ADLINK PCI-8102 User Manual
PCI-8102
Advanced 2-Axis Servo/Stepper
Motion Control Card
User’s Manual
Manual Rev. 3.00
Revision Date: Jan. 31, 2012
Part No: 50-11136-1020
Advance Technologies; Automate the World.
Revision History
Revision Release Date Description of Change(s)
2.01 Feb 26, 2009 Initial release
3.00 Jan. 31, 2012 Updated spec for 2012 release
PCI-8102
Table of Contents
Revision History...................................................................... ii
List of Figures........................................................................ vi
Preface.................................................................................... ix
1 Introduction ........................................................................ 1
1.1 Features............................................................................... 4
1.2 Specifications....................................................................... 5
1.3 Supported Software ............................................................. 7
Programming Library ...................................................... 7
MotionCreatorPro ........................................................... 7
1.4 Available Terminal Board..................................................... 7
2 Installation .......................................................................... 9
2.1 Package Contents ............................................................... 9
2.2 PCI-8102 Outline Drawing ................................................. 10
2.3 PCI-8102 Hardware Installation......................................... 11
Hardware Configuration ................................................ 11
PCI Slot Selection ......................................................... 11
Installation Procedures ................................................. 11
Troubleshooting ............................................................ 12
2.4 Software Driver Installation................................................ 12
2.5 P1 Pin Assignments: Main connector ................................ 13
2.6 P2 Pin Assignment: Digital Inputs / Outputs ...................... 15
2.7 K1/K2 Pin Assignments: Simultaneous Start/Stop ............ 17
2.8 Jumper Settings for Pulse Output...................................... 17
2.9 CMP & EMG Interface Settings ......................................... 18
2.10 Switch Setting for card index ............................................. 19
3 Signal Connections.......................................................... 21
3.1 Pulse Output Signals OUT and DIR .................................. 21
3.2 Encoder Feedback Signals EA, EB and EZ....................... 23
3.3 EMG Emergency Stop ....................................................... 25
3.4 Origin Signal ORG ............................................................. 26
3.5 End-Limit Signals PEL and MEL........................................ 27
3.6 In-Position Signal INP........................................................ 28
3.7 Alarm Signal ALM .............................................................. 29
Table of Contents i
3.8 Deviation Counter Clear Signal ERC ................................. 29
3.9 General-Purpose Signal SVON ......................................... 30
3.10 General-Purpose Signal RDY ............................................ 31
3.11 Position Compare Output pin: CMP................................... 31
3.12 Multi-Functional Input Pin: LTC/SD/PCS/CLR ................... 33
3.13 Simultaneously Start/Stop Signals STA and STP.............. 33
3.14 General Purpose Digital Input/Output ................................ 35
Extended DSUB 37-pin Connector ............................... 36
4 Operations......................................................................... 39
4.1 Classifications of Motion Controller.................................... 39
Voltage Type Motion Control Interface ......................... 39
Pulse Type Motion Control Interface ............................ 39
Network Type Motion Control Interface ........................ 40
Software Real-time Motion Control Kernel ................... 40
DSP Based Motion Control Kernel ............................... 41
ASIC Based Motion Control Kernel .............................. 41
Compare Table of All Motion Control Types ................. 42
PCI-8102’s Motion Controller Type ............................... 42
4.2 Motion Control Modes........................................................ 42
Coordinate System ....................................................... 43
Absolute and Relative Position Move ........................... 44
Trapezoidal Speed Profile ............................................ 44
S-Curve and Bell-Curve Speed Profile ......................... 46
Velocity Mode ............................................................... 48
One Axis Position Mode ............................................... 48
Two Axes Linear Interpolation Position Mode .............. 49
Two Axes Circular Interpolation Mode .......................... 50
Continuous Motion ........................................................ 52
Home Return Mode ...................................................... 54
Home Search Function ................................................. 61
Manual Pulser Function ................................................ 62
Simultaneous Start Function ......................................... 63
Speed Override Function .............................................. 63
Position Override Function ........................................... 64
4.3 Motor Driver Interface ........................................................ 65
Pulse Command Output Interface ................................ 65
Pulse Feedback Input Interface .................................... 68
In Position Signal .......................................................... 70
Servo Alarm Signal ....................................................... 70
ii Table of Contents
PCI-8102
Error Clear Signal ......................................................... 71
Servo ON/OFF Switch .................................................. 71
