HEIDENHAIN Interfaces Service Manual

July 2013

Interfaces

of HEIDENHAIN Encoders

Interfaces

As defined transitions between encoders
and subsequent electronics, interfaces
ensure the reliable exchange of information.

HEIDENHAIN offers encoders with
interfaces for many common subsequent
electronics. The interface possible in each
respective case depends, among other
things, on the measuring method used by
the encoder.

Measuring methods

In the incremental measuring method
the position information is obtained by
counting the individual increments
(measuring steps) from some point of
origin. Since an absolute reference is
necessary in order to determine the
positions, a reference-mark signal is output
as well. As a general rule, encoders that
operate with the incremental measuring
method output incremental signals.
Some incremental encoders with integrated
interface electronics also have a counting
function: Once the reference mark is
traversed, an absolute position value is
formed and output via a serial interface.

Note

Specialized encoders can have other
interface properties, such as regarding
the shielding.

With the absolute measuring method
the absolute position information is gained
directly from the graduation of the
measuring standard. The position value is
available from the encoder immediately
upon switch-on and can be called at any
time by the subsequent electronics.

Encoders that operate with the absolute
measuring method output position values.
Some interfaces provide incremental
signals as well.

Absolute encoders do not require a reference
run, which is advantageous particularly in
concatenated manufacturing systems,
transfer lines, or machines with numerous
axes. Also, they are more resistant to EMC
interferences.

Interface electronics

Interface electronics from HEIDENHAIN
adapt the encoder signals to the interface
of the subsequent electronics. They are
used when the subsequent electronics
cannot directly process the output signals
from HEIDENHAIN encoders, or if
additional interpolation of the signals is
necessary.

You can find more detailed information
in the Interface Electronics Product
Overview.

This catalog supersedes all previous
editions, which thereby become invalid.
The basis for ordering from HEIDENHAIN
is always the catalog edition valid when
the contract is made.

2

Contents

Incremental signals

Position values

Sinusoidal signals 1 V

Square-wave signals TTL

Serial interfaces EnDat

PP

11 µA

HTL

HTLs

Siemens

Fanuc

Mitsubishi

PROFIBUS-DP

PROFINET IO

PP

Voltage signals, can be highly interpolated

Current signals, can be interpolated

RS 422, typically 5 V

Typically 10 V to 30 V

Typically 10 V to 30 V, without inverted signals

4

6

7

10

Bidirectional interface With incremental signals

Without incremental signals

Company-specific information Without incremental signals

Company-specific information Without incremental signals

Company-specific information Without incremental signals

Fieldbus Without incremental signals

Ethernet-based fieldbus Without incremental signals

12

15

16

18

Other signals

Further information

SSI

Limit/Homing Limit switches

Position detection

Commutation signals Block commutation

Sinusoidal commutation

Overview of interface electronics

HEIDENHAIN testing equipment

General electrical information

Synchronous serial interface With incremental signals

With incremental signals

With incremental signals

With incremental signals

With incremental signals

20

22

23

24

25

26

28

32

3

Incremental signals

» 1 VPP sinusoidal signals

HEIDENHAIN encoders with » 1 VPP
interface provide voltage signals that can
be highly interpolated.

The sinusoidal incremental signals A and
B are phase-shifted by 90° elec. and have
an amplitude of typically 1 V

PP

. The
illustrated sequence of output signals—
with B lagging A—applies for the direction
of motion shown in the dimension
drawing.

The reference mark signal R has a usable
component G of approx. 0.5 V. Next to the
reference mark, the output signal can be
reduced by up to 1.7 V to a quiescent level
H. This must not cause the subsequent
electronics to overdrive. Even at the
lowered signal level, signal peaks with the
amplitude G can also appear.

The data on signal amplitude apply when
the supply voltage given in the specifications
is connected to the encoder. They refer to a
differential measurement at the 120 ohm
terminating resistor between the associated
outputs. The signal amplitude decreases with
increasing frequency. The cutoff frequency
indicates the scanning frequency at which
a certain percentage of the original signal
amplitude is maintained:

–3 dB •  70 % of the signal amplitude
–6 dB •  50 % of the signal amplitude

Interface

Incremental signals

Sinusoidal voltage signals » 1 V

PP

Two nearly sinusoidal signals A and B

Signal amplitude M: 0.6 to 1.2 V

; typically 1 V

PP

Asymmetry |P – N|/2M:  0.065
Amplitude ratio M

: 0.8 to 1.25

A/MB

Phase angle |j1 + j2|/2: 90° ± 10° elec.

Reference mark
signal

One or several signal peaks R

Usable component G:  0.2 V
Quiescent value H:  1.7 V
Switching threshold E, F: 0.04 V to 0.68 V
Zero crossovers K, L: 180° ± 90° elec.

Connecting cable

Cable length
Propagation time

Shielded HEIDENHAIN cable
For example PUR [4(2 x 0.14 mm

2

) + (4 x 0.5 mm2)]
Max. 150 m at 90 pF/m distributed capacitance
6 ns/m

These values can be used for dimensioning of the subsequent electronics. Any limited
tolerances in the encoders are listed in the specifications. For encoders without integral
bearing, reduced tolerances are recommended for initial operation (see the mounting
instructions).

Signal period

360° elec.

PP

The data in the signal description apply to
motions at up to 20 % of the –3 dB cutoff
frequency.

Interpolation/resolution/measuring step

The output signals of the 1 V

interface

PP

are usually interpolated in the subsequent
electronics in order to attain sufficiently
high resolutions. For velocity control,
interpolation factors are commonly over
1000 in order to receive usable information
even at low rotational or linear velocities.

Measuring steps for position
measurement are recommended in the
specifications. For special applications,
other resolutions are also possible.

Short-circuit stability

A temporary short circuit of one signal
output to 0 V or U
U

= 3.6 V) does not cause encoder

Pmin

(except encoders with

P

failure, but it is not a permissible operating
condition.

Short circuit at 20 °C 125 °C

One output < 3 min < 1 min

All outputs < 20 s < 5 s

A, B, R measured with oscilloscope in differential mode

Cutoff frequency

Typical signal amplitude
curve with respect to
the scanning frequency
(depends on encoder)

(rated value)



Signal amplitude [%]

–3 dB cutoff frequency
–6 dB cutoff frequency

Alternative
signal shape

Scanning frequency [kHz]



4

Monitoring of the incremental signals

The following sensitivity levels are
recommended for monitoring the signal
amplitude M:
Lower threshold: 0.30 V
Upper threshold: 1.35 V

PP

PP

The height of the incremental signals can
be monitored, for example by the length of
the resulting position indicator: The
oscilloscope shows the output signals A
and B as a Lissajous figure in the XY graph.
Ideal sinusoidal signals produce a circle
with the diameter M. In this case the
position indicator r shown corresponds to
½M. The formula is therefore

2+B2

r =

(A

)

with the condition 0.3 V < 2r < 1.35 V.

Input circuitry of
subsequent electronics

Dimensioning

Operational amplifier, e.g. MC 34074
Z

= 120 

0

R

= 10 k and C1 = 100 pF

1

R

= 34.8 k and C2 = 10 pF

2

U

= ±15 V

B

U

approx. U

1

–3 dB cutoff frequency of circuitry

Approx. 450 kHz
Approx. 50 kHz with C
and C
The circuit variant for 50 kHz does reduce
the bandwidth of the circuit, but in doing
so it improves its noise immunity.

0

= 1000 pF

1

= 82 pF

2

Incremental signals
Reference mark signal

Ra < 100 ,
typically 24 
Ca < 50 pF
SIa < 1 mA
U0 = 2.5 V ± 0.5 V
(relative to 0 V of the
supply voltage)

Incremental signal A

Time [t]

Encoder Subsequent electronics



Incremental signal B



Time [t]

Circuit output signals

U

= 3.48 VPP typically

a

Gain 3.48

Input circuitry of subsequent
electronics for high signal
frequencies

For encoders with high signal frequencies
(e.g. LIP 281), a special input circuitry is
required.

Dimensioning

Operational amplifier, e.g. AD 8138
Z

= 120 

0

R

= 681 ; R2 = 1 k; R3 = 464 

1

C

= 15 pF; C1 = 10 pF

0

+U

= 5 V; –UB = 0 V or –5 V

B

–3 dB cutoff frequency of circuitry

Approx. 10 MHz

Circuit output signals

U

= 1.47 VPP typically

a

Gain 1.47

Incremental signals
Reference mark signal

Ra < 100 ,
typically 24 
Ca < 50 pF
SIa < 1 mA
U0 = 2.5 V ± 0.5 V
(relative to 0 V of the
supply voltage)

LIP 281 encoder Subsequent electronics

5

Incremental signals

» 11 µAPP sinusoidal signals

HEIDENHAIN encoders with » 11 µAPP
interface provide current signals. They
are intended for connection to ND position
display units or EXE pulse-shaping
electronics from HEIDENHAIN.

The sinusoidal incremental signals I
and I

are phase-shifted by 90° elec. and

2

have signal levels of approx. 11 µA

PP

1

.
The illustrated sequence of output
signals—with I

lagging I1—applies to

2

the direction of motion shown in the
dimension drawing, and for retracting
plungers of length gauges.

The reference mark signal I

has a usable

0

component G of approx. 5.5 µA.

The data on signal amplitude apply when
the supply voltage given in the Specifications
is connected at the encoder. They refer to
a differential measurement between the
associated outputs. The signal amplitude
decreases with increasing frequency. The
cutoff frequency indicates the scanning
frequency at which a certain percentage of
the original signal amplitude is maintained:

–3 dB cutoff frequency: •
70 % of the signal amplitude
–6 dB cutoff frequency: •
50 % of the signal amplitude

Interface

Sinusoidal current signals » 11 µA

PP

Incremental signals Two nearly sinusoidal signals I1 and I

Signal amplitude M: 7 to 16 µAPP/typically 11 µA
Asymmetry IP – NI/2M:  0.065
Amplitude ratio M

: 0.8 to 1.25

A/MB

Phase angle |j1 + j2|/2: 90° ± 10° elec.

Reference mark
signal

One or more signal peaks I

0

Usable component G: 2 µA to 8.5 µA
Switching threshold E, F:  0.4 µA
Zero crossovers K, L: 180° ± 90° elec.

Connecting cable

Cable length
Propagation time

Shielded HEIDENHAIN cable
PUR [3(2 · 0.14 mm

2

) + (2 · 1 mm2)]
Max. 30 m with 90 pF/m distributed capacitance
6 ns/m

Signal period

360° elec.

