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