MULTI-DOF
Measurement
Technology for
Multiple Degrees ofFreedom

06/2024

Dplus encoders for perfect motion systems
Linear encoders measure the position of
linear axes without intervening mechanicalelements, thereby eliminating multiple
potential sources of error:• Positioning error due to thermal changes
in the recirculating ball screw• Reversal error• Kinematic error due to the ball-screw
pitch error
As a result, linear encoders are essential
components on machines requiring highpositioning accuracy and machining
speed.

Exposed linear encoders are deployedon machines and automated systems
requiring high measurement accuracy.
Typical applications include the following:• Production and measurement equipmentin the semiconductor industry• PCB assembly machines• Ultra-precision equipment such as
diamond lathes for optical components,
facing lathes for magnetic storage disks
and grinding machines for ferrite parts.
• High-accuracy machine tools• Measuring machines, comparators,
measuring microscopes, and otherprecision measuring devices• Direct drive motors

Mechanical design
Exposed linear encoders consist of a scaleor scale tape and a scanning head that
operate without mechanical contact.
The scales of exposed linear encoders
are fastened to a mounting surface. Highflatness of the mounting surface is thus
an important requirement for the highaccuracy of linear encoders.

Table of contents
Overview

Dplus encoders
Dplus encoders measure multiple
degrees of freedom on a single machineaxis, thereby directly and precisely
measuring errors and the machine
deviations they cause. Dplus encoders
provide exceptional possibilities for opti­
mizing your motion system, particularly
when high dynamic performance andaccuracy are called for.

Dplus encoders for perfect motion systems

2

Multi-dimensional measurement technology

4Innovative graduation structures

6

One encoder, multiple degrees of freedom

8

Diagonal graduations

10

Out-of-plane gap measurement

12

Transferable accuracy

14

Less cabling and higher dynamic performance

16

LIP 6031 Dplus

18

LIP 211 Dplus / LIP 281 Dplus / LIP 291 Dplus

20

PP 281 R

22

GAP 1081

24

Pin layout

26

Specifications

Electrical connection

Information about the following topics
is available upon request or online atwww.heidenhain.com:• Angle encoders with integral bearing• Angle encoders with circular scale• Modular angle encoders with scale drumor scale tape
• Rotary encoders• Encoders for servo drives• Linear encoders for numericallycontrolled machine tools• Signal converters• HEIDENHAIN controls

2Further information:
This brochure supersedes all previous
editions, which thereby become invalid.
The basis for ordering from HEIDENHAIN
is always the brochure edition valid when
the order is placed.
Standards (ISO, EN, etc.) apply only
where explicitly stated in the brochure.

For detailed descriptions of all available
interfaces, as well as general electricalinformation, please refer to theInterfaces of HEIDENHAIN Encoders
brochure (ID 1078628-xx).
For the required connecting cables, see
the Cables and Connectors brochure(ID 1206103-xx).

3

Higher accuracy andgreater dynamic
performance

Multi-dimensional measurement technology

More than ever, productivity andaccuracy are key competitive
advantages. But faster and more

Conventional encoders can measure only one degree of freedom, rendering them blind to

The accuracy of a motion system depends on

precise production processes areunavoidable errors in other directions. In multi-axis systems, an error in one axis carries

multiple factors:

only part of the equation:over into the other axes, thereby affecting the entire motion system. Error in the Non-linear guideway errors

reproducibility and stable quality are

first axis changes the actual position of the second encoder, and so on.

 Vertical flatness, horizontal straightness

essential as well. Attaining reliably

Yet these errors are not normally measured.

 Pitch, yaw and rollhigh accuracy greatly expands your Squareness error

manufacturing capabilities,

The Dplus encoders from HEIDENHAIN, however, can measure multiple

 Kinematics error

particularly in the high-end spectrum.

degrees of freedom on a single axis, allowing the error in one axis to be Thermal expansion and other thermal effects

measured and compensated for in the next.

 Hysteresis

The challenge of perfecting position measurement in the primary axis is significant. Simply
optimizing the scale and scanning head is not sufficient for maximizing a motion system’s
precision and dynamic performance. Machine design factors and thermal changes play agreater role as accuracy and dynamic-performance requirements increase. Thanks tomulti-dimensional encoders such as the LIP 6000 Dplus, these factors can be directly
measured and compensated for.

