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.

4

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

5

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

7

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

13

2. Setup

Plugging the Board

(1) Before plugging the board, shut down the system, unplug the power code of your PC.

(2) Remove the cover from the PC so that the board can be mounted.

(3) Plug the board into an expansion slot.

(4) Put the cover back into place.

Applicable PCI bus slots

PCI bus slots used in PCs have keys to prevent 5V and 3.3V PCI bus boards from being accidentally
plugged into wrong bus slots. This board can be plugged into both of the 5V and 3.3V PCI bus slots.

<PCI bus slot> <PCI bus board>

5-V PCI bus slot

3.3-V PCI bus slot

3.3V key

CAUTION

5V key

A :

Slit for 5-V PCI bu s slot

B :

Slit for 3.3-V PCI bus slot

AB

- Do not touch the board's metal plated terminals (edge connector) with your hands.
Otherwise, the board 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 the board to or from the slot while the computer's power is turned on.
Otherwise, the board may malfunction, overheat, or cause a failure.
Doing so could cause trouble. Be sure that the personal computer or the I/O expansion unit power is
turned off.

- Make sure that your PC or expansion unit can supply ample power to all the boards installed.

Insufficiently energized boards could malfunction, overheat, or cause a failure.

- Power supply from the PCI bus slot at +5V is required.

14

SMC-4DL-PCI, SMC-8DL-PCI

2. Setup

Step 3 Installing the Hardware

For using an expansion board under Windows, you have to let the OS detect the I/O addresses and IRQ to
be used by the board. The process is referred to as installing the hardware.

In the case of using two or more boards, make sure you install one by one with the Add New Hardware
Wizard.

Turning on the PC

Turn on the power to your PC.

CAUTION

- The board cannot be properly installed unless the resources (I/O addresses and interrupt level) for
the board can be allocated. Before attempting to install the board, first determine what PC resources
are free to use.

- The resources used by each board do not depend on the location of the slot or the board itself. If you
remove two or more boards that have already been installed and then remount one of them on the
computer, it is unknown that which one of the sets of resources previously assigned to the two boards is
assigned to the remounted board. In this case, you must check the resource settings.

When Using API-SMC(WDM)

(1) The “Found New Hardware Wizard” will be started.

Select “Install from a list or specific location[Advanced]”, then click on the [Next] button.

SMC-4DL-PCI, SMC-8DL-PCI

15

2. Setup

(2) Specify that folder on the CD-ROM which contains the setup information (INF) file to register the

board.

* The name of the board
you have just added is
displayed.

- SMC-4DL-PCI

- SMC-8DL-PCI

Source folder

The setup information (INF) file is contained in the following folder on the bundled CD-ROM.

\INF\WDM\SMC

\INF\WDM\SMC

You have now finished installing the hardware.

16

SMC-4DL-PCI, SMC-8DL-PCI

2. Setup

Step 4 Initializing the Software

The API function library requires the initial setting to recognize the execution environment. It is called
the initialization of the API function library.

Setting the device name

(1) Run Device Manager. From [My Computer] - [Control Panel], select [System] and then select the

[Device Manager] tab.
(You can also open Device Manager by right clicking on My Computer and selecting Properties.)

* The name of the board
you have just added is
displayed.

- SMC-4DL-PCI

- SMC-8DL-PCI

(2) The installed hardware appears under the CONTEC Devices node. Open the CONTEC Devices

node and select the device you want to setup (the device name should appear highlighted). Click
[Properties].

SMC-4DL-PCI, SMC-8DL-PCI

17

2. Setup

(3) The property page for the device opens.

Enter the device name in the common settings tab page and then click [OK].
The device name you set here is used later when programming.

* The name of the board
you have just added is
displayed.

- SMC-4DL-PCI

- SMC-8DL-PCI

* The initial device name that appears is a default value. You can use this default name if you wish.

* Make sure that you do not use the same name for more than one device.

You have now finished installing the initial setting of Software.

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SMC-4DL-PCI, SMC-8DL-PCI

2. Setup

Step 5 Checking Operations with the Diagnosis Program

Use the diagnosis program to check that the board and driver software work normally, thereby you can
confirm that they have been set up correctly.

What is the Diagnosis Program?

The diagnosis program diagnoses the states of the board and driver software.
For Quick Check, the program checks the board resources for validity. The resources include the I/O
addresses, interrupt level (IRQ), board ID, and sync signal.

For Detail Check, the program checks the connections of the motor control board, driver unit, and limit
sensor for validity. The program inputs/outputs signals in interactive mode to check for validity. Check
items are Limit Signals Input, Control Signals Input/Output and Pulse Signals Output.

Check method

Perform the input/output test and check the execution environment with the driver unit connected.
The dedicated screw terminal CCB-SMC2 will come in handy when you check the board.
The board should be checked with the factory defaults.
For direct connection to the board, see Chapter 3 “External Connection”.

Connection diagram

The following connection diagrams show connections using the dedicated screw terminal CCB-SMC2.

<Pulse output>

CCB-SMC2

CW+

CW-

CCW+

CCW-

Figure 2.5. Connection diagram < 1 / 2 >

SMC-4DL-PCI, SMC-8DL-PCI

CW+

CW-

CCW+

CCW-

Driver Unit

CW

CCW

19

2. Setup

<Limit input>

CCB-SMC2

ORGORG

GND

+LIM+LIM

GND

-LIM-LIM

GND

+

-

+

-

ORG

+LIM

-LIM

+12V

- +24VDC

Figure 2.5. Connection diagram < 2 / 2 >

20

SMC-4DL-PCI, SMC-8DL-PCI

2. Setup

Using the Diagnosis Program

Starting the Diagnosis Program

Click the [Diagnosis] button on the device property page to start the diagnosis program.

* The name of the board
you have just added is
displayed.

- SMC-4DL-PCI

- SMC-8DL-PCI

Checking for motor control
(1) Select the name of the axis you want to diagnose, then click on the [Execute Initial Setup Utility]

button to execute Quick Check.

SMC-4DL-PCI, SMC-8DL-PCI

21

2. Setup

To execute Detail Check, click on the [Next] button. Otherwise, click on the [Back] or [Cancel]
button.

(2) Check/mask each signal.

