Delta Electronics PCI-M324 User Manual

PCI-M324 User Guide

www.deltaww.com

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November, 2017 i

Preface

Thank you for purchasing this product. This user guide provides hardware specifications and other
information about the PCI-M324 motion control card.
This user guide includes:

 Product Overview
 Installation
 Signal Connection Interface
 Terminal Board
 Wiring
 EzDMC Functions

Product features of the PCI-M324 motion control card

PCI-M324 is a motion control card with DSP (Digital Signal Processor) as the core design,
and the controlling method between the servo drive is with the use of pulse output. Through the
high-performance chip to calculate the motion trajectory, it provides synchronous timing control for
multiple axes and DI/O processing functions. With the general motion software library and
diagnostic tool for the graphic interface, program development becomes easier, which also
simplifies the system construction and troubleshooting for users.

How to use this user guide

You can refer to the information in this user guide when using the PCI-M324 motion control card.
This user guide provides the hardware electrical specifications and wiring examples of the
PCI-M324 card. Prior to connecting to external devices, please read this user guide to understand
the features of each I/O pin of the PCI-M324 card and the hardware configuration.

Delta technical services:

Please consult your Delta equipment distributor or Delta Customer Service Center if you encounter
any problems.

ii November, 2017

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November, 2017

Table of Contents

Product Overview

1.1 Function description ·························································································· 1-2

1.2 Specifications ·································································································· 1-3

1.3 Safety precautions ···························································································· 1-4

1.4 Operational safety instructions ············································································ 1-4

1.5 Supported software ·························································································· 1-5

1.6 Application development ···················································································· 1-6

Installation

2.1 Product packaging and accessories ····································································· 2-2

2.2 PCB diagram ··································································································· 2-3

2.3 Hardware installation ························································································ 2-4

2.3.1 Hardware setting ························································································ 2-4

2.3.2 PCI slot selection ······················································································· 2-4

2.3.3 Installation procedure ·················································································· 2-4

2.3.4 Troubleshooting ························································································· 2-4

2.4 Driver software installation ················································································· 2-5

2.5 Connector pin description··················································································· 2-6

2.5.1 CN1: I/O signal port ···················································································· 2-6

2.5.2 CN3: position comparison triggering signal port ················································ 2-9

2.5.3 RSW1: switch for card ID number setting ······················································ 2-10

2.5.4 JP1: select jumper according to input signal type (NPN / PNP) ··························· 2-11

2.5.5 JP2: internal pulse (DDA) 5V ground and external +24V ground signal jumper ······ 2-12

Signal Connection Interface

3.1 Operation interface ··························································································· 3-2

3.1.1 Mechanical DI/O interface ············································································ 3-2

3.1.2 Servo drive DI/O interface ············································································ 3-9

3.1.3 Servo drive pulse I/O interface ···································································· 3-15

3.1.4 Position comparison triggering signal output interface ······································ 3-18

3.1.5 Position latch signal input interface ······························································ 3-21

November, 2017

Terminal Board

4.1 DB-100S general terminal board ·········································································· 4-2

4.2 DB-M324 adapter board with signal indicator·························································· 4-3

Wiring

5.1 Terminal board wiring example ············································································ 5-2

Hardware Configuration API

6.1 Introduction to EzDMC functions·········································································· 6-2

6.2 Operate M324 functions with EzDMC ··································································· 6-3

6.3 Find PCI-M324 card ·························································································· 6-3

6.4 4-axis motion function control ·············································································· 6-4

6.5 Function description of File and Simulation ···························································· 6-7

November, 2017 1-1

Product Overview

PCI-M324 is a 4-axis pulse type motion control card for 4-axis servo or stepping motion
control. This chapter includes the function descriptions, specifications, safety
instructions, and other information of the PCI-M324 motion control card to help you
quickly understand the product features.

000

1.1 Function description ··········································································· 1-2

1.2 Specifications ··················································································· 1-3

1.3 Safety precautions ············································································· 1-4

1.4 Operational safety instructions ····························································· 1-4

1.5 Supported software ············································································ 1-5

1.6 Application development ····································································· 1-6

Product Overview PCI-M324 User Guide

1-2 November, 2017

1

1.1 Function description

PCI-M324 is a 4-axis motion control card using a standard PCI interface. It generates
high-frequency control pulses (3.2 MHz) to control the stepper motor or servo motor. With the
4-axis motion control function, it provides 2-axis circular interpolation motion control, 4-axis linear
interpolation, or continuous interpolation motion control at constant speed. Multiple PCI-M324
motion control cards can operate simultaneously in one system and perform motion control
functions. To allow users to quickly learn to operate the control card, Delta developed software
auxiliary tools to help you complete the application development and wiring test work in the
shortest possible time.

