Product Information

ROC 2000
ROC 7000
Absolute Angle Encoders
with Integral Bearing for
Separate Shaft Coupling

06/2022

ROC 2000 series• For a separate shaft coupling• System accuracy: ±5”

Absolute
ROC 2310

ROC 2380

ROC 2390 F

ROC 2390 M

Measuring standard

DIADUR circular scale with absolute track and incremental track (16 384 lines)

System accuracy±5”

Position error per
signal period±0.4”Interface

EnDat 2.2

Ordering designation

EnDat22

Position values per rev.

67 108 864 (26 bits); Fanuc Þ interface: 8 388 608 (23 bits)

Electrically permissiblespeed 3000 rpm forcontinuous position
values 1500 rpm forcontinuous position
values 3000 rpm for continuous position values

Clock frequency
Calculation time tcal

 16 MHz 5 µs

 2 MHz 5 µs–Incremental signals
Cutoff frequency –3 dB–» 1 VPP 400 kHz–Electrical connection

Cable (1 m) with M12 coupling (male)With EnDat02: cable (1 m) with 17-pin M23 coupling (male)1)

Cable length 150 mSupply voltage

DC 3.6 V to 14 V

EnDat02

Fanuc serial interface
Þi interface

Mitsubishi high speedinterface

Fanuc05

Mit03-4

 50 m 30 mPower consumption2) (max.) 3.6 V:  1.1 W; 14 V:  1.3 W

A = BearingÀ = Position of the reference mark signal ±5°Á = Direction of shaft rotation for output signals in accordance with the interface description
Â = M5 compressed-air inlet

Current consumption(typical)

5 V: 140 mA (without load)

Shaft

Solid shaft D = 10 mm

Mech. permissible speed 3000 rpm

Starting torque 0.02 Nm at 20 °C

Moment of inertia of rotor

50.0 · 10–6 kgm2

Permissible shaft load

Axial: 30 N
Radial: 30 N at shaft end

Vibration 55 Hz to 2000 Hz
Shock 6 ms

 200 m/s2 (EN 60068-2-6)
 200 m/s2 (EN 60068-2-27)

Operating temperature

Moving cable: –10 °C to 60 °C
Fixed cable: –20 °C to 60 °C

Protection EN 60529

IP64Mass

 1.0 kg* Please select when ordering
1)
With HEIDENHAIN cable;  8 MHz2)
See General electrical information in the Interfaces of HEIDENHAIN Encoders brochure2

Product Information ROC 2000/7000    06/2022

Product Information ROC 2000/7000    06/2022

3

ROC 7000• For a separate shaft coupling• System accuracy ±2”

Absolute
ROC 7310

ROC 7380

ROC 7390 F

ROC 7390 M

Measuring standard

DIADUR circular scale with absolute track and incremental track (16 384 lines)

System accuracy±2”

Position error persignal period±0.4”Interface

EnDat 2.2

Ordering designation

EnDat22

Position values per rev.

268 435 456 (28 bits); Fanuc Þ interface: 134 217 728 (27 bits)

Electrically permissible
speed 3000 rpm for continuous  1500 rpm for continuous  3000 rpm for continuous position values
position values
position values

Clock frequency
Calculation time tcal

 16 MHz 5 µs

 2 MHz 5 µs–Incremental signals
Cutoff frequency –3 dB–» 1 VPP 400 kHz–Electrical connection

Cable (1 m) with M12 coupling (male)With EnDat02: cable (1 m) with 17-pin M23 coupling (male)1)

Cable length 150 mSupply voltage

DC 3.6 V to 14 V

EnDat02

Fanuc serial interface
Þi interface

Mitsubishi high speed
interface

Fanuc05

Mit03-4

 50 m 30 mPower consumption2) (max.) 3.6 V:  1.1 W; 14 V:  1.3 W
Current consumption(typical)

5 V: 140 mA (without load)

Shaft

Solid shaft D = 14 mm

Mech. permissible speed 3000 rpm

Starting torque 0.025 Nm at 20 °C

Moment of inertia of rotor

65.0 · 10–6 kgm2

Permissible shaft load

Axial: 30 N
Radial: 30 N at shaft end

Vibration 55 Hz to 2000 Hz
Shock 6 ms

 200 m/s2 (EN 60068-2-6)
 200 m/s2 (EN 60068-2-27)

Operating temperature

0 °C to 50 °C

Protection EN 60529

IP64Mass

 1.6 kg* Please select when ordering1)
With HEIDENHAIN cable;  8 MHz2)
See General electrical information in the Interfaces of HEIDENHAIN Encoders brochure = BearingA = Position of the reference mark signal ±5°À = Direction of shaft rotation for output signals in accordance with the interface descriptionÁ = M5 compressed-air inletÂ

4

Product Information ROC 2000/7000    06/2022

Product Information ROC 2000/7000    06/2022

5

K 03 diaphragm coupling
ID 200313-04

Shaft coupling

Angle encoders of the ROC product family
require a separate coupling for connection
to the drive shaft. The shaft coupling
compensates for axial movement andmisalignment between the shafts, thereby
preventing an excessive load on thebearing of the angle encoder. For realizing
high accuracies, it is necessary that theshaft of the angle encoder is optimallyaligned with the shaft of the machine. TheHEIDENHAIN product portfolio includes
diaphragm couplings and flat couplings
designed for connecting the shaft of theROC angle encoder to the drive shaft.

Rotary table

Additional
protection fromdripping fluids

K 18 flat coupling
ID 202227-01

Mounting example
ROC 7310

Mounting
ROC angle encoders have an integral
mounting flange with a centering collar.
The encoder shaft is connected to themachine shaft by means of a diaphragm
coupling or flat coupling.

