Multi-axis controllers
Control terminals
5
210
EDS94SPP101 EN 7.1
Encoder
Encoders are connected to X8 (15-pole Sub-D socket).
ƒ Absolute and incremental encoders are supported:
– TTL encoder 5 V (incremental)
–Sin/cosencoder1V
ss
(incremental)
– Sin/cos absolute value encoder 1 V
ss
with Hiperface protocol
– Sin/cos absolute value encoder 1 V
ss
with EnDat protocol (2.1)
– SSI load encoder with Stegmann protocol (as of 9400 with firmware 05.00)
ƒ Improved determination of low speeds with TTL encoders through additional time
measuring method.
ƒ SinCos absolute value encoders are serially read during initialisation (power-on).
After this, the sin/cos signals are evaluated.
ƒ Open-circuit monitoring:
– for sin/cos encoders by comparing the sin/cos signals with the sine shape (radius
monitoring)
– for TTL encoders by means of mean value and amplitude monitoring
– not with SSI encoders
ƒ The following encoders are not supported:
– HTL encoders
Electrical data
General
Cable length (system cable recommended)
Max. 150 m
Encoder types TTL
1V
SS
Protocols Hiperface
EnDat 2.1
SSI-Stegmann
Number of increments 1 ... 16384
Input frequency Max. 250 kHz
VCC
(GND)
Supply voltage 5 V ... 12 V
Current, max.
9V 330 mA
12 V 250 mA
+Sense, -Sense Measuring lead for readjusting V
CC
+KTY, -KTY Type KTY 83-110
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