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Hardware Manual - Artisan Technology Group

1. ENCODER Pin Signal Function Interface 1 Reserved Do not connect 2 Reserved Do not connect 3 Reserved Do not connect 4 5V Encoder supply output protected by fuse F2 of 1A 5 GND Encoder supply output OV JC5 amp JC6 6 UA2 TTL2 signal input DSCDL e g p COS 7 UA1 TTL1 signal input SIN aj y IDX Q 8 UAO TTLO signal input fp t200 8 COS He 9 Reserved Do not connect SIN IDX R 10 EHO Encoder home switch input TTL signal 11 ELS Encoder limit switch input TTL signal 12 GND Encoder supply output OV 13 UA2 TTL2 signal input 14 UA1 TTL1 signal input 15 UAO TTLO signal input Remark JC5 is used to connect the encoder of motor 1 and JC6 for the one of motor 2 Refer to the corresponding Operation amp Software Manual for more information about the use of the EHO and ELS signals ETEL Doc Hardware Manual DSCDL 904 Ver D 20 12 05 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com DSCDL Hardware Manual Direct Drives amp Systems 19 MOTION TECHNOLOGY 3 2 3 2 1 3 2 1 1 3 2 1 2 Inputs outputs connectors Connectors JC12 and JC13 Digital inputs outputs the mains The digital inputs and outputs must be connected to an Extra Low Voltage circuit only SELV The digital inputs and outputs are galvanically insulated from the GND by opto couplers Caution
2. Phoenix Contact MC 1 5 5 STF 3 81 ANALOG INPUTS Pin Signal Function Interface 1 GND Ground OV DSCDL 2 AIN M1 Analog input for motor M1 E JC7 AIN M1 T AIN M2 z 1 5 3 AIN M1 Analog input for motor M1 R oO AIN M1 TA 8 AINAM2 4 AIN M2 Analog input for motor M2 R lt 5 AIN M2 Analog input for motor M2 Remark The converter used for the analog input is a 16 bits converter ETEL Doc Hardware Manual DSCDL 904 Ver D 20 12 05 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 22 3 3 DSCDL Hardware Manual Direct Drives amp Systems MOTION TECHNOLOGY Communication connectors Caution The communication connectors must be insulated no contact from the power and the mains The inputs and outputs of these connectors are not galvanically insulated from the GND The inputs and outputs must be connected to an Extra Low Voltage circuit only SELV A Caution The communication connectors must be handled in an ESD protected environment rt 4 only Remark The communication cables connected to the DSCDL must be shielded see 3 7 1 The communication between a host PC and a DSCDL is obtained via the ETEL Bus Lite2 EBL2 protocol refer to the EBL2 Communication Manual for more information The communication
3. Sine 0 5V 4 Position Position gt Position 4 Reference mark acquisition zone D SUB 15 pins high density female ENCODER Pin Signal Function Interface 1 Reserved Do not connect 2 Reserved Do not connect 3 Reserved Do not connect 4 5VDC Encoder supply output protected by fuse F2 of 1A 5 GND Encoder supply output OV JC5 amp JC6 DSCDL 6 COS Cosine signal input COS 7 SIN Sine signal input SIN m 3 B IDX a 9 8 IDX Index signal input RO 6 COS He z 9 9 Reserved Do not connect SIN ul 10 EHO Encoder home switch input TTL signal IDX R 11 ELS Encoder limit switch input TTL signal 12 GND Encoder supply output OV 13 COS Cosine signal input 14 SIN Sine signal input 15 IDX Index signal input ETEL Doc Hardware Manual DSCDL 904 Ver D 20 12 05 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com DSCDL Hardware Manual Direct Drives amp Systems 17 MOTION TECHNOLOGY Remark The 5VDC encoder supply output is protected by the fuse F2 1A on JC5 and JC6 3 1 1 2 3 1 1 3 JC5 is used to connect the encoder of motor 1 and JC6 for the one of motor 2 Refer to the corresponding Operation amp Software Manual for more information about the u
4. 39 0321 958 965 Phone 41 0 32 862 01 23 Phone 1 847 519 3380 Fax 33 0 1 64 97 30 56 Fax 49 0 741 17453 99 Fax 39 0321 957 651 Fax 41 0 32 862 01 01 Fax 1 847 490 0151 E mail etel etel fr E mail etel etelgmbh de E mail etel etelsa it E mail etel etel ch E mail infoGetelusa com http www etel ch SWITZERLAND THE NETHERLANDS AUSTRIA Sales rep ISRAEL Sales rep ETEL S A ETEL B V I L ELEKTRONIK GmbH MEDITAL COMOTECH Ltd Zone industrielle Copernicuslaan 34 Vibr tteweg 9 7 Leshem St Ramat Siv CH 2112 M tiers NL 6716 BM Ede AT 6840 Gotzis 1L 49170 Petach tikva Phone 41 0 32 862 01 33 Phone 31 0 318 495 200 Phone 443 55 23 645 42 Phone 972 3 923 3323 Fax 41 0 32 862 04 12 Fax 31 0 318 495 210 Fax 43 55 23 645 424 Fax 972 3 923 1666 E mail sales etelsa ch E mail etel etelbv nl E mail b hoerburger iul E mail comotech medital co il elektronik at Copyright ETEL SA All rights reserved Reproduction adaptation or translation of this document is prohibited without prior written permission ETEL SA makes no warranty for the use of its products and assume no responsibility for any errors which may appear in this document ETEL SA retains the right to make any change to these specifications at any time without notice Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com THIS PAGE IS INTENTIONALLY LEFT BLANK Artisan Technology Grou
5. A rtisan Artisan Technology Group is your source for quality TecmoogyGroup new and certified used pre owned equipment FAST SHIPPING AND SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT DELIVERY Experienced engineers and technicians on staff Sell your excess underutilized and idle used equipment TENS OF THOUSANDS OF at our full service in house repair center We also offer credit for buy backs and trade ins IN STOCK ITEMS www artisantg com WeBuyEquipment EQUIPMENT DEMOS HUNDREDS OF InstraV ea REMOTE INSPECTION LOOKING FOR MORE INFORMATION MANUFACTURERS Remotely inspect equipment before purchasing with Visit us on the web at www artisantg com 7 for more our interactive website at www instraview com information on price quotations drivers technical LEASING MONTHLY specifications manuals and documentation RENTALS ITAR CERTIFIED yop aed Contact us 888 88 SOURCE sales artisantg com www artisantg com DAY ej DY BE T0 P M 7 Y MEI D MOTION TECHNOLOGY oller E o JE o p contr 3 WO axes DSCDL Hardware Manual HEADQUARTERS AMERICAS FRANCE GERMANY ITALY SWITZERLAND ETEL Inc ETEL S A ETEL GmbH ETEL S A ETEL S A 333 E State Parkway 89 rue Henri Rochefort Schillgasse 14 Piazza della Repubblica 11 Zone industrielle US Schaumburg FR 91025 Evry cedex DE 78661 Dietingen IT 28050 Pombia CH 2112 M tiers IL 60173 5337 Phone 33 0 1 64 97 98 05 Phone 49 0 741 17453 0 Phone
