Motor connectIons: encoders
Signal
J10,J11
Pin
enc A
13
enc /A
12
enc B
11
enc /B
10
enc X
9
enc /X
8
+5V
6
Sgnd
5
Shld
1
Signal
J10,J11
Pin
Sin(+)
19
Sin(-)
18
Cos(+)
21
Cos(-)
20
Idx(+)
23
Idx(-)
22
+5V
17
Sgnd
16
Shld
1
+5V Out @ 500 mA
Signal Ground
Sin(+)
Sin(-)
Cos(+)
Cos(-)
Idx(+)
Idx(-)
-
+
-
+
10k
121
J10, J11
10k
121
Encoder
FG
sin
cos
+5V
0V
121
indx
Frame Ground
10k
Sin
Cos
Indx
10k
1k
1k
+5V
1k
Encoder
J10, J11
FG
Frame Ground
Enc. A
121
A
Enc. B
121
B
Enc. Index
130
Z
/X
X
/B
B
/A
A
+5V
0V
+5V Out @ 500 mA
Signal Ground
1k
+5V
Z
Enc. A
Enc. B
Enc. Index
A
/A
B
/B
X
/X
1k
1k
+5V
Encoder
121
121
130
FG
Frame Ground
A
B
+5V
0V
+5V Out @ 500 mA
Signal Ground
J10, J11
RoHS
Xenus
PLUS
2-Axis
MACRO
XM2
Rev 01
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
16-01419
Rev A
Page 14 of 34
A/B/X SIGNAlS
SIN/COS SIGNAlS
QUAD A/B ENCODER WITH FAUlT PROTECTION
Encoders with differential line-driver outputs are required (single-ended encoders are not supported) and provide incremental position feedback via
the A/B signals and the optional index signal (X) gives a once per revolution position mark. The MAX3097 receiver has differential inputs with fault
protections for the following conditions:
Short-circuits line-line:
This produces a near-zero voltage between A & /A which is below the differential fault threshold.
Open-circuit condition:
the 121
Ω
terminator resistor will pull the inputs together if either side (or both) is open.
this will produce the same fault condition as a short-circuit across the inputs.
Low differential voltage detection:
this is possible with very long cable runs and a fault will occur if the differential input voltage is < 200mV.
±15kV ESD protection:
The 3097E has protection against high-voltage discharges using the Human Body Model.
Extended common-mode range:
A fault occurs if the input common-mode voltage is outside of the range of -10V to +13.2V
Motor connections are of three types: phase, feedback, and thermal sensor. The phase connections carry the drive output currents that
drive the motor to produce motion. A thermal sensor that indicates motor overtemperature is used to shut down the drive to protect
the motor. Feedback can be digital quad A/B encoder, analog sin/cos encoder, or digital Halls, depending on the version of the drive.
ANAlOG SIN/COS INCREMENTAl ENCODER
The sin/cos/idx inputs are differential with 121 Ω terminating
resistors and accept 1 Vp-p signals in the format used by
incremental encoders with analog outputs, or with
Servotube
motors.
CONNECTIONS WITH A/B/X ENCODER
SHielDeD CABle ConneCtionS
CONNECTIONS WITH NO INDEX SIGNAl
Double-shielded cable is recommended for analog sin/cos encoders. the outer shield connects to the motor and drive frames. the
inner shield(s) should only connect to the Signal Ground at the drive. The inner shields shown here are for individually shielded
twisted-pair cables. If the inner shield is a single one, it connects to Signal Ground at the drive.
the inner shield should have no connection at the motor, or the the outer shield. Double-shielding is used less frequently for digital
encoders, but the connections are shown here and on following pages for completeness.
