Rotary Encoders

Rotary Encoders
12/2021
Contents
Introduction
Selection guide 4
Rotary encoders from HEIDENHAIN Measuring principles, accuracy 14
serve as feedback devices for rotary
motion and angular speed. When used in Mechanical design types and mounting Rotary encoders with stator coupling 16
conjunction with mechanical measuring
standards such as lead screws, they can Rotary encoders for separate shaft coupling 19
also measure linear motion. Possible
applications include electric motors,
machine tools, printing machines,
Shaft couplings 24
woodworking machines, textile machines,
robots, and handling devices, as well as a
General mechanical information 27
wide variety of measuring, testing, and
inspection devices. The high quality of their Safety-related position measuring systems 30
sinusoidal incremental signals permits high
interpolation factors for digital speed Rotary encoders for separate shaft coupling Specifications Absolute rotary encoders Incremental rotary encoders
control.
Mounted stator coupling ECN 1000/EQN 1000 series ERN 1000 series 32
ECN 400/EQN 400 series ERN 400 series 36
ECN 400 F/EQN 400 F series – 44
ECN 400 S/EQN 400 S series –
ECN 400/EQN 400 series ERN 400 series 46

with universal stator coupling with universal stator coupling
Electronic handwheel
ECN 100 series ERN 100 series 50
Separate shaft coupling; ROC/ROQ 1000 series ROD 1000 series 52
synchro flange
ROC/ROQ 400 series ROD 400 series 56
ROC 400 F/ROQ 400 F series – 64
ROC 400 S/ROQ 400 S series –
ROC 425 series – 66

with high accuracy
Separate shaft coupling; ROC/ROQ 400 series ROD 400 series 68

clamping flange
ROC 400 F/ROQ 400 F series – 72
ROC 400 S/ROQ 400 S series –
Rotary encoders with mounted stator coupling ROD 600 series 74

Separate shaft coupling; – ROD 1930 76
mounting via flange/base Sturdy design
Information about
• Encoders for servo drives
Handwheels – HR 1120 78
• Sealed angle encoders
• Modular angle encoders with optical Electrical connection
scanning
• Modular angle encoders with magnetic This brochure supersedes all previous
Interfaces Incremental signals 80
scanning editions, which thereby become invalid.
• Linear encoders for numerically The basis for ordering from
Position values 85
controlled machine tools Further information:
HEIDENHAIN is always the current
• Exposed linear encoders product documentation at the time the Cables and connecting elements 90
For detailed descriptions of all available
• Signal converters order is placed.
interfaces, as well as general electrical
• HEIDENHAIN controls, and Signal converters 94
information, please refer to the
• Cables and connecting elements Standards (ISO, EN, etc.) apply only
Interfaces of HEIDENHAIN Encoders
is available upon request as well as on the
Internet at www.heidenhain.com.
brochure. where explicitly stated in this brochure. Testing and inspection devices, and diagnostics 96
2
Selection guide
Rotary encoders for standard applications
Rotary encoders Absolute Incremental

Singleturn Multiturn 4096 revolutions
Interface EnDat Fanuc SSI EnDat Fanuc SSI « TTL « HTL » 1 VPP
Siemens Siemens
With mounted stator coupling

ECN/EQN/ERN 1000 series ECN 1023 ECN 1023 S – EQN 1035 EQN 1035 S – ERN 1020 ERN 1030 ERN 1080 32
Positions/rev: 23 bits Positions/rev: 23 bits Positions/rev: 23 bits Positions/rev: 23 bits 100 to 3600 lines 100 to 3600 lines 100 to 3600 lines
EnDat 2.2/22 DRIVE-CLiQ EnDat 2.2/22
ERN 1070 1)
ECN 1013 EQN 1025 1000/2500/3600 lines
Positions/rev: 13 bits Positions/rev: 13 bits
EnDat 2.2/01 EnDat 2.2/01
ECN/EQN/ERN 400 series ECN 425 ECN 425 F ECN 413 EQN 437 EQN 437 F EQN 4253) ERN 420 ERN 430 ERN 480
4)
36
Positions/rev: 25 bits Positions/rev: 25 bits Positions/rev: 13 bits Positions/rev: 25 bits Positions/rev: 25 bits Positions/rev: 13 bits 250 to 5000 lines 250 to 5000 lines 1000 to 5000 lines
EnDat 2.2/22 Fanuc ai EnDat 2.2/22 Fanuc ai
Available with Available with ERN 4602)
functional safety ECN 424 S functional safety EQN 436 S 250 to 5000 lines
3)
ECN 413 DRIVE-CLiQ EQN 425 DRIVE-CLiQ
Positions/rev: 13 bits Available with Positions/rev: 13 bits Available with
EnDat 2.2/01 functional safety EnDat 2.2/01 functional safety
ECN/EQN/ERN 400 series ECN 425 – ECN 413 EQN 437 – EQN 425 ERN 420 ERN 430 ERN 480 46
with universal stator coupling Positions/rev: 25 bits Positions/rev: 13 bits Positions/rev: 25 bits Positions/rev: 13 bits 250 to 5000 lines 250 to 5000 lines 1000 to 5000 lines
ERN 4602)
ECN 413 EQN 425 250 to 5000 lines
ECN/ERN 100 series ECN 125 – – – – – ERN 120 ERN 130 ERN 180 50
Positions/rev: 25 bits 1000 to 5000 lines 1000 to 5000 lines 1000 to 5000 lines
EnDat 2.2/22
ECN 113
Positions/rev: 13 bits
EnDat 2.2/01
1)
Up to 36 000 signal periods via integrated 5/10-fold interpolation (higher interpolation upon request)
2)
Supply voltage: DC 10 V to 30 V
3)
Also available with TTL or HTL signal transmission
4)
Available with mechanical fault exclusion; for restrictions on specifications and for special mounting information,
see the Fault Exclusion customer information document
DRIVE-CLiQ is a registered trademark of Siemens AG.
4 5
Rotary encoders for standard applications

Interface EnDat Fanuc SSI EnDat Fanuc SSI « TTL « HTL » 1 VPP
Siemens Siemens
For separate shaft coupling, with synchro flange

ROC/ROQ/ROD 1000 series ROC 1023 ROC 1023 S – ROQ 1035 ROQ 1035 S – ROD 1020 ROD 1030 ROD 1080 52
Positions/rev: 23 bits Positions/rev: 23 bits Positions/rev: 23 bits Positions/rev: 23 bits 100 to 3600 lines 100 to 3600 lines 100 to 3600 lines
EnDat 2.2/22 DRIVE-CLiQ EnDat 2.2/22 DRIVE-CLiQ
ROD 1070 2)
ROC 1013 ROQ 1025 1000/2500/3600 lines
OC/ROQ/ROD 400 series

R ROC 425 ROC 425 F ROC 413 ROQ 437 ROQ 437 F ROQ 425 ROD 426
1)
ROD 436 ROD 4865) 56
with synchro flange Positions/rev: 25 bits Positions/rev: 25 bits Positions/rev: 13 bits Positions/rev: 25 bits Positions/rev: 25 bits Positions/rev: 13 bits 50 to 5000 lines 50 to 5000 lines 1000 to 5000 lines
Available with Available with ROD 4663)
functional safety ROC 424 S functional safety ROQ 436 S 50 to 5000 lines2)
ROC 413 DRIVE-CLiQ ROQ 425 DRIVE-CLiQ
ROC 425 ROC 425 – – – – – – – – 66

for high accuracy Positions/rev: 25 bits
EnDat 2.2/01
For separate shaft coupling, with clamping flange

OC/ROQ/ROD 400 series
R ROC 425 ROC 425 F ROC 413 ROQ 437 ROQ 437 F ROQ 425 ROD 420 ROD 430 ROD 4805) 68
with clamping flange Positions/rev: 25 bits Positions/rev: 25 bits Positions/rev: 13 bits Positions/rev: 25 bits Positions/rev: 25 bits Positions/rev: 13 bits 50 to 5000 lines 50 to 5000 lines 1000 to 5000 lines
Available with Available with
functional safety ROC 424 S functional safety ROQ 436 S
4)
ROC 413 DRIVE-CLiQ ROQ 425 DRIVE-CLiQ
1)
Up to 10 000 signal periods via integrated 2-fold interpolation
2)
Up to 36 000 signal periods via integrated 5/10-fold interpolation (higher interpolation upon request)
3)
Supply voltage: DC 10 V to 30 V
4)
Also available with TTL or HTL signal transmission
5)
Available with mechanical fault exclusion; for deviating specifications and special mounting information,
see the Fault Exclusion Customer Information document
6 7
Rotary encoders for motors
These rotary encoders are described

Rotary encoders Absolute Incremental in the Encoders for Servo Drives
Singleturn Multiturn brochure.
Interface EnDat Siemens EnDat Siemens « TTL » 1 VPP
With integral bearing and mounted stator coupling

ERN 1023 IP64 – – – – – – ERN 1023 –
500 to 8192 lines
Three signals for block commutation
ECN/EQN 1100 series ECN 1123 ECN 1113 ECN 1123 S EQN 1135 EQN 1125 EQN 1135 S – –
Positions/rev: 23 bits Positions/rev: 13 bits Positions/rev: 23 bits Positions/rev: 23 bits Positions/rev: 13 bits Positions/rev: 23 bits
EnDat 2.2/22 EnDat 2.2/01 DRIVE-CLiQ 4096 revolutions 4096 revolutions 4096 revolutions
Available with Available with EnDat 2.2/22 EnDat 2.2/01 DRIVE-CLiQ
functional safety functional safety Available with Available with
functional safety functional safety
ERN 1123 IP00 – – – – – – ERN 1123 –

500 to 8192 lines
Three signals for block commutation
ECN/EQN/ERN 1300 series IP40 ECN 1325 ECN 1313 ECN 1324 S EQN 1337 EQN 1325 EQN 1336 S ERN 1321 ERN 13812)
ECN/EQN/ERN 400 series IP64 Positions/rev: 25 bits Positions/rev: 13 bits Positions/rev: 24 bits Positions/rev: 25 bits Positions/rev: 13 bits Positions/rev: 24 bits 1024 to 4096 lines 512 to 4096 lines
EnDat 2.2/22 EnDat 2.2/01 DRIVE-CLiQ 4096 revolutions 4096 revolutions 4096 revolutions
EnDat 3/E30-R2 Available with EnDat 2.2/22 EnDat 2.2/01 DRIVE-CLiQ ERN 1326 1)
ERN 13872)
Available with ECN 413 functional safety EnDat 3/E30-R2 Available with 1024 to 4096 lines 2048 lines
functional safety Positions/rev: 13 bits Available with EQN 425 functional safety Three TTL signals for block commutation Z1 track for sine commutation
EnDat 2.2/01 functional safety Positions/rev: 13 bits
ECN 425 4096 revolutions ERN 421 ERN 487
Positions/rev: 25 bits EQN 437 EnDat 2.2/01 1024 to 4096 lines 2048 lines
EnDat 2.2/22 Positions/rev: 25 bits Z1 track for sine commutation
Available with 4096 revolutions
functional safety EnDat 2.2/22
Available with
functional safety
1)
8192 signal periods through integrated 2-fold interpolation
2)
vailable with mechanical fault exclusion; for restrictions on specifications and for special mounting information,
A
see the Fault Exclusion customer information document
8 9
These rotary encoders are described
Rotary encoders Absolute Incremental in the Encoders for Servo Drives
Singleturn Multiturn brochure.
Interface EnDat Siemens EnDat Siemens « TTL » 1 VPP
Without integral bearing

ECI/EQI/EBI 1100 series ECI 1118 ECI 1119 – EBI 1135 EQI 1131 – – –
Positions/rev: 18 bits Positions/rev: 19 bits Positions/rev: 18 bits Positions/rev: 19 bits
EnDat 2.2/22 EnDat 2.2/22, 65 536 revolutions 4096 revolutions
EnDat 3/E30-R2 (buffer battery backup) EnDat 2.2/22,
Available with EnDat 2.2/22 EnDat 3/E30-R2
13 with ECI/EBI functional safety Available with
functional safety
ECI/EQI 1300 series ECI 1319 ECI 1319 ECI 1319 S EQI 1331 EQI 1331 EQI 1331 S – –
Positions/rev: 19 bits Positions/rev: 19 bits Positions/rev: 19 bits Positions/rev: 19 bits Positions/rev: 19 bits Positions/rev: 19 bits
EnDat 2.2/22 EnDat 3/E30-R2 DRIVE-CLiQ 4096 revolutions 4096 revolutions 4096 revolutions
EnDat 3/E30-R2 Available with Available with EnDat 2.2/22 EnDat 3/E30-R2 DRIVE-CLiQ
Available with functional safety functional safety EnDat 3/E30-R2 Available with Available with
functional safety Available with functional safety functional safety
functional safety
ECI/EBI 100 series ECI 119 – – EBI 135 – – – –

EnDat 2.2/22 or 65 536 revolutions
EnDat 2.1/01 (buffer battery backup)
EnDat 2.2/22
D: 30/38/50 mm
ECI/EBI 4000 series ECI 4010 – ECI 4090S EBI 4010 – – – –

Positions/rev: 20 bits Positions/rev: 20 bits Positions/rev: 20 bits
EnDat 2.2/22 DRIVE-CLiQ 65 536 revolutions
Available with Available with (buffer battery backup)
functional safety functional safety EnDat 2.2/22
Available with
functional safety
D: 90/180 mm
ERO 1400 series – – – – – – ERO 1420 ERO 1480

512 to 1024 lines 512 to 1024 lines
ERO 1470 1)
1000/1500 lines
1)
Up to 37 500 signal periods via integrated 5/10/20/25-fold interpolation
10 11
Rotary encoders for special applications

Interface EnDat SSI EnDat SSI « TTL « HTL » 1 VPP
For high bearing loads

ROD 600 – – – – ROD 620 ROD 630 – 74
512 to 5000 lines 512 to 5000 lines
ROD 1930 – – – – – ROD 1930 – 76

600 to 2400 lines
 15
199
150 18 160
For more information, please refer to the
respective Product Information document
HR 1120 – – – – ERN 421 ERN 431 – 78
1024 lines 1024 lines
For Siemens asynchronous motors

ERN 401 series – – – – HR 1120 – –
100 lines

EQN/ERN 400 series – – EQN 425 EQN 425 ERN 420 ERN 430 –
Positions/rev: 13 bits Positions/rev: 13 bits 1024 lines 1024 lines
EnDat 2.1/01

