1 HARDWARE REFERENCE MANUAL
Brick Motion Controller
3 Programmable Servo Amplifier 4 5xx-603869-xUxx 5 May 2
Copyright Information
Safety Instructions
Operating Conditions
Delta Tau Data Systems, Inc. Technical Support
Page
Page
DESCRIPTION
REVISION HISTORY
DATE
APPVD
Page
SPECIFICATIONS
Table of Contents
SYSTEM WIRING
Table of Contents
Dimensional Layout and Connector location
Table of Contents
Schematics
Brick Motion Controller Hardware Reference Manual
INTRODUCTION
Brick Motion Controller Features
Optional analog inputs and outputs, ± 5VDC Optional two PWM outputs
Part Number
SPECIFICATIONS
Brick Motion Controller Options
CPU Options
Communication Options
Analog I/O Options
MACRO and Special Feedback Options
Number and Type of Special Feedback Channels
Use of Equipment
RECEIVING AND UNPACKING
Brick Motion Controller Hardware Reference Manual
Specifications
Wiring Earth-Ground
SYSTEM WIRING
Noise Problems
Earth Grounding Paths
Symbol
Connectors
X1-X8 Encoder Input 1 to
Function
X11/12 Female DB-9 Connector
X9/10 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
X14 RJ45, Ethernet Connector
X13 USB 2.0 Connector
X15 Watchdog
Symbol
S1 Re-Initialization on Reset Control
TB1 Power Connector
S2 Firmware Reload Enable
Symbol
Description
J4 Limit Inputs 1-4 Axis
Symbol
Connector
J5 Limit Inputs 5-8 Axis
Limit and Flag Circuit Wiring
Symbol
Pin #
Sample J4/J5, Flags Wiring Diagrams
Symbol
AMP1-AMP8 Amplifier connections 1 to
Female DB-15 Connector
System Wiring
Amplifier Fault / Amplifier Enable diagrams
System Wiring
Brick Motion Controller Hardware Reference Manual
J6 General Purpose I/O
J6 General Purpose I/O Female DB-37 Connector
Symbol
System Wiring
Suggested M-var. #
Suggested M-Variable Addressing for the General Purpose I/O J6
Address
System Wiring
Symbol
J7 Extra General Purpose I/O Optional
Connector
System Wiring
Suggested M-var. #
System Wiring
Address
Brick Motion Controller Hardware Reference Manual
J8 Extra General Purpose I/O Optional
J8 General Purpose I/O Female DB-37 Connector
Symbol
System Wiring
System Wiring
Suggested M-Variable Addressing for the General Purpose I/O J8
Suggested M-var. #
Address
Sample J6/J7, I/O Wiring Diagrams
System Wiring
Brick Motion Controller Hardware Reference Manual
Signal Format
Setting up Quadrature Encoders
Hardware Setup
Encoder Decode
Channel#
Encoder Loss Setup
Address
Description
Setting up the Analog Inputs optional
Filtered DAC Outputs Configuration optional
Bipolar
Parameters to Set up Global Hardware Signals
Desired Maximum Output Value =
Parameters to Set Up Per-Channel Hardware Signals
Desired Maximum Output Value =
Ixx69 = 6/10
Software Setup
Setting up for Pulse and Direction Output
I7m00 Servo IC m MaxPhase/PWM Frequency Control
Multi-Channel Servo IC I-Variables
Single-Channel I-Variables
I7mn8 Servo IC m Channel n PFM Direction Signal Invert Control
I7m04 PFM Pulse Width Control
I7mn0 Servo IC m Channel n Encoder Decode Control
Example
Ixx30 Motor xx Proportional Gain
Ixx31 Motor x Derivative Gain
Ixx32 Motor xx Velocity Feedforward 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
X1-8 DB-15 Connectors for encoder feedback
DB- Connector Spacing Specifications
X9-12 DB-9 Connectors for Analog I/O
Screw Lock Size for all DB-connectors
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
APPENDIX B
Schematics
J6 and J7 General Purpose I/O
Inputs
Opto Gnd Plane
Outputs
Opto Gnd Plane
Brick Motion Controller User Manual - Preliminary Documentation
Brick Motion Controller Hardware Reference Manual
J4 Limit Inputs for Axis
Appendix C
LIMITS 1,2,3,4
Brick Motion Controller User Manual - Preliminary Documentation
J5 Limit Inputs for Axis
Appendix C
LIMITS 5,6,7,8
Dimensional Layout and Connector location
Brick Motion Controller Hardware Reference Manual
Appendix C