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

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(Created page with "This page lists most common wiring schemes to Argon feedback device ports. For connector pin-outs, see the main article Argon user guide/Wiring. ==Incremental encoder== =...")
 
 
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This page lists most common wiring schemes to Argon feedback device ports. For connector pin-outs, see the main article [[Argon user guide/Wiring]].
+
{{SetAUGTitle|J1 connector wiring}}{{ArgonManualNav}}This page lists most common wiring schemes to Argon feedback device ports. See also the main article [[Argon user guide/Wiring]].
 +
{{Damage|The naming conventions of feedback device wires and signals vary between different manufacturers. The most important things to ensure are:<br> - proper ground and supply wiring<br> - sensor voltage levels are compatible }}
  
−
==Incremental encoder==
+
==Pin-out==
−
===Differential===
+
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]].
 +
 
 +
[[File:J1closeup.png|500px]]
 +
{| class="wikitable"
 +
|-
 +
! 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|| colspan=2 |Earth/case  || Feedback cable shield
 +
|-
 +
| 1||HALL_W|| colspan=2 |Digital input W ||  Hall sensor input, phase W
 +
|-
 +
| 2||HALL_V|| colspan=2 |Digital input V  ||Hall sensor input, phase V
 +
|-
 +
| 3||HALL_U|| colspan=2 |Digital input U || Hall sensor input, phase U
 +
|-
 +
| 4||E+||Differential input E+|| Differential output E+||
 +
|-
 +
| 5||B-||Differential input B-|| Analog input B+||rowspan=2|Quadrature encoder (B channel)/SinCos/resolver input
 +
|-
 +
| 6||B+||Differential input B+|| Analog input B-
 +
|-
 +
| 7||A-||Differential input A-|| Analog input A-||rowspan=2|Quadrature encoder (A channel)/SinCos/resolver input
 +
|-
 +
| 8||A+||Differential input A+|| Analog input A+
 +
 
 +
|-
 +
| 9|| 5V_OUT||colspan=2 |Encoder supply 5V output  || rowspan=2|Encoder power supply
 +
|-
 +
| 10|| GND ||colspan=2 |Encoder supply ground
 +
|-
 +
| 11|| E-||Differential input E-|| Differential output E-||
 +
|-
 +
| 12|| D-||Differential input D-|| Differential output D-|| rowspan=2|Resolver coil drive
 +
|-
 +
| 13|| D+||Differential input D+|| Differential output D+
 +
|-
 +
| 14|| C-||colspan=2 |Differential input C- ||rowspan=2|Quadrature encoder index channel (Z channel)
 +
|-
 +
| 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==
 +
{{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===
 +
====Differential====
 
Differential outputs (RS422 electrical standard) of encoder provides a good [[Electromagnetic interference|EMI]] immunity and supports long cables with high speed signals.  
 
Differential outputs (RS422 electrical standard) of encoder provides a good [[Electromagnetic interference|EMI]] immunity and supports long cables with high speed signals.  
 
Typical differential encoder has 6-8 wires:
 
Typical differential encoder has 6-8 wires:
Line 11: Line 57:
 
*Channel B+  
 
*Channel B+  
 
*Channel B-  
 
*Channel B-  
−
*Index+ channel (optional)
+
*Index+ channel (optional), typically called Z+ or I+
−
*Index- channel (optional)
+
*Index- channel (optional), typically called Z- or I-
 
The negative outputs have the inverted (or mirror image) signal of the positive outputs.
 
The negative outputs have the inverted (or mirror image) signal of the positive outputs.
  
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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
Line 33: Line 79:
 
| 10|| GND ||Encoder supply ground || Encoder ground
 
| 10|| GND ||Encoder supply ground || Encoder ground
 
|-
 
|-
−
| 14|| CHC-||Differential input C-|| Index- channel
+
| 14|| C-||Differential input C-|| Index- (Z- or I-) channel
 
|-
 
|-
−
| 15|| CHC+||Differential input C+|| 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.
  
