield connected to housing; UP = Power supply voltage
Sensor: The sense line is connected in the encoder with the corresponding power line.
Vacant pins or wires must not be used!
1)
Only with EnDat01 and EnDat02
2)
Vacant with ECN/EQN 10xx and ROC/ROQ 10xx

82

83

Siemens pin layout

SSI position values

Siemens pin layout
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

The position value is transmitted, startingwith the most significant bit (MSB), overthe data lines (DATA) in synchronism with aclock 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.

RJ45 connector

8-pin M12 coupling

Supply voltage

T = 1 to 10 µs
tcal	See Specifications
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

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

Serial data transmission
Send data

Data transmission

Data was received

A

B

3

6

1

2

1

5

7

6

3

4

UP

0V

TXP

TXN

RXP

RXN

CLOCK and DATA not
shown

Cable shield connected to housing; UP = Power supply voltage

Pin layout
17-pin M23 coupling

Integrated temperature evaluation
Rotary encoders with the DRIVE-CLiQ
interface include an internal temperature
sensor integrated into the encoder
electronics. The digitized temperature value
is transmitted purely serially via the DRIVECLiQ interface. Please bear in mind thatneither the temperature measurement nor
the transmission of the temperature value
is safe in terms of functional safety.

The temperature measured by the internal
temperature sensor is higher by a devicespecific and application-specific amountthan the temperature at measuring point
M1 in accordance with the dimension
drawing.

message. This threshold may varydepending on the encoder and is stated in
the specifications. During operation, it isrecommended that the temperature be
kept adequately below the error-message
threshold.

Upon reaching a trigger threshold for theinternal temperature sensor, these rotary
encoders issue an “Alarm 405” error

Compliance with the operating
temperature at measuring point M1 isrequired for adherence to the encoder’s
proper and intended use.

Supply voltage
7

1

10

UP

SensorUP

0V

Brown/ Blue
Green

Incremental signals
4

11

Sensor Internal
0V
shieldWhite/ White
Green

/

Serial data transmission

15

16

12

13

14

A+

A–

B+

B–

DATA DATA CLOCK CLOCK Dir. of Zerorotation reset

Blue/
Black

Red/
Black

Gray

Green/ Yellow/
Black Black

17

Pink

8

9

Other signals

Violet Yellow

2

Black

5

Green

Shield lies 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.
Vacant pins or wires must not be used!

DRIVE-CLiQ is a registered trademark of Siemens AG.

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

84

85

Cables and connecting elements
General information

Plastic-insulated connector:
connecting element with coupling ring,available with male or female contacts(see symbols).

1 VPP, TTL, HTL connecting cables

Plastic-insulated coupling: Connector with external thread;deliverable with male or female contacts (see symbols).
SymbolM23

M12

SymbolM12
Mounted couplingwith central fastening

Mounting cutout

M23

M12 right-angle
connector

M23

Mounted couplingwith flange
M23

1¼" – 18UNEF

Flange socket with external thread; ispermanently mounted on a housing,available with male or female contacts

M23

SymbolD-sub connector for HEIDENHAIN
controls and evaluation electronics.
SymbolThe pin numbering on connectors is in
the direction opposite to that on couplings
or flange sockets, regardless of whether
the connecting elements have:
Male contacts or

43
B

Female contacts

76.51)/50
1)

When engaged, the connecting elements
have an IP67 rating (D-sub connector: IP50
as per EN 60529). When not connected,
there is no protection.

