Lenze S94P01G Position Servo - Manual (Page 23)

S94P01G
21
Interface
4.1.4 P4 - Motor Feedback / Second Loop Encoder Input
For encoder-based 940 drives, P4 is a 15-pin DB connector that contains connections
for an incremental encoder with Hall emulation tracks or Hall sensors. For synchronous
servo motors, Hall sensors or Hall emulation tracks are necessary for commutation. If
an asynchronous servo motor is used, it is not necessary to connect Hall sensor inputs.
Encoder inputs on P4 have 26LS32 or compatible differential receivers for increased
noise immunity. Inputs have all necessary filtering and line balancing components so no
external noise suppression networks are needed.
For resolver-based 941 drives, P4 is a 9-pin DB connector for connecting resolver
feedback and thermal sensor. For pin assignments, refer to the table P4B. The resolver
feedback is translated to 65,536 counts per revolution.
All conductors must be enclosed in one shield with a jacket around them. Lenze
recommends that each and every pair (for example, EA+ and EA-) be twisted. In order
to satisfy CE requirements, use of an OEM cable is recommended.
The PositionServo buffers encoder/resolver feedback from P4 to P3. For example,
when encoder feedback is used, channel A on P4, is Buffered Encoder Output channel
A on P3. For more information on this refer to section 4.2.2 “Buffered Encoder Outputs”.
STOP!
Use only +5 VDC encoders. Do not connect any other type of encoder to the
PositionServo reference voltage terminals. When using a front-end controller, it is
critical that the +5 VDC supply on the front-end controller NOT be connected to the
PositionServo’s +5 VDC supply, as this will result in damage to the PositionServo.
NOTE
• The PositionServo encoder inputs are designed to accept differentially
driven hall signals. Single-ended or open-collector type hall signals are also
acceptable by connecting “HA+”, “HB+”, “HC+” and leaving “HA-,HB-,HC-”
inputs unconnected. The user does not need to supply pull-up resistors for
open-collector hall sensors. The necessary pull-up circuits are already
provided.
• Encoder connections (A, B and Z) must be full differential. The PositionServo
does not support single-ended or open-collector type outputs from the encoder.
• An encoder resolution of 2000 PPR (pre-quadrature) or higher is recommended.
Using P4 as second encoder input for dual-loop operation:
P4 can be used as a second loop encoder input in situations where the motor is
equipped with a resolver as the primary feedback. If such a motor is used, the drive
must have a resolver feedback option module installed. A second encoder can then be
connected to the A and B lines of the P4 connector for dual loop operation. Refer to
section 6.4 (“Dual-loop Feedback Operation”) for details.
P4A Pin Assignments (Encoder Feedback - E94P Drives)
Pin Name Function Pin Name Function
ENCODER
1
8
P4
15
9
1 EA+ Encoder Channel A+ Input (1) 9 PWR Encoder supply (+5VDC)
2 EA- Encoder Channel A- Input (1) 10 HA- Hall Sensor A- Input (2)
3 EB+ Encoder Channel B+ Input (1) 11 HA+ Hall Sensor A+ Input (2)
4 EB- Encoder Channel B- Input (1) 12 HB+ Hall Sensor B+ Input (2)
5 EZ+ Encoder Channel Z+ Input (1) 13 HC+ Hall Sensor C+ Input (2)
6 EZ- Encoder Channel Z- Input (1) 14 HB- Hall Sensor B- Input (2)
7 GND Drive Logic Common/Encoder GND 15 HC- Hall Sensor C- Input (2)
8 SHLD Shield
(1) See Note 1, Section 4.1.7 - Connector and Wiring Notes
(2) For asynchronous servo motor, an incremental encoder without Hall effect sensors (commutation tracks) can be used.