Encoders and IO

Encoder overview

Circulo 7Circulo 9Circulo 7
../../../../../../_images/B.1_Circulo_7_pins.png
Circulo 9
../../../../../../_images/B.1_Circulo_9_pins.png

Analog Input

Circulo 7Circulo 9Circulo 7
../../../../../../_images/B1_Circulo_anal_in.png
Circulo 9
../../../../../../_images/B1_Circulo_9_anal_in.png
Pin # Signal
1 +5 V*
2 Differential -5 V
3 Differential +5 V
4 Ground
5 Single-ended 0-10 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

Note

The encoder ports are connected by a multiplexer to the same circuits as the integrated encoders. This means that if an external encoder is used, the respective encoder port can not be used. Please refer to the following image for details:

../../../../../../_images/b1_circulo_encoder_principle.png

Encoder Port 1

Circulo 7Circulo 9Circulo 7
../../../../../../_images/B1_Circulo_ext_enc_01.png
Circulo 9
../../../../../../_images/B1_Circulo_9_ext_enc_01.png

Note

This connector also carries the pins for the battery that is needed if the optional integrated encoder 1 is used with Multi-Turn.

For selecting a suitable battery, please check these notes.

Attention

If the integrated encoder 1 is used, the external encoder 1 can not be used.

Protocol/Function Multi turn battery supply BiSS (Diff.) SSI (Diff.)
Encoder Type Integrated Encoder 1 Encoder Port 1 Encoder Port 1
Port Pin # Config. # 1 Config. # 2 Config. # 3
1
5 V 5 V
2
MA- Clock-
3
MA+ Clock+
4 Ground Ground Ground
5
SLO- Data-
6
SLO+ Data+
7 V_BAT

Encoder Port 2

Circulo 7Circulo 9Circulo 7
../../../../../../_images/B1_Circulo_ext_enc_02.png
Circulo 9
../../../../../../_images/B1_Circulo_9_ext_enc_02.png

Attention

If the integrated encoder 2 is used, the external encoder 2 can not be used.

Port Pin # ABI / Fast ABI (Diff.) ABI (Single-Ended) BiSS-C (Diff.) SSI (Diff.) Half-Duplex (Diff.) HALL (Single-Ended)
1 5 V 5 V 5 V 5 V 5 V 5 V
2
MA- Clock- SD- / A
3
MA+ Clock+ SD+ / B
4 Ground Ground Ground Ground Ground Ground
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

Circulo 7Circulo 9Circulo 7
../../../../../../_images/B1_Circulo_DIO.png
Circulo 9
../../../../../../_images/B.1_Circulo_9_DIO.png
Pin # GPIO REM14/16MT BiSS(LVTTL) SSI (LVTTL) SPI
1 +3.3 V OUT *
2 Digital I/O 1 (Fast Push-Pull) SS SLO Data SS/CS
3 Digital I/O 2 (Fast Push-Pull) SCK MA Clock SCK
4 Ground
5 Digital I/O 3 (Fast Push-Pull) MISO
MISO
6 Digital Output 4 (Slow Push-Pull) ** MOSI
MOSI
7 +5 V OUT ***
8 Digital I/O 5 (Slow Bi-Directional)
9 Digital I/O 6 (Slow Bi-Directional)
10 Ground
11 Digital I/O 7 (Slow 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 ±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.

EtherCAT / STO-SBC IN & OUT

Note

This connector features both pins, for EtherCAT as well as for STO/SBC to facilitate true daisy chaining.

../../../../../../_images/ecat_sto_daisy_chain.png
Circulo 7Circulo 9Circulo 7
../../../../../../_images/B1_Circulo_ECAT.png
Circulo 9
../../../../../../_images/B1_Circulo_9_ECAT.png
Pin #  
1 STO-SBC1
2 STO-SBC2
3 Safety Ground
4 RX_N
5 RX_P
6 TX_N
7 TX_P
8 PE

Important

Please note that Safety GND is an isolated signal from drive GND.

Attention

When not using the STO-SBC feature, please attach a +24 V supply to Pin 1 and 2 and Ground to Pin 3. It’s possible to daisy-chain these signals to other servo drives.

Circulo 7Circulo 9Circulo 7
../../../../../../_images/B1_Circulo_7_ECAT_24V.png
Circulo 9
../../../../../../_images/B1_Circulo_9_ECAT_24V.png
../../../../../../_images/daisy_chain_STO-SBC_bridging.png

Wiring diagrams for the digital inputs