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Expansions
10.2.3.3
Encoder-Emulation (X5)
10.2.3.3.1
Incremental encoder output - A quad B (X5)
Fast incremental encoder interface. Select encoder function ROD (A Quad B) Encoder
("Encoder Emulation" screen page). The servo amplifier calculates the motor shaft posi-
tion from the cyclic- absolute signals of the resolver or encoder, generating incremen-
tal-encoder compatible pulses from this information. Pulse outputs on the SubD connec-
tor 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:
Encoder function
(ENCMODE)
1, ROD
3, ROD interpolation
With built in safety card only binary resolutions up to 2
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 per-
missible cable length is 100 meters.
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)
A
B
NI
146
11/2018
Feedback system
(FBTYPE)
0, Resolver
>0, Encoder
Encoder
S748/772
X5
5
4
RS 485
2
3
RS 485
1
GND
6
7
RS 485
a
a
a
a
td
td
Resolution
(ENCOUT)
32...4096
256...524288
(2
8
... 2
19
)
2
4
...2
7
(multiplication)
TTL line x encoder re-
solution
12
are possible.
A+
A-
NI+
NI-
GND
B+
B-
* according to line impedance
tv
tv
S748-S772 Instructions Manual
Kollmorgen
Zero pulse (NI)
once per turn
(only at A=B=1)
once per turn
(only at A=B=1)
encoder signal pas-
sed through from X1
to X5
Control
150 *
Ù
RS 485
150 *
Ù
RS 485
GND
150 *
Ù
RS 485
³
Edge spacing a
0.20 µs
£
Edge steepness tv
0.1 µs
£
Delay NI-td
0.1 µs
³
I UI
Ä
2V/20mA
track A
zero I
track B
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