12 13
Measuring principles Accuracy
Measuring standards Measuring methods Scanning methods
HEIDENHAIN encoders with optical In the absolute measuring method, the A separate incremental track is interpolated Photoelectric scanning The absolute rotary encoders that use this Rotary encoder accuracy is primarily
scanning use measuring standards position value is available immediately upon for the position value and is simultaneously Most HEIDENHAIN encoders utilize the scanning principle have a single, large, and determined by the following factors:
consisting of periodic structures known as encoder switch-on and can be requested used for generating an optional incremental photoelectric scanning principle. Photoelec- finely structured photosensor as opposed • The directional error of the radial grating
graduations. These precision graduations are by the downstream electronics at any time. signal. tric scanning is performed contact-free and to a group of discrete photocells. The width • The eccentricity of the circular scale
applied to a carrier substrate made of glass There is therefore no need to search for thus does not induce wear. This method of the photosensor’s structures is identical relative to the bearing
or steel and are manufactured by means the reference position by jogging the axes. Singleturn rotary encoders repeat the detects even extremely fine graduation to the width of the measuring standard’s • The radial runout of the bearing
of various photolithographic processes. The resulting absolute position information absolute position information with each lines down to a width of only a few mi- grating structure. A scanning reticle with a • The error arising from connection via a
Graduations are made from the following is read from the circular scale, which revolution. Multiturn encoders can crometers and generates output signals matching structure is therefore not needed. shaft coupling; for rotary encoders with
materials: exhibits a code structure. distinguish between additional revolutions. with very small signal periods. stator coupling, this error lies within the
• Extremely hard chromium lines on glass Other scanning principles system accuracy
• Matte-etched lines on gold-plated steel The ECN, EQN, ERN, ROC, ROQ, and ROD The ECI/EBI/EQI rotary encoders utilize the • The interpolation error that arises during
tape rotary encoders utilize the imaging scanning inductive measuring principle. In this case, signal processing in the integrated or
• Three-dimensional structures on glass or principle. the graduation structures modulate the external digitizing and interpolation
steel substrates amplitude and phase of a high-frequency electronics
Put simply, the imaging scanning principle signal. By means of circumferential
The photolithographic manufacturing uses projected-light signal generation; for scanning, the position value is always
processes developed by HEIDENHAIN example, two gratings (a scale and a generated based on the signals from the
allow for typical grating periods ranging scanning reticle) with the same grating receiver coils that are evenly distributed
from 50 µm down to 4 µm. period are moved relative to each other. along the circumference. The following applies to incremental rotary
The carrier material of the scanning reticle encoders with line counts of up to 5000:
These processes yield fine grating periods is transparent. The graduation on the The maximum direction error at 20 °C
characterized by excellent edge definition measuring standard can be applied to either ambient temperature and slow rotation
and high homogeneity. In combination with a transparent surface or a reflective surface. (sampling frequency between 1 kHz and
the photoelectric scanning method, these 2 kHz) is within
characteristics are crucial for attaining high- When parallel light passes through a grating
quality output signals. structure, light and dark fields are projected ±18° mech. · 3600 [arc seconds]
at a certain interval. At the place where Line count z
The master graduations are manufactured by these fields are projected lies an index which equals
HEIDENHAIN on custom-built, high-precision grating with the same grating period. When
dividing engines. these two graduations move relative to ± 1 grating period.
each other, the incident light is modulated: 20
Encoders that use the inductive scanning Circular scales of absolute rotary encoders If the gaps are aligned, light passes through. In the case of ROD rotary encoders, the
principle employ metal graduations or If the lines of one grating coincide with the 6000 to 10 000 signal periods per revolution
copper/nickel-based graduation structures. gaps of the other, no light passes through. are generated via signal doubling. The line
These graduation structures are applied to Photocells convert these light fluctuations count must be considered in determining
a printed-circuit carrier material. into nearly sinusoidal electrical signals. In the system accuracy.
In the incremental measuring method, The absolute position established by the encoders that use the imaging scanning
the graduation consists of a periodic grating reference mark is assigned to exactly one principle, workable mounting tolerances are
structure. Position information is obtained measuring step. attainable starting at a minimum grating
through the counting of individual period of 10 μm.
increments (measuring steps) starting Thus, before an absolute reference can be
from a freely settable point of origin. established or the most recently selected For absolute rotary encoders, the accuracy
Since position ascertainment requires reference point can be refound, this of the absolute position values is provided
LED light source
an absolute reference, the circular scales reference mark must first be traversed. in the specifications of the respective
have an additional track containing a encoder.
reference mark.
For absolute rotary encoders with
complementary incremental signals,
Condenser the accuracy depends on the line count:
Line count Accuracy

512 ±60 arc seconds
2048 ±20 arc seconds
Scanning reticle 2048 ±10 arc seconds
Measuring standard (ROC 425 with high
accuracy)
This accuracy information applies to

Photocells
incremental measurement signals at 20 °C
ambient temperature and slow rotation.
Photocells I90°
and I270° not
shown
Circular scales of incremental rotary encoders Photoelectric scanning according to the imaging scanning principle
14 15
Mechanical design types and mounting
Rotary encoders with stator coupling
The ECN/EQN/ERN rotary encoders feature Mounting accessories

integrated bearings and a mounted stator
coupling. The stator coupling compensates Clamping ring
for radial runout and alignment errors without For the ECN/EQN/ERN 400
significantly reducing the accuracy. The Through the use of a second clamping ring,
rotary encoder shaft is directly connected the maximum mechanically permissible
to the measured shaft. During angular shaft speed of rotary encoders with a
acceleration of the shaft, the stator coupling hollow through shaft can be increased up
must absorb only the torque resulting from to 12 000 rpm.
friction within the bearing. The stator ID 540741-xx
coupling permits a certain amount of axial
motion in the measured shaft: L = 41 min. with D  25 In the case of safe, hollow-shaft connections,
L = 56 min. with D  38 repeated fastening reduces the screw
ECN/EQN/ERN 400: ±1 mm force. In order to maintain the required  = Clamping screw with X8 hexalobular
ECN/EQN/ERN 1000: ±0.5 mm safety factor for friction-type connections, socket; tightening torque: 1.1 Nm ±0.1 Nm
the maximum number of permissible
ECN/ERN 100: ±1.5 mm screw tightening repetitions is limited to
Mounting ECN/EQN/ERN 400 with standard stator coupling four. Beyond this number of repetitions,
The hollow shaft of the rotary encoder is mechanical fault exclusion cannot be
slid onto the measured shaft and fastened Blind hollow shaft guaranteed. In such cases, new clamping
on the rotor side by two screws or three rings must be ordered separately.
eccentric clamps. Rotary encoders with a
hollow through shaft can be clamped on Clamping ring for 10 mm ID 540741-06
the housing side as well. Particularly well Clamping ring for 12 mm ID 540741-07
suited for repeated mounting are the
ECN/EQN/ERN 1300 series rotary encoders
featuring a tapered shaft (see the Encoders
for Servo Drives brochure). Stator-side
mounting is performed on a plane surface
without a centering collar. The universal Hollow through shaft
stator coupling of the ECN/EQN/ERN 400
accommodates a variety of mounting
scenarios; for example, it can be mounted
to the motor housing from the outside via When high shaft loads are involved, such
the provided threads. Bearing assembly
as with friction wheels, pulleys, or sprockets,
Visible grooves
HEIDENHAIN recommends mounting the Permiss. shaft speed n  6000 rpm
Mechanical fault exclusion is possible for the ECN/EQN/ERN 400 with a bearing
ECN/EQN/ERN 400 series rotary encoders assembly.
featuring a standard stator coupling and ECN/EQN/ERN 400
Shaft load Axial: 150 N; radial: 350 N
blind hollow shaft. With universal stator coupling
Bearing assembly Operating temperature –40 °C to 100 °C
For the ECN/EQN/ERN 400
Dynamic applications require the highest Hollow through shaft
with blind hollow shaft Protection EN 60529 IP64
possible natural frequencies fN of the ID 574185-03
system’s coupling (see also General
mechanical information).These natural The bearing assembly is able to absorb large
frequencies can be attained through the radial shaft loads and prevents overloading
shaft clamping on the flange side and a of the encoder bearing. On the encoder
coupling with four screws. The ECN/EQN/ side, the bearing assembly features a shaft
ERN 1000 encoders offer an alternative stub with a diameter of 12 mm, thus making
with two screws and two washers. it suitable for the ECN/EQN/ERN 400
encoders featuring a blind hollow shaft.
Typical natural frequency fN of the connection with stator-side The threaded holes for fastening the stator
coupling via four screws: coupling are also already provided. The
Stator Cable Flange socket flange of the bearing assembly has the
coupling same dimensions as those of the clamping
Axial Radial flange for the ROD 420/430 series. The
bearing assembly can be fastened via the
ECN/EQN/ Standard 1550 Hz 1500 Hz 1000 Hz threaded holes on its front face or with the
1)
ERN 400 Universal 1400 Hz 1400 Hz 900 Hz aid of the mounting flange or the mounting
bracket (see page 21 for both).
ECN/ERN 100 1000 Hz – 400 Hz
2)
ECN/EQN/ERN 1000 1500 Hz – –
Washers
1)
Also with fastening via two screws
2)
Also with fastening via two screws and washers
16 17
Rotary encoders for separate shaft coupling
Mounting accessories The ROC/ROQ/ROD rotary encoders The ROC/ROQ/ROD 400 and ROD 600
feature an integral bearing and a solid shaft. series rotary encoders permit high bearing
Washer The encoder shaft is connected to the loads (see diagrams). When high loads are
For the ECN/EQN/ERN 1000 measured shaft with a separate shaft involved, such as with friction wheels,
For increasing the natural frequency fN coupling. This coupling compensates for pulleys, or sprockets, HEIDENHAIN
when fastening with only two screws axial movement and misalignment (radial recommends using an ECN/EQN/ERN 400
ID 334653-01 and angular misalignment) between the mounted to a bearing assembly. For very
rotary encoder and the drive shaft. Thus, high bearing loads, the ROD 1930 is a
the encoder bearing is not subjected to suitable choice.
additional external loads, and its service life
remains unaffected. Diaphragm and metal The shafts to be connected must be
bellows couplings are available for rotor- mounted with minimum relative offset to
side connection of the ROC/ROQ/ROD each other. For typical mounting tolerances,
encoders (see page 24). refer to the “Kinematic transfer error” on
page 24.
Torque supports for the
ECN/EQN/ERN 400 Bearing service life of the ROC/ROQ/
In simpler applications with the ECN/EQN/ ROD 400 Service life at shaft load
ERN 400, the stator coupling can be The expected service life of the encoder
Bearing life in hours 

replaced by torque supports. The following bearing depends on the shaft load, the
mounting kits are available: point of applied force, and the shaft speed.
The Specifications provide the maximum
Wire torque support shaft loads permitted at the end of the shaft.
The stator coupling is replaced by a metal The relationship between the bearing service
plate to which the included wire is fastened life and shaft speed under maximum shaft
as a coupling. load for 6 mm and 10 mm shaft diameters
ID 510955-01 is shown in the upper diagram. Under an
axial load of 10 N and a radial load of 20 N at
Pin torque support the shaft end, the expected bearing service
In place of a stator coupling, a “synchro life at maximum shaft speed is greater than
flange” is fastened via screws. Torque 40 000 hours. Shaft speed in rpm 
support is provided by a pin mounted axially
or radially on the flange. Alternatively, the
pin can be inserted on the customer side, Bearing life of the ROD 600 Service life at shaft load
and a guide on the encoder’s flange is then Rotary encoders of the ROD 600 series are

used for the pin coupling. designed for a long service life under high
ID 510861-01 bearing loads.
F = 30 N F = 50 N
F = 50 N F = 50 N
F = 50 N F = 75 N
General accessories F = 75 N F = 75 N
Width across flats Length ID
Screwdriver bits 1.5 70 mm 350378-01
• For HEIDENHAIN shaft couplings
• For ExN 100/400/1000 shaft clampings 1.5 (spherical head) 350378-02
• For ERO shaft clampings
2 350378-03 Shaft speed in rpm 
Screwdriver
Adjustable torque; accuracy: ±6 % 2 (spherical head) 350378-04 Bearing service life of the ROD 1930
0.2 Nm to 1.2 Nm ID 350379-04 The ROD 1930 is designed for a long Service life at shaft load
1 Nm to 5 Nm ID 350379-05 2.5 350378-05 service life under very high bearing loads. 350 000

3 (spherical head) 350378-08 300 000
250 000 100 N 100 N
4 350378-07 100 N 150 N
200 000
150 N 150 N
4 (with dog point)1) 350378-14 150 000 150 N 200 N
100 000
TX8 89 mm 350378-11
152 mm 350378-12 50 000
TX15 70 mm 756768-42 1 000 2 000 3 000 4 000

1)
For DIN 6912 screws Shaft speed in rpm 
(low head screw with pilot recess)
18 19
Rotary encoders Rotary encoders with synchro flange Rotary encoders ROC/ROQ/ROD 400 with clamping flange
with synchro flange with clamping flange
Mounting Mounting
• Via the synchro flange with three fixing • To a mounting flange via the fastening Mounting flange
clamps, or threads on the front face, or Coupling
• To an adapter flange via the fastening • Via clamping on the clamping flange, or
screw threads on the front face (for • With three fixing clamps (for encoders
ROC/ROQ/ROD 400) with an additional groove on the
clamping flange)
Mechanical fault exclusion is possible upon Fixing clamps
consultation with HEIDENHAIN in Centering is performed via the centering
Traunreut, Germany. collar on the synchro flange or via the Coupling
Coupling
clamping flange.
Coupling Mechanical fault exclusion is possible upon

consultation with HEIDENHAIN in
Traunreut, Germany.
Adapter flange
Mounting accessories Mounting accessories
Adapter flange Mounting flange

(electrically non-conductive) ID 201437-01
ID 257044-01
Mounting bracket
ID 581296-01
 
    
Fixing clamps
For the ROC/ROQ/ROD 400 series 
(three per encoder)
ID 200032-01   
 









 


Fixing clamps

For the ROC/ROQ/ROD 1000 series
(three per encoder)
ID 200032-02

20 21
Rotary encoder ROD 600 rotary encoder
with flange/base mounting with clamping flange
Mounting Mounting
• Via mounting flange, or • To a mounting flange via the fastening
• Via base threads on the front face
Fastening is performed with four M8 screws.
The terminal box can be mounted at any 90°

orientation.
Shaft coupling
For optimum torque transmission, the
encoder shaft is equipped with a key. The
C19 and C 212 couplings, which are
available as accessories, feature a matching
keyway.
Mounting accessories
Mounting flange, small

ID 728587-01
Mounting flange, large

ID 728587-02
Mounting bracket
ID 728587-03
22 23
Shaft couplings
ROC/ROQ/ROD 400 ROD 1930 ROC/ROQ/ 18 EBN 3 metal bellows coupling

ROD 600 ROD 1000 For the ROC/ROQ/ROD 1000 series
with 4 mm shaft diameter
Diaphragm coupling Diaphragm coupling Metal bellows ID 200393-02
coupling
K 14 K 17/01 K 17/02 K 17/03 C 19 C 212 18 EBN 3

K 17/06 K 17/04
K 17/05
Hub bore 6/6 mm 6/6 mm 6/10 mm 10/10 mm 15/15 4/4 mm

6/5 mm 10/10 mm
6/9.52 mm
Galvanic isolation –    –  –
Kinematic ±6“ ±10“ ±13“ ±40“

K 14 diaphragm coupling Recommended fit for
transfer error* the mating shaft: h6
For the ROC/ROQ/ROD 400
with 6 mm shaft diameter
Torsional rigidity 500 Nm 150 Nm 200 Nm 300 Nm 1700 Nm 60 Nm
rad rad rad rad rad rad ID 293328-01
Torque  0.2 Nm  0.1 Nm  0.2 Nm  3.9 Nm  5 Nm  0.1 Nm
Radial offset l  0.2 mm  0.5 mm  0.3 mm  0.2 mm
Angular error a  0.5°  1°  1.5°  0.5°
Axial offset d  0.3 mm  0.5 mm  1.7 mm  0.3 mm