= Guideway error

45Innovative graduation structures
Precise measurement for optimal performance
The interferential measuring principle generates signals by utilizing the refraction andinterference of light on finely divided gratings. The measuring standard consists of a flat
surface with 0.2 μm-high reflecting lines. These lines are read by a scanning reticle
featuring a light-permeable phase grating with an identical graduation period.
Interferential encoders use signal periods of 4 μm or less, and these largely harmonicsfree scanning signals can be highly interpolated. Consequently, these encoders are ideal
when high resolution and accuracy are required.
The Dplus encoders, such as the LIP 6000 Dplus, have a carrier with two separate
graduation tracks featuring diagonal graduations (±45°), thus permitting direct, highaccuracy measurement of the primary and secondary directions along the entire
measuring length.
HEIDENHAIN also offers an incremental two-coordinate encoder for equal measurementin two different directions. Neither direction is primary or secondary. In this case, thecarrier is itself a high-accuracy grid graduation.

The PP 281 R two-coordinate incremental encoder

6

7

One encoder, multiple degrees of freedom

Degrees of freedom:
X, Y
Dplus measuring standard with twoscanning heads

Dplus encoders can measure multiple degrees of freedom
with a signal measuring standard.

Degrees of freedom:
X, Y
Measuring multiple degrees of freedom

Dplus measuring standard with Dplus
scanning head

A body in space can move along six possible axes. These are divided into translational
degrees of freedom (X, Y, Z) and rotational degrees of freedom (RX, RY, RZ).
Normally, measuring multiple degrees of freedom requires numerous components.
Standard encoders require one scanning head and one measuring standard for each
degree of freedom. The Dplus encoders from HEIDENHAIN, however, can significantly
reduce the number of components required.
A Dplus scale with two separate graduation tracks and three scanning heads on the same
scale, for example, can measure up to three degrees of freedom. This technology makes
it possible to implement complex measuring tasks in a simple and compact design.

Degrees of freedom:
X, Y, RZ
Dplus measuring standard with standard
scanning head and Dplus scanning head89Diagonal graduations
Harness the advantages of precise error measurement
Position value calculation1(Pos1 + Pos2)
x=
¹2

Pos1

It would be impossible to home the secondary direction of measurement if the graduations
were positioned at right angles (0° and 90°). But with a diagonal configuration, the primaryYand secondary directions of motion can be homed at the same time.
X

1(Pos1 – Pos2)y=¹2

The resulting absolute position measurement, in turn, lets you achieve greater machinePos2

accuracy and identify sources of error.

Dplus-scanning head
The special Dplus scanning head developed by HEIDENHAIN can measure two degrees
of freedom at the same time. With the EnDat 3 interface, these two position values areforwarded to the control over a single cable.
The resulting reduction in cabling not only simplifies installation but also optimizes the
dynamic behavior of the motion system.

1011

Out-of-plane gap measurement
Conventional encoders can measure only one degree of freedom at a time. Dplus
encoders, however, can measure up to three degrees of freedom in the encoder plane,such as X, Y and RZ. Additional measurements in a different plane would require additional
encoders and a more complex system design.
The GAP 1081 gap encoder performs vertical measurement, enabling highly convenient

Degrees of freedom:
X, Z

and space-saving system expansion for additional directions. Because its components aremounted in the encoder’s main plane, the GAP 1081 delivers rapid measurement directlyat the machine.

Conventional measuring standard with aThis encoder can be used for straightforward vertical positioning tasks and continuous

scanning head and a GAP 1081 gap

vertical measurement along a linear plane. Two scanning heads deployed on a mirror can

encoder with one scanning headeven measure the pitch or yaw of the given axis, thus greatly simplifying the metrology
system design and reducing the required installation work.

Degrees of freedom:
X, Y, Z, RY, RZ
Dplus measuring standard with threescanning heads and the GAP 1081 gap
encoder with two scanning heads

GAP 1081

Degrees of freedom:
X, Y, Z, RY, RZ
Dplus measuring standards with threescanning heads each (without the
GAP 1081)

Scanning fields

1213

Transferable accuracy
Robustness test for the Dplus measuring-standard
assemblies
The system accuracy within an application depends not only on how well the encoder was
installed but also on the ambient conditions during operation. Thanks to measuringstandard calibrations performed by measuring machines at HEIDENHAIN, the accuracy of

LIP 6001 Dplus measuring standard
assembly on a steel carrier

the measuring system is increased, and complex on-site, post-installation calibrations areunneeded.
Prior to shipment, the measuring standard is also mounted to a carrier and measured at
HEIDENHAIN, thereby decoupling the measuring standard from negative mounting,environmental and transportation factors. As a result, the accuracy measured at
HEIDENHAIN is fully transferred from the measuring machine to the application. The
calibration table is included.

