Delta Tau Turbo PMAC Clipper Quick user guide

Single Source Machine Control ……………………………………………..…...………………. Power // Flexibility // Ease of Use
21314 Lassen St. Chatsworth, CA 91311 // Tel. [phone] Fax. [phone] // www.deltatau.com
^1 HARDWARE REFERENCE MANUAL
^2 Turbo PMAC Clipper
^3Turbo PMAC Clipper
^4 4xx-603871-xAxx
^5October 17, 2018
DELTA TAU
Data Systems, Inc.
NEW IDEAS IN MOTION …

Turbo PMAC Clipper
Copyright Information
© 2018 Delta Tau Data Systems, Inc. All rights reserved.
This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses
are unauthorized without written permission of Delta Tau Data Systems, Inc. Information
contained in this manual may be updated from time-to-time due to product improvements,
etc., and may not conform in every respect to former issues.
To report errors or inconsistencies, call or email:
Delta Tau Data Systems, Inc. Technical Support
Phone: [phone]
Fax: [phone]
Email: suppor[email protected]
Website: http://www.deltatau.com
Operating Conditions
All Delta Tau Data Systems, Inc. motion controller products, accessories, and amplifiers
contain static sensitive components that can be damaged by incorrect handling. When
installing or handling Delta Tau Data Systems, Inc. products, avoid contact with highly
insulated materials. Only qualified personnel should be allowed to handle this equipment.
In the case of industrial applications, we expect our products to be protected from
hazardous or conductive materials and/or environments that could cause harm to the
controller by damaging components or causing electrical shorts. When our products are
used in an industrial environment, install them into an industrial electrical cabinet or
industrial PC to protect them from excessive or corrosive moisture, abnormal ambient
temperatures, and conductive materials. If Delta Tau Data Systems, Inc. products are
directly exposed to hazardous or conductive materials and/or environments, we cannot
guarantee their operation.

Turbo PMAC Clipper
Safety Instructions
Qualified personnel must transport, assemble, install, and maintain this equipment. Properly qualified
personnel are persons who are familiar with the transport, assembly, installation, and operation of
equipment. The qualified personnel must know and observe the following standards and regulations:
IEC364resp.CENELEC HD 384 or DIN VDE 0100
IEC report 664 or DIN VDE 0110
National regulations for safety and accident prevention or VBG 4
Incorrect handling of products can result in injury and damage to persons and machinery. Strictly adhere
to the installation instructions. Electrical safety is provided through a low-resistance earth connection. It
is vital to ensure that all system components are connected to earth ground.
This product contains components that are sensitive to static electricity and can be damaged by incorrect
handling. Avoid contact with high insulating materials (artificial fabrics, plastic film, etc.). Place the
product on a conductive surface. Discharge any possible static electricity build-up by touching an
unpainted, metal, grounded surface before touching the equipment.
Keep all covers and cabinet doors shut during operation. Be aware that during operation, the product has
electrically charged components and hot surfaces. Control and power cables can carry a high voltage,
even when the motor is not rotating. Never disconnect or connect the product while the power source is
energized to avoid electric arcing.
A Warning identifies hazards that could result in personal injury or
death. It precedes the discussion of interest.
Warning
Caution
A Caution identifies hazards that could result in equipment damage. It
precedes the discussion of interest.
Note
A Note identifies information critical to the understanding or use of
the equipment. It follows the discussion of interest.

Turbo PMAC Clipper
REVISION HISTORY
REV.
DESCRIPTION
DATE
CHG
APPVD
9
Changed name of manual to Turbo PMAC Clipper
11/03/09
CP
DD
10
Adjusted diagram on P.31
12/16/09
CP
SM
11
Added pulse and direction setup, updated fifth motor setup
06/10/10
RN
SM
12
Updated power supply information
03/17/12
GS
SM
13
General formatting and corrections
04/15/14
MC
RN
14
Added KC Conformity
10/17/18
SM
RN
Note
Older revision correction notes have been removed for clarity.

