PCI-M114 TPM. Version: V N10. To properly use the product, read this manual thoroughly is necessary. Part No.

Transcription

1 PCI-M114 Version: V N10 To properly use the product, read this manual thoroughly is necessary. Part No.:

2 Revision History Date Revision Description 2014/12/ Document creation. 2015/11/ Add CMP trigger and terminal boards description. 2

3 Copyright 2010 TPM The product, including the product itself, the accessories, the software, the manual and the software description in it, without the permission of TPM Inc. ( TPM ), is not allowed to be reproduced, transmitted, transcribed, stored in a retrieval system, or translated into any language in any form or by any means, except the documentation kept by the purchaser for backup purposes. The names of products and corporations appearing in this manual may or may not be registered trademarks, and may or may not have copyrights of their respective companies. These names should be used only for identification or explanation, and to the owners benefit, should not be infringed without any intention. The product s name and version number are both printed on the product itself. Released manual visions for each product design are represented by the digit before and after the period of the manual vision number. Manual updates are represented by the third digit in the manual vision number. Trademark MS-DOS and Windows 95/98/NT/2000/XP, Visual Studio, Visual C++, Visual BASIC are registered trademarks of Microsoft. BCB (Borland C++ Builder) is registered trademark of Borland. Other product names mentioned herein are used for identification purposes only and may be trademarks and/or registered trademarks of their respective companies. 3

4 Electrical safely To prevent electrical shock hazard, disconnect the power cable from the electrical outlet before relocating the system. When adding or removing devices to or from the system, ensure that the power cables for the devices are unplugged before the signal cables are connected. Disconnect all power cables from the existing system before you add a device. Before connecting or removing signal cables from motherboard, ensure that all power cables are unplugged. Seek professional assistance before using an adapter or extension card. These devices could interrupt the grounding circuit. Make sure that your power supply is set to the voltage available in your area. If the power supply is broken, contact a qualified service technician or your retailer. Operational safely Please carefully read all the manuals that came with the package, before installing the new device. Before use ensure all cables are correctly connected and the power cables are not damaged. If you detect and damage, contact the dealer immediately. To avoid short circuits, keep paper clips, screws, and staples away from connectors, slots, sockets and circuitry. Avoid dust, humidity, and temperature extremes. Do not place the product in any area where it may become wet. If you encounter technical problems with the product, contact a qualified service technician or the dealer. 4

5 Contents CONTENTS PCI-M114 INTRODUCTION FEATURES SPECIFICATIONS HARDWARE LAYOUT I/O INTERFACE DESCRIPTION AXIS MOTION CONNECTOR CN MANUAL PULSE GENERATOR CONNECTOR CN STA/STP CN4/CN CARD NUMBER SWITCH RSW JUMPER SETTING FOR COMPARE TRIGGER JP INTRODUCTION OF THE TERMINAL BOARD FOR PCI-M T141-GEN SERIES Options of 107-T141-GEN Series Dimensions Product Category Module Introduction Example Connector Function Daughter Board Layout T142-GEN Axis Motion Connector CN Power input and emergency input signal Machinery I/O Signals CN3/CN4/CN5/CN Mechanical Brake I/O Signals CN Drive s IO Interface Connector CN8/CN9/CN10/CN WIRING EXAMPLES SIGNAL CONNECTION MACHINE I/O INTERFACE SIGNALS DRIVER I/O INTERFACE SIGNALS DRIVER PULSE I/O INTERFACE SIGNALS

6 1. PCI-M114 Introduction The PCI-M114 is an advanced motion controller consisting of 4-axis motion controller The 4-axis motion control provides 2 to 8 axes liner interpolation, 2-axis circular interpolation and also continuous interpolation with velocity continuity. It provides 13 homing modes for different machine designs. It also provides position compare and trigger output functions to interface with other applications, like on-the-fly image acquisition. The position latch and interrupt functions let users to interface with other applications like machine tool length measurement. The PCI-M114 provides servo driver/motor dedicated digital I/O interfaces, for example, ALM, INP, and ERC and also machine dedicated digital I/O interfaces, for example, ORG, PEL, and EMG. These dedicated I/O signals guarantee the functionality via hardware and therefore reduces the loading of software. PCI-M T142-GEN Figure 1-1: PCI-M114 and supported control devices 6

7 1.1. Features Max. 6.5MHz, 4-Axis pulse output Linear, circular and continuous interpolation High speed position latch function Manual pulse generator input interface Simultaneously start/stop on multiple axes Programmable acceleration and deceleration time Programmable pulse output and interrupt Position compare and trigger output Programmable baud-rate up to 20Mbps transfer rate Easy installation with RJ45 phone jack and LED diagnose 1.2. Specifications 4-Axis Motion Control Pulse output mode: ±OUT/DIR, ±CW/CCW, A/B Phase Pulse output rate: Max. 6.5Mpps / Min. 0.05pps Position range: 32 bits(±2,147,483,648 pulses) Home return mode: 13 types Velocity profiles: T-curve, S-curve Interpolation mode: linear, circular, helix and continuous Counter for encoder feedback signals: 32 bits up/down x 4 Position latch input: LTC x 4 Position compare output: CMP x 4, with programmable pulse width Compare trigger output rate: Max. 100Kbps FIFO buffer for compare trigger positions: 2 axes 250 (default), 500 points for each axis, optional. Incremental encoder input: ±EA x 4, ±EB x 4 Encoder index signal input: ±EZ x 4 Machine interface: PEL x 4, MEL x 4, ORG x 4, SLD x 4 Servo driver interface: ALM x 4, RDY x 4, SVON x 4, INP x 4, ERC x 4 Simultaneous start/stop motion input: STA, STP I/O pin type: optically isolated with 2.5KVrms on all SCSI 100 pins Manual pulse generator: isolated General PCI Spec. 2.2; supports 32-bit, 3.3V/5V DC operation Power consumption: +5V DC at 0.5A typical Working temperature: 0 to 60 7

