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Feedback 4-13MN1942
4.1.5 EnDat (absolute encoder) feedback
The absolute encoder interface supports both incremental and absolute (multi and single turn)
feedback using EnDat technology . It is possible to read and write information to the encoder.
The absolute encoder connections are made using the 15-pin D-type female connector X8.
Twisted pair cables must be used for the complementary signal pairs e.g. Sin+ and Sin-. The
overall cable shield (screen) must be connected to the metallic shell of the D-type connector.
Connector X8 includes a ‘Sense’ pin, which is used to detect the voltage drop on long cable runs.
This allows the MicroFlex e100 to increase the encoder supply voltage on pin 12 to maintain a
5 V supply at the encoder (200 mA max). V ersion 2.2 EnDat encoders do not use the Sin and
Cos channels.
Pin
Absolute encoder function
1 Data+
2 Clock+
3 (NC)
4 Sense
5 Sin-
6 Sin+
7 Cos-
8 Cos+
9 Data -
10 Cloc k-
11 (NC)
12 +5 V out
13 DGND
14 (NC)
15 (NC)
Data+
Data-
Cos-
Cos+
1
9
7
8
5
6
X8
Absolute
Encoder
Sin-
Sin+
Twis ted pai rs
10
2
Clock-
Clock+
13 DGND
12 +5 V out
Connect overall s hield
to connector backshells.
Connect internal
shields to DGND.
Motor
4
Sense
Figure 25 - Absolute encoder cable connections
1
8
9
15
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