ADLINK PCI-8134A User Manual

PCI-8134/PCI-8134A

4-Axis Servo / Stepper

Motion Control Card

U se r ’ s G ui de

M anu al Rev . : 3.00
Revi sio n D at e: Sept 7, 2012
Par t N o : 50-11173-1000

Recycled Paper

© Copyright 2012 ADLINK Technology, Inc.

All Rights Reserved.
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
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This document contains proprietary information protected by copyright. All
rights are reserved. No part of this manual may be reproduced by any
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permission of the manufacturer.

Trademarks

NuDAQ and PCI-8134/PCI-8134A are registered trademarks of ADLINK
Technology Inc, MS-DOS & Windows 95 are registered trademarks of
Microsoft Corporation., Borland C++ is a registered trademark of Borland
International, Inc. Other product names mentioned herein are used for
identification purposes only and may be trademarks and/or registered
trademarks of their respective companies.

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Table of Contents

Introduction ....................................................................1

1.1 Features ................................................................................. 4

1.2 Specifications ......................................................................... 4

1.3 Software Support ................................................................... 6

1.3.1 Programming Library ............................................................... 6

1.3.2 Motion Creator ......................................................................... 6

1.4 Compatible Terminal Boards ................................................. 6

Installation ......................................................................7

2.1 Package Contents ................................................................. 7

2.2 PCI-8134/PCI-8134A Outline Drawing .................................. 8

2.3 Hardware Installation ............................................................. 9

2.3.1 Hardware configuration ............................................................ 9

2.3.2 PCI slot selection ..................................................................... 9

2.3.3 Installation Procedures .......................................................... 10

2.3.4 Troubleshooting: .................................................................... 10

2.4 Software Driver Installation .................................................. 10

2.5 Programming Guide Installation .......................................... 11

2.6 CN1 Pin Assignments: External Power Input ...................... 11

2.7 CN2 Pin Assignments: Main connector ............................... 12

2.8 CN3 Pin Assignments: Manual Pulser Input ....................... 13

2.9 CN4 Pin Assignments: Simultaneous Start/Stop ................. 14

2.10 Jumper Setting ..................................................................... 14

2.11 Switch Setting ...................................................................... 15

Signal Connections ..................................................... 17

3.1 Pulse Output Signals OUT and DIR .................................... 18

3.2 Encoder Feedback Signals EA, EB and EZ ........................ 20

3.3 Origin Signal ORG ............................................................... 22

3.4 End-Limit Signals PEL and MEL ......................................... 23

3.5 Ramping-down Signals PSD and MSD ............................... 24

3.6 In-position Signal INP .......................................................... 24

3.7 Alarm Signal ALM ................................................................ 25

3.8 Deviation Counter Clear Signal ERC ................................... 26

3.9 General-purpose Signal SVO N ........................................... 27

3.10 General-purpose Signal RDY .............................................. 27

Table of Contents • i

3.11 Pulser Input Signals PA and PB .......................................... 28

3.12 Simultaneously Start/Stop Signals STA and STP .............. 29

Operations .................................................................... 31

