ADLINK AMP-208C User Manual
AMP-204C / AMP-208C
Advanced DSP Pulse Motion Controller
for 4/8 Axis
User Manual
Manual Rev.: 2.00
Revision Date: July 25, 2014
Part No: 50-15089-1000
Advance Technologies; Automate the World.
Revision History
Revision Release Date Description of Change (s)
2.00 2014-07-25 Initial release
ii
AMP-204C / AMP-208C
Preface
Copyright 2014 ADLINK Technology, Inc.
This document contains proprietary information protected by
copyright. All rights are reserved. No part of this manual may be
reproduced by any mechanical, electronic, or other means in any
form without prior written permission of the manufacturer.
Disclaimer
The information in this document is subject to change without prior
notice in order to improve reliability, design, and function and does
not represent a commitment on the part of the manufacturer.
Under no circumstances will ADLINK be held liable to this
document.
In no event will the manufacturer be liable for direct, indirect,
special, incidental, or consequential damages arising out of the
use or inability to use the product or documentation, even if
advised of the possibility of such damages.
Environmental Responsibility
ADLINK is committed to fulfill its social responsibility to global
environmental preservation through compliance with the
European Union's Restriction of Hazardous Substances (RoHS)
directive and Waste Electrical and Electronic Equipment (WEEE)
directive. Environmental protection is a top priority for ADLINK.
We have enforced measures to ensure that our products,
manufacturing processes, components, and raw materials have as
little impact on the environment as possible. When products are at
their end of life, our customers are encouraged to dispose of them
in accordance with the product disposal and/or recovery programs
prescribed by their nation or company.
Trademarks
Product names mentioned herein are used for identification
purposes only and may be trademarks and/or registered
trademarks of their respective companies.
Preface iii
Conventions
Take note of the following conventions used throughout this
reference to make sure that users perform certain tasks and
instructions properly.
Additional information, aids, and tips that help users perform
tasks.
NOTE
NOTE
Information to prevent minor physical injury, component
damage, data loss, and/or program corruption when trying to
CAUTION
WARNING
complete a task.
Information to prevent serious physical injury, component
damage, data loss, and/or program corruption when trying to
complete a specific task.
iv Preface
AMP-204C / AMP-208C
Contents
Revision History...................................................................... ii
Preface.................................................................................... iii
List of Figures........................................................................ ix
List of Tables........................................................................ xiii
1 Introduction ........................................................................ 1
1.1 Product Specifications ......................................................... 4
1.2 Software Support ................................................................. 8
Software Support Library ................................................ 8
MotionCreatorPro 2 ........................................................ 8
1.3 Terminal Board .................................................................... 8
2 Getting Start with The Installation.................................... 9
2.1 Package Contents ............................................................... 9
2.2 AMP-204C / AMP-208C Exterior Profile Diagram ............. 10
2.3 Hardware Installation ......................................................... 12
Hardware Configuration ................................................ 12
Installation Procedures ................................................. 12
Troubleshooting ............................................................ 13
2.4 Software Installation Procedure......................................... 14
2.5 Definitions to Key Connector Signal .................................. 16
AMP-204C:P1 Connector ............................................. 16
AMP-208C:P1-A/B Connector ...................................... 18
AMP-204C/208C:P2 Connector .................................... 21
2.6 DIP Switch ......................................................................... 23
SW2: Card ID Switch .................................................... 23
2.7 IDE 44p – DSUB 37p Bus.................................................. 24
2.8 Exclusive Board - DIN-825-GP4 ........................................ 25
Contents v
Definitions to Connector ............................................... 26
P1 Connector: For Connecting to PCI-8254 / PCI-8258 /
AMP-204C / AMP-208C ................................................ 28
S1, S2: EDO/ALM_RST Selection Switch .................... 37
3 Signal Connection ............................................................ 39
3.1 Pulse Command ................................................................ 40
3.2 Encoder Input, EA & EB & EZ............................................ 43
3.3 Emergency Stop Input ....................................................... 45
