Delta Tau 5xx-603869-xUxx Bedienungsanleitung

Single Source Machine Control ……………………………………………..…...………………. Power // Flexibility // Ease of Use 21314 Lassen St. Chatsworth, CA 91311 // Tel. (

Brick Controller User Manual Introduction 10 INTRODUCTION The Brick Motion Controller is a fully scalable automation controller utilizing the intell

Brick Controller User Manual PinOuts and Software Setup 100 Yaskawa Sigma II 13-Bit Incremental Encoder Y:$78B21 Y:$78B20 [23-11] [10-0] 23 [22-11]

Brick Controller User Manual PinOuts and Software Setup 101 Encoder Conversion Table Setup (Motors 1-8) The ECT automatic entry is equivalent to: I8

Brick Controller User Manual PinOuts and Software Setup 102 Yaskawa Sigma II 17-Bit Incremental Encoder Y:$78B21 Y:$78B20 [23-11] [10-0] 23 [22-6] [

Brick Controller User Manual PinOuts and Software Setup 103 Encoder Conversion Table Setup (Motors 1-8) The ECT automatic entry is equivalent to: I8

Brick Controller User Manual PinOuts and Software Setup 104 Yaskawa Incremental Encoder Alarm Codes Yaskawa Incremental encoder Alarm Registers Cha

Brick Controller User Manual PinOuts and Software Setup 105 Homing with Yaskawa Incremental Encoders Hardware capture is not available with serial d

Brick Controller User Manual PinOuts and Software Setup 106 X9-X10: Analog Inputs/Outputs X9-X10: D-Sub DE-9F Mating: D-Sub DE-9M 23459 8 7 61 Pin

Brick Controller User Manual PinOuts and Software Setup 107 Setting up the Analog (ADC) Inputs Differential Analog Input Signal Single Ended Anal

Brick Controller User Manual PinOuts and Software Setup 108 Setting up the DAC Outputs Differential DAC Output Signal Single Ended DAC Output Sig

Brick Controller User Manual PinOuts and Software Setup 109  With Servo IC 0 being the clock master and using enhanced clock settings, the fol

Brick Controller User Manual Introduction 11 Downloadable Turbo PMAC Script Caution Some code examples require the user to input specific informa

Brick Controller User Manual PinOuts and Software Setup 110 Setting up the General Purpose Relay, Brake This option provides either a general purpos

Brick Controller User Manual PinOuts and Software Setup 111 High True Brake Output Sourcing Sinking BRAKE23459 8 7 61Logic device / BrakeBRAKE RETD

Brick Controller User Manual PinOuts and Software Setup 112 Setting up the External Amplifier Fault Input The amplifier fault signal is a bidirectio

Brick Controller User Manual PinOuts and Software Setup 113 X13: USB 2.0 Connector This connector is used to establish USB (A-B type cable) communi

Brick Controller User Manual PinOuts and Software Setup 114 X15: Watchdog & ABORT (TB2) X15 has two essential functions:  A 24VDC Abort Inp

Brick Controller User Manual PinOuts and Software Setup 115 The hardware Abort input functionality differs slightly from the software global Abort (

Brick Controller User Manual PinOuts and Software Setup 116 J4: Limits, Flags, EQU [Axis 1- 4] J4 is used to wire axis/channels 1 through 4 over tra

Brick Controller User Manual PinOuts and Software Setup 117 J5: Limits, Flags, EQU [Axis 5- 8] J5 is used to bring in axis/channels 5 through 8 over

Brick Controller User Manual PinOuts and Software Setup 118 Wiring the Limits and Flags The Brick Controller allows the use of sinking or sourcing l

Brick Controller User Manual PinOuts and Software Setup 119 Limits and Flags [Axis 1- 4] Suggested M-Variables M115->X:$078000,19 ; User 1 flag

Brick Controller User Manual SPECIFICATIONS 12 SPECIFICATIONS Part Number BC 0 0 0 00C F-- -04 0 00 0 0** ** ** **CPU Options - Turbo PMAC 2 Process

Brick Controller User Manual PinOuts and Software Setup 120 J6: General Purpose Inputs/Outputs J6 is used to wire general purpose digital Inputs (1

