Encoders and IO

Encoder overview

Important

One encoder has to be mounted on the motor side for commutation purpose. An encoder on a gear out side can not be used for commutation!

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

Analog Input

Note

Details about measuring Analog signals can be found in our system integration guideline: Connecting and configuring analog inputs

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

Encoder ports

Note

When the integrated encoder 1 is used, no external encoder can be used on port 1.
If integrated encoder 2 is used, only Hall can be configured as external encoder 2 on port 2.
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/A-Format (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.

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.

Voltage Levels of the Digital Inputs/Outputs

Voltage level

3V3 (CMOS)

5 V (CMOS)

24 V (Only Digital In 7)

Input

V IH (min)

2 V

0.7 x Vcc

16 V

V IL (max)

0.8 V

0.3 x Vcc

5 V

Output

V OH (min)

2.4 V

4.44 V

V OL (max)

0.4 V

0.5 V

../../../../../_images/circulo_voltage_level_dio.png

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

FE

Important

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

Voltage level of the Safety Inputs

Voltage level

24 V logic Type 1

V IH

15 V to 24 V

V IL

0 V to 5 V

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