–6
Moment of inertia 6 · 10 kgm2 3 · 10–6 kgm2 4 · 10–6 kgm2 15 · 10–6 kgm2 0.3 · 10–6 kgm2
(approx.)
Permiss. shaft speed 16 000 rpm 20 000 rpm 6000 rpm 12 000 rpm
Tightening torque 1.2 Nm 1.37 Nm 0.8 Nm

of clamping screws
(approx.)
Mass 35 g 24 g 23 g 27.5 g 75 g 9g
* With typical mounting tolerances: radial offset l = 0.1 mm; angular error a = 0.09° (0.15 mm over 100 mm)
Diaphragm coupling K 17 K 17 D1 D2 L
With galvanic isolation Variant
Radial offset Angular error Axial offset For the ROC/ROQ/ROD 400 series
with 6 mm or 10 mm shaft diameter 01 ¬ 6 F7 ¬ 6 F7 22 mm
ID 1246841-xx
02 ¬ 6 F7 ¬ 10 F7 22 mm
03 ¬ 10 F7 ¬ 10 F7 30 mm
04 ¬ 10 F7 ¬ 10 F7 22 mm
Mounting accessories
05 ¬ 6 F7 ¬ 9.52 F7 22 mm
Screwdriver bits
06 ¬ 5 F7 ¬ 6 F7 22 mm
Screwdriver
See page 18.
24 25
General mechanical information
C 19 diaphragm coupling Certification by NRTL (Nationally Magnetic fields Starting torque and operating torque
For the ROD 1930 and ROD 600 rotary Recognized Testing Laboratory) Magnetic fields > 30 mT can affect encoder The starting torque is the torque required
encoders with 15 mm shaft diameter and key All of the rotary encoders in this brochure functioning. Please contact HEIDENHAIN in to put the rotor into motion from standstill.
ID 731374-01 comply with the UL safety regulations for Traunreut, Germany, as needed. If the rotor is already rotating, then a certain
the U.S. and with the CSA safety regulations operating torque is acting on the encoder.
for Canada. Natural frequencies The starting torque and operating torque
With the ROC/ROQ/ROD rotary encoders, are influenced by various factors, such as
Accelerations the rotor and the shaft coupling together the temperature, prior standstill time, and
During mounting and operation, encoders form an oscillation-capable spring-mass the amount of wear on the bearings and
are subjected to various types of system. In the case of the ECN/EQN/ERN, seals.
acceleration. this applies to the stator and stator coupling.
• Vibration The typical values stated in the specifications
The encoders are qualified on a test The natural frequency fN should be as are mean values based on encoder-specific
stand under the acceleration values high as possible. In order for the highest test series performed at room temperature
stated in the specifications at frequencies possible natural frequency to be attained and at a stabilized operating temperature.
of 55 Hz to 2000 Hz in accordance with with the ROC/ROQ/ROD rotary encoders, The typical operating torques are also based
EN 60068-2-6. However, if the application a diaphragm coupling with a high torsional on constant shaft speeds. For applications in
C 212 diaphragm coupling or mounting situation causes long-duration rigidity C must be used (see Shaft which the torque has a significant influence,
With galvanic isolation resonant vibration, then proper functioning couplings). HEIDENHAIN recommends consulting with
For the ROD 1930 and ROD 600 rotary of the encoder may be impaired, or the the main facility in Traunreut.
encoders with 15 mm shaft diameter and key
ID 731374-02
encoder itself may incur damage.
Thorough testing of the complete
fN = 1 ·
2xþ ¹CI Protection against contact (EN 60529)
system is therefore required. fN: Natural frequency of the coupling in Hz After completed installation of the encoder,
• Shock C: Torsional rigidity of the coupling in Nm/rad any rotating parts must be sufficiently
The encoders are qualified on a test I: Moment of inertia of the rotor in kgm2 protected from unintentional contact during
stand under the acceleration values operation.
stated in the specifications and under In conjunction with the stator coupling, the
the exposure times in accordance with ECN/EQN/ERN rotary encoders form an Protection (EN 60529)
EN 60068-2-27 for non-repetitive, semi- oscillation-capable spring-mass system The ingress of contamination can impair
sinusoidal shock. Continuous shock whose natural frequency fN of the cou- proper functioning of the encoder. Unless
loads are therefore not covered and pling in the direction of measurement otherwise indicated, all of the rotary encoders
must be tested in the application. should be as high as possible. The natural have an IP64 rating (ExN/ROx 400: IP67)
• The maximum angular acceleration frequency of the coupling is influenced by in accordance with EN 60529. These
is 105 rad/s2. This is the maximum the rigidity of the stator coupling and by specifications apply to the housing, cable
permissible angular acceleration of the the customer-side mounting situation. The outlet, and flange socket versions when
rotor without the encoder incurring stated typical natural frequencies may vary engaged.
damage. The actual attainable angular depending on the encoder variant (e.g., sin-
acceleration is within the same order of gleturn or multiturn), production tolerances, The shaft inlet meets an IP64 rating. Splash
magnitude but can vary depending on the and differing mounting conditions. If radial water must not be allowed to have any
type of shaft connection (for deviating and/or axial acceleration forces also come harmful effect on the encoder’s parts. If the
values for the ECN/ERN 100, see the into play, then the rigidity of the encoder protection rating of the shaft inlet is not
Specifications). An adequate safety bearing and of the encoder stator has an sufficient (e.g., due to vertical mounting of
factor must be determined through effect as well. If such loads occur within the encoder), then the encoders should be
system tests. your application, HEIDENHAIN recom- additionally protected with labyrinth seals.
mends consulting with the main facility in Many encoders are also available with an
Deviating values for rotary encoders with Traunreut. IP66 rating for the shaft inlet. Depending
functional safety are provided in the on the application, the radial shaft seal rings
corresponding Product Information HEIDENHAIN generally recommends used for sealing are subjected to wear due
documents. determining the natural frequency of the to friction.
stator coupling in the complete system.
Humidity Noise emission
The maximum permissible relative humidity Running noise can occur during operation.
is 75 %. A relative humidity of 93 % is This is particularly true of encoders with
temporarily permissible. Condensation is integral bearing and multiturn rotary
not permissible. encoders (with gears). The intensity may
vary depending on the mounting situation
and shaft speed.
26 27
For the fault exclusion design for functional safety, the following material properties and Conditions for longer storage times Temperature ranges Self-heating at
System tests
conditions for the mating surfaces are assumed. For a storage period of twelve months or For encoders still in their packaging, a shaft speed nmax
Encoders from HEIDENHAIN are usually
Aluminum Steel longer, HEIDENHAIN recommends the storage temperature range of –30 °C to
integrated as components into complete
following: 65 °C applies (HR 1120: –30 °C to 70 °C). Solid shaft / ≈ +5 K
systems. Such applications require
Material type Hardenable wrought Unalloyed hardened steel • Leave the encoders in their original The operating temperature range tapered shaft ≈ +10 K
comprehensive testing of the complete
aluminum alloys packaging specifies the temperatures that a rotary ROC/ROQ/ROD/ with IP66 rating
system, irrespective of the encoder’s
• The storage location should be dry, free encoder is permitted to reach during ExN 400/1300
specifications.
Tensile strength Rm  220 N/mm2  600 N/mm2 of dust, and temperature-regulated. It operation in the actual installation
should also be free of vibration, environment. Within this range, proper ROD 600 ≈ +75 K
The specifications provided in this brochure
mechanical shock, and chemical functioning of the rotary encoder is
apply only to the encoder and not to the
Yield strength Rp0.2 Not applicable  400 N/mm2 environmental influences ensured. The operating temperature is ROD 1900 ≈ +10 K
complete system. Any operation of the
or yield point Re • Every twelve months, rotate the shafts measured at the defined measuring point
encoder outside of the specified range
of the encoders with integral bearing at (see dimension drawing) and must not be Blind hollow shaft ≈ +30 K
or outside of its proper and intended use
Shear strength τa  130 N/mm2  390 N/mm2 low speed and without axial or radial confused with the ambient temperature. ECN/EQN/ ≈ +40 K
is solely at the user’s own risk.
shaft loading so that the bearing ERN 400/1300 with IP66 rating
Interface pressure pG  250 N/mm2  660 N/mm2 lubrication becomes evenly redistributed The temperature of the rotary encoder is
(e.g., such as when first breaking in an influenced by the following factors: ECN/EQN/ ≈ +10 K
Mounting 2 encoder) • The mounting conditions
The steps and dimensions that must Elastic modulus E 70 kN/mm to 200 kN/mm2 to ERN 1000
(at 20 °C) 75 kN/mm2 215 kN/mm2 • The ambient temperature
be complied with during mounting are Parts subject to wear • The encoder’s susceptibility to
specified solely in the mounting Hollow through shaft ≈ +40 K
Coefficient of thermal –6 –1
 25 · 10 K
–6 –1
10 · 10 K –6 –1
to 17 · 10 K Encoders from HEIDENHAIN are designed self-heating ECN/ERN 100 with IP64 rating
instructions supplied with the device. for a long service life. Preventive mainte-
All mounting-related information in this expansion Þtherm (at 20 °C) ECN/EQN/ERN 400 ≈ +50 K
nance is not required. However, they do An encoder’s susceptibility to self-heating with IP66 rating
brochure is therefore only provisional and contain components that are subject to depends both on its design characteristics
non-binding, and will not become the Surface roughness Rz  16 µm
wear, depending on the application and how (stator coupling / solid shaft, shaft sealing
subject matter of a contract. they are deployed. This especially applies to ring, etc.) and on its operating parameters Typical self-heating values of a rotary encoder at
Friction values Mounting surfaces must be clean and free of grease. maximum permissible shaft speed based on its
Use screws and washers in their condition as delivered. cables that are subjected to frequent flexing. (shaft speed, supply voltage). A temporary
All provided information on screw design characteristics. The relationship between
Other parts subject to wear are the bearings period of heightened self-heating can also
connections assumes a mounting shaft speed and heat generation is nearly linear.
Tightening procedure Use a signal-emitting torque wrench in accordance with in encoders with integral bearing, the radial occur after very long breaks in operation
temperature of 15 °C to 35 °C. shaft seal rings in rotary encoders and angle (of several months). Please allow for a two-
DIN EN ISO 6789, with an accuracy of ±6 %
encoders, and the sealing lips on linear minute break-in period at low shaft speeds.
Mounting temperature 15 °C to 35 °C encoders. The greater susceptibility to self-heating
Screws with material bonding that an encoder exhibits, the lower the
anti-rotation lock In order to avoid damage from current flows, ambient temperature needs to be in order
Mounting screws and central screws some rotary encoders are available with to keep the encoder within its permissible
from HEIDENHAIN (not included in hybrid bearings. In general, these bearings operating temperature range.
delivery) feature a coating that, after exhibit greater wear at high temperatures
hardening, provides a material bonding than standard bearings. This table shows the approximate self-
anti-rotation lock. As a result, these screws Rotary encoders can exert a torque of 1 Nm heating values to be expected for the rotary
cannot be reused. Their minimum shelf on the mating shaft. The mating mechanics Service life encoders. In the worst case, the amount
life is two years (storage at  30 °C and must be desiged for this load. If further Unless otherwise specified, HEIDENHAIN of self-heating may be affected by multiple
 65 % relative humidity). Their expiration requirements must be complied with, then encoders are designed for a service life of operating parameters, such as a 30 V
date is printed on the package. these are provided in the respective 20 years, which is equivalent to 40 000 supply voltage and maximum shaft speed.
Product Informarmation document. operating hours under typical operating Thus, if an encoder is being operated close
Screw insertion and the application of conditions. to its maximum permissible specifications,
tightening torque must therefore be then the actual operating temperature
completed within five minutes. The Modifications to the encoder should be measured directly at the encoder.
required strength is reached at room The proper functioning and accuracy Suitable measures must then be taken (fan,
temperature after six hours. The lower of encoders from HEIDENHAIN are heat sinks, etc.) to sufficiently reduce the
the temperature, the longer the curing ensured only if the encoders have not ambient temperature so that the maximum
process will take. Curing temperatures been modified. Any modification, even permissible operating temperature will not Measuring the actual operating temperature at
below 5 °C are not permissible. the defined measuring point of the rotary
a minor one, can impair the proper be exceeded during continuous operation.
encoder (see Specifications)
functioning, reliability, and safety of the
Screws with material bonding anti-rotation encoders, and result in a loss of For high shaft speeds at the maximum
lock must not be used more than once. warranty. This also includes the use of permissible ambient temperature, special
If a replacement becomes necessary, any additional or non-prescribed locking versions with a reduced protection rating
recut the threads and use new screws. varnishes, lubricants (e.g., for screws), are available (without a radial shaft seal ring
On threaded holes, a chamfer is required or adhesives. If you are in doubt, we and its concomitant frictional heat).
in order to keep the adhesive coating recommend that you consult with
from being scraped off. HEIDENHAIN in Traunreut, Germany.
28 29
Safety-related position measuring systems
The term “functional safety” designates Area of application Additional measures in the control enable Principle of operation In order to be able to implement a position The architecture of the safety system and
HEIDENHAIN encoders that are suitable Safety-related position measuring systems the use of certain encoders for applications The safety design of the position measuring measuring system in a safety-related the diagnostic capabilities of the control may
for deployment in safety-related applications. from HEIDENHAIN are designed to be with up to SIL 3, PL e, Category 4. The system is based on two mutually indepen- application, a suitable control is required. define or specify further requirements.
These encoders operate as single-encoder usable as single-encoder systems in suitability of these encoders is indicated in dent position values generated in the encoder, The control performs the essential tasks of Thus, in the operating instructions for
systems with purely serial data transmission applications with control category SIL 2 the documentation (brochures and Product and on additional error bits. With EnDat 2.2, carrying out communication with the encoder the control, it must be explicitly stated
via the EnDat 2.2 or DRIVE-CLiQ interface. (as per EN 61508), PL d, Category 3 Information documents). for example, these data are transmitted to and reliably evaluating the encoder data. whether fault exclusion is required for
The reliable transmission of the position is (as per EN ISO 13849). the EnDat Master via the EnDat 2.2 protocol. the loosening of the mechanical
based on two independently generated The functions of the safety-related position The EnDat Master performs various The requirements for integrating the EnDat connection between the encoder and
absolute position values and on error bits measuring system can be used for the monitoring functions that help detect errors Master with monitoring functions into the the motor. Any resulting requirements
provided to the safe control. following safety tasks of the complete in the encoder and data transmission. For safe control are described in HEIDENHAIN must be relayed by the machine designer
system (see also EN 61800-5-2): example, a comparison of the two position Document 533095. For example, this to the installation technician and the
Basic principle values is performed. The EnDat Master then document contains requirements pertaining servicing staff, for example.
HEIDENHAIN measuring systems for makes the data available to the safe control. to the electrical connection, cyclic tests of
safety-related applications are tested for The control monitors the functionality of the the position measuring system, and the Fault exclusion for the loosening of the
compliance in accordance with the standards safety-related position measuring system evaluation and further processing of position mechanical connection
EN ISO 13849-1 (successor to EN 954-1), through periodically triggered tests. values. Supplementing this, Document Irrespective of the interface, many safety
EN 61508, and EN 61800-5-2. In these 1000344 describes measures that enable designs require a safe mechanical connection
standards, the assessment of safety-related SS1 Safe Stop 1 The architecture of the EnDat 2.2 protocol the use of suitable encoders in applications of the encoder. The standard for electric
systems is based on, among other things, enables the processing of all safety-relevant with up to SIL 3, PL e, Category 4. motors, EN 61800-5-2, defines the loosening
the failure probabilities of integrated SS2 Safe Stop 2 information or control mechanisms during or loss of the mechanical connection
components and subsystems. This modular unimpaired normal operation. This is possible Machine and equipment manufacturers between the encoder and motor as a fault
approach makes it easier for the manufactur SOS Safe Operating Stop because the safety-relevant information is need not attend to these details themselves. that requires consideration. In many cases,
ers of safety-related systems to realize their contained within the so-called additional This functionality must be provided by the fault exclusion is required because the
complete systems, allowing them to build SLA Safely Limited Acceleration data. According to EN 61508, the architecture control. Product information documents, control is not necessarily capable of
upon already qualified subsystems. Safety- of the position measuring system is regarded brochures, and mounting instructions provide detecting such errors.
related position measuring systems with SAR Safe Acceleration Range as a single-channel tested system. information to aid in the selection of a
purely serial data transmission via EnDat 2.2 suitable encoder. The Product Information Standard encoders
or DRIVE-CLiQ take this approach into SLS Safely Limited Speed Integration of the position measuring document and brochure contain general In addition to those encoders explicitly
account. In a safe drive system, the system: documentation information on the functionality and qualified for safety applications, standard
safety-related position measuring system SSR Safe Speed Range In order for a position measuring system to application of the encoders, as well as encoders (e.g., with 1 VPP signals) can be
represents such a subsystem. A safety- be used properly, demands are placed on specifications and permissible ambient used in safe applications as well. In such
related position measuring system (e.g., SLP Safely Limited Position the control, machine designer, installation conditions. The mounting instructions cases, the characteristics of the encoders
with EnDat 2.2) consists of the following: technician, servicing personnel, and others. provide detailed information about installing must be matched to the requirements of
• An encoder with an EnDat 2.2 SLI Safely Limited Increment The required information is provided in the the encoders. the respective control. To this end,
transmission component documentation for the position measuring HEIDENHAIN can provide additional data
• A data transfer line with EnDat 2.2 SDI Safe Direction systems. about the individual encoders (failure rate,
communication and HEIDENHAIN cable fault model as per EN 61800-5-2).
• An EnDat 2.2 receiver component with SSM Safe Speed Monitor
monitoring functionality (EnDat Master)
Safety functions according to EN 61800-5-2
In practice, the complete “safe drive
system” (e.g., for EnDat 2.2) consists of
the following:
• A safety-related position measuring Measured-value Data transmission line Reception of measured values
system acquisition
• A safety-related control (including the Safety-related position measuring system Safe control
EnDat Master with monitoring functions)
• A power stage with motor power cable
and motor Interface 1
• A mechanical connection between the EnDat 2.2
EnDat interface
Position 1 EnDat 2.2
encoder and motor (e.g., rotor/stator EnDat
connection) Master
(protocol and cable)
Position 2 Interface 2
EnDat Master
Further information:
Safe control
Drive motor For more information on the topic of
Encoder functional safety, please refer to the
Catalog of measures
Technical Information documents Safety-
Related Position Measuring Systems
Two independent Serial data Position values and error bits via
and Safety-Related Control Technology,
Power cable position values transmission two processor interfaces as well as the Product Information
Power stage
Internal monitoring
documents for encoders with functional
Monitoring functions
safety, and to the Customer Information
Protocol implementation Efficiency test
documents on fault exclusion.
DRIVE-CLiQ is a registered trademark of
Siemens AG. Complete safe drive system with EnDat 2.2 Safety-related position encoder with EnDat 2.2
30 31
ECN/EQN/ERN 1000 series Incremental
Absolute and incremental rotary encoders ERN 1020 ERN 1030 ERN 1080 ERN 1070
• Stator coupling for plane surface 1)
• Blind hollow shaft Interface « TTL « HTLs » 1 VPP « TTL
Line counts* 100 200 250 360 400 500 720 900 1000 2500 3600
1000 1024 1250 1500 2000 2048 2500 3600
Reference mark One
Integrated interpolation* – 5-fold 10-fold
* Cutoff frequency –3 dB – –  180 kHz – –

