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
Shield on housing; UP = Power supply voltage
Sensor: The sense line is connected in the encoder with the corresponding power line.
* 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
Sensor: The sense line is connected in the encoder with the corresponding power line.
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

Cable shield connected to housing; UP = Power supply voltage

Sensor: The sense line is connected in the encoder with the corresponding power line.
Vacant pins or wires must not be used!
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

Cable shield connected to housing; UP = Power supply voltage

Sensor: The sense line is connected in the encoder with the corresponding power line.
Vacant pins or wires must not be used!
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
Shield on housing; UP = Power supply voltage
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.
Vacant pins or wires must not be used!
message. This threshold may vary

DRIVE-CLiQ is a registered trademark of Siemens AG.

Further information:
For detailed descriptions of all available
interfaces, as well as general electrical
information, please refer to the Interfaces
of HEIDENHAIN Encoders brochure.

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
With connector (female) 310199-xx
and 15-pin D-sub connector (female)
M12 right-angle for the TNC
connector
With connector (female) 310196-xx
and 15-pin D-sub connector (male)
for the PWM 20/EIB 74x
Mounted coupling M23
With connector (female) 309777-xx
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
and 15-pin D-sub connector (male)
for the IK 215, PWM 20, EIB 74x, etc.

With right-angle connector (female) 722025-xx 801140-xx – Cables Fanuc

and 15-pin D-sub connector (male)
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
AP: Cross section of power supply lines

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)

AP: Cross section of power supply lines

92 93