Delta Tau 5xx-603869-xUxx manual Appendix a

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Brick Motion Controller User Manual – Preliminary Documentation

Note:

If noise is a problem in the application, careful attention must be given to the method of grounding that is used in the system. Amplifier and motor grounding can play a significant role in how noise is generated in a machine.

Noise may be reduced in a motor-based system by the use of inductors placed between the motor and the amplifier.

Appendix A

37

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Contents 125 Copyright Information Safety InstructionsOperating Conditions Delta Tau Data Systems, Inc. Technical SupportPage 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 NumberAnalog I/O Options Communication OptionsMacro and Special Feedback Options Use of Equipment Receiving and UnpackingBrick Motion Controller Hardware Reference Manual Wiring Earth-Ground Noise ProblemsEarth Grounding Paths Connectors Pin Symbol FunctionX1-X8 Encoder Input 1 to X11/12 Female DB-9 Connector Pin # Symbol Function X9/10 Female DB-9 Connector Pin # SymbolX9-10 Analog I/O Ch5 X9 and Ch6 X10, Optional X11-12 Analog I/O Ch7 X11 and Ch8 X12, OptionalX14 RJ45, Ethernet Connector X13 USB 2.0 ConnectorPin # Symbol X15 WatchdogTB1 Power Connector S1 Re-Initialization on Reset ControlS2 Firmware Reload Enable 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 DiagramsSignal Format Setting up Quadrature EncodersHardware Setup Function Pin #Channel# Address Description Encoder Loss SetupSetting 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 Software Setup Setting up for Pulse and Direction OutputI7m00 Servo IC m MaxPhase/PWM Frequency Control Multi-Channel Servo IC I-VariablesSingle-Channel I-Variables I7mn6 Servo IC m Channel n Output Mode SelectI7m04 PFM Pulse Width Control I7mn0 Servo IC m Channel n Encoder Decode ControlIxx30 Motor xx Proportional Gain Ixx34 Motor xx Integration ModeExample Ixx31 Motor x Derivative GainBrick Motion Controller Hardware Reference Manual Watchdog Timer Actions on Watchdog Timer TripDiagnosing Cause of Watchdog Timer Trip Troubleshooting X1-8 DB-15 Connectors for encoder feedback DB- Connector Spacing SpecificationsX9-12 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 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