AB Quality Allen-Bradley 1771-DE User manual

User
Manual
Absolute Encoder
Module
(Cat. No. 1771-DE)
AllenĆBradley

Using This Manual 1Ć1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter Objectives 1Ć1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
What This Manual Contains 1Ć1
. . . . . . . . . . . . . . . . . . . . . . . . . . . .
Audience 1Ć1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Warnings and Cautions 1Ć2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Su ary 1Ć2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Introducing the Absolute Encoder Module 2Ć1. . . . . . . . . . . . .
Chapter Objectives 2Ć1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Exa ple
Applications 2Ć1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Module Functions 2Ć1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Co patible Processors 2Ć2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Co patible Encoders 2Ć2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
State of Outputs Upon Loss of Input Power 2Ć2
. . . . . . . . . . . . . . . . . .
Module Description 2Ć3
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Electrostatic Discharge 2Ć5
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Specifications 2Ć6
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Su ary 2Ć7
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuring and Installing Y our Module 3Ć1. . . . . . . . . . . . . . .
Chapter Objectives 3Ć1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Electrostatic Discharge 3Ć1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setting Configuration Plugs 3Ć1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Response
to External Fault 3Ć4. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Keying 3Ć4
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power Require ents 3Ć5
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
WiringĆAr Connections 3Ć8
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installing the Module 3Ć11
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Module Processor Communication 4Ć1. . . . . . . . . . . . . . . . . .
Chapter Objectives 4Ć1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Block Transfer 4Ć1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BlockĆtransferĆwrite
Data 4Ć1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
WriteĆData Throughput Ti e 4Ć4
. . . . . . . . . . . . . . . . . . . . . . . . . . . .
BlockĆtransferĆread
Data 4Ć4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Progra ing Exa ple 4Ć5
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Progra ing Considerations 4Ć7
. . . . . . . . . . . . . . . . . . . . . . . . . . .
Su ary 4Ć7
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents

Table of Contentsii
Offset Feature 5Ć1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Offset Feature 5Ć1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Offset Words 5Ć2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Progra ing
Considerations with Of fset 5Ć6. . . . . . . . . . . . . . . . . . .
Troubleshooting 6Ć1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter Objectives 6Ć1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Causes of BlockĆtransfer Errors 6Ć1
. . . . . . . . . . . . . . . . . . . . . . . . . .
Errors
Indicated by Diagnostic Bits 6Ć2. . . . . . . . . . . . . . . . . . . . . . .
Su ary 6Ć2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BlockĆtransfer Ti ing AĆ1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BlockĆtransfer Ti ing for PLCĆ2 Fa ily Processors AĆ1
. . . . . . . . . . . .
BlockĆtransfer Ti ing for PLCĆ3 Fa ily Processors AĆ8
. . . . . . . . . . . .
Application Considerations BĆ1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Application Considerations BĆ1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BlockĆtransfer Ladder Diagram Examples CĆ1. . . . . . . . . . . . .
Bidirectional BlockĆtransfer for PLCĆ2 Fa ily Processors CĆ1. . . . . . . .
Bidirectional BlockĆtransfer for PLCĆ3 Processors CĆ4
. . . . . . . . . . . . .
ReadĆonly BlockĆtransfer for PLCĆ2 Fa ily Processors CĆ6
. . . . . . . . .
Bit and Word Descriptions of Block-transfer Data DĆ1. . . . . . .
Block-transfer-write Data DĆ1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Block-transfer-read
Data DĆ2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection Diagrams for AllenĆBradley Encoders EĆ1. . . . . .
Connection Diagra s for AllenĆBradley Encoders EĆ1. . . . . . . . . . . . .
0 to 359Ćcount, 10Ćbit, BCD, SingleĆended Output EĆ1
. . . . . . . . . . . . .
0 to 255Ćcount, 8Ćbit, Standard Gray, SingleĆended Output EĆ3
. . . . . . .
0 to 359Ćcount, 10Ćbit, BCD, SingleĆended Output, Latching EĆ4
. . . . . .
Glossary FĆ1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 1
1Ć1
Using This Manual
Read this chapter to familiarize yourself with this manual. It tells you
how to use the manual properly and efficiently.
This manual contains 5 chapters and 6 appendices:
Chapter
Appendix
Title What's Covered
1 Using This Manual Manual' s purpose, audience, and contents
2 Introducing the Absolute
Encoder Module
Module description, features, and hardware
co ponents
3
Configuring and Installing
Y our Module
Feature selection and installation procedures
4 Module/Processor
Co unication
W ords and file para eters of blockĆtransfer
data
5Of
fset Feature Progra ing to co pensate for shaft of fset
6 Troubleshooting T
roubleshooting guide
A Block-transfer T i ing Instructions for deter ining blockĆtransfer
ti ing
B
Application Consideration Encoder shaft speed
C Block-transfer Ladder
Diagra Exa ples
Exa ples of blockĆtransfer progra ing
D Biat and W ord Description
of Block-transfer Data
Details of blockĆtransfer file data
E Glossary
F Index
In this manual we assume that you know how to:
program and operate an Allen-Bradley programmable controller
program block-transfer instructions
Chapter Objectives
What This Manual Contains
Audience

