8.13 Encoder emulations
8.13.1 Incremental encoder output - A quad B (X5)
The incremental-encoder interface is part of the package supplied. Select the encoder function
ROD (screen page “Encoder”). In the servo amplifier, the position of the motor shaft is calculated
from the cyclic-absolute signals of the resolver or encoder. Incremental-encoder compatible pulses
are generated from this information. Pulses are output on the SubD-connector X5 as two signals, A
and B, with 90° phase difference and a zero pulse.
The resolution (lines before quadrature) can be changed with the RESOLUTION parameter:
Encoder function
(ENCMODE)
Feedback system Resolution Zero position
ROD (1)
Resolver 256...4096
one per revolution
(only if A=B=1)
Encoder
256...524288
(2
8
... 2
19
)
one per revolution
(only if A=B=1)
ROD interpolation (3) Encoder
2
2
...2
7
TTL lines per sine line
analog pass through
from X1 to X5
You can also adjust and store the position of the zero pulse within one mechanical turn
(parameter NI-OFFSET).
The drivers are supplied from an internal supply voltage. PGND must always be
connected to the controls. The max. admissible cable length is 10 m.
Connections and signal description for incremental-encoder interface :
The count direction is upwards when the motor shaft is rotating clockwise (looking at the shaft end).
62 SERVOSTAR
®
640/670 Instructions Manual
Electrical Installation
12/2010 Kollmorgen
SERVOSTAR 640/670
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