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Drive FPGA Table:
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Parameter |
Specification |
|---|---|
| Node Type | 0x00110002 |
| Option | 0x00000000 |
| FPGA | 0xC0FE0047 |
| Motor Count | 1 |
| Drive Count | 1 |
| Secondary Encoder Count | 1 |
| SqNode Digital Out Count | 0 |
| SqNode Digital In Count | 0 |
| SqNode Analog In Count | 0 |
| SqNode Analog Out Count | 0 |
Motor 0
Capture, Probe, Pulse
Parameter |
Number |
|---|---|
| Capture Count | 1 |
| Probe Count | 1 |
| Pulse Count | 0 |
Dedicated I/O
Parameter |
Supported? | Hardware Pinout |
|---|---|---|
| Dedicated In 0 - Amp Fault | Y | |
| Dedicated In 1 - Brake Applied | Y | |
| Dedicated In 2 - Home | Y | |
| Dedicated In 3 - Limit HW Pos | Y | |
| Dedicated In 4 - Limit HW Neg | Y | |
| Dedicated In 5 - Index Primary (Enc 0 Index) | Y | |
| Dedicated In 6 - FeedbackFault | Y | |
| Dedicated In 7 - Captured | N | |
| Dedicated In 8 - Hall A | Y | |
| Dedicated In 9 - Hall B | Y | |
| Dedicated In 10 - Hall C | Y | |
| Dedicated In 11 - Amp Active | Y | |
| Dedicated In 12 - Index Secondary (Enc 1 Index) |
Y | |
| Dedicated In 13 - Warning | Y | |
| Dedicated In 14 - Drive Status 9 | N | |
| Dedicated In 15 - Drive Status 10 | N | |
| Dedicated In 16 - Feedback 0 Fault | Y | |
| Dedicated In 17 - Feedback 1 Fault | N | |
| Dedicated Out 0 - Amp Enable | Y | |
| Dedicated Out 1 - Brake Release | Y | |
| Encoder Index 0 | Y | |
| Encoder Index 1 | Y | |
| Brake Applied | Y | |
| Brake Drive | Y |
| General Purpose I/O Bit | Name |
Valid Configurations |
|---|---|---|
0 |
IO_0 |
Input/Output |
1 |
IO_1 |
Input/Output |
2 |
IO_2 |
Input/Output |
3 |
IO_3 |
Input |
4 |
IO_4 |
Input |
5 |
IO_5 |
Input |
6 |
OUT_6 |
Output/BRAKE |
7 |
OUT_7 |
Output |
| Feature | Quanity | Units | |||
|---|---|---|---|---|---|
| Node I/O | Serial Eeprom (Module ID) |
1 | Per Node | ||
Digital In* |
0 | ||||
Digtal Out* |
0 | ||||
Analog In** |
0 | ||||
Analog Out** |
0 | ||||
| Drive/Motor | Dedicated I/O Words, Group of 16 (Software Bits) |
1 | Per Motor | ||
Dedicated I/O Pins (Hardware Pins) |
Brake Applied |
1 | Per Motor | ||
Brake Drive |
1 | ||||
Amp Enable |
1 | ||||
Amp Fault |
1 | ||||
Home |
1 | ||||
Positive Limit |
1 | ||||
Negative Limit |
1 | ||||
Encoder Index 0 |
1 | ||||
Motor I/O (General Purpose) |
8 | Per Output | |||
DAC |
0 | Per Motor | |||
1/N |
0 | ||||
1/T |
0 | ||||
Pulse |
0 | ||||
Primary Encoder |
Quadrature |
Yes | 1 | ||
DriveMemory |
Yes | ||||
SSI |
No | ||||
Secondary Encoder |
Quadrature |
Yes | 1 | ||
DriveMemory |
No | ||||
SSI |
No | ||||
Capture |
Position |
Yes | 1 | Per Node | |
Time |
Yes | ||||
Probe |
Position |
Yes | 1 | ||
Time |
Yes | ||||
Compare |
0 | ||||
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