4.1 Motion Control Modes.......................................................... 31

4.1.1 Pulse Command Output ......................................................... 32

4.1.2 Constant Velocity Motion ....................................................... 33

4.1.3 Trapezoidal Motion ................................................................ 34

4.1.4 S-curve Profile Motion ............................................................ 37

4.1.5 Linear Interpolated Motion ..................................................... 40

4.1.6 Home Return Mode ................................................................ 41

4.1.7 Manual Pulser Mode .............................................................. 52

4.2 Motor Drive Interface ........................................................... 53

4.2.1 INP ......................................................................................... 53

4.2.2 ALM ....................................................................................... 53

4.2.3 ERC ....................................................................................... 54

4.3 The Limit Switch Interface and I/O Status ........................... 55

4.3.1 SD .......................................................................................... 55

4.3.2 EL .......................................................................................... 55

4.3.3 ORG ....................................................................................... 57

4.3.4 SVON and RDY ..................................................................... 57

4.4 The Encoder Feedback Signals (EA, EB, EZ) ..................... 58

4.5 Multiple PCI-8134/PCI-8134A Cards Operation .................. 59

4.6 Change Speed on the Fly .................................................... 60

4.7 Interrupt Control ................................................................... 62

Motion Creator ............................................................. 63

5.1 Main Menu ........................................................................... 64

5.2 Axis Configuration Window .................................................. 65

5.3 Axis Operation Windows ..................................................... 69

5.3.1 Motion Status Display ............................................................ 69

5.3.2 Axis Status Display ................................................................ 69

5.3.3 I/O Status Display .................................................................. 69

5.3.4 Set Position Control ............................................................... 71

5.3.5 Operation Mode Control ......................................................... 71

5.3.6 Motion Parameters Control .................................................... 73

5.3.7 Play Key Control .................................................................... 73

5.3.8 Velocity Profile Selection ....................................................... 74

5.3.9 Repeat Mode ......................................................................... 74

Function Library

(8134.DLL)

....................................... 75

6.1 List of Functions ................................................................... 75

ii • Table of Contents

6.2 C/C++ Programming Library ................................................ 78

6.3 Initialization .......................................................................... 79

6.4 Pulse Input / Output Configuration ...................................... 80

6.5 Continuously Motion Move .................................................. 82

6.6 Trapezoidal Motion Mode .................................................... 84

6.7 S-Curve Profile Motion......................................................... 87

6.8 Multiple Axes Point to Point Motion ..................................... 89

6.9 Linear Interpolated Motion ................................................... 91

6.10 Interpolation Parameters Configuring .................................. 92

6.11 Home Return ....................................................................... 93

6.12 Manual Pulser Motion .......................................................... 94

6.13 Motion Status ....................................................................... 95

6.14 Servo Drive Interface ........................................................... 96

6.15 I/O Control and Monitoring .................................................. 97

6.16 Position Control ................................................................... 98

6.17 Interrupt Control ................................................................. 100

Additional Function Library (8134A.DLL) ................ 104

7.1 List of Functions ................................................................. 104

7.2 C/C++ Programming Library .............................................. 106

7.3 Initialization ........................................................................ 107

7.4 Pulse Input / Output Configuration .................................... 108

7.5 Continuously Motion Move ................................................ 110

7.6 Trapezoidal Motion Mode .................................................. 112

7.7 S-Curve Profile Motion....................................................... 113

7.8 Multiple Axes Point to Point Motion ................................... 114

7.9 Linear Interpolated Motion ................................................. 116

7.10 Home Return ..................................................................... 118

7.11 Manual Pulser

7.12 Motion Status ..................................................................... 123

7.13 Servo Drive Interface ......................................................... 124

7.14 I/O Control and Monitoring ................................................. 125

7.15 Position Counter

7.16 Interrupt Control ................................................................. 128

Motion

........................................................ 120

Control

.................................................... 126

Connection Example ................................................. 128

8.1 General Description of Wiring ............................................ 128

8.2 Connection Example with Servo Drive .............................. 130

Appendix A: Auto Home Return Modes ............... 147

Table of Contents • iii

Appendix B: 8134.DLL vs. 8134A.DLL ..................... 157

Warranty Policy ......................................................... 166

iv • Table of Contents

About This Guide

The PCI-8134 was EOL in May, 2011. ADLINK offers the new PCI­8134A as a line replacement. While most PCI-8134A functions are
fully compatible with legacy PCI-8134 functions, certain differences
require changes in application, as outlined in this document.

Chapter1,

Chapter2,

Chapter3,

Chapter4,

Chapter5,

Chapter6,

Chapter7, "Another Function Library (8134A.lib) ", describes high-

Chapter8,

"Introduction", gives an overview of the product features,

applications, and specificatio n s.

"Installation", describes how to install the PCI-8134/PCI-

8134A.

"Signal Connection", describes the connectors' pin

assignment and how to connect the outside signal and
devices with the PCI-8134/PCI-8134A.

