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7 I 76

The document provides configuration information for connecting a 7i76e motion controller board to a host computer and other devices. It specifies loading the hostmot2 and hm2_eth drivers with configuration parameters, including the serial port address. It also describes the different software modes of the 7i76e board and connections for analog inputs, digital I/O, and power.

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Meirinhas Meirinhas
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188 views9 pages

7 I 76

The document provides configuration information for connecting a 7i76e motion controller board to a host computer and other devices. It specifies loading the hostmot2 and hm2_eth drivers with configuration parameters, including the serial port address. It also describes the different software modes of the 7i76e board and connections for analog inputs, digital I/O, and power.

Uploaded by

Meirinhas Meirinhas
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Config line from hal file:

loadrt hostmot2
loadrt hm2_eth board_ip="192.168.1.121" config="num_encoders=1 num_pwmgens=0 num_stepgens=3 sserial_port_0=21xxxxxx"

Notes:
sserial_port_0=21xxxxxx The first digit (2) selects the software mode from the 7i76e itself,
The second digit (1) selects the software mode of the connected SSerial device i.e. the 7i73

7i76e supports 3 Software modes:


MODE 0 I/O only mode (32 bits of input data, 16 bit of output data)
MODE 1 I/O plus analog input mode (32 bits of input data, 16 bits of output data, 4analog input channels)
MODE 2 I/O plus analog input and field voltage and MPG mode
32 bits of input data, 16 bits of output data, 4 analog input channels, field voltage analog in,
and 2 MPG encoders on inputs 16..19.
Default encoder count mode is 1X to match normal 100 PPR MPGs.

To PC

Jumpers:
W1 : left
W2 : down
W3 : down
W4 : up
W5 : up
W6 : up
W7 : up
W8 : left
W9 : up
W10 : left
W11 : left
W12 : down
Do not W13 : left
connect
+ 24 V

Power Connections GND

TB1 Field Power


Pin 8 : GND
Pin 5 : + 24 V

TB3 Power
Pin 23 : GND
Pin 22 : + 24 V

Do not
connect
To SSerial Device i.E. 7i73

Connection to SSerial device, i.e. 7i73

TB3 SSerial
Pin 20 : Brown and
Brown/White
Pin 19 : Orange/White
Pin 18 : Orange
Pin 17 : Green/White
Pin 16 : Green
Pin 15 : Blue and
Blue/White

Colors correspond to
Standard CAT 5 or
CAT 6 network cable
If wired according T568B
Just cut one end

For details see:


https://en.wikipedia.org/wiki/TIA/EIA-568
+ 24 V

Connection of Analog Input


GND

i.e. 10k

You may use also:


TB1 Field Power Pin 5 : + 24 V TB6 : Analog in
Pin 8 : GND Pin 4 : + 24 V PIN 4 = hm2_7i76e.0.7i76.0.0.analogin3
Pin 1 : + 24 V Pin 3 : + 24 V PIN 3 = hm2_7i76e.0.7i76.0.0.analogin2
Pin 2 : + 24 V PIN 2 = hm2_7i76e.0.7i76.0.0.analogin1
as power source or get GND and +24 V PIN 1 = hm2_7i76e.0.7i76.0.0.analogin0
directly from the powersupply.
TB6 : Digital in
TB1 Field Power PIN 16 = hm2_7i76e.0.7i76.0.0.input-15
Connection of Digital Input Pin 2 : + 24 V PIN 15 = hm2_7i76e.0.7i76.0.0.input-14
PIN 14 = hm2_7i76e.0.7i76.0.0.input-13
You may use: PIN 13 = hm2_7i76e.0.7i76.0.0.input-12
Pin 5 : + 24 V PIN 12 = hm2_7i76e.0.7i76.0.0.input-11
Pin 4 : + 24 V + 24 V PIN 11 = hm2_7i76e.0.7i76.0.0.input-10
Pin 3 : + 24 V PIN 10 = hm2_7i76e.0.7i76.0.0.input-09
Pin 1 : + 24 V PIN 9 = hm2_7i76e.0.7i76.0.0.input-08
PIN 8 = hm2_7i76e.0.7i76.0.0.input-07
as power source or PIN 7 = hm2_7i76e.0.7i76.0.0.input-06
get it directly from PIN 6 = hm2_7i76e.0.7i76.0.0.input-05
the power supply. PIN 5 = hm2_7i76e.0.7i76.0.0.input-04
Do not use
hm2_7i76e.0.7i76.0.0.input-03
hm2_7i76e.0.7i76.0.0.input-02
hm2_7i76e.0.7i76.0.0.input-01
hm2_7i76e.0.7i76.0.0.input-00
As they are used as analog input
TB5 : Digital in
PIN 16 = hm2_7i76e.0.7i76.0.0.input-31
PIN 15 = hm2_7i76e.0.7i76.0.0.input-30
PIN 14 = hm2_7i76e.0.7i76.0.0.input-29
PIN 13 = hm2_7i76e.0.7i76.0.0.input-28
PIN 12 = hm2_7i76e.0.7i76.0.0.input-27
PIN 11 = hm2_7i76e.0.7i76.0.0.input-26
PIN 10 = hm2_7i76e.0.7i76.0.0.input-25
PIN 9 = hm2_7i76e.0.7i76.0.0.input-24
PIN 8 = hm2_7i76e.0.7i76.0.0.input-23
PIN 7 = hm2_7i76e.0.7i76.0.0.input-22
PIN 6 = hm2_7i76e.0.7i76.0.0.input-21
Limit PIN 5 = hm2_7i76e.0.7i76.0.0.input-20
X,Y,Z
Do not use
hm2_7i76e.0.7i76.0.0.input-19
hm2_7i76e.0.7i76.0.0.input-18
hm2_7i76e.0.7i76.0.0.input-17
hm2_7i76e.0.7i76.0.0.input-16
As they are used as MPG input
Important note:
Connection of Digital Output TB1 Field Power Maximum output load per pin is 350 mA
Pin 8 : GND Total output is limited to 2A.
Or get GND directly
GND
from the power supply.