Accessories for M23 flange sockets andM23 mounted couplings
Threaded dust cap made of metal
ID 219926-01
Accessory for M12 connecting element
Insulation spacer
ID 596495-01

12-pin M23» 1 VPP, « TTL, « HTL
PUR connecting cables

2

2

2

12-pin: 4(2 x 0.14 mm ) + (4 x 0.5 mm ); AP = 0.5 mm

With connector (female)and coupling (male)

298401-xx

With connector (female)and connector (male)298399-xx

With connector (female)and 15-pin D-sub connector (female)for TNC

310199-xx

With connector (female)and 15-pin D-sub connector (male)(for PWM 20/EIB 74x)

310196-xx

With connector (female)and stripped cable end

309777-xx

Cable only, ¬ 8 mm

816317-xx

Mating element on connecting cable;fits encoder connector

Connector (female) for cable¬ 8 mm

291697-05

Connector on connecting cable forconnection to the downstream electronics

Connector (male) for cable¬ 8 mm¬ 6 mm

291697-08
291697-07

Coupling on connecting cable

Coupling (male) for cable¬ 4.5 mm
		
¬ 6 mm		¬ 8 mm

291698-14
291698-03
291698-04

Flange socket for installation in thedownstream electronics

Flange socket (female)315892-08

Mounted couplings

With flange (female)¬ 6 mm¬ 8 mm

291698-17291698-07

With flange (male)¬ 6 mm¬ 8 mm

291698-08
291698-31¬ 6 to 10 mm

741045-01

Interface electronics integrated into theconnector

With central fastening(male)» 1 VPP/11 µAPP adapter connector
For converting 1 VPP to 11 µAPP;
12-pin M23 connector (female)and 9-pin M23 connector (male)¬ 8 mm364914-01

AP: Cross section of power supply lines

86

87

EnDat connecting cables

PUR connecting cables

8-pin
M12

17-pin
M23

EnDat without
incremental signals

EnDat with incremental
signalsSSI

8-pin: (4 x 0.14 mm2) + (4 x 0.34 mm2); AP = 0.34 mm217-pin: (4 x 0.14 mm2) + 4(2 x 0.14 mm2) + (4 x 0.5 mm2); AP = 0.5 mm2
Cable diameter

Fanuc and Siemens connecting cables

CablesFanuc

With 17-pin M23 connector (female)and Fanuc connector22(2 x 2 x 0.14 mm ) + (4 x 1 mm );2
AP = 1 mm¬ 8 mm534855-xx¬ 6 mm–¬ 8 mm–¬ 8 mm

816327-xx

CablesFanuc

PUR connecting cables for M23 connecting element

6 mm

3.7 mm

8 mm

With connector (female)and coupling (male)368330-xx

801142-xx

323897-xx
340302-xx

With right-angle connector (female)and coupling (male)373289-xx

801149-xx–

With 17-pin M23 connector (female)and 20-pin Mitsubishi connector(2 x 2 x 0.14 mm2) + (4 x 0.5 mm2);
AP = 0.5 mm2With connector (female)and 15-pin D-sub connector (female)for TNC (position inputs)

533627-xx

332115-xx

With 17-pin M23 connector (female)and 10-pin Mitsubishi connector(2 x 2 x 0.14 mm2) + (4 x 1 mm2);
AP = 1 mm2With connector (female)and 25-pin D-sub connector (female)for TNC (speed inputs)

641926-xx–

336376-xx

Cable without connectors(2 x 2 x 0.14 mm2) + (4 x 1 mm2);
AP = 1 mm2With connector (female)and 15-pin D-sub connector (male),for IK 215, PWM 20, EIB 74x, etc.

524599-xx

801129-xx

324544-xx

With right-angle connector (female)and 15-pin D-sub connector (male),for IK 215, PWM 20, EIB 74x, etc.

722025-xx

801140-xx–

With connector (female)and stripped cable end

634265-xx–

309778-xx
309779-xx1)

With right-angle connector (female)and unstripped cable end–

20-pin10-pin22

2

PUR connecting cables for M12 connectors (1 x 4 x 0.14 mm ) + (4 x 0.34 mm ); AP = 0.34 mm

606317-xx––

With 8-pin M12 connector (female)and Fanuc connector¬ 6 mm646807-xx

With 8-pin M12 connector (female)and 20-pin Mitsubishi connector¬ 6 mm–¬ 6 mm–CablesSiemens