LIP 6001 Dplus measuring standard
assembly on a ceramic carrier

LIP 6001 Dplus

1st measurement

2nd measurement

Cold

1000

Transport conditions
3rd measurement

Heat

4th measurement

Humidity

5th measurement

Vibrations
2

6th measurement

Drop test–10 °C

50 °C at 50% rF

22 °C at 85% rF

6.86 m/s RMS*

Drop height: 0.8 m• Rate of heating/cooling: ±10K/h• Plateau time: 2 h• Rate of heating/cooling: ±10K/h• Plateau time: 2 h• Rate of air
humiditychange: ±20%
• Plateau time: 2 h• Packed in
cardboard box• Packedmeasuringstandard
assembly

Deviation in nm u

Ambient conditions

1st
measurement
2nd
measurement
3rd
measurement

800
600
400

4th
measurement
5th
measurement
6th
measurement

200
0
-200
-400
-600
-800

24h
Stabilization time
(room temperature)

24h
Stabilization time
(room temperature)

72 hStabilization time
(room temperature)*40 min: 3.92 m/s² RMS; 15 min: 5.29 m/s² RMS; 5 min: 6.86 m/s² RMS (ASTM D 4169)

14- 1000

0

40

80

120

160

200

240

280

320

360

400

440

480

520

560

Position in mm u
Straightness deviation relative to the measuring length15

Less cabling and higher dynamic
performance
Multi-head processing with EnDat 3
The use of multiple encoders increases overall system cabling, making installation anddownstream processing more complex. With the EnDat 3 interface, HEIDENHAIN offers
the optimal solution for transmitting a wide range of data on just one cable. Two position
values, for example, are calculated in the interface PCB of a Dplus encoder andtransmitted over a single cable.
For single-cable transmission, the multi-head processing electronics process the position
signals of multiple encoders.
Multi-head processing

This permits convenient implementation of complex metrology system designs without

Output interface:extensive cabling or separate position value processing.

EnDat 3

LIP 608 scanning head

LIP 6001 measuring standard

LIP 603 Dplus scanning head

16

17

LIP 6031 Dplus
Incremental exposed linear encoder Two diagonal graduations ±45° for measuring the primary and secondary directions
 Glass scale made of glass ceramic; mounting with PRECIMET and fixed-point elements

0.75 ± 0.1

 ML +10

(8.5)



9



2.9





 4.5

6.8



(17.5)
2.5

4.5

45°

Scale

LIP 6001 Dplus

Measuring standard
Coefficient of linear expansion

OPTODUR phase grating on Zerodur glass ceramic; graduation period: 8 µm
Þtherm  (0 ±0.1) · 10–6 K–1

Accuracy grade

X direction: ±3 µm; Y direction: ±20 µm

Baseline error

X direction: ±0.175 µm/5 mm; Y direction: ±0.350 µm/5 mm

Measuring length (ML) in X
direction in mm*

70 120 170
770 820 870
2240 2440 2640

220 270	 320	 370920 970 1020 1140
2840 3040

420
1240

470 5201340 1440

570 6201540 1640

670
1840

720
2040

36
9

20

Measuring length in Y direction ±2 mm


 2 F8
16.5

5
r



M2.5

36
 37



ISO 7984 - M3x6
Md = 1.15 Nm



ISO 4762 - M2.5 x (a+6) - 8.8 /ISO 7092 - 2.7
Md = 0.83 NmaRequired mating dimensions

0.1 / 32 A



0.75 ± 0.1

28


 37

 4x

(32)



28



(32)

10

45°

>8

18

=
=
=
=
=
=
=
=
=
=
=
=
=
=
=

4x  3.3
    

Machine guideway
Scale length
Reference mark position
Beginning of measuring length (ML)
Fixed point for defining the thermal fixed point
Reference mark position from the beginning of the measuring length (ML)
Direction of motion of the scanning unit for increasing position values
Adjustment of the scanning gap
Moiré adjustment: alignment pin: Ø 2m6
Adhesive tape
Adhesive
Center of 1 and 2 of the scanning head
Neutral center of rotation of the scanning head
Signal quality indicator
Bearing surface of encoder
Md = 40 Ncm

