Chapter 3
Signal Connections
NI 951x User Manual
3-2
ni.com
Encoder 0
Encoder 0 Phase A+
Encoder 0 Phase A–
• Primary encoder for position or velocity
feedback
• RS-422 differential, compatible with
single-ended encoders
• 20
×
10
6
counts/second maximum
• 100 ns minimum pulse width
(differential inputs)
• 400 ns minimum pulse width
(single-ended inputs)
• Index input used to establish reference
position
• Digitally filtered
Encoder 0 Phase B+
Encoder 0 Phase B–
Encoder 0 Index+
Encoder 0 Index–
Encoder 1
Encoder 1 Phase A+
Encoder 1 Phase A–
• Secondary encoder for position or
velocity feedback
• RS-422 differential, compatible with
single-ended encoders
• 20
×
10
6
counts per second maximum
• 100 ns minimum pulse width
(differential inputs)
• 400 ns minimum pulse width
(single-ended inputs)
• Digitally filtered
Encoder 1 Phase B+
Encoder 1 Phase B–
+5 V OUT
+5 V OUT
• +5 V supply output generated from the
V
sup
input
• Available for encoder power
• 150 mA maximum
(NI 9512 and NI 9514)
• 300 mA maximum (NI 9516)
Limits and Home
Forward Limit
• Connect to switches for system safety
• Configurable for sinking or sourcing
• 0 to 30 V input range
• 100
μ
s minimum pulse width
• Digitally filtered
Reverse Limit
Home
Table 3-1.
NI 951x Signal Reference (Continued)
Signal
Signal Name
Signal Overview