8 1.3. Hardware Layout The PCI-M114 PCB layout and onboard I/O interfaces are introduced as follows. PCI-M114 CN3 CN4 CN5 RSW1 JP300 CN2 Figure 1-2: hardware PCB layout Name CN2 CN3 CN4 CN5 RSW1 JP300 Description 4 Axis motion SCSI 100 pins connector. Connecting to manual pulse generator. Simultaneous STA / STP connector Simultaneous STA / STP connector Rotary switch for card number setting. Jumper setting for Compare Trigger Table 1-1: I/O interfaces on PCI-M114 8

9 2. I/O Interface Description Axis Motion Connector CN2 Figure 2-1: 100 pin connector for motion Pin Label I/O 1 st / 2 nd / 3 rd / 4 th Description Pin Label I/O 1 st / 2 nd / 3 rd / 4 th Description 1 24V +24V / 200mA power input 51 24V +24V / 200mA power input 2 EGND External ground 52 EGND External ground 3 EMG I Emergency signal 53 EMG I Emergency signal 4 MEL_1 I 1 st end limit (-) 54 MEL_3 I 3 rd end limit (-) 5 PEL_1 I 1 st end limit (+) 55 PEL_3 I 3 rd end limit (+) 6 ORG_1 I 1 st home signal 56 ORG_3 I 3 rd home signal 7 SLD_1 I 1 st ramp-down signal 57 SLD_3 I 3 rd ramp-down signal 8 MEL_2 I 2 nd end limit (-) 58 MEL_4 I 4 th end limit (-) 9 PEL_2 I 2 nd end limit (+) 59 PEL_4 I 4 th end limit (+) 10 ORG_2 I 2 nd home signal 60 ORG_4 I 4 th home signal 11 SLD_2 I 2 nd ramp-down signal 61 SLD_4 I 4 th ramp-down signal 12 RDY_1 I 1 st servo ready 62 RDY_3 I 3 rd servo ready 13 INP_1 I 1 st servo in-position signal 63 INP_3 I 3 rd servo in-position signal 14 ALM_1 I 1 st servo alarm 64 ALM_3 I 3 rd servo alarm 15 LTC_1 I 1 st latch input 65 LTC_3 I 3 rd latch input 16 RDY_2 I 2 nd servo ready 66 RDY_4 I 4 th servo ready 17 INP_2 I 2 nd servo in-position signal 67 INP_4 I 4 th servo in-position signal 18 ALM_2 I 2 nd servo alarm 68 ALM_4 I 4 th servo alarm 19 LTC_2 I 2 nd latch input 69 LTC_4 I 4 th latch input 20 EGND External ground 70 EGND External ground 21 SVON_1 O 1 st servo on 71 SVON_3 O 3 rd servo on 22 ERC_1 O 1 st clear servo error counter 72 ERC_3 O 3 rd clear servo error counter 23 ALMC_1 O 1 st reset servo alarm 73 ALMC_3 O 3 rd reset servo alarm 24 CMP_1 O 1 st compare output 74 CMP_3 O 3 rd compare output 25 SVON_2 O 2 nd servo on 75 SVON_4 O 4 th servo on 9

10 Pin Label I/O 1 st / 2 nd / 3 rd / 4 th Description Pin Label I/O 1 st / 2 nd / 3 rd / 4 th Description 26 ERC_2 O 2 nd clear servo error counter 76 ERC_4 O 4 th clear servo error counter 27 ALMC_2 O 2 nd reset servo alarm 77 ALMC_4 O 4 th reset servo alarm 28 CMP_2 O 2 nd compare output 78 CMP_4 O 4 th compare output 29 EA+_1 I 1 st encoder A phase (+) 79 EA+_3 I 3 rd encoder A phase (+) 30 EA-_1 I 1 st encoder A phase (-) 80 EA-_3 I 3 rd encoder A phase (-) 31 EB+_1 I 1 st encoder B phase (+) 81 EB+_3 I 3 rd encoder B phase (+) 32 EB-_1 I 1 st encoder B phase (-) 82 EB-_3 I 3 rd encoder B phase (-) 33 EZ+_1 I 1 st encoder Z phase (+) 83 EZ+_3 I 3 rd encoder Z phase (+) 34 EZ-_1 I 1 st encoder Z phase (-) 84 EZ-_3 I 3 rd encoder Z phase (-) 35 EA+_2 I 2 nd encoder A phase (+) 85 EA+_4 I 4 th encoder A phase (+) 36 EA-_2 I 2 nd encoder A phase (-) 86 EA-_4 I 4 th encoder A phase (-) 37 EB+_2 I 2 nd encoder B phase (+) 87 EB+_4 I 4 th encoder B phase (+) 38 EB-_2 I 2 nd encoder B phase (-) 88 EB-_4 I 4 th encoder B phase (-) 39 EZ+_2 I 2 nd encoder Z phase (+) 89 EZ+_4 I 4 th encoder Z phase (+) 40 EZ-_2 I 2 nd encoder Z phase (-) 90 EZ-_4 I 4 th encoder Z phase (-) 41 DDA 5V DDA 5V power output. DDA 5V power output. 91 DDA 5V I<100mA I<100mA 42 DDA GND Internal 5V ground 92 DDA GND Internal 5V ground 43 DIR+_1 O 1 st direction signal (+) 93 DIR+_3 O 3 rd direction signal (+) 44 DIR-_1 O 1 st direction signal (-) 94 DIR-_3 O 3 rd direction signal (-) 45 OUT+_1 O 1 st pulse signal (+) 95 OUT+_3 O 3 rd pulse signal (+) 46 OUT-_1 O 1 st pulse signal (-) 96 OUT-_3 O 3 rd pulse signal (-) 47 DIR+_2 O 2 nd direction signal (+) 97 DIR+_4 O 4 th direction signal (+) 48 DIR-_2 O 2 nd direction signal (-) 98 DIR-_4 O 4 th direction signal (-) 49 OUT+_2 O 2 nd pulse signal (+) 99 OUT+_4 O 4 th pulse signal (+) 50 OUT-_2 O 2 nd pulse signal (-) 100 OUT-_4 O 4 th pulse signal (-) Table 2-1: SCSI 100-pin definition 10