50

40.1

0.2 F

 2 F8
16.5

F
l
r
s
g
r
1
2
3
4
5
6
7
8
9

33.3



UNC 4/40

 0.1 A B

16



 4.5



Reference markOne at 68 mm after beginning of measuring length (up to ML 120: at center of ML)

Mass

0.15 g/mm

Scanning head

LIP 603 Dplus

Interface

EnDat 3

Ordering designation

E30-R4

Measuring step

172 pmAvailability of position value

X direction: < 11 µs at 12.5 Mbit/s; < 8.2 µs at 25 Mbit/s
Y direction: < 18.7 µs at 12.5 Mbit/s; < 12.1 µs at 25 Mbit/s2)

Traversing speed 240 m/min3)

Interpolation error±5 nm

RMS position noise

0.5 nm (1 MHz)Electrical connection

Cable (0.5 m/1 m/3 m) with interface electronics in the connector (15-pin D-sub (male))

Cable length12.5 Mbit/s:  100 m; 25 Mbit/s:  40 m
During signal adjustment with the PWM 21:  3 m

Supply voltage

DC 3.6 V to 14 V (recommended: 12 V)

4)Power consumption (max.)

3.6 V:  1.5 W; 14 V:  1.8 W

Current consumption

At 12 V: 110 mA (without load, typical)

Vibration 55 Hz to 2 kHz
Shock 11 ms

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

Operating temperature–10 °C to 70 °C

Mass

Scanning head: 30 g; APE connector: 77 g; Connecting cable: 36 g/m

1)* Please select when ordering1)	This value is stored in the encoder as the parameter XEL.timeHPFout and outputs the time interval between the position-value request(latch) and the availability of the position value in the Master (without cable factors)
2)
With transmission in the first LPF
3)
Maximum traversing speed when the reference mark is cross (120 m/min)
4)
See General electrical information in the Interfaces of HEIDENHAIN Encoders brochure or under www.heidenhain.com.

19

LIP 211Dplus/LIP 281Dplus/LIP 291Dplus
Incremental exposed linear encoder Two diagonal graduations ±45° for measuring the primary and secondary directions
 Measuring scale made of glass ceramic; mounting with PRECIMET and fixed-point elements

n x 100
100
37

M3x6 ISO 7984 < 60
+ISO 7092-3

25

33 ± 0.1

.5
12

45°



 60

(52.201)

8

M3

n x 100
100(67.073)

7.825

2.5mrad B

14.5

3.2 ± 0.1






25



2.5mrad B

0.01/10 F

Machine guideway
Scale length
Reference mark position
Beginning of measuring length (ML)
Adhesive
Mounting element for adhesive bond for defining the thermal fixed point
Neutral center of rotation (0.2 mm under the scale surface)
Depends on the measuring length (ML), additional fix clamp pair
Direction of motion of the scanning unit for ascending position values
Optical centerline
Transversal ML: ±0.6 mm

X direction: ±0.125 µm/5 mm; Y direction: ±0.225 μm/5 mm

Measuring length in the X
direction (ML) in mm*

70

120

170

220

270

Mass

7.2 g + 0.18 g/mm

Scanning head

LIP 21

Interface

320

370

420

470

520

570

620

670

720

16.5 ± 0.5
42.5 ± 0.5

33.3

LIP 29 F

LIP 29 M

LIP 28

EnDat 2.2

Fanuc Serial Interface2)

Mitsubishi high speed2)» 1 VPP

Ordering designation

EnDat22

Fanuc02

Mit02-4–

Integrated interpolation

16 384-fold (14 bit)

Clock frequency

 16 MHz––

Calculation time tcal

 5 µs––Measuring step

0.03125 nm (31.25 pm)–

Signal period–

0.512 µm–

 3 MHz

Traversing speed

 120 m/min

 90 m/min

Interpolation error±0.4 nmRMS position noise

0.12 nmElectrical connection

Cable (0.5 m) or 1 m (2 m and 3 m at 1 VPP) with interface electronics in the connector (15-pin D-sub(male))

Cable length

See Interface description; however  15 m ( 30 m at 1 VPP) with HEIDENHAIN cable
During signal adjustment with the PWM 21:  3 m

Supply voltage

DC 3.6 V to 14 V

DC 5 V ±0.25 V

5)Power consumption (max.)

