liner encoder

8/13/2019 Liner Encoder

1/48July 2003

Exposed

Linear Encoders


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This catalog supersedes all previous

editions, which thereby become invalid.

The basis for odering from HEIDENHAIN

is always the catalog edition valid when

the contract is made.

Standards (ISO, EN, etc.) apply only where

explicitly stated in the catalog.

Information on

Sealed linear encoders Angle encoders Rotary encoders HEIDENHAIN subsequent electronics HEIDENHAIN TNC controls Machine inspection and calibrationis available on request as well as on theInternet under www.heidenhain.de

Exposed Linear Encoders

Exposed linear encodersare designed foruseon machines andinstallations that requireespecially high accuracy of the measuredvalue. Typical applications include: Measuring and production equipment in

the semiconductor industry PCB assembly machines Ultra-precision machines such as diamond

lathes for optical components, facinglathes for magnetic storage disks, andgrinding machines for ferrite components.

High-accuracy machine tools Measuring machines and comparators,

measuring microscopes, and otherprecision measuring devices

Direct drives

Linear encodersmeasure the position oflinear axes without additional mechanicaltransfer elements. This eliminates anumber of potential error sources: Positioning error due to thermal behavior

of the recirculating ball screw Backlash Kinematic error through ball screw pitch

error

Linear encodersare therefore indispensablefor machines that fulfill high requirementsforpositioning accuracyandmachiningspeed.

Mechanical DesignExposed linear encoders consist of a scaleor scale tape and a scanning head thatoperate without mechanical contact.The scale of an exposed linear encoder isfastened directly to a mounting surface.The flatness of the mounting surface istherefore a prerequisite for high accuracyof the encoder.


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Contents

Overview

Exposed Linear Encoders 2

Selection Guide 4

Technical Characteristics

Measuring Principles Measuring Standard 6

Incremental Measuring Method 7

Photoelectric Scanning 8

Measuring Accuracy 10

Reliability 12

Mechanical Design Types and Mounting 14

General Mechanical Information 17

Specifications

For very high accuracy LIP 300 Series 18

LIP 400 Series 20

LIP 500 Series 22

LIF 400 Series 24

For high traversing speed and largemeasuring lengths

LIDA 1x1 Series 26

LIDA 4x5 Series 28

LIDA 4x7 Series 30

For two coordinates PP Series 32

Electrical Connection

Interfaces Incremental Signals 1 VPP

Incremental Signals TTL 36

Limit Switches 38

Position Detection 39

Connecting Elements and Cables 40

General Electrical Specifications 44

HEIDENHAIN Measuring and Test Equipment 46

Evaluation Electronics 47


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Selection Guide

ThePPtwo-coordinate encoders feature asmeasuring standard a planar phase-gratingstructure manufactured with the DIADURprocess on a glass substrate. This makes itpossible tomeasure positions in a plane.

TheLIPexposed linear encoders arecharacterized by very small measuringsteps together with very highaccuracyandrepeatability.As the measuring standardthey feature a DIADURphase grating appliedto a graduation carrier of glass ceramic orglass.

TheLIFexposed linear encoders have ameasuring standard on a glass substratemanufactured in the DIADUR process. Theyfeaturehigh accuracyandrepeatabilityand are especially easy to mount.

TheLIDAexposed linear encoders have anAURODUR steel scale tape as measuringstandard. They are specially designed for

high traversing speeds up to 8 m/s and areparticularly easy to mount with variousmounting possibilities.

Cross section Accuracygrades

Signalperiod1)

LIP for very high accuracy Scale of glass ceramic or glass Interferential scanning principle for

small signal periods

0.5 m 0.128 m

1 m 0.5 m

2 m

1 m 4 m

LIF with PRECIMET adhesive film Interferential scanning principle for

small signal periods Limit switches and homing track

3 m 4 m

For high traversing speeds and largemeasuring lengths Steel scale tape cemented on steel

carrier or drawn into an aluminumextrusion

Limit switches with LIDA 400

5 m 3 m

40 m

5 m 20 m

15 m 20 m

PP for two-coordinate measuring Common scanning point for both

coordinates Interferential scanning principle for

small signal periods

2 m 4 m

1) Signal period of the sinusoidal signals. It is definitive for deviations within one1) signal period (seeMeasuring Accuracy).2)

For encoders with TTL interface and integrated interpolation electronics:2) Measuring step after 4-fold evaluation and with maximum possible interpolation factor2) (see TTL Interfaces).

(higher accuracyavailable

on request)

LIP 4x1R(higher accuracy

available

on request)


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Measuringlengths

Substrate andmounting

Interface/Meas. step2)

Model Page

70 mm to270 mm(2.7 in. to10.6 in.)

Zerodurglassceramicembedded inbolted-onInvar carrier

TTL0.001 m

LIP 372 18

1 VPP LIP 382

10 mm to420 mm(0.4 in. to16.5 in.)

Scale of Zerodur

glass ceramicor glass withbolted-on fixingclamps

TTLto 0.05 m

LIP 471 20

1 VPP LIP 481

70 mm to

1440 mm(2.7 in. to56 in.)

Glass scale fixed

with bolted-onclamps

TTL

to 0.1 m

LIP 571 22

1 VPP LIP 581

70 mm to1020 mm(2.7 in. to40 in.)

Glass scale fixedwith PRECIMET

adhesive film

TTLto 0.01 m

LIF 471 24

1 VPP LIF 481

220 mm to2040 mm(8.6 in. to

80 in.)

Steel scale tapeembedded insteel carrier that

is bolted onto amounting surface

TTLto 1 m

LIDA171 26

1 VPP LIDA181

140 mm to30040 mm(5.5 in. to100 ft)

Steel scale tapeis drawn into analuminumextrusion andtensioned

TTLto 0.05 m

LIDA475 28

1 VPP LIDA485

240 mm to6040 mm(9.5 in. to237 in.)

Steel scale tapeis drawn into analuminumextrusion andfixed at center

TTLto 0.05 m

LIDA477 30

1 VPP LIDA487

Measuringrange68 mm x68 mm(2.7 in. x2.7 in.)

Glass gridplate mountedwith full-surfaceadhesion

TTLto 0.1 m

PP 271 32

1 VPP PP 281

LIDA 485

LIDA 181

LIF 481

LIP 581

LIP 382

PP 281

(other measuringranges upon

request)

Overv

iew

(other measuring

ranges uponrequest)


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Measuring PrinciplesMeasuring Standard

HEIDENHAIN encoders with opticalscanning incorporate measuring standardsof periodic structures known as graduations.These graduations are applied to a carriersubstrate of glass or steel. The scalesubstrate for large measuring lengths is asteel tape.

These precision graduations aremanufactured in various photolithographicprocesses. Graduations are fabricated from: extremely hard chromium lines on glass, matte-etched lines on gold-plated steel

tape, or three-dimensional structures on glass or

steel substrates.

The photolithographic manufacturingprocesses developed by HEIDENHAINproduce grating periods of typically 40 mto under 1 m.

These processes permit very fine gratingperiods and are characterized by a highdefinition and homogeneity of the lineedges. Together with the photoelectricscanning method, this high edge definitionis a precondition for the high quality of theoutput signals.

The master graduations are manufacturedby HEIDENHAIN on custom-built high-precision ruling machines.


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Incremental Measuring Method

Withincremental measuring methods,the graduation consists of a periodic gratingstructure. The position information isobtainedby countingthe individual incre-ments (measuring steps) from some pointof origin. Since an absolute reference isrequired to ascertain positions, the scalesorscale tapes are provided withanadditionaltrack that bears areference mark.Theabsolute position on the scale, establishedby the reference mark, is gated with exactlyone measuring step. The reference markmust therefore be scanned to establish anabsolute reference or to find the lastselected datum.

In some cases this may necessitatemachine movement over large lengths ofthemeasuring range. To speed andsimplifysuch reference runs, many encodersfeature distance-coded reference marksmultiple referencemarks that are individuallyspaced according to a mathematicalalgorithm. The subsequent electronics findthe absolute reference after traversing twosuccessive reference marksonly a fewmillimeters traverse (see table). Encoderswith distance-coded reference marks areidentified with a C behind the modeldesignation (e.g. LIP 581 C).

With distance-coded reference marks, theabsolute referenceis calculated bycounting the signal periods between tworeference marks and using the followingformula:

P1= (abs Bsgn B1) xN+ (sgn Bsgn D) xabs MRR

where:

B= 2 xMRRN

and:P1 = Position of the first traversed

reference mark in signal periods

abs = Absolute value

sgn = Sign function (+1 or 1)

MRR= Number of signal periods betweenthe traversed reference marks

22

N = Nominal increment betweentwo fixed reference marks insignal periods (see table)

D = Direction of traverse (+1 or 1)Traverse of scanning unit to theright (when properly installed)equals +1.

Signal period Nominalincrement Nin

signal periods

Max. traverse

LIP 5x1C 4 m 5000 20 mm

LIDA 1x1C 40 m 2000 80 mm

Incrementalgraduation withdistance-codedreference markson an LIP 5x1Cencoder

Dimensionsin mm

Techn

ica

lCh

arac

teris

tics


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Photoelectrical Scanning

Most HEIDENHAIN encoders operateusing the principle of photoelectricscanning. The photoelectric scanning of ameasuring standard is contact-free, andtherefore without wear. This methoddetects even very fine lines, no more thana few microns wide, and generates outputsignals with very small signal periods.

