2 - Fagor Automation

Drive modules
3.
DRIVE MODULES
Modular drives
188
DDS
HARDWARE
Ref.1209
134
X4 connector
X4. Motor feedback
Is the connector for the motor feedback board that may come on modular
drives. It is a high density (HD) 26-pin sub-D type female connector.
Through it, the board receives the signals coming from the feedback device
attached to the motor shaft.
The pinout of connector X4 depending on whether the motor feedback
board installed at the drive is a CAPMOTOR-1 or a CAPMOTOR-2 is:
Front view of
the drive
CONNECTOR X4
X4. CAPMOTOR-1 X4. CAPMOTOR-2
COS
SIN
F. H3/70
Connector X4. Feedback on the motor. CAPMOTOR-1 or CAPMOTOR-2.
To know whether your drive has a CAPMOTOR-2 installed, check the
label on the side of the drive and see if the last field of the sales reference
is a B. If not, it will have a CAPMOTOR-1.
The feedback of Fagor motors use sinusoidal encoder, incremental TTL
encoder or resolver. Refer to the corresponding motor manual for the detailed
description of the pinout of the feedback devices that can go with
each motor family.
With CAPMOTOR-2, this connector admits signals:
Square TTL
1 Volt peak-to-peak sinusoidal (1 Vpp)
SSI
EnDat
with the following working frequencies:
1 MHz with square signals
500 kHz with sinusoidal signals
The input impedance for sinusoidal signals is 120
I0
U- / C+
W- / D+
V-
R1
S1
S4
REFCOS
REFSIN
REFI0
U+ / C-
W+ / D-
V+
R2
R3
S2
+485
-485
TEMP
TEMP
+8VDC
+5VDC
GND(0)
CHASIS
COS / A+
SIN / B+
I0+ / DATA+
U- / C+
W- / D+
V-
N.C.
N.C.
N.C.
REFCOS / A-
REFSIN / B-
I0- / DATA-
U+ / C-
W+ / D-
V+
VSENSE+
VSENSE-
N.C.
+485/CLK+/ALARM+
-485/CLK-/ALARM-
TEMP
TEMP
+8VDC
+5VDC
GND(0)
CHASIS
Notes.
Do not select a drive with CAPMOTOR-2 when the motor feedback is
a resolver. They are incompatible. In this case, the drive must always
carry a CAPMOTOR-1.
Do not connect an SSI or EnDat feedback device to connector X4 of
the drive of a CAPMOTOR-1 motor feedback board. They are incompatible.
The characteristics of the signals are the same as the ones described in
the previous chapter for the incremental and absolute feedback devices.
See figures F. H3/65, F. H3/66, F. H3/67, F. H3/68 and F. H3/69.