Ssi Absolute Encoder - Copley Controls XenusPlus EtherCAT Manual

MOTOR CONNECTIONS (CONT'D)
EnDAT ABSoLUTE EnCoDER
The EnDat interface is a Heidenhain interface that is similar to SSI in
its' 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.
Xenus Plus
Encoder
J10
1
FG Frame Ground
Clk
9
Clk
/Clk
8
Dat
15
Data
/Dat
14
Sin(+)
19
sin
Sin(-)
18
Cos(+)
21
cos
Cos(-)
22
+5V 6
+5V output @ 400 mA
5
Signal Ground
0V

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 Accelnet drive provides a train of clock
signals in differential format to the encoder which initiates
the transmission of the position data on the subequent
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 four signals: SCLK, SDATA,
SDEN0, and SDEN1. SDATA is a bidirectional [three-state]
data line which requires a pull-up or pull-down resistor. 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. The other two pins
SDEN0 and SDEN1 are enable pins, active high.
Encoder
1
FG
Clk
15
Data
14
+5V 6
0V 5
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com
Xenus Plus
Clk
121
MAX3062B
Data
121
MAX3062B
10k
-
Sin
121
+
10k
10k
-
121 Cos
+
10k
Xenus Plus
J10
Frame Ground
Clk
9
Clk
121
/Clk
8
MAX3062B
Dat
Data
121
/Dat
MAX3062B
+5V output @ 400 mA
Signal Ground
EtherCAT
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
Encoder
Master
Slave
nIkon-A ABSoLUTE EnCoDER
The Nikon A interface is a serial, half-duplex type that is
electrically the same as RS-485
Nikon-A
Encoder
5V
1.2k
SD
220
D-R
1.2k
Cmd
MAX3062B
Tel: 781-828-8090
Xenus
J3
1
FG Frame Ground
MA+
9
121
MA-
8
MAX3062B
SL+
15
121
SL-
14
MAX3062B
6
V+ +5V output @ 400 mA
5
Signal Ground
V-
Xenus
J10
5V
1
1.2k
SD+
9
220
SD-
8
1.2k
+5V
6
V+ 5V output
0V
5
Signal Ground
V-
Fax: 781-828-6547
Page 11 of 26
RoHS
Clk
Data
Cmd
D-R
SD
MAX3062B