When the alarm (ALM/ES) is ON or each limit (+LIM, -LIM) is ON, the motor does not operate in
that direction. In this case, check the connection of the signal or mask it.

22

SMC-4DL-PCI, SMC-8DL-PCI

(3) Simple operation is performed.

2. Setup

SMC-4DL-PCI, SMC-8DL-PCI

23

2. Setup

Setup Troubleshooting

Symptoms and Actions

Data input or output does not operate correctly

- Run the diagnosis program to check that the device is registered and whether any initialization errors
have occurred.

- Is there a problem with the device settings, wiring, or similar? Check the I/O setting of motor driver
unit and limit sensor for validity.

The diagnostic program works correctly but the application program does not.

The diagnostic program uses the API-TOOL functions. If the diagnostic program works correctly, other
applications should work correctly also. If you have a problem, recheck your program taking note of the
following points.

- Check the return values of the API functions.

- Refer to the source code for the sample programs.

The OS does not boot correctly or does not detect the device correctly.

Refer to the "Troubleshooting" section of API-SMC(WDM) HELP.

If your problem cannot be resolved

Contact your retailer.

24

SMC-4DL-PCI, SMC-8DL-PCI

3. External Connection

3. External Connection

This chapter describes the interface connectors on the board and the external I/O circuits.
Check the information available here when connecting an external device.

How to connect the connectors

Connector shape

< SMC-8DL-PCI >

The on-board interface connector (CAN, CNB) is used when connecting this product and the external
devices.

Interface connector

CNACNB

- Connector used
HDRA-E100W1LFDT1EC-SL+
[mfd.by HONDA TSUSHIN
KOGYO CO., LTD] equivalent

- Compatible connector
HDRA-E100MA1[mfd.by

HONDA TSUSHIN
KOGYO CO., LTD]

* Please refer to chapter 1 for more information on the supported cable and accessories.

Figure 3.1. Interface Connector Shape < SMC-8DL-PCI >

< SMC-4DL-PCI >

The on-board interface connector (CN1) is used when connecting this product and the external devices.

Interface connector

- Connector used
HDRA-EC100LFDT+ [mfd.by

HONDA TSUSHIN
KOGYO CO., LTD] equivalent

- Compatible connector
HDRA-E100MA1[mfd.by

HONDA TSUSHIN
KOGYO CO., LTD]

* Please refer to chapter 1 for more information on the supported cable and accessories.

Figure 3.2. Interface Connector Shape < SMC-4DL-PCI >

SMC-4DL-PCI, SMC-8DL-PCI

25

3. External Connection

Connector Pin Assignment

Pin Assignments of Interface Connector (CNA, CNB) < SMC-8DL-PCI >

CNB

GND

GND

100

axis2 : P-C OM

50

99

49
98
97
96
95
94
93
92
91
90
89
88
87
86
85
84
83
82
81
80
79
78
77
76
75
74
73
72
71
70
69
68
67
66
65
64
63
62
61
60
59
58
57
56
55
54
53
52
51

axis2 : IN1/ALM
axis2 : IN2/INP

48

47

axis2 : IN3/SD
axis2 : IN4/LTC

46

axis2 : IN5/PCS

45

44

axis2 : IN6
axis2 : IN7

43

42

axis2 : ORG
axis2 : +LI M

41

40

axis2 : -LIM
axis3 : P-C OM

39

38

axis3 : IN1/ALM
axis3 : IN2/INP

37

36

axis3 : IN3/SD
axis3 : IN4/LTC

35

34

axis3 : IN5/PCS
axis3 : IN6

33

32

axis3 : IN7
axis3 : ORG

31

axis3 : +LI M

30

axis3 : -LIM

29

axis2 : A+

28

axis2 : A-

27

axis2 : B+

26

axis2 : B-

25

axis2 : Z+

24

axis2 : Z-

23

axis3 : A+

22

21

axis3 : A­axis3 : B+

20

19

axis3 : B­axis3 : Z+

18

17

axis3 : Z­axis2 : OUT3

16

axis2 : OUT2

15

axis2 : OUT1

14

axis2 : DIR+/CCW+

13

12

axis2 : DIR-/CCW­axis2 : OUT+/CW+

11

10

axis2 : OUT-/C W­GND

9
8

axis3 : OUT3
axis3 : OUT2

7
6

axis3 : OUT1
axis3 : DIR+/CCW+

5
4

axis3 : DIR-/CCW­axis3 : OUT+/CW+

3
2

axis3 : OUT-/C W­GND

1

axis0 : P-COM

axis0 : IN1/ALM

axis0 : IN2/INP

axis0 : IN3/SD
axis0 : IN4/LTC
axis0 : IN5/ PCS

axis0 : IN6
axis0 : IN7

axis0 : ORG

axis0 : +LIM

axis0 : -LIM

axis1 : P-COM

axis1 : IN1/ALM

axis1 : IN2/INP

axis1 : IN3/SD
axis1 : IN4/LTC
axis1 : IN5/ PCS

axis1 : IN6
axis1 : IN7

axis1 : ORG

axis1 : +LIM

axis1 : -LIM

axis0 : A+

axis0 : A-

axis0 : B+

axis0 : B-

axis0 : Z+

axis0 : Z-

axis1 : A+

axis1 : A-

axis1 : B+

axis1 : B-

axis1 : Z+

axis1 : Z­axis0 : OUT3
axis0 : OUT2
axis0 : OUT1

axis0 : DIR+/C CW+

axis0 : DIR-/CCW-

axis0 : OUT+/CW+

axis0 : OUT-/CW-

axis1 : OUT3
axis1 : OUT2
axis1 : OUT1

axis1 : DIR+/C CW+

axis1 : DIR-/CCW-

axis1 : OUT+/CW+

axis1 : OUT-/CW-

26

SMC-4DL-PCI, SMC-8DL-PCI

3. External Connection

P-COM Plus common B+ Encoder phaseB input+

IN1/ALM General-purpose input1/Alarm input B- Encoder phaseB input-

IN2/INP General-purpose input2/Positionig input Z+ Encoder phaseZ input+

IN3/SD General-purpose input3/Slow down input Z- Encoder phaseZ input-

IN4/LTC General-purpose input4/counter latch input OUT1 General-purpose output1

IN5/PCS

General-purpose input5/positioning
operation start input

IN6 General-purpose input6 OUT3 General-purpose output3

IN7 General-purpose input7 DIR+/CCW+ Direction/CCW output+

ORG Origin input DIR-/CCW- Direction/CCW output-

+LIM Positive-direction limit OUT+/CW+ Pulse/CW output+

-LIM Negative-direction limit OUT-/CW- Pulse/CW output-

A+ Encoder phaseA input+ GND

A- Encoder phaseA input-

OUT2 General-purpose output2

Power ground input (common to internal
GND)