The finer the grating period of a measuringstandard is, the greater the effect ofdiffraction on photoelectric scanning.HEIDENHAIN uses two scanning principleswith linear encoders:

Theimaging scanning principlefor

grating periods from 10 m to 40 m. Theinterferential scanning principlefor very fine graduations with gratingperiods of 4 m and smaller.

Imaging scanning principleTo put it simply, the imaging scanningprinciple functions by means of projected-light signal generation: two scale gratingswith equal grating periods are movedrelative to each otherthe scale and thescanning reticle. The carrier material of thescanning reticle is transparent, whereas thegraduation on the measuring standard maybe applied to a transparent or reflectivesurface.

When parallel light passesthrough a grating,light and dark surfaces are projected at acertain distance. An index grating with thesame grating period is located here. When

the two gratings move in relation to eachother, the incident light is modulated: if thegaps are aligned, light passes through. Ifthe lines of one grating coincide with thegaps of the other, no light passes through.Photocells convert these variations in lightintensity into electrical signals. The speciallystructured grating of the scanning reticlefilters the light current to generate nearlysinusoidal output signals. The smaller theperiod of the grating structure is, the closerand more tightly toleranced the gap mustbe between the scanning reticle and scale.Practical mounting tolerances for encoders

with the imaging scanning principle areachieved with grating periods of 10 m andlarger.

The LIDA linear encodersoperate accordingto the imaging scanning principle.

Signal period

360 elec.

Phase shift90elec.

Photoelectric scanning using the imaging scanning principle with steel scale and onescanning field (LIDA 400)

Scale WindowStructuredsensor

Light source(LED)

Condenser lens

Scanning reticle

Index grating


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Interferential scanning principleThe interferential scanning principle exploitsthe diffraction and interference of light on afine graduation to produce signals used tomeasure displacement.

A step grating is used as the measuringstandard: reflective lines 0.2 m high areapplied to a flat, reflective surface. In frontof that is thescanning reticleatransparentphase grating with the same grating periodas the scale.

When a light wave passes through thescanning reticle, it is diffracted into threepartial waves of the orders 1, 0, and +1,

with approximately equal luminous intensity.The waves are diffracted by the scale suchthat most of the luminous intensity is foundin the reflected diffraction orders +1 and1. These partial waves meet again at thephase grating of the scanning reticle wherethey are diffracted again and interfere. Thisproduces essentially three waves that leavethe scanning reticle at different angles.Photovoltaic cells convert this alternatinglight intensity into electrical signals.

A relative motion of the scanning reticle tothe scale causes the diffracted wave frontsto undergo a phase shift: when the gratingmoves by one period, the wave front of thefirst order is displaced by one wavelengthin thepositive direction, andthewavelengthof diffraction order 1 is displaced by onewavelength in the negative direction. Sincethe waves interfere with each other whenexiting the grating, the waves are shiftedrelative to each other by two wavelengths.This results in two signal periods from therelative motion of just one grating period.

Interferential encoders function with gratingperiods of, for example, 8 m, 4 m and

finer. Their scanning signals are largely freeof harmonics and can be highly interpolated.These encoders are therefore especiallysuited forhigh resolution and high accuracy.Even so, their generous mountingtolerances permit installation in a widerange of applications.

The linear encoders of theLIP, LIFandPPproduct families operate with the inter-ferential scanning principle.

The sensor generates four nearly

sinusoidal current signals (I0, I

90, I

180and I270), electrically phase-shifted toeach other by 90. These scanning signalsdo not at first lie symmetrically about thezero line. For this reason the photovoltaiccells are connected in a push-pull circuit,producing two 90 phase-shifted outputsignalsI1andI2in symmetry with respectto the zero line.

In theXY representation on an oscilloscopethe signals form a Lissajous figure. Idealoutput signals appear as a concentricinner circle. Deviations in the circular form

and position are caused by position errorwithin one signal period (seeMeasuringAccuracy)and therefore go directly intothe result of measurement. The size ofthe circle, which corresponds with theamplitude of the output signal, can varywithin certain limits without influencingthe measuring accuracy.

Photoelectric scanning using the interferential scanning principle with one scanning field

Scale Scale withDIADUR phase grating

Condenser lens Light sourceLED

Photovoltaiccells

Scanning reticle:transparent phase grating

Grating period

Orders of diffraction-1. 0. +1.


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Measuring Accuracy

The accuracy of linear measurement ismainly determined by: The quality of the graduation Quality of the scanning process Quality of the signal processing

electronics The error from the scale guideway over

the scanning unit.

A distinction is made between position errorover relatively large paths of traverseforexample the entire measuring rangeandthat within one signal period.

Position error over measuring lengthThe accuracy of exposed linear encoders is

specified as accuracy grades, which aredefined as follows:

The extreme values of the total errorFof aposition liewith reference to their mean

valueover any max. one-meter section of

the measuring length within the accuracy

gradea.

With exposed linear encoders, the abovedefinition of the accuracy grade applies onlyto the scale. It is then called the scaleaccuracy.

Position error within one signal periodThe position error within one signal periodis determined by the quality of scanningand the signal period of the encoder. At anyposition over the entire measuring length ofan exposed HEIDENHAIN linear encoders itdoes not exceed approx. 1% of the signalperiod.

The smaller the signal period, the smallerthe position error within one signal period.It is of critical importance both for accuracyof a positioning movement as well as forvelocity control during the slow, even

traverse of an axis.

Signal period ofscanning signals

Typical position erroruwithinone signal period

LIP 3x2 0.128 m 0.001 m

LIP 4x1 2 m 0.02 m

LIP 5x1LIFPP

4 m 0.04 m

LIDA 4xx 20 m 0.2 m

LIDA 1xx 40 m 0.4 m

Pos

itio

nerror

Position

Position errorwithin onesignal period

Position errorFover the measuring length

Position erroruwithin one signal period

Pos

itio

nerror

Sig

na

lle

ve

l

Signal period

360 elec.


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All HEIDENHAIN linear encoders areinspected before shipping for accuracy andproper function.

They are calibrated for accuracy duringtraverse in both directions. The number ofmeasuringpositions is selected to determinevery exactly not only the long-range error,but also the position error within one signalperiod.

Themanufacturers inspection certificateconfirms the specified system accuracy ofeach length gauge. Thecalibrationstandardsensure the traceabilityasrequired by ISO9001to recognized national

or international standards.

For the encodersof the LIP,PPand LIDA1x1series, acalibration chartdocuments theposition error over the measuring range andalso states the measuring step andmeasuring uncertainty of the calibration.

Temperature rangeThe length gauges are calibrated at areference temperatureof 20 C (68 F).Thesystem accuracy given in thecalibrationchart applies at this temperature. Theoperating temperature rangeindicates

the ambient temperature limits betweenwhich the length gauges will functionproperly. Thestorage temperature rangeof 20 C to 70 C (4 F to 158 F) appliesfor the device in its packaging.

Poor mounting of linear encoders canaggravate the effect of guideway error onmeasuring accuracy. To keep the resultingAbbe error as small as possible, the scaleor scale housing should be mounted attable height on the machine slide. It isimportant to ensure that the mounting

surface is parallel to themachine guideway.


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Reliability

Exposed linear encoders from HEIDENHAINare optimized for use on fast, precisemachines. In spite of the exposedmechanical design they are highly tolerantto contamination, ensure high long-termstability, and are fast and simple to mount.

Lower sensitivity to contaminationBoth the high quality of the grating and thescanning method are responsible for theaccuracy and reliability of linear encoders.Exposed linear encoders from HEIDENHAINoperate withsingle-field scanning.Onlyone scanning field is used to generate thescanning signals. Unlike four-field scanning,withsingle-field scanning, localcontaminationon themeasuring standard (e.g., fingerprintsfrom mounting or oil accumulation fromguideways) influences the light intensity ofthe signal components, and therefore thescanning signals, in equal measure. Theoutput signals do change in their amplitude,but not in their offset and phase position.They remain highly interpolable, and theposition error within one signal periodremains small.

Thelarge scanning fieldadditionallyreduces sensitivity to contamination. Inmany cases this can prevent encoderfailure. This is particularly clear with theLIDA 400 and LIF 400, which in relationto the grating period have a very largescanning surface of 14.5 mm2. Even withcontamination from printers ink, PCBdust,water or oil with 3 mm diameter, theencoders continue to provide high-qualitysignals. The position error remains farbelow thevalues specified for theaccuracygrade of the scale.

Contamination behavior of LIF 400

Oil Water Toner Dust Fingerprint

Position [mm]

Pos

itio

nerror

[m

]

Effect of contamination with four-field scanning (red) and single-field scanning (green)

Position [mm]

Pos

itio

nerror

[m

]


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Sig

na

lamp

litu

de

[%]

Scanning gap [mm]

Mounting tolerance

1) = Scale tape2) = Scale tape carrier

LIDA 400

Sig

nal

amp

litu

de

[%]

Scanning gap [mm]

Mounting tolerance

LIF 400

SUPRADUR process: Optically three-dimensional graduation withplanar structure

Durable measuring standardsBy the nature of its design, the measuringstandards of exposed linear encoders areless protected from their environment.HEIDENHAIN therefore always uses toughgratingsmanufactured in special processes.