"Operation Theorem", describes detail operations of the PCI-

8134/PCI-8134A.
“Motion Creator & Motion Creator Pro”, describe how to utilize

a Microsoft Windows based utility program to configure and
test running the PCI-8134/PCI-8134A.

"C/C++ Function Library", describes high-level programming

interface in C/C++ language. It helps programmer to control
PCI-8134/PCI-8134A in high level language style.

level programming interface. It helps programmer to
control PCI­8134 in high level language style.

“Connection Example” shows some typical connection
examples between PCI-8134/PCI-8134A and servo driver and
stepping driver.

About This Guide • v

1

Introduction

The PCI-8134/PCI-8134A is a 4-axis motion control card with PCI interface. It
can generate high frequency pulses to drive ste ppin g motor s and serv o
motors. Multiple PCI-8134/PCI-8134A cards can be used in one system.
Incremental encoder interface on all four axes provide the ability to correct for
positioning errors generated by inaccurate mechanical transmissions. In
addition, mechanical sensor interf ac e, serv o motor inter f ac e and gener al
purpose I/O signals are provided for system integration.
Figure 1.1 shows the function block diagram of PCI-8134/PCI-8134A car d.
PCI-8134/PCI-8134A uses motion ASIC to perform 4-axis motion control.
These ASICs are incorporate Nippon Pulse Motor. The motion control
functions include linear and S-curve acceleration/deceleration, interpolation
between two axes, continuous motion, in positioning and home return are
done by the ASIC. Since these functions needing complex computations are
done internally on the ASIC, the PC’s CPU is free to supervise and perf orm
other tasks.
Motion Creator a Microsoft Windows-based application included with the PCI­8134/PCI-8134A card for supporting application development. Motion Creator
is very helpful for debugging a motion control system during the design phase
of a project. The on-screen monitor shows all installed axis information and
I/O signals status of PCI-8134/PCI-8134A cards. In addition to Motion Creator,
both DOS and Windows version function library are included for programmers
using C++ and Visual Basic language. Several sample programs are given to
illustrate how to use the function library.
The following flowcharts show recommending processes for using this manual
to develop an application. Please also refer to the relative chapters for details
of each step.

Introduction • 1

CN2

DC/DC

Ext+24V Input

PCL 5023

PCL 5023

Pulser .

y

CN3

CN4

Isolation

ORG

PCI Bus

Ext +5V out

CN1

Pulse I/O

OUT, DIR,

EA, EB, EZ

for axes

X & Y

Mechanical

Interface

+EL, -EL,
+SD,-SD,

PCI Bus

Controller

Servo
Driver

Interface

INP, ALM

ERC

for axes

Z & U

Input: PA,PB

Simultaneousl

General

Purpose

I/O

SVON

RDY

Figure 1.1 Block Diagram of PCI-8134

2 • Introduction

Figure 1.2 Block Diagram of PCI-8134A

Introduction • 3

Features

1.1

The following lists summarize the main features of the PCI-8134
motion control system.

• 32-bit PCI-Bus, plug and play.

• 4 axes of step and direction pulse output for controlling stepping or

servomotor.

• Maximum output frequency of 2.4 Mpps

• Pulse output options: OUT/DIR, CE/CCW

• Pulse input options: CW/CCW, AB phase x1, x2, x4

• 2-axis linear interpolation.

• 28-bit up/down counter for incremental encoder feedba ck.

• Home switch, index signal, positive and negative limit switches

interface provided for all axes

• Trapezoidal and S-curve velocity profiles for all modes

• Programmable interrupt sourc es

• Change Speed on the Fly.

• Simultaneous start/stop mot io n on multip le ax es.

• Manual pulser input interface.

• Software supports maximum up to 12 PCI-8134/PCI-8134A cards (48

axes) operation.

• Compact, half size PCB.

• Motion Creator Microsoft Windows based application development

software.

Specifications

1.2

 Applicable Motors:

 Stepping motors.
 AC or DC servomotors with pulse train input servo-drives.

