Encoders and IO

Connector overview

Analog Input

Note

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

Pin #	Signal
1	Differential +5 V
2	Differential -5 V
3	Ground
4	Single-ended 0-10 V
5	+5 V*
6	+10 V**

* 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.

External Encoder

Possible Combinations

Supported Encoders	Config. 1 *	Config. 2	Config. 3	Config. 4	Config. 5
Internal Encoder 1	BiSS	BiSS
Internal Encoder 2	BiSS	Disabled
External Encoder	ABI (Differential or Single-Ended) or HALL	BiSS (Differential)	SSI (Differential)	Half-Duplex/A-Format (Differential)	ALL

* Only 2 out of the 3 Encoders can be used at the same time.

Pin #	ABI (Differential)	ABI (Single-Ended)	BiSS (Differential)	SSI (Differential)	Half-Duplex/A-Format (Differential)	HALL
1			MA-	Clock-	SD- / A
2	5 V	5 V	5 V	5 V	5 V	5 V
3	Ground	Ground	Ground	Ground	Ground	Ground
4			MA+	Clock+	SD+ / B
5	A-	A	SLO-	Data-		H3 / C
6	A+		SLO+	Data+
7	B-	B				H2 / B
8	B+
9	I-	I				H1 / A
10	I+

Digital IO

Pin	GPIO	Logic level	REM 14/16MT	BiSS (LVTTL)	SSI (LVTTL)	SPI
1	3.3 V *	3.3 V *	3.3 V *	3.3 V *	3.3 V *	3.3 V *
2	Digital IO 1	Configurable as 3.3 V or 5 V	SCK	SLO	Data	SCK
3	Digital IO 2	Configurable as 3.3 V or 5 V	MISO	MA	Clock	MISO
4	Ground	Ground	Ground	Ground	Ground	Ground
5	Digital IO 3	Configurable as 3.3 V or 5 V	MOSI			MOSI
6	Digital output 4 **	Configurable as 3.3 V or 5 V	SS			SS
7	5 V ***	5 V ***	5 V ***	5 V ***	5 V ***	5 V ***
8	Digital IO 5	Configurable as 3.3 V or 5 V
9	Digital IO 6	Configurable as 3.3 V or 5 V
10	Digital input 7	24 V

* 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.

** Current output capacity of all configured digital outputs is ±20 mA (Sink and source)

*** 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

The Digital I/Os are globally configurable as 3.3 V or 5 V.

This configuration is done in object 0x2214 “GPIO global options”

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.

Safety STO-SBC

Pin #	Signal
1	STO/SBC1 input 1
2	STO/SBC2 input 2
3	Safety Ground
4	FE
5	STO/SBC Feedback +
6	STO/SBC Feedback -

Wiring diagrams for the safety digital inputs

Attention

When not using the STO-SBC feature, the function must be bypassed by bridging the jumpers:

Encoder Battery (for multi-turn)

Pin #	Signal
1	+V_BAT
2	Ground

For selecting a suitable battery, please check these notes.

EtherCAT In/Out

Pin #	Signal
1	RX+
2	RX-
3	Shield / PE
4	TX+
5	TX-