Intelligent Motion Systems Computer Hardware Modular LYNX System User Manual

Part I  
The Modular  
LYNX Sys tem  
YNX  
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Getting Star ted  
Connecting the LYNX System  
Mounting the LYNX System  
Powering the LYNX System  
The Communications Interface  
Configuring the Digital I/ O  
The LYNX Control Module  
The LYNX Control Module (Combination)  
The Isolated Digital I/ O Module  
The Differential Digital I/ O Module  
The Combination Digital I/ O Module  
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Typical Functions of the Differential I/O .................................................................................................................................... 1-34  
Connecting and Using an Encoder ................................................................................................................................ 1-34  
Translating the EUNIT Variable to a Dimension of Distance...................................................................................... 1-35  
Half Axis Operation (Follower) .................................................................................................................................... 1-36  
One and a Half Axis Operation (RATIOE)................................................................................................................... 1-37  
Section 7: The LYNX Control Module (LX-CM100-000) .................................................................................................. 1-39  
Section Overview ......................................................................................................................................................................... 1-39  
Hardware Specifications ............................................................................................................................................................... 1-39  
Environmental Specifications ....................................................................................................................................... 1-39  
Mechanical Specification .............................................................................................................................................. 1-39  
Connection Overview .................................................................................................................................................................. 1-40  
Power Requirements ...................................................................................................................................................... 1-40  
LED Indicators ............................................................................................................................................................................. 1-41  
Pin Assignment and Description .................................................................................................................................................. 1-41  
Switch Assignments ...................................................................................................................................................................... 1-42  
Section 8: The LYNX Control Module (Combination) .................................................................................................... 1-43  
Section Overview ......................................................................................................................................................................... 1-43  
Hardware Specifications ............................................................................................................................................................... 1-43  
Environmental Specifications ....................................................................................................................................... 1-43  
Mechanical Specification .............................................................................................................................................. 1-43  
Connection Overview .................................................................................................................................................................. 1-44  
Power Requirements ...................................................................................................................................................... 1-44  
LED Indicators ............................................................................................................................................................................. 1-45  
Pin Assignment and Description .................................................................................................................................................. 1-45  
Switch Assignments ...................................................................................................................................................................... 1-46  
Section 9: The Isolated Digital I/O Module ...................................................................................................................... 1-47  
Section Overview ......................................................................................................................................................................... 1-47  
Hardware Specifications ............................................................................................................................................................... 1-47  
Environmental Specification ........................................................................................................................................ 1-47  
Mechanical Specification .............................................................................................................................................. 1-47  
Connection Overview .................................................................................................................................................................. 1-48  
Pin Assignments And Description ............................................................................................................................................... 1-48  
Switch Assignments And Description .......................................................................................................................................... 1-49  
Input Specifications...................................................................................................................................................................... 1-49  
Input Filtering .............................................................................................................................................................................. 1-50  
Output Specifications ................................................................................................................................................................... 1-50  
Section 10: The Differential Digital I/O Module .............................................................................................................. 1-51  
Section Overview ......................................................................................................................................................................... 1-51  
Hardware Specifications ............................................................................................................................................................... 1-51  
Environmental Specification ........................................................................................................................................ 1-51  
Mechanical Specification .............................................................................................................................................. 1-51  
Connection Overview .................................................................................................................................................................. 1-52  
Power Requirements ..................................................................................................................................................................... 1-52  
Pin Assingments And Description ............................................................................................................................................... 1-53  
Input Specifications...................................................................................................................................................................... 1-53  
Input Filtering .............................................................................................................................................................................. 1-54  
Output Specifications ................................................................................................................................................................... 1-55  
YNXSystem  
List of Tables  
Table 4.1: Power Requirements ............................................................................................................................................... 1-15  
Table 5.1: Wiring Connections: RS-232 Interface Single Control Module System ................................................................. 1-17  
Table 5.2: Party Mode Address Configuration Switch Settings ............................................................................................... 1-18  
Table 5.3: Connections and Settings Multiple Control Module System, RS-232 Interface .................................................... 1-19  
Table 5.4: RS-485 Interface Connections ............................................................................................................................... 1-20  
Table 5.5: Party Mode Address Configuration Switch Settings ............................................................................................... 1-21  
Table 5.6: RS-485 Interface Connections and Settings, Multiple Control Module System .................................................... 1-22  
Table 5.7: ASCII Mode Special Command Characters ............................................................................................................. 1-24  
Table 5.8: Binary Hex Codes ................................................................................................................................................... 1-24  
Table 6.1: System I/O Availability by Module ......................................................................................................................... 1-25  
Table 6.2: IOS Variable Settings ............................................................................................................................................... 1-27  
Table 6.3: Digital Filter Settings for the Isolated I/O .............................................................................................................. 1-28  
Table 6.4: Binary State of Outputs .......................................................................................................................................... 1-30  
Table 6.5: The Four Clocks and Their Default Line Placement ............................................................................................. 1-31  
Table 6.6: Digital Filter Settings for the Differential I/O ........................................................................................................ 1-33  
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Table 7.1: Power Requirements for the LYNX Control Module ............................................................................................. 1-40  
Table 7.2: LYNX Control Module LED Indicators ................................................................................................................. 1-41  
Table 7.3: LYNX Control Module Connector P1 Pin Configuration...................................................................................... 1-41  
Table 7.4: LYNX Control Module Connector P2 Pin Configuration...................................................................................... 1-41  
Table 7.5: LYNX Control Module Connector P3 Pin Configuration...................................................................................... 1-42  
Table 7.6: LYNX Control Module Configuration Switches ..................................................................................................... 1-42  
Table 7.7: LYNX Control Module Group 20 I/O Pull-up Switches .......................................................................................... 1-42  
Table 7.8: LYNX Control Module Group 30 I/O Pull-up Switches .......................................................................................... 1-42  
Table 8.1: Power Requirements for the LYNX Control Module (Combination) .................................................................... 1-44  
Table 8.2: LYNX Control Module LED Indicators ................................................................................................................. 1-45  
Table 8.3: LYNX Combination Control Module Connector P1 Pin Configuration................................................................ 1-45  
Table 8.4: LYNX Combination Control Module Connector P2 Pin Configuration................................................................ 1-45  
Table 8.5: LYNX Combination Control Module Connector P3 Pin Configuration................................................................ 1-46  
Table 8.6: LYNX Combination Control Module Configuration Switches ............................................................................... 1-46  
Table 8.7: LYNX Combination Control Module Group 20 I/O Pull-up Switches .................................................................... 1-46  
Table 9.1: Isolated Digital I/O Module P1 Connector Pin Configuration ............................................................................... 1-48  
Table 9.2: Isolated I/O Module Group 40 I/O Pull-up Switches ............................................................................................... 1-49  
Table 9.3: Isolated I/O Module Group 50 I/O Pull-up Switches ............................................................................................... 1-49  
Table 9.4: Isolated I/O Module Input Specifications ............................................................................................................... 1-49  
Table 9.5: Digital Filter Settings for the Isolated I/O .............................................................................................................. 1-50  
Table 9.6: Digital Filter Settings for the Isolated I/O .............................................................................................................. 1-50  
Table 10.1: High Speed Differential I/O Module Power Requirements...................................................................................... 1-52  
Table 10.2: High Speed Differential I/O Module Pin Configuration ......................................................................................... 1-53  
Table 10.3: High Speed Differential I/O Module Input Specifications ...................................................................................... 1-53  
Table 10.4: Digital Filter Settings for the Differential I/O ........................................................................................................ 1-54  
Table 10.5: LYNX Differential I/O Output Specifications ........................................................................................................ 1-55  
List of Figures  
Figure 1.1: Basic Setup Configuration, RS-232 Interface ............................................................................................................1-5  
Figure 2.1: Removing the End Plates ..........................................................................................................................................1-9  
Figure 3.1: Installing the DIN Rail Bracket .............................................................................................................................. 1-10  
Figure 3.2: Installing the LYNX System on a DIN Rail............................................................................................................ 1-11  
Figure 3.3: Removing the LYNX System from the DIN Rail ................................................................................................... 1-11  
Figure 4.1: Power Configuration. LYNX Control Module and external IMS Driver................................................................ 1-13  
Figure 4.2: Stand-alone Power Configuration: 12-75VDC Supply ........................................................................................... 1-14  
Figure 4.3: Stand-alone Power Configuration: 5VDC ............................................................................................................... 1-14  
Figure 5.1: Connecting the RS-232 Interface, Single Control Module System ........................................................................ 1-17  
Figure 5.2: RS-232 Interface, Multiple Control Module System .............................................................................................. 1-19  
Figure 5.3: RS-485 Interface, Single Controller System ........................................................................................................... 1-20  
Figure 5.4: RS-485 Interface, Multiple Control Module System .............................................................................................. 1-22  
Figure 6.1: Isolated I/O Applications ........................................................................................................................................ 1-26  
Figure 6.2: Isolated I/O Input .................................................................................................................................................... 1-28  
Figure 6.3: Isolated I/O Output ................................................................................................................................................. 1-29  
Figure 6.4: Clock Functions ...................................................................................................................................................... 1-31  
Figure 6.5: IOS Variable Settings for the High Speed Differential I/O ...................................................................................... 1-32  
Figure 6.6: Differential I/O Input Equivalent Circuit ............................................................................................................... 1-32  
Figure 6.7: Differential I/O Output Equivalent Circuit ............................................................................................................. 1-33  
Figure 6.8: Connecting and Using an Encoder .......................................................................................................................... 1-35  
Figure 6.9: Half Axis Mode (Following) ................................................................................................................................... 1-37  
Figure 6.10: One and a Half Axis Operation .............................................................................................................................. 1-38  
Figure 7.1: LYNX Control Module Dimensions ....................................................................................................................... 1-39  
Figure 7.2: LYNX Control Module, Switches and Connections ................................................................................................ 1-40  
Figure 8.1: LYNX Control Module (Combination) Dimensions ............................................................................................... 1-43  
Figure 8.2: LYNX Control Module (Combination) Connections and Switches ........................................................................ 1-44  
Figure 9.1: LYNX Isolated I/O Module Dimensions ................................................................................................................. 1-47  
Figure 9.2: Isolated Digital I/O Module Connection Overview ................................................................................................ 1-48  
Figure 9.3: LYNX Isolated I/O Input Equivalent Circuit .......................................................................................................... 1-49  
Figure 9.4: LYNX Isolated I/O Output Equivalent Circuit ........................................................................................................ 1-50  
Figure 10.1: LYNX Differential I/O Module Dimensions ........................................................................................................... 1-51  
Figure 10.2: High Speed Differential I/O Module Connection Overview ................................................................................... 1-52  
Figure 10.3: LYNX Differential I/O Input Equivalent Circuit .................................................................................................... 1-54  
Figure 10.4: LYNX Differential I/O Output Equivalent Circuit ................................................................................................. 1-55  
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S e c t i o n 1  
YNXSystem  
G e t t in g S t a r t e d  
S e c t io n O v e r v ie w  
The purpose of this section is to get you up and running quickly.  
This section will help you do the following:  
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Connect power to the LYNX Control Module.  
Connect and establish communications in single mode.  
Write a simple test program.  
G e t t in g S t a r t e d  
*See Driver Documentation  
for Current Adjust Resistor Value  
INTELLIGENT MOTION SYSTEMS, INC.  
FAULT  
21  
Current Adjust  
Resistor*  
22  
23  
24  
25  
GND  
V+  
26  
Stepping  
Motor  
POWER  
Black/Orange-White  
Opto Supply  
Direction  
DIR-  
DIR+  
SCK-  
SCK+  
GND  
+5V  
Orange/Black-White  
21  
22  
23  
24  
25  
26  
31  
32  
33  
34  
35  
36  
IG  
Red/Yellow-White  
Yellow/Red-White  
Step Clock  
ON  
1
ON  
P1  
P2  
2
3
4
1
2
3
4
RX-  
IM483 Step Motor Driver  
RX+  
TX-  
Resolution Select Programmed  
for )256 Resolution  
TX+  
RS-232 Communications Wiring  
Ground (DB-9 = Pin 5)  
CGND  
RX  
I S P 2 0 0 - 4  
TX (Transmit) (DB-9 = Pin 3)  
RX (Receive) (DB-9 = Pin 2)  
TX  
31  
32  
33  
V+  
PGND  
V+  
GND  
34  
35  
36  
AC Ground (Green)  
TM  
AC Neutral (White)  
AC Line (Black)  
AC Line Cord  
LYNX Control Module  
Host PC  
ISP200 - 4  
120VAC IN  
Figure 1.1: Basic Setup Configuration, RS-232 Interface  
In c lu d e d in t h e P a c k a g e  
(1) LYNX Control Module ........................................................ (IMS P/N LX-CM100 or 200-000)  
(2) End Mounting Brackets ...................................................... (IMS P/N LX-EB100-000)  
(1) IMS CD ............................................................................... (IMS P/N IMS-CD100-000)  
(1) Screw Driver ...................................................................... (IMS P/N SD1)  
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U s e r P r o v id e d To o ls a n d E q u ip m e n t N e e d e d  
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Serial Cable  
IM483 or equivalent step motor driver  
ISP200-4 or equivalent power supply  
M-22XX or equivalent stepping motor  
Wire Cutters/Strippers  
22 gauge wire for logic level signals  
18 gauge wire for power supply and motor wiring  
PC with a free serial port (COM 1 or 2)  
C o n n e c t in g t h e P o w e r S u p p ly  
1.  
Using the 18 gauge wire, connect the DC output of your power supply to V+ on your LYNX  
Control Module, and to P2, pin 4 on the IM483 Step Motor Driver. (Or V+ pin on equivalent  
driver.) Figure 1.1.  
2.  
3.  
Connect the Power Supply Return (GND) to PGND on the LYNX Control Module, and to  
P2, pin 3 on the IM483 Step Motor Driver. (Or GND on equivalent driver.) Figure 1.1.  
Connect the AC Line cord to your power supply in accordance with any user documentation  
accompanying the supply. DO NOT PLUG IN AT THIS TIME!  
C o n n e c t in g t h e S t e p M o t o r D r iv e r  
1.  
2.  
3.  
4.  
Using 22 gauge wire, connect direction DIR+ on the LYNX Control Module to P1, pin 3 on the  
IM483 Driver. (Or direction pin of equivalent drive used.) Figure 1.1.  
Connect Step Clock SCK+ of the LYNX Control Module to P1, pin 2 of the IM483 Driver. (Or  
Step Clock input of equivalent drive used.) Figure 1.1.  
Connect the +5V output off the LYNX Control Module to the Opto Supply P1, pin 4 of the  
IM483 Driver. (Or Opto Supply of drive used if required.) Figure 1.1.  
Set the Resolution Select DIP switch on the IM483 Driver to ÷256 resolution. Figure 1.1.  
M o t o r C o n n e c t io n s  
Connect the motor to the IM483 Step Motor Driver in accordance with Figure 1.1.  
C o m m u n ic a t io n s W ir in g  
Connect the Host PC to the LYNX Control Module (RS-232 Communications) in accordance with Figure 1.1.  
This is needed to program the LYNX Control Module.  
E s t a b lis h in g C o m m u n ic a t io n s u s in g t h e IM S Te r m in a l  
Included in the LYNX shipping package is a CD with the IMS Terminal software. This is a programming/  
communications interface created by IMS to simplify the use of the LYNX. There is a 32 bit version for  
Windows 9x/NT4/2000 located on the CD. The IMS Terminal is also necessary to upgrade the software in  
as they are made available.  
