Owner's manual

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6.6.1. Incremental Encoder ..................................................................................... 36
6.6.2. Halls Sensor ................................................................................................... 36
6.6.3. Absolute Serial Encoder ................................................................................ 37
6.6.3.1. Hiperface ...................................................................................... 38
6.7. Port B ............................................................................................................................ 39
6.7.1. Incremental Encoder ..................................................................................... 40
6.7.2. Interpolated Analog Encoder ........................................................................ 41
6.7.3. Resolver ......................................................................................................... 42
6.8. Port C, Digital I/Os, and Analog Inputs ......................................................................... 43
6.8.1. Port C – Emulated Encoder Output ............................................................... 45
6.8.2. Analog Input .................................................................................................. 46
6.8.3. Digital Input and Output TTL Mode ............................................................... 47
6.8.4. Digital Input and Output PLC Source Mode .................................................. 49
6.8.5. Digital Input and Output Sink Mode.............................................................. 51
6.9. USB 2.0 ......................................................................................................................... 53
6.10. EtherCAT Communication Version ............................................................................... 54
6.10.1. EtherCAT IN/Ethernet Pin Assignments ........................................................ 54
6.10.2. EtherCAT OUT ................................................................................................ 55
6.10.3. therCAT Wiring .............................................................................................. 55
6.10.4. EtherCAT Status Indicator ............................................................................. 56
6.11. CAN Communication Version ....................................................................................... 57
6.11.1. CAN Wiring .................................................................................................... 58
6.12. Powering Up ................................................................................................................. 59
6.13. Initializing the System .................................................................................................. 59
Chapter 7: Dimensions ................................................................................................... 60