6. LV Windows 9x XP 2000 NT QNX4 QNX6 programmability User s programmable sequence 4096 lines per axis Firmware update RS232 Turbo ETEL Bus 265 90 261 80 6U amp Mounting systems Installation requirements The DSCDL rack formats are dedicated to be mounted inside a rack case system according to EN 60529 standard To respect this degree each empty slot if a controller is not present in the rack case must be closed by a front panel The rack case must be in an enclosure respecting a pollution degree of 2 refer to UL 508C and EN 50178 standards for more information h Warning The rack case with the controllers has the following electrical safety degree IP 20 The rack formats are mounted vertically inside a rack case Here is an example 483 00 19 426 72 84F if USCUL DSCDL DSCHL DSCDL BSCDL BSCBL DSCDU DSCDU Jez Jc2 m erm 2 Jez Q id v xs g as ves QU d Ooo OOo Ooo Ooo Ooo M 5o00 ES A m NM 5 598 oos or m M 5 CEN R SSS cove MM 8 oos m BSE mm MSS E COSS ES W550 m M 8 GENNI Em SS mS we 8 CEER S ARS P MM 190 50 mM esros 8 0008 09090 90000 PH e 3s 9 EH ge yes 989 s Jee s kJ 5 m MM s 5 5 S m Sede CE SEE SSIS Jes Jeo sca JC9 Jes Jc9 ses Jea sca vcs ses Jc9 sea sca sca aco scio e scio o 4c1
7. Simple shielded cable must be linked to the connector shells on both cable ends Only full metallic conductive shells connector must be used Shield with only aluminum foil metallized plastic film is forbidden Use only copper braid 85 covering shield The shield must entirely cover all wires Pig tails connections are forbidden The shield contact on 360 and a metallic cable clamp is necessary Remark All the cables connected to the controller must have copper conductors only and an insulation standing at least 75 C Here is an example of good shielding connection CT Shield contact on 360 Good quality shield avoid aluminum foil Good shielding connection Full metallic shell Metallic cable clamp Bad shielding connection Aluminum foil shielding Bad shielding connection ETEL Doc Hardware Manual DSCDL 904 Ver D 20 12 05 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 28 3 8 DSCDL Hardware Manual Direct Drives amp Systems MOTION TECHNOLOGY The motor cable Plastic clamp to maintain a good fastening of the cable to the connector 30 mm Remark The cable s radius of curvature must be taken into account to adjust the distance between the front plate of the controller and the cabinet Axis number selection It is possible to assign or to change the axes number of the controller
8. linear incremental or absolute EnDat 2 1 analog TTL encoder for motor M2 Rp a Rotary or linear motor for M1 DSCDL Hardware Manual Direct Drives amp Systems MOTION TECHNOLOGY Optional boards Customers inputs outputs CNC PLC or joystick Rotary or linear motor for M2 JC8 M External power supply ETEL Doc Hardware Manual DSCDL 904 Ver D 20 12 05 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com DSCDL Hardware Manual Direct Drives amp Systems 9 MOTION TECHNOLOGY 2 Models characteristics Two models of DSCDL are available according to the needs 1 Rack format with plate heat sink 2 Rack format with extruded heat sink These 2 models are dedicated to be mounted inside a standard 6U rack case They do not include any power supply board and need to be powered through their DC power connector JC10 by an external power supply There are two different sizes of DSCDL rack format the DSCDL3x1 xxx 10F wide and the DSCDL3x2 xxx 14F wide 2 1 Outline and dimensions Refer to the following chapters for details about the connectors JC1 see 3 3 1 JC5 see 3 1 1 JC8 see 3 4 1 JC11 see 3 6 1 JC2 see 3 3 2 JC6 see 83 1 1 JC9 see 83 4 1 JC12 see 83 2 1 JC3 see 83 3 3 JC7 see 83 2 2 JC10 see 83 5 1 JC13 see 83
9. of the motor phase s Phoenix Contact MC 1 5 5 STF 3 81 Function MOTOR CONNECTION Pin 4 Signal Single phase motor Two phase motor 1 PE M1 Protective earth Protective earth 2 P1 M1 Motor 1 phase1 Motor 1 phase1 3 P1 M1 Motor 1 phase1 Motor 1 phase1 JC8 JC9 ui p 4 P2 M1 Do not connect Motor 1 phase2 5 P2 M1 Do not connect Motor 1 phase2 MOTOR CONNECTION Be Be 1 PE M2 Protective earth Protective earth 5 E E 5 2 P1 M2 Motor 2 phase1 Motor 2 phase1 3 P1 M2 Motor 2 phase1 Motor 2 phase1 4 P2 M2 Do not connect Motor 2 phase2 5 P2 M2 Do not connect Motor 2 phase2 Remark JC8 is used to connect the motor 1 and JC9 for the motor 2 The tightening torque for the screws of the motor connectors is 0 25 Nm max ETEL Doc Hardware Manual DSCDL 904 Ver D 20 12 05 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 26 3 5 3 5 1 3 6 3 6 1 Power connector DSCDL Hardware Manual Direct Drives amp Systems MOTION TECHNOLOGY Connector JC10 Power supply input A A Ate Remark off all the Warning Before connecting or disconnecting the motor cable or touching the controller turn power supplies and wait 2 minutes to allow the internal DC bus capacitors to discharge Always connect the ground prior to any other connection Caution This
10. 2 1 JC4 see 83 3 4 o lo OCA o of o_o o o o b CIC Vo O _ foo000 oO SSE 00000 o 9999 00000 O o ORR ce e ce Oo eo X o0 co 898 e ogo e ogo ex 4s 980 N 080 989 980 20 ogo Ko Ko Oo o o Standard 6U 10F Standard 6U 14F Unit mm Unit mm Weight 1 1 Kg Weight 2 Kg ETEL Doc Hardware Manual 4 DSCDL 904 Ver D 20 12 05 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com DSCDL Hardware Manual 10 Direct Drives amp Systems MOTION TECHNOLOGY 2 2 Block schematics In the DSCDL rack format all parts are on a single board the servo board They need to be powered by an external power supply This power supply must meet all the specifications written in 2 3 On the servo board the power part and the control part are not galvanically separated The inputs and outputs are insulated from the control part by opto couplers zorom c O2rTn 5rm eo 1 1 1 t 1 o W bas N W bod N Su dnm hood uo A o 8 e 9 I c o j L A z o z E ee i 9 DSO HIO B Of 5L 1 d Opt ptiona x z hr o board O9 g LCH ki o uA LM ODE D Digital i o H 9 outputs M2 I e z o e o H a T 2 S a e g Digital S FI inputs M2 e a i Digital o M