To install the IMS Terminal to your hard drive, insert the CD into your CD-ROM Drive. The CD should  
autostart to the IMS Main Index Page. If the CD does not autostart, click “Start > Run” and type  
“x:\IMS.exe” in the “Open” box and then click OK. NOTE: “x” is your CD ROM drive letter.  
1)  
2)  
3)  
4)  
The IMS Main Index Page will be displayed.  
Click the MicroLYNX icon in the upper right corner. This opens the LYNX Family Index Page.  
Select IMS Terminal (Win9x) or IMS Terminal (WinNT).  
Click SETUP in the Setup dialog box and follow the on-screen instructions.  
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Once the IMS Terminal is installed you may run the Setup.  
1)  
2)  
Open the IMS Term by clicking Start>Programs>IMS Terminal>IMS Term.  
Select or verify the Communications Port that you will be using with your LYNX.  
YNXSystem  
a)  
b)  
c)  
d)  
e)  
Click in the Terminal Window to activate it.  
Right click in the Terminal Window.  
Click “Preferences” in the dialog box.  
Click the “Comm Settings” tab at the top of the dialog box.  
Under “Device” near the bottom of the box verify “LYNX” is selected. The BAUD  
rate is already set to the LYNX default. Do not change this setting until you  
have established communications with the LYNX Controller.  
f)  
The “Window Size” settings are strictly optional. You may set these to whatever size  
is comfortable to you.  
g)  
Click “OK”. The setting will be saved automatically.  
3)  
Apply power to the LYNX Controller. The following sign-on message should appear in the  
Terminal window:  
Program Copyright © 1996-2002 by:  
Intelligent Motion Systems, Inc.  
Marlborough, CT 06447  
VER = xxxxx SER = Axxxxx  
NOTE: If the sign-on message does not appear, check the “Connected/Disconnected” tab at the  
bottom of the Terminal Window. If “Disconnected” is displayed, double click it to “Connect”.  
Detailed instructions for the IMS Terminal software can be located in Part III Software Reference of this  
manual.  
Te s t in g t h e LYN X S e t u p  
Two basic instructions for communicating with a control module are SET and PRINT. The SET instruc-  
tion is assumed and can be left off when communicating in ASCII mode. (You are in ASCII mode whenever  
you are using a text based terminal.) It is used to set variables and flags that define control module opera-  
tion. The LYNX Software automatically recognizes the SET instruction whenever the name of the variable or  
flag is typed into the terminal. Here we will set the motor units variable (MUNIT) to 51200 by typing the  
following at the prompt (>):  
MUNIT = 51200  
The PRINT instruction is used to report the values of variables and flags. Now, double-check the value of  
MUNIT by typing the following at the prompt (>):  
PRINT MUNIT  
The return from your terminal should be 51200. Note that the case is not important for instructions,  
variables, and flags. They may be typed in upper or lower case.  
Use the SLEW instruction to move the motor at a constant velocity. Be sure that the velocity provided is a  
reasonable value for your motor and drive and try to move the motor. For instance, at the prompt type:  
SLEW 10  
This will move the motor at a speed of 10 munits per second. If the motor does not move, verify that the  
wiring is in accordance with Figure 1.1. If a non IMS driver is being used, you may need to consult the user  
manual for that device.  
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Once you have been able to move the motor, the next step is to write a simple program to illustrate one of the  
dynamic features of the LYNX: the ability to convert motor steps to a dimension of linear or rotary distance.  
Let’s begin by discussing the relationship between the MUNIT variable and user units. Typically when we  
perform a move we want to know the distance of that move in a familiar unit of measurement. That means  
translating motor steps to the desired unit of measurement. The LYNX Control Module has the capability of  
doing this for you. You have already set the motor units variable (MUNIT) to a value 51,200. With the  
driver set to a resolution of 256 micro-steps per step and a 1.8° step motor that will be equal to 1 revolution  
of the motor, or one USER UNIT. A user unit can be any unit of measure. At this point, by entering the  
instruction MOVR 1, the motor will turn one complete revolution relative to its current position. Therefore,  
1 User Unit = 1 Motor Revolution. For the exercise below we will use degrees for our user unit. As the LYNX  
Product Manual indicates, the calculation required to select degrees as our user unit in this case is:  
51200 Micro-steps per rev ÷ 360 degrees = 142.222 Micro-steps per degree  
By setting the MUNIT variable to 51200/360 the LYNX Control Module will perform the calculation to  
convert the user unit to degrees. Now, when issued, a relative motion instruction “MOVR 90” the motor will  
turn 90 degrees.  
Now, enter a sample program that will convert motor steps to degrees, execute a 90° move, and report that  
move every 100 milliseconds while the motor is moving. Type the following bold commands:  
‘Enter Program Mode, start program at Location 2000.  
PGM 2000  
‘Label the program TSTPGM.  
LBL TSTPGM  
‘ Set the user units to degrees.  
MUNIT = 51200/360  
‘ Set the max. velocity to 25 degrees per second.  
VM = 25  
‘ Execute a relative move of 90 degrees.  
MOVR 90  
‘ Report the position every 100 ms while moving.  
LBL PRINTPOS  
DELAY 100  
PRINT “Axis position is”, POS, “Degrees.”  
BR PRINTPOS, MVG  
‘End the program.  
END  
PGM  
Now Type TSTPGM to run program.  
This sample program will be stored starting at location 2000. It sets the conversion factor for the user units,  
sets the maximum velocity and then starts a motion. While the motion is occurring, the position is reported  
every 100 milliseconds.  
At this point you may desire to restore the settings to their factory default as you may not wish to use  
degrees as your user unit. To do this, you will use the CP, DVF, and IP instructions.  
CP - Clear Program.  
To clear the program, type CP 1, 1. This will completely clear program memory space. Should  
you desire to only remove one program, the instruction “CP [Program Label]” i.e., “CP  
TSTPGM” would clear only that program. In this exercise only one program was entered, “CP  
TSTPGM” will clear it.  
DVF - Delete User Defined Variables and Flags.  
By entering DVF, all of the user defined variables will be removed. Although no Flags were set  
in this exercise, this command would clear them were they used.  
IP - Initialize Parameters  
This instruction will restore all of the parameters to their factory default state.  
After entering these instructions a SAVE instruction should be entered.  
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S e c t i o n 2  
YNXSystem  
C o n n e c t in g t h e LYN X S y s t e m  
S e c t io n O v e r v ie w  
Each module of the LYNX System is a closed unit with a header of pins and locking tabs to connect it to  
another module in the system. Optional I/O modules are connected on the RIGHT side of the Control  
Module. This section covers:  
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Removing the End Plates.  
Connecting/Disconnecting System Modules.  
C o n n e c t in g t h e S y s t e m  
1.  
Remove the end plate(s) [A] from the Control Module. Depressing the locking clips [C] with a  
small screwdriver through the slot [B] on the top and bottom of the module and pulling them  
apart does this. See figure 2.1  
2.  
3.  
Align the locking clips of the module being connected with the slots on the module being  
connected to.  
Press modules firmly together, there will be an audible “snap” when the locking clips are fully  
engaged.  
4.  
5.  
Reinstall the end plates at the ends of the LYNX System. They are designed to fit either end.  
You are now ready to mount your LYNX System to a panel or DIN Rail using the optional  
hardware kit.  
C
A
B
STEP 1  
STEP 2  
STEP 3  
Figure 2.1: Removing the End Plates  
WARNING! Exercise caution when removing end plates  
or separating LYNX System modules! Internal  
component damage may occur if the screwdriver is  
inserted too far into the slots!  
!
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S e c t i o n 3  
M o u n t in g t h e LYN X S y s t e m  
S e c t io n O v e r v ie w  
This section covers the two basic methods of mounting the LYNX System.  
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Panel Mount.  
DIN Rail Mounting Option.  
P a n e l M o u n t  
Using the panel mount option, the LYNX is designed to use #10 hardware (not included). Details such as  
screw length and threads are dependent on your overall system design.  
D in R a il M o u n t in g O p t io n  
A DIN Rail mounting kit (IMS P/N LX-DB100-000) may be purchased as an option to your LYNX System. It  
includes all the hardware necessary to mount the system to either of the following recommended DIN rails:  
TS35 X 7.5 or TS35 X 15  
In c lu d e d in t h e D IN R a il M o u n t in g K it  
Included in the DIN Rail Mounting Kit is the following hardware:  
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2 - IMS0065 DIN Rail Brackets  
4 - #6 Split Lock Washer  
4 - #6-32X7/16 L Pan Hd Machine Screws  
4 - #6 Flat Washer .040 Thick  
2 - #6 X .250 L Set Screw  
1 - Instruction Sheet  
C
B
M o u n t in g t h e LYN X S y s t e m  
t o a D IN R a il  
A
D
In order to install your LYNX System on a  
DIN rail complete the following:  
1.  
Insert the two DIN rail brackets  
into the slots located in the  
back of the system between the  
end plates and LYNX modules.  
The pull-tab on the DIN rail  
bracket must be on the bottom.  
2.  
Using the #6 hardware pro-  
vided, secure the bracket to the  
end plates. Figure 3.1.  
DIN Rail Bracket  
#6 Flat Washer  
#6 Split Lock Washer  
A
B
C
D
B
C
D
# 6-32 X 7/16 Machine  
Screw (5 - 7 lb/in torque)  
Tighten to 5 - 7 lb/in.  
Figure 3.1: Installing the DIN Rail Bracket  
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3.  
4.  
Holding the LYNX System at an angle  
away from you, lower the upper slot of  
the DIN rail attachment onto the top  
edge of the DIN rail. Snap LYNX system  
into place. Figure 3.2.  
DIN Rail Bracket  
DIN Rail  
A
B
C
LYNX System  
YNXSystem  
Insert #6 X .250 L set screw (provided)  
into the TOP threaded insert located  
between the #6 screws on each end  
plate. Figure 3.3. Tighten until 12-14 in/  
oz. This will keep the system from sliding  
on the DIN rail.  
A
B
C
Figure 3.2: Installing the LYNX System on a DIN Rail  
To Remove the LYNX System from the DIN Rail:  
1.  
Loosen the set  
screws located in  
the TOP threaded  
insert between the  
#6 screws on each  
end plate.  
D
A
2.  
Grasp the pull-tabs  
located on the  
bottom of the DIN  
Rail brackets to  
release the LYNX  
system from the  
DIN Rail  
B
(Figure 3.3 - C&D)  
while gently lifting  
the front of the  
LYNX system.  
Lift the LYNX  
System Away from  
the DIN Rail.  
E
C
DIN Rail Bracket  
DIN Rail  
A
B
C
D
3.  
Pull Tab  
# 6 X .250 Set Screw (Top Location Only)  
12-14 in/oz torque.  
E
Removal from DIN Rail  
Figure 3.3: Removing the LYNX System from the DIN Rail  
NOTE: The DIN Rail Mounting option should only be used on  
STATIONARY Systems. It is not designed for transport!  
N
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S e c t i o n 4  
P o w e r in g t h e LYN X S y s t e m  
S e c t io n O v e r v ie w  
This section covers the two basic power configurations for your LYNX System.  
!
!
!
Basic rules of wiring and shielding.  
LYNX Control Module with IMS Drivers.  
LYNX Control Module as Stand-alone or with Optional I/O Module.  
W ir in g a n d S h ie ld in g  
Noise is always present in a system that involves high power and small signal circuitry. Regardless of the  
power configuration that you use in your system, there are some wiring and shielding rules that you should  
follow to keep your noise-to-signal ratio as small as possible.  
R u le s o f W ir in g  
!
Power Supply and Motor wiring should be shielded twisted pairs run separately from signal  
carrying wires.  
!
!
A minimum of 1 twist per inch is recommended.  
Motors wiring should be shielded twisted pairs using 20-gauge wire, or 18 gauge or better for  
distance greater than 5 feet.  
!
!
Power ground return should be as short as possible to established ground.  
Power Supply wiring should be shielded twisted pairs. Use 18 Gauge wire if load is less than 4  
amps, or 16 gauge for more than 4 amps.  
!
Do not “Daisy-Chain” power wiring to system components.  
R u le s o f S h ie ld in g  
!
!
The shield must be tied to zero-signal reference potential. In order for shielding to be effective  
it is necessary for the signal to be earthed or grounded.  
Do not assume that earth ground is true earth ground. Depending on the distance to the main  
power cabinet it may be necessary to sink a ground rod at a critical location.  
!
!
The shield must be connected so that shield currents drain to signal-earth connections.  
The number of separate shields required in a system is equal to the number of independent  
signals being processed plus one for each power entrance.  
!
!
The shield should be tied to a single point to prevent ground loops.  
A second shield can be used over the primary shield, however the second shield is tied to  
ground at both ends.  
WARNING! When using an unregulated supply, ensure that the  
output voltage does not exceed the maximum driver input voltage  
due to variations in line voltage! It is recommended that an input line  
!
filter be used on power supply to limit voltage spikes to the system!  
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LYN X C o n t r o l M o d u le w it h IM S D r iv e r  
In this example, power is connected to the LYNX Control Module via connector P1. All optional plug-on  
modules are then powered from the LYNX Control Module. In this configuration, pins 5 and 6 on connector  
P2 of the Control Module become +5VDC (150mA, internally limited) regulated outputs. If an encoder is to  
be used in the system, it may be powered via these pins. Below is a table of recommended power supply  
specifications for each IMS drive.  
YNXSystem  
Ensure that the DC Output of  
the Supply Does Not Exceed  
the Maximum Driver Input Voltage!  
21  
22  
23  
24  
25  
26  
A0  
A1  
A2  
PT  
HI  
!
!
All Power Supply Wiring Should Be  
Shielded Twisted Pair to Reduce  
Electrical Noise!  
UG  
DIR-  
DIR+  
SCK-  
SCK+  
GND  
+5V  
21  
22  
23  
24  
25  
26  
31  
32  
33  
34  
35  
36  
IG  
SCLK+  
DIR+  
+5VDC  
OUTPUT  
AC Line  
RX-  
Power Supply  
RX+  
TX-  
TX+  
CGND  
RX  
TX  
31  
32  
33  
34  
35  
36  
GND  
V+  
TM  
ISP200-4  
+5VDC Opto Supply  
Step Clock Input  
Direction Input  
+V  
Stepping Motor  
GND  
Motor Driver  
Figure 4.1: Power Configuration. LYNX Control Module and external IMS Driver  
Power Supply Recommendations  
Recomended Type  
Ripple Voltage  
Unregulated DC  
±10%  
When Used With IM483/IM483H  
+12 to +45VDC  
Output Voltage  
*Output Current  
2A (Typ.) 4A (Peak)  
When Used With IM805/IM805H  
+24 to +75VDC  
Output Voltage  
*Output Current  
4A (Typ.) 6A (Peak)  
*The output current needed is dependant on the supply voltage, motor selection and load.  
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S t a n d -a lo n e o r w it h O p t io n a l I/ O M o d u le s  
+ 1 2  
t o + 7 5 VD C S u p p ly  
A +12 to +75VDC unregulated supply connected to P1 provides power to the LYNX Control Module and  
any optional I/O modules. As in the LYNX Controller with Driver (s) Configuration, pins 5 (Ground) and 6  
(+5VDC) on connector P2 of the Control Module becomes a +5VDC (150mA, internally limited) regulated  
output.  
Ensure that the DC Output of  
the Supply Does Not Exceed  
the Maximum Driver Input Voltage!  