3.4 PEL/MEL Input................................................................... 46
3.5 ORG Input.......................................................................... 48
3.6 INP Input ............................................................................ 49
3.7 ALM Input .......................................................................... 50
3.8 SVON Output ..................................................................... 51
3.9 Comapre & Trigger Output:................................................ 52
3.10 Digital Output/Input ............................................................ 54
4 Motion Control Theory ..................................................... 59
4.1 Motion Control Mode and Interface Overview.................... 60
4.1.1 Motion Control Interface ........................................... 60
4.1.2 Control Cycle ............................................................ 66
4.2 Motion Control Operations ................................................. 68
4.2.1 Coordinated System ................................................. 68
4.2.2 Unit Factor ................................................................ 69
4.2.3 Acc/Deceleration Profile ........................................... 72
4.3 Home Move........................................................................ 78
4.3.1 OGR Signal Homing - Home Mode = 0 .................... 81
4.3.2 EL Signal Homing - Home Mode 1 ........................... 88
4.3.3 Single EZ Signal Homing.......................................... 91
4.4 Velocity Move..................................................................... 94
4.5 Jog Move ........................................................................... 97
4.6 Point-to-Point Move ......................................................... 101
4.6.1 Point-to-Point Move ................................................ 101
vi Contents
AMP-204C / AMP-208C
4.6.2 Synchronous Start .................................................. 102
4.6.3 On The Fly Change ................................................ 103
4.6.4 Continuous PTP Move............................................ 103
4.7 Interpolation ..................................................................... 106
4.7.1 Linear Interpolation................................................. 106
4.7.2 Arc Interpolation ..................................................... 108
4.7.3 Continuous Interpolation......................................... 116
4.8 Motion Status Monitoring ................................................. 122
4.8.1 Motion Status.......................................................... 123
4.9 Application Functions....................................................... 132
4.9.1 Electronic Gearing .................................................. 132
4.9.2 High Speed Position Compare Trigger................... 134
4.9.3 PWM Control (Laser Control) (VAO Table Control)140
4.9.4 Motion Control and I/O Sampling Function............. 148
4.9.5 Simultaneous Movement ........................................ 153
4.9.6 Point Table Movement............................................ 156
4.10 Safety Protection ............................................................. 161
4.10.1 Hardware Protection ............................................... 161
4.10.2 Software Protection ................................................ 164
4.11 Host Interrupt ................................................................... 168
Important Safety Instructions............................................ 176
Getting Service.................................................................... 178
Contents vii
viii Contents
AMP-204C / AMP-208C
List of Figures
Figure 1-1: AMP-204C/208Csystem block diagram...................... 2
Figure 1-2: System installation flow chart ..................................... 3
Figure 2-1: AMP-204C exterior profile diagram .......................... 10
Figure 2-2: AMP-208C exterior profile diagram .......................... 11
Figure 2-3: Exterior of DIN-825-GP4 .......................................... 25
Figure 2-4: Exterior of DIN-825-GP4 .......................................... 26
Figure 3-1: Line Driver type pulse control command signal
connection example41
Figure 3-2: Open-Collector type pulse control command signal
connection example42
Figure 3-3: Line driver type encoder input signal connection example
44
Figure 3-4: Emergency stop signal connection example ............ 45
Figure 3-5: Mechanical limit switch signal connection example.. 47
Figure 3-6: Original position switch signal connection example . 48
Figure 3-7: In-position signal connection example...................... 49
Figure 3-8: Servo alarm signal connection example................... 50
Figure 3-9: Servo-on signal connection example........................ 51
Figure 3-10: Line Driver type compare trigger signal connection
example52
Figure 3-11: Open-Collector type compare trigger signal connection
example53
Figure 3-12: General purpose digital I/O signal connection example
55
Figure 3-13: General purpose digital I/O signal connection example
58
Figure 4-1: Format of pulse signal .............................................. 61
