Delta Tau TURBO CLIPPER DRIVE 사용자 설명서
Turbo Clipper Drive User Manual
Breakout Board: Wiring, Software Setup
49
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
good usage for them is driving a high power motor with a 3
rd
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.
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
1
2
3
4
5
6
7
8
9
Pin#
Symbol
Function
Description
1
GND
Common
Ground
2
DAC-
Output
DAC Output -
3
GND
Common
Ground
4
DIR+
Output
Direction Plus Output
5
FALT-
Input
Amp Fault
6
DAC+
Output
DAC Output+
7
+5V_5A
Output
5 volts Output
8
PUL+
Output
Pulse Plus Output
9
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