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Appendices • 174 USER MANUAL
Pin-Out Description for DMC-13X8
Outputs
Analog Motor Command +/- 10 Volt range signal for driving amplifier. In servo mode, motor
command output is updated at the controller sample rate. In the motor
off mode, this output is held at the OF command level.
Amp Enable Signal to disable and enable an amplifier. Amp Enable goes low on
Abort and OE1.
PWM/STEP OUT PWM/STEP OUT is used for directly driving power bridges for DC
servo motors or for driving step motor amplifiers. For servo motors: I
f
you are using a conventional amplifier that accepts a +/-10 Volt analog
signal, this pin is not used and should be left open. The switching
frequency is 16.7 kHz. The PWM output is available in two formats:
Inverter and Sign Magnitude. In the Inverter mode, the PWM signal is
.2% duty cycle for full negative voltage, 50% for 0 Voltage and 99.8%
for full positive voltage. In the Sign Magnitude Mode (Jumper SM),
the PWM signal is 0% for 0 Voltage, 99.6% for full voltage and the
sign of the Motor Command is available at the sign output.
PWM/STEP OUT For stepmotors: The STEP OUT pin produces a series of pulses for
input to a step motor driver. The pulses may either be low or high.
The pulse width is 50%. Upon Reset, the output will be low if the SM
j
umper is on. If the SM jumper is not on, the output will be Tristate.
Sign/Direction Used with PWM signal to give the sign of the motor command for
servo amplifiers or direction for step motors.
Error The signal goes low when the position error on any axis exceeds the
value specified by the error limit command, ER.
Output 1-Output 8
These 8 TTL outputs are uncommitted and may be designated by the
user to toggle relays and trigger external events. The output lines are
toggled by Set Bit, SB, and Clear Bit, CB, instructions. The OP
instruction is used to define the state of all the bits of the Output port.
Inputs
Encoder, A+, B+ Position feedback from incremental encoder with two channels in
quadrature, CHA and CHB. The encoder may be analog or TTL. Any
resolution encoder may be used as long as the maximum frequency
does not exceed 12,000,000 quadrature states/sec. The controller
performs quadrature decoding of the encoder signals resulting in a
resolution of quadrature counts (4 x encoder cycles). Note: Encoders
that produce outputs in the format of pulses and direction may also be
used by inputting the pulses into CHA and direction into Channel B
and using the CE command to configure this mode.
Encoder Index, I+ Once-Per-Revolution encoder pulse. Used in Homing sequence or Find
Index command to define home on an encoder index.
Encoder, A-, B-, I- Differential inputs from encoder. May be input along with CHA, CHB
for noise immunity of encoder signals. The CHA- and CHB- inputs are
optional.
Auxiliary Encoder, Aux A+,
Aux B+, Aux I+, Aux A-, Aux
B-, Aux I-
Inputs for additional encoder. Used when an encoder on both the moto
r
and the load is required. Not available on axes configured for step
motors.