Servo Ready Signal ...................................................... 71
Servo Alarm Reset Switch ............................................ 72
4.4 Mechanical Switch Interface .............................................. 72
Original or Home Signal ................................................ 72
End-Limit Switch Signal ................................................ 72
Slow Down Switch ........................................................ 73
Positioning Start switch ................................................. 73
Counter Clear switch .................................................... 73
Counter Latch Switch .................................................... 73
Emergency Stop Input .................................................. 74
4.5 Counters ............................................................................ 75
Command Position Counter .......................................... 75
Feedback Position Counter .......................................... 75
Command and Feedback Error Counter ....................... 76
General Purpose Counter ............................................. 76
Target Position Recorder .............................................. 76
4.6 Comparators ...................................................................... 77
Soft End-Limit Comparators ......................................... 77
Command and Feedback Error Counter Comparators . 77
General Comparator ..................................................... 78
Trigger Comparator ...................................................... 78
4.7 Other Motion Functions ..................................................... 79
Backlash Compensation and Slip Corrections .............. 79
Vibration Restriction Function ....................................... 79
Speed Profile Calculation Function ............................... 80
4.8 Interrupt Control................................................................. 81
4.9 Multiple Card Operation..................................................... 84
5 MotionCreatorPro............................................................. 85
5.1 Execute MotionCreatorPro ................................................ 85
5.2 About MotionCreatorPro .................................................... 85
5.3 MotionCreatorPro Form Introduction ................................. 87
Main Menu .................................................................... 87
Select Menu .................................................................. 88
Card Information Menu ................................................. 89
Configuration Menu ...................................................... 90
Single Axis Operation Menu ......................................... 96
Two-Axis Operation Menu .......................................... 103
Table of Contents iii
2D_Motion Menu ........................................................ 107
Help Menu .................................................................. 113
6 Function Library.............................................................. 115
6.1 List of Functions............................................................... 115
6.2 C/C++ Programming Library ............................................ 121
6.3 Initialization ...................................................................... 122
6.4 Pulse Input/Output Configuration..................................... 125
6.5 Velocity mode motion....................................................... 127
6.6 Single Axis Position Mode ............................................... 130
6.7 Linear Interpolated Motion ............................................... 134
6.8 Circular Interpolation Motion ............................................ 137
6.9 Home Return Mode.......................................................... 140
6.10 Manual Pulser Motion ...................................................... 143
6.11 Motion Status ................................................................... 145
6.12 Motion Interface I/O ......................................................... 147
6.13 Interrupt Control ............................................................... 154
6.14 Position Control and Counters ......................................... 158
6.15 Position Compare and Latch............................................ 162
6.16 Continuous Motion ........................................................... 166
6.17 Multiple Axes Simultaneous Operation ............................ 168
6.18 General-Purposed DIO .................................................... 171
6.19 Soft Limit .......................................................................... 173
6.20 Backlash Compensation / Vibration Suppression ............ 175
6.21 Speed Profile Calculation................................................. 177
6.22 Return Code..................................................................... 180
7 Connection Example ...................................................... 183
7.1 General Description of Wiring .......................................... 183
7.2 Wiring with DIN-68M-J3A................................................. 183
Pin Assignments: ........................................................ 185
Signal Connections of Interface Circuit ....................... 190
Mechanical Dimensions: ............................................. 193
Appendix.............................................................................. 195
8.1 Color code of Mitsubishi servo J3A cable ........................ 195
Important Safety Instructions............................................. 197
Getting Service.................................................................... 199
iv Table of Contents
List of Figures
Figure 1-1: PCI-8102 Block Diagram ........................................... 2
Figure 1-2: Flow Chart for Building an Application ....................... 3
Figure 2-1: PCB Layout of the PCI-8102 ................................... 10
vi List of Figures
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PCI-8102
List of Figures vii
viii List of Figures
PCI-8102
Preface
Copyright 2011 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.