21  
22  
23  
24  
25  
26  
A0  
A1  
A2  
PT  
HI  
!
!
All Power Supply Wiring Should Be  
Shielded Twisted Pair to Reduce  
Electrical Noise!  
UG  
DIR-  
DIR+  
SCK-  
SCK+  
GND  
+5V  
21  
22  
23  
24  
25  
26  
31  
32  
33  
34  
35  
36  
IG  
+5VDC, 150mA  
Internally Limited  
Output  
AC Line  
RX-  
RX+  
TX-  
TX+  
CGND  
RX  
TX  
31  
32  
33  
34  
35  
36  
GND  
V+  
TM  
ISP200-4  
+12 to +75VDC  
Power Supply  
(IMS ISP 200-4 Shown)  
Figure 4.2: Stand-alone Power Configuration: 12 - 75 VDC Supply  
+ 5 VD C S u p p ly  
A +5VDC ±5% regulated supply connected to  
pins 5 (Ground) and 6 (+5VDC) on connector P2  
provides power to the LYNX Control Module  
and any optional I/O modules. Figure 4.3. It is  
assumed that external drives are being used and  
power is supplied to these drives separately.  
The LYNX Controller internally limits the current  
to 800mA. While the LYNX Controller and I/O  
Modules will only require 368mA, a fully  
configured LYNX System utilizing the outputs  
may require up to 800mA.  
21  
22  
23  
24  
25  
26  
A0  
A1  
A2  
PT  
HI  
UG  
DIR-  
DIR+  
SCK-  
SCK+  
GND  
+5V  
21  
22  
23  
24  
25  
26  
31  
32  
33  
34  
35  
36  
IG  
+5VDC ±5%  
Regulated Supply  
(Up to 800mA)  
RX-  
RX+  
TX-  
TX+  
CGND  
RX  
TX  
31  
32  
33  
34  
35  
36  
GND  
V+  
TM  
Figure 4.3: Stand-alone Power Configuration: 5 VDC  
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ModularL  
P o w e r R e q u ir e m e n t s  
YNXSystem  
Power Requirements and Specifications  
Input Voltage  
Input Current  
+12 to +75 VDC Unregulated or +5VDC ±5%  
250mA (5VDC input)  
165mA (+12VDC Input)*  
95.0mA (+48 VDC Input)*  
84.5mA (+75VDC Input)*  
*I/O and +5VDC output unloaded (Control Module Only)  
+5VDC ±5%  
Output Voltage  
Output Current  
150mA (Internally Limited  
Input Current Requirements per Module  
LYNX Control Module  
Isolated Digital I/O Module  
Differential I/O Module  
Output Current  
250 mA (+5VDC Input)  
68mA (5VDC Input)  
50mA (+5VDC Input)  
150mA (Internally Limited  
Table 4.1: Power Requirements  
WARNING! When using an unregulated supply, ensure that the  
output voltage does not exceed the maximum driver input voltage  
due to variations in line voltage! It is recommended that an input line  
filter be used on power supply to limit voltage spikes to the system!  
!
!
!
!
WARNING! When specifying the input voltage of the LYNX System  
ensure that the power supply output voltage corresponds with the  
input voltage of the driver used!  
WARNING! When specifying an external power supply ensure that  
all modules are included in the power calculation!  
WARNING! Only one of these methods of Powering the LYNX  
System can be used!  
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S e c t i o n 5  
Th e C o m m u n ic a t io n s In t e r f a c e  
S e c t io n O v e r v ie w  
The LYNX Control Module features two communication interfaces: RS-232 and RS-485. For both channels,  
the BAUD rate is software configurated, using the BAUD variable, to 4800, 9600, 19200 or 38400 bits/sec.  
The factory default is set to 19200 bits/sec. Default data settings are 8 data bits, 1 stop bit and no parity.  
A host computer can be connected to either interface to provide commands to the control module or to  
multiple control modules in a system. Since most personal computers are equipped with an RS-232 serial  
port, it is most common to use the RS-232 interface for communications from the host computer to the  
control module. You will typically want to use this interface option if your Host PC will be within 50 feet of  
your system. Should your system design place the LYNX Control Module at a distance greater than 50 feet,  
it will be necessary for you to use the RS-485 interface option. You can accomplish this by using either an  
RS-232 to RS-485 converter, such as the converter sold by IMS (Part # CV-3222), or installing an RS-485  
board in an open slot in your host PC.  
Covered in detail in this section are:  
!
!
!
!
!
!
!
!
RS-232 Interface, Single Control Module System.  
RS-232 Interface, Multiple Controller System.  
RS-485 Interface, Single Control Module Interface.  
RS-485 interface, Multiple Controller System.  
Communicating with the LYNX System using Windows95/98 HyperTerminal.  
Communicating with the LYNX System using the IMS Terminal software.  
LYNX Control Module Modes of Operation.  
LYNX Control Module Communication Modes.  
C o n n e c t in g t h e R S -2 3 2 In t e r f a c e  
S in g le C o n t r o l M o d u le S ys t e m  
In systems with a single control module, also referred to as Single Mode, the LYNX Control Module is  
connected directly to a free serial port of the Host PC. Wiring and connection should be performed in accor-  
dance with the following table and diagram. In this mode the PARTY switch will be in the OFF position, and  
the PARTY Flag will be set to 0 in software. This is the factory default setting. Please be aware that you  
cannot communicate with the LYNX Control Module in single mode unless those conditions exist.  
WARNING! Failure to connect communications ground as  
shown may result in damage to the Control Module and/or  
Host!  
!
NOTE: If using the RS-232 Interface Option, the Host PC MUST  
be less than 50 feet from the Control Module. If your system  
will be greater than 50 feet from the Host PC you must use the  
RS-485/RS485 Interface.  
N
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ModularL  
RS-232 Interface: Wiring And Connections  
25 Pin Serial Port on PC  
LYNX Control Module  
Receive Data (RX)  
9 Pin Serial Port on PC  
Transmit Data (TX)  
YNXSystem  
Pin 12  
Pin 13  
Pin 11  
Transmit Data (TX)  
Receive Data (RX)  
Communications Ground  
Pin 2  
Pin 3  
Pin 7  
Pin 3  
Pin 2  
Pin 5  
Transmit Data (TX)  
Receive Data (RX)  
Communications Ground  
Communications Ground  
Table 5.1: Wiring Connections: RS-232 Interface Single Control Module System  
25 PIN Serial Port  
on Host PC  
10 11 12 13  
1
2
3
4
5
6
7
8
9
21  
22  
23  
24  
25  
26  
A0  
A1  
A2  
PT  
HI  
14 15 16 17 18 19 20 21 22 23 24 25  
9 PIN Serial Port  
on Host PC  
UG  
DIR-  
DIR+  
SCK-  
SCK+  
GND  
+5V  
21  
22  
23  
24  
25  
26  
31  
32  
33  
34  
35  
36  
IG  
1
2
3
4
5
6
7
8
9
Host PC  
RX-  
RX+  
TX-  
TX+  
CGND  
TX  
CGND  
RX  
RX  
TX  
31  
32  
33  
GND  
V+  
34  
35  
36  
TM  
Figure 5.1: Connecting the RS-232 Interface, Single Control Module System  
M u lt ip le C o n t r o l M o d u le S y s t e m  
When connecting multiple control modules in a system using the RS-232 interface, it is necessary to  
establish one control module as the HOST. This control module will be connected to the Host PC exactly as  
the system using a single control module. The system HOST is established by one of two methods, by  
manually selecting the Host switch (configuration switch #2, labeled HI) to the ON position, or by setting  
the HOST Flag to True (1) in software. The remaining control modules in the system must then be connected  
to the HOST control module using the RS-485 interface and will have their Host switch set to OFF (HOST  
Flag = 0).  
In this interface configuration, Host PC communications will be received by the Host Control Module via  
RS-232 and forwarded to all of the other control modules in the system via the RS-485 channel. Responses  
from the individual control modules in the system will be routed back to the Host Control Module via the  
RS-485 channel, then internally converted to RS-232 before being forwarded back to the Host PC.  
In systems with multiple controllers it is necessary to communicate with the control modules using PARTY  
Mode of operation. The LYNX Control Modules in the system are configured for this mode of operation by  
setting the Party Switch (configuration switch #3, labeled PT) to the ON position, or setting the PARTY Flag  
to True (1), in software. It is necessary for all of the controllers in a system to have this configuration  
selected. When operating in PARTY Mode each control module in the system will need a unique address, or  
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name, to identify it in the system. This can be done using configuration switches A0-A2, or by using the  
software command SET DN. For example, to set the name of a controller to "A" you would use the following  
command: SET DN = "A". The factory default name is "!". To set the address of the controller using the  
configuration switches use the following table:  
Party Mode Address Configuration Switches  
Address  
A2  
OFF  
OFF  
OFF  
OFF  
ON  
A1  
OFF  
OFF  
ON  
A0  
OFF  
ON  
None  
A
B
C
D
E
F
OFF  
ON  
ON  
OFF  
OFF  
ON  
OFF  
ON  
ON  
ON  
OFF  
ON  
G
ON  
ON  
Table 5.2: Party Mode Address Configuration Switch Settings  
In setting up your system for PARTY operation the most practical approach would be to observe the  
following steps:  
1.  
2.  
Connect the Host Control Module to the Host PC configured for single mode operation.  
Establish communications with the HOST Control Module. (For help in doing this see Software  
Reference: Using the LYNX Terminal.) Using the Command: SET DN or the configuration  
switches, give the controller a unique name. If using the software command this can be any  
upper or lower case ASCII character or number 0-9. Save the name using the command SAVE.  
3.  
4.  
Set the appropriate HOST and PARTY configuration in accordance with the table and diagram  
below. Remove power.  
Connect the next control module in the system in accordance with the following table and  
diagram, setting the PARTY switch in the ON position. If you desire you can set the PARTY  
Flag to “1” in software later and turn the switch off.  
5.  
6.  
Establish communications with this module using the factory default name “!”. This name  
cannot be reused. Rename and save the new name. Remove power.  
Repeat the last two steps for each additional control module in the system.  
WARNING! Failure to connect communications ground as  
shown may result in damage to the Control Module and/or Host!  
!
NOTE: If using the RS-232 Interface Option, the Host PC MUST  
be less than 50 feet from the Control Module. If your system  
will be greater than 50 feet from the Host PC you must use the  
RS-485/RS485 Interface.  
N
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RS-232 Interface: Wiring And Connectionsfor Multiple LYNX Nodes  
Host Control Module Control Module #1 Control Module #n  
Transmit Data (TX-) Transmit Data (TX-)  
Pin 10 Transmit Data (TX+)  
YNXSystem  
Receive Data (RX-)  
Receive Data (RX+)  
Transmit Data (TX-)  
Transmit Data (TX+)  
Communications Ground  
Pin 7  
Pin 8  
Pin 9  
Pin 9  
Pin 10  
Pin 7  
Transmit Data (TX+)  
Receive Data (RX-)  
Receive Data (RX+)  
Communications Ground  
Pin 9  
Pin 7  
Pin 8  
Receive Data (RX-)  
Receive Data (RX+)  
Communications Ground  
Pin 10  
Pin 11  
Pin 8  
Pin 11  
Pin 11  
HOST Switch = ON  
or  
HOST Switch = OFF  
or  
HOST Switch = OFF  
or  
HOST Flag = TRUE (1)  
HOST Flag = FALSE (0)  
HOST Flag = FALSE (0)  
PARTY Switch = ON  
or  
PARTY Switch = ON  
or  
PARTY Switch = ON  
or  
PARTY Flag = TRUE (1)  
PARTY Flag = TRUE (1)  
PARTY Flag = TRUE (1)  
Table 5.3: Connections and Settings Multiple Control Module System, RS-232 Interface  
Control Module #1  
HOST Switch = OFF  
PARTY Switch = ON  
Host Control Module  
PT  
HI  
TX-  
INTELLIGENT MOTION SYSTEMS, INC.  
FAULT  
21  
22  
23  
24  
25  
26  
A0  
A1  
A2  
PT  
HI  
TX+  
UG  
RX-  
UG  
HOST Switch ON  
PARTY Switch ON  
POWER  
RX+  
DIR-  
DIR+  
SCK-  
SCK+  
GND  
+5V  
21  
22  
23  
24  
25  
26  
31  
32  
33  
34  
35  
36  
IG  
CGND  
Host PC  
RX-  
RX+  
TX-  
Control Module #2  
HOST Switch = OFF  
PARTY Switch = ON  
TX+  
CGND  
RX  
CGND  
RX  
TX-  
TX+  
RX-  
TX  
TX  
31  
32  
33  
34  
35  
36  
GND  
V+  
RX+  
TM  
CGND  
120 WTermination Resistors  
are recommended at both  
ends of the Data Lines when  
cable length exceeds 15 feet.  
To Other LYNX Control  
Modules in the System.  
Always place resistors at last unit.  
Figure 5.2: RS-232 Interface, Multiple Control Module System  
D a t a C a b le Te r m in a t io n R e s is t o r s  
Data Cable lengths greater than 15 feet (4.5 meters) are susceptible to signal reflection and/or noise. IMS  
recommends 120termination resistors at both ends of the Data Cables. An example of resistor placement is  
shown in Figure 5.2. For systems with Data Cables 15 feet (4.5 meters) or less, the termination resistors are  
generally not required. For more information and other RS-232 termination techniques, search the Internet for  
"RS-232 Application Notes".  
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C o n n e c t in g t h e R S -4 8 5 In t e r f a c e  
S in g le C o n t r o lle r S y s t e m  
In a Single Controller System, the RS-485 interface option would be used if the Control Module is located at  
a distance greater than 50 feet from the Host PC. Since most PC’s do not come with an RS-485 board pre-  
installed, you will have to install an RS-485 board in an open slot in your PC, or purchase an RS-232 to RS-  
485 converter, such as the CV-3222 sold by IMS, to use this connection interface. For wiring and connection  
information please use the following table and diagram:  
RS-4 8 5 Boar d or  
LYNX Cont r oller Module  
RS2 3 2 t o RS-4 8 5 Conver t er  
Receive Data (RX-)  
Receive Data (RX+)  
Transmit Data (TX-)  
Transmit Data (TX+)  
Communications Ground  
Transmit Data (TX-)  
Transmit Data (TX+)  
Receive Data (RX-)  
Receive Data (RX+)  
Communications Ground  
Pin 9  
Pin 1 0  
Pin 7  
Pin 8  
Pin 1 1  
Table 5.4: RS-485 Interface Connections  
LYNX Control Module  
If your PC is equipped with an RS-485 Board  
no converter is necessary. Connect RS-485  
lines directly to Host PC as shown.  
N
N
21  
A0  
A1  
A2  
PT  
HI  
22  
23  
24  
25  
26  
RS-232 To RS-485 Converter  
Recommended IMS Part # CV-3222*  
UG  
DIR-  
DIR+  
SCK-  
SCK+  
GND  
+5V  
21  
22  
23  
24  
25  
26  
31  
32  
33  
34  
35  
36  
IG  
Host PC  
RX-  
TX-  
TX  
TX+  
RX+  
TX-  
RX  
RX-  
CGND  
RX+  
TX+  
CGND  
CGND  
RX  
TX  
31  
32  
33  
GND  
V+  
34  
35  
36  
TM  
Figure 5.3: RS-485 Interface, Single Controller System  
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NOTE: The HOST switch MUST be off to communicate with the  
Control Module in a Single Controller System using the RS-485  
Interface.  
