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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 |
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
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 |
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
Note
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.
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.
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).
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) |
||||
Note
Note
Note
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.