ADLINK PCI-8158 User Manual

PCI-8158

High Density & Advanced

8-Axis Servo / Stepper

Motion Control Card

User’s Manual

Manual Rev. 2.00

Revision Date: August 5, 2006

Part No: 50-11139-1000

Advance Technologies; Automate the World.

Copyright 2006 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 use the product or documentation, even if advised of
the possibility of such damages.

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.

Trademarks

NuDAQ, NuIPC, DAQBench are registered trademarks of ADLINK
TECHNOLOGY INC.

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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Customer Satisfaction is top priority for ADLINK Technology Inc.
Please contact us should you require any service or assistance.

ADLINK TECHNOLOGY INC.

Web Site: http://www.adlinktech.com

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Please give a detailed description of the problem(s):

Table of Contents

Table of Contents..................................................................... i

List of Tables........................................................................... v

List of Figures ........................................................................ vi

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

1.1 Features............................................................................... 5

1.2 Specifications....................................................................... 6

1.3 Supported Software ............................................................. 8

Programming Library ...................................................... 8

MotionCreatorPro ........................................................... 8

1.4 Available Terminal Board..................................................... 8

2 Installation .......................................................................... 9

2.1 Package Contents ............................................................... 9

2.2 PCI-8158 Outline Drawing ................................................. 10

2.3 PCI-8158 Hardware Installation......................................... 10

Hardware configuration ................................................. 10

PCI slot selection .......................................................... 11

Installation Procedures ................................................. 11

Troubleshooting ............................................................ 11

2.4 Software Driver Installation................................................ 12

2.5 P1/P2 Pin Assignments: Main Connector .......................... 13

2.6 K1/K2 Pin Assignments: Simultaneous Start/Stop ............ 14

2.7 J1 to J16 Jumper Settings for Pulse Output ...................... 15

2.8 S1 Switch Settings for Card Index ..................................... 16

2.9 P3 Manual Pulse................................................................ 17

3 Signal Connections.......................................................... 19

3.1 Pulse Output Signals OUT and DIR .................................. 20

3.2 Encoder Feedback Signals EA, EB and EZ....................... 23

Connection to Line Driver Output ................................. 25

Connection to Open Collector Output ........................... 25

3.3 Origin Signal ORG ............................................................. 27

3.4 End-Limit Signals PEL and MEL........................................ 28

3.5 In-position Signal INP ........................................................ 29

3.6 Alarm Signal ALM .............................................................. 30

Table of Contents i

3.7 Deviation Counter Clear Signal ERC ................................. 31

3.8 General-purpose Signal SVON.......................................... 32

3.9 General-purpose Signal RDY ............................................ 33

3.10 Multi-Functional output pin: DO/CMP ................................ 34

3.11 Multi-Functional input pin: DI/LTC/SD/PCS/CLR/EMG...... 35

3.12 Pulse Input Signals PA and PB (PCI-8158) ....................... 36

3.13 Simultaneously Start/Stop Signals STA and STP.............. 37

4 Operation Theory .............................................................. 41

4.1 Classifications of Motion Controller.................................... 41

Voltage type motion control Interface ........................... 41

Pulse type motion control Interface .............................. 42

Network type motion control Interface .......................... 42

Software real-time motion control kernel ...................... 42

DSP based motion control kernel ................................. 43

ASIC based motion control kernel ................................ 43

Compare Table of all motion control types ................... 44

PCI-8158’s motion controller type ................................. 44

4.2 Motion Control Modes........................................................ 45

Coordinate system ........................................................ 45

Absolute and relative position move ............................. 46

Trapezoidal speed profile ............................................. 47

S-curve and Bell-curve speed profile ............................ 47

Velocity mode ............................................................... 49

One axis position mode ................................................ 50

Two axes linear interpolation position mode ................. 51

Two axes circular interpolation mode ........................... 52

Continuous motion ........................................................ 53

Home Return Mode ...................................................... 55

Home Search Function ................................................. 63

Manual Pulse Function ................................................. 64

Simultaneous Start Function ......................................... 64

Speed Override Function .............................................. 65

Position Override Function ........................................... 65

4.3 The motor driver interface.................................................. 66

Pulse Command Output Interface ................................ 66

Pulse feedback input interface ...................................... 68

In position signal ........................................................... 70

