Delta Tau 5xx-603869-xUxx manual Connectors, X1-X8 Encoder Input 1 to, Pin Symbol Function

Page 16

Brick Motion Controller Hardware Reference Manual

Connectors

X1-X8: Encoder Input (1 to 8)

The main encoder input channels for the Brick Motion Controller support only differential quadrature feedback. 5V supply to power the encoder is provided.

•4-axis drives with no Option 01 or Option 02 have only X1 to X4, for a total of four encoders

•Option 01 adds two extra S. encoders: X5 and X6, for a total of six encoders

•Option 02 adds two more S. encoders on top of Option 01: X7 and X8 for a total of eight encoder feedbacks.

•6-axis drives with no Option 02 have only X1 to X6, for a total of six encoders

Option 02 adds two extra S. encoders: X7 and X8 for a total of eight encoder feedbacks.

•8-axis drives have a default of eight encoders (X1 to X8) and there are no additional encoder options.

X1-X8 Encoder Input (1-8) (Female DB-15 Connector)

8

7

 

6

5

4

3

2

1

 

15

14

13

12

11

10

 

9

 

Pin

Symbol

Function

Notes

 

#

 

 

 

 

1

CHAn+

Input

Axis n Encoder A+

 

 

 

 

 

 

 

2

CHBn+

Input

Axis n Encoder B+

 

 

 

 

 

 

3

CHCn+

Input

Axis n Encoder Index+

 

 

 

 

 

 

4

ENCPWRn

Output

Encoder Power 5V

 

 

 

 

 

 

5

CHUn+ / DIRn+

In/Out

Axis n U Commutation+ / If set for Steppers, axis #n Direction output +

 

 

 

 

 

 

6

CHWn+ / PULn+

In/Out

Axis n W Commutation+ / If set for Steppers, axis #n Pulse output +

 

 

 

 

 

 

7

2.5V

Output

2.5V Reference power

 

 

 

 

 

 

8

Stepper Enable #n

Input

Short pin 8 to pin 4 (5V) to enable stepper output for channel #n*

 

 

 

 

 

 

9

CHAn-

Input

Axis n Encoder A-

 

 

 

 

 

 

10

CHBn-

Input

Axis n Encoder B-

 

 

 

 

 

 

11

CHCn-

Input

Axis n Encoder Index-

 

 

 

 

 

 

12

GND

Common

Common GND

 

 

 

 

 

 

13

CHVn+ / DIRn-

In/Out

Axis n V Commutation+ / If set for Steppers, axis #n Direction output -

 

 

 

 

 

 

14

CHTn+ / PULn-

In/Out

Axis n T Commutation+/ If set for Steppers, axis #n Pulse output -

 

 

 

 

 

 

15

ResOut#n

Output

Resolver excitation output for channel #n

 

 

 

 

 

 

Because the same pinouts are used for all encoders, n stands for encoder number 1 to 8: n=1 / axis 1, n=2 / axis 2, etc. For spacing specifications between the DB- connectors, see Appendix A of this manual.

8

System Wiring

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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 OptionsCommunication Options Analog I/O OptionsMacro and Special Feedback Options Receiving and Unpacking Use of EquipmentBrick Motion Controller Hardware Reference Manual Noise Problems Wiring Earth-GroundEarth Grounding Paths Pin Symbol Function ConnectorsX1-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 WatchdogS1 Re-Initialization on Reset Control TB1 Power ConnectorS2 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 DescriptionFiltered DAC Outputs Configuration optional Setting up the Analog Inputs 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 Actions on Watchdog Timer Trip Watchdog TimerDiagnosing 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 J6 and J7 General Purpose I/O SchematicsInputs 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
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