YNXSystem  
N
M u lt ip le C o n t r o lle r S y s t e m  
When using the RS-485  
Party Mode Address Configuration Switches  
interface in a Multiple Control-  
ler System, the Host PC as well  
Address  
A2  
OFF  
OFF  
OFF  
OFF  
ON  
A1  
OFF  
OFF  
ON  
A0  
OFF  
ON  
as all of the control modules  
communicate on the RS-485  
interface. In this case, there is  
no Host Interface Control  
Module, so all control modules  
in the system should have  
their Host switch OFF or  
HOST flag set to False (0).  
The Host PC will be equipped  
with an RS-485 board or RS-  
232 to 485 converter.  
None  
A
B
C
D
E
F
OFF  
ON  
ON  
OFF  
OFF  
ON  
OFF  
ON  
ON  
ON  
OFF  
ON  
In systems with multiple  
G
ON  
ON  
controllers it is necessary to  
communicate with the control  
modules using PARTY Mode  
of operation. The LYNX  
Table 5.5: Party Mode Address Configuration Switch Settings  
Control modules in the system are configured for this mode of operation by setting the Party Switch  
(configuration switch #3, labeled PT) to the ON position or setting the PARTY Flag to True (1), in software.  
It is necessary for all of the controllers in a system to have this configuration selected. When operating in  
PARTY Mode each control module in the system will need a unique address, or name, to identify it in the  
system. This can be done using configuration switches A0-A2, or by using the software command SET DN.  
For example, to set the name of a controller to “A” you would use the following command: SET DN = “A”.  
The factory default name is “!”. To set the address of the controller using the configuration switches use  
the above table.  
In setting up your system for PARTY operation the most practical approach would be to observe the  
following steps:  
1.  
2.  
Connect the Host Control Module to the Host PC configured for Single Mode Operation.  
Establish communications with the HOST Control Module. Using the Command: SET DN or  
the configuration switches, give the controller a unique name. If using the software command  
this can be any upper or lower case ASCII character or number 0-9. Save the name using the  
command SAVE.  
3.  
4.  
Set the appropriate HOST and PARTY configuration in accordance with the following table  
and diagram. Remove power.  
Connect the next control module in the system in accordance with the following table and  
diagram, setting the PARTY switch in the ON position. If you desire you can set the PARTY  
Flag to “1” in software later and turn the switch off.  
5.  
6.  
Establish communications with this module using the factory default name “!”. This name  
cannot be reused. Rename and save the new name. Remove power.  
Repeat the last two steps for each additional control module in the system.  
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RS-485 Interface: Wiring And Connectionsfor Multiple LYNX Nodes  
RS-232 to RS-485 Converter Control Module #1 Control Module #n  
Transmit Data (TX-) Transmit Data (TX-)  
Pin 10 Transmit Data (TX+)  
Receive Data (RX-)  
Receive Data (RX+)  
Transmit Data (TX-)  
Transmit Data (TX+)  
Communications Ground  
Pin 9  
Pin 9  
Pin 10  
Pin 7  
Transmit Data (TX+)  
Receive Data (RX-)  
Receive Data (RX+)  
Communications Ground  
Pin 7  
Pin 8  
Receive Data (RX-)  
Receive Data (RX+)  
Communications Ground  
Pin 8  
Pin 11  
Pin 11  
HOST Switch = OFF  
or  
HOST Switch = OFF  
or  
HOST Flag = FALSE (0)  
HOST Flag = FALSE (0)  
PARTY Switch = ON  
or  
PARTY Switch = ON  
or  
PARTY Flag = TRUE (1)  
PARTY Flag = TRUE (1)  
Table 5.6: RS-485 Interface Connections and Settings, Multiple Control Module System  
Control Module #1  
HOST Switch = OFF  
PARTY Switch = ON  
RX-  
RX+  
TX-  
TX+  
CGND  
RS-232 - RS-485  
Converter  
Host PC  
Recommended IMS  
Part # CV-3222*  
TX-  
TX+  
TX  
RX  
RX-  
Control Module #2  
HOST Switch = OFF  
PARTY Switch = ON  
CGND  
RX+  
CGND  
RX-  
RX+  
TX-  
*If your PC is equipped  
with an RS-485 Board,  
no converter is necessary.  
Connect RS-485 lines  
directly to the Host PC.  
TX+  
120 Termination Resistors  
are recommended at both  
ends of the Data Lines when  
cable length exceeds 15 feet.  
CGND  
To Other LYNX  
Modules in System.  
Always place resistors at last unit.  
Figure 5.4: RS-485 Interface, Multiple Control Module System  
It is also possible to communicate with a controller in the system in single mode by sending it a command (with  
address) to clear the party flag and then communicate with it as in single mode (no line feed terminator) then reset the  
PARTY Flag when done.  
D a t a C a b le Te r m in a t io n R e s is t o r s  
Data Cable lengths greater than 15 feet (4.5 meters) are susceptible to signal reflection and/or noise. IMS recommends  
120termination resistors at both ends of the Data Cables. An example of resistor placement is shown in Figure 5.4.  
For systems with Data Cables 15 feet (4.5 meters) or less, the termination resistors are generally not required.  
For more information and other RS-485 termination techniques, search the Internet for "RS-485 Application Notes".  
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LYN X C o n t r o l M o d u le M o d e s o f O p e r a t io n  
YNXSystem  
There are three modes of operation for the LYNX control module. These are Immediate Mode, Program  
Mode, and EXEC Mode.  
Im m e d ia t e M o d e  
In this mode, the control module responds to instructions from the user that may be a result of the user  
typing instructions directly into a host terminal, or of a user program running on the host which commu-  
nicates with the control module.  
P r o g r a m M o d e  
The second mode of operation of the control module is Program Mode. All user programs are written in this  
mode. Unlike the other modes of operation, no commands or instructions can be issued to the control  
module in Immediate Mode. This mode is exclusively for writing programs for the controller. The  
command to enter Program Mode is PGM <address>. When starting Program Mode, you must specify at  
what address to enter the program instructions in the program space. Simply type PGM again when you  
have finished entering your program commands to go back to Immediate Mode.  
E XE C M o d e  
In EXEC Mode a program is executed either in response to the EXEC instruction from the user in Immediate  
Mode, or in response to a specified input. While the control module is running a program, the user may still  
communicate with it in Immediate Mode. As part of a user program, the control module may start a second  
task using the RUN instruction. Thus, there can be two tasks running on the control module at the same  
time, a foreground task (started by the EXEC instruction in Immediate Mode) and a background task (started  
by the RUN instruction in Program Mode).  
LYN X C o n t r o l M o d u le C o m m u n ic a t io n M o d e s  
When the control module is operating in Immediate Mode, there are two methods of communicating. The  
first is ASCII where the instructions are communicated to the control module in the form of ASCII mnemon-  
ics and data is also given in ASCII format. The second is binary where the instruction is in the form of an  
OpCode and numeric data is given in IEEE floating point hex format. In binary mode, there is also the option  
of including a checksum to ensure that information is received properly at the control module. The BIO flag  
controls the method of communication. When it is True (1) the binary method should be used, and when it is  
False (0) the ASCII method should be used.  
A S C II  
ASCII is the most common mode of communicating with the LYNX System. It allows the use of readily  
available terminal programs such as HyperTerminal, ProComm, and the new IMS Terminal.  
When using the ASCII method of communications, the control module tests for four special characters each  
time a character is received. These characters are given in the table below along with an explanation of what  
occurs when the character is received.  
The command format in ASCII mode when the control module is in Single Mode (PARTY = FALSE) is:  
<Mnemonic><white space><ASCII data for 1st parameter>, <ASCII data for 2nd parameter>, … , <ASCII data  
for nth parameter><CR/LF>  
The mnemonics for Control Module instructions, variables, flags and keywords are given in Part III  
Software Reference of this manual. White space is at least one space or tab character. CR/LF represent the  
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ASCII Mode Special Command Characters  
Action at MicroLYNX  
Character  
<esc>  
Escape Key  
Terminates all active operations and all running  
programs.  
<^C>  
Ctrl+C Keys  
Terminates all active operations and all running  
programs, forces a reset of the MicroLYNX.  
<BKSP>  
Moves the cursor back one in the buffer to correct a  
Backspace Key  
typing error.  
<CR> or <LF>  
Depending on the mode, either Single or Party. <LF> is  
Carriage Return or Line not necessary in Single Mode communications.  
Feed <CTRL+J> is the same as <LF> (0A Hex)  
Table 5.7: ASCII Mode Special Command Characters  
carriage return line feed characters that are transmitted in response to the Enter key on the keyboard  
provided the ASCII setup specifies “Send line feeds with line ends”. Note that there need not be a space  
between the data for the last parameter and the CR/LF. Also note that if there is only one parameter, the CR/  
LF would immediately follow the data for that parameter.  
The command format in ASCII mode when the control module is in Party Mode (PARTY = TRUE) would be  
identical to that in Single Mode with the exception that the entire command would be preceded by the  
control module’s address character (stored in DN) and terminated by a CTRL-J rather than ENTER:  
<Address character><Mnemonic><white space><ASCII data for 1st parameter>, <ASCII data for 2nd param-  
eter>, … , <ASCII data for nth parameter><CTRL-J>  
B i n a r y  
Binary mode communications is faster than ASCII and would most likely be used in a system design where  
the communication speed is critical to system operation. This mode cannot be used with standard terminal  
software.  
The command format in binary mode when the control module is in Single Mode (PARTY = FALSE) is:  
<20H><character count><opcode><Field type for 1st  
parameter><IEEE hex data for 1st parameter><0EH><Field type  
Binary Hex Codes  
for 2nd parameter><IEEE hex data for 2nd parameter><0EH> …  
<Field type for nth parameter><IEEE hex data for nth  
parameter><optional checksum>  
Hex Code  
Data Type  
Label Text  
01  
02  
03  
04  
05  
06  
07  
08  
ASCII Text  
Note that <20H> is 20 hex, the character count is the number  
of characters to follow the character count not including the  
checksum if one is being used. The OpCodes for control  
module instructions, variables, flags and keywords are given  
in Sections 15 and 16 of this document. The Field type byte  
will be one of the following based on the type of data that is  
expected for the specific parameter:  
1 byte unsigned  
2 byte signed  
2 byte unsigned  
4 byte signed  
4 byte unsigned  
4 byte float  
<0EH> is 0E hex, which is a separator character in this mode.  
Finally, the optional checksum will be included if CSE is TRUE  
and excluded if it is FALSE. If included, the checksum is the  
low eight bits of the complemented sixteen-bit sum of the  
address field (20H here), character count, OpCode, all data  
fields and separators (0E hex).  
Table 5.8: Binary Hex Codes  
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S e c t i o n 6  
YNXSystem  
C o n f ig u r in g t h e D ig it a l I/ O  
S e c t io n O v e r v ie w  
This section covers the usage of the Isolated Digital and High Speed Differential I/O Modules which are  
available on the LYNX System.  
!
!
System I/O Availability by Module.  
The Isolated Digital I/O:  
!
!
!
!
Configuring an Input  
Setting the Digital Input Filtering for the Isolated I/O  
Configuring an Output  
Setting the Binary State of an I/O Group  
!
!
The Differential I/O:  
!
!
!
!
The Clock Interface  
Configuring an Input  
Setting the Digital Input Filtering for the Differential I/O  
Configuring an Output.  
Typical Functions of the Differential I/O.  
S y s t e m I/ O A v a ila b ilit y b y M o d u le  
The LYNX System offers designers the ability to custom-tailor the LYNX System for their individual  
application needs. Below is a table illustrating the available configurations and the I/O set which would be  
present with each configuration.  
Allowable LYNX System I/O Configurations  
LX-CM100  
LYNX  
System  
LX-CM100  
LX-DI100  
LX-CM200  
LX-DI100  
LX-CM100  
LX-DD100  
LX-CM100  
LX-DC100  
LX-CM100  
LX-CM200  
LX-DI100  
LX-DD100  
GROUP 10  
HIGH  
SPEED  
11, 12, 13,  
14 & 17  
11, 12, 13,  
14 & 17  
11, 12, 13,  
14 & 17  
11 & 12  
11 & 12  
11 - 18  
11 - 18  
GROUP 20  
ISOLATED  
21 - 26  
31 - 36  
N/A  
21 - 26  
N/A  
21 - 26  
31 - 36  
41 - 46  
51 - 56  
21 - 26  
N/A  
21 - 26  
31 - 36  
N/A  
21 - 26  
31 - 36  
41 - 46  
51 - 56  
21 - 26  
31 - 36  
41 - 46  
N/A  
GROUP 30  
ISOLATED  
GROUP40  
ISOLATED  
N/A  
41 - 46  
51 - 56  
GROUP 50  
ISOLATED  
N/A  
N/A  
N/A  
Table 6.1: System I/O Availability by Module  
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Th e Is o la t e d D ig it a l I/ O  
The LYNX CM100 Control Module has a standard set of twelve +5 to +24VDC I/O lines and the LYNX  
CM200 Combination Control Module has a standard set of six +5 to +24VDC I/O lines. These I/O lines may  
be programmed individually as either general purpose or dedicated inputs or outputs, or collectively as a  
group. The Isolated Digital I/O may be expanded to a maximum of twenty-four (24) lines on the CM100 and a  
maximum of eighteen (18) lines on the CM200.  
The I/O groups and lines are numbered in the following fashion:  
Group 20 = Lines 21 - 26 (Standard CM100 and CM200)  
Group 30 = Lines 31 - 36 (Standard CM100 only)  
Group 40 = Lines 41 - 46 (Optional CM100 and CM200)  
Group 50 = Lines 51 - 56 (Optional CM100 and CM200)  
The isolated digital I/O may be defined as either active HIGH or active LOW. When the I/O is configured as  
active HIGH, the level is +5 to +24 VDC and the state will be read as a “1”. If the level is 0 VDC then the  
state will be read as “0”. Inversely if configured as active LOW, then the state of the I/O will be read as a “1”  
when the level is LOW, and a “0” when the level is HIGH. The active HIGH/LOW state is configured by the  
third parameter of the IOS variable, which is explained further on. The goal of this I/O configuration scheme  
is to maximize compatibility between the LYNX and standard sensors and switches. The LYNX I/O scheme is  
a powerful tool for machine and process control. Because of this power, a level of complexity in setup and  
use is found that doesn’t exist in controllers with a less capable I/O set.  
U s e s o f t h e Is o la t e d D ig it a l I/ O  
The isolated I/O may be utilized to receive input from external devices such as sensors, switches or PLC  
outputs. When configured as outputs, devices such as relays, solenoids, LED’s and PLC inputs may be  
controlled from the LYNX. Depending on the device connected, the input or output may be pulled-up to  
either the internal +5VDC supply or an external +5 to +24VDC supply, or the I/O lines may be pulled-down to  
ground. These features, combined with the programmability and robust construction of the LYNX I/O open  
an endless vista of possible uses for the I/O in your application.  
Sensors  
Switches  
PLC Outputs  
INPUTS  
LYNX Control  
Module  
Relays  
Solenoids  
LED’s  
PLC Inputs  
OUTPUTS  
Figure 6.1: Isolated I/O Applications  
Each I/O line may be individually programmed to any one of 8 dedicated input functions, 7 dedicated output  
functions, or as general purpose inputs or outputs. The I/O may be addressed individually, or as a group.  
The active state of the line or group may also be set. All of these possible functions are accomplished with  
of the IOS variable.  
