User manual

Brick Controller User Manual
Table of Contents vii
X1-X8: Encoder Feedback, EnDat 2.1/2.2 .................................................................................61
Configuring EnDat ........................................................................................................................... 61
EnDat Control Registers Setup Example ........................................................................................... 65
X1-X8: Encoder Feedback, BiSS C/B .......................................................................................67
Configuring BiSS .............................................................................................................................. 67
BiSS Control Registers Setup Example.............................................................................................. 71
Setting up SSI | EnDat | BiSS....................................................................................................73
Setup Summary ................................................................................................................................. 74
Technique 1 Example ....................................................................................................................... 75
Technique 2 Example ....................................................................................................................... 78
Technique 3 Example ....................................................................................................................... 82
X1-X8: Encoder Feedback, Yaskawa Sigma II & III ..................................................................86
Yaskawa Sigma II 16-Bit Absolute Encoder ...................................................................................... 91
Yaskawa Sigma II 17-Bit Absolute Encoder ...................................................................................... 94
Yaskawa Sigma III 20-Bit Absolute Encoder ..................................................................................... 97
Yaskawa Sigma II 13-Bit Incremental Encoder ............................................................................... 100
Yaskawa Sigma II 17-Bit Incremental Encoder ............................................................................... 102
Yaskawa Incremental Encoder Alarm Codes ................................................................................... 104
Homing with Yaskawa Incremental Encoders ................................................................................. 105
X9-X10: Analog Inputs/Outputs ............................................................................................... 106
X11-X12: Analog Inputs/Outputs ............................................................................................. 106
Setting up the Analog (ADC) Inputs ................................................................................................ 107
Setting up the DAC Outputs ............................................................................................................ 108
Setting up the General Purpose Relay, Brake .................................................................................. 110
Setting up the External Amplifier Fault Input .................................................................................. 112
X13: USB 2.0 Connector ........................................................................................................ 113
X14: RJ45, Ethernet Connector .............................................................................................. 113
X15: Watchdog & ABORT (TB2) ............................................................................................. 114
Wiring the Abort Input .................................................................................................................... 114
Wiring the WatchDog (WD) Output ................................................................................................ 115
J4: Limits, Flags, EQU [Axis 1- 4] ............................................................................................ 116
J5: Limits, Flags, EQU [Axis 5- 8] ............................................................................................ 117
Wiring the Limits and Flags ........................................................................................................... 118
Limits and Flags [Axis 1- 4] Suggested M-Variables ...................................................................... 119
Limits and Flags [Axis 5- 8] Suggested M-Variables ...................................................................... 119
J6: General Purpose Inputs/Outputs ....................................................................................... 120
J7: Additional General Purpose Inputs/Outputs ....................................................................... 121
J8: Additional General Purpose Inputs/Outputs ....................................................................... 122
About the Digital Inputs and Outputs .............................................................................................. 123
Wiring the Digital Inputs and Outputs ............................................................................................ 124
General Purpose I/Os (J6) Suggested M-Variables ......................................................................... 125
General Purpose I/Os Additional (J7) Suggested M-Variables ........................................................ 125
General Purpose I/Os Additional (J8) Suggested M-Variables ........................................................ 126
J9: Handwheel Analog I/O....................................................................................................... 127
Setting up the Analog Inputs (J9) .................................................................................................... 128