Delta Tau 5xx-603869-xUxx manual Part Number, Brick Motion Controller Options

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Brick Motion Controller Hardware Reference Manual

SPECIFICATIONS

Part Number

Brick Controller

Model Number Definition

Axis 1-4 Output Options

F:Filtered-PWM analog output on Channels1-4, 12-bit resolution(default)

D:Dual true-DAC analog outputs on Channels1-4, 18-bit resolution

CPU Options - Turbo PMAC 2 Processor

 

Digital I/O Option

C0 : 80Mhz, 8Kx24 Internal, 256Kx24SRAM, 1MB Flash (Default)

 

0: Digital I/O 16 inputs and 8 outputs, 0.5A, 24VDC (default)

 

F3: 240Mhz, 192Kx24 Internal, 1Mx24SRAM, 4MB Flash

 

1: Expanded digital I/O additional16 inputs and 8 outputs, 0.5A, 24VDC

 

 

2: Expanded digital I/O additional32 inputs and 16 outputs, 0.5A, 24VDC

 

 

 

 

 

 

 

 

 

 

Analog I/O Options

 

 

 

 

 

 

 

 

 

 

0: No Options (default)

 

 

 

 

 

 

 

 

 

 

3: Two 16-bit analog inputs

 

 

 

 

 

 

 

 

 

 

4: Four 16-bit analog inputs

Number of Axes

 

 

 

 

 

 

 

 

 

 

 

 

4: Four Axes (Default)

BC4 - C0 - F00 - 000 – (0000)

 

 

 

 

 

 

 

 

 

 

 

 

8: Eight Axes

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Axis 5-8 Feedback Options , apply only to BC4 controller

MACRO and Special Feedback Options (See Note)

Number and Type of Special Feedback Channels

Note: For Other Feedback Options See “Special Feedback Options”

00: No added encoders or flags, 12-24V flags on Channels1-4 (default)

BC X - XX - XXX - XXX - XXXX

 

 

 

02: Four added encoders(Channels5-8), four added flag sets, 12-24V flags all channels

00: No Special Feedback Channels

05: No added encoders or flags, 5V flags on Channels1-4

4A: 4 Sinusoidal Encoder Feedback Channels

07: Four added encoders(Channels5-8), four added flag sets, 5V flags all channels

4B: 4 Resolver Feedback Channels

Axis 5-8 Options, apply only to BC8 controller

4C: 4 Serial Encoder Feedback Channels

4D: 4 Sinusoidal Encoder and Serial Encoder Feedback Channels

Note: Letter must be same as previous letter

8A: 8 Sinusoidal Encoder Feedback Channels

F2: Filtered-PWM analog output on Channels5-8, 12-bit resolution, 12-24V flags all channels

8B: 8 Resolver Feedback Channels

D2: Dual true-DAC analog outputs on Channels5-8, 18-bit resolution, 12-24V flags all channels

8C: 8 Serial Encoder Feedback Channels

F7: Filtered-PWM analog output on Channels5-8, 12-bit resolution, 5V flags all channels

8D: 8 Sinusoidal Encoder and Serial Encoder Feedback Channels

D7: Dual true-DAC analog outputs on Channels5-8, 18-bit resolution, 5V flags all channels

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Serial Encoder Protocols

 

 

 

 

 

 

 

 

 

BC X - XX - XXX - XXX - XXXX

 

 

 

 

 

 

 

 

 

0: No Serial Encoder Protocol(for previous digit = 0, A, or B)

 

 

 

 

 

 

1: SSI

 

 

 

 

 

 

 

 

 

 

 

 

Communication Options

 

 

 

 

2: Yaskawa Sigma II

 

 

 

 

 

 

 

3: EnDat

 

 

 

Note: To use PMAC-NC software, DPRAM is required

Note: If this portion of the model number is

4: HiperFace

0: No Options, Default

 

 

 

 

present at all, an add-in board with RS-232

 

 

 

 

5: Tamagawa

D: DPRAM option, size 32K x 16-bit wide (required for NC software)

comms port, 2 channel "handwheel" port and8

 

 

 

 

 

M: ModBus Ethernet Communication Protocol(Software) option

MACRO Ring Interface

relay outputs for the amplifier-enable signals will

S: DPRAM and Modbus Options Combined

be provided, regardless of the values in this

BC X - XX - XXX - XXX - XXXX

portion of the model number.Additional circuits

R: RS232 port on 9-pin D-sub Connector

E: DPRAM & RS232 Options Combined

0: No MACRO Interface

are provided as specified by the codes here.

