MultiFeedback

Valid for S300, S400, S600, S700

The servo amplifiers support a lot of different feedback devices. Depending on the feedback type the data are transmitted digitally or analog to the servo amplifier. KOLLMORGEN servo amplifiers can evaluate up to three feedbacks at the same time.

Feedback functionality must be defined via the setup software.

• FBTYPE adjustable on DRIVEGUI screen page FEEDBACK, primary feedback (motor feedback)
• EXTPOS adjustable on DRIVEGUI screen page POSITION CONTROL, secondary feedback for external position feedback
• GEARMODE adjustable on DRIVEGUI screen page ELECTR. GEARING, encoder master for electronic gearing

Scaling and other settings must be done there as well.

Wiring Variants

Dual cable connection

Motor power and feedback system are connected with two cables. Motor Holding brake lines are connected via additional lines in the motor power cable. The motor temperature sensor (PTC or NTC resistor) built into the motor winding, is connected to the servo amplifier via the feedback cable.  

S300	S700

Single Cable Connection

Available from October 2016

Motor power and feedback system are connected with one hybrid cable. Motor Holding brake lines are connected vie additional lines in the hybrid cable. With the digital feedback systems SFD3 or HIPERFACE DSL, the motor temperature sensor (PTC or NTC resistor) built into the motor winding is evaluated in the Encoder and the temperature value is transmitted digitally to the servo amplifier.

The hybrid cable is split close to the servo amplifier. Connector X1 (Encoder connector) includes a Splitter Adapter.

S300 (from HWR 4.20)	S700 (from HWR 2.30)

Possible Feedback Configurations

The graphic below just shows some of the possible configurations. Examples with S700 drives and AKM motors. Connectors X1 and X2 are in the standard device, X5 is located on the Expansion card POS-IO or Expansion card POS-IO-Monitor.

Feedback Systems

Parameters

	Parameters
Feedback	FBTYPE (Primary)	EXTPOS (Secondary)	GEARMODE
ResolverFeedback (2-36 poles)	0	-	-
Smart Feedback Device SFD, four lines	-	-	-
Smart Feedback Device SFD3, two lines	36	-	-
Absolute Encoder with BiSS B (5V, sincos)	23	-	-
Absolute Encoder with BiSS B (12V, sincos)	24	-	-
Absolute Encoder with BiSS B (5V, digital)	20	11	11
Absolute Encoder with BiSS B (12V, digital)	22	11	11
Absolute Encoder with BiSS C (5V, digital,m Renishaw)	334)	124)	124)
Absolute Encoder with EnDat 2.1 with analog signals, SinCos	4,21	8	8
Absolute Encoder with EnDat 2.2	32,34	13	13
Absolute Encoder with Hiperface	2	9	9
Absolute Encoder with Hiperface DSL	35	-	-
Safety Absolute Encoder with Hiperface	2	9	9
Sine Encoder without data channel	1,3,7,8	6,7	6,7
Sine Encoder with Hall Sensors	5,6	-	-
Sine Encoder with SSI	263) (S300:283))	-	-
Incremental Encoder AquadB (5V)	133),17,193), 27,31,30	10,30	3,10,30
Incremental Encoder AquadB (24V)	12,16	2	2
Incremental Encoder with Hall (5V)	153),18	-	-
Incremental Encoder with Hall (24V)	14	-	-
Absolute Encoder with SSI	93),253)	53),253)	5,25
Hall Sensors	11	-	-
Step Direction interface (5V)	-	4,27	4,27
Step Direction interface (24V)	-	1	1
Sensorless (without Feedback)	10	-	-
DRIVE-CLiQ	-	-	-

Drives 

	Drives
Feedback	S300	S400	S600	S700	FBTYPE	AKD Drive
ResolverFeedback (2-36 poles)	P	P	P	P	40	P
Smart Feedback Device SFD, four lines	-	-	-	-	41	P
Smart Feedback Device SFD3, two lines	P	-	-	P	-	P
Absolute Encoder with BiSS B (5V, sincos)	P	P	P	P	32	P
Absolute Encoder with BiSS B (12V, sincos)	P	-	P	P	-	-
Absolute Encoder with BiSS B (5V, digital)	P S	-	-	P S	-	-
Absolute Encoder with BiSS B (12V, digital)	P S	-	-	P S	-	-
Absolute Encoder with BiSS C (5V, digital,m Renishaw)	P4) S4)	-	-	P4) S4)	-	P4)
Absolute Encoder with EnDat 2.1 with analog signals, SinCos	P S	P	P	P S	30	P
Absolute Encoder with EnDat 2.2	P S	-	-	P S	31	P S
Absolute Encoder with Hiperface	P S	P	P	P S	33	P
Absolute Encoder with Hiperface DSL	P	-	-	P	-	x
Safety Absolute Encoder with Hiperface	P S	P	P	P S
Sine Encoder without data channel	P S	P S	P S	P S	21	P
Sine Encoder with Hall Sensors	P	P	P	P	20	P
Sine Encoder with SSI	P	-	-	P	-	-
Incremental Encoder AquadB (5V)	P S	P S	P S	P S	11	P S
Incremental Encoder AquadB (24V)	P S	P S	P S	P S	-	S
Incremental Encoder with Hall (5V)	P	P	P 1)	P	10	P
Incremental Encoder with Hall (24V)	P	P	P 1)	P	-	-
Absolute Encoder with SSI	P S 2)	S	S	P S	-	-
Hall Sensors	P	-	P 1)	P	-	-
Step Direction interface (5V)	S	S	S	S	-	S
Step Direction interface (24V)	S	S	S	S	-	S
Sensorless (without Feedback)	P	P	P	P	-	-
DRIVE-CLiQ	-	-	-	-