In the DIADUR process, hard chromestructures are applied to a glass or steelcarrier. The AURODUR process appliesgold to a steel strip to produce a scale tapewith a hard gold graduation.

In the SUPRADUR process, a transparentlayer is applied first over thereflective primarylayer. An extremely thin, hard chrome layer

is applied to produce an optically three-dimensional phase grating. Scales withSUPRADUR graduations have proven to beparticularly insensitive to contaminationbecause the low height of the structureleaves practically no surface for dust, dirt orwater particles to accumulate.

Reflective layer

Transparent layer

Reflectiveprimary layer

Application-oriented mountingtolerancesVery small signal periods usually come withvery narrow mounting tolerances for thegap between the scanning head and scaletape. This is the result of diffraction causedby the grating structures. It can lead to asignal attenuation of 50% with a gap changeof only 0.1 mm. Thanks to the interferentialscanning principle and innovative indexgratings in encoders with the imaging

measuring principle it has become possibleto provide ample mounting tolerances inspite of the small signal periods.

The mounting tolerances of exposed linearencoders from HEIDENHAIN have only aslight influence on the output signals. Inparticular the specified gap tolerancebetween the scale and scanning head(scanninggap) causes only negligible changein the signal amplitude. This behavior issubstantially responsible for the highreliability of exposed linear encoders fromHEIDENHAIN. The two diagrams illustrate

the correlation between the scanning gapand signal amplitude for the encoders ofthe LIDA 400 and LIF 400 series.

Substrate


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Mechanical Design Types and MountingLinear Scales

Exposed linear encoders consist of twocomponents: the scanning head and thescale or scale tape. They are positioned toeach other solely by themachine guideway.For this reason the machine must bedesigned from the very beginning to meetthe following prerequisites: The machine guideway must be designed

so that thetolerancesin the mountingspace for the encoder are met (seeSpecifications).

The bearing surface of the scale mustmeet requirements forevenness.

To facilitate adjustment of the scanninghead to the scale, it should be fastenedwith abracket.

Scale versionsHEIDENHAIN provides the appropriatescale version for the application andaccuracy requirements at hand.

LIP 300 seriesHigh-accuracy LIP 300 scales feature agraduation substrate of Zerodur, whichis cemented in the thermal stress-freezone of a steel carrier. The steel carrier isfixed with screws onto the bearing surface.Flexible fastening elements ensurereproducible thermal behavior.

LIP 400 and LIP 500 seriesThe graduation carriers of Zerodur or glassare fastened onto the bearing surface withclamps and additionally secured withsilicone adhesive. The thermal zero point isfixed with epoxy adhesive.

Accessories

Fixing clamps Id. Nr. 270711-04Silicone adhesive Id. Nr. 200417-02Epoxy adhesive Id. Nr. 200409-01

LIF 400 seriesThegraduation carriersof glass are fastenedwith PRECIMET elastic adhesive film, andpressure is evenly distributed with a roller.

Accessories

Roller Id. Nr. 276885-01

Scale of LIP 302

Scale of LIP 401

Scale of LIP 501

Scale of LIF 401


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LIDA 1x1 seriesThe steel scale tape with the graduation isapplied to a steel carrier. The steel carrier issecured over its full surface onto thebearing surface. The thermal behavior ofthe LIDA 100 is the same as that of steel.

LIDA 4x5 seriesLinear encoders of the LIDA 405 series arespecially designed for large measuringlengths. They are mounted with scalecarriersections screwed onto the bearing surfaceor with PRECIMET adhesive film. Thenthe one-piece steel scale tape is pulled intothe carrier,tensioned,andfixed at itsendsto the machine bed. The LIDA 405

therefore shares the thermal behavior of itsmounting surface.

LIDA 4x7 seriesEncoders of the LIDA 407 series are alsodesigned for large measuring lengths. Thescale carrier sections are fixed to thebearing surface with PRECIMET adhesivemounting film; the one-piece scale tape ispulled in andfixed at its midpointto themachine bed. This mounting methodallows the scale to expanded freely at bothends and ensures a defined thermalbehavior.

Accessoriesfor versions with PRECIMET

Roller Id. Nr. 276885-01Mounting aid Id. Nr. 373990-01

Scale of LIDA 407

Scale of LIDA 405

Scale of LIDA 101

Mounting aid


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Mechanical Design Types and MountingScanning Heads

Because exposed linear encoders areassembled on the machine, they must beprecisely adjusted after mounting. Thisadjustment determines the final accuracyof the encoder. It is therefore advisable todesign the machine for simplest and mostpractical adjustment as well as to ensurethe most stable possible construction.

For exact alignment of the scanning headto the scale, it must be adjustable in fiveaxes (see illustration). Because the paths ofadjustment are very small, it is generallysufficient to provide oblong holes in anangle bracket.

Mounting the LIP/LIF/LIDA 100The scanning head features a centeringcollar that allows it to be rotated in thelocation hole of the angle bracket andaligned parallel to the scale.

Mounting the LIDA 400The scanning head is best mounted frombehind on the mounting bracket. Thescanning head can be very preciselyadjusted through a hole in the mountingbracket with the aid of a tool.

Adjustment

To simplify adjustment, HEIDENHAINrecommends the following procedure:

1) Set the scanning gap between thescale and scanning head using thespacer foil.

2) Adjust the incremental signals byrotating the scanning head.

3) Adjust the reference mark signalsthrough further, slight rotation of thescanninghead.

As adjustment aids, HEIDENHAIN offersthe PWM 9 or PWT measuring and testing

devices (seeHEIDENHAIN Measuring andTest Equipment).

Please note:

Work steps to be performed and

dimensions to be maintained during

mounting are specified solely in the

mounting instructions supplied with the

unit. All data in this catalog regarding

mounting are therefore provisional and

not binding; they do not become terms

of a contract.

LIP/LIF/LIDA 100

Spacer foil

LIDA 400

Spacer foil


17/4817

MountingTo simplify cable routing, the scanninghead is usually screwed onto a stationarymachine part and the scale onto themoving machine part.Themounting locationfor the linearencoders should be carefully considered inorder to ensure both optimum accuracyand the longest possible service life. The encoder should be mounted as

closely as possible to the working planeto keep the Abbe error small.

To function properly, linear encodersmust not be continuously subjected tostrong vibration, The more solidelements of the machine tool provide the

best mounting surfaces in this respect;encoders should not be mounted onhollow parts or with adapter pieces.

The linear encoders should be mountedaway from sources of heat to avoidtemperature influences.

Temperature rangeThe operating temperature range indicatesthe limits of ambient temperature withinwhich the values given in the specificationsfor linear encoders are maintained.Thestorage temperature rangeof 20 Cto 70 C (4 F to 158 F) is valid when the

unit remains in its packaging.

Thermal behaviorThe thermal behavior of the linear encoderis an essential criterion for the workingaccuracy of the machine. As a general rule,the thermal behavior of the linear encodershould match that of the workpiece ormeasured object. During temperaturechanges, the linear encoder should expandor retract in a defined, reproducible manner.The graduation carriers of HEIDENHAINlinear encoders (seeSpecifications) havediffering coefficients of thermal expansion.

This makes it possible to select the linearencoder with thermal behavior best suitedto the application.

General Mechanical Information

Degree of protection (IEC 60 529)The scanning heads of the exposed linearencoders feature an IP 50 degree ofprotection. The scales have no specialprotection. Protective measures must betaken if the possibility of contaminationexists.

AccelerationLinear encoders are subject to varioustypes of acceleration during operation andmounting. The indicated maximum values for

vibrationapply for frequencies of 55 to2000Hz (IEC 60068-2-6). Anyaccelerationexceedingpermissible values, forexample

due to resonance depending on theapplication and mounting, might damagethe encoder.Comprehensive tests ofthe entire system are required.

The maximum permissible accelerationvalues (semi-sinusoidal shock) forshock and impactare valid for 11 ms(IEC 60068-2-27).Under no circumstances should ahammer or similar implement be usedto adjust or position the encoder.

System tests

Encoders from HEIDENHAIN are usually

integrated as components in larger

systems. Such applications require

comprehensive tests of the entire

systemregardless of the specifications

of the encoder. The specifications given

in the brochure apply to the specific

encoder, not to the complete system.

Any operation of the encoder outside of

the specified range or for any other than

the intended applications is at the users

own risk.

In safety-oriented systems, the higher-

level system must verify the position

value of the encoder after switch-on.

DIADUR, AURODUR andSUPRADUR

and

PRECIMET

are registered trademarks of

DR. JOHANNESHEIDENHAIN GmbH, Traunreut.

Zerodur

is a registered trademark of the

Schott-Glaswerke, Mainz.