Brick Controller User Manual PinOuts and Software Setup 121 J7: Additional General Purpose Inputs/Outputs J7 is used to wire general purpose digital

Brick Controller User Manual PinOuts and Software Setup 122 J8: Additional General Purpose Inputs/Outputs J8 is used to wire general purpose digital

Brick Controller User Manual PinOuts and Software Setup 123 About the Digital Inputs and Outputs All general purpose inputs and outputs are opticall

Brick Controller User Manual PinOuts and Software Setup 124 Wiring the Digital Inputs and Outputs The inputs and outputs can be wired to be either s

Brick Controller User Manual PinOuts and Software Setup 125 General Purpose I/Os (J6) Suggested M-Variables // Inputs: M1->Y:$78800,0,1 ; Input

Brick Controller User Manual PinOuts and Software Setup 126 General Purpose I/Os Additional (J8) Suggested M-Variables // Inputs: M49->Y:$78A00,0

Brick Controller User Manual PinOuts and Software Setup 127 J9: Handwheel Analog I/O J9 is used to wire the additional analog inputs, Handwheel enco

Brick Controller User Manual PinOuts and Software Setup 128 Setting up the Analog Inputs (J9) The ANA (J9) port provides eight multiplexed 12-bit

Brick Controller User Manual PinOuts and Software Setup 129 J9 Analog Inputs Suggested M-Variables Bipolar Mode (Signed) Unipolar Mode (Unsigned)

Brick Controller User Manual SPECIFICATIONS 13 Options CPU Options  C0: 80MHz Turbo PMAC2 CPU (standard) 8Kx24 internal memory, 256Kx24 SRAM , 1M

Brick Controller User Manual PinOuts and Software Setup 130 Setting up the Analog Output (J9) Differential Output Single-Ended Output 1234567891011

Brick Controller User Manual PinOuts and Software Setup 131 For assistance with clock settings, use the Delta Tau Calculator: DT Calculator Forum Li

Brick Controller User Manual PinOuts and Software Setup 132 Setting up Pulse and Direction Output PFM (J9) Differential Pulse And Direction Single

Brick Controller User Manual PinOuts and Software Setup 133 The calculated Ixx69 specifies the maximum command output value which corresponds to the

Brick Controller User Manual PinOuts and Software Setup 134 Setting up the Handwheel Port (J9) A quadrature encoder type device is normally brought

Brick Controller User Manual PinOuts and Software Setup 135 Serial Port (RS232) An optional serial RS-232 communication port is available on the Bri

Brick Controller User Manual PinOuts and Software Setup 136 AMP1-AMP8: Amplifier Connection AMP1-AMP8: D-sub DA-15F Mating: D-Sub DA-15M 234567891

Brick Controller User Manual PinOuts and Software Setup 137 Wiring the DAC Output Single Ended DAC Output 234567891011121314151Analog DeviceDAC+C

Brick Controller User Manual PinOuts and Software Setup 138 Wiring the Amplifier Enable and Fault Signals The amplifier enable output signal can be

Brick Controller User Manual PinOuts and Software Setup 139 Older Models / Newer Models (FLT RET jumper installed) High True Amplifier Enable Outpu

Brick Controller User Manual SPECIFICATIONS 14 Environmental Specifications Description Specifications Operating Temperature 0 to 45°C Storage Temp

Brick Controller User Manual PinOuts and Software Setup 140 Newer Models (FLT RET jumper removed) High True Amplifier Enable Output Sourcing Sinkin

Brick Controller User Manual Drive-Motor Setup 141 DRIVE-MOTOR SETUP The Brick Controller supports three types of outputs:  Analog ±10V 12-bit Fi

Brick Controller User Manual Drive-Motor Setup 142 Filtered PWM Output (Analog ±10V) In this mode, the ±10V analog output is obtained by passing the

Brick Controller User Manual Drive-Motor Setup 143 Clock Settings, Output Mode, Command Limit Most commonly used and suggested clock settings in thi