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T h e IO S Va r ia b le  
The IOS variable has three parameters when used to configure the isolated digital I/O. These are:  
YNXSystem  
1]  
I/O Line Type: Specifies the the type of I/O that the line or group will be configured  
as, i.e. general purpose or dedicated function.  
2]  
3]  
I/O Line Function: Either an input or an output.  
Active State: Specifies whether or not the line will be active HIGH or active LOW.  
The default configuration of the standard I/O set is: 0,0,1. This means that by default each line in group 20 is  
configured to be a General Purpose (0), Input (0), which is active when HIGH (1). The following figure and  
exercises illustrate possible configurations of the IOS.  
IOS = , ,  
XX X X X  
To configure an entire I/O Group enter the  
Define Line or Group  
As Input or Output  
Group # (20, 30, 40 or 50) here!  
To configure an individual I/O Line  
enter the Line # (21-26, 31-36, 41-46,  
0 = Input  
1 = Output  
or 51-56) here!  
Enter I/O Line Type # Here  
Set the state  
of the Line or Gro  
0 = Active Low  
1 = Active High  
16 = Jog Plus Input  
17 = Jog Minus Input  
18 = Moving Output  
19 = Indexing in Progress Output  
21 = Program Running Output  
22 = Stall Output  
0 = General Purpose  
9 = Start Input  
10 = Stop Input  
11 = Pause Input  
12 = Home Input  
13 = Limit Plus Input  
14 = Limit Minus Input  
15 = Status Output  
23 = Error Output  
24 = Program Paused  
Table 6.2: IOS Variable Settings  
NOTE: When configuring a dedicated input or output, the  
second parameter of the IOS Variable MUST match the func-  
tion, either input or output, or an error will occur.  
N
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C o n f ig u r in g a n In p u t  
Figure 6.2 below illustrates the Input Equivalent Circuit of the Isolated I/O being used with a switch. To  
illustrate the usage of an input you will go through the steps to configure this switch to start a simple  
program at Line 1000 to index a motor 200 user units. First you must configure the I/O Line 21 as a “GO”  
input:  
4.5V Internal  
Pullup  
Pull-up Switch = CLOSED  
IOS 21 = 9, 0, 0  
To break this command down:  
PUSH BUTTON  
SWITCH  
IOS 21 - Identifies the I/O Line we are  
setting as 21.  
9 - Configures the I/O Type to “GO”.  
0 - Configures I/O as Input.  
0 - Configures I/O as Active LOW.  
I/O LINE  
When the Input Type “GO” is selected  
it will always look to execute a  
I/O GND  
program located at line 1 of program  
memory. Therefore, to run a program at  
line 1000 you must do the following:  
Figure 6.2: Isolated I/O Input  
‘Records program at line 1 of memory space  
EXEC 1000 ‘Execute program located at line 1000 of memory space  
PGM 1  
END  
PGM  
‘Terminates Program  
‘Switches system back to immediate mode  
PGM 1000  
MOVR 200  
HOLD 2  
‘Records program at line 1000 of memory space  
‘Move relative to current position 200 user units  
‘Hold program execution until specified motion is  
‘completed  
END  
PGM  
C o n f ig u r in g t h e D ig it a l F ilt e r in g  
User definable Digital filtering makes the LYNX well  
suited for noisy industrial environments. The filter  
setting is software selectable using the IOF  
Variable with a minimum guaranteed detectable  
pulse width of 18 microseconds to 2.3 milliseconds.  
IOF Filter Settings for the General Purpose Isolated I/O  
IOF=<num> (<num> = 0-7)  
Cutoff  
Frequency  
Minimum Detectable Pulse  
Width  
Filter Setting  
0
27.5 kHz  
13.7 kHz  
6.89 kHz  
3.44 kHz  
1.72 kHz  
860 Hz  
18 microseconds  
36 microseconds  
73 microseconds  
145 microseconds  
290 microseconds  
581 microseconds  
1.162 milliseconds  
2.323 milliseconds  
1
The table below illustrates the IOF settings.  
2
3
The filter setting will reject any frequency above  
the specified bandwidth. For example:  
4
5
6
430 Hz  
IOF 2 = 3 ‘Set the Digital  
Filter for I/O Group 20 to  
3.44kHz  
7 (default)  
215 Hz  
Table 6.3: Digital Filter Settings for the Isolated I/O  
This setting will cause any signal above 3.44 kHz on  
I/O lines 21-26 to be rejected. The default filter  
setting for the isolated I/O groups is 7, or 215Hz.  
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C o n f ig u r in g a n O u t p u t  
Figure 6.3 illustrates the Output equivalent circuit of the Isolated I/O. When used as an output the I/O line is  
able to sink 350mA continuous for each output, or a total of 1.5A for the entire I/O Group. See Section 9:  
The Isolated Digital I/O Module for detailed specifications. In the usage example we will use an LED on I/O  
Line 31 for the load. We will use the same program from the input example, only we will use the output to  
light the LED while the motor is  
YNXSystem  
moving.  
Pull-Up Switch = OPEN  
IOS 31 = 18, 1, 1  
Using the table on page 27 we can  
+5 VDC  
break this setting down as follows:  
IOS 31 - Identifies that I/O line 31 is  
being configured.  
4.5V Internal  
Pullup  
18 - Configures the I/O Type as  
“Moving”.  
1 - Configures the I/O line as an  
output.  
7.5k  
1 - Configures the Line as “Active  
HIGH”.  
I/O LINE  
Now when the input program above is  
executed, the LED will be lit during the  
move.  
Figure 6.3: Isolated I/O Output  
T h e IO Va r ia b le  
After configuring the I/O by means of the IOS variable, we need to be able to do two things with the I/O.  
1]  
2]  
Write to an output, or group of outputs, thus setting or changing its (their) state.  
Read the states of either inputs or outputs. We can use this information to either display those  
states to our terminal, or to set up conditions for branches and subroutine calls within a program.  
We can also use this command to write or read the state of an entire I/O group.  
R e a d / W r it e a S in g le I/ O Lin e  
To read the state of a single input or output, the following would be typed into the terminal:  
PRINT IO 21  
The response from this would be 1 or 0, depending on the state of the line.  
The state of an input or output in a program can be used to direct events within a LYNX program by either  
calling up a subroutine using the “CALL” instruction, or conditionally branching to another program  
address using the “BR” instruction. This would be done in the following fashion.  
CALL MYSUB, IO 22=1  
This would call up a subroutine labled “MYSUB” when I/O line 21 is active.  
BR 200, IO 22=0  
This would branch to address 200 when I/O line 22 is inactive.  
Writing to an output is accomplished by entering the following into a terminal or program:  
IO 21=1  
IO 21=0  
This would change the state of I/O line 21.  
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R e a d / W r it e a n I/ O G r o u p  
When using the IO variable to read the state of a group of  
inputs/outputs, or write to a group of outputs you would first  
want to configure the entire I/O group to be general purpose  
inputs or outputs using the IOS variable. In this case the  
response or input won’t be a logic state of 1 or 0, but rather the  
decimal equivalent (0 to 63) of the 6 bit binary number repre-  
sented by the entire group.  
BIT WEIGHT DISTRIBUTION TABLE  
FOR GROUP 20 I/O  
I/O 26  
MSB  
I/O 21  
LSB  
I/O 25 I/O 24 I/O 23 I/O 22  
32 16 8 4 2 1  
BINARY STATE OF I/O GROUP 20  
IO 20 = 35  
When addressing the I/O as a group the LSB (Least Significant  
Bit) will be line 1 of the group, (e.g. 21, 31, 41, 51). The MSB  
(Most Significant Bit) will be line 6 of the group (e.g. 26, 36, 46,  
56).  
0 0 0  
1
1 1  
I/O 26  
MSB  
I/O 21  
I/O 25 I/O 24 I/O 23 I/O 22  
LSB  
The table on the left shows the bit weight of each I/O line in the  
group. It also illustrates the state should 6 LED’s be connected  
to I/O group 20 when entering the IO variables in this exercise.  
BINARY STATE OF I/O GROUP 20  
IO 20 = 7  
Configure the IOS variable such that group 20 is all general  
purpose outputs, active low or:  
0 0 0 1 1 1  
I/O 26  
I/O 21  
LSB  
I/O 25 I/O 24 I/O 23 I/O 22  
MSB  
IOS 20 = 0,1,0  
Enter the following in the terminal:  
IO 20 = 35  
BINARY STATE OF I/O GROUP 20  
IO 20 = 49  
1 1 0 0 0 1  
MSB  
As shown in the table I/O lines 26, 22 and 21 should be illumi-  
nated, 25, 24 and 23 should be off.  
I/O 26  
I/O 21  
LSB  
I/O 25 I/O 24 I/O 23 I/O 22  
Enter this next:  
Table 6.4: Binary State of Outputs  
IO 20 = 7  
Now I/O 21, 22 and 23 should be illuminated.  
IO 20 = 49  
I/O 26, 25, and 21 are illuminated.  
NOTE: You can only write to General Purpose Outputs. If you  
attempt to write to and input or dedicated output type an error  
will occur!  
N
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Th e D if f e r e n t ia l I/ O  
YNXSystem  
T h e C lo c k In t e r f a c e  
Quadrature  
The LYNX has four clock pairs that are used by the high speed I/O. One of these, clock  
pair 11 and 12, is fixed as an output and is used internally to provide step clock and  
direction pulses to Step Clock and Direction outputs located on Connector P1 of the  
LYNX Controller. The step clock output increments CTR1 (Counter 1). CTR1 may be  
read from or written to by software instructions in either program or immediate mode.  
The following table explains the clocks, as well as their default I/O line pair placement.  
Channel A  
Channel B  
Step Clock/ Direction  
C lo c k Ty p e s D e f in e d  
There are three basic types of clocks that may be configured for the LYNX, they are:  
Step Clock  
1]  
2]  
3]  
Quadrature  
Step/Direction  
Up/Down  
Direction  
Up/ Down  
These clock functions are illustrated in figure 6.4.  
CW  
Qu a d r a t u r e  
CCW  
The quadrature clock function is the most commonly used input clock function. This is  
the default setting for each high speed I/O channel except 11 & 12. This clock function  
will typically be used for closed loop control (encoder feedback) or for following  
applications  
Figure 6.4: Clock Functions  
S t e p / D ir e c t io n  
The step/direction clock funtion would typically be used in an application where a secondary or tertiary  
clock output is required to sequentially control an additional axis.  
Up / Do w n  
The up/down clock type would typically be used as an output function where a secondary axis is being  
driven by a stepper or servo drive with dual-clock direction control circuitry.  
The Four Clocks  
Clock #  
I/O Line Pair  
Slot Position Counter  
Function  
This clock is internally generated motion clock.  
It provides step clock and directional control to  
the driver section. This clock is not available  
on any external connector.  
1
11 & 12  
None  
Slot 2  
Slot 3  
CTR1  
CTR2  
CTR3  
May be configured as an input or output. By  
default this is configured as a quadrature input.  
It can be configured as a secondary clock  
output electronically geared to CLK1.  
2
3
13 & 14  
15 & 16  
May be configured as an input or output. By  
default this is configured as a quadrature input.  
It can be configured as a tertiary clock output  
electronically geared to CLK1.  
May be configured as a high speed input or an  
output. As an output it is a 1MHz reference  
clock.  
17  
18  
Slot 2  
Slot 3  
None  
None  
4
May be configured as a high seed input or  
output. As an output it is a 10MHz reference  
clock.  
Table 6.5: The Four Clocks and Their Default Line Placement  
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C o n f ig u r in g T h e D if f e r e n t ia l I/ O - T h e IO S Va r ia b le  
The high speed differential I/O is configured by means of the IOS variable, and is used in the the same  
fashion in which the isolated I/O is configured. The main difference lies in that there are three additional  
parameters which need to be set in configuring the triggering, clock type, and ratio mode setting.  
It is important to note that the high speed differential I/O lines may be used for the same input or output functions  
as the isolated digital I/O where the higher speed capabilities of the differential I/O is required. However, for  
purposes of this example we will only illustrate the clock functions associated with the high speed differential I/O.  
Figure 6.5 following illustrates the IOS variable settings for the high speed differential I/O.  
Set the Ratio Mode  
0 = No Ratio  
1 =Ratio  
Set the Triggering  
0 = Level  
Enter the Channel # (13-18) here!  
1 = Edge  
IOS = , , , , ,  
XX X X X X X X  
Enter I/O Line Type # Here  
Define the Clock Type  
NOTE: The  
1 = Clock 1A  
2 = Clock 1B  
3 = Clock 2A  
4 = Clock 2B  
5 = Clock 3A  
6 = Clock 3B  
7 = Clock 4A  
8 = Clock 4B  
Clock #’s are  
fixed to their  
associated I/O  
channel and  
cannot be  
0 = Not A Clock  
1 = Quadrature  
2 = Step/Direction  
3 = Up/Down  
Set the state  
of the Line or Group  
0 = Active Low  
1 = Active High  
changed! They  
are entered for  
sake of consistency  
only!  
Define Line or Group  
As Input or Output  
0 = Input  
1 = Output  
Figure 6.5: IOS Variable Settings for the High Speed Differential I/O  
C o n f ig u r in g a n In p u t  
Clocks 2, 3 and 4 can be configured as high speed inputs, or as a general purpose input in the same fashion  
as the Isolated I/O. In configuring the Differential I/O line as a general purpose input you would typically  
use the “+” line of the line pair. You cannot use both lines as separate I/O lines. The figure below shows the  
Input Equivalent Circuit with the I/O line pair connected to channel A of a differential encoder. This feature  
+5VDC  
Differential  
Encoder  
Edge  
Detect  
Logic  
Edge  
Level  
10k  
3.3k  
Input (+)  
Input (-)  
4.3V  
1.4V  
Polarity  
Channel A (+)  
Channel A (-)  
+
-
Digital  
Filter  
20k  
4k  
Channel B (+)  
Channel B (-)  
Group  
Filter  
Setting  
Index (+)  
Index (-)  
Figure 6.6: Differential I/O Input Equivalent Circuit  
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is demonstrated in Typical Functions of the Differential I/O: Connecting and Using an Encoder. Clocks 2, 3  
and 4 are set up as Quadrature inputs by default. The defaults for each I/O Line Pair are:  
YNXSystem  
IOS 13 = 3, 0, 1, 0, 1, 0  
IOS 14 = 4, 0, 1, 0, 1, 0  
IOS 15 = 5, 0, 1, 0, 1, 0  
IOS 16 = 6, 0, 1, 0, 1, 0  
IOS 17 = 7, 0, 1, 0, 1, 0  
IOS 18 = 8, 0, 1, 0, 1, 0  
S e t t in g t h e D ig it a l In p u t F ilt e r in g f o r t h e D if f e r e n t ia l I/ O  
User definable Digital filtering  
makes the LYNX well suited for  
IOF Filter Settings for the High Speed Differential I/O  
IOF=<num> (<num> = 0-7)  
noisy industrial environments.  
The filter setting is software  
selectable using the IOF  
Cutoff  
Frequency  
Minimum Detectable Pulse  
Width  
Filter Setting  
0 (default)  
5.00 MHz  
2.50 MHz  
1.25 MHz  
625 kHz  
313 kHz  
156 kHz  
78.1 kHz  
39.1 kHz  
100 nanoseconds  
200 nanoseconds  
400 nanoseconds  
800 nanoseconds  
1.6 microseconds  
3.2 microseconds  
6.4 microseconds  
12.8 microseconds  
Variable with a minimum  
1
2
3
4
5
6
7
guaranteed detectable pulse  
width of 18 microseconds to 2.3  
milliseconds. The table (right)  
illustrates the IOF settings.  
