Contec SMC-8DL-PCI, SMC-4DL-PCI User Manual
PC-HELPER
High-Speed Motion Control
Board for PCI
(4ch)
SMC-4DL-PCI
(8ch)
SMC-8DL-PCI
User’s Guide
CONTEC CO.,LTD.
Check Your Package
Thank you for purchasing the CONTEC product.
The product consists of the items listed below.
Check, with the following list, that your package is complete. If you discover damaged or missing items,
contact your retailer.
Product Configuration List
- Board (One of the following)
[SMC-4DL-PCI or SMC-8DL-PCI] …1
- First step guide …1
*1 The CD-ROM contains the driver software and User’s Guide (this guide)
Board
SMC-4DL-PCI, SMC-8DL-PCI
First step guide
CD-ROM
[API-PAC(W32)]
i
Copyright
Copyright 2006 CONTEC CO., LTD. ALL RIGHTS RESERVED.
No part of this document may be copied or reproduced in any form by any means without prior written
consent of CONTEC CO., LTD.
CONTEC CO., LTD. makes no commitment to update or keep current the information contained in this
document. The information in this document is subject to change without notice.
All relevant issues have been considered in the preparation of this document. Should you notice an
omission or any questionable item in this document, please feel free to notify CONTEC CO., LTD.
Regardless of the foregoing statement, CONTEC assumes no responsibility for any errors that may
appear in this document or for results obtained by the user as a result of using this product.
Trademarks
MS, Microsoft and Windows are trademarks of Microsoft Corporation. Other brand and product names
are trademarks of their respective holder.
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SMC-4DL-PCI, SMC-8DL-PCI
Table of Contents
Check Your Package............................................................................................................................ i
Copyright ............................................................................................................................................ ii
Trademarks ......................................................................................................................................... ii
Table of Contents............................................................................................................................... iii
1. BEFORE USING THE PRODUCT 1
About the Board.................................................................................................................................. 1
Features ........................................................................................................................................ 1
Support Software ......................................................................................................................... 2
Cable & Connector (Option) ...................................................................................................... 2
Accessories (Option) .................................................................................................................. 2
Customer Support ............................................................................................................................... 3
Web Site....................................................................................................................................... 3
Limited Three-Years Warranty .......................................................................................................... 3
How to Obtain Service ....................................................................................................................... 3
Liability............................................................................................................................................... 3
Safety Precautions .............................................................................................................................. 4
Safety Information ....................................................................................................................... 4
Handling Precautions ................................................................................................................... 5
Environment................................................................................................................................. 6
Inspection ..................................................................................................................................... 6
Storage ......................................................................................................................................... 6
Disposal ....................................................................................................................................... 6
2. SETUP 7
What is Setup? .................................................................................................................................... 7
Using the Board under Windows Using the Driver library API-PAC(W32).............................. 7
Using the Board under Window Using Software Other than
the Driver library API-PAC(W32) .............................................................................................. 7
Using the Board under an OS Other than Windows ................................................................... 8
Step 1 Installing the Software ............................................................................................................ 9
Starting the Install Program......................................................................................................... 9
Selecting API-SMC(WDM) ...................................................................................................... 10
Executing the Installation .......................................................................................................... 10
Step 2 Setting the Hardware ............................................................................................................. 11
Parts of this product and Factory Defaults ................................................................................ 11
Setting the Board ID .................................................................................................................. 13
Setting the Terminating Registor............................................................................................... 13
Plugging the Board .................................................................................................................... 14
SMC-4DL-PCI, SMC-8DL-PCI
iii
Step 3 Installing the Hardware .........................................................................................................15
Turning on the PC...................................................................................................................... 15
When Using API-SMC(WDM) ................................................................................................. 15
Step 4 Initializing the Software ........................................................................................................ 17
Step 5 Checking Operations with the Diagnosis Program ............................................................... 19
What is the Diagnosis Program?................................................................................................ 19
Check method ............................................................................................................................ 19
Using the Diagnosis Program ....................................................................................................21
Setup Troubleshooting ...................................................................................................................... 24
Symptoms and Actions .............................................................................................................. 24