11 2.2. Manual Pulse Generator Connector CN Figure 2-2: MPG pin definition 1 +24V/200mA Power 2 G24 Ground 3 X Select Input signal 4 Y Select Input signal 5 Z Select Input signal 6 U Select Input signal 7 X1 Input signal 8 X10 Input signal 9 X100 Input signal 10 IOCOM 11 +5V/200mA Power 12 DGND Ground 13 PA Input signal 14 PB Input signal 15 IOCOM 16 Enable Input signal 17 JOG+ Input signal 18 JOG- Input signal 19 Reserved 20 Reserved Table 2-2: MPG pin definition The logic circuit is illustrated below. Figure 2-3: hand wheel NPN logic circuit 11

12 Figure 2-4: hand wheel PNP logic circuit 2.3. STA/STP CN4/CN5 Figure 2-5: STA/STP pin definition 1 GND Ground 2 STA Simultaneous Start 3 STP Simultaneous Stop 4 GND Ground Table 2-3: STA/STP pin definition 12

13 2.4. Card Number Switch RSW1 Figure 2-6: card number switch 2.5. Jumper setting for Compare Trigger JP300 JP300 sets the voltage and maximum frequency of trigger output signal. The output signal voltage may either be 24V or 5V. The default setting is 24V output. 5V 24V Default JP101 X Y AXIS Z U X Y Z U Figure 2-7: Voltage setting for compare trigger 100K 10K Default X AXIS Y Z U X Y Z (AXIS_X, AXIS_Y, controlled by software) U Figure 2-8: Frequency setting for compare trigger 13

14 3. Introduction of the Terminal Board for PCI-M T141-GEN Series Options of 107-T141-GEN Series The 107-T141-GEN is a versatile terminal board working as a bridge along with the SCSI 100-pin motion connector and servo driver connectors. While choosing 107-T141-GEN, it is necessary to select the corresponding DB series terminal boards in relation to motor drivers Dimensions 123mm 148mm H: 52mm Figure 3-1: dimensions of 107-T141-GEN, unit: mm 14

15 Product Category T141-GEN (versatile terminal board) 2. Modules for 107-T141-GEN (1) DB-T141-DA2 (2) DB-T141-DAB (3) DB-T141-DUM (4) DB-T141-DUME (5) DB-T141-YS2 (6) DB-T141-SAN (7) DB-T141-PA4 (8) DB-T141-MJ3 (9) DB-T141-EZS 15

16 Driver Type Add modules of 107-T141 Terminal Board Series Delta B Type Driver DB-T141-DAA DB-T141-DAB Servo or stepping Driver DB-T141-DUM DB-T141-DUME Yaskawa Sigma-II/V Driver DB-T141-YS2 107-T141-GEN Sanyo Q series Driver DB-T141-SAN Panasonic Minas A Driver DB-T141-PA4 Mitsubishi MR-J3 Driver DB-T141-MJ3 Ezi-SERVO Driver DB-T141-EZS Module Introduction The 107-T141-GEN terminal board has 4 connector sockets from left to right with number 1 to 4 correspondingly. The figure below illustrates the connector number on the board. These selections compose the naming convention of the product which will be introduced in the following section. 16

17 Figure 3-2: connector socket number of 107-T141-GEN Example If a user needs 4 axes motion control with 2 Delta B type, 1 Panasonic Minas A and 1 Mitsubishi MR-J3 drivers, the items needed would be 107-T141-GEN * 1, DB-T141-DAB * 2, DB-T141-PA4 * 1 and DB-T141-MJ3 * 1 as the following table. Add modules of 107-T141 Site Driver Terminal Board Series 1 2 Delta B Type Driver DB-T141-DAB 3 Panasonic Minas A Driver DB-T141-PA4 107-T141-GEN 4 Mitsubishi MR-J3 Driver DB-T141-MJ3 Table 3-1: selected list example Specification Convention According to the previous example, the product specification is 107-T141 with DABx2 + PA4 + MJ T141 with DABx2 + PA4 +MJ3 = 107-T141-GEN spec. + DB-T141-DAB spec. * 2 + DB-T141-PA4 spec. + DB-T141-MJ3 spec. 17

18 Connector Function Figure 3-3: 107-T141-GEN terminal board Label CN1 CN2 CN3 CN4 CN5 CN6 CN7 CN8 CN9 CN10 CN12 CN13 CN14 CN15 Function 1 st Reserved IO Signals Connector 1 st Machinery IO Signals Connector 2 nd Reserved IO Signals Connector 2 nd Machinery IO Signals Connector 3 rd Reserved IO Signals Connector 3 rd Machinery IO Signals Connector 4 th Reserved IO Signals Connector 4 th Machinery IO Signals Connector Power Connector SCSI 100 pin Connector 1 st DB Connector 2 nd DB Connector 3 rd DB Connector 4 th DB Connector 18

