Encoders for

Servo Drives

08/2023
 Table of contents

This brochure is not an exhaustive overview Brochure Product Overview Overview

of HEIDENHAIN products but rather Rotary Encoders Rotary Encoders for
provides a selection of encoders designed the Elevator Industry Information about the selection tables   6
for use on electric motors.
Drehgeber Produktübersicht
Selection guide Rotary encoders for mounting inside motors   8
The selection tables provide an overview 12
Drehgeber für die

Rotary encoders for mounting on motors

Aufzugsindustrie

of all HEIDENHAIN encoders intended for

use on electric motors, along with their most 11/2020 06/2020
Technical features and mounting information
relevant specifications. The descriptions
of the technical features contain basic
Rotary encoders and angle encoders for DC and three‑phase AC motors 18
information on the use of rotary, angular HMC 2 and HMC 6: single-cable solutions for motors 20
and linear encoders on electric motors. Brochure Brochure
Angle Encoders Modular Safety-related position measuring systems 22
The mounting information and detailed With Integral Bearing Angle Encoders Measuring principles 24
specifications refer to rotary encoders With Magnetic Scanning
developed specifically for servomotors. Winkelmessgeräte
mit Eigenlagerung
Modulare
Winkelmessgeräte
Measuring accuracy 27
For information about other rotary encoders,
mit magnetischer
Abtastung

please refer to the appropriate product

Mechanical design types and mounting 30
documentation. 08/2019 05/2021 General information 40
General mechanical information 41
Specifications
Brochure Brochure
Modular Exposed Rotary encoders ECN/EQN 1100 series 48
Angle Encoders Linear Encoders with integral bearing
With Optical Scanning
ERN 1023 50
Further information:
Modulare
Winkelmessgeräte
mit optischer
Abtastung
Offene
Längenmessgeräte
ERN 1123 52
For the linear encoders and angle ECN/EQN 1300 series 54
encoders listed in the selection tables, 09/2017
05/2021

ECN/EQN 1300 S (DRIVE CLiQ) series 56

please refer to the respective product
documentation to find detailed ECN/EQN 400 series 58
descriptions, including mounting
information, specifications and Brochure Brochure ERN 1300 series 60
Linear Encoders Cables and Connectors
dimensions.
For Numerically
Rotary encoders ECI/EQI 1100 series 62
without integral bearing
Controlled Machine Tools ECI/EBI/EQI 1300 series 66
ECI 1319, EQI 1331 68
Längenmessgeräte Kabel und
für gesteuerte Steckverbinder
Werkzeugmaschinen

ECI/EQI 1300 S series 70

72
06/2019 04/2021

ECI/EBI 100 series

ECI 4010, EBI 4010, ECI 4090 S 74
Brochure – With ¬ 90 mm hollow shaft
Interfaces – With ¬ 180 mm hollow shaft
of HEIDENHAIN ERO 1200 series 78
Encoders
Schnittstellen
von HEIDENHAIN-
Messgeräten
ERO 1400 series 80
Electrical connection

02/2021
Interfaces 82
Cable 96
Testing and inspection devices, and diagnostics 101

This brochure supersedes all previous

editions, which thereby become invalid.
The basis for ordering from HEIDENHAIN
is always the brochure edition and
Further information:
product documentation valid when the
For detailed descriptions of all available order is placed.
interfaces, as well as general electrical
information, please refer to the Interfaces Standards (ISO, EN, etc.) apply only
of HEIDENHAIN Encoders brochure. where explicitly stated in the brochure.
Encoders for electric motors

Controller systems for electric motors Encoder attributes have a critical impact on All of the HEIDENHAIN encoders found
require encoders that provide feedback for important motor characteristics, such as: in this brochure have been designed to
the position and speed controllers, and for • Positioning accuracy minimize the cabling and installation work
electronic commutation. • Speed stability required by the motor manufacturer.
• Bandwidth, and therefore command and Overall rotary motor length can also be
disturbance behavior kept low. Some encoders feature a special
• Power dissipation design that can even eliminate the need
• Size for safety devices such as limit switches.
• Acoustic noise
• Safety

Motor for digital drive systems

Digital position control and speed control (digital position and speed control)

Rotary encoder (actual position value,

actual speed value,
commutation signal,
electronic ID label)

ϕi
ii

Speed
calculation

ni is
ϕs Position ns Speed Current
Decoupling Drive Rotary encoder
controller controller controller

HEIDENHAIN provides just the right

encoder for different rotary and linear
motors in a variety of applications:

• Absolute and incremental rotary encoders Angle encoders

Linear encoders
with and without commutation tracks
• Absolute and incremental angle encoders
• Absolute and incremental linear encoders
• Absolute and incremental modular
encoders

Rotary encoders

4 5
Information about the selection tables

The selection tables on the following pages list the encoders that
are suitable for each motor design. Each table contains encoders
with different dimensions and output signals for the various motor
types (DC or three-phase AC motors).

Rotary encoders for mounting on motors Rotary encoders, modular encoders and angle encoders for
Rotary encoders for motors with forced ventilation are either built-in and hollow-shaft motors
mounted on the motor housing or installed within it. These rotary The rotary encoders and angle encoders for these motors feature
encoders are often exposed to the motor’s unfiltered forced-air stream hollow through shafts, allowing supply lines to be routed through
and must therefore have a high protection rating of IP64 or better. the hollow shaft of both the motor and the encoder. Depending on
The permissible operating temperature seldom exceeds 100 °C. the operating conditions, these encoders must either have an IP66
rating or be protected from contamination through the machine
The selection table contains the following encoders: design (as with optical modular encoders).
• Rotary encoders with a mounted stator coupling featuring a
high natural frequency (the motor’s bandwidth is virtually • Encoders with high-quality absolute and/or incremental
unlimited) output signals
• Rotary encoders for separate shaft couplings, particularly well • Angle encoders and modular encoders with their measuring
suited to electrically isolated mounting standard on an aluminum or steel drum for shaft speeds of
• Absolute rotary encoders with purely digital data transfer up to 42 000 rpm
or additional sinusoidal TTL or HTL incremental signals • Encoders with an integral bearing and a stator coupling, or
• Incremental rotary encoders with high-quality sinusoidal output modular designs
signals for digital speed control • Encoders with good acceleration performance for high
• Incremental rotary encoders with TTL- or HTL-compatible bandwidths in the control loop
output signals
• Information on functionally safe rotary encoders available as For more information, see page 2
safety-related position measurement systems

For the selection table, see page 12

Rotary encoders for mounting inside motors Linear encoders for linear motors
In motors without forced ventilation, the rotary encoder is installed Linear encoders installed on linear motors provide actual-value
inside the motor housing. As a result, the encoder does not require feedback for the position and speed controllers. These encoders
a high protection rating. Nevertheless, the operating temperature have a critical impact on the linear motor’s control characteristics.
inside the motor housing can reach 100 °C or more. The linear encoders recommended for this type of application
exhibit the following characteristics:
The selection table contains the following encoders: • Low position error during acceleration in the direction of
• Absolute rotary encoders for operating temperatures of up to 115 °C, measurement
and incremental rotary encoders for operating temperatures of • High tolerance to acceleration and lateral vibration
up to 120 °C • Ability to handle high shaft speeds
• Rotary encoders with a mounted stator coupling featuring a high • Absolute position information with purely digital data
natural frequency (the motor’s bandwidth is virtually unlimited) transmission or high-quality sinusoidal incremental signals
• Absolute rotary encoders with purely digital data transmission
For more information, see page 2
(suitable for the HMC 6 and HMC 2 single-cable solutions) or
additional sinusoidal incremental signals
Exposed linear encoders are characterized by:
• Incremental rotary encoders for digital speed control, featuring
• Higher accuracy grades
high-quality sinusoidal output signals, even under high
• Higher traversing speeds
operating temperatures
• Non-contact scanning (i.e., no friction between scanning head
• Incremental rotary encoders with an additional commutation
and scale)
signal for BLDC motors
Exposed linear encoders are suitable for applications in clean
• Incremental rotary encoders with TTL-compatible output signals
environments (e.g., on measuring machines or production
• Information on functionally safe rotary encoders available as
equipment in the semiconductor industry).
safety-related position measurement systems
For more information, see page 2
For the selection table, see page 8
Sealed linear encoders feature the following characteristics:
• High protection rating
• Easy mounting
Sealed linear encoders are thus suitable for applications in high-
contamination environments (e.g., on machine tools).
For more information, see page 2

6 7
Selection guide
Rotary encoders for mounting inside motors
Protection rating: up to IP40 (EN 60529)

Series Main dimensions Mechanically Natural Maximum Supply voltage Signal periods Positions per Distinguishable Interface Model Further
permissible frequency fN operating per revolution revolution revolutions information
shaft speed (typical) of temperature
the coupling

Rotary encoders without integral bearing

ECI/EQI 1100  15 000 rpm/ – 110 °C DC 3.6 V to 14 V – 524 288 (19 bits) –/4096 EnDat 2.2/22 ECI 11191)/EQI 11311) Page 62
 12 000 rpm
DC 4 V to 14 V EnDat 3/E30-R2

ECI/EQI 1100 DC 3.6 V to 14 V EnDat 2.2/22

36.83

with synchro flange

22.25
3)
ECI/EBI/EQI 1300  15 000 rpm/ – 115 °C DC 3.6 V to 14 V – 524 288 (19 bits) –/65 536/4096 EnDat 2.2/22 ECI 13191)/EQI 13311)/ Page 66
 12 000 rpm EBI 13351)3)
1) 1)
DC 4 V to 14 V –/4096 EnDat 3/E30-R2 ECI 1319 /EQI 1331 Page 68
1)
100 °C DC 10 V to 28.8 V DRIVE-CLiQ ECI 1319 S/EQI 1331 S Page 70

ECI/EBI 100  6000 rpm – 115 °C DC 3.6 V to 14 V 32 524 288 (19 bits) – EnDat 2.1/01 with » 1 VPP ECI 119 Page 72

3)
– –/65 536 EnDat 2.2/22 ECI 119/EBI 135
D: 30/38/50 mm
3)
ECI/EBI 4000  6000 rpm – 115 °C DC 3.6 V to 14 V – 1 048 576 (20 bits) –/65 536 EnDat 2.2/22 ECI 40101)/EBI 40103) Page 74

1)
100 °C DC 10 V to 28.8 V – DRIVE-CLiQ ECI 4090 S

D: 90/180 mm

ERO 1200  25 000 rpm – 100 °C DC 5 V ±0.5 V 1024/2048 – « TTL ERO 1225 Page 78

» 1 VPP ERO 1285

ERO 1400  30 000 rpm – 70 °C DC 5 V ±0.5 V 512/1000/1024 – « TTL ERO 1420 Page 80
2)
DC 5 V ±0.25 V 5000 to 37 500 « TTL ERO 1470

DC 5 V ±0.5 V 512/1000/1024 » 1 VPP ERO 1480

1)
Also available with functional safety
2)
After internal 5/10/20/25-fold interpolation
3)
Multiturn functionality via battery-buffered revolution counter

DRIVE-CLiQ is a registered trademark of Siemens AG.

8 9
 Series Main dimensions Mechanically Natural Maximum Supply voltage Signal periods Positions per Distinguishable Interface Model Further
permissible frequency fN operating per revolution revolution revolutions information
shaft speed (typical) of temperature
the coupling

Rotary encoders with integral bearing and mounted stator coupling

ECN/EQN/  12 000 rpm 1000 Hz 115 °C DC 3.6 V to 14 V 512 8192 (13 bits) –/4096 EnDat 2.2/01 with » 1 VPP ECN 1113/EQN 1125 Page 48
ERN 1100
95 °C DC 10 V to 28.8 V – 8 388 608 (23 bits) –/4096 DRIVE-CLiQ ECN 1123 S/EQN 1135 S
1) 1)
115 °C DC 3.6 V to 14 V EnDat 2.2/22 ECN 1123 /EQN 1135

 6000 rpm 1600 Hz 90 °C DC 5 V ±0.5 V 500 to 8192 3 block commutation signals « TTL ERN 1123 Page 52

ECN/EQN/  15 000 rpm/ 1800 Hz 115 °C DC 3.6 V to 14 V 512/2048 8192 (13 bits) –/4096 EnDat 2.2/01 with » 1 VPP ECN 1313/EQN 1325 Page 54
ERN 1300  12 000 rpm
1) 1)
– 33 554 432 (25 bits) EnDat 2.2/22 ECN 1325 /EQN 1337

DC 4 V to 14 V EnDat 3/E30-R2
(not with ERN)
100 °C DC 10 V to 28.8 V – 16 777 216 (24 bits) –/4096 DRIVE-CLiQ ECN 1324 S/EQN 1336 S Page 56

 15 000 rpm 120 °C DC 5 V ±0.5 V 1024/2048/4096 – « TTL ERN 1321 Page 60

ERN 1381/4096:
80 °C 3 block commutation signals ERN 1326

512/2048/4096 – » 1 VPP ERN 1381

DC 5 V ±0.25 V 2048 Z1 track for sine commutation ERN 1387

1)
Also available with functional safety

DRIVE-CLiQ is a registered trademark of Siemens AG.

10 11
Rotary encoders for mounting on motors
Protection class: up to IP64 (EN 60529)

Series Main dimensions Mechanically Natural Maximum Supply voltage Signal periods Positions per Distinguishable Interface Model Further
permissible frequency fN operating per revolution revolution revolutions information
shaft speed (typical) of temperature
the coupling

Rotary encoders with integral bearing and mounted stator coupling

ECN/ERN 100 ¬  30 mm: 1000 Hz 100 °C DC 3.6 V to 14 V 2048 8192 (13 bits) – EnDat 2.2/01 with » 1 VPP ECN 113 Brochure:
 6000 rpm Rotary
– 33 554 432 (25 bits) EnDat 2.2/22 ECN 125 Encoders
¬ > 30 mm:
 4000 rpm DC 5 V ±0.5 V 1000 to 5000 – « TTL/» 1 VPP ERN 120/ERN 180

85 °C DC 10 V to 30 V « HTL ERN 130

ECN/EQN/ERN 400 Stator coupling for plane surfaces  6000 rpm Stator coupling 100 °C DC 3.6 V to 14 V 512/2048 8192 (13 bits) –/4096 EnDat 2.2/01 » 1 VPP ECN 413/EQN 425
for plane
1)
With two shaft surfaces: – 33 554 432 (25 bits) EnDat 2.2/22 ECN 425/EQN 437
clampings 1500 Hz
(only for hollow DC 4.75 V to 30 V 512 8192 (13 bits) SSI ECN 413/EQN 425
through shaft):
 12 000 rpm DC 5 V ±0.5 V 250 to 5000 – « TTL ERN 420

DC 10 V to 30 V « HTL ERN 430

70 °C « TTL ERN 460

100 °C DC 5 V ±0.5 V 1000 to 5000 » 1 VPP ERN 480

ECN/EQN/ERN 400 Stator coupling for plane surfaces  6000 rpm Stator coupling 100 °C DC 10 V to 30 V 256 to 2048 8192 (13 bits) –/4096 EnDat H  HTL EQN 425 Brochure:
for plane SSI 41H  HTL Rotary
With two shaft surfaces: Encoders
clampings 1500 Hz DC 4.75 V to 30 V 512 to 4096 EnDat T  TTL
(only for hollow SSI 41T  TTL
through shaft):
 12 000 rpm DC 3.6 V to 14 V – Þi: 33 554 432 4096 Fanuc ECN 425 F/EQN 437 F
(25 bits)

DC 10 V to 28.8 V 16 777 216 (24 bits) DRIVE-CLiQ ECN 424 S/EQN 436 S1)

ECN/EQN/ERN 400 Expanding ring coupling  15 000 rpm/ Expanding ring 100 °C DC 3.6 V to 14 V 2048 8192 (13 bits) –/4096 EnDat 2.2/01 with » 1 VPP ECN 413/EQN 425 Page 58
 12 000 rpm coupling:
1) 1)
1800 Hz – 33 554 432 (25 bits) EnDat 2.2/22 ECN 425 /EQN 437
Plane-surface
 15 000 rpm coupling: DC 5 V ±0.5 V 1024 to 5000 – « TTL ERN 421 Product
(not with ERN) 400 Hz Information
DC 5 V ±0.25 V 2048 Z1 track for sine commutation » 1 VPP ERN 487 document

Plane-surface coupling
83.2

50.5
22

1)
Also available with functional safety

DRIVE-CLiQ is a registered trademark of Siemens AG.

12 13
Rotary encoders for mounting on motors
Protection class: up to IP64 (EN 60529)

Series Main dimensions Mechanically Natural Maximum Supply voltage Signal periods Positions per Distinguishable Interface Model Further
permissible frequency fN operating per revolution revolution revolutions information
shaft speed (typical) of temperature
the coupling

Rotary encoders with integral bearing and mounted stator coupling

ECN/EQN/ERN 1000  12 000 rpm 1500 Hz 100 °C DC 3.6 V to 14 V 512 8192 (13 bits) –/4096 EnDat 2.2/01 with » 1 VPP ECN 1013/EQN 1025 Brochure:
Rotary
– 8 388 608 (23 bits) EnDat 2.2/22 ECN 1023/EQN 1035 Encoders

95 °C DC 10 V to 28.8 V DRIVE-CLiQ ECN 1023 S/EQN 1035 S

ERN 1023 DC 5 V ±0.5 V 100 to 3600 – « TTL/» 1 VPP ERN 1020/ERN 1080

70 °C DC 10 V to 30 V « HTLs ERN 1030

1)
DC 5 V ±0.25 V 5000 to 36 000 « TTL ERN 1070

 6000 rpm 1600 Hz 90 °C DC 5 V ±0.5 V 500 to 8192 3 block commutation signals « TTL ERN 1023 Page 50
1)
After internal 5/10/20/25-fold interpolation

14 15
Rotary encoders for mounting on motors
Protection class: up to IP64 (EN 60529)

Series Main dimensions Mechanically Natural Maximum Supply voltage Signal periods Positions per Distinguishable Interface Model Further
permissible frequency fN operating per revolution revolution revolutions information
shaft speed (typical) of temperature
the coupling

Rotary encoders with integral bearing for separate shaft coupling

ROC/ROQ/ROD 400 Synchro flange  12 000 rpm – 100 °C DC 3.6 V to 14 V 512/2048 8192 (13 bits) –/4096 EnDat 2.2/01 with » 1 VPP ROC 413/ROQ 425 Brochure:
Rotary
– 33 554 432 (25 bits) EnDat 2.2/22 ROC 4251)/ROQ 4371) Encoders

DC 4.75 V to 30 V 512 8192 (13 bits) SSI ROC 413/ROQ 425

Clamping flange 3)
DC 10 V to 30 V 256 to 2048 8192 (13 bits) –/4096 EnDat H  HTL ROQ 425
SSI 41H  HTL

DC 4.75 V to 30 V 512 to 4096 EnDat T  TTL

SSI 41T  TTL

DC 3.6 V to 14 V – Þi: 33 554 432 4096 Fanuc ROC 425 F/ROQ 437 F
(25 bits)

DC 10 V to 28.8 V 16 777 216 (24 bits) DRIVE-CLiQ ROC 424 S/EQN 436 S1)

DC 5 V ±0.5 V 50 to 10 0002) – – « TTL ROD 426/ROD 420

DC 10 V to 30 V 50 to 5000 « HTL ROD 436/ROD 430

2)
70 °C 50 to 10 000 « TTL ROD 466

100 °C DC 5 V ±0.5 V 1000 to 5000 » 1 VPP ROD 486/ROD 480

ROC/ROQ/ROD 1000  12 000 rpm – 100 °C DC 3.6 V to 14 V 512 8192 (13 bits) –/4096 EnDat 2.2/01 with » 1 VPP ROC 1013/ROQ 1025 Brochure:
Rotary
– 8 388 608 (23 bits) EnDat 2.2/22 ROC 1023/ROQ 1035 Encoders

95 °C DC 10 V to 28.8 V DRIVE-CLiQ ROC 1023 S/ROQ 1035 S

100 °C DC 5 V ±0.5 V 100 to 3600 – « TTL ROD 1020

» 1 VPP ROD 1080

70 °C DC 10 V to 30 V « HTLs ROD 1030

2)
DC 5 V ±0.25 V 5000 to 36 000 « TTL ROD 1070

ROD 600  12 000 rpm – 80 °C DC 5 V ±0.5 V 512 to 5000 – « TTL ROD 620

« HTL ROD 630

ROD 1900  4000 rpm – 70 °C DC 10 V to 30 V 600 to 2400 – « HTL/HTLs ROD 1930

 15

199

150 18 160

1)
Also available with functional safety
2)
After integrated 5/10-fold interpolation
3)
Only clamping flange

DRIVE-CLiQ is a registered trademark of Siemens AG.

