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Delta Tau 5xx-603869-xUxx Analog I/O Options, Communication Options, Serial Encoder Protocols

Models: 5xx-603869-xUxx

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Analog I/O Options

Brick Motion Controller Hardware Reference Manual

Analog I/O Options

•Two 16-bit analog inputs

•Four 16-bit analog inputs

Communication Options

•DPRAM option, size 32K x 16-bit wide (required for use with NC software)

•ModBus Ethernet Communication Protocol (Software) option

•DPRAM and Modbus options combined

•RS232 port on 9-pin D-sub connector

•DPRAM & RS232 options combined

•Modbus & DPRAM options combined

•Modbus, DPRAM & RS232 options combined

MACRO and Special Feedback Options

Number and Type of Special Feedback Channels

•No Special Feedback Channels

•4 Sinusoidal Encoder Feedback Channels

•4 Resolver Feedback Channels

•4 Serial Encoder Feedback Channels

•4 Sinusoidal Encoder and Serial Encoder Feedback Channels

•8 Sinusoidal Encoder Feedback Channels

•8 Resolver Feedback Channels

•8 Serial Encoder Feedback Channels

•8 Sinusoidal Encoder and Serial Encoder Feedback Channels

Serial Encoder Protocols

•No Serial Encoder Protocol (for previous digit = 0, A, or B)

•SSI Serial Absolute Encoder Interface

•Yaskawa Sigma II Serial Absolute Encoder Interface

•EnDat Serial Absolute Encoder Interface

•HiperFace Serial Absolute Encoder Interface

•Tamagawa Serial Absolute Encoder Interface

MACRO Ring Interface

•RJ45 MACRO Interface

•Fiber Optic MACRO Interface

4	Specifications

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Delta Tau 5xx-603869-xUxx manual Analog I/O Options, Communication Options, MACRO and Special Feedback Options

Contents

1 HARDWARE REFERENCE MANUAL Brick Motion Controller3 Programmable Servo Amplifier 4 5xx-603869-xUxx 5 May 2 Safety Instructions Copyright InformationOperating Conditions Delta Tau Data Systems, Inc. Technical SupportPage Page REVISION HISTORY DESCRIPTIONDATE APPVDPage Table of Contents SPECIFICATIONSSYSTEM WIRING Table of ContentsTable of Contents Dimensional Layout and Connector locationSchematics Brick Motion Controller Hardware Reference ManualBrick Motion Controller Features INTRODUCTIONOptional analog inputs and outputs, ± 5VDC Optional two PWM outputs SPECIFICATIONS Part NumberBrick Motion Controller Options CPU OptionsAnalog I/O Options Communication OptionsMACRO and Special Feedback Options Number and Type of Special Feedback ChannelsRECEIVING AND UNPACKING Use of EquipmentSpecifications Brick Motion Controller Hardware Reference ManualSYSTEM WIRING Wiring Earth-GroundNoise Problems Earth Grounding PathsConnectors SymbolX1-X8 Encoder Input 1 to FunctionX9/10 Female DB-9 Connector X11/12 Female DB-9 ConnectorX9-10 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 ConnectorX15 Watchdog SymbolTB1 Power Connector S1 Re-Initialization on Reset ControlS2 Firmware Reload Enable SymbolJ4 Limit Inputs 1-4 Axis DescriptionSymbol ConnectorLimit and Flag Circuit Wiring J5 Limit Inputs 5-8 AxisSymbol Pin #Sample J4/J5, Flags Wiring Diagrams AMP1-AMP8 Amplifier connections 1 to SymbolFemale DB-15 Connector System WiringAmplifier Fault / Amplifier Enable diagrams System WiringBrick Motion Controller Hardware Reference Manual J6 General Purpose I/O Female DB-37 Connector J6 General Purpose I/OSymbol System WiringSuggested M-Variable Addressing for the General Purpose I/O J6 Suggested M-var. #Address System WiringJ7 Extra General Purpose I/O Optional SymbolConnector System WiringSystem Wiring Suggested M-var. #Address Brick Motion Controller Hardware Reference ManualJ8 General Purpose I/O Female DB-37 Connector J8 Extra General Purpose I/O OptionalSymbol System WiringSuggested M-Variable Addressing for the General Purpose I/O J8 System WiringSuggested M-var. # AddressSample J6/J7, I/O Wiring Diagrams System WiringBrick Motion Controller Hardware Reference Manual Setting up Quadrature Encoders Signal FormatHardware Setup Encoder DecodeEncoder Loss Setup Channel#Address DescriptionSetting 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 Desired Maximum Output Value =Desired Maximum Output Value = Ixx69 = 6/10Setting up for Pulse and Direction Output Software SetupI7m00 Servo IC m MaxPhase/PWM Frequency Control Multi-Channel Servo IC I-VariablesI7mn8 Servo IC m Channel n PFM Direction Signal Invert Control Single-Channel I-VariablesI7m04 PFM Pulse Width Control I7mn0 Servo IC m Channel n Encoder Decode ControlIxx30 Motor xx Proportional Gain ExampleIxx31 Motor x Derivative Gain Ixx32 Motor xx Velocity Feedforward GainExample 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 Watchdog Timer Actions on Watchdog Timer TripDiagnosing Cause of Watchdog Timer Trip Inspect for hardware damage 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 AIf 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 Schematics APPENDIX BJ6 and J7 General Purpose I/O InputsOutputs Opto Gnd PlaneOpto Gnd Plane Brick Motion Controller User Manual - Preliminary DocumentationJ4 Limit Inputs for Axis Brick Motion Controller Hardware Reference ManualAppendix C LIMITS 1,2,3,4J5 Limit Inputs for Axis Brick Motion Controller User Manual - Preliminary DocumentationAppendix C LIMITS 5,6,7,8Dimensional Layout and Connector location Brick Motion Controller Hardware Reference ManualAppendix C