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Motor controller/driver/encoder pinouts
Here are the latest pinouts for the motor-driver/motor-controller cable
that has been under discussion recently, the encoder connector that
will be on the new Step Pack chassis, and the ELCO 8016 motor connector
originally proposed by Wilfred Schildkamp of CARS and tweaked by several
of us.
Leo Bric looked at this, and has no problem with putting these
connectors on the new Step Pack, although his documentation is likely
to rename 'overtravel' to 'reserved', since his hardware doesn't
generate this signal.
(Perhaps 'overtravel' should come from the encoder connector. This
would require a change to, say, a DB-15 connector, which would also
provide extra conductors for a differential 'home' signal, and a few
uncommitted signals to match those on the DB-25. I don't want this
badly enough to do it without a medium-hard poke from one of you guys.)
Leo is likely to support differential signals with a DIP-jumper option
for single-ended operation. The jumper would bias the '-' member of a
differential pair at +1.5V, so that the '+' member can be used alone as
a TTL-compatible signal. (The Oregon Microsystems VME44 does the same
thing for encoder signals, and we'll probably do this on the VME58
transition boards we make.)
Electrically, differential signals are EIA-422, done with chips like
MC3486/MC3487 and SN75175--the same stuff used to implement RS-422 and
RS-485 serial lines.
=====================================================================
controller/driver cable to New Step Pack interface module
(female DB-25 connector on chassis)
----------------------------------------------------------
Pin Dir Function Pin Dir Function
----------------------------------------------------------
1 uncommitted 14 uncommitted
2 In overtravel 15 Out auxiliary
3 Out step + 16 Out step -
4 Out direction + 17 Out direction -
5 In high limit N.C. 18 In high limit N.O.
6 In low limit N.C. 19 In low limit N.O.
7 In encoder A + 20 In encoder A -
8 In encoder B + 21 In encoder B -
9 In index + 22 In index -
10 In home1 (motor conn.) 23 In home2 (encoder conn.)
11 ground/shield 24 ground/shield
12 In driver fault 25 uncommitted
13 uncommitted
'Overtravel' and 'driver fault' should be high-true, so that a
cut or disconnected cable is more likely to be reported as a fault.
=====================================================================
=====================================================================
New Step Pack encoder connector
(female DB-9 connector on chassis)
----------------------------------------------------------
Pin Dir Function Pin Dir Function
----------------------------------------------------------
1 In index + 6 In index -
2 In phase A + 7 In phase A -
3 In phase B + 8 In phase B -
4 +V 9 +V return (gnd)
5 In home
Note pins 4 and 5 (+V/gnd) are routed from a terminal strip on the rear
of the Step Pack chassis. This power is separate from the power
delivered to the motor connector pins V and R.
=====================================================================
=====================================================================
New Step Pack motor connector
(ELCO 8016 connector)
----------------------------------------------------------
Pin Dir Function Pin Dir Function
----------------------------------------------------------
A Out motor phase 1 E Out motor phase 1 return
B Out motor phase 2 F Out motor phase 2 return
C Out motor phase 3 H Out motor phase 3 return
D Out motor phase 4 J Out motor phase 4 return
K Out motor phase 5 L Out motor phase 5 return
W In CW limit T In CW limit return (gnd)
X In CCW limit U In CCW limit return (gnd)
N In home P In home return (gnd)
V +V R +V return (gnd)
S uncommitted M uncommitted
Note pins V and R are routed from a terminal strip on the rear of the
Step Pack chassis. This power is separate from the power delivered to
the encoder connector pins 4 and 5.
=====================================================================
Last-minute comments/corrections before this gets turned into hardware,
anyone?
Tim