Figure 4-2: Control cycle............................................................. 67
Figure 4-3: Controller coordinates system block......................... 68
Figure 4-4: Relation of trapezoidal speed profile's
speed/acceleration/jerk VS time72
Figure 4-5: Maximum speed by auto-planning............................ 73
Figure 4-6: Relation of S-curve speed profile's
speed/acceleration/jerk VS time74
Figure 4-7: Auto-planning the maximum velocity........................ 76
Figure 4-8: Home mode 0 (Case: ORG) .................................... 82
Figure 4-9: Home mode 0 (Case: ORG) .................................... 84
Figure 4-10: Home mode 0 (Case: ORG+EZ) ............................. 85
List of Figures ix
Figure 4-11: Home mode 0 adverse (Case: ORG+EZ)................ 86
Figure 4-12: Home mode 0 decelerate to stop (Case: ORG)....... 87
Figure 4-13: Home mode 1 (Case: EL) ........................................ 88
Figure 4-14: Home mode 1 (Case: EL+EZ) ................................. 90
Figure 4-15: Home mode 2 (Case: EZ)........................................ 92
Figure 4-16: Home mode 2 adverse (Case: EZ) .......................... 93
Figure 4-17: Relation between V-T chart of JOG movement and
JOG-ON signal97
Figure 4-18: Jog step mode .......................................................... 98
Figure 4-19: T-curve V-T chart.................................................... 101
Figure 4-20: Dynamically change position and velocity .............. 103
Figure 4-21: Continuous three position V-T chart ....................... 104
Figure 4-22: Continuous three position V-T chart
(auto speed connection (1)104
Figure 4-23: Continuous three position V-T chart
(auto speed connection (2)104
Figure 4-24: Continuous three position V-T chart
(auto speed connection (3)105
Figure 4-25: Continuous three position V-T chart
(auto speed connection (4)105
Figure 4-26: Two-dimension straight line interpolation ............... 107
Figure 4-27: Three-dimension arc interpolation (method 1)........ 109
Figure 4-28: Defining spatial normal vector ................................ 110
Figure 4-29: Determining arc direction in space ......................... 110
Figure 4-30: Three dimension arc interpolation (method 2)........ 111
Figure 4-31: Three dimension arc interpolation example............ 112
Figure 4-32: Three dimension spiral interpolation (method 1) .... 113
Figure 4-33: Three-dimension spiral interpolation (method 2) .... 114
Figure 4-34: Illustration on continuous interplotation (Buffer)
movement116
Figure 4-35: Velocity blending (method 1) .................................. 117
Figure 4-36: Velocity blending (method 2) .................................. 118
Figure 4-37: Velocity blending (method 3) .................................. 118
Figure 4-38: Velocity blending (method 4) .................................. 119
Figure 4-39: Velocity blending (method 5) .................................. 119
Figure 4-40: Velocity blending (method 6) .................................. 120
Figure 4-41: Velocity blending (method 7) .................................. 120
Figure 4-42: Continuous interpolation examples......................... 121
Figure 4-43: Motion status monitoring process ........................... 122
Figure 4-44: Relation of different motion signals VS motions ..... 125
xList of Figures
AMP-204C / AMP-208C
Figure 4-45: Relation of motion done (MDN) signal VS motion .. 126
Figure 4-46: Relation of motion done (MDN), In-homing (HMV) signals
VS motion127
Figure 4-47: Relation of WAIT signals VS motion....................... 128
Figure 4-48: Relation of JOG and motion done(MDN) signals VS
motion129
Figure 4-49: Relation of ASTP VS motion .................................. 129
Figure 4-50: Relation of blending (BLD) signal VS motion ......... 130
Figure 4-51: Relation between pre- and post-distance event signals
and movement131
Figure 4-52: Adjust electronic gear's auto engagement speed... 133
Figure 4-53: Compare trigger block diagram .............................. 135
Figure 4-54: Linear compare trigger example ............................. 137
Figure 4-55: Table compare trigger example .............................. 138
Figure 4-56: Table compare trigger block diagram ..................... 139
Figure 4-57: Signal sampling structure diagram ......................... 148
Figure 4-58: Interruption flow chart ............................................. 168
List of Figures xi
xii List of Figures
AMP-204C / AMP-208C
List of Tables
Table 1-1: Cross-reference table of exclusive cables for pulse servo
drive8
Table 4-1: Encoder input format ..................................................... 63
Table 4-2: Encoder input format ..................................................... 63
Table 4-3: Board parameter table ................................................. 146
Table 4-4: Motion kernel signal table ............................................ 149
List of Tables xiii
xiv List of Tables
AMP-204C / AMP-208C
1 Introduction
The AMP-204C / AMP-208C, is a fully in-house developed
DSP-based advanced motion control card from ADLINK. It
supports 4/8 axis pulse type signal commands, provides
open-loop circuit control options, and supports position commands
for several different servo drives.