11. 72 KHz General Position loop sampling time 55 55 us 18 KHz Motion profiles Trapezoidal S curve Sine look up table P interpolated DSMAX 32 bits floating point DSP Dual SHARC Digital Signal Processor Standard ETEL BUS LITE 2 host PC communication RS232 or RS422 115200 bps interfaces Turbo ETEL Bus multi axis communication 100 Mbps based on Ethernet components EnDat 2 1 compatible RS485 Position Analog 1 Vptp Max 400KHz in up to 32768 x4 interpolation factor encoders interfaces TTL encoder possible Max 400KHz period frequency Encoder limit switch EHO ELS TTL signal ETEL Doc Hardware Manual 4 DSCDL 904 Ver D 20 12 05 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 12 2 4 DSCDL Hardware Manual Direct Drives amp Systems MOTION TECHNOLOGY DSCDL CONTROL FEATURES Digital input insulated aper motor 9 put 8 with DSO HIO optional board but shared between both motors is 2 per motor User s Digital output ins lated 8 with DSO HIO optional board but shared between both motors inputs outputs Anoan 1 per motor 4 depending on the DSO HIO optional board version g inp but shared between both motors 0 4 depending on the DSO HIO optional board version but shared Analog output between both motors ETEL Tools software for setting monitoring Windows 9x XP 2000 NT Software DLL files C C VB
12. The digital inputs outputs cable must be insulated no contact from the power and A Caution These connectors must be handled in an ESD protected environment only Remark The digital inputs outputs cable s connected to the DSCDL must be shielded see 3 7 1 The DSCDL has 4 digital inputs DIN1 DIN2 DIN9 and DIN10 and 2 digital outputs DOUT1 and DOUT2 per motor Every digital input and output is opto coupled DIN2 is opto coupled through a high speed opto couplers 100 ns Only inputs and outputs interface is considered here Refer to the corresponding Operation amp Software Manual for more information about the use of these inputs and outputs Digital inputs The digital inputs switch to 1 when a voltage ranging between 12VDC and 28VDC is applied between pins DIN of the corresponding input and GNDext The digital inputs switch to 0 when a zero voltage is applied between pins DIN of the corresponding input and GNDext Remark When using an external positive limit switch connect it to DIN10 When using an external negative limit switch connect it to DIN9 When using an external home switch connect it to DIN2 The auxiliary supply can be external to the controller as shown below External supply Digital outputs To use a digital output a voltage should previously be supplied to the external auxiliary supply Vext This voltage should range between 12VDC and 28VDC The maximum tot
13. between the DSCDLs is obtained via the Turbo ETEL Bus TEB protocol which needs a TEB master DSMAX or DSTEB The ETEL Bus Lite2 protocol is open to the user It is configured as follows Transmission rate 115 200 bps Data length 8 bits Start bit 1 Stop bit 1 Parity No Handshaking No The Turbo ETEL Bus protocol is closed to the user who cannot have direct access to it ETEL Bus Lite2 communication between PC and DSCDL Turbo ETEL Bus RS 232 RS 422 communication between DSCDLs For example for the use of an on line Normal connection between a PC and a control system with a communication DSCDL for communication purposes system other than RS232 or if the PC with ETEL Tools software e g comes with a RS422 board and its RS 232 port is already used The Turbo ETEL Bus works at 100 Mbps and is based on Ethernet components The user can select the RS232 type of ETEL Bus Lite2 communication by connecting the EBL2 select 232 422 pin to the GND OV If this connection is not made RS422 type is automatically selected default status Remark If the cables provided by ETEL are used the communication type by default is RS232 The communication connectors are JC1 JC2 JC3 and JC4 see the following tables The JC1 connector is used for the TEB data input and JC2 is for the TEB data output They are used to make a daisy chain between controllers simply with standard RJ 45
14. connector must be handled in an ESD protected environment only The power cables connected to the DSCDL must be shielded see 83 7 1 The DSCDL must be powered with an external power supply Phoenix Contact MC 1 5 5 STF 3 81 POWER INPUT Pin Signal Function 1 PE Protective earth Must always be connected for safety JC10 2 GND Ground input 0V Ew 3 V Power supply input 36 VDC fuse F5 8A limits the input current 9 4 V Power supply input 36 VDC fuse F4 8A limits the input current 5 5 VAUX Auxiliary supply input 15 to 36 VDC fuse F3 1A limits the input current Remark The tightening torque for the screws of the power connector is 0 6 Nm max Optional boards connector Connector JC11 Depends on the type of board OPTIONAL BOARD o JCi1 Q c x O a ER X Z o Q O O Refer to the specific documentation if you have an optional board ETEL Doc Hardware Manual DSCDL 904 Ver D 20 12 05 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com DSCDL Hardware Manual Direct Drives amp Systems 27 MOTION TECHNOLOGY 3 7 3 7 1 Cables Manufacturing If you do not use the cables delivered by ETEL follow the shield recommendations below for those cables The encoder cables JC5 and or JC6 The inputs outputs cables JC12 and or JC13