2

PP

Interpolation/resolution/measuring step

The output signals of the 11 µA

PP

interface are usually interpolated in the
subsequent electronics—ND position
displays or EXE pulse-shaping electronics
from HEIDENHAIN— in order to attain
sufficiently high resolutions.

(rated value)

6

 TTL square-wave signals

HEIDENHAIN encoders with  TTL
interface incorporate electronics that
digitize sinusoidal scanning signals with or
without interpolation.

The incremental signals are transmitted
as the square-wave pulse trains U
U

, phase-shifted by 90° elec. The

a2

a1

and

reference mark signal consists of one or
more reference pulses U

, which are

a0

gated with the incremental signals. In
addition, the integrated electronics produce
their inverted signals ¢, £ and ¤ for
noise-proof transmission. The illustrated
sequence of output signals—with U
lagging U

—applies to the direction of

a1

a2

motion shown in the dimension drawing.

The fault-detection signal ¥ indicates
fault conditions such as breakage of the
power line or failure of the light source. It
can be used for such purposes as machine
shut-off during automated production.

The distance between two successive
edges of the incremental signals U
U

through 1-fold, 2-fold or 4-fold

a2

a1

and

evaluation is one measuring step.

The subsequent electronics must be
designed to detect each edge of the
square-wave pulse. The minimum edge
separation a stated in the Specifications
applies for the specified input circuit
with a cable length of 1 m and refers to
a measurement at the output of the
differential line receiver.

Interface

Incremental signals

Reference mark
signal

Pulse width
Delay time

Fault-detection
signal

Pulse width

Signal amplitude

Permissible load

Switching times

(10 % to 90 %)

Connecting cable

Cable length
Propagation time

Square-wave signals « T T L

Two TTL square-wave signals U

, Ua2 and their inverted

a1

signals ¢, £

One or more TTL square-wave pulses U

and their inverted

a0

pulses ¤
90° elec. (other widths available on request)
|t

|  50 ns

d

One TTL square-wave pulse ¥

Improper function: LOW (upon request: U

high impedance)

a1/Ua2

Proper function: HIGH
t

 20 ms

S

Differential line driver as per EIA standard RS-422

 100  Between associated outputs

Z

0

|I

|  20 mA Max. load per output (ERN 1x23: 10 mA)

L

C

 1000 pF With respect to 0 V

load

Outputs protected against short circuit to 0 V

/ t–  30 ns (typically 10 ns)

t

+

with 1 m cable and recommended input circuitry

Shielded HEIDENHAIN cable
For example PUR [4(2 × 0.14 mm

2

) + (4 × 0.5 mm2)]
Max. 100 m (¥ max. 50 m) at distributed capacitance 90 pF/m
Typically 6 ns/m

Signal period 360° elec.

Fault

Note

Not all encoders output a reference
mark signal, fault-detection signal, or
their inverted signals. Please see the
connector layout for this.

Measuring step after
4-fold evaluation

Inverse signals ¢, £, ¤ are not shown

7

Clocked output signals are typical for

encoders and interpolation electronics with
5-fold interpolation (or greater). They derive
the edge separation a from an internal
clock source. At the same time, the clock
frequency determines the permissible
input frequency of the incremental signals
(1 V

or 11 µAPP) and the resulting

PP

maximum permissible traversing velocity
or shaft speed:

a

=

nom

a

nominal edge separation

nom

1

4 · IPF · fe

nom

IPF interpolation factor
fe

nominal input frequency

nom

The tolerances of the internal clock source
have an influence on the edge separation
a of the output signal and the input
frequency f

, thereby influencing the

e

traversing velocity or shaft speed.

The data for edge separation already takes
these tolerances into account with 5 %:
Not the nominal edge separation is
indicated, but rather the minimum edge
separation a

min

.

On the other hand, the maximum
permissible input frequency must consider
a tolerance of at least 5 %. This means
that the maximum permissible traversing
velocity or shaft speed are also reduced
accordingly.

Encoders and interpolation electronics
without interpolation in general do not have
clocked output signals. The minimum
edge separation a

that occurs at the

min

maximum possible input frequency is
stated in the specifications. If the input
frequency is reduced, the edge separation
increases correspondingly.

Cable-dependent differences in the
propagation time additionally reduce the

edge separation by 0.2 ns per meter of
cable. To prevent counting errors, a safety
margin of 10 % must be considered, and
the subsequent electronics so designed
that they can process as little as 90 % of
the resulting edge separation.

Please note:
The max. permissible shaft speed or
traversing velocity must never be

exceeded, since this would result in an
irreversible counting error.

Calculation example 1

LIDA 400 linear encoder
Requirements: display step 0.5 µm, traversing velocity 1 m/s,
output signals TTL, cable length to subsequent electronics 25 m.
What minimum edge separation must the subsequent electronics be able to process?

Selection of the interpolation factor

20 µm grating period : 0.5 µm display step = 40-fold subdivision
Evaluation in the subsequent electronics 4-fold

Interpolation 10-fold
Selection of the edge separation

Traversing velocity 60 m/min (corresponds to 1 m/s)
+ tolerance value 5 % 63 m/min

Select in specifications:

Next LIDA 400 version 120 m/min (from specifications)

Minimum edge separation 0.22 µs (from specifications)
Determining the edge separation that the subsequent electronics must process

Subtract cable-dependent differences in the propagation time 0.2 ns per meter
For cable length = 25 m 5 ns
Resulting edge separation 0.215 µs
Subtract 10 % safety margin 0.022 µs

Minimum edge separation for the subsequent electronics 0.193 µs

Calculation example 2

ERA 4000 angle encoder with 32 768 lines
Requirements: measuring step 0.1”, output signals TTL (IBV external interface
electronics necessary), cable length from IBV to subsequent electronics = 20 m,
minimum edge separation that the subsequent electronics can process = 0.5 µs
(input frequency = 2 MHz).
What rotational speed is possible?

Selection of the interpolation factor

32 768 lines corresponds to 40” signal period
Signal period 40” : measuring step 0.1” = 400-fold subdivision
Evaluation in the subsequent electronics 4-fold

Interpolation in the IBV 100-fold
Calculation of the edge separation

Permissible edge separation of the subsequent electronics 0.5 µs

This corresponds to 90 % of the resulting edge separation

This leads to: Resulting edge separation 0.556 µs
Subtract cable-dependent differences in the propagation time 0.2 ns per meter
For cable length = 20 m 4 ns

Minimum edge separation of IBV 102  0.56 µs
Selecting the input frequency

According to the Product Information, the input frequencies and therefore the edge
separations a of the IBV 102 can be set.

Next suitable edge separation 0.585 µs

Input frequency at 100-fold interpolation 4 kHz
Calculating the permissible shaft speed

Subtract 5 % tolerance 3.8 kHz
This is 3 800 signals per second or 228 000 signals per minute.
Meaning for 32 768 lines of the ERA 4000:

Max. permissible rotational speed 6.95 rpm

8

The permissible cable length for
transmission of the TTL square-wave signals
to the subsequent electronics depends on
the edge separation a. It is at most 100 m,
or 50 m for the fault detection signal. This
requires, however, that the voltage supply
(see Specifications) be ensured at the
encoder. The sensor lines can be used to
measure the voltage at the encoder and, if
required, correct it with an automatic control
system (remote sense voltage supply).

Greater cable lengths can be provided
upon consultation with HEIDENHAIN.

Permissible cable
length

with respect to the
edge separation



Cable length [m]

Without ¥

With ¥

Edge separation [µs]



Input circuitry of
subsequent electronics

Dimensioning

IC

= Recommended differential line

1

receiver
DS 26 C 32 AT
Only for a > 0.1 µs:
AM 26 LS 32
MC 3486
SN 75 ALS 193

R

= 4.7 k

1

R

= 1.8 k

2

Z

= 120 

0

C

= 220 pF (serves to improve noise

1

immunity)

Incremental signals
Reference mark signal

Fault-detection signal

Encoder Subsequent electronics

9

HTLsHTL

Incremental signals

 HTL square-wave signals

HEIDENHAIN encoders with  HTL
interface incorporate electronics that
digitize sinusoidal scanning signals with or
without interpolation.

The incremental signals are transmitted as
the square-wave pulse trains U

and Ua2,

a1

phase-shifted by 90° elec. The reference
mark signal consists of one or more
reference pulses U

, which are gated with

a0

the incremental signals. In addition, the
integrated electronics produce their inverted
signals ¢, £ and ¤ for noise-proof
transmission (does not apply to HTLs).

The illustrated sequence of output
signals—with U

lagging Ua1—applies to

a2

the direction of motion shown in the
dimension drawing.

The fault-detection signal ¥ indicates
fault conditions such as failure of the light
source. It can be used for such purposes
as machine shut-off during automated
production.

The distance between two successive
edges of the incremental signals U
U

through 1-fold, 2-fold or 4-fold

a2

a1

and

evaluation is one measuring step.

The subsequent electronics must be
designed to detect each edge of the
square-wave pulse. The minimum edge
separation a listed in the Specifications
refers to a measurement at the output of
the given differential input circuitry. To
prevent counting errors, the subsequent
electronics should be designed so that
they can process as little as 90% of the
edge separation a.
The maximum permissible shaft speed
or traversing velocity must never be
exceeded.

Interface

Incremental signals

Reference mark signal

Pulse width
Delay time

Fault-detection signal

Pulse width

Signal levels

Permissible load

Switching times

(10 % to 90 %)

Connecting cable

Cable length

Propagation time

Signal period 360° elec.

Square-wave signals « HTL, « HTLs

Two HTL square-wave signals U

, Ua2 and their inverted

a1

signals ¢, £ (HTLs without ¢, £)

One or more HTL square-wave pulses U

and their

a0

inverted pulses ¤ (HTLs without ¤)
90° elec. (other widths available on request)
|t

|  50 ns

d

One HTL square-wave pulse ¥

Improper function: LOW
Proper function: HIGH

 20 ms

t

S

 21 V at –IH = 20 mA With voltage supply of

U

H

U

 2.8 V at IL = 20 mA UP = 24 V, without cable

L

|  100 mA Max. load per output, (except ¥)

|I

L

C

 10 nF With respect to 0 V

load

Outputs short-circuit proof for max. 1 minute to 0 V and U
(except ¥)

 200 ns (except ¥)

t

+/t–

with 1 m cable and recommended input circuitry

HEIDENHAIN cable with shielding
e. g. PUR [4(2 × 0.14 mm

2

) + (4 × 0.5 mm2)]
Max. 300 m (HTLs max. 100 m)
at distributed capacitance 90 pF/m
6 ns/m

Fault

Measuring step after
4-fold evaluation

P

The permissible cable length for incremental
encoders with HTL signals depends on the
scanning frequency, the effective supply
voltage, and the operating temperature of
the encoder.