Servo alarm signal ........................................................ 71

Error clear signal ........................................................... 71

ii Table of Contents

Servo ON/OFF switch ................................................... 71

Servo Ready Signal ...................................................... 72

Servo alarm reset switch .............................................. 72

4.4 Mechanical switch interface............................................... 72

Original or home signal ................................................. 73

End-Limit switch signal ................................................. 73

Slow down switch ......................................................... 73

Positioning Start switch ................................................. 73

Counter Clear switch .................................................... 74

Counter Latch switch .................................................... 74

Emergency stop input ................................................... 74

4.5 The Counters ..................................................................... 74

Command position counter ........................................... 75

Feedback position counter ............................................ 75

Command and Feedback error counter ........................ 75

General purpose counter .............................................. 76

Target position recorder ................................................ 76

4.6 The Comparators............................................................... 77

Soft end-limit comparators ............................................ 77

Command and feedback error counter comparators .... 77

General comparator ...................................................... 77

Trigger comparator ....................................................... 78

4.7 Other Motion Functions ..................................................... 78

Backlash compensation and slip corrections ................ 79

Vibration restriction function ......................................... 79

Speed profile calculation function ................................. 79

4.8 Interrupt Control................................................................. 80

4.9 Multiple Card Operation..................................................... 84

5 MotionCreatorPro............................................................. 85

5.1 Execute MotionCreatorPro ................................................ 85

5.2 About MotionCreatorPro .................................................... 86

5.3 MotionCreatorPro Form Introducing .................................. 87

Main Menu .................................................................... 87

Select Menu .................................................................. 88

Card Information Menu ................................................. 89

Configuration Menu ...................................................... 90

Single Axis Operation Menu ......................................... 95

Two-Axis Operation Menu .......................................... 102

2D_Motion Menu ........................................................ 105

Table of Contents iii

Help Menu .................................................................. 111

6 Function Library.............................................................. 113

6.1 List of Functions............................................................... 114

6.2 C/C++ Programming Library ............................................ 122

6.3 System & Initialization...................................................... 123

6.4 Pulse Input/Output Configuration..................................... 127

6.5 Velocity mode motion....................................................... 130

6.6 Single Axis Position Mode ............................................... 134

6.7 Linear Interpolated Motion ............................................... 138

6.8 Circular Interpolation Motion ............................................ 149

6.9 Home Return Mode.......................................................... 159

6.10 Manual Pulser Motion ...................................................... 162

6.11 Motion Status ................................................................... 165

6.12 Motion Interface I/O ......................................................... 167

6.13 Interrupt Control............................................................... 175

6.14 Position Control and Counters ......................................... 179

6.15 Position Compare and Latch............................................ 184

6.16 Continuous motion ........................................................... 189

6.17 Multiple Axes Simultaneous Operation ............................ 191

6.18 General-purpose DIO....................................................... 194

6.19 Soft Limit.......................................................................... 196

6.20 Backlash Compensation / Vibration Suppression ............ 198

6.21 Speed Profile Calculation................................................. 200

6.22 Return Code..................................................................... 204

7 Connection Example ...................................................... 207

7.1 General Description of Wiring .......................................... 207

7.2 Terminal Board User Guide ............................................. 207

Warranty Policy ................................................................... 209

iv Table of Contents

List of Tables

Table 1-1: Available Terminal Boards ........................................ 8

Table 2-1: P1/P2 Pin Assignments .......................................... 13

Table 2-2: K1/K2 Pin Assignments .......................................... 14

Table 2-3: J1 to J16 Jumper Settings ...................................... 15

Table 2-4: S1 Switch Settings .................................................. 16