Scanning frequency  300 kHz  160 kHz –  100 kHz  100 kHz
Edge separation a  0.39 µs  0.76 µs –  0.47 µs  0.22 µs
System accuracy 1/20 of grating period
Electrical connection* Cable (1 m/5 m) with or without M23 coupling Cable (5 m), free cable end
Supply voltage DC 5 V ±0.5 V DC 10 V to 30 V DC 5 V ±0.5 V DC 5 V ±0.25 V
Current consumption  120 mA  150 mA  120 mA  155 mA

without load
Shaft Blind hollow shaft  6 mm
Mech. permiss. shaft speed n  12 000 rpm
Starting torque (typical) 0.001 Nm (at 20 °C)
Moment of inertia of rotor  0.5 · 10–6 kgm2
Permissible axial motion ±0.5 mm

of measured shaft
Vibration 55 Hz to 2000 Hz  100 m/s2 (EN 60068-2-6)

Shock 6 ms  1000 m/s2 (EN 60068-2-27)
Max. operating temp.2) 100 °C 70 °C 100 °C 70 °C
Min. operating temp. Fixed cable: –30 °C; moving cable: –10 °C
Protection EN 60529 IP64

Required mating dimensions Mass 0.1 kg
Valid for ID 534909-xx 534911-xx 534913-xx 534912-xx
Bold: This preferred version is available on short notice.

* Please select when ordering
1)
Limited tolerances: signal amplitude: 0.8 VPP to 1.2 VPP
2)
For the relationship of operating temperature to shaft speed and supply voltage, see General mechanical information
* =  3.7 mm for encoders with the DRIVE-CLiQ interface

A = Bearing of mating shaft
m = Measuring point for operating temperature
r = Reference mark position ±20°
1 = Two screws in clamping ring; tightening torque: 0.6 Nm ±0.1 Nm; width A/F: 1.5
2 = Compensation of mounting tolerances and thermal expansion; no dynamic motion permitted
3 = Ensure protection against contact (EN 60529)
4 = Direction of shaft rotation for output signals as per the interface description
32 33
Absolute
Singleturn Multiturn
ECN 1023 ECN 1013 ECN 1023 S EQN 1035 EQN 1025 EQN 1035 S
Interface* EnDat 2.2 EnDat 2.2 DRIVE-CLiQ EnDat 2.2 EnDat 2.2 DRIVE-CLiQ
Ordering designation EnDat22 EnDat01 DQ01 EnDat22 EnDat01 DQ01
Firmware1) – – 01.32.26.53 01.32.26.53
Positions per revolution 8 388 608 (23 bits) 8192 (13 bits) 8 388 608 (23 bits) 8 388 608 (23 bits) 8192 (13 bits) 8 388 608 (23 bits)
Revolutions – 4096 (12 bits)
Code Pure binary Pure binary Pure binary Pure binary
Elec. permiss. shaft speed  12 000 rpm  4000 rpm/  12 000 rpm  12 000 rpm  12 000 rpm  4000 rpm/  12 000 rpm  12 000 rpm
Deviations2) 5) for continuous position value ±1 LSB/±16 LSB for continuous position value for continuous position value ±1 LSB/±16 LSB for continuous position value
3)
Calculation time tcal  7 µs  9 µs  8 µs  7 µs  9 µs  8 µs3)
Clock frequency  8 MHz  2 MHz  8 MHz  2 MHz
Incremental signals – » 1 VPP4) – – » 1 VPP4) –
Line count – 512 – – 512 –
Cutoff frequency –3 dB –  190 kHz – –  190 kHz –
System accuracy ±60“
Electrical connection Cable (1 m) with M12 coupling Cable (1 m) with M23 coupling Cable (1 m) with M12 coupling Cable (1 m) with M12 coupling Cable (1 m) with M23 coupling Cable (1 m) with M12 coupling
Supply voltage DC 3.6 V to 14 V DC 10 V to 28.8 V DC 3.6 V to 14 V DC 10 V to 28.8 V
Power consumption (max.) 3.6 V:  0.6 W 10 V:  850 mW 3.6 V:  0.7 W 10 V:  950 mW

14 V:  0.7 W 28.8 V:  900 mW 14 V:  0.8 W 28.8 V:  1000 mW
Current consumption 5 V: 85 mA 24 V: 32 mA 5 V: 105 mA 24 V: 35 mA

(typical, without load)
Shaft Blind hollow shaft ¬ 6 mm
Mech. permiss. shaft speed n 12 000 rpm
Starting torque (typical) 0.001 Nm (at 20 °C) 0.002 Nm (at 20 °C)
Moment of inertia of rotor 0.5 · 10–6 kgm2
Permiss. axial motion of ±0.5 mm

measured shaft

Shock 6 ms  1000 m/s2 (EN 60068-2-27)
Max. operating temp. 100 °C 95 °C 100 °C 95 °C
Mass 0.1 kg
Valid for ID 606683-xx 606681-xx 1211019-xx 606688-xx 606686-xx 1211020-xx

1)
SINAMICS/SIMOTION:  V4.4 HF4; SINUMERIK without safety  V4.4 SP1 HF3 (as per document: “Certified encoders with
DRIVE-CLiQ Dependencies on SIMOTION / SINUMERIK and SINAMICS Hardware and Software versions” (version: 12/2018)
2)
Speed-dependent deviations between absolute and incremental signals
3)
Calculation time TIME_MAX_ACTVAL
4)
5)
In the case of DRIVE-CLiQ interface: with  2 position requests per revolution
34 35
• Stator coupling for plane surface 1)
• Blind hollow shaft or hollow through shaft Interface « TTL « HTL » 1 VPP
Line counts* 250 500 –
1000 1024 1250 2000 2048 2500 3600 4096 5000

Blind hollow shaft
Reference mark One
Cutoff frequency –3 dB –  180 kHz

Output frequency  300 kHz –
Edge separation a  0.39 µs –
Electrical connection* • M23 flange socket, radial and axial (with blind hollow shaft)
• Cable (1 m), free cable end
Supply voltage DC 5 V ±0.5 V DC 10 V to 30 V DC 10 V to 30 V DC 5 V ±0.5 V

without load
Shaft* Blind hollow shaft or hollow through shaft;  8 mm or  12 mm
Mech. permiss. shaft  6000 rpm/ 12 000 rpm3)

Connector coding 2)
A = Axial, R = Radial speed n
Hollow through shaft
Flange socket Starting torque (typical) Blind hollow shaft: 0.01 Nm
at 20 °C Hollow through shaft: 0.025 Nm (with IP66: 0.075 Nm)
Permissible axial motion ±1 mm

of measured shaft
Vibration 55 Hz to 2000 Hz  300 m/s2; flange socket version: 150 m/s2 (EN 60068-2-6); higher values upon request
Shock 6 ms  2000 m/s2 (EN 60068-2-27)
Max. operating temp.2) 100 °C 70 °C 100 °C4)
Min. operating temp. Flange socket or fixed cable: –40 °C; moving cable: –10 °C
Protection EN 60529 At housing: IP67 (IP66 with hollow through shaft)

At shaft inlet: IP64 (when  12 mm, IP66 possible upon request)
Mass 0.3 kg
5)

1)
2)
3)
With two shaft clampings (only with hollow through shaft)
4)
80 °C for ERN 480 with 4096 or 5000 lines
5)
Available with mechanical fault exclusion; for deviating specifications and special mounting information, see the Fault Exclusion
Customer Information document
Radial cable (can also be used axially)

1 = Clamping screw with X8 hexalobular socket
1) = Clamping ring on housing side (delivery condition)
2) = Clamping ring on coupling side (optionally mountable)
36 37
Absolute
ECN 425 ECN 413 EQN 437 EQN 425
Interface* EnDat 2.2 EnDat 2.2 SSI EnDat 2.2 EnDat 2.2 SSI
Ordering designation EnDat22 EnDat01 SSI39r1 EnDat22 EnDat01 SSI41r1
Positions per revolution 33 554 432 (25 bits) 8192 (13 bits) 33 554 432 (25 bits) 8192 (13 bits)
Revolutions – 4096
Code Pure binary Gray Pure binary Gray
Elec. permiss. shaft speed  12 000 rpm 512 lines:  5000/12 000 rpm  12 000 rpm  12 000 rpm 512 lines:  5000/10 000 rpm  12 000 rpm
Deviations1) for continuous position value ±1 LSB/±100 LSB ±12 LSB for continuous position value ±1 LSB/±100 LSB ±12 LSB
2 048 lines:  1500/12 000 rpm 2048 lines:  1500/10 000 rpm
±1 LSB/±50 LSB ±1 LSB/±50 LSB
Calculation time tcal  7 µs  9 µs  5 µs  7 µs  9 µs  5 µs

Clock frequency  8 MHz  2 MHz –  8 MHz  2 MHz –
Incremental signals Without » 1 VPP2) Without » 1 VPP2)
Line counts* – 512 2048 512 – 512 2048 512
Cutoff frequency –3 dB – 512 lines:  130 kHz; 2048 lines:  400 kHz – 512 lines:  130 kHz; 2048 lines:  400 kHz
Output frequency – – – –
System accuracy ±20“ 512 lines: ±60“; 2048 lines: ±20“ ±20“ 512 lines: ±60“; 2048 lines: ±20“
Electrical connection* • M12 flange socket, radial • M23 flange socket, radial • M12 flange socket, radial • M23 flange socket, radial
• Cable (1 m) with M12 coupling • Cable (1 m) with M23 coupling or free cable end • Cable (1 m) with M12 coupling • Cable (1 m) with M23 coupling or free cable end
Supply voltage DC 3.6 V to 14 V DC 4.75 V to 30 V DC 3.6 V to 14 V DC 3.6 V to 14 V DC 4.75 V to 30 V
Power consumption (max.) 3.6 V:  0.6 W 5 V:  0.8 W 3.6 V:  0.7 W 5 V:  0.95 W

14 V:  0.7 W 10 V:  0.65 W 14 V:  0.8 W 10 V:  0.75 W
30 V:  1 W 30 V:  1.1 W

(typical, without load) 24 V: 24 mA 24 V: 28 mA
Mech. permiss. shaft speed n3)  6000 rpm/ 12 000 rpm4)
Starting torque (typical) Blind hollow shaft: 0.01 Nm; hollow through shaft: 0.025 Nm (with IP66: 0.075 Nm)
at 20 °C

of measured shaft
Vibration 55 Hz to 2000 Hz  300 m/s2; flange socket version:  150 m/s2 (EN 60068-2-6); higher values upon request
Shock 6 ms  2000 m/s2 (EN 60068-2-27)
Max. operating temp.3) 100 °C

Mass 0.3 kg
5) 5) 6)
Valid for ID 683644-xx / 1178024-xx 1065932-xx 1132405-xx / 1353129-xx6) 683646-xx5) / 1178025-xx5) 6) 1109258-xx 1132407-xx / 1353131-xx 6)
3)
Bold: This preferred version is available on short notice. For the relationship of operating temperature to shaft speed and supply voltage, see General mechanical information
4)
* Please select when ordering With two shaft clampings (only with hollow through shaft)
1) 5)
Speed-dependent deviations between absolute value and incremental signal Also available with functional safety; for dimensions and specifications, see Product Information document
2) 6)
Limited tolerances: signal amplitude: 0.8 VPP to 1.2 VPP Successor variants
38 39
EQN 425 Absolute
Rotary encoder for absolute position values with blind hollow shaft EQN 425 – Multiturn
• Stator coupling for plane surface
• EnDat interface Interface EnDat 2.2
• Additional incremental signals with TTL or HTL levels
Ordering designation* EnDatH EnDatT
Positions per revolution 8192 (13 bits)
Revolutions 4096 (12 bits)
Code Pure binary
Calculation time tcal  9 µs

Clock frequency  2 MHz
Incremental signals HTL TTL
Signal periods * 512 1024 2048 512 2048 4096
Edge separation a  2.4 µs  0.8 µs  0.6 µs  2.4 µs  0.6 µs  0.2 µs
Output frequency  52 kHz  103 kHz  205 kHz  52 kHz  205 kHz  410 kHz
System accuracy1) ±60“ ±60“ ±20“ ±60“ ±20“ ±20“
Electrical connection 17-pin M23 radial flange socket (male)

2)
Cable length  100 m (with HEIDENHAIN cable)
Supply voltage DC 10 V to 30 V DC 4.75 V to 30 V
Power consumption (max.)3) See Power consumption diagram At 4.75 V:  900 mW

At 30 V:  1100 mW
Current consumption At 10 V:  56 mA At 5 V:  100 mA

(typical, without load) At 24 V:  34 mA At 24 V:  25 mA
Required mating dimensions Shaft Blind hollow shaft  12 mm
Mech. permiss. shaft  6000 rpm

speed n4)
0.05 A
Permissible axial motion  ±1 mm

of measured shaft
Vibration 10 Hz to 2000 Hz5)  150 m/s2 (EN 60068-2-6)

Shock 6 ms  2000 m/s2 (EN 60068-2-27)
Min. operating temp.4) –40 °C
Protection EN 60529 Housing: IP67

A= Bearing of mating shaft
m= Measuring point for operating temperature Shaft exit: IP64
1= Connector coding
2= Clamping screw with X8 hexalobular socket; tightening torque: 1.1 Nm ±0.1 Nm Mass 0.30 kg
3= Compensation of mounting tolerances and thermal expansion; no dynamic motion permitted
4= Direction of shaft rotation for output signals as per the interface description Valid for ID 1042545-xx 1042540-xx

1)
For absolute position value; accuracy of the incremental signal upon request
2)
For HTL signals, the maximum cable length depends on the output frequency (see the Cable length for HTL diagrams)
3)
See General electrical information in the Interfaces of HEIDENHAIN Encoders brochure
4)
5)
10 Hz to 55 Hz constant over 4.9 mm peak to peak
40 41
EQN 425 Absolute
Rotary encoder for absolute position values with blind hollow shaft EQN 425 – Multiturn
• Stator coupling for plane surface
• SSI interface Interface SSI
• Additional incremental signals with TTL or HTL levels
Ordering designation* SSI41H SSI41T
Code Gray

Incremental signals HTL6) TTL
Signal periods * 512 1024 2048 512 2048 4096
System accuracy1) ±60“ ±60“ ±20“ ±60“ ±20“ ±20“
Electrical connection 12-pin M23 radial flange socket (male) 17-pin M23 radial flange socket (male)
2)

At 30 V:  1100 mW

Required mating dimensions Shaft Blind hollow shaft  12 mm
Mech. permiss. shaft  6000 rpm

speed n4)
0.05 A
Permissible axial motion  ±1 mm

of measured shaft
Vibration 10 Hz to 2000 Hz5)  150 m/s2 (EN 60068-2-6)

