Revision as of 19:10, 22 October 2015

Kanalog adds Analog and other I/O to KFLOP

Relay Drivers / Grounding

The 8 Relay drivers are open collector type (switch to GND) capable of switching loads up to 1Amp at up 24V.  They share a common GND with Kanalog (are not isolated).  The outputs on Kanalog are not guaranteed to power up off until after KFLOP has booted.  The additional SWE relay driver should be used as a master enable to avoid momentary power up issues.  SWE is guaranteed to remain off until after all the Kanalog Outputs have been initialized off.

Kanalog has a single GND common to KFLOP, control logic, relay drivers, and Analog signals.  The GND should normally be isolated from Earth GND to avoid ground loops and injecting earth GND noise into Kanalog/KFLOP DC GND.  Standoff mounting holes are completely isolated with the exception of the GND lug holes marked "GND".

The Opto Inputs and Outputs are fully isolated.

Initial Setup/Testing for Analog Amplifiers

1. check the encoder counts correctly
2. check that the DACs can command the Amplifier to control motor speed.  Test Console commands like DAC0=200  (with the axis disabled)
3. Enable the Servo using the Step Response Screen.  Zero, Enable

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I think our software/documents some what over use the word channel which can confusion. There are Motor Axis Channels, DAC Output Channels, and Encoder Input Channels which are all different things.   This diagram may help:

KFLOP Functional Diagram

Any KFLOP Motor Axis Channel can be configured to make use of any DAC or any Encoder by specifying the Input and Output channels. See:
[../Help/ConfigurationScreen/ConfigurationScreen.htm#Input_Channels Configuration Screen]

The KanalogInitialPID.mot configuration file is an example of a Kanalog Axis using DAC #0 and Encoder #0.  If simply loaded into multiple Motor Axis Channels it will configure all the Motor Axis to all use DAC 0 and Encoder 0 as their I/O devices.

So for example for the Second Motor:

1. select Axis Channel #1
2. load the KanalogInitialPID.mot configuration
3. Change the Input Channel and Output Channel settings to the Encoder and DAC you want that motor to use (ie. #1 and #1)

Testing Analog Amplifiers

One way to perform a basic test of an Analog Amplifier to see if it is working and likely capable of being driven by a Kanalog DAC Output is to apply a small voltage to the input to see if the motor drives.  A 1.5V battery in series with a 1K Ohm resistor is one possible voltage source.  The 1K Ohm resistor should limit the current in case a mistake is made.  When applied the motor should drive at a controlled 15% (Speed if the drive is in Velocity mode, or torque if in torque mode).  Reversing the battery should reverse the motor direction.

Forum Threads on Setup and Tuning

Anilam/ supermax Frankenstein project using Dynomotion Kflop and Kanalog boards