Table 2-5: P3 Manual Pulse .................................................... 17

Table 3-1: Pulse Output Signals OUT (P1) .............................. 20

Table 3-2: Pulse Output Signals OUT (P2) .............................. 21

Table 3-3: Output Signal .......................................................... 22

Table 4-1: Motion Interrupt Source Bit Settings ....................... 81

Table 4-2: Error Interrupt return codes .................................... 82

Table 4-3: GPIO Interrupt Source Bit Settings ......................... 83

List of Tables v

List of Figures

Figure 1-1: Block Diagram of the PCI-8158 ................................. 2

Figure 1-2: Flow chart for building an application ........................ 4

Figure 2-1: PCB Layout of the PCI-8158 ................................... 10

vi List of Figures

1 Introduction

The PCI-8158 is an advanced & high-density 8-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 8-axis linear and circular interpolation and
continuous interpolation for continuous velocity. Changing posi­tion/speed on the fly is also available with a single axis operation.

Multiple PCI-8158 cards can be used in one system. Incremental
encoder interfaces on all eight axes provide the ability to correct
positioning errors generated by inaccurate mechanical transmis­sions.

The PCI-8158 is a brand new design. The carrier board has 8-axis
pulse train output control channels. For additional functions, such
as high-speed triggering or distributed I/O control, users can add
on daughter boards depending on requirements. The board has a
position compare function. For line scan applications, a motion
controller is needed to generate high speed triggering pulse and
gain the high resolution images. In this situation, adopt a DB-8150
to extend the function on PCI-8158. Not only designed for motion
control, the sensors and actuator are also key elements in
machine automation. Usually, I/O is needed to integrate the sen­sors and actuators in the controller. ADLINK also provides another
way to connect these devices – distributed I/O. A daughter board
can be used to achieve distributed I/O with the PCI-8158. This
configuration can save the wiring effort and physical controller
size, and is also cost-effective.

Figure 1-1 shows the functional block diagram of the PCI-8158
card. 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, saving CPU loading.

The PCI-8158 also offers three user-friendly functions.

1. Card Index Setting:

PCI-8158 can assign the card index with the DIP switch setting.
The value is within 0 to 15. It is useful for machine makers to

Introduction 1

recognize the card index if the entire control system is very
large.

2. Emergency Input

The emergency input pin can let users wire the emergency bot­tom to trigger this board to stop sending pulse output once
there is any emergency situation.

3. Software’s Security Protection

For security protection design, users can set the 16-bit value
into EEPROM. Your interface program can use this EEPROM
to secure the software and hardware in order to prevent plagia­rist.

Figure 1-1: Block Diagram of the PCI-8158

2Introduction

MotionCreatorPro is a Windows-based application develop­ment software package included with the PCI-8158. Motion-
CreatorPro 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-

8158.

Windows programming libraries are also provided for C++
compiler and Visual Basic. Sample programs are provided to
illustrate the operations of the functions.

Introduction 3

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.

Figure 1-2: Flow chart for building an application

4Introduction

1.1 Features

The following list summarizes the main features of the PCI­8158 motion control system.

X 32-bit PCI bus Plug and Play (Universal)

X 8 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 to 4 axes linear interpolation

X 2 axes 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 8-axis high speed position latch input

X 8-axis position compare and trigger output (Not for high

speed. For high speed triggering output, users need to buy
DB-8150 for extension.)

X All digital input and output signals are 2500Vrms isolated

X Programmable interrupt sources

X Simultaneous start/stop motion on multiple axes

X Manual pulse 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-8158 cards

Introduction 5

operation in one system

X Compact PCB design

X Includes MotionCreatorPro, a Microsoft Windows-based

application development software

X PCI-8158 libraries and utilities for Windows 2000/XP.

