BECKHOFF AX572x User Manual

High Resolution Digital Encoder Option Card AX5721 / AX5722 BECKHOFF Drive Technology

Technical Documentation

Eiserstr. 5
Version: 1.0 33415 Verl
Date: 2013-10-17 Germany
Language: EN
Article no.: TDmlAX-572x-0000-0400 Phone: [phone]
Fax: [phone]
E-mail [e-mail]
Internet: www.beckhoff.com

Please read carefully before commissioning!

Beckhoff Automation GmbH

Foreword

Notes on the documentation

This description is only intended for trained specialists in control, automation and drive engineering who are familiar with the applicable national
standards. It is essential that the following notes and explanations are followed when installing and commissioning these components. The
responsible staff must ensure that the application or use of the products described satisfy all the requirements for safety, including all the relevant
laws, regulations, guidelines and standards.

Disclaimer

The documentation has been prepared with care. The products described are, however, constantly under development. For this reason, the
documentation may not always be have been fully checked for consistency with the performance data, standards or other characteristics described.
In the event that it contains technical or editorial errors, we retain the right to make alterations at any time and without warning. No claims for the
modification of products that have already been supplied may be made on the basis of the data, diagrams and descriptions in this documentation.

Appropriate use

The digital encoder cards are exclusively intended for application in the optional rear slot of a servo drive from the AX5000 series. The cards are
installed together with the servo drive as components in electrical systems and machinery and may only be used in this way.

Security

Safety rules

The responsible staff must ensure that the application or use of the products described satisfy all the requirements for safety, including all the
relevant laws, regulations and guidelines.

Caution – Danger of death!

Even when the AX5000 is disconnected from the mains voltage, dangerous voltage continues to be present at the "X02" terminals
of the DC link: AX5101-AX5125 and AX52xx = 5 min., AX5140 = 15 min. and AX5160 – AX5193 = 30 min.. Never touch the

DANGER

terminals within this period.

Caution – Risk of injury!

Electronic equipment is not fail-safe. The machine manufacturer is responsible for ensuring that the connected motors and the

WARNING

machine are brought into a safe state in the event of a fault in the drive system.

Destruction of the digital encoder card through electrostatic charging!

The digital encoder card is an ESD-sensitive component. Follow the usual ESD safety procedures when handling the card (anti-

Attention

static wrist straps, earthing of the relevant components, etc.).

Personnel qualification

This description is only intended for trained specialists in control, automation and drive engineering who are familiar with the applicable national
standards. Knowledge of machine safety legislation is compulsory.

Product description

The Encoder Option Card enables the connection of one digital feedback system per channel. The sockets X41 or X42 respectively are not plug­compatible with the front sockets X11 or X21 respectively of the AX5000. The following interfaces are supported:

Firmware version

AX5000: 2.06 or higher

AX572x: 2.06 or higher

Type key

Operation of the digital encoder card

The AX5721 can only be used in single-channel servo drives, the AX5722 can only be used in two-channel servo drives.

Note

AX5721 – High Resolution Digital Encoder Option Card for single-channel servo drives

AX5722 – High Resolution Digital Encoder Option Card for dual-channel servo drives

Seite 2/2

Technical data

Max. single turn resolution: 32 bit

Overview of sockets X41 (channel A) und X42 (channel B)

Pin Endat 2.2 BiSS C

1 n.c n.c
2 GND GND
3 n.c n.c
4 5V+ ±10% 5V+ ±10%
5 Data+ Data+
6 12 V 12 V
7 n.c n.c
8 CLK+ CLK+
9 n.c. n.c.
10 GND sense GND sense
11 n.c. n.c.
12 5V sense ±10% 5V sense ±10%
13 Data- Data­14 n.c. n.c.
15 CLK- CLK-

Installation of the digital encoder card

Caution – Do not work on live equipment!

Disconnect the equipment at all poles from live parts and secure it against being switched on again, so that there is no possibility of

CAUTION

DANGER

Attention

− Fully release the bolt (1).

− Remove the panel (2).

− Carefully insert the digital card (3) into the opening in the direction of

the arrow. The slot has guides for the card on the short sides. Ensure
that the card is inserted into these guides.

− Tighten the bolt (4).

Error messages related to the Encoder Option Card

F870 “Encoder not ready” – execute the RESET command (S-0-0099)

F872 “Error flag active” – status changes to “Safe op”. Restart required

F873 „Get position timeout“ – status changes to “Safe op”. Restart required

F874 „ Crc memory error – execute the RESET command (S-0-0099)

F875 „No EnDat 2.2 encoder connected“ – execute the RESET command (S-0-0099)

F876 „UART Error“ – execute the RESET command (S-0-0099)

F877 „Out of memory“ – execute the RESET command (S-0-0099)

F879 „Calibration error“ – execute the RESET command (S-0-0099)

F87A „AX572x power supply error“ – execute the RESET command (S-0-0099)

F87C „AX572x protocol not supported“ – execute the RESET command (S-0-0099)

F87D „AX572x wrong parameter“ – execute the RESET command (S-0-0099)

Copyright

© Beckhoff Automation GmbH
The reproduction, distribution and utilization of this document as well as the communication of its contents to others without express authorization
are prohibited.
Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a patent, utility model or design.

Scope of supply

The scope of supply includes the following components:

High Resolution Digital encoder card AX572x, technical documentation and packaging

If one of the components is damaged please notify the logistics company and Beckhoff Automation GmbH immediately.

uncontrolled movements of the equipment occurring.

Caution – Danger of death!

Even when the AX5000 is disconnected from the mains voltage, dangerous voltage continues to be present at the "X02" terminals of
the DC link: AX5101-AX5125 and AX52xx = 5 min., AX5140 = 15 min. and AX5160 – AX5193 = 30 min.. Never touch the terminals
within this period.

Destruction of the digital encoder card through electrostatic charging!

The digital encoder card is an ESD-sensitive component. Follow the usual ESD safety procedures when handling the card (anti­static wrist straps, earthing of the relevant components, etc.).