5. EncGND is connected to the internal system ground, which is ground
MCU, drive logic, analog I/O, and host PC if the MCU is NY4110 and an
IEEE 1394b cable is used.
For proper use, this ground may not be connected to motor or digital I/O
ground.
13.12 EnDat2.1 encoder
To connect the EnDat2.1 encoder to a drive module you must install the
NY4199 SinCos Option module on the drive module. See
"NY4199 SinCos Option module for SinCos based encoders" on page 200
for detailed information.
Power supply
Characteristic
Specification
Main power supply
5.25 V, ± 0.1 V
Switch on/off capability
Yes, switch on/off per axis (see note 5)
●
NY4120
switch on/off per drive
●
NY4130, NY4140
switch on/off per axis
Tab. 13-35:
Power supply characteristics
Rexroth MSK motors with EnDat2.1 encoders require an external
power supply in the range of 7 to 12V DC.
Encoder data
Value
Note
Type
SinCos
Output format
-
Analog signals
Increasing direction
Clockwise
As viewed from the encoder
shaft end
Tab. 13-36:
Data of incremental encoder
Value
Note
Type
EnDat2.1
Resolution
Max. 32 bits
Depending on the encoder used
Output format
EnDat2.1 protocol
Digital protocol
Baud rate
100, 200, 500, 1000
kHz
Supported baud rates
Tab. 13-37:
Data of absolute encoder
192/233
Encoders
NYCe 4000 Multi-axis motion control system Hardware Sys‐
tem Manual
Bosch Rexroth AG R911337671_Edition 18
