Installation and Configuration
Ensemble CP
2.5.1. Auxiliary Encoder Channel (J104)
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 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 2-26:
Auxiliary Encoder Specifications
Specification
Value
Encoder Frequency
10 MHz maximum (25 nsec minimum edge separation)
x4 Quadrature Decoding
40 million counts/sec
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 CP with the -MXU option.
Table 2-27:
Auxiliary Encoder Channel Pin Assignment (J104)
Pin#
Description
In/Out/Bi
1
Auxiliary Sine+
Bidirectional
2
Auxiliary Sine-
Bidirectional
10
Auxiliary
Bidirectional
11
Auxiliary Cosine-
Bidirectional
12
+5 Volt (500 mA max)
Output
19
Auxiliary Marker- / PSO output
(2)
Bidirectional
20
Auxiliary / PSO output
(2)
Bidirectional
21
Common (+5 Volt User Supply, 500 mA max)
-
(2) For PSO, see
Section 2.5.2.
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Chapter 2
63
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