7I89 MANUAL

8 channel encoder interface + 1 channel RS-422/RS-485

V1.0
This page intentionally almost blank
Table of Contents
GENERAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

DESCRIPTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

HARDWARE CONFIGURATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

DEFAULT CONFIGURATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
TTL/RS-422 ENCODER SELECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
ENCODER POWER OPTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
CABLE POWER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

CONNECTORS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

CONNECTOR LOCATIONS AND DEFAULT JUMPERS . . . . . . . . . . . . . . . . . 3

CONTROLLER CONNECTOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
5V POWER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
ENCODER CONNECTOR TB3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
ENCODER CONNECTOR TB2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
ENCODER /SERIAL CONNECTOR TB1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

OPERATION

5V POWER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
ENCODER INPUT CIRCUITRY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
ENCODER POWER OPTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
MAXIMUM ENCODER COUNT RATE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
INTERFACING WITH MESA SERIAL DEVICES . . . . . . . . . . . . . . . . . . . . . . 10

SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
DRAWINGS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

iii
GENERAL
DESCRIPTION
The 7I89 is a eight channel encoder plus one channel RS-422/RS-485 interface
card for Mesa’s 25 pin Anything I/O series of FPGA interface cards. The 7I89 is designed
for motion control applications. A common usage of the 7I89 would be adding up to 8
incremental encoder channels to a step/dir or Analog servo system. In addition the 7I89
provides one full duplex RS-422 or half duplex RS-485 interface.

Encoder inputs can be TTL or differential on a per input basis. The 7I89 can also
supply 5V power to encoders. This encoder power may be switched by the host if desired.

The controller connection is a DB25 connector that matches the pinout of Mesa's
25 pin Anything I/O cards. All buffered I/O is terminated with 3.5 mm pluggable screw
terminals (supplied)

7I89 1
HARDWARE CONFIGURATION
GENERAL
Hardware setup jumper positions assume that the 7I89 card is oriented in an upright
position, that is, with the 50 pin controller connector is on the left hand side.

DEFAULT CONFIGURATION
JUMPER FUNCTION DEFAULT SETTING
W18,W21,W24 ENCODER 0 MODE ALL RIGHT = RS-422
W9,W12.W15 ENCODER 1 MODE ALL RIGHT = RS-422
W2,W4,W6 ENCODER 2 MODE ALL RIGHT = RS-422
W17,W20,W23 ENCODER 3 MODE ALL RIGHT = RS-422
W8,W11,W14 ENCODER 4 MODE ALL RIGHT = RS-422
W1,W3,W5 ENCODER 5 MODE ALL RIGHT = RS-422
W16,W29,W22 ENCODER 6 MODE ALL RIGHT = RS-422
W7,W10,W13 ENCODER 7 MODE ALL RIGHT = RS-422
W25 ENCODER 6,7 PWR UP = ALWAYS ON
W26 ENCODER 3,4,5 PWR UP = ALWAYS ON
W27 ENCODER 0,1,2 PWR UP = ALWAYS ON
TTL/RS-422 ENCODER SELECTION
Each 7I89 encoder channel has a selectable TTL or RS-422 (differential) encoder
input conditioning. Conditioning type is determined by setting groups of 3 jumpers to the
right or left position. When the jumpers are in the "LEFT" position, TTL inputs are selected,
When the jumpers are in the "RIGHT" position, RS-422 inputs are selected. Note these
sets of three jumpers are in physical proximity to the terminal block encoder connections.

ENCODER POWER OPTION

The encoder power on selected encoder channels can be switched under host
control. This can be useful for power saving or resetting encoders that transmit absolute
encoder position at power on. The option can be selected by setting W25,W26 or W27
into the "UP" position.

CABLE POWER
The 7I89 gets its 5V power from P1 but requires the host FPGA card to have its
cable power option enabled. This is because the 7I89 only enables its local power if the
host FPGA card is powered.

7I89 2
CONNECTORS
CONNECTOR LOCATIONS AND DEFAULT JUMPER POSITIONSNote:

Note P1,TB1,TB2,TB3 Pin 1 is marked with a square PAD

7I89 3
CONNECTORS
CONTROLLER CONNECTOR
Female 25 pin DB-25F J1 is the host interface connector. This connects to the host
interface FPGA card via a IEEE-1284 male-male DB-25 cable.