15. with a DIP switch After each starting the controller takes the axis number given by the DIP switch except when all the white switches are in the high position which means set to 1 like in the picture below In this case the axis number is set by the AXI command or the value previously saved in the controller or by the default value always equal to 1 this default value is used when no AXI command has been executed or no save has been done The value given on the DIP switch represents a binary value 16 possibilities As there are 16 possible values on the DIP switch for 30 axes maximum 0 to 29 the number of the first axis of a controller will be equal to the value given by the DIP switch multiplied by 2 The second axis number of the same controller will be automatically incremented by one Example The axis number given by this DIP switch is equal to 20 21 2 3 Then the first axis of this controller will have the number 6 and the second one the number 7 ETEL Doc Hardware Manual DSCDL 904 Ver D 20 12 05 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com DSCDL Hardware Manual Direct Drives amp Systems 29 MOTION TECHNOLOGY 3 9 LEDs meaning The different LEDs present on the controller have the following meaning LED Status Meaning ON The communication through the TEB is running Green LED TEB OK OFF The communicati
16. 0 scio e acto scio o sco t3 D scio LLL ce e EE 465 10 J Rack case depth 240 without the depth of the handle Unit mm In the solution outlined above height DSCDL3x1 xxx are present in a rack case powered by an external power supply not included in the above mentioned drawing The rack case systems should be protected against any splashes of liquid and any contacts with smoke and dust It must be installed inside a closed cabinet and screwed on a metallic plate connected to the ground where no vibration will occur ETEL Doc Hardware Manual DSCDL 904 Ver D 20 12 05 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com DSCDL Hardware Manual Direct Drives amp Systems 13 MOTION TECHNOLOGY Fresh air is necessary to cool the controllers inside the rack case the flow depends on the user application It is recommended to install fans in the cabinet to guarantee an air flow the fan power depends on the user application Caution some fans may perturb the current measurement of the controller if they are too close to the rack case If this problem occurs use another type of fan or increase the distance between the fan and the rack case while ensuring the air flow mentioned hereafter The air flow inside ETEL s rack cases with fans is equal to minimum 2 m s 400 LFM the fans used with the
17. DSCDL 904 Ver D 20 12 05 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com DSCDL Hardware Manual Direct Drives amp Systems 5 MOTION TECHNOLOGY Record of revisions document DSCDL 904 x Document revisions Issue x Date Modified Ver A 14 10 02 First version Updated version Ver B 25 11 03 New hardware version Additional safety precautions in accordance with the UL amp CE standards Updated version Ver C 16 04 04 New hardware version DSCDL3xx xxx EnDat encoder Updated version verp 20 12 05 Additional detailed descriptions Documentation concerning the DSCDL e DSCDL Hardware Manual Specifications amp electrical interfaces DSCDL 904 D Operation amp Software Manual DSCDL s setup use and programming DSC2P 903 x DSO RAC2 Hardware Manual DSO RAC2 principle DSORAC2 904 x EBL2 Communication Manual EBL2 principle message mapping EBL2 908 x DSCDL Service Manual Maintenance of the fuses DSCDL 905 x ETEL Doc Hardware Manual 4 DSCDL 904 Ver D 20 12 05 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 1 1 1 DSCDL Hardware Manual Direct Drives amp Systems MOTION TECHNOLOGY Introduction This document concerns a two axes digital position controller of ETEL s DSCxx family the DSCDL also called controller in this do
18. L Bus Lite2 RS232 RS422 communication port Refer to the EBL2 Communication Manual for more information The DSCDL also includes ETEL s Turbo ETEL Bus TEB which is a high speed field bus based on an Ethernet 100 Mbps chip It includes all features to interpolate complex movements with several synchronized DSCDLs if ETEL s DSMAX motion controller is installed in a PC and linked to the TEB If ETEL Tools is installed on the same PC than the DSMAX or DSTEB board all the DSCDLs can be set through the TEB The user can daisy chain up to 31 nodes on the TEB 15 DSCDLs 30 axes and one DSMAX or DSTEB board Caution The TEB is not compatible with Ethernet boards available on the market Therefore do not connect the TEB on the Ethernet port of your PC Inputs outputs The customer s inputs outputs are digital signals coming from a CNC machine tool a PLC or a joystick for example refer to the connection diagram next page The electrical interface details are given in S3 ETEL Doc Hardware Manual DSCDL 904 Ver D 20 12 05 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Connection diagram ETEL s DSCDLs 15 slaves max DSMAX or DSTEB Communication with PC CNC PLC setup with ETT or ComET software or host commands p Rotary linear incremental or absolute EnDat 2 1 analog TTL encoder for motor M1 Rotary
19. SD protected environment only n Remark In the next paragraphs connectors with male pins are indicated with the e symbol full and female pins are represented with the o symbol empty ETEL Doc Hardware Manual DSCDL 904 Ver D 20 12 05 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com DSCDL Hardware Manual 16 Direct Drives amp Systems MOTION TECHNOLOGY 3 1 Encoder connectors 3 1 1 Connectors JC5 and JC6 Position encoders Caution The encoder cable s must be insulated no contact from the power and the mains The inputs and outputs of this connector are not galvanically insulated from the GND The inputs and outputs must be connected to an Extra Low Voltage circuit only SELV A Caution The encoder connectors must be handled in an ESD protected environment only Abts Remark The encoder cable s connected to the DSCDL must be shielded see 83 7 1 3 different types of encoder can be connected to each encoder connector of a DSCDL either an incremental analog encoder 1 Vptp or an analog absolute encoder EnDat 2 1 or a TTL encoder 3 1 1 1 Incremental analog encoder 1 Vptp The incremental analog encoder has 1Vptp signals with a load resistor Ro 120Q It determines the motor position thanks to two sinusoidal signals with a 90 phase shift sine and cosine A third signal the index also called reference mark gives the absolute motor position
