1 axis Mounting Boards Product Manual by raa13961

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									1 axis Mounting Board
Product manual




Accessory for:
        me
        rcu
        ry  *
            motion
            controller
Contents
Main features ...............................................................................................3 
Description ...................................................................................................5 
 Hardware platform ....................................................................................5 
 Installation ................................................................................................6 
   Mounting the Mercury controller ............................................................6 
   Communication interface connection .....................................................7 
   Motor connection .................................................................................11 
   Feedback connection ...........................................................................12 
   Additional connections .........................................................................15 
   Power supply .......................................................................................16 
Connectors ................................................................................................22 
 Pinout .....................................................................................................22 
   External pins ........................................................................................22 
   Internal pins .........................................................................................26 
Mechanical specifications ..........................................................................28 
Appendix A.  Schematic circuit ................................................................29 
Appendix B.  Installing drivers .................................................................30 
Appendix C.  Connectors ........................................................................32 
Appendix D.  MTA connector mounting ...................................................33 
Appendix E.  Pinouts ...............................................................................34 
Icons
Following is shown the meaning of the icons that reader can find on this manual.


          Information
          Provides the user with tips and tricks and other useful data.


          Warning
          Provides the user with important information. Omitting this warning may cause the
          device not to work properly.

          Critical Warning
          Provides the user with critical information. Omitting this critical warning may
          destroy the device.
1           ain
           Main features

    This chapter outlines the main features of the 1-axis
    Mounting Board for Mercury motion controllers.

    Mercury motion controllers have been designed to be directly integrated into other
    electronic boards, making it easy to form scalable systems. This feature means that a
    specific support must be designed for Mercury in each application.

    For those users who desire easy connection of the Mercury motion controller to typical
    elements in its field of application, Ingenia has designed the 1-axis Mounting Board.
    This board allows the insertion of a Mercury motion controller and facilitates its
    connection to the power supply, motor, feedback, control signals and communications.

    To speed up the process of installing the motion controller, the 1-axis Mounting Board is
    supplied with MTA-100-type free connectors and screwed terminal connectors for motor
    and powering phases. It is also supplied with a USB-RS232 communication bridge, as
    well as the appropriate bracket fasteners. As a result, all the necessary equipment is
    supplied to start developing in a typical working environment.




                Figure 1: 1-axis Mounting Board and supplementary equipment

    The following figure shows a typical working environment based on a 1-axis Mounting
    Board unit and a Mercury motion controller. It can also be seen in the picture that the
    unit is connected to a motor and encoder (feedback element) and that a USB to RS232
    bridge is used as a communication interface.




    Chapter 1: Main features                                                                    3
   Figure 2: Working environment based on a 1-axis Mounting Board + Mercury

Although the 1-axis Mounting Board has been designed for a single Mercury motion
controller, this board is easily stacked to allow control of systems with more than one
motor. A stack of two 1-axis Mounting Boards can be seen in Figure 3.




                       Figure 3: Stack of two 1-axis Mounting Boards




Chapter 1: Main features                                                                  4
2          Description
    This chapter gives a short description of the 1-axis
    Mounting Board for Mercury controllers, as well as
    instructions for installing it.



    Hardware platform
    Figure 4 shows a top view of the physical layout of the main hardware blocks in the 1-
    axis Mounting Board.


           10

                                  9
              1
                                                                                   8b

                      8a

              2




                                                6




              3                                                                    7
                                            4

                                                5


                         Figure 4: 1-axis Mounting Board hardware blocks

    These blocks are:
       1. Power connector.
           Connectable four-pin terminal used to power both the logical stage and for
           Mercury motion controller power.
       2. Motor phase connector.
           Four-pin connectable terminal used to connect motor phases.
       3. Feedback connectors.
           MTA-100 5-pin connectors used for Hall effect sensors and/or the main
           quadrature encoder.