The four main axis controls of the PCI-M324 motion control card are built-in with the incremental
encoder interface, which can correct the incorrect mechanical data transmission. PCI-M324 is
equipped with precise and fast-motion position comparison and triggering functions, and does
not take up additional CPU resources. In addition, the interfaces for the contacts, servo motor
drive control, and general I/O signal control have a very intuitive design for wiring, so that
beginners can quickly get hold of the motion control basics and reduce product losses for system
integrators due to wiring errors. The motion control function includes acceleration / deceleration
of linear motion and S-curve control, arbitrary 2-axis circular interpolation, 2- / 3-axis linear
interpolation, continuous motion, 35 homing modes, etc. When executing these complex motion
control functions, your CPU computing resources can deal with other applications without being
occupied by the motion control functions.

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1

1.2 Specifications

 Product features
(1) Maximum 3.2 MHz, 4-axis pulse output

(2) Linear, circular, and continuous interpolations
(3) Programmable acceleration / deceleration time
(4) Programmable pulse output and interrupt functions
(5) Position comparison and signal trigger

 Motion control specifications
(1) Pulse output control: OUT / DIR, CW / CCW, AB Phase

(2) Pulse output rate: maximum 3.2 Mpps
(3) Total number of pulse signals: 32 bits (±2,147,483,648 pulses)
(4) Homing modes: 35 types
(5) Speed curve control: T-curve and S-curve
(6) Interpolation modes: linear, circular, and continuous
(7) Total number of counter signals: 32-bit up / down counter x 4
(8) Position latch input: LTC x 4
(9) Position compare output: CMP x 2
(10) Incremental encoder input: ±EA x 4, ±EB x 4
(11) Encoder Z-phase signal input: ±EZ x 4
(12) Mechanical DI interface: PEL x 4, MEL x 4, ORG x 4, SLD x 4
(13) Servo drive interface: ALM x 4, RDY x 4, SVON x 4, INP x 4, ERC x 4
(14) General input point: IN x 4
(15) General output point: OUT x 4
(16) I/O pin type: optically isolated with 2.5 KV

RMS

on all 100-pin SCSI

 General electrical specifications
(1) PCI specification: 2.2; 32-bit support, 3.3 / 5 VDC operation type

(2) Power consumption: typical +5 VDC at 0.5A
(3) Operating temperature: 0°C - 50°C (32°F - 122°F)

Product Overview PCI-M324 User Guide

1-4 November, 2017

1

1.3 Safety precautions

To avoid electric shock resulting in serious damage, please check the following precautions
before installing the equipment:
(1) Before moving the host computer, please unplug the computer power cord from the

power outlet.

(2) When adding hardware to the system, please connect the device's signal cable before

connecting the power cord; when removing hardware from the system, please disconnect
the device's signal cable before disconnecting the power cord. If possible, turn off the
computer's power supply before installing the hardware.

(3) Before connecting or disconnecting any signal cables from the motherboard, please make

sure all power cables are unplugged.

(4) Before using the interface card or expansion card, it is recommended that you first seek

professional assistance, as these devices may interfere with the grounded circuits.

(5) Please make sure the voltage power supply unit is adjusted to the standard level used in

the country / region where the machine is installed. If you are unsure of the supplying
voltage of the given area, please contact the local power company for more information.

(6) If the power supply unit is damaged, do not repair it by yourself. Please contact technicians

or distributors for assistance.

1.4 Operational safety instructions

Before you install a hardware device, please review the information provided in this user guide.
(1) Before using the product, make sure all cables and power cords are properly connected.

If you find any major defects, please contact your distributor as soon as possible.

(2) To avoid short circuit, please put away all unused screws, paper clips, and other parts.

Please do not leave them on the motherboard or the host computer.

(3) Dust, humidity, and severe temperature changes can affect the product lifespan.

Thus, avoid placing the product in places with these conditions.
(4) Do not place the host computer on an unstable surface.
(5) If you have any technical questions regarding the use of this product, please contact a

certified technician for assistance.