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: 8

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):

0.1 PPS to 6553.5 PPS. (Multiplier = 0.1)

1 PPS to 65535 PPS. (Multiplier = 1)

6Introduction

100 PPS to 6553500 PPS. (Multiplier = 100)

X I/O Signales:

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/home signal input pins: ±EL, ORG

Z Composite pins: DI / LTC(Latch) / SD(Slow-down) /

PCS(Position Change Signal) / CLR(Clear) /
EMG(Emergency Input)

Z Servomotor interface I/O pins: INP, ALM, and ERC

Z General-purposed digital output pin: SVON, DO

Z General-purposed digital input pin: RDY, GDI

Z Pulse signal input pin: PA and PB (With Isolation)

Z Simultaneous Start/Stop signal: STA and STP

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

X PCI-8158 Dimension (PCB size): 185mm(L) X 100 mm(W)

Introduction 7

1.3 Supported Software

1.3.1 Programming Library

Windows 2000/XP DLLs are provided for the PCI-8158 users.
These function libraries are shipped with the board.

1.3.2 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 the servo & steppers use terminal board for
easy connection. For steppers, we provide DIN-100S which is
pin-to-pin terminal board. For servo users, ADLINK offers DIN­814M, DIN-814M-J3A, DIN-814Y and DIN-814P-A4. The suit­able servos are listed as follows:

Mitsubishi J2 Super DIN-814M

Mitsubishi J3A DIN-814M-J3A

Yaskawa Sigma II DIN-814Y

Panasonic MINAS A4 DIN-814P-A4

Table 1-1: Available Terminal Boards

8Introduction

2 Installation

This chapter describes how to install the PCI-8158. 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 and wiring

the connections (the remaining sections)

2.1 Package Contents

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

X PCI-8158: advanced 8-axis Servo / Stepper Motion Control

Card

X ADLINK All-in-one Compact Disc

The terminal board is an optional accessory. This would not be
included in PCI-8158 package.

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-8158 Outline Drawing

Figure 2-1: PCB Layout of the PCI-8158

X P1 / P2: Input / Output Signal Connector (100-pin)

X K1 / K2: Simultaneous Start / Stop Connector

X P3: Manual Pulsar

X S1: DIP switch for card index selection (0-15)

X J1-J16: Pulse output selection jumper (Line Driver / Open

Collector)

2.3 PCI-8158 Hardware Installation

2.3.1 Hardware configuration

The PCI-8158 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.

10 Installation

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-8158 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 expansion slot. PCI slots are shorter
than ISA or EISA slots and are usually white or ivory.

4. Before handling the PCI-8158, 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.

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.

Installation 11

2.4 Software Driver Installation

1. Auto run the ADLINK All-In-One CD. Choose Driver
Installation -> Motion Control -> PCI-8158

2. Follow the procedures of the installer.

3. After setup installation is completed, restart windows.

Note: Please download the latest software from the ADLINK web-

site if necessary.

12 Installation

2.5 P1/P2 Pin Assignments: Main Connector

P1 / P2 are the main connectors for the motion control I/O signals.

