A Technical appendix
Festo – GDCP-CMMP-M0-HW-EN – 1511c – English 75
Encoder connection [X2B]
Parameter
Value Comment
Encoder line count [Lines/R] 1 … 262144 can be parameterised
Angular resolution/Interpola
tion
[Bit/period] 10
Tracking signals
A, B [Vpp] 1 differential; 2.5 V offset
N [Vpp] 0.2 … 1 differential; 2.5 V offset
Commutator tracks A1, B1
(optional)
[Vpp] 1 differential; 2.5 V offset
Track signal input impedance [Ω] 120 Differential input
Critical frequency f
Crit
High-resolution track [kHz] 300
Commutation track [kHz] approx. 10
Additional communication
interface
EnDat (Heidenhain), HIPERFACE (Stegmann)
and BiSS
Output supply Current-limited, regulation via sensor cable
Voltage [V] 5 or 12 switchable via software
Current [mA] max. 300
Tab. A.21 Technical data: Encoder connection [X2B]
CAN bus [X4]
Communication interface Values
CANopen controller ISO 11898, Full CAN controller, max. 1M baud
CANopen protocol in accordance with CiA 301 and CiA 402
Tab. A.22 Technical data: CAN bus [X4]
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