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XPS-Q8 Controller
20.1.2
Digital Outputs
Parameter
Low Level Output Voltage
High Level Output Voltage
Input Current LOW
Input Current HIGH
GPIOn outputs (n = 1 to 4) can be accessed via the GPIODigitalSet(GPIOn.DO, ...)
function.
20.2
Digital Encoder Inputs (Driver Boards & DRV00)
All digital encoder inputs are RS-422 standard compliant:
• All digital encoder signals are not isolated, but are referenced to the electrical
ground (GND).
• Encoder signals must be differential pairs (using 26LS31 or MC3487 line driver
type circuits). Encoder inputs have a terminating impedance of 120 Ω.
• Inputs are always routed on differential pairs. For a high level of signal integrity, we
recommend using shielded twisted pairs of wires for each differential signal.
• Encoder power supply is +5 V @ 250 mA maximum (referenced to the electrical
ground) and is sourced directly by the driver boards.
20.3
Digital Servitudes (Driver Boards, DRV00 & Analog Encoders
Connectors)
All servitude inputs are TTL compatible:
• All servitude inputs are not isolated, but are referenced to the electrical ground
(GND).
• Input levels must be between 0 V and +5 V.
All servitude inputs are refreshed synchronously with the XPS control loop (8 kHz).
All servitude inputs are identical.
All servitude inputs expect normally closed sensors referenced to ground (input is
activated if the sensor is open) and have internal 2.2 kΩ pull up resistors to the +5 V.
20.4
Analog Encoder Inputs (Analog Encoder Connectors)
The analog encoder interface complies with the Heidenhain LIF481 glass scales wiring
standard.
Symbol
V
OL
V
OH
I
OL
I
OH
Figure 64: Open Collector Digital Output.
207
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
Appendix
Min.
Max.
0
1
2.4
30
–
-40
–
0.2
Units
V
V
mA
mA
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