    Chapter 2: Description                                                                   5
    4. RS232 Interface.
        Female DB9, directly connectable to the USB-RS232 bridge supplied with the 1-
        axis Mounting Board.
    5. Control, indicator and general purpose input/output connectors (GPIOs).
        This block contains many general purpose pins grouped into MTA-100 3, 5 and
        6-pin connectors.
    6. Socket for DC-DC module.
        Depending on the version, the 1-axis Mounting Board is supplied with a DC-DC
        converter that enables a single power source to be used for logic and power.
    7. DC-DC selection jumpers,
        Used in versions with DC-DC, they are used to enable or disable this converter.
    8. Socket for motion controller.
        Designed for Mercury motion controller insertion.
    9. Control connectors.
        This block contains many general purpose pins grouped into MTA-100 2, 3 and
        5-pin connectors.
    10. CAN bus connectors.
        Finally, two connectors exist for the symmetrical CAN bus, which make it easy
        to bridge several boards and/or add a bus terminator.

The reader will find detailed information in the Connectors chapter about the connectors
related to each block.




Installation
The following subchapters give details of the steps to be taken for the correct assembly
of the Mercury motion controller with a 1-axis Mounting Board. They also outline the
connection of typical parts, such as the motor and feedback, communication interfaces
or additional elements, such as electromechanical limits.

The user can find in the Appendix E typical diagrams for connection of the 1-axis
Mounting Board to PMSM and DC brushed motors.



Mounting the Mercury controller
The first step to be taken is to plug the Mercury controller into the 1-axis Mounting Board
socket provided for this purpose.
To do this, and without turning on the power, line up the Mercury motion controller pins
with the sockets corresponding to module M1 (see blocks 8a and 8b in Figure 4)

Once aligned, press down on the Mercury motion controller until it is plugged in.




Chapter 2: Description                                                                        6
         Figure 5: Mercury Controller mounted on the 1-axis Mounting Board

The Mercury motion controller can also be secured on the 1-axis Mounting Board using
the four M2 fastening holes provided on the edges of the Mercury controller.

             When mounting the Mercury motion controller on a 1-axis Mounting Board, it is
             especially recommended to use fasteners in working areas subject to vibrations.




Communication interface connection
Once the motion controller has been plugged into its special socket, it is necessary to
connect the communication interface through which the Mercury motion controller
commands will be sent. As mentioned previously, the controller basically supports two
communication interfaces: RS232 and CAN.
The following subchapters explain how to connect each of these interfaces.

RS232
The 1-axis Mounting Board is supplied with a USB-RS232 communication bridge. This
bridge makes it easy to establish RS232 communications between the host and the
motion controller.

             The RS232 communication interface is suited to development and working
             environments where you desire to control a single Mercury motion controller.



First, connect the USB-RS232 bridge to a host USB port, and install its drivers (see
Appendix B). Once the operation has been performed, proceed to directly connect the
end with the DB9 connector to the F1 connector on the 1-axis Mounting Board, as can
be seen in the following figure.




Chapter 2: Description                                                                      7
                                 Figure 6: RS232 connector details

If you do not wish to use the cable supplied and wish to use another RS232 interface,
make sure you use a null-modem connection (cross transmission and reception), as
shown in Figure 7.
                                                               Mounting
                         RS232




                                                                Board




                     Figure 7: RS232 interface connection schematics

Please refer to the chapter Connectors to find detailed information about the F1
connector. If you wish, you may consult Table 2, which shows the pinout for this
connector.

CAN
If you want to use a CAN interface, the interface pins CANH, CANL and GND must be
identified. Once located, they must be mounted on an MTA-100 3-pin connector,
supplied with the 1-axis Mounting Board, matching up the interface pins with those on
the 1-axis Mounting Board, as shown in Figure 8.




Chapter 2: Description                                                                  8
                                                            Mounting
                                                             Board
                          CAN
                         Figure 8: CAN interface connection schematics

             Please refer to Appendix D to see how an MTA connector is crimped.




             Use terminators for the CAN bus when necessary. Refer to Standard 11898ISO
             11898-2 to find additional information on this point.



Once you have connected the cable that goes from the CAN interface to 1-axis
Mounting Board (Figure 9), the end with the MTA-100 connector can be connected to
either J1 or J2.




                                Figure 9: CAN connector details

Figure 10 shows a CAN bus connector inserted in connector J1 on the 1-axis Mounting
Board. Figure 11 shows how to connect the CAN bus to two 1-axis Mounting Boards.




