The AC120 plug-in module has an EnDat 2.1 encoder interface and can evaluate incremental encoders. It monitors encoder input signals to detect issues. During startup, the module is automatically identified and configured by the servo drive operating system. It supports absolute and incremental encoders, and can read/write parameters in EnDat encoders. For incremental encoders, a homing procedure is typically required. The module order data and technical specifications are provided.
The AC120 plug-in module has an EnDat 2.1 encoder interface and can evaluate incremental encoders. It monitors encoder input signals to detect issues. During startup, the module is automatically identified and configured by the servo drive operating system. It supports absolute and incremental encoders, and can read/write parameters in EnDat encoders. For incremental encoders, a homing procedure is typically required. The module order data and technical specifications are provided.
The AC120 plug-in module has an EnDat 2.1 encoder interface and can evaluate incremental encoders. It monitors encoder input signals to detect issues. During startup, the module is automatically identified and configured by the servo drive operating system. It supports absolute and incremental encoders, and can read/write parameters in EnDat encoders. For incremental encoders, a homing procedure is typically required. The module order data and technical specifications are provided.
The AC120 plug-in module has an EnDat 2.1 encoder interface and can evaluate incremental encoders. It monitors encoder input signals to detect issues. During startup, the module is automatically identified and configured by the servo drive operating system. It supports absolute and incremental encoders, and can read/write parameters in EnDat encoders. For incremental encoders, a homing procedure is typically required. The module order data and technical specifications are provided.
1 General information The AC120 plug-in module has an EnDat 2.1 encoder interface but can also be used to evaluate simple incremental encoders with a sinusoidal output signal. 1) This module can be used to evaluate encoders installed in B&R servo motors as well as encoders for external axes (encoders that scan any machine movement). The input signals are monitored. This makes it possible to detect open or shorted lines as well as encoder supply failures. During startup, the plug-in module is automatically identified, configured and its parameters set by the ACOPOS servo drive operating system.
EnDat 2.1 encoder:
EnDat 2.1 is a standard developed by Johannes Heidenhain GmbH (www.heidenhain.de) that incorporates the advantages of absolute and incremental position measurement and also offers a read/write parameter memory in the encoder. With absolute position measurement (the absolute position is sampled serially), a homing proce- dure for referencing is usually not required. Where necessary, a multi-turn encoder (4096 revolutions) should be installed. To reduce costs, a single-turn encoder and a reference switch can also be used. In this case, a homing procedure must be carried out. The incremental process allows the short delay times necessary for position measurement on drives with excep- tional dynamic properties. With the sinusoidal incremental signal and the fine resolution in the EnDat module, a very high positioning resolution is achieved in spite of the moderate signal frequencies used. The parameter memory in the EnDat encoder is used by B&R to store motor data (among other things). In this way, the ACOPOS drive system is always automatically provided the correct motor parameters and limit values. This is referred to as the "embedded parameter chip".
Incremental encoder with sine formed output signal:
When using the AC120 plug-in module to evaluate simple incremental encoders with an sinusoidal output signal, only the incremental transfer channel is used. The "embedded parameter chip" it not available in this case be- cause this encoder does not have parameter memory. The absolute position is also not available immediately after switching the device on. In this situation, a homing procedure normally has to be carried out. The module is equipped with a reference pulse input for this purpose.
1) Starting with revision F0.
Data sheet V 1.5 1
8AC120.60-1
2 Order data Model number Short description Figure Plug-in modules 8AC120.60-1 ACOPOS plug-in module, EnDat encoder and sine incremental encoder interface Optional accessories EnDat 2.1 cables 8CE005.12-1 EnDat 2.1 cable, length 5 m, 10x 0.14 mm² + 2x 0.5 mm², Inter- contec 17-pin female EnDat connector, 15-pin male DSUB ser- vo connector, can be used in cable drag chains, UL/CSA listed 8CE007.12-1 EnDat 2.1 cable, length 7 m, 10x 0.14 mm² + 2x 0.5 mm², Inter- contec 17-pin female EnDat connector, 15-pin male DSUB ser- vo connector, can be used in cable drag chains, UL/CSA listed 8CE010.12-1 EnDat 2.1 cable, length 10 m, 10x 0.14 mm² + 2x 0.5 mm², Inter- contec 17-pin female EnDat connector, 15-pin male DSUB ser- vo connector, can be used in cable drag chains, UL/CSA listed 8CE015.12-1 EnDat 2.1 cable, length 15 m, 10x 0.14 mm² + 2x 0.5 mm², Inter- contec 17-pin female EnDat connector, 15-pin male DSUB ser- vo connector, can be used in cable drag chains, UL/CSA listed 8CE020.12-1 EnDat 2.1 cable, length 20 m, 10x 0.14 mm² + 2x 0.5 mm², Inter- contec 17-pin female EnDat connector, 15-pin male DSUB ser- vo connector, can be used in cable drag chains, UL/CSA listed 8CE025.12-1 EnDat 2.1 cable, length 25 m, 10x 0.14 mm² + 2x 0.5 mm², Inter- contec 17-pin female EnDat connector, 15-pin male DSUB ser- vo connector, can be used in cable drag chains, UL/CSA listed