16 17
Rotary encoders and angle encoders for
DC and three‑phase AC motors
General information

Speed stability Transmission of measuring signals For digital speed control on machines with HEIDENHAIN absolute encoders for values (e.g., at a clock frequency of 2 MHz Motor currents
In order to obtain good motor speed For good dynamic performance with digital high dynamic-performance requirements, “digital” motors deliver additional with EnDat 2.1 or 16 MHz with EnDat 2.2) Motors may exhibit impermissible current
stability, the encoder must provide a speed control, the cycle time of the speed a large number of measuring steps are sinusoidal incre­mental signals with the or EnDat3 (12.5 or 25 Mbit/s), incremental flowing from the rotor to the stator. This
high number of measuring steps per controller should not exceed approximately required—usually more than 500 000 per same characteristics as those described signal evaluation can be eliminated can cause the encoder bearing to overheat,
revolution. For this reason, HEIDENHAIN 125 μs. In addition, the actual values for the revolution. For applications with standard above. Absolute encoders from altogether. thus shortening its service life. HEIDENHAIN
offers encoders that output a sufficient position controller and speed controller motors, approximately 60 000 measuring HEIDENHAIN use the EnDat interface therefore recommends the use of encoders
number of measuring steps per revolution must be available to the controlling system steps per revolution are sufficient (similar (short for Encoder Data) for the serial data The benefits of this data transmission without an integral bearing or encoders
for the required speed stability. with the least possible delay. to resolvers). transmission of absolute position values technology are higher noise immunity with an electrically isolated bearing (hybrid
and other information for automatic along the transmission path and more bearing). For more information, please
HEIDENHAIN rotary encoders and angle High clock frequencies are needed to fulfill HEIDENHAIN encoders for motors with self-configuration, monitoring and cost-efficient connectors and cables. contact HEIDENHAIN.
encoders with an integral bearing and such demanding time requirements on digital position and speed control are diagnosis. This makes it possible to use A large portion of rotary encoders equipped
stator coupling exhibit particularly beneficial position-value transmission from the encoder therefore equipped with the purely serial the same downstream electronics and with the EnDat 2.2 or EnDat 3 interface Fault exclusion for mechanical coupling
behavior: shaft misalignment within a to the controlling system with serial data EnDat22/EnDat3 interface, or they output cabling technology for all HEIDENHAIN are also able to evaluate an external HEIDENHAIN encoders designed for
certain tolerance range does not induce transmission (see also the Interfaces of additional sinusoidal incremental signals encoders. temperature sensor (e.g., located in the functional safety can be mounted in such a
position errors or impair the speed stability HEIDENHAIN Encoders brochure). at 1 VPP signal levels (EnDat01). motor winding). The digitized temperature way that the rotor or stator fastening does
(see Specifications). HEIDENHAIN encoders for electric motors With EnDat 22 (HMC 6) and EnDat 3 data is transmitted as part of the EnDat 2.2 not accidentally loosen.
therefore output position values over the The high internal resolution of the EnDat22 (HMC 2), the serial data transmission can or EnDat 3 protocol without an additional
Position errors within one signal period fast, purely serial EnDat 2.2 or EnDat 3 and EnDat3 encoders permits resolutions take place inside the motor cable. Cabling line. Size
adversely affect the positioning accuracy interface or transmit additional incremental of up to 22 bits (4 194 304 measuring steps) work and costs are thereby significantly The higher a motor’s permissible operating
and speed stability of the motor. At low signals that are available with virtually no in inductive systems and of at least 25 bits reduced. Bandwidth temperature is, the smaller the motor can
feed rates, the motor moves in accordance delay to the downstream electronics for (approx. 33 million measuring steps) in The attainable gain levels for the position be made for a given torque. Since the
with the position error within one signal speed and position control. photoelectric encoders. For automatic configuration, important and speed control loops, and therefore the temperature of the motor also affects the
period. encoder specifications can be read from bandwidth of the motor with regard to temperature of the encoder, HEIDENHAIN
For standard motors, manufacturers The sinusoidal incremental signals of the the memory of the EnDat encoder, and command and disturbance behavior, may offers encoders for permissible operating
primarily use the highly robust ECI/EBI/EQI EnDat01 devices can, due to their high motor-specific parameters can be saved be limited by the rigidity of the coupling temperatures of up to 120 °C. These
encoders without integral bearing, or quality, be highly subdivided in the down­ in the encoder’s OEM memory area. The between the motor shaft and the encoder encoders make it possible to implement
rotary encoders with TTL or HTL com­ stream electronics (see Figure 1). Even at usable size of the OEM memory for the shaft, as well as by the natural frequency of smaller motors.
patible output signals—as well as additional speeds of 12 000 rpm, the signal arrives at rotary encoders listed in the current the stator coupling. HEIDENHAIN therefore
commutation signals for permanent the input circuit of the controlling system brochures is at least 1.4 KB ( 704 EnDat offers rotary and angle encoders for high- Power dissipation and acoustic noise
DC motors. with a frequency of only approximately words). rigidity shaft couplings. While the motor is running, encoder
400 kHz (see Figure 2). Cable lengths of The stator couplings mounted on the position errors within one signal period
up to 150 m are possible with 1 VPP incre­ Most absolute encoders internally encoder exhibit high natural frequencies fN. affect the motor’s power dissipation as
mental signals (see also 1 VPP incremental subdivide the sinusoidal scanning signals With modular and inductive rotary encoders, well as the heat generation and acoustic
signals). by a factor of 4096 or greater. When these the stator and rotor are firmly screwed to noise that go along with it. For this reason,
systems are operated with sufficiently the motor housing and the shaft (see also rotary encoders with high signal quality
fast transmission of the absolute position Mechanical design types and mounting). (better than ±1% of the signal period) are
This mechanical design therefore permits preferred (see also Measuring accuracy).
optimal coupling rigidity.
Bit error rate
Figure 1: Figure 2: For rotary encoders with a purely serial
Signal periods per revolution and the resulting number of measuring steps per revolution as a Shaft speed and resulting output frequency as a function of the number of interface for installation within motors,
function of the subdivision factor signal periods per revolution HEIDENHAIN recommends conducting a
type test for the bit error rate.
Subdivision factor Signal periods per revolution
Measuring steps per revolution 

Output frequency in kHz 

The use of functionally safe encoders
without closed metal housings and/or with
cable assemblies that do not comply with
the electrical connection directives (see
General electrical information) always
requires the bit error rate to be measured
in a type test under application conditions.

Preventive maintenance
Encoders with serial data transmission
provide information that enables monitoring
of the operating status and thus preventive
maintenance:
• Diagnostics
• Clearance gap for optimized and
verifiable mounting and application
conditions
• Connectable external temperature
sensor

Signal periods per revolution  Shaft speed in rpm 

18 19
HMC 2 and HMC 6
Single-cable solutions for servomotors

Servomotors normally require two separate The universal design of the HMC solution
connecting cables: HMC 6 gives motor and machine manufacturers
• One encoder cable for the motor encoder high flexibility, letting them use standard
• One power cable for the motor supply components on both the motor and the
control.
With the HMC solution (Hybrid Motor
Cable), HEIDENHAIN has integrated the All HEIDENHAIN encoders with the
encoder cable into the power cable. Thus, EnDat22 interface or with purely serial
only one cable is now needed between data transmission without battery buffering
the motor and the electrical cabinet. as per RS-485 are suitable for the HMC 6
single-cable solution. This includes motor
The HMC 6 single-cable solution was encoders for servomotors in various sizes,
specifically designed for the HEIDENHAIN Encoder connections linear and angle encoders used in direct-
(communication element)
EnDat22 interface, and HMC 2 for EnDat3. drive motors, as well as encoders for
With purely serial data transmission, cable Brake connections functional safety up to SIL 3.
lengths of up to 100 m can be realized.
With HMC 6, all other encoders equipped The HMC 2 single-cable solution can be
with a purely serial RS‑485 interface (e.g., Motor connections used with motor encoders featuring the
SSI) can be connected as well. A wide EnDat 3 interface (ordering designation:
range of encoders can therefore be used E30-R2) and purely serial data transmission
without the need for introducing a new via two wires. The ExI 1100/1300 and
interface. ExN 1300 series rotary encoders are
available for functional safety applications
The HMC solution combines the wires for with up to SIL 3.
the encoder, motor and brake into a single
cable, which is connected to the motor For the controlling hardware, you can
via a special connector. For connection to HMC 2 continue to use already deployed frequency Flange socket Connector
the drive, the cable is split into power inverters or controller units. The HMC cables
connections, brake connections and an have been designed for easy assembly of
encoder connection. the matching connecting elements.
Importantly, this does not impair noise
When the components are correctly immunity. Power wires Encoder output
assembled, the connecting elements attain cable inside the
Brake wires
an IP67 rating. Components motor housing
Preparing a motor for the single-cable Temperature
solution requires only a handful of Encoder
components.

Brake connections Connecting element on the motor

The motor housing is equipped with a
Motor
standard flange socket for HMC 2 or a
connections
Encoder connections special angle flange socket for HMC 6.
This angle flange socket brings together
the wires for the encoder, motor power
and brake.
Downstream electronics
Crimping tools for the power wires
The crimp contacts for the power and Encoder wires
brake wires are assembled with the usual Brake wires
tools.
Benefits Power wires
The HMC single-cable solutions offer a • Eliminated separate assignment of • Fewer required servicing components Output cables inside the motor housing
series of cost and quality benefits for power cables and encoder cables in the • Smaller motor profile with cable The rotary encoder is connected by means
motor and machine manufacturers: machine attached, enabling easier integration into of the output cables inside the motor
• Continued use of existing interfaces • Reduced mechanical requirements the machine housing housing: your pre-assembled communica­
• Realization of smaller drag chains (flange socket on the motor, cable ducts • HEIDENHAIN-tested combination of tion element for HMC 6 or the two
• Significant improvement in drag-chain in the machine housing) power and encoder cable contacts for HMC 2 are simply plugged
suitability thanks to fewer cables • Reduced logistics for cables and into the angle flange socket.
• Wide range of available encoders for connectors
HMC 2 and HMC 6 transmission • Easier and faster installation Cable with hybrid connector
• Reduced documentation The HMC connecting cable contains the
wires for the encoder, power supply and
brake. Further information:
For more information about HMC 6 and HMC 2, refer to the respective Product
Information document, and visit www.endat.de.

20 21
Safety-related position measuring systems

Safe axes Type-examined encoders Standard encoders Fault exclusion for the loosening of coupling usually require additional
Driven axes and moving parts can represent Encoders from HEIDENHAIN are used In addition to encoders explicitly qualified the mechanical connection measures during installation of the encoder
a significant hazard for humans. Particularly successfully on a variety of controls in widely for safety applications, standard encoders Irrespective of the interface, many safety or in the event of servicing (e.g., anti-
if the human interacts with the machine differing safety designs. This particularly (e.g., with Fanuc interface or 1 VPP signals) designs require the safe mechanical rotation lock for screws). These factors
(e.g., during workpiece setup), it must be applies to type-examined encoders with can also be used in safe axes. In such connection of the encoder. The standard for must be considered for the selection of a
ensured that the machine does not make EnDat and DRIVE-CLiQ interfaces. These cases, the characteristics of the encoders electric motors, EN 61800-5-2, requires suitable encoder or mounting mode.
any uncontrolled movements. This requires encoders can be operated as single-encoder must be matched to the requirements of that the loosening of the mechanical
position information about the axes in order systems in conjunction with a suitable the respective control. For this purpose, connection between the encoder and the
for a safety function to be implemented. control in applications with the control HEIDENHAIN can provide additional data motor be considered as a fault. Because
As an evaluating safety module, the control category SIL 3 (according to EN 61508) or about the individual encoders (failure rate, the controller may not be able to detect
must be able to detect faulty position Performance Level “e” (of EN ISO 13849). fault model as per EN 61800-5-2). these errors, fault exclusion is required in
information and react accordingly. Unlike incremental encoders, absolute many cases. The requirements on a fault
encoders always provide a safe absolute exclusion can result in additional constraints
Various safety strategies can be pursued, position value, including immediately after in the permissible limit values in the
depending on the topology of the axis and switch-on or a power failure. The reliable specifications. In addition, fault exclusions
the evaluation capabilities of the control. transmission of the position is based on for the loosening of the mechanical
In a single-encoder system, for example, two independently generated absolute
only one encoder per axis is evaluated for position values and on error bits provided
the safety function. However, on axes with to the safe control. The purely serial data
two encoders, such as a linear axis with transmission also provides other benefits,
a rotary and a linear encoder, the two including greater reliability, improved
redundant position values can be compared accuracy, diagnostic capabilities and
with each other in the control. reduced costs through simpler connection Further information: Further information:
Safe fault detection can be ensured only technology. Adhere to the information in the following documents to ensure the correct
The safety-related characteristic values
if the two components (the control and and intended operation of the encoder:
are listed in the specifications of the
encoder) are properly matched to each • Mounting Instructions
encoders. The Technical Information
other. Please note that the safety designs • Operating Instructions
document Safety-Related Position
of control manufacturers differ from one • Product Information documents
Encoders provides explanations of the
another. As a result, the requirements to • Customer information about fault exclusion
characteristic values.
be fulfilled by the connected encoders may • Technical Information document:
partially differ as well. Safety-Related Position Measuring Systems 596632
For the use of standard encoders in
safety-related applications, HEIDENHAIN
can also provide additional information For implementation in a control with EnDat22:
about individual products (failure rate, • Specification for Safe Control 533095
fault model as per EN 61800-5-2).
For implementation in a control with EnDat3:
• Application Conditions for Functional Safety 3000003

Service life as per ISO 13849

Unless otherwise specified, HEIDENHAIN Measured-value Transmission line Reception of measured values
encoders are designed for a service life acquisition
of 20 years (as per ISO 13849), which is Safety-related position measuring system
Safe control
equivalent to 40 000 operating hours.

Bearing life EnDat 2.2 or EnDat 2.2 or Interface 1

The bearing life L10mr as per ISO/TS 16281 EnDat 3

EnDat interface
Position 1 EnDat 3
at a temperature of 60 °C and maximum EnDat
bearing loads (maximum permissible shaft Master
(protocol and cable)
offsets for encoders with an integrated Position 2 Interface 2
stator coupling) is greater than 2 · 1010 EnDat Master
revolutions. Starting at a continuous use
temperature of 75 °C, the service life of the Safe control
grease is limited. Motor
Encoder
Catalog of measures
Please contact HEIDENHAIN if you have
any questions about the service life of the
grease. Two independent Serial data Position values and error bits
Power stage position values transmission via two processor interfaces
Power cable
Internal monitoring Monitoring functions
Integrated into the encoder cable
DRIVE-CLiQ is a registered trademark of Protocol implementation Efficiency test
(hybrid cable) in the case of EnDat 3
Siemens AG.
Functionally safe drive system with EnDat 2.2 or EnDat 3 Safety-related position measurement system with EnDat 2.2 or EnDat 3
22 23
Measuring principles
Measuring standard Scanning methods

HEIDENHAIN encoders with optical In the absolute measuring method, the A separate incremental track, or the track Photoelectric scanning
scanning incorporate measuring standards position value is available immediately with the finest grating period, is interpolated Most HEIDENHAIN encoders utilize the The ECN and EQN absolute rotary
consisting of periodic structures known as upon encoder switch-on and can be for the position value and is simultaneously photoelectric scanning principle. Photoelec­ encoders with optimized scanning contain
graduations. requested by the downstream electronics used to generate an optional incremental tric scanning is touchless and therefore a single, large-surface, finely structured
at any time. There is no need to move the signal. does not induce wear. This method detects photosensor rather than a group of
These graduations are applied to a axes to find the reference position. This even extremely fine graduation lines down individual photocells. The width of the
substrate of glass or steel. For encoders absolute position information is ascertained Singleturn rotary encoders repeat the to a width of only a few micrometers and photosensor’s structures is identical to the
with large diameters, steel tape is used as from the graduation of the circular absolute position information with each generates output signals with very small width of the measuring standard’s grating
the substrate. scale, which contains a code structure or revolution. Multiturn encoders can signal periods. structure. A scanning reticle with a
consists of multiple parallel graduation distinguish between additional revolutions. matching structure is therefore not
HEIDENHAIN manufactures its precision tracks. The ERN/ECN/EQN/ERO and ROD/RCN/ needed.
graduations in specially developed, RQN rotary encoders are designed in
photolithographic processes: accordance with the imaging scanning
• AURODUR: matte-etched lines on a principle.
gold-plated steel tape; typical grating
period: 40 µm Put simply, the imaging scanning principle
• METALLUR: contamination-tolerant uses projected-light signal generation:
graduation consisting of metal lines on two gratings with equal or similar grating LED light Condenser
gold; typical grating period: 20 μm periods—the circular scale and the source Circular scale Incremental track
• DIADUR: extremely robust chromium scanning reticle—are moved relative to
lines on glass (typical grating period: each other. The carrier material of the Absolute track
20 μm), or three-dimensional chromium scanning reticle is transparent, whereas
structures (typical grating period: 8 μm) the graduation of the measuring standard
on glass may likewise be applied to a transparent
• SUPRADUR phase grating: optically material or to a reflective material.
three-dimensional, planar structure; When parallel light passes through a grating
particularly tolerant to contamination; structure, light and dark fields are projected
typical grating period: 8 μm and finer at a certain distance. At this location there
• OPTODUR phase grating: optically is an index grating with the same or similar
three-dimensional, planar structure with grating period. When the two graduations Structured photosensor
particularly high reflectance; typical move relative to each other, the incident
graduation period: 2 μm and finer light is modulated: if the gaps are aligned,
The circular scales of absolute rotary encoders light passes through. If the lines of one Photoelectric scanning according to the imaging scanning principle
For magnetic encoders, a substrate made grating coincide with the gaps of the other,
of magnetizable steel alloy is used. Within it, no light passes through. Photocells or a
a graduation consisting of north and south structured photosensor convert these
poles is created with a grating period of In the incremental measuring method, The absolute position established by the fluctuations in light into nearly sinusoidal
400 µm. Due to the short range of electro­ the graduation consists of a periodic grating reference mark is assigned to exactly one electrical signals. In encoders that use the
magnetic interactions and the resulting structure. Position information is obtained measuring step. imaging scanning principle, workable
narrowness of the scanning gap, finer through the counting of individual incre­ mounting tolerances are attainable starting
magnetic graduations are not practical. ments (measuring steps) starting from a Thus, before an absolute reference can be at a minimum grating period of 10 μm.
freely settable point of origin. Since position established or the most recently selected
Encoders that use the inductive scanning ascertainment requires an absolute refe­ reference point can be refound, this
principle employ metal graduations or rence, the circular scales have an additional reference mark must first be traversed. Area of receiver coils
copper/nickel-based graduation structures. track containing a reference mark.
These graduation structures are applied to
Area of exciter
a printed-circuit carrier material. coils

Other scanning principles

Some encoders operate in accordance with
other scanning methods. As their measuring
standard, ERM encoders use a permanently
magnetized MAGNODUR graduation that
is scanned with magnetoresistive sensors.

ECI/EQI/EBI rotary encoders operate

according to the inductive measuring
principle. In this case, moving graduation
structures modulate the gain and phase of Moving
a high-frequency signal. By means of graduation
circumferential scanning, the position value structure
is always generated based on the signals
from the receiver coils that are distributed
along the circumference. This permits wide
The ciruclar scales of incremental rotary encoders mounting tolerances at high resolution. Inductive scanning
24 25
 Measuring accuracy
Electronic commutation with position encoders

Commutation with permanent-magnet The variables influencing the accuracy of Encoder-specific error The following factors influence the outcome:
three-phase AC motors linear encoders are listed in the Linear In the specifications for rotary encoders, • Fineness of the signal period
Electronic commutation for a permanent- Encoders For Numerically Controlled the encoder-specific error is stated as the • Homogeneity and period definition of
magnet three-phase AC motor requires the Machine Tools and Exposed Linear Encoders system accuracy. the graduation
position of the rotor as an absolute value brochures. • Quality of scanning filter structures
prior to motor start-up. HEIDENHAIN rotary The extreme values of the total error for • Characteristics of the sensors
encoders come with different types of The angular measurement accuracy is any given position relative to their mean lie • Stability and dynamic performance of
rotor position recognition: primarily determined by the following within the system accuracy of ±a. further analog signal processing
factors:
• Absolute rotary encoders in singleturn • Quality of the graduation The system accuracy reflects position errors These errors are taken into account in the
and multiturn versions provide the • Scanning quality within one revolution as well as interpolation information about interpolation error within
absolute position information immediately • Quality of the signal processing errors within one signal period and—for one signal period. For rotary encoders with
after switch-on, allowing the exact electronics rotary encoders with stator coupling—the an integral bearing and sinusoidal output
position of the rotor to be derived for Circular scale with • Eccentricity of the graduation relative errors of the shaft coupling. signals, these errors are less than ±1% of
electronic commutation. code track and to the bearing the signal period, and less than ±3% for
incremental track • Bearing error Interpolation error within one encoders with square-wave output signals.
• Along with delivering incremental signals, • Coupling with the drive shaft signal period These signals are suitable for up to 100-fold
incremental rotary encoders with a • Elasticity of the stator coupling (ERN, The interpolation error within one signal PLL subdivision.
second track—the Z1 track—provide ECN, EQN) or shaft coupling ( ROD, period is considered separately, since it has
one sine and one cosine signal (C and D) ROC, ROQ) an effect even in very small angular move­ Due to the higher reproducibility of a
for each revolution of the motor shaft. ments and in repeated measurements. position, much smaller measuring steps
For sine commutation, rotary encoders These factors can be divided into encoder- It particularly causes speed ripples in the are still practical.
with a Z1 track simply require a subdivision specific errors and application-specific speed control loop.
unit and a signal multiplexer in order to factors. For assessment of the attainable
obtain the absolute rotor position down overall accuracy, all of these individual The interpolation error within one signal
to an accuracy of ±5° from the Z1 track factors must be taken into account. period ±u results from the scanning quality
and to obtain the position information for and, for encoders with integrated pulse-
speed and position control from the shaping or counter electronics, the quality
incremental track (see also Interfaces: of the signal-processing electronics. For
Commutation signals). encoders with sinusoidal output signals,
however, the error from the signal
• Incremental rotary encoders with Circular scale with processing electronics is dictated by the
block commutation tracks also output Z1 track downstream electronics.
three commutation signals U, V and W,
which are used to directly drive the
power electronics. These rotary encoders
are available with various commutation
tracks. Typical versions have three signal
periods (120° mech.) or four signal
periods (90° mech.) per commutation
signal and revolution. Irrespective of this,
the incremental square-wave signals
are used for position and speed control
(see also Interfaces: Commutation Interpolation error within one revolution Interpolation error within one signal period
signals).

Position error 
Position error 
Interpolation error
within one signal
Commutation of synchronous Circular scale with period
linear motors block commutation
tracks
Like absolute rotary and angular encoders,
the LIC and LC absolute linear encoder
series provide the exact position of the
motor’s moving component immediately
upon switch-on. Maximum holding load is
thereby possible even at standstill.

Signal period

Signal level 
Position 
360 °elec.

Further information:
Please note the switch-on behavior of
the encoders (see the Interfaces of
HEIDENHAIN Encoders brochure).

