The Tie point allows the auxiliary encoder inputs to be used as single-ended inputs. This terminal is internally connected to a 2.5 Vdc source through a 1 kΩ current limiting resistor. Typically, the Tie point is connected to the IN_A- and IN_B- input terminals to bias the line receiver. Note that on the SSI216, SSI228, and SSI420 models, this terminal is located on the Pulse Input connector on the bottom of the controller. For single-ended open collector encoder signals, a 470 Ω pull-up resistor is required. The internal schematic for the tie terminal is shown below.
Encoder Output (Out_A, Out_B, Index)
The S2K controller is typically used to control the position of the motor based on programmed commands. The encoder output buffers either the motor feedback or auxiliary encoder signals and makes them available as quadrature (A-Channel, B-Channel and Index) signals to another S2K controller for master/slave or cam following or to a host controller.
The S-Series motor encoder resolution is 2,500 pulses per revolution, so the feedback to the host controller supports 10,000 quadrature counts/revolution. For MTR-Series motors, the resolver-based S2K derives quadrature encoder signals from the resolver feedback with a maximum resolution of 1,024 pulses per revolution (4,096 quadrature counts per revolution). This maximum resolution can be scaled down to one of several predefined lower resolution values using the Encoder Output Type (EOT) register.
The encoder output is a differential output source (see Section 2.1.7 for specifications) with user selectable source via the Encoder Output Type (EOT) parameter. The EOT parameter determines whether this output tracks the auxiliary encoder input or the motor encoder input:
When EOT=0 (default), the encoder output buffers the auxiliary encoder input pulse-forpulse. If the auxiliary input is a quadrature encoder the output will be quadrature. If the auxiliary input is CW/CCW pulses, the output will be in this same format
When EOT is non-zero, the output tracks the motor encoder input up to the full resolution of 2,500 lines/rev for encoder feedback controllers or 1,024 lines/rev for resolver feedback models; and the setting of the EOT register determines the output resolution. The allowed values for this resolution are:
Encoder Feedback Controller: 0; 500; 625; 1,000; 1,250; 2,000, 2,500
Resolver Feedback Controller: 0; 250; 256; 500; 512; 1,000; 1,024
The marker pulse width is fixed at 1/5,000th of the source encoder revolution (auxiliary or motor encoder based on setting of EOT). This implies that the marker pulse output width will vary with encoder speed and the smallest width will occur at the highest speed. For example, if the source encoder is rotating at 1000 RPM or 16.667 rev/sec then the encoder takes 0.06 seconds per revolution. Therefore, 1/5000th of this value, or 12 µS, represents the marker pulse width at that speed.
The encoder output is connected on the Auxiliary I/O connector. For best results, wiring connections should use 20-28 AWG twisted-pair wires with individual shields on each wire pair and an overall shield. For best noise immunity, connect the cable shield to one of the common inputs on the Auxiliary I/O connector. Connect the cable and shield as shown in Section 3.6.10, Connection Diagrams. The auxiliary encoder inputs are labeled with “Out_” prefix (such as Out_A+) and Index prefix (such as Index +) on these diagrams.
The typical internal schematic for each of the encoder output circuits is shown below.
It is possible to daisy chain a master encoder signal by connecting the master encoder signal to the auxiliary encoder input and then repeating this signal on the Encoder Output for use by downstream controllers. The propagation delay is approximately 50 ns for each daisy-chained S2K controller. For example, daisy-chaining eight controllers would result in approximately 400 ns (0.4 microseconds) encoder propagation delay on the final controller. For a 1,000 line (4,000 quadrature count) master encoder rotating at 6,000 RPM this represents an insignificant delay of 16% of the width of a single master encoder count.
High Speed Position Capture (Registration) Input
The S2K servo controllers support a high speed position capture input that can be used for registration applications to latch both the axis encoder and the auxiliary encoder positions with a 30 µS response time. The motor encoder position is stored in the Axis Position Capture (PCA) register while the auxiliary encoder position is stored to the Auxiliary Position Capture (PCX) register. The capture input is identified in the following table and depends on the controller model. This same input also functions as the auxiliary encoder index input. (See Section 3.6.10, Connection Diagrams.)