−
===Single ended===
+
====Single ended====
 
Single ended output type is usually one of the following:
 
Single ended output type is usually one of the following:
 
*Open collector outputs
 
*Open collector outputs
Line 49: Line 95:
 
*Channel A
 
*Channel A
 
*Channel B
 
*Channel B
−
*Index channel (optional)
+
*Index channel (optional), typically called Z or I channel
  
 
{| class="wikitable"
 
{| class="wikitable"
Line 57: Line 103:
 
| 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
Line 65: Line 111:
 
| 10|| GND ||Encoder supply ground || Encoder ground
 
| 10|| GND ||Encoder supply ground || Encoder ground
 
|-
 
|-
−
| 15|| CHC+||Differential input C+|| 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.
−
====Pin-out====
+
 
−
Many of the J1 pins have dual functions. The operating mode of pin is determined by feedback device mode selected from [[Granity]].
+
===Hall sensor===
 +
Some AC/BLDC/Linear motors are equipped with a [[Hall sensor]] which allows faster drive initialization after power-on as [[Phasing a.k.a. phase search|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.
 +
 
 
{| class="wikitable"
 
{| class="wikitable"
 
|-
 
|-
−
! Pin # !! Pin name !! Electrical function || Alternate electrical function || Uses
+
! J1 pin # !! Pin name !! Electrical function !! Hall sensor wiring
 
|-
 
|-
−
| Shell||PE|| Earth/case || || Feedback cable shield  
+
| Shell||PE|| Earth/case || Feedback cable shield
 
|-
 
|-
−
| 1||HALL_W|| Hall sensor input, phase W || rowspan=3|Possible to use as general digital input in custom firmware || rowspan=3|Hall sensor input
+
| 1||HALL_W|| Hall sensor input, phase W || Hall sensor W (if differential, then W+ channel)
 
|-
 
|-
−
| 2||HALL_V|| Hall sensor input, phase W
+
| 2||HALL_V|| Hall sensor input, phase V  || Hall sensor V (if differential, then V+ channel)
 
|-
 
|-
−
| 3||HALL_U|| Hall sensor input, phase W
+
| 3||HALL_U|| Hall sensor input, phase U  || Hall sensor U (if differential, then U+ channel)
 
|-
 
|-
−
| 4||CHE+||Differential input E+|| Differential output E+|| Serial encoder I/O
+
| 9|| 5V_OUT||Encoder supply 5V output || Hall sensor supply
 
|-
 
|-
−
| 5||CHB-||Differential input B-|| Analog input B+||rowspan=2|Quadrature encoder/SinCos/serial encoder/resolver input
+
| 10|| GND ||Encoder supply ground || Hall sensor ground
−
|-
+
−
| 6||CHB+||Differential input B+|| Analog input B-
+
−
|-
+
−
| 7||CHA-||Differential input A-|| Analog input A-||rowspan=2|Quadrature encoder/SinCos/serial encoder/resolver input
+
−
|-
+
−
| 8||CHA+||Differential input A+|| Analog input A+
+
−
|-
+
−
| 9|| 5V_OUT||Encoder supply 5V output || || rowspan=2|Encoder supply
+
−
|-
+
−
| 10|| GND ||Encoder supply ground ||  
+
−
|-
+
−
| 11|| CHE-||Differential input E-|| Differential output E-|| Serial encoder I/O
+
−
|-
+
−
| 12|| CHD-||Differential input D-|| Differential output D-|| rowspan=2|Serial encoder I/O, resolver coil drive
+
−
|-
+
−
| 13|| CHD+||Differential input D+|| Differential output D+
+
−
|-
+
−
| 14|| CHC-||Differential input C-|| ||rowspan=2|Encoder index channel/serial encoder input
+
−
|-
+
−
| 15|| CHC+||Differential input C+||
+
 
|}
 
|}
−
[[Category:Argon]]
+
 
−
[[Category:Setup guides]]
+
Pins not listed in the table are left open or used for other functions such as Hall sensor.
 +
 
 +
[[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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