If your problem cannot be resolved ........................................................................................... 24
3. EXTERNAL CONNECTION 25
How to connect the connectors......................................................................................................... 25
Connector shape......................................................................................................................... 25
Connector Pin Assignment ........................................................................................................26
Connecting Output Signals ............................................................................................................... 32
Pulse output circuit (CW, CCW) ............................................................................................... 32
Control signal/general-purpose signal output circuit (OUT1 - OUT3, ERC, CP1, CP2) ......... 34
Connecting Input Signals.................................................................................................................. 35
Encoder input circuit.................................................................................................................. 35
Limit input/general-purpose input/control input circuit (IN1 - IN7, +LIM, -LIM, ORG) .......38
Connection Examples ....................................................................................................................... 39
Surge Voltage Countermeasures....................................................................................................... 40
4. FUNCTIONS 41
About each motor control operation ................................................................................................. 41
PTP operation function .............................................................................................................. 41
JOG operation function.............................................................................................................. 41
ORG operation function............................................................................................................. 41
Linear interpolation ................................................................................................................... 41
S-curve acceleration/deceleration function ............................................................................... 41
Meanings of signals ..........................................................................................................................42
Limit input signals ..................................................................................................................... 42
Encoder input signal .................................................................................................................. 43
Pulse output signal ..................................................................................................................... 44
General-purpose input signals ...................................................................................................45
General-purpose output signals ................................................................................................. 46
P.COM (Plus common).............................................................................................................. 46
GND (Ground) ...........................................................................................................................46
Motion control system ...................................................................................................................... 47
System configuration .................................................................................................................47
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SMC-4DL-PCI, SMC-8DL-PCI
5. ABOUT SOFTWARE 49
CD-ROM Directory Structure .......................................................................................................... 49
About Software for Windows........................................................................................................... 50
Accessing the Help File ............................................................................................................. 50
Uninstalling the Driver library .................................................................................................. 51
6. ABOUT HARDWARE 53
For detailed technical information ................................................................................................... 53
Hardware specification ..................................................................................................................... 53
Block Diagram.................................................................................................................................. 56
SMC-4DL-PCI, SMC-8DL-PCI
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SMC-4DL-PCI, SMC-8DL-PCI
1. Before Using the Product
1. Before Using the Product
This chapter provides information you should know before using the product.
About the Board
This product is a PCI bus-standard motion control board that can position a stepping motor or
(a pulse-train input type of) servomotor.
This product has the functions for positioning, origin return, linear interpolation, and for S-curve
acceleration and deceleration, capable of multi-axial linear interpolation and speed/position overriding.
This product covers a wide range of applications including semiconductor equipment, test instruments,
multi-axis robots, and X-Y robots.
The < SMC-4DL-PCI > can control up to four axes alone.
The < SMC-8DL-PCI > can control up to eight axes alone.
Using the bundled driver library [API-PAC(W32)], you can create Windows application software for
this board in your favorite programming language supporting Win32 API functions, such as Visual Basic
or Visual C++.
Features
Capable of easily controlling the stepping motor and servomotor using software under Windows
Controlling a larger number of axes
SMC-4DL-PCI : can control up to four axes
SMC-8DL-PCI : can control up to eight axes
Capable of controlling the jogging at fixed speed or by linear/S-curve acceleration and deceleration,
positioning, and origin returning
Carrying a motor control IC in the PCL6100 series from Nippon Pulse Motor Co., Ltd., capable of
controlling jogging, positioning, origin returning, and linear interpolation
Capable of using an encoder supporting differential output, TTL level output, open-collector output
Capable of pulse output of up to 9.8 Mpps
Capable of pulse output of up to 9.8 Mpps. Offering a choice of motor control command pulses
selectable from among common, 2, and 90-degree phase-shifted pulses
Capable of speed and position overriding
Capable of changing the speed and target position during operation
Comparator circuits allowing the set value and counter value to be compared
A pair of comparator circuits are provided for each axis, allowing the set value and counter value to be
compared with each other. They also allow signals to be output while comparator conditions are met.
Provided with seven general-purpose input pins per axis and three general-purpose output pins
Seven general-purpose inputs are provided for each axis, five of which are also available as alarm,
positioning completion, deceleration stop, counter latch, and positioning start inputs. Logic can be
changed by software.
Three output pins are provided for each axis. The output signals can be selected from among the
deviation counter clear, comparator condition satisfied state, level signal, and one-shot pulse signals.
Logic can be changed by software.
Dedicated terminal strip CCB-SMC2 (option) available focusing on the ease of use for wiring
SMC-4DL-PCI, SMC-8DL-PCI
1
1. Before Using the Product
Support Software
You should use CONTEC support software according to your purpose and development environment.