20. able you should wire it as shown below To the DSCDL JC3 _ To the PC serial port D SUB connector 9 pins female RJ 45 connector 8 pins male 3 3 4 Connector JC4 Download key This connector is used for the download key If the DSCDL does not switch to wait for program there is an hardware override possibility to force this mode To do so plug the download key into the JC4 connector switch off and on the controller and the DSCDL will switch to wait for program in order to download a new firmware in the DSCDL A download key is a 8 pins RJ 45 male connector with a bridge between pins 5 6 Download key JC4 5 RJ 45 connector 8 pins male ei RJ 45 8 pins female DOWNLOAD KEY Pin Signal Function 1 SIN M1 Indicates when the analog encoder s sine signal of motor M1 goes through 0 TTL signal 2 COS M1 Indicates when the analog encoder s cosine signal of motor M1 goes through 0 TTL signal JC4 3 SIN M2 Indicates when the analog encoder s sine signal of motor M2 goes through 0 TTL signal 4 COS M2 Indicates when the analog encoder s cosine signal of motor M2 goes through 0 TTL signal z E 5 DWL Sets the DSCDP to wait for program download if connected to OV aL 83 6 GND Auxiliary supply output OV 7 SLOW INT STI Slow Time Interrupt signal 2 kHz active on a low state TTL signal 8 FAST INT FTI Fast Time Interrupt si
21. al current provided by the digital outputs is limited to 500 mA limited by fuse F1 It is recommended to use an external auxiliary supply Vext as shown below in this case the logical value T will correspond to Vext and 0 to GND ext DSCDL Vext DOUT1 Vext GNDext 12VDC gt 28VDC Remark This diagram shows the use of DOUT1 but it is the same with the DOUT2 ETEL Doc Hardware Manual DSCDL 904 Ver D 20 12 05 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 20 3 2 2 DSCDL Hardware Manual Direct Drives amp Systems MOTION TECHNOLOGY D SUB 9 pins male CUSTOMER I O Pin Signal Function Interface 1 DIN1 Digital input 1 DiNi DSCDL 2 DIN2 Digital input 2 High speed 100 ns DIN9 DIN10 4 JC12 amp JC13 3 DIN9 Digital input 9 AK Q O GNDext c 1 4 DIN10 Digital input 10 u 6 e 9 5 GNDext External supply input OV for DIN and DOUT 5 D DSCDL e o O 6 Vext External supply input for digital outputs F1 fuse F1 500mA limits user s input current p 4 daz BSP450 pour 7 DOUT1 Digital output 1 Vaal DOUT2 d 33 kQ 8 DOUT2 Digital output 2 GNDext 9 Reserved Do not connect Remark JC12 is used to connect the inputs outputs of motor 1 and JC13 for the ones of moto
22. cables The JC3 connector allows both types of ETEL Bus Lite2 communication RS232 or RS422 and the selection between them The JC4 connector is used for the download key to set the controller to the wait for program mode it also includes TTL signals to indicate the states of the encoder s sine and cosine Remark The download key of the DSCDL is compatible with the DSC2P and DSCDP key ETEL Doc Hardware Manual DSCDL 904 Ver D 20 12 05 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com DSCDL Hardware Manual Direct Drives amp Systems 23 MOTION TECHNOLOGY 3 3 4 Connector JC1 Turbo ETEL Bus input RJ 45 8 pins female TEB IN Pin Signal Function 1 RX TEB data reception Ethernet 100 Mbps 2 RX TEB data reception Ethernet 100 Mbps JC1 3 SNI DSCDL synchronization input 4 RSI DSCDL TEB reset input f 5 RSI DSCDL TEB reset input 8 6 SNI DSCDL synchronization input 7 AUXO Output reserved for a future TEB application 8 AUXO Output reserved for a future TEB application Remark The TEB cable must meet the following characteristics 1 1 shielded cable category 5 with 8 wires 3 3 2 Connector JC2 Turbo ETEL Bus output RJ 45 8 pins female TEB our Pin Signal Function 1 TX TEB data transmission Ethern
23. cument The purpose of this manual is to give details regarding the specifications installation interfacing and hardware items All details for proper connections power supply motor encoder connection etc are provided herein Detailed information concerning the programming of the controller is provided in the corresponding Operation amp Software Manual The information given in this manual is valid for type D S CDL3xx xxxC and later Remark The updates between two successive versions are highlighted with a modification stroke in the margin of the manual Safety Please read all the safety precautions listed in this manual before handling the DSCDL Never use the DSCDL for purposes other than those described in this manual A competent and trained technician must install and operate the DSCDL in accordance with all specific regulations of the respective country concerning both safety and EMC aspects Troubleshooting and servicing are permitted only by ETEL s technicians and agreed distributors Operating the DSCDL will make the motor move Keep away from all moving parts to avoid injuries The safety symbols placed on the DSCDL or written in the manuals must be respected fthe DSCDL is integrated into a machine the manufacturer of this machine must establish that it fulfils the 89 336 EEC directive on EMC before operating the controller Caution Signals a danger for the DSCDL Can be destructive for th
24. d to an electrical network of overvoltage category 2 refer to EN 50178 and UL 804 standards for more information The electronics must be in an enclosure respecting a pollution degree of 2 refer to UL 508C and EN 50178 standards for more information The DSCDL is not designed or intended for use in the on line control of air traffic aircraft navigation and communications as well as critical components in life support systems or in the design construction operation and maintenance of any nuclear facility Transport and storage conditions During the transport and the storage the controller must remain inside its original packaging The transport conditions must respect the class 2K3 of the IEC 60721 3 2 standard temperature between 25 C and 70 C and humidity lt 95 without condensation and the storage conditions must respect the class 1K2 of the IEC 60721 3 1 standard temperature between 5 C and 45 C and humidity between 5 and 85 without condensation Interfaces possibilities Motor and its position encoder To control the position in closed loop of a rotary and or linear motor the DSCDL needs a signal coming from an analog incremental or absolute EnDat 2 1 or a TTL encoder linked to this or these motor s It is also possible to drive stepper motors in open loop no need of encoder in this case Communication The user can set the DSCDL with a PC Win 9x 2000 NT XP using the ETEL Tools ETT software through the ETE
