7.8.3
[X2], encoder interface 1
The encoder interface [X2] is located on the front side of the device. The encoder
interface [X2] is primarily designed for connecting the position encoder integrated
into the motor.
Supported standards/protocols
Supported encoders
Hiperface
SEK/SEL 37
SKS/SKM 36
EnDat 2.2
ECI 1118/EBI 1135
ECI 1119/EQI 1131
ECN 1113/EQN 1125
ECN 1123/EQN 1135
EnDat 2.1
Only in conjunction with Festo motors
from the series EMMS-AS that have an
integrated encoder with EnDat 2.1 pro-
tocol
Only for CMMT-AS -...- MP: BiSS-C
Absolute encoders with BiSS interface that
support the BiSS-C protocol
Digital incremental encoders with square-wave signals
and with RS422-compatible signal output (differential
A, B, N signals)
ROD 426 or compatible
Analogue SIN/COS incremental encoders with differen-
tial analogue signals with 1 V
ss
HEIDENHAIN LS 187/LS 487 (20 µm
signal period) or compatible
Encoders with asynchronous two-wire communication
interface (RS485)
Nikon MAR-M50A or compatible (18 bit
data frames)
Tab. 20: Standards and protocols supported by the encoder interface [X2]
NOTICE
Damage to the sensor when sensor type is changed.
The servo drive can provide 5 V or 10 V sensor supply. Through configuration of
the sensor, the supply voltage is established for the sensor. The sensor can be
damaged if the configuration is not adjusted before connection of another sensor
type.
• When changing the sensor type: Comply with specified steps.
Change of encoder type
1. Disconnect encoder from the device.
2. Set up and configure new encoder type in the CMMT-AS.
3. Save settings in the CMMT-AS.
4. Switch off CMMT-AS.
5. Connect new encoder type.
6. Switch CMMT-AS back on.
Requirements for the connecting cable
Characteristics
–
Encoder cable for servo drives, shielded
–
Optical shield cover
>
85%
–
Separately twisted signal pairs
–
recommended design: (4 x (2 x 0.25 mm
2
))
1)
Max. cable length
100 m
1)
1) In the case of encoders with no compensation for voltage drops or in the case of very long cables, thicker
supply cables may be required.
Tab. 21: Requirements for the connecting cable
Shield support requirements
Connecting the encoder cable shield
1. On the device side, connect the encoder cable shield to the plug housing.
2. On the motor side, connect the encoder cable shield to the encoder or
encoder plug.
7.8.4
[X3], encoder interface 2
The encoder interface [X3] is located on the front side of the device. The encoder
interface [X3] primarily serves to connect a second position encoder to the axis
(e.g. to enable precise positioning control for the axis or as a redundant meas-
uring system for safe motion monitoring).
Supported standards/protocols
Supported encoders
Digital incremental encoders with square-wave
signals and with RS422-compatible signal out-
puts (differential A, B, N signals)
ROD 426 or compatible
ELGO LMIX 22
Analogue SIN/COS incremental encoders with
differential analogue signals with 1 V
ss
HEIDENHAIN LS 187/LS 487 (20 µm signal
period) or compatible
Tab. 22: Standards and protocols supported by the encoder interface [X3]
[X3] is designed to be electrically compatible with [X2] but does not support all
encoders and functions like [X2].
7.8.5
[X10], SYNC IN/OUT
The interface [X10] is located on the front of the device. The interface [X10]
permits master-slave coupling. In the master-slave coupling, the axes of several
devices (slave axes) are synchronised via a device (master axis). The SYNC inter-
face can be configured for different functions and can be used as follows:
Possible functions
Description
Incremental encoder output
Output of a master axis that emulates encoder
signals (encoder emulation)
Incremental encoder input
Input of a slave axis for receiving the encoder
signals of a master axis
Tab. 23: Possible functions of the connection [X10]
Requirements for the connecting cable
Characteristics
–
Encoder cable for servo drives, shielded
–
Optical shield cover
>
85%
–
Separately twisted signal pairs
–
recommended design: (4 x (2 x 0.25 mm
2
))
Max. cable length
3 m
Tab. 24: Requirements for the connecting cable
Shield support requirements
Connect the connecting cable shield to the plug housings on both sides.
Possible connections
Connection possibilities
Description
Direct connection of 2 devices
Two devices can be connected directly with a
patch cable (point-to-point connection).
Recommendation: use patch cable of category
Cat 5e; maximum length: 25 cm
Connection of multiple devices via RJ45 T
adapter and patch cables
A maximum of 16 devices may be connected.
Recommendation: use T adapter and patch
cables of category Cat 5e; maximum length per
cable: 25 cm
Connection of multiple devices via patch
cables and a connector box (accessories
A maximum of 16 devices may be connected.
Recommendation: use patch cables of category
Cat 5e; maximum length per cable: 100 cm
Tab. 25: Connection possibilities
7.8.6
[X18], standard Ethernet
The interface [X18] is located on the front of the device. The following can be
performed via the interface [X18] using the commissioning software:
–
Diagnostics
–
Parameterisation
–
Controller
–
Firmware update
The interface is designed to conform to the standard IEEE 802.3. The interface
is electrically isolated and intended for use with limited cable lengths
Requirements for the connecting cable. For this reason, the insulation coordina-
tion approach differs from IEEE 802.3 and must conform instead to the applicable
product standard IEC 61800-5-1.
Requirements for the connecting cable
Characteristics
CAT 5, patch cable, double shielded
Max. cable length
30 m
Tab. 26: Requirements for the connecting cable
The following connections are possible via the Ethernet interface:
Connections
Description
Point-to-point connection
The device is connected directly to the PC via an
Ethernet cable.
Network connection
The device is connected to an Ethernet network.
Tab. 27: Options for connection
The device supports the following methods of IP configuration (based on IPv4):
Methods
Description
Obtain IP address automatically (DHCP client)
The device obtains its IP configuration from a
DHCP server in the network. This method is suit-
able for networks in which a DHCP server already
exists.
Fixed IP configuration
The device uses a fixed IP configuration.
The IP configuration of the device can be perma-
nently assigned manually. However, the device
can only be addressed if the assigned IP configu-
ration matches the IP configuration of the PC.
Factory setting: 192.168.0.1
Tab. 28: Options for IP configuration
7.8.7
[X19], Real-time Ethernet (RTE) port 1 and port 2
The interface [X19] is located on the top of the device. The interface [X19] permits
RTE communication. The following protocols are supported by the interface [X19],
depending on the product design:
Product variant
Supported protocol
CMMT-AS-...-MP
EtherCAT, EtherNet/IP, PROFINET
CMMT-AS-...-EC
EtherCAT
CMMT-AS-...-EP
EtherNet/IP, Modbus TCP
CMMT-AS-...-PN
PROFINET
Tab. 29: Supported protocol
The physical level of the interface fulfils the requirements according to IEEE 802.3.
The interface is electrically isolated and intended for use with limited cable
lengths
Tab. 30 Requirements for the connecting cable.
The interface [X19] offers 2 ports.
–
Port 1, labelled on the device with [X19, XF1 IN]
–
Port 2, labelled on the device with [X19, XF2 OUT]
2 LEDs are integrated into each of the two RJ45 bushings. The behaviour of the
LEDs depends on the bus protocol. Both LEDs are not always used.