DB-25 PIN FPGA PRIM I/O FPGA SEC I/O FUNCTION

1 IO0 IO17 MUXENCA0
14 IO1 IO18 MUXENCB0
2 IO2 IO19 MUXIDX0
15 IO3 IO20 MUXENCA1
3 IO4 IO21 MUXENCB1
16 IO5 IO22 MUXIDX1
4 IO6 IO23 MUXENCA2
17 IO7 IO24 MUXENCB2
5 IO8 IO25 MUXIDX2
6 IO9 IO26 MUXENCA3
7 IO10 IO27 MUXENCB3
8 IO11 IO28 MUXIDX3
9 IO12 IO29 ENCMUX
10 IO13 IO30 POWOP
11 IO14 IO31 RXD
12 IO15 IO32 TXD
13 IO16 IO33 TXEN

Note: Pins 18, 19, 20, and 21 are ground. Pins 22, 23, 24 and 25 are 5V

7I89 4
CONNECTORS
5V POWER
2 pin pluggable terminal P1 is used to supply 5V power to logic and the I/O
terminals on the 7I89. P1 has the following pinout:

PIN FUNCTION
1 GND
2 +5V

7I89 5
CONNECTORS
ENCODER CONNECTOR TB3
Connector TB3 is a 3.5MM pluggable screw terminal block with connections for
encoder channels 0 through 2:

TB3 PIN FUNCTION DIR

1 QA0 TO 7I89
2 /QA0 TO 7I89
3 GND FROM 7I89
4 QB0 TO 7I89
5 /QB0 TO 7I89
6 +5V FROM 7I89
7 IDX0 TO 7I89
8 /IDX0 TO 7I89
9 QA1 TO 7I89
10 /QA1 TO 7I89
11 GND FROM 7I89
12 QB1 TO 7I89
13 /QB1 TO 7I89
14 +5V FROM 7I89
15 IDX1 TO 7I89
16 /IDX1 TO 7I89
17 QA2 TO 7I89
18 /QA2 TO 7I89
19 GND FROM 7I89
20 QB2 TO 7I89
21 /QB2 TO 7I89
22 +5V FROM 7I89
23 IDX2 TO 7I89
24 /IDX2 TO 7I89

7I89 6
CONNECTORS
ENCODER CONNECTOR TB2
Connector TB2 is a 3.5MM pluggable screw terminal block with connections for
encoder channels 3 through 5:

TB2 PIN FUNCTION DIR

1 QA3 TO 7I89
2 /QA3 TO 7I89
3 GND FROM 7I89
4 QB3 TO 7I89
5 /QB3 TO 7I89
6 +5V FROM 7I89
7 IDX3 TO 7I89
8 /IDX3 TO 7I89
9 QA4 TO 7I89
10 /QA4 TO 7I89
11 GND FROM 7I89
12 QB4 TO 7I89
13 /QB4 TO 7I89
14 +5V FROM 7I89
15 IDX4 TO 7I89
16 /IDX4 TO 7I89
17 QA5 TO 7I89
18 /QA5 TO 7I89
19 GND FROM 7I89
20 QB5 TO 7I89
21 /QB5 TO 7I89
22 +5V FROM 7I89
23 IDX5 TO 7I89
24 /IDX5 TO 7I89

7I89 7
CONNECTORS
ENCODER RS422/485SERIAL CONNECTOR TB1
Connector TB1 is a 3.5MM pluggable screw terminal block with connections for
encoder channels 6 and 7 plus the RS-422/RS-485 interface:

TB1 PIN FUNCTION DIR

1 QA6 TO 7I89
2 /QA6 TO 7I89
3 GND FROM 7I89
4 QB6 TO 7I89
5 /QB6 TO 7I89
6 +5V FROM 7I89
7 IDX6 TO 7I89
8 /IDX6 TO 7I89
9 QA7 TO 7I89
10 /QA7 TO 7I89
11 GND FROM 7I89
12 QB7 TO 7I89
13 /QB7 TO 7I89
14 +5V FROM 7I89
15 IDX7 TO 7I89
16 /IDX7 TO 7I89
17 GND FROM 7I89
18 GND FROM 7I89
19 RXD TO 7I89
20 /RXD TO 7I89
21 TXD FROM 7I89
22 /TXD FROM 7I89
23 +5V FROM 7I89
24 +5V FROM 7I89
Note that actual signal functions depend on FPGA configuration.

7I89 8
OPERATION
5V POWER
The 7I89 requires ~300 mA of 5V power for operation. Encoder power and remote
serial device power must be added to this figure for total power draw.

Power for the 7I89 logic and encoders is supplied via P1, the 5V power connector.
The 5V power to I/O connectors TB1, TB2, and TB3 each pass through a 2.0 A PTC
device before being routed to the I/O terminals. This limits the I/O power supplied by TB1,
TB2, and TB3 to ~1.2 A each in 0 to 70C ambients. 5V power status is indicated by yellow
LED CR1.