 Motors

	Motors
Feedback	AKM	AKMH	VLM	DBL/DBK	CDDR	KBM
ResolverFeedback (2-36 poles)	x	x	x	x
Smart Feedback Device SFD, four lines	x	x	x
Smart Feedback Device SFD3, two lines	x	x
Absolute Encoder with BiSS B (5V, sincos)	x				x
Absolute Encoder with BiSS B (12V, sincos)
Absolute Encoder with BiSS B (5V, digital)
Absolute Encoder with BiSS B (12V, digital)
Absolute Encoder with BiSS C (5V, digital,m Renishaw)
Absolute Encoder with EnDat 2.1 with analog signals, SinCos	x	x		x	x
Absolute Encoder with EnDat 2.2
Absolute Encoder with Hiperface	x	x
Absolute Encoder with Hiperface DSL	x	x
Safety Absolute Encoder with Hiperface	x
Sine Encoder without data channel
Sine Encoder with Hall Sensors
Sine Encoder with SSI
Incremental Encoder AquadB (5V)
Incremental Encoder AquadB (24V)
Incremental Encoder with Hall (5V)	x	x	x
Incremental Encoder with Hall (24V)
Absolute Encoder with SSI
Hall Sensors			x			x
Step Direction interface (5V)
Step Direction interface (24V)
Sensorless (without Feedback)
DRIVE-CLiQ	x

P = primary Feedback
S= secondary Feedback
1) S601-620 with Hall dongle
2) via X5 only
3) switch on supply voltage on X1 for encoder: set ENCVON to 1
4) Hengstler BiSS C encoders are not supported, Renishaw encoders are supported.

Accuracy

Accuracy of the feedback systems is various.

• S300 (HWR <4.0), S400, S600: please refer to page Feedback Accuracy.
• S300 (HWR >=4.00), S700: please refer to page Feedback Accuracy S700.

Safety characteristic data

The feedback systems have different  MTTF_D values. This leads to different safety evaluation. See page Safety Characteristic Data.

Permitted cable length

The adequate 5V supply for the feedback devices is usually monitored/adjusted with 2 sense lines. Depending on the encoder manufacturer, the connections + 5V => sense+ and 0V => sense- is implemented in the encoder itself or must be fitted in the connector. In particular for long cables the function of feedback depends on correctly connected sense lines.

	S300	S400	S600	S700	AKD
Resolver	100m	25m	100m	100m	100m
SFD	-	-	-	-	100m
SFD3	25m	-	-	25m
Absolut Encoder with BiSS	50m	50m	50m	50m	50m
Absolut Encoder with  EnDat	50m	25m	50m	50m	50m
Absolut Encoder with Hiperface	50m	25m	50m	50m	50m
Hiperface DSL	25m	-	-	25m
Absolut Encoder with SSI	50m	50m	50m	50m	-
Sine Encoder	50m	50m	50m	50m	25m
Sine Encoder with Hall	25m	25m	25m	25m	25m
Sine Encoder with  SSI	-	-	-	50m	-
Incremental Encoder 5V	50m	50m	50m	50m	25m
Incremental Encoder 24V	25m	25m	25m	25m	-
Incremental Encoder with Hall	25m	25m	25m	25m	25m
Hall Sensors	25m	-	25m	25m	-
Step Direction interface	25m	25m	25m	25m	25m

Termination resistors

Overview of the termination resistors for RS485 and differential analog inputs:

	S300		S400	S600	S700			AKD
	HWR 2/3	HWR 4			X1		X5	X10
SFD, SFD3	-	-	-	-	-		-	0
Sine Encoder	0	0	0	0	0		-	ext
Absolut Encoder with BiSS analog	0	0	0	0	0		-	0
Absolut Encoder with BiSS digital	0	0	-	-	0		-	-
Absolut Encoder with EnDat 2.1	0	0	0	0	0		-	0
Absolut Encoder with EnDat 2.2	-	0	-	-	0			0
Absolut Encoder with Hiperface	0	0	0	0	0		-	0
Absolut Encoder with SSI	ext	0	ext	ext	0		ext	-
Incremental Encoder 5V 1.5MHz	ext	Channel A: ext Channel B: 0	ext	ext	Channel A: ext Channel B: 0		ext	0
Incremental Encoder 5V 350 kHz	0	0	-	-	0		-	-

- = not available
0 = no ext. resistor required
ext = ext. resistor required

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