Help Wiring 7I96S To Teknic Servos

Hello,

I am not the worlds best at wiring things and would appreciate some help so that I do not 'let the smoke out'.

Here is the connector from the teknic servo (from the manual)

teknic.com/files/downloads/clearpath_user_manual.pdf



www.mesanet.com/pdf/parallel/7i96sman.pdf

Can someone please tell me what pins on the teknic control cable go to which slot on the 7I96S /TB1 connector?
Teknic
teknic pin 1 --> mesa TB1 pin ?
teknic pin 2  -->  mesa TB1 pin ?
teknic pin 3 -->  mesa TB1 pin ?
teknic pin 4 -->  mesa TB1 pin ?
teknic pin 5 -->  mesa TB1 pin ?
teknic pin 6 -->  mesa TB1 pin ?
teknic pin 7 -->  mesa TB1 pin ?
teknic pin 8 -->  mesa TB1 pin ?

Thanks in advance for any help you can provide!

MESA   TECHNICS
STEP+  A+
STEP-   A-
DIR+    B+
DIR-     B-


The Enable I would probably wire:

All axis ENA- to 5V GND
All axis ENA+ to 7I96S OUT0-
7I96 OUT0+ to +5V

This allows OUT0 to enable all drives in parallel.

HLFB wiring depends on whether they are normally on or normally off
and how the output is programmed (I am assuming the most common
usage of this output is as a drive fault signal)


 

The Teknic drives need to be sent a 5-24v enable signal so you will need to dedicate one of your 7i96s's outputs to that. I'd suggest using only one output to enable all of the drives. If you are using Output 0 on the 7i96s for that it would be TB3 pins 13,14. and a 5-24v power source. Connect the +v from the power source to TB3pin14, then TB3pin 13 would go to the +Enable input on the drive (pin4), and the -v from the power source would connect to the drive's -Enable (pin8). Then connect all of the other drives to the same.

The next question is do you want to use the HLFB output on the Teknic drive for anything? The only useful option I can think of for it with Linuxcnc would be to use it for an amp fault signal. Assuming that it can be configured as this, then you'd want to connect it to one an input pins. This could be connected multiple ways. one possibility would be to connect a 5-24v power source to the drive's pin-1 (+HLFB), the drive's -HLFB to the 7i96S's input pin (TB3 pin1 for example) and the -v from the power source to the 7i96S input common TB3 pin 12. (I would probably choose to use a separate input for each servo drive, so that you may know which one is faulted.(

So for example to set up your X axis to use stepgen 0.
teknic pin 1 --> v+
teknic pin 2 --> mesa TB1 pin 3
teknic pin 3 --> mesa TB1 pin 5
teknic pin 4 --> mesa TB3 pin 13
teknic pin 5 --> mesa TB3 pin 1
teknic pin 6 --> mesa TB1 pin 2
teknic pin 7 --> mesa TB1 pin 4
teknic pin 8 --> -v