| |
Feature
|
QTY
|
Units
|
Comments
|
|
sqNode
|
sqMac |
1
|
per node
|
|
| Serial Eeprom
(Node ID) |
1
|
|
| UART |
1
|
|
|
Node
I/O
|
Serial Eeprom (Module
ID) |
0
|
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)
|
7
|
group(s) per
node
|
|
|
Dedicated I/O Pins
(Hardware Pins)
|
Brake Applied |
No
|
per motor
|
|
| Brake Drive |
No
|
|
| Amp Enable |
No
|
|
| Amp Fault |
No
|
|
| Home |
No
|
|
| Positive Limit |
No
|
|
| Negative Limit |
No
|
|
Encoder Index 0
Encoder Index 1 |
Yes
Yes
|
|
| Motor I/O (General Purpose) |
8
|
pins(s) per
motor
|
Motor 0 &
Motor 1 only (8pins each) |
| DAC |
0
|
per node
|
|
| 1/N |
0
|
|
| 1/T |
0
|
|
| Pulse |
0
|
|
| Primary Encoder |
Quadrature |
Yes
|
7
|
Quadrature
on
Motor 0,1
Drive Memory on
all Motors |
| DriveMemory |
Yes
|
| SSI |
No
|
| Secondary
Encoder |
Quadrature |
Yes
|
3
|
Sec Enc 0
- Mtr 0
Sec Enc 1 - Mtr 1
Sec Enc 2 - Mtr 2-6 |
| DriveMemory |
No |
| SSI |
No
|
| Capture |
Position |
Yes
|
1
|
per motor
|
|
| Time |
Yes
|
|
| Probe |
Position |
No
|
0
|
|
| Time |
No
|
|
| Compare |
0
|
|