The current requirement of encoders
with HTL output signals depends on the
output frequency and the cable length to
the subsequent electronics.

10



Cable length [m]

Inverse signals ¢, £, ¤ are not shown

Scanning frequency [kHz]



Input circuitry of
subsequent electronics
HTL

Incremental signals
Reference mark signal

Fault-detection signal

Encoder Subsequent electronics

HTLs

Incremental signals
Reference mark signal

Fault-detection signal

Encoder Subsequent electronics

11

Position values

serial interface

The EnDat interface is a digital, bidirectional
interface for encoders. It is capable both of
transmitting position values as well as
transmitting or updating information stored
in the encoder, or saving new information.
Thanks to the serial transmission method,
only four signal lines are required. The
data is transmitted in synchronism with
the clock signal from the subsequent
electronics. The type of transmission
(position values, parameters, diagnostics,
etc.) is selected through mode commands
that the subsequent electronics send to
the encoder. Some functions are available
only with EnDat 2.2 mode commands.

History and compatibility

The EnDat 2.1 interface available since the
mid-90s has since been upgraded to the
EnDat 2.2 version (recommended for new
applications). EnDat 2.2 is compatible in its
communication, command set and time
conditions with version 2.1, but also offers
significant advantages. It makes it possible,
for example, to transfer additional data
(e.g. sensor values, diagnostics, etc.) with
the position value without sending a separate
request for it. This permits support of
additional encoder types (e.g. with battery
buffer, incremental encoders, etc.). The
interface protocol was expanded and the
time conditions (clock frequency, processing
time, recovery time) were optimized.

Supported encoder types

The following encoder types are currently
supported by the EnDat 2.2 interface
(this information can be read out from the
encoder’s memory area):

Incremental linear encoder•
Absolute linear encoder•
Rotational incremental singleturn •
encoder
Rotational absolute singleturn encoder•
Multiturn rotary encoder•
Multiturn rotary encoder with battery •

buffer
In some cases, parameters must be
interpreted differently for the various
encoder types (see EnDat Specifications)
or EnDat additional data must be
processed (e.g. incremental or battery­buffered encoders).

Interface

Data transfer

Data input Differential line receiver according to EIA standard RS 485 for the

Data output Differential line driver according to EIA standard RS 485 for the

Position values Ascending during traverse in direction of arrow (see dimensions

Incremental signals

Order designations

The order designations define the central
specifications and give information about:

Typical power supply range•
Command set•
Availability of incremental signals•

Maximum clock frequency•
The second character of the order
designation identifies the interface
generation. For encoders of the current
generation the order designation can be
read out from the encoder memory.

Incremental signals

Some encoders also provide incremental
signals. These are usually used to increase
the resolution of the position value, or to
serve a second subsequent electronics
unit. Current generations of encoders have
a high internal resolution, and therefore no
longer need to provide incremental signals.
The order designation indicates whether an
encoder outputs incremental signals:

EnDat 01 with 1 V•

EnDat Hx with HTL incremental signals•

EnDat Tx with TTL incremental signals•

EnDat 21 without incremental signals•

EnDat 02 with 1 V•

EnDat 22 without incremental signals•

Notes on EnDat 01, 02:

The signal period is stored in the encoder
memory

Notes on EnDat Hx, Tx:

The encoder-internal subdivision of the
incremental signal is indicated by the order
designation:
Ha, Ta: 2-fold interpolation
Hb, Tb: No interpolation
Hc: Scanning signals x 2

EnDat serial bidirectional

Position values, parameters and additional data

signals CLOCK, CLOCK

signals DATA and DATA

of the encoders)

Depends on encoder
» 1 V

incremental signals

PP

incremental signals

PP

, TTL, HTL (see the respective Incremental signals)

PP

, DATA and DATA

Voltage supply

The typical voltage supply of the encoders
depends on the interface:

EnDat 01
EnDat 21

EnDat 02
EnDat 22

EnDat Hx 10 V to 30 V

EnDat Tx 4.75 V to 30 V

Exceptions are documented in the
Specifications.

Command set

The command set describes the available
mode commands, which define the
exchange of information between the
encoder and the subsequent electronics.
The EnDat 2.2 command set includes all
EnDat 2.1 mode commands. In addition,
EnDat 2.2 permits further mode commands
for the selection of additional data, and
makes memory accesses possible even in
a closed control loop. When a mode
command from the EnDat 2.2 command
set is transmitted to an encoder that only
supports the EnDat 2.1 command set, an
error message is generated. The supported
command set is stored in the encoder’s
memory area:

EnDat 01, 21, Hx, Tx Command set •

EnDat 02, 22 Command set •

5 V ± 0.25 V

3.6 V to 5.25 V or 14 V

2.1 or 2.2

2.2

12

For more information, refer to the EnDat
Technical Information sheet or visit
www.endat.de.

Clock frequency

The clock frequency is variable—depending
on the cable length (max. 150 m)—between
100 kHz and 2 MHz. With propagation-delay
compensation in the subsequent electronics,
either clock frequencies up to 16 MHz are
possible or cable lengths up to 100 m. For
EnDat encoders with order designation
EnDat x2 the maximum clock frequency is
stored in the encoder memory. For all other
encoders the maximum clock frequency
is 2 MHz. Propagation-delay compensation
is provided only for order designations
EnDat 21 and EnDat 22; for EnDat 02, see
the notes below.



Cable length [m]

EnDat 2.1; EnDat 2.2 without propagation-delay compensation

Clock frequency [kHz]

EnDat 2.2 with propagation-delay compensation



EnDat 01
EnDat Tx
EnDat Hx

≤ 2 MHz (see “without
propagation-delay
compensation” in the
diagram)

EnDat 21 ≤ 2 MHz

EnDat 02 ≤ 2 MHz or

≤ 8 MHz or 16 MHz
(see notes)

EnDat 22 ≤ 8 MHz or 16 MHz

Transmission frequencies up to 16 MHz in
combination with large cable lengths place
high technological demands on the cable.
Due to the data transfer technology, the
adapter cable connected directly to the
encoder must not be longer than 20 m.
Greater cable lengths can be realized with
an adapter cable no longer than 6 m and
an extension cable. As a rule, the entire
transmission path must be designed for
the respective clock frequency.

Notes on EnDat 02

EnDat 02 encoders typically have a
pluggable cable assembly (e.g. LC 415). In
choosing the version of the adapter cable,
the customer also decides whether the
encoder will be operated with incremental
signals or without them. This also affects
the maximum possible clock frequency.
For adapter cables with incremental signals
the clock frequency is limited to at most
2 MHz; see EnDat 01. For adapter cables
without incremental signals the clock
frequency can be up to 16 MHz. The exact
values are stored in the encoder’s memory.

Under certain conditions, cable lengths up to 300 m are possible after consultation with HEIDENHAIN

Position values can be transmitted with or
without additional data. The EnDat 2.2
interface can interrogate the position and
additional data, and also perform functions
(e.g. read/write parameters, reset error
messages, etc.), all within the closed loop.

Functional safety – Basic principle

EnDat 2.2 strictly supports the use of
encoders in safety-related applications. The
DIN EN ISO 13 849-1 (previously EN 954-1),
EN 61 508 and EN 61 800-5-2 standards
serve as the foundation for this. These
standards describe the assessment of
safety-oriented systems, for example based
on the failure probabilities of integrated
components and subsystems. The modular
approach helps manufacturers of safety­related systems to implement their
complete systems, because they can
begin with prequalified subsystems.

13

Memory areas

The encoder provides several memory
areas for parameters. These can be read
from by the subsequent electronics, and
some can be written to by the encoder
manufacturer, the OEM, or even the end
user. The parameter data are stored in a
permanent memory, which permits
approximately 100 000 write-accesses.
Certain memory areas can be write­protected (this can only be reset by the
encoder manufacturer).

Parameters are saved in various memory
areas, e.g.:

Encoder-specific information•
Information of the OEM (e.g. “electronic •
ID label” of the motor)
Operating parameters (datum shift, •
instruction, etc.)
Operating status (alarm or warning •
messages)

Monitoring and diagnostic functions
of the EnDat interface make a detailed
inspection of the encoder possible.

Error messages•
Warnings•
Online diagnostics based on valuation •
numbers (EnDat 2.2)
Mounting interface•

Absolute encoder Subsequent electronics

Operating

parameters

Operating

status

Parameters
of the OEM

Parameters of the encoder
manufacturer for

EnDat 2.1 EnDat 2.2

Additional data

One or two items of additional data can be
appended to the position value, depending
on the type of transmission (selection via
MRS code). The additional data supported
by the respective encoder is saved in the
encoder parameters.
The additional data contains:

Status information, addresses and data

WRN—warnings•

RM—reference marks•

Busy—parameter request•

Incremental

signals *)

Absolute

position value

Additional data 1

Diagnosis•
Position value 2•
Memory parameters•
MRS-code acknowledgment•
Test values•
Temperature•
Additional sensors•

Additional data 2

Commutation•
Acceleration•
Limit position signals•
Asynchronous position value•
Operating status error sources •
Timestamp•

» 1 V
» 1 V

EnDat interface

*) Depends on encoder,

example representation
for 1 V

A*)

PP

B*)

PP

PP

Input circuitry of
subsequent electronics

Dimensioning

IC

= RS 485 differential line receiver and

1

driver

Z

= 120 

0

14

Data transfer

Incremental signals

depending on the
encoder (e.g. 1 VPP)

Encoder Subsequent electronics

1 V

PP

Company-specific serial interfaces

Siemens

HEIDENHAIN encoders with the code
letter S after the model designation are
suited for connection to Siemens controls
with

DRIVE-CLiQ interface •

Order designation DQ 01

Fanuc

HEIDENHAIN encoders with the code
letter F after the model designation are
suited for connection to Fanuc controls
with

Fanuc Serial Interface – •  interface
Order designation Fanuc 02
normal and high speed, two-pair
transmission

Fanuc Serial Interface – • i interface

Order designation Fanuc 05
high speed, one-pair transmission
includes Þ interface (normal and high
speed, two-pair transmission)

Mitsubishi

HEIDENHAIN encoders with the code
letter M after the model designation are
suited for connection to Mitsubishi controls
with

Mitsubishi high speed interface

Order designation Mitsu 01 •
two-pair transmission
Order designation Mit 02-4 •
Generation 1, two-pair transmission
Order designation Mit 02-2 •
Generation 1, one-pair transmission
Order designation Mit 03-4 •
Generation 2, two-pair transmission

Yaskawa

HEIDENHAIN encoders with the code
letter Y after the model designation are
suited for connection to Yaskawa controls
with

Yaskawa Serial Interface•
Order designation YASK 01

DRIVE-CLiQ is a registered trademark of Siemens Aktiengesellschaft

15

16

Position values

PROFIBUS-DP serial interface

PROFIBUS-DP

PROFIBUS is a nonproprietary, open
fi eldbus in accordance with the international
EN 50 170 standard. The connecting of
sensors through fi eldbus systems minimizes
the cost of cabling and reduces the
number of lines between encoder and
subsequent electronics.

