User manual

3.9 Main Feedback
The Main Feedback port is used to transfer Feedback data from the motor to the drive.
The Duo accepts the following as a
Main Feedback mechanism:
 Incremental encoder only
 Incremental encoder with digital hall
sensors
 Digital hall sensors only
 Incremental analog (sine/cosine)
encoder (option)
 Resolver (option)
 Tachometer and potentiometer
(option)
 Analog Halls
The Main Feedback port on the Duo has a 12-pin Molex Header plug.
Incremental Encoder
Interpolated Analog
Encoder Resolver
Tachometer and
Potentiometer
WHI XX/YYY_ WHI XX/YYYI WHI XX/YYYR WHI XX/YYYT
Pin Signal Function Signal Function Signal Function Signal Function
1 +5V Encoder/Hall
+5V supply
+5V Encoder/Hall
+5V supply
+5V Encoder/Hall
+5V supply
+5V Encoder/Hall
+5V supply
2 SUPRET Supply return SUPRET Supply return SUPRET Supply return SUPRET Supply return
3 CHA Channel A A+ Sine A S1 Sine A Tac 1+ Tacho Input 1
Pos. (20V max)
4 CHA- Channel A
complement
A- Sine A
complement
S3 Sine A
complement
Tac 1- Tacho Input 1
Neg. (20V max)
5 CHB Channel B B+ Cosine B S2 Cosine B Tac 2+ Tacho Input 2
Pos. (50V max)
6 CHB- Channel B
complement
B- Cosine B
complement
S4 Cosine B
complement
Tac 2- Tacho Input 2
Neg. (50V max)
7 INDEX Index R+ Reference R1 Vref f=1/TS,
50mA Max.
POT Potentiometer
Input
8 INDEX- Index
complement
R- Reference
complement
R2 Vref complement
f= 1/TS, 50mA
Maximum
NC -
9 HA Hall sensor A
input
HA Hall sensor A
input
NC - HA Hall sensor A
input
10 HB Hall sensor B
input
HB Hall sensor B
input
NC - HB Hall sensor B
input
11 HC Hall sensor C
input
HC Hall sensor C
input
NC - HC Hall sensor C
input
12 SUPRET Supply return SUPRET Supply return SUPRET Supply return SUPRET Supply return
Table 3-7: Main Feedback Cable Pin Assignment for Each Axis
Duo User Guide
MAN-DUOUG (Ver. 1.0)
3-12