ClearCore User Manual - Teknic · 2021. 6. 11. · ClearCore & CCIO-8 Hardware Manual / Rev. 1.07 4...

ClearCore Hardware and Wiring Manual Includes wiring information for CCIO-8 (ClearCore I/O Expansion Board) Rev. 1.09 August 31, 2021

USER MANUAL

C l e a r C o r e & C C I O - 8 H a r d w a r e M a n u a l / R e v . 1 . 0 9 2

TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

Table of Contents

Table of Contents.............................................................................................................. 2

Introduction ....................................................................................................................... 4 Welcome ................................................................................................................................ 4 What's in this Document ........................................................................................................ 4

Safety Information............................................................................................................. 5 Precautionary Statement .......................................................................................................5 General Disclaimer ................................................................................................................ 5

Parts Overview .................................................................................................................. 6 Parts of a ClearCore .............................................................................................................. 6 Parts of a CCIO-8 (I/O Expansion Board)..............................................................................7

Powering ClearCore and CCIO-8 ..................................................................................... 8 Recommended Power Supply ...............................................................................................8

PWR-IO-24VDC..................................................................................................................... 8 Wiring DC Power to ClearCore and CCIO-8 .........................................................................9

I/O Wiring ......................................................................................................................... 10 Introduction ..........................................................................................................................10 I/O Overview Table ..............................................................................................................10 Wiring I/O Devices to ClearCore..........................................................................................11

I/O-0 through I/O-5 configured as DIGITAL INPUTS ........................................................... 12 A-9 through A-12 and DI-6 through DI-8 configured as DIGITAL INPUTS........................... 13 A-9 through A-12 configured as ANALOG INPUTS ............................................................. 14 I/O-0 through I/O-5 configured as DIGITAL OUTPUTS ....................................................... 15 I/O-4 or I/O-5 configured as Variable, Bi-directional Drive (PWM) ....................................... 16 I/O-0 configured as a 4-20mA (or 0-20mA) OUTPUT .......................................................... 17 ClearCore Combined I/O Header......................................................................................... 18

Wiring I/O Devices to CCIO-8..............................................................................................19 I/O-0 through I/O-7 configured as DIGITAL INPUTS ........................................................... 19 I/O-0 through I/O-7 configured as DIGITAL OUTPUTS ....................................................... 19 CCIO-8 Combined I/O Header............................................................................................. 19

Motor Connectors (M-0, M-1, M-2, M-3) ......................................................................... 20 How to Wire a ClearPath Motor to ClearCore .....................................................................21

ClearPath Controller Cables ................................................................................................ 21 Wiring a Stepper Motor Drive to ClearCore.........................................................................22


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Serial COM Ports (COM-0, COM-1).................................................................................23 COM-0, COM-1 with 5V compatible RS-232 transceivers...................................................24 COM-0, COM-1 configured for 5V logic UART devices.......................................................25 COM-0, 1 configured for SPI devices ..................................................................................26

Other Ports and Connectors...........................................................................................27 USB Port ..............................................................................................................................27 Ethernet Port ........................................................................................................................27 XBee Connector ...................................................................................................................27 JTAG Connector...................................................................................................................28 Micro-SD Card Drive ............................................................................................................28

CL-ENCDR-DFIN Encoder Input Adapter Board ..........................................................29 Introduction ..........................................................................................................................29 Connectors and Pinouts.......................................................................................................30 Dimensions ..........................................................................................................................31 Specifications.......................................................................................................................31

Appendix A: Troubleshooting ........................................................................................32 Status Blink Codes...............................................................................................................32 Windows 7 Issues ................................................................................................................32

Appendix B: Mechanical Reference...............................................................................33 ClearCore Mounting and Clearance Dimensions ................................................................33 CCIO-8 Mounting and Clearance Dimensions.....................................................................34

Appendix C: Mating Connectors and Terminals...........................................................35

Appendix D: Specifications ............................................................................................36 ClearCore Specifications .....................................................................................................36 CCIO-8 Specifications..........................................................................................................38

Appendix E: Processor Signal Routing Schematics....................................................39


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

Introduction

Welcome Thank you for purchasing a ClearCore programmable, I/O and motion controller. This document is a hardware reference manual for both the ClearCore controller (Teknic p/n CLCR-4-13) and the ClearCore I/O expansion board (Teknic p/n CCIO-8).

For programming information, please see the ClearCore programming reference.

Complete documentation for ClearCore and its accessories can be found on our Downloads page under the ClearCore heading.

What's in this Document Parts of a ClearCore (callout diagram)

Wiring diagrams for common I/O and motor devices

Power supply requirements

Mating hardware information

Product specifications

Mechanical dimensions

Mounting information

https://www.teknic.com/products/io-motion-controller/clcr-4-13/�

https://www.teknic.com/CCIO-8/�

https://teknic-inc.github.io/ClearCore-library/�

https://teknic-inc.github.io/ClearCore-library/�

https://www.teknic.com/downloads/�


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

Safety Information Please read this safety information before using a ClearCore controller.

Precautionary Statement Always follow appropriate safety precautions when installing and using any automated motion control equipment. Motion control systems should be designed and utilized to prevent personnel from coming into contact with moving parts and electrical contacts that could potentially cause injury or death. Read all cautions, warnings, and notes before attempting to install or operate this device. Follow all applicable codes and standards when using this equipment. Failure to use this equipment as described may impair or neutralize protections built into the product.

General Disclaimer The User is responsible for determining the suitability of this product for his or her application. The User must ensure that Teknic’s products are installed and utilized in accordance with all local, state, federal and private governing bodies and meet all applicable health and safety standards.

Teknic has made all reasonable efforts to accurately present the information in the published documentation and shall not be responsible for any incorrect information which may result from unintentional oversights.

Due to continuous product improvements, the product specifications as stated in the documentation are subject to change at any time and without notice. The User is responsible for consulting a representative of Teknic for detailed information and to determine any changes of information in the published documentation.

Should Teknic’s products be used in an application that is safety critical, the User must provide appropriate safety testing of the products, adequate safety devices, guarding, warning notices and machine-specific training to protect the operator and/or bystanders from injury.


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

Parts Overview

Parts of a ClearCore

A-12 A-11 A-10 A-9 DI-8 DI-7 DI-6

M-2 M-3

CO

MB

INED

I/O5V COM-0 5V COM-1

I/O-3 I/O-4 I/O-5I/O-0 I/O-1 I/O-2

M-1M-0

XBee

RESET

Dedicated plug-in terminal blocks for

each I/O point

Digital Inputs or 0-10V Analog Inputs (4x) Digital Inputs (3x)

Micro SD Card SlotRead/write capable, data

storage, data logging

Ethernet Port

USB Host / Programming Port USB type B

User Mounting Holes (2x)

Case Screw (1x)4-40 x 3/8”use Torx T10 screwdriver

Reset Switch

Motor Connectors (4x) M0-M3 Control ClearPath motors, step motor drives,or servo motor drives

Digital Input, Digital Output*, or

Analog Output (4-20mA or 0-20mA)

Digital Inputs, Digital Outputs*, or Speaker /

DC motor drive (2x)

Combined I/O Headersee description below **

Communication Ports (2x) RJ-45 connectors compatible with SPI, UART, or RS-232 devices

DC Power Input24VDC

Digital Inputs or Digital Outputs* (3x)

left side view

Antenna knockout for optional XBee wireless module

*All digital outputs (I/O-0 through I/O-5) have built-in clamping circuitry and are capable of driving coils of up to 9-watts max.

