Delta Tau 5xx-603869-xUxx manual Table of Contents

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Brick Motion Controller Hardware Reference Manual

	Table of Contents
125	I
Copyright Information	ii
Operating Conditions	ii
Safety Instructions	ii

INTRODUCTION	1
Brick Motion Controller Features	1
SPECIFICATIONS	3
Part Number	3
Brick Motion Controller Options	3
RECEIVING AND UNPACKING	5
Use of Equipment	5
SYSTEM WIRING	7
Noise Problems	7
Wiring Earth-Ground	7
Earth Grounding Paths	7
Connectors	8
X1-X8: Encoder Input (1 to 8)	8
X9-10: Analog I/O Ch5 (X9) and Ch6 (X10), (Optional)	9
X11-12: Analog I/O Ch7 (X11) and Ch8 (X12), (Optional)	9
X13: USB 2.0 Connector	10
X14: RJ45, Ethernet Connector	10
X15: Watchdog	10
TB1: Power Connector	11
S1: Re-Initialization on Reset Control	11
S2: Firmware Reload Enable	11
J4 Limit Inputs (1-4 Axis)	12
J5 Limit Inputs (5-8 Axis)	13
AMP1-AMP8: Amplifier connections (1 to 8)	15
J6: General Purpose I/O	17
Suggested M-Variable Addressing for the General Purpose I/O (J6)	18
J7: Extra General Purpose I/O (Optional)	19
Suggested M-Variable Addressing for the optional General Purpose I/O (J7)	20
J8: Extra General Purpose I/O (Optional)	21
Suggested M-Variable Addressing for the General Purpose I/O (J8)	22
Setting up Quadrature Encoders	24
Signal Format	24
Hardware Setup	24
Encoder Loss Setup	25
Setting up the Analog Inputs (optional)	26
Filtered DAC Outputs Configuration (optional)	26
Setting up for Pulse and Direction Output	29
Software Setup	29
Actions on Watchdog Timer Trip	33
Diagnosing Cause of Watchdog Timer Trip	33
APPENDIX A	35
DB- Connector Spacing Specifications	35
X1-8:DB-15 Connectors for encoder feedback	35
X9-12:DB-9 Connectors for Analog I/O	35
Screw Lock Size for all DB-connectors	35
Type of Cable for Encoder Wiring	36

Table of Contents	i

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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 NumberCommunication Options Analog I/O OptionsMacro and Special Feedback Options Use of Equipment Receiving and UnpackingBrick Motion Controller Hardware Reference Manual Noise Problems Wiring Earth-GroundEarth Grounding Paths Pin Symbol Function ConnectorsX1-X8 Encoder Input 1 to 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 # SymbolS1 Re-Initialization on Reset Control TB1 Power ConnectorS2 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 DiagramsFunction Pin # Setting up Quadrature EncodersSignal Format Hardware SetupChannel# Address Description Encoder Loss SetupFiltered 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 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 Actions on Watchdog Timer Trip Watchdog TimerDiagnosing Cause of 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 J6 and J7 General Purpose I/O SchematicsInputs 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