C
ONNECT
STC
S
TO
A
MPS
/M
OTOR
/E
NCODER
4-2
P
C
X
,
S
T
D
,
1
0
4
X
,
C
P
C
I
&
V
6
U
C
o
n
n
ec
ti
o
n
s
to
S
er
vo
M
o
to
rs
PCX, STD, 104X, CPCI & V6U
Connections to Servo Motors
DSP Series controllers can control brush servo motors, brushless servo motors, or linear brush/
brushless motors. Basic connections require an analog output signal (from the controller to the
amplifier) and an encoder input (from the motor to the controller).
Most amplifiers support either Velocity mode (voltage control) Torque mode (current control)
or both. The DSP controller can be used with either servo motor/amplifier package.
DSP Series controllers accept TTL-level (0V to +5V, 40mA max) encoder input from either
differential or single-ended encoders. Differential encoders are preferred due to their excellent
noise immunity. The connections for a single-ended encoder are identical to a differential en-
coder except that no connections should be made to channel A- and channel B-. (The A- and
B- lines are pulled up internally to +2.5V).
Single-ended encoder connections are different
for the V6U, see page 7 in this chapter for V6U connections.
The controller reads the index pulse (either single-ended or differential ended). Typically, there
is one index pulse per revolution of the encoder (rotary type), which can be used for homing.
Encoder signals are read in quadrature. Every line on the encoder will produce a rising edge
and a falling edge on channels A+ and B+ which is interpreted by the DSP controller as 4 en-
coder counts.
Brush Servo Motors
The minimum required connections to brush-type servo are: Analog signal (+/- 10V), +5V,
Signal Ground, Encoder Channel A+, Encoder Channel B+. Typical connections for a brush
servo motor with a differential encoder are:
Figure 4-1
Typical Brush Servo Motor Connections
For more information about amp enable and amp fault connections, see the
Dedicated & User
I/O
section in Chapter 5.
Note
Any unused lines should be left unconnected.
GND
+5 volts
Encoder A+
Encoder A-
Encoder B+
Encoder B-
Encoder Index+
Encoder Index-
Servo +
GND -
Servo
Amp
Motor
Encoder
STC-26
From
PCX
CPCI
STD
V6U
104X
1
9
1
2
3
4
5
6
7
8
T
O
B
RUSH
S
ERVO
M
OTOR
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