Shock 6 ms  2000 m/s2 (EN 60068-2-27)
Min. operating temp.4) –40 °C

A= Bearing of mating shaft
m= Measuring point for operating temperature Shaft exit: IP64
1= Connector coding
2= Clamping screw with X8 hexalobular socket; tightening torque: 1.1 Nm ±0.1 Nm Mass 0.30 kg
3= Compensation of mounting tolerances and thermal expansion; no dynamic motion permitted
4= Direction of shaft rotation for output signals as per the interface description Valid for ID 1065029-xx 1042533-xx

1)
2)
3)
4)
5)
6)
HTLs upon request
42 43
ECN/EQN 400 F/S series Absolute
Absolute rotary encoders Singleturn Multiturn

• Stator coupling for plane surface ECN 425 F ECN 424 S EQN 437 F EQN 436 S
• Blind hollow shaft or hollow through shaft
• Fanuc Serial Interface or Siemens DRIVE-CLiQ interface Interface Fanuc Serial Interface; DRIVE-CLiQ Fanuc Serial Interface; DRIVE-CLiQ
i Interface i Interface
Blind hollow shaft 1)
Ordering designation Fanuc05 DQ01 Fanuc061) DQ01
Positions per revolution i: 33 554 432 16 777 216 33 554 432 16 777 216
(25 bits) (24 bits) (25 bits) (24 bits)
: 8 388 608
(23 bits)
Revolutions 8192 via revolution – i: 4096 4096

counter
Code Pure binary
Elec. permiss. shaft speed  15 000 rpm for continuous position value
Calculation time tcal  5 µs  8 µs2)  5 µs  8 µs2)
Hollow through shaft Electrical connection M12 flange socket, radial

3)
Cable length  30 m  95 m  30 m  95 m3)
DC supply voltage 3.6 V to 14 V 10 V to 36 V 3.6 V to 14 V 10 V to 36 V
Power consumption (max.) 5 V:  0.7 W 10 V:  1.4 W 5 V:  0.75 W 10 V:  1.4 W

14 V:  0.8 W 36 V:  1.5 W 14 V:  0.85 W 36 V:  1.5 W

Shaft* Blind hollow shaft or hollow through shaft  12 mm;

with DRIVE-CLiQ, also available with blind hollow shaft  10 mm
Mech. permiss. shaft  6000 rpm/ 12 000 rpm 5)

speed n4)
Required mating dimensions Starting torque (typical) Blind hollow shaft: 0.01 Nm

of measured shaft

Shock 6 ms  2000 m/s2 (EN 60068-2-27)
Min. operating temp. –30 °C
Protection EN 60529 At housing: IP67 (IP66 with hollow through shaft); at shaft inlet: IP64 (at DQ01  12 mm with blind
hollow shaft, Fanuc06, Mit03-4, IP66 upon request)
A = Bearing of mating shaft Mass 0.3 kg

6)
1 = Connector coding Valid for ID 1081302-xx 1036798-xx 1081301-xx 1036801-xx6)
2 = Clamping screw with X8 hexalobular socket; tightening torque: 1.1 Nm ±0.1 Nm
3 = Ensure protection against contact (EN 60529) * Please select when ordering
4 = Compensation of mounting tolerances and thermal expansion; no dynamic motion permitted 1)
Optimized for Fanuc machine tool controls
5 = Direction of shaft rotation for output signals as per the interface description 2)
1) = Clamping ring on housing side (delivery condition) 3)
See the Interfaces of HEIDENHAIN Encoders brochure; with nEN = 1 (including adapter cable)
4)
For the relationship of operating temperature to shaft speed and supply voltage, see General mechanical information.
5)
DRIVE-CLiQ is a registered trademark of Siemens AG. With two shaft clampings (only with hollow through shaft)
6)
Also available with functional safety; for dimensions and specifications, see Product Information document
44 45
• Stator coupling for universal mounting 1)
• Blind hollow shaft or hollow through shaft Interface « TTL « HTL » 1 VPP
Line counts* 250 500 –
Blind hollow shaft 1000 1024 1250 2000 2048 2500 3600 4096 5000
Reference mark One

① Edge separation a  0.39 µs –
Electrical connection* • M23 flange socket, radial and axial (with blind hollow shaft)
• Cable (1 m), free cable end

without load
⑤ Shaft* Blind hollow shaft or hollow through shaft;  8 mm or  12 mm

Hollow through shaft Flange socket
Mech. permiss. shaft  6000 rpm/ 12 000 rpm3)
Connector coding 2)
A = Axial, R = Radial speed n
Starting torque (typical) Blind hollow shaft: 0.01 Nm

1) 2) at 20 °C Hollow through shaft: 0.025 Nm (with IP66: 0.075 Nm)

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

Required mating dimensions ②
Blind hollow shaft Hollow through shaft Min. operating temp. Flange socket or fixed cable: –40 °C; moving cable: –10 °C
3) Protection EN 60529 At housing: IP67 (IP66 with hollow through shaft)

② At shaft inlet: IP64 (when  12 mm, IP66 possible upon request)
②
Mass 0.3 kg

③ ±1 ±0.8
③ ③ * Please select when ordering
1)
2)
3)
④ 2) 4)
With two shaft clampings (only with hollow through shaft)
+0.2 80 °C for ERN 480 with 4096 or 5000 lines
1) 1.2 0

1 = Clamping screw with X8 hexalobular socket
2 = Hole pattern for fastening, see coupling
1) = Clamping ring on housing side (delivery condition)
46 47
Absolute
ECN 425 ECN 413 EQN 437 EQN 425
Elec. permiss. shaft speed  12 000 rpm 512 lines:  5000/12 000 rpm  12 000 rpm  12 000 rpm 512 lines:  5000/10 000 rpm  12 000 rpm
Deviations1) for continuous position value ±1 LSB/±100 LSB ±12 LSB for continuous position value ±1 LSB/±100 LSB ±12 LSB
2048 lines:  1500/12 000 rpm 2048 lines:  1500/10 000 rpm

Line counts* – 512 2048 512 – 512 2048 512
Output frequency – – – –
Electrical connection* • M12 flange socket, radial • M23 flange socket, radial • M12 flange socket, radial • M23 flange socket, radial
• Cable (1 m) with M12 coupling • Cable (1 m) with M23 coupling or free cable end • Cable (1 m) with M12 coupling • Cable (1 m) with M23 coupling or free cable end
Supply voltage DC 3.6 V to 14 V DC 3.6 V to 14 V DC 4.75 V to 30 V DC 3.6 V to 14 V DC 3.6 V to 14 V DC 4.75 V to 30 V

14 V:  0.7 W 10 V:  0.65 W 14 V:  0.8 W 10 V:  0.75 W
30 V:  1 W 30 V:  1.1 W


4)
Mech. permiss. shaft  6000 rpm/ 12 000 rpm
3)
speed n
Starting torque (typical) Blind hollow shaft: 0.01 Nm


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

Mass 0.3 kg
5)
Valid for ID 683644-xx / 1178024-xx 1065932-xx 1132405-xx / 1353129-xx5) 683646-xx / 1178025-xx5) 1109258-xx 1132407-xx / 1353131-xx5)
3)
Bold: This preferred version is available on short notice. * Please select when ordering For the relationship of operating temperature to shaft speed and supply voltage, see General mechanical information
1) 2) 4)
Speed-dependent deviations between absolute value and incremental signal Limited tolerances: signal amplitude: 0.8 VPP to 1.2 VPP With two shaft clampings (only with hollow through shaft) 5) Successor variants
48 49
ECN/ERN 100 series Absolute Incremental
Absolute and incremental rotary encoders Singleturn

• Stator coupling for plane surface ECN 125 ECN 113 ERN 120 ERN 130 ERN 180
• Hollow through shaft
2)
Interface EnDat 2.2 EnDat 2.2 « TTL « HTL » 1 VPP
Ordering designation EnDat22 EnDat01 –
Positions per revolution 33 554 432 (25 bits) 8192 (13 bits) –
Code Pure binary –
Elec. permiss. shaft speed nmax for continuous  600 rpm/nmax –

Deviations1) position value ±1 LSB/±50 LSB
Calculation time tcal  7 µs  9 µs –

Clock frequency  16 MHz  2 MHz
Incremental signals Without » 1 VPP2) « TTL « HTL » 1 VPP2)
Line counts* – 2048 1000 1024 2048 2500 3600 5000
Reference mark – – One
Cutoff frequency –3 dB –  400 kHz typical –  180 kHz typical

Output frequency – –  300 kHz –
Edge separation a – –  0.39 µs –
System accuracy ±20“ 1/20 of grating period
Electrical connection* • M12 flange • M23 flange • M23 flange socket, radial
socket, radial socket, radial • Cable (1 m/5 m) with or without M23 coupling
• Cable (1 m/5 m) • Cable (1 m/5 m)
with M12 coupling with or without
M23 coupling
Supply voltage DC 3.6 V to 14 V DC 5 V ±0.5 V DC 10 V to 30 V DC 5 V ±0.5 V
Power consumption (max.) 3.6 V:  620 mW/14 V:  720 mW –
Current consump. w/o load 5 V:  85 mA (typical)  120 mA  150 mA  120 mA
Shaft* Hollow through shaft  20 mm,  25 mm,  38 mm,  50 mm
Mech. permiss. shaft speed n3)  > 30 mm:  4000 rpm;   30 mm:  6000 rpm
Starting torque (typical)  > 30 mm: 0.2 Nm

at 20 °C   30 mm: 0.15 Nm
Connector coding
Moment of inertia of rotor/  50 mm 220 · 10–6 kgm2/ 5 · 104 rad/s2;  38 mm 350 · 10–6 kgm2/ 2 · 104 rad/s2
R = Radial
angular acceleration4)  25 mm 96 · 10–6 kgm2/ 3 · 104 rad/s2;  20 mm 100 · 10–6 kgm2/ 3 · 104 rad/s2
Permissible axial motion ±1.5 mm

of measured shaft
Vibration 55 Hz to 2000 Hz  200 m/s2; flange socket version:  100 m/s2 (EN 60068-2-6)
Shock 6 ms  1000 m/s2 (EN 60068-2-27)
Max. operating temp.3) 100 °C (85 °C with ERN 130)
Mass 0.6 kg to 0.9 kg depending on the hollow-shaft version
Valid for ID 810801-xx 810800-xx 589611-xx 589612-xx 589614-xx

A = Bearing
Bold: This preferred version is available on short notice. * Please select when ordering
1)
1 = ERN: reference mark position ±15°; ECN: zero position ±15° Speed-dependent deviations between absolute value and incremental signal
2)
2 = Compensation of mounting tolerances and thermal expansion; no dynamic motion permitted Limited tolerances: signal amplitude: 0.8 VPP to 1.2 VPP
3)
3 = Ensure protection against contact (EN 60529) For the relationship between shaft speed and operating temperature, see General mechanical information
4)
4 = Direction of shaft rotation for output signals as per the interface description At room temperature, calculated; mating shaft material: 1.4104
50 51
ROC/ROQ/ROD 1000 series Incremental
ROD 1020 ROD 1030 ROD 1080 ROD 1070

Absolute and incremental rotary encoders
• Synchro flange 1)
Interface « TTL « HTLs » 1 VPP « TTL
• Solid shaft for separate shaft coupling
Line counts* 100 200 250 360 400 500 720 900 1000 2500 3600
1000 1024 1250 1500 2000 2048 2500 3600
Reference mark One
Integrated interpolation* – 5-fold 10-fold
Cutoff frequency –3 dB – –  180 kHz – –

Scanning frequency  300 kHz  160 kHz –  100 kHz  100 kHz
Edge separation a  0.39 µs  0.76 µs –  0.47 µs  0.22 µs
Electrical connection Cable (1 m/5 m) with or without M23 coupling Cable (5 m), free cable end
Supply voltage DC 5 V ±0.5 V DC 10 V to 30 V DC 5 V ±0.5 V DC 5 V ±5 %
* Current consumption  120 mA  150 mA  120 mA  155 mA

without load
Shaft Solid shaft  4 mm

① Starting torque (typical) 0.001 Nm (at 20 °C)
Shaft load Axial: 5 N

Radial: 10 N at shaft end

Shock 6 ms  1000 m/s2 (EN 60068-2-27)
Max. operating temp.2) 100 °C 70 °C 100 °C 70 °C
Mass 0.09 kg
Valid for ID 534900-x 534901-xx 534904-xx 534903-xx

1)
2)

* =  3.7 mm in the case of encoders with DRIVE-CLiQ interface
A = Bearing
b = Fastening thread
r = Reference mark position ±20°
52 53
Absolute
ROC 1023 ROC 1013 ROC 1023 S ROQ 1035 ROQ 1025 ROQ 1035 S
Interface* EnDat 2.2 EnDat 2.2 DRIVE-CLiQ EnDat 2.2 EnDat 2.2 DRIVE-CLiQ
Ordering designation EnDat22 EnDat01 DQ01 EnDat22 EnDat01 DQ01
Firmware1) – – 01.32.26.53 – – 01.32.26.53
Positions per revolution 8 388 608 (23 bits) 8192 (13 bits) 8 388 608 (23 bits) 8 388 608 (23 bits) 8192 (13 bits) 8 388 608 (23 bits)
Revolutions – 4096 (12 bits)
Code Pure binary Pure binary Pure binary Pure binary
Elec. permiss. shaft speed  12 000 rpm  4000 rpm/ 12 000 rpm  12 000 rpm  12 000 rpm  4000 rpm/ 12 000 rpm  12 000 rpm
Deviations2) 5) for continuous position value ±1 LSB/±16 LSB for continuous position value for continuous position value ±1 LSB/±16 LSB for continuous position value
3)
Calculation time tcal  7 µs  9 µs  8 µs  7 µs  9 µs  8 µs3)
Clock frequency  8 MHz  2 MHz  8 MHz  2 MHz
Incremental signals – » 1 VPP4) – – » 1 VPP4) –
Line count – 512 – – 512 –
Cutoff frequency –3 dB –  190 kHz – –  190 kHz –
System accuracy ±60”
Electrical connection Cable (1 m) with M12 coupling Cable (1 m) with M23 coupling Cable (1 m) with M12 coupling Cable (1 m) with M12 coupling Cable (1 m) with M23 coupling Cable (1 m) with M12 coupling
Supply voltage DC 3.6 V to 14 V DC 10 V to 28.8 V DC 3.6 V to 14 V DC 10 V to 28.8 V
Power consumption 3.6 V:  0.6 W 10 V:  850 mW 3.6 V:  0.7 W 10 V:  950 mW

(maximum) 14 V:  0.7 W 28.8 V:  900 mW 14 V:  0.8 W 28.8 V:  1000 mW

Shaft Solid shaft ¬ 4 mm
Mech. permiss. shaft speed n 12 000 rpm


Shock 6 ms  1000 m/s2 (EN 60068-2-27)
Max. operating temp. 100 °C 95 °C 100 °C 95 °C
Mass 0.09 kg
Valid for ID 606693-xx 606691-xx 1211021-xx 606696-xx 606694-xx 1211022-xx

1)
SINAMICS/SIMOTION:  V4.4 HF4; SINUMERIK without safety  V4.4 SP1 HF3 (as per document: “Certified encoders with
DRIVE-CLiQ Dependencies on SIMOTION / SINUMERIK and SINAMICS Hardware and Software versions” (version: 12/2018)
2)
Speed-dependent deviations between absolute and incremental signals
3)
4)
5)
For the DRIVE-CLiQ interface with  2 position requests per revolution
54 55
Absolute and incremental rotary encoders ROD 426 ROD 466 ROD 436 ROD 486
• Synchro flange 1)
• Solid shaft for separate shaft coupling Interface « TTL « HTL » 1 VPP
Line counts* 50 100 150 200 250 360 500 512 720 –
1000 1024 1250 1500 1800 2000 2048 2500 3600 4096 5000
60002) 81922) 90002) 10 0002) –
Reference mark One

Scanning frequency  300 kHz/ 150 kHz2) –
Edge separation a  0.39 µs/ 0.25 µs2) –
Electrical connection* • M23 flange socket, radial and axial

• Cable (1 m/5 m) with or without M23 coupling

without load
Shaft load3) Axial:  40 N; radial:  60 N at shaft end

Shock 6 ms  2000 m/s2 (EN 60068-2-27)
Protection EN 60529 IP67 at housing; IP64 at shaft inlet (IP66 upon request)
Mass 0.3 kg
6)

