Delta Tau 5xx-603869-xUxx - Manual (Page 37)

Brick Motion Controller Hardware Reference Manual
System Wiring 29
Setting up for Pulse and Direction Output
The following section shows how to quickly setup the key variables for a stepper motor (PFM) system.
The step and direction outputs are RS422 compatible and are capable of being connected in either
differential mode or single ended configurations for 5V input drivers.
Below are two examples for wiring the Brick Motion Controller to the stepper Amplifier. The user needs
to write pin 8 to pin 4 so as to enable the Stepper output and the AENA.
GBL_Stepper output wiring X1-X8,
quadrature encoder feedback,
Amplifier Enable lines are used
1
2
3
4
8
9
15
14
13
10
12
11
5
6
7 Shield
Short pin 8 to pin 4 to enable Stepper Output
GND
DIRn+
DIRn-
PULn-
PULn+
CHBn+
CHBn-
CHAn+
CHAn-
Stepper
Amplifier
ENCPWR
AENAn+/index +
AENAn-/index -
GBL_Stepper output wiring X1-X8,
no encoder feedback
Amplifier Enable lines are used
1
2
3
4
8
9
15
14
13
10
12
11
5
6
7
Shield
Short pin 8 to pin 4 to enable Stepper Output
GND
DIRn+
DIRn-
PULn-
PULn+
Stepper
Amplifier
AENAn+
AENAn-
(For Older version Brick Motion Controllers: Jumpers E21(E31) throughE24( E34) must be jumpered in the inside of the unit for
PFM outputs and E25(35) through E28(38) must be jumpered for amplifier enable outputs. Pin 8 was not connected to anything)
Software Setup
After having the hardware ready for steppers the user needs to set the software for Pulse and direction
output as well. There are several I-variables that must be set up properly for proper operation of the Pulse
and direction output in a Brick Motion Controller system. It is recommended for the user to also look into
the Turbo Software reference and the Turbo Users manual. The most important ones are analyzed
below and we can separate them into two categories:
Multi-Channel Servo IC I-Variables
I7m00: Servo IC m MaxPhase/PWM Frequency Control
Typically, this will be set to the same value as the variable that controls the system clocks: I7000
(channels 1-4) I7100 (channels 5-8). If a different PWM frequency is desired, then the following
constraint should be observed in setting this variable:
} Integer {
PhaseFreq
) kHz ( PWMFreq * 2
=
I7m03: Servo IC m Hardware Clock Frequency Control
The hardware clock frequencies for the Servo IC should be set according to the devices attached to it.
There is no reason that these frequencies have to be the same between ICs. There is seldom a reason to
change this value from the default. At default this value will be 2258, which is to a PFM clock of
approximately 10 MHz, (which is about 10 times greater than normally needed). Therefore, this value is
not normally changed. Refer to the Turbo Software Reference manual for changing these variables.