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BECKHOFF
4.7
Encoder emulations
4.7.1
Incremental encoder output - A quad B (X5)
The incremental-encoder interface is part of the package supplied. Select the encoder function
ROD (screen page "Encoder"). In the servo amplifier, the position of the motor shaft is calculated
from the cyclic-absolute signals of the resolver or encoder. Incremental-encoder compatible pulses
are generated from this information. Pulses are output on the SubD-connector X5 as two signals, A
and B, with 90° phase difference and a zero pulse.
The resolution (lines before quadrature) can be changed with the RESOLUTION parameter:
Encoder function
(ENCMODE)
ROD (1)
ROD interpolation (3)
You can also adjust and store the position of the zero pulse within one mechanical turn
(parameter NI-OFFSET).
The drivers are supplied from an internal supply voltage. PGND must always be
connected to the controls. The max. admissible cable length is 10 m.
Connections and signal description for incremental-encoder interface :
Default count direction: upwards when the motor shaft is rotating clockwise (looking at the shaft
end).
AX2000 Installation manual
Feedback system
Resolver
EnDat / HIPERFACE
Incremental encoders with-
out absolute data channel
- A.4.031.1/11
AX2000
02/06
Resolution
16...1024
16...4096 and
8192...524288 (2
4...128
TTL lines per sine line
Interfaces
Zero position
one per revolution
(only if A=B=1)
one per revolution
n
)
(only if A=B=1)
analog pass through
from X1 to X5
49
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