1)
2)
Signal periods; they are generated via 2-fold interpolation (TTL x 2)
3)
See also Mechanical design types and mounting
4)
5)
80 °C for ROD 486 with 4096 or 5000 lines
6)

A = Bearing
1 = Connector coding
2 = ROD reference mark position on shaft and flange ±30°
56 57
Absolute
ROC 425 ROC 413 ROQ 437 ROQ 425
Positions per revolution 33 554 432 (25 bits) 8192 (13 bits) 33 554 432 (25 bits) 8192 (13 bits) 8192 (13 bits)
Elec. permiss. shaft speed  15 000 rpm 512 lines: 12 000 rpm  15 000 rpm 512 lines: 12 000 rpm
Deviations1) for continuous position value  5000/12 000 rpm ±12 LSB for continuous position value  5000/10 000 rpm ±12 LSB
±1 LSB/±100 LSB ±1 LSB/±100 LSB
2048 lines: 2048 lines:
 1500/12 000 rpm  1500/10 000 rpm

Line counts* – 512 2048 512 – 512 2048 512
Cutoff frequency –3 dB – 512 lines:  130 kHz; 2048 Str.:  400 kHz – 512 lines:  130 kHz; 2048 lines:  400 kHz
Electrical connection* • M12 flange socket, radial • M23 flange socket, axial or radial • M12 flange socket, radial • M23 flange socket, axial or radial
• Cable (1 m) with M12 coupling • Cable (1 m/5 m) with or without M23 coupling • Cable (1 m) with M12 coupling • Cable (1 m/5 m) with or without M23 coupling

14 V:  0.7 W 10 V:  0.65 W 14 V:  0.8 W 10 V:  0.75 W
30 V:  1 W 30 V:  1.1 W

Mech. permiss. shaft speed n  15 000 rpm  12 000 rpm
Shaft load Axial:  40 N; radial:  60 N at shaft end (see also Mechanical design types and mounting)

Shock 6 ms ROC/ROQ:  2000 m/s2; RIC/RIQ:  1000 m/s2 (EN 60068-2-27)
Mass 0.35 kg
4) 4) 5)
Valid for ID 683639-xx / 1322268-xx 1109254-xx 1131750-xx / 1353113-xx5) 683641-xx4) / 1322273-xx4)5) 1109256-xx 1131752-xx / 1353117-xx5)
2)
Bold: This preferred version is available on short notice. Limited tolerances: signal amplitude: 0.8 VPP to 1.2 VPP
3)
* Please select when ordering For the relationship of operating temperature to shaft speed and supply voltage, see General mechanical information
1) 4)
5)
Successor variants
58 59
ROQ 425 Absolute
Rotary encoder for absolute position values with solid shaft Multiturn
for separate shaft coupling ROQ 425
• EnDat interface
• Additional incremental signals with TTL or HTL levels Interface EnDat 2.2
Ordering designation* EnDatH EnDatT
Code Pure binary

Incremental signals HTL TTL
Signal periods * 512 1024 2048 512 2048 4096
System accuracy1) ±60“ ±60“ ±20“ ±60“ ±20“ ±20“
Electrical connection 17-pin M23 radial flange socket (male)

2)

At 30 V:  1100 mW

Shaft Solid shaft ¬ 10 mm with flat
Mech. permiss. shaft  12 000 rpm

speed n4)
Shaft load Axial:  40 Nm

Radial:  60 Nm at shaft end
A = Bearing
(see also Mechanical design types and mounting)
M1 = Measuring point for operating temperature
M2 = Measuring point for vibration, see also D 774714 Vibration 10 Hz to 2000 Hz5)  150 m/s2 (EN 60068-2-6)
1 = Connector coding Shock 6 ms  1000 m/s2 (EN 60068-2-27)

Shaft exit: IP66
Mass 0.30 kg
Valid for ID 1042530-xx 1042529-xx

1)
2)
3)
4)
5)
60 61
ROQ 425 Absolute
Rotary encoder for absolute position values with solid shaft Multiturn
for separate shaft coupling ROQ 425
• SSI interface
• Additional incremental signals with TTL or HTL levels Interface SSI
Ordering designation* SSI41H SSI41T
Code Pure binary

Incremental signals HTL6) TTL
Signal periods * 512 1024 2048 512 2048 4096
System accuracy1) ±60“ ±60“ ±20“ ±60“ ±20“ ±20“
Electrical connection 12-pin M23 radial flange socket (male) 17-pin M23 radial flange socket (male)
2)

At 30 V:  1100 mW

Shaft Solid shaft ¬ 10 mm with flat

speed n4)
Shaft load Axial:  40 Nm

Radial:  60 Nm at shaft end
A = Bearing
(see also Mechanical design types and mounting)
M1 = Measuring point for operating temperature
M2 = Measuring point for vibration, see also D 774714 Vibration 10 Hz to 2000 Hz5)  150 m/s2 (EN 60068-2-6)
1 = Connector coding Shock 6 ms  1000 m/s2 (EN 60068-2-27)

Shaft exit: IP66
Mass 0.30 kg

1)
2)
3)
4)
5)
6)
HTLs upon request
62 63
ROC/ROQ 400 F/S series Absolute

• Synchro flange ROC 425 F ROC 424 S ROQ 437 F ROQ 436 S
1)
(25 bits) (24 bits) (25 bits) (24 bits)
: 8 388 608
(23 bits)
ROC/ROQ 400 F/M Revolutions 8192 via revolution i: 4096 4096
① ②
counter
Code Pure binary
Electrical connection M12 flange socket, radial

3)

14 V:  0.8 W 36 V:  1.5 W 14 V:  0.85 W 36 V:  1.5 W

ROC/ROQ 400 S
Shaft Solid shaft  6 mm (for ROC 424 S and ROQ 436 S with flat)
① ②
Mech. permiss. shaft  15 000 rpm  12 000 rpm
speed n4)
Shaft load Axial: 40 N; radial: 60 N at shaft end (see also Mechanical design types and mounting)

Shock 6 ms  2000 m/s2 (EN 60068-2-27)
Protection EN 60529 IP67 at housing; IP64 at shaft inlet
Mass 0.35 kg
5)
Valid for ID 1081305-xx 1036789-xx 1081303-xx 1036786-xx5)
A = Bearing
b = Fastening thread 1)
m = Measuring point for operating temperature Optimized for Fanuc machine tool controls.
2)
1 = Connector coding Calculation time TIME_MAX_ACTVAL
3)
2 = Direction of shaft rotation for output signals as per the interface description See the Interfaces of HEIDENHAIN Encoders brochure; with nEN = 1 (including adapter cable)
4)
DRIVE-CLiQ is a registered trademark of Siemens AG. 5)
64 65
ROC 425 series Absolute
Absolute rotary encoders Singleturn

• Steel synchro flange ROC 425, steel ROC 425, stainless steel
• High accuracy
• Solid shaft for separate shaft coupling Interface EnDat 2.2
• Version with stainless steel housing
Ordering designation EnDat01
Positions per revolution 33 554 432 (25 bits)
Revolutions –
Code Pure binary
Elec. permiss. shaft speed  1500/15 000 rpm

Deviations1) ±1200 LSB/±9200 LSB

Incremental signals » 1 VPP
Line count 2048
Cutoff frequency –3 dB  400 kHz
Electrical connection* • M23 flange socket, axial or radial M23 flange socket, radial
Supply voltage DC 3.6 V to 14 V
Power consumption (max.) 3.6 V:  0.6 W

14 V:  0.7 W
Current consumption 5 V: 85 mA
Shaft Solid shaft  10 mm, Solid shaft  10 mm,

length 20 mm length 15 mm

speed n

Shock 6 ms  2000 m/s2 (EN 60068-2-27)
Mass 0.50 kg 0.55 kg

4)
Valid for ID 638726-xx / 1350876-xx 1080335-xx

Radial cable (can also be used axially) 1)
Stainless steel version Material Speed-dependent deviations between absolute value and incremental signal
A = Bearing 2)
Shaft 1.4104 Limited tolerances: signal amplitude: 0.8 VPP to 1.2 VPP
m = Measuring point for operating temperature Flange, housing, flange socket 1.4301 (V2A) For the relationship of operating temperature to shaft speed and supply voltage, see General mechanical information
4)
1 = Connector coding Successor variant
2 = Direction of shaft rotation for output signals
as per the interface description
66 67
Absolute and incremental rotary encoders ROD 420 ROD 430 ROD 480
• Clamping flange 1)
• Solid shaft for separate shaft coupling Interface « TTL « HTL » 1 VPP
Line counts* 50 100 150 200 250 360 500 512 720 –
1000 1024 1250 1500 1800 2000 2048 2500 3600 4096 5000
Reference mark One

Edge separation a  0.39 µs –
Electrical connection* • M23 flange socket, radial and axial

Supply voltage DC 5 V ±0.5 V DC 10 V to 30 V DC 5 V ±0.5 V
Current consumption  120 mA  150 mA  120 mA

without load

speed n
Shaft load2) Axial:  40 N; radial:  60 N at shaft end

Shock 6 ms  2000 m/s2 (EN 60068-2-27)
Max. operating temp.3) 100 °C (80 °C for ROD 480 with 4096 or 5000 lines)
Min. operating temp. Flange socket or fixed cable: –40 °C

Moving cable: –10 °C
Mass 0.3 kg
4)
Valid for ID 376840-xx 376834-xx 376880-xx

1)
2)
3)
4)

A = Bearing
1 = Connector coding
2 = ROD reference mark position on shaft and flange ±15°
68 69
Absolute
ROC 425 ROC 413 ROQ 437 ROQ 425
Elec. permiss. shaft speed  15 000 rpm 512 lines: 12 000 rpm  15 000 rpm 512 lines: 12 000 rpm
Deviations1) for continuous position value  5000/12 000 rpm ±12 LSB for continuous position value  5000/10 000 rpm ±12 LSB
±1 LSB/±100 LSB ±1 LSB/±100 LSB
2048 lines: 2048 lines:
 1500/12 000 rpm  1500/10 000 rpm

Line counts* – 512 2048 512 – 512 2048 512
System accuracy1) ±20“ 512 lines: ±60“; 2048 lines: ±20“ ±20“ 512 lines: ±60“; 2048 lines: ±20“
Electrical connection* • M12 flange socket, radial • M23 flange socket, axial or radial • M12 flange socket, radial • M23 flange socket, axial or radial
• Cable (1 m) with M12 coupling • Cable (1 m/5 m) with or without M23 coupling • Cable (1 m) with M12 coupling • Cable (1 m/5 m) with or without M23 coupling

14 V:  0.7 W 10 V:  0.65 W 14 V:  0.8 W 10 V:  0.75 W
30 V:  1 W 30 V:  1.1 W

Mech. permiss. shaft speed n  15 000 rpm  12 000 rpm
Vibration 55 Hz to 2000 Hz  300 m/s2; (EN 60068-2-6); higher values upon request
Shock 6 ms ROC/ROQ:  2000 m/s2; RIC/RIQ:  1000 m/s2 (EN 60068-2-27)
Mass 0.35 kg
4) 4) 5)
Valid for ID 683640-xx / 1322269-xx 1109255-xx 1131751-xx / 1353114-xx5) 683642-xx4) / 1322274-xx4) 5) 1109257-xx 1131753-xx / 1353118-xx5)
2)
Bold: This preferred version is available on short notice. Limited tolerances: signal amplitude: 0.8 VPP to 1.2 VPP
3)
* Please select when ordering For the relationship of operating temperature to shaft speed and supply voltage, see General mechanical information
1) 4)
5)
Successor variant
70 71
ROC/ROQ 400 F/S series Absolute

• Clamping flange with additional slot for fastening with fixing clamps ROC 425 F ROC 424 S ROQ 437 F ROQ 436 S
1)
(25 bits) (24 bits) (25 bits)
: 8 388 608
(23 bits)
ROC/ROQ 400 F/M Revolutions 8192 via revolution – i: 4096 4096
counter
 Code Pure binary
Electrical connection M12 flange socket, radial

3)

14 V:  0.8 W 36 V:  1.5 W 14 V:  0.85 W 36 V:  1.5 W

ROC/ROQ 400 S
Shaft Solid shaft  10 mm (for ROC 424 S and ROQ 436 S with flat)
 Mech. permiss. shaft  15 000 rpm  12 000 rpm

speed n4)
Shaft load Axial: 40 N; radial: 60 N at shaft end (see also Mechanical design types and mounting)

Shock 6 ms  2000 m/s2 (EN 60068-2-27)
Mass 0.35 kg
A = Bearing
m = Measuring point for operating temperature Valid for ID 1081306-xx 1036790-xx 1081304-xx 1036792-xx5)
1 = Connector coding 1)
2 = Direction of shaft rotation for output signals as per the interface description Optimized for Fanuc machine tools
2)
DRIVE-CLiQ is a registered trademark of Siemens AG. 3)
See the Interfaces of HEIDENHAIN Encoders brochure; with nEN = 1 (including adapter cable)
4)
5)
72 73
ROD 600 series Incremental
• Incremental rotary encoders with sturdy design ROD 620 ROD 630
• Clamping flange
• Solid shaft for separate shaft coupling Incremental signals « TTL « HTL
Line counts* 512 1000 1024 2048 5000
Reference mark One
Scanning frequency  300 kHz

Edge separation a  0.39 µs
System accuracy ±1/20 of grating period

2)
Electrical connection 17-pin flange socket 1¼" – 18UNEF, radial
Supply voltage DC 5 V ±0.5 V DC 10 V to 30 V

Current consumption  120 mA  150 mA
without load
Shaft Solid shaft  15 mm with key

speed n
Moment of inertia of rotor  11 · 10–6 kgm2


Shock 6 ms  2000 m/s2 (EN 60068-2-27)
Relative humidity ≤ 93 % (40 °C/4 d as per EN 60068-2-78); without condensation
Mass 0.8 kg
 = Encoder bearing * Please select when ordering

M1 = Measuring point for operating temperature 1)
Self-heating during operation of the rotary encoder at room temperature and shaft speed of 6000 rpm: approx. +50 K
1 = Connector polarizing key 2)
Compatible mating connector: ID 1094831-01; cable only: ID 816317-xx
74 75
ROD 1930 Incremental
Incremental rotary encoders ROD 1930

• For fastening with flange or base
• Solid shaft with key for separate shaft coupling Interface* « HTL « HTLs
Line counts* 600 1024 1200 2400
Reference mark – One
Output frequency  160 kHz

Edge separation a  0.76 μs
System accuracy ±1/10 of grating period
Electrical connection Terminal box with screw terminals

Solid shaft
Supply voltage DC 10 V to 30 V
Current consumption 15 V: 60 mA
Shaft* Solid shaft or solid through shaft  15 mm with key
Mech. permiss. shaft speed  4000 rpm
Starting torque (typical) Solid shaft: 0.05 Nm

at 20 °C Solid through shaft: 0.15 Nm
Permissible angular  4 · 104 rad/s2

acceleration
Shaft load1) Axial:  150 N

Radial:  200 N at shaft end

Shock 6 ms  1000 m/s2 (EN 60068-2-27)
Solid through shaft
Operating temperature2) –20 °C to +70 °C
Mass 4.5 kg
Valid for ID Solid shaft: 1043373-xx

Through shaft: 1043377-xx

1)
2)
Special versions upon request (e.g., with water jacket)
A = Bearing
76 77
HR 1120 Incremental
HR 1120
• Version for integration Interface « TTL
• With mechanical detent
Line count 100
Output frequency  5 kHz
Switching times t+ / t–  100 ns
Electrical connection Via M3 screw terminals
Cable length  30 m
Supply voltage DC 5 V ±0.25 V
Current consumption  160 mA

without load
Detent Mechanical
100 detent positions per revolution
Detent positions defined within the LOW level of Ua1 and Ua2
Mech. permiss. shaft speed  200 rpm
Torque  0.1 Nm (at 25 °C)

2
Vibration (10 Hz to 200 Hz)  20 m/s
Max. operating temp. 60 °C
Min. operating temp. 0 °C
Protection EN 60529 IP00; IP40 when mounted

No condensation permitted
Mass 0.15 kg
Valid for ID 687617-xx
1 = Cutout for mounting