25. e material A danger for the operator can result from this Caution Indicates electrostatic discharges ESD dangerous for the DSCDL The components must be handled in an ESD protected environment only ETEL Doc Hardware Manual DSCDL 904 Ver D 20 12 05 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com DSCDL Hardware Manual Direct Drives amp Systems 7 MOTION TECHNOLOGY 1 2 1 2 1 1 2 2 1 2 3 1 2 4 1 2 5 DSCDL presentation Working principle The DSCDL is a digital position controller It has been designed for direct drive applications It includes on a single board the control circuits the power stage and all the necessary interfaces for the communication the encoders and the inputs outputs for two motors Applications The DSCDL can drive two single or and two phase motors The DSCDL can drive brushless and DC motors They must also be implemented with analog incremental or absolute EnDat 2 1 or TTL encoders available on the market It is also possible to drive stepper motors in open loop no need of encoder in this case with firmware from version 1 06A General operating conditions The DSCDL is designed to operate in a non aggressive and clean environment with a humidity rate ranging between 10 and 85 an altitude lt 2000m 6562 ft and a temperature ranging between 15 C 59 F and 30 C 86 F The DSCDL must be connecte
26. ed without UL recognition Hardware version Customer modification 000 means standard product Remark Not all the combinations are possible ETEL Doc Hardware Manual DSCDL 904 Ver D 20 12 05 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com DSCDL Hardware Manual Direct Drives amp Systems 15 MOTION TECHNOLOGY 3 Electrical interface This chapter describes the pin assignment for every connector More detailed explanations for proper connections are given in each case There are six groups of connectors according to their function Encoders connectors see 3 1 Inputs outputs connectors see 83 2 Communication connectors see 83 3 Motor connectors see 83 4 Power connector see 3 5 Optional boards connector see 3 6 the controller turn off all the power supplies and wait 2 minutes to allow the A Caution Before connecting or disconnecting a cable on one of these connectors or touching internal DC bus capacitors to discharge Caution All the inputs outputs cables must be insulated no contact from the power and A the mains The inputs and outputs must be connected to an Extra Low Voltage circuit only SELV Most inputs and outputs are not galvanically insulated from the GND The motor connectors must always be correctly screwed onto the DSCDL A Caution All the connectors must be handled in an E
27. et 100 Mbps 2 TX TEB data transmission Ethernet 100 Mbps JC2 3 SNO DSCDL synchronization output s 4 RSO DSCDL TEB reset output 8 E 5 RSO DSCDL TEB reset output i 1 83 6 SNO DSCDL synchronization output 7 AUXI Input reserved for a future TEB application 8 AUXI Input reserved for a future TEB application Remark The TEB cable must meet the following characteristics 1 1 shielded cable category 5 with 8 wires 3 3 8 Connector JC3 ETEL Bus Lite2 serial communication RJ 45 8 pins female PC EBL Pin Signal Function 1 EBL2 select422 232 Select EBL2 transmission type open RS422 connected to GND RS232 2 EBL2 RXD422 EBL2 Data reception RS422 from the PC host JC3 3 EBL2 RXD422 EBL2 Data reception RS422 from the PC host 4 EBL2 TXD422 EBL2 Data transmission RS422 to the PC host z E 5 EBL2 TXD422 EBL2 Data transmission RS422 to the PC host O 4 8j 6 EBL2 TXD232 EBL2 Data transmission RS232 to the PC host 7 EBL2 RXD232 EBL2 Data reception RS232 from the PC host 8 GND Auxiliary supply output OV ETEL Doc Hardware Manual 4 DSCDL 904 Ver D 20 12 05 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com DSCDL Hardware Manual 24 Direct Drives amp Systems MOTION TECHNOLOGY If you want to manufacture your own RS232 communication c
28. gnal 18 kHz active on a low state TTL signal Remark The download key of the DSCDL is compatible with the DSC2P and DSCDP key Refer to the corresponding Operation amp Software Manual for more information about the STI and FTI 0 5Vi encoder s sine signal L L 0 5 V 0 5 Vp p oe encoder s cosine signal L 0 5V SINM1 95V or M2 OV cosm1 5 Vi or M2 OV ETEL Doc Hardware Manual DSCDL 904 Ver D 20 12 05 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com DSCDL Hardware Manual Direct Drives amp Systems 25 MOTION TECHNOLOGY 3 4 Motor connectors AX ZN Warning Before connecting or disconnecting the motor cable or touching the controller turn off all the power supplies and wait 2 minutes to allow the internal DC bus capacitors to discharge Caution The motor connectors must be insulated no contact from the power and the mains The motor connectors must always be correctly screwed onto the DSCDL to respect the EMC standard Caution The motor connectors must be handled in an ESD protected environment only A PM Remark The motor cables connected to the DSCDL must be shielded see 3 7 1 3 4 4 Connectors JC8 and JC9 Motor connection The DSCDL can drive two single phase or two two phase motors Connectors JC8 and JC9 enable the supply
