Delta Tau 5xx-603869-xUxx manual Analog I/O Options, Communication Options

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Brick Motion Controller Hardware Reference Manual

Analog I/O Options

•Two 16-bit analog inputs

•Four 16-bit analog inputs

Communication Options

•DPRAM option, size 32K x 16-bit wide (required for use with NC software)

•ModBus Ethernet Communication Protocol (Software) option

•DPRAM and Modbus options combined

•RS232 port on 9-pin D-sub connector

•DPRAM & RS232 options combined

•Modbus & DPRAM options combined

•Modbus, DPRAM & RS232 options combined

MACRO and Special Feedback Options

Number and Type of Special Feedback Channels

•No Special Feedback Channels

•4 Sinusoidal Encoder Feedback Channels

•4 Resolver Feedback Channels

•4 Serial Encoder Feedback Channels

•4 Sinusoidal Encoder and Serial Encoder Feedback Channels

•8 Sinusoidal Encoder Feedback Channels

•8 Resolver Feedback Channels

•8 Serial Encoder Feedback Channels

•8 Sinusoidal Encoder and Serial Encoder Feedback Channels

Serial Encoder Protocols

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

•SSI Serial Absolute Encoder Interface

•Yaskawa Sigma II Serial Absolute Encoder Interface

•EnDat Serial Absolute Encoder Interface

•HiperFace Serial Absolute Encoder Interface

•Tamagawa Serial Absolute Encoder Interface

MACRO Ring Interface

•RJ45 MACRO Interface

•Fiber Optic MACRO Interface

4	Specifications

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Contents 125 Safety Instructions Copyright InformationOperating Conditions Delta Tau Data Systems, Inc. Technical SupportPage Page Revision History Page Table of Contents Brick Motion Controller Hardware Reference Manual Brick Motion Controller Features IntroductionBrick Motion Controller Hardware Reference Manual Part Number Brick Motion Controller OptionsAnalog I/O Options Communication OptionsMacro and Special Feedback Options Receiving and Unpacking Use of EquipmentBrick Motion Controller Hardware Reference Manual Wiring Earth-Ground Noise ProblemsEarth Grounding Paths Connectors Pin Symbol FunctionX1-X8 Encoder Input 1 to X9/10 Female DB-9 Connector Pin # Symbol X11/12 Female DB-9 Connector Pin # Symbol FunctionX9-10 Analog I/O Ch5 X9 and Ch6 X10, Optional X11-12 Analog I/O Ch7 X11 and Ch8 X12, OptionalX13 USB 2.0 Connector X14 RJ45, Ethernet ConnectorPin # Symbol X15 WatchdogTB1 Power Connector S1 Re-Initialization on Reset ControlS2 Firmware Reload Enable J4 Limit Inputs 1-4 Axis DescriptionLimit and Flag Circuit Wiring J5 Limit Inputs 5-8 AxisSample J4/J5, Flags Wiring Diagrams GNDAMP1-AMP8 Amplifier connections 1 to Amplifier Fault / Amplifier Enable diagrams J6 General Purpose I/O Female DB-37 Connector Pin # Symbol J6 General Purpose I/OSuggested M-var. # Address Sourcing SinkingSymbol Function J7 Extra General Purpose I/O OptionalSuggested M-var. # Address J8 General Purpose I/O Female DB-37 Connector Pin # Symbol J8 Extra General Purpose I/O OptionalSuggested M-var. # Address Sample J6/J7, I/O Wiring Diagrams GBLSetting up Quadrature Encoders Signal FormatHardware Setup Function Pin #Encoder Loss Setup Channel# Address DescriptionSetting up the Analog Inputs optional Filtered DAC Outputs Configuration optionalBipolar Parameters to Set up Global Hardware Signals Parameters to Set Up Per-Channel Hardware Signals Setting up for Pulse and Direction Output Software SetupI7m00 Servo IC m MaxPhase/PWM Frequency Control Multi-Channel Servo IC I-VariablesI7mn6 Servo IC m Channel n Output Mode Select Single-Channel I-VariablesI7m04 PFM Pulse Width Control I7mn0 Servo IC m Channel n Encoder Decode ControlIxx34 Motor xx Integration Mode Ixx30 Motor xx Proportional GainExample Ixx31 Motor x Derivative GainBrick Motion Controller Hardware Reference Manual Watchdog Timer Actions on Watchdog Timer TripDiagnosing Cause of Watchdog Timer Trip Troubleshooting DB- Connector Spacing Specifications X1-8 DB-15 Connectors for encoder feedbackX9-12 DB-9 Connectors for Analog I/O Screw Lock Size for all DB-connectorsType of Cable for Encoder Wiring Appendix a Schematics J6 and J7 General Purpose I/OInputs Opto Gnd Plane OutputsJ4 Limit Inputs for Axis Limits 1,2,3,4J5 Limit Inputs for Axis Limits 5,6,7,8Dimensional Layout and Connector location