Chapter 2: Description                                                                9
                         Figure 10: CAN Connector inserted in J1




      Figure 11: Use of CAN connectors as a bridge and with a bus terminator

             The CAN communication interface is suited to development and working
             environments where we wish to control more than one Mercury motion controller.



Please refer to the chapter Connectors to find detailed information about connectors J1,
J2 and their respective pinouts. If you wish, you may consult Table 3, which shows the
pinout for connector J1. Table 4, in turn, shows the pinout for connector J2.


Chapter 2: Description                                                                     10
Motor connection
Wiring depends on the type of motor you wish to use in the application. Detailed
information can be found in the following subchapters about how to connect coils on
Brushed DC and PMSM motors to the 1-axis Mounting Board.

Please refer to the chapter Connectors to find detailed information about the J12
connector. If you wish, you may consult Table 11, which shows the pinout for this
connector.

Brushed DC Motors
Coils on Brushed DC motors must be connected to J12 connector pins A and B on the
1-axis Mounting Board by using the four-pole connectable terminals supplied (see
Figure 12). Note that only two cables can be connected, in spite of the connector having
four terminals.




                         Figure 12: Connectable terminal on DC motors

Once the connector is ready, insert it in position J12 on the 1-axis Mounting Board, as
shown in the following figure.




                         Figure 13: DC motor phase connector details




Chapter 2: Description                                                                     11
PMSM Motors
Phases on PMSM motors must be connected to J12 connector pins A, B and C on the
1-axis Mounting Board by using the four-pole connectable terminals supplied (see
Figure 14). Note that only three phases can be connected, in spite of the connector
having four terminals.




                          Figure 14: Connectable terminal on PMSM

Once the connector is ready, insert it in position J12 on the 1-axis Mounting Board, as
shown in the following figure.




                         Figure 15: Details of a PMSM phase connector



Feedback connection
HALL effect sensors
If BLDC motors are used, feedback from the Hall effect sensors is necessary to ensure
proper phase switching. To connect these sensors, the cables corresponding to HALL1,
HALL2, and HALL3 signals, as well as their power, must be identified first. Keep in mind
that these cables are generally integrated as part of the actual motor.
Once located, they must be fitted on an MTA-100 5-pin connector, supplied with the 1-
axis Mounting Board, matching up the pins with those on the J15 connector, as shown
in the following figure:


Chapter 2: Description                                                                     12
                                                           Mounting Board
                           HALLS

                          Figure 16: Hall effect sensor pinout

             Please refer to Appendix D to see how an MTA connector is crimped.




Figure 17 shows a diagram of the Hall effect sensors once assembled, while Figure 18
shows this connector inserted in the 1-axis Mounting Board.




                              Figure 17: Hall effect sensors




Chapter 2: Description                                                                 13
                            Figure 18: Hall effect sensor details

Please refer to the chapter Connectors to find detailed information about connector J15.
If you wish, you may consult Table 14, which shows the pinout for this connector.

Main encoder
If BLAC motors are used, feedback from the main quadrature encoder is necessary in
order to ensure proper phase drive. To connect these sensors, the cable corresponding
to signals A, B, index (Z) and their power must be identified first. Some quadrature
encoders have no index. If this is the case, this connector pin must be left free. Once the
cables are located, they must be mounted on an MTA-100 5-pin connector supplied with
the 1-axis Mounting Board, matching up the pins with those on the J14 connector, as
shown in the following figure:
                                                             Mounting Board
                            ENCODER1




                         Figure 19: Main quadrature encoder pinout

             Please refer to Appendix D to see how an MTA connector is crimped.




Chapter 2: Description                                                                        14
Figure 20 shows a diagram of the encoder connector once assembled, while Figure 21
shows this connector inserted in the 1-axis Mounting Board.




                         Figure 20: Main quadrature encoder connector




                         Figure 21: Details of main quadrature encoder

Please refer to the chapter Connectors to find detailed information about connector J14.
If you wish, you may consult Table 13, which shows the pinout for this connector.



Additional connections
As with the Mercury motion controller, the 1-axis Mounting Board has additional pins for
connection of control and monitoring signals. It is possible to connect end limits, home
signals, emergency stop, analog inputs, GPIOs, etc.

To do this, identify the necessary functionality in the Mercury controller manual and find
for the connector and pin on the related 1-axis Mounting Board, consulting the chapter
Connectors.