Figure 3.3. Pin Assignments of Interface Connector (CNA, CNB) (1/2) < SMC-8DL-PCI >

SMC-4DL-PCI, SMC-8DL-PCI

27

3. External Connection

axis7 : OUT-/CW-

axis7 : OUT+/CW+

axis7 : DI R-/CCW-

axis7 : DIR+/CCW+

axis6 : OUT-/CW-

axis6 : OUT+/CW+

axis6 : DI R-/CCW-

axis6 : DIR+/CCW+

axis7 : IN1/ALM

axis6 : IN1/ALM

GND

axis7 : OUT1
axis7 : OUT2
axis7 : OUT3

GND

axis6 : OUT1
axis6 : OUT2
axis6 : OUT3

axis7 : Z-

axis7 : Z+

axis7 : B-

axis7 : B+

axis7 : A-

axis7 : A+

axis6 : Z-

axis6 : Z+

axis6 : B-

axis6 : B+

axis6 : A-

axis6 : A+

axis7 : -LIM

axis7 : +LIM

axis7 : ORG

axis7 : IN7

axis7 : IN6
axis7 : IN5/PCS
axis7 : IN4/LTC

axis7 : IN3/SD

axis7 : IN2/INP

axis7 : P-COM

axis6 : -LIM

axis6 : +LIM

axis6 : ORG

axis6 : IN7

axis6 : IN6
axis6 : IN5/PCS
axis6 : IN4/LTC

axis6 : IN3/SD

axis6 : IN2/INP

axis6 : P-COM

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50

CNA

100

51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99

GND
axis5 : OUT-/CW­axis5 : OUT+/CW+
axis5 : DIR-/CCW­axis5 : DIR+/CCW+
axis5 : OUT1
axis5 : OUT2
axis5 : OUT3
GND
axis4 : OUT-/CW­axis4 : OUT+/CW+
axis4 : DIR-/CCW­axis4 : DIR+/CCW+
axis4 : OUT1
axis4 : OUT2
axis4 : OUT3
axis5 : Z­axis5 : Z+
axis5 : B­axis5 : B+
axis5 : A­axis5 : A+
axis4 : Z­axis4 : Z+
axis4 : B­axis4 : B+
axis4 : A­axis4 : A+
axis5 : -LIM
axis5 : +LIM
axis5 : ORG
axis5 : IN7
axis5 : IN6
axis5 : IN5/PCS
axis5 : IN4/LTC
axis5 : IN3/SD
axis5 : IN2/INP
axis5 : IN1/ALM
axis5 : P-COM
axis4 : -LIM
axis4 : +LIM
axis4 : ORG
axis4 : IN7
axis4 : IN6
axis4 : IN5/PCS
axis4 : IN4/LTC
axis4 : IN3/SD
axis4 : IN2/INP
axis4 : IN1/ALM
axis4 : P-COM

28

SMC-4DL-PCI, SMC-8DL-PCI

3. External Connection

P-COM Plus common B+ Encoder phaseB input+

IN1/ALM General-purpose input1/Alarm input B- Encoder phaseB input-

IN2/INP General-purpose input2/Positionig input Z+ Encoder phaseZ input+

IN3/SD General-purpose input3/Slow down input Z- Encoder phaseZ input-

IN4/LTC General-purpose input4/counter latch input OUT1 General-purpose output1

IN5/PCS

General-purpose input5/positioning
operation start input

IN6 General-purpose input6 OUT3 General-purpose output3

IN7 General-purpose input7 DIR+/CCW+ Direction/CCW output+

ORG Origin input DIR-/CCW- Direction/CCW output-

+LIM Positive-direction limit OUT+/CW+ Pulse/CW output+

-LIM Negative-direction limit OUT-/CW- Pulse/CW output-

A+ Encoder phaseA input+ GND

A- Encoder phaseA input-

OUT2 General-purpose output2

Power ground input (common to internal
GND)

Figure 3.3. Pin Assignments of Interface Connector (CNA, CNB) (2/2) < SMC-8DL-PCI >

SMC-4DL-PCI, SMC-8DL-PCI

29

3. External Connection

Pin Assignments of Interface Connector < SMC-4DL-PCI >

CN1

axis0 : P-COM

axis0 : IN1/ALM

axis0 : I N2/INP

axis0 : IN3/SD
axis0 : IN4/LTC
axis0 : IN5/PCS

axis0 : IN6
axis0 : IN7

axis0 : ORG

axis0 : +LIM

axis0 : -LIM

axis1 : P-COM

axis1 : IN1/ALM

axis1 : IN2/INP

axis1 : IN3/SD
axis1 : IN4/LTC
axis1 : IN5/PCS

axis1 : IN6
axis1 : IN7

axis1 : ORG

axis1 : +LIM

axis1 : -LIM

axis0 : A+

axis0 : A-

axis0 : B+

axis0 : B­axis0 : Z+

axis0 : Z-

axis1 : A+

axis1 : A-

axis1 : B+

axis1 : B­axis1 : Z+

axis1 : Z­axis0 : OUT3
axis0 : OUT2
axis0 : OUT1

axis0 : DIR+/CCW+

axis0 : DIR-/CCW-

axis0 : OUT+/CW+

axis0 : OUT-/CW-

axis1 : OUT3
axis1 : OUT2
axis1 : OUT1

axis1 : DIR+/CCW+

axis1 : DIR-/CCW-

axis1 : OUT+/CW+

axis1 : OUT-/CW-

GND

GND

100

50
99
98
97
96
95
94
93
92
91
90
89
88
87
86
85
84
83
82
81
80
79
78
77
76
75
74
73
72
71
70
69
68
67
66
65
64
63
62
61
60
59
58
57
56
55
54
53
52
51

