SPiiPlus LF HW Guide

SPiiPlus LF Controller

Hardware Guide

Version 6.50

Version 6.50, 30 January 2009

Copyright ? 1999 - 2009 ACS Motion Control Ltd.

Changes are periodically made to the information in this document. Changes are published as release notes and are be incorporated into future revisions of this document.

No part of this document may be reproduced in any form without prior written permission from ACS Motion Control.

TRADEMARKS

ACS Motion Control, PEG and SPii are trademarks of ACS Motion Control Ltd.

Visual Basic and Windows are trademarks of Microsoft Corporation.

Any other companies and product names mentioned herein may be the trademarks of their respective owners.

Web Site: https://www.sodocs.net/doc/e811762173.html,

Information: info@https://www.sodocs.net/doc/e811762173.html,

Tech Support: support@https://www.sodocs.net/doc/e811762173.html, ACS Motion Control, Ltd.

Ramat Gabriel Industrial Park

POB 5668

Migdal HaEmek, 10500

ISRAEL

Tel: (972) (4) 6546440

Fax: (972) (4) 6546443

ACS Motion Control, Inc.

6575 City West Parkway

Eden Prairie, MN 55344

USA

Tel: (1) (763) 559-7669

(800-545-2980 in USA)

Fax: (1) (763) 559-0110

ACS Motion Control (Korea)

Digital Empire Building D-191

980-3, Youngtong-dong, Youngtong-gu,

Suwon, Geonggi-do, 443-813, Korea

Tel: +82-31-202-3541

Fax: +82-31-202-3542

NOTICE

The information in this document is deemed to be correct at the time of publishing. ACS Motion Control reserves the right to change specifications without notice. ACS Motion Control is not responsible for incidental, consequential, or special damages of any kind in connection with using this document.

Changes in Version 6.50

Page Change

Original Document

Table of Contents Table of Contents

1About this Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.1Related SPiiPlus Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.2SPiiPlus Collateral Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.3Conventions Used in this Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 1.4Statement Text and Icons Used in this Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 1.5Terms and Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 2SPiiPlus LF Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 2.1About the SPiiPlus-LF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 2.2SPiiPlus LF Main Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 2.3Optional SPiiPlus LF 4-Axis Extension Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.4SPiiPlus LF Ordering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 3SPiiPlus LF Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 3.1General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 3.2Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 3.3SPiiPlus LF MPU Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 3.4SPiiPlus LF Axis Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 3.5Input & Output Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 4Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 4.1SPiiPlus LF Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 4.1.1SPiiPlus LF Assembly Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 4.1.2SPiiPlus LF Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 4.2Mounting the SPiiPlus LF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 5Safety and EMC Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 5.1General Safety Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 5.1.1Emergency Stop Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 5.1.2Fail-Safe Logic Recommendation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 5.1.3Initial Logic State of Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 5.1.4Electrical Separation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 5.1.5Protective Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 5.2General Wiring and Electromagnetic Compatibility (EMC) Guidelines . . . . . . . 22 5.2.1Routing Signal and Power Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 5.2.2Cable Length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 5.2.3Shielding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 5.2.4Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 6SPiiPlus LF Electrical Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 6.1Main Board Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 6.1.1J3 - General Purpose I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 6.1.2J4 - Drive Interface Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 6.1.3J5 - Safety and Encoder Interface Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 6.1.4J7 - CAN Bus Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 6.1.5J8 - HSSI X Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 6.1.6J9 - HSSI Y Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 6.1.7J11 - Power Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Table of Contents 6.2MPU Board Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 6.2.1CN5 - Communication Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 6.2.2JP8 - Ethernet Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 7Jumpers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 7.1SPiiPlus LF Jumpers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 7.2SPiiPlus LF Jumper Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 8LED Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 8.1Main Board LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 8.2MPU Board LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