Table 1: 8AC120.60-1 - Order data
3 Technical data Product ID 8AC120.60-1 General information Module type ACOPOS plug-in module B&R ID code 0x0FCC Slot 1) Slots 2, 3 and 4 Power consumption Depends on the encoder connected Yes E0 ... EnDat single-turn, 512 lines Max. 2.3 W E1 ... EnDat multi-turn, 512 lines Max. 3.1 W E2 ... EnDat single-turn, 32 lines (inductive) Max. 3.1 W E3 ... EnDat multi-turn, 32 lines (inductive) Max. 3.1 W E4 ... EnDat single-turn, 512 lines Max. 2.4 W E5 ... EnDat multi-turn, 512 lines Max. 2.7 W E8 ... EnDat single-turn, 16 lines (inductive) Max. 2.9 W E9 ... EnDat multi-turn, 16 lines (inductive) Max. 3.1 W EA ... EnDat single-turn, 32 lines (inductive) Max. 2.7 W EB ... EnDat multi-turn, 32 lines (inductive) Max. 3.0 W Certification CE Yes cULus Yes KC Yes Encoder inputs Quantity 1 Module-side connection 15-pin female DSUB connector Status indicators UP/DN LEDs Electrical isolation Encoder - ACOPOS No Encoder monitoring Yes Max. encoder cable length 50 m 2) Encoder supply Output voltage Typ. 5 V Load capability 250 mA 3) Sense lines 2, compensation of max. 2x 0.7 V Sine/Cosine inputs Signal transmission Differential signals, symmetrical Signal frequency (-3 dB) DC up to 300 kHz Signal frequency (-5 dB) DC up to 400 kHz Differential voltage 0.5 to 1.25 Vss Common-mode voltage Max. ±7 V Terminating resistor 120 Ω Resolution 4) 16384 * number of encoder lines Precision 5) -
Table 2: 8AC120.60-1 - Technical data
2 Data sheet V 1.5
8AC120.60-1 Product ID 8AC120.60-1 Reference input Signal transmission Differential signal, symmetrical Differential voltage for low ≤ -0.2 V Differential voltage for high ≥ +0.2 V Common-mode voltage Max. ±7 V Terminating resistor 120 Ω Serial interface Signal transmission Synchronous Protocol RS485 Baud rate 625 kbaud Environmental conditions Temperature Operation Nominal 5 to 40°C Maximum 55°C Storage -25 to 55°C Transport -25 to 70°C Relative humidity Operation 5 to 85% Storage 5 to 95% Transport Max. 95% at 40°C
Table 2: 8AC120.60-1 - Technical data
1) The AC120 is a single encoder module. It is also possible to insert multiple encoder modules. In this case, the encoder module in the slot with the lowest number is automatically used for motor feedback. 2) Requirements: The encoder is cabled using a shielded cable that has a wire cross section of at least 0.14 mm² for all signal lines and a wire cross section of at least 0.5 mm² for all encoder supply lines. The sense lines must be used. 3) This value only applies to the encoder. The actual load capacity of the encoder supply is approx. 300 mA. The difference of approx. 50 mA covers the consumption of the terminating resistors, which are always present. For longer encoder cables, it is important to note that the maximum voltage drop permitted on the supply wires (there and back) is 1.45 V. This can reduce the permissible load current. 4) Only a part of the resolution of the connected encoder can be used in practice. The usable resolution can be further reduced by signal interference from the connected encoder. 5) In practice, the precision is limited by the encoder.
4 Status indicators The UP/DN LEDs are lit depending on the rotational direction and the speed of the connected encoder. UP LED ... Lit when the encoder position changes in the positive direction. DN LED ... Lit when the encoder position changes in the negative direction. The faster the encoder position changes, the brighter the respective LED is lit.
5 Firmware The firmware is part of the operating system for the ACOPOS servo drives. Firmware is updated by updating the ACOPOS operating system.
Data sheet V 1.5 3
8AC120.60-1
6 Wiring 6.1 Pinout Function Figure X11 Pin Name EnDat mode Incremental mode 1 A Channel A 2 COM (1, 3 - 9, 11, 13 - 15) Encoder supply 0 V 3 B Channel B 4 +5V out / 0.25A Encoder supply +5 V 5 D Data input --- 6 --- --- 7 R\ --- Reference 8 pulse inverted 15 8 T Clock output --- 9 A\ Channel A inverted 10 Sense COM Sense input 0 V 9 11 B\ Channel B inverted 1 12 Sense +5V Sense input +5 V 13 D\ Data inverted --- 14 R --- Reference pulse 15 T\ Clock output inverted ---
Table 3: AC120 EnDat encoder interface - Pinout
Danger! The connections for the encoders are isolated circuits. These connections are therefore only permit- ted to be connected to devices or components that have sufficient isolation in accordance with IEC 60364-4-41 or EN 61800-5-1.
