Introduction, Appendix b, Understanding motor feedback signals and outputs – Rockwell Automation 2090 Ultra3000 Servo Drives Integration Manual User Manual

Page 137: Appendix

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137

Publication 2098-IN005C-EN-P — March 2008

Appendix

B

Understanding Motor Feedback Signals and
Outputs

Introduction

This appendix provides you with motor encoder input signal
information and drive encoder output information specific to the
Ultra3000 servo drives.

The Ultra3000 drive is compatible with motors equipped with both
incremental A quad B or high resolution (Stegmann Hiperface)

SIN/COS encoders.

The buffered motor encoder outputs use RS-485 differential drivers
and have a maximum signal frequency of 2.5 MHz. The drivers can
drive a 2V differential voltage into a 100 ohm load. Use the block
diagram below to follow the motor encoder input through CN2 to the
buffered and unbuffered outputs on CN1.

Motor Encoder Outputs

(1)

Interpolation and division operations are performed in firmware and the resulting output frequency is updated
at 250

μ

s intervals.

(2)

Interpolated and divided output not available on Ultra3000 SERCOS drives.

Topic

Page

Introduction

137

Unbuffered Encoder Outputs

138

Incremental Encoder Outputs

138

High Resolution Encoder Outputs

139

TTL: x4
Sin/Cos: x4 to x1024

CN1

CN2

Filtering

Differential

Receivers

Motor

Encoder

Differential

Drivers

Interpolation

(1)

Division

(1)

Frequency

Limit

(0.5 to 8 MHz)

Buffered

Interpolated

(2)

Divided

(2)

Selected

Output

Type

Ultra3000 Drive

Buffered

Encoder

Output

Unbuffered

Encoder

Output

Position

Feedback

TTL or A quad B (incremental)

If (A leads B) in

(A leads B) out

SIN/COS (high resolution)

If (A leads B) in

(B leads A) out

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