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 ix
Conventions
Take note of the following conventions used throughout this
manual 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 dam-
age, data loss, and/or program corruption when trying to com-
CAUTION:
WARNING:
plete a task.
Information to prevent serious physical injury, component
damage, data loss, and/or program corruption when trying to
complete a specific task.
xPreface
1 Introduction
The PCI-8102 is an advanced 2-axis motion controller card with a
PCI interface. It can generate high frequency pulses (6.55MHz) to
drive stepper or servomotors. As a motion controller, it can provide
2-axis linear and circular interpolation and continuous interpolation
for continuous velocity. Also, changing position/speed on the fly is
available with a single axis operation.
Multiple PCI-8102 cards can be used in one system. Incremental
encoder interface on all four axes provide the ability to correct
positioning errors generated by inaccurate mechanical transmissions. PCI-8102 features the position compare and trigger output
function which users can put the comparing points with ADLINK
library and sending the triggering pulse to other device. In addition, a mechanical sensor interface, servo motor interface, and
general-purposed I/O signals are provided for easy system integration.
Figure 1-1 shows the functional block diagram of the PCI-8102
card. The motion control functions include trapezoidal and S-curve
acceleration/deceleration, linear and circular interpolation between
two axes and continuous motion positioning, and 13 home return
modes. All these functions and complex computations are performed internally by the ASIC, thus it can save CPU loading.
The PCI-8102 also offers three user-friendly functions. The
PCI-8102 can let users assign the card index with the DIP switch
setting. The value is within 0 to 15. It is useful for machine makers
to recognize the card index if the whole control system is very
huge. The emergency input pin can let users wire the emergency
button to trigger this board to stop sending pulse output once there
is any emergency situation happened. For security protection
design, users can set the 16-bit value into EEPROM. Users’ interface program can uses this EEPROM to secure the software and
hardware in order to prevent piracy.
PCI-8102
Introduction 1
P
2
2
I B
VDD
DC/DC
ROM
PLX9 05
ASIC
+24V
Digital I/O Isolation
I
Figure 1-1: PCI-8102 Block Diagram
CPLD
VCC
P1
CardID S1
16 DI/O P2
STA/STP K1&
MotionCreatorPro is a Windows-based application development
software package included with the PCI-8102. MotionCreatorPro
is useful for debugging a motion control system during the design
phase of a project. An on-screen display lists all installed axes
information and I/O signal status of the PCI-8102.
Windows programming libraries are also provided for C++ compiler and Visual Basic. Sample programs are provided to illustrate
the operations of the functions.
Figure 1-2 illustrates a flow chart of the recommended process in
using this manual in developing an application. Refer to the
related chapters for details of each step.
2Introduction
PCI-8102
Figure 1-2: Flow Chart for Building an Application
Introduction 3
1.1 Features
The following list summarizes the main features of the PCI-8102
motion control system.
