Brick Controller User Manual
Table Of Contents 6
X1-X8: Encoder Feedback, SSI.................................................................................................52
Configuring SSI....................................................................................................................52
SSI Control Registers Setup Example....................................................................................56
X1-X8: Encoder Feedback, EnDat 2.1/2.2.................................................................................58
Configuring EnDat...............................................................................................................58
EnDat Control Registers Setup Example...............................................................................62
X1-X8: Encoder Feedback, BiSS C/B .......................................................................................64
Configuring BiSS..................................................................................................................64
BiSS Control Registers Setup Example .................................................................................68
Setting up SSI | EnDat | BiSS ....................................................................................................70
Setup Summary.....................................................................................................................71
Technique 1 Example............................................................................................................72
Technique 2 Example............................................................................................................75
Technique 3 Example............................................................................................................79
X1-X8: Encoder Feedback, Yaskawa Sigma II & III .................................................................83
Yaskawa Sigma II 16-Bit Absolute Encoder..........................................................................88
Yaskawa Sigma II 17-Bit Absolute Encoder..........................................................................91
Yaskawa Sigma III 20-Bit Absolute Encoder.........................................................................94
Yaskawa Sigma II 13-Bit Incremental Encoder.....................................................................97
Yaskawa Sigma II 17-Bit Incremental Encoder.....................................................................99
Yaskawa Incremental Encoder Alarm Codes ......................................................................101
Homing with Yaskawa Incremental Encoders .....................................................................102
X9-X10: Analog Inputs/Outputs..............................................................................................103
X11-X12: Analog Inputs/Outputs............................................................................................103
Setting up the Analog (ADC) Inputs....................................................................................104
Setting up the DAC Outputs................................................................................................105
Setting up the General Purpose Relay, Brake......................................................................107
Setting up the External Amplifier Fault Input......................................................................109
X13: USB 2.0 Connector........................................................................................................110
X14: RJ45, Ethernet Connector...............................................................................................110
X15: Watchdog & ABORT (TB2)...........................................................................................111
Wiring the Abort Input........................................................................................................111
Wiring the WatchDog (WD) Output....................................................................................112
J4: Limits, Flags, EQU [Axis 1- 4]..........................................................................................113
J5: Limits, Flags, EQU [Axis 5- 8]..........................................................................................114
Wiring the Limits and Flags ...............................................................................................115
Limits and Flags [Axis 1- 4] Suggested M-Variables..........................................................116
Limits and Flags [Axis 5- 8] Suggested M-Variables..........................................................116
J6: General Purpose Inputs/Outputs.........................................................................................117
J7: Additional General Purpose Inputs/Outputs .......................................................................118
J8: Additional General Purpose Inputs/Outputs .......................................................................119