Turbo PMAC Clipper
Table of Contents vi
Table of Contents
INTRODUCTION.......................................................................................................................................9
Documentation..............................................................................................................................................9
Downloadable Turbo PMAC Script............................................................................................................10
SPECIFICATIONS...................................................................................................................................11
Part Number................................................................................................................................................11
Options........................................................................................................................................................12
Environmental Specifications.....................................................................................................................13
Electrical Specifications..............................................................................................................................13
Digital Power Supply.............................................................................................................................13
DAC Outputs Power Supply ..................................................................................................................13
Flags Power Supply...............................................................................................................................13
Agency Approval and Safety......................................................................................................................14
RECEIVING AND UNPACKING..........................................................................................................15
Use of Equipment .......................................................................................................................................15
MOUNTING..............................................................................................................................................16
Physical Specifications ...............................................................................................................................17
Board Dimensions and Layout ..............................................................................................................17
CONNECTIONS AND SOFTWARE SETUP .......................................................................................18
TB1: Power Supply Input ...........................................................................................................................18
J2: Serial Port..............................................................................................................................................19
J3: Machine Connector (JMACH1 Port) ....................................................................................................20
Setting up Quadrature Encoders ...........................................................................................................23
Setting up Sinusoidal Encoders .............................................................................................................23
Counts per User Units...........................................................................................................................25
Wiring the DAC Output .........................................................................................................................26
Amplifier Enable Signal (AENAn/DIRn)...............................................................................................27
Amplifier Fault Signal (FAULT-)..........................................................................................................28
Optional Analog Inputs..........................................................................................................................29
Analog Inputs Setup...............................................................................................................................29
J4: Machine Connector (JMACH2 Port) ....................................................................................................30
Overtravel Limits and Home Switches...................................................................................................31
Wiring the Limits and Flags..................................................................................................................31
Limits and Flags [Axis 1- 4] Suggested M-Variables............................................................................34
Step and Direction PFM Output (To External Stepper Amplifier)........................................................35
Compare Equal Outputs........................................................................................................................36
J7: Machine Connector (JMACH3 Port) ....................................................................................................37
J8: Thumbwheel Multiplexer Port (JTHW Port) ........................................................................................38
Thumbwheel Port Digital Inputs and Outputs.......................................................................................39
J9: General-Purpose Digital Inputs and Outputs (JOPT Port)....................................................................40
General Purpose I/Os (J6) Suggested M-Variables ..............................................................................42

Turbo PMAC Clipper
Table of Contents vii
J10: Handwheel and Pulse/Dir Connector (JHW/PD Port).........................................................................43
J12: Ethernet Communications Port ...........................................................................................................44
J13: USB Communications Port.................................................................................................................44
JP11: OPT-11 Shunt ...................................................................................................................................44
LED Indicators............................................................................................................................................44
DRIVE - MOTOR SETUP.......................................................................................................................45
Filtered PWM Output (Analog ±10V)........................................................................................................46
Clock Settings, Output Mode, Command Limit .....................................................................................47
Flag Control, Ixx24 ...............................................................................................................................47
I2T Protection: Ixx57, Ixx58..................................................................................................................48
Open Loop Test: Encoder/Decode.........................................................................................................48
Position-Loop PID Gains: Ixx30…Ixx39...............................................................................................50
True DAC Output (±10V)...........................................................................................................................51
Clock Settings, Output Mode.................................................................................................................51
Flag Control, Ixx24 ...............................................................................................................................51
I2T Protection: Ixx57, Ixx58..................................................................................................................51
Open Loop Test: Encoder/Decode.........................................................................................................52
Position-Loop PID Gains: Ixx30…Ixx39...............................................................................................53
Pulse and Direction Output (PFM) .............................................................................................................55
PFM Clock Settings Example................................................................................................................55
PFM Setup Example..............................................................................................................................56
Writing directly to the PFM register .....................................................................................................56
Issuing Open-Loop Commands..............................................................................................................57
Issuing Closed-Loop Commands...........................................................................................................57
Setup of a Fifth Motor Using Opt-12 on the Clipper Board.......................................................................60
LASER CONTROL OUTPUT ................................................................................................................62
Understanding Option-11A Capabilities.....................................................................................................63
Clock Settings.............................................................................................................................................64
Controlling the output.................................................................................................................................65
TROUBLESHOOTING...........................................................................................................................67
Serial Number and Board Revisions Identification ....................................................................................67
Write-Protect Disable –E8 Jumper ............................................................................................................68
Changing IP Address, Gateway IP, Gateway Mask..............................................................................69
Enabling ModBus ..................................................................................................................................70
Reloading Boot and Communication Firmware....................................................................................71
Reloading PMAC firmware –E13 Jumper............................................................................................72
Re-initialization jumper (Factory Reset)...............................................................................................74
Watchdog Timer .........................................................................................................................................74
APPENDIX A: E-POINT JUMPERS.....................................................................................................75
E0: Forced Reset Control...........................................................................................................................75
E1 –E2: Serial Port Selection (rev 102 and below only) ..........................................................................75
E3: Normal/Re-Initializing Power-Up/Reset.............................................................................................75