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November, 2017 1-5

1

1.5 Supported software

 Programming Library
You can develop relevant applications on the Windows XP / 7 platform. By categorizing the

motion control related API into usage condition and application, and with the programming guide,
you can quickly develop relevant applications.

 EzDMC
EzDMC is an auxiliary software that can be operated on Windows XP / 7. Prior to developing the

application, you can use the auxiliary program to check and set the hardware contact logic status
to make sure that the external wiring is correct. You can also use this program to control the
wired servo drive and motor to assist in the adjustment and testing of the machine. In the initial
stage of using PCI-M324 for program development, you can also use EzDMC to simplify the
parameter setting and functional test verification, which can help new users to reduce the time
required for learning and development.

Product Overview PCI-M324 User Guide

1-6 November, 2017

1

1.6 Application development

 Software application development structure

Window XP / 7

HM1 / Programming

BCB++ / VB /

VC++/C#

EzDMC

Motion API

Master station

PCI-M324

SCSI 100 Pins

Cable

Terminal board

Motor #1

Motor #2

Motor #3

Motor #4

 Flow chart

The following is a flow chart for the application development process to help you understand
how to use this user guide for the connection and reference of the program development.
The connection between chapters and the sequence, as well as the development of the
application, can be seen in the flow chart.

Start

1. Install hardware

2. Select and set jumper

wire

3. Connect all wiring

Activate EzDMC:

set system parameter

Activate EzDMC:

verify system parameter

setting

Use the control card

function library to

develop the application

Is the system

working properly?

No

Yes

End

Refer to PCI-M324
Function Library

Programming
Guide for details

Refer to Chapter 6
for details

Refer to Chapter 6
for details

Refer to Chapters 2, 3,
4, and 5 for details

November, 2017 2-1

Installation

This chapter describes how to install the PCI-M324 motion control card. Please follow
the installation procedure below.

000

2.1 Product packaging and accessories ······················································· 2-2

2.2 PCB diagram ···················································································· 2-3

2.3 Hardware installation ·········································································· 2-4

2.3.1 Hardware setting .....................................................................................2-4

2.3.2 PCI slot selection ....................................................................................2-4

2.3.3 Installation procedure ..............................................................................2-4

2.3.4 Troubleshooting ......................................................................................2-4

2.4 Driver software installation ··································································· 2-5

2.5 Connector pin description ···································································· 2-6

2.5.1 CN1: I/O signal port .................................................................................2-6

2.5.2 CN3: position comparison triggering signal port ................................ .......2-9

2.5.3 RSW1: switch for card ID number setting .............................................. 2-10

2.5.4 JP1: select jumper according to input signal type (NPN / PNP) .............. 2-11

2.5.5 JP2: internal pulse (DDA) 5V ground and external +24V ground

signal jumper ........................................................................................ 2-12

Installation PCI-M324 User Guide

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2

2.1 Product packaging and accessories

The package should contain the following items:

Standard

 Advanced 4-axis servo or stepping PCI-M324 motion control card x 1
 PCI-M324 driver CD-ROM x 1
 PCI-M324 User Guide x 1

Optional

 Motion control terminal block
 SCSI 100-pin signal connector cable

If there are missing or damaged standard parts, please contact the distributor for the
replacement parts. Please keep the packaging material in case of future shipping needs.

PCI-M324 User Guide Installation

November, 2017 2-3

2

2.2 PCB diagram

This is the general structure of the PCI-M324 motion control card displaying the positions for
CN1, JP1, JP2, CN3, and RSW1.

Description of each connector on the PCI-M324 card is as follows:

Name

Function

CN1

SCSI 100 pins, 4-axis motion control I/O signal port

CN3

Position comparison triggering signal port

JP1

Select jumper according to input signal type (NPN / PNP)

JP2

Pulse output I/O and external +24V ground signal jumper

RSW1

Card ID switch

Installation PCI-M324 User Guide

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2

2.3 Hardware installation

2.3.1 Hardware setting

The PCI-M324 is a standard Plug and Play expansion device for PCs. Whether the use of
memory space configuration or I/O port configuration, or other basic system required functions,
these are configured by the BIOS of the PC system. You do not need to set the hardware.

2.3.2 PCI slot selection

When your PC system is built-in with ISA and PCI expansion slots, please do not insert the
PCI-M324 card into the ISA expansion slot. In addition to the shape not matching, this product is
designed for PCI compatible devices, thus it can only function when inserted into a standard PCI
expansion slot.

