Electrical Configuration

Maxon Motor with Labels [Image]
Synapticon Motor Controller with Labels [Image]

Overview of Electrical Connections in NeuroArm

     MAXON MOTORS                 SYNAPTICON CONTROLLERS
     ------------                 ----------------------

x---------------------x          x----------------------x
|                     |          |      Ethercat 1 (in) |
| - Motor Outs        |----------|      Ethercat 2 (out)|
|   (1,2,3)           |          |                      |
| - Hall Encoder      |----------|                      |-->To Power Supply
|   (6 pin HALL)      |          |                C     |
| - Quadrature Encoder|----------|                B  G  |
|   (10 pin QEI)      |          |  QEI   HALL    A  V  |
|                     |          x----------------------x
x---------------------x                     |
                                            |
                                            |
                                            |
                                            |
x---------------------x          x----------------------x
|                     |          |      Ethercat 1 (in) |
| - Motor Outs        |----------|      Ethercat 2 (out)|
|   (1,2,3)           |          |                      |
| - Hall Encoder      |----------|                      |-->To Power Supply
|   (6 pin HALL)      |          |                C     |
| - Quadrature Encoder|----------|                B  G  |
|   (10 pin QEI)      |          |  QEI   HALL    A  V  |
|                     |          x----------------------x
x---------------------x                     |
                                            |
                                            |
                                            |
                                            |
x---------------------x          x----------------------x
|                     |          |      Ethercat 1 (in) |
| - Motor Outs        |----------|      Ethercat 2 (out)|
|   (1,2,3)           |          |                      |
| - Hall Encoder      |----------|                      |-->To Power Supply
|   (6 pin HALL)      |          |                C     |
| - Quadrature Encoder|----------|                B  G  |
|   (10 pin QEI)      |          |  QEI   HALL    A  V  |
|                     |          x----------------------x
x---------------------x                     |
                                            |
                                            |
                                            |
                                            |
                                            V
                                  To Computer Ethernet Port

Motor Outs --> Synapticon Motor Outs

• 1 (Red Wire) --> A
• 2 (Black Wire) --> B
• 3 (White Wire) --> C

Hall Encoder

Synapticon provides a 6 pin female micro-match output for it's hall encoder port, but the maxon motor's hall encoder uses a different pin number scheme and female connector. To make this connection, we soldered together our own connections.

On the Synapticon Controller, we connected a 6 pin male micro-match to 6 wire 28 AWG ribbon cable. We stripped the 6 wires on the other end of the ribbon cable and individually soldered them to a perfboard, which could be plugged into the motor's hall encoder via male breakout header pins.

Quadrature Encoder (QEI)

As with the Hall Encoder, we had to solder together connections between the 10 pin female micro-match connector on the Synapticon Controller and the 10 pin female hall output on the motor.

EtherCAT

The three Synapticon Motor Controllers are daisy chained together and connected to the computer's ethernet port via three connections:

1. Computer --> EtherCAT 1 (in) [on first Synapticon controller]
2. EtherCAT 2 (out) --> EtherCAT 1 (in) [on second Synapticon controller]
3. EtherCAT 2 (out) --> EtherCAT 1 (in) [on final Synapticon controller]

Synapticon Power Supply

• Red Wire (V) --> 24V DC Power Supply High Voltage
• Black Wire (G) --> 24V DC Power Supply Low Voltage