N: RS232 & ModBus Options Combined

1: RJ45 MACRO Interface

 

 

 

T: Modbus, DPRAM & RS232 Combined

2: Fiber Optic MACRO Interface

 

 

 

Brick Motion Controller Options

CPU Options

•Option C0 – 80MHz Turbo CPU with 8Kx24 internal memory, 1Mx24 256Kx24 SRAM, 1Mx8 flash memory

•Option F3 – 240MHz Turbo CPU with 192Kx24 internal memory, 1Mx24 SRAM, 4Mx8 flash memory

Axis 1-4 Output Options

•Filtered-PWM analog output on Channels 1-4, 12-bit resolution (default)

•Dual true-DAC analog outputs on Channels 1-4, 18-bit resolution

Secondary Encoder Options

•Four secondary encoder inputs, and flags 12-24V.

•Four secondary encoder inputs, and flags 5V.

Digital I/O Option

•Digital I/O 16 inputs and 8 outputs, 0.5A, 24VDC (default)

•Expanded digital I/O additional 16 inputs and 8 outputs, 0.5A, 24VDC

•Expanded digital I/O additional 32 inputs and 16 outputs, 0.5A, 24VDC

Specifications

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Contents 125 Delta Tau Data Systems, Inc. Technical Support Safety InstructionsCopyright Information Operating ConditionsPage Page Revision History Page Table of Contents Brick Motion Controller Hardware Reference Manual Introduction Brick Motion Controller FeaturesBrick Motion Controller Hardware Reference Manual Brick Motion Controller Options Part NumberMacro and Special Feedback Options Analog I/O OptionsCommunication Options Use of Equipment Receiving and UnpackingBrick Motion Controller Hardware Reference Manual Earth Grounding Paths Wiring Earth-GroundNoise Problems X1-X8 Encoder Input 1 to ConnectorsPin Symbol Function X11-12 Analog I/O Ch7 X11 and Ch8 X12, Optional X9/10 Female DB-9 Connector Pin # SymbolX11/12 Female DB-9 Connector Pin # Symbol Function X9-10 Analog I/O Ch5 X9 and Ch6 X10, OptionalX15 Watchdog X13 USB 2.0 ConnectorX14 RJ45, Ethernet Connector Pin # SymbolS2 Firmware Reload Enable TB1 Power ConnectorS1 Re-Initialization on Reset Control Description J4 Limit Inputs 1-4 AxisJ5 Limit Inputs 5-8 Axis Limit and Flag Circuit WiringGND Sample J4/J5, Flags Wiring DiagramsAMP1-AMP8 Amplifier connections 1 to Amplifier Fault / Amplifier Enable diagrams J6 General Purpose I/O J6 General Purpose I/O Female DB-37 Connector Pin # SymbolSourcing Sinking Suggested M-var. # AddressJ7 Extra General Purpose I/O Optional Symbol FunctionSuggested M-var. # Address J8 Extra General Purpose I/O Optional J8 General Purpose I/O Female DB-37 Connector Pin # SymbolSuggested M-var. # Address GBL Sample J6/J7, I/O Wiring DiagramsFunction Pin # Setting up Quadrature EncodersSignal Format Hardware SetupChannel# Address Description Encoder Loss SetupBipolar Setting up the Analog Inputs optionalFiltered DAC Outputs Configuration optional Parameters to Set up Global Hardware Signals Parameters to Set Up Per-Channel Hardware Signals Multi-Channel Servo IC I-Variables Setting up for Pulse and Direction OutputSoftware Setup I7m00 Servo IC m MaxPhase/PWM Frequency ControlI7mn0 Servo IC m Channel n Encoder Decode Control I7mn6 Servo IC m Channel n Output Mode SelectSingle-Channel I-Variables I7m04 PFM Pulse Width ControlIxx31 Motor x Derivative Gain Ixx34 Motor xx Integration ModeIxx30 Motor xx Proportional Gain ExampleBrick Motion Controller Hardware Reference Manual Diagnosing Cause of Watchdog Timer Trip Watchdog TimerActions on Watchdog Timer Trip Troubleshooting Screw Lock Size for all DB-connectors DB- Connector Spacing SpecificationsX1-8 DB-15 Connectors for encoder feedback X9-12 DB-9 Connectors for Analog I/OType of Cable for Encoder Wiring Appendix a Inputs SchematicsJ6 and J7 General Purpose I/O Outputs Opto Gnd PlaneLimits 1,2,3,4 J4 Limit Inputs for AxisLimits 5,6,7,8 J5 Limit Inputs for AxisDimensional Layout and Connector location
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