C
ONNECT
STC
S
TO
A
MPS
/M
OTOR
/E
NCODER
4-16
P
C
I
C
o
n
n
ec
ti
o
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s
to
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er
vo
M
o
to
rs
PCI
Connections to Servo Motors
PCI/DSP controllers can control brush servo motors, brushless servo motors, or linear brush-
less motors. Basic connections require an analog output signal (from the controller to the am-
plifier) and an encoder input (from the motor to the controller).
Most amplifiers support either Velocity mode (voltage control), Torque mode (current control)
or both. The PCI controller can be used with either servo motor/amplifier package.
PCI controllers accept TTL-level (0V to +5V, 40mA max) encoder input from either differen-
tial or single-ended controllers. Differential encoders are preferred due to their excellent noise
immunity. See Figure 4-19,
Typical Single-Ended Encoder Connections
, for instructions.
Brush Servo Motors
The minimum required connections to a brush-type servo are: Analog signal (+/- 10V), +5V,
Signal Ground, Encoder Channel A+, Encoder Channel B+. Typical connections for a brush
servo motor with differential encoder are:
Figure 4-13
Typical Brush Servo Motor Connections
GND
+5 volts
Encoder A+
Encoder A-
Encoder B+
Encoder B-
Encoder Index+
Encoder Index-
10
44
41
42
38
4
6
5
39
40
T
O
B
RUSH
S
ERVO
M
OTOR
Any unused lines should be
left unconnected.
Command_0-
Co
Servo
Amp
Motor
Encoder
STC-136
PCI
Axis 0
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