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Amplifier Enable Output, Axis 1, 2, 3, 4
Open-drain output with 1KΩ pull-up resistor to +5 volts. This output is
asserted active True when the axis is in the motor ON state and False for
the motor OFF. The actual TTL level is user-configurable.
Analog Ground
Servo digital-to-analog (DAC) ground.
Digital Ground
Ground reference used for all digital signals.
Encoder A (+) Input, Axis 1, 2, 3, 4
The A (+) input is pulled-up to +5 volts with a 1KΩ resistor. The signal is
buffered with a 26LS32 differential receiver. The A (+) encoder encoded
signal originates from the stage position feedback circuitry and is used for
position tracking.
Encoder B (+) Input, Axis 1, 2, 3, 4
The B (+) input is pulled-up to +5 volts with a 1KΩ resistor. The signal is
buffered with a 26LS32 differential receiver. The B (+) encoder encoded
signal originates from the stage position feedback circuitry and is used for
position tracking.
Home Input, Axis 1, 2, 3, 4
This input is pulled-up to +5 volts with a 1KΩ resistor. The Home signal
originates from the stage and is used for homing the stage to a repeatable
location.
Index (+) Input, Axis 1, 2, 3, 4
The (+) Index input is pulled-up to +5 volts with a 1KΩ resistor and is
buffered with 26LS32 differential receiver. The (+) Index signal originates
from the stage and is used for homing the stage to a repeatable location.
Reset Output From Controller
The Reset output is a TTL buffered output that represents ESP6000 hard-
ware reset status of the controller itself. When the controller is held in a
reset state this output is a logical LOW. When connected to the
UniDrive6000 this output resets all driver channels.
Servo DAC Output, Axis 1, 2, 3, 4
The servo digital-to-analog converter (DAC) output is the ±10 volt control
signal used to control DC servo motors. This signal is the output of the 18-
bit servo DAC.
Travel Limit (-) Input, Axis 1, 2, 3, 4
This input is pulled-up to +5 volts with a 4.7KΩ resistor and represents the
stage negative direction hardware travel limit. The active true state is
user-configurable. The default is active HIGH.
Travel Limit (+) Input, Axis 1, 2, 3, 4
This input is pulled-up to +5 volts with a 4.7KΩ resistor and represents the
stage positive direction hardware travel limit. The active true state is user-
configurable. The default is active HIGH.
Section 3 — Connector PIN Assignments
3-7
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