Encoders and IO¶

Encoder Port 1¶

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Pin #	ABI *	BiSS *	SSI *	Half-Duplex / A-Format *
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¶

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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¶

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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¶

Note

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

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Pin #		Default Setting *	Object Mapping
1	–
2	Analog Input 1 -	Connect to Ground **
3	Analog Input 1 +	Single-ended 0-10 V	Analog input 1 (0x2401)
4	Ground
5	Analog Input 2 -	Connect to Ground **
6	Analog Input 2 +	Single-ended 0-10 V	Analog input 2 (0x2402)
7	5 V ***
8	10 V ****
9	Analog Input 3 -	Differential ±5 V	Analog input 3 (0x2403)
10	Analog Input 3 +	Differential ±5 V	Analog input 3 (0x2403)
11	Analog Input 4 -	Differential ±5 V	Analog input 4 (0x2404)
12	Analog Input 4 +	Differential ±5 V	Analog input 4 (0x2404)

* 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¶

How to connect a temperature sensor¶

There is no particular input for temperature sensors in Node. Four analog inputs are available. Any of these can be used to measure the temperature sensor resistance. But the single-ended (AI 1, AI 2) is more accurate than the differential inputs (AI 3, AI 4) because the voltage difference is less. A simple circuit with an extra resistor for voltage dividing has to be implemented externally. For details about using temperature sensors please check our System integration guide.

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 image below depicts how to connect an RTD sensor resistance using the single-ended analog input.

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The internal resistance R _i of the single-ended analog input is 20.4 kΩ and it is connected in parallel to the RTD sensor.

EtherCAT port¶

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EtherCAT IN 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

EtherCAT OUT 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