No. Name I/O Function No. Name I/O Function

1 VDD O +5V power supply output 51 VDD O +5V power supply output

2 EXGND - Ext. power ground 52 EXGND - Ext. power ground

3 OUT0+ O Pulse signal (+) 53 OUT2+ O Pulse signal (+)

4 OUT0- O Pulse signal (-) 54 OUT2- O Pulse signal (-)

5 DIR0+ O Dir. signal (+) 55 DIR2+ O Dir. signal (+)

6 DIR0- O Dir. signal (-) 56 DIR2- O Dir. signal (-)

7 SVON0 O Servo On/Off 57 SVON2 O Servo On/Off

8 ERC0 O Dev. ctr, clr. Signal 58 ERC2 O Dev. ctr, clr. signal

9 ALM0 I Alarm signal 59 ALM2 I Alarm signal

10 INP0 I In-position signal 60 INP2 I In-position signal

11 RDY0 I Multi-purpose Input signal 61 RDY2 I Multi-purpose Input signal

12 EXGND Ext. power ground 62 EXGND Ext. power ground

13 EA0+ I Encoder A-phase (+) 63 EA2+ I Encoder A-phase (+)

14 EA0- I Encoder A-phase (-) 64 EA2- I Encoder A-phase (-)

15 EB0+ I Encoder B-phase (+) 65 EB2+ I Encoder B-phase (+)

16 EB0- I Encoder B-phase (-) 66 EB2- I Encoder B-phase (-)

17 EZ0+ I Encoder Z-phase (+) 67 EZ2+ I Encoder Z-phase (+)

18 EZ0- I Encoder Z-phase (-) 68 EZ2- I Encoder Z-phase (-)

19 VDD O +5V power supply output 69 VDD O +5V power supply output

20 EXGND - Ext. power ground 70 EXGND - Ext. power ground

21 OUT1+ O Pulse signal (+) 71 OUT3+ O Pulse signal (+)

22 OUT1- O Pulse signal (-) 72 OUT3- O Pulse signal (-)

23 DIR1+ O Dir. signal (+) 73 DIR3+ O Dir. signal (+)

24 DIR1- O Dir. signal (-) 74 DIR3- O Dir. signal (-)

25 SVON1 O Servo On/Off 75 SVON3 O Servo On/Off

26 ERC1 O Dev. ctr, clr. Signal 76 ERC3 O Dev. ctr, clr. signal

27 ALM1 I Alarm signal 77 ALM3 I Alarm signal

28 INP1 I In-position signal 78 INP3 I In-position signal

29 RDY1 I Multi-purpose Input signal 79 RDY3 I Multi-purpose Input signal

30 EXGND Ext. power ground 80 EXGND Ext. power ground

31 EA1+ I Encoder A-phase (+) 81 EA3+ I Encoder A-phase (+)

32 EA1- I Encoder A-phase (-) 82 EA3- I Encoder A-phase (-)

33 EB1+ I Encoder B-phase (+) 83 EB3+ I Encoder B-phase (+)

34 EB1- I Encoder B-phase (-) 84 EB3- I Encoder B-phase (-)

Table 2-1: P1/P2 Pin Assignments

Installation 13

No. Name I/O Function No. Name I/O Function

35 EZ1+ I Encoder Z-phase (+) 85 EZ3+ I Encoder Z-phase (+)

36 EZ1- I Encoder Z-phase (-) 86 EZ3- I Encoder Z-phase (-)

37 PEL0 I End limit signal (+) 87 PEL2 I End limit signal (+)

38 MEL0 I End limit signal (-) 88 MEL2 I End limit signal (-)

39 GDI0 I DI/LTC/PCS/SD/CLR0 89 GDI2 I DI/LTC/PCS/SD/CLR2

40 DO0 O General Output 0 90 DO2 O General Output 2

41 ORG0 I Origin signal 91 ORG2 I Origin signal

42 EXGND Ext. power ground 92 EXGND Ext. power ground

43 PEL1 I End limit signal (+) 93 PEL3 I End limit signal (+)

44 MEL1 I End limit signal (-) 94 MEL3 I End limit signal (-)

45 GDI1 I DI/LTC/PCS/SD/CLR1/EMG 95 GDI3 I DI/LTC/PCS/SD/CLR3

46 DO1 O General Output 1 96 DO3 O General Output 3

47 ORG1 I Origin signal 97 ORG3 I Origin signal

48 EXGND - Ext. power ground 98 EXGND - Ext. power ground

49 EXGND - Ext. power ground 99 E_24V - Isolation power Input, +24V

50 EXGND - Ext. power ground 100 E_24V - Isolation power Input, +24V

Table 2-1: P1/P2 Pin Assignments

X P1 is for Axis 0 to 3 control and P2 is for Axis 4 to 7 control.

