User`s manual

XP8000 Series (PLCBus
TM
) Z-World 530-757-3737 18
H6
Motor Drive Quadrature Sense Input Power
PHA
PHB
PHC
PHD AIN
BIN
/ORG
/EL+
/EL–
/SD+
/SD–
K
+5V
GNDGND
+24V
1
• PHA, PHB, PHC, PHD
Open-collector motor control outputs, connecting to motor
phase lines. They can sink up to 1A.
• AIN, BIN
TTL
-compatible quadrature-encoded inputs.
• /ORG
Active-low origin pulse. Readable in the PCL-AK (address 0)
status bits.
• /EL+, /EL–
Active-low end-limit, one for the + direction, another for the
– direction. Readable in the PCL-AK (address 0) status bits.
• /SD+, /SD–
Active-low “slow-down” inputs, one for the + direction, an-
other for the – direction. Readable in the PCL-AK (address
3) status bits.
• K
Driver chip protection. Connect this to your motor’s voltage
source.
•+24V
Unregulated PLCBus power. Though nominally 24V, this can
be anywhere from 9–30VDC. You can use this as the motor
supply voltage of your power supply can handle the current
requirements.
•+5V
Regulated PLCBus power. A poor source for motor power,
but can be used to power external logic.
• GND
PLCBus ground, common to your entire system. Your
motor’s power supply ground should be connected here.
H5
H5 provides additional connection points for motor control sig-
nals, power and ground, power failure, and watchdog signals.
GND
WDO
PFO
PFI
+5V
+24V
GND
PULSE
PDIR
DRVOE
HSTEP
WAVE
• /PULSE
A low-going pulse in this line signals a one-step move to the
motor driver. (TTL)
• PDIR
Indicates in which direction the motoro is to move. A high
level means movement in the + direction. A low level means
movement in the – direction.
• /DRVOE
When low, enables motor driver outputs. (TTL)
• WAV E
Coupled with HSTEP, this determins the operation of the
motor driver: single-phase, two-phase, or half-step. (TTL)
• HSTEP
Coupled with WAV E , this determines the operation of the
motor driver: single-phase, two-phase, half-step. (TTL)
• /WDO
Active low, open-collector watchdog output line. When the
watchdog is enabled, this line will go low—upon a watch-
dog timeout—to getnerate a hard reset at the PCL-AK pulse
generator.
• PFI
Input to the power-fail comparator. When this line drops be-
low ~1.25V, the /PFO line becomes active.
• /PFO
Open collector power-failure indicator. This line goes low
when PFI goes below ~1.25V. This line can be connected to
the NMI or interrupt line on the master controller.
•+24V
Unregulated PLCBus power.
•+5V
Regulated PLCBus power.
• GND
PLCB
us ground.
Jumpers
The SMC uses one jumper, J1, and a header H4. When J1 is con-
nected, the watchdog timer is enabled. When disconnected, the
watchdog timer is disabled. The four jumper positions on H4
determine the board’s PLCBus address.
How to Use an SMC Board
Generally, this is what you do:
1 Initially, send a reset command to the PLCBus.
2 Place the address of the SMC on the PLCBus. This will actu-
ally be the address of one of its components, the PCL-AK or
the quadrature decoder/counter.
3 Operate the SMC. You can, for example,
• Set the SMC control register.
• Issue a command to the PCL-AK pulse generator.
• Set PCL-AK parameters or read PCL-AK registers or
status.
• Reset the quadrature counter or read its value.
• Wait for interrupt requests.
4 Following an SMC operation, you typically issue a soft reset
to the PCL-AK. Refer to Z-World’s Tech Note 101 for details
about the PCL-AK.
There is a software library (STEP.LIB) that handles all the com-
plex details of operating the SMC.
Addressing the board
Up to 16 SMCs may addressed on the PLCBus. Each SMC has
three addressable components: the PCL-AK pulse generator and