**Combined I/O HeaderCan be used in only one of two ways listed

Right side view

Breaks out all 13 I/O points. (Provides an alternative hookup path to the individual 3-pin I/O connectors.)

Connect optional Teknic differential encoder input board here

(Teknic PN CL-ENCDR-DFIN).or

ClearCore top and side views


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

Parts of a CCIO-8 (I/O Expansion Board)

Combined I/O HeaderFor alternate hookup of I/O points (for use with custom break-out boards, bulkhead connectors, harness, etc.)

COM IN (RJ-45)Serial communicationinput from ClearCore or previous CCIO-8

Mounting Hole

Mounting Hole

Mounting PlateAluminum, 2mm

COM OUT (RJ-45)Serial communicationoutput to next CCIO-8 if applicable

DC Power Input24VDC

Digital Inputs or Digital Outputs (8 total)

Digital Inputs or Digital Outputs (8 total)

CCIO-8 I/O expansion board


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

Powering ClearCore and CCIO-8 ClearCore and CCIO-8 are 24VDC compatible devices. This section includes ClearCore power supply recommendations and wiring instructions.

Important: Do not use your ClearCore power supply to also supply DC bus power to servo or stepper drives attached to ClearCore (this applies to ClearPath motors as well). Always use a separate, dedicated supply, such as the IPC-5, designed to handle the power and regenerated energy requirements of servo or step motor drives.

Recommended Power Supply

PWR-IO-24VDC The PWR-IO-24VDC power supply (Mean Well PN LRS-150-24) is an inexpensive, 24VDC, 6.5A (156W) switching supply capable of powering most ClearCore applications. Click here to view product datasheet.

Why choose a "higher current" power supply?

A power supply of 6.5A or more is recommended for ClearCore applications to ensure that the ClearCore processor remains powered under adverse operating conditions such as overloads or shorts. Note: Lower current supplies will work with ClearCore, but may experience shutdowns or brown outs if ClearCore is overloaded or shorted due to user/application error.

https://www.teknic.com/products/servo-motor-dc-power-supply/�

https://www.teknic.com/PWR-IO-24VDC/�

https://www.meanwell.com/Upload/PDF/LRS-150/LRS-150-SPEC.PDF�


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

Wiring DC Power to ClearCore and CCIO-8 See below for instructions on wiring 24VDC power to ClearCore and CCIO-8.

Tools Required Slotted screwdriver with max. 2mm wide blade Wire cutter/stripper 3-position screw terminal connector, Molex part # 0395105003

Procedure 1. Turn off power supply. 2. Strip DC output wires from power supply. Expose

approximately 6.5mm (0.25") of bare wire. 3. Fully insert V+ and V- wires fully into terminal block "+" and

ground positions. 4. Tighten terminal screws. 5. Inspect connector for good wire capture. Verify that no wire

insulation is captured in the closure, and that no loose wire strands are sticking out of the connector.

6. Recommended: Before connecting the terminal block to ClearCore, test for correct voltage polarity between "+" and ground terminals.

Strip Length0.25 in.6.5 mm

Tighten screws toapprox. 2 in/lbs.Use 2mm slottedscrewdriver.

ClearCore CCIO-8

PWR

From DCPower Supply Insert connector(s)

as shown.Press firmly to seat.

Connecting power to ClearCore and CCIO-8

Chassis Connection Mount ClearCore and CCIO-8 to a machine frame or chassis continuous with Protective Earth. Alternately, connect the chassis terminal on the 3-position power connector to machine frame using conductive hardware.

https://www.molex.com/pdm_docs/sd/395100102_sd.pdf�


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

I/O Wiring

Introduction This section discusses the function and wiring of ClearCore and CCIO-8 user-configurable I/O points.

ClearCore I/O at a Glance (13) software configurable I/O points Up to (13) digital inputs Up to (4) analog inputs Up to (6) digital outputs (with PWM) Up to (1) 4-20mA (or 0-20mA) output Separate ground and power for all I/O points (grounds not isolated) A dedicated status LED for every I/O point Add up to 64 more digital in/out points with Teknic's CCIO-8 (I/O

expansion modules)

I/O Overview Table The table below lists all ClearCore and CCIO-8 I/O connectors and their supported I/O types. Refer to the ClearCore programming reference for instructions on how to configure ClearCore and CCIO-8 I/O connectors.

Label Digital InputDigital

Output10-10V

Analog Input4-20 mA Output2

Servos or Steppers

Speaker Tones

DC Motor Drive

I/O-0 yes yes yesI/O-1 yes yesI/O-2 yes yesI/O-3 yes yesI/O-4 yes yes yes yesI/O-5 yes yes yes yesDI-6 yesDI-7 yesDI-8 yesA-9 yes yes

A-10 yes yesA-11 yes yesA-12 yes yesM-0 yes3

M-1 yes3

M-2 yes3

M-3 yes3

CCIO-84 yes yesNote 1: All digital outputs are PWM capable (except for those on the CCIO-8 expansion board).Note 2: This output can also provide 0-20mA, which is less commonly used.Note 3: Each motor connector has 3 digital outputs (step, dir., enable) and 1 digital input.Note 4: There are 8 of these I/O points on the CCIO-8 expansion module.

ClearCore I/O overview table


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

Wiring I/O Devices to ClearCore This section explains how to wire common I/O devices to a ClearCore controller. Each subsection includes a diagram of the ClearCore internal circuitry and several example hookup diagrams.

CO

MB

INED

I/OXBee

RESET M-2M-0

5V COM-0 5V COM-1

A-12 A-11 A-10 A-9 DI-8 DI-7 DI-6

I/O-3 I/O-4 I/O-5I/O-0 I/O-1 I/O-2

Digital Inputs or 0-10V Analog Inputs Digital Inputs

Dedicated indicator LED for

each I/O point

Digital Input, Digital Output, or 4-20mA (0-20mA) Analog

Output

Digital Inputs, Digital Outputs, or Speaker / DC motor drive (2x)

Digital Inputs or Digital Outputs

DAMAGE WARNINGWith the cover removed, it is possible to misalign the 3-position I/O connectors. This may damage the user’s external I/O devices (ClearCore is generally protected against these types of use error). Check connector alignment before powering device.

��

CORRECT!off by one bridging twoconnectors

ClearCore I/O connectors


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

I/O-0 through I/O-5 configured as DIGITAL INPUTS

Note: The wiring examples shown below also apply to all CCIO-8 I/O points configured as digital inputs.

Input Equivalent Circuit Typical Sensor Hookup Details

169k10k

Vsupply (24V)

Vsupply (24V)

3V3IN[NN]n

Digital “NPN”Sensor:ProximityOpticalHall-Effect, etc.

GS BLK

BLUBRN

Switch or Relay Contact

GS

5V/3.3V Logic System

GS

IMPORTANT:Inputs are “negative true”:On<~1.0V, Off>=~1.0V

GS

“Ease of Use” Note: 5V SensorsBefore using 5VDC sensors, consider either 1) sourcing 24V alternatives, or 2) providing a separate 5VDC supply to power your 5V sensors.