 Performance:

 Number of controllable axes: 4
 Maximum pulse output frequency: 2.4Mpps, linear, trapezoidal or

S-Curve velocity profile drive.

 Position pulse setting range: 0~268,435,455 pulses (28-bit).
 Ramping-down point setting range: 0 to 16777215
 Acceleration / deceleration rate setting range: 1 to 65535(16bit)
 Up / down counter counting range: 0~268,435,455 (28-bit.) or –

134,217,728 to +134,217,727

4 • Introduction

 Pulse rate setting steps: 0 to 2.4Mpps.

 I/O Signals:

 Input/Output Signals for each axis
 All I/O signal are optically isolated with 2500Vrms isolation voltage
 Command pulse output pins: OUT and DIR.
 Incremental encoder signals input pins: EA and EB.
 Encoder index signal input pin: EZ.
 Mechanical limit/switch sig nal input pins: ±EL, SD and ORG.
 Servomotor interface I/O pins: INP, ALM and ERC.
 General purpose digital output pin: SVON.
 General purpose digital input pin: RDY.
 Pulser signal input pin: PA and PB.
 Simultaneous Start/Stop signal I/O pins: STA and STP.

 General Specifications

 Connectors: 100-pin SCSI-type connector
 Operating Temperature: 0° C ~ 50° C
 Storage Temperature: -20° C ~ 80° C
 Humidity: 5 ~ 85%, non-condensing
 Power Consumption:

∗ Slot power supply (input): +5V DC ±5%, 900mA max .
∗ External power supply (input): +24V DC ±5%, 500mA max.
∗ External power supply (output): +5V DC ±5%, 500mA, max.
∗ PCI-8134 Dimensions: 164mm(L) X 98.4mm(W)
∗ PCI-8134A Dimensions: 185mm(L) X 100mm(W)

Introduction • 5

Software Support

1.3

1.3.1 Programming Library

Windows® XP/7 DLLs are provided for the PCI-8134 and PCI-8134A. These
function libraries are shipped with the board.

1.3.2 Motion Creator

This Windows-based utility, also bundled with the product, is used to set up
cards, motors, and systems, and can aid in debugging hardware and
software. It allows users to set I/O logic parameters for their own programs.

Compatible Terminal Boards

1.4

ADLINK provides servos & steppers with terminal boards for easy
connection, specifically boards DIN-814M0, DIN-814M-J3A0, DIN-814Y0,
DIN-814P-A40 for connection to dedicated servo drives. Steppers or other
servo brands can be connected with general purpose terminal boards DIN­814-GP and DIN-100S0. Com patib le serv os are as foll ows.

Servo Terminal Board

Mitsubishi J2 Super DIN-814M0
Mitsubishi J3A DIN-814M-J3A0
Yaskawa Sigma II DIN-814Y0
Panasonic MINAS A4 DIN-814P-A40
Other Serovs and Steppers DIN-814-GP (specific for cable selection)

DIN-100S0

6 • Introduction

2

Installation

This chapter describes how to install the PCI-8134/PCI-8134A, according to
the following procedure.

• Check Package Contents (Section 2.1)

• Check the PCB (Section 2.2)

• Install the hardware (Section 2.3)

• Install the software driver (Section 2.4)

• Acquaint yourself with the I/O signal connections (Chapter 3) and their

operation (Chapter 4)

• Check the connector pin assignments and wiring

Package Contents

2.1

In addition to this User's Guide, the package includes the following items:

• PCI-8134/PCI-8134A 4-Axis Servo / Stepper Motion Control Card

• ADLINK All-in-one Compact Disc

• User’s Guide Manual

If any of these items are missing or damaged, contact the dealer from
whom you purchased the product. Save the shipping materials and carton
in case you want to ship or store the product in the future.

