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AngleEncoderswithIntegralBearingNovember2010AngleencoderswithintegralbearingandintegratedstatorcouplingAngleencoderswithintegralbearingforseparateshaftcouplingInformationon•AbsoluteAngleEncoderswithOptimizedScanning•AngleEncoderswithoutIntegralBearing•RotaryEncoders•EncodersforServoDrives•ExposedLinearEncoders•LinearEncodersforNumericallyControlledMachineTools•InterfaceElectronics•HEIDENHAINcontrolsisavailableonrequestaswellasontheInternetatwww.heidenhain.de.Thiscatalogsupersedesallpreviouseditions,whichtherebybecomeinvalid.ThebasisfororderingfromHEIDENHAINisalwaysthecatalogeditionvalidwhenthecontractismade.Standards(ISO,EN,etc.)applyonlywhereexplicitlystatedinthecatalog.2ContentsHEIDENHAINAngleEncodersThetermangleencoderistypicallyusedtodescribeencodersthathaveanaccuracyofbetterthan±5"andalinecountabove10000.Incontrast,rotaryencodersareencodersthattypicallyhaveanaccuracybetterthan±10“.Angleencodersarefoundinapplicationsrequiringprecisionangularmeasurementtoaccuracieswithinseveralarcseconds.Examples:•Rotarytablesonmachinetools•Swivelheadsonmachinetools•C-axesoflathes•Measuringmachinesforgears•Printingunitsofprintingmachines•Spectrometers•Telescopesetc.Thetablesonthefollowingpageslistdifferenttypesofangleencoderstosuitvariousapplicationsandmeetdifferentrequirements.Angleencoderscanhaveoneofthefollowingmechanicaldesigns:Angleencoderswithintegralbearing,hollowshaftandintegratedstatorcouplingBecauseofthedesignandmountingofthestatorcoupling,itmustabsorbonlythattorquecausedbyfrictioninthebearingduringangularaccelerationoftheshaft.RCN,RONandRPNangleencodersthereforeprovideexcellentdynamicperformance.Withanintegratedstatorcoupling,thestatedsystemaccuracyalsoincludesdeviationsfromtheshaftcoupling.Otheradvantages:•Compactsizeforlimitedinstallationspace•Hollowshaftdiametersupto100mmtoprovidespaceforpowerlines,etc.•SimpleinstallationSelectionGuideForAbsoluteAngleEncodersseepages6/7ForIncrementalAngleEncodersseepages8/94TheRCN729angleencodermountedontherotarytableofamachinetoolRCN729incrementalangleencoderOverviewROD880incrementalangleencoderwithK16flatcouplingERA4000incrementalangleencoderAngleencoderswithintegralbearing,forseparateshaftcouplingRODangleencoderswithsolidshaftareparticularlysuitedtoapplicationswherehighershaftspeedsandlargermountingtolerancesarerequired.Theshaftcouplingsallowaxialtolerancesof±1mm.SelectionGuideonpages8/9AngleencoderswithoutintegralbearingTheERPandERAangleencoderswithoutintegralbearing(modularangleencoders)areintendedforintegrationinmachineelementsorapparatuses.Theyaredesignedtomeetthefollowingrequirements:•Largehollowshaftdiameters(upto10mwithascaletape)•Highshaftspeedsupto20000min–1•Noadditionalstartingtorquefromshaftseals•SegmentanglesSelectionGuideonpages10/11YoucanfindmoredetailedinformationonHEIDENHAINmodularangleencodersontheInternetatwww.heidenhain.deorinourbrochureAngleEncoderswithoutIntegralBearing.SelectionGuideAbsoluteAngleEncoderswithIntegralBearingForpositionmeasurementForinformationaboutthenewabsoluteangleencoderswithoptimizedscanning,visitwww.heidenhain.deoraskforourcatalog:AbsoluteAngleEncoderswithOptimizedScanning.RCN200RCN700¬60mmRCN800¬100mmSelectionGuideIncrementalAngleEncoderswithIntegralBearing2)ForpositionmeasurementAfterintegratedinterpolationRON285RON786RON905ROD280ROD780SelectionGuideAngleEncodersandModularEncoderswithoutIntegralBearingBeforeinstallation.Additionalerrorcausedbymountinginaccuracyandinaccuracyfromthebearingofthemeasuredshaftarenotincluded.Forpositionmeasurement3)Forfurtherversions,seeappropriatecatalog4)Afterintegratedinterpolation2)Incrementalsignals/ReferenceGratingperiodmarksModelFormoreinformation»1VPP/–OneERP880Catalog:AngleEncoderswithoutIntegralBearingERP880NoneERP8080ERP4080ERP4080»1VPP/20µm»1VPP/40µm»1VPP/80µmDistance-codedERA4280CERA4480CERA4880CERA4000»1VPP/40µmDistance-codedERA780Cfullcircle(nominalincrementof1000gratingperiods)Distance-codedERA880Cfullcircle(nominalincrementof1000gratingperiods)ERA6080100mmERA6070Catalog:AngleEncoderswithoutIntegralBearingERA780»1VPP/40µm»1VPP«TTLERA6000ProductInformationERA880»1VPP/Approx.400µm«TTL/Approx.400µmERM280ERM220Catalog:MagneticModularEncodersERM28011MeasuringPrinciplesMeasuringStandardHEIDENHAINencodersincorporatemeasuringstandardsofperiodicstructuresknownasgraduations.Thesegraduationsareappliedtoaglassorsteelsubstrate.Glassscalesareusedprimarilyinencodersforspeedsupto10000min–1.Forhigherspeeds—upto20000min–1—steeldrumsareused.Thescalesubstrateforlargediametersisasteeltape.HEIDENHAINmanufacturestheprecisiongraduationsinspeciallydeveloped,photolithographicprocesses.•AURODUR:Matte-etchedlinesongold-platedsteeltapewithgratingperiodsoftypically40µm•METALLUR:Contamination-tolerantgraduationofmetallinesongold,withtypicalgraduationperiodof20µm•DIADUR:Extremelyrobustchromiumlinesonglass(typicalgraduationperiod20µm)orthree-dimensionalchromestructures(typicalgraduationperiodof8µm)onglass•SUPRADURphasegrating:opticallythreedimensional,planarstructure;particularlytoleranttocontamination;typicalgraduationperiodof8µmandless•OPTODURphasegrating:opticallythreedimensional,planarstructurewithparticularlyhighreflectance,typicalgraduationperiodof2µmandless.Theseprocessespermitveryfinegratingperiodsandarecharacterizedbyahighdefinitionandhomogeneityofthelineedges.Togetherwiththephotoelectricscanningmethod,thishighedgedefinitionisapreconditionforthehighqualityoftheoutputsignals.ThemastergraduationsaremanufacturedbyHEIDENHAINoncustom-builthigh-precisionrulingmachines.AbsoluteMeasuringMethodAbsoluteencodersfeaturemultiplecodedgraduationtracks.Thecodearrangementprovidestheabsolutepositioninformation,whichisavailableimmediatelyafterrestartingthemachine.Thetrackwiththefinestgratingstructureisinterpolatedforthepositionvalueandatthesametimeisusedtogenerateanincrementalsignal(seeEnDatInterface).CirculargraduationsofabsoluteangleencodersIncrementalMeasuringMethodWiththeincrementalmeasuringmethod,thegraduationconsistsofaperiodicgratingstructure.Thepositioninformationisobtainedbycountingtheindividualincrements(measuringsteps)fromsomepointoforigin.Sinceanabsolutereferenceisrequiredtoascertainpositions,thescalesorscaletapesareprovidedwithanadditionaltrackthatbearsareferenceWithdistance-codedreferencemarks,theabsolutereferenceiscalculatedbycountingthesignalperiodsbetweentworeferencemarksandusingthefollowingformula:1RR22where:dMountingmark.Theabsolutepositiononthescale,establishedbythereferencemark,isgatedRRwithexactlyonemeasuringstep.Where:ThereferencemarkmustthereforebeÞ1=Absoluteangularpositionofthescannedtoestablishanabsolutereferencefirsttraversedreferencemarktoortofindthelastselecteddatum.thezeropositionindegreesInsomecases,thismayrequirearotationabs=Absolutevalueuptonearly360°.Tospeedandsimplifysuch“referenceruns,”manyencoderssgn=Signfunction(“+1”or“–1”)featuredistance-codedreferencemarks—multiplereferencemarksthatareMRR=Measureddistancebetweentheindividuallyspacedaccordingtoatraversedreferencemarksinmathematicalalgorithm.ThesubsequentdegreeselectronicsfindtheabsolutereferenceaftertraversingtwosuccessivereferenceI=Nominalincrementbetweentwomarks—meaningonlyafewdegreesoffixedreferencemarks(seetable)traverse(seenominalincrementIinthetable).GP360°Encoderswithdistance-codedreferenceD=Directionofrotation(+1or–1)marksareidentifiedwitha“C”behindtheRotationtotheright(asseenfrommodeldesignation(e.g.RON786C).theshaftsideoftheangleencoder—seeMatingDimensions)gives“+1”LinecountzNumberofNominalreferencemarksincrementI360007210°180003620°anseiertpProScanningtheMeasuringStandardPhotoelectricScanningMostHEIDENHAINencodersoperateusingtheprincipleofphotoelectricscanning.Photoelectricscanningofameasuringstandardiscontact-free,andassuch,freeofwear.Thismethoddetectsevenveryfinelines,nomorethanafewmicronswide,andgeneratesoutputsignalswithverysmallsignalperiods.Thefinerthegratingperiodofameasuringstandardis,thegreatertheeffectofdiffractiononphotoelectricscanning.HEIDENHAINusestwoscanningprincipleswithangleencoders:•Theimagingscanningprincipleforgratingperiodsfrom10µmtoapprox.70µm.•Theinterferentialscanningprincipleforveryfinegraduationswithgratingperiodsof4µm.14ImagingscanningprinciplePutsimply,theimagingscanningprinciplePhotovoltaiccellsconvertthesevariationsfunctionsbymeansofprojected-lightinlightintensityintoelectricalsignals.Thesignalgeneration:twograduationswithspeciallystructuredgratingofthescanningequalgratingperiodsaremovedrelativetoreticlefiltersthelightcurrenttogenerateeachother—thescaleandthescanningnearlysinusoidaloutputsignals.Thereticle.Thecarriermaterialofthescanningsmallertheperiodofthegratingstructurereticleistransparent,whereastheis,thecloserandmoretightlytolerancedgraduationonthemeasuringstandardmaythegapmustbebetweenthescanningbeappliedtoatransparentorreflectivereticleandcircularscale.Practicalsurface.mountingtolerancesforencoderswiththeimagingscanningprincipleareachievedWhenparallellightpassesthroughawithgratingperiodsof10µmandlarger.grating,lightanddarksurfacesareprojectedatacertaindistance.AnindexTheRCN,RONandRODangleencodersgratingwiththesamegratingperiodiswithintegralbearingoperateaccordingtolocatedhere.Whenthetwogratingsmovetheimagingscanningprinciple.relativetoeachother,theincidentlightismodulated.Ifthegapsinthegratingsarealigned,lightpassesthrough.Ifthelinesofonegratingcoincidewiththegapsoftheother,nolightpassesthrough.ImagingscanningprincipleInterferentialscanningprincipleTheinterferentialscanningprincipleexploitsArelativemotionofthescanningreticletothediffractionandinterferenceoflightonathescalecausesthediffractedwavefrontsfinegraduationtoproducesignalsusedtotoundergoaphaseshift:whenthegratingmeasuredisplacement.movesbyoneperiod,thewavefrontofthefirstorderisdisplacedbyonewavelengthAstepgratingisusedasthemeasuringinthepositivedirection,andthewavelengthstandard:reflectivelines0.2µmhighareofdiffractionorder–1isdisplacedbyoneappliedtoaflat,reflectivesurface.Infrontwavelengthinthenegativedirection.Sinceofthatisthescanningreticle—atransparentthetwowavesinterferewitheachotherphasegratingwiththesamegratingperiodwhenexitingthegrating,thewavesareasthescale.shiftedrelativetoeachotherbytwowavelengths.ThisresultsintwosignalWhenalightwavepassesthroughtheperiodsfromtherelativemotionofjustscanningreticle,itisdiffractedintothreeonegratingperiod.partialwavesoftheorders–1,0,and+1,withapproximatelyequalluminousInterferentialencodersfunctionwithintensity.Thewavesarediffractedbytheaveragegratingperiodsof4µmandfiner.scalesuchthatmostoftheluminousTheirscanningsignalsarelargelyfreeofintensityisfoundinthereflecteddiffractionharmonicsandcanbehighlyinterpolated.orders+1and–1.ThesepartialwavesmeetTheseencodersarethereforeespeciallyagainatthephasegratingofthescanningsuitedforhighresolutionandhighaccuracy.reticlewheretheyarediffractedagainandEvenso,theirgenerousmountinginterfere.Thisproducesessentiallythreetolerancespermitinstallationinawidewavesthatleavethescanningreticleatrangeofapplications.differentangles.PhotovoltaiccellsconvertthisalternatinglightintensityintoelectricalTheRPN886angleencoderwithintegralsignals.bearingoperatesaccordingtotheinterferentialscanningprinciple.Interferentialscanningprinciple(opticsschematics)CGratingψperiodPhaseshiftofthelightwavewhenpassingthroughthescanningreticle−PhaseshiftofthelightwaveduetomotionXofthescaleMeasuringAccuracyTheaccuracyofangularmeasurementismainlydeterminedby:1.thequalityofthegraduation,2.thequalityofthescanningprocess,3.thequalityofthesignalprocessingelectronics,4.theeccentricityofthegraduationtothebearing,5.theradialrunoutofthebearing,6.theelasticityoftheencodershaftanditscouplingwiththedriveshaft,7.theelasticityofthestatorcoupling(RCN,RON,RPN)orshaftcoupling(ROD)Inpositioningtasks,theaccuracyoftheangularmeasurementdeterminestheaccuracyofthepositioningofarotaryaxis.ThesystemaccuracygivenintheSpecificationsisdefinedasfollows:Theextremevaluesofthetotalerrorofaposition—withrespecttothemeanvalue—arewithinthesystemaccuracy±a.Thetotalerrorisascertainedatconstanttemperatures(22°C)duringthefinalinspectionandareindicatedonthecalibrationchart.•Forangleencoderswithintegralbearingandintegratedstatorcoupling,thisvaluealsoincludesthedeviationduetotheshaftcoupling.•Forangleencoderswithintegralbearingandseparateshaftcoupling,theangleerrorofthecouplingmustbeadded(seeMechanicalDesignTypesandMounting–ROD).