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| | Pin | Symbol | Description | |
| | 1 | MCLR | Reset pin, active low. Connects directly to Vcc for automatic reset on power-up. When the | |
| | | | PIC-SERVO SC is operated in stand-alone mode for Step & Direction systems, this pin can | |
| | | | be used to enable/disable the servo system. | |
| | 2 | CUR_SENSE | Analog input for current sensing or for use as a general analog input. (0 - +5v). (See Section 4 7) | |
| | 3 | VOLT_SENSE | Analog input for sensing the motor supply voltage (connected through a voltage divider | |
| | | | resistor network). It is used to detect undervoltage and overvoltage conditions. The input | |
| | | | voltage must be in the range of 0.9v to 4.5v for normal operation. (See Section 4.7) | |
| | 4 | ENABLE1 | Active HIGH output for enabling half-bridge #1 when in 3-Phase mode | |
| | 5 | ENC A | Input pin connects to Channel A ofyour encoder. (Input has digital noise filter) | |
| | 6 | ENC_B | Input pin connects to Channel B of your encoder. (Input has digital noise filter) | |
| | 7 | Vcc | Supply voltage - connect to +5v DC. | |
| | 8 | GND | Ground connection. | |
| | 9 | OSCI | Connects directly toa 10 MHz clock source or to one side of a 10 MHz crystal. An internal | |
| | | | phase-lock loop boosts the actual operating frequency to 40 MHz. See Microchip | |
| | | | documentation for details of crystal connections. | |
| | 10 | OSC2 | Connects to the other side ofa 10 MHz crystal. N.C. if a clock source is used. | |
| | 11 | ENABLE2 | Active HIGH output for enabling half-bridge #2 when in 3-Phase mode | |
| | 12 | TXENABLE | This output can be connected to the enable pin ofan RS485 driver to enable output over a | |
| | | | shared response line. Not used if a point-to-point serial connection (like RS232) is used. | |
| | 13 | ADDR_OUT | Output pin which powers up in the HIGH state, and is lowered when the PIC-SERVO's | |
| | | | address is programmed. Normally connectedtoADDR INofanadjacentcontroller. When | |
| | | | in Step & Direction mode, this pin is raised on a servo fault condition and can be used as a | |
| | | | fault detection flag. | |
| | 14 | LIMIT2/STEP | | |
| | 15 | ENC INDEX | Input pin connects to the Index pulse output ofyour encoder. | |
| | 16 | LIMITI / SDIR | FWD limit switch input, except when in Step & Direction mode, it is the Direction input. (0 = | |
| | | | FWD, 1 = REV). | |
| | 17 | TX | Serial transmit output. Connects to the transmit input ofan RS485 or an RS232 driver chip. | |
| | 18 | RX | Serial receive input. Connects to the receive output ofan RS485 or an RS232 driver chip. | |
| | 19 | GND | Ground connection. | |
| | 20 | Vcc | Supply voltage - connect to +5v D.C. | |
| | 21 | PWMO | PWM output pin for PWM & Direction and antiphase PWM modes, and also used for driving | |
| | | | half-bridge #0 when in 3-phase mode. | |
| | 22 | PWM1 | PWM output for driving half-bridge #1 when in 3-Phase mode. | |
| | 23 | PWM2 / DIR | PWM output for driving half-bridge #2 when in 3-Phase mode. In PWM & Direction mode, it | |
| | | | is used as the Direction bit (0 = FWD, 1 = REV) | |
| | 24 | ENABLEO | Active HIGH output for enabling the amplifier when in PWM & Direction and antiphase | |
| | | | PWM modes, and enables half-bridge #0 when in 3-Phase mode | |
| | 25,26, | HALLO, HALLI, | | |
| | 27 | HALL2 | internal 20K pull-up resistors. | |
| | 28 | ADDR_IN | This pin must be pulled low to enable communications. Normally tied to the ADDR_OUT | |
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