MC8581P Hardware User Manual

Transcription

1 -RoHS compliant- PCI bus compatible high function 8 axis motion control board MC8581P Hardware User Manual First edition 1/7/2016 NOVA Electronics Co., Ltd

2 Preface Thank you for purchasing MC8581P. For safe usage In order to safely use this product, please be sure to carefully read this manual. However, if you do not follow these precautions, we could not guarantee about product failure, warranty against detects or any other guarantee. Please read carefully and throughly understand this mannal before using this product. Check the content Please check whether your purchased product includes all necessary accessories below. In case of missing, please immidiately contact the purchase store control board - 01 dedicated cale I/O - 01 set connector for CN2 (20p) - 01 set conector for CN3 (30p) Please note that for resource conservation purpose, the manual and software were not attached to this product. If needed, plase contact your purchase store or our company. Also, you can download software from our company website. URL: Combined use of manual The MC8581P circuit was made from PCI bus circuit and I / O interface circuit, mainly consists of 02 4-axis motor control IC MCX 514. In this manual, we mainly describe how to use this product, I / O address, interface circuit of input / output signal. Since all basic functions of motor control are dependent on MCX 514, please refer to "MCX 514 Owner's Manual" for details of these functions. Also refer to "MC8541P / MC8581P Device Driver Operation Manual" for device drivers provided by our company. Attention - Danger Do not use near flammable gases etc. It might cause electric shock, burns, burns that lead to serious injury or death. Please use this product in the following environment. Ambient temperature 0 45 C Humidity (non condensing) 20 90% No seriously suspended dust No corrosive gas Power supply DC + 5V (± 5%), External power supply: DC + 12 ~ 24V Please regularly inspect the following items in order to use this product properly. Cable connection board: Check whether connector and cable are correctly connected. Card edge: No stain, no corrosion etc. Connector connection parts: No stain, no corrosion etc. IC,board surface: No dust or foreign matter adhering to the board Product handling

3 This product was stored in an antistatic bag. When handling this product, after removing static electricity from the human body and clothing, hold it when both end faces of the board are sandwiched, or hold the attached mounting bracket. Avoid touching the terminals of the connector and the terminals of the mounted parts as much as possible. If you touch the connector terminals and the terminals of the mounted parts while your have static electricity, the mounted CMOS - IC might be destroyed. Please pay high attention, especially during dry season. Do not store or use the product in places subject to shock, vibration, magnetism or static electricity, as this may cause funtion failures or malfunctions. Please do not modify this product. We are not responsible for any funtion failures, malfunction, etc. in case of modification. Do not insert or remove this product or connecting cable while power supply is on. It might cause funtion failures or malfunctions. The contents of this document are subject to change without notice for the purpose of improving the function etc. from now on. The latest instruction manual can be downloaded from our website. URL:

4 Table of Contents 1. Overview Function restrictions of MCX I / O interface s axis Difference from MC8082P board I / O address setting and Read / Write register I / O signal CN1 connector CN2, 3 connector (connector inside board) Drive output signals (np + P, np + N, np - P, np - N) General-purpose output signal and deviation counter clear output signal (nout3, nout2, nout1, nout0 / DCC) Overrun limit input signal (nlmt +, nlmt-) Stop input signal, origin signal (nstop1, nstop0) Encoder Z phase input signal (nstop 2) Input signal for servomotor (ninpos, nalarm) Encoder input signal (necap, necan, necbp, necbn) External drive signal (nexop +, nexop-) Emergency stop input signal (EMG) Emergency stop input signal (EMG) Interrupt Motor driver connection example Connection example with stepping motor driver Connection example with AC servo motor driver I / O signal timing When reseting When starting independent drive During interpolation drive Input timing Immediate stop timing Deceleration stop timing Board outline Setting method of the input / output signal Specification Summary

5 1. Overview MC8581P is a PCI bus-compliant circuit board equipped with two high-function 4-axis motor control IC MCX boards servo motors or stepping motors can be positioned or controlled independently for each axis by 1 board. For the interpolation function, it is possible to perform 2 axis to 8 axis linear interpolation, circular interpolation, 2 to 4 axis bit pattern interpolation, and helical interpolation. Also, since the two MCX 514 can perform interpolation drive independently, it is also possible to execute two interpolation drives at the same time. The figure below shows the functional block diagram of the MC8581P. The MC8581P consists of the PCI bus interface and the I / O interface circuits of the AX, AY, AZ, AU, BX, BY, BZ, BU axes, mainly with two MCX 514. Therefore, since all the basic functions of this circuit board are dependent on the MCX 514, please refer to the MCX 514 owner's manual for details of these function s. PCI bus 水晶発振器 16MHz Compatible EEPROM to EEPROM 93LC66 93LC66 相当 APIC21 PC APIC21 Interface Adapter PCI インターフェイスアダプタ 0 C 4 8 ボード番号設定 SW Board number setting *1 Emergency stop input signal can switch the theory *1 緊急停止入力信号は ジャンパー切替で論理を by switching jumper 切り替えることができます *2 Input signals of all I / O interfaces (excluding *2 I /Oインターフェイスすべての入力信号 (neca/bを neca 除く )/ は B) Wi is ndows set デバイスドライバの初期設定に by the initial setting of the Windows より MCX514 device 内蔵の積分フィ driver, the integrating ルタ (τ=512μsec) filter of the が MCX 設定されます 514 (π= 512µsec) Crystal oscillator CLK MCX514-A (Nova MCX514-A Electrics Product) XPP XPM XDCC ( ノヴァ電子製 ) XLMTP XLMTM XSTOP2~0 RESETN XINPOS CSN/WRN/RDN XALARM A2~0 D15~0 XECA XECB INTN0 INTN1 XPIO4 XPIO5 XPIO2~0 Multichip Interpolation マルチチップ補間信号 signal EMGN Multichip マルチチップ補間信号 Interpolation EMGN signal EMGN CLK RESETN CSN/WRN/RDN A2~0 D15~0 INTN0 INTN1 MCX514-B (Nova MCX514-B Electrics ( ノヴァ電子製 ) Product MC8581P circuit block diagram MC8581P 回路ブロック図 AX AX axis 軸 I/O I/O インターフェース Interface *2 *2 ラインドライバ Line driver 26C31 出力バッファ buffer DTCO23 DTC023 フォトカプラ Photocoupler Compatible to TLP291 相当 AXP+P/N + + direction 方向パルス出力 output AXP-P/N - - direction 方向パルス出力 output AXOUT0/DCC General 汎用出力 use 1 点 output 1 point/deviation / 偏差 Cクリア C clear External power supply VEX (DC+12 24V) 外部電源 (DC+12~24V) AXLMT+ + + direction 方向リミット limit AXLMT- - - direction 方向リミット limit AXSTOP2 0 AXSTOP2~0 減速停止 Deceleration / 即停止 stop / immediate stop AXINPOS Servo サーボ位置決め完了 positioning completed AXALARM Servo サーボアラーム alarm High speed 高速フォトカフ ラ IC photocoupler IC AXECAP/N Encoder エンコーダ phase A 相 A AXECBP/N Encoder エンコーダ phase B 相 B Compatible to TLP118 相当 TLP118 Compatible フォトカプラ to AXEXOP+ + + direction 方向ドライブ操作 drive TLP291 TLP291 相当 AXEXOP- - direction - 方向ドライブ操作 drive buffer 出力バッファ DTCO23 DTC023 AY AY axis 軸 I/O インターフェース Interface (same (AX phase 軸と同様 as AX axis ) AZ AZ axis 軸 I/O インターフェース Interface (same (AX phase as 軸と同様 AX axis ) AU AU axis 軸 I/O インターフェース Interface (same(ax phase 軸と同様 as AX axis ) Compatible to フォトカプラ photocoupler TLP291 相当 CN3 CN2 CN1 General use AXOUT3~1 output 汎用出力 3 points 3 点 *1Emergency stop EMG 全軸緊急停止 for all axes BX BX axis 軸 I/O インターフェース Interface (same (AX phase as 軸と同様 AX axis ) BY BY axis 軸 I/O Interface インターフェース (same phase (AX as 軸と同様 AX axis ) BZ BZ axis 軸 I/O Interface インターフェース (same phase (AX as 軸と同様 AX axis ) BU BU axis 軸 I/O インターフェース Interface (same (AX phase 軸と同様 as AX axis ) - 1 -

