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57
EnDat - Encoder Connections
Technical Data
• Input resistance: 120 Ohm
• Process data channel: 1Vpp
• Parameter channel: EIA RS485 half duplex
• Clock signal output: EIA RS485
• Maximum input frequency: 200 kHz
• Encoder line number: 1...2048 inc
• Maximum cable length: 100 m
(based on signal levels, otherwise see below)
Cable length based on cable resistance
The maximum cable length is calculated as follows:
Length =
V - Vmin
=
5.25V - 4.75V
= 83.3 m
Imax * R
0.2A * 0.03 W/m
where
Imax = supply current of encoder [amps]
V = voltage supply of the drive = 5.25V
Vmin = minimum supply voltage of the encoder
R = cable resistance (0.07
Ω
/m) for Standard KEB cables
(0.03
Ω
/m) for type "L" KEB cables
The following ENDAT encoders have been tested for use:
• Heidenhain ECN 1313, 413, 113 single turn
However, this does not restrict the use of rotary encoder with the same
specifications as other manufacturers.
The recognition of encoder loss or exchange is a software function and
is dependent on the encoder type. If the drive senses that the serial
communication to the encoder has stopped, it will trigger the ‘Error Encoder
Interface’ fault.
If the encoder is replaced or disconnected, the drive will trigger an
error or warning that the encoder was changed. The drive will display
the error message ‘Error Encoder Interface’.
If the encoder was exchanged, the drive will auto reset the ‘Error
Encoder Interface’ fault. The user will need to learn the new encoder
position before the operation can continue. See section 5.10.
If there is an encoder-triggered fault or problems with the encoder
cable the ‘Error Encoder Interface’ fault will not clear, and the
problems must be diagnosed through parameter LE12. To clear the
‘Error Encoder Interface’ fault, it is necessary to go to parameter LE01,
press "Enter" and then press "Enter" again to confirm.
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