Brick Controller User Manual Drive-Motor Setup 144 I2T Protection: Ixx57, Ixx58 I2T is a software thermal model (PMAC internal calculation) used to

Brick Controller User Manual Drive-Motor Setup 145 The open-loop test is usually performed on an unloaded motor. The open loop command output is adj

Brick Controller User Manual Drive-Motor Setup 146 Position-Loop PID Gains: Ixx30…Ixx39 The position-loop tuning is done as in any Turbo PMAC PID-Lo

Brick Controller User Manual Drive-Motor Setup 147 True DAC Output (±10V) Clock Settings, Output Mode Default Clock settings are suitable for most

Brick Controller User Manual Drive-Motor Setup 148 I2T Protection: Ixx57, Ixx58 I2T is a software thermal model (PMAC internal calculation) used to

Brick Controller User Manual Drive-Motor Setup 149 The open-loop test is usually performed on an unloaded motor. The open loop command output is adj

Brick Controller User Manual Receiving and Unpacking 15 RECEIVING AND UNPACKING Delta Tau products are thoroughly tested at the factory and carefull

Brick Controller User Manual Drive-Motor Setup 150 Position-Loop PID Gains: Ixx30…Ixx39 The position-loop tuning is done as in any Turbo PMAC PID-Lo

Brick Controller User Manual Drive-Motor Setup 151 Pulse and Direction Output (PFM) The Pulse and direction (Pulse Frequency Modulation) output pins

Brick Controller User Manual Drive-Motor Setup 152 PFM Setup Example // Encoder Conversion Table, for channels 1-4 I8000=$C78000 ; Entry 1 increm

Brick Controller User Manual Drive-Motor Setup 153 Issuing Open-Loop Commands Activating the motor channel should be sufficient at this point to all

Brick Controller User Manual Drive-Motor Setup 154 Implementing PID gains, Ixx30..Ixx35 In PFM mode, the PID Gains can be determined using the follo

Brick Controller User Manual MACRO Connectivity 155 MACRO CONNECTIVITY Introduction to MACRO MACRO Ring for Distributed Motion Control - www.macro.o

Brick Controller User Manual MACRO Connectivity 156 MACRO Configuration Examples The Brick Controller with its’ MACRO interface supports a wide va

Brick Controller User Manual MACRO Connectivity 157 Review: MACRO Nodes and Addressing Each MACRO IC consists of 16 nodes: 2 auxiliary, 8 servo and

Brick Controller User Manual MACRO Connectivity 158 Review: MACRO Auxiliary Commands In MACRO Auxiliary mode (Brick - Brick), master and slave data

Brick Controller User Manual MACRO Connectivity 159 Configuration Example 1: Brick - Brick MACRO Ring Master MACRO Ring Slave The following exampl

Brick Controller User Manual Mounting 16 MOUNTING The location of the Brick Controller is important. Installation should be in an area that is prot

Brick Controller User Manual MACRO Connectivity 160 5. Clock settings considerations  The MACRO ring is synchronized at phase rate. Keep in mind

Brick Controller User Manual MACRO Connectivity 161 Note about Slave Motors’ I2T I2T setting parameters, Ixx69, Ixx57 and Ixx58, should be configure

Brick Controller User Manual MACRO Connectivity 162 Setting up the Master 1. Establish communication to the master using USB, Ethernet, or Serial.

Brick Controller User Manual MACRO Connectivity 163 9. Position And Velocity Pointers If all local motors have digital quadrature encoders (1-line

Brick Controller User Manual MACRO Connectivity 164 Servo Node Addresses MACRO motor Motor # Address Register MACRO motor Motor # Address Register

Brick Controller User Manual MACRO Connectivity 165 Configuration Example 2: Brick - Geo MACRO Drive This configuration example discusses the necess

Brick Controller User Manual MACRO Connectivity 166 The following steps are guidelines for setting up one Geo Macro Drive slave: 1. Establish comm

Brick Controller User Manual MACRO Connectivity 167 8. If the Geo MACRO Drive has been configured prior to this setup, then it may have been assign

Brick Controller User Manual MACRO Connectivity 168 16. Activating MACRO Motors Variable I4900 reports how many servo ICs is the Brick Controller