6 1.1 Function restrictions of MCX5114 Data length The data length is 16 bits. Read / write access in byte units can not be performed. Interrupt signal Use the IRQ determined by the Plug and Play function installed on Windows. Input / output signal In this board, the following input / output signals of MCX 514 are not supported due to board surface size and the limitation of terminals of CN 1 - CN 3 connectors. I / O signal npio 3, npio 6, npio 7 Input signal EXPLSN signal nspltp Also, please note that the input / output signals npio6 - npio0 are subjects to the following restrictions due to the circuit state of this board. Using npio2 to npio0 as output signals Using npio5 ~ npio4 as input signal 1.2 I / O interface s axis Drive output (np + P / N, np - P / N) Drive output in the + direction and direction, drives the motor outputs s with a duty of 50% from 1 PPS up to maximum 8 MPPS. Drive output signals in each direction are differential outputs by a line driver equivalent to AM 26 C 31 General output (nout3~0) There are 4 general-purpose outputs for each axis. The output buffer is an open collector output using a product equivalent to DTC 023 YEB. NOUT 0 which located at CN 1 can also be used as a deviation counter clear signal of the servomotor driver at automatic home search. When used as a general-purpose output, it becomes a type output signal. NOUT 3 to 1 are installed in CN 3 and become low / high level output signals. Overrun limit input (nlmt +, nlmt-) This is an input signal that prohibits output s in + direction and - direction. Immediate stop / decelerate stop can be selected when active in mode setting. This input signal is isolated from the internal circuit by a photocoupler. Deceleration stop / immediate stop input (nstop2~0) This is an input signal that causes the drive to decelerate to stop or stop immediately from the outside, following the origin search. Enable / disable, active logic level can be set in mode. Three axes are prepared for each axis. It can also be used as a general purpose input signal. This input signal is isolated from the internal circuit by a photocoupler. Servo motor input (ninpos, nalarm) Input the INPOS (complete positioning) signal and ALARM (alarm) signal of the servo motor driver. It can also be used as a general purpose input signal. This input signal is isolated from the internal circuit by a photocoupler

7 Encoder input (necap / N, necbp / N) Inputs the A / B phase signal from the encoder and the Z phase signal. The necap / N, necbp / N signal counts up / down the 32-bit actual position counter inside the MCX 514 at the input for the A / B phase signal of the encoder. This input signal is insulated from the internal circuit by a high speed photo coupler IC. It is easy to connect with the differential output line driver. External drive input (nexop+,nexop-) This is an input to activate the + direction / - direction drive from the outside. In the relative position drive mode, the specified drive is output at the trigger (falling edge) of the input signal. In continuous drive mode, drive s are output continuously while the input signal is low level. With manual jog feed etc. of each axis, fast axis response with high responsiveness becomes possible without CPU intervention. This input signal is isolated from the internal circuit by a photocoupler. Emergency stop input (EMG) This signal is an input signal for emergently stopping the drive of all axes. The active logic level can be set by jumper selection on the board. This input signal is isolated by the photocoupler from the internal circuit 1.3 Difference from MC8082P board Although the pin arrangement of the MC8082P board and this board are the same, some functions are different. In addition, the MC8082P board carries motion control IC MCX 314As, and this board has MCX 514 So the function settings are different, but the function is improved. Signal name: Signal names are the same and there is no difference. Difference in funtion [MC8082P] In order to perform automatic home search with one signal, short-circuit JP 3 / UPPER and input to the nstop 1 terminal. No Interpolation drive feature Function details conform to MCX 314As External power supply: DC + 24V [MC8581P] Short-circuit JP3 / LOWER and input to the nstop0 terminal. (Also can short-circuit JP 3 / UPPER and connect it to the nstop 0 terminal) With Interpolation drive feature Function details conform to MCX MCX514 External power supply: DC+12~24V - 3 -