Using This Manual
Chapter 1
1Ć2
If you do not know how to do either of these, read the user’s manual of
your processor. Refer to our Publications Index (publication SD499) for a
complete list of publications.
Throughout this manual we include special notes to alert you to possible
injury to personnel or damage to equipment under specific circumstances.
WARNING: tells you when people may be injured if
procedures are not followed properly.
CAUTION: tells you when machinery may be damaged if
procedures are not followed properly.
This chapter told you how to use this manual efficiently. The next chapter
introduces you to the absolute encoder module.
Warnings and Cautions
Summary

Chapter 2
2Ć1
Introducing the Absolute Encoder Module
This chapter describes:
example applications of the absolute encoder module
functions of the module
Allen-Bradley processors compatible with the absolute encoder module
encoders you can use with the module
module specifications
The absolute encoder module is usually used for:
absolute-position feedback
high-speed response to position based on encoder values
immunity to loss of position from power loss or power interruptions
The Absolute Encoder Module (cat. no. 1771-DE) is an intelligent module
that provides high-speed response to machine position independently of
the programmable controller scan. It can:
monitor the position of an absolute encoder that has up to 12 bits
control up to eight high-current outputs based on comparisons between
encoder position and your preset values
provide throughput for all eight outputs in less than 200 us
communicate with the programmable controller through block transfers
return the status of outputs and the position of an absolute encoder to
the programmable controller
In addition, the module can switch 2A DC per output with no derating
when all outputs are on, allowing 16A continuous per module.
Chapter Objectives
Example Applications
Module Functions

Introducing the Absolute Encoder Module
Chapter 2
2Ć2
You can use the absolute encoder module with any Allen-Bradley
programmable controller that uses block-transfer programming in both
local and remote 1771 I/O systems. Processors that are compatible with
the module include:
Mini PLC-2 (cat. no. 1772-LN3)
PLC-2/20 (cat. no. 1772-LP1, -LP2)
PLC-2/30 (cat. no. 1772-LP3)
PLC-3 (cat. no. 1775-L1, -L2)
Mini-PLC-2/15 (cat. no. 1772-LV)
Mini-PLC-2/05 (cat. no. 1772-LS, -LSP)
You can use Allen-Bradley absolute encoders that use up to 12 bits with
the absolute encoder module. Allen-Bradley encoders with the following
bulletin numbers are compatible with the absolute encoder module:
Bulletin 845A
Bulletin 845B
Bulletin 845C
The module is also compatible with absolute encoders that have the
following specifications:
single-ended or differential encoder output signals
TTL-compatibility (output drivers)
capability of sinking 11mA (single-ended) or 18mA (differential) per
channel
BCD, natural binary, or standard Gray code format
You can select the state in which the outputs will be if the module loses
input power. A configuration plug on the right printed-circuit board
allows the outputs to:
turn off
remain in their state at loss of input power
Compatible Processors
Compatible Encoders
State of Outputs Upon Loss of
Input Power

Introducing the Absolute Encoder Module
Chapter 2
2Ć3
The next four sections give a description and specifications of the
absolute encoder module.
Status Indicators
The module has 10 LED status indicators (Figure 2.1):
Eight output status indicators (one for each output) light when the
corresponding output circuitry is energized.
One green ACTIVE indicator lights when the module is powered and
functioning.
One red FAULT indicator lights when the module detects a fault and
momentarily lights at power-up.
Figure 2.1
Status
Indicators
ABSOLUTE
ENCODER
MODULE
Active
0
1
2
3
4
5
6
7
Fault
Output status
Indicators
Status Indicators
Output Fuses
The module has eight 3A rectifier fuses (one per output) located on the
right printed-circuit board. Figure 2.2 shows the fuse locations.
Module Description

