Galil Motion Control RIO-47120, User Manual

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OU
T
C
INC
PWM Outputs
With firmware revisions Rev D and newer, Digital Outputs 14 and 15 can be setup independently as PWM
outputs using the DY, FQ and PM commands. The standard opto-isolated outputs found on the RIO-47xxx
will have a limited bandwidth (50Hz) that will not allow the full range of frequency and duty cycle available
from the DY, FQ and PM commands. The RIO can be ordered with a –PWM option that will bypass the
opto-isolated outputs and provide buffered outputs for DO14:15. See the -QUAD and -SSI
All RIO-47122 Encoder Options will utilize Digital Inputs 12,13,14 and 15 and Digital Outputs 12,13,14 and
15. These digital inputs and outputs will not be available as standard digital I/O when the -QUAD or -SSI
option is ordered with the RIO-47122.
The QE command is used to read the encoder register, the WE command sets the current position of the
encoder (-QUAD only) and the SE command configures the encoder when the –SSI option is ordered. The
register that is read using the QE command is updated by the RIO every 25ms. See the QE, WE and SE
commands in the RIO command reference for more information.
Electrical Specifications
Power: The encoders must be powered by an external power
supply. The RIO does not supply power to the
encoder.
Input buffers: AM23LV32
Output buffers (SSI Clock): AMP26LV31
-QUAD maximum frequency: 8 MHz
1
1
Hardware update rate. Register read by the QE command is updated at a rate of 40Hz.
-QUAD Pinout
Encoder Signal Label (Connector.Pin)
Channel 0 A+ DO14 (J4.24)
Channel 0 A- DO12 (J4.39)
Channel 0 B+ DO15 (J4.38)
Channel 0 B- DO13 (J4.9)
Channel 1 A+ DI14 (J4.31)
Channel 1 A- DI12 (J4.2)
Channel 1 B+ DI15 (J4.1)
Channel 1 B- DI13(J4.17)
Ground N/C (J4.41)
-SSI Pinout
Encoder Signal Label (Connector.Pin)
RIO-47xxx Chapter 4 I/O ● 43