*

* Wire colors listed are typical of industrial sensors

Digital “PNP”Sensor:ProximityOpticalHall-Effect

820 Ω1 Watt

330 Ω1/2 Watt

BLK *BLUBRN

GS

Gnd

* Wire colors shown are typical of industrial sensors

● Resistors sized for 24VDC supply voltage● External resistors not included


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

A-9 through A-12 and DI-6 through DI-8 configured as DIGITAL INPUTS

IMPORTANT:Inputs are “negative true”:On<~1.0V, Off>=~1.0V


Digital “NPN”Sensor:ProximityOpticalHall-Effect, etc.

GS BLK

BLUBRN

Switch or Relay Contact

GS


GS

5k

5V

Vsupply (24V)

20k3V3

IN[NN]n

GS

“Ease of Use” Note: 5V SensorsBefore using 5VDC sensors, consider either: 1) sourcing 24V alternatives, or 2) providing a separate 5VDC supply to power your 5V sensors.

Digital “PNP”Sensor:ProximityOpticalHall-Effect

820 Ω1 Watt

330 Ω1/2 Watt

BLK *BLUBRN

GS

Gnd

* Wire colors shown are typical of industrial sensors

● Resistors sized for 24VDC supply voltage● External resistors not included


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

A-9 through A-12 configured as ANALOG INPUTS ClearCore is compatible with a variety of analog sensors (transducers) including the following: Pressure Force Torque Temperature Angle Inclination Distance Level Velocity Mass Flow Electric current

GS Out

GndV+

0-10VAnalogSensor

GS Out

GndV+

4-20mAAnalogSensor

499Ω, 1/2 Watt

Note:

Place the 499 Ohm shunt resistorclose to input terminal block.

Loop-powered4-20mASensor

V-V+

GS

499Ω, 1/2 Watt

Notes:

Place the 499 ohm shunt resistor close toinput terminal block.

Use twisted pair wire as shown to minimizenoise pickup.

GS

1.4k

CW

1.0k

Engineering Note:The repeatability of this circuit will beaffected by the drift and regulation ofthe power supply connected toVsupply. (Values shown for a 24Vsupply.)

Potentiometer


GS

GS

GS

GS

(Cfg[NN]_AIN_DINn = Hi)

A/D0-10V

30k Vsupply (24V)

Ain[NN]

GS

Typical Sensor Hookup Details

Sensor Notes:

0-5V output sensors can be used with ClearCore, but there will be a loss of 1 bit of resolution (provided they are compatible with the ClearCore supply voltage (Vsupply).

0-20mA sensors can be used with ClearCore, but there will be some loss of linearity near zero current (this is sensor dependent).


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

I/O-0 through I/O-5 configured as DIGITAL OUTPUTS

Note: The wiring shown in this section also applies to all CCIO-8 points configured as digital outputs.

Output Equivalent Circuit Typical Actuator Hookup Details

Typical Actuator Hookup Details

Vsupply(24V)

Vsupply (24V)

*

10k

* protected FET

0.375A Max.

OUT[NN]

IMPORTANT:Outputs are “negative true”:On state turns on transistor, enablingcurrent in load, pulling output <0.5V

GS

Coil

RelayContactorPneumatic ValveFluid Valve

Vacuum ValveSolenoid Guard LockSolenoid Actuator (e.g., diverter)

No Shunt Diode Required(Outputs have built-in

active clamping)

GS

MGS

DC Motor. Pump, etc.(single direction)

GS

GS

DC Fan

GS

+


GS

External clamping diode to logicsupply may be required, consultlogic IC datasheet.

Logic

GS

GS

LED Indicator

GS

GS

SSR

Inpu

t

Out

put

Solid State Relay

GS

GS


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

I/O-4 or I/O-5 configured as Variable, Bi-directional Drive (PWM)


Average output voltage equationVsupply*(Duty Cycle of PolarityS - Duty Cycle of Polarity)

H-bridge

Vsupply (24V)

Polarity[NN]

Polarity[NN]S

OUT[NN]Enable

1.0A Max.

1.0A Max.

Notes:1. For use with loudspeaker/

shaker loads the maximumRMS current must notexceed 1A

2. Exceeding output currentratings will require resettingboth IO-4 and IO-5 outputsby cycling theOverV_DISABLEn signal

GS

Loudspeaker/Shaker

GS

GS

Galvanometer

GS

MGS

DC Motor. Pump, etc.(fwd/rev direction)

GS

GS


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

I/O-0 configured as a 4-20mA (or 0-20mA) OUTPUT ClearCore's I/O-0 connector can be configured to supply a variable 4-20mA analog signal to control a wide variety of analog actuators. A few examples of devices that can be controlled using 4-20mA signaling include:

Damper control Proportional valve Pressure regulator Linear position actuator Rotary position actuator Process meter (display) Variable speed display


Typical Actuator Hookup Details

DAC Aout00

Vsupply

VoutMAX=Vsupply-2V

DAC/Vout1

Output produces positive current flow through theS (signal) pin as shown, i.e., output is “sourcing”

4-20mA4-20mA RET.COMV+ SUPPLY

Notes:Connect signal and supply returnwires close to output terminal blockUse twisted pair as shown for bestnoise immunity

4-wire Actuator

GSGS

3-wire Actuator

GS 4-20mA

COMV+ SUPPLY

GS

GS 0-10V

COMV+ SUPPLY

3-wire 0-10VActuator

499/0.5W

Note:Place 499 Ohm shunt resistor closeto actuator

GS

GS

2-wire Control

EXTERNALSUPPLY

May be requireddepending on device

4-20mACOMG

S

GS


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

ClearCore Combined I/O Header The ClearCore I/O header (labeled "Combined I/O" on the case) provides an alternate, functionally identical way to connect I/O devices to ClearCore's I/O points.

Combined I/O10x2 Header, 0.10” pitch

ClearCore Side View

A-9A-11A-12DI-6DI-7

I/O-1I/O-2I/O-3

I/O-4+I/O-5+

A-10GNDVsupplyVsupplyDI-8I/O-0VsupplyGNDI/O-4I/O-5

Mating Connector (for use with ribbon cable) Housing: OST/101-206 Ribbon cable: CnC Tech/304-28-20-MC-0250F

Mating Connector (crimp style) Housing: AMP/102387-4 Terminals: AMP/87756-4 (22-26AWG)

1 1 23 45 67 89 1011 1213 1415 1617 1819 20

ClearCore I/O Header


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

Wiring I/O Devices to CCIO-8 IMPORTANT NOTES

All CCIO-8 I/O points are electrically identical to ClearCore I/O points I/O-1, I/O-2, and I/O-3. The only functional difference is that the CCIO-8 points cannot output PWM signals.

CCIO-8 I/O points can be configured as either digital inputs or digital outputs.

I/O-0 through I/O-7 configured as DIGITAL INPUTS The wiring for all 8 of these I/O points (as inputs) is the same as the wiring for ClearCore I/O-0 through I/O-5 configured as DIGITAL INPUTS

I/O-0 through I/O-7 configured as DIGITAL OUTPUTS The wiring for all 8 of these I/O points (as outputs) is the same as the wiring for ClearCore I/O-0 through I/O-5 configured as DIGITAL OUTPUTS

CCIO-8 Combined I/O Header The CCIO-8 I/O header (labeled "Combined I/O" on the board) provides an alternate, functionally identical way to connect I/O devices to ClearCore's I/O points.

