Feedback

Information about commutation you will find in the Chapter "Commissioning-->Commutation methods".

Information on the limit frequencies can be found further below, in the descriptions of the interfaces.

Feedback 1:

Absolute encoder

When using an absolute encoder, it must be verified before moving the axis that the feedback system supplies the expected position data at the distinctive positions in the traversing range - ‘START’ and ‘MID’ and ‘END’ – and that these positions are retained after the restart (Bootstrap -> OP) of the AX5000.

Encoder

Tested and released encoder for AX5000

Rotational encoders

Heidenhain:

The Heidenhain company supplies feedback systems with the ‘EnDat 2.2’ interface in 2 versions. One version is without the provision of the analog signal and the other version provides the analog signal ‘1Vss’. To date, Beckhoff supports only EnDat 2.1 with analog signal. Since the EnDat 2.2 interface supports all of the commands of EnDat 2.1, attention only needs to be paid to the provision of the analog signal 1Vss on the Heidenhain feedback systems with EnDat 2.2; i.e. the Heidenhain order designation ‘EnDat02’ must be stated.

Type

System

Lines / sine cosine periods per revolution

Supply voltage

Interface

Scanning

ECI 1118

Singleturn

16

5 V

EnDat 2.1

Inductive

ECI 1319

Singleturn

32

5 V or 7 - 10 V

EnDat 2.1

Inductive

ECN 413

Singleturn

512

3,6 V - 14 V

EnDat 2.1 + 1 Vpp

Optical

ECN 413

Singleturn

2048

3,6 V - 14 V

EnDat 2.1 + 1 Vpp

Optical

ECN 1113

Singleturn

512

5 V

EnDat 2.1 + 1 Vpp

Optical

ECN 1313

Singleturn

2048

5 V

EnDat 2.1 + 1 Vpp

Optical

EQI 1130

Multiturn

16

5 V

EnDat 2.1

Inductive

EQI 1331

Multiturn

32

5 V or 7 - 10 V

EnDat 2.1

Inductive

EQN 425

Multiturn

512

3,6 V - 14 V

EnDat 2.1 + 1 Vpp

Optical

EQN 425

Multiturn

2048

3,6 V - 14 V

EnDat 2.1 + 1 Vpp

Optical

EQN 1125

Multiturn

512

5 V

EnDat 2.1 + 1 Vpp

Optical

EQN 1325

Multiturn

512

5 V

EnDat 2.1 + 1 Vpp

Optical

EQN 1325

Multiturn

2048

5 V

EnDat 2.1 + 1 Vpp

Optical

RCN 829

Singleturn

32768

3,6 V - 5,25 V

EnDat 2.2 + 1 Vpp

Optical

ROQ 425

Multiturn

512

3,6 V - 14 V

EnDat 2.1 + 1 Vpp

Optical

ROQ 425

Multiturn

2048

3,6 V - 14 V

EnDat 2.1 + 1 Vpp

Optical

ERN 180

Incremental

1024

5 V

1 Vpp

Optical

ERN 180

Incremental

2048

5 V

1 Vpp

Optical

ERN 180

Incremental

5000

5 V

1 Vpp

Optical

ERN 480

Incremental

2048

5 V

1 Vpp

Optical

ERM 280

Incremental

1200

5 V

1 Vpp

Magnetic

Hengstler:

Type

System

Lines / sine cosine periods per revolution

Supply voltage

Interface

Scanning

AD 34

Singleturn

2048

5 V

BiSS + 1 Vpp

Optical

AD 36

Singleturn

2048

5 V

BiSS + 1 Vpp

Optical

AD 36

Multiturn

2048

5 V

BiSS + 1 Vpp

Optical

AD 58

Singleturn

2048

5 V

BiSS + 1 Vpp

Optical

AD 58

Multiturn

2048

5 V

BiSS + 1 Vpp

Optical

Kübler:

Type

System

Lines / sine cosine periods per revolution

Supply voltage

Interface

Scanning

8.5853

Singleturn

2048

5 V

BiSS + 1 Vpp

Optical

Sick Stegmann:

Type

System

Lines / sine cosine periods per revolution

Supply voltage

Interface

Scanning

SEK 37

Singleturn

16

7 V - 12 V

HIPERFACE

Capacitive

SEK 52

Singleturn

16

7 V - 12 V

HIPERFACE

Capacitive

SRS 50

Singleturn

512

7 V - 12 V

HIPERFACE + 1 Vpp

Optical

SRM 50

Multiturn

512

7 V - 12 V

HIPERFACE + 1 Vpp

Optical

Universal rotational encoders:

Type

System

Lines / sine cosine periods per revolution

Supply voltage

Interface

Scanning

1

 

512

5 V

1 Vpp

 

 

