Copley Controls Xenus Plus XP2 Series Manual page 15

Xenus
Motor connectIons: absolute encoders
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 xEl 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.
J10, J11
Encoder
FG
Clk
Data
+5V
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.
J10, J11
Encoder
FG Frame Ground
Clk
Clk
/Clk
Dat
Data
/Dat
Sin(+)
sin
Sin(-)
Cos(+)
cos
Cos(-)
+5V
+5V Out @ 500 mA
0V Signal Ground
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Web: http://www.copleycontrols.com
PLUS
Frame Ground
Clk
A
Clk
130
B
/Clk
Dat
A
Data
221
/Dat
B
+5V Out @ 500 mA
Signal Ground
ENDAT SIGNAlS
Signal
A
Clk
130
Clk
B
/Clk
Data
A
Data
221
/Data
B
Sin(+)
Sin(-)
10k
-
Cos(+)
121
Sin
+
Cos(-)
10k
+5V
10k
-
Sgnd
121
Cos Shld
+
10k
2-Axis CANopen
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
Encoder
SSi,BiSS SIGNAlS
J10,J11
Signal
Pin
Clk 9
/Clk 8
Data 15
/Data 14
+5V 6,17
Sgnd 5,16
Shld 1
ABSolUTE-A EnCoDER
The Absolute A interface is a serial, half-duplex type that is
electrically the same as RS-485
J10,J11
Pin
SD
9
D-R
8
15
Cmd
14
19
MAX3362B
18
21
20
6,17
5,16
1
Tel: 781-828-8090
XP2
Rev 01
BiSS
J10, J11
FG Frame Ground
Master
MA+
MA-
Slave
SL+
SL-
V+ +5V Out @ 500 mA
Signal Ground
V-
Absolute-A
J10, J11
Encoder
Frame
5V
Ground
1.2k
Dat
SD+
220
/Dat
SD-
1.2k
+5V
V+
0V
Signal Ground
V-
Fax: 781-828-6547
Page 15 of 34
RoHS
Clk
130
Data
221
Cmd
D-R
SD
+5V Out
@ 500 mA
ABSOluTE-A SIGNAlS
J10,J11
Signal
Pin
Data 15
/Data 14
+5V 6,17
Sgnd 5,16
Shld 1