Combined I/O10x2 Header, 0.10” pitch

CCIO-8 top view

I/O-6I/O-7I/O-1I/O-2I/O-3

GNDVsupplyVsupply

I/O-0VsupplyGNDI/O-4I/O-5



1 2

19 20

Pin 1

CCIO-8 I/O Header


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

Motor Connectors (M-0, M-1, M-2, M-3) ClearCore includes four multi-function motor connectors that each feature three (3) specialized outputs and one (1) specialized input. They are plug and play compatible with Teknic ClearPath motors, but are not limited to only ClearPath motors.

ClearCore can be programmed to send different types of signals to the motor connectors, including:

Step & Direction signals to ClearPath-SD (Step & Dir) series motors

Step & Direction signals to third-party compatible servo or step motor drives

Digital control signals to ClearPath-MC (Motion Controller) series motors

Note: ClearCore motor connectors are designed to send and receive low- power signals only. These connectors cannot directly power the phase windings of servo or stepper motors.

CO

MB

INED

I/O

RESET M-2 M-3M-1M-0

5V COM-0

A-12 A-11 A-10 A-9 DI-8 DI-7

I/O-1

ClearCore MotorConnectors

ClearCore motor connectors


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

How to Wire a ClearPath Motor to ClearCore Connect ClearPath motors to ClearCore with a Teknic controller cable (or make your own).

ClearPath Controller Cables Order from Teknic. The quickest way to connect a ClearPath motor to ClearCore is with a ClearPath controller cable available from teknic.com. See links below for information and pricing.

CPM-CABLE-CTRL-MU120 10 ft. ClearPath controller cable

CPM-CABLE-CTRL-MM660 55 ft. ClearPath controller cable

Build your own. ClearPath controller cables can also be built with off-the-shelf components available from electronics distributors like Dig-Key. See Appendix C for a full list of parts and tools required to build ClearPath controller cables.

Mating ConnectorWire Entry View

5VOB

130

130

2k

Mtr[N] _ENable

Mtr[N] _B_CLK

Mtr[N] _An

Mtr[N] _HLFB

3.0

Enable

Step

Dir

HLFB

ClearPath Servo Motor

3

7

6

2

4

8

1

5

1

3 7

62

4 8

5

10mA

10mA

10mA

10mA

47k

Vsupply (24V)

10mA

MotorPowerSupply

1

2

3

4

Motor control cable componentsHousing: Molex/39-03-9082 (black)

Terminals: Molex/39-00-0047 (loose);Molex/ 39-00-0046 (reel)

Crimp Tool: Molex/63819-0900

Extractor Tool: Molex/11-03-0044

Pre-fabricated motor control cablesavailable from Teknic.com:

10-foot (3.1m): CPM-CABLE-CTRL-MU12055-foot (16.8m): CPM-CABLE-CTRL-MM660

RED

BLK

3

7

6

2

4

8

1

5

GRN

RED

WHT

BRN

BLK

YEL

BLU

ORN

ClearPath motor connected to ClearCore

https://www.teknic.com/CPM-CABLE-CTRL-MU120/�

https://www.teknic.com/CPM-CABLE-CTRL-MM660/�


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

Wiring a Stepper Motor Drive to ClearCore

Typical Stepper Motor Drive

Enable

Step

Dir

Fault

V+

V- MotorPowerSupply

Vsupply

~Enable

GND

Step

Dir

GND

~HLFB

5V

3

7

6

2

4

8

1

5

GRN

RED

WHT

BRN

BLK

YEL

BLU

ORN

Stepper motor drive wired to ClearCore controller


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

Serial COM Ports (COM-0, COM-1) ClearCore includes two multi-function serial ports: COM-0 and COM-1. These ports are accessed through RJ-45 connectors as shown below. Each port is individually configurable for use with SPI devices, UART devices, or RS-232 transceivers. Each port includes a 5V power pin to power the remote device if needed.

Notes

The CCIO-8 (I/O expansion board) can be connected to ClearCore at COM-0 or COM-1 using a standard CAT-5e cable.

Only one branch of CCIO-8 expansion boards is supported (i.e. you can't connect a CCIO-8 board to both ports simultaneously).

CO

MB

INED

I/OXBee 5V COM-0 5V COM-1

A-12 A-11 A-10 A-9 DI-8 DI-7 DI-6

I/O-3 I/O-4 I/O-5I/O-0 I/O-1

Serial Ports COM-0 and COM-1


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

COM-0, COM-1 with 5V compatible RS-232 transceivers

12345678

DCE/Modem

Wire entry view Wire entry view

12345678

DTE/Host

Typical Hookup Details

5

4

3

2

1

9

8

7

6

5

4

3

2

1

9

8

7

6

12345678

5VOB

2k

130

130

2k

COM-[N] For use with 5V compatible RS-232 transceivers(CfgCom[N]_UART_SPIn = Low, CfgCom[N]_Polarity = Hi)

5V

COM[N]_RTS

COM[N]_CTS

COM[N]_TX

COM[N]_RX

View looking into jack

COM Port Equivalent Circuit

COM-0, 1

ClearCore internal

TIA T568A wire colors shown TIA T568A wire colors shown

Male Connector Shown(e.g. Amphenol/DE09P064TXLF)

Female Connector Shown(e.g. Amphenol/DE09S064TLF)

IMPORTANT: Mating serial ports must be compatible with 0-5V signals or a converter must be used.

COM-0, COM-1 configured for RS-232


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

COM-0, COM-1 configured for 5V logic UART devices


12345678

5VOB

2k

130

130

2k

5V

COM[N]_RTS

COM[N]_CTS

COM[N]_TX

COM[N]_RX



COM-0, 1

ClearCore internal

12345678 Data Out

Data InGND~Buffer Full

~Stop Data Out

5V Power In

COM-[N] For use with 5V logic UART devices(non-inverting) (CfgCom[N]_UART_SPIn = Low, CfgCom[N]_Polarity = Low)

“TTL” UARTport device

● 5VOB supplies 5V power for any loads connected to COM-0 and COM-1 connectors● 5VOB also supplies the optional XBee module if installed● Total current available from 5VOB is 450mA● See block diagram in appendix E for details

COM-0, COM-1 configured for 5V UART devices


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

COM-0, 1 configured for SPI devices


12345678

5VOB

130

130

130

2k

5V

COM[N]_SS

COM[N]_MISO

COM[N]_MOSI

COM[N]_SCK



COM-0, 1

ClearCore internal

12345678 Shift Clk

Data InGNDData Out

Select

5V Power In

● 5VOB supplies 5V power for any loads connected to COM-0 and COM-1 connectors● 5VOB also supplies the optional XBee module if installed● Total current available from 5VOB is 450mA● See block diagram in appendix E for details

COM-[N] For use with SPI devices(CfgCom[N]_UART_SPIn = Hi, CfgCom[N]_Polarity = Low)

SPI SlaveDevice

COM-0, COM-1 configured for use with SPI devices


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

Other Ports and Connectors

USB Port The USB (type-B) serial port can be used for uploading application code as well as serial communication with a PC or other device.

Ethernet Port ClearCore includes a 10Base-T/100Base-TX Ethernet connector to provide network connectivity to your ClearCore. Access is through a standard RJ-45 jack. Use only CAT5e cable or better (non-crossover type).

XBee Connector Note: The ClearCore cover must be temporarily removed to install or remove an XBee module.

