Encoders and IO

Encoder overview

Circulo 7Circulo 9Circulo 7
../../../../../_images/Circulo_7_700_pins.png
Circulo 9
../../../../../_images/Circulo_9_1800_pins.png

Analog Input

Circulo 7Circulo 9Circulo 7
../../../../../_images/B1_Circulo_anal_in1.png
Circulo 9
../../../../../_images/B1_Circulo_9_anal_in1.png

Pin #

Signal

Function

Object Mapping

1

+5 V *

Supply for external use **

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

not connected
* The supply is protected against short to ground and keeps the current below 400 mA in a continuous short.

** The current capacity of 5 V output is shared between all connectors and the total consumption is limited to 250 mA.

The Analog Inputs have a 12 bit resolution

Analog input specification

Differential

Symbol

Min.

typical

Max.

Description

Impact

V diff

-5V

+5V

The input voltage between the positive and negative input pins.

Any voltage out of this range causes saturation to the min/max ADC value.

V cm

-1V

+2.5V

+5V

The common mode voltage.

Any voltage out of this range causes saturation and inaccuracy in the measurements.

V in,P

-15V

+15V

The tolerable voltage between the positive input pin and GND.

Any voltage out of this range damages the analog input’s circuitry.

V in,N

-15V

+15V

The tolerable voltage between the negative input pin and GND.

Any voltage out of this range damages the analog input’s circuitry.

R i

13.6kΩ

Internal input resistance

Error

-1%

+1%

The input voltage between the positive and negative input pins.

Note

V_{diff} = V_{in,P} - V_{in,N} V_{cm} = \frac {V_{in,P} + V_{in,N}} {2}

Single-ended

Symbol

Min.

typical

Max.

Description

Impact

V in

0V

+5V

The input voltage between the input and GND.

Any voltage out of this range causes saturation to min/max ADC value.

V in,lim

-0.5V

+6V

The tolerable input voltage between the input and GND.

Any voltage out of this range damages the analog input’s circuitry.

R i

100kΩ

Internal input resistance

Error

-1%

+1%

Error in ticks

Single-ended for temperature sensor input *

Symbol

Min.

typical

Max.

Description

Impact

V in

0V

+5V

The input voltage between the input and GND.

Any voltage out of this range causes saturation to the min/max ADC value.

V in,lim

0V

+5V

The tolerable input voltage between the input and GND.

Any voltage out of this range damages the analog input’s circuitry.

R i

>1MΩ

Internal input resistance

Error

-1%

+1%

Error in ticks

* The temperature sensor input should only be used for measuring temperatures with RTD

Analog input resistance

Differential

../../../../../_images/Circulo_AI_differential.png

Single-ended

../../../../../_images/Circulo_AI_single-ended.png

Single-ended for temperature sensor input

../../../../../_images/Circulo_AI_single-ended_temp.png

Encoder ports

Note

When the integrated encoder 1 is used, no external encoder can be used on port 1.
When the integrated encoder 2 is used, an external encoder can be used on port 2 with ABI or HALL only.
Please refer to the following image for details:
../../../../../_images/b1_circulo_encoder_principle1.png

Encoder port 1

Circulo 7Circulo 9Circulo 7
../../../../../_images/B1_Circulo_ext_enc_011.png
Circulo 9
../../../../../_images/B1_Circulo_9_ext_enc_011.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.

Protocol/Function

Multi turn battery supply

BiSS (Diff.)

SSI (Diff.)

Encoder Type

Integrated Encoder 1

External Encoder on port 1

External Encoder on port 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

* The current capacity of 5 V output is shared between all connectors and the total consumption is limited to 250 mA.

Encoder port 2

Circulo 7Circulo 9Circulo 7
../../../../../_images/B1_Circulo_ext_enc_021.png
Circulo 9
../../../../../_images/B1_Circulo_9_ext_enc_021.png

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

** The current capacity of 5 V output is shared between all connectors and the total consumption is limited to 250 mA.

Using an external encoder on port 2 and the internal encoder 2 at the same time

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

Attention

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

Digital IO

Circulo 7Circulo 9Circulo 7
../../../../../_images/B1_Circulo_DIO1.png
Circulo 9
../../../../../_images/B.1_Circulo_9_DIO1.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 IN 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 400 mA in a continuous short.

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

*** The current capacity of 5 V output is shared between all connectors and the total consumption is limited to 250 mA.
The supply is protected against short to ground and keeps the current below 400 mA 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.
../../../../../_images/ecat_sto_daisy_chain1.png
Circulo 7Circulo 9Circulo 7
../../../../../_images/B1_Circulo_ECAT1.png
Circulo 9
../../../../../_images/B1_Circulo_9_ECAT1.png

Pin #

1

STO-SBC In 1

2

STO-SBC In 2

3

Safety GND

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_24V1.png
Circulo 9
../../../../../_images/B1_Circulo_9_ECAT_24V1.png
../../../../../_images/daisy_chain_STO-SBC_bridging1.png

Wiring diagrams for the safety digital inputs