9 Interfaces
Page 64 Installation manual for PMCtendo DD5/PMCprimo Drive3
9.8 Encoder emulation
9.8.1 Incremental encoder output - A quad B (X5)
The incremental-encoder interface is part of the standard package. Select encoder function
ROD (A Quad B) Encoder (“Encoder” 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 signals, 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:
Enc. function
(ENCMODE)
Feedback system Resolution (lines) Zero pulse (NI)
Resolver 16...1024 once per turn
(only at A=B=1)
ROD (1)
EnDat / HIPERFACE 16...4096 and
8192...524288 (2
n
)
once per turn
(only at A=B=1)
ROD
interpolation (3)
Inkremental encoder
without data channel
2
2
...2
7
(multiplication)
TTL line x encoder resolution
encoder sognal passed
through X1 to X5
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.
9.8.1.1 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)
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