P Series Cables - Encoder Cable Color Code and Specs

Pinout for P Series Drives

P Series Drive Pin	Function	P Encoder cable Wire	P Encoder Highflex cable	Motor Side
3	MA	YELLOW	YELLOW	1
4	/MA	YELLOW w/black	BLUE	6
5	SLO	WHITE	GREEN	2
6	/SLO	WHITE w/black	WHITE	7
7	Encoder power return	ORANGE w/black	BLACK	4
14	+5 VDC Encoder power	ORANGE	RED	9
	Battery (RED)	Grey	BROWN	8
	battery 0V (Black)	Grey w/black	GRAY	3

Pinout for IPA Drives

IPA Pin	Function	P Encoder cable Wire	Motor Side
9	MA	YELLOW	1
13	/MA	YELLOW w/black	6
1	SLO	WHITE	2
2	/SLO	WHITE w/black	7
3	Encoder power return	ORANGE w/black	4
4	+5 VDC Encoder power	ORANGE	9
	Battery (RED)	Grey	8
	battery 0V (Black)	Grey w/black	3

BiSS-C Protocol Timing

 

P Series Protocol Timing Constraints

Symbol	Parameter	Conditions	Min.	Max.	Unit
tMAS	Permissible clock period	ttimeout = 1.2 μs	100	2 × ttimeout	ns
tMASH	Clock signal high level duration	-	50	ttimeout	ns
tMASL	Clock signal low level duration	ttimeout = 1.2 μs	50	-	ns
tREQ	Req low level duration	ttimeout = 1.2 μs	50	ttimeout	ns
CLK (MA)	Permissible clock frequency MA	-	-	10	MHz

 

Multi-Turn Serial Encoder BiSS-C Output Format

CDS 0/1 bits

MT 0/12/16/20/24 bits

ST 9-21 bits

ERR/NERR 1 bit

WARN/NWARN 1 bit

LC 0/6 bits

CRCPOS 6 bits

 

Breakdown of BiSS-C Multi-Turn Encoder Format

Data Field	Description	Data Length
CDS	Control data slave	1 bit
MT	Multi-turn resolution	16 bits*
ST	Single-turn data length	21 bits
ERR/NERR	Error bit	1 bit
WARN/NWARN	Warning bit	1 bit
LC	Enable life counter	0 bits
CRCPOS	Checksum for position data	6 bits

 

* Multi-turn resolution does not apply to the PM-DD direct drive rotary motors. These motors do not maintain mult-turn position and do not transmit MT bits.

 

Resolution of P Series Motor Encoders

Motor	Multi-Turn Resolution	Single-Turn Resolution	Single-Turn Data Length	Alignment Bits
PM-FALxxxM8Nx	65,536 (16 bits)	262,144 (18 bits)	21 bits	3
PM-FBLxxAMKx	65,536 (16 bits)	524,288 (19 bits)	21 bits	2
PM-FCLxxAMKx	65,536 (16 bits)	524,288 (19 bits)	21 bits	2
PM-DDxxxxxx	0 (0 bits)	1,048,576 (20 bits)	21 bits	1

PDF Format Specification