Topology and bus assignment

The PROFIBUS-DP is designed as a linear
structure. It permits transfer rates up to
12 Mbit/s. Both mono-master and multi­master systems are possible. Each master
can serve only its own slaves (polling). The
slaves are polled cyclically by the master.
Slaves are, for example, sensors such as
absolute rotary encoders, linear encoders,
or also control devices such as motor
frequency inverters.

Physical characteristics

The electrical features of the PROFIBUS-DP
comply with the RS-485 standard. The bus
connection is a shielded, twisted two-wire
cable with active bus terminations at each
end.

Initial confi guration

The characteristics of HEIDENHAIN
encoders required for system confi guration
are included as “electronic data sheets”—
also called device identifi cation records
(GSD)—in the gateway. These device
identifi cation records (GSD) completely and
clearly describe the characteristics of a unit
in an exactly defi ned format. This makes it
possible to integrate the encoders into the
bus system in a simple and application­friendly way.

Confi guration

PROFIBUS-DP devices can be confi gured
and the parameters assigned to fi t the
requirements of the user. Once these
settings are made in the confi guration tool
with the aid of the GSD fi le, they are saved
in the master. It then confi gures the
PROFIBUS devices every time the network
starts up. This simplifi es exchanging of the
devices: There is no need to edit or reenter
the confi guration data.

Two different GSD fi les are available for
selection:

GSD fi le for the DP-V0 profi le•
GSD fi le for the DP-V1 and DP-V2 profi le•

E.g.: LC 115 absolute linear encoder E.g.: ROQ 437 multiturn rotary encoder

E.g.: ROC 425
singleturn rotary
encoder

E.g.: Frequency
inverter with
motor

E.g.: RCN 8000 absolute angle encoder

Bus structure of PROFIBUS-DP

* With EnDat interface

PROFIBUS-DP profile

The PNO (PROFIBUS user organization) has
defined standard, nonproprietary profiles
for the connection of absolute encoders to
the PROFIBUS-DP. This ensures high
flexibility and simple configuration on all
systems that use these standardized
profiles.

DP-V0 profile

This profile can be obtained from the
Profibus user organization (PNO) in Karlsruhe,
Germany, under the order number 3.062.
There are two classes defined in the
profile, where class 1 provides minimum
support, and class 2 allows additional, in
part optional functions.

Functions of the DP-V0 class

Feature Class Rotational encoders Linear encoders

Data word width

Pos. value, pure binary code

Data word length

16 bits

1. 2

3 3 3

1. 2 16 32 32





Scaling function

Measuring steps/rev
Total resolution

Reversal of counting direction

Preset (output data 16 or 32 bits) 2

2
2

1. 2

3
3

3
3

3 3

3 3 3

31 bits

1)



31 bits

1)

–
–

–

DP-V1 and DP-V2 profile

This profile can be obtained from the
Profibus user organization (PNO) in Karlsruhe,
Germany, under the order number 3.162.
This profile also distinguishes between two
device classes:

Class 3 with the basic functions and•
Class 4 with the full range of scaling and •

preset functions.
Optional functions are defined in addition
to the mandatory functions of classes 3
and 4.

Supported functions

Particularly important in decentralized
fieldbus systems are the diagnostic
functions (e.g. warnings and alarms), and
the electronic ID label with information
on the type of encoder, resolution, and
measuring range. But programming
functions such as counting direction
reversal, preset/zero shift and changing
the resolution (scaling) are also possible.
The operating time and the velocity of
the encoder can also be recorded.

Encoders with PROFIBUS-DP
Absolute encoders with integrated
PROFIBUS-DP interface are connected

directly to the PROFIBUS. LEDs on the
rear of the encoder display the voltage
supply and bus status operating states.

The coding switches for the addressing
(0 to 99) and for selecting the terminating
resistor are easily accessible under the bus
housing. The terminating resistor is to be
activated if the rotary encoder is the last
participant on the PROFIBUS-DP and the
external terminating resistor is not used.

Diagnostic functions

Warnings and alarms

Operating time recording

Velocity

Profile version

Serial number

1)

With data word width > 31 bits, only the upper 31 bits are transferred

2)

Requires a 32-bit configuration of the output data and 32+16-bit configuration of the

2 3 3 3

2

2

2

2

3 3 3

3

2)

3

2)

3 3 3

3 3 3

–

input data

Functions of the DP-V1, DP-V2 classes

Feature Class Rotational encoders Linear encoders



Data word width

Telegram

Scaling function

Reversal of counting direction

Preset/Datum shift

Acyclic parameters

Channel-dependent diagnosis
via alarm channel

Operating time recording

Velocity

Profile version

Serial number

1)

Not supported by DP V2

3.4 81-84 84 81-84

4

4

4

3.4

3.4

3.4

3.4

3.4

3.4

32 bits > 32 bits

3 3

3 3

3 3 3

3 3 3

3 3 3

3

3

1)

1)

3

3

1)

1)

3 3 3

3 3 3

–

–

3

–

1)

17

18

Position values

PROFINET IO serial interface

PROFINET IO

PROFINET IO is the open Industrial Ethernet
Standard for industrial communication. It
builds on the fi eld-proven function model
of PROFIBUS-DP, but uses fast Ethernet
technology as physical transmission
medium and is therefore tailored for fast
transmission of I/O data. It offers the
possibility of transmission for required
data, parameters and IT functions at the
same time.

PROFINET makes it possible to connect
local fi eld devices to a controller and
describes the data exchange between the
controller and the fi eld devices, as well as
the parameterization and diagnosis. The
PROFINET technique is arranged in modules.
Cascading functions can be selected by
the user himself. These functions differ
essentially in the type of data exchange in
order to satisfy high requirements on
velocity.

Topology and bus assignment

A PROFINET-IO system consists of:

IO controller • (control/PLC, controls the
automation task)
IO device• (local fi eld device, e.g. rotary
encoder)
IO supervisor• (development or
diagnostics tool, e.g. PC or programming
device)

PROFINET IO functions according to the
provider-consumer model, which supports
communication between Ethernet peers.
An advantage is that the provider transmits
its data without any prompting by the
communication partner.

Physical characteristics

HEIDENHAIN encoders are connected
according to 100BASE-TX (IEEE 802.3
Clause 25) through one shielded, twisted
wire pair per direction to PROFINET. The
transmission rate is 100 Mbit/s (Fast
Ethernet).

PROFINET profi le

HEIDENHAIN encoders fulfi ll the
defi nitions as per Profi le 3.162, Version 4.1.
The device profi le describes the encoder
functions. Class 4 (full scaling and preset)
functions are supported. More detailed
information on PROFINET can be ordered
from the PROFIBUS user organization
PNO.

Supported functions Class Rotary encoder

Singleturn Multiturn

Position value

3.4

3 3

Isochronous mode

3.4

3 3

Functionality of class 4
Scaling function
Measuring units per revolution
Total measuring range
Cyclic operation (binary scaling)
Noncyclic operation
Preset
Code sequence
Preset control G1_XIST1

4
4
4
4
4
4
4
4
4

3
3
3
3
3
3
3
3
3

3
3
3
3
3
3
3
3
3

Compatibility mode
(encoder profi le V.3.1)

3.4

3 3

Operating time

3.4

3 3

Velocity

3.4

3 3

Profi le version

3.4

3 3

Permanent storage of the offset value

4

3 3

Identifi cation & maintenance (I & M)

3 3

External fi rmware upgrade

3 3

Further fi eld

devices

Initial configuration

To put an encoder with a PROFINET interface
into operation, a device identification record
(GSD) must be downloaded and imported
into the configuration software. The GSD
contains the execution parameters
required for a PROFINET-IO device.

Configuration

Profiles are predefined configurations of
available functions and performance
characteristics of PROFINET for use in
certain devices or applications such as
rotary encoders. They are defined and
published by the workgroups of PROFIBUS
& PROFINET International (PI).

Profiles are important for openness,
interoperability and exchangeability so that
the end user can be sure that similar devices
from different manufacturers function in a
standardized manner.

Encoders with PROFINET

Absolute encoders with integrated
PROFIBUS interface are connected directly
to the network. Addresses are distributed
automatically over a protocol integrated in
PROFINET. A PROFINET-IO field device is
addressed within a network through its
physical device MAC address.

On their rear faces, the encoders feature
two double-color LEDs for diagnostics of
the bus and the device.

A terminating resistor for the last participant
is not necessary.

19

Position values

SSI serial interface

The absolute position value beginning
with the Most Significant Bit (MSB first) is
transferred on the DATA lines in synchronism
with a CLOCK signal transmitted by the
control. The SSI standard data word length
for singleturn absolute encoders is 13 bits,
and for multiturn absolute encoders 25 bits.
In addition to the absolute position values,
incremental signals can be transmitted.
See Incremental signals for a description
of the signals.

For the ECN/EQN 4xx and ROC/ROQ 4xx
rotary encoders, the following functions
can be activated via the programming
inputs of the interfaces by applying the
supply voltage U

:

P

Direction of rotation•
Continuous application of a HIGH level
to pin 2 reverses the direction of rotation
for ascending position values.

Zeroing • (datum setting)
Applying a positive edge (t

> 1 ms) to

min

pin 5 sets the current position to zero.

Note: The programming inputs must
always be terminated with a resistor (see
“Input circuitry of the subsequent
electronics”).

