User's Manual

Digital Servo Drivers
2.4.8 UART port
MOH-A,B,C,D
Signals
RX, TX, GND
Modes
full-duplex, serail port for motor control and setup, 115200 - 1250000
baud
Protocol
Binary
2.4.9 CAN port
MOH-A,B
MOH-C,D
Signals -
CANH, CANL, GND
Insulation -
Optically insulated power and interface
circuits +5 Vdc CAN
Format -
conforming to the CAN V2.0b physical layer
for high speed connections
Data -
in accordance with CANopen CIA DS301
Address selection -
dip-switch configurable
Stub -
121 ohm selectable
2.4.10 Encoder port
MOH-A,B MOH-C,D
Signals - A, B, X
Levels - 5V
Frequency - 4MHz (post quadrature)
Power supply - 5V @ 400mA
2.4.11 Digitall Halls
MOH-A,B,C,D
Type single ended digital, electrical phase-shifted by 120°
Levels U, V, W
Frequency 10kHz
Power supply 5V @ 400mA
2.4.12 Motor connections
Sirius Electronic Systems s.r.l. 13