The following XBee modules are compatible with ClearCore. Note: Only the through-hole versions of these XBee devices can be used with ClearCore.

Digi XBee 3

Digi XBee Wi-Fi (S6B)

XBee or XBee-PRO Zigbee

XBee or XBee-PRO DigiMesh 2.4 (S2C)

XBee or XBee-PRO 802.15.4

XBee-PRO 900HP (S3B)

Notes

2G/3G and 4G-LTE cellular XBee modules are not compatible with ClearCore.

The ClearCore's polycarbonate cover has holes and knockouts to accommodate select XBee antenna types.


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

JTAG Connector An onboard JTAG connector is provided for developers who wish to connect a third-party debugging tool during development. Note: You must remove The ClearCore cover to access the JTAG connector.

Recommended debugger: Atmel p/n: ATATMEL-ICE (for use with Atmel Studio 7 IDE)

Cable for above debugger : TAG-Connect p/n: TC2030-CTX-LEMTA, 6-Pin, "plug of nails" connector that connects directly to the ClearCore board. The opposite end of this cable connects to the ICE debugger's "SAM" port.

*LEMTA option must be selected for compatibility with the Atmel-ICE debugger.

Micro-SD Card Drive ClearCore includes a built-in micro-SD card drive with read/write capability. Typical uses include:

Data logging for debugging and troubleshooting

Machine configuration data storage

General file storage

Micro-SD Card Compatibility

Use only Micro SDHC cards (which utilize FAT32 file systems by default) with your ClearCore. These cards typically range from 4Gb to 32Gb of storage capacity. Micro-SD cards with file systems other than FAT32, for example exFAT and NTFS, will not work with ClearCore and must be formatted to FAT32 file systems to be compatible with ClearCore.

https://www.teknic.com/ATATMEL-ICE-BASIC/�

https://www.teknic.com/ATATMEL-ICE-BASIC/�


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

CL-ENCDR-DFIN Encoder Input Adapter Board

Introduction The CL-ENCDR-DFIN encoder input adapter board lets you send externally generated encoder data to your ClearCore or ClearLink device. This accessory board is sold separately at Teknic.com.

Note: CL-ENCDR-DFIN takes input from one, three-channel differential encoder only. ClearCore and ClearLink devices can receive input from one external encoder per unit.

IMPORTANT: When using CL-ENCDR-DFIN, do not connect external I/O devices to connectors DI-6, DI-7 and DI-8 on your ClearCore or ClearLink device. Doing so will likely result in intermittent or nonexistent encoder feedback and may permanently damage your CL-ENCDR-DFIN board.

Index channel bypass. If you do not need to use the index channel from your encoder, you may remove jumper P3 from the CL-ENCDR-DFIN board. This will allow you to use DI-8 as a standard input on your ClearCore or ClearLink.

Supported encoders. Many third-party encoders with standard, 3-channel, differential output signals will work seamlessly with CL-ENCDR-DFIN. Check the encoder manufacturers specifications to verify compatibility with CL-ENCDR-DFIN before attempting to use.

For information on how to use external encoder data, see the software documentation for your ClearCore or ClearLink device.

ClearCore or ClearLink

CL-ENCDR-DFINEncoder Adapter Board

A-12 A-11 A-10 A-9 DI-8 DI-7 DI-6

M-2 M-3

CO

MB

INED

I/O

I/O-3 I/O-4 I/O-5I/O-0 I/O-1 I/O-2

M-1M-0

Differential Encoder

ENC AENC A

ENC BENC B

ENC IENC I

20 Pos. Ribbon Cable

Standard DB-9Connector

Digi-Key PN: H3CCH-2006G-ND

Do not connect I/O devices toDI-6, DI-7, or DI-8

when using CL_ENCDR_DFIN

CL-ENCDR-DFIN Encoder Input Adapter Board


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

Connectors and Pinouts

Pin Signal Name1 N/C2 N/C3 N/C4 GND5 N/C6 N/C7 Encoder A8 N/C9 Encoder B

10 Encoder I11 N/C12 N/C13 N/C14 V+15 N/C16 GND17 N/C18 N/C19 N/C20 N/C

P1 - To ClearCore or ClearLink

Pin Signal Name1 GND2 I+3 B+4 A+5 5V6 I-7 B-8 A-9 GND

P2 - Encoder Input

Ribbon Cable Assembly 20 Position Cable Assembly, Rectangular Socket to Socket, 0.500' (152.40mm, 6.00") Digi-Key PN: H3CCH-2006G-ND



Mating ConnectorStandard D-sub 9

shell, female contacts

1 23 45 67 89 1011 1213 1415 1617 1819 20

P1

1

1

5

6

9

2

19 20

Encoder Input (P2)From external encoder

Encoder Output (P1)To ClearCore or

ClearLink I/O Header

Jumper (P3)Index Bypass

A B Power On

P2

1

2

3

4

5

6

7

8

9


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

Dimensions

4X 3.660.144

THRU

Close #6 Clearance

64 ±0.52.52 ±0.02

2X 47.501.870

8.20.32

5.60.22

2X 34 ±0.251.339 ±0.010

8 ±0.50.32 ±0.02

20.40.80

45.21.78

Specifications

Specification Min. Typ. Max. UnitOperating Temperature -20 50 ºCCount Rate 2 MHz5V Output Current 300 mAA, B, I Signal Termination Impedance 470 �Index Capture Delay 2 uSCommon Mode Input Voltage -7 7 VInput Differential Hysteresis 60 mV


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

Appendix A: Troubleshooting

Status Blink Codes A full description of the ClearCore status blink codes is available in the ClearCore Library reference document at the following URL:

https://teknic-inc.github.io/ClearCore-library/BlinkCodes.html

Windows 7 Issues USB driver management in Windows 7 causes issues in some installations which affect uploading code to ClearCore. Extra manual steps may be required to upload code in these systems.

If you experience problems when using ClearCore with Windows 7, please try the following:

Press ClearCore reset button Turn off USB selective suspend (this is the Windows USB power

save feature). Google the above phrase for instructions Insert a USB 2.0 hub between the PC and ClearCore Load the latest USB 3.0 drivers for your PC’s hardware

https://teknic-inc.github.io/ClearCore-library/BlinkCodes.html�


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

Appendix B: Mechanical Reference

ClearCore Mounting and Clearance Dimensions

107.954.250

34.931.375

2X 5.080.200

Loose #10 Clearance

26.31.03

9.50.37

24.3 ±10.96 ±0.04

126.95.0

123.64.87

83.23.28

87.53.44

ClearCore Mounting Dimensions

ClearCore Mounting and Clearance Notes

Leave a minimum of 1.5" (38.1mm) clearance around all ClearCore surfaces (except the mounting plate) for appropriate ventilation.

Provide appropriate clearance for top and side-mounted cables. Note: some Ethernet and USB cables may require up to 2" clearance.


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

CCIO-8 Mounting and Clearance Dimensions

11.10.44

91.63.60

240.945

76.203.000

83.23.28

34.931.375

24.10.95

7.70.30

2X 5.08

0.200 THRU

Loose #10 Clearance

COM IN COM OUT

CCIO-8 Mounting Dimensions

CCIO-8 Mounting and Clearance Notes

Leave a minimum of 1.5" (38.1mm) clearance around all CCIO-8 surfaces (except the mounting plate) for appropriate ventilation.