Expendable partsIn particular the following parts in encodersfrom HEIDENHAIN are subject to wear: LED light source Cable


18/48

18

Dimensions

in mm

LIP 372LIP 382Incremental linear encoders with very high accuracyFor measuring steps to 0.001 m (1 nm)

Specifications LIP 372LIP 382

Measuring standard

Grating periodThermal expansion coefficient

DIADUR phase grating on Zerodur

glass ceramic0.512 mtherm 0 ppm/K

Accuracy grade 0.5 m (0.00002 in.)(higher accuracy grades available onrequest)

Measuring length ML*in mm 70, 150, 170, 220, 270

Reference mark None

Max. traversing LIP 372speed LIP 382

See page 377.6 m/minwith 3dB cutoff frequency 1 MHz

Vibration55 to 2000 HzShock11 ms

4 m/s2 (IEC 60068-2-6) 50 m/s2 (IEC 60068-2-27)

Operating temperature 0 to 40 C (32 to 122 F)

Weight Scanning headInterface electronicsScale

Cable

150 g100 g260 g (ML 70 mm)700 g (ML 150 mm)37 g/m

Power supply LIP 372LIP 382

5 V 5 %/< 160 mA (without load)5 V 5 %/< 160 mA

Incremental signals/ LIP 372Signal periods

LIP 382

TTL/integr. 32-fold interpolation:0.004 m

1 VPP/0.128 m

Electrical connection

Max. cable length

Cable 0.5 m to interface electronics (APE),sep. adapter cable (1 m/3 m/6 m/9 m)connectable to APE30 m (98.5 ft)

*Please indicate when ordering

* = Max. change during operation

F = Machine guideway

= Beginning of measuring length (ML)

= Mounting surface for scanning head

= Direction of scanning head motion

for output signals in accordance with

interface description

ML L L1 L2

150 182 40 102

170 202 45 112

220 252 56 140

270 322 71 180

inches 2.7, 5.9, 6.7, 8.6, 10.6


19/48


20/4820

Dimensions

in mm

LIP 471LIP 481Incremental linear encoders with very high accuracy For limited installation space For measuring steps of 1 m to 0.005 m (0.00005 in. to 0.0000002 in.)


Measuring standard


DIADUR phase grating on Zerodur

glass ceramic or glass4 mtherm 0 ppm/K (Zerodur

glassceramic)therm 8 ppm/K (glass)

Accuracy grade* 1 m (0.00004 in.)0.5 m (0.00002 in.)(higher accuracy grades on request)

Measuring length ML*in mm 70, 120, 170, 220, 270, 320,

370, 420

Reference mark* LIP 4x1 RLIP 4x1A

One at midpoint of measuring lengthNone


See page 3730 m/minwith 3dB cutoff frequency 250 kHz


200 m/s2 (IEC 60068-2-6) 500 m/s2 (IEC 60068-2-27)


Weight Scanning head

Interface electronicsScaleCable

25g (LIP4x1A),50g (LIP 4x1R),withoutcable140 g5.6 g + 0.2 g/mmmeasuring length37g/m



Incremental signals/ LIP 471Signal period

LIP 481

TTL/integr. 5-fold interpolation: 0.4mTTL/integr. 10-fold interpolation: 0.2m 1 VPP/2 m


Max. cable length LIP 471LIP 481

Cable 0.5 m with D-sub connector (15-pin)Interface electronics are integrated in theconnector100 m (329 ft)150 m (492 ft)




= Reference mark position LIP 4x1R





2.7, 4.7, 6.7, 8.6, 10.6, 12.6,

14.5, 16.5

inches


21/4821

LIP 471R/LIP 481R

LIP 471A/LIP 481A


22/4822

Dimensions

in mm

LIP 571LIP 581Incremental linear encoders with very high accuracy For larger measuring lengths For measuring steps of 1 m to 0.05 m (0.00005 in. to 0.000002 in.)



= Reference mark position LIP 5x1R

= Reference mark position LIP 5x1C


= Permissible overtravel






Measuring standardGrating periodThermal expansion coefficient

DIADUR phase grating on glass8 mtherm 8 ppm/K

Accuracy grade 1 m


370, 420, 470, 520, 570, 620,

670, 720, 770, 820, 870, 920,

970, 1020, 1240, 1440

Reference marks* LIP 5x1 RLIP 5x1C

One at midpoint of measuring lengthDistance-coded; absolute position valueavailable after max. 20 mm traverse




200 m/s2 (IEC 60068-2-6) 500 m/s2 (IEC 60068-2-27)


Weight Scanning headInterface electronicsScaleCable

20 g (without cable)140 g7.2 g +0.24 g/mm measuring length37 g/m



Incremental signals/ LIP 571Signal period

LIP 581

TTL/integr. 5-fold interpolation: 0.8mTTL/integr. 10-fold interpolation: 0.4m 1 VPP/4 m

Electrical connection*

Max. cable length LIP 571LIP 581

Cable 0.5 m/1 m or 3 m with D-subconnector (15-pin); interface electronicsare integrated in the connector100 m (329 ft)150 m (492 ft)


2.7, 4.7, 6.7, 8.6, 10.6, 12.6,

14.5, 16.5, 18.5, 20.5, 22.4, 24.4,

26, 28, 30, 32, 34, 36,

38, 40, 48, 56

inches


23/4823


24/48

24

Dimensions

in mm

LIF 471LIF 481Incremental linear encoder For measuring steps of 1 m to 0.1 m (0.00005 in. to 0.000005 in.) Simple mounting with PRECIMET adhesive film Position detection through homing track and limit switches Relatively insensitive to contamination thanks to SUPRADUR graduation



= Reference mark position

= Epoxy for ML < 170

= Switch for homing track

= Beginning of measuring lengthLI = Limit mark, adjustable

P = Gauging points for alignment




Specifications LIF 471LIF 481

Measuring standardUp to ML 220 mmFrom ML 270 mmGrating periodThermal expansion coefficient

SUPRADUR phase grating on glassDIADUR phase grating on glass8 mtherm 8 ppm/K

Accuracy grade 3 m


370, 420, 470, 520, 570, 620,

670, 720, 770, 820, 870, 920,

970, 1020

Reference marks One at midpoint of measuring length

Position detectionOutput signals

Homing signal and Limit signalTTL (without line driver)

Max. traversing LIF 471speed LIF 481

See page 3772 m/minwith 3dB cutoff frequency 300 kHz100 m/minwith 6dB cutoff frequency 420 kHz


200 m/s2 (IEC 60068-2-6) 400 m/s2 (IEC 60068-2-27)


Weight Scanning headInterface electronicsScaleCable

9 g (without cable)140 g0.8 g + 0.08 g/mm measuring length37 g/m

Power supply LIF 471LIF 481

5 V 5% max. 180 mA (without load)5 V 5%/< 175 mA

Incremental signals/ LIF 471Signal periods

LIF 481

TTL/integr. 100-fold interp.: 0.04 m TTL/integr. 50-fold interp.: 0.08 m TTL/integr. 20-fold interp.: 0.2 m TTL/integr. 10-fold interp.: 0.4 m TTL/integr. 5-fold interp.: 0.8 m 1 VPP/4 m

Electrical connection*

Max. cable length Incremental signalsHoming, limit

Cable 0.5 m/1 m or 3 m with D-subconnector (15-pin); interface electronicsare integrated in the connector30 m (98.5 ft)10 m (32.8 ft)


2.7, 4.7, 6.7, 8.6, 10.6, 12.6,

14.5, 16.5, 18.5, 20.5, 22.4, 24.4,

26, 28, 30, 32, 34, 36,

38, 40

inches


25/4825


26/48

26

Dimensions

in mm

LIDA 171LIDA 181Incremental linear encoders for high traversing speeds With steel scale For measuring steps of 1 m to 0.1 m (0.00005 in. to 0.000005 in.) Large mounting tolerances Mounting variants as for LIDA 400 available on request



= Reference mark position with

selector magnet LIDA 1x1

= Reference mark position LIDA 1x1C



= Mounting bracket (special accessory)

= Selector magnet

= Scale length

= On version no steel permitted

in this area

= Direction of scanning head motionfor output signals in accordance with


ML e

.. 20 25

.. 40 35

.. 70 50

ML z

1020 10

> 1020 20

Specifications LIDA 171LIDA 181


Steel tape with AURODUR graduation40 mtherm 10 ppm/K

Accuracy grade* 5 m (0.0002 in.)3 m (0.00012 in.)


520, 620, 720, 770, 820, 920,

1020, 1240, 1440, 1640, 1840, 2040

Reference marks* LIDA 1x1LIDA 1x1C

Selectable by magnet every 50 mm (2 in.)Distance-coded; absolute position valueavailable after max. 80 mm traverse

Max. traversing LIDA 171speed LIDA 181



200 m/s2 (IEC 60068-2-6) 500 m/s2 (IEC 60068-2-27)


Weight Scanning headSelector magnetScaleCable

70 g (without cable)10 gApprox. 1.5 g/mm measuring length37 g/m

Power supply LIDA 171LIDA 181


Incremental signals/ LIDA 171Signal periods

LIDA 181

TTL/integr. 10-fold interpolation: 4 m TTL/integr. 5-fold interpolation: 8 m1 VPP/40 m

Electrical connectionMax. cable length LIDA 171

LIDA 181

Cable 3 m with connector100 m (329 ft)150 m (429 ft)


8.6, 10.6, 12.6, 14.5, 16.5, 18.5,

20.5, 24.4, 28, 30, 32, 36,

40, 48, 56, 64, 72, 80

inches


27/4827

LIDA 171

LIDA 181


28/4828

Dimensions

in mm

LIDA 475LIDA 485Incremental linear encoders for limited installation space For large measuring lengths up to 30 m (100 ft) For measuring steps of 1 m to 0.1 m (0.00005 in. to 0.000005 in.) Large mounting tolerances Limit switches