List of Figures List of Figures

Figure 1SPiiPlus-LF Motion Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Figure 2SPiiPlus LF Ordering Code Elements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Figure 3SPiiPlus LF Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Figure 4SPiiPlus LF Assembly Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Figure 5Cable Spacing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 Figure 6Shielded Cable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 Figure 7Improved Shielding. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 Figure 8SPiiPlus LF Connector Locations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Figure 9SPiiPlus LF Jumper Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Figure 10SPiiPlus LF LED Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

List of Tables List of Tables

Table 1Related SPiiPlus Tools. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 Table 2Collateral Documentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 Table 3Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 Table 4Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 Table 5SPiiPlus LF Ordering Code Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Table 6Controller and Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Table 7Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Table 8SPiiPlus LF MPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 Table 9SW1 COM Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 Table 10SPiiPlus LF Axis Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 Table 11SPiiPlus LF Input/Output Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Table 12SPiiPlus LF Parts List. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Table 13J3 Connector Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Table 14J4 Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Table 15J5 Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Table 16J7 Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 Table 17J8 Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Table 18J9 Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Table 19J11 Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 Table 20CN5 Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 Table 21J8 Connector Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Table 22SPiiPlus LF Main Board Jumpers and Setting . . . . . . . . . . . . . . . . . . . . . . . . . 32 Table 23 Main Board LED Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 Table 24 MPUBoard LED Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

1About this Guide

This guide provides detailed hardware information concerning the SPiiPlus LF motion controller.

For the setup procedure of the SPiiPlus LF, refer to the SPiiPlus Setup Guide. It includes:?Ηow to establish communication

?Ηow to configure the drive, motor, feedback for an axis

?Ηow to adjust (tune) the parameters of an axis

1.1Related SPiiPlus Tools

Table 1Related SPiiPlus Tools

Tool Description

SPiiPlus MMI A multipurpose user interface with the controller including:

Program management, Motion management, Communication

terminal, Four channel digital oscilloscope, Safety and I/O

signals monitor, Signal tuning and adjustment, and a fully

interactive simulator. Program tools and FRF are also included. SPiiPlus Utilities The SPiiPlus Upgrader allows upgrading or downgrading of the

controller firmware.

The SPiiPlus Emergency Wizard allows firmware recovery in

case of damage or loss of communication to the controller. SPiiPlus C Library A DLL (Dynamic Link Library) that supports host application

programming in a variety of languages including C/C++. The

library introduces a new level of application support with a built-

in controller simulator.

SPiiPlus COM Library A DLL (Dynamic Link Library) that supports host application

programming in a variety of languages including Visual Basic,

LabView, and more. The library introduces a new level of

application support with a built-in controller simulator.

1.2SPiiPlus Collateral Documentation

Table 2Collateral Documentation (page 1 of 2)

1.3Conventions Used in this Guide

Several text formats and fonts, illustrated in Table 3, are used in the text to convey information about the text Table 3Conventions

Text

Description

BOLD CAPS

ACSPL+ elements (commands, functions, operators, standard

variables, etc.) when mentioned in the text. Software tool menus, menu

items, dialog box names and dialog box elements.bold Emphasis or an introduction to a key concept.Monospace Code examples.

Italic monospace Information in code examples that the user provides.ALL CAPS (Keyboard) key names [example: SHIFT key].

Bold Blue Text Links within this document, to web pages, and to e-mail addresses.J

Used in GUI descriptions, indicates nested menu items and dialog box options leading to a final action. For example, the sequence:Debug J New Watch J Real-time

directs the user to open the Debug menu, choose the New Watch command, and select the Real-time option.

.1.4

Statement Text and Icons Used in this Guide

Table 2Collateral Documentation (page 2 of 2)

1.5Terms and Definitions

The following terms are used in this document.

