Mesa 7I33, 7I33TA User Manual

7I33 / 7I33TA MANUAL

Quad analog servo amp interface

V1.9

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Table of Contents

GENERAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

DESCRIPTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

HARDWARE CONFIGURATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

DEFAULT JUMPER LOCATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

TTL/RS-422 ENCODER SELECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

CONNECTORS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

7I33 CONNECTOR LOCATIONS AND DEFAULT JUMPERS . . . . . . . . . . . . . 3

7I33 CONNECTOR LOCATIONS AND DEFAULT JUMPERS . . . . . . . . . . . . . 4

CONTROLLER CONNECTOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

AUX 5V POWER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

50 PIN SERVO AMP/ENCODER CONNECTOR . . . . . . . . . . . . . . . . . . . . . . . 6

TERMINAL BLOCK SERVO AMP/ENCODER CONNECTORS . . . . . . . . . . . . 7

OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

PWM RATE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

STEP RESPONSE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

ENCODER INPUT CIRCUIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

MAXIMUM COUNT RATE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

5V POWER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

ENABLE INPUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

ENABLE OUTPUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

ANALOG OUTPUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

ANALOG CONNECTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

DRAWINGS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

7I33 1

GENERAL

DESCRIPTION

The 7I33 and 7I33TA are 4 axis analog servo interfaces intended for operation with
MESA’s Anything I/O cards when used for motion control applications. All 7I33 models
take the PWM and direction signals from the Anything I/O card and converts them to +­10V analog output voltages for direct connection to analog input servo amplifiers.

The 7I33 also conditions the encoder input signals with input filters for TTL inputs
or a RS-422 receivers for differential encoder inputs.

The controller connection is a 50 pin header that matches the pinout of the Mesa
4I27 motion controller (2 axis only) or the FPGA based Anything I/O cards. The 7I33 uses
another 50 pin header for servo amp/encoder connections, while the 7I33TA uses Phoenix
compatible 3.5 mm headers and comes with supplied pluggable terminal blocks.

7I33 2

HARDWARE CONFIGURATION

GENERAL

Hardware setup jumper positions assume that the 7I33 card is oriented in an upright
position, that is, with the 50 pin controller connector is on the left hand side,

DEFAULT CONFIGURATION

JUMPER FUNCTION DEFAULT SETTING

W4 CH0 TTL/RS-422 SELECT DOWN = TTL

W3 CH1 TTL/RS-422 SELECT DOWN = TTL

W2 CH2 TTL/RS-422 SELECT DOWN = TTL

W1 CH3 TTL/RS-422 SELECT DOWN = TTL

TTL/RS-422 ENCODER SELECTION

Each 7I33 channel has a selectable TTL or RS-422 (differential) encoder input
conditioning. W1,W2,W3,and W4 determine the encoder input mode. When the jumpers
are in the "DOWN" position, TTL inputs are selected, When the jumpers are in the "UP"
position, RS-422 inputs are selected. W1 selects the input mode for channel 3 , W2 for
channel 2, W3 for channel 1 and W4 for channel 0.

AUX POWER ROUTING

On the 7I33TA an additional jumper allows the AUX POWER connector to supply
power to the whole card or just to the encoder power connections. This jumper is W5.
When W5 is in the ‘UP’ position, encoder power is connected to main 7I33TA 5V. If flat
cable power is sufficient for running the 7I33TA and encoders, this is the suggested
position. If flat cable power is not sufficient for running the encoders, it is suggested that
5V be applied to the AUX power connector and W5 be placed in the "DOWN" position.

IMPORTANT NOTE:

In TTL mode, 7I33 cards previous to revision D have series resistors in the output
pins driving the controller card. FPGA card inputs with 3.3K pull-ups will result in poor
noise immunity of the quadrature signals from the 7I33. If you are using TTL encoder
inputs on a pre-rev D 7I33 card with a FPGA card having 3.3K pull-up resistors, it is best
to remove the pull-up resistor SIP packages connected to the 7I33 from the FPGA card.
This only affects TTL encoder inputs, not differential inputs.