8 2. I / O address setting and Read / Write register The I / O port address of the board is determined by the Windows Plug and Play function (hereinafter referred to as PnP function), which requires 32 consecutive I / O addresses per board. The table below shows the I / O address of the Read / Write register in the MCX 514. Each register is 16 bits long. Please make sure to access by word. Access by byte is not possible. For details of each register, refer to MCX 514 Owner's Manual 6. I/O Address 00 Write register Read register Symbol Register name Symbol Register name WR0 Command register RR0 Main status register 01 XWR1 YWR1 ZWRU UWR1 X Axis mode register 1 Y Axis mode register 1 Z Axis mode register 1 U Axis mode register 1 XRR1 YRR1 ZRR1 URR1 X Axis status register 1 Y Axis status register 1 Z Axis status register 1 U Axis status register MCX514-A XWR2 YWR2 ZWR2 UWR2 XWR3 YWR3 ZWR3 UWR3 X Axis mode register 2 Y Axis mode register 2 Z Axis mode register 2 U Axis mode register 2 X Axis mode register 3 Y Axis mode register 3 Z Axis mode register 3 U Axis mode register 3 XRR2 YRR2 ZRR2 URR2 XRR3 YRR3 ZRR3 URR3 X Axis status register 2 Y Axis status register 2 Z Axis status register 2 U Axis status register 2 X Axis status register 3 Y Axis status register 3 Z Axis status register 3 U Axis status register 3 04 WR4 register 1 RR4 PIO read register 1 05 WR5 register 2 RR5 PIO read register 2 06 WR6 Write data register 1 RR6 Read data register 1 07 WR7 Write data register 2 RR7 Read data register A 0B MCX514-B WR0 Command register RR0 Main status register XWR1 YWR1 ZWRU UWR1 XWR2 YWR2 ZWR2 UWR2 XWR3 YWR3 ZWR3 UWR3 X Axis mode register 1 Y Axis mode register 1 Z Axis mode register 1 U Axis mode register 1 X Axis mode register 2 Y Axis mode register 2 Z Axis mode register 2 U Axis mode register 2 X Axis mode register 3 Y Axis mode register 3 Z Axis mode register 3 U Axis mode register 3 XRR1 YRR1 ZRR1 URR1 XRR2 YRR2 ZRR2 URR2 XRR3 YRR3 ZRR3 URR3 X Axis status register 1 Y Axis status register 1 Z Axis status register 1 U Axis status register 1 X Axis status register 2 Y Axis status register 2 Z Axis status register 2 U Axis status register 2 X Axis status register 3 Y Axis status register 3 Z Axis status register 3 U Axis status register 3 0C WR4 register 1 RR4 PIO read register 1 0D WR5 register 2 RR5 PIO read register 2 0E WR6 Write data register 1 RR6 Read data register 1 0F WR7 Write data register 2 RR7 Read data register 2 3. I / O signal This chapter describes each input / output signal of CN1 connector. In the explanation of the signal and the interface circuit, the signal name of each axis is described as n, but "n" is represents AX, AY, AZ, AU, BX, BY, BZ and BU

9 3.1 CN1 connector The CN1 connector inputs the external power supply (DC + 12 to 24 V) input and the signals of each axis shown in the table below Connector Signal type Signal name CN1 Drive direction output signal + / - Overrun limit direction input signal + / - Deceleration stop / instant stop input signal 3 points In-position for servo motor and alarm input signal Deviation counter clear output output signal (cum general output 1 point)for servo motor All axis emergency stop input signal np+p/n,np-p/n nlmt+,nlmtnstop0,nstop1,nstop2 ninpos,nalarm nout0/ndcc EMG Pin location CN1 コネクof タCN1 ピン connector 配置 A50 B50 A1 B1 When set up PCのto PCI PCI busに実装時には本図と天地が逆になる場合があります of PC, top and bottom might be reversed 1Pin ピンmark マーク 1 A50 A49 A2 A1 Attached 付属ケーブcable ル ( 1. 2m) (1.2m) B50 B49 B2 B1 付属ケーブル コネクタの Sequence signals 1is ピンマーク as pin ( 三角印 mark ) を右上にすると 信号の並びは次の通りです 1 (triangle mark) of attachment cable, connector. 上側ケーブル : 右 ( 赤線 ) から左に向かって A1,A2, A49,A50 下側ケーブル : 右 ( 赤線 ) から左に向かって B1,B2, B49,B50 - Upper cable: From right (red line) to left: A1, A2,. A49, A50 CN1コネクタの型式 : ボード側 FX2B-100P-1.27DS( ヒロセ ), ケーブル側 FX2B-100S-1.27R( ヒロセ ) - Lower cable: From right (red line) to left: B1, B2,. B 49, B50 Model of CN1 connector: Board side: FX2B-100P-1, 27DS (Hiroya), Cable side: FX2B-100S-1, 27R (Hiroya) CAUTION: To prevent function failure or malfunction Before inserting or removing a cable into / from the CN1 connector, please turn off the power supply of the cable(dc+12~24v) When inserting the cable, pay attention to the orientation of the connector and do not reverse it. If the power of personal computer or external supply is ON while connected, the internal circuit etc. of the board might be damaged

10 CN1 connector Pin Signal name In/Out Content Description Pin Signal name In/Out Content Description A1 VEX External power supply (DC V) 3.12 B1 EMG Input Emergency stop (common to all axis) 3.12 A2 AXLMT+ Input AX axis + direction limit 3.5 B2 BXLMT+ Input BX axis + direction limit 3.5 A3 AXLMT- Input AX axis + direction limit 3.5 B3 BXLMT- Input BX axis + direction limit 3.5 A4 AXSTOP0 Input AX axis deceleration stop BX axis deceleration stop 3.6 B4 BXSTOP0 Input 3.6 /immediately stop /immediately stop A5 AXSTOP1 Input AX axis deceleration stop 3.6 B5 BXSTOP1 Input /immediately stop BX axis deceleration stop 3.6 /immediately stop A6 AYLMT+ Input AY axis + direction limit 3.5 B6 BYLMT+ Input BY axis + direction limit 3.5 A7 AYLMT- Input AY axis + direction limit 3.5 B7 BYLMT- Input BY axis + direction limit 3.5 A8 AYSTOP0 Input AY axis deceleration stop BY axis deceleration stop 3.6 B8 BYSTOP0 Input 3.6 /immediately stop /immediately stop A9 AYSTOP1 Input AY axis deceleration stop BY axis deceleration stop 3.6 B9 BYSTOP1 Input 3.6 /immediately stop /immediately stop A10 AZLMT+ Input AZ axis + direction limit 3.5 B10 BZLMT+ Input BZ axis + direction limit 3.5 A11 AZLMT- Input AZ axis + direction limit 3.5 B11 BZLMT- Input BZ axis + direction limit 3.5 A12 AZSTOP0 Input AZ axis deceleration stop 3.6 B12 BZSTOP0 Input BZ axis deceleration stop 3.6 A13 AZSTOP1 Input /immediately stop AZ axis deceleration stop 3.6 /immediately stop B13 BZSTOP1 Input /immediately stop BZ axis deceleration stop 3.6 /immediately stop A14 AULMT+ Input AU axis + direction limit 3.5 B14 BULMT+ Input BU axis + direction limit 3.5 A15 AULMT- Input AU axis + direction limit 3.5 B15 BULMT- Input BU axis + direction limit 3.5 A16 AUSTOP0 Input AU axis deceleration stop BU axis deceleration stop 3.6 B16 BUSTOP0 Input 3.6 /immediately stop /immediately stop A17 AUSTOP1 Input AU axis deceleration stop BU axis deceleration stop 3.6 B17 BUSTOP1 Input 3.6 /immediately stop /immediately stop A18 AXSTOP2 Input AX axis encoder Z phase 3.7 B18 BXSTOP2 Input BX axis encoder Z phase 3.7 A19 AXINPOS Input AX axis servo positioning 3.8 B19 BXINPOS Input completed BX axis servo positioning 3.8 completed A20 AXALARM Input AX axis servo alarm 3.8 B20 BXALARM Input BX axis servo alarm 3.8 A21 AYSTOP2 Input AY axis encoder Z phase 3.7 B21 BYSTOP2 Input BY axis encoder Z phase 3.7 A22 AYINPOS Input AY axis servo positioning 3.8 B22 BYINPOS Input completed BY axis servo positioning 3.8 completed A23 AYALARM Input AY axis servo alarm 3.8 B23 BYALARM Input BY axis servo alarm 3.8 A24 AZSTOP2 Input AZ axis encoder Z phase 3.7 B24 BZSTOP2 Input BZ axis encoder Z phase 3.7 A25 AZINPOS Input AZ axis servo positioning 3.8 B25 BZINPOS Input completed BZ axis servo positioning 3.8 completed A26 AZALARM Input AZ axis servo alarm 3.8 B26 BZALARM Input BZ axis servo alarm 3.8 A27 AUSTOP2 Input AU axis encoder Z phase 3.7 B27 BUSTOP2 Input BU axis encoder Z phase 3.7 A28 AUINPOS Input AU axis servo positioning 3.8 B28 BUINPOS Input completed BU axis servo positioning 3.8 completed A29 AUALARM Input AU axis servo alarm 3.8 B29 BUALARM Input BU axis servo alarm 3.8 A30 GND Internal circuit GND B30 GND Internal circuit GND A31 AXOUT0/DCC AX axis general purpose 3.4 B31 BXOUT0/DCC BX axis general purpose output / DCC output / DCC 3.4 A32 AYOUT0/DCC AY axis general purpose BY axis general purpose 3.4 B32 BYOUT0/DCC 3.4 output / DCC output / DCC A33 AZOUT0/DCC AZ axis general purpose BZ axis general purpose 3.4 B33 BZOUT0/DCC 3.4 output / DCC output / DCC A34 AUOUT0/DCC AU axis general purpose BU axis general purpose 3.4 B34 BUOUT0/DCC 3.4 output / DCC output / DCC AX axis + direction drive BX axis + direction drive A35 AXP+P B35 BXP+P A36 A37 A38 A39 AXP+N AXP-P AXP-N AYP+P AX axis + direction drive B36 BXP+N AX axis + direction drive B37 BXP-P AX axis + direction drive B38 BXP-N AY axis + direction drive B39 BYP+P BX axis + direction drive BX axis + direction drive BX axis + direction drive BY axis + direction drive - 6 -