•Forangleencoderswithoutintegralbearing,additionaldeviationsresultingfrommounting,errorsinthebearingofthedriveshaft,andadjustmentofthescanningheadmustbeexpected(seecatalog:AngleEncoderswithoutIntegralBearing).Thesedeviationsarenotreflectedinthesystemaccuracy.Thesystemaccuracyreflectspositionerrorswithinonerevolutionaswellasthosewithinonesignalperiod.Positionerrorwithinonerevolutionbecomesapparentinlargerangularmotions.Positiondeviationswithinonesignalperiodalreadybecomeapparentinverysmallangularmotionsandinrepeatedmeasurements.Theyespeciallyleadtospeedripplesinthespeedcontrolloop.Thesedeviationswithinonesignalperiodarecausedbythequalityofthesinusoidalscanningsignalsandtheirsubdivision.Thefollowingfactorsinfluencetheresult:•Thesizeofthesignalperiod•Thehomogeneityandedgedefinitionofthegraduation•Thequalityoftheopticalfilterstructuresonthescanningreticle•Thecharacteristicsofthephotoelectricdetectors•ThestabilityanddynamicsduringthefurtherprocessingoftheanalogsignalsHEIDENHAINangleencoderstakethesefactorsofinfluenceintoaccount,andpermitinterpolationofthesinusoidaloutputsignalwithsubdivisionaccuraciesofbetterthan±1%ofthesignalperiod(RPN:±1.5%).Thereproducibilityisevenbetter,meaningthatusefulelectricsubdivisionfactorsandsmallsignalperiodspermitsmallenoughmeasuringsteps(seeSpecifications).Example:Angleencoderwith36000sinusoidalsignalperiodsperrevolutionOnesignalperiodcorrespondsto0.01°or36“.Withasignalqualityof±1%,thisresultsinmaximumpositionerrorwithinonesignalperiodofapprox.±0.0001°or±0.36“.ForitsangleencoderswithintegralAllmeasuredvaluesdeterminedinthisThefollowinglimitsapplytothereversalbearings,HEIDENHAINpreparesindividualmannerliewithinoronthegraphicallyerror:calibrationchartsandshipsthemwiththedepictedenvelopecurve.ThemeanvalueRCN/RON2xx:Max.0.6“encoder.ThecalibrationchartdocumentscurveshowsthearithmeticmeanoftheRCN/RON7xx:Max.0.4“theencoder’saccuracyandservesasameasuredvalues,inwhichthereversalRCN/RON/RPN8xx:Max.0.4“traceabilityrecordtoacalibrationstandard.errorisnotincluded.FortheRCN,RONandRPN,whichfeatureThemanufacturer’sinspectioncertificateanintegratedcoupling,theaccuracyThereversalerrordependsontheshaftcertifiestheaccuracyoftheencoder.Thespecificationsalreadyincludetheerrorofcoupling.Onangleencoderswithintegralcalibrationstandardisindicatedinorderthecoupling.Forangleencoderswithstatorcouplingitisdeterminedattentocertifythetraceabilitytothenationalseparateshaftcoupling,however,theerrormeasuringpositionsinforwardandstandard.causedbythecouplingisnotincludedinbackwardsteps.Themaximumvalueandtheencoderspecificationandmustbearithmeticmeanaredocumentedontheaddedtocalculatethetotalerror(seecalibrationchart.MechanicalDesignTypesandMounting–ROD–Kinematicerroroftransfer).DeterminationofthereversalerrorwithforwardandbackwardmeasurementsThesystemaccuracyofangleencodersisascertainedthroughfiveforwardandfivebackwardmeasurements.Themeasuringpositionsperrevolutionarechosentodetermineveryexactlynotonlythelong-rangeerror,butalsothepositionerrorwithinonesignalperiod.Calibrationchartexample:RON2851Graphicrepresentationoferror•Envelopecurve•Meanvaluecurve2ResultsofcalibrationMechanicalDesignTypesandMountingRCN,RON,RPNRCN,RONandRPNangleencodershaveanintegralbearing,hollowshaftandintegratedstatorcoupling.Themeasuredshaftisdirectlyconnectedwiththeshaftoftheangleencoder.Thereferencemarkcanbeassignedtoadesiredangularpositionofthemeasuredshaftfromtherearoftheencoderduringmounting.Design:Thegraduateddiskisrigidlyaffixedtothehollowshaft.Thescanningunitridesontheshaftonballbearingsandisconnectedtothehousingwithacouplingonthestatorside.Duringangularaccelerationoftheshaft,thecouplingmustabsorbonlythattorquecausedbyfrictioninthebearing.Angleencoderswithintegratedstatorcouplingthereforeprovideexcellentdynamicperformance.MountingThehousingoftheRCN,RONandRPNisfirmlyconnectedtothestationarymachinepartwithanintegralmountingflangeandacenteringcollar.Liquidscaneasilyflowawaythroughdrainagechannelsontheflange.ShaftcouplingwithringnutTheRCN,RONandRPNserieshaveahollowthroughshaft.Forinstallation,thehollowthroughshaftoftheangleencoderisplacedoverthemachineshaft,andisfixedwitharingnutfromthefrontoftheencoder.Theringnutcaneasilybetightenedwiththemountingtool.FrontendshaftcouplingItisoftenhelpful,especiallywithrotarytables,tointegratetheangleencoderinthetablesothatitisfreelyaccessiblewhentherotorislifted.Thisinstallationfromabovereducesmountingtimes,increasestheeaseforservicing,andimprovestheaccuracy,sincetheencoderislocatednearertotherotarytablebearingandthemeasuringormachiningplane.Thehollowshaftisconnectedbythreadedholesonthefacewiththeaidofspecialmounting(notincludedindelivery).Tocomplywithradialandaxialrunoutspecifications,theinternalboreshouldersurface2aretobeusedas1faceoftheencoder.RON905shaftcouplingTheRON905hasablindhollowshaft.shaftisconnectedbyanaxialcentralscrew.CrosssectionoftheRON886angleencoderMountinganangleencoderwithhollowthroughshaftFront-endshaftcouplingwithRCN729RingnutsforRCN,RONandRPNHEIDENHAINoffersspecialringnutsfortheRCN,RONandRPNangleencoderswithintegralbearingandhollowthroughshaftwithintegratedcoupling.Choosethetoleranceoftheshaftthreadsuchthattheringnutcanbetightenedeasily,withaminoraxialplay.Thisguaranteesthattheloadisevenlydistributedontheshaftconnection,andpreventsdistortionoftheencoder’shollowshaft.RingnutforRON/RCN200Hollowshaft¬20mm:ID336669-03RingnutforRON785Hollowshaft¬50mm:ID336669-05RingnutforRON786;RON/RPN886RCN72x/RCN82xHollowshaft¬60mm:ID336669-11RingnutforRCN72x/RCN82xHollowshaft¬100mm:ID336669-16MountingtoolforHEIDENHAINringnutsThemountingtoolisusedtotightentheringnut.Itspinslockintotheholesintheringnuts.Atorquewrenchprovidesthenecessarytighteningtorque.MountingtoolforringnutswithHollowshaft¬20mmID530334-03Hollowshaft¬50mmID530334-05Hollowshaft¬60mmID530334-11Hollowshaft¬100mmID530334-16PWWinspectiontoolforangleencodersThePWWmakesasimpleandquickinspectionofthemostsignificantmatingdimensionspossible.Theintegratedmeasuringequipmentmeasurespositionandradialrunoutregardlessofthetypeofshaftcoupling,forexample.PWWforHollowshaft¬20mm:ID516211-01Hollowshaft¬50mm:ID516211-02Hollowshaft¬60mm:ID516211-03Hollowshaft¬100mm:ID516211-05RingnutforSeriesRxN200RingnutforRxN700/800seriesInspectiontoolPWWHYPERLINK"/retype/zoom/3c5ab2f0770bf78a6529548f?pn=19&x=0&y=511&raww=384&rawh=249&o=png_6_0_0_0_0_0_0_892.83_1263&type=pic&aimh=249&md5sum=04cb0208dbb3d22505df81594338613c&sig