1 HARDWARE REFERENCE MANUAL
Brick Motion Controller
3 Programmable Servo Amplifier 4 5xx-603869-xUxx 5 May 2
Safety Instructions
Copyright Information
Operating Conditions
Delta Tau Data Systems, Inc. Technical Support
Page
Page
REVISION HISTORY
DESCRIPTION
DATE
APPVD
Page
Table of Contents
SPECIFICATIONS
SYSTEM WIRING
Table of Contents
Table of Contents
Dimensional Layout and Connector location
Schematics
Brick Motion Controller Hardware Reference Manual
Brick Motion Controller Features
INTRODUCTION
Optional analog inputs and outputs, ± 5VDC Optional two PWM outputs
SPECIFICATIONS
Part Number
Brick Motion Controller Options
CPU Options
Analog I/O Options
Communication Options
MACRO and Special Feedback Options
Number and Type of Special Feedback Channels
RECEIVING AND UNPACKING
Use of Equipment
Specifications
Brick Motion Controller Hardware Reference Manual
SYSTEM WIRING
Wiring Earth-Ground
Noise Problems
Earth Grounding Paths
Connectors
Symbol
X1-X8 Encoder Input 1 to
Function
X9/10 Female DB-9 Connector
X11/12 Female DB-9 Connector
X9-10 Analog I/O Ch5 X9 and Ch6 X10, Optional
X11-12 Analog I/O Ch7 X11 and Ch8 X12, Optional
X13 USB 2.0 Connector
X14 RJ45, Ethernet Connector
X15 Watchdog
Symbol
TB1 Power Connector
S1 Re-Initialization on Reset Control
S2 Firmware Reload Enable
Symbol
J4 Limit Inputs 1-4 Axis
Description
Symbol
Connector
Limit and Flag Circuit Wiring
J5 Limit Inputs 5-8 Axis
Symbol
Pin #
Sample J4/J5, Flags Wiring Diagrams
AMP1-AMP8 Amplifier connections 1 to
Symbol
Female DB-15 Connector
System Wiring
Amplifier Fault / Amplifier Enable diagrams
System Wiring
Brick Motion Controller Hardware Reference Manual
J6 General Purpose I/O Female DB-37 Connector
J6 General Purpose I/O
Symbol
System Wiring
Suggested M-Variable Addressing for the General Purpose I/O J6
Suggested M-var. #
Address
System Wiring
J7 Extra General Purpose I/O Optional
Symbol
Connector
System Wiring
System Wiring
Suggested M-var. #
Address
Brick Motion Controller Hardware Reference Manual
J8 General Purpose I/O Female DB-37 Connector
J8 Extra General Purpose I/O Optional
Symbol
System Wiring
Suggested M-Variable Addressing for the General Purpose I/O J8
System Wiring
Suggested M-var. #
Address
Sample J6/J7, I/O Wiring Diagrams
System Wiring
Brick Motion Controller Hardware Reference Manual
Setting up Quadrature Encoders
Signal Format
Hardware Setup
Encoder Decode
Encoder Loss Setup
Channel#
Address
Description
Setting up the Analog Inputs optional
Filtered DAC Outputs Configuration optional
Bipolar
Parameters to Set up Global Hardware Signals
Parameters to Set Up Per-Channel Hardware Signals
Desired Maximum Output Value =
Desired Maximum Output Value =
Ixx69 = 6/10
Setting up for Pulse and Direction Output
Software Setup
I7m00 Servo IC m MaxPhase/PWM Frequency Control
Multi-Channel Servo IC I-Variables
I7mn6 Servo IC m Channel n Output Mode Select
I7mn8 Servo IC m Channel n PFM Direction Signal Invert Control
Single-Channel I-Variables
I7m04 PFM Pulse Width Control
Ixx34 Motor xx Integration Mode
Ixx30 Motor xx Proportional Gain
Example
Ixx31 Motor x Derivative Gain
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
Watchdog Timer
Actions on Watchdog Timer Trip
Diagnosing Cause of Watchdog Timer Trip
Inspect for hardware damage
DB- Connector Spacing Specifications
X1-8 DB-15 Connectors for encoder feedback
X9-12 DB-9 Connectors for Analog I/O
Screw Lock Size for all DB-connectors
Type of Cable for Encoder Wiring
Appendix A
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
Schematics
APPENDIX B
J6 and J7 General Purpose I/O
Inputs
Outputs
Opto Gnd Plane
Opto Gnd Plane
Brick Motion Controller User Manual - Preliminary Documentation
J4 Limit Inputs for Axis
Brick Motion Controller Hardware Reference Manual
Appendix C
LIMITS 1,2,3,4
J5 Limit Inputs for Axis
Brick Motion Controller User Manual - Preliminary Documentation
Appendix C
LIMITS 5,6,7,8
Dimensional Layout and Connector location
Brick Motion Controller Hardware Reference Manual
Appendix C