11 A40 A41 A42 A43 A44 A45 A46 A47 A48 A49 A50 AYP+N AYP-P AYP-N AZP+P AZP+N AZP-P AZP-N AUP+P AUP+N AUP-P AUP-N AY axis + direction drive B40 BYP+N AY axis + direction drive B41 BYP-P AY axis + direction drive B42 BYP-N AZ axis + direction drive B43 BZP+P AZ axis + direction drive B44 BZP+N AZ axis + direction drive B45 BZP-P AZ axis + direction drive B46 BZP-N AU axis + direction drive B47 BUP+P AU axis + direction drive B48 BUP+N AU axis + direction drive B49 BUP-P AU axis + direction drive B50 BUP-N BY axis + direction drive BY axis + direction drive BY axis + direction drive BZ axis + direction drive BZ axis + direction drive BZ axis + direction drive BZ axis + direction drive BU axis + direction drive BU axis + direction drive BU axis + direction drive BU axis + direction drive 3.2 CN2, 3 connector (connector inside board) The external power supply (DC + 12 to 24 V) input and the signals of each axis shown in the table below are input and output to CN 2, 3 connectors in the board. Connector Signal type Signal name CN2 External drive direction input signal in + / - (Usable for general purpose input) Encoder A / B phase input signal nexop+,nepopnecap/n,necbp/n CN3 General purpose output signal (3 points / axis) nout1,2,3 Pin arrangement CN2,3 コネクタ in connector ピン配置 CN2,3 CN3 (30p) Real surface coating of component 部品実装面 裏面コネクタ : HI F3FC-30PA-2. 54DS( ヒロセ ) Connector: 付属ソケット HIF3FO-30PA-254D9 : HI F3BA-30D-2. 54R (Hiroya) Attached socket: HIF3BA-30D-254R Surface CN2 (50p) CN1 1 2 コネクタ : HI F3FC-50PA-2. 54DS( ヒロセ ) Connector: 付属ソケット HIF3FO-50PA-254D9 : F3BB-50D-2. 54R (Hiroya) Attached socket: HIF3BB-50D-254R Connector CN2 Pin Signal name 1 VEX 3 AXEXOP+ Input 5 AYEXOP+ 7 AZEXOP+ 9 AUEXOP+ 11 BXEXOP+ 13 BYEXOP+ 15 BZEXOP+ 17 BUEXOP+ In/Out Content Description Pin Signal name External power supply 3.12 (DC+12 24V) 2 VEX AX axis + direction drive AXEXOP- Input AY axis + direction drive AYEXOP- Input AZ axis + direction drive AZEXOP- Input AU axis + direction drive AUEXOP- Input BX axis + direction drive BXEXOP- Input BY axis + direction drive BYEXOP- Input BZ axis + direction drive BZEXOP- Input BU axis + direction drive BUEXOP- In/Out Content External power supply 3.12 (DC+12 24V) Input AX axis + direction drive 3.10 Input AY axis + direction drive 3.10 Input AZ axis + direction drive 3.10 Input AU axis + direction drive 3.10 Input BX axis + direction drive 3.10 Input BY axis + direction drive 3.10 Input BZ axis + direction drive 3.10 Input BU axis + direction drive AXECAP Input AX axis encoder A phase 20 AXECAN Input AX axis encoder A phase Description - 7 -

