ClearCore User Manual - Teknic · 2021. 6. 11. · ClearCore & CCIO-8 Hardware Manual / Rev. 1.07 4...
Transcript of 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
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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
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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
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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.
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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
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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
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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.
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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.
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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
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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
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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
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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
Input Equivalent Circuit Typical Sensor Hookup Details
Digital “NPN”Sensor:ProximityOpticalHall-Effect, etc.
GS BLK
BLUBRN
Switch or Relay Contact
GS
5V/3.3V Logic System
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
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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
Input Equivalent Circuit Typical Sensor Hookup Details
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).
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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
+
5V/3.3V Logic System
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
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I/O-4 or I/O-5 configured as Variable, Bi-directional Drive (PWM)
Output Equivalent Circuit Typical Actuator Hookup Details
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
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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
Output Equivalent Circuit Typical Actuator Hookup Details
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
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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
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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
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 2
19 20
Pin 1
CCIO-8 I/O Header
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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
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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
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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
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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
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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
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COM-0, COM-1 configured for 5V logic UART devices
Typical Hookup Details
12345678
5VOB
2k
130
130
2k
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
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
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COM-0, 1 configured for SPI devices
Typical Hookup Details
12345678
5VOB
130
130
130
2k
5V
COM[N]_SS
COM[N]_MISO
COM[N]_MOSI
COM[N]_SCK
View looking into jack
COM Port Equivalent Circuit
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
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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.
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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.
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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
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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 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)
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
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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
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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
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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.
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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.
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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
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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++
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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.
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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-1 yes yes �� �� �� �� ��
I/O-2 yes yes �� �� �� �� ��
I/O-3 yes yes �� �� �� �� ��
I/O-4 yes yes �� �� �� I/O-5 yes yes �� �� �� I/O-6 yes yes �� �� �� �� ��
I/O-7 yes yes �� �� �� �� ��
Note 1: Digital outputs on CCIO-8 are not PWM capable.
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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
.
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 40
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
)
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 41
TEKNIC, INC. P H O N E ( 5 8 5 ) 7 8 4 - 7 4 5 4
Teknic, Incorporated 115 Victor Heights Pkwy Victor, NY 14564
© 2021 TEKNIC INC. ALL RIGHTS RESERVED