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 -2.5 V

3

Differential +2.5 V

4

Ground

5

Single-ended 0-5 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%

The Analog Inputs have a 12 bit resolution

The signals are available in different objects according to the type of Analog Input:

Note

* The Single-ended analog input is mapped to AI1 (0x2401)

* The Differential analog input is mapped to AI2 (0x2402)

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 is used.
Please refer to the following image for details:
../../../../../../_images/b1_circulo_encoder_principle.png

External Encoder 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 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

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

Pin #

ABI / Fast ABI (Differential)

ABI (Single-Ended)

BiSS-C (Differential)

SSI (Differential)

Half-Duplex (Differential)

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+

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 (Differential or Single-Ended).

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)

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 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 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.

../../../../../../_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 safety digital inputs