29. is protected by the fuse F2 1A on JC5 and JC6 The cable used with an absolute analog encoder EnDat 2 1 must have power wires with a minimum diameter to guarantee a sufficient voltage at the terminals of the encoder refer to the data sheet of the encoder for more information JC5 is used to connect the encoder of motor 1 and JC6 for the one of motor 2 TTL encoder Caution It is possible to connect a TTL encoder on this connector but the input frequency is limited to 400KHz because the interface is an analog one TTL encoders measure the motor position with 2 phase shifted TTL signals Each change of state of one of the signals corresponds to an increment of the motor position A third signal index gives the motor absolute position The encoder TTL signals have to be compatible with the EIA standard RS422 These signals have the following form ETEL Doc Hardware Manual DSCDL 904 Ver D 20 12 05 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 18 DSCDL Hardware Manual Direct Drives amp Systems EN p Signal TTL 1 UA1 MERETES WEHIDSUETE Signal TTL 2 UA2 1 i 4t Reference mark acquisition zone The 5V encoder supply output is protected by fuse F2 1A on JC5 and JC6 Index TTL 0 UAO MOTION TECHNOLOGY D SUB 15 pins high density female
30. l inputs outputs 00 cee eee 19 3 2 2 Connector JC7 Analog inputs esseeee eee eee n n nnn 20 3 3 Communication connectors 000 cee eee 22 3 3 4 Connector JC1 Turbo ETEL Bus input 0 20 ee 23 3 3 2 Connector JC2 Turbo ETEL Bus output 20 0 ee 23 3 3 3 Connector JC3 ETEL Bus Lite2 serial communication lees 23 3 3 4 Connector JC4 Download key 0 ccc eee eee n nnn 24 3 4 Motor connectors 26ccccke cca dunce deaee Reo sndaves esenseene ee EE 25 3 4 1 Connectors JC8 and JC9 Motor connection 00 cee eee 25 3 5 Power connector o2 o n wed sx sk ee eee PUER REEF REG EE E ERRRE REGE ES 26 3 5 1 Connector JC10 Power supply input lllleeleeeeerlrl eee 26 3 6 Optional boards connector eller eee 26 3 6 41 Connector JC11 Depends on the type of board llesss esses 26 cwaRc o Wee 27 3 04 Manufacturing 599 die Gene yea tees EX GU KR RR RR NUR eR ADR RR RR Re eee 27 3 8 Axis number selection ssseeeeeeeeeee nnn 28 3 9 LEDs Meaning sss RREIRBRREREEEIRRRERERERGSCONESASRRERERENREERERIXAE 29 ETEL Doc Hardware Manual DSCDL 904 Ver D 20 12 05 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com DSCDL Hardware Manual Direct Drives amp Systems MOTION TECHNOLOGY THIS PAGE IS INTENTIONALLY LEFT BLANK ETEL Doc Hardware Manual
31. nt range on product label 1 2 Arms 2 8 Arms 1s 2 4 Arms 3 6 Arms 1s One phase motor 1 5 0 A 2 30 A Max full load current 1 06 Arms 1 62 Arms Output to the motor One phase motor A A 51 A per motor Max overload current during 2 seconds 2 82 Arms 3 53 Arms Two phase motor 1 70 A 3 5 A Max full load current 1 2 Arms 2 47 Arms Two phase motor AMA 51 a Max overload current during 2 seconds 2 82 Arms 3 53 Arms DC voltage 36VDC Power supply input Max DC current at 36VDC 5 AO 10 A DC voltage 15VDC to 36VDC Auxiliary supply input Max current at 15VDC 1 5 AO Max current at 36VDC 750 mAO Maximum current measurable by the controller 6 25A 6 25A Continuous current can be reached only with forced air cooling external fan necessary refer to 82 4 2 With optional board mounted on the DSCDL no external device connected to the I O The current can change depending on the type s of encoder s used Remark The values given in the above mentioned table are given for a sinusoidal output current with a frequency higher than 0 5 Hz The losses induced by a AC current are shared between the transistors A DC current heat up only some of the power elements and can induce their breakdown after 10 minutes if the current is near the maximum full load DSCDL CONTROL FEATURES Motion profile and command 500 us management sampling time Current loop sampling time 13 89 us
32. on through the TEB is not running gt check the wiring or and the master ON Controller without error Green LED SERVO ON OFF Controller in error or not ON ON Controller in error gt check monitoring M64 Red LED OFF Controller without error Remark The green LED SERVO ON and the red LED cannot be ON together LED regarding motor 1 Status Meaning ON Error on motor 1 gt check monitoring M64 Red LED ERROR M1 OFF No error on motor 1 ON Motor 1 is in power ON Green LED POWER ON M1 OFF Motor 1 is in power OFF Remark The red LED ERROR M1 and the green one POWER ON M 1 cannot be ON together except during the starting phase of the controller The red LED ERROR M1 and the green one POWER ON M1 can be OFF together when the motor 1 is without error and in power OFF LED regarding motor 2 Status Meaning ON Error on motor 2 gt check monitoring M64 Red LED ERROR M2 OFF No error on motor 2 ON Motor 2 is in power ON Green LED POWER ON M 2 OFF Motor 2 is in power OFF Remark The red LED ERROR M 2 and the green one POWER ON M 2 cannot be ON together except during the starting phase of the controller The red LED ERROR M2 and the green one POWER ON M2 can be OFF together when the motor 2 is without error and in power OFF ETEL Doc Hardware Manual DSCDL 904 Ver D 20 12 05 Artisan Technology G
33. outputs M1 i D c N S o p 2 5 2 p B EB g 9 6 Digital E 6 S 2 H inputs M1 a o Sg i m 5 Analog input M2 N 9 Analog input M1 i9 x 9 Analog EnDat 2 1 o H TTL encoder input 319 O d M2 9 r oO 0 a Bo et AnalogEnDat237 Aw H TTL encoder input e O z M1 VO z x a i ETEL Bus Lite2 A Q IN out 9o gt E 2 m E E TEB o 2 IN OUT EN V 2 Lr 2 lle 2 II a x Ww z a 6 S uxriucz a AOSWer HDAXI gt Remark M1 and M2 represent the motor 1 and the motor 2 respectively Caution The GND marked OV is internally connected to the DSCDL front panel which is connected to the ground PE ETEL Doc Hardware Manual DSCDL 904 Ver D 20 12 05 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com MOTION TECHNOLOGY 2 3 Ratings DSCDL Hardware Manual Direct Drives amp Systems 11 There is one type of 10F wide rack format the DSCDL331 xxx and one type of 14F wide rack format the DSCDL332 xxx All the specifications are given for an ambient temperature ranging from 15 C 59 F to 30 C 86 F and with an air flow of 2 m s 400 LFM inside the rack case Remark The values given in the following table are valid for each motor DSCDL POWER FEATURES Characteristics DSCDL331 13x DSCDL332 13x Voltage 36VDC Curre