Turbo PMAC Clipper
Table of Contents viii
E4: Watchdog Disable Jumper...................................................................................................................75
E5: Reserved for factory use only..............................................................................................................75
E6: ADC Inputs Enable .............................................................................................................................76
E7 –E8: USB/Ethernet Reset Jumpers......................................................................................................76
E10 –E12: Flash IC Jumpers.....................................................................................................................76
E13: Power-Up/Reset Load Source ...........................................................................................................77
E14- E17: Ports Direction Control..............................................................................................................77
APPENDIX B: SCHEMATICS...............................................................................................................78

Turbo PMAC Clipper
Introduction 9
INTRODUCTION
The Turbo PMAC Clipper is a multi-axis stand-alone controller. It has the full power of Turbo PMAC2
CPU and provides a minimum of 4 axes of servo or stepper control. It comes with 32 general-purpose
digital I/O points, handwheel port, USB, Ethernet and RS-232 communications links.
The optional axis expansion board provides a set of four additional servo channels and extra I/O ports.
The Turbo PMAC Clipper can be interfaced with several
different type of encoders and it supports three types of
outputs:
Analog ±10V 12-bit Filtered PWM
Analog ±10V 18-bit True DAC (Optional)
Pulse Frequency Modulation (PFM)
Documentation
In conjunction with this user manual, the Turbo Software Reference Manual and Turbo PMAC User
Manual are essential for proper use, motor setup, and configuration of the Turbo PMAC Clipper. It is
highly recommended to refer to the latest revision of the manuals found on Delta Tau’s website, under
Support>documentation>Manuals: Delta Tau Manuals

Turbo PMAC Clipper
Introduction 10
Downloadable Turbo PMAC Script
Caution
Some code examples require the user to input specific information
pertaining to their system hardware. When user information is
required, a commentary ending with –User Input is inserted.
This manual contains downloadable code samples in Turbo PMAC script. These examples can be copied
and pasted into the editor area in the Pewin32pro2. Care must be taken when using pre-configured Turbo
PMAC code, some information may need to be updated to match hardware and system specific
configurations. Downloadable Turbo PMAC Scripts are enclosed in the following format:
// TURBO PMAC SCRIPT EXAMPLE
P1=0 ; Set P1=0 at download
Open PLC 1 Clear ; Open PLC Buffer 1, clear contents
CMDP"Turbo PMAC Clipper Manual Test PLC" ; Send unsolicited response to host port
P1=P1+1 ; Counter using variable P1
Disable PLC 1 ; Disable plc 1
Close ; Close open buffer
Caution
All PLC examples are stated in PLC number 1. It is the user’s
responsibility to arrange their application PLCs’ properly and handle
power-on sequencing for various tasks.
It is the user’s responsibility to use the PLC examples presented in this manual properly. That is,
incorporating the statement code in the application configuration, and handling tasks in a sequential
manner. For example, with serial absolute encoders, setting up the global control registers should be
executed before trying to read absolute position, and absolute phase referencing. Furthermore, other PLC
programs (which would be trying to move motors) should be disabled until these functions are executed.
Caution
Often times, downloadable example codes use suggested M-
variables, it is the user’s responsibility to make sure they are
downloaded, or perform necessary changes to use the intended
registers.

