Soloist Hardware Manual Table of Contents
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TABLE OF CONTENTS
CHAPTER 1: INTRODUCTION.............................................................................1-1
1.1 Chapter Overview ...............................................................................1-1
1.2 Feature Summary ................................................................................1-2
1.2.1 Power Amplifier................................................................... 1-2
1.2.2 Dual Encoder Feedback Channels ....................................... 1-2
1.2.3 Inputs and Outputs............................................................... 1-2
1.2.4 -IO Option Feature Summary............................................... 1-2
1.3 Soloist Connections.............................................................................1-3
1.4 Soloist Power Features........................................................................1-4
1.5 Soloist Voltage Configurations ...........................................................1-5
1.6 Electrical Specifications......................................................................1-6
1.7 Physical Dimensions ...........................................................................1-8
1.8 Environmental Specifications..............................................................1-9
CHAPTER 2: INSTALLATION AND CONFIGURATION.................................2-1
2.1 Introduction.........................................................................................2-1
2.2 Safety Procedures and Warnings.........................................................2-2
2.3 Motor and AC Power Connections .....................................................2-3
2.4 Wiring, Grounding, and Shielding Techniques...................................2-4
2.4.1 Minimizing EMI Interference .............................................. 2-4
2.4.2 AUXPWR (Auxiliary Power) Option .................................. 2-5
2.4.3 40/80 VDC Power Transformers ......................................... 2-5
2.5 Typical AC Wiring with the -AUXPWR Option and an
External Transformer ..........................................................................2-6
2.5.1 Minimizing 50/60 HZ Line Interference.............................. 2-9
2.5.2 I/O and Signal Wiring Requirements................................... 2-9
2.6 Emergency Stop Sense Input (TB101)..............................................2-10
2.6.1 Typical ESTOP Interface................................................... 2-11
2.7 Motor Connections............................................................................2-12
2.7.1 DC Brush Motor Connections in Torque Mode................. 2-12
2.7.1.1 DC Brush Motor Phasing .................................... 2-12
2.7.2 Brushless Motor Connections............................................ 2-13
2.7.2.1 Brushless Motor Phasing..................................... 2-14
2.7.2.2 Brushless Motor Hall Effect Feedback
Connections......................................................... 2-15
2.7.2.3 Hall Effect Phasing.............................................. 2-16
2.7.3 Stepper Motor Connections ............................................... 2-18
2.7.3.1 Stepper Motor Phasing Process........................... 2-18
2.8 Encoder Feedback Connections ........................................................2-19
2.8.1 Encoder Phasing ................................................................ 2-20
2.9 End of Travel Limit Connections......................................................2-21
2.9.1 End of Travel Limit Phasing.............................................. 2-21
2.10 Communication Channel Settings .....................................................2-22
2.11 Soloist Help Information...................................................................2-24
CHAPTER 3: TECHNICAL DETAILS..................................................................3-1
3.1. Port 0 I/O and the Secondary Encoder Channel (J104).......................3-1
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