AMP-204C / AMP-208C exchanges data with operating system
through high speed PCI bus including motion control command,
feedback data, parameter, etc. Used with the ADLINK exclusive
Softmove kernel, it offers scores of move control functions
including T/S speed profile planning, point-to-point movement,
multi-dimension interpolation, and master/slave motion.
The AMP-204C / 208C, see Figure 1 below for its system functions,
uses one digital signal processor (DSP) from Texas Instrument (TI)
as its main computing unit and integrates high speed large volume
Field Programmable Gate Array (FPGA) to provide high speed
encoder output, 2/4 high speed position compare and trigger output,
move & general purposed I/O and logic control. It separates
isolation circuit into exclusive terminal board DIN-825-GP4 to
prevent the burning out of AMP-204C/208C from incorrect wiring.
Thanks to full range of flexing resistant wires from ADLINK, it
connects with market avaialble popular servo dirves easily.
Introduction 1
SCSI 100P
PCI Bus
PCI Bus
Isolation
DSUB 37P
DIN-825-GP4
Figure 1-1: AMP-204C/208Csystem block diagram
Graphical motion control interface – MotionCreatorPro 2 is a
Windows-based motion control software development tool for
motion control and I/O status monitoring. It captures motion curves
and data at the same time for analysis. Its Setup Wizard guides
you through the hardware installation and wiring as well as
single-axis manipulation step-by-step. This saves your
development time and cost.
2Introduction
AMP-204C / AMP-208C
The Windows Programming Libraries supports Windows coding
environment including: Visual Studio C++ 6.0, Microsoft .NET
framework based VB.NET and C++, and Borland's C++ Builder.
There are sample programs available in the installation folders.
The flow chart below will guide you in using this manual as well as
help you to locate any required information effectively.
Hardware installation
Wiring and jumper setup
Set up card and adjust axis parameters
with MotionCreatorPro 2
Control axis with MotionCreatorPro 2
Develop application with APS library
No
Is the system running
successfully?
Yes
Chapter II and III
MotionCreatorPro 2
User's Manual
Chapter IV
MotionCreatorPro 2
User's Manual
APS and ADCNC
library
End
Figure 1-2: System installation flow chart
Introduction 3
1.1 Product Specifications
Item Description
Bus information PCI Rev. 2.2, 33MHz
System
DSP
Board-to-board
interface
Motion control
I/O interface
General
purpose digital
I/O
PCI bus width 32-bit
PCI bus voltage 3.3V, 5V
PCI bus IRQ settings Assigned by PCI controller
Model TI 375MHz floating DSP
Memory (for program and
data)
Connector
Number of axes supported
Track update rate
Position / speed command
range
Acceleration / deceleration
range
Encoder input frequency 20 MHz @ 4x AB
Encoder input mode
Encoder input interface ±12 volts, TTL compatible
Motion control relevant I/O
Drive relevant I/O
General purpose I/O
DDR2 SDRAM: 64Mx16bit
Flash ROM: 16M-bit
1x SCSI-II 100P for
AMP-204C
1x Dual SCSI VHDCI 100P
AMP-208C
for
4/8 axis for AMP-204C /
AMP-208C
500us, 1ms, 2ms
(programmable)
32 bit
32 bit
CW/CCW, 1x/2x/4x AB
Phase
Plus/Minus end limitsignal
Zero-position for each axis
Servo ON