2 = Direction for output signals as per the interface description
78 79
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 can 360° elec. interface incorporate electronics that
be highly interpolated. digitize sinusoidal scanning signals with or
without interpolation.
The sinusoidal incremental signals A and
B are phase-shifted by 90° elec. and have a The incremental signals are output as the
typical amplitude of 1 VPP. The illustrated square-wave pulse trains Ua1 and Ua2,
sequence of output signals—with B phase-shifted by 90° elec. The reference Measuring step after
lagging A—applies to the direction of mark signal consists of one or more 4-fold evaluation
motion shown in the dimension drawing. reference pulses Ua0, which are gated with
the incremental signals. In addition, the
The reference mark signal R has a unique integrated electronics generate the
assignment to the incremental signals. The inverted signals ¢, £, and ¤ for
output signal may be lower next to the noise-immune transmission. The illustrated
reference mark. 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
The fault detection signal ¥ indicates edges of the incremental signals Ua1 and Further information:
Alternative
malfunctions such as supply line breakage, Ua2 through 1-fold, 2-fold, or 4-fold
signal shape For detailed descriptions of all available
Further information: (rated value) failure of the light source, etc. evaluation is one measuring step.
For detailed descriptions of all available information, please refer to the Interfaces
interfaces, as well as general electrical of HEIDENHAIN Encoders brochure.
A, B, R measured with oscilloscope in differential mode
information, please refer to the Interfaces
of HEIDENHAIN Encoders brochure.
ERN and ROD pin layouts
HEIDENHAIN offers signal converters for 12-pin M23 flange socket or 12-pin M23 connector 17-pin flange socket
adapting encoders to the interface of the coupling 1¼" – 18UNEF M A B
downstream electronics. For information L T P C
D
about this, please refer to the Signal K
S
N
R
J E
Converters Product Overview. H G F
Power supply Incremental signals Other signals
12 2 10 11 5 6 8 1 3 4 7 9
M23
1¼" H F K M A N C R B P S D/E/G/J/L/T
1)
UP Sensor 0V Sensor Ua1 ¢ Ua2 £ Ua0 ¤ ¥ Vacant2)
Pin layout UP 0V
12-pin M23 coupling 12-pin M23 connector Brown/ Blue White/ White Brown Green Gray Pink Red Black Violet Yellow
Green Green
Shield on housing; UP = Power supply voltage

Sensor: The sense line is connected in the encoder with the corresponding power line.
1) 2)
ERO 14xx: vacant Exposed linear encoders: TTL/11 µAPP switchover for PWT
Power supply Incremental signals Other signals
12 2 10 11 5 6 8 1 3 4 9 7 / HR pin layout
Screw-terminal connection A shielded cable with a cross section of
Sensor1) 1)
UP 0V Sensor A+ A– B+ B– R+ R– Vacant Vacant Vacant at least 0.5 mm2 is recommended when
UP 0V connecting the handwheel to the power
supply. The handwheel is connected via
Brown/ Blue White/ White Brown Green Gray Pink Red Black / Violet Yellow screw terminals. The wires must be
Green Green provided with the appropriate ferrules.
Power supply Incremental signals
Cable shield connected to housing; UP = Power supply voltage
Sensor: The sense line is connected in the encoder with the corresponding power line. Connection + – A A B B
Vacant pins or wires must not be used!
1) Signal UP UN Ua1 ¢ Ua2 £
LIDA 2xx: vacant 5V 0V
80 81
« HTL, HTLs incremental signals
HEIDENHAIN encoders with the « HTL

Signal period 360° elec. Fault Cable length for HTL
interface contain electronics that digitize
Cable length in m 
sinusoidal scanning signals with or without For those rotary encoders with additional
interpolation. HTL output signals, the maximum
permissible cable length may vary
The incremental signals are output as depending on several criteria:
the square-wave pulse trains Ua1 and Ua2, • Output frequency
phase-shifted by 90° elec. The reference Measuring step after • Supply voltage
mark signal consists of one or more 4-fold evaluation
• Operating temperature
reference pulses Ua0, which are gated with
the incremental signals. In addition, the The diagrams show these relationships
integrated electronics generate the separately for the HTL and HTLs interfaces.
inverted signals ¢, £, and ¤ for At a supply voltage of DC 10 V, there are no
noise-immune transmission (not with limitations on cable length.
HTLs). The illustrated sequence of output Output frequency in kHz 
The inverted signals ¢, £, and ¤ are not shown.
signals—with Ua2 lagging Ua1—applies to

the direction of motion shown in the Maximum permissible cable length for the HTL interface
dimension drawing.
The distance between two successive Further information:
The fault detection signal ¥ indicates a edges of the incremental signals Ua1
Cable length in m 
malfunction such as failure of the light and Ua2 through 1-fold, 2-fold, or 4-fold For detailed descriptions of all available
source, etc. evaluation is one measuring step. interfaces, as well as general electrical
Power and current consumption Output frequency in kHz 

Power consumption in mW 
Maximum permissible cable length for the HTLs interface

For encoders with a wide supply voltage
range, the current consumption exhibits a
nonlinear relationship to the supply voltage.
It is determined using the calculation
described in the Interfaces of HEIDENHAIN
Encoders brochure.
For the rotary encoders with additional HTL

output signals, the power consumption also
depends on the output frequency and cable
length. The power consumption values for
the HTL and HTLs interfaces can therefore
be read off separately from the diagrams. Output frequency in kHz 

The maximum permissible output frequency Power consumption (maximum) for the HTL interface and supply voltage UP = 30 V
is shown in the specifications. This frequency
occurs at the maximum permissible shaft
Power consumption in mW 
speed. The output frequency for any shaft

speed is calculated using the following
formula:
f = (n/60) · z · 10–3
With
f = Output frequency in kHz
n = Shaft speed in rpm
z = Number of signal periods per 360°
Output frequency in kHz 

Power consumption (maximum) for the HTLs interface and supply voltage UP = 30 V
82 83
position values
Pin layout The EnDat interface is a digital, bidirec- Ordering designation Command set Incremental signals
tional interface for encoders. It is capable
12-pin M23 flange socket 17-pin flange socket of outputting position values, reading in-
or coupling 1¼" – 18UNEF EnDat01 EnDat 2.1 or EnDat 2.2 1 VPP
M A B formation stored in the encoder, updating EnDatH HTL
L T P C
K N D this information, and storing new informa- EnDatT TTL
S R
J
H G F
E tion. Because the interface uses serial
transmission, only four signal lines are EnDat21 –
required. The data (DATA) are transmitted in
Power supply Incremental signals Other signals synchronism with the CLOCK signal from EnDat02 EnDat 2.2 1 VPP
the downstream electronics. The type of
M23 12 2 10 11 5 6 8 1 3 4 7 9 transmission (position values, parameters, EnDat22 EnDat 2.2 –
diagnostics, etc.) is selected via mode
1¼" H F K M A N C R B P S D/E/G/J/L/T commands that the downstream electronics
Versions of the EnDat interface
send to the encoder. Some functions are
HTL UP Sensor 0V Sensor Ua1 ¢ Ua2 £ Ua0 ¤ ¥ Vacant available only with EnDat 2.2 mode com-
UP 0V mands.
HTLs* 0V 0V 0V Absolute encoder Downstream electronics
Brown/ Blue White/ White Brown Green Gray Pink Red Black Violet Yellow Incremental A/Ua1*)
signals*)
Green Green B/Ua2*)
EnDat interface
* Only with 12-pin M23 flange socket or coupling Absolute
position value
ROD 1930 pin layout Further information:

Screw-terminal connection For connection, a shielded cable with For detailed descriptions of all available
2
a cross section of at least 0.5 mm is Parameters of the encoder
interfaces, as well as general electrical Operating Operating Parameters manufacturer for *) Depends on encoder
recommended for the power supply. information, please refer to the Interfaces parameters status of the OEM 1 VPP, HTL, or TTL
The connection is performed via screw of HEIDENHAIN Encoders brochure. EnDat 2.1 EnDat 2.2
terminals. The wires must be provided
Power supply Incremental signals with the appropriate ferrules.
Connection 1 2 3 4 5 6 Integrated temperature evaluation This warning threshold for the internal HEIDENHAIN recommends adjusting the
Rotary encoders with EnDat 2.2 feature an temperature sensor is stored in the EnDat warning threshold based on the application
HTL UP UN Ua1 ¢ Ua2  internal temperature sensor integrated into memory area “Operating parameters,” such that this threshold is sufficiently
0V the encoder electronics. The digitized word 6 “Trigger threshold warning bit below the trigger threshold for the
HTLs Ua2 0V Ua0 temperature value is transmitted purely for excessive temperature,” and can be “Temperature exceeded” EnDat error
serially via the EnDat protocol. Please bear individually adjusted. A device-specific default message. Compliance with the operating
in mind that this temperature measurement value is saved here before shipping. The temperature at measuring point M1 is
and transmission is not safe in terms of temperature measured by the internal required for adherence to the encoder’s
functional safety. temperature sensor is higher by a device- proper and intended use.
specific and application-specific amount
With regard to the internal temperature than the temperature at measuring point M1
sensor, these rotary encoders support the in accordance with the dimension drawing.
two-stage cascaded signaling of a
temperature exceedance. This signaling The encoders feature a further, albeit
consists of an EnDat warning and an EnDat non-adjustable, trigger threshold of the
error message. internal temperature sensor, which, when
exceeded, triggers an EnDat error message
In compliance with the EnDat specification, (the EnDat memory area “Operating
when the temperature reaches the warning status,” word 0 “Error messages,” bit 22
threshold for the temperature exceedance “Position,” and in additional data 2
of the internal temperature sensor, an “Operating status error sources,” bit 26
EnDat warning is issued (EnDat memory “Temperature exceeded”). This threshold
area “Operating status,” word 1 “Warnings,” may vary depending on the encoder and is
bit 21 “Temperature exceeded”). stated in the specifications.
84 85
Fanuc pin layouts
Pin layout Fanuc pin layout Fanuc Serial Interface – i Interface

HEIDENHAIN encoders with the code • Ordering designation: Fanuc05 high
8-pin M12 coupling
letter F after the model designation are speed, one-pair transmission
optimized for connection to Fanuc Incorporates the Þ Interface (normal and
machine-tool controls with the high speed, two-pair transmission)
Fanuc Serial Interface –  Interface • Ordering designation: Fanuc06
• Ordering designation: Fanuc02 normal high speed, one-pair transmission
and high speed, two-pair transmission
Power supply Serial data transmission
8 2 5 1 3 4 7 6 20-pin Fanuc connector 8-pin M12 coupling
UP Sensor UP 0V Sensor 0 V DATA DATA CLOCK CLOCK
Brown/Green Blue White/Green White Gray Pink Violet Yellow
Cable shield connected to housing; UP = Power supply voltage Power supply Serial data transmission
Vacant pins or wires must not be used! 9 18/20 12 14 16 1 2 5 6
8 2 5 1 – 3 4 7 6
UP Sensor 0V Sensor Shield Serial Data Serial Data Request Request

UP 0V
Brown/ Blue White/ White – Gray Pink Violet Yellow

17-pin M23 coupling Green Green

1)
Power supply Incremental signals Serial data transmission
7 1 10 4 11 15 16 12 13 14 17 8 9
UP Sensor 0V Sensor Internal A+ A– B+ B– DATA DATA CLOCK CLOCK

UP 0V shield2)
Brown/ Blue White/ White / Green/ Yellow/ Blue/ Red/ Gray Pink Violet Yellow
Green Green Black Black Black Black

1) 2)
Only with EnDat01 and EnDat02 Vacant for the ECN/EQN 10xx and ROC/ROQ 10xx
86 87
Siemens pin layout SSI position values
Siemens pin layout The position value is transmitted, starting Data transmission
HEIDENHAIN encoders with the code with the most significant bit (MSB), over
letter S after the model designation are the data lines (DATA) in synchronism with T = 1 to 10 µs
suitable for connection to Siemens controls a clock signal (CLOCK) provided by the tcal See Specifications
with the DRIVE-CLiQ interface control. The SSI standard data word length t1  0.4 µs
• Ordering designation: DQ01 for singleturn encoders is 13 bits, and for (without cable)
multiturn encoders, 25 bits. In addition to t2 = 17 µs to 20 µs
the absolute position values, incremental tR  5 µs
n = Data word length
signals can transmitted as well. For a signal
RJ45 connector 8-pin M12 coupling 13 bits for ECN/
description, see 1 VPP incremental signals. ROC
25 bits for EQN/
The following functions can be activated ROQ
via programming inputs:
• Direction of rotation CLOCK and DATA not
Power supply Serial data transmission • Zero reset (setting to zero) shown
Transmit data Receive data
A B 3 6 1 2
1 5 7 6 3 4
UP 0V TXP TXN RXP RXN
Cable shield connected to housing; UP = Power supply voltage Pin layout

17-pin M23 coupling
Power supply Incremental signals Serial data transmission Other signals
Integrated temperature evaluation The temperature measured by the internal depending on the encoder and is stated 7 1 10 4 11 15 16 12 13 14 17 8 9 2 5
Rotary encoders with the DRIVE-CLiQ temperature sensor is higher by a device- in the specifications. During operation,
interface include an internal temperature specific and application-specific amount HEIDENHAIN recommends keeping the UP Sensor 0V Sensor Internal A+ A– B+ B– DATA DATA CLOCK CLOCK Dir. of Set to
sensor integrated into the encoder than the temperature at measuring point temperature adequately below the trigger UP 0V shield rotation zero
electronics. The digitized temperature M1 in accordance with the dimension threshold for the error message.
value is transmitted purely serially via the drawing. Brown/ Blue White/ White / Green/ Yellow/ Blue/ Red/ Gray Pink Violet Yellow Black Green
Green Green Black Black Black Black
DRIVE-CLiQ interface. Please bear in mind Compliance with the operating
that neither the temperature measurement Upon reaching a trigger threshold for the temperature at measuring point M1 is
nor the transmission of the temperature internal temperature sensor, these rotary required for adherence to the encoder’s
Sensor: With a 5 V supply voltage, the sense line is connected in the encoder with the corresponding power line.
value is safe in terms of functional safety. encoders issue an “Alarm 405” error proper and intended use.
message. This threshold may vary
Further information:
For detailed descriptions of all available
88 89
Cables and connecting elements
General information Connecting cables for 1 VPP, TTL, HTL 12-pin M23
Plastic-insulated connector: Plastic-insulated coupling: connecting element with external » 1 VPP, « TTL, « HTL
connecting element with coupling ring, thread, available with male or female contacts (see symbols) 2 2 2
available with male or female contacts PUR connecting cables 12-pin: 4(2 x 0.14 mm ) + (4 x 0.5 mm ); AP = 0.5 mm ¬ 8 mm
M23
(see symbols) Symbols M12
With connector (female) 298401-xx
Symbols and coupling (male)
M12 With connector (female) 298399-xx

and connector (male)
Mounted coupling Cutout for mounting M23
with central fastening
and 15-pin D-sub connector (female)
M12 right-angle for the TNC
connector
and 15-pin D-sub connector (male)
for the PWM 20/EIB 74x
Mounted coupling M23
with flange
and stripped cable end
M23
Cable only, ¬ 8 mm 816317-xx
Mating element on connecting cable; Connector (female) for cable ¬ 8 mm 291697-05

Flange socket with external thread; M23 fits encoder connector
is permanently mounted on a housing,
1¼" – 18UNEF available with male or female contacts
Connector on connecting cable for Connector (male) for cable ¬ 8 mm 291697-08
Symbols connection to the downstream electronics ¬ 6 mm 291697-07
Coupling on connecting cable Coupling (male) for cable ¬ 4.5 mm 291698-14

The pin numbering on connectors is in Accessory for flange sockets ¬ 6 mm 291698-03
D-sub connector for HEIDENHAIN ¬ 8 mm 291698-04
the direction opposite to that on couplings and M23 mounted couplings
controls and evaluation electronics.
or flange sockets, regardless of whether
the connecting elements have Threaded metal dust cap
Symbols
ID 219926-01
male contacts or Flange socket for installation Flange socket (female) 315892-08
Accessory for M12 connecting element the downstream electronics
female Insulation spacer
43
B
contacts. ID 596495-01 Mounted couplings With flange (female) ¬ 6 mm 291698-17