20-pinWith 8-pin M12 connector (female)and 10-pin Mitsubishi connector
10-pinCable without connectors
Italics: Cable with layout for “speed encoder” input (MotEnc EnDat)
1)
Without incremental signals
AP: Cross section of power supply lines––

816322-xx22

2

PUR connecting cables for M12 connector 2(2 x 0.17 mm ) + (2 x 0.24 mm ); AP = 0.24 mm
With 8-pin M12 connector (female)and 8-pin M12 coupling (male)¬ 6.8 mm822504-xx

With 8-pin M12 connector (female)and RJ45 Siemens connector (IP67)
Cable length: 1 m¬ 6.8 mm

1094652-01

With 8-pin M12 connector (female)and RJ45 Siemens connector (IP20)¬ 6.8 mm1093042-xx

AP: Cross section of power supply lines

88

89

Signal converters

Signal converters from HEIDENHAIN adapt
the encoder signals to the interface of thedownstream electronics. They are used
when the downstream electronics areunable to directly process the output
signals of HEIDENHAIN encoders or when
additional interpolation of the signals isnecessary.

Input signals of the signal converters
HEIDENHAIN signal converters can beconnected to encoders with 1 VPP
sinusoidal signals (voltage signals) or
11 µAPP sinusoidal signals (current signals).
Encoders with the EnDat or SSI serialinterface can be connected to various
signal converters as well.
Output signals of the signal converters
The signal converters are available with thefollowing interfaces to the downstream
electronics:• TTL square-wave pulse trains• EnDat 2.2• DRIVE-CLiQ• Fanuc Serial Interface• Mitsubishi high speed interface• Yaskawa serial interface• Profibus
Interpolation of the sinusoidal
input signals
In addition to performing signal conversion,
the signal converter also interpolates thesinusoidal encoder signals. This permits
finer measuring steps, resulting in higher
control quality and superior positioning
behavior.

Outputs

Interpolation1) or
subdivisionModel

Box design – IP65

5/10-foldIBV 101

20/25/50/100-fold

IBV 102

Without interpolation

IBV 600

25/50/100/200/400-fold

IBV 660 B

5/10-foldIBV 317120/25/50/100-fold

IBV 3271

5/10-fold

EXE 101

20/25/50/100-fold

EXE 1022fach

IBV 6072

5/10-foldIBV 6172

5/10-fold and20/25/50/100-fold

IBV 6272

Box design – IP65

≤ 16 384-fold subdivision

EIB 192

Plug design – IP40

≤ 16 384-fold subdivision

EIB 392

2

Box design – IP65

≤ 16384-fold subdivision

EIB 15121

Box design – IP65–

EIB 2391 S

Cable design – IP65–

EIB 3392 S

Box design – IP65

≤ 16 384-fold subdivision

EIB 192 F

Plug design – IP40

≤ 16 384-fold subdivision

EIB 392 F

2

Box design – IP65

≤ 16 384-fold subdivision

EIB 1592 F

1

Box design – IP65

≤ 16 384-fold subdivision

EIB 192 M

Plug design – IP40

≤ 16 384-fold subdivision

EIB 392 M

2

Box design – IP65

≤ 16 384-fold subdivision

EIB 1592 M

Interface

StatusInterface

Status« TTL

1» 1 VPP

1Plug design

Plug design – IP40

» 11 µAPP« TTL/» 1 VPP(adjustable)

Cable design

Generation of a position value
Various signal converters feature an
integrated counter function. Starting fromthe last set reference point, an absolute
position value is generated and output tothe downstream electronics when thereference mark is crossed.

EnDat 2.2

DRIVE-CLiQ

Fanuc SerialInterfaceTop-hat rail design

2

1

1

1

Mitsubishi high 1
speed interface» 1 VPP» 1 VPPEnDat 2.2

» 1 VPP» 1 VPP

1

1

1

1

Box design – IP65

Box design – IP65

1

EnDat 2.2

1

Plug design – IP40–

EIB 3391Y

PROFIBUS DP 1

EnDat 2.2

1Top-hat rail design–

PROFIBUS
gateway

PROFINET IO

EnDat 2.2

1Top-hat rail design–

PROFINET
gateway

Yaskawa serialinterface

1)

90

Design – IP rating

Inputs1

Switchable

91Testing and inspection devices, and diagnostics

HEIDENHAIN encoders provide all of theinformation needed for setup, monitoringand diagnostics. The type of information
available depends on whether the encoder
is incremental or absolute and on whichinterface is being used.

