Encoders and IO

Encoder Port 1

../../../../../_images/SOMANET_Drive_1000_D3_Port_11.png

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

../../../../../_images/SOMANET_Drive_1000_D3_Port_21.png

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

../../../../../_images/SOMANET_Drive_1000_D3_Digital_IO1.png

Pin #

GPIO

REM 16MT

BiSS (LVTTL)

SSI (LVTTL)

SPI

Type of Port

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

(Fast Push-Pull)

3

Digital IO 2**

SCK

MA

Clock

SCK

Fast port

4

Ground

Ground

Ground

Ground

Ground

5

Digital IO 3**

MISO

MISO

Fast port

6

Digital IO 4**

MOSI

MOSI

Fast port

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

../../../../../_images/SOMANET_Drive_1000_D3_Analog_IN1.png

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

../../../../../_images/Node_AI_differential.png

Single-ended

../../../../../_images/Node_AI_single_ended.png
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.

Attention

The ADC value is scaled to 16 bit since firmware v5.0.

Firmware v4.xFirmware v5.xFirmware v4.x
../../../../../_images/temp_volt_div_node_inverted.png
Firmware v5.x
../../../../../_images/50_temp_volt_div_node_inverted.png

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

../../../../../_images/D3_Drive_1000_EtherCAT_cut_rj452.png

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