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# 7.1 Connecting to the card

Here is the connections to connect EMC to a machine using the Servo To Go card. This is quoted from stg2.c.

| DIGITAL INPUTS |
Index | Function | Connector/Pin
00 | X home switch | P1/47
01 | X +limit switch | P1/45
02 | X -limit switch | P1/43
03 | X amp fault | P1/41
04 | Y home switch | P1/39
05 | Y +limit switch | P1/37
06 | Y -limit switch | P1/35
07 | Y amp fault | P1/33
08 | Z home switch | P1/31
09 | Z +limit switch | P1/29
10 | Z -limit switch | P1/27
11 | Z amp fault | P1/25
12 | A home switch | P1/23
13 | A +limit switch | P1/21
14 | A -limit switch | P1/19
15 | A amp fault | P1/17
16 | B home switch | P2/31
17 | B +limit switch | P2/29
18 | B -limit switch | P2/27
19 | B amp fault | P2/25
20 | C home switch | P2/23
21 | C +limit switch | P2/21
22 | C -limit switch | P2/19
23 | C amp fault | P2/17

| DIGITAL OUTPUTS |
Index | Function | Connector/Pin
00 | X amp enable | P1/15
01 | Y amp enable | P1/13
02 | Z amp enable | P1/11
03 | A amp enable | P1/9
04 | B amp enable | P1/7
05 | C amp enable | P1/5
06 | (none) | P1/3
07 | (none) | P1/1

| ANALOG INPUTS |
Index | Function | Connector/Pin
00 | (none) | P2/2
01 | (none) | P2/3
02 | (none) | P2/5
03 | (none) | P2/7
04 | (none) | P2/9
05 | (none) | P2/11
06 | (none) | P2/13
07 | (none) | P2/15

| ANALOG OUTPUTS |
Index | Function | Connector/Pin
00 | X amp ref | P3/2
01 | Y amp ref | P3/8
02 | Z amp ref | P3/5
03 | A amp ref | P3/11
04 | B amp ref | P4/2
05 | C amp ref | P4/8
06 | (none) | P4/5
07 | (none) | P4/11

| ENCODER INPUTS |
Axis | Function | Connector/Pin
X | A+ | P3/14
X | A- | P3/15
X | B+ | P3/17
X | B- | P3/18
X | I+ | P3/20
X | I- | P3/21
Y | A+ | P3/23
Y | A- | P3/24
Y | B+ | P3/26
Y | B- | P3/27
Y | I+ | P3/29
Y | I- | P3/30
Z | A+ | P3/32
Z | A- | P3/33
Z | B+ | P3/35
Z | B- | P3/36
Z | I+ | P3/38
Z | I- | P3/39
A | A+ | P3/41
A | A- | P3/42
A | B+ | P3/44
A | B- | P3/45
A | I+ | P3/47
A | I- | P3/48
B | A+ | P4/14
B | A- | P4/15
B | B+ | P4/17
B | B- | P4/18
B | I+ | P4/20
B | I- | P4/21
C | A+ | P4/23
C | A- | P4/24
C | B+ | P4/26
C | B- | P4/27
C | I+ | P4/29
C | I- | P4/30
(none) | A+ | P4/32
(none) | A- | P4/33
(none) | B+ | P4/35
(none) | B- | P4/36
(none) | I+ | P4/38
(none) | I- | P4/39
(none) | A+ | P4/41
(none) | A- | P4/42
(none) | B+ | P4/44
(none) | B- | P4/45
(none) | I+ | P4/47
(none) | I- | P4/48

Next: 7.2 Options in extstgmot.c Up: 7. Servo To Go Previous: 7. Servo To Go Contents Index