Delta Tau TURBO CLIPPER DRIVE User Manual

Turbo Clipper Drive User Manual

Breakout Board: Wiring, Software Setup

External Amp 1-4:

If the power board is attached to the assembly, these connectors are not used in most cases. A
good usage for them is driving a high power motor with a 3

party amplifier in either pulse and

direction (PFM) or Filtered PWM (DAC) mode.

If  the  power  board  is  not  attached  to  the  stack,  these  connectors  serve  as  the  traditional
connection to the drive(s) and are set up as any Turbo PMAC2 for pulse and direction (PFM) or
Filtered PWM (DAC) output.

External Amp 1-4: D-Sub DE-9F

Mating: D-Sub DE-9M

Pin#

Symbol

Function

Description

GND

Common

Ground

DAC-

Output

DAC Output -

GND

Common

Ground

DIR+

Output

Direction Plus Output

FALT-

Input

Amp Fault

DAC+

Output

DAC Output+

+5V_5A

Output

5 volts Output

PUL+

Output

Pulse Plus Output

AENA-

Output

Amp Enable

Pulse and direction Setup Example, channels 1-4:

I100,4,100=1

; Motor 1-4 activation

I7016,4,10=3

; Servo IC 0 Channel 1-4 output mode, PFM

I7010,4,10=8

; Servo IC 0 Channel 1-4 Encoder Decode

; Internal pulse and direction

I102=$78004

; Mtr1 output to point to channel 1 output c for PFM

I202=$7800c

; Mtr2 output to point to channel 2 output c for PFM

I302=$78014

; Mtr3 output to point to channel 3 output c for PFM

I402=$7801C

; Mtr4 output to point to channel 4 output c for PFM

I8000=$C78000

; C for Incremental Encoder, mode switch = no extension

I8001=$C78008

; C for Incremental Encoder, mode switch = no extension

I8002=$C78010

; C for Incremental Encoder, mode switch = no extension

I8003=$C78018

; C for Incremental Encoder, mode switch = no extension

I103,2,1=$3501

;

I203,2,1=$3502

;

I303,2,1=$3503

;

I403,2,1=$3504

;

I124,4,100=$120001

; Disable amp fault and overtravel limits

I125=$78000

;

I225=$78008

;

I325=$78010

;

I425=$78018

;

I111,4,100=0

; Disable fatal following error