12 21 AXECBP 23 AYECAP 25 AYECBP 27 AZECAP 29 AZECBP 31 AUECAP 33 AUECBP 35 BXECAP 37 BXECBP 39 BYECAP 41 BYECBP 43 BZECAP 45 BZECBP 47 BUECAP 49 BUECBP (normal phase) Input AX axis encoder B phase (normal phase) 22 AXECBN Input AY axis encoder A phase (normal phase) 24 AYECAN Input AX axis encoder B phase (normal phase) 26 AYECBN Input AZ axis encoder A phase (normal phase) 28 AZECAN Input AZ axis encoder B phase (normal phase) 30 AZECBN Input AU axis encoder A phase (normal phase) 32 AUECAN Input AU axis encoder B phase (normal phase) 34 AUECBN Input BX axis encoder A phase (normal phase) 36 BXECAN Input BX axis encoder B phase (normal phase) 38 BXECBN Input BX axis encoder A phase (normal phase) 40 BYECAN Input BY axis encoder B phase (normal phase) 42 BYECBN Input BZ axis encoder A phase (normal phase) 44 BZECAN Input BZ axis encoder B phase (normal phase) 46 BZECBN Input BU axis encoder A phase (normal phase) 48 BUECAN Input BU axis encoder B phase (normal phase) 50 BUECBN (reversal phase) Input AX axis encoder B phase (reversal phase) Input AY axis encoder A phase (reversal phase) Input AX axis encoder B phase (reversal phase) Input AZ axis encoder A phase (reversal phase) Input AZ axis encoder B phase (reversal phase) Input AU axis encoder A phase (reversal phase) Input AU axis encoder B phase (reversal phase) Input BX axis encoder A phase (reversal phase) Input BX axis encoder B phase (reversal phase) Input BX axis encoder A phase (reversal phase) Input BY axis encoder B phase (reversal phase) Input BZ axis encoder A phase (reversal phase) Input BZ axis encoder B phase (reversal phase) Input BU axis encoder A phase (reversal phase) Input BU axis encoder B phase (reversal phase) Connector CN3 Signal Pin In/Out Content Description Pin name Signal name In/Out Content 1 VEX External power supply 3.12 (DC+12 24V) 2 VEX 外部電源 (DC+12~24V) AXOUT1 AX axis general output AXOUT2 AX axis general output AXOUT3 AX axis general output AYOUT1 AY axis general output AYOUT2 AY axis general output AYOUT3 AY axis general output AZOUT1 AZ axis general output AZOUT2 AZ axis general output AZOUT3 AZ axis general output AUOUT1 AU axis general output AUOUT2 AU axis general output AUOUT3 AU axis general output BXOUT1 BX axis general output BXOUT2 BX axis general output BXOUT3 BX axis general output BYOUT1 BY axis general output BYOUT2 BY axis general output BYOUT3 BY axis general output BZOUT1 BZ axis general output BZOUT2 BZ axis general output BZOUT3 BZ axis general output BUOUT1 BU axis general output BUOUT2 BU axis general output BUOUT3 BU axis general output GND Internal circuit GND 28 GND Internal circuit GND 29 GND Internal circuit GND 30 GND Internal circuit GND Description Drive output signals (np + P, np + N, np - P, np - N) Drive output signal is outputting drive direction signal of + / - of MCX 514 via differential output line driver (equivalent to AM 26 C 31). NP + N is the inverted output of np + P, and np - N is the inverted output of np - P. At reset, the positive outputs (np + P, np - P) go low and the inverted outputs (np + N, np - N) go high. Immediately after resetting, the drive output is an independent two system in the +/- direction, but it can also be changed to the direction / 1 mode depending on the mode setting. Refer to sections and 6.7 of MCX 514 Owner's Manual - 8 -

13 MC8581P MCX514 npp/pls/pa npm/dir/pb Compatible AM26C31 to AM26C31 相当 np+p np+n np-p np-n Drive output signal circuit The figure below shows an example of connection with a motor driver having a photocoupler input circuit and a line receiver input circuit. MC8581P AXP+P AXP+N AXP-P AXP-N Motor モータト ライハ 側 drive side CW+ CW- CCW+ CCW- Connection example with motor driver of photo coupler input circuit MC8581P Motor モータト ライハ 側 drive side AXP+P CW+ + AXP+N AXP-P CW- CCW+ - AM26C32 + AXP-N GND ツイストペアシールド Twist Bear Shield シグナル Signal GND GND line ライン CCW- GND - AM26CS32 Connection example with motor driver of line receiver input circuit Cautions: When using line receiver input circuit When inserting and extracting a cable to / from the CN1 connector, when using the line receiver input circuit, connect the line driver side and the motor driver side with the signal GND line. If there is a potential difference between the signals GND between the devices, the function, the driver circuit, and the motor driver circuit might be damaged. Please use separate signal GND as shown above

14 3.4 General-purpose output signal and deviation counter clear output signal (nout3, nout2, nout1, nout0 / DCC) The general-purpose output signal is output from ndcc of MCX 514 and npio 2, npio 1, npio 0 via buffer (equivalent to DTC 023 YEB). The nout / DCC output signal is shared between the general-purpose output and deviation counter clear output, and is output from the CN1 connector. Other general-purpose output signals The numbers nout3, nout2, nout1 are output from the CN3 connector. At reset, each output signal (open collector output) is off. MCX514 MC8581P npio2/asnd npio1/error npio0/drive ndcc nout3 nout2 nout1 nout0/dcc Compatible DTC023 with 相当 DTCO23 GND General purpose output signal circuit The general-purpose output signal can be used for the motor driver's deviation counter clear, alarm reset, excitation OFF signal, etc. Also, setting the "drive status output" function outputs the drive status (during driving / error occurrence / acceleration). For the setting of the general output signal, refer to sections and of MCX 514 Owner's Manual. To use the nout / DCC output signal as the deviation counter clear output, refer to section 2.5 Automatic home search in MCX 514 Owner's Manual. Logic and width of the signal are performed with the instruction code 24h of MCX 514 (refer to section of MCX 514 Owner's Manual). When used as a general-purpose output, a is output with the instruction code 72h of MCX 514 (see section of MCX 514 Manual). 3.5 Overrun limit input signal (nlmt +, nlmt-) This is an input signal to suppress drive s in + direction and - direction. This input signal is connected to the limit input of the MCX 514 through a photocoupler. Immediately after resetting, the signal terminals (nlmt +, nlmt-) of the MCX 514 become active at low level, so the limit function operates when current flows out from the terminal. Enable / disable, logical level, immediate stop / deceleration stop can be changed. For details on mode setting, refer to sections , 6.6, and 6.7 of MCX 514 Owner's Manual. In order to operate this signal, it is necessary to supply DC + 12 to 24 V DC from the outside. Also, the integration built into the MCX 514 The filter is set to the delay time of 512 μsec in the initial setting at the time of startup of the Windows device driver supplied from Nova Electronics. Depending on the noise environment of the system, this signal delay time can be changed. For details, refer to section 2.11 of MCX 514 Owner's Manual