26 27
Application-dependent errors

For rotary encoders with an integral Rotary encoders with 1. Directional errors of the graduation The following relationship exists between 3. Radial runout of the bearing Rotary encoders with inductive
bearing, the specified system accuracy photoelectric scanning ERO: The extreme values of the directional the eccentricity e, the mean graduation The stated relationship for the measuring scanning
already takes the error of the bearing into In addition to the system accuracy, the errors relative to their mean are listed in diameter D, and the measuring error ¹j error ¹j also applies to the radial runout of As with all rotary encoders without an
account. In the case of angle encoders mounting quality and adjustment of the the Specifications as the accuracy of the (see figure below): the bearing when the eccentricity e is integral bearing, the attainable accuracy of
with a separate shaft coupling (ROD, scanning head also have a significant effect graduation. The system accuracy consists replaced by one half of the radial runout inductive-scanning encoders without an
ROC, ROQ), the angular error of the on the attainable overall accuracy of rotary of the graduation accuracy and position ¹j = ±412 · e (half of the displayed value). integral bearing depends on the mounting
D
coupling must be considered as well (see encoders without an integral bearing but error within one signal period. Bearing compliance under a radial load and application conditions. The stated
Mechanical design types and mounting). with photoelectric scanning. Of particular ¹j = Measuring error in ” (arc seconds) applied to the shaft causes similar errors. system accuracy assumes a temperature
For angle encoders with stator coupling importance are the mounting eccentricity 2. Errors due to eccentricity of the e = E ccentricity of the radial grating of 20 °C and a low shaft speed. The
(ERN, ECN, EQN), the system accuracy of the graduation and the radial runout of graduation relative to the bearing relative to the bearing in µm 4. Position error within one signal utilization of all permissible tolerances for
already includes the error of the shaft the measured shaft. During mounting of the disk/hub assembly, D = M ean graduation diameter in mm period ¹ju the operating temperature, speed, supply
coupling. it is to be expected that the bearing will The scanning units of all HEIDENHAIN voltage, scanning gap and mounting
Example exhibit radial runout or eccentricity errors. encoders are adjusted such that, without condition must be taken into account for
In contrast, for encoders without integral For an ERO 1420 rotary encoder with a When centering via the centering collar of Model Graduation Error per any further electrical adjustment during determining the typical total error.
bearing, the mounting, as well as the mean graduation diameter of 24.85 mm: the hub, bear in mind that HEIDENHAIN centerline 1 µm of mounting, the maximum position error
adjustment of the scanning head, has a A radial runout of the measured shaft of guarantees an eccentricity of the graduation diameter D eccentricity within one signal period (listed below) is Since inductive rotary encoders use
decisive influence on the attainable overall 0.02 mm results in a position error of relative to the centering collar of less than not exceeded. circumferential scanning, their overall error
accuracy. Of particular importance are both ±330 arc seconds within one revolution. 5 μm for the encoders listed in this brochure. ERO 1420 D = 24.85 mm ±16.5” is generally lower than that of optical rotary
the mounting eccentricity of the graduation With modular encoders, this stated ERO 1470 encoders without an integral bearing.
and the radial runout of the measured To evaluate the accuracy of modular accuracy presupposes a diameter error of ERO 1480 Model Line count Position error within Because overall error cannot be determined
shaft. Evaluation of the overall accuracy rotary encoders without an integral zero between the motor shaft and the one signal period ¹ju through a simple calculation, these values
of these encoders requires that their bearing (ERO), the relevant errors must “master shaft.” ERO 1225 D = 38.5 mm ±10.7” are provided in the following table.
application-dependent errors be individually be considered individually. ERO 1285 TTL 1 VPP
measured and taken into account. In the worst-case scenario, if the centering
collar is centered relative to the bearing, Model System Total error
ERO 2048  ±19.0”  ± 6.5”
then the two eccentricity vectors may be accuracy
1500  ±26.0”  ± 8.7”
cumulative. 1024  ±38.0”  ±13.0” ECI 1100 ±120” ±280”
1000  ±40.0”  ±14.0” EBI 1100
512  ±76.0”  ±25.0” EQI 1100
EnDat22
These values for the position error within E30-R2
one signal period are already included in
the system accuracy. Greater error can ECI 1300 (S) ±65” ±120”
arise if the mounting tolerances are EQI 1300 (S)
exceeded. EnDat22
E30-R2
DQ01

ECI 100 ±90” ±180”

EBI 100

ECI 4000 (S) ±25” ±140”

EBI 4000
90 mm
Scanning unit hollow shaft
Measuring ¹j in angular seconds 

EnDat22
DQ01

ECI 4000 (S) ±40” ±150”

EBI 4000
180 mm
hollow shaft
EnDat22
DQ01

Dependency of the
measuring error ¹j on
the mean graduation
diameter D and the
Resultant measuring eccentricity e.
error ¹j for various
eccentricity values e as M = Center of graduation
a function of the mean Eccentricity e in µm  j = "True" angle
graduation diameter D j‘ = Scanned angle
28 29
Mechanical design types and mounting
Rotary encoders with integral bearing and stator coupling

The ECN/EQN/ERN rotary encoders Mounting the ECN/EQN/ERN 1000

feature an integral bearing and a mounted ECN/EQN 1100
and ERN 1x23
stator coupling. With these models, the The hollow shaft of these rotary encoders ECN/EQN/ERN 1000
encoder shaft is directly connected to the is slid onto the measured shaft and clamped
measured shaft. During angular acceleration on the rotor side with two screws. These
of the shaft, the stator coupling must encoders are mounted on the stator side
absorb only the torque arising from friction without a centering flange onto a plane
within the bearing. ECN/EQN/ERN rotary surface via four clamping screws or via two
encoders thus exhibit excellent dynamic clamping screws and washers.
performance and a high natural frequency. The ECN/EQN/ERN 1000 encoders have a
blind hollow shaft, but the ERN 1123 has a
Benefits of the stator coupling:
hollow through shaft.
• No axial mounting tolerance between
the shaft and stator housing
• High natural frequency of the coupling
Accessory for ECN/EQN/ERN 1000
• High torsional rigidity of shaft coupling
• Minimized space requirement for
Washer
external and internal mounting
For increasing the natural frequency fN
• Easy axial mounting
ECN/EQN/ERN 1300 when fastening with only two screws.
ID 334653-01 (2 washers)
Mounting the ECN/EQN 1100 and
ECN/EQN/ERN 1300
The blind hollow shaft or the tapered shaft
of the rotary encoder is connected at the
encoder’s front face to the measured shaft
by way of a central screw. Proper centering
onto the motor shaft is accomplished via
the hollow shaft or tapered shaft. On its
stator side, the ECN/EQN 1100 is connected
to a plane surface with two clamping
screws (without a centering collar). The
stator side of the ECN/EQN/ERN 1300 is
clamped in a mating hole with an axial screw.
The versions with fault exclusion feature
an additional nose for a positive lock in the
stator.

Mounting accessories
ECN/EQN/ECI/EQI 1100: Mounting aid
For turning the encoder shaft from the rear.
This facilitates finding the positive-locking
connection between the encoder and the
measured shaft.
ID 821017-03
ERN/ECN/EQN 1300: Inspection tool
For inspecting the shaft connection
(fault exclusion for rotor coupling).
ID 680644-01
HEIDENHAIN recommends inspecting the
holding torque of non-positive-locking shaft
connections (e.g., tapered shafts, blind
hollow shafts).
The inspection tool is screwed into the
M10 back-off thread from the rear of the
encoder. Due to the short thread engage­
ment, the fastening screw for the shaft is
not touched. With the motor shaft locked
in place, the testing torque is applied to the
extension by means of a torque wrench
(hexagonal, width A/F 6.3 mm). After any
nonrecurring settling, it must be ensured
that there is no relative motion between
the motor shaft and the encoder shaft.

30 31
ECI/EBI/EQI rotary encoders without integral bearing

The ECI/EBI/EQI inductive encoders have Permissible scanning gap

0.05 A Tolerance at the time of shipping, including influence of

Amplitude in % 
no integral bearing. This means that the Cx T1 The size of the scanning gap between the
mounting and operating conditions influence rotor and the stator is dictated by the the supply voltage
the encoder’s function reserves. It is also Scanning gap a = 0.65 mm mounting situation. Later adjustment is Temperature influence at max./min. operating temperature
essential to ensure that the specified ±0.3 mm possible only through the insertion of shim
mating dimensions and tolerances are rings.
maintained for all operating conditions (see T2

mounting instructions).  The maximum permissible error specified

X1, X2
in the mating dimensions applies to both
The application analysis must yield values mounting and operation. Thus, the
within specification for all possible operating tolerances exploited during mounting are
conditions (particularly under maximum load no longer available during operation.
and at minimum and maximum operating 0.05 A

temperature) and with the signal amplitude Once the encoder has been mounted, the
taken into account (inspection of the Schematic representation actual scanning gap between the rotor and ECI 1118/
b
EBI 1135 with EnDat 2.2 Deviation from the ideal scanning gap in mm 
scanning gap and mounting tolerance at of ECI/EBI 100 the stator can be indirectly measured with
room temperature). This particularly applies the PWM 21 adjusting and testing package
to the following determined factors: using a signal amplitude inside the rotary Tolerance at the time of shipping, including influence of the

Amplitude in % 
• Maximum radial runout of the motor shaft encoder. The characteristic curves illustrate supply voltage
• Maximum axial runout of the motor shaft the relationship between the signal Temperature influence at max./min. operating temperature
relative to the mounting surface amplitude and the deviation from the ideal
• Maximum and minimum scanning gap (a), scanning gap under different ambient
including in combination with, for example, conditions.
the following:
– The length ratio between the motor The example of the ECI/EBI 1100 shows
shaft and the motor housing under the the resulting deviation from the ideal
influence of temperature (T1; T2; 1; 2), scanning gap for a signal amplitude of 80%
depending on the position of the fixed under ideal conditions. Due to tolerances
bearing (b) within the rotary encoder, the deviation is
– The bearing play (CX) between +0.03 mm and +0.2 mm. Thus,
–N  on-dynamic shaft offsets due to the maximum permissible motion of the
load (X1) measured shaft during operation ranges ECI/EBI 100 Deviation from the ideal scanning gap in mm 
– The effect of the motor brakes being Mounting the ECI 119 from –0.33 mm to +0.1 mm (green
engaged (X2) arrows).

The ECI/EBI 100 rotary encoders are pre- Display of the scanning gap
aligned on a plane surface and, with their The latest generation of encoders supports
hollow shaft locked, are slid onto the the display of the mounting dimension in
measured shaft. Fastening and shaft the ATS software. This additional data can
clamping are achieved with axial screws. also be requested by the drive during
closed-loop operation.
The ECI/EBI/EQI 1100 inductive rotary
encoders are mounted flush on their axis.
Their blind hollow shaft is fastened with a
central screw. The stator of these rotary
encoders is clamped onto a shoulder with
two axial screws.

Mounting the
ECI/EQI 1100
ID ExI Mounting ID ExI Mounting ID ExI Mounting
Mounting accessory mounting interface mounting interface mounting interface
Mounting aid for removing the wizard wizard wizard
PCB connector (see page 36).
728563-xx  811811-xx  1259551-xx 
820725-xx  811815-xx  1259552-xx 
1164809-xx  810661-xx  1286377-xx 
1164811-xx  810662-xx  1286388-xx 
1164812-xx  823405-xx 
1164813-xx  823406-xx 
823407-xx 

32 33
 ERO rotary encoders without integral bearing

The ECI/EBI/EQI 1300 inductive rotary The ERO rotary encoders without an ERO 1200
encoders are mounted flush on their axis. integral bearing consist of a scanning head
Their blind hollow shaft is fastened with a and a circular scale that must be brought
central screw. The stator of these rotary into mutual alignment during mounting.
encoders is clamped to a shoulder by three Precise alignment is an important factor in
axial screws. reaching the attainable measuring
accuracy.

The ERO modular rotary encoders consist

of a disk/hub assembly and a scanning unit. ERO 1400
These encoders are particularly well suited
for limited installation space, low axial offsets,
Mounting the and low radial runout, or for applications
ECI/EQI 1300 where friction of any type must be avoided.
with EnDat22 and
EnDat3 In the ERO 1200 series, the disk/hub Mounting the ERO
assembly is pressed onto the shaft and
The scale drum of the ECI/EBI 4000 brought into alignment with the scanning
inductive rotary encoders is slid onto the unit. The scanning unit is aligned on a
centering collar of the measured shaft and centering collar and fastened to the
fastened (with/without a key, depending on mounting surface.
the version). Then the stator is fastened via
an external centering diameter. The encoders of the ERO 1400 series are
miniaturized modular rotary encoders.
These encoders feature a special built-in
mounting aid that centers the circular
scale relative to the scanning unit and
adjusts the gap between the circular scale
and the scanning reticle. Short installation
time can thus be attained. The encoder
comes with a cover cap for protection
Mounting the against extraneous light.
ECI/EBI 4000

Mounting accessories for the ERO 1400

Mounting accessory
Aid for removing the clip in order to achieve
optimal encoder mounting.
ID 510175-01

Accessory
Housing for the ERO 14xx with an axial
PCB connector and central hole.
ID 331727-23

Mounting accessories
for the ERO 1400

34 35
Information on output cables General testing accessories for modular encoders and the PWM 21

Mounting and commissioning must be Accessory Testing cable for directly Adapter connector* for ID 621742-01
performed with appropriate ESD protection. Mounting aid for disengaging the PCB connecting a modular rotary Three connectors for replacement
Do not engage or disengage any connecting connector. Suitable for all rotary encoders 12-pin: ID 528694-01
element while under power. To avoid in this brochure, except for the ERO 1200 encoder to a PWM 21 15-pin: ID 528694-02
overstressing the individual wires during series (ID 1075573-01). *Adapter connectors should be replaced
disengagement of the connecting element, Testing cable for modular rotary after 500 connection cycles
HEIDENHAIN recommends using the To avoid damaging the cable, apply pulling encoders with EnDat (EnDat22, EnDat01
mounting aid for disconnecting the PCB force only to the connector and never to or E30-R2) or SSI interface Testing cable for the ERN 1387, with
connector. the wires. For other encoders, use tweezers Includes three 12-pin adapter connectors commutation signals for sinusoidal
or the mounting aid as needed. and three 15-pin adapter connectors. commutation
Strain relief ID 621742-01 Includes three 14-pin adapter connectors.
Avoid torque or tensile stress, and use ID 1118892-02
strain relief wherever necessary. Connecting cable for EnDat or Testing cable for modular rotary encoders
Mounting aid for PCB connector
SSI interface Connecting cable for ERN 1387
Straight M12 flange socket For extending the testing cable; For extending the testing cable
Retention force of polarizing key: completely assembled with a 15-pin D-sub Completely assembled with 15-pin D-sub
max. 1 Nm. Cable length (rated length) Electromagnetic compatibility connector (male) and a 15-pin D-sub connector (male) and 15-pin D-sub
For output cables with a crimp on the Cables from HEIDENHAIN are tested for connector (female), max. 3 m connector (female), max. 3 m.
Screws encoder side for strain relief and a shield electromagnetic compatibility. For output ID 675582-xx ID 675582-xx
For output cables with standard M12 or contact, the cable length is specified up to cables with wires for temperature sensors,
M23 flange sockets, use M2.5 screws. the crimp sleeve. Exceptions apply, for electromagnetic compatibility must be Adapter connector for ID 1118892-02
example, to output cables without a crimp ensured in the entire system. Testing cable for modular rotary Three connectors for replacement
The mounting method with M2.5 screws on the encoder side and to those with a encoders with DRIVE-CLiQ interface 14-pin: ID 528694-04
was designed for the following tightening sensor connection at the downstream Crimp connector Includes three 12-pin adapter connectors
torques: electronics or with a shield connection via For joining (crimping) the wires of the and three 15-pin adapter connectors.
For M12, M23:   min. Md 0.4 Nm a cable clamp. Upon request, you can temperature-sensor output cable to the ID 621742-01 EnDat 3 adapter (SA 1210)
  max. Md 0.5 Nm obtain binding information (a dimension wires of the temperature sensor inside the Adapter for connecting an encoder with
Load-bearing thread length: min. 4 mm drawing) corresponding to the ID number motor (ID 1148157-01). Only in connection with: EnDat 3 (E30-R2) to the PWM 21
Minimum tensile strength of the respective output cable (see Cables Adapter cable for DRIVE-CLiQ,  6.8 mm 15-pin D-sub connector (male) and
of the screws: 800 N/mm2 and Connectors brochure). 15-pin D-sub (female) and 15-pin D-sub connector (female)
6-pin RJ45 Ethernet connector ID 1317260-01
with metal housing (IP20) EnDat 3 adapter (SA 1210)
To prevent self-loosening of the screws,
HEIDENHAIN recommends using a ID 1228399-01
material bonding threadlocker.

Adapter cables for connecting For EnDat01, EnDat Hx, EnDat Tx or EnDat 3 interface (E30-R2) for HMC 2,
Designation of the cable components the flange socket on the motor SSI interface with incremental signals, only in combination with EnDat3 adapter
adapter cable  8 mm Adapter cable  9.3 mm
Electrical connection 1 to the PWM 21 17-pin M23 connector (female) and M12 SpeedTEC hybrid connector (female),
Wire length Cable length (L)
(customer side) 15-pin D-sub connector (male). four power wires, two brake wires and
Electrical connection 2 Cable design 1 (data transmission) Pin layout 1 For the EnDat22 interface,
ID 324544-xx two communication wires
(rotary encoder) Cable type 1, color, number of shields, outer shield adapter cable  6 mm
15-pin D-sub connector (male).
9-pin M23 connector (female)
Adapter cable  8 mm ID 1189174-xx
8-pin M12 coupling (male).
12-pin M23 connector (female)
ID 1136863-xx
15-pin D-sub connector (male). Adapter cable  9.3 mm
Cable bushing 1 Cable bushing 2 (ID 524599-xx is additionally required:
ID 310196-xx M23 SpeedTEC hybrid connector (female),
with sheath or shield Electrical connection 5 Cable design 2 with sheath or shield 15-pin M12 (female) and 15-pin D-sub
assembly 1 (temperature sensor) assembly 2 four power wires, two signal wires and
Pin layout 2 connector (male))
Version for HMC 6, two communication wires
Cable length (L1) of the additional cable Adapter cables  6 mm/8 mm adapter cable  13.6 mm 15-pin D-sub connector (male).
8-pin M12 connector (female) and M23 SpeedTEC hybrid connector (female), ID 1275291-xx
Temperature sensor signals via electrical connection 1 15-pin D-sub connector (male). with five power wires, two brake wires
ID 1036526-xx    6 mm and six communication wires
Electrical connection 1 ID 1129753-xx    8 mm 15-pin D-sub connector (male).
Wire length Cable length (L) ID 1189174-xx
(customer side)
Electrical connection 2 Cable design 1 (data transmission) Pin layout 1
(rotary encoder) Cable type 1, color, number of shields, outer shield For the DRIVE-CLiQ interface,
adapter cable  6.8 mm
9-pin M23 connector (female)
6-pin RJ45 Ethernet connector
Cable bushing 1 or Cable bushing 2 with IP20 metal housing
sheath and shield Cable design 2 Electrical connection 5 with sheath or shield ID 1117540-xx
assembly 1 (temperature sensor) Pin layout 2 assembly 2
Adapter cable  6.8 mm
DRIVE-CLiQ is a registered trademark of
Cable length (L1) of the additional cable 8-pin M12 connector (female) Siemens AG.
6-pin RJ45 Ethernet connector
Temperature sensor signals via PCB of rotary encoder with IP20 metal housing. SpeedTEC is a registered trademark of
ID 1093042-xx TE Connectivity Industrial GmbH.
36 37
Compatible mounting dimensions Mounting accessories

Mating dimensions and tolerances must Screwdriver bits Screwdriver

be taken into account during the mounting • For HEIDENHAIN shaft couplings When using screwdrivers with adjustable
of rotary encoders. Within some rotary • For ExN shaft clampings and stator torque, make sure that they comply with
encoder series, the mating dimensions couplings DIN EN ISO 6789 for fulfilling the required
may exhibit only slight differences or even • For ERO shaft clampings torque tolerances.
be identical. Certain rotary encoders are
therefore mounting-compatible with each Width across flats Length ID Adjustable torque, with accuracy of ±6%
other, allowing different encoders to be 0.2 Nm to 1.2 Nm ID 350379-04
mounted to the same motor as the 1.5 70 mm 350378-01 1 Nm to 5 Nm ID 350379-05
requirements dictate.
1.5 (spherical head) 350378-02
All dimensions, tolerances and required
mating dimensions are indicated in the 2 350378-03
dimension drawing of the respective
series. Deviating values for rotary encoders 2 (spherical head) 350378-04
with functional safety (FS) are provided in
the corresponding Product Information 2.5 350378-05
documents. Series Differences
3 (spherical head) 350378-08
ECN/EQN 1100 FS Standard, with slot for FS devices
All absolute rotary encoders of the ECN/ 4 350378-07
EQN 1100 FS, ECI/EQI 1100 FS, ECI/EBI 1100 ECI/EQI 1100 FS Same as ECN/EQN 1100 FS, but with a different tolerance for the 1)
and ECI/EQI 1100 series are mounting- deviation between the shaft and coupling surfaces 4 (with dog point) 350378-14
compatible within the respective series,
exhibiting only minor differences in the ECI 1118/EBI 1135 Same as ECN/EQN 1100 FS, but with a different tolerance for the 150 mm 756768-44
permissible deviation between the shaft deviation between the shaft and coupling surfaces
surface and coupling surface. TX8 89 mm 350378-11
ECI 1119/EQI 1131 Same as ECN/EQN 1100 FS, but with a different tolerance for the 152 mm 350378-12
deviation between the shaft and coupling surfaces
TX15 70 mm 756768-42
1)
For DIN 6912 screws
(low head screw with pilot recess)

Some rotary encoders of the ERN 1300, Series Required mating dimensions Screws
ECN/EQN 1300, ECI/EBI/EQI 1300 FS and Screw Securing method ID
ECN/EQN 400 series are also mounting- ERN 1300 ECN/ ECI/EBI/ ECN/
compatible with each other and can be M3x8-8.8 ISO 4762 MKL Material bonding anti-rotation lock 202264-67
EQN 1300 FS EQI 1300 FS EQN 400 FS
mounted to identical motors. Minor M3x10-8.8 ISO 4762 MKL Material bonding anti-rotation lock 202264-87
differences, such as the anti-rotation ERN 1300    M3x16 A2 ISO 4762 KLF Self-locking 202264-30
element and a limited tolerance for the
inside diameter, must be taken into ECN/EQN 1300 FS   M3x20 A2 ISO 4762 KLF Self-locking 202264-45
account. M3x22-8.8 ISO 4762 MKL Material bonding anti-rotation lock 202264-65
ECI/EQI 1300 FS M3x25-8.8 ISO 4762 MKL Material bonding anti-rotation lock 202264-86
ECN/EQN 400 FS   M3x25 A2 ISO 4762 KLF Self-locking 202264-26
M3x35-8.8 ISO 4762 MKL Material bonding anti-rotation lock 202264-66
M4x10-8.8 ISO 4762 MKL Material bonding anti-rotation lock 202264-85
Series Differences M5x25-8.8 DIN 6912 MKL Material bonding anti-rotation lock 202264-55
M5x30-8.8 DIN 6912 MKL Material bonding anti-rotation lock 202264-76
ERN 1300 Standard, deployable for taper shaft
M5x35-8.8 ISO 4762 KLF Self-locking 202264-80
ECN/EQN 1300 Same as ERN 1300, but with an additional ridge as an M5x50-8.8 DIN 6912 KLF Self-locking 202264-36
anti-rotation element (stator coupling)
M5x50-8.8 DIN 6912 MKL Material bonding anti-rotation lock 202264-54
ECI/EBI/EQI 1300 FS Same as ERN 1300, but with an anti-rotation element (flange) Fastener kit Material bonding anti-rotation lock 20 pieces:
• M3 fixing clamp 1264352-01
ECN/EQN 400 Same as ECN/EQN 1300 • Spring washer: 3x0.70
DIN 128 A-FS ISO 200 pieces:
• Screw: M3x10 8.8 1264352-02
DIN EN ISO 4762

38 39
General information General mechanical information
Alignment of rotor positions between encoders and motors