X 32-bit PCI bus Plug and Play
X 2 axes of step and direction pulse output for controlling
stepping or servomotor
X Maximum output frequency of 6.55 MPPS
X Pulse output options: OUT/DIR, CW/CCW
X Programmable acceleration and deceleration time for all
modes
X Trapezoidal and S-curve velocity profiles for all modes
X 2 axes linear / circular interpolation
X Continuous interpolation for contour following motion
X Change position and speed on the fly
X 13 home return modes with auto searching
X Hardware backlash compensator and vibration suppression
X 2 software end-limits for each axis
X 28-bit up/down counter for incremental encoder feedback
X Home switch, index signal (EZ), positive, and negative end
limit switches interface on all axes
X 2-axis high speed position latch input
X 2-axis position compare trigger output
X All digital input and output signals are 2500Vrms isolated
X Programmable interrupt sources
X Simultaneous start/stop motion on multiple axes
X Manual pulser input interface
X Card index selection
X Security protection on EERPOM
X Dedicated emergency input pin for wiring
X Software supports a maximum of up to 12 PCI-8102 cards
operation in one system
X Compact PCB design
X Includes MotionCreatorPro, a Microsoft Windows-based
4Introduction
application development software
X PCI-8102 libraries and utilities for Windows 2000/XP/7
1.2 Specifications
X Applicable Motors:
Z Stepping motors
Z AC or DC servomotors with pulse train input servo driv-
ers
X Performance:
Z Number of controllable axes: 2
Z Maximum pulse output frequency: 6.55MPPS, linear,
trapezoidal, or S-Curve velocity profile drive
Z Internal reference clock: 19.66 MHz
Z 28-bit up/down counter range: 0-268,435,455 or –
134,217,728 to +134,217,727
Z Position pulse setting range (28-bit): -134,217,728 to
+134,217,728
Z Pulse rate setting range (Pulse Ratio = 1: 65535):
PCI-8102
0.1 PPS to 6553.5 PPS. (Multiplier = 0.1)
1 PPS to 65535 PPS. (Multiplier = 1)
Introduction 5
100 PPS to 6553500 PPS. (Multiplier = 100)
X I/O Signals:
Z Input/Output signals for each axis
Z All I/O signal are optically isolated with 2500Vrms isola-
tion voltage
Z Command pulse output pins: OUT and DIR
Z Incremental encoder signals input pins: EA and EB
Z Encoder index signal input pin: EZ
Z Mechanical limit/switch signal input pins: ±EL, SD/PCS,
and ORG
Z Servomotor interface I/O pins: INP, ALM, and ERC
Z Position latch input pin: LTC
Z Position compare output pin: CMP
Z General-purposed digital output pin: SVON
Z General-purposed digital input pin: RDY
Z Pulse signal input pin: PA and PB (with isolation)
Z Simultaneous Start/Stop signal: STA and STP
Z Emergency input signal: EMG
X General-Purpose Output
Z 20 digital inputs / 18 digital outputs
X General Specifications
Z Connectors: 68-pin SCSI-type connector
Z Operating Temperature: 0°C - 50°C
Z Storage Temperature: -20°C - 80°C
Z Humidity: 5 - 85%, non-condensing
X Power Consumption
Z Slot power supply (input): +5V DC ±5%, 900mA max
Z External power supply (input): +24V DC ±5%, 500mA
max
Z External power supply (output): +5V DC ±5%, 500mA,
max
6Introduction
PCI-8102
X PCI-8102 Dimension (PCB size): 120mm(L) X 100mm(W)
1.3 Supported Software
Programming Library
Windows 2000/XP/7 (32bit/64bit) DLLs are provided for PCI-8102
users. These function libraries are shipped with the board.
MotionCreatorPro
This Windows-based utility is used to setup cards, motors, and
systems. It can also aid in debugging hardware and software problems. It allows users to set I/O logic parameters to be loaded in
their own program. This product is also bundled with the card.
Refer to Chapter 5 for more details.
1.4 Available Terminal Board
ADLINK provides a variety of specific terminal boards for connection to individual servos, such as Mitsubishi J2S, J3A, Panasonic
MINAS A4, Yaskawa Sigma II, III and V, as well as a DIN-68S0
board for general purpose usage. Available terminal boards are
available as follows.