TB5 : Digital out TB6 : Digital out


PIN 24 = hm2_7i76e.0.7i76.0.0.output-15 PIN 24 = hm2_7i76e.0.7i76.0.0.output-07
PIN 23 = hm2_7i76e.0.7i76.0.0.output-14 PIN 23 = hm2_7i76e.0.7i76.0.0.output-06
PIN 22 = hm2_7i76e.0.7i76.0.0.output-13 PIN 22 = hm2_7i76e.0.7i76.0.0.output-05
PIN 21 = hm2_7i76e.0.7i76.0.0.output-12 PIN 21 = hm2_7i76e.0.7i76.0.0.output-04
PIN 20 = hm2_7i76e.0.7i76.0.0.output-11 PIN 20 = hm2_7i76e.0.7i76.0.0.output-03
PIN 19 = hm2_7i76e.0.7i76.0.0.output-10 PIN 19 = hm2_7i76e.0.7i76.0.0.output-02
PIN 18 = hm2_7i76e.0.7i76.0.0.output-09 PIN 18 = hm2_7i76e.0.7i76.0.0.output-01
PIN 17 = hm2_7i76e.0.7i76.0.0.output-08 PIN 17 = hm2_7i76e.0.7i76.0.0.output-00
Connection of MPG's
TB5 : MPG in
PIN 4 = MPG 1 Signal B
PIN 3 = MPG 1 Signal A
PIN 2 = MPG 0 Signal B
PIN 1 = MPG 0 Signal A

TB3 : MPG Power


PIN 12 = MPG + 5V
PIN 9 = MPG GND

Power could also be taken from other pin


i.E. TB3 Pin 1 and PIN 6

hm2_7i76e.0.7i76.0.0.enc0.count
A

B
GND MPG
+5V

B
GND MPG
+5V

hm2_7i76e.0.7i76.0.0.enc1.count
Note:
Connection of Steppers Not used pins can not be used as IO Pin,
even if not all stepper are used TB2 : Stepper in
PIN 24 = + 5V : Stepper 3
PIN 23 = DIR+ : Stepper 3
PIN 22 = DIR- : Stepper 3
PIN 21 = STEP+ : Stepper 3
PIN 20 = STEP - : Stepper 3
PIN 19 = GND : Stepper 3

PIN 18 = + 5V : Stepper 2
PIN 17 = DIR+ : Stepper 2
PIN 16 = DIR- : Stepper 2
PIN 15 = STEP+ : Stepper 2
PIN 14 = STEP - : Stepper 2
PIN 13 = GND : Stepper 2

PIN 12 = + 5V : Stepper 1
PIN 11 = DIR+ : Stepper 1
PIN 10 = DIR- : Stepper 1
PIN 9 = STEP+ : Stepper 1
PIN 8 = STEP - : Stepper 1
PIN 7 = GND : Stepper 1

PIN 6 = + 5V : Stepper 0
PIN 5 = DIR+ : Stepper 0
PIN 4 = DIR- : Stepper 0
PIN 3 = STEP+ : Stepper 0
PIN 2 = STEP - : Stepper 0
setp hm2_7i76e.0.stepgen.00.step_type 0 PIN 1 = GND : Stepper 0
Type 0 Type2
+5V +5V Sets the type to be used: TB3 : Stepper in
DIR + A Type 0 = step/dir PIN 6 = + 5V : Stepper 4
DIR - A- Type 1 = up/down PIN 5 = DIR+ : Stepper 4
STEP + B Type 2 = quadratur A/B PIN 4 = DIR- : Stepper 4
STEP - B- Type 3 = Three phase full step PIN 3 = STEP+ : Stepper 4
GND GND Etc. PIN 2 = STEP - : Stepper 4
PIN 1 = GND : Stepper 4
See „man stepgen“ for all details
Connection of Spindle
A A- B B-

I +5V
I-
Encoder GND

Motor

VFD

Target value
Reverse

Enable

+ 10 V

GND
TB3 : Encoder TB4 : Spindle
PIN 14 = Index - PIN 8 = Spindle DIR +
PIN 13 = Index PIN 7 = Spindle DIR -
PIN 12 = + 5 V PIN 6 = Spindle Enable +
PIN 11 = B - PIN 5 = Spindle Enable -
PIN 10 = B PIN 4 = not connected
PIN 9 = GND PIN 3 = Spindle +
PIN 8 = A- PIN 2 = Spindle OUT
PIN 7 = A PIN 1 = Spindle -

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