Table 6.6: Digital Filter Settings for the Differential I/O  
C o n f ig u r in g a n  
O u t p u t  
The Differential I/O Group 10 has 3 Channels (Line Pairs 13 & 14, 15 & 16, and 17 & 18) that can be config-  
ured as an output by the user and One Channel (Line Pairs 11 & 12) that is configured as output only. (SCK  
and DIR on the Control Module.) These outputs can be configured as high speed outputs or 0 to 5VDC  
general purpose outputs by using the IOS variable. The high speed clock outputs have the following  
restrictions:  
Line Pairs 11/12, 13/14 and 15/16 can be configured to Step Clock/Direction or Up/Down.  
Line Pair 17/18 is limited to 1MHz Reference Out (17) and 10MHz Reference Out (18).  
+5VDC  
Secondary  
Drive  
10k  
3.3k  
Output (+)  
Output (-)  
Step Clock  
Clock  
User  
Defined  
Function  
20k  
4k  
IOS  
Output (+)  
Direction  
Figure 6.7: Differential I/O Output Equivalent Circuit  
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In the Equivalent Circuit in Figure 6.7 an Output is being used as Step or Direction on a driver.  
For the configuration example, use I/O line 13 for the output. Since by default the line is a quadrature input  
we must configure it to be a Step/Direction Output by setting the IOS Variable to the following:  
IOS 13 = 3, 1, 0, 1, 2, 0  
This breaks down as:  
IOS 13 - Identifies the line being configured as 13.  
3 - Sets the I/O Type to Clock 2A (default).  
1 - Sets it as an output.  
0 - Sets Logic at Low True.  
1 - Edge Triggered.  
2 - Sets the Clock Type to Step/Direction.  
0 - No Ratio.  
Ty p ic a l F u n c t io n s o f t h e D if f e r e n t ia l I/ O  
C o n n e c t in g a n d U s in g a n E n c o d e r  
The differential I/O module can be set up to receive encoder feedback using either a differential or a single  
ended output encoder. A differential output encoder would typically be connected to differential input pairs  
13 and 14 (P1, pins 1 – 4) as the default setting for I/O 13 and 14 is set up to accept a quadrature encoder  
input. Channel A of the encoder would be connected to input pair 13 (P1, pins 1 & 2) and channel B would  
be connected to input pair 14 (P1, pins 3 & 4). A single ended output encoder would be connected to the  
positive inputs of the input pair. Whether you use a differential encoder or single ended encoder the same  
software commands and settings will be used.  
In setting up your system to run with an encoder you will be using the following variables, flags, and  
instructions. The variables used with an encoder will be MUNIT, EUNIT, CTR2, and POS. The Encoder  
Enable Flag EE, and the instruction MOVR will be used. The block diagram to the left illustrates a LYNX  
system with the encoder and drive connections that will be used in this example.  
The sequence of commands (in bold) used to make this setup function would be as follows:  
‘Set the MUNIT Variable to 51,200 steps/rev  
MUNIT = 51200  
‘Set encoder enable to TRUE (1), default value = FALSE (0)  
EE = 1  
‘Set the EUNIT (Encoder Units) variable to 800 (200 [Encoder Resolution] X 4 [Quadrature Input])  
This means that 1 unit of motion, or 1 POS, is equal to 800 encoder counts. In this instance it will be  
1 rotation of the motor.  
EUNIT = 800  
‘Save the above flag and variable settings  
SAVE  
Now you may begin to use the motion command MOVR, as well as PRINT POS and PRINT CTR2 to see the  
number of encoder counts fed back to the system.  
‘Set the motor position to 0  
POS = 0  
‘Move the motor 2 units (2 X EUNIT) relative to current position.  
MOVR 2  
‘Print the value of CTR2. This value will indicate the number of encoder counts that the motor has  
moved. Your terminal should echo back the number “1600”.  
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PRINT CTR2  
‘Print the position of the motor. Your terminal should echo “2.000”  
PRINT POS  
YNXSystem  
By printing the variable CTR2 (CTR2 = EUNIT X POS) we can view the distance the motor has traveled in  
raw encoder counts, or by printing POS you can see the distance of travel represented by number of units  
relative to 0.  
HSIO  
13-  
13+  
14-  
14+  
ENCODER  
Channel A-  
Channel A+  
Channel B-  
Channel B+  
21  
22  
23  
24  
25  
26  
A0  
A1  
A2  
PT  
HI  
UG  
DIR-  
DIR+  
SCK-  
SCK+  
GND  
+5V  
21  
22  
23  
24  
25  
26  
31  
32  
33  
34  
35  
36  
IG  
13-  
13+  
14-  
14+  
15-  
15+  
16-  
16+  
17-  
17+  
18-  
18+  
GD  
SCLK+  
DIR+  
Stepping Motor  
&
+5VDC  
OUTPUT  
Encoder  
+5VDC  
GND  
RX-  
RX+  
TX-  
TX+  
CGND  
RX  
TX  
31  
32  
33  
34  
35  
36  
GND  
V+  
TM  
+5VDC Opto Supply  
Step Clock Input  
Direction Input  
Power Connections  
Not Shown For  
Simplification  
Motor Driver  
Figure 6.8: Connecting and Using an Encoder  
Tr a n s la t in g t h e E U N IT Va r ia b le t o a D im e n s io n o f D is t a n c e  
The EUNIT, or Encoder Unit variable, is the scaling factor used to translate Encoder steps to a dimension of  
distance, or user units. At this point you should already be familiar with the MUNIT variable. The main  
difference between the two is as follows: By using MUNIT scaling factor you monitor the position of an axis  
based upon the value of CTR1, the register that contains the actual count of clock pulses sent to the drive.  
The number of pulses is then scaled to user units by setting the MUNIT Variable to the appropriate scaling  
factor for the type of units being used, be they inches, millimeters, degrees, etc. Then the POS variable  
tracks position in the user units specified. Example:  
User Unit (POS) = CTR1 ÷ MUNIT where EE (Encoder Enable) Flag = FALSE (0)  
By setting the state of EE, the master encoder function enable flag, to a true state you will monitor the  
position of an axis based upon the actual position of the motor shaft as it is fed back to the Control Module  
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by a motor mounted encoder. The actual count of encoder pulses received by the Control Module is  
maintained by the register CTR2, (if the encoder is connected to I/O line pair 13 &14) with the EUNIT  
variable scaling it to user units. Example:  
User Unit (POS) = CTR2 ÷ EUNIT where EE (Encoder Enable) Flag = TRUE(1)  
When using the EUNIT scaling factor it is important to understand that you MUST set the EUNIT variable  
AND the MUNIT variable to the same scaling factor for accurate position monitoring. In the example below  
you will use a hypothetical system designed from the following components:  
An IMS IB462H Half/Full Step driver configured for Half Step Operation.  
A 1.8° Stepping Motor mounted to a 20cm linear slide.  
A 200 Line Encoder.  
You will want to use millimeters for our user unit. The IB462H in half step mode will need 400 clock pulses to  
turn the motor one revolution. The pitch on the leadscrew is such that one millimeter of linear motion will  
require 25 clock pulses. 400 steps/rev ÷ 25 steps/mm = 16 mm/rev. Therefore, you would set the MUNIT  
variable as follows:  
MUNIT = 400/16  
Now, when you give a MOVR 20 instruction, the axis will index 20 millimeters. Now to set the EUNIT  
Variable. We have a 200 line encoder connected to a quadrature clock input. This will mean that 1 revolution  
will equal 800 Encoder Pulses, you will have to use the same scaling factor as we did for MUNIT as there will  
still be 16mm per revolution:  
EUNIT = 800/16  
Both values must be set, and both must be set to the same scaling factor. With the EE = 1 a MOVR 20  
command will still index the axis 20 millimeters, but position will be maintained by CTR2.  
H a lf A x is O p e r a t io n ( F o llo w e r )  
In half axis mode the master clock is taken from a clock input 2, 3 or 4 (line pairs 13-14, 15-16 or 17-18) which  
have been set for input, clock type and ratio enabled. This is the factor at which the count rate out to the  
primary drive will follow the external clock in half axis mode. This clock input would typically be connected  
to differential input pairs 15 and 16 (P1, pins 5 – 8). This could be set up as any of the available clock types.  
If half axis mode is enabled (HAE), the primary axis of the control will follow the clock input with the ratio  
specified by the HAS variable.  
In order to use the HAS (Half axis mode scaling) variable the HAE flag must be set to true (1). For example,  
to set the half axis scale factor to .5, where the drive will follow the external Clock input with a ratio of 1  
count to the drive for every two counts from the external clock, you would use the command: SET HAS = .5  
(or HAS = .5). Figure 6.9 illustrates the connections for using this mode of operation using a clock input  
from an encoder.  
The sequence of commands used to make this setup function would be as follows:  
‘Set IOS 15 to ratio mode  
IOS 15 = 5,0,1,0,1,1  
‘Set IOS 16 to ratio mode  
IOS 16 = 6,0,1,0,1,1  
‘Half axis enable set to true  
HAE = 1  
‘Half axis scaling to .5 (1 output clock pulse to every 2 input clock pulses)  
HAS = .5  
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HSIO  
13+  
14+  
ENCODER  
Channel A  
Channel B  
YNXSystem  
21  
22  
23  
24  
25  
26  
A0  
A1  
A2  
PT  
HI  
UG  
DIR-  
DIR+  
SCK-  
SCK+  
GND  
+5V  
21  
22  
23  
24  
25  
26  
31  
32  
33  
34  
35  
36  
IG  
13-  
13+  
14-  
14+  
15-  
15+  
16-  
16+  
17-  
17+  
18-  
18+  
GD  
SCLK+  
DIR+  
+5VDC  
OUTPUT  
Encoder or  
Pulse Generator  
RX-  
RX+  
TX-  
TX+  
CGND  
RX  
TX  
31  
32  
33  
34  
35  
36  
Stepping  
Motor  
GND  
V+  
TM  
+5VDC Opto Supply  
Step Clock Input  
Direction Input  
Power Connections  
Not Shown For  
Simplification  
Motor Driver  
Figure 6.9 Half Axis Mode (Following)  
NOTE: The HAS variable must be set to less than 1 or Error  
Code 9004, “Ratio Out of Range” will occur.  
N
O n e a n d a H a lf A x is O p e r a t io n ( R AT IO E )  
A secondary drive can be connected to a pair of differential outputs. The secondary driver will operate off  
of the differential output pair 15 and 16 (I/O pair 13 and 14 can also operate in this mode). Setting the  
ratio mode to TRUE (1) for the differential output clock (IOS) specifies a secondary drive function. Then  
when ratio mode is enabled (RATIOE); the secondary axis will follow the primary axis with the ratio  
specified by the RATIO variable.  
The sequence of commands used to make this setup function would be as follows:  
‘Set IOS 15 to step/direction clock  
IOS 15 = 5,0,1,0,2,1  
‘Set IOS 16 to step/direction clock  
IOS 16 = 6,0,1,0,2,1  
‘Set Ratio Mode Enable Flag to  
type, and ratio mode  
type, and ratio mode  
TRUE(1)  
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RATIOE = 1  
‘Set RATIO variable to .5 for the  
RATIO = .5  
secondary drive  
With this setup, the motor on the secondary drive will move half the distance of the primary.  
HSIO  
13+  
14+  
DRIVE #2  
Step Clock  
Direction  
21  
22  
23  
24  
25  
26  
A0  
A1  
A2  
PT  
HI  
UG  
DIR-  
DIR+  
SCK-  
SCK+  
GND  
+5V  
21  
22  
23  
24  
25  
26  
31  
32  
33  
34  
35  
36  
IG  
13-  
13+  
14-  
14+  
15-  
15+  
16-  
16+  
17-  
17+  
18-  
18+  
GD  
SCLK+  
DIR+  
+5VDC  
OUTPUT  
Stepping  
Motor #2  
+5VDC  
Opto Supply  
RX-  
RX+  
TX-  
Motor Drive #2r  
TX+  
CGND  
RX  
TX  
31  
32  
33  
34  
35  
36  
GND  
V+  
TM  
+5VDC Opto Supply  
Step Clock Input  
Direction Input  
Stepping Motor  
Power Connections  
Not Shown For  
Simplification  
Motor Driver  
Figure 6.10: One and a Half Axis Operation  
NOTE: The RATIO variable must be set to less than 2 or -2 or  
Error Code 9004, “Ratio Out of Range” will occur.  
N
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S e c t i o n 7  
YNXSystem  
Th e LYN X Co n t r o l M o d u le (LX-CM 1 0 0 -0 0 0 )  
S e c t io n O v e r v ie w  
This section will cover:  
!
Hardware Specifications  
!
!
!
Environmental Specifications  
Mechanical Specifications  
Power Requirements  
!
!
!
!
Connection Overview  
LED Indicators  
Pin Assignments  
Switch Assignments  
H a r d w a r e S p e c if ic a t io n s  
E n v ir o n m e n t a l S p e c if ic a t io n s  
Ambient Operating Temperature .............................................. 0 to +50 degrees C  
Storage Temperature ................................................................ -20 to +70 degrees C  
Humidity .................................................................................. 0 to 90% non-condensing  
M e c h a n ic a l S p e c if ic a t io n  
Dimensions in Inches (mm)  
4.39 max  
(111.5)  
2.71 max  
(68.8)  
0.39  
(9.9)  
ON  
ON  
1.52 max  
0.41  
(38.6  
(10.5)  
3.75 max  
(95.3)  
ON  
2.93  
(74.4)  
0.29  
(7.4)  
2.13  
(54.1)  
NOTE: All dimensions nominal unless otherwise specified.  
Figure 7.1: LYNX Control Module Dimensions  
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P o w e r R e q u ir e m e n t s  
Power Requirements and Specifications  
Input Voltage  
Input Current  
+12 to +75 VDC Unregulated or +5VDC ±5%  
250mA (5VDC input)  
165mA (+12VDC Input)*  
95.0mA (+48 VDC Input)*  
84.5mA (+75VDC Input)*  
*I/O and +5VDC output unloaded (Control Module Only)  
+5VDC ±5%  
Output Voltage  
Output Current  
150mA (Internally Limited  
Table 7.1: Power Requirements for the LYNX Control Module  
C o n n e c t io n O v e r v ie w  
INTELLIGENT MOTION SYSTEMS, INC.  
FAULT  
Party Mode Address  
Switches Select Addresses  
"A" through "G"  
21  
A0  
A1  
A2  
PT  
HI  
22  
23  
24  
25  
26  
+5 V Pull-up Enable  
Switches for  
I/ O Group 2 0  
ON  
ON  
Party Mode Select  
Host Interface Mode Select  
Software Upgrade  
UG  
POW ER  
DIR-  
DIR+  
SCK-  
SCK+  
GND  
+5V  
21  
22  
23  
24  
25  
26  
31  
32  
33  
34  
35  
36  
IG  
Differential Direction I/ O 1 1  
and Step Clock (I/ O 1 2 ) Outputs  
Group 2 0  
+5 to +2 4 VDC I/ O  
Current Limited +5 V Output  
or +5 V Power In  
RX-  
P3  
P2  
P1  
RX+  
TX-  
RS-4 8 5  
Serial  
Communications  
Group 3 0  
+5 to +2 4 VDC I/ O  
TX+  
CGND  
RX  
RS-2 3 2  
Isolated Ground  
TX  
31  
32  
33  
34  
35  
36  
ON  
GND  
V+  
Power Ground  
+1 2 to +7 5 VDC Input Power  
+5 V Pull-up Enable  
Switches for  
I/ O Group 3 0  
TM  
Figure 7.2: LYNX Control Module, Switches and Connections  
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LE D In d ic a t o r s  
LED Color  
Meaning  
YNXSystem  
Green  
Red  
Power On  
System or software fault detected. The user can choose to enable or disable the indicator by setting the  
FAULT flag. FAULT=TRUE (1) will cause the LED to illuminated whenever an ERROR occurs.  