15 An example of connecting the overrun limit input signal to the photomicrosensor is shown on the right. When the D10 bit of the X axis mode register 2 (XWR2) is set to 0 (reset mode), the limit function operates when shielding light. VEX(+12~24V) MCX V MC8581P Internal 内蔵フィルタ filter nlmtp 10K 2. 2K 1K 2. 2K nlmt+ Compatible TLP291 相当 with TLP V Internal 内蔵フィルタ filter nlmtm nlmt- 遅延時間 :512μSEC( 初期値 ) Overrun limit input signal circuit Delay time: 512µsec (initial value) + External power DC24V 電源 -supply: DC 24V Example of connection between overrun limit input signal and photo microsensor Use a shielded wire to extend the wiring length. VEX AXLMT+ MC8581P EE-SX670( Omron オムロン ) + L OUT - Limit 遮光時リミット作動 when shielding light 3.6 Stop input signal, origin signal (nstop1, nstop0) The nstop1 and nstop0 signals are input signals for decelerating stop or instantaneously stopping the drive output in the middle. Each input signal can be enabled / disabled, and the logic level can be set in the mode. When this mode is set to valid, the drive output stops when this signal becomes active in the middle of the drive. Deceleration stop if acceleration / deceleration driving is in progress, immediately stop when constant speed drive is in progress. Immediately after resetting, all are invalid. For details of the drive stop input signal, refer to section 6.6 of the MCX 514 Owner's Manual. The nstop 1 signal can be used as the origin signal, and the nstop 0 signal can be used as the signal near the origin. To perform high-speed origin search (STEP 1) and low-speed follow-up (STEP 2) with only one signal, switch JP3 to the LOWER side and use the nstop 1 signal. Refer to section 2.5 of MCX 514 Owner's Manual for details of automatic home search. In order to operate this signal, it is necessary to use supply DC + 12 ~ 24 V DC from the outside. In addition, the integration filter built in the MCX 514 is set to delay 512 μsec in the initial setting when startup of the Windows device driver supplied from Nova Electronics. Depending on the noise environment of the system, this signal delay time can be changed. For details, refer to section 2.11 of MCX 514 Owner's Manual

16 MC8581P MCX514 Internal 内蔵フィルタ filter nstop V 10K 2. 2K VEX(+12~24V) Internal 内蔵フィルタ filter JP3 nstop1 UPPER +3. 3V TLP291 相当 1K 2. 2K Compatible with TLP291 nstop0 Condition 出荷時 when shipment LOWER 10K 1K 2. 2K 2. 2K nstop1 Delay time: 512µsec (initial value) 遅延時間 :512μSEC( 初期値 ) Stop input signal and origin input signal circuit 3.7 Encoder Z phase input signal (nstop 2) The nstop 2 signal is an input signal that connects to the Z phase output signal of the encoder or servomotor driver in order to decelerates stop or immediately stops the drive output in the middle of the drive. In order to operate this signal, it is necessary to use supply DC + 12 ~ 24 V DC from the outside. In addition, the integration filter built in the MCX 514 is set to delay 512 μsec in the initial setting when startup of the Windows device driver supplied from Nova Electronics. Depending on the noise environment of the system, this signal delay time can be changed. For details, refer to section 2.11 of MCX 514 Owner's Manual. [Enable / disable and logical setting] Similar to nstop1 and nstop0 signals, this signal can also be set to enable / disable and logic level mode. When this mode is set, the drive output stops when this signal becomes active in the middle of the drive. Deceleration stop if acceleration / deceleration driving is in progress, immediately stop when constant speed drive is in progress. However, immediately after resetting, all these setting will be invalid. For details of the drive stop input signal, refer to section 6.6 of the MCX 514 Owner's Manual. [Jumper setting] This signal can be handled by switching JP4 even if the other output side is open collector output or line driver output. When the partner output side is open collector output, set JP4 to the LOWER side (default condition). When the partner output side is the line driver output, set JP4 to UPPER side and connect the nstop 2 signal to one side of the line driver output. MC8581P MCX V 1K +5VEX JP4 8. 2K UPPER VEX(+12~24V) Internal 内蔵フィルタ filter nstop2 10K LOWER 出荷時 Condition when shipment Delay time: 512µsec (initial value) 遅延時間 :512μSEC( 初期値 ) TLP291 Compatible 相当 with TLP291 nstop2 Encoder Z phase input signal circuit

17 [Caution on Z phase detection] Drive speed of Z phase detection When this power supply is turned on, the delay time of the built-in filter of the nstop 2 signal is set to 512 μs. Furthermore, since the delay time of the photocoupler is about 100 μsec, the drive speed for detecting the Z phase must be set so that the Z phase signal becomes active after 1 msec or more. If the noise environment is good, it can be detected faster by disabling the built-in filter of the nstop 2 signal. Start position of Z phase detection With automatic home search of the MCX 514, the detection drive is stopped when the Z phase signal (nstop 2) changes from inactive to active. Therefore, the start position of Z phase detection must be stable and deviated from this change point. Normally, this start position is mechanically adjusted so that it is positioned 180 degrees opposite the Z phase position of the encoder. The figure below shows an example of connection between the nstop 2 input signal and the open collector output encoder. Open collector output is ON when Z phase is detected.set the logical setting of MCX 514 to Low active MC8581P Encoder エンコーダ側 side JP4 8. 2K VEX + - Power DC24V 電源 supply MCX V LOWER 側 side Internal 内蔵フィルタ filter Delay 遅延時間 time: :512μSEC( 512µsec (initial 初期値 value) ) nstop2 10K LOWER nstop2 Compatible TLP291 相当 with TLP291 VCC EC-Z GND Open-collector オープンコレクタ出力 output The figure below shows an example of connection between the nstop 2 input signal and the line driver output terminal and the encoder. In case the output is low level when Z phase is detected, set the logic setting of MCX 514 to Low active. Encoder side Internal filter side id Delay time: 512µsec (initial value) Compatible with TLP Input signal for servomotor (ninpos, nalarm) The ninpos input signal is the input corresponding to the in position (positioning complete) output of the servomotor driver. In the mode setting of MCX 514, it selects valid / invalid and logical level. If set, when the drive is over the n - DRV bit in the main status register (RR 0) will return to 0 after this signal to become active

18 The nalarm input signal corresponds to the alarm output of the servo motor driver. In the mode setting, select enable / disable, and the logic level. When set, the nalarm input signal is always monitored, and when the active level is reached, the drive is immediately stopped. Immediately after resetting, both signals are disabled. For details, refer to sections and 6.6 in the MCX 514 owner's manual. MC8581P MCX V 内蔵フィルタ Internal filter 10K ninpos +3. 3V 2. 2K 1K 2. 2K TLP291 Compatible 相当 with TLP291 VEX(+12~24V) ninpos Internal 内蔵フィルタ filter nalarm 遅延時間 Delay time: :512μSEC( 512µsec (initial 初期値 value) ) nalarm Input signal circuit for servomotor In order to operate this signal, it is necessary to use supply DC + 12 ~ 24 V DC from the of 512 μs in initial setting when startup of Windows device driver supplied from Nova Electronics. Depending on the noise environment of the system, this signal delay time can be changed. For details, refer to section 2.11 of MCX 514 Owner's Manual. Also, since the input signal for the servo motor can always read the signal state with the input register, it can also be used as a general purpose input. Encoder input signal (necap, necan, necbp, necbn) The necap / N, necbp / N input signal is an input for connecting the encoder's 2-phase output signal or encoder 2-phase output signal of the servo motor driver and counting the actual position counter of the MCX 514. For details, refer to sections and 6.7 in the MCX 514 owner's manual. MCX514 neca/ppin necb/pmin +V 470 TLP118 相当 MC8581P Compatible with TLP118 1K 220 necap necan necbp necbn Encoder input signal circuit As shown in the above figure, the encoder input signal circuit uses the high-speed photocoupler IC TLP118 (Toshiba). Each input signal can be directly connected with a line driver with differential output. As shown in the figure below, when the n *** P / N signal is H / L, the n *** signal of MCX 514 goes low, and when the signal is L / H, it goes Hi. Since the delay time from the input to the MCX 514 signal terminal is 100 nsec or less, it can count up to maximum 8 MHz in case of 2 phase input 4 multiplication