Steel tape with AURODUR graduation20 mDepends on the mounting surface

Accuracy grade 5 m


740, 840, 940, 1040, 1140, 1240,

1340, 1440, 1540, 1640, 1740, 1840,

1940, 2040

Larger measuring lengths up to30040 mm with a single-section scaletape and individual scale-carrier sections

Reference mark One at midpoint of measuring length

Limit switchesOutput signals

L1/L2 with two different magnetsTTL (without line driver)




200 m/s2 (IEC 60068-2-6) 500 m/s2 (IEC 60068-2-27)


Weight Scanning headScaleCable

20 g (without cable)Approx. 115 g + 0.25 g/mm ML22 g/m




LIDA 485

TTL/integr. 5-fold interpolation: 4 m TTL/integr. 10-fold interpolation: 2 m1 VPP/20 m


Max. cable length

Cable 3 m with D-sub connector (15-pin)For LIDA 475, the interface electronicsare integrated in the connector20 m (66 ft)


= Scale carrier sections fixed with screws

= Scale carrier sections fixed

with PRECIMET


= Adjust or set





= Selector magnet for limit switches

= Carrier length

= Spacer for measuring lengths

from 3040 mm = Direction of scanning head motion



5.5, 9.5, 13.4, 17.3, 21.3, 25,

29, 33, 37, 41, 44, 48,

52, 56, 60, 64, 68, 72,

76, 80

inches


29/4829

ML2040

ML>2040

Possibilities for mounting the scanning head


30/4830

Dimensions

in mm

LIDA 477LIDA 487Incremental linear encoders for limited installation space For measuring ranges up to 6 m For measuring steps of 1 m to 0.1 m (0.00005 in. to 0.000005 in.) Large mounting tolerances Limit switches



Steel scaletape with AURODUR graduation20 mtherm 10 ppm/K

Accuracy grade 15 m or 5 m after linear length-error com-pensation in the evaluation electronics


1440, 1640, 1840, 2040, 2240, 2440,

2640, 2840, 3040, 3240, 3440, 3640,

3840, 4040, 4240, 4440, 4640, 4840,

5040, 5240, 5440, 5640, 5840, 6040

Reference marks One at midpoint of measuring length

Limit switchesOutput signals

L1/L2 with two different magnetsTTL (without line driver)




200 m/s2 (IEC 60068-2-6) 500 m/s2 (IEC 60068-2-27)


Weight Scanning headScaleCable

20 g (without cable)Approx. 25 g + 0.1 g/mm ML22 g/m




LIDA 487

TTL/integr. 5-fold interpolation: 4 m TTL/integr. 10-fold interpolation: 2 m 1 VPP/20 m


Max. cable length

Cable 3 m with D-sub connector (15-pin)For LIDA 477, the interface electronicsare integrated in the connector20 m (66 ft)



= Adjust or set





= Selector magnet for limit switches

= Carrier length




inches 9.5, 17.3, 25, 33, 41 48

56, 64, 72, 80, 88, 96,

104, 112, 120, 127, 135, 143,

151, 159, 166, 174, 182, 190,

198, 206, 214, 222, 229, 237


31/48


32/4832

Dimensions

in mm

PP 271RPP 281RIncremental two-coordinate encoderFor measuring steps of 1 m to 0.05 m (0.00005 in. to 0.000002 in.)

Specifications PP 271RPP 281R

Measuring standard


Two-coordinate TITANID phase gratingon glass8 mtherm 8 ppm/K

Accuracy grade 2 m

Measuring range 68 mm x 68 mm (2.7 in x 2.7 in.),(other measuring ranges upon request)

Reference mark One reference mark each, 3 mm afterbeginning of measuring length

Max. traversing PP 271 Rspeed PP 281R



80 m/s2 (IEC 60068-2-6) 100 m/s2 (IEC 60068-2-27)


Weight Scanning headInterface electronicsGrid plateCable

170 g140 g75 g37 g/m

Power supply PP 271RPP 281R

5 V 5 %/210 mA (without load)5 V 5 %/210 mA

Incremental signals/ PP 271RSignal period

PP 281R

TTL/integr.5-fold interpolation: 0.8m TTL/integr.10-fold interpolation:0.4 m 1 VPP/4 m


Max. cable length PP 271RPP 281R

Cable 0.5 m with D-sub connector (15-pin)Interface electronics are integrated in theconnector100 m (329 ft)150 m (492 ft)


= Side with graduation


from shown center




D1 D2

32,9 0,2 33 0,02/0,10


33/4833


34/4834

InterfacesIncremental Signals1 VPP

HEIDENHAIN encoders with 1 VPPinterface provide voltage signals that can

be highly interpolated.

The sinusoidal incremental signalsA andB are phase-shifted by 90 elec. and havean amplitude of typically 1 VPP. Theillustrated sequence of output signalswith B lagging Aapplies for the directionof motion shown in the dimensiondrawing.

The reference mark signalR has a usablecomponentGof approx. 0.5 V. Next tothe reference mark, the output signal canbe reduced by up to 1.7 V to a quiescent

valueH.

This must not cause the subse-quent electronics to overdrive. Even at thelowered signal level, signal peaks with theamplitude Gcan also appear.

The data on signal amplitudeapply whenthe power supply given in the specificationsis connected to the encoder. They refer to adifferential measurement at the 120 ohmterminating resistor between the associatedoutputs. The signal amplitude decreases withincreasing frequency. The cutoff frequencyindicates the scanning frequency at whicha certain percentage of the original signal

amplitude is maintained:3 dB cutoff frequency:70 % of the signal amplitude6 dB cutoff frequency:50 % of the signal amplitude

Interpolation/resolution/measuring stepThe output signals of the 1 VPPinterfaceare usually interpolated in the subsequentelectronics in order to attain sufficientlyhigh resolutions. For velocity control,interpolation factors are commonly over1000 in order to receive usable velocityinformation even at low speeds.

Measuring steps for position measurementare recommended in the specifications.For special applications, other resolutionsare also possible.

Short-circuit stabilityA temporary short circuit of one output to0 V or UPdoes not cause encoder failure,but it is not a permissible operatingcondition.

Short circuit at 20 C 125 C

One output < 3 min < 1 min

All outputs < 20 s < 5 s

Interface Sinusoidal voltage signals1 VPP

Incremental signals 2 sinusoidal signals A and BSignal level M: 0.6 to 1.2 VPP; typically 1 VPPAsymmetry |P N|/2M: 0.065Amplitude ratio MA/MB: 0.8 to 1.25Phase angle |1 + 2|/2: 90 10 elec.

Reference marksignal

1 or more signal peaks RUsable component G: 0.2 to 0.85 VQuiescent value H: 0.04 V to 1.7 VSwitching threshold E, F: 40 mVZero crossovers K, L: 180 90 elec.

Connecting cable

Cable lengthPropagation time

HEIDENHAIN cable with shieldingPUR [4(2 x 0.14 mm

2) + (4 x 0.5 mm

2)]

Max. 150 m distributed capacitance 90 pF/m6 ns/m

Any limited tolerances in the encoders are listed in the specifications.

Signal period360 elec.

Rated value

A, B, R measured with oscilloscope in differential mode

Cutoff frequencyTypical signalamplitude curve withrespect to thescanning frequency

Signalamplitude[%]

Scanning frequency [kHz]3dB cutoff frequency6dB cutoff frequency


35/4835

Ele

ctr

ica

lC

onnec

tion

2

Input circuitry of the subsequentelectronics

DimensioningOperational amplifier MC 34074Z0= 120R1= 10 kand C1= 100 pFR2= 34.8 kand C2= 10 pFUB= 15 VU1approx. U0

3dB cutoff frequency of circuitryApprox. 450 kHzApprox. 50 kHz with C1= 1000 pF and C2= 82 pFThe circuit variant for 50 kHz does reduce

the bandwidth of the circuit, but in doingso it improves its noise immunity.

Circuit output signalsUa= 3.48 VPPtypicalGain 3.48

Signal monitoringA threshold sensitivity of 250 mVPPis to beprovided for monitoring the 1 VPPincrementalsignals.

Incremental signalsReference mark

signal

Ra< 100, typ. 24Ca< 50 pFIa< 1 mAU0= 2.5 V 0.5 V(relative to 0 V of thepower supply)

Encoder Subsequent electronics


36/4836

HEIDENHAIN encoders with

Theincremental signalsare transmittedas thesquare-wave pulse trainsUa1 and Ua2,phase-shifted by 90 elec. Thereferencemark signalconsists of one or morereference pulses Ua0, which are gated withthe incremental signals. In addition, theintegrated electronics produce their inversesignals,andfor noise-prooftransmission. The illustrated sequence ofoutput signalswith Ua2lagging Ua1applies for the direction of motion shown

in the dimension drawing.

Thefault-detection signal indicatesfault conditions such as breakage of thepower line or failure of the light source. Itcan be used for such purposes as machineshut-off during automated production.

The distance between two successiveedges of the incremental signals Ua1andUa2through 1-fold, 2-fold or 4-foldevaluation is onemeasuring step.

The subsequent electronics must be

designed to detect each edge of thesquare-wave pulse. The minimumedgeseparationalisted in theSpecificationsapplies for the illustrated input circuitry witha cable length of 1 m, and refers to ameasurement at theoutputof thedifferentialline receiver. Propagation-time differencesin cables additionally reduce the edgeseparation by 0.2 ns per meter of cablelength. To prevent counting error, designthe subsequent electronics to process aslittle as 90% of the resulting edgeseparation.