34. p Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com DSCDL Hardware Manual Direct Drives amp Systems 3 MOTION TECHNOLOGY Table of contents T JMBIOOUCDIOT es eii edu esu Rar uESU RE REESE EEG ERSTE 6 LNNME orc erena ka E e a aa aE aE EEEa ai ai gaa ah E EE EE E EA m Ee aE aS 6 1 2 DSCDL presentation 220 20 since edi vende ee ds Jods eee a nr Rm n hn 7 1 2 1 Working principle iiss ssa rR ER eek RE RR ERR a mm ame we RRR rma AUR UR LEON Rca 7 1 2 2 Applications 25 sa 3 0 085 Sed bec a AE ee REX UR et EE EUR ee eed 7 1 2 3 General operating conditions 0 cece eee n n nnn 7 1 2 4 Transport and storage conditions seeeeeee n nnn 7 1 2 5 Interfaces possibilities eic x RR eto he RC net aaa ap CER DDR RC RR nea 7 2 Models characteristics 000 cee eee 9 2 4 Outline and dimensions eere 9 2 2 Block schematics i5 AX EEAEEEAAGNEQGEREREGCAAGAURERSrapARARGUEE RR REA 10 2 9 RAUNGS RITE Per 11 2 4 Mounting systems Installation requirements 12 2 5 Ordering information sies se cek el ees Seeded wees EROR FEE ERE E 14 3 Electrical interface 22 20226csesiwit eer eerertieeeteueeeses 15 3 1 Encoder connectors cenae RRRREEEER RAM RAO Gee Pee sd ewan ee EE ES 16 3 1 1 Connectors JC5 and JC6 Position encoders 0 0 cece eee eene 16 3 2 Inputs outputs connectors 2 00 ee 19 3 2 1 Connectors JC12 and JC13 Digita
35. r 2 The commutation times of the above mentioned inputs and outputs are as follows Status Typical Maximum Unit 0 2 1 25 30 us DOUTs 1220 300 330 us 0 2 1 100 110 ns DIN 2 high speed 1250 400 440 ns 0 2 1 4 5 us DINs 1 9 and 10 1220 45 50 us Remark The above mentioned times takes only the hardware into account To have the entire time a delay max 1 STI must be added to these times to take the treatment of the command by the software into account Connector JC7 Analog inputs Caution The analog inputs cable must be insulated no contact from the power and the mains The analog inputs must be connected to an Extra Low Voltage circuit only SELV A Caution This connector must be handled in an ESD protected environment only VN Remark The analog inputs cable connected to the DSCDL must be shielded see 3 7 1 The DSCDL has also two analog inputs one for each motor To use the analog input AIN a voltage ranging from 10 VDC to 10 VDC must be applied between pins 2 and 3 for motor 1 and between pins 4 and 5 for motor 2 Remark If AIN 10 VDC monitoring M51 32767 and if AIN 10 VDC monitoring M51 32768 ETEL Doc Hardware Manual DSCDL 904 Ver D 20 12 05 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com DSCDL Hardware Manual Direct Drives amp Systems 21 MOTION TECHNOLOGY
36. rack case have an air flow of 94 2 CFM Refer to the DSO RAC2 Hardware Manual for more information about the rack case This drawing shows a rack case with rack formats inside a cabinet of of J oL e e Jo LI ke ol CO C3 a Je CO Ce of 4 o gt CET Je Dust filter The following distances are recommended A 100 mm drawing out of scale ETEL Doc Hardware Manual 4 DSCDL 904 Ver D 20 12 05 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 14 2 5 DSCDL Hardware Manual Direct Drives amp Systems Ordering information MOTION TECHNOLOGY Here is the ordering information describing the meaning of each digit present on the label of the DSCDL Family product DSCDL Linear position controller DS CDL 3 3 1 1 11 X 00 0 Encoder type 3 Analog 1Vptp or absolute EnDat 2 1 or TTL Power output 3 1 2 Arms 2 8 Arms 1s for 10F rack 2 4 Arms 3 6 Arms 1s for 14F rack Assembly 1 Rack format with plate heat sink and frontplate of 10F 2 Rack format with extruded heat sink and frontplate of 14F Reserved for future use Power supply input 3 36VDC Standard option 1 Not UL recognized 2 UL recognized By default the DSCDL3 is deliver
37. roup Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com A rtisan Artisan Technology Group is your source for quality TecmoogyGroup new and certified used pre owned equipment FAST SHIPPING AND SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT DELIVERY Experienced engineers and technicians on staff Sell your excess underutilized and idle used equipment TENS OF THOUSANDS OF at our full service in house repair center We also offer credit for buy backs and trade ins IN STOCK ITEMS www artisantg com WeBuyEquipment EQUIPMENT DEMOS HUNDREDS OF InstraV ea REMOTE INSPECTION LOOKING FOR MORE INFORMATION MANUFACTURERS Remotely inspect equipment before purchasing with Visit us on the web at www artisantg com 7 for more our interactive website at www instraview com information on price quotations drivers technical LEASING MONTHLY specifications manuals and documentation RENTALS ITAR CERTIFIED yop aed Contact us 888 88 SOURCE sales artisantg com www artisantg com
38. se of the EHO and ELS signals Absolute analog encoder EnDat 2 1 The EnDat 2 1 is an absolute encoder It has 1Vptp signals with a load resistor Rg 120Q Its signals are similar to the incremental encoders without the index but it additionally includes a RS485 serial link EIA standard EnDat 2 1 interface for the absolute position measure EDT serial data and ECL clock The ECL clock signal is received from the DSCDL From its first falling edge latch signal the absolute position will be defined within one incremental signal period depends on the encoder type D SUB 15 pins high density female ENCODER Pin Signal Function Interface 1 EDT EnDat serial data I O RS485 2 ECL EnDat clock output RS485 3 ECL EnDat clock output RS485 4 5VDC Encoder supply output protected by fuse F2 of 1A 5 GND Encoder supply output OV JC5 amp JC6 6 COS Cosine signal input DSCDL C g p O 7 SIN Sine signal input COS 4 u 195 5 5 SIN a ogo 8 Reserved Do not connect RO Q 269 COS Oo SIN Z 11 9 1 9 EDT EnDat serial data I O RS485 O 10 Reserved Do not connect 11 Reserved Do not connect 12 GND Encoder supply output OV 13 COS Cosine signal input 14 SIN Sine signal input 15 Reserved Do not connect Remark The 5VDC encoder supply output

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