Chapter 2: Description                                                                       15
             Please refer to the Mercury motion controller manual to find additional information
             on this point.




Power supply
The 1-axis Mounting Board has a J10 connector designed to supply logic power and
motor power to the Mercury motion controller. This connector has one motor power pin
(VMOTOR), one logic power pin (VLOGIC) and two ground pins (GND). Both ground
pins are internally shorted at the 1-axis Mounting Board.
Depending on the power voltage necessary for the motor and the logic, we can choose
different power systems, explained in detail in the next subchapters. Table 1 shows a
summary of the various working environments and the different power systems
recommended.


             Working environment                         Recommended power

 Evaluation and development                      Separate sources

 Final system with motor up to 12V               Single source without DC-DC

 Final system with 12-18V motor                  Separate sources

 Final system with 18-36V motor                  Single source with 18-36V DC-DC

 Final system with 36-72V motor                  Single source with 36-72V DC-DC

                Table 1: Recommended power and working environments

Please refer to the chapter Connectors to find detailed information about the J10
connector. If you wish, you may consult Table 11, which shows the pinout for this
connector.

Separate sources for motor and logic power
It may be advisable in the development stages for the integrator to use separate power
sources for the motor and the logic. This layout makes it possible to limit both circuits
independently, preventing some motor events (abrupt, uncontrolled accelerations or
decelerations, for example) from causing voltage drops in the Mercury controller logical
stage (see Figure 22).
                                                                    Mounting Board




                         Figure 22: Separate power for logic and power



Chapter 2: Description                                                                      16
For this configuration, connect the logic power ground to terminal 1 (GND) of connector
J10, and the positive terminal to terminal 4 (VLOGIC). Immediately connect the motor
power ground to terminal 2 (GND) and the positive terminal to terminal 3 (VMOTOR) on
the same connector, as can be seen in Figure 23.




           Figure 23: Connector and wiring for power with separate sources

             Remember that the two GND pins on the J10 connector are internally connected
             to the 1-axis Mounting Board



Once the connector is ready, insert it in position J10 on the 1-axis Mounting Board, as
shown in the following figure.




    Figure 24: Power connector with two separate sources inserted in the board

Single source

No DC-DC converter
This type of power supply is recommended when logical and motor power supply ranges
overlap at any interval, making it possible to use a single source for both. An example of


Chapter 2: Description                                                                       17
this would be to supply power to both ports at 12V. Figure 25 shows the connection
schematics for this type of power supply.




                                                            Mounting Board
                                                   VL



                                                  VM



                                                  GND



                                                  GND


                         Motor + logic supply
                             (up to 15V)
          Figure 25: Single power supply for logic and power without DC-DC

For this configuration, connect the power supply ground to terminal 1 and/or 2 (GND) of
connector J10, and the positive terminal to terminals 3 (VMOTOR) and 4 (VLOGIC).
Remember that the GND pins are internally short-circuited (see Figure 26).




      Figure 26: Connector for single logic and power source (without DC-DC)

Once the connector is ready, insert it in position J10 on the 1-axis Mounting Board, as
shown in the following figure.




   Figure 27: Connector for single source (without DC-DC) inserted in the board




Chapter 2: Description                                                                    18
             Never use this mode with power supply voltages of more than 15V. Please refer
             to the Mercury motion controller manual to obtain additional information on this
             point.



With DC-DC converter
The 1-axis Mounting Board can be supplied with a built-in DC-DC converter to supply
logic to the Mercury controller logic. The converter takes motor power supply voltage,
sets it at 9V and injects it to the logic power supply port on the motion controller.
Two types of DC-DC converters have been provided for, depending on motor power
supply voltage ranges: 18-36V and 36-72V. The first of these is ideal for a 24V power
supply, while the second one is for a 48V power supply.
Figure 28 shows the connection schematics for this type of power supply.




                                                               Mounting Board
                                                      VL



                                                     VM



                                                     GND



                                                     GND


                         Motor + logic supply
                           using DC-DC
            Figure 28: Single power supply for logic and power with DC-DC

To use this DC-DC converter, you just have to connect the motor power at connector
J10. To do this, connect the power supply ground to terminal 1 and/or 2 (GND) and the
positive terminal to terminal 3 (VMOTOR) on the same connector (see Figure 29).
Remember that the GND pins are internally shorted.