The max. permissibleshaft speedortraversing velocitymust never beexceeded.

The permissiblecable lengthfortransmissionof theTTL square-wave signalsto the subsequent electronics depends onthe edge separationa.It is max. 100 m, or50 m for the fault detection signal. Thisrequires, however, that the power supply(seeSpecifications) be ensured at theencoder. The sensor lines can be used tomeasure the voltage at the encoder and, ifrequired, correct it with an automatic

system (remote sense power supply).

Cab

lele

ng

th[m]

Edge separation [s]

without

with

Interface Square-wave signals TTL

Incremental Signals 2 TTL square-wave signals Ua1, Ua2and their inverted signals,

Reference marksignalPulse widthDelay time

One or more TTL square-wave pulses Ua0and their inversepulses 90 elec. (other widths available on request);LS 323:nongated

|td| 50 ns

Fault detectionsignal

Pulse width

One TTL square-wave pulse Improper function: LOW (on request: Ua1/Ua2high impedance)Proper function: HIGHtS20 ms

Signal level Differential line driver as per EIA standard RS 422

UH2.5 V at IH= 20 mAUL 0.5 V at IL= 20 mA

Permissible load Z0100 between associated outputs|ILI20 mA max. load per outputCload1000 pF with respect to 0 VOutputs protected against short circuit to 0 V

Switching times(10% to 90%)

t+/ t 30 ns (typically 10 ns)with 1 m cable and recommended input circuitry

Connecting cable

Cable length

Propagation time

HEIDENHAIN cable with shieldingPUR [4(2 0.14 mm2) + (4 0.5 mm2)]Max. 100 m ( max.50 m)with distributed capacitance 90 pF/m

6 ns/m

Signal period 360 elec. Fault

Measuring step after4-fold evaluation

Inverse signals,,are not shown

InterfacesIncremental SignalsTTL

Permissiblecable lengthwith respect toedge separation


37/4837

Meas. step1)/Interpolation*

Scanningfrequency*

Traversingspeed

Min. edgesepara-

tiona

LIP 372 0.001 m/32-fold

98 kHz49 kHz24.5 kHz

0.75 m/min0.38 m/min0.19 m/min

0.055 s0.13 s0.28 s

LIP 471 0.1 m/5-fold

200 kHz100 kHz50 kHz

24 m/min12 m/min 6 m/min

0.23 s0.48 s0.98 s

0.05 m/10-fold

100 kHz50 kHz25 kHz

12 m/min 6 m/min 3 m/min

0.23 s0.48 s0.98 s

LIF 471 0.2 m/5-fold



0.08 s0.18 s0.38 s

0.1 m/10-fold


60 m/min30 m/min15 m/min

0.08 s0.18 s0.38 s

0.05 m/20-fold



0.036 s0.08 s0.18 s

0.02 m/50-fold

100 kHz50 kHz

25 kHz

24 m/min12 m/min

6 m/min

0.036 s0.08 s

0.18 s

0.01 m/100-fold



0.036 s0.08 s0.18 s

*Please indicate when ordering1) After 4-fold evaluation

Meas. step1)/Interpolation*

Scanningfrequency*

Traversingspeed

Min. edgesepara-

tiona

LIP 571,PP 271

0.2 m/5-fold



0.23 s0.48 s0.98 s

0.1 m/10-fold

100 kHz50 kHz25 kHz


0.23 s0.48 s0.98 s

LIDA 17x 2 m/5-fold



0.23 s0.48 s0.98 s

1 m/10-fold

100 kHz50 kHz25 kHz


0.23 s0.48 s0.98 s

LIDA 47x 1 m/5-fold



0.23 s0.48 s0.98 s

0.5 m/10-fold

100 kHz50 kHz25 kHz


0.23 s0.48 s0.98 s

0.1 m/50-fold

50 kHz25 kHz

12.5 kHz

60 m/min30 m/min

15 m/min

0.08 s0.18 s

0.38 s

0.05 m/100-fold

25 kHz12.5 kHz6.25 kHz

30 m/min15 m/min 7.5m/min

0.08 s0.18 s0.38 s

Incremental signalsReference mark

signal

Fault detectionsignal

Subsequent electronicsEncoderInput circuitry of the subsequentelectronics

DimensioningIC1= Recommended differential line

receiversDS 26 C 32 ATOnly fora> 0.1 s:AM 26 LS 32MC 3486SN 75 ALS 193

R1 = 4.7 kR2 = 1.8 kZ0 = 120C1 = 220 pF (serves to improve

noise immunity)

Relationship between scanning frequency, traversing speed and edge separation.


38/4838

InterfacesLimit Switches

LIDA 400 encoders are equipped with limitswitches that make limit-position detectionand the design of homing tracks possible.The limit switches are activated by differingadhesive magnets to distinguish betweenthe left or right limit. The magnets can beconfigured in series to form homing tracks.The signals from the limit switches are sentover separate lines and are thereforedirectly available. Yet the cable has anespecially thin diameter of only 3.7 mm tokeep forces on moving machine elementslow.

LIDA 47x LIDA 48x

Output signals One TTL square-wave pulse from each limit switch L1and L2; active high

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

TTL from common-collectorcircuit with 10 kloadresistance against 5 V

Permissible load IaL4 mAIaH4 mA

Switching times Rise time(10% to 90%) Fall time

t+50 nst50 nsMeasured with 3 m cableand recommended input

circuitry

t+10 st 3 sMeasured with 3 m cableand recommended input

circuitry

Permissible cable length Max. 20 m

Recommended input circuitry of thesubsequent electronics

DimensioningIC3 e.g. 74AC14R3= 1.5 k

Limit switchesLIDA 400

L1/L2 = Output signals of thelimit switches 1 and 2Toleranceof theswitchingpoint:2 mm

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


39/4839

Besides the incremental graduation, theLIF 4x1 features a homing track and limitswitches for limit position detection.The signals are transmitted in TTL levelsover the separate lines H and L and aretherefore directly available. Yet the cablehas an especially thin diameter of only4.5 mm to keep forces on moving machineelements to a minimum.

LIF 4x1

Output signals One TTL pulse for homing track H and limit switches L

Signal level TTL from common-collector circuitUH3.8 V at IH= 8 mAUL 0.45 V at IL= 8 mA

Permissible load R680IILI 8 mA

Permissible cable length Max. 10 m

Recommended input circuitry of thesubsequent electronics

DimensioningIC3 e.g. 74AC14R3= 4.7 k

Limit switchesHoming trackLIF 400

L/H

Position Detection

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

= Limit mark, adjustable = Switch for homing trackHo = Trigger point for homing

LI


40/4840

15-pin

D-sub connector:The D-sub connector isused where installation space is limited(e.g., TNC 4xx, IK 220). It is available withan integral APE interface unit.

Coupling: A connecting element withexternal thread, regardless of whether thecontacts are male or female.

Connector:A connecting element withcoupling ring, regardless of whether thecontacts are male or female.

Contacts:

Male contacts

Female contacts

Pin numberingThe pins on connectors are numbered indirections opposite to those on couplings,regardless of whether the contacts aremale or female. Couplings and flangesockets, both with external threads, havethe same pin-numbering direction.

Connecting Elements and CablesGeneral Information

When engaged, the connections provideprotectionto IP 67 (D-sub connector:IP 50; IEC 60529). When not engaged,there is no protection.

Connector,insulated Coupling,insulated

Flange socket D-sub connector

x: 42.7y: 41.7

88.7 with integrated APE

Coupling on mounting base,insulated

Flange socket:A flange socket ispermanently mounted on the encoder ormachine housing, has an external thread,and is available with male or femalecontacts.


41/4841

Connection

Shieldis on housing;UP= Power supplySensor:The sensor line is connected internally to therespective power supply

15-pinD-sub connector

15-pin D-sub connectorwith integratedinterface electronics

Power supply Incremental signals Other signals

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

TTL UP Sensor5 V

0 V Sensor0 V

Ua1 Ua2 Ua0 L12)

H3)L22)

L3)

1)

1 VPP A+ A B+ B R+ R Vacant Vacant

Brown/Green

Blue White/Green

White Brown Green Gray Pink Red Black Violet Green/Black

Yellow/Black

Yellow

12-pinHEIDENHAIN

coupling

12-pinHEIDENHAIN

connector

Power supply Incremental signals Other signals

12 2 10 11 5 6 8 1 3 4 7 9

TTL UP Sensor5 V

0 V Sensor0 V

Ua1 Ua2 Ua0 1)

1 VPP A+ A B+ B R+ R L12) L22)

Brown/

Green

Blue White/

Green

White Brown Green Gray Pink Red Black Violet Yellow

Shieldis on housing;UP= Power supplySensor:The sensor line is connected internally to therespective power supply

1) Switchover TTL/11 APPfor PWT.2) Only with LIDA 48x;2) Color assignment applies only to cable

1) Switchover TTL/11 APPfor PWT.2) Only with LIDA 4xx;2) Color assignment applies only to cable3) Only with LIF 481


42/4842

D-Sub Connecting Elements and Cables (15-pin)

1) Cable length for6 mm max. 9 m (29.6 ft)