Installation • 7

PCI-8134/PCI-8134A Outline Drawing

2.2

Figure 2.1 PCB Layout of the PCI-8134

CN1: External Power Input Connector
CN2: Input / Output Signal Connector
CN3: Manual Pulser Signal Connector
CN4: Simultaneous Start / Stop Connector

8 • Installation

CN4

CN3

CN2

J1

J8

S1

CN1

|

Figure 2.2 PCB Layout of the PCI-8134A

CN1: External Power Input Connector
CN2: Input / Output Signal Connector
CN3: Manual Pulser Signal Connector
CN4: Simultaneous Start / Stop Connector
J1-J8: Pulse output type selection
S1: Polarity of end-limited switch selection

Hardware Installation

2.3

2.3.1 Hardware configuration

The PCI-8134/PCI-8134A has a plug and play PCI controller on board. The
memory usage (I/O port locations) of the PCI card is assigned by 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 will probably have both PCI and ISA slots. Do not force the
PCI card into a PC/AT slot. The PCI-8134/PCI-8134A can be used in any
PCI slot.

Installation • 9

2.3.3 Installation Procedures

Read through this manual, and setup the jumper according to your
application

Turn off your computer, Turn off all accessories (printer, modem, monitor,
etc.) connected to computer.

Remove the cover from your computer.
Select a 32-bit PCI expansion slot. PCI slots are short than ISA or EISA

slots and are usually white or ivory.
Before handling the PCI-8134/PCI-8134A, discharge any static buildup on

your body by touching the metal case of the computer. Hold the edge and
do not touch the components.

Position the board into the PCI slot you selected.

Secure the card in place at the rear panel of the system unit using screw
removed from the slot.

2.3.4 Troubleshooting:

If your system won‘t boot or if you experience erratic operation with your
PCI board in place, it’s likely caused by an interrupt conflict (perhaps
because you incorrectly described the ISA setup). In general, the solution,
once you determine it is not a simple oversight, is to consult the BIOS
documentation that comes with your system.

Software Driver Installation

2.4

Please refer to the ADLink All-in-one Compact Disc Manual to install it.

10 • Installation

CN1 Pin No

Name

Description

1

EXGND

Grounds of the external power.

2

EX+24V

External power supply of +24V DC

Isolation

DC/DC

+5V

GND

I/O
EX+5V

EXGND

EX+24V

External

Power Supply

(OUTPUT)

Internal

from PCI BUS

(Bus Power)

(External Power)

I/O SIGNALS

Programming Guide Installation

2.5

1) From the ADLINK All-In-One CD Choose Driver Installation>Motion
Control>PCI-8134/PCI-8134A

2) Follow the procedures of the installer.

3) After installation is completed, restart Windows.

Note: Please download the latest software from the ADLINK website if
necessary.

CN1 Pin Assignments: External Power Input

2.6

5%

±

Note:

1. CN1 is a plug-in terminal board with no screw.

2. Be sure to use the external power supply. The +24V DC is used by
external input/output signal circuit. The power circuit is configured
as follows.

3. Wires for connection to CN1.

Solid wire: ϕ 0.32mm to ϕ 0.65mm (AWG28 to AWG22)
Twisted wire: 0.08mm2 to 0.32mm2 (AWG28 to AWG22)
Naked wire length: 10mm standard.

The following diagram shows the external power supply system of the PCI­8134/PCI-8134A. The external +24V power must be provided, an on-board
regulator generates +5V for both internal and external usage.

SIGNALS

Power Supply

Installation • 11

CN2 Pin Assignments: Main connector

No.

Name

I/O

Function(axis/)

No.

Name

I/O

Function(axis/)