At 14 V: 2500 mW; at 3.6 V: 2600 mW–

Current consumption

At 5 V: 300 mA (without load, typical)

 390 mA

Laser

Mounted scanning head and scale: Class 1; non-mounted scanning head: Class 3B

Vibration 55 Hz to 2000 Hz
Shock 11 ms

 200 m/s (IEC 60068-2-6)
 400 m/s2 (IEC 60068-2-27)

Operating temperature

0 °C to 50 °C

Mass

Scanning head: 59 g; connector: 140 g; connecting cable: 22 g/m

Cutoff frequency

UNC 4/40

.5
12
24

89

.2

5

24

7.

5

7.



 3.7

9.35

.5

=
=
=
=
=
=
=
=
=
=
=



Baseline error

22.9

2 ± 0.1
2.9 ± 0.1

 3.7

.5
16
11 .5
.0
66

10

31 .5
16


12

F
l
r
s
k
g
1
2
3
4
5

76.5 ± 0.5

.5

0.2

M2.5
4 deep (4x)
10

Z

5:1

X direction: ±3 µm; Y direction: ±20 µm

One at midpoint of measuring length

0.02 A CZ(beideAbtastköpfe)(both scanningheads)

Accuracy grade

Reference markZ

0.02/100 F

OPTODUR phase grating on Zerodur glass ceramic; graduation period: 2.048 µm
Þtherm  (0 ±0.1) · 10–6 K–1

18

 = ML + 40

Measuring standard
Coefficient of linear expansion

Measuring length in Y direction ±2 mm

M3x6 ISO 7984

r

LIP 201 Dplus

1)(7.825)

45° 

4

7.5

Scale

INVISIBLE LASER RADIATION
IEC60825-1:2007
Pmax = 4 mW
λ= 850 nm
CLASS 3B LASER PRODUCT

2)

–3 dB

–

3)

0.12 nm (3 MHz4))

2

1)
2)
* Please select when ordering; Measuring length in Y direction upon traversing of the reference mark: ±0.6 mm; Absolute position
3)
4)
value after traversing of the reference mark in “position value 2“; With HEIDENHAIN signal converter; –3 dB cutoff frequency of thedownstream electronics; 5) See General electrical information in the Interfaces of HEIDENHAIN Encoders brochure.

2021

PP 281 R
Two-coordinate incremental encoder
 For measuring steps of 1 µm to 0.05 µm

PP 281 R①





②

Measuring standard
Coefficient of linear expansion

Two-coordinate TITANID phase grating on glass; grating period: 8 µm
–6 –1Þtherm  8 · 10 K

Accuracy grade±2 µm

Measuring area

68 mm x 68 mm,other measuring areas upon request
1)③

Reference marks

One reference mark in each axis, 3 mm after beginning of measuring lengthInterface» 1 VPP

Signal period

4 µm

Cutoff frequency

③

–3 dB

 300 kHz

Traversing speed 72 m/min

Interpolation error
RMS position noise±12 nm2 nm (450 kHz2))

Electrical connection

Cable (0.5 m) with 15-pin D-sub connector (male); interface electronics in the connector

Cable length

See the interface description (in accordance with the interface electronics); however,  30 m (withHEIDENHAIN cable)

Supply voltage

DC 5 V ±0.25 V

Current consumption< 185 mA per axis

Vibration 55 Hz to 2000 Hz
Shock 11 ms

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

Operating temperature

0 °C to 50 °C

Mass

Scanning head: 170 g (without cable); Grid plate: 75 g; Connector: 140 g

3)

1)

The reference mark signal deviates from the interface specification in its zero crossovers K, L (see the mounting instructions)–3 dB cutoff frequency of the downstream electronics
3)
With HEIDENHAIN signal converter (e.g., EIB 741)
2)

*
F
r
1
2
3

22

=
=
=
=
=
=

Maximum change during operation
Machine guideway
Reference-mark position relative to center position shown
Adjusted during mounting
Graduation side
Direction of motion of the scanning unit for increasing position values

23

GAP 1081
Incremental exposed linear encoder
 For vertical gap measurement Mirror on glass; mounting with PRECIMET
ISO 4762 M3x (a-t+3) -A2
Md = 0.85 Nm
a
t

37.4

B-B



12

B
6



2.6



10

2.25

0.13



2.9 ± 0.1

MS

8.25

6.239±0.05
16.9

30

5.7

4.139

5



11

 0.02/100





B
18

 = (ML+18) ± 0.5
18.7

9

12





 0.2 F

Hole pattern for mounting the encoder

Pin  2.511

  0.02 A B

17.519

 2.5 H7

 3.4

 6.5

 0.03 A
Pin  3A

Md = 40 Ncm

40

16

Scale length
Mounting surface for the encoder
Mounting surface for the scale
Beginning of z measurement (with simultaneous x movement)
Reference mark position
Measuring length
Machine guideway
Optical center
Scale
Cable length
Adhesive tape
Position of stop pins; recommendation  3
Direction of motion of the scanning unit for increasing position values
Clamping screw (width A/F: 1.3 mm); Md = 30 ±1.8 Nm

