Encoder Input Connectors

The GL4 has two auxiliary encoder channels. Each encoder interface accepts an RS-422 differential line driver. Use the auxiliary encoder input channels with the Infinite Field of View (IFOV) and the "Marking on the Fly" functionality of the drive. You cannot use the auxiliary encoder input channels to close the position loop.

Table 2-33: Encoder Input Specifications

Specification	Value
Encoder Frequency	10 MHz maximum (25 ns minimum edge separation)
x4 Quadrature Decoding	40 million counts/sec

Table 2-34: Axis 1 Encoder Input Pinout (Encoder Input Connector A)

Pin	Label	Description	In/Out/Bi
1	SIN1+	Encoder SIN+ Input	Input
2	SIN1-	Encoder SIN- Input	Input
3	COS1+	Encoder COS+ Input	Input
4	COS1-	Encoder COS- Input	Input
5	ESTOP+	Emergency Stop Digital Input +	Input
6	ESTOP-	Emergency Stop Digital Input -	Input

Table 2-35: Axis 2 Encoder Input Pinout (Encoder Input Connector B)

Pin	Label	Description	In/Out/Bi
1	SIN2+	Encoder SIN+ Input	Input
2	SIN2-	Encoder SIN- Input	Input
3	COS2+	Encoder COS+ Input	Input
4	COS2-	Encoder COS- Input	Input
5	+5V	+5V Encoder Power (500 mA max)	Output
6	GND	Ground	N/A

Table 2-36: Mating Connector Part Numbers for the Encoder Input Connectors

Specification		Description
Type		6-Pin Terminal Block
Part Numbers		Aerotech: ECK02405
Part Numbers		Phoenix: 1704755
Conductor Cross Section	Solid or stranded	20...26 AWG (0.14...0.5 mm²)
Conductor Cross Section	Stranded, with ferrule, without plastic sleeve	20...24 AWG (0.25...0.5 mm²)
Conductor Insulation Strip Length		8 mm (5/16 in)
(1) Refer to the manufacturer website for additional information.

Table 2-37: GL4 to Drive Cable Part Numbers

Drive Type	Cable P/N
XR3	C26263-xx
XC2/XC2e	C25483-xx
Sync-Supported Drives (for example: XC4, XC4e)	Refer to Sync Port

Figure 2-23: Encoder Input Connections Schematic