9.14 Encoder Emulation, position output
9.14.1 Incremental encoder output - A quad B (X1)
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 X1 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:
Encoder function
(ENCMODE)
Feedback system
(FBTYPE)
Resolution
(ENCOUT)
Zero pulse (NI)
9, ROD => X1
0, Resolver 32...4096
once per turn (only at
A=B=1)
>0, Encoder
256...524288
(2
8
… 2
19
)
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 mech-
anical 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 (looking at the shaft's
end)
S748-772 Instructions Manual | 9 Electrical Installation
Kollmorgen | kdn.kollmorgen.com | July 2019 97
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