axis2 : P-COM

49

axis2 : IN1/ALM

48

axis2 : IN2/INP

47

axis2 : IN3/SD

46

axis2 : IN4/LTC

45

axis2 : IN5/PCS

44

axis2 : IN6

43

axis2 : IN7

42

axis2 : ORG

41

axis2 : +LIM

40

axis2 : -LI M

39

axis3 : P-COM

38

axis3 : IN1/ALM

37

axis3 : IN2/INP

36

axis3 : IN3/SD

35

axis3 : IN4/LTC

34

axis3 : IN5/PCS

33

axis3 : IN6

32

axis3 : IN7

31

axis3 : ORG

30

axis3 : +LIM

29

axis3 : -LI M

28

axis2 : A+

27

axis2 : A-

26

axis2 : B+

25

axis2 : B-

24

axis2 : Z+

23

axis2 : Z-

22

axis3 : A+

21

axis3 : A-

20

axis3 : B+

19

axis3 : B-

18

axis3 : Z+

17

axis3 : Z-

16

axis2 : OUT3

15

axis2 : OUT2

14

axis2 : OUT1

13

axis2 : DIR+/CCW+

12

axis2 : DIR-/CCW-

11

axis2 : OUT+/CW+

10

axis2 : OUT-/CW-

9

GND

8

axis3 : OUT3

7

axis3 : OUT2

6

axis3 : OUT1

5

axis3 : DIR+/CCW+

4

axis3 : DIR-/CCW-

3

axis3 : OUT+/CW+

2

axis3 : OUT-/CW-

1

GND

30

SMC-4DL-PCI, SMC-8DL-PCI

P-COM Plus common B+ Encoder phaseB input+

IN1/ALM General-purpose input1/Alarm input B- Encoder phaseB input-

IN2/INP General-purpose input2/Positionig input Z+ Encoder phaseZ input+

IN3/SD General-purpose input3/Slow down input Z- Encoder phaseZ input-

IN4/LTC General-purpose input4/counter latch input OUT1 General-purpose output1

IN5/PCS

General-purpose input5/positioning
operation start input

IN6 General-purpose input6 OUT3 General-purpose output3

IN7 General-purpose input7 DIR+/CCW+ Direction/CCW output+

ORG Origin input DIR-/CCW- Direction/CCW output-

+LIM Positive-direction limit OUT+/CW+ Pulse/CW output+

-LIM Negative-direction limit OUT-/CW- Pulse/CW output-

A+ Encoder phaseA input+ GND

A- Encoder phaseA input-

OUT2 General-purpose output2

Power ground input (common to internal
GND)

Figure 3.4. Pin Assignments of Interface Connector < SMC-4DL-PCI >

3. External Connection

SMC-4DL-PCI, SMC-8DL-PCI

31

3. External Connection

Connecting Output Signals

Pulse output circuit (CW, CCW)

Pulse output circuit on this product is illustrated below. The signal output is a differential line-driver
output.

Connection with the differential input

Board

AM26LS31 or equivalence to it

CW

CCW

CW+

CW-

CCW+

CCW-

Driver Unit

Figure 3.5. Pulse output circuit (Connection with the differential input)

Connection with the opto-coupler input (When the driver unit guarantees the connection with the
differential output)

Board

AM26LS31 or equivalence to it

CW

CCW

CW+

CW-

CCW+

CCW-

Driver Unit

CW

CCW

Figure 3.6. Pulse output circuit (connection with the opto-coupler input)

32

SMC-4DL-PCI, SMC-8DL-PCI

Connection with the opto-coupler input

Board

AM26LS31 or equivalence to it

CW

CCW

CW+

CW-

CCW+

CCW-

GND

Driver Unit

CW

CCW

Figure 3.7. Pulse output circuit (connection with the opto-coupler input)

Connection with TTL level input

Board

AM26LS31 or equivalence to it

CW

CCW

CW+

CW-

CCW+

CCW-

GND

Driver Unit

Vcc Vcc

Vcc

Vcc

CW

CCW

3. External Connection

Figure 3.8. Pulse output circuit (connection with the TTL level input)

CAUTION

- When connecting with the photo-coupler input or the TTL level input, check the specification for the
driver unit beforehand.

- To prevent the circuit from malfunctioning due to noise, wire it as far away from other signal lines
and noise sources as possible.

SMC-4DL-PCI, SMC-8DL-PCI

33

3. External Connection

Control signal/general-purpose signal output circuit

(OUT1 - OUT3, ERC, CP1, CP2)

Output circuit of each output signal on this product is illustrated below. The signal output is an
open-collector output. A ground wire must therefore be connected for driving.

Board Driver Unit

OUT1 - OUT3

GND

-

+

+12 - +24VDC

Figure 3.9. Output circuit

34

SMC-4DL-PCI, SMC-8DL-PCI

3. External Connection

Connecting Input Signals

Encoder input circuit

Encoder input circuit on this product is illustrated below. The signal input is a differential input capable
of connecting a line driver output, TTL level output and open-collector output.

Connection with the differential output

Board Driver Unit

Vcc

Vcc

AM26LS31 or
equivalence to it

A+

Phase A+

Vcc

Vcc

AM26LS31 or
equivalence to it

Vcc

Vcc

AM26LS31 or
equivalence to it

Figure 3.10.Encoder input circuit

GND

A-

B+

Phase A-

Phase B+

B-

Z+

Z-

Phase B-

Phase Z+

Phase Z-

GND

SMC-4DL-PCI, SMC-8DL-PCI

35

3. External Connection

Connection with the TTL level output

Board Driver Unit

Vcc

Vcc

AM26LS31 or
equivalence to it

Vcc

Vcc

AM26LS31 or
equivalence to it

A+

A-

B+

Vcc

TTL level

Vcc

output

TTL level
output

Phase A+

Phase B+

B-

Vcc

TTL level
output

AM26LS31 or
equivalence to it

Vcc

Vcc

GND

Z+

Z-

Phase Z+

GND

Figure 3.11.Encoder input circuit

36

SMC-4DL-PCI, SMC-8DL-PCI

Connection with the open-collector output

Board Driver Unit

Vcc

Vcc

AM26LS31 or
equivalence to it

A+

A-

Phase A+

Vcc

3. External Connection

Output
(open-collector)

Vcc

Vcc

Output
(open-collector)

Output
(open-collector)

AM26LS31 or
equivalence to it

AM26LS31 or
equivalence to it

Vcc

Vcc

Vcc

Vcc

GND

B+

Phase B+

B-

Z+

Z-

Phase Z+

GND

Figure 3.12.Encoder input circuit

CAUTION

- Do not insert a terminator when you connect TTL level output signals or open-collector output
signals. Otherwise, this product may malfunction, overheat, or cause a failure.