        Figure 29: Connector for single logic and power source (with DC-DC)

Once the connector is ready, insert it in position J10 on the 1-axis Mounting Board, as
shown in the following figure.




Chapter 2: Description                                                                     19
     Figure 30: Connector for single source (with DC-DC) inserted in the board

Once this operation has been performed, bridge positions 1-3 (J-VM) and 2-4 (J-VL) on
jumper JP1 (see Figure 31). By shorting positions 1-3, VMOTOR voltage is applied to
the DC-DC input, with DC-DC output voltage being applied to the VLOGIC pin on the
Mercury motion controller socket when positions 2-4 are shorted.




              Figure 31: Details of the DC-DC and jumper positions at JP1




Chapter 2: Description                                                                  20
             If jumper J-VM is connected, do not apply any more than the rated DC-DC
             converter voltage to the VMOTOR pin. This could cause damage to the converter.



             Never connect a power source to the VLOGIC pin if jumper J-VL is connected.
             This could cause damage to the DC-DC converter.



If you have a 1-axis Mounting Board with a DC-DC converter, two separate power
sources can be used for logic and power. To do this, you only have to remove both
jumpers and supply power as explained in the chapter Separate sources for motor and
logic power.




Chapter 2: Description                                                                     21
3         Connectors
    This chapter gives a detailed outline of the main features
    of the 1-axis Mounting Board for Mercury motion
    controllers and their pins, as well as the signals assigned
    to each one.




    Pinout




                            Figure 32: 1-axis Mounting Board Pinout



    External pins
    The tables shown below display a list of pins associated with each 1-axis Mounting
    Board connector.




    Chapter 3: Connectors                                                                22
       Pin
                     Pin           Type        Group                       Description
       ID

     1         CANH        Input/Output    Communications   CAN High
J1




     2         GND         -               Power            Ground

     3         CANL        Input/Output    Communications   CAN Low


                               Table 2: J1 connector pinout

       Pin
                     Pin           Type        Group                       Description
       ID

     1         CANH        Input/Output    Communications   CAN High
J2




     2         GND         -               Power            Ground

     3         CANL        Input/Output    Communications   CAN Low


                               Table 3: J2 connector pinout

         Pin
                     Pin           Type        Group                       Description
         ID

     1         GND         -               Power            Ground
J3




     2         LPOS        Input           Control          Positive limit switch


                               Table 4: J3 connector pinout

         Pin
                     Pin           Type        Group                       Description
         ID

     1         GND         -               Power            Ground
J4




     2         LNEG        Input           Control          Negative limit switch


                               Table 5: J4 connector pinout

         Pin
                     Pin           Type        Group                       Description
         ID

     1         GND         -               Power            Ground
J5




     2         HOME        Input           Control          Home switch


                               Table 6: J5 connector pinout

         Pin
                     Pin           Type        Group                       Description
         ID

     1         GND         -               Power            Ground
J6




     2         STOP        Input           Control          Controller’s stop emergency


                               Table 7: J6 connector pinout

         Pin
                     Pin           Type        Group                       Description
         ID

     1         GND         -               Power            Ground
J7




     2         ENC2A       Input           Feedback



Chapter 3: Connectors                                                                     23
      3         ENC2B       Input            Feedback


                                 Table 8: J7 connector pinout

          Pin
                      Pin           Type          Group                      Description
          ID

      1         GND         -                Power            Ground

      2         _SS         Input            Communications
J8




      3         SCK         Input            Communications

      4         SDI         Input            Communications

      5         SDO         Input            Communications


                                 Table 9: J8 connector pinout

          Pin
                      Pin           Type          Group                      Description
          ID

      1         +V5         Output           Power            Auxiliary output 5VDC supply

      2         GND         -                Power            Ground
J9




      3         _RESET      Input            Control          Controller’s reset

      4         GPIO1       Input/Output     Control          General purpose input/output pin

      5         GPIO2       Input/Output     Control          General purpose input/output pin


                                Table 10: J9 connector pinout

          Pin
                      Pin           Type          Group                      Description
          ID

