Step/Direction RJ-45
The RJ-45 and 8-pin headers are electrically connected, you may use
either but please use only one at a time. E-STOP is normally pulled
high. Anyone may pull this low to force a stop; everyone must respond
to this being pulled low. FAULT is for controller-specific faults;
an incoming E-Stop does not cause FAULT to become active.
DIRECTION high counts up. STEP counts on the falling edge.
 |
in/out | E-STOP |
 |  |
 |
in | STEP |
|
 |
nc | VCC |
|
 |
in | DIRECTION |
|
 |
in/out | GND |
|
 |
out | FAULT |
|
 |
out | LIMIT1 |
|
 |
out | LIMIT2 |
|
Step/Direction Header
 |
 |
in/out | E-STOP |
 |
STEP | in |
 |
|
nc | VCC |
|
DIRECTION | in |
 |
|
in/out | GND |
|
FAULT | out |
 |
|
out | LIMIT1 |
|
LIMIT2 | out |
CAN RJ-11
The two CAN connectors are electrically connected so that devices
may be chained. If this device is the last one on the chain, jumper
the CANTERM jumper to terminate the CAN bus.
First prototype
| telephone |
custom |
|  |
CAN L |
|  |
| |
GND |
|
|  |
CAN H |
|
| |
+5V |
|
Rev 1.10 and later
| telephone |
custom |
| |
+5V |
| |
| |
CAN H |
|
| |
CAN L |
|
| |
GND |
|
Hall/Encoder
Wire colors are for a DA34FBB-3A motor encoder's module.
| GRY |
HALL W SIG |
|
HALL W GND |
GRY/BLK |
 |
 |
| BRN |
HALL V SIG |
|
HALL V GND |
BRN/BLK |
|
 |
| WHT |
HALL U SIG |
|
HALL U GND |
WHT/BLK |
 |
 |
| RED/WHT |
HALL +5V |
|
HALL GND |
BLK/WHT |
 |
 |
| RED |
ENC +5V |
|
ENC GND |
BLK |
|
|
| GRN |
ENC A POS |
|
ENC A NEG |
GRN/BLK |
|
 |
| BLU |
ENC B POS |
|
ENC B NEG |
BLU/BLK |
|
 |
| PRP |
ENC Z POS |
|
ENC Z NEG |
PRP/BLK |
|
 |
| |
Limit Sensors
Each limit sensor provides +5 and GND to power active sensors.
Surface mount pads adjacent to each connector allow for pull-up or
pull-down resistors to be soldered to the board for switch sensors.
Resistors should be 4.7K to 10K
Motor Phases
Motor Power Supply
Max 300 VDC. Ground is common with logic ground.
Logic Power Supply
UART2
UART2's pinout is designed for the FTDI TTY-232R-5V cable. Pin 1
is listed first. Protocol is 115,200 baud 8/N/1.
UART1 and E1
The UART1 and E1 connectors are for programming the RX/62T
processor. Use one or the other but not both at the same time. The
PROG_RESET jumper should be jumpered on PROG when using the USB
connector, and left open when using the E1. It may be jumpered to
RESET temporarily to reset the processor. When the USB is used as a
serial console, the protocol is 115,200 baud 8/N/1.
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