7.9 Feedback Systems (X20, X21)
Two encoder connectors are available by default (two more are available with option modules). They
are located at the front side of the drive. X20 feeds axis 0. X21 feeds axis 1. Each connector supports
various encoder types/protocols and some optional TTL inputs.
Information
- Make sure the encoder plug is well connected by means of the D-Sub plug screws.
- Do not split encoder cables, for example to route the signals via terminals into the control
cabinet.
- Connect the case with the shielding of the encoder cable and make sure, that the screen is
connected with low impedance (i.e. thick wire, large connection area, 360 degree around the
cable) at the drive side.
The table below illustrates the use cases of the encoder connection. For pulse train options see chapter
7.8.
Use case Function
Description
1
Analog Sin/Cos Encoder with index input
High resolution analog Sin/Cos encoder
2
Analog Sin/Cos encoder plus serial interface
High resolution analog Encoder combined with abso-
lute encoder position.
3
Digital encoder with only serial interface
Absolute Encoder without analog sin/cos signals. En-
coder specifications limit the maximum possible up-
date rate of the position controller
4
Incremental Encoder with index input
Incremental encoder, TTL and RS422 configurable
Table 21: Encoder connection use cases on Connectors X20 and X21.
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