74
Gem6K Hardware Installation Guide
The encoder output circuit is shown in the next drawing.
Internal Connections
14 Encoder Out A+
15 Encoder Out A-
16 Encoder Out B+
17 Encoder Out B-
18 Encoder Out Z+
19 Encoder Out Z-
20 Digital Ground
DRIVE I/O Connector
From DSP
(or passed through if
required conditions met)
From DSP
(or passed through if
required conditions met)
AM26LS31
AM26LS31
Passed Through
(if required conditions
are satisfied)
AM26LS31
Encoder Outputs
You can use the ORES command to configure the encoder outputs.
Step & Direction Output – GT6K Steppers Only (optional)
Pins 14 – 17 are step and direction outputs.
The outputs are based on calculated position.
Step & Direction Output Specifications:
Default Resolution:
25,000 steps per revolution
Clockwise Rotation:
Di = High
Counterclockwise Rotation:
Di = Low
The step and direction output circuit is shown in the next drawing.
Internal Connections
14 Step+ Output
15 Step– Output
16 Di Output
17 Direction– Output
18
19
20 Digital Ground
DRIVE I/O Connector
From DSP
From DSP
AM26LS31
AM26LS31
Step & Direction Output
You can use the ORES command to configure the step and direction outputs.