Provide clearance for top and side-mounted cables. Note: some Ethernet and USB cables may require up to 2" clearance.


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

Appendix C: Mating Connectors and Terminals

A-12 A-11 A-10 A-9 DI-8 DI-7 DI-6

M-2 M-3

CO

MB

INED

I/O5V COM-0 5V COM-1

I/O-3 I/O-4 I/O-5I/O-0 I/O-1 I/O-2

M-1M-0

XBee

RESET

x14

Cover must be removed toaccess and use this connector.

A

D

x4B

C

x9A

Use CAT5e cableor better (non-crossover)

Use CAT5e cableor better (non-crossover)

C

Ref. Mating Connector Description

Mating Connector or Cable PN

Terminal Description Terminal PN Tooling

Wire Gauge (AWG)

A Screw terminal block, 3- position, 3.81mm pitch Molex/0395105003

OPTIONALWire ferrule, 20-24 AWG, white

OPTIONALAmerican Electrical1181050

OPTIONALCrimp Tool American ElectricalTRAP 22-10

20-24

B Molex MiniFit-Jr,receptacle, 8-position

Molex part numbers:39-01-2080 (natural, UL 94V-2)39-01-3085 (black, UL 94V-2)39-01-2085 (natural, UL 94V-0)39-03-9082 (black, UL 94V-0)

Female crimp terminal,tin plate, 22-28 AWG

Molex/39-00-0046 (reel)Molex/39-00-0047 (loose)

Crimp toolMolex/63819-1000 ---------------------------Extraction toolMolex/11-03-0044

22

Crimp style connector, 20 positon, free hanging, panel mount, 0.10" (2.54mm) pitch

TE/102387-4Socket contact, gold plate, 22-26 AWG crimp

TE/87756-4 Crimp toolTE/169481-1 22-26

Ribbon cable connector, 20-position, IDC, gold finish

ConnectorOST/101-206Ribbon cable stockCnC Tech/304-28-20-MC-0250F

N/A N/A N/A N/A

D

JTAG, 6-pin, "Plug-Of-Nails" connector for ARM CORTEX SWD (single wire debug) applications

Teknic cable part number: P/N TC2030-CTX-LEMTA for use with Atmel ICE debugger P/N ATATMEL-ICE-BASIC.

N/A

C


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

Appendix D: Specifications

ClearCore Specifications Mechanical Dimensions 5.0" x 3.5" x 1.0" (127mm x 88.9mm x 25.4mm) Weight (with cover) 0.41 lbs (186 g) Material 3mm thick polycarbonate cover, aluminum mount frame Electrical Voltage Input 20-28 VDC (24VDC nominal) Output Current Capability I/O 0,1,2,3 - 375mA RMS, (750mA peak)

I/O 4,5 - 750mA RMS, (1000mA peak) Indicator LEDs for each input yes IP rating IP20 Operating Temperature/Humidity -20C to 50C, 0-90% non-condensing Storage Temperature -40C to 85C Power Consumption 300mA@24V

Adding an XBee will add as much as an additional 100mA@24V Protection features Overcurrent protection on all outputs

Inductive clamping on all outputs Board master overvoltage and overcurrent protection ESD protection features on all I/O circuits

Capacitive load (max.) Capacitance on I/O-0 through I/O-5 (and expansion port power pins) collectively may not to exceed 250uF.

Processing/Communication Total I/O 13 built-in I/O points, software configurable as any combination of

up to 13 digital inputs, 4 analog inputs, 6 digital outputs, 2 HBridge/speaker outputs and 1 analog output (4-20mA or 0-20mA). See I/O table below. Another 64 digital I/O can be added by using optional 8-point I/O expansion modules (p/n CCIO-8). All configuration of I/O hardware is controlled by software, i.e., no jumpers, DIP switches, trim-pots, etc. need to be manually set.

Serial communication 2 Multi-functional, individually configurable serial ports that can be used as a UART, SPI, or RS-232 at up to 115.2kBaud. Rates up to 2MBaud are achievable depending on cable length, slave transceiver circuit and grounding. 5V power pins are available on each port.

Ethernet 10Base-T/100Base-TX Ethernet

USB USB 2.0

Wireless connectivity Accepts Xbee modules for wireless connectivity (Wi-Fi, Bluetooth, Mesh, etc.)

Programming Language C++


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

Recommended IDE Microchip Studio 7 (or higher), or Arduino IDE 1.8.x (or higher) if used with the ClearCore Arduino Wrapper Library.

Memory Capability 512 KB Flash 192 KB RAM Storage expansion via onboard SD card drive

Supported development environment Windows 10, Windows 7* (see note) Processor type and speed 32 bit floating point ARM M4F processor

120 MHz (p/n SAME53N19A)

Max Step Rate 500kHz * Win 7 note: USB driver management in Windows 7 causes issues

in some installations which affect the uploading of code to ClearCore. Extra manual steps may be required to upload code in these systems.

I/O Function Table

Label Digital InputDigital

Output10-10V

Analog Input4-20 mA Output2

Servos or Steppers

Speaker Tones

DC Motor Drive

IO-0 yes yes yesIO-1 yes yesIO-2 yes yesIO-3 yes yesIO-4 yes yes yes yesIO-5 yes yes yes yesDI-6 yesDI-7 yesDI-8 yesA-9 yes yesA-10 yes yesA-11 yes yesA-12 yes yesM-0 yes3

M-1 yes3

M-2 yes3

M-3 yes3

CCIO-84 yes yesNote 1: All digital outputs are PWM capable (except for those on the CCIO-8 expansion board).Note 2: This output can also provide 0-20mA, which is less commonly used.Note 3: Each motor connector has 3 digital outputs (step, dir., enable) and 1 digital input.Note 4: There are 8 of these I/O points on the CCIO-8 expansion module.


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

CCIO-8 Specifications Mechanical Dimensions 3.6" x 3.28" x 1.0" (91.5mm x 83.3mm x 25.4mm) Weight 3.18 oz. (90 g) Material Assembled circuit board with aluminum mount frame Electrical Voltage Input 20-28 VDC Output Current Capability All I/O points 375mA RMS (750mA peak) Indicator LEDs for each input Yes IP Rating IP20 Operating Temperature/Humidity -20C to 50C, 0-90% non-condensing Storage Temperature -40C to 85C Power Consumption 100mA@24V or 150mA@12V Protection Features Overcurrent protection on all outputs

Inductive clamping on all outputs ESD protection features on all I/O circuits

Processing / Communication Total I/O Note: All I/O points on CCIO-8 are electrically identical to I/O-1, I/O-2, and

I/O-3 on ClearCore/ClearLink. 8 built-in I/O points, software configurable as any combination of up to 8 digital inputs and 8 digital outputs. A total of 8 CCIO-8 boards can be connected to one ClearCore, for a total of 64 additional digital I/O points. All configuration of I/O hardware is controlled by software, i.e., there are no jumpers, DIP switches, trim-pots, etc.

I/O Update Rate 0.2mS (1-2 boards), 0.4mS (3-4 boards), 0.6mS (5-6 boards), 0.8mS (7-8 boards)

Connectivity ClearCore connects to "COM IN" of the first CCIO-8. Any additional CCIO-8 boards are connected COM OUT -> COM IN. Use CAT5e cable (non-crossover) or better. Max cable length = 100 feet.