19 Pin Label I/O 1 st / 2 nd / 3 rd / 4 th Description Pin Label I/O 1 st / 2 nd / 3 rd / 4 th Description 1 24V +24V / 200mA power input 51 24V +24V / 200mA power input 2 EGND External ground 52 EGND External ground 3 EMG I Emergency signal 53 EMG I Emergency signal 4 MEL_1 I 1 st end limit (-) 54 MEL_3 I 3 rd end limit (-) 5 PEL_1 I 1 st end limit (+) 55 PEL_3 I 3 rd end limit (+) 6 ORG_1 I 1 st home signal 56 ORG_3 I 3 rd home signal 7 SLD_1 I 1 st ramp-down signal 57 SLD_3 I 3 rd ramp-down signal 8 MEL_2 I 2 nd end limit (-) 58 MEL_4 I 4 th end limit (-) 9 PEL_2 I 2 nd end limit (+) 59 PEL_4 I 4 th end limit (+) 10 ORG_2 I 2 nd home signal 60 ORG_4 I 4 th home signal 11 SLD_2 I 2 nd ramp-down signal 61 SLD_4 I 4 th ramp-down signal 12 RDY_1 I 1 st servo ready 62 RDY_3 I 3 rd servo ready 13 INP_1 I 1 st servo in-position signal 63 INP_3 I 3 rd servo in-position signal 14 ALM_1 I 1 st servo alarm 64 ALM_3 I 3 rd servo alarm 15 LTC_1 I 1 st latch input 65 LTC_3 I 3 rd latch input 16 RDY_2 I 2 nd servo ready 66 RDY_4 I 4 th servo ready 17 INP_2 I 2 nd servo in-position signal 67 INP_4 I 4 th servo in-position signal 18 ALM_2 I 2 nd servo alarm 68 ALM_4 I 4 th servo alarm 19 LTC_2 I 2 nd latch input 69 LTC_4 I 4 th latch input 20 EGND External ground 70 EGND External ground 21 SVON_1 O 1 st servo on 71 SVON_3 O 3 rd servo on 22 ERC_1 O 1 st clear servo error counter 72 ERC_3 O 3 rd clear servo error counter 23 ALMC_1 O 1 st reset servo alarm 73 ALMC_3 O 3 rd reset servo alarm 24 CMP_1 O 1 st compare output 74 CMP_3 O 3 rd compare output 25 SVON_2 O 2 nd servo on 75 SVON_4 O 4 th servo on 26 ERC_2 O 2 nd clear servo error counter 76 ERC_4 O 4 th clear servo error counter 27 ALMC_2 O 2 nd reset servo alarm 77 ALMC_4 O 4 th reset servo alarm 28 CMP_2 O 2 nd compare output 78 CMP_4 O 4 th compare output 29 EA+_1 I 1 st encoder A phase (+) 79 EA+_3 I 3 rd encoder A phase (+) 30 EA-_1 I 1 st encoder A phase (-) 80 EA-_3 I 3 rd encoder A phase (-) 31 EB+_1 I 1 st encoder B phase (+) 81 EB+_3 I 3 rd encoder B phase (+) 32 EB-_1 I 1 st encoder B phase (-) 82 EB-_3 I 3 rd encoder B phase (-) 33 EZ+_1 I 1 st encoder Z phase (+) 83 EZ+_3 I 3 rd encoder Z phase (+) 34 EZ-_1 I 1 st encoder Z phase (-) 84 EZ-_3 I 3 rd encoder Z phase (-) 35 EA+_2 I 2 nd encoder A phase (+) 85 EA+_4 I 4 th encoder A phase (+) 36 EA-_2 I 2 nd encoder A phase (-) 86 EA-_4 I 4 th encoder A phase (-) 37 EB+_2 I 2 nd encoder B phase (+) 87 EB+_4 I 4 th encoder B phase (+) 38 EB-_2 I 2 nd encoder B phase (-) 88 EB-_4 I 4 th encoder B phase (-) 39 EZ+_2 I 2 nd encoder Z phase (+) 89 EZ+_4 I 4 th encoder Z phase (+) 19

20 Pin Label I/O 1 st / 2 nd / 3 rd / 4 th Description Pin Label I/O 1 st / 2 nd / 3 rd / 4 th Description 40 EZ-_2 I 2 nd encoder Z phase (-) 90 EZ-_4 I 4 th encoder Z phase (-) 41 DDA 5V DDA 5V power output. DDA 5V power output. 91 DDA 5V I<100mA I<100mA 42 DDA GND Internal 5V ground 92 DDA GND Internal 5V ground 43 DIR+_1 O 1 st direction signal (+) 93 DIR+_3 O 3 rd direction signal (+) 44 DIR-_1 O 1 st direction signal (-) 94 DIR-_3 O 3 rd direction signal (-) 45 OUT+_1 O 1 st pulse signal (+) 95 OUT+_3 O 3 rd pulse signal (+) 46 OUT-_1 O 1 st pulse signal (-) 96 OUT-_3 O 3 rd pulse signal (-) 47 DIR+_2 O 2 nd direction signal (+) 97 DIR+_4 O 4 th direction signal (+) 48 DIR-_2 O 2 nd direction signal (-) 98 DIR-_4 O 4 th direction signal (-) 49 OUT+_2 O 2 nd pulse signal (+) 99 OUT+_4 O 4 th pulse signal (+) 50 OUT-_2 O 2 nd pulse signal (-) 100 OUT-_4 O 4 th pulse signal (-) 20

21 CN1/ CN3/ CN5/ CN7 encoder signals connector 1 N-1 Reserved 2 N-2 Reserved 3 N-3 Reserved 4 N-4 Reserved 5 N-5 Reserved 6 N-6 Reserved 7 CMP Compare output 8 GND External Ground(24V) 9 BK+ Brake signal(+) 10 BK- Brake signal(-) 11 24V +24V power 12 24V +24V power CN2/ CN4/ CN6/ CN8 machinery I/O signals connector 1 PEL End Limit Signal(+) 2 GND External Ground(24V) 3 MEL End Limit Signal(-) 4 GND External Ground(24V) 5 ORG home signal 6 GND External Ground(24V) 7 LTC Latch input 8 GND External Ground(24V) 9 SLD ramp-down signal 10 GND External Ground(24V) 11 24V +24V power 12 24V +24V power 21

22 CN11 / CN12 / CN13 / CN14 Servo driver connector sockets Pin Label I/O Description Pin Label I/O Description 1 EA+ I Encoder A phase signal(+) 2 24V +24V power 3 EA- I Encoder A phase signal(-) 4 GND External Ground(24V) 5 EB+ I Encoder B phase signal(+) 6 MEL I End Limit Signal(-) 7 EB- I Encoder B phase signal(-) 8 PEL I End Limit Signal(+) 9 EZ+ I Encoder Z phase signal(+) 10 RDY I Servo Ready 11 EZ- I Encoder Z phase signal(-) 12 INP I Servo In-position signal 13 OUT- O Pulse signal(-) 14 ALM O Servo Alarm 15 OUT+ O Pulse signal(+) 16 SVON O Servo On 17 DIR- O Dir. Signal(-) 18 ERC O Clear Servo Error Counter 19 DIR+ O Dir. Signal(+) 20 ALMC O Clear Servo Alarm 21 GND External Ground(24V) 22 BRK- O Brake signal(-) 23 5V +5V Power 24 BRK+ O Brake signal(+) 25 N-1 Reserved 26 N-2 Reserved 27 N-3 Reserved 28 N-4 Reserved 29 N-5 Reserved 30 N-6 Reserved CN9 Power input and emergency input signal 1 24V +24V Power 2 GND Ground 3 EMG Emergency Signal 22

