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3.5.2
Standard feedback
Basic encoder (AB, FD, FR)
•
6 wire (+ 2 for marker if required)
•
Up to 100,000 ppr
•
AB - quadrature signals (best noise immunity)
•
FD - frequency and direction
•
FR - forward and reverse
•
Marker input (only connect if needed, low noise immunity)
•
Freeze based directly on the encoder counter
•
Termination control (P1 Interface Only)
•
Wirebreak detection (P1 Interface Only)
NOTE
A quadrature encoder will provide sufficient performance for most applications once tuned.
Servo encoders (AB Servo, FD Servo, FR Servo, SC Servo)
•
12 wire (+ 2 for marker if required)
•
Reduced maximum torque until two valid changes
•
AB, FD, FR and SC signals used for motor control and speed feedback.
•
Marker input (optional)
•
Freeze based directly on the encoder counter
•
Termination control (not for commutation signals)
•
Wirebreak detection
•
Phase error detection based on commutation signals
•
P1 interface only
Non-absolute SINCOS encoder (SC)
•
6 wire
•
Nominally the feedback resolution is sine waves per revolution plus 9 additional bits of
interpolation information
•
High resolution speed feedback, generally for induction motors but also servo motors
•
Marker input
•
Freeze is based on the time of the freeze event and interpolation between samples
•
Wirebreak detection
•
Initialization required to align the analog signals with the encoder counter
•
P1 interface only
3.5.3
High resolution feedback
Stegmann Hiperface SINCOS encoders (SC Hiperface)
•
8 wire
•
8 - 12 V supply
•
Absolute position determined via asynchronous comms
•
Nominally the feedback resolution is sine waves per revolution plus 9 additional bits of
interpolation information
•
No marker input
•
Freeze is based on the time of the freeze event and interpolation between samples
•
Wirebreak detection
•
Auto-configuration is possible
•
Encoder phase error detection using comms
•
Comms includes message XOR checksum
•
Initialization required to obtain the absolute position via comms and to align the analog signals
with the encoder counter
•
P1 interface only
18
SI-Universal Encoder User Guide
Issue: 2
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