1

EX+5V

O

+5V power supply output

51

EX+5V

O

+5V power supply output

2

EXGND

Ext. power ground

52

EXGND

Ext. power ground

3

OUT1+

O

Pulse signal (+),

53

OUT3+

O

Pulse signal (+), 

4

OUT1-

O

Pulse signal (-),

54

OUT3-

O

Pulse signal (-),

5

DIR1+

O

Dir. signal (+),

55

DIR3+

O

Dir. signal (+), 

6

DIR1-

O

Dir. signal (-),

56

DIR3-

O

Dir. signal (-), 

7

SVON1

O

Multi-purpose signal, 

57

SVON3

O

Multi-purpose signal, 

8

ERC1

O

Dev. ctr, clr. signal, 

58

ERC3

O

Dev. ctr, clr. signal, 

9

ALM1

I

Alarm signal, 

59

ALM3

I

Alarm signal, 

10

INP1 I In-position signal, 

60

INP3 I In-position signal, 

11

RDY1

I

Multi-purpose signal, 

61

RDY3

I

Multi-purpose signal, 

12

EXGND

Ext. power ground

62

EXGND

Ext. power ground

13

EA1+ I Encoder A-phase (+), 

63

EA3+ I Encoder A-phase (+), 

14

EA1- I Encoder A-phase (-), 

64

EA3- I Encoder A-phase (-),

16

EB1- I Encoder B-phase (-), 

66

EB3- I Encoder B-phase (-),

17

EZ1+ I Encoder Z-phase (+), 

67

EZ3+ I Encoder Z-phase (+),

18

EZ1- I Encoder Z-phase (-), 

68

EZ3- I Encoder Z-phase (-),

19

EX+5V

O

+5V power supply output

69

EX+5V

O

+5V power supply output

20

EXGND

Ext. power ground

70

EXGND

Ext. power ground

21

OUT2+

O

Pulse signal (+), 

71

OUT4+

O

Pulse signal (+),

22

OUT2-

O

Pulse signal (-), 

72

OUT4-

O

Pulse signal (-),

23

DIR2+

O

Dir. signal (+), 

73

DIR4+

O

Dir. signal (+),

24

DIR2-

O

Dir. signal (-), 

74

DIR4-

O

Dir. signal (-),

25

SVON2

O

Multi-purpose signal, 

75

SVON4

O

Multi-purpose signal, 

26

ERC2

O

Dev. ctr, clr. signal, 

76

ERC4

O

Dev. ctr, clr. signal, 

27

ALM2

I

Alarm signal, 

77

ALM4

I

Alarm signal, 

28

INP2 I In-position signal, 

78

INP4 I In-position signal, 

29

RDY2

I

Multi-purpose signal, 

79

RDY4

I

Multi-purpose signal, 

30

EXGND

Ext. power ground

80

EXGND

Ext. power ground

31

EA2+ I Encoder A-phase (+), 

81

EA4+ I Encoder A-phase (+), 

32

EA2- I Encoder A-phase (-), 

82

EA4- I Encoder A-phase (-), 

34

EB2- I Encoder B-phase (-), 

84

EB4- I Encoder B-phase (-), 

2.7

The CN2 is the major connector for the motion control I/O signals.

15 EB1+ I Encoder B-phase (+),  65 EB3+ I Encoder B-phase (+),

33 EB2+ I Encoder B-phase (+),  83 EB4+ I Encoder B-phase (+), 

12 • Installation

36

EZ2- I Encoder Z-phase (-), 

86

EZ4- I Encoder Z-phase (-), 

38

MEL1

I

End limit signal (-), 

88

MEL3

I

End limit signal (-), 

40

MSD1

I

Ramp-down signal (-), 

90

MSD3

I

Ramp-down signal (-), 

42

EXGND

Ext. power ground

92

EXGND

Ext. power ground

44

MEL2

I

End limit signal (-), 

94

MEL4

I

End limit signal (-), 

46

MSD2

I

Ramp-down signal (-), 

96

MSD4

I

Ramp-down signal (-), 

48

EXGND

Ext. power ground

98

EXGND

Ext. power ground

50

EXGND

Ext. power ground

100

EX+24V

I

Ext. power supply, +24V

No.