Brick Controller User Manual MACRO Connectivity 169 Servo Node Addresses MACRO motor Motor # Address Register MACRO motor Motor # Address Regist

Brick Controller User Manual Mounting 17 Connector Locations AMP 7 AMP 8 Analog I/OBottom View24VDCLogic PowerAMP 1AMP 2AMP 5AMP 6AMP 3Alt. En

Brick Controller User Manual MACRO Connectivity 170 18. Typical MACRO motor settings  The motor command output address Ixx02 is initiated by defau

Brick Controller User Manual MACRO Connectivity 171  The current loop feedback address Ixx82 should be set per the following table: MACRO motor Mo

Brick Controller User Manual MACRO Connectivity 172 20. Motor Phasing, Open-Loop Test Motor phasing is performed in the same manner as it would be f

Brick Controller User Manual MACRO Connectivity 173 Brick – Brick MACRO I/O Data Transfer This section describes the handling of inputs and outputs

Brick Controller User Manual MACRO Connectivity 174 Transferring the Digital (Discrete) Input and Outputs A Brick Controller can be populated with u

Brick Controller User Manual MACRO Connectivity 175 The proposed transfer mechanism establishes the reading of inputs and writing to outputs through

Brick Controller User Manual MACRO Connectivity 176 Slave Digital I/Os Transfer Example I6841=I6841|$000004 ; Make sure that I/O node 2 is active

Brick Controller User Manual MACRO Connectivity 177 Master Digital I/Os Transfer Example I6841=I6841|$000004 ; Make sure that I/O node 2 is activ

Brick Controller User Manual MACRO Connectivity 178 Bitwise Assignments (downloaded onto the master) // J6 Outputs #define Output1 M7101 #define O

Brick Controller User Manual MACRO Connectivity 179 // J8 Outputs #define Output17 M7117 #define Output18 M7118 #define Output19 M7119 #define Outp

Brick Controller User Manual Mounting 18 Mounting Dimensions For both BC4-xx-xxx-xxx-xxxxx and BC8-xx-xxx-xxx-xxxxx: Width Depth Height 3.50 inches

Brick Controller User Manual MACRO Connectivity 180 Transferring the X9-X12 Analog Inputs/Outputs A Brick Controller MACRO slave can be populated wi

Brick Controller User Manual MACRO Connectivity 181 Slave Settings I6841=I6841|$3300 ; Enable servo nodes 8,9,12,13 I544=$078433 ; MacroIC0 Node

Brick Controller User Manual MACRO Connectivity 182 Transferring the J9 Analog Inputs A Brick Controller MACRO slave with option 12 offers 8 x 12-bi

Brick Controller User Manual MACRO Connectivity 183 MACRO Limits and Flags, Homing Limits and Flags MACRO Motors’ Limits and Flags are automatically

Brick Controller User Manual MACRO Connectivity 184 MACRO Suggested M-Variables // Macro IC 0 Node 0 Flag Registers M150->X:$003440,0,24 ; Macr

Brick Controller User Manual MACRO Connectivity 185 // Macro IC 0 Node 9 Flag Registers M650->X:$003449,0,24 ; Macro IC 0 Node 9 flag status re

Brick Controller User Manual MACRO Connectivity 186 Absolute Position Reporting over MACRO Caution Writing to the motor actual position (Mxx62) sh

Brick Controller User Manual MACRO Connectivity 187 MACRO Configuration Power-Up Sequence Typically, in a MACRO master-slave configuration, it is de

Brick Controller User Manual Troubleshooting 188 TROUBLESHOOTING Serial Number and Board Revisions Identification The following Serial Number Page p

Brick Controller User Manual Troubleshooting 189 Boot Switch SW (Firmware Reload) – Write-Protect Disable This momentary button switch has two essen

Brick Controller User Manual PinOuts and Software Setup 19 PINOUTS AND SOFTWARE SETUP WARNING Installation of electrical control equipment is

Brick Controller User Manual Troubleshooting 190 Reloading PMAC firmware The following steps ensure proper firmware reload/upgrade. Step1: Power u

Brick Controller User Manual Troubleshooting 191 Step4: The download utility will prompt for a .BIN file. MAKE SURE you open the correct file.