UNC 4/40

33.3

 3.7

  0.03 A B

 =
1 =
MSMS
=
 =
 =
ML =
F =
1 =
2 =
3 =
4 =
5 =
6 =
7 =

MirrorCoefficient of linear expansion

Glass or glass ceramic with Optodur surface layer–6 –1Þtherm  (0±0,1) · 10 K (Zerodur glass ceramic)

Measuring length (ML)in mm*

20
30
50
620 670 720
1640 1840 2040

Mass

1.1 g + 0.11 g/mm of mirror length

Scanning head

GAP 108

Scanning gap (nominal)

4.139 mm

Measuring range±2 mm

Reference markPossible upon request

Interface

1 VPP
–3 dB

70
120 170 220
780 820 870 920
2240 2440 2640 2840

270
970
3040

320 3701020 1140

420 470
1240 1340

520
1440

570
1540

 27 kHz

Signal period
Coefficient of linear expansion

2.220 ±0.002 µm–6 –1Þtherm  0.5 · 10 K

Traversing speed

3.6 m/minAccuracy grade±0.2 µm (measurement from a fixed location in the direction of measurement)±20 µm (motion perpendicular to the direction of measurement)

Baseline error

 ±30/4 mm (measurement from a fixed location in the direction of measurement)
 ±0,5 µm/5 mm (with motion perpendicular to the direction of measurement)

Thermal position drift

 ±36 nm/K

Interpolation error±2 nm

Non-reproducible position error ±5 nm
18

7.769

2x



A
A-A

 3 H718

0,72 x ML

0.4

4.5

90°

0.25

GAP 1001

Cutoff frequency
21.7

MirrorVISIBLE LASER RADIATION

51

Electrical connection

Cable (0.5 m/1 m/3 m) with 15-pin D-sub connector; interface electronics in the connector

Cable lengthWith HEIDENHAIN cable:  30 m
During signal adjustment with the PWM 21:  3 m

Supply voltage

DC 5 V ±0.25 V

Current consumption

 200 mA (without load)

Laser

Class 3B

Vibration 55 Hz to 2 kHz
Shock 11 ms

 200 m/s (IEC 60068-2-6)
 400 m/s2 (IEC 60068-2-27)

Operating temperature

10 °C to 40 °C

Mass

Scanning head: 50 g; Connector: 80 g; Cable: 27 g/m

2* Please select when ordering

IEC60825-1:2008
Pmax = 100 mW
λ= 660 nm
CLASS 3B LASER PRODUCT

24

25

Pin layout
LIP 603

LIP 281 and PP 281 R

15-pin D-sub connector

15-pin D-sub connector

Power supply

1)

4

12

2

UP

SensorUP

0V

Brown/
Green/White/
Green

Other signals
10

1

9

3

11

14

7

13

5

6

Sensor Vacant Vacant Vacant Vacant Vacant Vacant Vacant Vacant Vacant
0V
/

/

/

/

/

Cable shield on 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)

Power supply

Serial datatransfer

/

/

/

8

15

SD+

SD–

VioletYellow

Color assignment of the connecting cable

Incremental signals

Other signals

4

12

2

10

1

9

3

11

14

7

» 1 VPPUP

Sensor5V

0V

Sensor
0V

A+

A–

B+

B–

R+

R–

2)

Brown/
GreenBlue

White/
Green

Gray

Pink

Red

Black

White Brown Green

Cable shield on 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.

13

5

6/8

15

AsAssigned1) signed1)
Vacant3) Vacant3)/

Assigned1)
Vacant3)

Violet/Yellow

Red/
Black

1)

 nly for adjusting, do not use in normal operation
O
Color assignment of the connecting cable3)
PP 281 R
2)Further information:
For detailed descriptions of cables,
please refer to the Cables andConnectors brochure.
For detailed descriptions of all available
interfaces, as well as general electricalinformation, please refer to theInterfaces of HEIDENHAIN Encoders
brochure (ID 1078628-xx).

26

27

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
1349070-22 · 06/2024 · CD· Printed in Germany

HEIDENHAIN
worldwide