Linear encoders

Heidenhain:

Type

System

Measuring steps

Supply voltage

Interface

Scanning

LS 388C

Incremental

20 µm

5 V

1 Vpp

Optical

LS 486

Incremental

20 µm

5 V

1 Vpp

Optical

LS 487

Incremental

20 µm

5 V

1 Vpp

Optical

LC 483

Incremental

20 µm

3,6 V - 5,25 V

Endat 2.1 + 1 Vpp

Optical

LIDA 483

Incremental

20 µm

5 V

1 Vpp

Optical

LIDA 287

Incremental

200 µm

5 V

1 Vpp

Optical

HIWIN:

Type

System

Measuring steps

Supply voltage

Interface

Scanning

Magic

Incremental

1 mm

5 V

1 Vpp

Magnetic

lika:

Type

System

Measuring steps

Supply voltage

Interface

Scanning

SMS

Incremental

1 mm

5 V

1 Vpp

Magnetic

Numerik Jena:

Type

System

Measuring steps

Supply voltage

Interface

Scanning

LIA20

Incremental

20 µm

5 V

1 Vpp

Optical

Siko:

Type

System

Measuring steps

Supply voltage

Interface

Scanning

LE100/1

Incremental

1 mm

5 V

1 Vpp

Magnetic

Universal linear encoders:

Type

System

Measuring steps

Supply voltage

Interface

Scanning

1

Incremental

20 µm

5 V

1 Vpp

 

2

Incremental

1 mm

5 V

1 Vpp

 

3

Incremental

20 µm

5 V - uncontrolled

1 Vpp

 

4

Incremental

1 mm

5 V - uncontrolled

1 Vpp

 

Feedback 2:

Motor feedback database

If your feedback system is not listed here, please follow the link to the Beckhoff download area. By downloading and installing the ‘AX5000 setup’ you will obtain the TwinCAT Drive Manager, the latest firmware, and the latest motor feedback database.

X11 and X21: Feedback, high-resolution

The X11 and X21 D-SUB sockets are available for connecting high-resolution feedback systems. In delivery state X11 is assigned to axis 1, X21 to axis 2.

Feedback 3:

Pin

EnDAT / BiSS

Hiperface

Sine / Cosine 1Vpp

TTL

output current

1

SIN

SIN

SIN

n.c.

 

 

 

 

 

 

 

 

max. 250 mA / chanel

2

GND_5 V

GND_9 V

GND_5 V

GND_5 V

3

COS

COS

COS

n.c.

4

Us_5 V

n.c.

Us_5 V

Us_5 V

5

DX+ (Data)

DX+ (Data)

n.c.

B+

6

n.c.

Us_9V

n.c.

n.c.

7

n.c.

n.c.

REF Z

REF Z

8

CLK+ (Clock)

n.c.

n.c.

A+

9

REFSIN

REFSIN

REFSIN

n.c.

10

GND_Sense

n.c.

GND_Sense

GND_Sense

11

REFCOS

REFCOS

REFCOS

n.c.

12

Us_5 V_Sense

n.c.

Us_5 V_Sense

Us_5 V_Sense

13

DX- (Data)

DX- (Data)

n.c.

B-

14

n.c.

n.c.

Z

Z

15

CLK- (Clock)

n.c.

n.c.

A-

Limit frequency:

1Vpp = 270 kHz
TTL   = 10 MHz
MES  = 500 Hz

Resolver

Universal Resolver:

Typ

Number of poles

Frequency

Speed ratio

Phase difference

1

2

8 kHz

0,5 phi

0 °

2

6

8 kHz

0,5 phi

0 °

3

8

8 kHz

0,5 phi

0 °

 

X12 and X22: Feedback, Resolver / Hall

The X12 and X22 D-SUB sockets are available for connecting resolvers or Hall sensors for commutation. X12 is assigned to axis 1 in the factory, X22 to axis 2.

Resolver specification:

 

Pin

Resolver

Analog hall sensor

Feedback 4:

 

1

Temperature (only PTC, Klixon or bimetal!)
Switchpoint 1300 W ± 3%

n.c.

2

AGND

n.c.

3

COS - (S3)

n.c.

4

SIN - (S4)

n.c.

5

REF - (R2)

n.c.

6

n.c.

SIN 1 Vpp

7

n.c.

-120° or -90° 1 Vpp *

8

n.c.

Us_9 V (supply)

9

Temp. _ GND

n.c.

10

COS + (S1)

n.c.

11

SIN + (S2)

n.c.

12

REF + (R1)

n.c.

13

n.c.

REFSIN 1 Vpp

14

n.c.

REF -120° or -90° 1 Vpp *

15

n.c.

GND (supply)

*) The angle must be configured

Limit frequency:

Resolver  = 300 Hz