Encoder Inputs—XP1A, XP1B, and XP1C

The EXPAXIS module accepts any feedback device that supplies either a +5 VDC or +12 VDC differential signal. The most common type of device is a differential encoder. For common encoder setups, see Table 7. For connector locations, see Figure 3 on page 11.

There are two 34 pin headers and one 20 pin header provided on the EXPAXIS module for encoder feedback. The two 34 pin header provide up to eight (8) axes of encoder feedback (Encoders 10 thru 17). The 20 pin header provides 2 axes of encoder feedback (Encoder 18 and 19). For connector locations, see Figure 3 on page 11.

EXPAXIS
Encoder

 

Pull-up Jumper

 

Length of Cable/Type

 

 

Setting

 

 

 

 

 

 

 

Differential Line Driver

 

Remove Pull-ups

 

100 ft.(Beldon 9330 Shielded

 

 

 

 

Twisted Pair)

 

 

 

 

 

Open Collector Driver

 

Install Pull-ups and Jumper to

 

75 ft. (Beldon 9330 Shielded

(No Pull-ups on Encoder)

 

+12 VDC

 

Twisted Pair)

 

 

 

 

 

Open Collector Driver

 

Install Pull-ups and Jumper

 

50 ft. (Beldon 9330 Shielded

(With Pull-ups to +5 VDC on

 

to +5 VDC

 

Twisted Pair)

Encoder)

 

(factory Default)

 

 

 

 

 

 

 

TTL Driver

 

Remove Pull-ups

 

50 ft. (Beldon 9330 Shielded

(+5 VDC Outputs)

 

 

 

Twisted Pair)

Table 7 EPXAXIS Feedback devices

Note: The EXPAXIS module default settings for the encoder input resistor types and configuration are not the same as the base ACR1505 board. The EXPAXIS board is set-up for open-collector drivers with pull-ups to +5V on the encoder inputs.

When using a single-ended encoder (an encoder without the A-, B-, or Z- outputs), additional pull-ups and pull-down resistors must be added externally to the EXPAXIS module in order for the EXPAXIS module to read the encoder signals.

– 12 – ACRCOMM and ACREXPAXIS User’s Guide