Intelligent Motion Systems Computer Hardware Modular LYNX System User Manual

Part I

The Modular

LYNX Sys tem

YNX

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:

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

Current Adjust

Resistor*

GND

V+

Stepping

Motor

POWER

Black/Orange-White

Opto Supply

Direction

DIR-

DIR+

SCK-

SCK+

GND

+5V

Orange/Black-White

Red/Yellow-White

Yellow/Red-White

Step Clock

RX-

IM483 Step Motor Driver

RX+

TX-

Resolution Select Programmed

for )256 Resolution

TX+

RS-232 Communications Wiring

Ground (DB-9 = Pin 5)

CGND

I S P 2 0 0 - 4

TX (Transmit) (DB-9 = Pin 3)

RX (Receive) (DB-9 = Pin 2)

V+

PGND

V+

GND

AC Ground (Green)

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

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

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.

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

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

your LYNX Control Module. These updates will be posted to the IMS website at http://www.imshome.com/

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.

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.

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

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.

The “Window Size” settings are strictly optional. You may set these to whatever size

is comfortable to you.

Click “OK”. The setting will be saved automatically.

Apply power to the LYNX Controller. The following sign-on message should appear in the

Terminal window:

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:

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

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

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.

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.

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.

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:

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

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

In order to install your LYNX System on a

DIN rail complete the following:

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.

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

# 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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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

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.

Figure 3.2: Installing the LYNX System on a DIN Rail

To Remove the LYNX System from the DIN Rail:

Loosen the set

screws located in

the TOP threaded

insert between the

#6 screws on each

end plate.

Grasp the pull-tabs

located on the

bottom of the DIN

Rail brackets to

release the LYNX

system from the

DIN Rail

(Figure 3.3 - C&D)

while gently lifting

the front of the

LYNX system.

Lift the LYNX

System Away from

the DIN Rail.

DIN Rail Bracket

DIN Rail

Pull Tab

# 6 X .250 Set Screw (Top Location Only)

12-14 in/oz torque.

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!

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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!

All Power Supply Wiring Should Be

Shielded Twisted Pair to Reduce

Electrical Noise!

DIR-

DIR+

SCK-

SCK+

GND

+5V

SCLK+

DIR+

+5VDC

OUTPUT

AC Line

RX-

Power Supply

RX+

TX-

TX+

CGND

GND

V+

ISP200-4

+5VDC Opto Supply

Step Clock Input

Direction Input

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!

All Power Supply Wiring Should Be

Shielded Twisted Pair to Reduce

Electrical Noise!

DIR-

DIR+

SCK-

SCK+

GND

+5V

+5VDC, 150mA

Internally Limited

Output

AC Line

RX-

RX+

TX-

TX+

CGND

GND

V+

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.

DIR-

DIR+

SCK-

SCK+

GND

+5V

+5VDC ±5%

Regulated Supply

(Up to 800mA)

RX-

RX+

TX-

TX+

CGND

GND

V+

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.

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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

Table 5.1: Wiring Connections: RS-232 Interface Single Control Module System

25 PIN Serial Port

on Host PC

10 11 12 13

14 15 16 17 18 19 20 21 22 23 24 25

9 PIN Serial Port

on Host PC

DIR-

DIR+

SCK-

SCK+

GND

+5V

Host PC

RX-

RX+

TX-

TX+

CGND

GND

V+

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

OFF

None

OFF

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:

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.

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.

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.

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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 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

HOST Switch = ON

HOST Switch = OFF

HOST Flag = TRUE (1)

HOST Flag = FALSE (0)

PARTY Switch = ON

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

TX-

INTELLIGENT MOTION SYSTEMS, INC.

FAULT

TX+

RX-

HOST Switch ON

PARTY Switch ON

POWER

RX+

DIR-

DIR+

SCK-

SCK+

GND

+5V

CGND

Host PC

RX-

RX+

TX-

Control Module #2

HOST Switch = OFF

PARTY Switch = ON

TX+

CGND

TX-

TX+

RX-

GND

V+

RX+

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 120Ω termination 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.

RS-232 To RS-485 Converter

Recommended IMS Part # CV-3222*

DIR-

DIR+

SCK-

SCK+

GND

+5V

Host PC

RX-

TX-

TX+

RX+

TX-

RX-

CGND

RX+

TX+

CGND

GND

V+

Figure 5.3: RS-485 Interface, Single Controller System

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ModularL

NOTE: The HOST switch MUST be off to communicate with the

Control Module in a Single Controller System using the RS-485

Interface.

YNXSystem

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

OFF

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

OFF

In systems with multiple

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:

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.

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.

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 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

HOST Switch = OFF

HOST Flag = FALSE (0)

PARTY Switch = ON

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+

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 Ω 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

120Ω termination 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 1^stparameter>, <ASCII data for 2^ndparameter>, … , <ASCII data

for n^thparameter><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.

