Connection For High-Resolution Encoders - Moog MSD Operation Manual

Electrical installation
moog
ID no.: CA65642-001 06/2018

4.14.5 Connection for high-resolution encoders

The interface X7 makes it possible to evaluate the following encoder types.
Fig.
Sin/Cos encoder with zero pulse
X7
e.g. Heidenhain ERN1381, ROD486
Heidenhain Sin/Cos encoder with fully digital EnDat interface
e.g. 13-bit singleturn encoder (ECN1313.EnDat01) and 25-bit multiturn encoder
(EQN1325-EnDat01)
Heidenhain encoder with digital EnDat interface
Single or multiturn encoder
Sin/Cos encoder with SSI interface
e.g. 13-bit singleturn and 25-bit multiturn encoder (ECN413-SSI, EQN425-SSI)
Sick-Stegmann Sin/Cos encoder with HIPERFACE® interface
Single and multiturn encoder, e.g. SRS50, SRM50
Table 4.17 Suitable encoder types on X7
NOTE:
The usage of encoders not included in the range supplied by Moog requires
special approval by Moog.
y The maximum signal input frequency is 500 kHz.
y Encoders with a power supply of 5 V ±5 % must have a separate sensor
cable connection. The sensor cable detects the actual supply voltage at
the encoder; it is then possible to compensate for the voltage drop on
the cable. Only by using the sensor cable is it ensured that the encoder
is supplied with the correct voltage. The sensor cable must always be
connected.
Select the cable type specified by the motor or encoder manufacturer. During this
process bear in mind the following boundary conditions:
y Always used shielded cables. Connect the shield at both ends.
y Connect the differential track signals A/B, R or CLK, DATA using twisted pairs.
y Do not cut the encoder cable, for example to route the signals via terminals in the switch cabinet.
Function
MSD Single-Axis System Operation Manual AC-AC Servo Drive
SinCos
absolute
X7 SinCos
Fig. value
pin and TTL
encoder
SSI/EnDat
1 A- A-
2 A+ A+
+5 V DC ±5 %, IOUT maximum = 250 mA (150 mA
3 for hardware versions 0..1), monitoring via sensor
cable
4 - Data +
X7 5 - Data -
6 B- B-
7 - -
8 GND GND
9 R- -
10 R+ -
11 B+ B+
12 Sense + Sense +
13 Sense - Sense -
14 - CLK+
15 - CLK -
Table 4.18 Pin assignment for the connector X7
NOTE:
The encoder supply at X7/3 is short circuit proof on both 5 V and 11 V
operation. The drive remains in operation enabling the generation of a
corresponding error message on evaluating the encoder signals.
42
Absolute
Absolute value
value
encoder EnDat Comment
encoder
(digital)
HIPERFACE®
- REFCOS
- +COS
7 to 12 V
The sum of the currents
(typ. 11 V) tapped at X7/3 and X6/4
must not exceed the
maximum
specified value!
100 mA
Data + Data +
Data - Data -
- REFSIN
- U - switch
S
GND GND
- -
- -
- +SIN
Sense + U - switch
S
Sense - -
After connecting pin 7
to pin 12, a voltage of
CLK+ -
11.8 V is set on X7,
pin 3!
CLK - -