Interface

Ordering
designation

Data transfer

SSI serial

Singleturn: SSI 39r1
Multiturn: SSI 41r1

Absolute position values

Data input Differential line receiver according to EIA standard RS 485 for the

CLOCK and CLOCK

signals

Data output Differential line driver according to EIA standard RS 485 for the

signals DATA and DATA

Code Gray

Ascending position
values

Incremental signals

Programming
inputs

Inactive
Active
Switching time

Connecting cable

Cable length
Propagation time

With clockwise rotation viewed from flange side
(can be switched via interface)

Depends on encoder
» 1 V

, TTL, HTL (see the respective Incremental signals)

PP

Direction of rotation and zero reset (for ECN/EQN 4xx,
ROC/ROQ 4xx)
LOW < 0.25 x U
HIGH > 0.6 x U
t

> 1 ms

min

HEIDENHAIN cable with shielding
e. g. PUR [(4 x 0.14 mm

P

P

2

) + 4(2 x 0.14 mm2) + (4 x 0.5 mm2)]
Max. 100 m at 90 pF/m distributed capacitance
6 ns/m

Control cycle for complete data format

When not transmitting, the clock and data
lines are on high level. The internally and
cyclically formed position value is stored on
the first falling edge of the clock. The
stored data is then clocked out on the first
rising edge.
After transmission of a complete data
word, the data line remains low for a period
of time (t

) until the encoder is ready for

2

interrogation of a new value. Encoders with
the SSI 39r1 or SSI 41r1 interface additionally
require a subsequent clock pause t

R

. If
another data-output request (CLOCK) is
received within this time (t

or t2+tR), the

2

same data will be output once again.
If the data output is interrupted (CLOCK =
High for t  t

), a new position value will

2

be stored on the next falling edge of the
clock. With the next rising clock edge the
subsequent electronics adopts the data.

Data transfer

T = 1 to 10 µs
t

See Specifications

cal

t1  0.4 µs

(without cable)
t2 = 17 to 20 µs
tR  5 µs
n = Data word length

13 bits for

ECN/ROC

25 bits for

EQN/ROQ

CLOCK and DATA not
shown

Permissible clock
frequency with
respect to cable
lengths



Cable length [m]

20

Clock frequency [kHz]



Incremental signals

Some encoders also provide incremental
signals. These are usually used to increase
the resolution of the position value, or to
serve a second subsequent electronics
unit. In general these are 1 V

incremental

PP

signals. Exceptions can be seen from the
order designation:

SSI41 Hx with HTL incremental signals•
SSI41 Tx with TTL incremental signals•

For these the encoder-internal subdivision
of the incremental signal is indicated by the
order designation:
Ha, Ta: 2-fold interpolation
Hb, Tb: No interpolation
Hc: Scanning signals x 2

Input circuitry of
subsequent electronics

Dimensioning

IC

= Differential line receiver and driver

1

E.g. SN 65 LBC 176

LT 485

Z

= 120 

0

C

= 330 pF (serves to improve noise

3

immunity)

Data transfer

Incremental signals

e.g. 1 V

PP

Programming via
connector

for ECN/EQN 4xx

ROC/ROQ 4xx

Encoder Subsequent electronics

Zero reset

Direction of
rotation

21

Other signals

Commutation signals for block commutation

The block commutation signals U, V and
W are derived from three separate tracks.
They are transmitted as square-wave
signals in TTL levels.

Commutation signals

(Values in mechanical degrees)

Interface

Commutation
signals

Width

Signal levels

Incremental signals

Connecting cable

Cable length
Propagation time

Square-wave signals « T T L

Three square-wave signals U, V, W and their inverse signals U

2x180° mech., 3x120° mech. or 4x90° mech. (other versions
upon request)
See Incremental signals  TTL

See Incremental signals  TTL

Shielded HEIDENHAIN cable
E. g. PUR [6(2 x 0.14 mm
Max. 100 m
6 ns/m

2

) + (4 x 0.5 mm2)]

, V, W

22

Commutation signals for sinusoidal commutation

The commutation signals C and D are
taken from the Z1 track and form one sine
or cosine period per revolution. They have a
signal amplitude of typically 1 V

at 1 k.

PP

The input circuitry of the subsequent
electronics is the same as for the » 1 V

PP

interface. The required terminating resistor
of Z

, however, is 1 k instead of 120 .

0

Electronic commutation with Z1 track

One revolution

Z1 track

Interface

Commutation
signals

Incremental signals

Connecting cable

Cable length
Propagation time

Absolute position value
“coarse” commutation

Sinusoidal voltage signals » 1 V

PP

Two nearly sinusoidal signals C and D

See Incremental signals » 1 V

See Incremental signals » 1 V

Shielded HEIDENHAIN cable
E. g. PUR [4(2 x 0.14 mm

PP

PP

2

) + (4 x 0.14 mm2) + (4 x 0.5 mm2)]
Max. 150 m
6 ns/m

Analog switch

A/D converter

EEPROM and
counter

Position value
output

Incremental signals

Reference mark signal

Incremental signals

Absolute position value

exact commutation

Multi­plexer

Subdivision electronics

23

Other signals

Limit switches

Encoders with limit switches, such as
LIDA 400, are equipped with two limit
switches that make limit-position detection
and the formation of homing tracks possible.
The limit switches are activated by differing
adhesive magnets to distinguish between
the left or right limit. The magnets can be
configured in series to form homing tracks.

The signals from the limit switches are
sent over separate lines and are therefore
directly available.

Output signals

Signal amplitude

Permissible load

Switching
times

Rise time
Fall time

(10 % to 90 %)

Permissible cable length

LIDA 47x LIDA 48x

One TTL square-wave pulse from each limit switch L1
and L2; “active high”

TTL from push-pull stage
(e.g. 74 HCT 1G 08)

TTL from common­collector circuit with 10 k
load resistance against 5 V

 4 mA

I

aL

I

 4 mA

aH

 50 ns

t

+

t

 50 ns

–

Measured with 3 m cable
and recommended input
circuitry

 10 µs

t

+

t

 3 µs

–

Measured with 3 m cable
and recommended input
circuitry

Max. 20 m

Input circuitry of subsequent electronics

Dimensioning

IC

e.g. 74AC14

3

R

= 1.5 k

3

24

L1/L2 = Output signals of the

limit switches 1 and 2
Tolerance of the switching point: ± 2 mm

Limit switches
LIDA 400

s = Beginning of measuring length (ML)
1 = Magnet N for limit switch 1
2 = Magnet S for limit switch 2

Position detection

In addition to the incremental graduation,
encoders with position detection, such as
the LIF 4x1, feature a homing track and
limit switches for limit position detection.

The signals are transmitted in TTL levels
over the separate lines H and L and are
therefore directly available.

Output signals

Signal amplitude

Permissible load

Permissible cable length

LIF 4x1

One TTL pulse each for homing track H and limit switch L

TTL

 3.8 V at –IH = 8 mA

U

H

U

 0.45 V at IL = 8 mA

L

R  680 

I

 8 mA

I

I

L

Max. 10 m

Input circuitry of subsequent electronics

Dimensioning

IC

e.g. 74AC14

3

R

= 4.7 k

3

r = Reference mark position
s = Beginning of measuring length (ML)

LI = Limit mark, adjustable

h = Switch for homing track
Ho = Trigger point for homing

Limit switches
Homing track
LIF 400

25

26

Further information

Interface electronics

Interface electronics from HEIDENHAIN
adapt the encoder signals to the interface
of the subsequent electronics. They are
used when the subsequent electronics
cannot directly process the output signals
from HEIDENHAIN encoders, or if
additional interpolation of the signals is
necessary.

Box design

Plug design

Version for integration

Benchtop design

Top-hat rail design

Input signals of the interface electronics

Interface electronics from HEIDENHAIN
can be connected to encoders with
sinusoidal signals of 1 V

PP

(voltage signals)

or 11 µA

PP

(current signals). Encoders with
the serial interfaces EnDat or SSI can also
be connected to various interface
electronics.

Output signals of the interface
electronics

Interface electronics with the following
interfaces to the subsequent electronics
are available:

TTL square-wave pulse trains•
EnDat 2.2•
DRIVE-CLiQ•
Fanuc Serial Interface•
Mitsubishi high speed interface•
Yaskawa serial interface•
PCI bus•
Ethernet•
Profi bus•

Interpolation of the sinusoidal input
signals

In addition to being converted, the
sinusoidal encoder signals are also
interpolated in the interface electronics.
This results in fi ner measuring steps,
leading to an increased positioning
accuracy and higher control quality.

Formation of a position value

Some interface electronics have an
integrated counting function. Starting from
the last reference point set, an absolute
position value is formed when the
reference mark is traversed, and is output
to the subsequent electronics.

Measured value memory

Interface electronics with integrated
measured value memory can buffer
measured values:

IK 220: Total of 8 192 measured values
EIB 74x: Per input typically 250 000

measured values

Outputs Inputs Design – degree of

protection

Interface Qty. Interface Qty.

Interpolation1) or
subdivision

Model

 TTL 1 » 1 V

» 11 µA

 TTL/
» 1 V

PP

2 » 1 V

Adjustable

PP

PP

PP

1 Box design – IP 65 5/10-fold

20/25/50/100-fold

Without interpolation

25/50/100/200/400-fold

Plug design – IP 40 5/10/20/25/50/100-fold

Version for integration –

5/10-fold

IP 00

20/25/50/100-fold

1 Box design – IP 65 5/10-fold

20/25/50/100-fold

Without/5-fold

25/50/100/200/400-fold

Version for integration –

5-fold

IP 00

1 Box design – IP 65 2-fold

5/10-fold

IBV 101

IBV 102

IBV 600

IBV 660 B

APE 371

IDP 181

IDP 182

EXE 101

EXE 102

EXE 602 E

EXE 660 B

IDP 101

IBV 6072

IBV 6172

EnDat 2.2 1 » 1 V

PP

1 Box design – IP 65  16 384-fold subdivision

Plug design – IP 40  16 384-fold subdivision

2 Box design – IP 65  16 384-fold subdivision

DRIVE-CLiQ 1 EnDat 2.2 1 Box design – IP 65 –

Fanuc Serial

1 » 1 V

PP

1 Box design – IP 65  16 384-fold subdivision

Interface

Plug design – IP 40  16 384-fold subdivision

2 Box design – IP 65  16 384-fold subdivision

Mitsubishi

1 » 1 V

PP

1 Box design – IP 65  16 384-fold subdivision
high speed
interface

Plug design – IP 40  16 384-fold subdivision

2 Box design – IP 65  16 384-fold subdivision

Yaskawa serial

1 EnDat 2.2

2)

1 Plug design – IP 40 –
interface

PCI bus 1 » 1 V

EnDat 2.1 / 01; SSI

» 11 µA

PP;

2 Version for integration –

PP

IP 00

Adjustable

5/10-fold and 20/25/50/
100-fold

 4 096-fold subdivision

IBV 6272

EIB 192

EIB 392

EIB 1512

EIB 2391 S

EIB 192 F

EIB 392 F

EIB 1592 F

EIB 192 M

EIB 392 M

EIB 1592 M

EIB 3391 Y

IK 220

Ethernet 1 » 1 V

PP

4 Benchtop design – IP 40  4 096-fold subdivision

EnDat 2.1; EnDat 2.2
» 11 µA

upon request

PP

Adjustable by software

PROFIBUS-DP 1 EnDat 1 Top-hat rail design –

1)

Switchable

2)

Only LIC 4100, measuring step 5 nm

EIB 741
EIB 742

PROFIBUS
Gateway

27

Further information

HEIDENHAIN testing equipment

Overview HEIDENHAIN measuring equipment

Interface Output signals PWM 20 PWM 9 PWT 1x

1)

EnDat

Fanuc

Mitsubishi

DRIVE-CLiQ

Yaskawa

SSI

1 V

PP

11 µA

PP

TTL

HTL

Commutation

1)

The PWT is an aid for setting and adjustment

Position value
Incremental signals

Position value Ye s No No

Position value Ye s No No

Position value Ye s No No

Position value Ye s No No

Position value
Incremental signals

Incremental signals Ye s Ye s PWT 18

Incremental signals Ye s Ye s PWT 10

Incremental signals Ye s Ye s PWT 17

Incremental signals No Ye s No

Block commutation
Sinusoidal commutation

Ye s
Ye s

Ye s
Ye s

Being planned
Ye s

No
Ye s

No
Ye s

Ye s
Ye s

No
No

No
No

No
No

28

The PWT is a simple adjusting aid for
HEIDENHAIN incremental encoders. In a
small LCD window the signals are shown
as bar charts with reference to their
tolerance limits.

