Encoders and IO

Encoder overview

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Circulo 9

Analog Input

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Circulo 9

Pin #	Signal	Function	Object Mapping
1	+5 V *	Supply for external use 100 mA max
2	Analog In 2 -	Differential - **	Analog input 2 (0x2402)
3	Analog In 2 +	Differential + **	Analog input 2 (0x2402)
4	GND	Ground
5	Analog In 1	Single-ended 0-5 V	Analog input 1 (0x2401)
6	+10 V***	Supply for external use 25 mA max

* The supply is protected against short to ground and keeps the current below 400mA in a continuous short.

** V _diff,max = 5 V; Common mode voltage V _cm = -1…5V.

*** The supply is protected against short to ground and keeps the current below 100mA in a continuous short.

The Analog Inputs have a 12 bit resolution

Analog input resistance

Differential

Single-ended

External Encoder

Note

The encoder ports are connected by a multiplexer to the same circuits as the integrated encoders. This means that if external encoder 1 is used, integrated encoder 1 can not be used. External encoder 2 can be used with ABI or HALL only when the integrated encoder 2 is used.

Please refer to the following image for details:

External Encoder 1

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Circulo 9

Note

This connector also carries the pins for the battery that is required 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	External Encoder 1	External Encoder 1
Pin #	Config. # 1	Config. # 2	Config. # 3
1		5 V
2		MA-	Clock-
3		MA+	Clock+
4	Ground
5		SLO-	Data-
6		SLO+	Data+
7	V_BAT

External Encoder 2

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Circulo 9

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

* Fast ABI is supported from firmware 5.0 on

Using the external encoder 2 and the internal encoder 2 at the same time

Since firmware 4.4 it is possible to use the external encoder 2 and the internal encoder 2 at the same time.

Attention

Simultaneously, the integrated encoder 2 and the external encoder 2 can only be used with HALL or ABI (Single-Ended or Differential but not Fast ABI).

Digital IO

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Circulo 9

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

EtherCAT / STO-SBC IN & OUT

Note

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

Details for the required hybrid cable can be found here.

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Circulo 9

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.

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Circulo 9

Wiring diagrams for the safety digital inputs