11.2.3.3 Encoder-Emulation (X5)
11.2.3.3.1 Incremental encoder output - A quad B (X5)
Fast incremental encoder interface. Select encoder function ROD (A Quad B) Encoder
(“Encoder Emulation” screen page). The servo amplifier calculates the motor shaft position
from the cyclic- absolute signals of the resolver or encoder, generating incremental- encoder
compatible pulses from this information. Pulse outputs on the SubD connector X5 are 2 sig-
nals, A and B, with 90° phase difference (i.e. in quadrature, hence the alternative term “A
quad B” output), with a zero pulse.
The resolution (before multiplication) can be set by the RESOLUTION function:
Encoder func-
tion (ENCMODE)
Feedback
(FBTYPE)
Resolution (ENCOUT) Zero pulse
1, ROD
0, Resolver 32...4096
once per turn
(only at A=B=1)
>0, Encoder
256...524288
(2
8
… 2
19
)
once per turn
(only at A=B=1)
3, ROD
interpolation
Encoder
2
4
...2
7
(multiplication) TTL
line x encoder resolution
encoder signal passed
through from X1 to X5
With built in safety card only binary resolutions up to 2
12
are possible. Use the NI-OFFSET
parameter to adjust + save the zero pulse position within one mechanical turn. The drivers
operate off an internal supply voltage.
The maximum permissible cable length is 100 meters.
Connections and signals for the incremental encoder interface :
Default count direction: UP when the motor shaft is rotating clockwise (view at shaft's end)
S748-772 Instructions Manual | 11 Expansions
Kollmorgen | kdn.kollmorgen.com | July 2019 149
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