In-position signal /
Zero-Speed detection
Alarm
20/24-CH input & 20/24-CH
TTL output (optical
isolation design for
DIN-825-GP4)
4Introduction
Motion control
function
AMP-204C / AMP-208C
Item Description
Speed Profile Planning
Trajectory Planing
Linear interpolation:
2-6 axes
Home Return
Trapezoidal Curve and
S-Curve
Jogging
Point-to-point movement
Online position/speed
change
3 axes arc interpolation
3 axes spiral interpolation
3 axes helix interpolation
User customization (see
zero-position, limit switch,
EZ signals for reference)
Introduction 5
Industrial
application
Interrupt
Position
comparison
&
trigger output
Item Description
Each axis supports 50
points buffer memory
(BUFs)
Supports
Point table
Motion Status Monitoring
Synchronous move
Master-client axes control
Data sampling
System error diagnostics Watchdog timer
Motion status event/error
alarm/in position/
emergency stop
Pulse output interface Difference output
Trigger channel
Pulse logic
Trigger output frequency
Minimum pulse width 100ns programmable
Position comparison mode
FIFO capacity
point-to-point/line/arc and
spiral interpolation
Supports dwell function
Supports pause/resume
function
Supports DO function
Motion control relevant I/O
monitoring
Motion status monitoring
4/8 axes corresponding
AMP-204C / AMP-208C
Up to 4/8 axis (including
ganty control)
Motion speed profile/
motion status/motion
control relevant I/O
Planning in accordance
with the manual
2/4 corresponding
AMP-204C / AMP-208C
Programmable active-high
or active-low
Linear compare trigger:
1MHz
FIFO compare trigger:
255K ~ 1MHz
FIFO and linear
comparison
255 points (channel
independent)
6Introduction
Item Description
PWM control
Maximum number of
channels
Control modes
Resolution 16 bit
Environment condition
Working
ambient
temperature
Storage
ambient
temperature
Working
ambient
humidity
0~55°C
-20~75°C
10~90%RH, without condensation
AMP-204C / AMP-208C
2/4 CH correspondence
AMP-204C / AMP-208C
● Fixed frequency,
variable duty cycle ratio
● Variable frequency, fixed
duty cycle ratio
● Variable frequency,
variable duty cycle ratio
Item
Storage
ambient
humidity
Noise
impedance
Environment
condition
Cooling
condition
Power
consumption
Introduction 7
10~90%RH, without condensation
Noise voltage 1500VPP noise frequency 25~60Hz using
noise simulator
Minimal corrosive gas, dust
Self-cooling
+3.3V @ 0.8A typical
+5V @ 0.8A typical
+/-12V @ 0.5A typical
1.2 Software Support
1.2.1 Software Support Library
AMP-204C / AMP-208C supports Windows XP/7 32/64 bit
operating system and provides a complete function library and
DLL files for easy application development by users.
1.2.2 MotionCreatorPro 2
MotionCreatorPro 2 is a user interface exclusively developed for
ADLINK motion control products in common Windows
environment. You may easily set up card and axis parameters with
the help of MotionCreatorPro 2. Its Setup Wizard guides you
through the hardware installation and wiring as well as single-axis
manipulation in couple of minutes. MotionCreatorPro 2 not only
effectively reduces your development time but also enables you to
concurrently validate the overall mechanism and electric design
with all its single axis and interpolation motion operation pages.
