Delta Tau 5xx-603869-xUxx manual Brick Motion Controller Hardware Reference Manual

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Brick Motion Controller Hardware Reference Manual

Example: User wants channels 5 to 8 to be used with stepper motors. First the user needs to wire the Stepper drive, and so as to enable the Stepper output pin 8 needs to be shorted to pin 4 (+5V) for X5 to X8. Assume for this example that all the stepper motors that will be used do not have encoders for feedback.

For this example, the factory defaults for the other variables will allow the PFM outputs to be commanded with a low true Amplifier Fault and ±Limits plugged in. If this is not the case, modify Ixx24.

For this type of system, make sure I7mn6 is set for PWM and PFM output mode.

I7116=2 ;CH5A and CH5B outputs will be PWM and CH5C output will be PFM

I7126=2 ;CH6A and CH6B outputs will be PWM and CH6C output will be PFM

I7136=2 ;CH7A and CH7B outputs will be PWM and CH7C output will be PFM

I7146=2 ;CH8A and CH8B outputs will be PWM and CH8C output will be PFM

I7110 = 8 ;Simulated feedback for channel 5

I7120 = 8 ;Simulated feedback for channel 6

I7130 = 8 ;Simulated feedback for channel 7

I7140 = 8 ;Simulated feedback for channel 8

I502=$078104

;Command output

to CH1A address (default address + 2)

for

I602=$07810C

;Stepper

to CH2A address (default address + 2)

 

;Command output

 

I702=$078114

;for Stepper

to CH3C address (default address + 2)

 

;Command output

 

I802=$07811C

;for Stepper

to CH4C address (default address +2)

 

;Command output

 

 

;for Stepper

 

 

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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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