Overview

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).
Absolute encoders employ 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 be transmitted to thedownstream electronics along with theposition values via the serial interface(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 about theencoder’s function reserve– Identical scaling for all HEIDENHAIN
encoders– Cyclic reading capability
This enables the downstream electronics
to evaluate the current status of the encoderwith little effort, even in closed-loop mode.
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 linked into the closed control
loop (via suitable testing adapters if
needed). This enables real-time diagnosisof the machine or equipment during
operation. The available functions dependon the interface.

92

Diagnostics with the PWM 21 and ATS software

Initial setup with the PWM 21 and ATS software

PWM 21PWT 101

Interface

Output signals

Encoder diagnostics Monitoring mode

Encoder diagnostics

EnDat 2.1

Position value
Incremental signals

Yes
Yes

No
Yes

Yes
Yes

EnDat 2.2

Position value
Valuation numbers

Yes
Yes

Yes
1)
Yes

Yes
Yes

DRIVE-CLiQ

Position value
Valuation numbers

Yes
Yes

No
No

No
No7)

Fanuc

Position value
Valuation numbers

Yes
Yes

Yes
Yes

Yes8)
Yes8)

Mitsubishi

Position value
Valuation numbers

Yes
Yes5)

Yes
Yes1) 5)

Yes8)
Yes8)

Panasonic

Position value
Valuation numbers

Yes
Yes

Yes
Yes1)

Yes8)
Yes8)

Yaskawa

Position value
Valuation numbers

Yes
Yes6)

No7)
No7)

Yes8)
Yes8)

SSI

Position value
Incremental signals

Yes
Yes

No
Yes

No
No

1 VPP

Incremental signals

Yes

Yes

Yes

11 µAPP

Incremental signals

Yes

Yes

Yes

TTL

Incremental signals
Scanning signals

Yes
4)
Yes

Yes
No

Yes
Yes4)

HTL

Incremental signals

Yes2)

No

No7)

Commutation

Block commutation
Sinusoidal commutation

Yes2)
Yes

No
Yes

Yes
Yes

7)

3)

1)

Information must be requested by the control and transmitted
Via corresponding signal adapters
3)
Only for encoders with block commutation (see encoder documentation)
4)
If supported by the encoder (PWT function)
5)
Not available for encoders with the ordering designation Mitsu01
6)
Not available for the EIB 3391Y
7)This function is currently not available
8)
Two-pair transmission is required (for more information, see the documentation for the PWT 100/PWT 101)
2)

93

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

Level display

Testing device

PWT 101

Area of application• Functional testing of absolute and incremental
HEIDENHAIN encoders

Encoder input
only for HEIDENHAIN
encoders• EnDat• Fanuc Serial Interface• Mitsubishi high speed interface• Panasonic serial interface• Yaskawa serial interface• 1 VPP with Z1 track• 1 VPP• 11 µAPP• TTL

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

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

InterfaceUSB 2.0

Display

4.3-inch touchscreen

Supply voltage

AC 100 V to 240 V or DC 24 V

Supply voltage

DC 24 VPower consumption: max. 15 W

Dimensions

258 mm × 154 mm × 55 mm

Operating temperature

0 °C to 40 °C

Protection EN 60529

IP20

Dimensions≈ 145 mm × 85 mm × 35 mm

Languages

German, English, French, Italian, Spanish, Japanese,
Korean, Chinese (simplified), Chinese (traditional)

See the PWM 21/ATS Software Product
Information document to find out more.

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 system: 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

94

95

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
349529-2P · 2 · 02/2024 · CD · Printed in Germany

HEIDENHAIN
worldwide