Product Information

SRP 5000
Angle Encoder Modules
with Integrated Drive Motor

March 2017

Design and applications

Angle encoder modules from HEIDENHAIN are combinations of angle encoders
and high-precision bearings that are optimally adjusted to each other. They are characterized by their high degree of measuring
and bearing accuracy, their very high resolution, as well as optimum repeatability.
The low starting torque permits smoothmotions.

The SRP angle encoder modules are specially optimized for the stringent requirements of metrological applications. Thevery high resolution and excellent repeatability of the SRPs are decisive here—evenat varying application temperatures. Highmotor torques and loads are not usually
the focus of these applications.

SRP angle encoder modules are additionally equipped with an integrated torque motor. They therefore combine a motor, precision bearing and encoder with very highaccuracy in one compact system. The
torque motor with its very low detenttorque enables extraordinarily smooth motion control. Neither disruptive detenttorques nor radial forces impair the highguideway accuracy of the bearing. Thanks
to their design as completely specified andtested composite assemblies, handling andinstallation is very simple.

More Information:• Detailed descriptions of the specifications and characteristics of the bearingsand encoders can be found in theAngle Encoder Modules brochure,
ID 1102713-xx.
Information on• Angle encoders with integral bearing• HEIDENHAIN interface electronics
is available upon request as well as on theInternet at www.heidenhain.de.

2• Comprehensive descriptions of allavailable interfaces as well as generalelectrical information is included in theInterfaces brochure, ID 1078628-xx.

This Product Information supersedes all
previous editions, which thereby become
invalid.
The basis for ordering from HEIDENHAIN
is always the brochure edition valid when
the order is made. Standards (ISO, EN,etc.) apply only where explicitly stated inthe brochure.
Product Information SRP 5000

3/2017

Encoder characteristics

Encoder characteristics

Incremental
SRP 5080

Absolute
SRP 5010

Measuring standard

OPTODUR circular scale

DIADUR circular scale

Signal periods

30 00016 384

System accuracy*±2.5” or ±5”

Position error per signal
period±0.23”±0.40”

Repeatability

From both directions: 0.3”

From both directions: 0.9”

Position noise RMS

Typically ± 0.007”

Typically ± 0.020”

Interface 1 VPPEnDat 2.2

Ordering designation–

EnDat22

Position values/revolution–28 bits

Clock frequency
Calculation time tcal–

 16 MHz 5 µsReference marks

80 (distance-coded)–

Cutoff frequency –3 dB

 500 kHz–Electrical connection

1.5 m cable with D-sub connector (15-pin); interface 1 m cable with M12 coupling (8-pin)
electronics integrated in connector

Cable length 30 m (with HEIDENHAIN cable)

Voltage supply

DC 5 V ±0.25 V

DC 3.6 V to 14 V

Power consumption (max.)

5.25 V:  950 mW

3.6 V:  1.1 W
14 V:  1.3 W

Current consumption(typical)

175 mA (without load)

5 V: 140 mA (without load)* Please select when ordering

Product Information SRP 5000

3/20173

Motor characteristics

Mounting situation
All provided motor characteristics apply forthe following mounting situation:• Ambient temperature 20 °C• Coil temperature 40 °C• Stator screwed to steel plate witho Total surface 0.016 m2
o Specific heat capacity of 460 J/kgK(at 20 °C)
o Specific thermal conductivity 30 W/mK
(at 20 °C)

Motor characteristics
Peak torque2.70 Nm

Rated torque0.385 Nm

Stall torque0.253 Nm

Standstill speed

0.013 rpm

Maximum speed

300 rpm

Torque constant

0.668 Nm/Arms

Back-electromotive force constant

0.397 Vrms/(rad/s)

Motor constant0.181 Nm/W

Electrical resistance R20 (at 20 °C)

9.06 

Electrical inductance2.42 mH

Maximum current

4.24 Arms

Rated current

0.688 Arms

Stall current

0.487 Arms

Max. rated power loss

6.94 W

Max. DC-link voltage

DC 48 V

Number of poles

20Max. detent torque< 0.2 % of rated torque

Electrical connection
Connection

M12 (4 pin, male)