Introducing the Absolute Encoder Module
Chapter 2
2Ć4
Figure 2.2
Fuse
Locations
F1 F2
F3 F4
F5 F6
F7 F8
Right Board 13303
Terminal Identification
Figure 2.3 identifies each terminal of the absolute encoder module. The
bit x/common terminals refer to:
not bit x terminals (uses with differential output encoders)
or
common terminals (used with single-ended output encoders)

Introducing the Absolute Encoder Module
Chapter 2
2Ć5
Figure 2.3
Terminal
Identification
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
Output Supply (+5 to 24V dc)
Output 0
Output 1
Output 2
Output 3
Output Co on (+5 to 24V dc)
Output Co on (+5 to 24V dc)
Not Used
Output Supply (+5 to 24V dc)
Output 4
Output 5
Output 6
Output 7
Output Co on (+5 to 24V dc)
Output Co on (+5 to 24V dc)
Not Used
Bit 10
Bit 10 / Co on
Bit 11
Bit 11 / Co on
Input Co on (+5V dc)
Bit 0
Bit 0 / Co on
Bit 1
Bit 1 / Co on
Bit 2
Bit 2 / Co on
Bit 3
Bit 3 / Co on
Bit 4
Bit 4 / Co on
Bit 5
Bit 5 / Co on
Bit 6
Bit 6 / Co on
Bit 7
Bit 7 / Co on
Bit 8
Bit 8 / Co on
Bit 9
Bit 9 / Co on
Input Supply
(+5V dc)
12832
Left
Wiring
Ar
Right
Wiring
Ar
For Outputs
0 - 3
For Outputs
4 - 7
Electrostatic discharge can damage integrated circuits or semiconductors
in this module if you touch backplane connector pins. It can also damage
the module when you set configuration plugs or switches inside the
module. Avoid electrostatic discharge by observing the following
precautions:
Touch a grounded object to discharge yourself before handling the
module.
Do not touch the backplane connector or connector pins.
When you configure and replace internal components, do not touch
other circuit components inside the module. If available, use a
static-safe workstation.
When not in use, keep the module in its static-shield bag.
Electrostatic Discharge

Specifications
Introducing the Absolute Encoder Module
Chapter 2
2Ć6
CAUTION: Electrostatic discharge can degrade performance or
damage the module. Handle as stated above.
Module Location
Any 1771ĆI/O chassis; any 2Ćslot I.O
group
Input Power Supply
+5V DC + 0.25V (total output
voltage tolerance includes line
regulation, load regulation, drift,
and ripple)
Number of Inputs
Up to 12 encoder input bits per
odule
Current Requirement
300 A ( axi u )
Encoder Formats
BCD
Natural binary
Standard Gray
Number of Outputs
8
Digital Resolution
Up to one part in 4,095 with
natural binary and standard
Gray encoders
Up to one part in 999 with
BCD encoders
Output Current Rating
2A sourced per output (no
derating with all outputs on)
HighĆtrue Logic
Fro tote pole, open
collector , or dif ferential line
drivers
Can select direction of
rotation of increasing position
for Gray code encoders
V A Rating
48W per output
384W per odule
Surge Rating
4A for l0 s
Input V oltage Range and Logic State
Logic 1: 1.7V DC
Logic 0:0.0V to 0.6V DC
Input and Output Isolation
1500V RMS
Input Current per Channel
(sunk by encoder device)
ll A for singleĆended drivers
l8 A for dif ferential drivers
Output Power Supply
Selectable : +5 to +24V DC
Maximum input Frequency
50 KHz
Backplane Current
800 A at 5V DC
Encoder Data Settling T ime
100 ns
Output Fuses
3A rectifier fuses (Littelfuse
322003, Buss GBB003, or
equivalent)

Introducing the Absolute Encoder Module
Chapter 2
2Ć7
New Position Throughput T ime
200 us
Environmental Condition s
Operating T e perature
0 to 60
o C
(32 to 140
oF)
Storage T e perature
Ć40 to 85
o
C (Ć40 to 185
oF)
Relative Hu idity
5 to 95% (without
condensation)
New W riteĆdata Throughput T ime
4.7 s
Keying (for slot 0 only)
Between 2 and 4
Between 26 and 28
T orque for wiring arm connections
9 inchĆpounds
This chapter described the absolute encoder module, its functions and
applications, and the processors and encoders with which it is compatible.
The next chapter tells you how to configure and install the module.
Summary

