Single-axis controllers Control terminals 4 4.7 Encoder Encoders are connected to X8 (15-pole Sub-D socket). ƒ Absolute and incremental encoders are supported: – TTL encoder 5 V (incremental) – Sin/cos encoder 1 V 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) 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 ƒ The following encoders are not supported: – HTL encoders – SSI encoders 4.7-13 EDS94SPP101 EN 3.1-04/2007 Electrical data General Cable length (system cable recommended) Max. 150 m Encoder types TTL 1 VSS Protocols Hiperface EnDat 2.1 Number of increments 1 ... 16384 Input frequency Max. 250 kHz VCC (GND) Supply voltage 5 V ... 9 V Current Max. 250 mA +Sense, -Sense Measuring lead for readjusting VCC +KTY, -KTY Type KTY 83-110