Table 4Terms (page 1 of 2)

Term Definition

A2D Analog to Digital

ALE Address Latch Enable

CAN Controller Area Network

CS Chip Select

D2A Digital to Analog

FW Firmware

HSSI High-Speed Synchronous Serial Interface

HW Hardware

I2C Inter-Integrated Circuit

MARK Registration input that is used for latching current position with high precision

Table 4Terms (page 2 of 2)

Term Definition

MPU Motion Processing Unit

PCI Peripheral Component Interconnect P/D Pulse/Direction

PEG Position Event Generator

PLL Phase Lock Loop

PWM Pulse Width Modulation

SPii Second generation Servo Processor

2SPiiPlus LF Overview

This chapter provides a general overview of the SPiiPlus LF Motion Controller.

Figure 1SPiiPlus-LF Motion Controller

2.1About the SPiiPlus-LF

The SPiiPlus LF is a stand-alone 4-axes motion controller. The unit consists of an MPU board, mounted on a mother board (referred to as the Main board), and a CAN board, and contains provisions for mounting on a DIN rail.

The SPiiPlus LF is designed for flexibility that enables connecting optional cards to extend its functionality, for example, support for an additional 4 axes, CAN bus support, and the like. The SPiiPlus LF has the following features:

Controller - The controller is manufactured under ISO 9001 certified quality management system.

Communication Channels - Communication with the controller through all channels can be done simultaneously. The communication channels are as follows:

?One RS-232 and one RS-422/485/232 serial communication channel

?Ethernet 10/100 channel

Digital and Analog I/Os - The SPiiPlus LF comes with digital and analog I/Os that can be used for general purpose. In addition, there are hardware-based position registration digital outputs (PEG) and hardware-based position capture (MARK) digital inputs.

ACSPL+ - Complex applications are easy to develop with ACSPL+, a powerful, compiled, true multitasking, high-level language that is optimized for motion control applications. Ten programs can run simultaneously, enabling multiple interacting and synchronized processes. ACSPL+ enables implementation of highly complex motion-time-event sequences with accurate positioning and timing. The program can run directly on the controller or can be implemented in a host PC application using libraries provided for C, C++, and COM.

Suite of Tools - Powerful software tools are also provided for setup, tuning, and programming. Application development is particularly easy with the integrated four-channel soft scope and multi-axis motion simulator.

2.2SPiiPlus LF Main Board

The Main board with which the SPiiPlus LF comes provides the following:

?AMD Geode LX800 (500MHz) MPU

?128MB user RAM (DDR 200MHz)

?128MB flash memory for user backup & firmware

?One RS-232 and one RS-422/485/232 serial interfaces.

?One 10/100Mbit Ethernet interface

? 4 axes, each including:

?Incremental digital encoder differential inputs (RS422).

?Two analog outputs/commands, type differential ±10V, or a single-ended -10V to +10V (supported by jumper settings on the board).

?Drive enable output: single-ended, sink only, and high voltage.

?Drive fault input: single-ended, sink only, high voltage.

?Two 5/24V limit switches with opto-isolation, single-ended, sink/source configurable (as a group by jumper).

?Two Pulse-Dir commands, single-ended, TTL level. The board can support four analog axes and two P/D axes; however only two axes can be active at any given time.

?E-stop input with opto-isolation, two terminals.

?Eight General Purpose Digital inputs single-ended, TTL level, opto-22 compatible.?Eight General Purpose Digital outputs (which can be used for mechanical brake support by ASCPL+) single-ended, TTL level, opto-22 compatible.

?Four Registration Mark inputs (two for each primary axis), RS422 compatible.

?Two PEG outputs (one for each primary axis), differential RS422.

?Two HSSI channels (connected to X and Y axes), differential RS422 compatible.

?5-pin connector for power supply input (5V, +12V, -12V, GND, and Shield).

2.3Optional SPiiPlus LF 4-Axis Extension Board

The SPiiPlus LF 4-Axis Extension Board is an optional accessory that provides support for four additional axes.

2.4SPiiPlus LF Ordering

The following sections detail the ordering options for the SPiiPlus LF Motion Controller.