Turbo PMAC Clipper
Connections and Software Setup 11
SPECIFICATIONS
Part Number

Turbo PMAC Clipper
Connections and Software Setup 12
Options
CPU Options
C0: 80MHz Turbo PMAC2 CPU (standard)
8Kx24 internal memory, 256Kx24 SRAM , 1MB flash memory
C3: 80MHz Turbo PMAC2 CPU
8Kx24 internal memory, 1Mx24 SRAM, 4M flash memory
F3: 240MHz Turbo PMAC2 CPU
192Kx24 internal memory, 1Mx24 SRAM, 4M flash memory
Communication Options
Opt.2 Dual Port RAM (required for NC software/applications)
Opt.15F Modbus Communication for additional I/O’s.
Opt.EX JEXPA & JEXPB stack long pins
Opt.C4 JEXPA & JEXPB stack and connectors long pins for breakout board option
Axis Output
18-bit true DAC or 12-bit filtered PWM (default) ±10V analog output
Pulse And Direction (PFM)
Encoder Input
Four encoder inputs, and two handwheel quadrature input (default)
Additional four encoder inputs (Acc-1P) and two handwheel encoder (Acc-1P Option1)
Digital Inputs/Outputs
32 general-purpose TTL-level I/O points (default)
Additional 8 general-purpose I/O and multiplexed I/O (Acc-1P Option1)
Analog Inputs
Two 12-bit analog inputs, and a 12-bit filtered PWM (±10V) outputs (Opt.12)
Additional two 12-bit analog inputs, and a 12-bit filtered PWM (±10V) outputs (Acc-1P Option2)
Host Communication
USB 2.0, Ethernet 100 Base T, RS232 (default)
Stackable Accessories
ACC-1P PC/104-format Channel 5-8 board
ACC-8AS 4-channel dual 16-bit true-DAC output board
ACC-8ES 4-channel dual 18-bit true-DAC output board
ACC-8FS 4-channel direct-PWM output board
ACC-8TS 4-channel ADC-interface board
ACC-51S 2/4-channel high-resolution encoder interpolator board
ACC-84S 4-channel serial encoder interface. The supported protocols:
SSI Synchronous Serial Interface
EnDat 2.2 EnDat 2.2 interface from HEIDENHAIN
BiSS B Renishaw Biss B Unidirectional
BiSS C Renishaw Biss C Unidirectional
Yaskawa Yaskawa Sigma II and Sigma III feedback support
Panasonic Panasonic Feedback Style
Tamagawa Tamagawa Feedback Style
Mitutoyo Mitutoyo Feedback Style

Turbo PMAC Clipper
Connections and Software Setup 13
Environmental Specifications
Description
Specification
Notes
Operating Temperature
0°C to 45°C
Storage Temperature
-25°C to 70°C
Humidity
10% to 95 %
Non-Condensing
Electrical Specifications
Digital Power Supply
The +5V and ground reference lines from the power supply should be connected to TB1 terminal block of
the Turbo PMAC Clipper board using 18 AWG stranded wire. The power requirement (± 5%) is:
+5 V (20W) @ 4 A (Eight-channel configuration with a typical load of encoders)
WARNING
Boards with revisions 103 and below have the following
requirement:
Mininumum 10 msec rise time
6A @ +5V (±5%) (30 W)
The Clipper Board and other stackable accessories each require
a 1A @ 5VDC power supply for normal operation; however, the
Clipper board has an in-rush current requirement that can reach
3A, so a 6A @ 5VDC power supply is recommended.
DAC Outputs Power Supply
The ±12V lines from the supply, including the ground reference, can be brought in either from the TB1
terminal block or from the JMACH1 connector.
+12 to +15 V (4.5W) @ 0.30 A (Eight-channel configuration with a typical load of encoders)
-12 to -15 V (3.8W) @ 0.25 A (Eight-channel configuration with a typical load of encoders)
Flags Power Supply
Each channel of PMAC has five dedicated digital inputs on the machine connector: PLIMn, MLIMn
(overtravel limits), HOMEn (home flag), FAULTn (amplifier fault), and USERn. A power supply from 5
to 24V must be used to power the circuits related to these inputs. This power supply can be the same
used to Turbo PMAC Clipper and can be connected from the TB1 terminal block or the J3 (JMACH1)
connector.

Turbo PMAC Clipper
Connections and Software Setup 14
Agency Approval and Safety
Item
Description
CE Mark
EN61326-1
EMC
EN55011 Class A Group 1
EN61000-4-2
EN61000-4-3
EN61000-4-4
EN61000-4-5
EN61000-4-6
Flammability Class
UL 94V-0
KC
EMI: KN 11
EMS: KN 61000-6-2
사용자안내문
이기기는 업무용 환경에서 사용할 목적으로 적합성평가를 받은 기기로서 가정
용환경에서 사용하는 경우 전파간섭의 우려가 있습니다.