Chapter 3
3Ć1
Configuring and Installing Your Module
This chapter tells you how to:
select module features by setting configuration plugs
power module input circuitry and output devices
key the module
make wiring arm connections
install the module
Electrostatic discharge can damage integrated dircuits or semiconductors
in this module if you touch backplane connector pins. It can also damage
the module when you set configuration plugs or switches inside the
module. Avoid electrostatic discharge by observing the following
precautions:
Touch a grounded object to discharge yourself before handling the
module.
Do not touch the backplane connector or connector pins.
When you configure and replace internal components, do not touch
other circuit components inside the module. If available, use a
static-safe work station.
When not in use, keep the module in its static-shield bag.
CAUTION: Electrostatic discharge can degrade performance
or damage the module. Handle as stated above.
You can choose various module features by setting configuration plugs.
The module is factory-set for use with a BCD differential output encoder.
To access the configuration plugs, lay the module on its right side and
remove the cover.
The configuration plug sockets are labeled E1 through E15 on the left
printed-circuit board and E1 on the right printed-circuit board. Locate the
configuration plugs with the board positioned as shown in Figure 3.1 and
Figure 3.2. Each plug is inserted on two pins of a three-pin connector.
You change the position of the plugs in a left-right or up-down direction.
Chapter Objectives
Electrostatic Discharge
Setting Configuration Plugs

Configuring and Installing Your Module
Chapter 3
3Ć2
Figure 3.1
Configuration
Plug Locations and Settings (Left Board)
E13
Left Board 13304
Right
E14
E15
E1
E2
E3
E4
E5
E6
E7
E8
E9
E10
E11
E12
ConfigĆ Configuration Plug Settings
uration
Plug
Encoder Signal
Mode Encoder Format
Gray Encoder
Rotational Direction
SingleĆ
ended
DifferĆ
ential
Natural
Binary
Standard
Gray BCD
Increasing
Position
Decreasing
Position
E1
through
E12
left right
E13
E14
left
left
right
left
left
left
E15 right left

Configuring and Installing Your Module
Chapter 3
3Ć3
Figure 3.2
Configuration Plug Location and Settings (Right Board)
E1
Right Board 13305
Down
Configuration Configuration Plug Settings
Plug State of Outputs After Loss
of Input Power Supply
E1
Turn
Off
Last
State
Up Down
Selecting Encoder Format and Input Signal Mode
Set configuration plugs E1 through E12 (on the left board) to match the
signal mode of each encoder input channel to the encoder. Set
configuration plugs E13 and E14 (also on the left board) to match the data
format of your encoder.
Selecting Encoder Rotational Direction
Use configuration plug E15 on the left board to indicate the direction of
shaft rotation that causes the absolute position to increase for Gray code

Configuring and Installing Your Module
Chapter 3
3Ć4
encoders. This is the same as selecting “high true” or “low true” inputs
from the Gray encoder.
Configuration plug E15 is factory-set in the right position. It gives an
increased count when the encoder rotates clockwise when looking at the
shaft. If your encoder shows a decreased count, change the plug to the
left position.
If your Gray
encoder has:
and E15 is in
this position
the encoder
shows:
12 bits right an increased count
left a decreased count
less than 12 bits right an increased count
left a decreased count starting with 4,095
This configuration plug does not affect BCD or binary encoders.
Selecting State of Outputs Upon Loss of Input Power
Use configuration plug E1 on the right board to choose the state of the
outputs if the module loses input power. The plug is factory-set for the
outputs to turn off if input power is lost (up position). If you want the
outputs to remain in their state at loss of input power, set the plug to the
down position.
Except for downloading programs or commands and reporting status, the
module operates independent of the host processor. In the event of a
processor or I/O communications fault, the module either continues
operation or its outputs turn off, depending on how you set the last state
switch of the chassis in which you place the module.
If you set the last state switch to turn outputs off, the module’s outputs are
turned off.
If you set the last state switch to hold outputs in last state, the module
continues operating.
Plastic keying bands are shipped with each I/O chassis. These bands
ensure that only a selected type of module can be placed in a particular
Response to External Fault
Keying

