User Manual

Safety Recommendations
68 Advanced Digital Motor Controller User Manual V2.0, July 8, 2019
Digital Outputs Configurations and Triggers
The controller’s digital outputs can individually be mapped to turn On or Off based on the
status of user-selectable internal status or events. The table below lists the possible as-
signment for each available Digital Output.
Action Output activation Typical Use
No action
Not changed by any internal controller
events.
Output may be activated using
Serial commands or user scripts
Motor(s) is on
When selected motor channel(s) has power
applied to it. Brake release
Motor(s) is reversed
When selected motor channel(s) has power
applied to it in reverse direction. Back-up warning indicator
Overvoltage When battery voltage above over-limit Shunt load activation
Overtemperature When over-temperature limit exceeded Fan activation. Warning buzzer
Status LED When status LED is ON
Place Status indicator in visible
location.
Encoder Configurations and Use
On controller models equipped with encoder inputs, external encoders enable a range
of precision motion control features. See “Connecting Optical Encoders” page 52 for a
detailed discussion on how optical encoders work and how to physically connect them to
the controller. The diagram below shows the processing chain for each encoder input.
32-bit
up/down
Counter
Speed
Measure
Encode
r
Inpu
t
Selectable Action
Selectable Action
Count
Speed in RPM
Max RPM
Feedback
Use
Select
Count > Max
Count < Min
Scalling
EncoderPPR
FIGURE 4-9. Encoder input processing
The encoder’s two quadrature signals are processed to generate up and down counts
depending on the rotation direction. The counts are then summed inside a 32-bit counter.
The counter can be read directly using serial commands and/or can be used as a position
feedback source for the closed loop position mode.