48
Chapter 6: Motor Wiring
Figure 6-16. Typical Closed-loop Step Wiring
with Differential Encoder, Axis 0 - DSPpro-VME
Note:
For drives that trigger on the falling edge of the pulse input use Step-
instead of Step+.
6.6 Wiring for Dual-Loop Control
DSPpro controllers can be configured for dual-loop control. In dual-loop control, the velocity
information for the PID derivative term (Kd) is derived from a rotary encoder on the motor shaft,
and the position information for the PID proportional and integral terms (Kp and Ki) are derived
from an encoder on the load itself.
The axis that will be used for the rotary encoder (velocity feedback) is configurable through
software and can be any axis that is not controlling a motor. For example, if axis 0 is configured
for velocity feedback and axis 1 is configured for positional feedback, the system would be
connected as follows:
STC-26
Brushless
Amp
Motor
14
22
GND
3
4
5
6
7
8
Encoder A+
Servo
Encoder A-
Encoder B+
Encoder B-
Encoder Index+
Encoder Index-
To:
-
+
16
17
18
19
20
21
Encoder A+
Encoder A-
Encoder B+
Encoder B-
Encoder Index+
Encoder Index-
14
15
GND
+ 5 volts
Encoder
DSPpro-VME
Figure 6-17. Typical Dual-loop Encoder Wiring for DSPpro-VME with Differential Encoders
6.7 Interferometer Input Wiring (DSPpro-VME
only)
DSPpro-VME controllers can accept position feedback information from laser interferometers
with 32-bit parallel output. User I/O lines are used to receive the 32-bit parallel input. Wiring
diagrams for several popular interferometers are shown in the following sections.
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
