Encoders for
Advanced Robotics

KCI 120/KBI 136
KCI 1319/KBI 1335
Absolute inductive rotary encoder with hollow shaft
For motor feedback

Areas of application• Robotics industry• Compact servomotors
Characteristics• Hollow shaft sizes: 25 mm, 30 mm, 40 mm• Wide mounting tolerances• Compact form factor• Available with functional safety• Rotor mounting: screw-fastened or press-fitted• Connectivity for external temperature sensor
Specifications• Measuring steps/rev.
KCI 1319: 19 bits, KCI 120: 20 bits
• Revolutions (KBI)		
16 bits• System accuracy		KCI 1300: ±90”, KCI 120: ±45”
• Safety category		SIL 2 as per EN 61508; Category 3, PL d,as per EN ISO 13849-1:2008(up to SIL 3 with additional measures)
Interface• EnDat 2.2

KCI 120 Dplus
Absolute inductive dual encoder
Two rotary encoders in one: motor feedback and position measurement

Areas of application• Robotics industry• In compact drive systems
Characteristics• Compensation of gearbox hysteresis• Wide mounting tolerances• Compact form factor• Automatable mounting• Available with functional safety• Hubs with an inside diameter of 16 mm to 34 mmSpecifications• Measuring steps/rev.
At output: 20 bits, at motor: 19 bits
• System accuracy		At output: ±40”, at motor: ±120”• Safety category		SIL 2 as per EN 61508; Category 3, PL d,as per EN ISO 13849-1:2008(up to SIL 3 with additional measures)
Interface• EnDat 2.2

MCR 15
Absolute optical angle encoder
Accurate and versatile

Areas of application• Medical technology systems and applications• Torque motors and production equipment• General motor technology
Characteristics• Graduation carrier: drum or tape
• Easy installation• Customized version available• Full circle or segment
Specifications• System accuracy		• Hollow shaft diameters• Shaft speed			±20”/±15”/±10”
50 mm to 330 mm
Up to 14 000 rpm

Interfaces• EnDat 2.2• Fanuc• Panasonic• Mitsubishi• BiSS/C• Yaskawa

MSR 15
Modular incremental angle encoder
For position and speed measurement

Areas of application• Robotics• Metrology• General motor technology
Characteristics• Online signal stabilization• Integrated signal quality indicator• Continuous scanning-signal monitoring• High signal quality
Specifications• System accuracy		• Hollow shaft diameters• Shaft speed			
Interfaces• 1 VPP• TTL±10”60 mm to 350 mm
Up to 5000 rpm

WMRA/WMKA
Absolute inductive angle encoder
Insensitive to contamination

Areas of application• Rotary axes for large work envelopes• Swivel heads• Robots
Characteristics• Large hollow-shaft diameters• Low mass moment of inertia• Also available with functional safety
Specifications• Graduation accuracy• Grating period		• Diameter 			• Protection rating		

Down to ±3 µm/m (arc length)1000 µm
81 mm to 10 000 mm
IP67Interfaces• EnDat 2.2• Fanuc• DRIVE-CLiQ• Mitsubishi• BiSS/C• SSIDRIVE-CLiQ is a registered trademark of Siemens AG.

LIKselect
Incremental exposed linear encoder
For limited installation space

Areas of application• Robotics• Linear motors and linear guideways• Medical technology
Characteristics• Wide range of variants• Easy installation• Sturdy scanningSpecifications• Signal period		• Measuring step		• Accuracy class		
• Maximum length		Interfaces• 1 VPP• TTL• RS-422

20 µm
Down to 78.125 nm±3 μm/m; ±5 μm/m
2480 mm (more upon request)

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

10/2022 · PDF