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Ensemble LAB Hardware Manual
2.5.1. Auxiliary Encoder Channel
The auxiliary encoder interface accepts an RS-422 differential quadrature line driver signal. Invalid or
missing signals will cause a feedback fault when the axis is enabled.
This encoder channel can be used as an input for master/slave operation (handwheel) or for dual feedback
systems. The auxiliary encoder interface does not support analog encoders and cannot be used as an input
for the -MXU or -MXR option.
The auxiliary encoder channel can also be used to echo the standard encoder signals or as the PSO output.
Configuring the PSO hardware will automatically configure this encoder channel as an output (refer to
Section
2.5.2.) and will remove the 180 ohm terminator resistors.
Table 2-15:
Auxiliary Encoder Specifications
Specification
Encoder Frequency
x4 Quadrature Decoding
MXR Interpolation Latency
N O T E : Use the EncoderDivider parameter to configure the bi-directional encoder interface on the aux-
iliary I/O connector. The EncoderDivider parameter converts the auxiliary encoder interface to an output
and defines a divisor for the encoder echo. Refer to the Ensemble Help file for more information.
N O T E : You cannot echo the standard encoder signals on the with the -MXU option.
Table 2-16:
Auxiliary Encoder Channel Pin Assignment (J106)
Pin#
Description
1
Auxiliary Sine+
2
Auxiliary Sine-
10
Auxiliary Cosine+
11
Auxiliary Cosine-
12
+5 Volt (500 mA max)
19
Auxiliary Marker- / PSO output
20
Auxiliary Marker+ / PSO output
21
Common (+5 Volt User Supply, 500 mA max)
(2) For PSO, see
Section 2.5.2.
www.aerotech.com
10 MHz maximum (25 nsec minimum edge separation)
40 million counts/sec
~ 3.25 µsec (analog input to quadrature output)
(2)
(2)
Chapter 2
Installation and Configuration
Value
Bidirectional
Bidirectional
Bidirectional
Bidirectional
Bidirectional
Bidirectional
In/Out/Bi
Output
-
45
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