The SPiiPlus LF comes with the SPiiPlus ADK (Advanced Development Kit) CD which is intended for aiding programmers in developing ACSPL+ based applications and host based programs. The CD contains:

?SPiiPlus MMI - for axis configuration, servo tuning, programming and viewing parameters

?SPiiPlus Library - for host programming in C/C++ or Visual Basic?

?SPiiPlus Utilities -for upgrading or reinstalling firmware

?SPiiPlus Simulator – controller simulator for fast application development

?SPiiPlus FRF Analyzer?

?SPiiPlus Command & Variables Reference Guide - complete details of ACSPL+ commands and variables as well as error messages

?Hardware, software, setup, and programming guides in PDF format

?ACSPL+ and C/C++ training files and programming examples

In addition, the SPiiPlus LF comes with a set of cables to support connecting various elements to the outside world.

Figure 2 illustrates the SPiiPlus LF ordering code elements. These elements and options are described in Table 5.

SPiiPlus-LF-4-[C]-[D]

Figure 2SPiiPlus LF Ordering Code Elements

Table 5SPiiPlus LF Ordering Code Description

Element Description

4Four axes controller. Currently this is the only option available

[C] CANopen Network - PLC enabled (optional)

[D]Din Rail mounting (optional)

In addition to the SPiiPlus LF, the following optional accessories may also be ordered:?SPiiPlus-LF-ACC - Mating connectors kit

?SPiiPlus-LF-BOB - Break-out box kit

3SPiiPlus LF Specifications

This chapter provides detailed specifications for the SPiiPlus LF Motion Controller.

3.1General Specifications

Table 6Controller and Power Supply

Element Description

User Memory RAM: 128 MB, Flash: 128 MB

Powerup Time25sec

Power Supply

+5Vdc ±2% /4A, ±12Vdc ±5%/0.6A

Voltage/Current

+5Vdc ±10%/1A or 24Vdc ±20%/1A

Safety Supply Voltage

Current

LEDs Three located on the Main board, and one located on the MPU board (see

Chapter 8 for details).

Table 7Environment

Element Description

Operating Temperature00C to 400C

Storage Temperature-400C to 700C

Humidity90% RH, non condensing

3.2Dimensions

The SPiiPlus LF dimensions (in mm) are given in Figure 3.

Figure 3SPiiPlus LF Dimensions

3.3SPiiPlus LF MPU Board

Table 8 details the specifications for the SPiiPlus LF MPU board.

Table 8SPiiPlus LF MPU

Description Remarks

1 x RS-232

1 x RS-422/485/232COM1

COM2

CN5 connector on the MPU board

Default: RS-232, for other options

see the following table.

1 x Ethernet interface10/100Mbit channel. JP8 connector on the MPU board.

Table 9SW1 COM Settings

SW112345678

RS-232OFF OFF OFF OFF ON OFF OFF N/A

RS-422OFF OFF ON ON OFF ON ON N/A

RS-485ON ON OFF ON OFF OFF ON N/A

3.4SPiiPlus LF Axis Support

Table 10 presents the axes support by the SPiiPlus LF Motion Controller.

Table 10SPiiPlus LF Axis Support (page 1 of 2)

Description Remarks

Number of axes Four

An additional four if the optional 4-Axis

Extension board is incorporated.

ACSPL+ axis designations Basic board:

?Primary axes: X, Y ?Secondary axes: A, B

Optional 4-Axis Extension board:?Primary axes: Z, T ?Secondary axes: C, D

3.5Input & Output Specifications

Table 11 details the SPiiPlus LF input and output.

Supported motor types

Brush, Brushless, P/D Stepper (half of the axes), and Piazo-ceramic (Nano-Motion)

With appropriate firmware support.

Data swap between axes

Each primary axis can swap data with its secondary axis.

Other axes can swap data through SPiiSwap mechanism.

Table 11SPiiPlus LF Input/Output Specifications (page 1 of 6)

Description

Remarks

Digital Encoder Inputs/Outputs

Signal Designations

A: #_CHA±B: #_CHB±I: #_CHI±

Quantity

One (6 signals) per axis.