Immediately after a synchronous motor is Certification by NRTL (Nationally Natural frequencies Starting torque and operating torque
switched on, information is needed about Encoder aligned Recognized Testing Laboratory) In conjunction with the stator coupling, the The starting torque is the torque required
its absolute rotor position. Rotary encoders All of the rotary encoders in this brochure ECN/EQN/ERN rotary encoders form an to put the rotor into motion from standstill.
with additional commutation signals are Encoder out of alignment comply with the UL safety regulations for oscillation-capable spring-mass system If the rotor is already rotating, then a
suitable for this task but provide compara­ the U.S. and the CSA safety regulations whose natural frequency fN of the coupling certain operating torque is acting on the
tively rough position information. Absolute for Canada. should be as high as possible in the direction encoder. The starting torque and operating
rotary encoders in singleturn or multiturn of measurement. The natural frequency of torque are influenced by various factors,
designs are also well suited, delivering the Accelerations the coupling is influenced by the rigidity of such as the temperature, prior standstill
exact angular position down to an accuracy During mounting and operation, encoders the stator coupling and by the customer- time and the amount of wear on the
of a few arc seconds (see also Electronic are subjected to various types of side mounting situation. The stated typical bearings and seals.
commutation with position encoders). To acceleration. natural frequencies may vary depending
achieve the most constant motor currents • Vibration on the encoder variant (e.g., singleturn or The typical values stated in the specifica­
possible, the rotor positions of the motor The encoders are qualified on a test multiturn), production tolerances and tions are mean values based on encoder-
and of the encoder must be brought into stand under the acceleration values differing mounting conditions. If radial and/ specific test series performed at room
mutual alignment when the encoder is stated in the specifications at frequencies or axial acceleration forces also come into temperature and at a stabilized operating
mounted. Inadequate alignment of the of 55 Hz to 2000 Hz in accordance with play, then the rigidity of the encoder bearing temperature. The typical operating torques
rotor positions will cause significant motor EN 60068-2-61). However, if the applica­ and of the encoder stator has an effect are also based on constant shaft speeds.
noise and high power dissipation. tion or mounting situation causes long- as well. If such loads occur within your For applications in which the torque has
duration resonant vibration, then proper application, HEIDENHAIN recommends a significant influence, HEIDENHAIN
First, the rotor of the motor is turned to the functioning of the encoder may be consulting with the main facility in recommends consulting with the main
preferred position through the application impaired, or the encoder may incur Traunreut. facility in Traunreut.
of a DC current. damage. Thorough testing of the
complete system is therefore required. HEIDENHAIN generally recommends Protection against contact (EN 60529)
Rotary encoders with commutation • Shock determining the natural frequency of the After completed installation, any rotating
signals are then roughly aligned (e.g., using The encoders are qualified on a test stator coupling in the complete system. parts must be sufficiently protected from
Motor current of aligned encoder and strongly out-of-alignment encoder
the line markers on the encoder or the stand under the acceleration values unintentional contact during operation.
reference mark signal) and are mounted to stated in the specifications and under Humidity
the motor shaft. Fine adjustment is then the exposure times in accordance with The maximum permissible relative humidity Protection EN 60529
performed with the PWT 101 testing EN 60068-2-27 for non-repetitive, semi- is 75%. A relative humidity of 93% is The ingress of contamination can impair
device (see Testing and inspection devices, sinusoidal shock. Continuous shock temporarily permissible. Condensation is proper functioning of the encoder. Unless
and diagnostics): the stator of the rotary loads are therefore not covered and not permissible. otherwise indicated, all of the rotary encoders
encoder is turned until the PWT 101 displays must be tested in the application. have an IP64 rating (ExN/ROx 400: IP67)
a distance from the reference mark of • The maximum angular acceleration Magnetic fields in accordance with EN 60529. These
nearly zero. is 105 rad/s2. This is the maximum Magnetic fields > 30 mT can affect encoder specifications apply to the housing, cable
permissible angular acceleration of the functioning. Please contact HEIDENHAIN outlet and flange socket versions when
Absolute rotary encoders are first rotor without the encoder incurring in Traunreut, Germany, as needed. engaged.
completely mounted, after which a datum damage. The actual attainable angular
shift is used to assign the value “zero” to acceleration is within the same order of Acoustic noise The shaft inlet meets an IP64 rating.
the preferred motor position. This is magnitude but can vary depending on Running noise can occur during operation. Splash water must not be allowed to have
performed with the adjusting and testing the type of shaft connection (for deviating This is particularly true of encoders with any harmful effect on the encoder’s parts.
package (see Testing and inspection values for the ECN/ERN 100, see the integral bearing and multiturn rotary If the protection rating of the shaft inlet is
devices, and diagnostics). This package Specifications). An adequate safety encoders (with gears). The intensity may not sufficient (e.g., due to vertical mounting
features complete EnDat functionality, factor must be determined through vary depending on the mounting situation of the encoder), then the encoders should
allowing not only datum shifts but also the system tests. and shaft speed. be additionally protected with labyrinth
use of other inspection functions and the seals. Many rotary encoders are also
setting of write-protection to prevent Deviating values for rotary encoders available with an IP66 rating for the shaft
unintentional changes to saved values. Alignment of the rotor positions by means of the adjusting and testing with functional safety are provided in the inlet. Depending on the application, the
package corresponding Product Information radial shaft seal rings used for sealing are
For the ECI/EQI rotary encoders with documents. subjected to wear due to friction.
additional 1 VPP signals, manual adjustment
is possible as well. Please follow the
1)
information in the respective mounting Information on values below 55 Hz is
instructions. available upon request.

Online diagnostics of the PWT 101

40 41
System tests For the fault exclusion design for functional safety, the following material properties and Conditions for longer storage periods Temperature ranges Self-heating at shaft speed nmax
Encoders from HEIDENHAIN are usually conditions for the mating surfaces are assumed: For a storage period of twelve months or For encoders still in their packaging, a
integrated as components into complete Aluminum Steel longer, HEIDENHAIN recommends the storage temperature range of –30 °C to ECN/EQN/ ≈ +10 K
systems. Such applications require following: 65 °C applies (HR 1120: –30 °C to 70 °C). ERN 1000
comprehensive testing of the complete Material type Hardenable wrought Unalloyed hardened steel • Leave the encoders in their original The operating temperature range specifies
system, irrespective of the encoder’s aluminum alloy packaging the temperatures that a rotary encoder is ROC/ROQ/ROD ≈ +5 K
specifications. • The storage location should be dry, permitted to reach during operation in the Solid shaft With IP66 rating:
The specifications provided in this brochure Tensile strength Rm  220 N/mm2  600 N/mm2 free of dust and temperature-regulated. actual installation environment. Within this ≈ +10 K
apply only to the encoder and not to the It should also be free of vibration, range, proper functioning of the rotary
complete system. Any operation of the mechanical shock and chemical environ­ encoder is ensured. The operating tempe­ ECN/EQN/ ≈ +5 K
encoder outside of the specified range or Yield strength Rp0.2 or Not applicable  400 N/mm2 mental influences rature is measured at the defined measuring ERN 400/1300 With IP66 rating:
outside of its proper and intended use is yield point Re • Every twelve months, rotate the shafts of point (see dimension drawing) and must Tapered shaft ≈ +10 K
solely at the user’s own risk. the encoders with integral bearing at low not be confused with the ambient
Shear strength τa  130 N/mm2  390 N/mm2 speed and without axial or radial shaft temperature. ECN/EQN/ ≈ +30 K
Mounting loading so that the bearing lubrication ERN 400/1300 With IP66 rating:
The work steps and dimensions to be Interface pressure pG  250 N/mm2  660 N/mm2 becomes evenly redistributed (e.g., such The temperature of the rotary encoder is Blind hollow shaft ≈ +40 K
followed during mounting apply only to the as when first breaking in an encoder) influenced by the following factors:
mounting instructions available for the Modulus of elasticity E 70 kN/mm2 to 200 kN/mm2 to • Installation situation ECN/EQN/ ≈ +40 K
encoder. All mounting-related information (at 20 °C) 75 kN/mm2 215 kN/mm2 Parts subject to wear • Ambient temperature ERN 400 With IP66 rating:
in this brochure is therefore only provisional Encoders from HEIDENHAIN are designed • Encoder self-heating Hollow through shaft ≈ +50 K
–6 –1
and non-binding, and will not become the Coefficient of thermal  25 · 10 K 10 · 10–6K–1 to for a long service life. Preventive mainte­
subject matter of a contract. expansion Þtherm (at 20 °C) 17 · 10–6K–1 nance is not required. However, they do An encoder’s susceptibility to self-heating ECN/ERN 100 ≈ +50 K
contain components that are subject to wear, depends both on its design characteristics Hollow through shaft
In addition, the machine manufacturer must Surface roughness Rz  16 µm depending on the application and how they (stator coupling / solid shaft, shaft sealing
define the other required final mounting are deployed. This especially applies to ring, etc.) and on its operating parameters ROD 600 ≈ +75 K
information for the given application Friction values Mounting surfaces must be clean and free of grease. cables that are subjected to frequent (shaft speed, supply voltage). A temporary
(e.g., tightening torque, mechanical fault Use screws from HEIDENHAIN in their delivery condition. flexing. period of intensified self-heating can also
Typical self-heating values of a rotary encoder at
exclusion for screws needed or not). In Other parts subject to wear are the occur after very long breaks in operation maximum permissible shaft speed based on its
addition, the stated tolerance ranges in the Tightening procedure Use a signal-emitting torque wrench in accordance bearings in encoders with integral bearing, (of several months). Please allow for a two- design characteristics. The relationship between
product’s dimension drawing and mounting with DIN EN ISO 6789, with an accuracy of ±6% the radial shaft seal rings in rotary encoders minute break-in period at low shaft speeds. shaft speed and heat generation is nearly linear.
instructions must be considered. and angle encoders, and the sealing lips on The greater susceptibility to self-heating
Mounting temperature 15 °C to 35 °C sealed linear encoders. that an encoder exhibits, the lower the
All provided information on screw connec- In order to avoid damage from current ambient temperature needs to be in order
tions assumes a mounting temperature flows, some rotary encoders are available to keep the encoder within its permissible
of 15 °C to 35 °C. with hybrid bearings. In general, these operating temperature range.
bearings exhibit greater wear at high
Screws with material bonding Rotary encoders may exert a torque of temperatures than standard bearings. This table shows the approximate self-
anti-rotation lock up to 1 Nm on the mating shaft. In addition, heating values to be expected for the rotary
Mounting screws and central screws from other forces and torques (e.g., from vibra­ Service life encoders. In the worst case, the amount
HEIDENHAIN (not included in delivery) tional loads and angular acceleration) must Unless otherwise specified, HEIDENHAIN of self-heating may be affected by multiple
feature a coating that, after hardening, be taken into account. The customer’s encoders are designed for a service life operating parameters, such as a 30 V supply
provides a material bonding anti-rotation mechanical elements must be designed of 20 years, which is equivalent to 40 000 voltage and maximum shaft speed. Thus,
lock. As a result, these screws cannot be for these loads (see also EN 61800-5-2 and operating hours under typical operating if an encoder is being operated close to its
reused. Their minimum shelf life is two EN ISO 13849). conditions. maximum permissible specifications, then
years (storage at  30 °C and  65% The respective Product information docu­ the actual operating temperature should be
relative humidity). Their expiration date is ments will describe any other prerequisites. measured directly at the encoder. Suitable
printed on the package. measures must then be taken (fan, heat
Modifications to the encoder sinks, etc.) to sufficiently reduce the
Screw insertion and the application of The proper functioning and accuracy of ambient temperature so that the maximum
tightening torque must therefore be com­ encoders from HEIDENHAIN are ensured permissible operating temperature will not
pleted within five minutes. The required only if the encoders have not been be exceeded during continuous operation.
strength is reached at room temperature modified. Any modification, even a minor Measuring the actual operating temperature at the
after six hours. The lower the temperature one, can impair the proper functioning, For high shaft speeds at the maximum defined measuring point of the rotary encoder
is, the longer the curing process will take. reliability and safety of the encoders, and permissible ambient temperature, special (see Specifications)
Curing temperatures below 5 °C are not result in a loss of warranty. This also versions with a reduced protection rating
permissible. includes the use of any additional or non- are available (without a radial shaft seal ring
Screws with material bonding anti-rotation prescribed locking varnishes, lubricants and its concomitant frictional heat).
lock must not be used more than once. If a (e.g., for screws), or adhesives. If you are in
replacement becomes necessary, recut the doubt, we recommend that you consult
threads and use new screws. On threaded with HEIDENHAIN in Traunreut, Germany.
holes, a chamfer is required in order to
keep the adhesive coating from being
scraped off.

42 43
Electrical resistance Temperature measurement in motors

Encoders with an integral bearing, M12/M23 Transmission of temperature data Encoder Interface Internal External
pluggable output cable and standard Further information: To protect the motor from overloads, the temperature temperature sensor
bearing motor manufacturer usually monitors the sensor1) Connection
Check the resistance between the flange When connecting an external temperature temperature of the motor winding. In
<1 sensor, please refer to the information
socket and the rotor. conventional applications, the temperature ECI/EQI 1100 EnDat22  (±1 K) Possible
Nominal value: < 1 ohm about electromagnetic compatibility in sensor data are sent via two separate lines
the General electrical information section to the downstream electronics, where they E30-R2
of the Interfaces of HEIDENHAIN are then evaluated. Depending on their
Encoders brochure. features, HEIDENHAIN rotary encoders with ECI/EBI 1100 EnDat22  (±5 K) –
the EnDat 2.2, EnDat 3 or DRIVE CLiQ
Encoders with hybrid bearing or EnDat 3
interface have an internal temperature ECN/EQN 1100 EnDat22  (±5 K) Possible
(E30-R2)
<< 11  sensor integrated into the encoder’s elec­
Check the resistance between the flange  b)
b)
tronics and an evaluation circuit to which EnDat01 – –
socket and the rotor a), and between
the external temperature sensor can be
the flange socket and the stator (metal
a) connected. In both cases, the respective DQ  (±7 K) Possible (±7 K)
housing) b). a)
T

digitized measured temperature value is

Nominal value: < 1 ohm
transmitted purely serially over the interface ECN/EQN 1300 EnDat22  (±4 K) Possible
protocol. As a result, no separate lines are
needed from the motor to the motor E30-R2  (±1 K) –
T+ = BN
T+ = BN controller.
T– = GN
T– = GN EnDat01 – –
Signaling of a temperature exceedance
When it comes to the internal temperature DQ01  (±1 K) Possible
sensor, such rotary encoders can support
Exposed encoders (ExI 100) without 1. 2. the dual-level cascaded signaling of a tem­ ECN/EQN 400 EnDat22  (±4 K) Possible
integral bearing but with a pluggable perature exceedance. This signaling consists
output cable <1 of a warning (only EnDat) and an error EnDat01 – –
Check the electrical resistance between message.
the flange socket and the rotor a), and The integrated memory can be read to ECI/EBI/EQI 1300 EnDat22  (±1 K) Possible
between the flange socket and the stator a) determine whether the respective encoder
(mounting screw) b). b) supports this warning and error message ECI/EQI 1300 E30-R2  (±1 K) Possible
Nominal value: < 1 ohm functionality.
The warning threshold for the internal ECI/EQI 1300 S DQ
temperature sensor can be individually
adjusted. At the time the encoder is shipped, ECI/EBI 100 EnDat22  (±4 K) Possible
a default value equivalent to the maximum
permissible operating temperature is EnDat01 – –
stored here (temperature at measuring
point M1 as per the dimension drawing). ECI/EBI 4000 EnDat22  (±1 K) Possible
The temperature measured by the internal 1)
Clamp must be screwed to the motor housing
temperature sensor is higher by a device- In parentheses: accuracy at 125 °C
so as to be conductive.
specific amount than the temperature
Exposed encoders (ExI 4000) without at measuring point M1. HEIDENHAIN recommends adjusting the For more information on configuring and
an integral bearing but with a pluggable The encoder features a further, albeit non- warning threshold based on the application reading the temperature information, please
output cable <1 adjustable trigger threshold for the internal such that this threshold is sufficiently below refer to the respective Application Notes:
Check the electrical resistance between temperature sensor; an error message is the trigger threshold for the "Temperature EnDat 2.2: Document 722024
the flange socket and the rotor a), the b) output when this threshold is reached. This exceeded" error message. Compliance with EnDat 3: Document 3000005
flange socket and the stator b), and the trigger threshold is device-specific and, if the operating temperature at measuring DRIVE-CLiQ: Document 1236334
flange socket and the crimp sleeve c). present, is stated in the specifications. point M1 is also required for adherence to
Nominal value: < 1 ohm a) the encoder’s proper and intended use.
c)

Exposed encoders (ExI 1100, ExI 1300) 1. 2.

without an integral bearing but with a
pluggable output cable <1 b)
Check the resistance between the flange
socket and the rotor a), and between
the flange socket and the stator (metal Further information:
a)
housing) b). When connecting an external temperature
Nominal value: < 1 ohm sensor, please refer to the information
about electromagnetic compatibility in
the General electrical information section
of the Interfaces of HEIDENHAIN
Clamp (when present) must be screwed to the
Encoders brochure.
motor housing so as to be conductive.
44 45
Information on connecting an external Connectable temperature sensors
temperature sensor In the case of EnDat 3 encoders with an

Resistance in  
Flange sockets
• The external temperature sensor must E30-R2 interface, the encoder can be con­
comply with the following requirements figured for the connected temperature
as per EN 61800-5-1: sensor (KTY 83-110, KTY 84-130 or PT 1000).
– Voltage class A Power wires Encoder output For encoders with the DRIVE CLiQ interface,
– Contamination level 2 cable inside the you can choose between the KTY 84-130
Brake wires
– Overvoltage category 3 motor housing or PT 1000. The correct temperature value
Temperature wires
• Connect only passive temperature Encoder
is then output directly over the interface.
sensors.
• The connections for the temperature With EnDat22 encoders, the temperature
sensor are galvanically connected with evaluation performed within the rotary
the encoder electronics. encoder is designed for a KTY 84-130 PTC
• Depending on the application, the thermistor. For other temperature sensors,
temperature sensor assembly (sensor + the output value (value in additional data 1)
Output value 
cable assembly) must be mounted such must be converted into a temperature
that it is insulated from its environment Cable configuration of the temperature wires in the motor value. Figure 1: Relationship between the output value and resistance
with double or reinforced insulation.
• The accuracy of the temperature mea­ The accuracy of the temperature measure­ Example for the KTY 84-130 temperature sensor:
surement depends on the temperature ment depends on the sensor being used Sensor resistance = 1000   Output value (temperature value) 3751,
range. and on the temperature range. which is equal to 375.1 K or 102 °C.
• Take into account the tolerance of the KTY 83-110 KTY 84-130 PT 1000
temperature sensor.
• The transmitted temperature value is not –40 °C to +80 °C ±6 K ±6 K ±6 K
a safe value in terms of functional safety.
• The motor manufacturer is responsible 80.1 °C to 160 °C ±3 K ±3 K ±4 K Figure 1 illustrates the relationship between
for the quality and accuracy of the tem- 5000

Temperature value 
the output value and the resistance of the
perature sensor, as well as for ensuring 200°
160.1 °C to 200 °C ±6 K ±6 K ±6 K temperature sensor. 4500
electrical safety. Measuring
When a KTY 84-130 is used, the temperature range
• Use a crimp connector with a suitable value equals the output value. The value 4000
temperature range (e.g., up to 150 °C has an increment of 0.1 kelvins.
ID 1148157-01). 3500
Figure 2 illustrates the relationship for
EnDat22 encoders between the output value 3000
Specifications for the evaluation and the temperature value for a PT 1000.
In the graph, the temperature value for the 2500
Resolution 0.1 K (with KTY 84-130) PT 1000 can be determined based on the 40°
output value. 2000
Supply voltage of sensor 3.3 V over dropping resistor RV = 2 k 2000 2500 3000 3500 4000 4500 5000

Measuring current (typical) 1.3 mA at 595  KTY 84–130 Output value 

General notes on the evaluation: PT1000
1.1 mA at 990 
• Output signals ≤ 1151 indicate a short- KTY 83–110
circuit at the sensor input
Total delay 160 ms max. Figure 2: Relationship between the output value and the temperature value using the example of the
1) • Output signals > 6000 indicate a high-
of temperature evaluation PT 1000 and KTY 83-110
impedance sensor input (e.g., due to a
2) broken wire)
Cable length 1m Example for the PT 1000 temperature sensor:
With wire cross section of 0.16 mm2 Output value = 3751  Temperature value = 2734 (equivalent to 0.3 °C).
for TPE, or 0.25 mm2 for cross-linked The following polynomial can be used to calculate the temperature value:
Notes on the conversion:
polyolefin
The conversion for the PT 1000 and
1) KTY 83-110 must be performed for TemperaturePT1000 = 1.3823 · 10–7 · A3 – 1.2005 · 10–3 · A2 + 4.6807 · A – 5.2276 · 103
Filter time constants and conversion time are taken into account; the time constants /
response delay of the temperature sensor and the time lag for reading via the encoder encoders that do not inherently support
A = Output value. The PT 1000 polynomial is valid for: 3400 ≤ A ≤ 4810.
interface are not included in this. this conversion.
2)
Limitation of the cable length due to interference; the measuring error due to the line
resistance is negligible. Example for the KTY 83-110 temperature sensor:
Output value = 3751  Temperature value = 2981 (equivalent to 25.0 °C).
The following polynomial can be used to calculate the temperature value:

TemperatureKTY83-110 = 3.007 · 10–8 · A3 – 3.041 · 10–4 · A2 + 1.786 · A – 1.027 · 103

A = Output value. The KTY83-110 polynomial is valid for: 2880 ≤ A ≤ 5460.

