Difference between revisions of "Argon user guide/J1 connector wiring"

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(encoder wiring clarified)
 
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| 3||HALL_U|| colspan=2 |Digital input U || Hall sensor input, phase U  
 
| 3||HALL_U|| colspan=2 |Digital input U || Hall sensor input, phase U  
 
|-
 
|-
−
| 4||CHE+||Differential input E+|| Differential output E+|| Serial encoder I/O
+
| 4||E+||Differential input E+|| Differential output E+||
 
|-
 
|-
−
| 5||CHB-||Differential input B-|| Analog input B+||rowspan=2|Quadrature encoder (B channel)/SinCos/serial encoder/resolver input
+
| 5||B-||Differential input B-|| Analog input B+||rowspan=2|Quadrature encoder (B channel)/SinCos/resolver input
 
|-
 
|-
−
| 6||CHB+||Differential input B+|| Analog input B-
+
| 6||B+||Differential input B+|| Analog input B-
 
|-
 
|-
−
| 7||CHA-||Differential input A-|| Analog input A-||rowspan=2|Quadrature encoder (A channel)/SinCos/serial encoder/resolver input
+
| 7||A-||Differential input A-|| Analog input A-||rowspan=2|Quadrature encoder (A channel)/SinCos/resolver input
 
|-
 
|-
−
| 8||CHA+||Differential input A+|| Analog input A+
+
| 8||A+||Differential input A+|| Analog input A+
  
 
|-
 
|-
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| 10|| GND ||colspan=2 |Encoder supply ground  
 
| 10|| GND ||colspan=2 |Encoder supply ground  
 
|-
 
|-
−
| 11|| CHE-||Differential input E-|| Differential output E-|| Serial encoder I/O
+
| 11|| E-||Differential input E-|| Differential output E-||
 
|-
 
|-
−
| 12|| CHD-||Differential input D-|| Differential output D-|| rowspan=2|Serial encoder I/O, resolver coil drive
+
| 12|| D-||Differential input D-|| Differential output D-|| rowspan=2|Resolver coil drive
 
|-
 
|-
−
| 13|| CHD+||Differential input D+|| Differential output D+
+
| 13|| D+||Differential input D+|| Differential output D+
 
|-
 
|-
−
| 14|| CHC-||colspan=2 |Differential input C- ||rowspan=2|Quadrature encoder index channel (Z channel)/serial encoder input
+
| 14|| C-||colspan=2 |Differential input C- ||rowspan=2|Quadrature encoder index channel (Z channel)
 
|-
 
|-
−
| 15|| CHC+||colspan=2 |Differential input C+
+
| 15|| C+||colspan=2 |Differential input C+
 
|}
 
|}
 +
{{info|Especially with long encoder cables, it might be necessary to add encoder line termination resistors, see [[Terminating differential encoder lines]].}}
  
 
==J1 wiring guide==
 
==J1 wiring guide==
 +
{{tip|Devices with [[differential signaling]] may use varying mark-up habits of signal pairs. For example differential signal X (which contains two electrical wires) may be denoted as: X+ and X-, or X and \X or X and {{overline|X}}. In this Wiki we mark them X+ and X-. Some Fanuc encoders have quadrature signals named as PCA, /PCA, PCB, /PCB, PCZ and /PCZ which are equivalent to A, B and Z signal pairs.}}
 