23 Daughter Board Layout DB-T141-DUM dummy type interface board. DB-T141-DUM 1 RDY Servo Ready 7 +5V +5V Power 2 INP Servo In-position signal 8 IGND 5V Ground 3 ALM Servo Alarm 9 DIR+ Dir. Signal(+) 4 SVON Servo On 10 DIR- Dir. Signal(-) 5 ERC Clear Servo Error Counter 11 OUT+ Pulse signal(-) 6 ALMC Clear Servo Alarm 12 OUT- Pulse signal(+) Note: the dummy type does not have the encoder interface. If users want to connect the EA, EB, EZ of the servo driver feedback to the controller, please contact TPM for customization. DB-T141-DUME dummy type interface board. DB-T141-DUME 1 EA+ Encoder A phase signal(+) 1 RDY Servo Ready 2 EA- Encoder A phase signal(-) 2 INP Servo In-position signal 3 EB+ Encoder B phase signal(+) 3 ALM Servo Alarm 4 EB- Encoder B phase signal(-) 4 SVON Servo On 5 EZ+ Encoder Z phase signal(+) 5 ERC Clear Servo Error Counter 6 EZ- Encoder Z phase signal(-) 6 ALMC Clear Servo Alarm 7 EGND External ground 7 +5V +5V Power 8 EGND External ground 8 EGND External ground 9 DIR+ Dir. Signal(+) 10 DIR- Dir. Signal(-) 11 OUT+ Pulse signal(-) 12 OUT- Pulse signal(+) 23

24 DB-T141-DAA Delta A2 type interface board. DB-T141-DAA 1 INP Servo In-position signal 26 EGND External ground 2 EGND External ground 27 EGND External ground 3 DO3 HOME 28 ALM Servo Alarm 4 EGND External ground 29 NC Reserved 5 DO4 TPOS 30 EGND External ground 6 EGND External ground 31 MEL End Limit Signal(-) 7 RDY Servo Ready 32 PEL End Limit Signal(+) 8 DI4 TCM1 33 ALMC Clear Servo Alarm 9 SVON Servo On 34 DI3 TCM0 10 ERC Clear Servo Error Counter 35 NC Reserved V +24V 36 DIR+ Dir. Signal(+) 12 EGND External ground 37 DIR- Dir. Signal(-) 13 EGND External ground 38 NC Reserved 14 NC Reserved 39 NC Reserved 15 MON2 MON2 40 NC Reserved 16 MON1 MON1 41 OUT+ Pulse signal(+) 17 NC Reserved 42 NC Reserved 18 NC Reserved 43 OUT- Pulse signal(-) 19 EGND External ground 44 NC Reserved 20 NC Reserved 45 EGND External ground 21 EA+ Encoder A phase signal(+) 46 NC Reserved 22 EA- Encoder A phase signal(-) 47 EGND External ground 23 EB- Encoder B phase signal(-) 48 NC Reserved 24 EZ- Encoder Z phase signal(-) 49 EGND External ground 25 EB+ Encoder B phase signal(+) 50 EZ+ Encoder Z phase signal(+) DB-T141-DAB Delta B2 type interface board. DB-T141-DAB 1 ALM Servo Alarm 14 EGND External ground 2 INP Servo In-position signal 15 MEL End Limit Signal(-) 3 PEL End Limit Signal(+) 16 RDY Servo On 4 24V +24V 17 SVON Servo On 5 ERC Clear Servo Error Counter 18 ALMC Clear Servo Alarm 6 NC Reserved 19 DIR- Dir. Signal(-) 7 NC Reserved 20 DIR+ Dir. Signal(+) 8 NC Reserved 21 OUT- Pulse signal(-) 9 NC Reserved 22 OUT+ Pulse signal(+) 10 EA+ Encoder A phase signal(+) 23 EA- Encoder A phase signal(-) 11 EB- Encoder B phase signal(-) 24 EZ+ Encoder Z phase signal(+) 12 EB+ Encoder B phase signal(+) 25 EZ- Encoder Z phase signal(-) 13 EGND External ground 24

25 DB-T141-SAN Sanyo Q Series type interface board. DB-T141-SAN 1 NC Reserved 26 DIR+ Dir. Signal(+) 2 NC Reserved 27 DIR- Dir. Signal(-) 3 EA+ Encoder A phase signal(+) 28 OUT+ Pulse signal(-) 4 EA- Encoder A phase signal(-) 29 OUT- Pulse signal(+) 5 EB+ Encoder B phase signal(+) 30 NC Reserved 6 EB- Encoder B phase signal(-) 31 EGND External ground 7 EZ+ Encoder Z phase signal(+) 32 CONT6 Reserved 8 EZ- Encoder Z phase signal(-) 33 CONT5 Ground 9 NC Reserved 34 ERC Clear Servo Error Counter 10 NC Reserved 35 EMG Emergency Signal 11 NC Reserved 36 ALMC Clear Servo Alarm 12 NC Reserved 37 SVON Servo On 13 NC Reserved 38 EGND External ground 14 NC Reserved 39 INP Servo In-position signal 15 NC Reserved 40 NC Reserved 16 NC Reserved 41 RDY Servo Ready 17 EGND External ground 42 OUT4 ALM5_OFF 18 PEL End Limit Signal(+) 43 OUT5 ALM6_OFF 19 MEL End Limit Signal(-) 44 OUT6 ALM7_OFF 20 NC Reserved 45 OUT7 ALM_OFF 21 NC Reserved 46 ALM Servo Alarm 22 NC Reserved 47 EGND External ground 23 NC Reserved 48 EGND External ground 24 EGND External ground V +24V 25 EGND External ground V +24V 25