Name

Function(Axis )

1

GND

Bus power ground

2

PB4

Pulser B-phase signal input, 

3

PA4

Pulser A-phase signal input, 

4

PB3

Pulser B-phase signal input, 

5

PA3

Pulser A-phase signal input, 

6

+5V

Bus power, +5V

7

GND

Bus power ground

8

PB2

Pulser B-phase signal input, 

9

PA2

Pulser A-phase signal input, 

10

PB1

Pulser B-phase signal input, 

11

PA1

Pulser A-phase signal input, 

12

+5V

Bus power, +5V

35 EZ2+ I Encoder Z-phase (+),  85 EZ4+ I Encoder Z-phase (+), 

37 PEL1 I End limit signal (+),  87 PEL3 I End limit signal (+), 

39 PSD1 I Ramp-down signal (+),  89 PSD3 I Ramp-down signal (+) , 

41 ORG1 I Origin signal,  91 ORG3 I Origin signal, 

43 PEL2 I End limit signal (+),  93 PEL4 I End limit signal (+), 

45 PSD2 I Ramp-down signal (+),  95 PSD4 I Ramp-down signal (+), 

47 ORG2 I Origin signal,  97 ORG4 I Origin signal, 

49 EXGND Ext. power ground 99 EX+24V I Ext. power supply, +24V

CN3 Pin Assignments: Manual Pulser Input

2.8

The signals on CN3 is for manual pulser input.

Note: +5V and GND pins are directly given by the PCI-Bus power.

Therefore, these signals are not isolated.

Installation • 13

CN4 Pin Assignments: Simultaneous Start/ St op

No.

Name

Function(Axis )

1

GND

Bus power ground

2

STP

Simultaneous stop signal input/out pu t

3

STA

Simultaneous start signal input /out put

4

STP

Simultaneous stop signal input/out pu t

5

STA

Simultaneous start signal input /outpu t

6

+5V

Bus power, +5V

J1

J2

J3

J4

J5

J6

J7

J8

2.9

The signals on CN3 is for simultaneously start/stop signals for multiple axes
and multiple cards.

Note: +5V and GND pins are directly given by the PCI Bus power.

Jumper Setting

2.10

The J1~J8 is used to set the signal type of the pulse output signals (DIR
and OUT). The output signal type could be differential line driver output or
open collector output. Please refer to section 3.1 for details of the jumper
setting. The default setting is the differential line driver mode.

Line Driver
Open Collector

Figure 2.3 Illustration of PCI-8134 jumpers

14 • Installation

1
2
3

J8

J7

J1

4 3 2 1

ON

Select ‘a’ Contact EL Switch (Normal Open)

3 2 1

Select ‘b’ Contact EL Switch (Normal Close)

Line Driver
Open Collector

J4
J3

J6
J5

J2

Figure 2.4 Illustration of PCI-8134A jumpers

Switch Setting

2.11

The switch S1 is used to set the EL limit switch’s type. The default setting
of EL switch type is “normal open” type limit switch (or “A” contact type).
The switch on is to use the “normal closed” type limit switch (or “B” contact
type). The default setting is set as normal open type.

Figure 2.5 Placement of S1 Switch on Board of PCI-8134

Installation • 15

1 2 3 4

ON

Select ‘b’ Contact EL Switch (Normal Close)

Select ‘a’ Contact EL Switch (Normal Open)

Figure 2.6 Placement of S1 Switch on Board of PCI-8134A

16 • Installation

3

Signal Connections

The signal connections of all the I/O signals are described in this chapter.
Please refer the contents of this chapter before wiring the cable between
the PCI-8134/PCI-8134A and the motor drivers.

This chapter contains the following sections:

Section 3.1 Pulse output signals OUT and DIR
Section 3.2 Encoder feedback signals EA, EB and EZ
Section 3.3 Origin signal ORG
Section 3.4 End-Limit signals PEL and MEL
Section 3.5 Ramping-down signals PSD and MSD
Section 3.6 In-position signal INP
Section 3.7 Alarm signal ALM
Section 3.8 Deviation counter clear signal ERC
Section 3.9 General-purpose signal SVON
Section 3.10 General-purpose signal RDY
Section 3.11 Pulser input signals PA and PB
Section 3.12 Simultaneous start/stop signals STA and STP

Signal Connections • 17

Pulse Output Signals OUT and DIR

CN2 Pin No.