Driver Library
API-PAC(W32) is the library software that provides the commands for CONTEC hardware products in the form of
Windows standard Win32 API functions (DLL). It makes it easy to create high-speed application software taking
advantage of the CONTEC hardware using various programming languages that support Win32 API functions, such as
Visual Basic and Visual C++.
It can also be used by the installed diagnosis program to check hardware operations.
CONTEC provides download services (at http://www.contec.com/apipac/) to supply the updated drivers and
differential files.
For details, read Help on the bundled CD-ROM or visit the CONTEC’s Web site.
< Operating environment >
OS Windows XP, Server 2003, 2000
Adaptation language Visual C++ .NET, Visual C# .NET, Visual Basic .NET, Visual C++, Visual Basic
API-PAC(W32)
(Bundled)
Cable & Connector (Option)
Shielded Cable With Two 100pin Connector
: PCB100PS-0.5 (0.5m)
: PCB100PS-1.5 (1.5m)
: PCB100PS-3 (3m)
Flat Cable with One 100-Pin Connector
: PCB100PS-5 (5m)
: PCA100P-1.5 (1.5m)
: PCA100P-3 (3m)
: PCA100P-5 (5m)
Accessories (Option)
Connection Conversion Board for SMC : CCB-SMC2 *1*2
Screw Terminal (M3*100) : EPD-100A *2
*1 Distributes 100-pin 0.8-mm pitch connector x 1 to: D-SUB 37 connector x 4, D-SUB-9 connector x
4.
*2 A PCB100PS optional cable is required separately.
* Check the CONTEC’s Web site for more information on these options.
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SMC-4DL-PCI, SMC-8DL-PCI
1. Before Using the Product
Customer Support
CONTEC provides the following support services for you to use CONTEC products more efficiently and
comfortably.
Web Site
Japanese http://www.contec.co.jp/
English http://www.contec.com/
Chinese http://www.contec.com.cn/
Latest product information
CONTEC provides up-to-date information on products.
CONTEC also provides product manuals and various technical documents in the PDF.
Free download
You can download updated driver software and differential files as well as sample programs available in
several languages.
Note! For product information
Contact your retailer if you have any technical question about a CONTEC product or need its price,
delivery time, or estimate information.
Limited Three-Years Warranty
CONTEC products are warranted by CONTEC CO., LTD. to be free from defects in material and
workmanship for up to three years from the date of purchase by the original purchaser.
Repair will be free of charge only when this device is returned freight prepaid with a copy of the original
invoice and a Return Merchandise Authorization to the distributor or the CONTEC group office, from
which it was purchased.
This warranty is not applicable for scratches or normal wear, but only for the electronic circuitry and
original products. The warranty is not applicable if the device has been tampered with or damaged
through abuse, mistreatment, neglect, or unreasonable use, or if the original invoice is not included, in
which case repairs will be considered beyond the warranty policy.
How to Obtain Service
For replacement or repair, return the device freight prepaid, with a copy of the original invoice. Please
obtain a Return Merchandise Authorization number (RMA) from the CONTEC group office where you
purchased before returning any product.
* No product will be accepted by CONTEC group without the RMA number.
Liability
The obligation of the warrantor is solely to repair or replace the product. In no event will the warrantor
be liable for any incidental or consequential damages due to such defect or consequences that arise from
inexperienced usage, misuse, or malfunction of this device.
SMC-4DL-PCI, SMC-8DL-PCI
3
1. Before Using the Product
Safety Precautions
Understand the following definitions and precautions to use the product safely.
Safety Information
This document provides safety information using the following symbols to prevent accidents resulting in
injury or death and the destruction of equipment and resources. Understand the meanings of these labels
to operate the equipment safely.
DANGER
WAR NI NG
CAUTION
DANGER indicates an imminently hazardous situation which, if not avoided, will
result in death or serious injury.
WARNING indicates a potentially hazardous situation which, if not avoided, could
result in death or serious injury.
CAUTION indicates a potentially hazardous situation which, if not avoided, may
result in minor or moderate injury or in property damage.
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SMC-4DL-PCI, SMC-8DL-PCI
1. Before Using the Product
Handling Precautions
DANGER
Do not use the product where it is exposed to flammable or corrosive gas. Doing so may result in an
explosion, fire, electric shock, or failure.