In dual loop, A and B encoders can be used as secondary encoders for X and Y axes.

Format A, B, I

Interface type RS422 compatible.

Input impedance: 120Ω. Maximum input frequency

7.5MHz

7.5MHz A & B input frequency appropriate to 30 million counts per second.

Analog Drive Commands Output

Signal Designations Phase S: #_IS_CMD±Phase T: #_IT_CMD±Quantity Two per axis.

Type

±10V, differential. Upon power-up output is 0V.

Can be configured by Jumper JP2B to be ±10V, single-ended output (valid only for the

#_CMD+ signal). See Section 7.2.

Table 10

SPiiPlus LF Axis Support (page 2 of 2)

Description

Remarks

Maximum output inaccuracy 5% in max output voltage at 25o C Resolution 12-bit resolution Maximum zero offset

±50mV at 0V at 25o C

Offset compensation can be made via the software (0.3 mV resolution) and the on-board

potentiometers for fine tuning. See note in Section 6.1.2.Maximum load

5mA for differential output 1mA for single-ended output Output short protected

Pulse/Direction Drive Command Output

Signal Designations Pulse: #_PWM0Dir: #_PWM1

Quanity Two commands per primary axis.Type TTL, buffered

Maximum pulse rate 4,000,000 pulse/second

Pulse width Min. Pulse width - 25nS Max. Pulse width - 51μS Resolution Command time resolution 25nS.Default state Power-up output state "Z"Maximum load Load current < 6mA

Diagnostic

Pulse/Direction output signals for stepper motors.Drive Enable Output

Signal Designation #_ENA Quanity One per axis.

Type High voltage open collector, active low.Default state Upon power-up signal is high impedance (output state "Z")Max. rating Up to 25V/7mA Voltage drop in active state < 0.4 V

Diagnostic

High voltage output, active low Drive Fault Input

Signal Designation #_FLT Quanity One per axis Type Sink input

Default state

Input is high/high impedance

Input logic state “0”

Table 11

SPiiPlus LF Input/Output Specifications (page 2 of 6)

Description

Remarks

Max. ratings

Current: Up to 0.4mA Voltage: Up to 30V Less than 1V

In active (no fault) state In fault state

In active (no fault) state

Propagation delay ? from input to measured output delay < 3mS

From Fault Input occurrence to

response/activity in CTIME=1Diagnostic

Input.

Normal operation: Input is low Fault: Input is high/high impedance

Input logic state “1”Input logic state “0”

Mechanical Brake

Supported only by way of the General Purpose Digital I/O - configurable via the software.

Limit Switches

Signal Designations Right limit: #_RL Left limit: #_LL

Quantity One Left Limit and one Right Limit per axis

Type

Single-ended, opto-isolated input. Configurable by the user as either source or sink (as a group).

Configuration by jumper JP1 (see Section 7.2)Voltage 5V ±10% or 24V ±20%, automatically https://www.sodocs.net/doc/e811762173.html,er has to supply V_SUP_SFTY and V_RTN_SFTY.Input current 2.8-14mA

Reference: V_SUP_SFTY

Default state No limit, no current.

Propagation delay ? from input to measured output delay <3mS From Fault Input occurrence to response/activity in CTIME=1Diagnostic

Limit active - current through the opto-coupler

No limit - no current through the opto-coupler E-Stop

Signal Designations

ES±

E-Stop should be used to indicate to the controller that there is an emergency condition and should not be relied upon as the E-Stop safety mechanism.

Quantity One

Type Two ports, opto-isolated, input, with automatic voltage detection

Voltage 5V ±10% or 24V ±20%, automatically detected.No external supply is required.

Input current

2.8-14 mA

Table 11

SPiiPlus LF Input/Output Specifications (page 3 of 6)

Description

Remarks