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 1^stparameter>, <ASCII data for 2^ndparam-

eter>, … , <ASCII data for n^thparameter><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 1^st

parameter><IEEE hex data for 1^stparameter><0EH><Field type

Binary Hex Codes

for 2^ndparameter><IEEE hex data for 2^ndparameter><0EH> …

<Field type for n^thparameter><IEEE hex data for n^th

parameter><optional checksum>

Hex Code

Data Type

Label Text

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 - 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

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

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.

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.

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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

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

The table below illustrates the IOF settings.

The filter setting will reject any frequency above

the specified bandwidth. For example:

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.

7.5kΩ

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.

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

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!

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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

Quadrature

Step/Direction

Up/Down

Direction

Up/ Down

These clock functions are illustrated in figure 6.4.

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.

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.

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.

Slot 2

Slot 3

None

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

Ω

3.3k

Ω

Input (+)

Input (-)

4.3V

1.4V

Polarity

Channel A (+)

Channel A (-)

Digital

Filter

20k

Ω

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

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

Ω

3.3k

Ω

Output (+)

Output (-)

Step Clock

Clock

User

Defined

Function

20k

Ω

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+

DIR-

DIR+

SCK-

SCK+

GND

+5V

13-

13+

14-

14+

15-

15+

16-

16+

17-

17+

18-

18+

SCLK+

DIR+

Stepping Motor

+5VDC

OUTPUT

Encoder

+5VDC

GND

RX-

RX+

TX-

TX+

CGND

GND

V+

+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

1 - 36

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ModularL

HSIO

13+

14+

ENCODER

Channel A

Channel B

YNXSystem

DIR-

DIR+

SCK-

SCK+

GND

+5V

13-

13+

14-

14+

15-

15+

16-

16+

17-

17+

18-

18+

SCLK+

DIR+

+5VDC

OUTPUT

Encoder or

Pulse Generator

RX-

RX+

TX-

TX+

CGND

Stepping

Motor

GND

V+

+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.

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

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

DIR-

DIR+

SCK-

SCK+

GND

+5V

13-

13+

14-

14+

15-

15+

16-

16+

17-

17+

18-

18+

SCLK+

DIR+

+5VDC

OUTPUT

Stepping

Motor #2

+5VDC

Opto Supply

RX-

RX+

TX-

Motor Drive #2r

TX+

CGND

GND

V+

+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.

1 - 38

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ModularL

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)

1.52 max

0.41

(38.6

(10.5)

3.75 max

(95.3)

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"

+5 V Pull-up Enable

Switches for

I/ O Group 2 0

Party Mode Select

Host Interface Mode Select

Software Upgrade

POW ER

DIR-

DIR+

SCK-

SCK+

GND

+5V

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-

RX+

TX-

RS-4 8 5

Serial

Communications

Group 3 0

+5 to +2 4 VDC I/ O

TX+

CGND

RS-2 3 2

Isolated Ground

GND

V+

Power Ground

+1 2 to +7 5 VDC Input Power

+5 V Pull-up Enable

Switches for

I/ O Group 3 0

Figure 7.2: LYNX Control Module, Switches and Connections

1 - 40

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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

Power Ground

Unregulated

Power Supply

Input (V+)

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.

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.

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.

+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.

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.

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.

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

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

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.

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.

Sets party mode communications node address. See also DN instruction in the Software Reference

Party Mode Address

Bit 0 - A0

OFF

Address

None

"A"

"B"

"C"

"D"

"E"

"F"

"G"

OFF

Party Mode Address

Bit 1 - A1

OFF

Party Mode Address

Bit 2 - A2

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+

3.75 max

(95.3)

2.93

(74.4)

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"

Party MOde Select

Host INterface Mode Select

Software Upgrade

POW ER

DIR-

DIR+

SCK-

SCK+

GND

+5V

13-

13+

14-

14+

17-

17+

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-

RX+

TX-

RS-4 8 5

Serial

Communications

Group 2 0

+5 to +2 4 VDC I/ O

TX+

CGND

RS-2 3 2

Isolated Ground

GND

V+

Power Ground

+1 2 to +7 5 VDC Input Power

+5 V Pullup Enable

Switches for

I/ O Group 2 0

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

Power Ground

Unregulated

Power Supply

Input (V+)

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.

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.

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.

+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.

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.

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.

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.

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.

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

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.

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.

Sets party mode communications node address. See also DN instruction in the Software Reference

Party Mode Address

Bit 0 - A0

OFF

Address

None

"A"

"B"

"C"

"D"

"E"

"F"

"G"

OFF

Party Mode Address

Bit 1 - A1

OFF

Party Mode Address

Bit 2 - A2

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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ModularL

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

+5V Pullup Enable

Switches for

I/O Group 40

Group 40

Isolated I/O

Group 50

Isolated I/O

Isolated Ground

+5V Pullup Enable

Switches for

I/O Group 50

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

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

7.5kΩ

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

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

The table at right illustrates the IOF settings.

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

2Ω Maximum (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

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

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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

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

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.

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.

I/O 17-

I/O 17+

I/O 18-

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.

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

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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