26 DB-T141-YS2 Yaskawa Sigma II to Sigma V drivers DB-T141-YS2 1 EGND External ground 26 EGND External ground 2 EGND External ground 27 NC Reserved 3 NC Reserved 28 NC Reserved 4 +5V +5V Power 29 RDY Servo Ready 5 V_REF Reference speed 30 EGND External ground 6 EGND External ground 31 ALM Servo Alarm 7 OUT+ Pulse signal(+) 32 EGND External ground 8 OUT- Pulse signal(-) 33 EA+ Encoder A phase signal(+) 9 T_REF Torque reference 34 EA- Encoder A phase signal(-) 10 EGND External ground 35 EB+ Encoder B phase signal(+) 11 DIR+ Dir. Signal(+) 36 EB- Encoder B phase signal(-) 12 DIR- Dir. Signal(-) 37 NC Reserved 13 NC Reserved 38 NC Reserved 14 ERC Clear Servo Error Counter 39 NC Reserved 15 24V +24V 40 SVON Servo On 16 NC Reserved 41 NC Reserved 17 NC Reserved 42 PEL End Limit Signal(+) 18 NC Reserved 43 MEL End Limit Signal(-) 19 EZ+ Encoder Z phase signal(+) 44 ALMC Clear Servo Alarm 20 EZ- Encoder Z phase signal(-) 45 NC Reserved 21 BAT+ Backup battery (+) 46 NC Reserved 22 BAT- Backup battery (-) 47 24V +24V 23 NC Reserved 48 NC Reserved 24 NC Reserved 49 NC Reserved 25 INP Servo In-position signal 50 NC Reserved 26

27 DB-T141-PA4 Panasonic A4 Series driver with more than 500k pps input DB-T141-PA4 1 NC Reserved 26 NC Reserved 2 NC Reserved 27 NC Reserved 3 NC Reserved 28 NC Reserved 4 NC Reserved 29 SVON Servo On 5 NC Reserved 30 ERC Clear Servo Error Counter 6 NC Reserved 31 ALMC Clear Servo Alarm 7 24V +24V 32 NC Reserved 8 PEL End Limit Signal(+) 33 EGND External ground 9 MEL End Limit Signal(-) 34 EGND External ground 10 BRK+ Brake signal(+) 35 RDY Servo Ready 11 BRK- Brake signal(-) 36 EGND External ground 12 NC Reserved 37 ALM Servo Alarm 13 EGND External ground 38 EGND External ground 14 NC Reserved 39 INP Servo In-position signal 15 EGND External ground 40 NC Reserved 16 NC Reserved 41 EGND External ground 17 EGND External ground 42 NC Reserved 18 NC Reserved 43 NC Reserved 19 NC Reserved 44 OUT+ Pulse signal(-) 20 NC Reserved 45 OUT- Pulse signal(+) 21 EA+ Encoder A phase signal(+) 46 DIR+ Dir. Signal(+) 22 EA- Encoder A phase signal(-) 47 DIR- Dir. Signal(-) 23 EZ+ Encoder Z phase signal(+) 48 EB+ Encoder B phase signal(+) 24 EZ- Encoder Z phase signal(-) 49 EB- Encoder B phase signal(-) 25 EGND External ground 50 NC Reserved 27

28 DB-T141-MJ3 Mitsubishi J3 series driver interface board DB-T141-MJ3 1 NC Reserved 26 NC Reserved 2 NC Reserved 27 NC Reserved 3 EGND External ground 28 EGND External ground 4 EA+ Encoder A phase signal(+) 29 NC Reserved 5 EA- Encoder A phase signal(-) 30 NC Reserved 6 EB+ Encoder B phase signal(+) 31 NC Reserved 7 EB- Encoder B phase signal(-) 32 NC Reserved 8 EZ+ Encoder Z phase signal(+) 33 NC Reserved 9 EZ- Encoder Z phase signal(-) 34 EGND External ground 10 OUT+ Pulse signal(+) 35 DIR+ Dir. Signal(+) 11 OUT- Pulse signal(-) 36 DIR- Dir. Signal(-) 12 NC Reserved 37 NC Reserved 13 NC Reserved 38 NC Reserved 14 NC Reserved 39 NC Reserved 15 SVON Servo On 40 NC Reserved 16 NC Reserved 41 ERC Clear Servo Error Counter 17 PC 42 EGND External ground 18 NC Reserved 43 PEL End Limit Signal(+) 19 ALMC Clear Servo Alarm 44 MEL End Limit Signal(-) 20 24V +24V 45 NC Reserved 21 24V +24V 46 EGND External ground 22 NC Reserved 47 EGND External ground 23 ZSP 48 ALM Servo Alarm 24 INP Servo In-position signal 49 RDY Servo Ready 25 TCL 50 NC Reserved 28

29 DB-T141-EZS Ezi servo driver interface board DB-T141-EZS 1 OUT+ Pulse signal(+) 11 ALM Servo Alarm 2 OUT- Pulse signal(-) 12 INP Servo In-position signal 3 DIR+ Dir. Signal(+) 13 SVON Servo On 4 DIR- Dir. Signal(-) 14 ALMC Clear Servo Alarm 5 EA+ Encoder A phase signal(+) 15 NC Reserved 6 EA- Encoder A phase signal(-) 16 NC Reserved 7 EB+ Encoder B phase signal(+) 17 NC Reserved 8 EB- Encoder B phase signal(-) 18 NC Reserved 9 EZ+ Encoder Z phase signal(+) 19 EGND External ground 10 EZ- Encoder Z phase signal(-) 20 24V +24V 29

30 T142-GEN CN1 CN3 CN4 CN5 CN6 CN7 123mm 107-T142-GEN CN8 CN9 CN10 CN11 CN2 104mm H: 52mm Figure 3-4: drawing of 107-T142-GEN 30