Configuring and Installing Your Module
Chapter 3
3Ć5
I/O chassis module slot. They also help to align the module with the
backplane connector.
Each module is slotted at its rear edge. The position of the keying bands
must correspond to these slots to allow insertion of the module. Position
the keying bands on the upper backplane connector between the numbers
at the right of the connectors. Keying bands are only used to key slot 0 of
the module. Figure 3.3 illustrates the encoder module keying positions
for slot 0.
Figure 3.3
Keying
Positions
2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
36
2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
36
Keying
Bands
12834
Left
Connector Right Connector
01
Upper Backplane
Connectors
2-slot I/O group
You must provide a minimum of two external power supplies: one to
power input circuitry and one to power output devices.
Input Power Supply
Connect a +5V DC power supply for the input circuitry between terminal
21 (+) of the left wiring arm and terminal 21 (-) of the right wiring arm.
Make sure the voltage is 5V DC +.25V. The input circuitry requires a
Power Requirements

Configuring and Installing Your Module
Chapter 3
3Ć6
maximum of 300mA.
For the best system noise immunity, we recommend use of a separate,
linear regulated power supply for powering the input circuitry and the
encoder. You can use this supply for more than one absolute encoder
module or encoder, but do not use it for otehr 5V loads such as relays.
Make sure the power supply has enough additional current capacity for
the encoder.
We suggest you use extra shielded twisted pairs of wire in the encoder
input cable to power the encoder. If more than one extra pair of wires
remains, put them in parallel to reduce the voltage drop between the
power supply and the encoder Figure 3.4.
Do not source current, such as from a power supply, into the encoder
input terminals of the module. Doing so can damage input circuitry.
For the best system noise immunity, we recommend use of a separate,
linear regulated power supply for powering the input circuitry and the
encoder. You can use this supply for more than one absolute encoder
module or encoder, but do not use it for other 5V loads such as relays.
Make sure the power supply has enough additional current capacity for
the encoder.
Figure 3.4
Connecting
Extra Pairs of W ires Between the Module and Encoder for Power Supply
Connections
+
-
5V supply
Ter inal 21 of
Left Wiring Ar
Ter inal 21 of
Right Wiring Ar
+5V
Encoder
Supply
Co on
12835

Configuring and Installing Your Module
Chapter 3
3Ć7
Output Power Supply
To power the eight outputs (Figure 3.5), connect at least one +5 to +24V
DC supply to terminal 1 and terminal 6 (or 7) of the right wiring arm.
You can connect another +5 to +24V DC power supply between terminals
9 and 14 (or 15) of the right wiring arm if, for example, you need two
different load supply voltages.
If you need only one supply voltage, connect a wire between terminals 1
and 9 and connect another wire between terminal 6 (or 7) and terminal 14
(or 15).
Figure 3.5
Connection
Diagram for Output Devices
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
Output Supply (+5 to 24V dc)
Output 0
Output 1
Output 2
Output 3
Output Co on (+5 to 24V dc)
Output Co on (+5 to 24V dc)
Not Used
Output Supply (+5 to 24V dc)
Output 4
Output 5
Output 6
Output 7
Output Co on (+5 to 24V dc)
Output Co on (+5 to 24V dc)
Not Used
Bit 10
Bit 10 / Co on
Bit 11
Bit 11 / Co on
Input Co on (+5V dc)
12838
Right
Wiring
Ar
For Outputs
0 - 3
For Outputs
4 - 7
+5 to 24V
DC User
Supply
+
-
+
-
+5 to 24V
DC User
Supply
+
-
+
-
DC Output
Devices
Input circuitry
Tie Wires
Here
(See Applicable
Codes and Laws)

Configuring and Installing Your Module
Chapter 3
3Ć8
We recommend the following Belden cable or its equivalent to connect
the encoder to the module (maximum 50 feet). Use extra twisted pairs to
connect power to the encoder.
No. ofNo. of T wisted Belden Cable No.
Encoder Bits Pairs in Cable 18 A WG 20 A WG
8 9 9775 9875
10 11 Ć 9876
Ć 12 9776 9877
12 15 9777 9879
Important: Tighten wiring arm connections to 9 inch-pounds of torque.
WARNING: Do not remove the wiring-arm from an
operating module; it will cause the power-up bit status to
change unpredictably until a valid write to the module occurs.
If swing-arm power is lost, turn on the power-up bit and disable
all outputs until a valid write occurs.
Connecting a SingleĆended Output Encoder
Use Figure 3.6 to connect a single-ended output encoder. Connect the
signal line for bit 0 to terminal 1 of the left wiring arm. Connect its return
to terminal 2. Connect bit 1 signal line to terminal 3 and its return to
terminal 4. Continue in this way for all encoder channels.
If the encoder has less than 12 signal bits, jumper the unused input
terminals. For example, if you are using a 10-bit encoder, jumper
terminals 19 and 20 and terminals 17 and 18 on the right wiring arm.
WiringĆArm Connections