46 47
 ECN/EQN 1100 series Absolute

Absolute rotary encoders ECN 1113 ECN 1123 EQN 1125 EQN 1135
• 75A stator coupling for plane surface ECN 1123 S EQN 1135 S
• Blind hollow shaft
• Encoders available with functional safety Interface EnDat 2.2 ECN 1123: EnDat 2.2 EnDat 2.2 EQN 1135: EnDat 2.2
ECN 1123 S: DRIVE-CLiQ EQN 1135 S: DRIVE-CLiQ

Ordering designation EnDat01 ECN 1123: EnDat22 EnDat01 EQN 1135: EnDat22
ECN 1123 S: DQ01 EQN 1135 S: DQ01

Position values per revolution 8192 (13 bits) 8 388 608 (23 bits) 8192 (13 bits) 8 388 608 (23 bits)

Revolutions – 4096 (12 bits)

13 Elec. permiss. shaft speed/ 4000 rpm/±1 LSB 12 000 rpm (for continuous 4000 rpm/±1 LSB 12 000 rpm (for continuous
1)
12 deviations 12 000 rpm/±16 LSB position value) 12 000 rpm/±16 LSB position value)
4)
Calc. tcal / clock freq.  9 µs /  2 MHz ECN 1123:  7 µs /  8 MHz  9 µs /  2 MHz EQN 1135:  7 µs /  8 MHz

Calculation time – ECN 1123 S:  8 µs – EQN 1135 S:  8 µs

5)
TIME_MAX_ACTVAL
11

Incremental signals » 1 VPP2) – » 1 VPP2) –

Line count 512 – 512 –

14
Cutoff frequency –3 dB  190 kHz –  190 kHz –

Required mating dimensions –0.3

System accuracy ±60”

 3.5 ± 0.1
3)
Electrical connection 15-pin 15-pin 15-pin 15-pin3)
≥9
≥ 3.55 Supply voltage DC 3.6 V to 14 V ECN 1123: DC 3.6 to 14 V DC 3.6 V to 14 V EQN 1135: DC 3.6 to 14 V
 ECN 1123 S: DC 10 to 28.8 V EQN 1135 S: DC 10 to 28.8 V
2x 2 ± 0.1
 0.1 D
M3 90°...120° 
+0.2
0.05 A  0.01 A Power consumption (max.) 3.6 V:  0.6 W ECN 1123: 3.6 V:  0.6 W 3.6 V:  0.7 W EQN 1135: 3.6 V:  0.7 W
9.4 2.3 ± 0.1 14 V:  0.7 W 14 V:  0.7 W 14 V:  0.8 W 14 V:  0.8 W
 E4 E5 E6 E7


≥ ECN 1123 S: 10 V:  0.85 W EQN 1135 S: 10 V:  0.95 W

 ≥ 2.3
43

28.8 V: ≤ 0.9 W 28.8 V: ≤ 1 W

2G10
+0.3

3 +0.1

≥ 11 –0.2
0

Current consumption (typical) 5 V: 85 mA 5 V: 85 mA (without load) 5 V: 105 mA 5 V: 105 mA (without load)

M3
 36.8E7

 (without load) 24 V: 32 mA (without load) (without load) 24 V: 35 mA (without load)

0.06 B

 6g7
Shaft 1KA blind hollow shaft (¬ 6 mm) with positive-locking element


 9.3 ≤ D ≤  14
L2  E1  E2 E3
L3  E4 E5 E6 E7 0.02 A Mech. permiss. shaft speed n 12 000 rpm
)
40
 0.06 A
(
0.05 A  E2 E3 Starting torque (typical) 0.001 Nm (at 20 °C) 0.002 Nm (at 20 °C)
0.1 A  E1
–6
Moment of inertia of rotor  0.4 · 10 kgm2
Encoder Encoder flange / Encoder
Geberflansch/
Baureihe
Series Gebername Statorkupplung
Stator coupling Geberwelle Schnittstelle
Interface L2 L3 Permissible axial motion of ±0.5 mm
name shaft
EnDat01/22 2 ± 0.5 measured shaft
E1 ECN/EQN 75A 1KA DQ01 –
EnDat22/ 2
E2/E3 ECI/EQI 70C 1KA/82A 2 ± 0.4 – Vibration 55 Hz to 2000 Hz  200 m/s (EN 60068-2-6)
E30-R2 2
EnDat22/ Shock: 6 ms  1000 m/s (EN 60068-2-27)
E4/E6 ECI/EQI 70F 82A – 0 ± 0.4
E30-R2
E5 ECI/EQI 70F 82A EnDat01 – 0 ± 0.3 Max. operating temperature 115 °C ECN 1123: 115 °C 115 °C EQN 1135: 115 °C
A = Bearing of mating shaft E7 ECI/EBI 70E 82C EnDat22 – 0 ± 0.3
M1 = Measuring point for operating temperature ECN 1123 S:   95 °C EQN 1135 S:   95 °C
M2 = Measuring point for vibration
1 = Contact surface of slot Min. operating temperature –40 °C
1.6 ± 0.1
2 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock 
3 = Shaft surface; ensure full-surface contact! ≤ 0.4 Protection rating EN 60529 IP40 (read about insulation under Electrical safety in the Interfaces of HEIDENHAIN Encoders brochure);
45°
4 = Slot required only for ECN/EQN and ECI/EQI, WELLA1 = 1KA contamination from the ingress of fluid must be prevented)
5 = EXI flange surface; ensure full-surface contact!
6 = Coupling surface of ECN/EQN Mass  0.1 kg
7 = Maximum permissible deviation between shaft and coupling surfaces.
≤  7.5

Compensation of mounting tolerances and thermal expansion,  60° ID number 803427-xx ECN 1123: 803429-xx 803428-xx EQN 1135: 803430-xx
of which ±0.15 mm of dynamic axial motion is permitted ECN 1123 S: 1211015-xx EQN 1135 S: 1211017-xx
8 = Maximum permissible deviation between shaft and flange surfaces; 10
 3.2 ± 0.1

 4.5 ± 0.1

compensation of mounting tolerances and thermal expansion 15 1) 4)

Speed-dependent deviations between absolute and incremental signals Applies only to EnDat rotary encoders
9 = Undercut 2) 5)
10 = Possible centering hole
Deviating tolerances Signal amplitude: 0.80 VPP to 1.2 VPP Asymmetry: 0.05 Applies only to DRIVE-CLiQ rotary encoders
11 = 15-pin PCB connector
≤ 0.7  Signal ratio: 0.9 to 1.1 Phase angle: 90° elec. ±5° elec.
3)
12 = Cable fastener with crimp sleeve; diameter: 4.3 mm ±0.1 mm; length: 7 mm See Temperature measurement in motors
13 = Positive locking element; ensure correct engagement in Slot 4 (e.g., by measuring the device overhang)
For dimensions and specifications of encoders with functional safety, see the Product Information document.
14 = Direction of shaft rotation for ascending position values
15 = Uncoated; shaft coating not permitted

48 49
ERN 1023 ERN 1023

Incremental rotary encoders

• Stator coupling for plane surface Interface « TTL
• Blind hollow shaft
• Block commutation signals Signal periods per revolution* 500 512 600 1000 1024 1250 2000 2048 2500 4096 5000 8192

Reference mark One

Output frequency  300 kHz

Edge separation a  0.41 μs
1)
Commutation signals « TTL (3 commutation signals U, V, W)

Width* 2 x 180° (C01); 3 x 120° (C02); 4 x 90° (C03)

System accuracy ±260” ±130”

Electrical connection* Cable 1 m, 5 m, without coupling

Supply voltage DC 5 V ±0.5 V

Current consumption  70 mA
(without load)

 Shaft Blind hollow shaft ¬ 6 mm

 Mech. permiss. shaft speed n  6000 rpm

Starting torque (typical) 0.005 Nm (at 20 °C)

–6
Moment of inertia of rotor 0.5 · 10 kgm2

Permissible axial motion of ±0.15 mm

 measured shaft
2
Vibration 25 Hz to 2000 Hz  100 m/s (EN 60068-2-6)
Shock 6 ms  1000 m/s2 (EN 60068-2-27)

Max. operating temperature 90 °C

Min. operating temperature Fixed cable: –20 °C

Moving cable: –10 °C

Protection EN 60529 IP64

Mass  0.07 kg (without cable)

ID number 684703-xx

 Bold: This preferred version is available on short notice

* Please select when ordering
1)
Three square-wave signals with signal periods with 90°, 120° or 180° mech. phase shift; see Commutation signals for
block commutation in the Interfaces of HEIDENHAIN Encoders brochure

A = Bearing of mating shaft

k = Required mating dimensions
M = Measuring point for operating temperature
1 = Two screws in clamping ring; width A/F 1.5
2 = Reference mark position ±10°
3 = Compensation of mounting tolerances and thermal expansion, no dynamic motion permitted
4 = Ensure protection against contact (EN 60529)
5 = Direction of shaft rotation for output signals as per the interface description

50 51
ERN 1123 ERN 1123

Incremental rotary encoders

• Stator coupling for plane surface Interface « TTL
• Hollow through shaft
• Block commutation signals Signal periods per revolution* 500 512 600 1000 1024 1250 2000 2048 2500 4096 5000 8192

Reference mark One

Output frequency  300 kHz

Edge separation a  0.41 μs
1)
Commutation signals « TTL (3 commutation signals U, V, W)

Width* 2 x 180° (C01); 3 x 120° (C02); 4 x 90° (C03)

System accuracy ±260” ±130”

Electrical connection 15-pin

Supply voltage DC 5 V ±0.5 V

Current consumption  70 mA
 (without load)

Shaft Hollow through shaft (¬ 8 mm)

 Mech. permiss. shaft speed n  6000 rpm

Starting torque (typical) 0.005 Nm (at 20 °C)

–6
Moment of inertia of rotor 0.5 · 10 kgm2

Permissible axial motion of ±0.15 mm
measured shaft
2
Vibration 25 Hz to 2000 Hz  100 m/s (EN 60068-2-6)
Shock 6 ms  1000 m/s2 (EN 60068-2-27)

Operating temperature –20 °C to 90 °C

2)
Protection EN 60529 IP00

Mass  0.06 kg

ID number 684702-xx

Bold: This preferred version is available on short notice

* Please select when ordering
1)
Three square-wave signals with signal periods with 90°, 120° or 180° mech. phase shift; see Commutation signals for
 2)
block commutation in the Interfaces of HEIDENHAIN Encoders brochure
Electromagnetic compatibility must be ensured in the entire system

A = Bearing of mating shaft

k = Required mating dimensions
M = Measuring point for operating temperature
1 = Two screws in clamping ring; width A/F 1.5
2 = Reference mark position ±10°
3 = 15-pin PCB connector
4 = Compensation of mounting tolerances and thermal expansion, no dynamic motion permitted
5 = Ensure protection against contact (EN 60529)
6 = Direction of shaft rotation for output signals according to interface description

52 53
ECN/EQN 1300 series Absolute
ECN 1313 ECN 1325 ECN 1325
Absolute rotary encoders EQN 1325 EQN 1337 EQN 1337
• 07B stator coupling with anti-rotation element for axial mounting
• 65B tapered shaft Interface EnDat 2.2 EnDat3
• Encoders available with functional safety
Ordering designation EnDat01 EnDat22 E30-R2
• Fault exclusion for rotor coupling and stator coupling as per EN 61800-5-2 possible
Position values per revolution 8192 (13 bits) 33 554 432 (25 bits) 33 554 432 (25 bits)

Revolutions ECN 1313: – ECN 1325: –

EQN 1325: 4096 (12 bits) EQN 1337: 4096 (12 bits)

Elec. permiss. shaft speed/ 512 lines: 15 000 rpm (for continuous position value)
2)
deviations 5 000 rpm/±1 LSB
12 000 rpm/±100 LSB
2048 lines:
1500 rpm/±1 LSB
12 000 rpm/±50 LSB

Calculation time tcal  9 µs  7 µs –

Clock frequency  2 MHz  8 MHz

XEL.time HPFout data rate – –  11 μs at 12.5 Mbit/s;

 8.2 μs at 25 Mbit/s

Incremental signals » 1 VPP1) –

Line count* 512 2048 2048

Cutoff frequency –3 dB 2048 lines:  400 kHz –

512 lines:  130 kHz

System accuracy 512 lines: ±60”; 2048 lines: ±20”

3)
Electrical connection 12-pin 16-pin (12+4-pin); with connection for external temperature sensor

Supply voltage DC 3.6 V to 14 V DC 4 V to 14 V (12 V recommended)

Power consumption ECN 1313 / ECN 1325 At 3.6 V:  0.6 W ECN 1325 At 4 V:  700 mW;
(maximum) At 14 V:  0.7 W At 14 V:  750 mW
EQN 1325 / EQN 1337 At 3.6 V:  0.7 W EQN 1337 At 4 V:  800 mW;
At 14 V:  0.8 W At 14 V:  850 mW

Current consumption (typical) ECN 1313 / ECN 1325 At 5 V: 85 mA (without load) ECN 1325 At 12 V: 30 mA
Required mating dimensions EQN 1325 / EQN 1337 At 5 V: 105 mA (without load) (without communication)
*) ¬ 65+0.02 for ECI/EQI 13xx
EQN 1337 At 12 V: 40 mA
(without communication)

Shaft Tapered shaft ¬ (9.25 mm); taper: 1:10

Mech. permiss. shaft speed n ECN 1313 / ECN 1325:  15 000 rpm; EQN 1325 / EQN 1337:  12 000 rpm

Starting torque (typical) 0.01 Nm (at 20 °C)

–6
Moment of inertia of rotor 2.6 · 10 kgm2

Natural frequency fN (typical) 1800 Hz

Permissible axial motion of ±0.5 mm

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

Operating temperature –40 °C to 115 °C

Protection EN 60529 IP40 when mounted

 = Bearing of mating shaft
M1 = Measuring point for operating temperature Mass  0.3 kg
M2 = Measuring point for vibration (see D741714)
1 = Clamping screw for coupling ring; width A/F 2 ID number ECN 1313: 768295-xx ECN 1325: 1178019-xx ECN 1325: 1296522-xx
2 = Die-cast cover EQN 1325: 827039-xx EQN 1337: 1178020-xx EQN 1337: 1296523-xx
3 = Screw plug; widths A/F 3 and 4
2)
4 = 16-pin (12+4-pin) header * Please select when ordering Speed-dependent deviations between absolute and
1)
5 = Screw: DIN 6912 – M5x50 – 08.8 – MKL SW4 Deviating tolerances Signal amplitude: 0.8 VPP to 1.2 VPP incremental signals
6 = M10 back-off thread 3)
Asymmetry: 0.05 Evaluation optimized for KTY 84-130 / PT1000 with EnDat3
7 = Compensation of mounting tolerances and thermal expansion, no dynamic motion permitted 4)
Amplitude ratio: 0.9 to 1.1 Valid as per standard at room temp.; the following applies
8 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock Phase angle: 90° elec. ±5° elec. at operating temps. up to 100 °C:  300 m/s2;
9 = Direction of shaft rotation for ascending position values
Signal-to-noise ratio E, F:  100 mV up to 115 °C:  150 m/s2
For dimensions and specifications of encoders with functional safety, see the Product Information document.
54 55
ECN/EQN 1300 S series Absolute

Absolute rotary encoders ECN 1324 S EQN 1336 S

• 07B stator coupling with anti-rotation element for axial mounting
• 65B tapered shaft Interface DRIVE-CLiQ
• Encoders available with functional safety
Ordering designation DQ01
• Fault exclusion for rotor coupling and stator coupling as per EN 61800-5-2 possible
Position values per revolution 16 777 216 (24 bits)

Revolutions – 4096 (12 bits)

Shaft speed  15 000 rpm  12 000 rpm

(at  2 position requests per revolution) (at  2 position requests per revolution)

Calculation time  8 µs
TIME_MAX_ACTVAL

Incremental signals –

System accuracy ±20”

1)
Electrical connection 16-pin (12+4-pin); with connection for external temperature sensor

Supply voltage DC 10 V to 28 V

Power consumption (max.) 10 V:  0.9 W 10 V:  1 W

28.8 V:  1 W 28.8 V:  1.1 W

Current consumption (typical) 24 V: 38 mA (without load) 24 V: 43 mA (without load)

Shaft Tapered shaft (¬ 9.25 mm); taper 1:10

Starting torque (typical) 0.01 Nm (at 20 °C)

–6
Moment of inertia of rotor 2.6 · 10 kgm2

Natural frequency fN (typical) 1800 Hz

Permissible axial motion of ±0.5 mm

measured shaft
2
Vibration 55 Hz to 2000 Hz  300 m/s (EN 60068-2-6)
Shock 6 ms  2000 m/s2 (EN 60068-2-27)
Required mating dimensions
Operating temperature –30 °C to 100 °C

Protection EN 60529 IP40 when mounted

Mass  0.25 kg

ID number 1179144-xx 1179145-xx

For dimensions and specifications of encoders with functional safety, see the Product Information document.
1)
Evaluation optimized for the KTY 84-130 and PT 1000 (see Temperature measurement in motors)

DRIVE-CLiQ is a registered trademark of Siemens AG.

 = Bearing of mating shaft

M1 = Measuring point for operating temperature
M2 = Measuring point for vibration (see D741714)
1 = Clamping screw for coupling ring; width A/F 2
2 = Die-cast cover
3 = Screw plug; widths A/F 3 and 4
4 = 16-pin (12+4-pin) header
5 = Screw: DIN 6912 – M5x50 – 08.8 – MKL SW4
6 = M10 back-off thread
7 = Compensation of mounting tolerances and thermal expansion, no dynamic motion permitted
8 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock
9 = Direction of shaft rotation for ascending position values

56 57
ECN/EQN 400 series Absolute

Absolute rotary encoders ECN 413 ECN 425 EQN 425 EQN 437
• 07B stator coupling with anti-rotation element for axial mounting
• 65B tapered shaft Interface EnDat 2.2
• Encoders available with functional safety
Ordering designation EnDat01 EnDat22 EnDat01 EnDat22
• Fault exclusion for rotor coupling and stator coupling as per EN 61800-5-2 possible
Position values per revolution 8192 (13 bits) 33 554 432 (25 bits) 8192 (13 bits) 33 554 432 (25 bits)

Revolutions – 4096 (12 bits)

Elec. permiss. shaft speed/ 1500 rpm/±1 LSB 15 000 rpm (for con­ 1500 rpm/±1 LSB 15 000 rpm (for con­
2)
deviations 12 000 rpm/±50 LSB tinuous position value) 12 000 rpm/±50 LSB tinuous position value)

Calculation time tcal  9 µs  7 µs  9 µs  7 µs

Clock frequency  2 MHz  16 MHz  2 MHz  16 MHz
1)
Incremental signals » 1 VPP – » 1 VPP1) –

Line count 2048

Cutoff frequency –3 dB  400 kHz –  400 kHz –

System accuracy ±20”

Electrical connection* Cable 5 m, with or Cable 5 m Cable 5 m, with or Cable 5 m

without M23 coupling with M12 coupling without M23 coupling with M12 coupling

Supply voltage DC 3.6 V to 14 V

Power consumption 3.6 V:  0.6 W 3.6 V:  0.7 W

(maximum) 14 V:  0.7 W 14 V:  0.8 W

Current consumption (typical) 5 V: 85 mA (without load) 5 V: 105 mA (without load)

Shaft Tapered shaft ¬ (9.25 mm); taper: 1:10

Mech. permiss. shaft speed n  15 000 rpm  12 000 rpm

Starting torque (typical) 0.01 Nm (at 20 °C)

Required mating dimensions
–6
Moment of inertia of rotor 2.6 · 10 kgm2

Natural frequency fN (typical) 1800 Hz

Permissible axial motion of ±0.5 mm

measured shaft
2
Vibration 55 Hz to 2000 Hz  300 m/s (EN 60068-2-6)
Shock 6 ms  2000 m/s2 (EN 60068-2-27)

Max. operating temperature 100 °C

Min. operating temperature Fixed cable: –40 °C

Moving cable: –10 °C

Protection EN 60529 IP64 when mounted

Mass  0.25 kg

ID number 1065932-xx 683644-xx 1109258-xx 683646-xx

* Please select when ordering

1)
 = Bearing of mating shaft Deviating tolerances Signal amplitude: 0.8 VPP to 1.2 VPP
M1 = Measuring point for operating temperature Asymmetry: 0.05
M2 = Measuring point for vibration (see D741714) Amplitude ratio: 0.9 to 1.1
1 = Clamping screw for coupling ring; width A/F 2 Phase angle: 90° elec. ±5° elec.
2 = Screw plug; widths A/F 3 and 4 2)
Speed-dependent deviations between absolute and incremental signals
3 = Screw: DIN 6912 – M5x50 – 08.8 – MKL SW4
4 = Back-off thread M10 For dimensions and specifications of encoders with functional safety, see the Product Information document.
5 = Compensation of mounting tolerances and thermal expansion; no dynamic movement permitted
6 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock
7 = Direction of shaft rotation for ascending position values

58 59
ERN 1300 series Incremental

Incremental rotary encoders ERN 1321 ERN 1381 ERN 1387 ERN 1326
• 06 stator coupling for axial mounting 1)
• 65B tapered shaft Interface  TTL » 1 VPP  TTL
5)
Line count*/ 1024/±64” 512/±60” 2048/±20” 1024/±64” 8192/±16”
System accuracy 2048/±32” 2048/±20” 2048/±32”
4096/±16” 4096/±16” 4096/±16”

Reference mark One

Output frequency  300 kHz –  300 kHz  150 kHz

Edge separation a  0.35 µs –  0.35 µs  0.22 µs
Cutoff frequency –3 dB –  210 kHz – –
1)
Commutation signals – » 1 VPP  TTL
2)
Width* – Z1 track 3 x 120°; 4 x 90°3)

 Electrical connection 12-pin 14-pin 16-pin


Supply voltage DC 5 V ±0.5 V DC 5 V ±0.25 V DC 5 V ±0.5 V

Current consumption  120 mA  130 mA  150 mA

(without load)

Shaft Tapered shaft ¬ (9.25 mm); taper: 1:10

Mech. permiss. shaft speed n  15 000 rpm

 
Starting torque (typical) 0.01 Nm (at 20 °C)
 –6
Moment of inertia of rotor 2.6 · 10 kgm2

Natural frequency fN (typical) 1800 Hz

Permissible axial motion of ±0.5 mm

measured shaft
2 4)
Vibration 55 Hz to 2000 Hz  300 m/s (EN 60068-2-6)
 Shock 6 ms  2000 m/s2 (EN 60068-2-27)

Max. operating temperature 120 °C 120 °C 120 °C
4096 lines: 80 °C

Min. operating temperature –40 °C

Protection EN 60529 IP40 when mounted

Mass  0.25 kg
*) ¬ 65+0.02 for ECI/EQI 13xx
ID number 385423-xx 534118-xx 749144-xx 574485-xx
Alternative:
* Please select when ordering
 ECN/EQN 1300 mating dimensions with slot for stator 1)
Deviating tolerances Signal amplitude: 0.8 VPP to 1.2 VPP
coupling for the anti-rotation element are also usable.
Asymmetry: 0.05
Amplitude ratio: 0.9 to 1.1
Phase angle: 90° elec. ±5° elec.
Signal-to-noise ratio E, F: 100 mV
2)
One sine and one cosine signal per revolution; see the Interfaces of HEIDENHAIN Encoders brochure
3)
Three square-wave signals with signal periods with 90° or 120° mech. phase shift; see the Interfaces of HEIDENHAIN Encoders brochure
4)
Valid as per standard at room temperature; at operating temperatures up to 100 °C:  300 m/s2;
up to 120 °C:  150 m/s2
5)
A = Bearing of mating shaft Via integrated signal doubling
k = Required mating dimensions
M = Measuring point for operating temperature
1 = Clamping screw for coupling ring; width A/F 2
2 = Die-cast cover
3 = Screw plug; widths A/F 3 and 4
4 = 12-pin, 14-pin or 16-pin PCB connector
5 = Reference mark position on shaft and cap
6 = M10 back-off thread
7 = Self-locking screw: ISO 6912 – M5 x 50 – 08.8; width A/F 4
8 = Compensation of mounting tolerances and thermal expansion; no dynamic movement permitted
9 = Direction of shaft rotation for output signals as per the interface description

60 61
ECI/EQI 1100 series Absolute, singleturn Absolute, multiturn

Absolute rotary encoders ECI 1119 EQI 1131

• Flange for axial mounting
• Blind hollow shaft Interface EnDat 2.2 EnDat 3 EnDat 2.2 EnDat 3
• Without integral bearing
Ordering designation EnDat22 E30-R2 EnDat22 E30-R2

 Position values per revolution 524 288 (19 bits)

19.9  
Revolutions – 4096 (12 bits)
 3.2
15 Calculation time tcal  5 µs –  5 µs –
Clock frequency  16 MHz  16 MHz

2   XEL.time HPFout – ≤ 11 µs at 12.5 Mbit/s – ≤ 11 µs at 12.5 Mbit/s

data rate ≤ 8.2 µs at 25 Mbit/s ≤ 8.2 µs at 25 Mbit/s
12.55  

Propagation time – 14 µs (typical) – 14 µs (typical)

System accuracy ±120”

1)
17 19
Electrical connection 15-pin (with connection for external temperature sensor)
3.44   Cable length EnDat 3: ≤ 100 m at 12.5 Mbit/s; ≤ 40 m at 25 Mbit/s
 
12   (19.25) 19.9  18
EnDat 2.2: ≤ 100 m2)
22.25   16
Supply voltage DC 3.6 V to 14 V

Required mating dimensions Power consumption 3.6 V:  0.65 W 12 V: 45 mA (without 3.6 V:  0.75 W 12 V: 50 mA (without
(maximum) 14 V:  0.7 W communication) 14 V:  0.85 W communication)
9
 3.55 Current consumption (typical) 5 V: 95 mA (without 4 V: ≤ 0.85 W; 5 V: 115 mA 4 V: ≤ 0.95 W;
load) 14 V: ≤ 0.9 W (without load) 14 V: ≤ 1 W

9.4 Shaft* Blind hollow shaft for axial clamping ¬ 6 mm without positive-locking element (82A) or

with positive-locking element (1KA)
 

  
  Shaft speed  15 000 rpm  12 000 rpm
–6
Moment of inertia of rotor 0.2 · 10 kgm2

Angular acceleration of rotor  1 · 105 rad/s2

  
Permissible axial motion of ±0.4 mm
measured shaft
2 2
Vibration 55 Hz to 2000 Hz Stator: ≤ 400 m/s ; rotor: ≤ 600 m/s (EN 60068-2-6)
2
Shock 6 ms  2000 m/s (EN 60068-2-27)