- Restrict the use of cables to 10m for the line driver output, 3m for the open-collector output, and

1.5m for the TTL level output.

- To prevent the circuit from malfunctioning due to noise, wire it as far away from other signal lines
and noise sources as possible.

SMC-4DL-PCI, SMC-8DL-PCI

37

3. External Connection

Limit input/general-purpo se i n put /c o nt ro l input circuit

(IN1 - IN7, +LIM, -LIM, ORG)

The limit input/general-purpose input/control input circuit on this board is illustrated below.
The signal input is an opto-isolated, current driven input (sink type). To drive the limit input/
general-purpose input/control input block, therefore, an external power supply is required
at +12 - +24 V.

Board

Vcc

External
Device

External
Power Supply
+12 - +24VDC

Photocoupler

Vcc

Photocoupler

* Input pin is IN1 - IN7, +LIM, -LIM, ORG.

Plus

Common

Input

Pin

Input

Pin

Swich

Swich

Figure 3.13.Limit input/general-purpose input/control input circuit

38

SMC-4DL-PCI, SMC-8DL-PCI

3. External Connection

Connection Examples

Given below are practical examples of connection of this product that outputs pulses by the independent
pulsing method to motor drivers. These examples show the connections through axis0.

Example of Connection to driver unit (Σ II Series) for Servo motor

Servo motor

SMC-4DL-PCI
SMC-8DL-PCI

.PCOM(100)

ORG (92)

+LIM (91)

-LIM (90)

IN1 (99)

IN2 (98)

IN3 (97)

IN4 (96)

IN5 (95)

IN6 (94)

IN7 (93)

A+ (78)

A- (77)

B+ (76)

B- (75)

Z+ (74)

Z- (73)

GND (59)

OUT1 (64)

OUT2 (65)

OUT3 (66)

CW+ (61)

CW- (60)

CCW+ (63)

CCW- (62)

+12 - +24VDC

-

+

Motor driver by
YASKAWA ELECTRIC
CORPORATION

Σ II Series

+24V IN (47)

P-OT (42)

N-OT (43)

ALM+ (31)

ALM- (32)

/COIN+ (25)
/COIN- (26)
/S-RDY+ (29)
/S-RDY- (30)
/TGON+ (27)
/TGON- (28)
ALO1 (37)

ALO2 (38)

ALO3 (39)

PAO (3 3)

/PAO (34)

PBO (35)

/PBO (36)

PCO (19)

/PCO (20)

SG (01)

/S-ON (40)

/ALM-RST (44)
PL3 (18)

CLR (15)
/CLR (14)

PLUS (7)

/PLUS (8)

SIGN (11)

/SIGN (12)

Figure 3.14.Example of Connection to driver unit (Σ II Series) for Servo motor

SMC-4DL-PCI, SMC-8DL-PCI

39

3. External Connection

Surge Voltage Countermeasures

When connecting a load that generates surge voltages and inrush currents, such as an induction load
(relay coil) or an incandescent light bulb, to the digital output, appropriate protection must be provided
in order to prevent damage to the output stage or a malfunction due to noise. The rapid shutoff of a coil,
such as a relay, generates a sudden high-voltage pulse. If this voltage exceeds the voltage tolerance level
of the output transistor, it can cause the transistor to gradually deteriorate, or even completely damage
the transistor. Therefore, when driving an induction load, such as a relay coil, you should always
connect a surge-absorbing device. The following illustrates a surge voltage countermeasure that can be
employed:

Examples of use of relay coil

Board

Board

OUT 1 - 3

Diode

GND

Examples of use of lump

Board

OUT 1 - 3

GND

Relay
coil

Surge current

prevention

resistor

External
Power Supply
+12 - +24VDC

External
Power Supply
+12 - +24VDC

Relay

OUT 1 - 3

GND

External power voltage < Zener diode voltage

Board

OUT 1 - 3

GND

coil

Zener
diode

Resistor

External
Power Supply
+12 - +24VDC

External
Power Supply
+12 - +24VDC

Figure 3.15.Surge Voltage Countermeasure

CAUTION

In order for a protection circuit to operate effectively, it must be connected within 50 cm of a load
and a contact point.

40

SMC-4DL-PCI, SMC-8DL-PCI

4. Functions

4. Functions

This chapter describes the functions of this product.
You can easily set up and execute each of the functions using the bundled driver library.
For more information on this product, plerase refer to the “API-SMC HELP” after installing.

About each motor control operation

PTP operation function

This function moves the motor from one point to another (Point To Point motion).
Use the function for simple position control.

JOG operation function

This function moves the motor without specifying the travel distance.
Use the function to manually position the motor.

ORG operation function

This function moves the motor to the origin.

Linear interpolation

This product supports multi-axial linear interpolation. Linear interpolation causes linear motion to the
specified position.

S-curve acceleration/deceleration function

This product has the S-curve acceleration/deceleration function in addition to the linear
acceleration/deceleration function. The S-curve acceleration/deceleration function reduces acceleration
when starting and stopping accelerating/decelerating the motor, thereby suppressing the vibration
generated at the start and end of motion.

SMC-4DL-PCI, SMC-8DL-PCI

41

4. Functions

Meanings of signals

Limit input signals

Limits switches are used to detect the position of the carrier in a positioning system using a stepping
motor to stop the motor when the carrier has reached the target position (final destination). This product
is also provided with the slow-down stop input to slow down the high-speed rotation at acceleration or
deceleration. The mounting position of each limit switch is shown below.