      1         GND         -                Power            Ground

      2         GND         -                Power            Ground
J10




      3         VLOGIC      Input            Power            Logic supply

      4         VMOTOR      Input            Power            Motor supply


                                Table 11: J10 connector pinout

          Pin
                      Pin           Type          Group                      Description
          ID
                                                              DC Motor: DC1+
      1         A           Output           Driver
                                                              PMSM: Phase A
                                                              DC Motor: DC1-
      2         B           Output           Driver
                                                              PMSM: Phase B
J12




      3         C           Output           Driver           PMSM: Phase C

      4         D           Output           Driver


                                Table 12: J12 connector pinout




Chapter 3: Connectors                                                                            24
          Pin
                      Pin           Type         Group                     Description
          ID

      1         +V5         Output           Power          Auxiliary output 5VDC supply

      2         GND         -                Power          Ground
J14




      3         ENC1Z       Input            Feedback       Main quadrature encoder. Channel A.

      4         ENC1B       Input            Feedback       Main quadrature encoder. Channel B.

      5         ENC1A       Input            Feedback       Main quadrature encoder. Index.


                                Table 13: J14 connector pinout

          Pin
                      Pin           Type         Group                     Description
          ID

      1         +V5         Output           Power          Auxiliary output 5VDC supply

      2         GND         -                Power          Ground
J15




      3         HALL3       Input            Feedback       PMSM: Hall1 sensor input

      4         HALL2       Input            Feedback       PMSM: Hall2 sensor input

      5         HALL1       Input            Feedback       PMSM: Hall3 sensor input


                                Table 14: J15 connector pinout

          Pin
                      Pin           Type         Group                     Description
          ID

      1         +V5         Output           Power          Auxiliary output 5VDC supply

      2         GND         -                Power          Ground

      3         AN2         Analog input     Control        First analog input

      4         AN1         Analog input     Control        Second analog input

      5         GND         -                Power          Ground

      6         GPIO8       Input/Output     Control        General purpose input/output pin

      7         GPIO7       Input/Output     Control        General purpose input/output pin
J17




      8         GPIO6       Input/Output     Control        General purpose input/output pin

      9         GPIO5       Input/Output     Control        General purpose input/output pin

      10        GPIO4       Input/Output     Control        General purpose input/output pin

      11        GPIO3       Input/Output     Control        General purpose input/output pin

      12        FAULT       Output           Control        READY output signal

      13        ALARM       Output           Control        ALARM output signal

      14        READY       Output           Control        FAULT output signal


                                Table 15: J17 connector pinout

Chapter 3: Connectors                                                                             25
      Pin
                 Pin              Type           Group                  Description
      ID

     1                                                      Not connected

     2       232TX        Output         Communications     RS232 Transmission

     3       232RX        Input          Communications     RS232 Reception

     4                                                      Not connected
F1




     5       GND          -              Power              Ground

     6                                                      Not connected

     7                                                      Not connected

     8                                                      Not connected

     9                                                      Not connected


                              Table 16: F1 connector pinout




                   Figure 33: F1 communication connector (front view)

            The functionality of these pins depends on the Mercury motion controller inserted
            in the socket. Please refer to the Mercury motion controller manual to find
            additional information on this point.




Internal pins
In the center of the 1-axis Mounting Board, the user will be able to identify socket M1,
specifically designed to plug a Mercury motion controller. The pinout for this socket is
shown in the following figure.




Chapter 3: Connectors                                                                      26
                 Figure 34: Mercury motion controller socket (top view)

            Consult the Mercury motion controller manual to obtain additional information
            about the use of each pin.



Note that M1 socket has four M2 metric holes that make it possible to mount the
Mercury motion controller on the 1-axis Mounting Board.

            When fastening the Mercury motion controller to the 1-axis Mounting Board, it is
            especially recommended to use towers in working areas subject to vibrations.




Chapter 3: Connectors                                                                       27
4          Mechanical specifications
    This chapter shows the mechanical specifications for the
    1-axis Mounting Board.


    Figure 35 shows the measurements and geometry of the 1-axis Mounting Board. All
    measurements are shown in millimeters. The diameter of the drill holes for fastening the
    Mercury motion controller is 2.5mm. The diameter of drill holes fastening the board is
    3.5mm.