  Operating temperature –40 °C to 110 °C

Trigger threshold 125 °C (measuring accuracy of the internal temperature sensor: ±1 K)

for exceeded temperature
error message
  

A = Bearing of mating shaft

M1 = Measuring point for operating temperature 3)
M2 = Measuring point for vibration Protection EN 60529 IP00 when mounted
1 = Contact surface of slot
2 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock Mass  0.04 kg
3 = Shaft surface; ensure full-surface contact!
4 = Slot required only for ECN/EQN and ECI/EQI with WELLA1 = 1KA   ID number 1164809-xx 1259551-xx 1164811-xx 1259552-xx
5 = ECI/EQI flange surface; ensure full-surface contact!
6 = Coupling surface of ECN/EQN * Please select when ordering
7 = Mounting dimension: maximum permissible deviation between the shaft surface and coupling surface; 1)
EnDat22: Evaluation optimized for the KTY 84-130 temperature sensor; E30-R2: Evaluation optimized for the KTY 84-130 and PT 1000
compensation of mounting tolerances and thermal expansion, of which ±0.15 mm of dynamic axial motion is permitted (ECN/EQN)
8 = Maximum permissible deviation between the shaft surface and flange surface; compensation of mounting tolerances and thermal expansion; (see Temperature measurement in motors)
2)
dynamic motion permitted over entire range (ECI/EBI/EQI) Also see the Interfaces of HEIDENHAIN Encoders brochure
3)
9 = ECI/EBI flange surface; ensure full-surface contact! See Electromagnetic compatibility under General electrical information in the Interfaces of HEIDENHAIN Encoders brochure.
10 = Undercut
For dimensions and specifications of encoders with functional safety, see the Product Information document.
11 = Possible centering hole
12 = Distance to cover; note the opening for header, header connector and wires
13 = Screw: ISO 4762 – M3x10 – 8.8 – MKL; tightening torque: 1 Nm ±0.1 Nm
14 = Screw: ISO 4762 – M3x25 – 8.8 – MKL; tightening torque: 1 Nm ±0.1 Nm
15 = Positive-locking element; ensure correct engagement in the slot (e.g., by measuring the device overhang)
16 = Direction of shaft rotation for ascending position values
17 = 15-pin header
18 = Dimension for JH standard cable
19 = Ensure installation space for cable 
62 63
ECI/EQI 1100 series Singleturn Multiturn

Absolute rotary encoders ECI 1119 EQI 1131

• 70F synchro flange for axial mounting
• 82A blind hollow shaft Interface EnDat 2.2
• Without integral bearing
Ordering designation EnDat22
• Mounting-compatible with ECN/EQN 1100 optical rotary encoders and the ECI/EBI/EQI 1100 inductive series
21.9 0.5 Position values per revolution 524 288 (19 bits)
2+0.15
0 EnDat22
0
12 14 Revolutions – 4096 (12 bits)
2.3-0.2

0.5 0.5 Calculation time tcal  5 µs

21.9+1
 

0
10 Clock frequency  16 MHz
13
System accuracy ±120”
1)
14 Electrical connection 15-pin (with connection for external temperature sensor)
36.83)

0.3

34.4) EnDat01 Cable length ≤ 100 m

36.5)
12 14
6)
12.25

(
Supply voltage DC 3.6 V to 14 V
(

(
(

23.9+1
0
(4)
 Power consumption 3.6 V:  0.65 W 3.6 V:  0.75 W
13
(maximum) 14 V:  0.7 W 14 V:  0.85 W

10 3.44 0.2
10 Current consumption (typical) 5 V: 95 mA (without load) 5 V: 115 mA
15 
12 0.8 Shaft Blind hollow shaft for axial clamping ¬ 6 mm
(19.25)
22.25 0.6
Shaft speed  15 000 rpm  12 000 rpm
Required mating dimensions 6
9
–6
 3.55 Moment of inertia of rotor 0.2 · 10 kgm2

Permissible axial motion of ±0.4 mm

9.4 3 measured shaft
 9 E3 E4 E5
  2 2

  
Vibration 55 Hz to 2000 Hz Stator: ≤ 400 m/s ; rotor: ≤ 600 m/s (EN 60068-2-6)
Shock 6 ms  2000 m/s2 (EN 60068-2-27)
 
Operating temperature –40 °C to 110 °C
2)
Protection EN 60529 IP00 when mounted

  
Mass  0.04 kg

E2 ID number 1164812-xx 1164813-xx

17 E1 1)
Evaluation optimized for the KTY 84-130 temperature sensor (see Temperature measurement in motors)
6 2)
L2 5 E1 E2   See Electromagnetic compatibility under General electrical information in the Interfaces of HEIDENHAIN Encoders brochure.
Series Name Flange Shaft Interface L2 L3 L3 5 E3 E4 E5
E1 ECN/EQN OUA 1KA EnDat01/22 2±0.5 –
E2 ECI/EQI 70C 1KA/82A EnDat22 2±0.4 –
E3 ECI/EQI 70F 82A EnDat22 – 0±0.4
  

E4 ECI/EQI 70F 82A EnDat01 – 0±0.3

16
E5 ECI/EBI 70E 82C EnDat22 – 0±0.3

 = Bearing of mating shaft 11

M = Measuring point for operating temperature
1 = Direction of shaft rotation for ascending position values
2 = Shaft surface; ensure full-surface contact!   16
3 = Flange surface; ensure full-surface contact!
4 = Slot necessary only for 1KA shaft
5 = Mounting dimension: maximum permissible deviation between the shaft surface and flange surface;
compensation of mounting tolerances and thermal expansion; ECI/EQI/EBI: dynamic motion permitted over entire range;
ECN/EQN: ±0.15 mm dynamic axial motion permitted
(with use of ATS software for mounting inspection, the display value for the mounting clearance is shown as 2 mm instead of 0 mm)
6 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock
7 = Shaft fastening screw: DIN EN ISO 4762 – M3x25 – 8.8 with material bonding anti-rotation lock: ID 202264-86; tightening torque: 1 Nm ±0.1 Nm
8 = Clamping surface
9 = Contact surface of slot
10 = Possible flange fastening with fastening kit (ID 1264352-xx); tightening torque: 1 Nm ±0.1 Nm; pay attention to the orientation of the flat!
11 = Possible centering hole
12 = 15-pin header
13 = Dimension for JH standard cable
14 = Ensure installation space for cable
15 = Distance to cover; note the opening for header, header connector and wires
16 = Undercut
17 = Coupling surface of ECN/EQN
64 65
ECI/EBI/EQI 1300 series Absolute

Absolute rotary encoders ECI 1319 EQI 1331 EBI 1335

• Mounting-compatible with photoelectric rotary encoders with a 07B stator coupling
• 0YA flange for axial mounting Interface EnDat 2.2
• 44C blind hollow shaft ¬ 12.7 mm
Ordering designation EnDat22
• Without integral bearing
• Cost-optimized mating dimensions upon request
Position values per revolution 524 288 (19 bits)
3)
Revolutions – 4096 (12 bits) 65 536 (16 bits)

Elec. permiss. shaft speed/  15 000 rpm (for continuous position value)
deviations

Calculation time tcal  5 µs

Clock frequency  16 MHz

System accuracy ±65”

1)
Electrical connection 16-pin with connection for temperature sensor

Cable length  100 m

Supply voltage DC 3.6 V to 14 V Rotary encoder UP:

DC 3.6 V to 14 V
Backup battery UBAT:
DC 3.6 V to 5.25 V
Required mating dimensions
Power consumption (max.) 3.6 V:  0.65 W 3.6 V:  0.75 W 3.6 V:  0.65 W
14 V:  0.7 W 14 V:  0.85 W 14 V:  0.7 W
90°...120°
Current consumption (typical) 5 V: 95 mA (without load) 5 V: 115 mA (without load) Normal operation at 5 V:
95 mA (without load)
Backup battery:
2)
160 µA (rotating shaft)
16 µA (at standstill)

Shaft Blind hollow shaft for axial clamping (¬ 12.7 mm)

Mech. permiss. shaft speed n  15 000 rpm  12 000 rpm

–6
Moment of inertia of rotor 2.6 · 10 kgm2

Permissible axial motion of ±0.5 mm

measured shaft
2 2
Vibration 55 Hz to 2000 Hz Stator:  400 m/s ; rotor:  600 m/s (EN 60068-2-6)
2
Shock 6 ms  2000 m/s (EN 60068-2-27)

Operating temperature –40 °C to 115 °C

D1 D2
Trigger threshold 130 °C (measuring accuracy of the internal temperature sensor: ±1 K)
 12.7G6   12.7h6  of temperature exceedance
error message

Protection EN 60529 IP20 when mounted

90°...120°
Mass  0.13 kg

ID number 810661-xx 810662-xx 1230275-xx

 = Bearing of mating shaft 1)
M1 = Measuring point for operating temperature Evaluation optimized for KTY 84-130
2)
M2 = Measuring point for vibration (see D741714) At T = 25 °C; UBAT = 3.6 V
3)
1 = 16-pin PCB connector Compliance with EnDat Specification 297403 and the EnDat Application Notes 722024, Chapter 13, Battery-buffered encoders,
2 = Screw plug; widths A/F 3 and 4 is required for correct control of the encoder
3 = Screw: ISO 26912 – M5x30 – 08.8 – MKL SW4
4 = Screw: ISO 4762 – M4x10 – 8.8 – MKL SW3 For dimensions and specifications of encoders with functional safety, see the Product Information document.
5 = Functional diameter of taper for ECN/EQN 13xx
6 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock 8
7 = Flange surface ExI/resolver; ensure full-surface contact!
8 = Shaft surface; ensure full-surface contact!
9 = Mounting dimension: maximum permissible deviation between the shaft surface and
flange surface; compensation of mounting tolerances and thermal expansion;
ECI/EQI: dynamic motion permitted over entire range; ECN/EQN: no dynamic motion permitted
10 = M10 back-off thread
11 = Direction of shaft rotation for ascending position values
66 67
ECI 1319, EQI 1331 Absolute

Rotary encoders for absolute position values with safe singleturn information ECI 1319 singleturn EQI 1331 multiturn
• Robust inductive scanning principle
• Mounting-compatible with photoelectric rotary encoders with a 07B stator coupling Interface EnDat 3
• 0YA mounting flange
Ordering designation E30–R2
• Blind hollow shaft for axial clamping ¬ 12.7 mm (44C) or ¬ 12 mm (44A)
• Cost-optimized mating dimensions upon request
Position values per revolution 524 288 (19 bits)

Revolutions – 4096 (12 bits)

74 XEL.time HPFout ≤ 11 µs at 12.5 Mbit/s

 data rate ≤ 8.2 µs at 25 Mbit/s

Propagation time1) 14 µs (typical)

System accuracy ±65”

Electrical connection 16-pin PCB connector (12+4; with separate connection option for external temperature sensor)3)

Cable length At 12.5 Mbit/s:  100 m; at 25 Mbit/s:  40 m

Supply voltage DC 4 V to 14 V (recommended: 12 V)

Power consumption2) 4 V: ≤ 0.85 W 4 V: ≤ 0.95 W

Required mating dimensions (maximum) 14 V: ≤ 0.9 W 14 V: ≤ 1 W

Current consumption (typical) 12 V: ≤ 45 mA (without communication) 12 V: ≤ 50 mA (without communication)

D
90°...120° Shaft Blind hollow shaft for axial clamping ¬ 12.7 mm (44C) or ¬ 12 mm (44A)


Shaft speed  15 000 rpm  12 000 rpm
 Moment of inertia of rotor 2.45 · 10–6 kgm2 2.6 · 10–6 kgm2

Angular acceleration of rotor  1 · 105 rad/s2

Axial motion of measured  ±0.5 mm

shaft

Vibration 55 Hz to 2000 Hz Stator: ≤ 400 m/s2; rotor: ≤ 600 m/s2 (EN 60068-2-6)
Shock 6 ms ≤ 2000 m/s2 (EN 60068-2-27)

Operating temperature –40 °C to 115 °C

Trigger threshold 130 °C (measuring accuracy of the internal temperature sensor: ±1 K)

of temperature exceedance
error message

Relative humidity  93% (40 °C/21 d as per EN 60068-2-78); condensation excluded

Protection rating EN 60529 IP20

Mass  0.13 kg

ID number 44C shaft: 1286377-01; 44A shaft: 1286377-06 44C shaft: 1286378-01; 44A shaft: 1286378-06
90°...120°
1)
See EnDat Application Notes
2)
See General electrical information in the Interfaces of HEIDENHAIN Encoders brochure or at www.heidenhain.com
3)
 Evaluation optimized for the KTY 84-130 and PT 1000 (see Temperature measurement in motors)

 = Bearing of mating shaft
M1 = Measuring point for operating temperature For dimensions and specifications of encoders with functional safety, see the Product Information document.
M2 = Measuring point for vibration (see D741714)
1 = 16-pin (12+4-pin) PCB connector
2 = SW3 and SW4 screw plug
3 = Screw: DIN 6912 – M5x30 – 08.8 – MKL SW4
4 = Screw: ISO 4762 – M4x10 – 8.8 – MKL SW3
5 = Functional diameter of taper for ECN/EQN 13xx
6 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock 8
7 = ExI/resolver flange surface; ensure full-surface contact!
8 = Shaft surface; ensure full-surface contact!
9 = Mounting clearance between shaft surface and flange surface;
compensation of mounting tolerances and thermal expansion;
ECI/EQI: dynamic motion permitted over entire range;
ECN/EQN: no dynamic motion permitted
10 = M10 back-off thread
11 = Direction of shaft rotation for ascending position values

68 69
ECI/EQI 1300 S series Absolute

Absolute rotary encoders ECI 1319 S EQI 1331 S

• Mounting-compatible with photoelectric rotary encoders with a 07B stator coupling
• 0YA flange for axial mounting Interface DRIVE-CLiQ
• 44C blind hollow shaft ¬ 12.7 mm
Ordering designation DQ01
• Without integral bearing
• Cost-optimized mating dimensions upon request
Position values per revolution 524 288 (19 bits)

Revolutions – 4096 (12 bits)

Calculation time  12 µs
TIME_MAX_ACTVAL

System accuracy ±65”

1)
Electrical connection 16-pin with connection for temperature sensor

Cable length  40 m

Supply voltage DC 24 V (10 V to 28.8 V; up to DC 36 V possible without impairing the functional safety)

Power consumption 10 V:  1.1 W 10 V:  1.2 W

(maximum) 28.8 V:  1.25 W 28.8 V:  1.35 W

Current consumption (typical) 24 V: 40 mA (without load) 24 V: 45 mA (without load)

Required mating dimensions
Shaft Blind hollow shaft for axial clamping (¬ 12.7 mm)

Mech. permiss. shaft speed n  15 000 rpm  12 000 rpm

90°...120°
–6
Moment of inertia of rotor 2.6 · 10 kgm2

Permissible axial motion of ±0.5 mm

measured shaft
2 2
Vibration 55 Hz to 2000 Hz Stator:  400 m/s ; rotor:  600 m/s (EN 60068-2-6)
Shock 6 ms  2000 m/s2 (EN 60068-2-27)

Operating temperature –40 °C to 100 °C

Trigger threshold 120 °C (measuring accuracy of the internal temperature sensor: ±1 K)

of temperature exceedance
error message

Protection EN 60529 IP20 when mounted

Mass  0.13 kg

ID number 1222049-xx 1222051-xx

D1 D2 1)
Evaluation optimized for the KTY 84-130 and PT 1000 (see Temperature measurement in motors)
 12.7G6   12.7h6  For dimensions and specifications of encoders with functional safety, see the Product Information document.

DRIVE-CLiQ is a registered trademark of Siemens AG.

90°...120°

 = Bearing of mating shaft

M1 = Measuring point for operating temperature
M2 = Measuring point for vibration (see D741714)
1 = 16-pin PCB connector
2 = SW3 and SW4 screw plug
3 = Screw: ISO 6912 – M5x30 – 08.8 – MKL SW4
4 = Screw: ISO 4762 – M4x10 – 8.8 – MKL SW3
5 = Functional diameter of taper for ECN/EQN 13xx
6 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock 8
7 = Flange surface ExI/resolver; ensure full-surface contact!
8 = Shaft surface; ensure full-surface contact!
9 = Mounting dimension: maximum permissible deviation between the shaft surface and
flange surface; compensation of mounting tolerances and thermal expansion;
ECI/EQI: dynamic motion permitted over entire range; ECN/EQN: no dynamic motion permitted
10 = M10 back-off thread
11 = Direction of shaft rotation for ascending position values
70 71
ECI/EBI 100 series Absolute

Absolute rotary encoders ECI 119 EBI 135

• Flange for axial mounting
• Hollow through shaft Interface* EnDat 2.1 EnDat 2.2 EnDat 2.2
• Without integral bearing 1)
Ordering designation EnDat01 EnDat22 EnDat221)
• EBI 135: multiturn functionality via battery-buffered revolution counter
Position values per revolution 524 288 (19 bits)
 2)
Revolutions – 65 536 (16 bits)

 Elec. permiss. shaft speed/  3000 rpm/±128 LSB  6000 rpm (for continuous position value)
 deviations3)  6000 rpm/±256 LSB

Calculation time tcal  8 µs  6 µs

Clock frequency  2 MHz  16 MHz

 Incremental signals » 1 VPP – –

Line count 32 – –

Cutoff frequency –3 dB  6 kHz (typical) – –

System accuracy ±90”

4)
Electrical connection 15-pin 15-pin with connection for temperature sensor

Cable length ≤ 100m

Supply voltage DC 3.6 V to 14 V Rotary encoder UP: DC 3.6 V to 14 V

Backup battery UBAT: DC 3.6 V to 5.25 V

Power consumption (max.) 3.6 V:  0.58 W Normal operation at 3.6 V:0.53 W
14 V:  0.7 W Normal operation at 14 V: 0.63 W

Current consumption (typical) 5 V: 80 mA 5 V: 75 mA Normal operation at 5 V: 75 mA (without load)
5)
(without load) (without load) Buffer mode : 25 µA (rotating shaft)
12 µA (at standstill)

Shaft* Hollow through shaft ¬ = 30 mm, 38 mm, 50 mm

Mech. permiss. shaft speed n  6000 rpm

–6 2
Moment of inertia of rotor ¬ = 30 mm: 64 · 10 kgm
¬ = 38 mm: 58 · 10 kgm2
–6
 –6
¬ = 50 mm: 64 · 10 kgm
2

Permissible axial motion of ±0.3 mm

measured shaft
2
Vibration 55 Hz to 2000 Hz  300 m/s (EN 60068-2-6)
2
Shock 6 ms  1000 m/s (EN 60068-2-27)

Operating temperature –30 °C to 115 °C

6)
Protection EN 60529 IP20 when mounted

Mass ¬ = 30 mm:  0.19 kg

¬ = 38 mm:  0.16 kg
 = Bearing of mating shaft ¬ = 50 mm:  0.14 kg
 = Required mating dimensions
M = Measuring point for operating temperature
ID number 823406-xx 823407-xx 823405-xx
1 = Cylinder head screw: ISO 4762-M3 with three ISO 7092 washers
2 = Width A/F 2.0 (6x); tighten evenly crosswise with increasing tightening torque
3 = Shaft detent: for manner of functioning, see the mounting instructions * Please select when ordering
1)
4 = 15-pin PCB connector Valuation numbers are not supported
2)
5 = Compensation of mounting tolerances and thermal expansion; no dynamic motion Compliance with EnDat Specification 297403 and the EnDat Application Notes 722024, Chapter 13, Battery-buffered encoders,
6 = Protection against contact as per EN 60529 is required for correct control of the encoder
7 = Required up to max. ¬ 92 mm 3)
Speed-dependent deviations between absolute and incremental signals
8 = Required mounting frame for output cable with cable clamp (accessory); bending radius of connecting wires: at least R3 mm 4)
Evaluation optimized for the KTY 84-130 (see Temperature measurement in motors)
9 = Direction of shaft rotation for ascending position values 5)
At T = 25 °C; UBAT = 3.6 V
6)
See Electromagnetic compatibility under General electrical information in the Interfaces of HEIDENHAIN Encoders brochure.