Signal Name

Description

Axis #

3

OUT1+

Pulse signals (+)

4

OUT1-

Pulse signals (-)

5

DIR1+

Direction signal(+)

6

DIR1-

Direction signal(-)

21

OUT2+

Pulse signals (+)

22

OUT2-

Pulse signals (-)

23

DIR2+

Direction signal(+)

24

DIR2-

Direction signal(-)

53

OUT3+

Pulse signals (+)

54

OUT3-

Pulse signals (-)

55

DIR3+

Direction signal(+)

56

DIR3-

Direction signal(-)

71

OUT4+

Pulse signals (+)

72

OUT4-

Pulse signals (-)

73

DIR4+

Direction signal(+)

74

DIR4-

Direction signal(-)

3.1

There are 4-axis pulse output signals on PCI-8134/PCI-8134A. For every
axis, two pairs of OUT and DIR signals are used to send the pulse train and
to indicate the direction. The OUT and DIR signals can also be
programmed as CW and CCW signals pair, refer to section 4.1.1 for details
of the logical characteristics of the OUT and DIR signals. In this section,
the electronic characteristics of the OUT and DIR signals are shown. Each
signal consists of a pair of differential signals. For example, the OUT2 is
consisted of OUT2+ and OUT2- signals. The following table shows all the
pulse output signals on CN2.


















The output of the OUT or DIR signals can be configured by jumpers as
either the differential line driver or open collector output. You can select the
output mode either by closing breaks between 1 and 2 or 2 and 3 of
jumpers J1~J8 as follows.

18 • Signal Connections

differential line driver

between 1 and 2 of

between 2 and 3 of:

OUT1-

J1

J1

DIR1-

J2

J2

OUT2-

J3

J3

DIR2-

J4

J4

OUT3-

J5

J5

DIR3-

J6

J6

OUT4-

J7

J7

DIR4-

J8

J8

VCC

EX+5V

J1~J8

OUT

from Motion ASIC

OUT+, DIR+

OUT-, DIR-

EXGND

R

3

2

2631

CN2

Inside PCI-8134/PCI-8134A

Output

Signal

DIR

For

output, close a break

For open collector

output, close a break

1

default

The
mode.

The following wiring diagram is for the OUT and DIR signals of the 4 axes.

NOTE: If the pulse output is set to the open collector output mode, the

OUT- and DIR- are used to send out signals. Please take care
that the current sink to OUT- and DIR- pins must not exceed 20mA.
The current may provide by the EX+5V power source, however,
please note that the maximum capacity of EX+5V power is 500mA.

setting of OUT and DIR signals are the as differential line driver

Signal Connections • 19

Encoder Feedback Signals EA, EB and EZ

CN2 Pin No

Signal Name

Axis #

CN2 Pin No

Signal Name

Axis #

13

EA1+

63

EA3+

14

EA1-

64

EA3-

15

EB1+

65

EB3+

16

EB1-

66

EB3-

31

EA2+

81

EA4+

32

EA2-

82

EA4-

33

EB2+

83

EB4+

34

EB2-

84

EB4-

CN2 Pin No

Signal Name

Axis #

CN2 Pin No

Signal Name

Axis #

17

EZ1+

67

EZ3+

18

EZ1-

68

EZ3-

35

EZ2+

85

EZ4+

36

EZ2-

86

EZ4-

Motion ASIC

EA, EB
EZ

EA+, EB+,

EA-, EB­R

Inside PCI-8134/PCI-8134A

3.2

The encoder feedback signals include the EA, EB, and EZ. Every axis has
six pins for three differential pairs of phase-A (EA), phase-B (EB) and index
(EZ) input. The EA and EB are used for position counting; the EZ is used
for zero position index. The relative signal names, pin numbers and the axis
number are shown in the following tables.















The input circuits of the EA, EB, EZ signals are shown as follow s.

EZ+

EZ-















Please note that the voltage across every differential pair of encoder input
signals (EA+, EA-), (EB+, EB-) and (EZ+, EZ-) should be at least 3.5V or
higher. Therefore, you have to take care of the driving capability when
connecting with the encoder feedback or motor driver feedback. The

20 • Signal Connections