Brick Controller User Manual Troubleshooting 192 Changing IP Address, Gateway IP, Gateway Mask In order to change any of these addresses, the BOOT S

Brick Controller User Manual Troubleshooting 193 Enabling ModBus A Brick unit ordered initially with the ModBus option is normally enabled by factor

Brick Controller User Manual Troubleshooting 194 Reloading Boot and Communication Firmware The boot and firmware .IIC files are required for this pr

Brick Controller User Manual Troubleshooting 195 Reset Switch SW (Factory Reset) This momentary switch button is used to reset the Brick Controller

Brick Controller User Manual Appendix A 196 APPENDIX A DB- Connector Spacing Specifications X1-8: DB-15 Connectors for encoder feedback 2345910111

Brick Controller User Manual Appendix B 197 APPENDIX B Schematics AMP1-AMP8: Amplifier Fault / Amplifier Enable diagrams FLT RET Jumpers Newer mode

Brick Controller User Manual Appendix B 198 Newer Models (December 2013) J6 and J7: General Purpose I/O Inputs GPIN04C243.1ufRP1602.2KSIP8

Brick Controller User Manual Appendix B 199 Outputs: J6 & J7 (603793 – 109 and earlier) Outputs: J6 & J7 (603793 – 10A and later)

Brick Controller User Manual Copyright Information © 2015 Delta Tau Data Systems, Inc. All rights reserved. This document is furnished for the custo

Brick Controller User Manual PinOuts and Software Setup 20 Older Models TB1: 3-pin Female Mating: 3-pin Male 123 DC Power Supply +24VDC CO

Brick Controller User Manual Appendix B 200 J4: Limit Inputs for Axis 1-4 PLIM2J10DB25S11421531641751861972082192210231124122513PLIM3BEQU3H OME2

Brick Controller User Manual Appendix B 201 J5: Limit Inputs for Axis 5-8 FL_ RT5R P1021KSIP8I1 23 45 67 8HOME7U SER7MLIM6C 214.1J20DB25S1142153

Brick Controller User Manual Appendix C 202 APPENDIX C Absolute Serial Encoders Limitation with Turbo PMAC The following is a summary of certain lim

Brick Controller User Manual Appendix C 203 Maximum “Actual” Open-Loop Velocity In open-loop mode, the actual velocity register is limited by the En

Brick Controller User Manual Appendix C 204 Maximum “Commanded” Closed-Loop Velocity In closed-loop mode, the commanded (desired) velocity register

Brick Controller User Manual PinOuts and Software Setup 21 +5V ENC PWR (Alternate Encoder Power) Typically, feedback devices are powered up through

Brick Controller User Manual PinOuts and Software Setup 22 Wiring the Alternate (+5V) Encoder Power Pin# Symbol Description Note 1 5VEXT Input 5V f

Brick Controller User Manual PinOuts and Software Setup 23 Functionality, Safety Measures There are a couple of safety and functionality measures to

Brick Controller User Manual PinOuts and Software Setup 24 X1-X8: Encoder Feedback, Digital A Quad B X1-X8: D-sub DA-15F Mating: D-sub DA-15M 234567

Brick Controller User Manual PinOuts and Software Setup 25 Channel AChannel B Typically, these signals are 5V TTL/CMOS level whether they are sing

Brick Controller User Manual PinOuts and Software Setup 26 Setting up Quadrature Encoders Digital Quadrature Encoders use the 1/T incremental entry

Brick Controller User Manual PinOuts and Software Setup 27 Encoder Loss Detection, Quadrature Designed for use with differential line-driver outputs

Brick Controller User Manual PinOuts and Software Setup 28 Encoder Loss Example PLC: A 4-axis Brick Controller is setup to kill all motors upon the

Brick Controller User Manual PinOuts and Software Setup 29 Step and Direction PFM Output (To External Stepper Amplifier) The Brick Controller has th

Brick Controller User Manual Safety Instructions Qualified personnel must transport, assemble, install, and maintain this equipment. Properly qualif