72 73
ECI 4010, EBI 4010, ECI 4090 S Specifications ECI 4010
singleturn
EBI 4010
multiturn
ECI 4090 S
singleturn
Rotary encoders for absolute position values
• Robust inductive scanning principle Interface/ordering EnDat 2.2 / EnDat22 DRIVE-CLiQ / DQ01
• Hollow through shaft (¬ 90 mm) designation
• EBI 4010: multiturn functionality through battery-buffered revolution counter
Position values per revolution 1 048 576 (20 bits)
• Consists of a scanning unit and scale drum
Revolutions – 65 536 (16 bits) –

Calculation time tcal/  5 µs/ 16 MHz  11 µs1)

clock frequency

System accuracy ±25”

Electrical connection 15-pin with connection for temperature sensor2)

Cable length  100 m  40 m3)

Supply voltage DC 3.6 V to 14 V Rotary encoder UP: DC 24 V (10 V to 28.8 V);

DC 3.6 V to 14 V up to 36 V possible without
Buffer battery UBat: impairing the functional safety
DC 3.6 to 5.25 V

Power consumption4) 3.6 V:  0.63 W; 10 V:  1.1 W;

(maximum) 14 V:  0.7 W 28.8 V:  1.25 W
Required mating dimensions
Current consumption (typical) 5 V: 95 mA (without load) Normal operation at 5 V: 24 V: 40 mA (without load)
95 mA (without load)
Buffer mode5):
220 μA (rotating shaft)
25 μA (shaft at standstill)

Shaft Hollow through shaft (¬ 90 mm)

Shaft speed  6000 rpm

Moment of inertia of rotor 4.26 · 10–4 kgm2 (without screws)

Angular acceleration of rotor  2 · 104 rad/s2

Axial motion of measured  ±1.5 mm

shaft

Vibration 55 Hz to 2000 Hz AE scanning unit:  400 m/s2; TTR scale drum:  600 m/s2 (EN 60068-2-6)
Shock 6 ms  2000 m/s2 (EN 60068-2-27)

Operating temperature –40 °C to 115 °C –40 °C to 100 °C

(at the measuring point and on the entire scale drum) (at the measuring point and on
the entire scale drum)

Trigger threshold 130 °C (measuring accuracy of the internal temperature 120 °C (measuring accuracy
for exceeded temperature sensor: ±1 K) of the internal temperature
error message sensor: ±1 K)

Protection EN 60529 Complete encoder, mounted: IP206); scanning unit: IP40 (read about insulation under Electrical safety
in the Interfaces of HEIDENHAIN Encoders brochure)

Mass AE scanning unit:  0.27 kg; TTR scale drum:  0.17 kg

 = Bearing of mating shaft ID number AE ECI4010 scanning unit: AE EBI4010 scanning unit: AE ECI4090S scanning unit:
M1 = Measuring point for operating temperature on housing ID 1130167-xx ID 1130173-xx ID 1130171-xx
M2 = Measuring point for vibration on housing
1 = Position of zero point ±5° TTR EXI4000 scale drum: ID 1130175-xx
2 = Maximum permissible axial deviation between the shaft surface and flange surface;
compensation of mounting tolerances and thermal expansion; dynamic motion permitted over entire range 1)
Calculation time TIME_MAX_ACTVAL
3 = Use screws with material bonding anti-rotation lock: ISO 4762 – M4 x 25 – 8.8 – MKL as per DIN 267-27 (not included in delivery, ID 202264‑88); 2)
Evaluation optimized for the KTY 84-130, with DQ01 also for the PT 1000 (see Temperature measurement in motors)
tightening torque 2.2 Nm ±0.13 Nm 3)
4 = Space required when encoder cover is closed
At an output cable length (inside motor) ≤ 1 m
4)
5 = Space required for opening the encoder cover See General electrical information in the Interfaces of HEIDENHAIN Encoders brochure
5)
6 = Total runout of mating shaft At T = 25 °C; UBAT = 3.6 V
6)
7 = Coaxiality of stator mating surface The encoder must be protected from abrasive and harmful media in the application; use an appropriate enclosure as needed.
8 = Bearing surface of rotor
9 = Bearing surface of stator For dimensions and specifications of encoders with functional safety, see the Product Information document.
10 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock
11 = Direction of shaft rotation for ascending position values DRIVE-CLiQ is a registered trademark of Siemens AG.
12 = This area of the mating surface does not need to be fully covered by the scanning unit

74 75
ECI 4010, EBI 4010, ECI 4090 S Specifications ECI 4010
singleturn
EBI 4010
multiturn
ECI 4090 S
singleturn
Rotary encoders for absolute position values
• Robust inductive scanning principle Interface/ordering EnDat 2.2 / EnDat22 DRIVE-CLiQ / DQ01
• Hollow through shaft (¬ 180 mm) designation
• EBI 4010: multiturn functionality through battery-buffered revolution counter
Position values per revolution 1 048 576 (20 bits)
• Consists of a scanning unit and scale drum
Revolutions – 65 536 (16 bits) –

Calculation time tcal/  5 µs/ 16 MHz  11 µs1)

Shown with clock frequency
customer’s side
System accuracy ±40”

Electrical connection 15-pin with connection for temperature sensor2)

Cable length  100 m  40 m3)

Supply voltage DC 3.6 V to 14 V Rotary encoder UP: DC 24 V (10 V to 28.8 V);

DC 3.6 V to 14 V up to 36 V possible without
Buffer battery UBat: impairing the functional safety
DC 3.6 to 5.25 V

Power consumption4) 3.6 V:  0.63 W; 10 V:  1.1 W;

(maximum) 14 V:  0.7 W 28.8 V:  1.25 W

Current consumption (typical) 5 V: 95 mA (without load) Normal operation at 5 V: 24 V: 40 mA (without load)

95 mA (without load)
Buffer mode5):
220 μA (rotating shaft)
25 μA (shaft at standstill)

Shaft Hollow through shaft ¬ 180 mm (with keyway)

Required mating dimensions
Shaft speed  6000 rpm

Moment of inertia of rotor 3.1 · 10–3 kgm2 (without screws, without key)

Angular acceleration of rotor  2 · 104 rad/s2

Axial motion of measured  ±1.5 mm

shaft

Vibration 55 Hz to 2000 Hz AE scanning unit:  400 m/s2; TTR scale drum:  600 m/s2 (EN 60068-2-6)
 

Shock 6 ms  2000 m/s2 (EN 60068-2-27)

Operating temperature –40 °C to 115 °C –40 °C to 100 °C

(at the measuring point and on the entire scale drum) (at the measuring point and
on the entire scale drum)

Trigger threshold 130 °C (measuring accuracy of the internal temperature 120 °C (measuring accuracy
for exceeded temperature sensor: ±1 K) of the internal temperature
error message sensor: ±1 K)

Protection EN 60529 Complete encoder, mounted: IP206); scanning unit: IP40 (read about insulation under Electrical safety
in the Interfaces of HEIDENHAIN Encoders brochure)

Mass AE scanning unit:  0.39 kg; TTR scale drum:  0.33 kg

 = Bearing of mating shaft ID number AE ECI4010 scanning unit: AE EBI4010 scanning unit: AE ECI4090S scanning unit:
M1 = Measuring point for operating temperature ID 1087526-xx ID 1097530-xx ID 1087527-xx
M2 = Measuring point for vibration on scanning unit
1 = Marking of the 0° position ±5°
TTR EXI4000 scale drum: ID 1113606-xx
2 = Slot for feather key DIN 6885 – A – 10 x 8 x 20
3 = Feather key DIN 6885 – A – 10 x 8 x 20 1)
4 = Maximum permissible axial deviation between the shaft surface and flange surface; Calculation time TIME_MAX_ACTVAL
2)
compensation of mounting tolerances and thermal expansion; dynamic motion permitted over entire range Evaluation optimized for the KTY 84-130, with DQ01 also for the PT 1000 (see Temperature measurement in motors)
3)
5 = Fastening screws: ISO 4762 – M4 x 25 – 8.8; a suitable anti-rotation lock must be used for the screw connection (e.g., screw with material bonding At an output cable length (inside motor) ≤ 1 m
4)
anti-rotation lock: ISO 4762 – M4 x 25 – 8.8 MKL as per DIN 267-27, ID 202264-88) See General electrical information in the Interfaces of HEIDENHAIN Encoders brochure
5)
6 = Space required when encoder cover is closed At T = 25 °C; UBAT = 3.6 V
7 = Space required for opening the encoder cover 6)
The encoder must be protected from abrasive and harmful media in the application; use an appropriate enclosure as needed.
8 = Coaxiality of stator mating surface
9 = Chamfer at start of thread is mandatory for material bonding anti-rotation lock For dimensions and specifications of encoders with functional safety, see the Product Information document.
10 = Bearing surface of stator
11 = Bearing surface of rotor DRIVE-CLiQ is a registered trademark of Siemens AG.
12 = Direction of shaft rotation for ascending position values
13 = This area of the mating surface does not need to be fully covered by the scanning unit
76 77
ERO 1200 series Incremental

Incremental rotary encoders ERO 1225 ERO 1285

• Flange for axial mounting
• Hollow through shaft Interface  TTL » 1 VPP
• Without integral bearing
Line count* 1024 2048
2)
Accuracy of graduation ±6”

Reference mark One

Output frequency  300 kHz –

 Edge separation a  0.39 µs –
Cutoff frequency –3 dB –  180 kHz (typical)
1)
System accuracy 1024 lines: ±92” 1024 lines: ±67”
2048 lines: ±73” 2048 lines: ±60”

Electrical connection 12-pin

 Supply voltage DC 5 V ±0.5 V

Current consumption  150 mA

(without load)

Shaft* Hollow through shaft ¬ = 10 mm or ¬ = 12 mm

–6 2
Moment of inertia of rotor Shaft ¬ 10 mm: 2.2 · 10 kgm
Shaft ¬ 12 mm: 2.2 · 10 kgm2
–6

Mech. permiss. shaft speed n  25 000 rpm

Permissible axial motion of 1024 lines: ±0.2 mm ±0.03 mm

measured shaft 2048 lines: ±0.05 mm

 Vibration 55 Hz to 2000 Hz
2
 100 m/s (EN 60068-2-6)
Shock 6 ms  1000 m/s2 (EN 60068-2-27)

Operating temperature –40 °C to 100 °C

Protection EN 60529 IP00


Mass  0.07 kg

ID number 1037521-xx (scanning unit) 1037522-xx (scanning unit)

332378-xx (disk/hub assembly) 332378-xx (disk/hub assembly)

* Please select when ordering

1)
When not mounted; additional deviations due to mounting and bearing of the measured shaft are not taken into account
2)
For other errors, see Measuring accuracy

D
¬ 10h6 e
¬ 12h6 e

Z a f c
A = Bearing of mating shaft ERO 1225 1024 0.4 ±0.2 0.05 ¬ 0.02
k = Required mating dimensions
M = Measuring point for operating temperature 2048 0.2 ±0.05
1 = Disk/hub assembly ERO 1285 1024 0.2 ±0.03 0.03 ¬ 0.02
2 = Offset screwdriver: ISO 2936 – 2.5 (I2 shortened) 2048
3 = Direction of shaft rotation for output signals as per the interface description

78 79
ERO 1400 series Incremental

Incremental rotary encoders ERO 1420 ERO 1470 ERO 1480

• Flange for axial mounting
• Hollow through shaft Interface  TTL » 1 VPP
• Without integral bearing; self-centering
Line count* 512 1000 512
1000 1500 1000
1024 1024

Integrated interpolation* – 5-fold 10-fold 20-fold 25-fold –

Signal periods per revolution 512 5000 10 000 20 000 25 000 512
1000 7500 15 000 30 000 37 500 1000
1024 1024

With axial PCB Edge separation a  0.39 µs  0.47 µs  0.22 µs  0.17 µs  0.07 µs –
connector
Scanning frequency  300 kHz  100 kHz  62.5 kHz  100 kHz –

Cutoff frequency –3 dB –  180 kHz

Reference mark One

1)
System accuracy 512 lines: ±139” 1000 lines: ±130” 512 lines: ±190”
1000 lines: ±112” 1500 lines: ±114” 1000 lines: ±163”
1024 lines: ±112” 1024 lines: ±163”
  2)
Electrical connection* 12-pin, axial

Supply voltage DC 5 V ±0.5 V DC 5 V ±0.25 V DC 5 V ±0.5 V

Current consumption  150 mA  155 mA  200 mA  150 mA

(without load)

Shaft* Blind hollow shaft ¬ 4 mm, ¬ 6 mm or ¬ 8 mm,

or hollow through shaft in housing with bore (accessory)
–6 2
Moment of inertia of rotor Shaft ¬ 4 mm: 0.28 · 10 kgm
 Shaft ¬ 6 mm: 0.27 · 10 kgm2
–6

Shaft ¬ 8 mm: 0.25 · 10–6 kgm2

Mech. permiss. shaft speed n  30 000 rpm

Permissible axial motion of ±0.1 mm ±0.05 mm

measured shaft

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

Operating temperature –10 °C to 70 °C

Protection EN 60529 With PCB connector: IP00

With cable outlet: IP40

Mass  0.07 kg

ID number 360731-xx 360736-xx 360737-xx

Bold: This preferred version is available on short notice

Axial PCB connector and round cable Axial PCB connector and ribbon cable * Please select when ordering
1)
When not mounted; additional deviations due to mounting and bearing of the measured shaft are not taken into account
2)
Upon request, cable (1 m), radial, free cable end (not for ERO 1470)

L 13 +4.5/–3 10 min.

Bend radius R Fixed cable Frequent

flexing
A = Bearing of mating shaft Ribbon cable R  2 mm R  10 mm
k = Required mating dimensions
Ô = Accessory: round cable
a b D
Õ = Accessory: ribbon cable
1 = Two M3 setscrews offset by 90°; width across flats 1.5 ERO 1420 0.03 ±0.1 ¬ 4h6 e
2 = Version for repeated mounting ERO 1470 0.02 ±0.05 ¬ 6h6 e
3 = Version featuring housing with central hole (accessory)
4 = Direction of shaft rotation for output signals according to interface description ERO 1480 ¬ 8h6 e

80 81
Interfaces
» 1 VPP incremental signals « TTL incremental signals

HEIDENHAIN encoders with the » 1 VPP Signal period HEIDENHAIN encoders with the « TTL Fault
Signal period 360° elec.
interface provide voltage signals that are 360° elec. interface incorporate electronics that
highly interpolatable. digitize sinusoidal scanning signals with or
without interpolation.
The sinusoidal incremental signals A and
B are phase-shifted by 90° elec. and have
The incremental signals are transmitted
a typical amplitude of 1 VPP. The illustrated
as the square-wave pulse trains Ua1 and
sequence of output signals—with B
Ua2, phase-shifted by 90° elec. The refe­ Measuring step after
lagging A—applies to the direction of 4-fold evaluation
rence mark signal consists of one or more
motion shown in the dimension drawing.
refe­rence pulses Ua0, which are gated
The reference mark signal R has a unique
with the incremental signals. In addition,
assignment to the incremental signals.
the integrated electronics produce their
The output signal may be lower next to the
inverted signals ¢, £ and ¤ for
reference mark.
noise-proof transmission. The illustrated
sequence of output signals—with Ua2
The inverted signals ¢, £, and ¤ are not shown.
lagging Ua1—applies to the direction of
motion shown in the dimension drawing.
The distance between two successive
Further information: The fault detection signal ¥ indicates edges of the incremental signals Ua1 and Ua2 Further information:
Alternative
malfunctions such as an interruption in the through 1-fold, 2-fold or 4-fold evaluation is
signal shape
For detailed descriptions of all available (rated value) supply lines, failure of the light source, etc. one measuring step. For detailed descriptions of all available
interfaces, as well as general electrical interfaces, as well as general electrical
information, please refer to the Interfaces information, please refer to the Interfaces
of HEIDENHAIN Encoders brochure. A, B, R measured with oscilloscope in differential mode of HEIDENHAIN Encoders brochure.

Pin layout Pin layout

12-pin M23 coupling 15-pin D-sub connector for PWM 21 12-pin PCB connector 12-pin M23 flange socket 12-pin M23 connector
or coupling
12

Power supply Incremental signals Other signals 15-pin D-sub connector 12-pin PCB connector
for IK 215 / PWM 21
12 2 10 11 5 6 8 1 3 4 9 7 / 12

4 12 2 10 1 9 3 11 14 7 5/6/8/15 13 /
Power supply Incremental signals Other signals
12 2a 2b 1a 1b 6b 6a 5b 5a 4b 4a 3b 3a /
12 2 10 11 5 6 8 1 3 4 7 / 9
UP Sensor1) 0V Sensor1) A+ A– B+ B– R+ R– Vacant Vacant Vacant
UP 0V 4 12 2 10 1 9 3 11 14 7 13 5/6/8 15
1)
Brown/ Blue White/ White Brown Green Gray Pink Red Black / Violet Yellow 12 2a 2b 1a 1b1) 6b 6a 5b 5a 4b 4a 3a 3b /
Green Green
UP Sensor 0V Sensor Ua1 ¢ Ua2 £ Ua0 ¤ ¥1) Vacant Vacant2)
UP 0V
Output cable for ERN 1381 17-pin 12-pin PCB connector
inside the motor housing M23 flange socket Brown/ Blue White/ White Brown Green Gray Pink Red Black Violet / Yellow
ID 667343-01 12 Green Green

Cable shield connected to housing; UP = Power supply voltage

Power supply Incremental signals Other signals Sensor: The sense line is connected in the encoder with the corresponding power line.
Vacant pins or wires must not be used!
7 1 10 4 15 16 12 13 3 2 5 6 8/9/11/ 1)
ERO 14xx: vacant
14/17 2)
Exposed linear encoders: conversion from TTL to 11 µAPP for the PWT, otherwise not assigned
12 2a 2b 1a 1b 6b 6a 5b 5a 4b 4a / / 3a/3b

UP Sensor 0V Sensor A+ A– B+ B– R+ R– T+2) T–2) Vacant

UP 0V
2)
Brown/ Blue White/ White Brown Green Gray Pink Red Black Brown White2) /
Green Green
1) 2)
Cable shield connecting with housing; UP = Power supply voltage LIDA 2xx: vacant; For connecting a temperature sensor
Sensor: The sense line is connected in the encoder with the corresponding power line.
Vacant pins or wires must not be used!

82 83
 Commutation signals for block commutation

Pin layout The block commutation signals U, V,

and W are obtained from three separate Further information:
Output cable for ERN 1321 17-pin 12-pin PCB connector
absolute tracks. They are transmitted as
inside the motor M23 flange socket Detailed descriptions of all available
square-wave signals in TTL levels.
ID 667343-01 interfaces, as well as general electrical
12
The ERN 1x23 and ERN 1326 are rotary information, can be found in the Interfaces
encoders with commutation signals for of HEIDENHAIN Encoders brochure.
block commutation.
Power supply Incremental signals Other signals

7 1 10 4 15 16 12 13 3 2 5 6 8/9/11/
14/17
12 2a 2b 1a 1b 6b 6a 5b 5a 4b 4a / / 3a/3b

UP Sensor 0V Sensor Ua1 ¢ Ua2 £ Ua0 ¤ T+1) T–1) Vacant

ERN 1123, ERN 1326 pin layout
UP 0V 17-pin 16-pin PCB connector 15-pin PCB connector
M23 flange
1)
Brown/ Blue White/ White Brown Green Gray Pink Red Black Brown White1) / socket
Green Green 16 15

Cable shield connected to housing; UP = Power supply voltage Power supply Incremental signals
Sensor: The sense line is connected in the encoder with the corresponding power line.
Vacant pins or wires must not be used! 7 1 10 11 15 16 12 13 3 2
1)
Connections for an external temperature sensor (only for output cables inside the motor, see Temperature measurement in motors);
if used, please refer to the information about electromagnetic compatibility in the General electrical information section of the 16 1b 2b 1a / 5b 5a 4b 4a 3b 3a
Interfaces of HEIDENHAIN Encoders brochure.
15 13 / 14 / 1 2 3 4 5 6

UP Sensor 0V Internal Ua1  Ua2  Ua0 

UP shield

Brown/ Blue White/ / Green/ Yellow/ Blue/ Red/ Red Black

Green Green Black Black Black Black

Other signals Cable shield connected to housing;

UP = Power supply
4 5 6 14 17 9 8 Sensor: The sense line is connected
in the encoder with the corresponding
16 2a 8b 8a 6b 6a 7b 7a power line (only with ERN 1326).

15 / 7 8 9 10 11 12 Vacant pins or wires must not

be used!
¥ U U V V W W

White Green Brown Yellow Violet Gray Pink

Pin layout for ERN 1023

Power supply Incremental signals Other signals

UP 0V Ua1  Ua2  Ua0  U U V V W W

White Black Red Pink Olive Blue Yellow Orange Beige Brown Green Gray Light Violet
Green Blue

Cable shield connected to housing;

UP = Power supply
Vacant pins or wires must not be used!

84 85
Commutation signals for sine commutation Position values

The commutation signals C and D are The EnDat interface is a digital, bidirec­ Ordering designation Command set Incremental signals
obtained from the Z1 track and are equal to Further information: tional interface for encoders. It is capable
one sine or cosine period per revolution. of outputting position values, reading EnDat01 EnDat 2.1 or EnDat 2.2 1 VPP
They have a signal amplitude of 1 VPP (typical) Detailed descriptions of all available infor­mation stored in the encoder, updating EnDat H HTL
at 1 k. interfaces, as well as general electrical this information, and storing new informa­ EnDat T TTL
information, can be found in the Interfaces tion. Because the interface uses serial
The input circuit of the downstream of HEIDENHAIN Encoders brochure. transmission, only four signal lines are EnDat21 –
electronics is equivalent to the » 1 VPP required. The data (DATA) are transmitted in
interface. However, the required terminating synchronism with the CLOCK signal from EnDat02 EnDat 2.2 1 VPP
resistance Z0 is 1 k instead of 120 . the downstream electronics. The type of
transmission (position values, parameters, EnDat22 EnDat 2.2 –
The ERN 1387 is a rotary encoder with diagnostics, etc.) is selected via mode
output signals for sinusoidal commutation. commands sent to the encoder by the E30-R2 EnDat 3.0
downstream electronics. Some functions
are available only with EnDat 2.2 mode Versions of the EnDat interface
Pin layout commands.
17-pin 14-pin PCB connector Absolute encoder Downstream electronics
M23 coupling or Incremental A/Ua1*)
flange socket signals *)
B/Ua2*)
Further information:

EnDat interface
Power supply Incremental signals Detailed descriptions of all available
interfaces, as well as general electrical
7 1 10 4 11 15 16 12 13 3 2 information, can be found in the Interfaces Absolute
of HEIDENHAIN Encoders brochure. position value
1b 7a 5b 3a / 6b 2a 3b 5a 4b 4a

UP Sensor 0V Sensor Internal A+ A– B+ B– R+ R–

UP 0V shield Parameters of the encoder
Operating Operating Parameters manufacturer for *) E
 ncoder-specific:
parameters status of the OEM 1 VPP, HTL or TTL
Brown/ Blue White/ White / Green/ Yellow/ Blue/ Red/ Red Black EnDat 2.1 EnDat 2.2
Green Green Black Black Black Black
Pin layout for EnDat01/EnDat02
Other signals 17-pin M23 coupling or flange socket 12-pin PCB 15-pin PCB
connector connector
14 17 9 8 5 6

7b 1a 2b 6a / / 12 15
1) 1) 1)
C+ C– D+ D– T+ T– Power supply Incremental signals Serial data transmission

Gray Pink Yellow Violet Green Brown 7 1 10 4 11 15 16 12 13 14 17 8 9

Cable shield connected to housing; 12 1b 6a 4b 3a / 2a 5b 4a 3b 6b 1a 2b 5a

UP = Voltage supply; T = Temperature
Sensor: The sense line is connected internally to the respective the power line. 15 13 11 14 12 / 1 2 3 4 7 8 9 10
Vacant pins or wires must not be used!
1) Connections for an external temperature sensor (only for output cables inside the motor, see Temperature measurement in motors); UP Sensor 0V Sensor Internal A+ A– B+ B– DATA DATA CLOCK CLOCK
if used, please refer to the information about electromagnetic compatibility in the General electrical information section of the UP 0V shield
Interfaces of HEIDENHAIN Encoders brochure.
Brown/ Blue White/ White / Green/ Yellow/ Blue/ Red/ Gray Pink Violet Yellow
Green Green Black Black Black Black

Other signals Cable shield connected with housing; UP = Power supply voltage; T = Temperature
Sensor: The sense line is connected in the encoder with the corresponding power line.
5 6 Vacant pins or wires must not be used!
1)
Only with the ordering designations EnDat 01 and EnDat 02
/ / 2)
12 Connections for an external temperature sensor (only for output cables inside the motor, see Temperature
measurement in motors); if used, please refer to the information about electromagnetic compatibility
15 / / in the General electrical information section of the Interfaces of HEIDENHAIN Encoders brochure.
2)
T+ T–2)

Brown2) White2)

86 87
EnDat22 pin layout Pin layout
8-pin M12 coupling or 9-pin M23 SpeedTEC HMC 6 flange socket
flange socket angle flange socket K
1
X
2
E

6 3
8 7
5 4
16-pin (12+4-pin) 15-pin PCB connector D
E
A
PCB connector b Travel range
a C B
X
123456 12 16 15

Power supply Serial data transmission Other signals 16-pin (12+4-pin) 15-pin
b
PCB connector a PCB connector
M12 8 2 5 1 3 4 7 6 / / 123456 12 16 15

M23 3 7 4 8 5 6 1 2 / / Encoder

16 1b 6a 4b 3a 6b 1a 2b 5a 1a 1b Power supply Serial data transmission Other signals

15 13 11 14 12 7 8 9 10 5 6 1 2 3 4 5 6 / /

UP Sensor1) 0V Sensor1) DATA DATA CLOCK CLOCK T+3) T–3) 1b 4b 6b 1a 2b 5a 1a 1b

16
UP2) 0 V2)
15 13 14 7 8 9 10 5 6
Brown/ Blue White/ White Gray Pink Violet Yellow Brown Green
Green Green UP 0V DATA DATA CLOCK CLOCK T+1) T–1)

Cable shield connected with housing; UP = Power supply; T = Temperature Brown/Green White/Green Gray Pink Violet Yellow Brown Green
Sensor: The sense line is connected in the encoder with the corresponding power line.
Vacant pins or wires must not be used!
1)
UBAT for EBI 1335; 2) ECI 1118 EnDat22: vacant Motor
3)
Connections for an external temperature sensor (only EnDat22, except ECI 1118, see Temperature measurement in motors); if used,
please refer to the information about electromagnetic compatibility in the General electrical information section of the Interfaces of Brake Power
HEIDENHAIN Encoders brochure.
7 8 A B C D E

Pin layout for EBI 135/EBI 1135/EBI 4010 BRAKE– BRAKE+ U V W / PE

15-pin PCB connector White White/Black Blue Brown Black / Yellow/Green
15
Outer shield of the encoder output cable on housing of communication element K.
Vacant pins or wires must not be used!
8-pin M12 flange socket 9-pin M23 SpeedTEC HMC 6 is not suited for encoders with buffer battery backup (EBI 135, EBI 1335, EBI 1135, EBI 4010)
angle flange socket 1)
Connections for an external temperature sensor (except ECI 1118, see Temperature measurement in motors); if used, please refer to
the information about electromagnetic compatibility in the General electrical information section of the Interfaces of HEIDENHAIN
Encoders brochure.
1)
Power supply Serial data transmission Other signals

15 13 11 14 12 7 8 9 10 5 6

M12 8 2 5 1 3 4 7 6 / /

M23 3 7 4 8 5 6 1 2 / /

UP UBAT 0 V2) 0 VBAT2) DATA DATA CLOCK CLOCK T+3) T– 3)

Brown/ Blue White/ White Gray Pink Violet Yellow Brown Green
Green Green

UP = Power supply; UBAT = External buffer battery (false polarity can result in damage to the encoder)
Vacant pins or wires must not be used!
1)
Only for EBI 135
2)
Connected inside encoder
3)
Connections for an external temperature sensor (see Temperature measurement in motors); if used, please refer to the information
about electromagnetic compatibility in the General electrical information section of the Interfaces of HEIDENHAIN Encoders brochure.
SpeedTEC is a registered trademark of TE Connectivity Industrial GmbH.

