Vigilant Products

IndustryPack Module

IP-ED4
  • 4 Channel Motion Control IndustryPack Module
    •

Specifications

Ordering Information

Description:

The IP-ED4 is a general purpose I/O resource for applications requiring  motion control.  The primary functions of quadrature decoder inputs, limit switch inputs, and analog outputs, can be used to implement custom motor or robotic control.  The quadrature decoder inputs are typically used to measure linear or shaft rotation position and velocity.  The digital inputs typically signal a limit position or synchronization location, and the digital outputs can be used for braking or power enabling.  The analog outputs set the power setting on a motor.  Secondary functions include an interval timer, a watchdog timer, an external trigger input, and 8 channels of digital I/O. 

Encoder inputs (RS422 DE or TTL SE) control individual 16-bit counters with overflow latch. Index inputs are also DE/SE and can be set for level or edge detection. The DACs have 14 bit resolution, +10V voltage outputs. The zero voltage is software adjustable.

At powerup and until programmed by the CPU, the DACs are set to zero volts and the digital I/O is tristated. Interrupts are maskable and power up in the masked state. The watchdog timer directly drives a relay which has common, normally open, and normally closed connections. This timer can also be used as an interrupt source and may interrupt the host 1 ms before watchdog timeout.

Registers and commands are accessed via I/O space over the IndustryPack bus. All I/O signals leave the board through the 50 pin IndustryPack I/O connector.

Specifications:

Analog Outputs:

  • Number of channels:  4
  • Resolution:    14 bits
  • Output voltage ranges: +10V
  • Offset accuracy: +1mV (software trimmed)
  • Non-Linearity:  +20mV
  • Temperature drift:  + 2 ppm/C
  • Converter Settling time: 8us typ to 14 bits

Quadrature Decoder Counters:

  • Number of channels: 4
  • Max encoder tracking freq: 3. MHz with 32MHz IP clock, 2.5MHz with 8 MHz.
  • Counter size:  16 bits with interrupt on over or underflow.  Resettable to zero.

Digital IO:

  • Number of channels: 8
  • Direction: programmable in groups of 4.
  • Digital Outputs: Iol=24ma at 0.5V, Ioh= -24ma at 3.8Vmin.
  • Digital Inputs: high = 2V min, low = 0.8V max.

Encoder Inputs:

  • Inputs:  Diff RS-422-A, RS-423-A
  • State: Vid hgh >0.2V, low < -0.2V
  • Input com mode volt: max +7V
  • Input Differential volt: max +6V
  • Diff. Input imped:  330/150/330 ohms

Timers:

  • 1 watchdog programmed to set all digital outputs to off or all digital outputs and analog outputs to off,
  • 1 interval with interrupt. LM555C timer. RC values set the monostable pulse to 1msec. resolution.
  • Range:  2ms  to 255 ms.

Programming Interface:

  • Registers:  encoder counts, DAC values, interrupt mask, interrupt status, digital I/O direction, digital I/O status, various command settings.

Relay:     NO/NC 0.5Amp

IndustryPack access wait states:

  • Register accesses: zero wait states in 8 MHz clock.

Interrupts:

  • From each encoder overflow or underflow, each index, one timer.  Each interrupt is maskable.

IndustryPack bus:

  • 16 bit I/O or Memory accesses
  • 8 or 32 MHz clock

Dimensions:

  • 1.8" x3.9"  Single Size Type I

Power requirements:

  • 200 mA @ 5V typical (quiescent)
  • 30 mA @ +12V typ. (quiescent)
  • 30 mA @ -12V typ. (quiescent)

Environmental:

  • Operating Temp:   0 to 70C
  • Humidity:  5 to 95% non-cond
  • Storage Temp:   -20 to +85C

IP I/O Connector

1:

DAC Chl 0

2:

DAC Chl 1

3:

DAC Chl 2

4:

DAC Chl 3

5:

DGnd

6:

Relay Com

7:

Axis 0 Encdr A+

8:

Axis 0 Encdr B+

9:

Axis 0 Index +

10:

Axis 1 Encdr A+

11:

Axis 1 Encdr B+

12:

Axis 1 Index +

13:

Axis 2 Encdr A+

14:

Axis 2 Encdr B+

15:

Axis 2 Index +

16:

Axis 3 Encdr A+

17:

Axis 3 Encdr B+

18:

Axis 3 Index +

19:

DGnd

20:

Digital I/O Chl 1

21:

Digital I/O Chl 2

22:

DGnd

23:

Digital I/O Chl 5

24:

Digital I/O Chl 6

25:

DGnd

26:

DAC Chl 0 Return

27:

DAC Chl 1 Return

28:

DAC Chl 2 Return

29:

DAC Chl 3 Return

30:

Relay NC

31:

Relay NO

32:

Axis 0 Encdr A-

33:

Axis 0 Encdr B-

34:

Axis 0 Index -

35:

Axis 1 Encdr A-

36:

Axis 1 Encdr B-

37:

Axis 1 Index -

38:

Axis 2 Encdr A-

39:

Axis 2 Encdr B-

40:

Axis 2 Index -

41:

Axis 3 Encdr A-

42:

Axis 3 Encdr B-

43:

Axis 3 Index -

44:

Digital I/O Chl 0

45:

DGnd

46:

Digital I/O Chl 3

47:

Digital I/O Chl 4

48:

DGnd

49:

Digital I/O Chl 7

50:

+5V fused power

Ordering Information:

IP-ED4 - 4 Channel Encoder/DAC motion control IndustryPack with timers and 8 DIO.

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