31 Label LED CN1 CN2 CN3 CN4 CN5 CN6 CN7 CN8 CN9 CN10 CN11 Function Power on/off status SCSI 100 pin Connector Power Connector Axis0 Machinery I/O Signals Connector Axis1 Machinery I/O Signals Connector Axis2 Machinery I/O Signals Connector Axis3 Machinery I/O Signals Connector Axis0/Axis1/Axis2/Axis3 BRK Signal Connector Axis0 Drive s IO Interface Connector Axis1 Drive s IO Interface Connector Axis2 Drive s IO Interface Connector Axis3 Drive s IO Interface Connector Table 3-2: I/O interfaces on 107-M142-GEN Axis Motion Connector CN1 Figure 3-5: 100 pin connector for motion Pin Label I/O 1 st / 2 nd / 3 rd / 4 th Description Pin Label I/O 1 st / 2 nd / 3 rd / 4 th Description 1 24V +24V / 200mA power input 51 24V +24V / 200mA power input 2 EGND External ground 52 EGND External ground 3 EMG I Emergency signal 53 EMG I Emergency signal 4 MEL_1 I 1 st end limit (-) 54 MEL_3 I 3 rd end limit (-) 5 PEL_1 I 1 st end limit (+) 55 PEL_3 I 3 rd end limit (+) 6 ORG_1 I 1 st home signal 56 ORG_3 I 3 rd home signal 7 SLD_1 I 1 st ramp-down signal 57 SLD_3 I 3 rd ramp-down signal 8 MEL_2 I 2 nd end limit (-) 58 MEL_4 I 4 th end limit (-) 9 PEL_2 I 2 nd end limit (+) 59 PEL_4 I 4 th end limit (+) 10 ORG_2 I 2 nd home signal 60 ORG_4 I 4 th home signal 11 SLD_2 I 2 nd ramp-down signal 61 SLD_4 I 4 th ramp-down signal 12 RDY_1 I 1 st servo ready 62 RDY_3 I 3 rd servo ready 13 INP_1 I 1 st servo in-position signal 63 INP_3 I 3 rd servo in-position signal 31

32 Pin Label I/O 1 st / 2 nd / 3 rd / 4 th Description Pin Label I/O 1 st / 2 nd / 3 rd / 4 th Description 14 ALM_1 I 1 st servo alarm 64 ALM_3 I 3 rd servo alarm 15 LTC_1 I 1 st latch input 65 LTC_3 I 3 rd latch input 16 RDY_2 I 2 nd servo ready 66 RDY_4 I 4 th servo ready 17 INP_2 I 2 nd servo in-position signal 67 INP_4 I 4 th servo in-position signal 18 ALM_2 I 2 nd servo alarm 68 ALM_4 I 4 th servo alarm 19 LTC_2 I 2 nd latch input 69 LTC_4 I 4 th latch input 20 EGND External ground 70 EGND External ground 21 SVON_1 O 1 st servo on 71 SVON_3 O 3 rd servo on 22 ERC_1 O 1 st clear servo error counter 72 ERC_3 O 3 rd clear servo error counter 23 ALMC_1 O 1 st reset servo alarm 73 ALMC_3 O 3 rd reset servo alarm 24 CMP_1 O 1 st compare output 74 CMP_3 O 3 rd compare output 25 SVON_2 O 2 nd servo on 75 SVON_4 O 4 th servo on 26 ERC_2 O 2 nd clear servo error counter 76 ERC_4 O 4 th clear servo error counter 27 ALMC_2 O 2 nd reset servo alarm 77 ALMC_4 O 4 th reset servo alarm 28 CMP_2 O 2 nd compare output 78 CMP_4 O 4 th compare output 29 EA+_1 I 1 st encoder A phase (+) 79 EA+_3 I 3 rd encoder A phase (+) 30 EA-_1 I 1 st encoder A phase (-) 80 EA-_3 I 3 rd encoder A phase (-) 31 EB+_1 I 1 st encoder B phase (+) 81 EB+_3 I 3 rd encoder B phase (+) 32 EB-_1 I 1 st encoder B phase (-) 82 EB-_3 I 3 rd encoder B phase (-) 33 EZ+_1 I 1 st encoder Z phase (+) 83 EZ+_3 I 3 rd encoder Z phase (+) 34 EZ-_1 I 1 st encoder Z phase (-) 84 EZ-_3 I 3 rd encoder Z phase (-) 35 EA+_2 I 2 nd encoder A phase (+) 85 EA+_4 I 4 th encoder A phase (+) 36 EA-_2 I 2 nd encoder A phase (-) 86 EA-_4 I 4 th encoder A phase (-) 37 EB+_2 I 2 nd encoder B phase (+) 87 EB+_4 I 4 th encoder B phase (+) 38 EB-_2 I 2 nd encoder B phase (-) 88 EB-_4 I 4 th encoder B phase (-) 39 EZ+_2 I 2 nd encoder Z phase (+) 89 EZ+_4 I 4 th encoder Z phase (+) 40 EZ-_2 I 2 nd encoder Z phase (-) 90 EZ-_4 I 4 th encoder Z phase (-) 41 DDA 5V DDA 5V power output. DDA 5V power output. 91 DDA 5V I<100mA I<100mA 42 DDA GND Internal 5V ground 92 DDA GND Internal 5V ground 43 DIR+_1 O 1 st direction signal (+) 93 DIR+_3 O 3 rd direction signal (+) 44 DIR-_1 O 1 st direction signal (-) 94 DIR-_3 O 3 rd direction signal (-) 45 OUT+_1 O 1 st pulse signal (+) 95 OUT+_3 O 3 rd pulse signal (+) 46 OUT-_1 O 1 st pulse signal (-) 96 OUT-_3 O 3 rd pulse signal (-) 47 DIR+_2 O 2 nd direction signal (+) 97 DIR+_4 O 4 th direction signal (+) 48 DIR-_2 O 2 nd direction signal (-) 98 DIR-_4 O 4 th direction signal (-) 49 OUT+_2 O 2 nd pulse signal (+) 99 OUT+_4 O 4 th pulse signal (+) 50 OUT-_2 O 2 nd pulse signal (-) 100 OUT-_4 O 4 th pulse signal (-) Table 3-3: SCSI 100-pin definition 32

33 Power input and emergency input signal 1 24V +24V Power 2 EGND External Ground 3 EMG Emergency Stop Signal 4 24V +24V Power 5 EGND External Ground 6 FG Frame Ground 6 1 Table 3-4: Power input pin definition Machinery I/O Signals CN3/CN4/CN5/CN6 1 24V +24V power 2 EGND External Ground(24V) 3 PEL End Limit Signal(+) 4 MEL End Limit Signal(-) 5 24V +24V power 6 EGND External Ground(24V) 7 ORG Home signal 8 CMP Compare out 9 24V +24V power 10 EGND External Ground(24V) 11 LTC Latch input 12 SLD Ramp-down signal 12 1 Table 3-5: Machinery I/O pin definition 33