                            Figure 35: 1-axis Mounting Board dimensions




    Chapter 4: Mechanical specifications                                                       28
Appendix A.                       Schematic circuit




                                Figure 36: Schematic circuit




Appendix A: Schematic circuit                                  29
Appendix B.                       Installing drivers
Specified below are the necessary steps for the first-time installation of drivers for the
USB-RS232 bridge in the USB port of a PC.

     1- Connect USB-RS232 bridge to a free port on your PC
     2- Select advanced mode:




     3- Select install from a specific location:




     4- Insert the CD that comes with the product and select the find controller option in
        the CD-ROM drive:




     5- Select the driver best suited to your operating system:




Appendix B: Installing drivers                                                               30
     6- Press continue.




     7- Press Finish when the installation process has concluded.




     8- Verify in the device administrator that the COM port has been installed
        satisfactorily:




Appendix B: Installing drivers                                                    31
Appendix C.                          Connectors
Table 17 shows the different connectors that can be connected to the 1-axis Mounting
Board, arranged by number of pins. Consider the cable section to be used when
choosing MTA-100-type connectors.

 Pin                                       Cable section
            Type         Manufacturer                            Mfr. order code
 ct.                                          (AWG)

  2       MTA-100           Tyco                22                 3-640440-2

  2       MTA-100           Tyco                24                 3-640441-2

  2       MTA-100           Tyco                26                 3-640442-2

  2       MTA-100           Tyco                28                 3-640443-2

  3       MTA-100           Tyco                22                 3-640440-3

  3       MTA-100           Tyco                24                 3-640441-3

  3       MTA-100           Tyco                26                 3-640442-3

  3       MTA-100           Tyco                28                 3-640443-3

  4      COMBICON          Phoenix            16-28             MC1.5 / 4 –ST-3.81

  5       MTA-100           Tyco                22                 3-640440-5

  5       MTA-100           Tyco                24                 3-640441-5

  5       MTA-100           Tyco                26                 3-640442-5

  5       MTA-100           Tyco                28                 3-640443-5

  6       MTA-100           Tyco                22                 3-640440-6

  6       MTA-100           Tyco                24                 3-640441-6

  6       MTA-100           Tyco                26                 3-640442-6

  6       MTA-100           Tyco                28                 3-640443-6

  9        DB9M             Tyco                NA                 1-1634218-2


                                     Table 17: Connector list




      Figure 37: MTA-100             Figure 38: COMBICON         Figure 39: DB9M




Appendix C: Connectors                                                                 32
Appendix D.                          MTA connector mounting
A specific insertion tool is necessary to crimp MTA-100 connectors. Tyco Electronics
company, amongst others, provides a manual tool with manufacturer’s code 59803-1.




                     Figure 40: Tyco 59803-1 manual insertion tool

The following figure shows how to mount cables on the connector using this tool:




                  Figure 41: Manual crimping of MTA-100 connectors




Appendix D: MTA connector mounting                                                     33
Appendix E.                                     Pinouts
                           PMSM                                                      DC Motor



                                 VMOTOR                                                    VMOTOR

                    12V                                                       12V
                                 VLOGIC                                                    VLOGIC


                                  GND                                                       GND



                                   A                                                         A

                                   B

                                   C
                                                                                             B
                                          Mounting Board




                                                                                                    Mounting Board
              +V5                                                       +V5
                                  +V5                                                       +V5
   ENCODER




                                                             ENCODER
              GND                                                       GND
                                  GND                                                       GND
               A                                                         A
                                 ENC1A                                                     ENC1A
               B                                                         B
                                 ENC1B                                                     ENC1B
                I                                                         I
                                 ENC1Z                                                     ENC1Z




                                  LPOS                                                      LPOS


                                  GND                                                       GND

                                  LNEG                                                      LNEG


                                  GND                                                       GND


             CANH                                                      CANH
                                  CANH                                                      CANH
   Host




                                                             Host




             CANL    120   120                                         CANL    120   120
                                  CANL                                                      CANL
             GND                                                       GND
                                  GND                                                       GND




                                          Figure 42: Typical pinouts




Appendix E: Pinouts                                                                                                  34
References
Ingenia - “Mercury – Product manual”

Ingenia - “Mercury – User manual”




References                             35

								
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