2.6 K1/K2 Pin Assignments: Simultaneous Start/ Stop

K1 and K2 are for simultaneous start/stop signals for multiple axes
or multiple cards.

No. Name Function

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

Table 2-2: K1/K2 Pin Assignments

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

14 Installation

2.7 J1 to J16 Jumper Settings for Pulse Output

J1-J16 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 map­ping table is as follows:

JP1 & JP2 Axis 0 JP9 & JP10 Axis 4

JP3 & JP4 Axis 1 JP11 & JP12 Axis 5

JP5 & JP6 Axis 2 JP13 & JP14 Axis 6

JP7 & JP8 Axis 3 JP15 & JP16 Axis 7

Table 2-3: J1 to J16 Jumper Settings

Installation 15

2.8 S1 Switch Settings for Card Index

The S1 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 Switch Setting (ON=1)

00000

10001

20010

30011

40100

50101

60110

70111

81000

91001

10 1010

11 10 11

12 1100

13 1101

14 1110

15 1111

Table 2-4: S1 Switch Settings

16 Installation

2.9 P3 Manual Pulse

The signals on P3 are for manual pulse input.

No. Name Function (Axis)

1 VDD Isolated Power +5V

2 PA+ Pulse A+ phase signal input

3 PA- Pulse A- phase signal input

4 PB+ Pulse B+ phase signal input

5 PB- Pulse B- phase signal input

6 EXGND External Ground

7 N/A Not Available

8 N/A Not Available

9 N/A Not Available

Table 2-5: P3 Manual Pulse

Note: The +5V and GND pins are directly given by the PCI-bus

power. Therefore, these signals are not isolated.

Installation 17

18 Installation

3 Signal Connections

Signal connections of all I/O’s are described in this chapter. Refer
to the contents of this chapter before wiring any cable between the
PCI-8158 and any motor driver.

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 In-position signals INP

Section 3.6 Alarm signal ALM

Section 3.7 Deviation counter clear signal ERC

Section 3.8 general-purposed signals SVON

Section 3.9 General-purposed signal RDY

Section 3.10 Multifunction output pin: DO/CMP

Section 3.11 Multifunction input signal DI/LTC/SD/PCS/CLR/EMG

Section 3.12 Pulse input signals PA and PB

Section 3.13 Simultaneous start/stop signals STA and STP

Section 3.14 Termination Board

Signal Connections 19

3.1 Pulse Output Signals OUT and DIR

There are 8 axis pulse output signals on the PCI-8158. For each
axis, two pairs of OUT and DIR differential signals are used to
transmit the pulse train and indicate the direction. The OUT and
DIR signals can also be programmed as CW and CCW signal
pairs. Refer to Section 4.1.1 for details of the logical characteris­tics of the OUT and DIR signals. In this section, the electrical char­acteristics of the OUT and DIR signals are detailed. Each signal
consists of a pair of differential signals. For example, OUT0 con­sists of OUT0+ and OUT0- signals. The following table shows all
pulse output signals on P1.

P1 Pin No. Signal Name Description Axis #

3 OUT0+ Pulse signals (+) 0

4 OUT0- Pulse signals (-) 0

5 DIR0+ Direction signal (+) 0

6 DIR0- Direction signal (-) 0

21 OUT1+ Pulse signals (+) 1

22 OUT1- Pulse signals (-) 1

23 DIR1+ Direction signal (+) 1

24 DIR1- Direction signal (-) 1

53 OUT2+ Pulse signals (+) 2

54 OUT2- Pulse signals (-) 2

55 DIR2+ Direction signal (+) 2

56 DIR2- Direction signal (-) 2

71 OUT3+ Pulse signals (+) 3

72 OUT3- Pulse signals (-) 3

73 DIR3+ Direction signal (+) 3

74 DIR3- Direction signal (-) 3

Table 3-1: Pulse Output Signals OUT (P1)

20 Signal Connections