Pulse motor carrier

Connection

part

-LIM ORGSD SD

Negative

(CCW)

Positive

(CW)

+LIM

Figure 4.1. The attachment position relation of a limit switch

+LIM (Positive-direction end limit input), -LIM (Negative-direction end limit input)

Place +LIM at the end position when the stepping motor rotates clockwise (CW) and -LIM at the end
position when the stepping motor rotates counterclockwise (CCW). When the carrier reaches either
position (the limit input is turned on), the motor stops immediately unconditionally. Even when a
subsequent operation directive (instruction) for moving in the same direction is issued, the carrier won’t
move forward beyond the limit position as long as the limit has been applied. The motor restarts
operation (rotation) in response to an operation directive for moving in the opposite direction.
The logical direction can be set by software.

SD (deceleration (decelerated stop) input)

SD is a limit input to detect the position at which to start deceleration during high-speed rotation
(accelerating/decelerating operation). The carrier operating (moving) at high speed starts deceleration at
that position and stops after slowing down to the initial speed. The logical direction can be set by
software.

ORG (origin input)

ORG is the switch input to detect the origin to be set as the base point for each operation. The logical
direction can be set by software.

42

SMC-4DL-PCI, SMC-8DL-PCI

4. Functions

Encoder input signal

Phases A, B and Z are available to this product for encoder input. The signals that can be connected are
those in the following output forms: the line driver output form, the TTL level output form, and the
open-collector output form.
The specifications for the input pulse that can be set are as follows:

- 2-phase Input, Multiply by 1

- 2-phase Input, Multiply by 2

- 2-phase Input, Multiply by 4

- Single-phase Input, Multiply by 1

2-phase Input

Two-phase input is a pulse input consisting of two phases between which there is a phase difference of
90° : Phase A (leading signal) and Phase B (trailing signal). The minimum phase difference between
Phase A and Phase B should be set to 0.2µ sec for line driver output connection, to 0.34µ sec for TTL
level output connection or to 1µ sec for open-collector output connection.

A

B

Multiply by 1
Multiply by 2
Multiply by 4

U
U
U

U

-

-

­U

-

-

U

U

U

U

U

U

-

-

­U

-

-

U

U

U

U

U

A

B

Multiply by 1
Multiply by 2
Multiply by 4

D
D
D

D

-

-

­D

-

-

D

D

D

D

D

D

-

-

­D

-

-

D

D

D

D

D

U : Up Count
D : Down Count

Figure 4.2. Sample Count for Two-phase Input Setting

Single-phase input

In single-phase input, the counter counts up at the rising edge of Phase A (UP) pulse and counts down at
the rising edge of Phase B (DOWN) pulse.
A count cannot be performed properly, if Phase A (UP) pulse and Phase B (DOWN) pulse are generated
at the same time.

A

B

UU

A

B

DD

U : Up Count
D : Down Count

Figure 4.3. Sample Count for Single-phase Input Setting

SMC-4DL-PCI, SMC-8DL-PCI

43

4. Functions

Pulse output signal

Apart from the independent pulse (CW, CCW), this product can also generate the following pulses :
common pulse (pulse output, direction output), 90°-phase-different pulse (leading pulse output, trailing
pulse output). This allows you to use (or select) the most suitable one in accordance with the pulse motor
drive unit to be used (or connected). As these pulse outputs are line driver outputs, check the
specifications of the motor driver unit to be used before connecting them.

CAUTION

This product cannot directly drive the stepping motor. These pulse output signals must therefore be
connected to the motor driver unit prepared for the stepping motor.

CW (Positive-direction pulse output), CCW (Negative-direction pulse output)

CW (forward pulse output) is the pulse output signal to rotate (operate) the stepping motor clockwise
(CW). CCW (backward pulse output) rotates the motor counterclockwise. These signals are
independent of each other. When a command for rotation is executed, the pulse signal for the specified
direction outputs the preset number of operation pulses.

When positive direction operates When negative direction operates

CW

CCW

Figure 4.4. Specification for Output Pulse in Independent Pulsing Method

OUT (Pulse output), DIR (Direction output)

OUT (pulse output) is the serial pulse output that carries the above CW and CCW signals on a single line.
The CW and CCW directions are indicated by the signal status of DIR (direction output). Note that the
DIR signal is valid only when the OUT signal is active.

When positive direction operates When negative direction operates

OUT

DIR

Figure 4.5. Specification for Output Pulse in Common Pulsing Method

44

SMC-4DL-PCI, SMC-8DL-PCI

4. Functions

OUT (leading pulse output) and DIR (trailing pulse output)

The OUT (leading pulse output) signal and the DIR (trailing pulse output) signal are generated.
The motor is operated (rotated) in the positive direction (clockwise), when there is a phase difference of
+90° between DIR (trailing pulse output) and OUT (leading pulse output). On the other hand, the motor
is operated (rotated) in the negative direction (counterclockwise), when there is a phase difference
of -90° between DIR (trailing pulse output) and OUT (leading pulse output).

When positive direction operates When negative direction operates

OUT

DIR

Figure 4.6. Specification for Output Pulse in 90°-phase-different Pulsing Method

General-purpose input signals

This product has general-purpose input signals (IN1 - IN7) in addition to limit input and encoder input
signals.

IN1 - IN7 (General-purpose input signals)

IN1 - IN7 (general-purpose input signals) can be used to read data from I/O ports. Since these are
independent of motor control, they do not affect pulse output even during motor operation. As seven
signals are provided for each axis, they can be used to input the alarm signal or positioning completion
signal from the motor driver unit. IN1 - IN5 can be switched to serve as the alarm input, positioning
completion input, deceleration (decelerated stop) input, counter latch input and positioning control start
input respectively. The input logic can also be changed by software.

ALM (Alarm input signal)

ALM is the input signal to detect the alarm signal from the motor driver. The input logic can be changed
by software.

INP (positioning completion signal)

INP is the signal to detect the positioning completion signal from the motor driver unit. The input logic
can be changed by software.

SD (deceleration (decelerated stop) input)

SD is a signal to detect the position at which to start deceleration. The input logic can be changed by
software.

SMC-4DL-PCI, SMC-8DL-PCI

45

4. Functions

LTC (counter latch input)

Signal to latch with the counter value, allowing the counter value to be cleared immediately after
latching or an interrupt request to be generated upon latching. The input logic can be changed by
software.

