C o n te n ts
1. OVERVIEW ............................................................................................................................................2
2. REQUIREMENTS...................................................................................................................................4
3. INSTALLATION ......................................................................................................................................5
4. BOARD DESCRIPTION..........................................................................................................................6
4.1. Memory Map ....................................................................................................................................8
4.2. Base Module.....................................................................................................................................8
4.2.1. Servo Channels ..........................................................................................................................9
4.2.2. Built-in Power Amplifiers........................................................................................................... 10
4.2.3. Digital Outputs and Outbound Power ........................................................................................ 12
4.2.4. Servo Control and Diagnostic ................................................................................................... 14
4.2.4.1. Motion Processor Reset ...................................................................................................... 14
4.2.4.2. Servo Loop ......................................................................................................................... 14
4.2.4.3. Amplifiers Current Control................................................................................................... 17
4.2.4.4. Interrupt Processing............................................................................................................ 17
4.2.5. Board Identifier ......................................................................................................................... 18
4.2.6. Interface Connectors ................................................................................................................ 18
4.2.6.1. CN3 Connector (External Power) ........................................................................................ 20
4.2.6.2. CN2 Connector (Outputs & Outbound Power) ..................................................................... 21
4.3. Input Board..................................................................................................................................... 22
4.3.1. Digital Optoisolated Inputs ........................................................................................................ 24
4.3.1.1. General Purpose Inputs ...................................................................................................... 24
4.3.1.2. Hall-sensor Inputs ............................................................................................................... 26
4.3.1.3. High Speed Position Capture Inputs.................................................................................... 26
4.3.1.4. Emergency Stop Inputs (optional) ....................................................................................... 27
4.3.2. Incremental Encoder Interface.................................................................................................. 27
4.3.3. Multi-turn Absolute Encoder Receiver....................................................................................... 28
4.4. Interface Wiring .............................................................................................................................. 30
4.5. Power Supply ................................................................................................................................. 31
5. BOARD SETUP .................................................................................................................................... 32
5.1. Base I/O Address............................................................................................................................ 32
5.2. Interrupt Line .................................................................................................................................. 32
5.3. Current Limit Mode ......................................................................................................................... 33
5.4. Servo Off Mode .............................................................................................................................. 33
6. APPLICATION NOTES......................................................................................................................... 34
7. BASIC CONTROL PROCEDURES....................................................................................................... 35
7.1. Board identification ......................................................................................................................... 35
7 .2 .B o a rd In itia liz a tio n a n d P o w e r O n ............................................................................................... 36
7.3. Enable Amplifiers ........................................................................................................................... 37
7.4. Disable amplifier............................................................................................................................. 38
7.5. Diagnostic – Finding Out the Reason Caused Amplifier Disable...................................................... 39
