User's Manual

Turbo PMAC2 Eth Ultralite Manual
HARDWARE SETUP
15
6 HW1_CHA1- Handwheel Quadrature input A/
7 HW1_CHB1- Handwheel Quadrature input B/
8 DGND Digital Ground
9 ADC1+ Analog-to-Digital input, positive signal
10 ADC2+ Analog-to-Digital input, positive signal
11 DAC1+ ±10VDC output
12 DIR1+ Direction output
13 PUL1+ Pulse output
14 HW1_CHA1+ Handwheel Quadrature input A
15 HW1_CHB+ Handwheel Quadrature input B
1
to use the ADCs with single ended signal, connect the ADC1- and ADC2- to pin 8 DGND
Handwheel Wiring
The Handwheel wiring should be done as shown in the following figure. You can either use
differential or single-ended signals from any quadrature encoder. Make sure that you tie the
ground connection of the encoder to the ground connection of the J8 if you’re planning to use a
single-ended encoder. Since there is no power output pin available on J8, you need to power up
the encoder from a separate source (i.e., JTHW).
12345678
9101112131415
Quadr at ue
E ncoder
A/ A B/ B
+5VDC
GND
Handwheel Wiring
To read the handwheel counts, you need to implement these settings in Encoder Conversion
Table:
I8000=$78410
M1010->X:$3501,0,24,s
You can access the position of the handwheel. You can also use the same address ($3501) as a
master address for any of the motors (Ixx05)
Analog-to-Digital Connections (Option 12 required)
There are two Analog-to-Digital circuits on J8 which can have 12-bit or 16-bit resolution based
on the requested options. The signal can be either differential or single ended. In single ended
configuration, the input range can be ±10VDC in contrast with ±5VDC in differential signal
setting.