Encoder input

Functions

PWT 10 PWT 17 PWT 18

» 11 µA

Measurement of signal amplitude
Wave-form tolerance
Amplitude and position of the reference mark signal

PP

 TTL » 1 V

PP

The PWM 9 is a universal measuring
device for checking and adjusting
HEIDENHAIN incremental encoders.
Expansion modules are available for
checking the various types of encoder
signals. The values can be
read on an LCD monitor.
Soft keys provide ease
of operation.

Power supply

Dimensions

Inputs

Functions

Via power supply unit (included)

114 mm x 64 mm x 29 mm

PWM 9

Expansion modules (interface boards) for 11 µA
TTL; HTL; EnDat*/SSI*/commutation signals
*No display of position values or parameters

Measures• signal amplitudes, current consumption,
operating voltage, scanning frequency
Graphically displays• incremental signals (amplitudes,
phase angle and on-off ratio) and the reference-mark
signal (width and position)
Displays symbols• for the reference mark,
fault detection signal, counting direction
Universal counter,• interpolation selectable from single
to 1 024-fold
Adjustment support• for exposed linear encoders

; 1 VPP;

PP

Outputs

Power supply

Dimensions

Inputs are connected through to the subsequent •
electronics
BNC sockets for connection to an oscilloscope•

10 V to 30 V DC, max. 15 W

150 mm × 205 mm × 96 mm

29

PWM 20

Together with the ATS adjusting and
testing software, the PWM 20 phase angle
measuring unit serves for diagnosis and
adjustment of HEIDENHAIN encoders.

Encoder input

PWM 20

EnDat 2.1 or EnDat 2.2 (absolute value with/without •
incremental signals)
DRIVE-CLiQ•
Fanuc Serial Interface•
Mitsubishi high speed interface•
Yaskawa serial interface•
SSI•
1 V•

/TTL/11 µA

PP

PP

Interface

Power supply

Dimensions

USB 2.0

100 V to 240 V AC or 24 V DC

258 mm x 154 mm x 55 mm

AT S

Languages

Functions

Choice between English and German

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 and
recommendations

PC (dual-core processor, > 2 GHz)
RAM > 2 GB
Windows operating systems XP, Vista, 7 (32-bit/64-bit), 8
200 MB free space on hard disk

DRIVE-CLiQ is a registered trademark of Siemens Aktiengesellschaft

30

31

SA 27

Encoder

LIP 372

Function

Measuring points for the connection of an oscilloscope

Power supply

Via encoder

Dimensions

Approx. 30 mm x 30 mm

The APS 27 encoder diagnostic kit is
necessary for assessing the mounting
tolerances of the LIDA 27x with TTL
interface. In order to examine it, the
LIDA 27x is either connected to the
subsequent electronics via the PS 27 test
connector, or is operated directly on the
PG 27 test unit.

Green LEDs for the incremental signals
and reference pulse, respectively, indicate
correct mounting. If they shine red, then
the mounting must be checked again.

APS 27

Encoder

LIDA 277, LIDA 279

Function

Good/bad detection of the TTL signals (incremental signals
and reference pulse)

Power supply

Via subsequent electronics or power supply unit (included)

Items supplied

PS 27 test connector
PG 27 test unit
Power supply unit for PG 27 (110 V to 240 V, including
adapter plug)
Shading fi lms

The SA 27 adapter connector serves for
tapping the sinusoidal scanning signals of
the LIP 372 off the APE. Exposed pins
permit connection to an oscilloscope
through standard measuring cables.

U

Pmax

U

Pmin

0

General electrical information

Voltage supply

Connect HEIDENHAIN encoders only to
subsequent electronics whose supply
voltage is generated from PELV systems
(DIN EN 50 178).

If HEIDENHAIN encoders are to be operated
in accordance with DIN EN 61 010-1, power
must be supplied from a secondary circuit
with current or power limitation as per
DIN EN 61 010-1:2011-07, section 9.4 or
DIN EN 60 950-1:2011-01, section 2.5 or a
Class 2 secondary circuit as specified in
UL1310.

The encoders require a stabilized DC

voltage U

as voltage supply. The required

P

current consumption and power
consumption are listed in the respective
Specifications. The permissible ripple
content of the DC voltage is:

High frequency interference •
U

< 250 mV with dU/dt > 5 V/µs

PP

Low frequency fundamental ripple •
U

< 100 mV

PP

However, the limits of the supply voltage
must not be violated by the ripple content.

The values apply as measured at the
encoder, i.e., without cable influences. The
voltage can be monitored and adjusted
with the encoder’s sensor lines, if available.
If an adjustable power supply is not
available, the voltage drop can be reduced
by switching the sensor lines parallel to the
corresponding supply wires.

For encoders without expanded supply
voltage range (typical supply voltage 5 V)
the voltage drop ∆U in the supply wires is
calculated as follows:

1.05 · L

∆U = 2 · · I

56 · A

C

P

M

· 10

–3

Where:
∆U Line drop in V
L

Cable length in m

C

A

Cross section of supply wires in

P

I

Current consumption in mA

M

mm

2

(see cable)

2 Outgoing and incoming lines

1.05 Length factor due to twisted wires
56 Electrical conductivity of copper

If the value for the voltage drop is known,
the parameters of voltage at the encoder,
current consumption, as well as power
consumption of the encoder and the power
provided by the subsequent electronics
can be calculated for the encoder and
subsequent electronics.

Switch-on/off behavior of the encoders

After the switch-on time t
signals are available. During the time t

, valid output

SOT

SOT

, the
output signals reach the maximum voltage
values given in the table. The switch-on
time t

depends on the interface.

SOT

Interface Switch-on

time t

1 V

PP

11 µA

PP

1.3 s 5.5 V

SOT

Maximum
voltage

TTL

HTL U

Pmax

EnDat 5.5 V

PROFIBUS-DP 2 s 5.5 V

PROFINET 10 s U

Pmax

If the power supply is switched off, or
when the supply voltage falls below U

Pmin

the output signals are also invalid.

As before, the interface-specific switch-on/
off characteristics must be considered. If
interface electronics are inserted between
the encoder and the subsequent electronics,
the switch-on/off characteristics of the
interface electronics must also be
considered.

During restart, the voltage must remain
below 0.2 V for the time t

before power

SOT

on. Other proprietary interfaces supported
by HEIDENHAIN are not considered.

,

The voltage U

actually applied to the

P

encoder is to be considered when

calculating the encoder’s current and
power consumption. This voltage

consists of the supply voltage U
by the subsequent electronics minus the
voltage drop ∆U in the supply wires.

For encoders with an expanded supply
voltage range, the calculation of the
voltage drop ∆U in the supply wires must
consider the nonlinear current consumption
(see next page).

32

provided

E

Transient response of supply voltage and switch-on/switch-off behavior

U

PP

Output signals invalid

Valid

Invalid

Encoders with expanded supply
voltage range

For encoders with expanded supply voltage
range, the current consumption has a
nonlinear relationship with the supply
voltage. On the other hand, the power
consumption follows an approximately
linear curve (see Current and power
consumption diagram).
The maximum power consumption at
minimum and maximum supply voltage is
listed in the Specifications. The maximum
power consumption accounts for:

Recommended receiver circuit•
Cable length 1 m•
Aging and influences of temperature•
Proper use of the encoder with respect •
to clock frequency and cycle time

electronics (normalized)

Power output of subsequent

Supply voltage [V]

For comparative and inspection purposes,
the typical current or power consumption
is additionally listed in typical ambient and
operating conditions without load (only
voltage supply connected) for the typical
supply voltage or rated voltage. This
information only has informative character;
it is subject to change without notice. The
maximum power consumption is to be
used for dimensioning the voltage supply.

Encoder cable/adapter cable TotalConnecting cable

Influence of cable length on the power output of the subsequent electronics
(example representation)

requirement (normalized)

Power consumption and current

Supply voltage [V]

Power consumption of encoder
(normalized to value at 5 V)

Current consumption of encoder
(normalized to value at 5 V)

Current and power consumption with respect to the supply voltage
(example representation)

33

The actual power consumption of the
encoder and the required power output of
the subsequent electronics are calculated,
while taking the voltage drop on the supply
wires into consideration, in four steps:

Step 1: Resistance of the supply wires

The resistance values of the supply wires
(adapter cable and encoder cable) can be
calculated with the following formula:

1.05 · L

R

= 2 ·

L

56 · A

C

P

Step 2: Coefficients for calculation of
the voltage drop

P

– P

b = –R

c = P

Mmax

· – U

L

U

· RL + · RL · (UE – U

Mmin

Pmax

– U

P

U

Mmin

Pmin

Mmax

Pmax

– P
– U

E

Mmin

Pmin

Step 3: Voltage drop based on the
coefficients b and c

¹U = –0.5 · (b + b2 – 4 · c)

Step 4: Parameters for subsequent
electronics and the encoder

Voltage at encoder:
U

= UE – ¹U

P

Current requirement of encoder:

¹U

I

=

M

R

L

Power consumption of encoder:
P

= UP · IM

M

Power output of subsequent electronics:
P

= UE · I

E

Pmin

M

)

Where:
R

Cable resistance (for both directions)

L

in ohms

L

Cable length in m

C

A

Cross section of supply wires in

P

mm

2

(see cable)

2 Outgoing and incoming lines

1.05 Length factor due to twisted wires
56 Electrical conductivity of copper
P

,

Mmin

P

Maximum power consumption

Mmax

at minimum or maximum power
supply, respectively, in W

U

,

Pmin

U

Minimum or maximum supply

Pmax

voltage of the encoder in V

U

Supply voltage at the subsequent

E

electronics in V
∆U Voltage drop in the cable in V
U

Voltage at encoder in V

P

I

Current requirement of encoder

M

in mA
P

Power consumption of encoder

M

in W
P

Power output of subsequent

E

electronics in W

If an encoder operates at a subsequent
electronics unit via interface electronics,
the power consumption of the encoder
and of the interface electronics must be
added to calculate the resulting power
consumption.

