Ensemble Epaq Hardware Manual -IO Expansion Board
3.7.1. Position Synchronized Output (PSO)/Laser Firing (Aux Enc Connector)
The Ensemble Epaq includes a Position Synchronized Output (PSO) feature. The PSO output is available on
the dual function AUXMRK± differential signal lines (use of an RS-422 line receiver or opto-isolator is
recommended). The auxiliary marker must be configured as an output using the PSOOUTPUT CONTROL
command, see the EnsembleHelp file for specific details.
The PSO can be programmed to generate an output synchronized to the encoder position, typically used to
fire a laser or sequence an external device. Trigger signals may be derived from the standard encoder
channel, auxiliary encoder channel, or a software trigger. The synchronized output pulse is generated using
high-speed hardware, allowing minimal latency (200 nanoseconds) between the trigger condition and the
output.
N O T E :When using the MRK± signals with single-ended systems, do not connect MRK+ or MRK- to
GROUND(GND).
The PSO can track an encoder with a maximum data (count) rate of 16.7 MHz (single axis tracking). Signals
in excess of this rate will cause a loss of PSO accuracy.
Multi-axis PSOcan track encoder signals with a maximum data rate of 8.33 MHz. Signals in excess of this
rate will cause a loss of PSOaccuracy.Software controlled PSOpre-scalars may be used to limit the data
rate of each encoder being tracked without affecting the servo loop data rate.
Table 3-17: PSOOutput Pin Assignment (Aux Enc)
Pin# Description In/Out/Bi
1 Auxiliary RS-422 Marker Pulse - / PSOOutput
(1)
Bidirectional
6 Auxiliary RS-422 Marker Pulse +/ PSOOutput
(1)
Bidirectional
8 Encoder Power Common N/A
(1) For PSO, see Section 3.7.1.
Table 3-18: PSO Output Sources
PSOOutput Type Max Frequency See Also
RS-422 Marker
(1)
12.5 MHz Section 3.7.
(1) software configurable as the PSO output or Marker input Refer to the Ensemble Help File for programming information.
72 Chapter 3 www.aerotech.com
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