CAUTION
- There are switches and jumpers on this product that need to be set in advance.
Be sure to check these before installing this product.
- Only set the switches and jumpers on this product to the specified settings.
Otherwise, this product may malfunction, overheat, or cause a failure.
- Do not strike or bend this product.
Otherwise, this product may malfunction, overheat, cause a failure or breakage.
- Do not touch this product’s metal plated terminals (edge connector) with your hands.
Otherwise, this product may malfunction, overheat, or cause a failure.
If the terminals are touched by someone's hands, clean the terminals with industrial alcohol.
- Do not install or remove this product to or from the extension slot while the computer's power is
turned on. And also do not connect this product and external device while the power is turned on.
Otherwise, this product may malfunction, overheat, or cause a failure.
Be sure that the personal computer or the I/O extension unit power is turned off.
- Do not connect or remove a cable with or from this product while the computer's power is turned on.
And also do not connect this product and external device while the power is turned on.
Otherwise, this product may malfunction, overheat, or cause a failure.
Be sure that the personal computer or the I/O extension unit power is turned off.
- Make sure that your PC or expansion unit can supply ample power to all the products installed.
Insufficiently energized products could malfunction, overheat, or cause a failure.
- The specifications of this product are subject to change without notice for enhancement and quality
improvement.
Even when using this product continuously, be sure to read the manual and understand the contents.
- Do not modify this product. CONTEC will bear no responsibility for any problems, etc., resulting
from modifying this product.
- Regardless of the foregoing statements, CONTEC is not liable for any damages whatsoever
(including damages for loss of business profits) arising out of the use or inability to use this
CONTEC product or the information contained herein.
SMC-4DL-PCI, SMC-8DL-PCI
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1. Before Using the Product
Environment
Use this product in the following environment. If used in an unauthorized environment, the board may
overheat, malfunction, or cause a failure.
Operating temperature
0 - 50ºC
Humidity
10 - 90%RH (No condensation)
Corrosive gases
None
Floating dust particles
Not to be excessive
Inspection
Inspect the product periodically as follows to use it safely.
- Check that the bus connector
of the board and its cable have
been plugged correctly.
- Check that the board has
no dust or foreign matter adhering.
- The gold-plated leads of the bus connector
have no stain or corrosion.
Storage
When storing this product, keep it in its original packing form.
(1) Put this product in the storage bag.
(2) Wrap it in the packing material, then put it in the box.
(3) Store the package at room temperature at a place free from direct sunlight, moisture, shock,
vibration, magnetism, and static electricity.
Disposal
When disposing of the product, follow the disposal procedures stipulated under the relevant laws and
municipal ordinances.
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SMC-4DL-PCI, SMC-8DL-PCI
2. Setup
2. Setup
This chapter explains how to set up this product.
What is Setup?
Setup means a series of steps to take before the product can be used.
Different steps are required for software and hardware.
The setup procedure varies with the OS and applications used.
Using the Board under Windows
Using the Driver library API-PAC(W32)
This section describes the setup procedure to be performed before you can start developing application
programs for the board using the bundled CD-ROM “Driver library API-PAC(W32)”.
Taking the following steps sets up the software and hardware. You can use the diagnosis program later
to check whether the software and hardware function normally.
Step 1 Installing the Software
Step 2 Setting the Hardware
Step 3 Installing the Hardware
Step 4 Initializing the Software
Step 5 Checking Operations with the Diagnosis Program
If Setup fails to be performed normally, see the “Setup Troubleshooting” section at the end of this
chapter.
Using the Board under Window
Using Software Other than the Driver libr a r y API -PAC(W32)
For setting up software other than API-PAC(W32), refer to the manual for that software. See also the
following parts of this manual as required.
This chapter Step 2 Setting the Hardware
This chapter Step 3 Installing the Hardware
Chapter 3 External Connection
Chapter 6 About Hardware
SMC-4DL-PCI, SMC-8DL-PCI
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2. Setup
Using the Board under an OS Other than Windows
For using the board under an OS other than Windows, see the following parts of this manual.
This chapter Step 2 Setting the Hardware
Chapter 3 External Connection
Chapter 6 About Hardware
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SMC-4DL-PCI, SMC-8DL-PCI
2. Setup
Step 1 Installing the Software
This section describes how to install the API function libraries.
Before installing the hardware on your PC, install the API driver libraries from the bundled
API-PAC(W32) CD-ROM.