19 Input 入力信号 signal n***p n***n H L L H MCX514 signal MCX514 信号 n*** L H The figure below shows an example of connection between the encoder input signal and the differential output line driver. MC8581P 側 side Encoder エンコーダ側 side necap necan necbp necbn EC-A EC-B Am26LS31 Connection example with line driver of differential output The figure below shows an example of connecting the encoder input signal and the open collector output encoder. + - DC DC power 電源 supply XECAP R VCC Encoder エンコーダ XECAN EC-A XECBP R XECBN EC-B Power-supply 電源電圧 voltage (V) R (Ω) /4W 2K 1W GND Connection example with open collector output 3.10 External drive signal (nexop +, nexop-) This is an direction input to activate the + / - direction drive from the outside. In the relative position drive mode, the specified drive is output at the trigger (falling edge) of the input signal. In continuous drive mode, drive s are continuously output while the input signal is low level. For manual jog feed etc. of each axis, axis feed is possible without CPU intervention. In order to enable the external drive signal, the MCX 514 mode setting is required. For details, refer to sections , 7.3.2, and 7. in the MCX 514 owner's manual. In order to operate this signal, it is necessary to use supply DC + 12 ~ 24 V DC from the outside. In addition, the integration filter built in MCX 514 is set to delay 512 μs in initial setting when startup of Windows device driver

20 supplied from Nova Electronics. Depending on the noise environment of the system, this signal delay time can be changed. For details, refer to section 2.11 of MCX 514 Owner's Manual. MC8581P MCX V Internal 内蔵フィルタ filter 10K npio V TLP291 相当 2. 2K 1K 2. 2K Compatible with TLP 291 VEX(+12~24V) nexop+ Internal 内蔵フィルタ filter npio5 Delay 遅延時間 time: :512μSEC( 512µsec (initial 初期値 value) ) nexop- External drive signal circuit 3.11 Emergency stop input signal (EMG) Drive output of all axes stops when the emergency stop signal becomes active level. The active level can be switched with the JP2 jumper terminal in the board. When the emergency stop signal becomes active during drive, the drive of all axes stops immediately, and the error bit of all axes of the main status register set to 1. For the emergency stop of the MCX 514, refer to section of the MCX 514 owner's manual. JP2: 1-2 Short-circuit: Emergency stop signal (EMG) active when short-circuited happen with external power supply GND. JP2: 2-3 Short-circuit: Emergency stop signal (EMG) active when it becomes open state. When shipping from factory, 1-2 short circuited. MC8581P MCX514 Internal 内蔵フィルタ filter 1 EMGN HC14 相当 Compatible with 74HC14 JP2:EMG theory 論理切換 switching ( 出荷時 1-2 短絡 ) (Short circuiting when shipment) +3. 3V 10K 2. 2K 1K 2. 2K TLP291 相当 Compatible with TLP 291 VEX(+12~24V) nemg Delay 遅延時間 time: :512μSEC( 512µsec (initial 初期値 value) ) Emergency stop input signal circuit In order to operate this signal, it is necessary to use supply DC + 12 ~ 24 V DC from the outside. In addition, the integration filter built in MCX 514 is set to delay 512 μs in initial setting when startup of Windows device driver supplied from Nova Electronics. Depending on the noise environment of the system, this signal delay time can be changed. For details, refer to section 2.11 of MCX 514 Owner's Manual

21 3.12 External power supply (VEX) The external power supply consists of overrun limit input signals (nlmt +, nlmt-) for each axis, deceleration stop / immediate stop input signals (nstop 0, nstop 1, nstop 2), input signals for servo motors (ninpos, nalarm), external drive signals (nexop +, NEXOP-) and Emergency Stop Input Signal (EMG). Please supply DC + 12 ~ 24 V power supply for this product. Current consumption per input signal is about 2 ma for DC + 12 V and about 5 ma for DC + 24 V. 4. Interrupt On this board, the interrupt signals ((INTN 0, INTN 1) 2) generated from the two MCX 514 are collectively output (OR condition) to the higher order The interrupt signal is canceled by reading the MCX 514 status register RR1 of the axis where the interrupt occurred. For details, refer to section 2.10 of MCX 514 Owner's Manual. Application programs that use interrupts should be created with VC. Please note that interrupt signal can not be created by VB program. 5. Motor driver connection example 5.1 Connection example with stepping motor driver The figure below shows an example connection between the AX axis of the MC8581P and the 5-phase microstep driver KR-A535M made by Techno Drive. DC5V Power supply 5 phase micro step driver CW direction CCW direction Set JP4/AX to UPPER Origin excitation Hold OFF Note 1: Using origin excitation signal and Hold off signal if necessary. The AXSTOP 2 input signal can be used as the origin excitation signal by using the AXOUT 1 output signal as the hold OFF signal. The figure below shows a connection example between the AX axis of MC8581P and stepping motor driver of UPK series made by Oriental Motor

22 CW direction CCW direction DC24V Power supply Set JP4/AX to LOWER Excitation timing Overheat Hold OFF Note 1: Using hold off, excitation timing, overheat signal if necessary. You can use the AXOUT 1 output signal as the hold OFF signal and let the excitation timing signal use the AXSTOP 2 input signal to perform the origin detection. The overheat signal can activate the alarm function using the AXALARM input signal. For the excitation timing and overheat signal, the signal level can be directly read through the RR3 register. Note 2: When strong noise environment or distance to the driver is long, twisted pair shielded wire is recommended as shown above