Label

Digital Input

Digital Output1

0-10V Analog Input

4-20 mA Output2

Servos or Steppers

Speaker Tones

DC Motor Drive

I/O-0 yes yes ��




I/O-4 yes yes �� I/O-5 yes yes �� I/O-6 yes yes ��


Note 1: Digital outputs on CCIO-8 are not PWM capable.


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

Appendix E: Processor Signal Routing Schematics

USB

PB19

{SC

7/PA

D3}

{AD

C1/

AIN

9} P

B07

Com

bine

d I/O

0.10

" 10x

2 I/O

Hea

der

6 144 816

Anl

g./D

gtl.

Inpu

t

Anl

g./D

gtl.

Inpu

t

Anl

g./D

gtl.

Inpu

t

Dig

ital I

nput

Dig

ital I

nput

Dig

ital I

nput

Dig

ital I

/O (N

PN

)/A

nalo

g O

ut (4

-20m

A)

Cfg

00_D

IO_A

OU

TnAnl

g./D

gtl.

Inpu

t

EN EN

EN EN

Dig

ital I

/O (N

PN

)

Dig

ital I

/O (N

PN

)

Dig

ital I

/O (N

PN

)

~Fau

lt~R

ST

Dua

l H-b

ridge

Driv

er (D

RV8

844)

μSD

Car

d

XB

eeM

odul

e

Eth

erN

ET

PH

YK

SZ8

081

CR

S_D

V

TXEN

MD

IO

RE

F_C

LK

TXD

0TX

D1

RX

D0

RX

D1

RX

ER

MD

C

X1

INTR

P

A-1

2A

-11

A-1

0A

-9D

I-8D

I-7D

I-6

IO-0

IO-1

IO-2

IO-3

IO-4

IO-5

CTS

[SO

]R

TS [S

S]

Tx [S

I]R

x [S

CLK

]

UA

RT/

SP

ITr

ansc

iver

(5V

)

CTS

[SO

]R

TS [S

S]

Tx [S

I]R

x [S

CLK

]

UA

RT/

SP

ITr

ansc

iver

(5V

)

CTS

RTS Din

Dou

t CS DI

SC

LKDO

PWR

Ove

rV_D

ISAB

LEn

+5V

OB

Com

0_C

TS_{

MIS

O}

Cfg

Com

0_P

olar

ity

CO

M-0

CO

M-1

Ethe

rNET

XBee

(Wi-F

i)

IN00

n_{A

out0

0}O

UT0

0

IN03

nO

UT0

3

Out

Faul

t_04

or05

IN06

n_{Q

uadA

}

IN07

n_{Q

uadB

}

IN08

n_{Q

uadI

}

{AD

C1/

AIN

8} P

B06

{AD

C1/

AIN

7} P

B05

{AD

C1/

AIN

5} P

C03

{PD

EC

/QD

i0} P

C16

{PD

EC

/QD

i1} P

C17

{PD

EC

/QD

i2} P

C18

{TC

6/W

o1} P

B03

{TC

6/W

o0} P

B16

PC27

PC19

{TC

C3/

Wo0

} PB1

2

{TC

C3/

Wo1

} PB1

3

{TC

C4/

Wo0

} PB1

4

{TC

C4/

Wo1

} PB1

5

Com

0_R

TS_{

SS

}

Com

0_TX

_{M

OS

I}C

om0_

RX_

{SC

K}

PA25

{USB

/DP

}PA

24 {U

SB/D

M}

USB

_PU

SB

_N

PB18

{SC

7/PA

D2}

PB21

{SC

7/PA

D0}

PB20

{SC

7/PA

D1}

PA11

{SC

0/PA

D3}

PA10

{SC

0/PA

D2}

PA08

{SC

0/PA

D0}

PA09

{SC

0/PA

D1}

XB

ee_C

TS_I

NX

Bee

_RTS

_OU

T

XB

ee_T

x_O

UT

XB

ee_R

x_IN

Mic

roS

D_S

S

Mic

roS

D_M

OS

I

Mic

roS

D_M

ISO

Mic

roS

D_S

CK

PH

Y_T

XEN

PH

Y_T

XD

0P

HY

_TX

D1

PH

Y_R

XD

0P

HY

_RX

D1

PH

Y_R

XER

PH

Y_R

XDV

PH

Y_M

DIO

PH

Y_M

DC

PH

Y_I

NT

PHY_

TXC

LK

PH

Y_S

YS_C

LK

PA17

{GM

AC/G

TXE

N}

PA18

{GM

AC/G

TX0}

PA19

{GM

AC/G

TX1}

PA13

{GM

AC/G

RX

0}PA

12 {G

MAC

/GR

X1}

PA14

{GM

AC/G

TXC

K}

PA15

{GM

AC/G

RX

ER

}

PC12

{GM

AC

/GM

DIO

}PC

11 {G

MA

C/G

MD

C}

PB17

{GC

LK/IO

3}PC

28 {I

NT1

2}

PC20

{GM

AC

/GR

XDV}

PB24

{SC

2/PA

D1}

PB25

{SC

2/PA

D0}

PB0

0

PC24

{SC

2/P

AD

2}PC

25 {S

C2/

PA

D3}

{TC

1/W

o0} P

A06

{TC

1/W

o1} P

A07

{TC

2/W

o1} P

A01

{TC

2/W

o0} P

A00

PA0

2

PA0

3

PA0

4

{DAC

/VO

UT1

} PA0

5

PC21

PB10

{SC

4/PA

D2}

PB08

{SC

4/PA

D0}

PB09

{SC

4/PA

D1}

LED

_Com

0

121113151718201979101235

LED

_Com

1

LED

_US

B

IN12

n_{A

IN12

}

IN04

nP

olar

ity04

_{PW

M04

A}

OU

T04_

{EN

AB

LE04

}

IN02

nO

UT0

2

IN01

nO

UT0

1

Pol

arity

04S_

{PW

M04

B}

IN05

nP

olar

ity05

_{PW

M05

A}

OU

T05_

{EN

AB

LE05

}P

olar

ity05

S_{P

WM

05B

}

Cfg

12_A

IN_D

INn

Cfg

11_A

IN_D

INn

Cfg

10_A

IN_D

INn

Cfg

09_A

IN_D

INn

IN11

n_{A

IN11

}

IN10

n_{A

IN10

}

IN09

n_{A

IN09

}

Cfg

Com

0_U

ART_

SP

In

Cfg

Com

1_U

ART_

SP

In

Com

1_C

TS_{

MIS

O}

Com

1_R

TS_{

SS

}

Com

1_TX

_{M

OS

I}C

om1_

RX_

{SC

K}

Cfg

Com

1_P

olar

ity

LED

06n

LED

07n

LED

08n

LED

09n

LED

10n

LED

11n

LED

12n

LED

00n

LED

01n

LED

02n

LED

03n

LED

04LE

D05

(IO-0

)(IO

-1)

(IO-2

)(IO

-3)

(IO-4

+)(IO

-4)

(IO-5

+)(IO

-5)

(DI-6

)(D

I-7)

(DI-8

)(A

-9)

(A-1

0)(A

-11)

(A-1

2)