ROC 7310

Shaftcoupling

ROCCentering collar

Shaft couplings
The shaft coupling compensates for axial
movement and misalignment between theencoder shaft and the drive shaft, thereby
preventing excessive encoder bearing
loads.
Radial offset l

K 01 diaphragm coupling
ID 200301-02

Flat coupling

Mounting an ROC
with a flat coupling

Angular error 
Axial offset d
ROC 2000 series

ROC 7000 series

Shaft coupling

K 03
K 18
Diaphragm coupling Flat coupling

K 01
K 15
Diaphragm coupling Flat coupling

Hub bore

10 mm

14 mm

Kinematic transfer error±2”±3”
At l  0.1 mm and   0.09°±1”±0.5”
At l  0.05 mm and   0.03°

Torsional rigidity

1500 Nm/rad

1200 Nm/rad

4000 Nm/rad

6000 Nm/rad

4000 Nm/rad

Permissible torque

0.2 Nm

0.5 NmPerm. radial offset l 0.3 mm

Perm. angular error  0.5°

 0.2°

 0.5°

Perm. axial offset d 0.2 mm

 0.1 mm

 1 mmMoment of inertia(approx.)20 · 10Permissible shaft speed

10 000 rpm–6kgm275 · 10–6 kgm2

200 · 10–6 kgm2

1000 rpm

3000 rpm

1000 rpm

2.5 Nm

1.2 Nm

180 g

250 g

Tightening torque of1.2 Nmclamping screws (approx.)
Mass

6100 g

117 g

K 16Flat coupling

K 15 flat coupling
ID 255797-01

K 16 flat coupling
ID 258878-01

400 · 10–6 kgm2

410 g

Product Information ROC 2000/7000    06/2022

Product Information ROC 2000/7000    06/2022

7

Electrical connection

EnDat pin layout without incremental signals

Fanuc pin layout

8-pin M12 coupling

8-pin M12 couplingPower supply

Power supply

Serial data transmission

Serial data transmission

82

5

13

4

768

2

51–3UP

Sensor UP0V

Sensor 0 VDATADATA

CLOCKCLOCKUPSensor UP0V

Sensor 0 VShieldBrown/GreenBlue

White/GreenWhite

GrayPink

VioletYellowBrown/GreenBlue

White/GreenWhite–Serial DATA Serial DATA
Gray

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!

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!

EnDat pin layout with incremental signals

Mitsubishi pin layout

17-pin M23 coupling

8-pin M12 coupling1)

Power supply
7110UPSensor
UP0VBrown/
GreenBlueWhite/
Green

Serial data transfer

Incremental signals
411Sensor Internal
0V
shieldWhite/

8Power supply

1516

1213

14

17

9

A+

A–

B+

B–

DATA

DATA

CLOCK CLOCK

Green/Black

Yellow/BlackBlue/
BlackRed/
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 ordering designations EnDat01 and EnDat02

8Product Information ROC 2000/7000    06/2022

4Pink

76

RequestRequestVioletYellow

Serial data transmission

82513476UP

Sensor UP0VSensor 0 V

Serial DATA

Serial DATA

RequestFrame

RequestFrame

Brown/GreenBlue

White/Green

White

Gray

Pink

VioletYellow

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

Product Information ROC 2000/7000    06/2022

9Adapter cables and connecting cables

EnDat adapter cables and connecting cable without incremental signals
PUR connecting cable¬ 6 mm; 2 × (2 × 0.09 mm2) + 2 x (2 × 0.16 mm2)

AP = 2 × 0.16 mm2

Adapter cable with 8-pin M12 connector(female) and 15-pin D-sub connector (female)

1036521-xx

Adapter cable with 8-pin M12 connector(female) and 15-pin D-sub connector (male)

1036526-xx

Connecting cable with 8-pin M12 connector(female) and 8-pin M12 coupling (male)1036372-xx

EnDat adapter cables and connecting cable with incremental signals
PUR connecting cable¬ 8 mm; 4 × (2 × 0.16 mm2) + 4 × 0.5 mm2 + 4 × 0.16 mm2)

Adapter cable with 17-pin M23 connector(female) and 15-pin D-sub connector (female)

332115-xx

Adapter cable with 17-pin M23 connector(female) and 15-pin D-sub connector (male)

324544-xx

Connecting cable with 17-pin M23connector (female) and stripped cable end

309778-xx

AP = 2 × 0.5 mm2

Fanuc/Mitsubishi connecting cables
PUR cable¬ 6 mm; 2 × (2 × 0.09 mm2) + 2 × (2 × 0.16 mm2)

Connecting cable with 8-pin M12 connector(female) and 8-pin M12 coupling (male)

AP = 2 × 0.16 mm21036372-xx

AP: Cross section of power supply lines¬: Cable diameter (for bend radii, see the Interfaces of HEIDENHAIN Encoders brochure)
For other cables, see the Cables and Connectors brochure.

DR. JOHANNES HEIDENHAIN GmbH
Dr.-Johannes-Heidenhain-Straße 583301 Traunreut, Germany +49 8669 31-0
 +49 8669 32-5061
info@heidenhain.dewww.heidenhain.com

1132267 · 02 · A · 02 · 06/2022 · PDF

This Product Information document supersedes all previous editions, which thereby
become invalid. The basis for ordering from HEIDENHAIN is always the Product
Information document edition valid when the order is placed.

More information:
Comply with the requirements described in the following documents to ensure correctand intended operation:• Brochure: Angle Encoders with Integral Bearing
591109-xx• Brochure: Interfaces of HEIDENHAIN Encoders
1078628-xx• Brochure: Cables and Connectors
1206103-xx
For brochures and Product Information documents, visit www.heidenhain.com.