¬ 8 mm 291698-07
When connected, the connecting
elements provide are rated at IP67
76.51)/50 (D‑sub connector: IP50; EN 60529). When With flange (male) ¬ 6 mm 291698-08
1) not connected, there is no protection. ¬ 8 mm 291698-31
Interface electronics integrated into the
connector
With central fastening ¬ 6 mm to 10 mm 741045-01

(male)
Adapter connector » 1 VPP/11 µAPP 364914-01

For converting 1 VPP to 11 µAPP;
12-pin M23 connector (female)
and 9-pin M23 connector (male)
AP: Cross section of power supply lines
90 91
EnDat connecting cables 8-pin 17-pin Connecting cables Fanuc
M12 M23 Siemens
EnDat without EnDat with Cables Fanuc

incremental signals incremental signals
SSI PUR connecting cables for M23 connecting element
2 2 2
PUR connecting cables 8-pin: (4 x 0.14 mm ) + (4 x 0.34 mm ); AP = 0.34 mm With 17-pin M23 connector (female) ¬ 8 mm 534855-xx
(4 x 0.14 mm ) + 4(2 x 0.14 mm ) + (4 x 0.5 mm2); AP = 0.5 mm2
2 2
17-pin: and Fanuc connector
(2 x 2 x 0.14 mm2) + (4 x 1 mm2);
Cable diameter 6 mm 3.7 mm 8 mm AP = 1 mm2
With connector (female) 368330-xx 801142-xx 323897-xx

and coupling (male) 340302-xx With 17-pin M23 connector (female) ¬ 6 mm –
and 20-pin Mitsubishi connector
With right-angle connector (female) 373289-xx 801149-xx – (2 x 2 x 0.14 mm2) + (4 x 0.5 mm2);
and coupling (male) AP = 0.5 mm2 20-pin
With 17-pin M23 connector (female) ¬ 8 mm –

With connector (female) 533627-xx – 332115-xx and 10-pin Mitsubishi connector
and 15-pin D-sub connector (female) (2 x 2 x 0.14 mm2) + (4 x 1 mm2);
for the TNC (position inputs) AP = 1 mm2 10-pin
With connector (female) 641926-xx – 336376-xx

and 25-pin D-sub connector (female) Cable only ¬ 8 mm 816327-xx
for the TNC (speed inputs) (2 x 2 x 0.14 mm2) + (4 x 1 mm2);
AP = 1 mm2
With connector (female) 524599-xx 801129-xx 324544-xx
for the IK 215, PWM 20, EIB 74x, etc.
With right-angle connector (female) 722025-xx 801140-xx – Cables Fanuc

for the IK 215, PWM 20, EIB 74x, etc. PUR connecting cables for M12 connecting element (1 x 4 x 0.14 mm2) + (4 x 0.34 mm2); AP = 0.34 mm2
With 8-pin M12 connector (female) ¬ 6 mm 646807-xx

With connector (female) 634265-xx – 309778-xx and Fanuc connector
1)
and stripped cable end 309779-xx
With right-angle connector (female) 606317-xx – – With 8-pin M12 connector (female) ¬ 6 mm –
and stripped cable end and 20-pin Mitsubishi connector
20-pin
Cable only – – 816322-xx With 8-pin M12 connector (female) ¬ 6 mm –

and 10-pin Mitsubishi connector
Italics: Cable with layout for “speed encoder” input (MotEnc EnDat) 10-pin
1)
Without incremental signals
Cables Siemens
PUR connecting cables for M12 connecting element 2(2 x 0.17 mm2) + (2 x 0.24 mm2); AP = 0.24 mm2
With 8-pin M12 connector (female) ¬ 6.8 mm 822504-xx

and 8-pin M12 coupling (male)
With 8-pin M12 connector (female) ¬ 6.8 mm 1094652-01

and RJ45 Siemens connector (IP67);
cable length: 1 m
With 8-pin M12 connector (female) ¬ 6.8 mm 1093042-xx

and RJ45 Siemens connector (IP20)
92 93
Signal converters
Signal converters from HEIDENHAIN adapt Input signals of the signal converters Outputs Inputs Design – IP rating Interpolation1) or subdivision Model
the encoder signals to the interface of the HEIDENHAIN signal converters can be
downstream electronics. They are used connected to encoders that output 1 VPP Interface Qty. Interface Qty.
when the downstream electronics cannot sinusoidal signals (voltage signals) or 11 µAPP
directly process the output signals from sinusoidal signals (current signals). Encoders « TTL 1 » 1 VPP 1 Box design – IP65 5/10-fold IBV 101
HEIDENHAIN encoders or when additional with the EnDat or SSI serial interfaces can be
interpolation of the signals is necessary. connected to various signal converters as 20/25/50/100-fold IBV 102
well.
Without interpolation IBV 600
Output signals of the signal converters
The signal converters are available with the Plug design 25/50/100/200/400-fold IBV 660 B
following interfaces to the downstream
electronics: Plug design – IP40 5/10-fold IBV 3171
• TTL square-wave pulse trains
• EnDat 2.2 20/25/50/100-fold IBV 3271
• DRIVE-CLiQ
• Fanuc Serial Interface » 11 µAPP 1 Box design – IP65 5/10-fold EXE 101
• Mitsubishi high speed interface
• Yaskawa Serial Interface 20/25/50/100-fold EXE 102
• PROFIBUS
« TTL/ 2 » 1 VPP 1 Box design – IP65 2-fold IBV 6072
Interpolation of the sinusoidal input » 1 VPP
signals (adjustable) 5/10-fold IBV 6172
The signal converters perform signal
conversion and interpolate the sinusoidal 5/10-fold and 20/25/50/100-fold IBV 6272
encoder signals. This permits finer measuring
steps, resulting in higher control quality and EnDat 2.2 1 » 1 VPP 1 Box design – IP65 16 384-fold subdivision EIB 192
superior positioning behavior. Cable design
Plug design – IP40 16 384-fold subdivision EIB 392
Generation of a position value
Various signal converters feature an 2 Box design – IP65 16 384-fold subdivision EIB 1512
integrated counting function. Starting from
the last set reference point, an absolute DRIVE-CLiQ 1 EnDat 2.2 1 Box design – IP65 – EIB 2391 S
position value is generated and output to
the downstream electronics when the Cable design – IP65 – EIB 3392 S
reference mark is traversed.
Fanuc Serial 1 » 1 VPP 1 Box design – IP65 16 384-fold subdivision EIB 192 F
Interface
Plug design – IP40 16 384-fold subdivision EIB 392 F
2 Box design – IP65 16 384-fold subdivision EIB 1592 F
Mitsubishi 1 » 1 VPP 1 Box design – IP65 16 384-fold subdivision EIB 192 M

Top-hat rail design
high speed
interface Plug design – IP40 16 384-fold subdivision EIB 392 M
2 Box design – IP65 16 384-fold subdivision EIB 1592 M
Yaskawa Serial 1 EnDat 2.2 1 Plug design – IP40 – EIB 3391Y

Interface
PROFIBUS DP 1 EnDat 2.2 1 Top-hat rail design – PROFIBUS

Gateway
PROFINET IO 1 EnDat 2.2 1 Top-hat rail design – PROFINET

Gateway
1)
Switchable
94 95
Testing and inspection devices, and diagnostics
HEIDENHAIN encoders provide all of the Overview PWM 21 PWT 101

information necessary for initial setup,
monitoring, and diagnostics. The type of Interface Output signals Encoder diagnostics Monitoring mode Encoder diagnostics
information available depends on whether
the encoder is incremental or absolute and EnDat 2.1 Position value Yes No Yes
on which interface is being used. Incremental signals Yes Yes Yes
Incremental encoders primarily have 1 VPP, EnDat 2.2 Position value Yes Yes Yes
TTL, or HTL interfaces. TTL and HTL Valuation numbers Yes Yes
1)
Yes
encoders monitor their signal amplitudes
internally and generate a purely digital fault DRIVE-CLiQ Position value Yes No No
7)
detection signal. With 1 VPP signals, an Valuation numbers Yes No No7)
analysis of the output signals is possible
only with external testing devices or Fanuc Position value Yes Yes Yes
8)
through the use of computation resources Valuation numbers Yes Yes Yes8)
in the downstream electronics (analog
diagnostics interface). Diagnostics with the PWM 21 and ATS software Mitsubishi Position value Yes Yes Yes8)
5)
Valuation numbers Yes Yes1) 5) Yes8)
Absolute encoders employ serial data
transmission. Depending on the interface, Panasonic Position value Yes Yes Yes8)
additional 1 VPP incremental signals can be Valuation numbers Yes Yes
1)
Yes8)
output. The signals are extensively monitored
within the encoder. The monitoring results Yaskawa Position value Yes No7) Yes8)
(specifically, valuation numbers) can be Valuation numbers Yes
6)
No7) Yes8)
transmitted to the downstream electronics
along with the position values via the serial SSI Position value Yes No No
interface (digital diagnostics interface). Incremental signals Yes Yes No
The following information is available:
• Error message: position value is not 1 VPP Incremental signals Yes Yes Yes
reliable
• Warning: an internal functional limit of 11 µAPP Incremental signals Yes Yes Yes
the encoder has been reached
• Valuation numbers: TTL Incremental signals Yes Yes Yes
– Detailed information about the Scanning signals Yes
4)
No Yes4)
encoder’s functional reserve
– Identical scaling for all HEIDENHAIN HTL Incremental signals Yes
2)
No No7)
encoders
– Cyclic reading is possible Commutation Block commutation Yes
2)
No Yes
3)
This enables the downstream electronics Sinusoidal commutation Yes Yes Yes
to evaluate the current status of the
encoder with little effort, even in closed Commissioning with the PWM 21 and ATS software 1)
Information must be requested and transferred by the control
loop mode 2)
Via the appropriate signal adapter
3)
Only for encoders with block commutation (see encoder documentation)
For the analysis of these encoders, 4)
If supported by the encoder (PWT function)
HEIDENHAIN offers the appropriate PWM 5)
Not available for encoders with the ordering designation Mitsu01
inspection devices and PWT testing devices. 6)
Not available for the EIB 3391Y
Depending on how these devices are 7)
Function not available yet
integrated, a distinction is made between 8)
Two-pair transmission is required (for more information, see the documentation for the PWT 100/PWT 101)
two types of diagnostics:
• Encoder diagnostics: the encoder is
connected directly to the testing or
inspection device, thereby enabling a
detailed analysis of encoder functions.
• Monitoring mode: the PWM inspection
device is linked into the closed control
loop (via suitable testing adapters if
needed). This enables real-time diagnosis
of the machine or equipment during
operation. The available functions depend
on the interface.
96 97
PWT 101 Testing device 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 Area of application • The functional testing of absolute and incremental in conjunction with the ATS adjusting and Encoder input • EnDat 2.1 or EnDat 2.2 (absolute value with or without
incremental and absolute HEIDENHAIN HEIDENHAIN encoders testing software, serves as an adjusting incremental signals)
encoders. Thanks to its compact dimensions and testing package for the diagnosis and • DRIVE-CLiQ
and rugged design, the PWT 101 is ideal for Encoder input • EnDat adjustment of HEIDENHAIN encoders. • Fanuc Serial Interface
portable use. only for HEIDENHAIN • Fanuc Serial Interface • Mitsubishi high speed interface
encoders • Mitsubishi high speed interface • Yaskawa Serial Interface
• Panasonic Serial Interface • Panasonic serial interface
• Yaskawa Serial Interface • SSI
• 1 VPP with Z1 track • 1 VPP/TTL/11 µAPP
• 1 VPP • HTL (via signal adapter)
• 11 µAPP
• TTL Interface USB 2.0
Display 4.3-inch touchscreen Supply voltage AC 100 V to 240 V or DC 24 V
Supply voltage DC 24 V Dimensions 258 mm × 154 mm × 55 mm

Power consumption: max. 15 W
Operating temperature 0 °C to 40 °C PWM 21/ATS Software Product Information
document. ATS
Languages German or English (selectable)
Dimensions 145 mm × 85 mm × 35 mm
Functions • Position display
Languages German, English, French, Italian, Spanish, Japanese, • Connection dialog
Korean, Chinese (simplified), Chinese (traditional) • Diagnostics
• Mounting wizard for the 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)

Level display and recommendations RAM > 2 GB
Operating systems: Windows 7, 8, and 10 (32-bit / 64-bit)
500 MB of free hard drive space
PWT display
98 99
Mastering nanometer accuracy
DR. JOHANNES HEIDENHAIN GmbH

Dr.-Johannes-Heidenhain-Straße 5
83301 Traunreut, Germany
 +49 8669 31-0
 +49 8669 32-5061
info@heidenhain.de
HEIDENHAIN
www.heidenhain.com worldwide
349529-2M · 5 · 12/2021 · CD · Printed in Germany

Rotary Encoders

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Rotary Encoders

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Available Formats

Rotary Encoders

ECN 400/EQN 400 series ERN 400 series 46

ROC 425 series – 66

Separate shaft coupling; ROC/ROQ 400 series ROD 400 series 68

Rotary encoders with mounted stator coupling ROD 600 series 74

Rotary encoders Absolute Incremental

With mounted stator coupling

DRIVE-CLiQ is a registered trademark of Siemens AG.

Rotary encoders Absolute Incremental

For separate shaft coupling, with synchro flange

 OC/ROQ/ROD 400 series

ROC 425 ROC 425 – – – – – – – – 66

For separate shaft coupling, with clamping flange

DRIVE-CLiQ is a registered trademark of Siemens AG.

These rotary encoders are described

Interface EnDat Siemens EnDat Siemens « TTL » 1 VPP

With integral bearing and mounted stator coupling

ERN 1123 IP00 – – – – – – ERN 1123 –

DRIVE-CLiQ is a registered trademark of Siemens AG.

Interface EnDat Siemens EnDat Siemens « TTL » 1 VPP

Without integral bearing

ECI/EBI 100 series ECI 119 – – EBI 135 – – – –

ECI/EBI 4000 series ECI 4010 – ECI 4090S EBI 4010 – – – –

ERO 1400 series – – – – – – ERO 1420 ERO 1480

DRIVE-CLiQ is a registered trademark of Siemens AG.

Rotary encoders Absolute Incremental

Interface EnDat SSI EnDat SSI « TTL « HTL » 1 VPP

For high bearing loads

ROD 1930 – – – – – ROD 1930 – 76

For Siemens asynchronous motors

For more information, please refer to the

For more information, please refer to the

Line count Accuracy

This accuracy information applies to

The ECN/EQN/ERN rotary encoders feature Mounting accessories

Bearing life in hours 

Bearing life in hours 

Bearing life in hours 

TX15 70 mm 756768-42 1 000 2 000 3 000 4 000

Coupling Mechanical fault exclusion is possible upon

Mounting accessories Mounting accessories

Adapter flange Mounting flange

The terminal box can be mounted at any 90°

Mounting flange, small

Mounting flange, large

ROC/ROQ/ROD 400 ROD 1930 ROC/ROQ/ 18 EBN 3 metal bellows coupling

K 14 K 17/01 K 17/02 K 17/03 C 19 C 212 18 EBN 3

Hub bore 6/6 mm 6/6 mm 6/10 mm 10/10 mm 15/15 4/4 mm

Kinematic ±6“ ±10“ ±13“ ±40“

Radial offset l  0.2 mm  0.5 mm  0.3 mm  0.2 mm

Angular error a  0.5°  1°  1.5°  0.5°

Axial offset d  0.3 mm  0.5 mm  1.7 mm  0.3 mm

Tightening torque 1.2 Nm 1.37 Nm 0.8 Nm

Reference mark One

Integrated interpolation* – 5-fold 10-fold

* Cutoff frequency –3 dB – –  180 kHz – –

System accuracy 1/20 of grating period

Supply voltage DC 5 V ±0.5 V DC 10 V to 30 V DC 5 V ±0.5 V DC 5 V ±0.25 V

Current consumption  120 mA  150 mA  120 mA  155 mA

Shaft Blind hollow shaft  6 mm

Mech. permiss. shaft speed n  12 000 rpm

Starting torque (typical) 0.001 Nm (at 20 °C)

Moment of inertia of rotor  0.5 · 10–6 kgm2

Permissible axial motion ±0.5 mm

OC/ROQ/ROD 400 series

Moment of inertia of rotor 0.5 · 10–6 kgm2