UM0289

Hardware

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2.3

Feedback board

In order to interface the control system with encoder signals coming from motors, a special

board, with two 20 pins connectors in the top side, is used (Feedback board).

This is a stackable board and has to be inserted using the four 36-pin connectors around the

microcontroller in the MDK-ST10 board. The insertion orientation is indicated with a dot in a

corner of the board (corresponding to pin 1 of the ST10 MCU)

The two connectors (Conn1 J3, Conn2 J4), used to allow the encoder feedback, are

shielded with the pair of pins connected to GND.

The dimensions of this board are about 6.5 x 6.5 cm. The following tables show the pin

assignments for each connector.

Table 2.

Conn1 Feedback board

Table 3.

Conn2 Feedback board

Conn.1

MDK-ST10 Pin

Functionality

1

P3.7

T2IN (encoder_1 A)

2GND

-

3

P5.15

T2EUD (encoder_1 B)

4GND

-

5

P3.6

T3IN (encoder_2 A)

6GND

-

7

P3.4

T3EUD (encoder_2 B)

8GND

-

9

P3.5

T4IN (encoder_3 A)

10

GND

-

11

P5.14

T4EUD (encoder_3 B)

12

GND

-

13

P2.6

CC16 (capture / GPIO)

14

GND

-

15

P1L.3

GPIO / ADC In

16

GND

-

17

P1L.4

GPIO / ADC In

18

GND

-

19

+5V

-

20

GND

-

Conn.2

MDK-ST10 Pin

Functionality

1

P1L.5

GPIO/ ADC In

2GND

-

3

P2.7

CC7 (capture / GPIO)