Turbo PMAC Clipper
Connections and Software Setup 15
RECEIVING AND UNPACKING
Delta Tau products are thoroughly tested at the factory and carefully packaged for shipment. When the
Turbo PMAC Clipper is received, there are several things to be done immediately:
Observe the condition of the shipping container and report any damage immediately to the
commercial carrier that delivered the board.
Remove the Turbo PMAC Clipper from the shipping container and remove all packing materials.
Check all shipping material for connector kits, documentation, or other small pieces of
equipment. Be aware that some connector kits and other equipment pieces may be quite small
and can be accidentally discarded if care is not used when unpacking the equipment. The
container and packing materials may be retained for future shipment.
Verify that the part number of the board received is the same as the part number listed on the
purchase order.
Inspect for external physical damage that may have been sustained during shipment and report
any damage immediately to the commercial carrier that delivered the board.
Electronic components in this product are design-hardened to reduce static sensitivity. However,
use proper procedures when handling the equipment.
If the Turbo PMAC Clipper is to be stored for several weeks before use, be sure that it is stored in
a location that conforms to published storage humidity and temperature specifications.
Use of Equipment
The following restrictions will ensure the proper use of the Turbo PMAC Clipper:
The components built into electrical equipment or machines can be used only as integral
components of such equipment.
The Turbo PMAC Clipper must not be operated on power supply networks without a ground or
with an asymmetrical ground.
If the Turbo PMAC Clipper is used in residential areas, or in business or commercial premises,
implement additional filtering measures.
The Turbo PMAC Clipper may be operated only in a closed switchgear cabinet, taking into
account the ambient conditions defined in the environmental specifications.
Delta Tau guarantees the conformance of the Turbo PMAC Clippers with the standards for industrial
areas stated in this manual, only if Delta Tau components (cables, controllers, etc.) are used.

Turbo PMAC Clipper
Connections and Software Setup 16
MOUNTING
The location of the Turbo PMAC Clipper is important. Installation should be in an area that is protected
from direct sunlight, corrosives, harmful gases or liquids, dust, metallic particles, and other contaminants.
Exposure to these can reduce the operating life and degrade performance of the board.
Several other factors should be carefully evaluated when selecting a location for installation:
For effective cooling and maintenance, the Turbo PMAC Clipper should be mounted on a smooth,
non- flammable vertical or horizontal surface.
At least 100 mm (0.4 inches) top and bottom clearance must be provided for air flow.
Temperature, humidity and Vibration specifications should also be taken in account.
Caution
Unit must be installed in an enclosure that meets the environmental
IP rating of the end product (ventilation or cooling may be necessary
to prevent enclosure ambient from exceeding 45° C [113° F]).
The Turbo PMAC Clipper can be mounted as a stand-alone controller using standoffs. At each of the
four corners of the board and at the center edges, there are mounting holes that can be used for this.
The order of the Acc-1P or other stacked accessories with respect to the Clipper Board does not matter.
If the Turbo PMAC Clipper is mounted to a back panel, the back panel should be unpainted and
electrically conductive to allow for reduced electrical noise interference. The back panel should be
machined to accept the standoffs pattern of the board.
The board can be mounted to the back panel using four standoffs and internal-tooth lock washers. It is
important that the teeth break through any anodization on the board’s mounting gears to provide a good
electrically conductive path in as many places as possible. Mount the board on the back panel so there is
airflow at both the top and bottom areas of the board (at least 0.4 inches).

Turbo PMAC Clipper
Connections and Software Setup 17
Physical Specifications
Board Dimensions and Layout Top View
Rev106

Turbo PMAC Clipper Hardware Reference Manual
Connections and Software Setup 18
CONNECTIONS AND SOFTWARE SETUP
WARNING
Installation of electrical equipment is subject to many
regulations including national, state, local, and industry
guidelines and rules. The following are general
recommendations but it is important that the integration be
carried out in accordance with all regulations pertaining to the
installation.
TB1: Power Supply Input
This 4-pin terminal block is used to bring the 5VDC logic power and +/-12VDC DAC supply into the
Turbo PMAC Clipper.
TB1 (JPWR): Power Supply
4-Pin Terminal Block
Pin#
Symbol
Function
Description
Notes
1
GND
Common
Digital Common
2
+5V
Input
Logic Voltage
Supplies all PMAC digital circuits
3
+12V
Input
DAC Supply
Voltage
Ref to Digital GND
4
-12V
Input
DAC Supply
Voltage
Ref to Digital GND
Note
For +5V and GND, 18 gauge (AWG) stranded wire is
recommended. For +12V and -12V, a minimum of 22 gauge (AWG)
stranded wire is recommended.

Turbo PMAC Clipper Hardware Reference Manual
Connections and Software Setup 19
J2: Serial Port
This connector allows communicating with Turbo PMAC Clipper from a host computer through a RS-
232 port. Delta Tau provides the Accessory 3L cable that connects the PMAC to a DB-9 connector. This
port can be used as a primary communication mean or employed as a secondary port that allows
simultaneous communication.
J2 (JRS232) Serial Port Connector
10-Pin Header
5
6
3
4
1
2
9
10
7
8
Pin#
Symbol
Function
Description
Notes
1
PHASE
Output
Phasing Clock
2
DTR
Bidirect
Data Terminal Ready
Tied to "DSR"
3
TXD/
Output
Send Data
Host receive data
4
CTS
Input
Clear to Send
Host ready bit
5
RXD/
Input
Receive Data
Host transmit data
6
RTS
Output
Request to Send
PMAC ready bit
7
DSR
Bidirect
Data Set Ready
Tied to "DTR"
8
SERVO
Output
Servo Clock
9
GND
Common
Digital Common
10
+5V
Output
+5Vdc Supply
Power supply out
10-pin female flat cable connector T&B Ansley P/N 609-1041
Standard flat cable stranded 10-wire T&B Ansley P/N 171-10
The baud rate for the RS-232 serial port is set by variable I54. At power-up reset, The Turbo PMAC
Clipper sets the active baud based on the setting of I54 and the CPU speed I52. Note that the baud rate
frequency is divided down from the CPU’s operational frequency. The factory default baud rate is 38400.
This baud rate will be selected automatically on re-initialization of the Clipper, either in hardware power
cycle or in software using the $$$*** command.
To change the baud rate setting on the Turbo PMAC Clipper, set I54 to the corresponding value of
desired frequency. Restart the software (Pewin32Pro2), and adjust to the correct baud rate in the
communication setup window. Then issue a SAVE and a reset ($$$), or recycle power on the Clipper. For
odd baud rate settings, refer to the Turbo Software Reference Manual.
I54
Baud Rate
I54
Baud Rate
8
9600
12
38,400
9
14,400
13
57,600
10
19,200
14
76,800
11
28,800
15
115,200

Turbo PMAC Clipper Hardware Reference Manual
Connections and Software Setup 20
J3: Machine Connector (JMACH1 Port)
The primary machine interface connector is JMACH1, labeled J3 on the Turbo PMAC Clipper. It
contains the pins for four channels of machine I/O: analog outputs, incremental encoder inputs, amplifier
fault and enable signals and power-supply connections.
J3 (JMACH1): Machine Port Connector
50-Pin Header
49
50
47
48
45
46
43
44
41
42
39
40
37
38
35
36
33
34
31
32
29
30
27
28
25
26
23
24
21
22
19
20
17
18
15
16
13
14
11
12
9
10
7
8
5
6
3
4
1
2
Pin#
Symbol
Function
Description
Notes
1
+5V
Output
+5V Power
For encoders, 1
2
+5V
Output
+5V Power
For encoders, 1
3
GND
Common
Digital Common
For encoders, 1
4
GND
Common
Digital Common
For encoders, 1
5
CHA1
Input
Encoder A Channel Positive
2
6
CHA2
Input
Encoder A Channel Positive
2
7
CHA1/
Input
Encoder A Channel Negative
2,3
8
CHA2/
Input
Encoder A Channel Negative
2,3
9
CHB1
Input
Encoder B Channel Positive
2
10
CHB2
Input
Encoder B Channel Positive
2
11
CHB1/
Input
Encoder B Channel Negative
2,3
12
CHB2/
Input
Encoder B Channel Negative
2,3
13
CHC1
Input
Encoder C Channel Positive
2
14
CHC2
Input
Encoder C Channel Positive
2
15
CHC1/
Input
Encoder C Channel Negative
2,3
16
CHC2/
Input
Encoder C Channel Negative
2,3
17
CHA3
Input
Encoder A Channel Positive
2
18
CHA4
Input
Encoder A Channel Positive
2
19
CHA3/
Input
Encoder A Channel Negative
2,3
20
CHA4/
Input
Encoder A Channel Negative
2,3
21
CHB3
Input
Encoder B Channel Positive
2
22
CHB4
Input
Encoder B Channel Positive
2
23
CHB3/
Input
Encoder B Channel Negative
2,3
24
CHB4/
Input
Encoder B Channel Negative
2,3
25
CHC3
Input
Encoder C Channel Positive
2
26
CHC4
Input
Encoder C Channel Positive
2
27
CHC3/
Input
Encoder C Channel Negative
2,3