Brick Controller User Manual PinOuts and Software Setup 30 X1-X8: Encoder Feedback, Sinusoidal X1-X8: D-sub DA-15F Mating: D-sub DA-15M 23456789101

Brick Controller User Manual PinOuts and Software Setup 31 Setting up Sinusoidal Encoders The Sinusoidal position feedback is set up through the Enc

Brick Controller User Manual PinOuts and Software Setup 32 The equivalent Turbo PMAC script code for 8-channel entries // Channel 1 I8000=$FF8000

Brick Controller User Manual PinOuts and Software Setup 33 Encoder Count Error (Mxx18) The Brick Controller has an encoder count error detection fea

Brick Controller User Manual PinOuts and Software Setup 34 Encoder Loss Detection, Sinusoidal Encoder loss detection with Sinusoidal encoders can be

Brick Controller User Manual PinOuts and Software Setup 35 X1-X8: Encoder Feedback, Resolver X1-X8: D-sub DA-15F Mating: D-sub DA-15M 2345678910111

Brick Controller User Manual PinOuts and Software Setup 36 Resolver Excitation Magnitude Revolvers’ excitation magnitude is a global setting used fo

Brick Controller User Manual PinOuts and Software Setup 37 Resolver Data Registers The Resolver raw data is found in the Resolver Data registers Ch

Brick Controller User Manual PinOuts and Software Setup 38 Calculating The Tracking Filter Gains The tracking filter gains are system dependent, and

Brick Controller User Manual PinOuts and Software Setup 39 I8042=$000000 ; SIN/COS Bias word I8043=$D8352B ; Tracking filter from conversion locat

Brick Controller User Manual REVISION HISTORY REVISION DESCRIPTION DATE CHANGE APPROVED 1 MANUAL CREATION 05/02/07 C.P S.M 2 X15 WATCHDOG DESCRIPTIO

Brick Controller User Manual PinOuts and Software Setup 40 Resolver Power-On PLC Example Setting up a resolver with 10V excitation magnitude and 10

Brick Controller User Manual PinOuts and Software Setup 41 X1-X8: Encoder Feedback, HiperFace Caution The majority of HiperFace devices requires 7

Brick Controller User Manual PinOuts and Software Setup 42 Setting up HiperFace On-Going Position The HiperFace on-going position is set up through

Brick Controller User Manual PinOuts and Software Setup 43 And the equivalent Turbo PMAC code for setting up all 8 channels: // Channel 1 I8000=$FF8

Brick Controller User Manual PinOuts and Software Setup 44 Setting up HiperFace Absolute Power-On Position Setting up the absolute position read wit

Brick Controller User Manual PinOuts and Software Setup 45 Global Control Registers X:$78BnF (default value: $812004) where n=2 for axes 1-4

Brick Controller User Manual PinOuts and Software Setup 46 Channel Control Registers X:$78Bn0, X:$78Bn4, X:$78Bn8, X:$78BnC where: n=2 for axes 1-

Brick Controller User Manual PinOuts and Software Setup 47 HiperFace Data Registers The HiperFace absolute power-on data is conveyed into 4 memory l

Brick Controller User Manual PinOuts and Software Setup 48 Setting up HiperFace Encoders Example An 8-axis Brick Controller is connected to eight Hi

Brick Controller User Manual PinOuts and Software Setup 49 The Global and Channel Control registers have to be initialized on power-up. Following, i

Brick Controller User Manual PinOuts and Software Setup 50 Channels 1 through 4 are driving HiperFace encoders with 12-bit (4096) single-turn resolu

Brick Controller User Manual PinOuts and Software Setup 51 #define Ch4STRes P7006 #define Ch4MTRes P7007 #define Ch5STRes P7008 #define Ch5MTRes

Brick Controller User Manual PinOuts and Software Setup 52 STData=0 MTData=0 If (STRes!>24) ; Single Turn Res<=24 //===========SINGLE

Brick Controller User Manual PinOuts and Software Setup 53 Encoder Count Error (Mxx18), HiperFace The Brick Controller has an encoder count error de