Table 7.2: LYNX Control Module LED Indicators  
P in A s s ig n m e n t a n d D e s c r ip t io n  
P1 - Two Position Screw Lock Terminal: Input Power Connection  
Description  
Power ground for the unregulated power supply.  
Pin #  
Function  
1
Power Ground  
Unregulated  
Power Supply  
Input (V+)  
2
12 – 75 VDC unregulated power input if an external power supply is to be used.  
Table 7.3: LYNX Control Module Connector P1 Pin Configuration  
P2 - 13 Position Removeable Terminal Connector: Motion Signals, Regulated Power and Communications  
Pin #  
Function  
Description  
Pins 1 and 2 are the differentially buffered signal for group 1, #1 or I/O 11. The default for this  
signal is the direction output for the primary motor drive of the controller. If desired, this signal may  
be programmed as a quadrature or up/down clock type or a user output. This I/O may not be  
programmed as an input.  
1
2
3
Direction - (I/O 11)  
Direction + (I/O 11)  
Step Clock - (I/O 12)  
See description above.  
Pins 3 and 4 are the differentially buffered signal for group 1, #2 or I/O 12. The default for this  
signal is the step clock output for the primary motor drive of the controller. If desired, this signal  
may be programmed as a quadrature or up/down clock type or a user output. This I/O may not be  
programmed as an input.  
4
5
Step Clock + (I/O 12) See description above.  
Common to the power ground on pin 1 of connector P1. This is provided as a signal return for  
Ground (GND)  
the motion control signals and the power return for the 5VDC in/out on pin 6.  
This can be 5 volts in or out. When the control module is powered via connector P1, this terminal  
provides up to 150 ma of regulated 5VDC for user circuits such as encoders. If desired,  
however, this terminal may be used as a power input connection. It should be noted that a fully  
configured LYNX system may require up to 800 ma current from this 5 VDC supply.  
6
+5VDC  
Pins 7 and 8 are the differential receive inputs for the RS-485 communications interface. They  
should be left disconnected if they are not used. For specific connection information, see Section  
5: The Communications Interface.  
7
8
9
RS-485 RX- Input  
RS-485 RX+ Input  
RS-485 TX- Output  
RS-485 TX+ Output  
See description above.  
Pins 9 and 10 are the differential transmit outputs for the RS-485 communications interface. They  
should be left disconnected if they are not used. For specific connection information, see Section  
5: The Communications Interface.  
10  
11  
See description above.  
Communications  
Ground (CGND)  
Isolated communications ground signal for both RS-485 and RS-232. For specific connection  
information, see Section 7: The Communications Interface.  
Receive input from the host computer. For specific connection information, see Section 5: The  
Communications Interface.  
12  
13  
RS-232 RX Input  
RS-232 TX Output  
Transmit output to the host computer. For specific connection information, see Section 5: The  
Communications Interface.  
Table 7.4: LYNX Control Module Connector P2 Pin Configuration  
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P3 - 13 Position Removeable Terminal Connector: Isolated Digital I/O  
Description  
Pin #  
Function  
Signals are individually programmable as inputs or outputs (see description of theIOS command  
in the Part 3: Software Reference of this manual). Inputs are CMOS logic level compatible and  
can accept inputs to 28 volts. Noise rejection is available via digital filtering. Outputs are open  
drain. I/Os each have individually switchable 7.5 Kohm pull up resistors to 5VDC. Outputs can  
switch inductive, resistive or incandescent loads. Refer to Section 6: Configuring the Digital I/O  
for usage and specifications.  
I/O Group 20  
Lines 21 - 26  
1 - 8  
I/O Group 30  
Lines 31 - 36  
7 - 12  
13  
See description above.  
Isolated common signal return for groups 20 and 30 I/O. Isolated from the power and  
communication grounds.  
Isolated I/O Ground  
Table 7.5: LYNX Control Module Connector P3 Pin Configuration  
S w it c h A s s ig n m e n t s  
Configuration Switches: Read at Power-On or System Reset. Mat be Overidden by Software Settings  
Switch #  
Function  
Description  
1
Firmware Upgrade  
When this switch is on, the controller firmware may be upgraded using the IMS upgrade program.  
When this switch is on, the controller will act as the Host Interface Controller for communications in  
a multiple controller system. When it is off, the controller is a slave in the system and will not act  
as the host interface. For more information, see Section 5: The Communications Interface. This  
switch may be overridden in software by the HOST flag.  
2
Host Interface  
Party Mode  
When this switch is on, party mode communications is selected. When it is off, single mode  
communications is selected. For more information, see Section 5: The Communications  
Interface.  
3
4
Sets party mode communications node address. See also DN instruction in the Software Reference  
Party Mode Address  
Bit 0 - A0  
A2  
A1  
A0  
OFF  
ON  
OFF  
ON  
OFF  
ON  
Address  
None  
"A"  
"B"  
"C"  
"D"  
"E"  
"F"  
"G"  
OFF  
OFF  
OFF  
OFF  
ON  
ON  
ON  
ON  
OFF  
OFF  
ON  
Party Mode Address  
Bit 1 - A1  
5
6
ON  
OFF  
OFF  
ON  
OFF  
ON  
Party Mode Address  
Bit 2 - A2  
ON  
Table 7.6: LYNX Control Module Configuration Switches  
Group 20 I/O Pull-Up Switches: Can Be Changed at any Time, Usable for Exercising Inputs  
Switch #  
Function  
Description  
Individual Switches  
for I/O Group 20  
Pull-Ups.  
When this switch is on, the I/O is pulled up through an internal 7.5 Kohm resistor to 5VDC. Can  
be used to simulate the activation of an input while testing system software..  
1 - 6  
Table 7.7: LYNX Control Module Group 20 I/O Pull-up Switches  
Group 30 I/O Pull-Up Switches: Can Be Changed at any Time, Usable for Exercising Inputs  
Switch #  
Function  
Description  
Individual Switches  
for I/O Group 30  
Pull-Ups.  
When this switch is on, the I/O is pulled up through an internal 7.5 Kohm resistor to 5VDC. Can  
be used to simulate the activation of an input while testing system software..  
1 - 6  
Table 7.8: LYNX Control Module Group 30 I/O Pull-up Switches  
1 - 42  
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ModularL  
S e c t i o n 8  
YNXSystem  
Th e LYN X C o n t r o l M o d u le (C o m b in a t io n )  
S e c t io n O v e r v ie w  
The Control Module (Combination) (IMS Part # LX-CM200-000) offers the user of purchasing a LYNX  
Control Module with 3 differential I/O Channels and 6 Isolated I/O lines instead of the standard 2 Isolated  
I/O groups. This section will cover:  
!
Hardware Specifications  
!
!
!
Environmental Specifications  
Mechanical Specifications  
Power Requirements  
!
!
!
!
Connection Overview  
LED Indicators  
Pin Assignments  
Switch Assignments  
H a r d w a r e S p e c if ic a t io n s  
E n v ir o n m e n t a l S p e c if ic a t io n s  
Ambient Operating Temperature .............................................. 0 to +50 degrees C  
Storage Temperature ................................................................ -20 to +70 degrees C  
Humidity .................................................................................. 0 to 90% non-condensing  
M e c h a n ic a l S p e c if ic a t io n  
Dimensions in Inches (mm)  
4.39 max  
(111.5)  
2.71 max  
(68.8)  
0.39  
(9.9)  
1.52 max  
(38.6)  
0.41  
(10.4)  
13-  
13+  
14-  
14+  
17-  
17+  
21  
3.75 max  
(95.3)  
22  
2.93  
(74.4)  
23  
24  
25  
26  
IG  
21  
22  
23  
24  
25  
26  
0.29  
(7.4)  
2.13  
(54.1)  
NOTE: All dimensions nominal unless otherwise specified.  
Figure 8.1: LYNX Control Module (Combination) Dimensions  
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P o w e r R e q u ir e m e n t s  
Power Requirements and Specifications  
+12 to +75 VDC Unregulated or +5VDC ±5%  
250mA (5VDC input)  
Input Voltage  
165mA (+12VDC Input)*  
95.0mA (+48 VDC Input)*  
84.5mA (+75VDC Input)*  
Input Current  
*I/O and +5VDC output unloaded (Control Module Only)  
+5VDC ±5%  
Output Voltage  
Output Current  
150mA (Internally Limited  
Table 8.1: Power Requirements for the LYNX Control Module (Combination)  
C o n n e c t io n O v e r v ie w  
INTELLIGENT MOTION SYSTEMS, INC.  
FAULT  
Party Mode Address  
Switches Select Addresses  
"A" through "G"  
A0  
A1  
A2  
PT  
HI  
ON  
ON  
Party MOde Select  
Host INterface Mode Select  
Software Upgrade  
UG  
POW ER  
DIR-  
DIR+  
SCK-  
SCK+  
GND  
+5V  
13-  
13+  
14-  
14+  
17-  
17+  
21  
Differential Direction I/ O 1 1  
and Step Clock (I/ O 1 2 ) Outputs  
Group 1 0  
Differential I/ O  
Channels 1 3 , 1 4 ,  
and 1 7  
Current Limited +5 V Output  
or +5 V Power In  
RX-  
P3  
P2  
RX+  
TX-  
22  
RS-4 8 5  
Serial  
Communications  
23  
Group 2 0  
+5 to +2 4 VDC I/ O  
TX+  
24  
CGND  
RX  
25  
RS-2 3 2  
26  
Isolated Ground  
TX  
IG  
21  
22  
23  
24  
25  
26  
ON  
GND  
V+  
Power Ground  
+1 2 to +7 5 VDC Input Power  
+5 V Pullup Enable  
Switches for  
I/ O Group 2 0  
P1  
TM  
Figure 8.2: LYNX Control Module (Combination) Connections and Switches  
1 - 44  
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LE D In d ic a t o r s  
LED Color  
Meaning  
YNXSystem  
Green  
Red  
Power On  
System or software fault detected. The user can choose to enable or disable the indicator by setting the  
FAULT flag. FAULT=TRUE (1) will cause the LED to illuminated whenever an ERROR occurs.  
Table 8.2: LYNX Control Module LED Indicators  
P in A s s ig n m e n t a n d D e s c r ip t io n  
P1 - Two Position Screw Lock Terminal: Input Power Connection  
Description  
Power ground for the unregulated power supply.  
Pin #  
Function  
1
Power Ground  
Unregulated  
Power Supply  
Input (V+)  
2
12 – 75 VDC unregulated power input if an external power supply is to be used.  
Table 8.3: LYNX Combination Control Module Connector P1 Pin Configuration  
P2 - 13 Position Removeable Terminal Connector: Motion Signals, Regulated Power and Communications  
Pin #  
Function  
Description  
Pins 1 and 2 are the differentially buffered signal for group 1, #1 or I/O 11. The default for this  
signal is the direction output for the primary motor drive of the controller. If desired, this signal may  
be programmed as a quadrature or up/down clock type or a user output. This I/O may not be  
programmed as an input.  
1
2
3
Direction - (I/O 11)  
Direction + (I/O 11)  
Step Clock - (I/O 12)  
See description above.  
Pins 3 and 4 are the differentially buffered signal for group 1, #2 or I/O 12. The default for this  
signal is the step clock output for the primary motor drive of the controller. If desired, this signal  
may be programmed as a quadrature or up/down clock type or a user output. This I/O may not be  
programmed as an input.  
4
5
Step Clock + (I/O 12) See description above.  
Common to the power ground on pin 1 of connector P1. This is provided as a signal return for  
Ground (GND)  
the motion control signals and the power return for the 5VDC in/out on pin 6.  
This can be 5 volts in or out. When the control module is powered via connector P1, this terminal  
provides up to 150 ma of regulated 5VDC for user circuits such as encoders. If desired,  
however, this terminal may be used as a power input connection. It should be noted that a fully  
configured LYNX system may require up to 800 ma current from this 5 VDC supply.  
6
+5VDC  
Pins 7 and 8 are the differential receive inputs for the RS-485 communications interface. They  
should be left disconnected if they are not used. For specific connection information, see Section  
5: The Communications Interface.  
7
8
9
RS-485 RX- Input  
RS-485 RX+ Input  
RS-485 TX- Output  
RS-485 TX+ Output  
See description above.  
Pins 9 and 10 are the differential transmit outputs for the RS-485 communications interface. They  
should be left disconnected if they are not used. For specific connection information, see Section  
5: The Communications Interface.  
10  
11  
See description above.  
Communications  
Ground (CGND)  
Isolated communications ground signal for both RS-485 and RS-232. For specific connection  
information, see Section 7: The Communications Interface.  
Receive input from the host computer. For specific connection information, see Section 5: The  
Communications Interface.  
12  
13  
RS-232 RX Input  
RS-232 TX Output  
Transmit output to the host computer. For specific connection information, see Section 5: The  
Communications Interface.  
Table 8.4: LYNX Combination Control Module Connector P2 Pin Configuration  
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P3 - 13 Position Removeable Terminal Connector: Combination I/O  
Description  
Pin #  
Function  
I/O 13-  
I/O 13+  
I/O 14-  
I/O 14+  
I/O 17-  
I/O 17+  
Pins 1 and 2 are the differentially buffered signal for group 10, I/O 13.This channel is configured  
by means of the IOS Instruction. For usage details see Section 6: Configuring the Digital I/O.  
1
2
3
4
5
6
See description above.  
Pins 3 and 4 are the differentially buffered signal for group 10, I/O 14.This channel is configured  
by means of the IOS Instruction. For usage details see Section 6: Configuring the Digital I/O.  
See description above.  
Pins 5 and 6 are the differentially buffered signal for group 10, I/O 17 .This channel is configured  
by means of the IOS Instruction. For usage details see Section 6: Configuring the Digital I/O.  
See description above.  
Signals are individually programmable as inputs or outputs (see description of IOS command in  
Part 3: The Software Reference of this manual). Inputs are CMOS logic level compatible and can  
accept inputs to 24 volts. Noise rejection is available via digital filtering. Outputs are open drain.  
I/Os each have individually switchable 7.5 Kohm pull up resistors to 5VDC. Outputs can switch  
inductive, resistive or incandescent loads. Refer to Section 6: Configuring the Digital I/O for  
more information.  
I/O Group 20  
Lines 21 - 26  
7 - 12  
Isolated Ground For  
Group 20 I/O  
solated common signal return for group 20 I/O. Isolated from the power and communication  
grounds.  
13  
Table 8.5: LYNX Combination Control Module Connector P3 Pin Configuration  
S w it c h A s s ig n m e n t s  
Configuration Switches: Read at Power-On or System Reset. Mat be Overidden by Software Settings  
Switch #  
Function  
Description  
1
Firmware Upgrade  
When this switch is on, the controller firmware may be upgraded using the IMS upgrade program.  