===Incremental encoder===
 
===Incremental encoder===
 
====Differential====
 
====Differential====
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| Shell||PE|| Earth/case || Cable shield
 
| Shell||PE|| Earth/case || Cable shield
 
|-
 
|-
−
| 5||CHB-||Differential input B-|| Channel B-
+
| 5||B-||Differential input B-|| Channel B-
 
|-
 
|-
−
| 6||CHB+||Differential input B+|| Channel B+
+
| 6||B+||Differential input B+|| Channel B+
 
|-
 
|-
−
| 7||CHA-||Differential input A-|| Channel A-
+
| 7||A-||Differential input A-|| Channel A-
 
|-
 
|-
−
| 8||CHA+||Differential input A+|| Channel A+
+
| 8||A+||Differential input A+|| Channel A+
 
|-
 
|-
 
| 9|| 5V_OUT||Encoder supply 5V output || Encoder supply
 
| 9|| 5V_OUT||Encoder supply 5V output || Encoder supply
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| 10|| GND ||Encoder supply ground || Encoder ground
 
| 10|| GND ||Encoder supply ground || Encoder ground
 
|-
 
|-
−
| 14|| CHC-||Differential input C- (sometimes denoted as Z-)|| Index- channel
+
| 14|| C-||Differential input C-|| Index- (Z- or I-) channel
 
|-
 
|-
−
| 15|| CHC+||Differential input C+ (sometimes denoted as Z+)|| Index+ channel
+
| 15|| C+||Differential input C+|| Index+ (Z+ or I+) channel
 
|}
 
|}
 
Pins not listed in the table are left open or used for other functions such as Hall sensor.
 
Pins not listed in the table are left open or used for other functions such as Hall sensor.
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| Shell||PE|| Earth/case || Cable shield
 
| Shell||PE|| Earth/case || Cable shield
 
|-
 
|-
−
| 6||CHB+||Differential input B+|| Channel B
+
| 6||B+||Differential input B+|| Channel B
 
|-
 
|-
−
| 8||CHA+||Differential input A+|| Channel A
+
| 8||A+||Differential input A+|| Channel A
 
|-
 
|-
 
| 9|| 5V_OUT||Encoder supply 5V output || Encoder supply
 
| 9|| 5V_OUT||Encoder supply 5V output || Encoder supply
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| 10|| GND ||Encoder supply ground || Encoder ground
 
| 10|| GND ||Encoder supply ground || Encoder ground
 
|-
 
|-
−
| 15|| CHC+||Differential input C+ (sometimes denoted as Z)|| Index channel
+
| 15|| C+||Differential input C+ || Index (Z) channel
 
|}
 
|}
 
Pins not listed in the table are left open or used for other functions such as Hall sensor.
 
Pins not listed in the table are left open or used for other functions such as Hall sensor.
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|}
 
|}
  
−
Pins not listed in the table are left open or used for other functions such as Hall sensor.  
+
Pins not listed in the table are left open or used for other functions such as Hall sensor.
−
[[Category:Argon wiring]]
+
 
 +
[[Category:Argon_wiring]]

Latest revision as of 10:19, 23 April 2018

Argon general pages
Argon user guide
This page lists most common wiring schemes to Argon feedback device ports. See also the main article Argon user guide/Wiring.
The naming conventions of feedback device wires and signals vary between different manufacturers. The most important things to ensure are:
- proper ground and supply wiring
- sensor voltage levels are compatible

Pin-out[edit | edit source]

J1 connector type is 15 pin female D-Sub and should be mated with 15 pin male D-Sub counterpart. Many of the J1 pins have dual functions. The operating mode of pin is determined by feedback device mode selected from Granity.

J1closeup.png

Pin # Pin name Electrical type (in most feedback device modes) Alternate electrical type (in some feedback device modes) Connection with various feedback devices
Shell PE Earth/case Feedback cable shield
1 HALL_W Digital input W Hall sensor input, phase W
2 HALL_V Digital input V Hall sensor input, phase V
3 HALL_U Digital input U Hall sensor input, phase U
4 E+ Differential input E+ Differential output E+
5 B- Differential input B- Analog input B+ Quadrature encoder (B channel)/SinCos/resolver input
6 B+ Differential input B+ Analog input B-
7 A- Differential input A- Analog input A- Quadrature encoder (A channel)/SinCos/resolver input
8 A+ Differential input A+ Analog input A+
9 5V_OUT Encoder supply 5V output Encoder power supply
10 GND Encoder supply ground
11 E- Differential input E- Differential output E-
12 D- Differential input D- Differential output D- Resolver coil drive
13 D+ Differential input D+ Differential output D+
14 C- Differential input C- Quadrature encoder index channel (Z channel)
15 C+ Differential input C+
Especially with long encoder cables, it might be necessary to add encoder line termination resistors, see Terminating differential encoder lines.