PCI-1802
Terminal Board
DIN-68M-J2A0
DIN-68M-J3A0
Introduction 7
Corresponding
Servo Driver
Mitsubishi J2S
series
Mitsubishi J3A
series
Board Appearance
PCI-1802
Terminal Board
Corresponding
Servo Driver
Board Appearance
DIN-68P-A40
DIN-68Y-SGII0
DIN-68S0
Panasonic MINAS
A4 and A5 series
Yaskawa Sigma
II, III and V series
General Purpose
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8Introduction
2 Installation
This chapter describes how to install the PCI-8102 series. Please
follow these steps below:
X Check what you have (section 2.1)
X Check the PCB (section 2.2)
X Install the hardware (section 2.3)
X Install the software driver (section 2.4)
X Understanding the I/O signal connections (chapter 3) and
their operation (chapter 4)
X Understanding the connector pin assignments (the remain-
ing sections) and wiring the connections
2.1 Package Contents
In addition to this User’s Guide, the package also includes the following items:
X PCI-8102: advanced 2-Axis Servo / Stepper Motion Control
Card
X Extension cable: DB37FM-IDC44 flat cable
X ADLINK All-in-one Compact Disc
PCI-8102
If any of these items are missing or damaged, contact the dealer
from whom you purchased the product. Save the shipping materials and carton to ship or store the product in the future.
Installation 9
2.2 PCI-8102 Outline Drawing
Figure 2-1: PCB Layout of the PCI-8102
P1: Input / Output Signal Connector (68-pin)
P2: 16 Digital Input / Output Signals Connector
K1 / K2: Simultaneous Start / Stop Connector
SW1: DIP switch for card index selection (0-15)
J8-J11: Pulse output selection jumper
J12/J13: CMP output interface selection jumper
J14: EMG input signal setting
10 Installation
PCI-8102
2.3 PCI-8102 Hardware Installation
2.3.1 Hardware Configuration
The PCI-8102 is fully Plug and Play compliant. Hence memory
allocation (I/O port locations) and IRQ channel of the PCI card are
assigned by the system BIOS. The address assignment is done
on a board-by-board basis for all PCI cards in the system.
2.3.2 PCI Slot Selection
Your computer system may have both PCI and ISA slots. Do not
force the PCI card into a PC/AT slot. The PCI-8102 can be used in
any PCI slot.
2.3.3 Installation Procedures
1. Read through this manual and setup the jumper according to your application
2. Turn off your computer. Turn off all accessories (printer,
modem, monitor, etc.) connected to computer. Remove
the cover from your computer.
3. Select a 32-bit PCI/PXI expansion slot. PCI slots are
shorter than ISA or EISA slots and are usually white or
ivory.
4. Before handling the PCI-8102, discharge any static
buildup on your body by touching the metal case of the
computer. Hold the edge of the card and do not touch
the components.
5. Position the board into the PCI slot you have selected.
6. Secure the card in place at the rear panel of the system
unit using screws removed from the slot.
Installation 11
2.3.4 Troubleshooting
If your system doesn’t boot or if you experience erratic operation
with your PCI board in place, it’s most likely caused by an interrupt
conflict (possibly an incorrect ISA setup). In general, the solution,
once determined it is not a simple oversight, is to consult the BIOS
documentation that comes with your system.
Check the control panel of the Windows system if the card is listed
by the system. If not, check the PCI settings in the BIOS or use
another PCI slot.
2.4 Software Driver Installation
PCI-8102:
1. Auto run the ADLINK All-In-One CD. Choose Driver
Installation -> Motion Control -> PCI-8102.
2. Follow the procedures of the installer.
3. After setup installation is completed, restart windows.
Suggestion: Please download the latest software from ADLINK
website if necessary.
12 Installation
2.5 P1 Pin Assignments: Main connector
P1 is the major connector for the motion control I/O signals.
