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Delta Tau 5xx-603869-xUxx Revision History, Description, Date, Appvd, Manual Creation, 05/02/07

Models: 5xx-603869-xUxx

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REVISION HISTORY

REVISION HISTORY

REV.	DESCRIPTION	DATE	CHG	APPVD

1	MANUAL CREATION	05/02/07	CP	S. MILICI

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Delta Tau 5xx-603869-xUxx manual Revision History, Description, Date, Appvd, Manual Creation, 05/02/07, S. Milici

Contents

3 Programmable Servo Amplifier 4 5xx-603869-xUxx 5 May 2 1 HARDWARE REFERENCE MANUALBrick Motion Controller Copyright Information Safety InstructionsOperating Conditions Delta Tau Data Systems, Inc. Technical SupportPage Page DESCRIPTION REVISION HISTORYDATE APPVDPage SPECIFICATIONS Table of ContentsSYSTEM WIRING Table of ContentsDimensional Layout and Connector location Table of ContentsSchematics Brick Motion Controller Hardware Reference ManualINTRODUCTION Brick Motion Controller FeaturesOptional analog inputs and outputs, ± 5VDC Optional two PWM outputs Part Number SPECIFICATIONSBrick Motion Controller Options CPU OptionsCommunication Options Analog I/O OptionsMACRO and Special Feedback Options Number and Type of Special Feedback ChannelsUse of Equipment RECEIVING AND UNPACKINGBrick Motion Controller Hardware Reference Manual SpecificationsWiring Earth-Ground SYSTEM WIRINGNoise Problems Earth Grounding PathsSymbol ConnectorsX1-X8 Encoder Input 1 to FunctionX11/12 Female DB-9 Connector X9/10 Female DB-9 ConnectorX9-10 Analog I/O Ch5 X9 and Ch6 X10, Optional X11-12 Analog I/O Ch7 X11 and Ch8 X12, OptionalX14 RJ45, Ethernet Connector X13 USB 2.0 ConnectorX15 Watchdog SymbolS1 Re-Initialization on Reset Control TB1 Power ConnectorS2 Firmware Reload Enable SymbolDescription J4 Limit Inputs 1-4 AxisSymbol ConnectorJ5 Limit Inputs 5-8 Axis Limit and Flag Circuit WiringSymbol Pin #Sample J4/J5, Flags Wiring Diagrams Symbol AMP1-AMP8 Amplifier connections 1 toFemale DB-15 Connector System WiringBrick Motion Controller Hardware Reference Manual Amplifier Fault / Amplifier Enable diagramsSystem Wiring J6 General Purpose I/O J6 General Purpose I/O Female DB-37 ConnectorSymbol System WiringSuggested M-var. # Suggested M-Variable Addressing for the General Purpose I/O J6Address System WiringSymbol J7 Extra General Purpose I/O OptionalConnector System WiringSuggested M-var. # System WiringAddress Brick Motion Controller Hardware Reference ManualJ8 Extra General Purpose I/O Optional J8 General Purpose I/O Female DB-37 ConnectorSymbol System WiringSystem Wiring Suggested M-Variable Addressing for the General Purpose I/O J8Suggested M-var. # AddressBrick Motion Controller Hardware Reference Manual Sample J6/J7, I/O Wiring DiagramsSystem Wiring Signal Format Setting up Quadrature EncodersHardware Setup Encoder DecodeChannel# Encoder Loss SetupAddress DescriptionBipolar Setting up the Analog Inputs optionalFiltered DAC Outputs Configuration optional Parameters to Set up Global Hardware Signals Desired Maximum Output Value = Parameters to Set Up Per-Channel Hardware SignalsDesired Maximum Output Value = Ixx69 = 6/10Software Setup Setting up for Pulse and Direction OutputI7m00 Servo IC m MaxPhase/PWM Frequency Control Multi-Channel Servo IC I-VariablesSingle-Channel I-Variables I7mn8 Servo IC m Channel n PFM Direction Signal Invert ControlI7m04 PFM Pulse Width Control I7mn0 Servo IC m Channel n Encoder Decode ControlExample Ixx30 Motor xx Proportional GainIxx31 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 Diagnosing Cause of Watchdog Timer Trip Watchdog TimerActions on Watchdog Timer Trip Inspect for hardware damage X1-8 DB-15 Connectors for encoder feedback DB- Connector Spacing SpecificationsX9-12 DB-9 Connectors for Analog I/O Screw Lock Size for all DB-connectorsAppendix A Type of Cable for Encoder WiringIf 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 SchematicsJ6 and J7 General Purpose I/O InputsOpto Gnd Plane OutputsOpto Gnd Plane Brick Motion Controller User Manual - Preliminary DocumentationBrick Motion Controller Hardware Reference Manual J4 Limit Inputs for AxisAppendix C LIMITS 1,2,3,4Brick Motion Controller User Manual - Preliminary Documentation J5 Limit Inputs for AxisAppendix C LIMITS 5,6,7,8Appendix C Dimensional Layout and Connector locationBrick Motion Controller Hardware Reference Manual