Connecting element onLIF/LIP 400/LIP 500/PP

Connecting element onLIDA 400/LIF 400

Mating element on connecting cableto connector on encoder cable

D-sub connector(female),15-pin


D-sub connector(female),15-pin

For connecting cable 8 mm6 mm

315650-14 For connecting cable 8 mm6 mm

315650-14

PUR connecting cable 8 mm[4(2 x 0.14 mm2) + (4 x 0.5 mm2)]Shield on housing

PUR connecting cable 8 mm[4(2 x 0.14 mm2) + (4 x 0.5 mm2) + 2 x (2 x 0.14 mm2)]Shield on housing

PUR connecting cable 6 mm[6(2 x 0.19 mm2)] 8 mm 6 mm1)

PUR connecting cable 6 mm[6(2 x AWG28) + (4 x 0.14 mm2)] 8 mm 6 mm1)

Completewith D-sub connectors(female/male)

331693-xx 355215-xx Completewith D-sub connectors(female/male)

354379-xx 355397-xx

With one connector,D-sub (female) 332433-xx 355209-xx With one connector,D-sub (female) 354411-xx 355398-xx

Completewith D-sub connectors(female/male)

335074-xx 355186-xx Without connectors 354341-01 355241-01

Completewith D-sub connectors(female/female)Pin layout for IK 220

335077-xx 349687-xx

Cable without connectors 244957-01 291639-01


43/4843

HEIDENHAIN Connecting Elements and Cables (12-pin)

Adapter cable for LIP 300 Adapter cable with coupling (male) 310128-xx

Length 1 m/3 m/6 m/9 m

Diameter 6 mm

Adapter cable without connector 310131-xx

Length 1 m/3 m/6 m/9 m

Diameter 6 mm

Coupling on LIDA 18x Coupling (male), 12-pin,shield on housing

Connector on LIDA 17x Connector (male),12-pin, shield on housing

For encoder cable 4.5 mm 291698-14 For encoder cable 4.5 mm 291697-06

PUR connecting cable 8 mm[4(2 x 0.14 mm2) + (4 x 0.5 mm2)] Shield on housing

PUR connecting cable 8 mm[4(2 x 0.14 mm2) + (4 x 0.5 mm2)] Shield on housing

Completewith connector (female)and connector (male)

298399-xx Completewith coupling (female)and connector (male)

298400-xx

With one connector(female) 309777-xx With one coupling(female) 298402-xx

Cable without connectors 244957-01

Mating element on connecting cableto coupling on encoder cable orflange socket

Connector (female),12-pin,shield on housing


Coupling (female),12-pin,shield on housing

For connecting cable 8 mm 291697-05 For connecting cable 8 mm 291698-02

Connector on cablefor connection tosubsequent electronics

Connector (male),12-pin,shield on housing

For connecting cable 8 mm 291697-08

Flange socketfor connecting cable to subsequent electronics

Flange socket (female),12-pin: 315892-08

Coupling on mounting base (female),for cable8 mm, 12-pin: 291698-07


44/4844

General Electrical Specifications

Cable

LengthsThe cable lengths listed in the Specificationsapply only for HEIDENHAIN cables and therecommended input circuitryof subsequentelectronics.

DurabilityAll encoders usepolyurethane (PUR) cables.PUR cablesare resistant to oil, hydrolysisandmicrobes in accordance with VDE 0472. Theyare free of PVC and silicone and comply withUL safety directives. TheUL certificationAWM STYLE 20963 80 C 30 V E63216 isdocumented on the cable.

Temperature rangeHEIDENHAINcables can be used:for rigid configuration 40 to 85 C

(40 to 185 F)for frequent flexing 10 to 85 C

(14 to 185 F)

Cables with limited resistance to hydrolysisand microbes are rated for up to 100 C.

Bending radiusThe permissible bending radiiRdepend onthe cable diameter and the configuration:

Rigid configuration

Frequent flexing

Electrically permissible speed/Traversing speed

The maximum permissible shaft speed ortraversing velocity of an encoder is derivedfrom themechanicallypermissible shaft

speed/traversing velocity (if listed inSpecifications)and

theelectricallypermissible shaft speed/traversing velocity.For encoders withsinusoidal outputsignals,the electrically permissible shaftspeed/traversing velocity is limited bythe 3dB/ 6dB cutoff frequency or thepermissible input frequency of thesubsequent electronics.For encoders withsquare-wave signals,the electrically permissible shaft speed/traversing velocity is limited by the maximum permissible scanning/

output frequencyfmaxof the encoderand

the minimum permissible edgeseparation a for the subsequentelectronics.

For angular/rotary encoders

nmax=fmax 60 103

For linear encoders

vmax=fmax SP 60 103

wherenmax:Electrically permissible

shaft speed in rpm,vmax:Electrically permissible

traversing velocity in m/minfmax:Maximum scanning/output

frequency of the encoder orinput frequency of thesubsequent electronics in kHz,

z: Line count of the angle encoder/rotary encoder per 360

SP: Signal period of the linearencoder in m

500 ms (approx.)

UPP

Initial transient response of thesupply voltagee.g. 5 V 5 %

Power supply

The encoders require astabilized dcvoltage UP as power supply. Therespectivespecifications state the required powersupply and the current consumption. Thepermissible ripple content of the dc voltageis: High frequency interference

UPP< 250 mV with dU/dt > 5 V/s Low frequency fundamental ripple

UPP< 100 mV

The values apply as measured at theencoder, i. e., without cable influences. Thevoltage can be monitored and adjusted withthe devices sensor lines. If a controllablepower supply is not available, the voltagedrop can be halved by switching the sensorlines parallel to the corresponding powerlines.

Calculation of thevoltage drop:

U= 2 103

where U:Line drop in VLC:Cable length in m

I: Current consumption of theencoder in mA(seeSpecifications)

AP:Cross section of power linesin mm2

LC I

56 AP

HEIDENHAINcables

Cross sectionof power linesAP

1 VPP/TTL/HTL 11 APP EnDat/SSI

3.7 mm 0.05 mm2

4.5/5.1 mm 0.14/0.052) mm2 0.05 mm2 0.05 mm2

6/101) mm 0.19/ 0.143) mm2 0.08 mm2

8/141) mm 0.5 mm2 1 mm2 0.5 mm2 1) Metal armor2) Only on length gauges3) Only for LIDA 400

z

HEIDENHAINcables

Rigid con-figuration

Frequentflexing

3.7 mm R 8 mm R 40 mm

4.5 mm 5.1 mm

R10 mm R 50 mm

6 mm R20 mm R 75 mm

8 mm R40 mm R100 mm

10 mm1) R35 mm R 75 mm

14 mm1) R50 mm R100 mm

Frequent flexing


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Reliable signal transmission

Electromagnetic compatibility/CE complianceWhen properly installed, HEIDENHAINencoders fulfill the requirements forelectromagnetic compatibility according to89/336/EEC with respect to the genericstandards for:IEC 61000-6-2

Electromagnetic compatibilityImmunity for industrial environmentsSpecifically: ESD IEC 61000-4-2 Electromagnetic fields IEC 61000-4-3 Burst IEC 61000-4-4

Surge IEC 61000-4-5 Conducted disturbances IEC 61000-4-6 Power frequency magnetic fields

IEC 61000-4-8 Pulse magnetic fields IEC 61000-4-9

IEC 61000-6-4Electromagnetic compatibilityGeneric emission standardSpecifically: for industrial, scientific and medical

(ISM) equipment IEC 55011 for information technology

equipment IEC 55 022

Transmission of measuring signalselectrical noise immunityNoise voltages arise mainly throughcapacitive or inductive transfer. Electricalnoise can be introduced into the systemover signal lines and input or outputterminals. Possible sources of noise are: Strong magnetic fields from transformers

and electric motors Relays, contactors and solenoid valves High-frequency equipment, pulse

devices, and stray magnetic fields fromswitch-mode power supplies

AC power lines and supply lines to the

above devices.

IsolationThe encoder housings are isolated againstall circuits.Rated surge voltage: 500 V (preferred valueas per VDE 0110 Part 1)

Protection against electrical noiseThe following measures must be taken toensure disturbance-free operation: Use only original HEIDENHAIN cables.

Watch for voltage attenuation on thesupply lines.

Use connectors or terminal boxes withmetal housings. Do not conduct anyextraneous signals.

Connect the housings of the encoder,connector, terminal box and evaluationelectronics through the shield of thecable. Connect the shielding in the areaof the cable inlets to be as induction-free

as possible (short, full-surface contact). Connect the entire shielding system withthe protective ground.

Prevent contact of loose connectorhousings with other metal surfaces.

The cable shielding has the function ofan equipotential bonding conductor. Ifcompensating currents are to be expectedwithin the entire system, a separateequipotential bonding conductor must beprovided.Also seeEN 50178/4.98 Chapter 5.2.9.5regarding protective connection lineswithsmall cross section.

Connect HEIDENHAIN position encodersonly to subsequent electronics whosepower supply is generatedthrough doubleor strengthened insulation against linevoltage circuits. See alsoIEC 364-4-41:1992, modified Chapter 411 regardingprotection against both direct andindirect touch (PELV or SELV).

Do not lay signal cables in the directvicinity of interference sources (inductiveconsumers such as contacts, motors,frequency inverters, solenoids, etc.).