PCI-8102
No. Name I/O
1 VPP O
2EXGND-
3OUT0+O
4 OUT0- O Pulse signal (-) 38 OUT1- O Pulse signal (-)
5 DIR0+ O Dir. signal (+) 39 DIR1+ O Dir. signal (+)
6 DIR0- O Dir. signal (-) 40 DIR1- O Dir. signal (-)
7 SVON0 O Servo On/Off 41 SVON1 O Servo On/Off
8 ERC0 O
9 ALM0 I Alarm signal 43 ALM1 I Alarm signal
10 INP0 I
11 RDY0 I
12 EA0+ I
13 EA0- I
14 EB0+ I
15 EB0- I
16 EZ0+ I
17 EZ0- I
18 VPP O
Function Axis
0
Isolated +5V
Output
Ext. power
ground
Pulse signal
(+)
Dev. ctr, clr.
signal
In-position sig-
nal
Multi-purpose
input signal
Encoder A-
phase (+)
Encoder A-
phase (-)
Encoder B-
phase (+)
Encoder B-
phase (-)
Encoder Z-
phase (+)
Encoder Z-
phase (-)
Isolated +5V
Output
T able 2-1: P1 Pin Assignment
No. Name I/O
35 VPP O
36 EXGND -
37 OUT1+ O
42 ERC1 O
44 INP1 I
45 RDY1 I
46 EA1+ I
47 EA1- I
48 EB1+ I
49 EB1- I
50 EZ1+ I
51 EZ1- I
52 VPP O
Function Axis
1
Isolated +5V
Output
Ext. power
ground
Pulse signal
(+)
Dev. ctr, clr.
Signal
In-position sig-
nal
Multi-purpose
input signal
Encoder A-
phase (+)
Encoder A-
phase (-)
Encoder B-
phase (+)
Encoder B-
phase (-)
Encoder Z-
phase (+)
Encoder Z-
phase (-)
Isolated +5V
Output
Installation 13
No. Name I/O
19 N/C 53 EXGND -
20 PEL0 I
21 MEL0 I
22 EXGND -
LTC/SD/
23
PCS0/
CLR0
24 ORG0 I Origin signal 58 ORG1 I Origin signal
25 N/C 59 EXGND -
26 PA+_ISO I
27 PA-_ISO I
28 PB+_ISO I
29 PB-_ISO I
30 CMP0 O
31 CMP1 O
32 EXGND -
33 EXGND -
34 EX+24V I
Function Axis
0
End limit signal
(+)
End limit signal
(-)
Ext. power
ground
Composite
I
Funtion
(Default: LTC)
Manual Pulser
Input A
Manual Pulser
Input A
Manual Pulser
Input B
Manual Pulser
Input B
TTL Compare
Output 0
TTL Compare
Output 1
Ext. power
ground
Ext. power
ground
+24V isolation
power input
Table 2-1: P1 Pin Assignment
No. Name I/O
54 PEL1 I
55 MEL1 I
56 EXGND -
57
60 EMG I
61 DIN0 I Digital Input 0
62 DIN1 I Digital Input 1
63 DIN2 I Digital Input 2
64 DIN3 I Digital Input 3
65 DOUT0 O
66 DOUT1 O
67 EXGND -
68 EX+24V I
LTC/SD/
PCS1/
CLR1
Function Axis
Ext. power
ground
End limit signal
End limit signal
Ext. power
ground
Composite
I
Funtion
(Default: LTC)
Ext. power
ground
Emergency
Input
Digital Output
0,SVO RST
Digital Output
1,SVO RST
Ext. power
ground
+24V isolation
power input
1
(+)
(-)
14 Installation
PCI-8102
2.6 P2 Pin Assignment: Digital Inputs / Outputs
P2 is the second connector for the additional 16 DI/O signals.