The following description assumes the operating system as Windows XP. Although some user
interfaces are different depending on the OS used, the basic procedure is the same.
Starting the Install Program
(1)
Load the CD-ROM [API-PAC(W32)] on your PC.
(2)
The API-PAC(W32) Installer window appears automatically.
If the panel does not appear, run (CD-ROM drive letter):\AUTORUN.exe.
(3)
Click on the [Install Development or Execution Environment] button.
CAUTION
Before installing the software in Windows XP, Server 2003, 2000, log in as a user with
administrator privileges.
SMC-4DL-PCI, SMC-8DL-PCI
9
2. Setup
Selecting API-SMC(WDM)
(1)
The following dialog box appears to select “Driver Type” and “Install Ty pe”.
(2)
Select the "High Functionality WDM Motor Control dri ver".
(3)
Click on the [Install] button.
Executing the Installation
(1) Follow the on-screen instructions to proceed to install.
(2) After finishing installing, Readme file is displayed.
You have now finished installing the software.
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SMC-4DL-PCI, SMC-8DL-PCI
2. Setup
Step 2 Setting the Hardware
This section describes how to set this product and plug it on your PC.
This product has some switches and jumper to be preset.
Check the on-product switches and jumpers before plugging this product into an expansion slot.
This product can be set up even with the factory defaults untouched. You can change this product
settings later.
Parts of this product and Factory Defaults
Figure 2.1. - 2.2. shows the names of major parts on this product.
Note that the switch setting shown below is the factory default.
- Terminator setting
SW
(SW2 - SW5)
SW2
SW2
SW3
SW4
SW5
CNACNB
SW3
SW4
SW5
ON
ON
ON
ON
12345678
12345678
12345678
12345678
CN1
- Interface connector
(CNA, CNB)
Figure 2.1. Component Locations < SMC-8DL-PCI >
SW1
BOARD ID
- Board ID setting
switch
SW1
BOARD ID
8
9
A
7
6
B
5
C
4
D
3
E
2
F
1
0
SMC-4DL-PCI, SMC-8DL-PCI
11
2. Setup
- Terminator setting
SW
(SW2 - SW3)
SW2
ON
SW3
SW1
CN1
BOARD ID
SW2
12345678
SW3
ON
12345678
- Interface connector - Board ID setting
Figure 2.2. Component Locations < SMC-4DL-PCI>
switch
BOARD ID
SW1
7
6
5
4
3
2
8
9
A
B
C
D
E
F
1
0
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SMC-4DL-PCI, SMC-8DL-PCI
2. Setup
Setting the Board ID
If you install two or more boards on one personal computer, assign a different ID value to each of the
boards to distinguish them.
The board IDs can be set from 0 - Fh to identify up to sixteen boards.
If only one board is used, the original factory setting (Board ID = 0) should be used.
Setting Procedure
To set the board ID, use the rotary switch on the board. Turn the SW1 knob to set the board ID as shown
below.
SW1
BOARD ID
8
9
A
7
6
B
5
C
4
D
3
E
Factory setting:
2
F
0
1
(Board ID = 0)
Figure 2.3. Board ID Settings (SW1)
Setting the Terminating Registor
You can select whether to insert a terminator (terminal resistor) in the differential input section.
Select whether to insert the terminator depending on the system to be used.
Setup Method
To select whether to insert the terminator, use the DIP switches (SMC-4DL-PCI : SW2 and SW3,
SMC-8DL-PCI : SW2 - SW5) on the board.
Set SW2 and SW3 according to the figure shown below.
SW2
ON
SW3
ON
SW4
ON
SW5
ON
12345678
Axis6
SMC-8DL-PCI :
SMC-4DL-PCI :
Input
Bit
signal
1 Phaze-A ON OFF
2 Phaze-B ON OFF
3 Phaze-Z ON OFF
4 N.C. ---- ----
5 Phaze-A ON OFF
6 Phaze-B ON OFF
7 Phaze-Z ON OFF
8 N.C. ---- ----
Axis7
Axis0
Axis1
Insert the terminal Not insert the terminal
12345678
Axis4
Axis2
Axis5
Axis3
Figure 2.4. Terminator Setup Switches and Settings
SMC-4DL-PCI, SMC-8DL-PCI
12345678
Axis2 Axis3
12345678
Axis0 Axis1
Factory setting : All is ON
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