1.3 Terminal Board
ADLINK's exclusive terminal board DIN-825-GP4 for
AMP-204C/208C can connect with market available servo drivers
with special cables, e.g. Mitsubishi's J3A and Yaskawa's Sigma V
series, or with third party's servo or stepper drivers by single
ended open cables. Brands with exclusive cables support are
listed below:
Pulse command:
Cable Supported brands
HSL-4XMO-DM Mitsubishi J2S series
4XMO-DM-J3 Mitsubishi J3A series
HSL-4XMO-DP Panasonic A4 and A5 series
HSL-4XMO-DY Yaskawa Sigma V series
4XMO-DA Delta A2 series
4XMO-OPEN General purpose
Table 1-1: Cross-reference table of exclusive cables for pulse servo drive
8Introduction
AMP-204C / AMP-208C
2 Getting Start with The Installation
This chapter teaches you how to install AMP-204C / AMP-208C
hardware and software as well as its I/O wiring.
• Package Contents
• Hardware installation
• Software installation
• I/O wiring
2.1 Package Contents
In addition to this manual you shall find the following item in the
product package box:
• One AMP-204C or AMP-208C card
• IDE 44p – DSUB 37p flat cable x 1
• Product warranty card x 1
Should there be any item missed or damaged, please consult with
your dealer immediately. Please keep the product along with items
included in its package for easy replacement or repair.
Getting Start with The Installation 9
2.2 AMP-204C / AMP-208C Exterior Profile Diagram
SW2
P1
P2
Dimension in unit of millimeter (mm).
NOTE
NOTE
Figure 2-1: AMP-204C exterior profile diagram
P1: for Motion control command, Position feedback, and Servo I/O
feedback. (with SCSI 100-PINS connector)
P2:
for 16 channel digital TTL I/O. (with DSUB 37-PINS connector)
SW2:
Card ID setup (0-15)
10 Getting Start with The Installation
AMP-204C / AMP-208C
P1
SW2
P2
Figure 2-2: AMP-208C exterior profile diagram
P1: for Motion control command, Position feedback, and Servo I/O
feedback. (with SCSI-VHDCI 200-PINS connector)
P2:
for 16 channel digital TTL I/O. (with DSUB 37-PINS connector)
SW2: Card ID setup (0-15)
Getting Start with The Installation 11
2.3 Hardware Installation
2.3.1 Hardware Configuration
AMP-204C/208C employs PCI Rev. 2.2 bus. System BIOS can
auto configure memory and IRQ channel.
Exclusive terminal board DIN-825-GP4 provides isolation circuit
and indicator lights for easy connections to varieties of servo drive
and stepper drive.
2.3.2 Installation Procedures
1. Please read this manual carefully and set up signal I/O in
proper mode.
2. Turn off power of your computer and all relevant terminal
boards, insert your AMP-204C/208C to any 32-bit PCI
slot in your computer. (The slot is usually in white color.)
(Please make sure you have proper ESD (Electrostatic
discharge) protection.)
3. Connect AMP-204C/208C and DIN-825-GP4 with SCSI
100p cable
4. Set up motion control relevant limit switch on
DIN-825-GP4 board, servo signal and general purpose
digital signal wiring
5. Set up servo or stepper drive connection
6. Turn on system power including computer power,
terminal board relevant powers, and 24Vdc power
7. Verify all I/O signal and servo operation correctness with
MotionCreatorPro 2
Please ground the shielding end of the power terminal to the
earth to reduce risk of electric shock and ensure product
CAUTION
CAUTION
12 Getting Start with The Installation
operation of your electric appliances.
Please disconnect the motor drive from its load before using
the card for the first time to protect your safety. Do not connect
the motor drive to any mechanical devices before the
completion of the installation and fine tuning of the control
system. Connect the system only after the board is adjusted
and the drive parameters can control the motor. Serious
damage may be resulted in otherwise.
AMP-204C / AMP-208C
2.3.3 Troubleshooting
If the computer cannot power on normally or the motion control
system operates abnormally after system installation, please
follow steps described below for troubleshooting. If the problem
persists after you have taken steps described, please consult the
dealer where your product is purchased for technical services.
Abnormalities you
encountered
The card does not show up in
Windows Device Manager
after its driver has been
installed
MotionCreatorPro2 cannot
open after installing driver in
computer.
The without signal indicator on
MotionCreatorPro2 lights up
after the motor is connected
and the motor does not work.
