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4.4 Other I/O
4.4.1 Encoder output - X7
1
5
This output can be used for position feedback to a host positioner, or in master/slave situations
where the axis movement can be transmitted to another controller or FlexDrive
connectors X7 and X8, multiple FlexDrive
'daisy-chained' together. It is recommended that this output only drives one output circuit load.
The encoder outputs are differential and conform to the RS422 electrical specification.
Shielded twisted pair cable is recommended.
If the resolver feedback option is fitted, a simulated encoder output is produced at X7. If the
resolver input has been configured to simulate an encoder input of 1024 pulses per revolution
(ppr), the output at X7 can be set to either 512 or 1024 ppr. If the resolver input has been
configured to simulate an encoder input of 4096 ppr, output modes of 512, 1024, 2048 and
4096 ppr are possible. Note that these values represent actual encoder lines, not quadrature
counts. The simulated encoder output is in the same direction as the resolver input. See the
keyword ENCODERLINESOUT in the Mint help file.
If the basic encoder feedback option is fitted, X7 duplicates the encoder signals entering X8.
However, the simulated encoder output is in the opposite direction to the encoder input. When
connecting the output to another Baldor controller, the ENCODERMODE or AUXENCODERMODE
keywords can be used to re-invert the signal.
If the EnDat or Hiperface (absolute encoder) feedback option is fitted, a simulated encoder
output is produced at X7. The output ppr is equal to the number of Sin/Cos cycles of the
absolute encoder. For example, if a 2048 cycle absolute encoder is connected, the output at
X7 will be equivalent to a 2048 ppr encoder. Note that this value represents actual encoder
lines, not quadrature counts. For EnDat, the simulated encoder output is in the same direction
as the encoder input. For Hiperface, the simulated encoder output is in the opposite direction
to the encoder input.
The encoder output supports an index or marker pulse.
MN1902
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Location
Pin
6
9
Description
Connector X7
Name
1
CHA+
2
CHB+
3
CHZ+
4
(NC)
5
DGND
6
CHA-
7
CHB-
8
CHZ-
9
(NC)
Encoder output on a 9-pin female D-type connector
II
units (with the encoder feedback option) can be
www.baldormotion.com
II
. Using
Input / Output 4-11
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