34 Mechanical Brake I/O Signals CN7 1 24V +24V power 2 EGND External Ground(24V) 3 BRK-1 Axis0 Mechanical break signal (-) output 4 BRK+1 Axis0 Mechanical break signal (+) output 5 BRK-2 Axis1 Mechanical break signal (-) output 6 BRK+2 Axis1 Mechanical break signal (+) output 7 24V +24V power 8 EGND External Ground(24V) 9 BRK-3 Axis2 Mechanical break signal (-) output 10 BRK+3 Axis2 Mechanical break signal (+) output 11 BRK-4 Axis3 Mechanical break signal (-) output 12 BRK+4 Axis4 Mechanical break signal (+) output 1 12 Table 3-6: Brake I/O pin definition Drive s IO Interface Connector CN8/CN9/CN10/CN Figure 3-6: drawing of Drive s I/O Connector Pin Label Function Pin Label Function 1 SVON Servo on output signal 14 BRK- Braking signal(-) 2 INP In-position input signal 15 EGND I/O power ground 3 ERC Deviation counter clear output 16 EB- Encoder B-phase (-) signal 4 RDY Ready input signal 17 EB+ Encoder B-phase (+) 5 OUT- Pulse signal (-) 18 EGND I/O power ground 6 OUT+ Pulse signal (+) 19 EMG Emergency stop output signal 7 EA- Encoder A-phase (-) 20 EGND I/O power ground 8 EA+ Encoder A-phase (+) 21 EGND I/O power ground 9 BRK+ Braking signal(+) 22 EGND I/O power ground 10 RST Alarm reset output signal 23 DIR- Direction signal (-) 34

35 Pin Label Function Pin Label Function 11 ALM Alarm input signal 24 DIR+ Direction signal (+) 12 E24V I/O power supply, +24V 25 EZ- Encoder Z-phase (-) 13 EGND I/O power ground 26 EZ+ Encoder Z-phase (+) Table 3-7: Drive s I/O pin definition 35

36 3.3. Wiring Examples For Panasonic Minas A series drivers. Figure 3-7: wiring example for Panasonic A4 series 36

37 4. Signal Connection There are 3 groups of signal connection of PCI-M114, Machine I/O, Pulse I/O and Servo Driver I/O interface. They are described in the following sections Machine I/O Interface Signals PEL and MEL (End Limit / Digital Input Signal) There are two end-limit signals called PEL and MEL for each axis. Usually they are Normal-Close type signals from external sensors. PEL indicates the limit of motion in the plus direction and MEL indicates the limit of motion in the minus direction. The signals connections are shown in the following figures. Figure 4-1: PEL and MEL wiring for NPN sink mode Note that the command pulse will be stopped when PEL/MEL is active. ORG (Origin / Digital Input Signal) The origin signals (ORG1~ORG4) are necessary when the position feedback is incremental type or without any feedback encoders. They are used to indicate the origin of the system. The signals connections are shown in the following figures. Figure 4-2: ORG wiring for NPN sink mode 37

38 SLD (Slow Down / Input Signal) The SLD signals are used to help the axis decelerate to stop by hardware. The signals connections are shown in the following figures. Figure 4-3: SLD wiring for NPN sink mode CMP (Position Compare / Output Signal) CMP signals are used to make a comparison between target value and actual value and generate a trigger signal output. The signals connections are shown in the following figures. Note that the limit of sink current is 20mA. Figure 4-4: CMP output signal circuit Figure 4-5: Response diagram from oscilloscope 38

39 LTC (Counter Latch) LTC is used to latch the value in the counter when the LTC input is active. The signals connections are shown in the following figures. Figure 4-6: LTC wiring for NPN sink mode 4.2. Driver I/O Interface Signals ALM (Servo Alarm / Digital Input Signal) ALM- input signal from ALM signal at servo driver. Servo driver will issue ALM output when it is under abnormal operation or over-loading. The signals connections are shown in the following figures. Figure 4-7: ALM wiring for NPN sink mode Note that when ALM is active and enabled, PCI-M114 will stop pulse output. 39

40 RALM(Servo Alarm Reset / Digital Output Signal) This RALM signal is designed to reset ALM status inside servo driver if the alarm status is able to be reset. The signals connections are shown in the following figures. Note that the maximum current is 20mA. Figure 4-8: RALM output wiring diagram SVON(Servo On / Digital Output Signal) SVON is an output signal from PCI-M114 and is used to make driver servo-on to hold the motor. The signals connections are shown in the following figures. Note that the maximum current is 20mA. Figure 4-9: SVON output wiring diagram 40

41 RDY (Driver Ready Signal / Digital Input Signal) RDY is an input signal and is used to read the RDY signal at servo driver. The signals connections are shown in the following figures. Figure 4-10: RDY wiring for NPN sink mode INP (Axis In Position Signal / Digital Input Signal) INP is an input signal and is used to read the INP status inside servo driver. The signals connections are shown in the following figures. Figure 4-11: INP wiring for NPN sink mode 41

42 ERC (Deviation Counter Clear / Digital Output Signal) ERC output will be active when the following condition is activated. Homing is completed. PEL/MEL is active. ALM is active. User issues EMG by software. The signals connections are shown in the following figures. Note that the maximum current is 20mA. Figure 4-12: ERC output wiring diagram 42

43 4.3. Driver Pulse I/O Interface Signals OUT and DIR (Pulse Output Control / Digital Output Signal) There are 8 types of pulse output of PCI-M114. User has to specify the electrical spec. as differential or open collector first. Then select DIR/OUT or CW/CCW. The signals connections are shown in the following figures. Figure 4-13: Differential line driver output Figure 4-14: Optocoupler wiring Figure 4-15: TTL receive pattern wiring diagram Note that the maximum output current for OUT and DIR is limited by 20mA. 43

44 EA, EB and EZ (Encoder A, B and Z Phase) The signals connections are shown in the following figures. Figure 4-16: differential line driver encoder input 44