J1 wiring guide[edit | edit source]

Devices with differential signaling may use varying mark-up habits of signal pairs. For example differential signal X (which contains two electrical wires) may be denoted as: X+ and X-, or X and \X or X and X. In this Wiki we mark them X+ and X-. Some Fanuc encoders have quadrature signals named as PCA, /PCA, PCB, /PCB, PCZ and /PCZ which are equivalent to A, B and Z signal pairs.

Incremental encoder[edit | edit source]

Differential[edit | edit source]

Differential outputs (RS422 electrical standard) of encoder provides a good EMI immunity and supports long cables with high speed signals. Typical differential encoder has 6-8 wires:

  • Ground
  • Supply
  • Channel A+
  • Channel A-
  • Channel B+
  • Channel B-
  • Index+ channel (optional), typically called Z+ or I+
  • Index- channel (optional), typically called Z- or I-

The negative outputs have the inverted (or mirror image) signal of the positive outputs.

J1 pin # Pin name Pin function Encoder wire
Shell PE Earth/case Cable shield
5 B- Differential input B- Channel B-
6 B+ Differential input B+ Channel B+
7 A- Differential input A- Channel A-
8 A+ Differential input A+ Channel A+
9 5V_OUT Encoder supply 5V output Encoder supply
10 GND Encoder supply ground Encoder ground
14 C- Differential input C- Index- (Z- or I-) channel
15 C+ Differential input C+ Index+ (Z+ or I+) channel

Pins not listed in the table are left open or used for other functions such as Hall sensor.

Single ended[edit | edit source]

Single ended output type is usually one of the following:

  • Open collector outputs
  • TTL outputs
  • CMOS outputs

Typical single ended encoder has 4-5 wires:

  • Ground
  • Supply
  • Channel A
  • Channel B
  • Index channel (optional), typically called Z or I channel
J1 pin # Pin name Pin function Encoder wire
Shell PE Earth/case Cable shield
6 B+ Differential input B+ Channel B
8 A+ Differential input A+ Channel A
9 5V_OUT Encoder supply 5V output Encoder supply
10 GND Encoder supply ground Encoder ground
15 C+ Differential input C+ Index (Z) channel

Pins not listed in the table are left open or used for other functions such as Hall sensor.

Hall sensor[edit | edit source]

Some AC/BLDC/Linear motors are equipped with a Hall sensor which allows faster drive initialization after power-on as phase search can be skipped. Hall sensor is also necessary in the case where motor is not able to move freely in both directions when powered on (i.e. if axis rests at the end of mechanical travel or is vertical axis).

Many Hall sensors have differential outputs (non-inverted and inverted channels, just like differential encoder), however Argon has only single ended Hall sensor inputs which supports both output types (single ended and differential).

It is possible to connect a Hall sensor together with other feedback devices to the same port. In such case supply pins may be shared between multiple FBD's.

J1 pin # Pin name Electrical function Hall sensor wiring
Shell PE Earth/case Feedback cable shield
1 HALL_W Hall sensor input, phase W Hall sensor W (if differential, then W+ channel)
2 HALL_V Hall sensor input, phase V Hall sensor V (if differential, then V+ channel)
3 HALL_U Hall sensor input, phase U Hall sensor U (if differential, then U+ channel)
9 5V_OUT Encoder supply 5V output Hall sensor supply
10 GND Encoder supply ground Hall sensor ground

Pins not listed in the table are left open or used for other functions such as Hall sensor.

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