Cable diameter 7.0 mmCable length

5m

Number of phases

33,00
2,700

Peak torque

Torque [Nm]2,50

Rated torque

2,00
1,569

1,50
1,00
0,50

0,385
0,128

0,00
050

100

150

200

250

300

Speed in rpm
Torque characteristic at 48 V DC

4Product Information SRP 5000

3/2017

Bearing properties

Bearing properties
Shaft

Hollow through shaft D = 32 mm

Max. permissible axial load2) 200 N (load centered)Max. permissible
radial load2)

60 N

Max. permissible2)
breakdown torque

2.5 NmContact stiffness

Axial: 303 N/µm
Radial: 181 N/µm
(values calculated)

Resistance to tilt

102 Nm/mrad (value calculated)

Mechanically perm. speed

300 rpm

Moment of friction

0.025 Nm

Starting torque 0.015 Nm

Max. transferable
shaft torque2)

2 Nm

Moment of inertia of rotor

1.16 · 10-3 kgm2

Radial guideway accuracy

Measured at distance h = 55 mm:  0.20 µm (without load)

Non-reproducible radial
guideway accuracy

Measured at distance h = 55 mm:  0.35 µm (without load)

Axial guideway accuracy

 ±0.2 µm

Axial shaft runout* 5 µm or  1 µm

Wobble of the axis

0.7”

Vibration 55 Hz to 2000 Hz  20 m/s2 (EN 60 068-2-6)
Shock 6 ms
 100 m/s2 (EN 60 068-2-27)(without load)
Protection EN 60 5291)

IP40

Operating temperature
Storage temperature

0 °C to 30 °C
0 °C to 50 °C

Relative air humidity

 75 % without condensation

Application height< 2000 m

Mass

1.82 kg (without cable or connector)* Please select when ordering
When mounted2)
Purely static load, without additional vibrations and shock1)

Product Information SRP 50003/2017

5SRP 5010/SRP 5080
Dimensions

 = BearingⓀ = Required mating dimensions① = Mark for 0° position ±5°② = Please select when ordering③ = Protective conductor terminal④= Direction of shaft rotation for output signals
as per the interface description

6Product Information SRP 5000

3/2017

Dimensions of connecting elements

Required mating dimensions③ = Rotor④ = Stator⑤ = Screw, ISO 4762 – M3 – 8.8. Materially bonding threadlocker required. Washer, ISO 7092 – 3 – 200HV tightening torque 1.1 Nm±0.05 Nm⑥ = Screw, ISO 4762 – M4 – 8.8. Materially bonding threadlocker required. Washer, ISO 7092 – 4 – 200HV tightening torque 2.5 Nm±0.13 Nm⑦ = Required mating dimensions for transfer of maximum permissible loads as per specifications⑧ = Optional recommended mating dimensions

Product Information SRP 5000

3/2017

7

Information on the drive

Slotless torque motor
The motor, which was specially developed
for the SRP angle measuring module, fulfills even the very highest requirements
placed on high-precision rotary axes.
The motor is free of detent and produces
no disturbing influences on the high-accuracy bearing. This allows exceptionally uniform motion control and positioning accuracy.

A slotless, iron-core torque motor is used
for the drive. This enables the motor tocombine two opposing properties—hightorque density and low detent torque. This
form of motor does without the slots onclassical designs. Instead, it uses selfretaining coils.
Thanks to the special design and the particularly symmetrical arrangement of all components, the rotor always faces a constantmagnetic field over the entire rotation.

An iron backup ring allows a comparatively
large torque. This brings the following
characteristics:• Extremely low detent torque• No interfering lateral forces• Medium torques• High dynamics in controlled operation• Low thermal power loss
• Compact dimensions

Self-retaining coils

Iron backup ring

Rotor with magnets

Slotless iron-core permanent-magnet-excited AC synchronous motor

Motor protection
For protection against thermal overload,
suitable measures are required in thecontroller electronics, e.g. I2t monitoring.
Direct monitoring of the temperature bytemperature sensors in the motor windings is not possible.

