Encoders and IO

Encoder Port 1

Pin #	ABI *	BiSS *	SSI *	Half-Duplex *
1	–	MA-	Clock-	SD- / A
2	5 V **	5 V **	5 V **	5 V **
3	Ground	Ground	Ground	Ground
4	–	MA+	Clock+	SD+ / B
5	A-	SLO-	Data-	–
6	A+	SLO+	Data+	–
7	B-	–	–	–
8	B+	–	–	–
9	I-	–	–	–
10	I+	–	–	–

* This is a differential line according to RS422/RS485 standards

** 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 400 mA in a continuous short.

Encoder Port 2

Pin #	HALL	ABI (differential)*	ABI (single-ended)**	BiSS *	SSI *
1	–	–	–	MA-	Clock-
2	5 V ***	5 V ***	5 V ***	5 V ***	5 V ***
3	Ground	Ground	Ground	Ground	Ground
4	–	–	–	MA+	Clock+
5	C/H3	A-	A	SLO-	Data-
6	–	A+	–	SLO+	Data+
7	B/H2	B-	B	–	–
8	–	B+	–	–	–
9	A/H1	I-	I	–	–
10	–	I+	–	–	–

* This is a differential line according to RS422/RS485 standards

** This is a single-ended TTL line with 1 kOhm pull-up resistors

*** 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 400 mA in a continuous short.

Encoder Port 3 / Digital IO

Pin #	GPIO	REM 14/16MT	BiSS (LVTTL)	SSI (LVTTL)	SPI
1	3.3 V *	3.3 V *	3.3 V *	3.3 V *	3.3 V *
2	Digital IO 1**	SS	SLO	Data	SS/CS
3	Digital IO 2**	SCK	MA	Clock	SCK
4	Ground	Ground	Ground	Ground	Ground
5	Digital IO 3**	MISO	–	–	MISO
6	Digital IO 4**	MOSI	–	–	MOSI
7	5 V ***	5 V ***	5 V ***	5 V ***	5 V ***
8	–	–	–	–	–

All Digital IOs are 3.3 V LVTTL CMOS logic and can be used for data rates up to 20 Mbps.

* 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.

** Can be configured as 5.0 V CMOS logic. Upon request only, please contact sales@synapticon.com

*** 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

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.

Analog IN

Pin #		Default Setting *
1	–
2	Analog Input 1 -	Connect to Ground **
3	Analog Input 1 +	Single-ended 0-10 V
4	Ground
5	Analog Input 2 -	Connect to Ground **
6	Analog Input 2 +	Single-ended 0-10 V
7	5 V ***
8	10 V ****
9	Analog Input 3 -	Differential ±5 V
10	Analog Input 3 +	Differential ±5 V
11	Analog Input 4 -	Differential ±5 V
12	Analog Input 4 +	Differential ±5 V

* All Analog Inputs can be configured as single-ended 0-5 V, 0-10 V, 0-20 V or differential ±5 V, ±10 V independently.

Upon request only, please contact sales@synapticon.com

** Must be connected to Ground when the Analog Input is set to Single-Ended Mode.

It is recommended to use a separate ground cable for each single-ended analog signal/cable and twist or tie them together.

*** 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.

Analog input specification

Differential

Symbol	Min.	typical	Max.	Description	Impact
V diff	-10V		+10V	The input voltage between the positive and negative input pins.	Any voltage out of this range causes saturation to min/max ADC value
V cm	-10V	0V	+10V	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		27.2kΩ		Internal input resistance
Error	-1%		+1%	Error in ticks

Single-ended

Symbol	Min.	typical	Max.	Description	Impact
V :sub`in`	0V		+1V	The input voltage between the input and GND.	Any voltage out of this range causes saturation to min/max ADC value
V in,lim	-15V		+15V	The tolerable input voltage between the input and GND.	Any voltage out of this range damages the analog input’s circuitry.
R i		20.4kΩ		Internal input resistance
Error	-1%		+1%	Error in ticks

Analog input resistance

Differential

Single-ended

Attaching a voltage divider

A voltage divider is needed when the Analog In needs to be calibrated. This is required for adjusting the measuring range when using a temperature sensor. The following pins of Analog In can be used:

EtherCAT port

Pin	Name	Function
1 *	TX+	Differential transmit pair, positive line
2	TX-	Differential transmit pair, negative line
3	Shield
4	RX+	Differential receive pair, positive line
5	RX-	Differential receive pair, negative line

* Pin 1 is on left

Pin	Name	Function
1 *	TX+	Differential transmit pair, positive line
2	TX-	Differential transmit pair, negative line
3	Shield
4	RX+	Differential receive pair, positive line
5	RX-	Differential receive pair, negative line

* Pin 1 is on left