Delta Tau 5xx-603869-xUxx manual

Brick Motion Controller Hardware Reference Manual

•Primary encoder for each axis with TTL differential/single-ended inputs with A, B quadrature channels and C index channel, 10 MHz cycle rate, and digital Hall-effect inputs

•Five flags per axis using DB-25: HOME, PLIM, MLIM and USER inputs; EQU compare

•Optional analog inputs and outputs, ± 5VDC

•Optional two PWM outputs.

•Optional Dual Port RAM (Required for NC)

•Optional Modbus Protocol

•Optional Sinusoidal encoder feedback

•Optional Resolver feedback

•Optional EnDat, Hiperface interfaces.

2	Introduction

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

Contents

125 Operating Conditions Safety InstructionsCopyright Information Delta Tau Data Systems, Inc. Technical SupportPage Page Revision History Page Table of Contents Brick Motion Controller Hardware Reference Manual Brick Motion Controller Features Introduction Brick Motion Controller Hardware Reference Manual Part Number Brick Motion Controller Options Communication Options Analog I/O OptionsMacro and Special Feedback Options Receiving and Unpacking Use of Equipment Brick Motion Controller Hardware Reference Manual Noise Problems Wiring Earth-GroundEarth Grounding Paths Pin Symbol Function ConnectorsX1-X8 Encoder Input 1 to X9-10 Analog I/O Ch5 X9 and Ch6 X10, Optional X9/10 Female DB-9 Connector Pin # SymbolX11/12 Female DB-9 Connector Pin # Symbol Function X11-12 Analog I/O Ch7 X11 and Ch8 X12, Optional Pin # Symbol X13 USB 2.0 ConnectorX14 RJ45, Ethernet Connector X15 Watchdog S1 Re-Initialization on Reset Control TB1 Power ConnectorS2 Firmware Reload Enable J4 Limit Inputs 1-4 Axis Description Limit and Flag Circuit Wiring J5 Limit Inputs 5-8 Axis Sample J4/J5, Flags Wiring Diagrams GND AMP1-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/O Suggested M-var. # Address Sourcing Sinking Symbol Function J7 Extra General Purpose I/O Optional Suggested M-var. # Address J8 General Purpose I/O Female DB-37 Connector Pin # Symbol J8 Extra General Purpose I/O Optional Suggested M-var. # Address Sample J6/J7, I/O Wiring Diagrams GBL Hardware Setup Setting up Quadrature EncodersSignal Format Function Pin # Encoder Loss Setup Channel# Address Description Filtered 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 I7m00 Servo IC m MaxPhase/PWM Frequency Control Setting up for Pulse and Direction OutputSoftware Setup Multi-Channel Servo IC I-Variables I7m04 PFM Pulse Width Control I7mn6 Servo IC m Channel n Output Mode SelectSingle-Channel I-Variables I7mn0 Servo IC m Channel n Encoder Decode Control Example Ixx34 Motor xx Integration ModeIxx30 Motor xx Proportional Gain Ixx31 Motor x Derivative Gain Brick Motion Controller Hardware Reference Manual Actions on Watchdog Timer Trip Watchdog TimerDiagnosing Cause of Watchdog Timer Trip Troubleshooting X9-12 DB-9 Connectors for Analog I/O DB- Connector Spacing SpecificationsX1-8 DB-15 Connectors for encoder feedback Screw Lock Size for all DB-connectors Type of Cable for Encoder Wiring Appendix a J6 and J7 General Purpose I/O SchematicsInputs Opto Gnd Plane Outputs J4 Limit Inputs for Axis Limits 1,2,3,4 J5 Limit Inputs for Axis Limits 5,6,7,8 Dimensional Layout and Connector location