When this switch is on, the controller will act as the Host Interface Controller for communications in  
a multiple controller system. When it is off, the controller is a slave in the system and will not act  
as the host interface. For more information, see Section 5: The Communications Interface. This  
switch may be overridden in software by the HOST flag.  
2
Host Interface  
Party Mode  
When this switch is on, party mode communications is selected. When it is off, single mode  
communications is selected. For more information, see Section 5: The Communications  
Interface.  
3
4
Sets party mode communications node address. See also DN instruction in the Software Reference  
Party Mode Address  
Bit 0 - A0  
A2  
A1  
A0  
OFF  
ON  
OFF  
ON  
OFF  
ON  
Address  
None  
"A"  
"B"  
"C"  
"D"  
"E"  
"F"  
"G"  
OFF  
OFF  
OFF  
OFF  
ON  
ON  
ON  
ON  
OFF  
OFF  
ON  
Party Mode Address  
Bit 1 - A1  
5
6
ON  
OFF  
OFF  
ON  
OFF  
ON  
Party Mode Address  
Bit 2 - A2  
ON  
Table 8.6: LYNX Combination Control Module Configuration Switches  
Group 20 I/O Pull-Up Switches: Can Be Changed at any Time, Usable for Exercising Inputs  
Switch #  
Function  
Description  
Individual Switches  
for I/O Group 20  
Pull-Ups.  
When this switch is on, the I/O is pulled up through an internal 7.5 Kohm resistor to 5VDC. Can  
be used to simulate the activation of an input while testing system software..  
1 - 6  
Table 8.7: LYNX Combination Control Module Group 20 I/O Pull-up Switches  
1 - 46  
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S e c t i o n 9  
YNXSystem  
Th e Is o la t e d D ig it a l I/ O M o d u le  
S e c t io n O v e r v ie w  
The Isolated I/O Module (IMS Part # LX-DI100-000) offers the user an additional 12 Isolated +5 to 24VDC  
General Purpose I/O lines in two groups of six each (Groups 40 and 50) for a total of 24 individually program-  
mable I/O when used with the LYNX CM100 Control Module or 18 when used with the CM200 Combination  
Control Module.  
!
Hardware Specifications  
!
!
Environmental Specifications  
Mechanical Specifications  
!
!
!
!
!
Pin Assignments  
Switch Assignments  
Input Specifications  
Input Filtering  
Output Specifications  
H a r d w a r e S p e c if ic a t io n s  
E n v ir o n m e n t a l S p e c if ic a t io n s  
Ambient Operating Temperature .............................................. 0 to +50 degrees C  
Storage Temperature ................................................................ -20 to +70 degrees C  
Humidity .................................................................................. 0 to 90% non-condensing  
M e c h a n ic a l S p e c if ic a t io n  
Dimensions in Inches (mm)  
4.39 max  
(111.5)  
0.9 max  
(22.9)  
0.39  
(9.9)  
3.75 max  
(95.3)  
Figure 9.1: LYNX Isolated I/O Module Dimensions  
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C o n n e c t io n O v e r v ie w  
41  
42  
43  
44  
45  
46  
+5V Pullup Enable  
Switches for  
I/O Group 40  
41  
42  
43  
44  
45  
46  
51  
52  
53  
54  
55  
56  
IG  
Group 40  
Isolated I/O  
P1  
Group 50  
Isolated I/O  
Isolated Ground  
51  
52  
53  
+5V Pullup Enable  
Switches for  
I/O Group 50  
54  
55  
56  
Figure 9.2: Isolated Digital I/O Module Connection Overview  
P in A s s ig n m e n t s A n d D e s c r ip t io n  
P1 - 13 Position Removeable Terminal Connector: Isolated Digital I/O  
Pin #  
Function  
Description  
Signals are individually programmable as inputs or outputs (see description of theIOS command  
in the Part 3: Software Reference of this manual). Inputs are CMOS logic level compatible and  
can accept inputs to 24 volts. Noise rejection is available via digital filtering. Outputs are open  
drain. I/Os each have individually switchable 7.5 Kohm pull up resistors to 5VDC. Outputs can  
switch inductive, resistive or incandescent loads. Refer to Section 6: Configuring the Digital I/O  
for usage and specifications.  
I/O Group 40  
Lines 41 - 46  
1 - 8  
I/O Group 50  
Lines 51 - 56  
7 - 12  
13  
See description above.  
Isolated common signal return for groups 40 and 50 I/O. Isolated from the power and  
communication grounds.  
Isolated I/O Ground  
Table 9.1: Isolated Digital I/O Module P1 Connector Pin Configuration  
1 - 48  
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S w it c h A s s ig n m e n t s A n d D e s c r ip t io n  
YNXSystem  
Group 40 I/O Pull-Up Switches: Can Be Changed at any Time, Usable for Exercising Inputs  
Switch #  
Function  
Description  
Individual Switches  
for I/O Group 40  
Pull-Ups.  
When this switch is on, the I/O is pulled up through an internal 7.5 Kohm resistor to 5VDC. Can  
be used to simulate the activation of an input while testing system software..  
1 - 6  
Table 9.2: Isolated I/O Module Group 40 I/O Pull-up Switches  
Group 50 I/O Pull-Up Switches: Can Be Changed at any Time, Usable for Exercising Inputs  
Switch #  
Function  
Description  
Individual Switches  
for I/O Group 50  
Pull-Ups.  
When this switch is on, the I/O is pulled up through an internal 7.5 Kohm resistor to 5VDC. Can  
be used to simulate the activation of an input while testing system software..  
1 - 6  
Table 9.3: Isolated I/O Module Group 50 I/O Pull-up Switches  
In p u t S p e c if ic a t io n s  
Isolated I/O Input Specifications  
Voltage Range  
Low Level  
0 to 28 VDC (Transient Protected to 60 Volts)  
< 1.5V  
> 3.5V  
High Level  
Open Circuit Input Pull-Up Switch ON = 4.5V  
Voltage  
Pull-Up Switch OFF = 0V  
Table 9.4: Isolated I/O Module Input Specifications  
PULL-UP SWITCH  
+5VDC  
Pull-Up  
Switch  
Edge  
Detect  
Logic  
Edge  
Level  
Switch  
7.5k  
Polarity  
Input  
Digital  
Filter  
20 to  
80µA  
Isolated Ground  
Group  
Filter  
Setting  
Figure 9.3: LYNX Isolated I/O Input Equivalent Circuit  
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In p u t F ilt e r in g  
User definable Digital filtering makes the LYNX  
IOF Filter Settings for the General Purpose Isolated I/O  
IOF=<num> (<num> = 0-7)  
well suited for noisy industrial environments. The  
filter setting is software selectable using the IOF  
Variable with a minimum guaranteed detectable  
pulse width of 18 microseconds to 2.3 millisec-  
onds.  
Cutoff  
Frequency  
Minimum Detectable Pulse  
Width  
Filter Setting  
0
27.5 kHz  
13.7 kHz  
6.89 kHz  
3.44 kHz  
1.72 kHz  
860 Hz  
18 microseconds  
36 microseconds  
73 microseconds  
145 microseconds  
290 microseconds  
581 microseconds  
1.162 milliseconds  
2.323 milliseconds  
1
2
The table at right illustrates the IOF settings.  
3
4
5
6
430 Hz  
7 (default)  
215 Hz  
Table 9.5: Digital Filter Settings for the Isolated I/O  
O u t p u t S p e c if ic a t io n s  
Isolated I/O Input Specifications  
28 VDC Maximum  
Load Supply Voltage  
FET On Resistance  
Continuous Sink Current  
Maximum Group Sink  
2Maximum (Tj = 125°C)  
350mA Maximum Each Output (Ta = 25°C)  
1.5A (Thermally Limited)  
Pull-up Switch ON = 4.5V  
Pull-up Switch OFF = 0V  
Open Circuit Output Voltage  
Table 9.6: Digital Filter Settings for the Isolated I/O  
PULL-UP SWITCH =  
+5VDC  
N
Pull-Up  
Switch  
Clamp Diode  
(See Note)  
7.5kΩ  
LOAD  
Output  
20 to  
80µA  
60V  
Load Supply  
28VDC Max  
Isolated  
Ground  
Isolated Ground  
Figure 9.4: LYNX Isolated I/O Output Equivalent Circuit  
1 - 50  
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S e c t i o n 1 0  
YNXSystem  
Th e D if f e r e n t ia l D ig it a l I/ O M o d u le  
S e c t io n O v e r v ie w  
A LYNX system may contain an optional Differential I/O Module (IMS Part# LX-DD100-000) which provides  
six (6) high speed differential I/Os. These I/Os can be used as clock inputs or outputs or general purpose  
I/O. Along with the differential motion I/Os (P1, pins 1 – 4) of the LYNX Control Module, these I/O make up  
the Group 1 signal set. Each signal pair is a 0 to 5VDC input or output. When used as an input or an output  
a single ended or differential configuration is accommodated.  
!
Hardware Specifications  
!
!
!
Environmental Specifications  
Mechanical Specifications  
Power Requirements  
!
!
!
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Pin Assignments  
Input Specifications  
Input Filtering  
Output Specifications  
H a r d w a r e S p e c if ic a t io n s  
E n v ir o n m e n t a l S p e c if ic a t io n  
Ambient Operating Temperature .............................................. 0 to 50 degrees C  
Storage Temperature ................................................................ -20 to 70 degrees C  
Humidity .................................................................................. 0 to 90% non-condensing  
M e c h a n ic a l S p e c if ic a t io n  
Dimensions in Inches (mm)  
0.9 max  
(22.9)  
4.39 max  
(111.5)  
0.39  
(9.9)  
3.75  
(95.3)  
Figure 10.1 : LYNX Differential I/O Module Dimensions  
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C o n n e c t io n O v e r v ie w  
13-  
13+  
14-  
14+  
15-  
15+  
16-  
Group 10  
High Speed I/O  
P1  
16+  
17-  
17+  
18-  
18+  
PGND  
Ground  
Figure 10.2: High Speed Differential I/O Module Connection Overview  
P o w e r R e q u ir e m e n t s  
Power is supplied through the LYNX Control Module.  
High Speed Differential I/O Power Requirement  
Input Voltage to LYNX Control  
Module  
Current Requirement for Module  
+5VDC  
+12 VDC  
+48VDC  
+75VDC  
50mA  
28mA  
8mA  
5mA  
Table 10.1: High Speed Differential I/O Module Power Requirements  
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ModularL  
P in A s s in g m e n t s A n d D e s c r ip t io n  
YNXSystem  
P3 - 13 Position Removeable Terminal Connector: High Speed Differential I/O Module  
Pin #  
Function  
I/O 13-  
I/O 13+  
I/O 14-  
I/O 14+  
I/O 15-  
I/O 15+  
I/O 16-  
I/O 16+  
Description  
Pins 1 and 2 are the differentially buffered signal for group 10, I/O 13. This channel is configured  
by means of the IOS Instruction. This channel is fixed as clock #2 and associated with Counter 2  
(CTR2). For usage details see Section 6: Configuring the Digital I/O.  
1
2
3
4
5
6
7
8
See description above.  
Pins 3 and 4 are the differentially buffered signal for group 10, I/O 14.This channel is configured  
by means of the IOS Instruction. This channel is fixed as clock #2 and associated with Counter 2  
(CTR2). For usage details see Section 6: Configuring the Digital I/O.  
See description above.  
Pins 5 and 6 are the differentially buffered signal for group 10, I/O 15 .This channel is configured  
by means of the IOS Instruction. This channel is fixed as clock #3 and associated with Counter 3  
(CTR3). For usage details see Section 6: Configuring the Digital I/O.  
See description above.  
Pins 7 and 8 are the differentially buffered signal for group 10, I/O 16. This channel is configured  
by means of the IOS Instruction. This channel is fixed as clock #3 and associated with Counter 3  
(CTR3). For usage details see Section 6: Configuring the Digital I/O.  
See description above.  
Pins 9 and 10 are the differentially buffered signal for group 10, I/O 17. This channel is  
configured by means of the IOS Instruction. This Channel may be configured as a high speed  
input or output. As an output it is a 1MHz reference clock. I/O 17 and 18 are not associated to a  
counter. For usage details see Section 6: Configuring the Digital I/O.  
9
I/O 17-  
I/O 17+  
I/O 18-  
10  
11  
See description above.  
Pins 11 and 12 are the differentially buffered signal for group 10, I/O 18. This channel is  
configured by means of the IOS Instruction. This Channel may be configured as a high speed  
input or output. As an output it is a 10MHz reference clock. I/O 17 and 18 are not associated to a  
counter. For usage details see Section 6: Configuring the Digital I/O.  
12  
13  
I/O 18+  
PGND  
See description above.  
Non-isolated ground. Common with the LYNX Control Module power ground.  
Table 10.2: High Speed Differential I/O Module Pin Configuration  
In p u t S p e c if ic a t io n s  
High Speed Differential I/O Input Specifications  
Differential Input Threshold  
Input Hysteresis  
-0.2V to +0.2V  
60mV Typical  
-6V to +6V  
Input Common Mode Range  
Maximum Group Sink  
1.5A (Thermally Limited)  
4.3V  
Open Circuit Input Voltage + Input  
Open Circuit Input Voltage - Input  
1.4V  
Table 10.3: High Speed Differential I/O Module Input Specifications  
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+5VDC  
Differential  
Encoder  
Edge  
Detect  
Logic  
Edge  
Level  
10kΩ  
3.3kΩ  
Input (+)  
Input (-)  
4.3V  
Polarity  
Channel A (+)  
Channel A (-)  
+
-
Digital  
Filter  
1.4V  
20kΩ  
4kΩ  
Channel B (+)  
Channel B (-)  
Group  
Filter  
Setting  
Index (+)  
Index (-)  
Figure 10.3: LYNX Differential I/O Input Equivalent Circuit  
In p u t F ilt e r in g  
User definable Digital filtering makes the LYNX well suited for noisy industrial environments. The filter  
setting is software selectable using the IOF Variable with a minimum guaranteed detectable pulse width of  
18 microseconds to 2.3 milliseconds.  
The table below illustrates the IOF settings.  
IOF Filter Settings for the High Speed Differential I/O  
IOF=<num> (<num> = 0-7)  
Cutoff  
Frequency  
Minimum Detectable Pulse  
Width  
Filter Setting  
0 (default)  
5.00 MHz  
2.50 MHz  
1.25 MHz  
625 kHz  
313 kHz  
156 kHz  
78.1 kHz  
39.1 kHz  
100 nanoseconds  
200 nanoseconds  
400 nanoseconds  
800 nanoseconds  
1.6 microseconds  
3.2 microseconds  
6.4 microseconds  
12.8 microseconds  
1
2
3
4
5
6
7
Table 10.4: Digital Filter Settings for the Differential I/O  
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O u t p u t S p e c if ic a t io n s  
YNXSystem  
High Speed Differential I/O Output Specifications  
No Load  
0.5V  
6mA Load  
0.8V  
Output Voltage - Logic 0  
Output Voltage - Logic 1  
Short Circuit Current  
4.5V  
4.2V  
250mA Max.  
Table 10.5: LYNX Differential I/O Output Specifications  
+5VDC  
Secondary  
Drive  
10kΩ  
4kΩ  
3.3kΩ  
Output (+)  
Output (-)  
Step Clock  
Clock  
User  
Defined  
Function  
20kΩ  
IOS  
Output (+)  
Direction  
Figure 10.4: LYNX Differential I/O Output Equivalent Circuit  
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Intentionally Left Blank  
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