The controller inputs are not rated for 24Volts, so for registration devices operating at 24VDC, use one of the circuits diagrammed below:
Cables and Connector Mates
Cables in several lengths are available from GE Fanuc for motor to controller connections and various other controller functions. It is strongly recommended that you use the cables available from GE Fanuc as shown in Table 3-13. GE Fanuc does not provide mating connectors for the MTRSeries motors or S-Series motors along with the motor; you can, however, purchase the S-Series and MTR-3T Series motor connector kits, shown in table 3-14, from GE Fanuc.
Note:GE Fanuc cables and connectors shown are not rated for IP67 environments, or washdown applications. GE Fanuc cables are not designed for high flex or cable track applications.
S2K Series Cable GE Fanuc Catalog Number Description
IC800SKCI010 Interface Cable, S2K Auxiliary I/O to 44A726268-001 Terminal Board Assembly,
IC800SKCI030 Interface Cable, S2K Auxiliary I/O to 44A726268-001 Terminal Board Assembly,
IC800SKCFLY010 Interface Cable, S2K Auxiliary I/O to flying leads, 1m (flying leads labeled with corresponding connector pin number) Aux. I/O Interface
IC800SKCFLY030 Interface Cable, S2K Auxiliary I/O to flying leads, 3m (flying leads labeled with corresponding connector pin number) Serial
IC800SKCS030 S2K Serial Communication Cable (DB1), 3 m
IC800SKCEZ050 Encoder Cable, S2K to 200-750 W S-Series Motor, 5 m
IC800SKCEZ100 Encoder Cable, S2K to 200-750 W S-Series Motor, 10 m
IC800SKCEV050 Encoder Cable, S2K to 1 kW-5 kW S-Series Motor, 5 m S-Series Servo Motor Encoder
IC800SKCEV100 Encoder Cable, S2K to 1 kW-5 kW S-Series Motor, 10 m
IC800SKCPZ050 Power Cable, S2K to 200 – 750 W S-Series Motor, 5 m
IC800SKCPZ100 Power Cable, S2K to 200 – 750 W S-Series Motor, 10 m
IC800SKCPV050 Power Cable, S2K to 1 kW-2.5 kW S-Series Motor, 5 m
IC800SKCPV100 Power Cable, S2K to 1 kW-2.5 kW S-Series Motor, 10 m
IC800SKCPVL050 Power Cable, S2K to 4.5 kW-5 kW S-Series Motor, 5 m
IC800SKCPVL100 Power Cable, S2K to 4.5 kW-5 kW S-Series Motor, 10 m
IC800SKCBV050* Power/Brake Cable, 1 kW-2.5 kW S-Series Motor with Brake, 5 m
IC800SKCBV100* Power/Brake Cable, 1 kW-2.5 kW S-Series Motor with Brake, 10 m
IC800SKCBVL050* Power/Brake Cable, 4.5 kW-5 kW S-Series Motor with Brake, 5 m S-Series Servo Motor Power
IC800SKCBVL100* Power/Brake Cable, 4.5 kW-5 kW S-Series Motor with Brake, 10 m
IC800SLCBZ050 Brake Cable, 200 – 750 W S-Series Motor with Brake, 5 m S-Series Servo Motor Brake Power (200-750 W Motors)
IC800SLCBZ100 Brake Cable, 200 – 750 W S-Series Motor with Brake, 10 m
*The 1kW-5kW S-Series and MTR-3T Series servo motors incorporate the brake power and motor power into a single cable. When a brake is required, this cable (see Table 3-13) should be used in place of the standard motor power cable. The 30–750 W S-Series, MTR-3N, and MTR3S Series servo motors require a separate brake cable as listed in Table 3-13 for motor brake power when the brake option is required. ** Stepping motor encoder feedback cables terminate in flying leads on the controller end. The S2K stepping motor controller encoder interface is included on the Auxiliary I/O connector. The TRM-JAUX-03 (3 ft. cable) or TRM-JAUX-10 (10 ft. cable) auxiliary I/O breakout terminal board can be used to provide a screw terminal interface for the encoder feedback signals.
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