Brick Controller User Manual PinOuts and Software Setup 54 Encoder Loss Detection, Hiperface Encoder loss detection with HiperFace encoders can be p

Brick Controller User Manual PinOuts and Software Setup 55 X1-X8: Encoder Feedback, SSI X1-X8: D-sub DA-15F Mating: D-sub DA-15M 2345678910111213141

Brick Controller User Manual PinOuts and Software Setup 56 Global Control Registers X:$78BnF (Default value: $630002) where: n=2 for axes 1-4 n=

Brick Controller User Manual PinOuts and Software Setup 57 Channel Control Registers X:$78Bn0, X:$78Bn4, X:$78Bn8, X:$78BnC where: n=2 for axes 1-

Brick Controller User Manual PinOuts and Software Setup 58 SSI Data Registers The SSI data is conveyed into 4 memory locations; Serial Encoder Data

Brick Controller User Manual PinOuts and Software Setup 59 SSI Control Registers Setup Example Channel 1 is driving a 25-bit (13-bit Singleturn, 12-

Brick Controller User Manual Table of Contents vi Table of Contents INTRODUCTION ...

Brick Controller User Manual PinOuts and Software Setup 60 Field Value Notes Channel Control Word Parity Type =0 Hex 0x00 $001419 Trigger Mode =0 Co

Brick Controller User Manual PinOuts and Software Setup 61 X1-X8: Encoder Feedback, EnDat 2.1/2.2 X1-X8: D-sub DA-15F Mating: D-Sub DA-15M 23456789

Brick Controller User Manual PinOuts and Software Setup 62 Global Control Registers X:$78BnF (default value: $002003) where n=2 for axes 1-4

Brick Controller User Manual PinOuts and Software Setup 63 Channel Control Registers X:$78Bn0, X:$78Bn4, X:$78Bn8, X:$78BnC where: n=2 for axes 1-

Brick Controller User Manual PinOuts and Software Setup 64 EnDat Data Registers The EnDat data is conveyed into 4 memory locations; EnDat Data A, B,

Brick Controller User Manual PinOuts and Software Setup 65 EnDat Control Registers Setup Example Channel 1 is driving a 37-bit (25-bit Singleturn, 1

Brick Controller User Manual PinOuts and Software Setup 66 Field Value Notes Channel Control Word Command code =$38 Hex 0x38 for EnDat 2.2 only $381

Brick Controller User Manual PinOuts and Software Setup 67 X1-X8: Encoder Feedback, BiSS C/B X1-X8: D-sub DA-15F Mating: D-Sub DA-15M 23456789101112

Brick Controller User Manual PinOuts and Software Setup 68 Global Control Registers X:$78BnF (default value: $18000B) where n=2 for axes 1-4

Brick Controller User Manual PinOuts and Software Setup 69 Channel Control Registers X:$78Bn0, X:$78Bn4, X:$78Bn8, X:$78BnC where: n=2 for axes 1-

Brick Controller User Manual Table of Contents vii X1-X8: Encoder Feedback, EnDat 2.1/2.2 ...

Brick Controller User Manual PinOuts and Software Setup 70 W 0 SENC_MODE This write-only bit is used to enable the output drivers for the SENC_SDO,

Brick Controller User Manual PinOuts and Software Setup 71 BiSS Control Registers Setup Example Channel 1 is driving an 18-bit Renishaw resolute BiS

Brick Controller User Manual PinOuts and Software Setup 72 Field Value Notes Channel Control Word CRC Mask =33 Hex 0x21 typical for Renishaw $211492

Brick Controller User Manual PinOuts and Software Setup 73 Setting up SSI | EnDat | BiSS With the Brick Controller, the absolute serial encoder data

Brick Controller User Manual PinOuts and Software Setup 74 Setup Summary Encoder Conversion Table Processing: Process Technique 1 Technique 2 Techn

Brick Controller User Manual PinOuts and Software Setup 75 Technique 1 Example Channel 1 is driving a 25-bit (13-bit Singleturn, 12-bit Multiturn) r

Brick Controller User Manual PinOuts and Software Setup 76 Counts Per User Units (Technique 1) With technique 1, the user should expect to see 2ST c

Brick Controller User Manual PinOuts and Software Setup 77 In this mode, PMAC reads and reports 18 bits from the first serial data register: Seri

Brick Controller User Manual PinOuts and Software Setup 78 Technique 2 Example Channel 1 is driving a 37-bit (25-bit Singleturn, 12-bit Multiturn) r

Brick Controller User Manual PinOuts and Software Setup 79 Note At this point, you should be able to move the motor/encoder shaft by hand and see ‘

Brick Controller User Manual Table of Contents viii Setting up the Analog Output (J9) ...

