Motion Coordinator Technical Reference Manual
Daughter Boards 4-17
Reference Encoder Daughter Board
The encoder may be powered from the +5V supply output on the daughter board,
provided it requires less than 150mA supply current. If the encoder is situated so
far from the module that the supply is inadequate an external supply should be
used and regulated locally to the encoder. In this case the +5V connection from
pin 8 should not be used and the external supply 0v should be connected to pin 5
(0V).
If the encoder does not have complementary outputs, pins 2, 4 and 7 should be
connected to a +2.5v bias voltage. This may be simply derived from a pair of 220
Ohm resistors in series with one end of the pair connected to 0v and the other
end to +5v. The centre point of the pair will form approximately 2.5v.
If the encoder does not have a marker pulse, pins 6 and 7 may be left uncon-
nected.
Registration Input
The registration input is a 24v dc input connected through high-speed opto-isola-
tion into the encoder counter circuit. An alternative 5v input pin is available on
the encoder port. The internal circuitry can be used to capture the position at
which the registration input makes a transition from low to high or vice-versa.
This function is accessed in software from the
REGIST
command. The input is
measured relative to the 0v input on the servo daughter board which must be
connected if the registration input is used. Note that this is the same 0v as the
encoder port.
7
marker (Z) complement
8
+5V (150 mA max) - This output is short circuit protected
9
Registration Input 5v Input pin
shell
protective ground
Pin. function
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