ENCODER INPUT CIRCUIT

The 7I89 input circuit is different depending on whether TTL or RS-422 (differential)
encoder types have been selected. In TTL mode the input circuit on the encoder QA, QB,
and IDX inputs drive one input of the RS-422 differential receiver, and the other receiver
input is terminated to a 1.65V (TTL threshold) reference voltage. In RS-422 mode, the
input consists of a 120 Ohm termination resistor and a 26LS32 RS-422 differential
receiver.

When TTL encoders are used, they connect to the ‘True’ input of the differential
pair, for example a TTL encoder for channel 2 would connect to QA2, QB2 and IDX2, while
the /QA2, /QB2, and /IDX2 terminals would be left open.

Fine print: normally the input mode jumpers would always be moved as a sets of
three to select TTL or RS-422 mode for individual encoders, however it is possible to
select TTL or RS-422 mode for each encoder signal, for example if a encoder had a
differential A, B but TTL index, the input circuit can accommodate this. The three input
mode select jumpers are in bottom to top order: QA, QB, IDX.

ENCODER POWER OPTION

The 7I89 can enable encoder 5V power via a host control pin. This can be used for
encoders that can be reset at power on and transmit absolute encoder data or to save
power when idle. The encoders on each terminal block can be set for always on or
switchable 5V power. Power to switchable 5V is controlled by the /POWOP pin on the
FPGA interface. /POWOP is active low (low for on). Switched power state is indicated by
yellow LED CR2.

7I89 9
OPERATION
MAXIMUM ENCODER COUNT RATE
The 7I89 uses multiplexed encoder signals to save interface pins. The multiplexing
rate will determine the maximum encoder count rate. Default multiplexing rate with
HostMot2 firmware is ClockLow / 8,or approximately 4 or 6 MHz, giving a resolvable count
rate of 2 to 3 MHz. Multiplexing rate can be increased if desired but high multiplex rates
will require short cables between the FPGA controller card and the 7I89 due to signal
integrity and time-of-flight considerations. Maximum practical multiplex rate is
approximately 12 MHz (and 6 MHz count rates). Encoder count rate is further limited by
HostMot2s input filtering to ~5 to ~8 million counts per second (encoder filtering off) and
~1 to ~1.6 million counts per second (encoder filtering on).

INTERFACING WITH MESA SSERIAL DEVICES

The 7I89s singe differential serial interface is intended to be a general purpose RS-
422/RS-485 use but can easily interface to MESA’s SSerial I/O devices that use RS-422
communication and RJ45/CAT5 cable for the interface.. The easiest way to make a cable
for interfacing the 7I89 to these devices is to take a standard CAT5 or CAT6 cable, cut it
in half, and wire the individual wires to the 7I89 screw terminals. The following chart gives
the CAT5 to 7I89 screw terminal connections (EIA/TIA 568B colors shown):

7I89 TB3 7I89 SIGNAL DIRECTION CAT5 PIN CAT5 568B COLOR
17 GND FROM 7I89 4 BLUE
18 GND FROM 7I89 5 BLUE / WHITE
19 RX+ TO 7I89 6 GREEN
20 RX- TO 7I89 3 GREEN / WHITE
21 TX+ FROM 7I89 2 ORANGE
22 TX- FROM 7I89 1 ORANGE / WHITE
23 +5V FROM 7I89 7 BROWN / WHITE
24 +5V FROM 7I89 8 BROWN

7I89 10
SPECIFICATIONS

MIN MAX UNITS

5V POWER SUPPLY 4.75 5.25 VDC

5V POWER CONSUMPTION --- 300 mA

(all outputs loaded with 130 ohm terminations)

(no external encoder or serial 5V load)

5V CURRENT TO EACH I/O CONNECTOR --- 1.2 A

MAXIMUM DATA RATE --- 10 MBIT/S

RS-422 INPUT COMMON MODE RANGE -7 +12 Volts

RS-422 TERMINATION RESISTANCE 118 122 Ohm

RS-422 OUTPUT LOW C .8 Volts

(24 mA sink current)

RS-422 OUTPUT HIGH VCC-2.5 C Volts

(24 mA source current)

ENC INPUT COMMON MODE RANGE -7 +12 Volts

ENC INPUT TTL MODE THRESHOLD 1.4 1.8 Volts

o
OPERATING TEMP. 0 +70 C
o
OPERATING TEMP. (-I version) -40 +85 C

OPERATION HUMIDITY 0 95% NON-COND

7I89 11
DRAWINGS

7I89 12