Brick Controller User Manual PinOuts and Software Setup 80 Absolute Power-On Position Read (Technique 2) With technique 2, the absolute power-on pos

Brick Controller User Manual PinOuts and Software Setup 81 Note With absolute serial encoders (no multi-turn data), the power-on position format i

Brick Controller User Manual PinOuts and Software Setup 82 Technique 3 Example Channel 1 is driving a 32-bit (20-bit Singleturn, 12-bit Multiturn) r

Brick Controller User Manual PinOuts and Software Setup 83 Note At this point, you should be able to move the motor/encoder shaft by hand and see ‘

Brick Controller User Manual PinOuts and Software Setup 84 Absolute Power-On Position Read (Technique 3) With Technique 3, the absolute power-on rea

Brick Controller User Manual PinOuts and Software Setup 85 Note With absolute serial encoders (no multi-turn data), the power-on position format i

Brick Controller User Manual PinOuts and Software Setup 86 X1-X8: Encoder Feedback, Yaskawa Sigma II & III X1-X8: D-sub DA-15F Mating: D-sub DA-

Brick Controller User Manual PinOuts and Software Setup 87 Molex 2.00 mm (.079") Pitch Serial I/O Connector, Receptacle Kit, Wire-to-Wire. P

Brick Controller User Manual PinOuts and Software Setup 88 Global Control Registers X:$78BnF (default value: $002003) where n=2 for axes 1-4

Brick Controller User Manual PinOuts and Software Setup 89 Channel Control Registers X:$78Bn0, X:$78Bn4, X:$78Bn8, X:$78BnC where: n=2 for axes 1-

Brick Controller User Manual Table of Contents ix Absolute Position Reporting over MACRO ...

Brick Controller User Manual PinOuts and Software Setup 90 Yaskawa Feedback Channel Control Power-On Example PLC (Motors 1-8) This code statement ca

Brick Controller User Manual PinOuts and Software Setup 91 Yaskawa Sigma II 16-Bit Absolute Encoder Y:$78B21 Y:$78B20 [23-12] [11-0] [23-20] [19-4]

Brick Controller User Manual PinOuts and Software Setup 92 I8007=$020004 ; Width and Bias, total of 32-bits LSB starting at bit#4 I8008=$278B30 ;

Brick Controller User Manual PinOuts and Software Setup 93 Absolute Power-On Position Read (Yaskawa 16-bit) Channel 1 example PLC, 16-bit Absolute S

Brick Controller User Manual PinOuts and Software Setup 94 Yaskawa Sigma II 17-Bit Absolute Encoder Y:$78B21 Y:$78B20 [23-13] [12-0] [23-21] [20-4]

Brick Controller User Manual PinOuts and Software Setup 95 Encoder Conversion Table Setup (Motors 1-8) The ECT automatic entry is equivalent to: I80

Brick Controller User Manual PinOuts and Software Setup 96 Absolute Power-On Position Read (Yaskawa 17-bit) Channel 1 example PLC, 17-bit Absolute S

Brick Controller User Manual PinOuts and Software Setup 97 Yaskawa Sigma III 20-Bit Absolute Encoder Y:$78B21 Y:$78B20 [23-16] [15-0] [23-4] [3:0]

Brick Controller User Manual PinOuts and Software Setup 98 Encoder Conversion Table Setup (Motors 1-8) The ECT automatic entry is equivalent to: I80

Brick Controller User Manual PinOuts and Software Setup 99 Absolute Power-On Position Read (Yaskawa 20-bit) Channel 1 example PLC, 20-bit Absolute S