8Operation with AccurET controllers
The AccurET position controllers are theperfect complement to the SRP angle
encoder modules. Absolute peak performance can be achieved with regard todynamics and position stability (seefollowing page).

Product Information SRP 5000

3/2017

AccurET position controller

The compact AccurET position controllers
cover a broad range of voltage and current.
This greatly simplifies the integration ofdifferent servo motors in a machine.
Multiple position controllers connected tothe same DC bus voltage can be suppliedwith one power supply. Each controller candrive two axes.

AccurET Modular 48:
The AccurET Modular 48 controller is available in two versions. One version permits
the installation of an optional board, suchas the UltimET motion controller or theI/O board.

Since the position controllers do not requirea mounting rack, the space required isdependent only on the number of axes tobe controlled. Simplified power and communication cabling as well as the modularcooling unit facilitate the installation andmaintenance of the machine.
AccurET VHP 48:
Controller with a high-speed encoder input
and specific power output stage for very
demanding applications with regard tospeed stability and position accuracy.

Further information on the AccurET position controllers is available on request as
well as on the Internet at www.etel.ch

AccurET Modular 48AccurET VHP 48

DC-link voltage

DC 48 V

Number of axes

2Continuous current rms

2.5 A

5A

1.5 A

5A

Peak current rms

5A

10 A

3A

10 A

Supply voltage

DC 15 V to 48 V

Current consumption rms

10 A

PWM frequency

10 kHz, 20 kHz–Encoder input

1 VPP (2048-fold interpolation)
TTL
EnDat 2.1 and EnDat 2.2

1 VPP (up to 65 536-fold interpolation)
TTL
EnDat 2.1 and EnDat 2.2Interfaces

USB 2.0 (for configuration)
ETEL real-time bus
Ethernet (TCP/IP)

Digital I/O

4/2 per axis

Fast digital I/O

6/4 for both axes

Analog I/OWith additional expansion board

Product Information SRP 5000

3/2017

4/4 per axis

4/4 for both axes

9Electrical connection
Pin assignment

SRP 5010 EnDat 2.2

12345678Sensor
0V

SensorUPDATA

DATA0V

CLOCK

CLOCK

UPWhiteBlue

Gray

Pink

White/Green

Yellow

VioletBrown/Green

Cable shield connected to housing; UP = Power supply voltage
Sensor: The sensor line is connected in the encoder with the corresponding power line.

SRP 5080 1 VPP

1234567891011121314

15

A+0V

B+UP/

/

R–/

A–Sensor
0V

B–Sensor
UP/

R+//

Yellow/BlackBlack

Green/ Green WhiteBlack

PinkBlue

VioletRed/

Brown White/
GreenGray Brown/
Green

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

SRP 50x01234

Phase 1

Phase 2Phase 3GND

ID 1140842-xx

101234Phase 1

Phase 2Phase 3

GNDWhiteBrown

GreenYellow

Product Information SRP 5000

3/2017

Cable for direct connection to AccurET position controller

Motor connection cable7 mm (4 · 0.5 mm2)With one connector
M12 connector (female), 4-pin

Adapter cable for 1 VPP

1140842-xx

6 mm [6(2 · 0.19 mm2)]

Complete
D-sub connector (female), 15-pin andD-sub connector (male), 15-pin

Adapter cable for EnDat 2.2

1159446-xx

6 mm [2(2 · 0.09 mm2) + 2(2 · 0.14 mm2)]

Complete
M12 connector (female), 8-pin andD-sub connector (male), 15-pin

DR. JOHANNES HEIDENHAIN GmbH
Dr.-Johannes-Heidenhain-Straße 583301 Traunreut, Germany{ +49 8669 31-0
| +49 8669 32-5061
E-mail: info@heidenhain.dewww.heidenhain.de1189693 · 02 · A · 02 · 3/2017 · PDF

1165032-xx

This Product Information 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 made.

More Information:
Comply with the information in the following documents to ensure the correct and intended operation of the encoder:• Brochure: Angle Encoder Modules
1102713-xx• Brochure: Interfaces of HEIDENHAIN Encoders
1078628-xx• Operating Instructions
1192465-xx