Delta Tau 5xx-603869-xUxx - Manual (Page 40)

Brick Motion Controller Hardware Reference Manual
32 System Wiring
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.
For this example, the factory defaults for the other variables will allow the PFM outputs to be commanded
with a low true Amplifier Fault and
±Limits plugged in. If this is not the case, modify Ixx24.
For this type of system, make sure I7mn6 is set for PWM and PFM output mode.
I7116=2 ;CH5A and CH5B outputs will be PWM and CH5C output will be PFM
I7126=2 ;CH6A and CH6B outputs will be PWM and CH6C output will be PFM
I7136=2 ;CH7A and CH7B outputs will be PWM and CH7C output will be PFM
I7146=2 ;CH8A and CH8B outputs will be PWM and CH8C output will be PFM
I7110 = 8 ;Simulated feedback for channel 5
I7120 = 8 ;Simulated feedback for channel 6
I7130 = 8 ;Simulated feedback for channel 7
I7140 = 8 ;Simulated feedback for channel 8
I502=$078104 ;Command output to CH1A address (default address + 2) for
;Stepper
I602=$07810C ;Command output to CH2A address (default address + 2)
;for Stepper
I702=$078114 ;Command output to CH3C address (default address + 2)
;for Stepper
I802=$07811C ;Command output to CH4C address (default address +2)
;for Stepper