Sufficient decoupling from interference-signal-conducting cables can usually beachieved by an air clearance of 100 mm(4 in.) or, when cables are in metal ducts,by a grounded partition.

A minimum spacing of 200 mm (8 in.) toinductors in switch-mode power suppliesis required. See alsoEN 50178/4.98Chapter 5.3.1.1 regarding cables andlines,EN 50174-2/09.01, Chapter 6.7

regarding grounding and potentialcompensation. When usingmultiturn encoders in

electromagnetic fieldsgreater than30 mT, HEIDENHAIN recommendsconsulting with the main facility inTraunreut.

Both the cable shielding and the metalhousings of encoders and subsequentelectronics have a shielding function. Thehousings must have thesame potentialand be connected to the main signal groundover the machine chassis or by means of a

separate potential compensating line.Potential compensating lines should have aminimum cross section of 6 mm

2 (Cu).

Minimum distance from sources of interference


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HEIDENHAIN Measuring and Test Equipment

ThePWTis a simple adjusting aid forHEIDENHAIN incremental encoders. In asmall LCD window the signals are shownas bar charts with reference to theirtolerance limits.

PWT 10 PWT 17 PWT 18

Encoder input 11 APP TTL 1 VPP

Features Measuring the signal amplitudeTolerance of signal shapeAmplitude and position of the reference-mark signal

Power supply Via power supply unit (included)

Dimensions 114 mm x 64 mm x 29 mm

TheSA 27adapter connector serves fortapping the sinusoidal scanning signals ofthe LIP 372 off the APE. Exposed pinspermit connection to an oscilloscopethrough standard measuring cables.

SA 27

Encoder LIP 372

Function Measuring points for the connection of an oscilloscope

Power supply Via encoder

Dimensions Approx. 30 mm x 30 mm

In exposed linear encoders the scanninghead moves over the graduation withoutmechanical contact. Thus, to ensure highestquality output signals, the scanning head

needs to be aligned very accurately duringmounting. HEIDENHAIN offers variousmeasuring and testing equipment forchecking the quality of the output signals.

PWM 9

Inputs Expansion modules (interface boards) for 11 APP; 1 VPP;TTL; HTL;EnDat*/SSI*/commutation signals*No display of position values or parameters

Features Measuressignal amplitudes, current consumption,operating voltage, scanning frequency

Graphically displays incremental signals (amplitudes,

phase angle and on-off ratio) and the reference marksignal(widthandlength)

Displays symbolsfor reference mark, fault detectionsignal, counting direction

Universal counter,interpolation selectable from1 to 1024-fold

Adjustment aidfor exposed encoders

Outputs Inputs are fed through for subsequent electronics BNC sockets for connection to an oscilloscope

Power supply 10 to 30 V, max 15 W

Dimensions 150 mm 205 mm 96 mm

The PWM 9 is a universal measuring devicefor checking and adjusting HEIDENHAINincremental encoders. There are differentexpansion modules available for checkingthe different encoder signals. The valuescan be read on an LCD monitor. Soft keysprovide ease of operation.


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IK 220Universal PC counter cardThe IK 220 is an expansion board forAT-compatible PCs for recording themeasured values oftwo incremental orabsolute linear or angle encoders.Thesubdivision and counting electronicssubdividethesinusoidal input signalsup to 4096-fold. A driver software packageis included in delivery.

IK 220

Input signals(switchable) 1 VPP

11 APP

EnDat2.1

SSI

Encoder inputs Two D-sub connectors (15-pin), male

Inputfrequency(max.) 500 kHz 33 kHz

Cable lengths (max.) 60 m (197 ft) 10 m (32.8 ft)

Signal subdivision(signal period: meas. step) Up to 4096-fold

Data register for measuredvalues(per channel)

48 bits (44 bits used)

Internal memory For 8192 position values

Interface PCI bus (plug and play)

Driver software anddemonstration program

For Windows 95/98/NT/2000/XPin VISUAL C++, VISUAL BASIC andBORLAND DELPHI

Dimensions Approx. 190 mm 100 mmFor more information seeIK 220datasheet.

Evaluation Electronics

Windows is a registered trademark of the Microsoft Corporation.


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ZumA

bheftenhierfalzen!/Foldhereforfiling!

MX HEIDENHAIN CORPORATION MEXICO Av. Las Amricas 1808 Fracc. Valle Dorado 20235, Aguascalientes, Ags., Mexico

{ (449) 9130870 E-Mail: [email protected]

NL HEIDENHAIN NEDERLAND B.V. Copernicuslaan 34, 6716 BM EDE The Netherlands


NO HEIDENHAIN Scandinavia AB Orkdalsveien 15 7300 Orkanger, Norway


PH MachineBanks Corporation Quezon City, Manila, Philippines

{ (2) 7113751

PL APS 02-473 Warszawa, Poland { (22) 8639737 E-Mail: [email protected]

PT FARRESA ELECTRNICA LDA. 4470 Maia, Portugal

{ (22) 9478140

E-Mail: [email protected]

RO HU

RU GERTNER Service GmbH 125057 Moskau, Russia

{ (095) 931/9645 E-Mail: [email protected]

SE HEIDENHAIN Scandinavia AB Storstragrnd 5 12739 Skrholmen, Sweden


SG HEIDENHAIN PACIFIC PTE LTD. 51, Ubi Crescent Singapore 408593, Republic of Singapore

{ (65) 6749-3238 E-Mail: [email protected]

SK CZ

TH HEIDENHAIN (THAILAND) LTD 52/72 Moo5 Chaloem Phra Kiat Rama 9 Rd Nongbon, Pravate, Bangkok 10250, Thailand

{ (66) 2/398-4147 E-Mail: [email protected]

TR T&M Mhendislik Mmessillik

34728 Erenky/Istanbul, Turkey{ (216) 3022345

E-Mail: [email protected]

TW HEIDENHAIN Co., Ltd. No. 12-5, Gong 33rd Road Taichung 407, Taiwan, R.O.C.

{ (886-4) 23588977 E-Mail: [email protected]

US HEIDENHAIN CORPORATION 333 State Parkway Schaumburg, IL 60173-5337, USA


CN HEIDENHAIN (TIANJIN) OPTICS & ELECTRONICS, CO., LTD No. 6, Tian Wei San Jie, Area A, Shunyi District 101312 Beijing, China { (86) 10-804200 00 E-Mail: [email protected]

CZ HEIDENHAIN s.r.o. Stremchov 16 106 00 Praha 10, Czech Republic

{ 272658131 E-Mail: [email protected]

DK TP TEKNIK A/S Korskildelund 4 2670 Greve, Denmark

{ (70) 1009 66 E-Mail: [email protected]

ES FARRESA ELECTRONICA S.A. Les Corts, 36-38 bajos 08028 Barcelona, Spain


FI HEIDENHAIN Scandinavia AB Mikkelnkallio 3 02770 Espoo, Finland


FR HEIDENHAIN FRANCE sarl 2, Avenue de la Cristallerie 92316 Svres, France


GB HEIDENHAIN (G.B.) Limited 200 London Road, Burgess Hill West Sussex RH15 9RD, Great Britain


GR MB Milionis Vassilis 173 41 Athens, Greece


HK HEIDENHAIN LTD Unit 2, 15/F, Apec Plaza 49 Hoi Yuen Road Kowloon, Hong Kong


HU HEIDENHAIN Kereskedelmi Kpviselet Grassalkovich t 255. 1239 Budapest, Hungary


IL NEUMO VARGUS Tel-Aviv 61570, Israel


IN ASHOK & LAL Chennai 600 030, India


IT HEIDENHAIN ITALIANA S.r.l. Via Asiago 14 20128 Milano, Italy


JP HEIDENHAIN K.K. Kudan Center Bldg. 10th Floor Kudankita 4-1-7, Chiyoda-ku

Tokyo 102-0073 Japan

AR NAKASE Asesoramiento Tecnico B1653AOX Villa Ballester, Argentina


AT HEIDENHAIN Techn. Bro sterreich Dr.-Johannes-Heidenhain-Strae 5 83301 Traunreut, Germany

{+ 49 (8669) 311337 E-Mail: [email protected]

AU FCR Motion Technology Pty. Ltd Laverton North 302, Australia


BE HEIDENHAIN NV/SA Pamelse Klei 47, 1760 Roosdaal-Pamel, Belgium


BG ESD Bulgaria Ltd. 1172 Sofia, Bulgaria


BR DIADUR Indstria e Comrcio Ltda. Rua Servia, 329, Santo Amaro 04763-070 So Paulo SP, Brasil


CA HEIDENHAIN CORPORATION 11-335 Admiral Blvd., Unit 11 Mississauga, Ontario L5T2N2, Canada


CH HEIDENHAIN (SCHWEIZ) AG Post Box

Vieristrasse 14

DE HEIDENHAIN Technisches Bro Nord12681 Berlin, Deutschland


HEIDENHAIN Technisches Bro Mitte08468 Heinsdorfergrund, Deutschland


HEIDENHAIN Technisches Bro West 58093 Hagen, Deutschland { (02331) 9579-0 E-Mail: [email protected]

HEIDENHAIN Technisches Bro Sdwest72131 Ofterdingen, Deutschland


HEIDENHAIN Technisches Bro Sdost83301 Traunreut, Deutschland


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