Encoders and IO

Connector overview

../../../../../../_images/A2_Circulo_Encoders.png

Analog Input

../../../../../../_images/A2_Circulo_anal_in.png

Pin #

Signal

1

Differential +5 V

2

Differential -5 V

3

Ground

4

Single-ended 0-10 V

5

+5 V*

6

+10 V**

* This is a 5 V supply that can provide up to 100 mA for external use.
The supply is protected against short to ground and keeps the current below 400mA in a continuous short.

** This is a 10 V supply that can provide up to 25 mA for external use.
The supply is protected against short to ground and keeps the current below 100mA in a continuous short.

Error Before Calibration: 1.5%

External Encoder

../../../../../../_images/A2_Circulo_ext_enc.png

Possible Combinations

Supported

Encoders

Config. 1 *

Config. 2

Config. 3

Config. 4

Config. 5

Internal Encoder 1

BiSS

BiSS

Internal Encoder 2

BiSS

Disabled

External Encoder

ABI (Differential or

Single-Ended) or HALL

BiSS (Differential)

SSI (Differential)

Half Duplex (Differential)

HALL

* Only 2 out of the 3 Encoders can be used at the same time.

Pin #

ABI

(Differential)

ABI

(Single-Ended)

BiSS (Differential)

SSI (Differential)

Half-Duplex (Differential)

HALL

1

MA-

Clock-

SD- / A

2

5 V

5 V

5 V

5 V

5 V

5 V

3

Ground

Ground

Ground

Ground

Ground

Ground

4

MA+

Clock+

SD+ / B

5

A-

A

SLO-

Data-

H3 / C

6

A+

SLO+

Data+

7

B-

B

H2 / B

8

B+

9

I-

I

H1 / A

10

I+

Digital IO

../../../../../../_images/A2_Circulo_DIO.png

Pin

GPIO

Logic level

REM 14/16MT

BiSS (LVTTL)

SSI (LVTTL)

SPI

1

3.3 V *

3.3 V *

3.3 V *

3.3 V *

3.3 V *

3.3 V *

2

Digital IO 1

Configurable as 3.3 V or 5 V

SCK

SLO

Data

SCK

3

Digital IO 2

Configurable as 3.3 V or 5 V

MISO

MA

Clock

MISO

4

Ground

Ground

Ground

Ground

Ground

Ground

5

Digital IO 3

Configurable as 3.3 V or 5 V

MOSI

MOSI

6

Digital output 4 **

Configurable as 3.3 V or 5 V

SS

SS

7

5 V ***

5 V ***

5 V ***

5 V ***

5 V ***

5 V ***

8

Digital IO 5

Configurable as 3.3 V or 5 V

9

Digital IO 6

Configurable as 3.3 V or 5 V

10

Digital input 7

24 V

* This is a +3.3 V supply that can provide up to 250 mA for external use.
The supply is protected against short to ground and keeps the current below 400mA in a continuous short.

** Current output capacity of all configured digital outputs is ±20 mA (Sink and source)

*** This is a +5 V supply that can provide up to 250 mA for external use.
The supply is protected against short to ground and keeps the current below 400mA in a continuous short.

Note

The Digital I/Os are globally configurable as 3.3 V or 5 V.
This configuration is done in object 0x2214 “GPIO global options”

Note

Each Digital IO needs to be configured as a Digital Input or Output via object 0x2210 (“GPIO”).
The object can also be used to activate a pull-down resistor.

Changes may require to powercycle the servo drive.

Safety STO-SBC

../../../../../../_images/A2_Circulo_sto-sbc.png

Pin #

Signal

1

STO/SBC1 input 1

2

STO/SBC2 input 2

3

Safety Ground

4

PE

5

STO/SBC Feedback +

6

STO/SBC Feedback -

Wiring diagrams for the safety digital inputs

Attention

When not using the STO-SBC feature, the function must be bypassed by bridging the jumpers:

../../../../../../_images/A2_Circulo_jumper_sto.png

Encoder Battery (for multi-turn)

../../../../../../_images/A2_Circulo_enc_bat.png

Pin #

Signal

1

+V_BAT

2

Ground

For selecting a suitable battery, please check these notes.

EtherCAT In/Out

../../../../../../_images/A2_Circulo_ECAT.png

Pin #

Signal

1

RX+

2

RX-

3

Shield / PE

4

TX+

5

TX-