When using the
MotionCreatorPro2 all the
control indicators of the drive
light correctly but the drive
warns
Value of output command
differ from the feedback value
from encoder
If motion control, the motor
moves only in one direction
rather than back and forth two
way movement
Potential causes
Please turn off your computer,
ensure the card is properly in PCI
slot and the driver is properly
installed by cheking its proper
installation in Windows Control
Panel's "Add remove programs"
Ensure .NET framework v3.5 or later
version has been installed in your
system
Please ensure a 24Vdc power is
connected to the terminal board
Please ensure correctness of the
axis parameter setup, alarm logic
(ALM) and the EMG loop
configuration
Please ensure feedback signal
(CW/CCW, 1xAB, 2xAB, 4xAB)
settings comply with that of the drive
Please ensure setting of signal pattern
(CW/CCW, OUT/DIR) comply with that
of the motor
drive
Getting Start with The Installation 13
2.4 Software Installation Procedure
Windows driver installation procedure:
Step 1. Execute AMP-204C / AMP-208C WDM file and run
installation procedure automatically.
Step 2. Click "Next" as prompted to complete the installation
process.
14 Getting Start with The Installation
AMP-204C / AMP-208C
Step 3. Restart your computer after installation is completed.
Step 4. Ensure the Windows Device Manager identify your
AMP-204C / AMP-208C correctly.
Recommendations: Please download latest installation software
from ADLINK official website to maintain the optimum operation
environment.
(http://www.adlinktech.com/Motion-Control/index.php
)
Getting Start with The Installation 15
2.5 Definitions to Key Connector Signal
2.5.1 AMP-204C:P1 Connector
•P1
No. Name I/O Function of Axis No. Name I/O Function of Axis
1 DGND -- Digital ground 51 IEMG I Emergency stop input
2 DGND -- Digital ground 52 Rsv. -- Reserved
3 Rsv. -- Reserved 53 Rsv. -- Reserved
4 Rsv. -- Reserved 54 Rsv. -- Reserved
5 Rsv. -- Reserved 55 Rsv. -- Reserved
6 Rsv. -- Reserved 56 Rsv. -- Reserved
7 Rsv. -- Reserved 57 Rsv. -- Reserved
8 Rsv. -- Reserved 58 Rsv. -- Reserved
9 Rsv. -- Reserved 59 Rsv. -- Reserved
10 Rsv. -- Reserved 60 Rsv. -- Reserved
11 EA5V -- 5V Power 61 DGND -- Digital ground
12 EA5V -- 5V Power 62 DGND -- Digital ground
13 OUT1+ c Pulse output (+), (1) 63 OUT3+ c Pulse output (+), (3)
14 OUT1- c Pulse output (-), (1) 64 OUT3- c Pulse output (-), (3)
15 DIR1+ c Direction output (+), (1) 65 DIR3+ c Direction output (+), (3)
16 DIR1- c Direction output (-), (1) 66 DIR3- c Direction output (-), (3)
17 OUT2+ c Pulse output (+), (2) 67 OUT4+ c Pulse output (+), (4)
18 OUT2- c Pulse output (-), (2) 68 OUT4- c Pulse output (-), (4)
19 DIR2+ c Direction output (+), (2)
20 DIR2- c Direction output (-), (2) 70 DIR4- c Direction output (-), (4)
21 TG1+ c Trigger output (+), (1) 71 TRG2+ c Trigger output (+), (2)
22 TRG1- c Trigger output (-), (1) 72 TRG2- c Trigger output (-), (2)
23 EA1+ | Encoder A-phase (+),(1) 73 EA3+ | Encoder A-phase (+),(3)
24 EA1- | Encoder A-phase (-),(1) 74 EA3- | Encoder A-phase (-),(3)
25 EB1+ | Encoder B-phase (+),(1) 75 EB3+ | Encoder B-phase (+),(3)
26 EB1- | Encoder B-phase (-),(1) 76 EB3- | Encoder B-phase (-),(3)
69 DIR4+ c Direction output (+), (4)
16 Getting Start with The Installation
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