Depending on the interface electronics, a
compensation factor for the efficiency of
the interface electronics’ switching power
supply (see Product Information) may have
to be considered.

Encoders with DRIVE-CLiQ interface are
designed for a rated voltage of 24 V DC.
The subsequent electronics manufacturer
specifies 20.4 V to 28.8 V DC as the
tolerance of the power supply. HEIDENHAIN
encoders with DRIVE-CLiQ interface permit
a greater voltage range (see Specifications).
Operation is briefly allowed up to 36.0 V DC.
Higher power consumption is to be expected
in the range of 28.8 V to 36.0 V DC.

Measuring device M to subsequent electronics E:

Interface electronics between measuring device M and subsequent electronics E:

34

Calculation example

This specific example is used to determine
the relevant parameters for operating an
encoder:

LC 415

Length 3 m Length 15 m

Encoder used

LC 415

Supply voltage is 3.6 V to 14 V DC (from •
Specifications)
Power consumption • at 14 V:  1.5 W;

at 3.6 V:  1.1 W (from Specifications)

Cables used

Adapter cable (L1)

Length L•

= 3 m

C1

Cable diameter 4.5 mm•
A•

= 0.14 mm2 (from Connecting

P

elements and cables)

Connecting cable (L2)

Length L•

= 15 m

C2

Cable diameter 4.5 mm•
A•

= 0.34 mm2 (from Connecting

P

elements and cables)

Constraints from subsequent electronics

Sensor lines• are used additionally for
the power supply, doubling the cross­section
Supply voltage• of the subsequent
electronics U

= 4.9 V

E

Step 1: Resistance of the supply lines

R = 2 x (1.05 x L
R

= 0.402 

L1

)/(56 x 2AP)

K

RL2 = 0.827 

RL = 1.229 

Step 2: Coefficients for calculation of the voltage drop

b = –R

Mmax

·

L

U

Pmax

– U

Mmin

Pmin

– U

E

– P

P

b = – 1.229 x (1.5 – 1.1)/(14 – 3.6) – 4.9

b = – 4.947

c = P

Mmin

· RL +

Mmax

U

Pmax

– U

Mmin

· RL · (UE – U

Pmin

Pmin

)

– P

P

c = 1.1 x 1.229 + (1.5 – 1.1)/(14 – 3.6) x 1.229 (4.9 – 3.6)]

c = 1.413

Step 3: Voltage drop based on the coefficients b and c

¹U = –0.5 · (b +

¹U = – 0.5 ×[–4.947+

b

2

– 4 · c)

((–4.947)

2

– 4 x 1.413)]

¹U = 0.304 V

Subsequent
electronics
UE = 4.9 V

Step 4: Parameters for subsequent electronics and the encoder

Voltage at encoder U
U
U

= UE – ¹U

P

= 4.9 V – 0.304 V

P

= 4.596 V

P

The voltage at the encoder is greater than 3.6 V, and is therefore within the

permissible range

Current requirement of the encoder I

= ¹U/ R

M

L

IM = 0.304 V/1.229 
IM = 248 mA

Power consumption of encoder P

= UP x I

M

M

PM = 4.596 V x 248 mA
P

Power output of subsequent electronics P
P
P

= 1138 mW

M

= UE x I

E

= 4.9 V x 248 mA

E

= 1214 mW

E

M

35

Electrically permissible speed/
traversing velocity

Cables

Rigid configuration

The maximum permissible shaft speed or
traversing velocity of an encoder is derived
from

the • mechanically permissible shaft
speed or traversing velocity and
the • electrically permissible shaft speed
or traversing velocity.

For incremental encoders with sinusoidal
output signals, the electrically permissible
shaft speed or traversing velocity is
limited by the –3dB/ –6dB cutoff frequency
or the permissible input frequency of the
subsequent electronics.

For incremental encoders with square-
wave signals, the electrically permissible
shaft speed or traversing velocity is
limited by

– the maximum permissible scanning/

output frequency f

of the encoder

max

and

– the minimum permissible edge separation

a for the subsequent electronics.

For angle or rotary encoders

n

max

=

f

max

z

· 60 · 10

3

For linear encoders

v

max

= f

max

· SP · 60 · 10

–3

Where:
n

Electrically permissible speed

v

max

max

–1

in min
Electrically permissible traversing
velocity in m/min

f

Max. scanning/output frequency of

max

encoder or input frequency of
subsequent electronics in kHz

z Signal periods of the angle or rotary

encoder per 360°

SP Signal period of the linear encoder

in µm

Versions

The cables of almost all HEIDENHAIN
encoders and adapter and connecting
cables are sheathed in polyurethane

(PUR). In addition, special elastomer
(EPG), special thermoplastic elastomer
(TPE) and polyvinyl chloride (PVC) are

used. These cables are identified in the
catalog as PUR, EPG, TPE or PVC.

Durability
PUR cables are resistant to oil and hydrolysis

in accordance with DIN EN 60 811-2-1 and
resistant to microbes in accordance with
DIN EN 50 363-10-2. They are free of PVC

Temperature range

and silicone and comply with UL safety
directives. The UL certification
AWM STYLE 20963 80 °C 30 V E63216 is
documented on the cable.

EPG cables are suitable for high tempera­tures and are resistant to oil in accordance
with DIN EN 60 811-2-1, hydrolysis in
accordance with DIN EN 50 363-10-2, and
are free of PVC, silicone and halogens. In
comparison with PUR cables, they are only

PUR –40 °C to 80 °C –10 °C to 80 °C

EPG –40 °C to 120 °C –

TPE –40 °C to 120 °C –

PVC –20 °C to 90 °C –10 °C to 90 °C

somewhat resistant to media, frequent
flexing and continuous torsion.

With limited hydrolytic and media exposure,
PUR cables can be used up to 100 °C.

PVC cables are oil-resistant. The UL certifi­cation is documented on the cable with

If needed, please ask for assistance from
HEIDENHAIN.

AWM E64638 STYLE20789 105C VW-1SC
NIKKO.

TPE wires with braided sleeving are
slightly oil-resistant.

Cable Material Bend radius R

Rigid configuration Frequent flexing

¬ 3.7 mm PUR

¬ 4.3 mm

 8 mm  40 mm

 10 mm  50 mm

¬ 4.5 mm

Frequent flexing

Frequent flexing

Rigid

configuration

Frequent flexing

36

¬ 4.5 mm EPG

¬ 5.1 mm PUR

¬ 5.5 mm PVC

¬ 6 mm PUR

¬ 6.8 mm

¬ 8 mm

¬ 10 mm

¬ 14 mm

TPE wires with

1)

1)

TPE

braided sleeving

1)

Metal armor

 18 mm –

 10 mm  50 mm

Upon request Upon request

 20 mm  75 mm

 40 mm  100 mm

 35 mm  75 mm

 100 mm  100 mm

 10 mm –

Lengths
The cable lengths listed in the

Specifications apply only for HEIDENHAIN
cables and the recommended input
circuitry of subsequent electronics.

Attainable cable lengths for absolute
linear and angle encoders

The interfaces for HEIDENHAIN linear
encoders permit long cables, practical for
real situations, sometimes even up to
150 m. However, long cable lengths also
result in a large voltage drop on the supply
lines. The magnitude of this depends on
the wire cross-section of the supply lines,
along with the usual criteria of the cable
length and the current required by the
encoder.

Particularly for long cables and encoders
with a high current consumption (mainly
absolute linear and angle encoders), the
voltage drop can lead to the encoder’s
supply voltage falling below the minimum
permissible level. Possible remedies:

For long lengths, select cables with large •
wire cross-sections
Keep thin cables, with small wire cross-•
sections, as short as possible
For subsequent electronics without •
controllable power supply unit, connect
the sensor lines parallel to the supply
lines. This doubles the available cross­section.
Select as high a supply voltage U•
possible, e.g. 5.25 V DC

P

as

Notes

Due to the data transfer technology, the
adapter cable connected directly to the
encoder (e.g. ¬  4.5 mm) must not be
longer than 20 m. Greater cable lengths
can be realized with an adapter cable no
longer than 6 m and an extension cable
(¬ 6 mm).

Along with the voltage drop over the line,
other criteria (e.g. clock frequency) can
limit the maximum permissible cable
length.

Transmission frequencies up to 16 MHz
in combination with large cable lengths
place high technological demands on the
cable. HEIDENHAIN cables are equal to
this task, not least because of a cable
construction conceived specifically for
this application. We recommend using
original HEIDENHAIN cables.

37

Encoder Supply voltage UP of the

subsequent electronics

RCN 8000

5 V DC 20 m/17 m

Adapter cable
¬ 4.5 mm

1)

Connecting
cable ¬ 6 mm

–

Total cable
length

20 m/17 m

5.25 V DC 20 m/20 m –

12 V DC 6 m/6 m 94 m/94 m

Encoder Supply voltage UP of the

subsequent electronics

ECN 1325

5 V DC 0.3 m max./64 m

EQN 1337

5.25 V DC 0.3 m max./75 m

Encoder Supply voltage UP of the

subsequent electronics

LIC 4000

5 V DC 3 m max./45 m

5.25 V DC 3 m max./55 m

6 m/6 m 68 m/26 m

1 m/1 m 80 m/39 m

6 m/6 m 83 m/34 m

1 m/1 m 95 m/46 m

Adapter cable
within motor

Connecting
cable ¬ 6 mm

Encoder cable Connecting

cable ¬ 6 mm

1 m max./53 m

74 m/32 m

81 m/40 m

20 m/20 m

89 m/40 m

96 m/47 m

max./max.

