Ssi Absolute Encoder - Copley Controls Xenus PLUS Compact CANopen Series Manual

Xenus
feedback connectIons

ssI absolute encoder

The SSI (Synchronous Serial Interface) is an interface used to connect
an absolute position encoder to a motion controller or control system.
The XPC drive provides a train of clock signals in differential format to
the encoder which initiates the transmission of the position data on the
subsequent clock pulses. The polling of the encoder data occurs at the
current loop frequency (16 kHz). The number of encoder data bits and
counts per motor revolution are programmable.
The hardware bus consists of two signals: SClk and SdaTa. data is sent
in 8 bit bytes, lSb first. The SClk signal is only active during transfers.
data is clocked out on the falling edge and clock in on the rising edge of
the Master.
J5
Encoder
Frame
FG
Ground
Clk
Clk
/Clk
Dat
Data
/Dat
+5V +5V Out @ 500 mA
Signal Ground
0V
endat absolute encoder
The endat interface is a Heidenhain interface that is similar to SSI in
the use of clock and data signals, but which also supports analog sin/
cos channels from the same encoder. The number of position data
bits is programmable as is the use of sin/cos channels. use of sin/cos
incremental signals is optional in the endat specification.
J5
Encoder
Frame
FG Ground
1k
Clk
Clk 130
/Clk
1k
1k
Dat
Data
221
/Dat
1k
10k
Sin(+)
sin
121
Sin(-)
10k
10k
Cos(+)
cos
121
Cos(-)
10k
+5V
+5V Out @ 500 mA
0V Signal Ground
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
P/N 16-01436 Rev 01
PLUS
ssI,biss sIgnals
SSI
1k
+5V
Clk
A
Clk
130 /Clk
B
Data
1k
1k
/Data
+5V
A
Data
221
B
Signal Ground
frame Gnd
1k
Note: Single (outer) shields should be
connected at both ends (motor and
drive frame grounds). Inner shields
should only be connected to Signal
Ground on the drive.
endat sIgnals
Signal
+5V
Clk
A
Clk
B
/Clk
Data
+5V
A
/Data
Data
B
Sin(+)
Sin(-)
-
Cos(+)
Sin
+
Cos(-)
+5V
-
Sgnd 5, 16, 25, 26
Cos
+
f.G.
Sgnd = Signal Ground
f.G. = frame Gnd
Compact
biss absolute encoder
biSS is an - open Source - digital interface for sensors and actuators.
biSS refers to principles of well known industrial standards for Serial
Synchronous Interfaces like SSI, aS-Interface® and Interbus® with
additional options.
Serial Synchronous data Communication
Cyclic at high speed
2 unidirectional lines Clock and data
line delay compensation for high speed data transfer
request for data generation at slaves
Safety capable: CrC, errors, Warnings
bus capability incl. actuators
bidirectional
biSS b-protocol: mode choice at each cycle start
biSS C-protocol: Continuous mode
biSS J5 Pins
MA+ 9
MA- 8
Sl+ 15
Sl- 14
+5V 6, 17
5, 16, 25, 26
1
absolute-a encoder
The absolute a interface is a serial, half-duplex type that is
electrically the same as rS-485. note the battery which must be
connected. Without it, the encoder will produce a fault condition.
J5 Pins
SD
9
D-R
8
15
Cmd
14
MAX3362B
19
18
21
• absolute a
20
• Tamagawa absolute a
6, 17
• Panasonic absolute a format
• Sanyo denki absolute a
1
XPC
CANopen
BiSS
J5
Encoder
FG
Master
Slave
V+
V-
Absolute-A
J5
Encoder
5V
1.2k
Dat
SD+
220
/Dat
SD-
1.2k
Batt+ +
Batt- -
+5V Out
+5V
V+
@ 500 mA
0V
Signal Ground
V-
Battery
absolute-a sIgnals
Signal
Data
/Data
+5V
Sgnd
f.G.
Sgnd = Signal Ground
f.G. = frame Gnd
RoHS
Frame
Ground
1k
+5V
MA+
Clk
130
MA-
1k
1k
+5V
SL+
Data
221
SL-
1k
+5V Out @ 500 mA
Signal Ground
5V
1k
Cmd
221
1k D-R
SD
J5 Pins
15
14
6, 17
5, 16, 25, 26
1
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