7.1 Connecting to the card

Here is the connections to connect EMC to a machine using the Servo To Go card. This is quoted from stg2.c.

	DIGITAL INPUTS
Index	Function	Connector/Pin
00	X home switch	P1/47
01	X +limit switch	P1/45
02	X -limit switch	P1/43
03	X amp fault	P1/41
04	Y home switch	P1/39
05	Y +limit switch	P1/37
06	Y -limit switch	P1/35
07	Y amp fault	P1/33
08	Z home switch	P1/31
09	Z +limit switch	P1/29
10	Z -limit switch	P1/27
11	Z amp fault	P1/25
12	A home switch	P1/23
13	A +limit switch	P1/21
14	A -limit switch	P1/19
15	A amp fault	P1/17
16	B home switch	P2/31
17	B +limit switch	P2/29
18	B -limit switch	P2/27
19	B amp fault	P2/25
20	C home switch	P2/23
21	C +limit switch	P2/21
22	C -limit switch	P2/19
23	C amp fault	P2/17

	DIGITAL OUTPUTS
Index	Function	Connector/Pin
00	X amp enable	P1/15
01	Y amp enable	P1/13
02	Z amp enable	P1/11
03	A amp enable	P1/9
04	B amp enable	P1/7
05	C amp enable	P1/5
06	(none)	P1/3
07	(none)	P1/1

	ANALOG INPUTS
Index	Function	Connector/Pin
00	(none)	P2/2
01	(none)	P2/3
02	(none)	P2/5
03	(none)	P2/7
04	(none)	P2/9
05	(none)	P2/11
06	(none)	P2/13
07	(none)	P2/15

	ANALOG OUTPUTS
Index	Function	Connector/Pin
00	X amp ref	P3/2
01	Y amp ref	P3/8
02	Z amp ref	P3/5
03	A amp ref	P3/11
04	B amp ref	P4/2
05	C amp ref	P4/8
06	(none)	P4/5
07	(none)	P4/11

	ENCODER INPUTS
Axis	Function	Connector/Pin
X	A+	P3/14
X	A-	P3/15
X	B+	P3/17
X	B-	P3/18
X	I+	P3/20
X	I-	P3/21
Y	A+	P3/23
Y	A-	P3/24
Y	B+	P3/26
Y	B-	P3/27
Y	I+	P3/29
Y	I-	P3/30
Z	A+	P3/32
Z	A-	P3/33
Z	B+	P3/35
Z	B-	P3/36
Z	I+	P3/38
Z	I-	P3/39
A	A+	P3/41
A	A-	P3/42
A	B+	P3/44
A	B-	P3/45
A	I+	P3/47
A	I-	P3/48
B	A+	P4/14
B	A-	P4/15
B	B+	P4/17
B	B-	P4/18
B	I+	P4/20
B	I-	P4/21
C	A+	P4/23
C	A-	P4/24
C	B+	P4/26
C	B-	P4/27
C	I+	P4/29
C	I-	P4/30
(none)	A+	P4/32
(none)	A-	P4/33
(none)	B+	P4/35
(none)	B-	P4/36
(none)	I+	P4/38
(none)	I-	P4/39
(none)	A+	P4/41
(none)	A-	P4/42
(none)	B+	P4/44
(none)	B-	P4/45
(none)	I+	P4/47
(none)	I-	P4/48