23 5.2 Connection example with AC servo motor driver The figure below shows an example of connection between the AX axis of the MC8581P and the MINAS X series AC servomotor driver. MC8581P CN1 MINAS Sシリーズ CN I/F AXP+P AXP+N AXP-P AXP-N A35 A36 A37 A38 CW 方向パルス direction CCW 方向パルス direction PULS2 PULS1 SIGN2 SIGN1 VEX AXSTOP2 AXALARM AXINPOS A1 A18 A20 A19 AXOUT0/DCC A31 GND A30 Set JP4/AXは JP4/AX LOWERにto LOWER する Encoder エンコーダ phase Z Z 相 Servo サーボアラーム alarm Positioning 位置決め完了 complete Clear deviation 偏差カウンタクリア counter + DC24V Power 電源 supply CZ GND COM+ ALM COIN COM- CL CN2 19 AXECAP 20 AXECAN 21 AXECBP 22 AXECBN Encoder エンコーダ phase A A 相 Encoder エンコーダ phase B B 相 OA+ OA- OB+ OB- CN3 AXOUT1 3 AXOUT2 4 GND 27 Servo サーボオン ON Alarm アラームリセット reset 2 3 SRV-ON A-CLR CN1 AXLMT+ A2 + L OUT - CW 方向 direction limit リミット AXLMT- A3 + L OUT - CCW 方向 direction limit リミット AXSTOP1 A5 + L OUT - 原点 Origin AXSTOP0 A4 + L OUT Near 原点近傍 the origin - EE-SX670( Omron オムロン ) Note 1: Set the driver control mode to position control mode and the command mode to CW / CCW mode. If the command form is set to / code mode, it will not be suitable as it will run short of t6 time. Note 2: Encoder A / B signal is connected when counting the actual position counter within the MCX 514. The actual position data on the CPU side

24 You do not need to connect if you do not need it. Connect other signals as necessary. Note 3: Since the encoder Z phase signal uses the open collector output on the driver side in this example, JP4 is sent to the LOWER side (shipping The state of time). Note 4: In this example, the origin signal and the origin signal are wired respectively for the origin signal, so set JP3 to the LOWER side (factory condition). Note 5: When strong noise environment or long distance to the driver is long, twisted pair shielded wire is recommended as shown above. 6. I / O signal timing 6.1 When reseting Read/Write of this board Imposible Posible 1. The driver output signal (np ± P, np ± N), is determined within 375 nsec maximum of the target reset signal (TRESET #) APIC Writing / reading to / from this board is enabled after 250 nsec from of target reset signal (TRESET #) 6.2 When starting independent drive IOW* np±p ドライブ命令書き込み Write to drive command 1 No.1 第 1パルス 第 No.2 2パルス 2 3 np-p ((Direction 方向信号 ) signal) Previous 前の状態 situation 1 ドライブ命令が書き込まれてから最大 250nSEC 以内に第 1 ドライブパルスが出力されます Applied 有効レベル level 1. The first drive is output within a maximum of 250 nsec after the drive instruction is written 2,3. When the drive output method is set to 1 method, the direction signal (np - P) becomes effective level within nsec maximum after writing the drive instruction, after 62.5 n SEC after the direction signal becomes valid level One drive is output 23 ドライブ出力パルス方式を1パルス方式にした場合は ドライブ命令書き込み後最大 187.5nSEC 以内に方向信号 (np-p) が有効レベルになり 方向信号が有効レベルになってから62.5nSEC 後に第 1ドライブパルスが出力されます 6.3 During interpolation drive IOW* np±p 補間ドライブ命令書き込み Write interpolation drive instruction 1 第 No.1 1パルス No.2 第 2 パルス np-p Indefinite 不定 Effective 有効レベル level Indefi 不定 Effective 有効レベル level 不定 Indefi (Direction ( 方向信号 signal) ) nite nite 1.The first drive is output within 250 nsec at the maximum after the interpolation drive 1 補間ドライブ命令が書き込まれてから最大 250nSEC 以内に第 1ドライブパルスが出力されます command is written 2.When 2 ドライブ出力パルス方式を the drive output 1パルス方式にした場合の方向信号 service is set to 1 mode, (np-p) the は ドライブパルスの direction signal Hi (np レベル幅とその前後 - P) becomes valid 62.5nSEC level の間が有効レベルになります between the Hi level width ( ドライブパルス of the drive : 正論理パルスのとき and 62.5 nsec ) before and after the drive. (Drive : when it is a positive logic )

25 6.4 Input timing Encoder 2 phase input カウントアップ Count up カウントダウン Count down necap necan necbp necbn (EC-A,EC-B (Phase difference 位相差時間 time between ) : EC-A, 最小 100nSEC EC-B): At least 100nSEC UP / DOWN input necap necan necbp necbn (UP/DOWN パルス幅 width: ) At : 最小 least 100nSEC 2(UP DOWN Between パルス間 DOWN ): : 最小 At 200nSEC least 200nSEC 3(UP/DOWN パルス周期 period: ): At 最小 least 200nSEC 6.5 Immediate stop timing Immediate stop by external signal EMG,nLMT± nstop3, 2,1 nalarm np±p Effective 有効レベル level 1 1 ドライブ途中で外部停止信号が有効レベルになると フォトカプラ遅延時間 ( 最大 100μsec)+IC 内蔵積分フィルタの遅延時間 ( 初期値 512μsec)+1ドライブパルス後に停止します 1.When the external stop signal reaches the valid level during driving, the photocoupler delay time (maximum 100 μsec)+ IC delay time of internal integral filter (initial value 512 μsec) + stops after 1 drive Immediate stop by command IOW* np±p Write 停止命令書き込み Stop command When ドライブ途中で停止命令が書き込まれると 最大 a stop command is written in the middle 1ドライブパルス後に停止します of the drive, it stops after 1 drive maximum

26 6.6 Deceleration stop timing Deceleration stop by external signal nlmt± nstop2,1,0 Effective 有効レベル level np±p Deceleration stop by command 1 1.When 1 ドライブ途中で外部減速停止信号が有効レベルになると フォトカプラ遅延時間 the external deceleration stop signal reaches the valid level ( 最大 in the 100μsec)+IC middle of the 内蔵積分 drive, フィルタの遅延時間 ( 初期値 512μsec)+2ドライブパルス後に減速を開始します deceleration starts after the photocoupler delay time (maximum 100 µsec) + IC built-in integral filter delay time (initial value 512 µsec) + 2 drive I OW* np±p Write 減速停止命令書き込み deceleration stop command If ドライブ途中で減速停止命令が書き込まれると 最大 a deceleration stop command is written in the 2middle ドライブパルス後に減速を開始します of the drive, deceleration will start after a maximum of 2 drive s

27 7. Board outline Hereafter is description about the board outline, jumpers, switches, etc.. PCI Bus connector JP1: Keep short circuit 1-2 the same as the condition as shipment JP2: Emergency stop signal) EMG) active logic is selected. Short circuit 1-2 (condition when shipment): Short the signal to GND and it becomes active Short circuit 2-3: It becomes active with signal open JP3: Select origin point signal. See section 3.6 Use LOWER (factory setting) + STOP near the origin and STOP 1 as the origin signal UPPER: Use high-speed origin search low-speed tracking using only STOP 0 JP4: Select the STOP 2 (encoder Z phase) input circuit. See section 3.7. LOWER (factory setting): Open collector output on the partner side UPPER: The other side outputs line drive output SW1: It is a rotary switch that sets the board number when using multiple boards. You can set the value of 0 - F (factory setting: 0)