No. Name I/O Function No. Name I/O Function
1EX_GND--
3DI0I
5DI2I
7DI4I
9VDDO
11 DI6 I
13 DI8 I
15 DI10 I
17 EX_GND --
19 DI12 I
21 DI14 I
23 DO0 O
25 DO2 O
27 EX_GND --
29 DO4 O
31 DO6 O
External Power
Ground
Discrete Input
Channel 0
Discrete Input
Channel 2
Discrete Input
Channel 4
External +5V
Power
Discrete Input
Channel 6
Discrete Input
Channel 8
Discrete Input
Channel 10
External Power
Ground
Discrete Input
Channel 12
Discrete Input
Channel 14
Discrete Output
Channel 0
Discrete Output
Channel 2
External Power
Ground
Discrete Output
Channel 4
Discrete Output
Channel 6
T able 2-2: P2 Pin Assignment
2 EX_GND --
4DI1I
6DI3I
8DI5I
10 EX_GND --
12 DI7 I
14 DI9 I
16 DI11 I
18 EX_GND --
20 DI13 I
22 DI15 I
24 DO1 O
26 DO3 O
28 EX_GND --
30 DO5 O
32 DO7 O
External Power
Ground
Discrete Input
Channel 1
Discrete Input
Channel 3
Discrete Input
Channel 5
External Power
Ground
Discrete Input
Channel 7
Discrete Input
Channel 9
Discrete Input
Channel 11
External Power
Ground
Discrete Input
Channel 13
Discrete Input
Channel 15
Discrete Output
Channel 1
Discrete Output
Channel 3
External Power
Ground
Discrete Output
Channel 5
Discrete Output
Channel 7
Installation 15
No. Name I/O Function No. Name I/O Function
33 DO8 O
35 EX_GND --
37 DO10 O
39 DO12 O
41 DO14 O
43 EX_GND --
Discrete Output
Channel 8
External Power
Ground
Discrete Output
Channel 10
Discrete Output
Channel 12
Discrete Output
Channel 14
External Power
Ground
Table 2-2: P2 Pin Assignment
34 DO9 O
36 VDD O
38 DO11 O
40 DO13 O
42 DO15 O
44 EX_GND --
Discrete Output
Channel 9
External +5V
Power
Discrete Output
Channel 11
Discrete Output
Channel 13
Discrete Output
Channel 15
External Power
Ground
16 Installation
PCI-8102
2.7 K1/K2 Pin Assignments: Simultaneous Start/
Stop
CN4 is for simultaneous start/stop signals for multiple axes or multiple cards.
No. Name Function (Axis)
1 +5V PCI Bus power Output (VCC)
2 STA Simultaneous start signal input/output
3 STP Simultaneous stop signal input/output
4 GND PCI Bus power ground
Note: +5V and GND pins are provided by the PCI Bus power.
2.8 Jumper Settings for Pulse Output
J8-J11 are used to set the type of pulse output signals (DIR and
OUT). The output signal type can either be differential line driver
or open collector output. Refer to section 3.1 for detail jumper settings. The default setting is differential line driver mode. The
default setting is differential line driver mode. J8 & J9 are for axis
0; J10 & J11 are for axis 1.
Installation 17
2.9 CMP & EMG Interface Settings
Jumpers J12 and J13 identify the CMP signal output interface as
Pull-Up or OPEN-Collector, with the latter requiring pull up of the
CMP signal.
To reduce evaluation and debugging, the PCI-8102 provides the
jumper J14 to enable or disable EMG function as the following setting.
EMG disabled (Debug)
EMG enabled (Normal)
18 Installation
PCI-8102
2.10 Switch Setting for card index
The SW1 switch is used to set the card index. For example, if you
turn 1 to ON and others are OFF. It means the card index as 1.
The value is from 0 to 15. Refer to the following table for details.
Card
ID
0 0000
1 0001
2 0010
30011
4 0100
5 0101
60110
70111
8 1000
9 1001
10 1010
11 1011
12 1100
13 1101
14 111 0
15 1111
Switch Setting
(ON=1)
Installation 19
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