ATS

AM

E53

N19

A

AR

M M

4F,

512K

FLA

SH

, 192

KR

AM

Vsup

ply

Vsup

ply

Vsup

ply

Vsup

ply

A-1

1

A-9

A-1

0

GN

D

A-1

2V

supp

ly

DI-6

Vsu

pply

DI-7

DI-8

IO-1

IO-0

IO-2

Vsu

pply

IO-3

GN

D

IO-4

+IO

-4

IO-5

IO-5

+

12

1920

Wire

Ent

ry V

iew

A_1

2

A_1

1

A_1

0

A_9

DI_

8

DI_

7

DI_

6

IO_5

IO_5

P

IO_4

IO_4

P

IO_3

IO_2

IO_1

IO_0

Opt

iona

l, us

er in

stal

led

Opt

iona

l, us

er in

stal

led

Mat

ing

Crim

p C

onne

ctor

Hou

sing

: AM

P/1

0238

7-4

Term

inal

s: A

MP

/877

56-4

(22-

26A

WG

)

Mat

ing

Rib

bon

Cab

le C

onne

ctor

OS

T/10

1-20

6

Proc

esso

r Sig

nal R

outin

g B

lock

Dia

gram

: I/O

and

Com

mun

icat

ion

Sign

al N

ame

Con

vent

ions

Cur

ley

brac

es “{

}” e

nclo

se a

n al

tern

ate

sign

alna

me

appr

opria

te w

hen

the

hard

war

e is

conf

igur

ed fo

r the

alte

rnat

e us

eA

ny s

igna

l nam

e en

ding

in lo

wer

cas

e “n

”in

dica

tes

that

it is

true

in a

low

sta

te (i

.e.,

“neg

ativ

e tru

e”)

Vol

tage

/C

urre

ntP

rote

ctio

n

IMPO

RTA

NT:

Onl

y ap

ply

pow

er th

roug

h th

e P

WR

term

inal

blo

ck o

r pro

tect

ion

will

be

circ

umve

nted

.


TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4

5VO

B_M

ON

SYS

_CLK

PC06

25M

Hz

SW

DIO

TAGconnector

3V3

RE

SE

Tn

SW

OS

WC

LK

1 52 6 4 3

Res

et P

B

Filte

rB

uck

Reg

.

Buc

kR

eg.

Lin

Reg

.

Lin

Reg

.

3V3_

Xbe

e (S

uppl

ies

Xbe

e m

odul

e)

3V3

5V5VO

B (S

uppl

ies

off b

oard

dev

ices

thro

ugh

CO

M c

onne

ctor

s)

Ove

rV_D

ISA

BLE

nO

verV

_REF

Mot

orIn

terfa

ce

Mot

orIn

terfa

ce

Mot

or/

Scr

ewdr

iver

Inte

rface

Mot

or/

Scr

ewdr

iver

Inte

rface

LED

_UN

derg

low

(0.0

0V-6

.60V

rang

e)

(0.0

V-10

3V ra

nge)

(~37

V T

rip)

Vsu

pply

_MO

N_{

IO_4

and5

_RS

T}PC

04 {A

DC

1/AI

N6}

PC04

{AD

C1/

AIN

6}

PB22

{XO

SC

1/X

IN}

PA31

PA30

PB30

~RE

SET

SR

_LO

AD

SR

_EN

nP

B02

PB0

1

SR

_CLK

{SC

6/P

AD

1} P

C05

SR

_DAT

A_R

ET

SR

_DAT

A{S

C6/

PA

D3}

PC

07

Mtr0

_An_

{SC

Tx}

Mtr0

_B

Mtr0

_HLF

B_{S

CR

x}

M0

M1

M2

M3

{TC

0/E

vSys

(Iny

15)}

PB3

1{A

DC

1/A

IN10

} PC

00

{AD

C1/

AIN

11} P

C01

{TC

3/E

vSys

(Int

10)}

PC

26

{TC

C0/

Wo4

} PC

14{S

C5/

PAD

0}, {

TCC

1/W

o7} P

A23

{SC

5/P

AD2}

, {TC

4/E

vSys

(Int

4)} P

A20

{PB1

1/TC

5/E

vSys

(Int

11} P

B11

Mtr0

_EN

able

{TC

C1/

Wo0

} PA1

6{T

CC

0/W

o0} P

C10

{TC

C1/

Wo6

} PA2

2{T

CC

0/W

o3} P

C13

{TC

C1/

Wo5

} PA2

1{T

CC

0/W

o5} P

C15

Cfg

M3_

Mtr_

SD

RV

Rn

Mtr1

_EN

able

Mtr2

_EN

able

Mtr3

_EN

able

Mtr1

_An

Mtr1

_B

Mtr1

_HLF

B

Mtr2

_HLF

B_{S

drvr

2_Tr

ig}

Sdr

vr3_

iMO

N

Cfg

M2_

Mtr_

SD

RV

Rn

Mtr2

_An_

{Sdr

vr2_

PW

MA

}M

tr2_B

_{S

drvr

2_P

WM

B}

Mtr3

_HLF

B_{S

drvr

3_Tr

ig}

Mtr3

_An_

{Sdr

vr3_

PW

MA

}M

tr3_B

_{S

drvr

3_P

WM

B}

Sdr

vr2_

iMO

N

LED_Underglow

Mtr0_ENable

CfgM3_Mtr_SDRVRn

Mtr1_ENableMtr2_ENableMtr3_ENable

CfgM2_Mtr_SDRVRn

LED00nLED01nLED02nLED03nLED04LED05

LED06nLED07nLED08n

LED09nLED10nLED11nLED12n

Cfg00_DIO_AOUTn

CfgCom0_Polarity

Cfg12_AIN_DINnCfg11_AIN_DINnCfg10_AIN_DINnCfg09_AIN_DINn

CfgCom0_UART_SPInCfgCom1_UART_SPIn

CfgCom1_Polarity

LED_Com0LED_Com1

LED_USB

Motor Control Connectors

Deb

ugP

ort

0001020304050607

Load

~En

Q0

Q7

Clk

oD

iD

Load

~En

Q0

Q7

Clk

oD

iD

Load

~En

Q0

Q7

Clk

oD

iD

Load

~En

Q0

Q7

Clk

oD

iD

0809101112131415

1617181920212223

2425262728293031

ATS

AM

E53

N19

A

Vsup

ply

12-2

4VD

C N

omin

al(1

0-28

VD

C M

in-M

ax)

450m

A M

ax.

Proc

esso

r Sig

nal R

outin

g B

lock

Dia

gram

: Mot

or I/

O; C

onfig

urat

ion

Shift

Reg

iste

r

Mtr_

CLK

_01

{GC

LK/Io

1} P

A27

Mtr_

CLK

_23

{GC

LK/Io

1} P

B23

Mtr0

_B_C

LK

Mtr1

_B_C

LK

Mtr2

_B_C

LK

Mtr3

_B_C

LK

(Sof

twar

e ov

ervo

ltage

func

tion

disa

bles

IO-4

and

IO-5

and

de-

asse

rts th

e M

tr[N

]_E

nabl

esi

gnal

s on

con

nect

ors

M0-

M3

whe

nV

supp

ly >

32V

)

ClearCore User Manual - Teknic · 2021. 6. 11. · ClearCore & CCIO-8 Hardware Manual / Rev. 1.07 4...

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Transcript of ClearCore User Manual - Teknic · 2021. 6. 11. · ClearCore & CCIO-8 Hardware Manual / Rev. 1.07 4...