[X1C]
Pin
Function
Description
10
GND
Reference potential
(ground)
9
24V
Power supply output for
sensors
8
GND
Reference potential
(ground)
7
LIM1
Digital input for limit
switch 1 (PNP logic,
24 V DC)
6
LIM0
Digital input for limit
switch 0 (PNP logic,
24 V DC)
5
GND
Reference potential
(ground)
4
24 V
Power supply output for
sensors
3
–
reserved, do not connect
2
REF-A
Digital input for refer-
ence switch (PNP logic,
24 V DC)
1
BR-EXT
Output for connection of
an external clamping unit
(high-side switch, low
test pulses at #SBC-B are
transferred to BR-EXT)
Tab. 18: Inputs and outputs for the axis
Cable requirements
Shielding
unshielded/shielded
1)
Min. conductor cross section including wire end
sleeve with plastic sleeve
0.25 mm
2
Max. conductor cross section including wire end
sleeve with plastic sleeve
0.75 mm
2
Max. length
50 m
1) Use a shielded cable outside the control cabinet for safety engineering applications. Otherwise, a shield is
not absolutely essential, but is recommended.
Tab. 19: Cable requirements
Shield support requirements
Connecting the shield
1. On the device side, connect the cable shield to the shield clamp for the motor
cable.
2. On the machine side, connect the cable shield to an earthed machine part.
7.8.3
[X2], encoder interface 1
The encoder interface [X2] is located on the front 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
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
50 m
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 Cat 5e category patch
cable; 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 Cat 5e cat-
egory patch cables; 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 Cat 5e category patch
cables; 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
–
Control
–
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