Total cable
length

max./64 m

max./75 m

Total cable
length

max./48 m

max./54 m

max./58 m

1 m max./63 m

max./64 m

Cursive: Sensor lines are not connected in parallel
max.: No limiting to the cable length due to the line voltage drop

1)

Due to the line voltage drop, the theoretically possible cable length cannot be used

DRIVE-CLiQ does permit a maximum cable
length of 100 m, but this value is reduced
by a number of influencing factors:

Number of joints with DRIVE-CLiQ •

The maximum permissible cable length is
calculated as follows:

n

MG

· 5 m +

4

· LAC +

3

ki · Li + nC · 5 m  100 m

Σ

i

couplings
Length factor of the MOTION-CONNECT •
signal line
Pluggable adapter cable at the •
HEIDENHAIN encoder
Length of the HEIDENHAIN adapter •
cable with compensation factor

k

: Length compensation factor1) of

i

signal line i

L

: Total length1) of signal line i

i

n

: Number of joints

C

n

: Influence of the encoder, e. g. by a

MG

pluggable adapter cable; n = 1

4/3: Length compensation factor for

HEIDENHAIN adapter cables

L

: Length of the HEIDENHAIN adapter

AC

cable

1)

See technical documentation of the

subsequent electronics manufacturer

38

 0.3 m

Electrical safety and
electromagnetic compatibility

Electrical safety

The encoder housings are isolated against
internal circuits. Rated surge voltage: 500 V
as per DIN EN 60664-1.

Electromagnetic compatibility (EMC)

When properly installed, and when
HEIDENHAIN cables are used, HEIDENHAIN
encoders fulfill the requirements for
electromagnetic compatibility according to
EMC directive 2004/108/EC with respect
to the generic standards for:

Immunity DIN EN 61000-6-2:•

Specifically the following basic standards:
– ESD DIN EN 61000-4-2
– Electromagnetic fields

DIN EN 61000-4-3
– Burst DIN EN 61000-4-4
– Surge DIN EN 61000-4-5
– Conducted

disturbances DIN EN 61000-4-6
– Power frequency

magnetic fields DIN EN 61000-4-8
– Voltage dips, short

interruptions DIN EN 61000-4-11

Emission DIN EN 61000-6-4:•

Specifically the following product (family)
standard:
– For information technology

equipment DIN EN 55022

Sources of electrical interference

Electrical interference is caused mainly
through capacitive or inductive transfer.
Inductive transfer can be introduced into
the system over signal lines and input or
output terminals.
Typical sources for electrical interference
include:

Strong magnetic fields from transformers, •
brakes and electric motors
Relays, contactors and solenoid valves•
High-frequency equipment, pulse •
devices, and stray magnetic fields from
switch-mode power supplies
AC power lines and supply wires to the •
above devices

Measures

The following measures must be complied
with for disturbance-free operation. If other
actions are taken, specific measures
regarding electrical safety and EMC are
required.

Use only original HEIDENHAIN cables. •
Consider the voltage drop in the supply
wires.
Use connecting elements (such as •
connectors or terminal boxes) with metal
housings. Only the signals and voltage
supply of the connected encoder may be
routed through these elements
(exception: hybrid motor cables from
HEIDENHAIN).

Connect the housings of the encoder, •
connecting elements and subsequent
electronics through the shield of the
cable. Ensure that the shield has
complete contact over the entire surface
(360°). For encoders with more than one
electrical connection, refer to the
documentation for the respective
product.
Cables with inner and outer shielding are •
to be kept spatially apart. Connect the
inner shield to 0 V of the subsequent
electronics. Do not connect the inner
shield with the outer shield, neither in
the encoder nor in the cable.
Connect the (outer) shield to functional •
earth as per the mounting instructions.
Prevent contact of the shield (e.g. •
connector housing) with other metal
surfaces. Pay attention to this when
installing cables.
Do not install signal cables in the direct •
vicinity of interference sources (inductive
consumers such as contactors, motors,
frequency inverters, solenoids, etc.).
– Sufficient decoupling from

interference-signal-conducting cables
can usually be achieved by an air
clearance of 100 mm or, when cables
are in metal ducts, by a grounded
partition.

– A minimum spacing of 200 mm to

inductors in switch-mode power

supplies is required.
If compensating currents are to be •
expected within the overall system, a
separate equipotential bonding
conductor must be provided. The shield
does not have the function of an
equipotential bonding conductor.
Only provide power from PELV systems •
(see DIN EN 50178 for an explanation of
the term) to position encoders, and
provide high-frequency grounding with
low impedance (see DIN EN 60204-1
Chapter EMC).
For encoders with 11 µA•
only HEIDENHAIN cable ID 244955-01 as
extension cable. Overall length: max. 30 m.

interface: Use

PP

Minimum distance from sources of interference

Shield clamp as substitute

Minimum distance from sources of interference

39

Vollständige und weitere Adressen siehe www.heidenhain.de







 
 





For complete and further addresses see www.heidenhain.de

DE HEIDENHAIN Vertrieb Deutschland

83301 Traunreut, Deutschland

 08669 31-3132
| 08669 32-3132

E-Mail: [e-mail]

HEIDENHAIN Technisches Büro Nord

12681 Berlin, Deutschland
 030 54705-240

HEIDENHAIN Technisches Büro Mitte

07751 Jena, Deutschland
 03641 4728-250

HEIDENHAIN Technisches Büro West

44379 Dortmund, Deutschland
 0231 618083-0

HEIDENHAIN Technisches Büro Südwest

70771 Leinfelden-Echterdingen, Deutschland
 0711 993395-0

HEIDENHAIN Technisches Büro Südost

83301 Traunreut, Deutschland
 08669 31-1345

AR NAKASE SRL.

B1653AOX Villa Ballester, Argentina
www.heidenhain.com.ar

AT HEIDENHAIN Techn. Büro Österreich

83301 Traunreut, Germany
www.heidenhain.de

AU FCR Motion Technology Pty. Ltd

Laverton North 3026, Australia
E-mail: [e-mail]

BE HEIDENHAIN NV/SA

1760 Roosdaal, Belgium
www.heidenhain.be

BG ESD Bulgaria Ltd.

Sofia 1172, Bulgaria
www.esd.bg

BR DIADUR Indústria e Comércio Ltda.

04763-070 – São Paulo – SP, Brazil
www.heidenhain.com.br

BY GERTNER Service GmbH

220026 Minsk, Belarus
www.heidenhain.by

CA HEIDENHAIN CORPORATION

Mississauga, OntarioL5T2N2, Canada
www.heidenhain.com

CH HEIDENHAIN (SCHWEIZ) AG

8603 Schwerzenbach, Switzerland
www.heidenhain.ch

CN DR. JOHANNES HEIDENHAIN

(CHINA) Co., Ltd.

Beijing 101312, China
www.heidenhain.com.cn

CZ HEIDENHAIN s.r.o.

102 00 Praha 10, Czech Republic
www.heidenhain.cz

DK TP TEKNIK A/S

2670 Greve, Denmark
www.tp-gruppen.dk

ES FARRESA ELECTRONICA S.A.

08028 Barcelona, Spain
www.farresa.es

FI HEIDENHAIN Scandinavia AB

02770 Espoo, Finland
www.heidenhain.fi

FR HEIDENHAIN FRANCE sarl

92310 Sèvres, France
www.heidenhain.fr

GB HEIDENHAIN (G.B.) Limited

Burgess Hill RH15 9RD, United Kingdom
www.heidenhain.co.uk

GR MB Milionis Vassilis

17341 Athens, Greece
www.heidenhain.gr

HK HEIDENHAIN LTD

Kowloon, Hong Kong
E-mail: [e-mail]

HR Croatia  SL

HU HEIDENHAIN Kereskedelmi Képviselet

1239 Budapest, Hungary
www.heidenhain.hu

ID PT Servitama Era Toolsindo

Jakarta 13930, Indonesia
E-mail: [e-mail]

IL NEUMO VARGUS MARKETING LTD.

Tel Aviv 61570, Israel
E-mail: [e-mail]

IN HEIDENHAIN Optics & Electronics

India Private Limited

Chetpet, Chennai 600 031, India
www.heidenhain.in

IT HEIDENHAIN ITALIANA S.r.l.

20128 Milano, Italy
www.heidenhain.it

JP HEIDENHAIN K.K.

Tokyo 102-0083, Japan
www.heidenhain.co.jp

KR HEIDENHAIN Korea LTD.

Gasan-Dong, Seoul, Korea 153-782
www.heidenhain.co.kr

MX HEIDENHAIN CORPORATION MEXICO

20235 Aguascalientes, Ags., Mexico
E-mail: [e-mail]

MY ISOSERVE SDN. BHD.

43200 Balakong, Selangor
E-mail: [e-mail]

NL HEIDENHAIN NEDERLAND B.V.

6716 BM Ede, Netherlands
www.heidenhain.nl

NO HEIDENHAIN Scandinavia AB

7300 Orkanger, Norway
www.heidenhain.no

PH Machinebanks` Corporation

Quezon City, Philippines 1113
E-mail: [e-mail]

PL APS

02-384 Warszawa, Poland
www.heidenhain.pl

PT FARRESA ELECTRÓNICA, LDA.

4470 - 177 Maia, Portugal
www.farresa.pt

RO HEIDENHAIN Reprezentant¸a˘ Romania

Bras¸ov, 500407, Romania
www.heidenhain.ro

RS Serbia  BG

RU OOO HEIDENHAIN

125315 Moscow, Russia
www.heidenhain.ru

SE HEIDENHAIN Scandinavia AB

12739 Skärholmen, Sweden
www.heidenhain.se

SG HEIDENHAIN PACIFIC PTE LTD.

Singapore 408593
www.heidenhain.com.sg

SK KOPRETINA TN s.r.o.

91101 Trencin, Slovakia
www.kopretina.sk

SL NAVO d.o.o.

2000 Maribor, Slovenia
www.heidenhain.si

TH HEIDENHAIN (THAILAND) LTD

Bangkok 10250, Thailand
www.heidenhain.co.th

TR T&M Mühendislik San. ve Tic. LTD. S¸TI·.

34728 Ümraniye-Istanbul, Turkey
www.heidenhain.com.tr

TW HEIDENHAIN Co., Ltd.

Taichung 40768, Taiwan R.O.C.
www.heidenhain.com.tw

UA Gertner Service GmbH Büro Kiev

01133 Kiev, Ukraine
www.heidenhain.ua

US HEIDENHAIN CORPORATION

Schaumburg, IL 60173-5337, USA
www.heidenhain.com

VE Maquinaria Diekmann S.A.

Caracas, 1040-A, Venezuela
E-mail: [e-mail]

VN AMS Co. Ltd

HCM City, Vietnam
E-mail: [e-mail]

ZA MAFEMA SALES SERVICES C.C.

Midrand 1685, South Africa
www.heidenhain.co.za

Zum Abheften hier falzen! / Fold here for filing!

*I_1078628-20*

1078628-20 · 15 · 7/2013 · F&W · Printed in Germany