88 89
 HMC 2 (EnDat3/E30-R2) M12

EnDat 3 combines the features and benefits Pin layout of ECI, EQI 11xx
of EnDat in a new architecture and offers
47 31 0 8-pin M12 SpeedTEC 15-pin PCB connector
interesting enhanced functions for digital Application angle flange socket
production. EnDat 3 requires two wires for Layer Angle 16 bit MT 32 bit ST
C
D A
B

communication. Two other wires are

3
15 2 2 1

generally used with EnDat 3 for supplying M12 2 4 1

power to the encoder. Since the digital data

current has no DC component, it is possible BGD
Encoder
to modulate the communication on the Word 0
supply wires, and so to reduce the number Transport Foreground
and Word 1 Power supply / Serial data transfer Other signals
of wires for certain applications (e.g., hybrid Layer
Background
motor cables) to a total of just two wires Word 2 A B / /
M12
(HMC 2). The EnDat 3 interface specification
is based on the standardized OSI layer 15 9 10 5 6
model.
Data Link – – 2 1
Layer and 2
The encoder-end of the interface is called BUS REQ HPF LPH LPF LPF
Network Layer 1)
the slave, and the downstream electronics P_SD+ P_SD–1) T+2) T–2)
the master. A communication cycle consists
of a request from the master followed by Violet Yellow Brown Green
a response from the slave.

Physical Layer Motor

Brake Power

M12 C D 1 2 3 4
Further information:
Find out more about EnDat at Brake + Brake – U V W PE
www.endat.de
1)
Power supply and data: P_SD+ includes UP; P_SD– includes 0 V
2)
Connections for an external temperature sensor; evaluation optimized for KTY 84-130, PT 1000 and others (see Temperature
measurement in motors); if used, please refer to the information about electromagnetic compatibility in the General electrical
information section of the Interfaces of HEIDENHAIN Encoders brochure.
Ordering designations
The ordering designation defines key communication characteristics: Vacant pins or wires must not be used!

Supported communication types E30-R2 E30-R4 E30-RB SpeedTEC is a registered trademark of TE Connectivity Industrial GmbH.

Communication modulated onto power supply wires  – –

Communication + separate power supply wires (4 wires) –  

Bus operation – – 

Sensor box integration –  

90 91
HMC 2 (EnDat3/E30-R2) M23 DRIVE-CLiQ interface

Pin layout of ECI, EQI, ECN, EQN 13xx HEIDENHAIN encoders with the code
letter S after the model designation are Further information:
8-pin M23 SpeedTEC 16-pin (12+4-pin)
12 suitable for connection to Siemens controls
HMC 2 angle flange socket D 3
PCB connector For detailed descriptions of all available
C
4 2
with the DRIVE-CLiQ interface
b
2 2 1
• Ordering designation: DQ01 interfaces, as well as general electrical
M23 B a information, please refer to the Interfaces
A 1 4
123456 12 of HEIDENHAIN Encoders brochure.
DRIVE-CLiQ is a registered trademark of
Encoder Siemens AG.

Power supply / Serial data transfer Other signals

A B / / Siemens pin layout for encoder cables (AGK)

M23
8-pin 9-pin
12 2b 5a / / M12 SPEEDCON M23 SpeedTEC
flange socket angle flange
4 / / 1a 1b socket

2 / / 2 1 16-pin (12+4-pin) 15-pin PCB connector

PCB connector b
1) a
P_SD+ P_SD–1) T+2) T–2) 16 15
123456 12

Violet Yellow Brown Green Power supply Serial data transmission Other signals

M12 8 2 1 5 3 4 7 6 / /
Motor
M23 3 7 8 4 5 6 1 2 / /
Brake Power
16 1b 6a 3a 4b 6b 1a 2b 5a 1a 1b
M23 C D 1 4 3 2
15 13 11 12 14 7 8 9 10 5 6
Brake + Brake – U V W PE
1) – – UP 0V RXP RXN TXP TXN T+1) T–1)
Supply voltage and data: P_SD+ contains UP (power supply); P_SD– contains 0 V
2)
Connections for an external temperature sensor; evaluation optimized for KTY 84-130, PT 1000 and others (see Temperature * Brown/ Blue White White/ Gray Pink Violet Yellow Brown Green
measurement in motors); if used, please refer to the information about electromagnetic compatibility in the General electrical Green Green
information section of the Interfaces of HEIDENHAIN Encoders brochure.
Cable shield connected to housing; UP = Power supply voltage
Vacant pins or wires must not be used! Vacant pins or wires must not be used!
Output cables with a cable length > 0.5 m require strain relief for the cable
SpeedTEC is a registered trademark of TE Connectivity Industrial GmbH. 1)
Connections for an external temperature sensor (see Temperature measurement in motors); if used, please refer to the information
about electromagnetic compatibility in the General electrical information section of the Interfaces of HEIDENHAIN Encoders brochure.

Siemens pin layout for adapter cables (APK) and connecting cables (VBK)
RJ45 connector 8-pin M12 connector 8-pin M12 coupling 9-pin M23 SpeedTEC connector

Power supply Serial data transmission

RJ45 A B 3 6 1 2

M12 1 5 7 6 3 4

M23 8 4 1 2 5 6

UP 0V TXP TXN RXP RXN

* Red Black Green Yellow Pink Blue

* Note how the color assignment of encoder cables differs from adapter cables and connecting cables

SpeedTEC is a registered trademark of TE Connectivity Industrial GmbH.

SPEEDCON is a registered trademark of Phoenix Contact GmbH & Co. KG.

92 93
EBI 1135/EBI 1335/EBI 135/EBI 4010: external backup battery SSI position values

The multiturn functionality of the EBI 1135, The position value is transmitted, starting Data transmission
EBI 1335, EBI 135 and EBI 4000 is imple­ with the most significant bit (MSB), over
mented by means of a revolution counter. the data lines (DATA) in synchronism with T = 1 to 10 µs
In order for the absolute position information Encoder Downstream electronics a clock signal (CLOCK) provided by the tcal See the
to still be available after loss of power, the control. The SSI standard data word length specifications
EBI must be operated with an external for singleturn encoders is 13 bits, and for t1  0.4 µs
backup battery. multiturn encoders, 25 bits. In addition to (without cable)
the absolute position values, incremental t2 = 17 to 20 µs
tR  5 µs
A lithium thionyl chloride battery with 3.6 V signals can transmitted as well. For a
n = Data word length
and 1200 mAh is recommended for the description of the signals, see 1 VPP 13 bits for ECN/ROC
backup battery. The typical battery service incremental signals. 25 bits for EQN/ROQ
life is over nine years (EBI 1135/135) or six
years (EBI 4010, EBI 1335) under the right The following functions can be activated CLOCK and DATA
conditions (two ten-hour shifts under normal via programming inputs: not shown
operation, battery temperature of 25 °C 1 = Protective circuit • Direction of rotation
and typical self-discharging). To reach the • Zeroing (setting to zero)
typical service life, the main power supply Backup battery connection
(UP) must be connected to the encoder
during or immediately after connection of
the backup battery so that the encoder is
fully initialized after being completely
without power. Otherwise, the encoder
Battery current in μA 

will consume a significantly higher amount Further information:

of battery current until main power is first
supplied. For detailed descriptions of all available
interfaces, as well as general electrical
To prevent damage to the encoder, ensure information, please refer to the Interfaces
correct polarity of the backup battery. of HEIDENHAIN Encoders brochure.
HEIDENHAIN recommends operating each Normal operation at UBAT = 3.6 V
encoder with its own backup battery.

If the application requires compliance with

DIN EN 60 086-4 or UL 1642, then an
appropriate protective circuit is required for
protection from wiring errors. Pin layout
Operating temperature in °C  17-pin M23 coupling
If the backup battery voltage falls below
certain thresholds, then the encoder issues EBI 1135/135: typical discharge current during normal operation (UB = 3.6 V)
the following warnings or error messages,
which are transmitted over the EnDat
interface: Power supply Incremental signals Serial data transmission Other signals
• “Battery charge” warning
 2.8 V ±0.2 V 7 1 10 4 11 15 16 12 13 14 17 8 9 2 5
in normal operating mode
• “M Power interruption” error message UP Sensor 0V Sensor Internal A+ A– B+ B– DATA DATA CLOCK CLOCK Direc‑ Zeroing
Battery current in μA

 2.2 V ±0.2 V UP 0 V shield1) tion of

in battery-buffered mode (encoder must rotation
be re-referenced)
Brown/ Blue White/ White / Green/ Yellow/ Blue/ Red/ Gray Pink Violet Yellow Black Green
Low battery current continues to flow Green Green Black Black Black Black
even during normal operation of the EBI.
The amount of current depends on the Shield on housing; UP = Power supply voltage
operating temperature. Sensor: With a 5 V supply voltage, the sense line is connected in the encoder with the corresponding power line.
1)
Vacant with the ECN/EQN 10xx and ROC/ROQ 10xx

Please note:
Compliance with EnDat Specification 297403 Operating temperature in °C
and the EnDat Application Notes 722024,
Chapter 13, Battery-buffered encoders, is EBI 4010: typical discharge current during normal operation (UBAT = 3.6 V)
required for correct control of the encoder.

94 95
 1129083-xx 2)
Cables MRP 2010
M12
Output cables: EnDat (EnDat22) Output cables: EnDat (EnDat22)
2)
MRP 5010 1137151-xx
MRP 8010

M23 * SpeedTEC angle flange socket with O-ring vibration protection (male)
9-pin (with O-ring for Hypertac connector; remove O-ring for SpeedTEC)

1120948-01 1) * 1180955-xx
ECI 1319 (FCI) M23
EQI 1331 (FCI) 4) AEF 1323 (FCI) 3) Servo
ECN 1325 (FCI) 1143830-30 2) 1180959-xx controller
EQN 1337 (FCI) 4)
1173166-xx 5)
PWM 21
1120947-03 1) *
ECI 119 (JAE)
EBI 135 (JAE) 3) 4)
825855-03 1)
Output
EQI 11xx/13xxcables: EnDat (EnDat01)
ECI 11xx/13xx 621742-01 1)

1116479-03 1) ExN 11xx/13xx PWM 21 PWM 21

1235648-xx 5)
4) TNC 3)
M23 17-pin 1080091-xx

ECI 4010 (JAE) * KCI 1xx Dplus 1311046-02

1121041-03 1) 1136863-xx  6 mm 8-pin
509667-xx
EBI 4010 (JAE) 3) 1136874-xx  8 mm
M23
1120940-30 1) * EnDat 01 1311047-02
M12
1)
606079-012)
4) ECN 1113 (JAE) 1129083-xx

Siemens SMC20 (EnDat)

TNC (EnDat)
MRP
EQN2010
1125 (JAE) 3)
M12 1311061-02
605090-xx1) M12

MRP 5010 1137151-xx 2)

1117412-xx 2) MRP 8010(JAE)
ECI 1118 640030-012)
ECN 1123 (JAE)
EQI 1130 (JAE)
EQN 1135 (JAE) 4)
1108078-01 1)
4) 640067-N31)
ECI 119 (JAE)
805320-01 2)
ECI 1118 (JAE) 735784-01 2)
332201-011) 323897-xx
ECN 1313 (FCI) M23
1180955-xx
1119952-15 2) EQN 1325 (FCI) 3)
ECI 1119 (JAE) ECI 1323
AEF (FCI)
1319 (FCI) 332202-011) 3)
4) 1180959-xx
EQI 1131 (JAE) 1119958-15 2) EQI 1331 (FCI)
KCI 1319 (JAE)
4)
804201-01 2)
EBI 1135 (JAE) 3)
KBI 1335 (JAE) 640055-01 2)
Testing cables to PWM 21 15-pin 15-pin
1117280-01 2)
ECI 1319 (FCI) ECI 11xx/13xx 621742-01 1)
4) EQI 11xx/13xx
EQI 1331 (FCI)
1108076-01 1) 1143830-30 3) ExN 11xx/13xx PWM 21 PWM 21
ECN 1325 (FCI)
EQN 1337 (FCI) 4)
1100199-N3 2)
675582-xx
1080091-xx

1287818-01 1) KCI 1xx Dplus 1311046-02

ECI 4010 (JAE)
EBI 4010 (JAE) 3)
ECI 11xx/13xx 621742-01 1) 1080091-xx
1) 1311047-02
EPG cable EQI 11xx/13xx
2)
TPE single wires in heat-shrink tubing or braided sleeve (without shield) ExN 11xx/13xx PWM 21 PWM 21
3)
The TNC does not support any buffer battery backup multiturn functions 1311061-02
4)
Wires for temperature sensors: 2 TPE single wires in heat-shrink tubing
5)
Not for EBI 1)
EPG cable
2)
Cable clamp included
3)
Wires for temperature sensors: 2 TPE wires in heat-shrink tubing

SpeedTEC is a registered trademark of TE Connectivity Industrial GmbH.

96 97
 M12

1279930-15 1)
ECI 1119 (JAE) PWM 21 5)

Output cables: HMC 2 (E30-R2) EQI 1131 (JAE)

2)
* M12 Output cables: DRIVE-CLiQ
1279881-xx 4)
1302347-xx  9.3 mm
3)

HMC 2 output cables and power cables with encoder communication M23
HMC 2 HMC 2
M12 M23
9-pin 8-pin 8-pin

8-pin
8-pin ECN 1324S (FCI) ** 1121536-xx 822504-xx 1093042-xx
1279930-15 1) 1275042-30 1) RJ45
ECI 1119 (JAE) PWM 21 5) EQN 1336S (FCI) * M23 M12 M12
IP20
2) ECI 1319 (FCI) PWM 21 5)
EQI 1131 (JAE) * M12 EQI 1331 (FCI)4)
1279881-xx * 1120945-xx 1)
ECN 1325 (FCI) M23 1275291-xx 4)
1302347-xx  9.3 mm
EQN 1337 (FCI) 1302701-30 1) 2)
1094652-xx
 11 mm
3) RJ45
ECI 4090S (JAE) * IP67
** 1121546-xx
1125403-N3 1)
HMC 2 ECI 1319 (FCI)
M23 EQI 1331 (FCI) 1302763-30 2) 2) * RJ45
Temp
ECN 1325 (FCI) 1117540-xx IP20
EQN 1337 (FCI) 1125408-N3 1)

* SpeedTEC angle flange socket 1275042-30 1) M12

1) 8-pin
ETFE
ECI twisted
1319 (FCI)single wires PWM 21 5)
2)
Wires
EQI for (FCI)
1331 temperature sensors: 2 ETFE wires in heat-shrink tubing
* and 2-pin connector (male)
3)
Wires
ECN for temperature
1325 (FCI) sensors: 2 ETFE wires in heat-shrink tubingM23 1275291-xx 4)
4)
Adapter
EQN 1337cable
(FCI)to inspection device 1302701-30 1) Further information:
5)  11 mm M12 8-pin
SA 1210 signal adapter needed for E30-R2
See the HMC 2 Product Information ECN 1123S (JAE) 1217143-xx 1)
822504-xx 1093042-xx
SpeedTEC is a registered trademark of TE Connectivity Industrial GmbH. document EQN 1135S (JAE)
2)
M12 RJ45
IP20
ECI 1319 (FCI)
ECN 1324S (FCI) 1181373-xx 1)
EQI 1331 (FCI) 1302763-30 2)
Output cables: HMC 6 (EnDat22)
Temp EQN 1336S (FCI)
ECN 1325 (FCI) 2)
EQN 1337 (FCI) 1094652-xx
1160559-01 1)
ECI 4090S (JAE) RJ45
IP67
HMC 6 output cables and power cables with encoder communication
HMC 6 HMC 6 1121591-xx
M23
RJ45
M23 IP67

1035857-15 1)
ECN 1123 (JAE)
EQN 1135 (JAE) 2)
Testing cables to PWM 21
1034953-15 1) * 15-pin
1188098-xx
ECI 4090S 621742-01 1) 1228399-01 RJ45
 13.6 mm, 1.5 mm2 ExN 13xxS IP20
ECI 119 (JAE) 1072652-02 1) PWM 21
ECI/EQI 11xx (JAE) * 1188099-xx
2)  16.6 mm, 4 mm2

1035387-03 1)
ECI 1319 (FCI)
EQI 1331 (FCI) 2)
* SpeedTEC angle flange socket with O-ring vibration protection (male) (with O-ring for Hypertac connector; remove O-ring for SpeedTEC connector)
ECN 1325 (FCI) 1034913-03 1) * 1189174-xx ** SpeedTEC connector (female)
EQN 1337 (FCI) 1)
 13.6 mm PWM 21 EPG cable
2)
Wires for temperature sensors: 2 TPE wires in heat-shrink tubing

DRIVE-CLiQ is a registered trademark of Siemens Aktiengesellschaft.

SpeedTEC hybrid flange socket is not included in delivery.

1)
EPG cable
Further information:
2)
Wires for temperature sensors: 2 TPE wires in heat-shrink tubing For more information about HMC 6,
please refer to the HMC 6 Product
SpeedTEC is a registered trademark of TE Connectivity Industrial GmbH.
Information document.

98 99
 Testing and inspection devices, and diagnostics
Output cables: 1 VPP or TTL

17-pin HEIDENHAIN encoders provide all of the

M23
information needed for initial setup,
monitoring, and diagnostics. The type of
M23 information available depends on whether
the encoder is incremental or absolute and
on which interface is being used.

738976-01 2) Incremental encoders have 1 VPP, TTL or

ERN 1123 (JAE) HTL interfaces. TTL and HTL encoders
323897-xx
monitor their signal amplitudes internally
M23 and generate a simple fault detection
333276-01 1) signal. With 1 VPP signals, an analysis of the
ERN 1321 (FCI) output signals is possible only with external
ERN 1381 (FCI) 667343-01 1) testing devices or through the use of
4)
computation resources in the downstream
electronics (analog diagnostic interface).
Diagnostics with the PWM 21 and ATS software
341369-01 1) Absolute encoders use serial data
ERN 1326 (FCI) transmission. Depending on the interface,
additional 1 VPP incremental signals can be
output. The signals are extensively monitored
within the encoder. The monitoring results
332200-xx 1) (particularly valuation numbers) can be
ERN 1387 (FCI)
transmitted to the downstream electronics
332199-01 1)
along with the position values via the serial
4) interface (digital diagnostic interface).
The following information is available:
• Error message: position value is not
346439-01 3) reliable
ERO 14x0 (FCI) • Warning: an internal functional limit of
the encoder has been reached
• Valuation numbers:
– Detailed information on the encoder’s
ERO 12x5 (Hirose) 372164-01 3) function reserve
ERP 880 (Hirose) – Identical scaling for all HEIDENHAIN
encoders
15-pin
– Cyclic reading is possible
This enables the downstream electronics
1160480-xx 3) to evaluate the current status of the
MRP 2080
encoder with little effort, even in Closed
Loop mode. Initial setup with the PWM 21 and ATS software

Testing cables to PWM 21 15-pin For the analysis of these encoders,

HEIDENHAIN offers the appropriate
1118892-02 675582-xx PWM inspection devices and PWT testing
ERN 1387
devices. Based on how these devices are
PWM 21 PWM 21
integrated, a distinction is made between
two types of diagnostics:
• Encoder diagnostics: the encoder is
connected directly to the testing or
1)
EPG cable inspection device, thereby enabling a
2)
TPE single wires in heat-shrink tubing (without shield) detailed analysis of encoder functions.
3) • Monitoring mode: the PWM inspection
Cable clamp included
4)
Wires for temperature sensors: 2 polyolefin wires in the heat shrink tubing device is interposed within the closed
control loop (via suitable testing adapters
as needed). This enables real-time
diagnosis of the machine or equipment
during operation. The available functions
depend on the interface.

100 101
PWT 101 PWT 101 PWM 21 PWM 21
The PWT 101 is a testing device for the The PWM 21 phase angle measuring unit,
functional testing and adjustment of Encoder input • EnDat in conjunction with the included ATS Encoder input • EnDat 2.1, EnDat 2.2 or EnDat 3 (absolute value with or
incremental and absolute HEIDENHAIN only for HEIDENHAIN • Fanuc Serial Interface adjustment and testing software, provides without incremental signals)
encoders. Thanks to its compact encoders • Mitsubishi high speed interface an adjustment and testing package for the • DRIVE-CLiQ
dimensions and rugged design, the • Panasonic Serial Interface diagnosis and adjustment of HEIDENHAIN • Fanuc Serial Interface
PWT 101 is ideal for portable use. • Yaskawa Serial Interface encoders. • Mitsubishi high speed interface
• 1 VPP • Yaskawa Serial Interface
• 11 µAPP • Panasonic serial interface
• TTL • SSI
• 1 VPP/TTL/11 µAPP
Display 4.3-inch color flat-panel display (touchscreen) • HTL (via signal adapter)

Supply voltage DC 24 V Interface USB 2.0

Power consumption: max. 15 W
Supply voltage AC 100 V to 240 V or DC 24 V
Operating temperature 0 °C to 40 °C
Dimensions 258 mm × 154 mm × 55 mm
Protection EN 60529 IP20
For more information, see the PWM 21,
Dimensions  145 mm × 85 mm × 35 mm ATS Software Product Information
document. 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 PC (dual-core processor > 2 GHz)

and recommendations RAM > 2 GB
Level display Operating systems: 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

102 103
 Mastering nanometer accuracy

DR. JOHANNES HEIDENHAIN GmbH

Dr.-Johannes-Heidenhain-Straße 5
83301 Traunreut, Germany
 +49 8669 31-0
 +49 8669 32-5061
[email protected]
HEIDENHAIN
www.heidenhain.com worldwide

208922-2N · 1 · 08/2023 · CD · Printed in Germany