Aerotech Ensemble LAB, Руководство по оборудованию

Страница: 45 / 68

Ensemble LAB Hardware Manual Installation and Configuration
2.5.1. Auxiliary Encoder Channel
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 or -MXR 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 2-15: Auxiliary Encoder Specifications
Specification Value
Encoder Frequency 10 MHz maximum (25 nsec minimum edge separation)
x4 Quadrature Decoding 40 million counts/sec
MXR Interpolation Latency ~ 3.25 µsec (analog input to quadrature output)
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 with the -MXU option.
Table 2-16: Auxiliary Encoder Channel Pin Assignment (J106)
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.
www.aerotech.com Chapter 2 45