PCS (positioning control start input)

Signal for overriding (replacing) the target position, allowing positioning to be performed by the set
amount of shifting from the input-ON timing. The input logic can be changed by software.

General-purpose output signals

This product has general-purpose output signals (OUT1 - OUT3) in addition to pulse output signal.

OUT1 - OUT3 (General-purpose output signals)

OUT1 - OUT3 (general-purpose output signals) can be used to write data to I/O ports. Since these are
independent of motor control, they do not affect pulse output even during motor operation. As three
signals are provided for each axis, they can be used to output the level output signal for the servo-on and
hold-off to the motor driver unit, one-shot pulse signal for each clear signal and the comparator output
signal. The output logic can also be changed by software.

ALMCLR (alarm clear output signal), ERC (driver differential clear output)

ALMCLR and ERC are signals to output clear one-shot pulses to the alarm clear and deviation counter
clear inputs of the motor driver unit. The width of one-shot pulses (output logic changeable) can be

selected from among 12 µsec, 102 µsec, 408 µsec, 1.6 msec, 13 msec, 52 msec, 104 msec.

CP1, CP2 (comparator output)

CP1 and CP2 are signals for comparing the counter value to the set comparator value. The output logic
can also be changed by software.

P.COM (Plus common)

P.COM is the plus common signal for limit input signals (+LIM, -LIM, SD, ORG) and general-purpose
input/output signals (IN1 - IN7, OUT1 - OUT3).

GND (Ground)

GND is the ground line for the general-purpose output signals (OUT1 - OUT3).

46

SMC-4DL-PCI, SMC-8DL-PCI

Motion control system

System configuration

Stepping motor

Servo motor

Limit sensor

4. Functions

Driver unit Conversion cable

CCB-SMC2 PCB-100PS

+12V ­+24VDC

DC Power Supply

SMC-4DL-PCI
SMC-8DL-PCI

Figure 4.7. System configuration

Table 4.1. Component features

Item Description

SMC-4DL-PCI
SMC-8DL-PCI
(Main board)

PCB-100PS (Option) This cable connects the board to the CCB-SMC2.

CCB-SMC2 (Option)

Conversion cable (User)

Driver unit (Motor maker)

Stepping motor Servo motor
(Motor maker)

Limit sensor (Switch maker)

DC Power supply
(Power supply maker)

When installed on the PC, this board generates pulses required for position control.

This screw terminal is used to efficiently connect the devices (the board, driver unit,
DC power supply, limit sensor) required for position control. The screw terminal
can connect a four-axis motion control system alone.

The shape of the control connector of each driver unit is largely different depending
on the manufacturer and type. A conversion cable must be prepared to connect each
driver unit to the CCB-SMC2.

Motor and driver unit to be subject to motion control.
Available in various types by motor capacity, power-supply voltage, and motor
shape. Select the ones that best fit your needs.

This sensor is installed at the forward/backward limit and origin detection
positions. When a table is used in the system, the sensor is bundled with the table.
For a self-made system, use commercially available switches.

Power supply to the CCB-SMC2. Use a 12 - 24-VDC power supply.

SMC-4DL-PCI, SMC-8DL-PCI

47

4. Functions

48

SMC-4DL-PCI, SMC-8DL-PCI

5. About Software
CD-ROM Directory Structure

\
|– Autorun.exe Installer Main Window

| Readmej.html Version information on each driver (Japanese)
| Readmeu.html Version information on each driver (English)

.
.
|–––APIPAC Driver file for Windows
| |––AIO
| | |––DISK1
| | |––DISK2
| | |––……
| | |––DISKN
| |––AioWdm
| |––CNT
| |––DIO
| |––……

.
.
| ––HELP HELP file
| |––Aio
| |––Cnt
| |––……

.
.
| ––INF Each INF file for OS
| |––WDM
| |––Win2000
| |––Win95

.
.
|––linux Driver file for Linux
| |––cnt
| |––dio
| |––……

.
.
| ––Readme Readme file for each driver

.
.
| ––Release Driver file on each API-TOOL
| |––API_NT (For creation of a user-specific install program)
| |––API_W95

.
.
|––UsersGuide Hardware User's Guide (PDF files)

5. About Software

SMC-4DL-PCI, SMC-8DL-PCI

49

5. About Software

About Software for Windows

The bundled CD-ROM “API Function Library Package API-PAC(W32)” contains the functions that
provide the following features:

- Function to easily set and control the position of the stepping motor or servomotor

- Function to set and execute basic motor operations such as PTP and JOG operations

- Capable of digital input/output of specified axes

For details, refer to the help file. The help file provides various items of information such as “Function
Reference”, “Sample Programs”, and “Q&A”. Use them for program development and troubleshooting.

Accessing the Help File

(1) Click on the [Start] button on the Windows taskbar.

(2) From the Start Menu, select “Programs” – “CONTEC API-PAC(W32)” - “SMC” - “API-SMC-D

HELP” to display help information.

50

SMC-4DL-PCI, SMC-8DL-PCI

5. About Software

Uninstalling the Driver library

To uninstall API-PAC(W32), follow the procedure below.

(1) Click on the [Start] button on the Windows taskbar. From the Start Menu, select “Settings” –

“Control Panel”.

(2) Double-click on “Add/Remove Programs” in the Control Panel.

(3) Double-click on “Add or Remove Programs” in the Control Panel.

Select “CONTEC API-SMC(WDM) driver” from the application list displayed, then click on the
[Change/Remove] button. Follow the on-screen instructions to uninstall the function libraries.

SMC-4DL-PCI, SMC-8DL-PCI

51

5. About Software

52

SMC-4DL-PCI, SMC-8DL-PCI

6. About Hardware

6. About Hardware

This chapter provides hardware specifications and hardware-related supplementary information.

For detailed technical information

For further detailed technical information (“Technical Reference” including the information such as an
I/O map, configuration register, etc.), visit the Contec's web site (http://www.contec.com/support/) to
call for it.

Hardware specification

Tables 6.1 - 6.6 list the hardware specifications of the board.

