Square Wave Encoder

The SI4 supports both single-ended and differential encoder feedback signals.

For single-ended feedback configuration, use the Sine +, Cosine +, and Marker + inputs. Do not connect the Sine -, Cosine - and Marker - inputs. Set the FeedbackSetup parameter to configure the hardware for single-ended encoder feedback devices.

For differential feedback configuration, the SI4 accepts RS-422 square wave encoder signals. Use twisted-pair wiring for the highest performance and noise immunity.

Table 2-13: Square Wave Encoder Specifications

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

The controller will generate a feedback fault if it detects an invalid signal state caused by an open or shorted signal connection.

Figure 2-9: Square Wave Encoder Schematic (Axis Connector)