Table 6.1. Common Section

Item

Control target Stepping motor or servo motor driver unit(pulse train input type)

Number of axes to control

Device used

Interrupt 1 ch

Interrupt factor At the time of stop by positive-direction end limit input ON

I/O address Any 128 ports boundary

Current consumption (Max.) 5VDC 700mA 5VDC 1200mA

Operating condition 0 - 50°C, 10 - 90% (No condensation)

PCI bus specification 32-bit, 33MHz, Universal key shapes supported *1

Dimension (mm)

Connector used

Weight 100g 120g

*1 This board requires power supply at +5 V from an expansion slot (it does not work on a machine with a +3.3V power

supply alone).

SMC-4DL-PCI SMC-8DL-PCI

4axis 8axis

PCL6143 (Nippon Pulse Motor CO., LTD.) or equivalence to it

At the time of stop by negative-direction end limit input ON
At the time of stop by alarm input on
At the time of stop by simultaneous stop operation
At the time of stop by deceleration (decelerated stop) input on
At the time of occurring the encoder input error
The other event (setting by the software)

176.41(L) x 106.68(H)

HDRA-EC100LFDT+
[made by HONDA TSUSHIN
KOGYO CO., LTD.] or equivalence
to it

Specification

HDRA-E100W1LFDT1EC-SL+
[made by HONDA TSUSHIN
KOGYO CO., LTD.] or equivalence
to it

SMC-4DL-PCI, SMC-8DL-PCI

53

6. About Hardware

Table 6.2. Encoder Input Section

Item Specification

Encode type Incremental

Maximum counter value

Input signal type

Supported output type

Device used AM26LS32(T.I) or equivalence to it

Terminal resistor 150Ω (Separatable with SW)

Receiver input sensitivity ±200mV

In-phase input voltage range ±7V

Distance in which signal can
be extended

Response frequency

8000000h - 7FFFFFFh(-134,217,728 - 134,217,727), 28 bit

Single-phase input (UP/DOWN/Z) / Phase input(A/B/Z)

Differential output, TTL level output, open-collector output

10m (Depending on the time of connecting the differential output,
wiring environment and input frequency)
3m (Depending on the time of connecting the open-collector output,
wiring environment and input frequency)

1.5m (Depending on the time of connecting the TTL level output,
wiring environment and input frequency)
5MHz duty 50% (differential output),
3MHz duty 50% (TTL level output), 1MHz duty 50% (open-collector
output)

Table 6.3. Limit Input Section

Item Specification

Signal channel

Input signal name

Input logic

Input type

Response time (Max.)

Input resistance

Input ON current

Input OFF current

External circuit power supply

3ch/axis (original point, Forward limit, reserve limit)

ORG : origin input
+LIM : positive direction end limit input

-LIM : negative direction end limit input

Enables selecting the positive/negative logic by using the Software

Opto-isolated input (corresponding to current sink output)

µsec

200

Ω

4.7k

2.0mA or more

0.16mA or less

12V - 24VDC(±10%)

Table 6.4. General-purpose Input Section

Item Specification

Signal channel

Input signal name

Input logic

Input type
Response time (Max.)

Input resistance

Input ON current

Input OFF current

External circuit power supply

7ch/axis

IN1/ALM : alarm input, general-purpose input
IN2/INP : positioning completion input, general-purpose input
IN3/SD : deceleration (decelerated stop) input, general-purpose input
IN4/LTC : counter latch input, general-purpose input
IN5/PCS : positioning control start input, general-purpose input
IN6 : general-purpose input
IN7 : general-purpose input

Enables selecting the positive/negative logic by using the Software

Opto-coupler input (corresponding to current sink output)

200

µsec

Ω

4.7k

2.0mA or more

0.16mA or less

12V - 24VDC(±10%)

54

SMC-4DL-PCI, SMC-8DL-PCI

Table 6.5. Pulse Output Section

Item Specification

Pulse rate 0.3 - 9.8 Mpps

Output signal name CW : pulse / CW output

Output signal system 2 Pulse types (pulse for positive/negative direction) or the common

Output form Un-isolated differential line driver output

Device used

CCW : direction / CCW output

pulse type (pulse signal/directional signal)

AM26LS31(T.I) or equivalence to it

Table 6.6. General-purpose Output Section

Item Specification

Number of signal channel 3ch/axis

Output signal name OUT1 : general-purpose output

Signal specification Un-isolated open collector output (current sink type)

Response time (Max.) 10 µsec (when using the loading on the input side 510Ω, +24VDC)

Rated output current (Max.) 100mA per 1ch, 300mA per 1axis

Rated output withstanding
voltage (Max.)

OUT2 : general-purpose output
OUT3 : general-purpose output
ALMCLR : alarm clear output
ERC : driver differential clear output
CP1 : comparator1 output
CP2 : comparator2 output

(Enables selecting the positive/negative logic by using the Software)

50VDC

6. About Hardware

SMC-4DL-PCI, SMC-8DL-PCI

55

6. About Hardware

Block Diagram

Driver

Receiver

Photo-coupler

Motor controller
PCL6143

Control circuit
FPGA

PCI Bus*

Motor controller
PCL6143

-

-

-

-

Driver

Receiver

Photo-coupler

Driver

Receiver

Photo-coupler

-

-

-

-

Driver

Receiver

Photo-coupler

Pulse output

Encoder input

Limit input

-

-

-

-

Pulse output

Encoder input

Limit input

Pulse output

Encoder input

Limit input

-

-

-

-

Pulse output

Encoder input

Limit input

Axis0

-

-

-

-

Axis3

Axis4

Axis7

* Only SMC-8DL-PCI

General-purpose
output

(Each axis 3ch)

General-purpose
input

(Each axis 7ch)

SMC-4DL-PCI
SMC-8DL-PCI

Transistor

Photo-coupler

Figure 6.1. Block Diagram

56

SMC-4DL-PCI, SMC-8DL-PCI

SMC-4DL-PCI
SMC-8DL-PCI

User’s Guide

CONTEC CO.,LTD. October 2006 Edition

3-9-31, Himesato, Nishiyodogawa-ku, Osaka 555-0025, Japan
Japanese http://www.contec.co.jp/
English http://www.contec.com/
Chinese http://www.contec.com.cn/

No part of this document may be copied or reproduced in any form by any means without prior written
consent of CONTEC CO., LTD. [10172006]

[07252006] Management No. A-51-263
[10172006] Parts No. LYGG561