2.3.3 Installation procedure

Please read this user guide carefully and adjust the functions of RSW1, JP1, and JP2 according
to the requirements before installation to meet your system development needs.
(1) Turn off the power. Make sure that the PC power supply is completely disconnected and turn

off the power for the connected devices, such as the printer, modem, and screen.

(2) Remove the cover of your PC. Install the PCI-M324 card only in the standard PCI expansion

slot. Please do not install it in the ISA or EISA expansion slot.

(3) Before you take out the card from the packaging, please neutralize the static electricity that

might be on your body to avoid damaging the product.

(4) Insert the PCI-M324 card into the appropriate PCI standard expansion slot, then tighten the

screws to fix the card onto the PC expansion slot.

(5) Make sure to disconnect the power supply before removing the PCI-M324 card.

2.3.4 Troubleshooting

If the system cannot start properly, please turn off the system first and disconnect the power.
Remove the cover of your PC. Next, make sure the PCI-M324 card is properly installed, such as
if the screws are loose or if the card is detached from the PCI expansion slot. Remove the
PCI-M324 card from the PCI slot and restart the PC to check that the PC system is working
properly. If the PC system is working properly, please reinstall the PCI-M324 card by following
the installation procedure in Section 2.3.3. If the system still cannot start properly, please contact
your distributor for assistance.

PCI-M324 User Guide Installation

November, 2017 2-5

2

2.4 Driver software installation

Please note the following before installing the driver and application software:
(1) The driver for this product is currently only compatible with Windows XP / 7. Before installing

this product, please make sure that the operating system meets the requirement of this
product.

(2) Insert the Autorun driver CD-ROM into your CD-ROM drive and let the system automatically

run the setup program.

(3) When the setup program is launched, please follow the instructions for installing the

product-related driver and auxiliary application.

(4) After the product-related driver and auxiliary application are installed, restart the operating

system to ensure that the driver is installed. Please also make sure that the auxiliary
application works properly after you restart the operating system.

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2

2.5 Connector pin description

This section provides detailed specifications and functions of the PCI-M324 motion control card
I/O signal terminals.

(1) CN1 connector (male); (2) CN1 I/O signal connector (female)

2.5.1 CN1: I/O signal port

Pin

Mark

I/O

Description

Pin

Mark

I/O

Description

1

24V

Power +24V / 200 mA

51

24V

Power +24V / 200 mA

2

EGND

24V ground signal

52

EGND

24V ground signal

3

EMG

I

Emergency stop signal

53

EMG

I

Emergency stop signal

4

MEL_1

I

1st mechanical negative
limit signal

54

MEL_3

I

3rd mechanical negative
limit signal

5

PEL_1

I

1st mechanical positive
limit signal

55

PEL_3

I

3rd mechanical positive
limit signal

6

ORG_1

I

1st origin position signal

56

ORG_3

I

3rd origin position signal

7

SLD_1

I

1st deceleration point
signal

57

SLD_3

I

3rd deceleration point
signal

8

MEL_2

I

2nd mechanical negative
limit signal

58

MEL_4

I

4th mechanical negative
limit signal

9

PEL_2

I

2nd mechanical positive
limit signal

59

PEL_4

I

4th mechanical positive
limit signal

10

ORG_2

I

2nd origin position signal

60

ORG_4

I

4th origin position signal

11

SLD_2

I

2nd deceleration point
signal

61

SLD_4

I

4th deceleration point
signal

12

RDY_1

I

1st servo ready

62

RDY_3

I

3rd servo ready

13

INP_1

I

1st servo in place signal

63

INP_3

I

3rd servo in place signal

14

ALM_1

I

1st servo alarm

64

ALM_3

I

3rd servo alarm

15

DI_1

I

1st axis GPIO input

65

DI_3

I

3rd axis GPIO input

16

RDY_2

I

2nd servo ready

66

RDY_4

I

4th servo ready

17

INP_2

I

2nd servo in place signal

67

INP_4

I

4th servo in place signal

18

ALM_2

I

2nd servo alarm

68

ALM_4

I

4th servo alarm

PCI-M324 User Guide Installation

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2

Pin

Mark

I/O

Description

Pin

Mark

I/O

Description

19

DI_2

I

2nd axis GPIO input

69

DI_4

I

4th axis GPIO input

20

EGND

24V ground signal

70

EGND

24V ground signal

21

SVON_1

O

1st servo on

71

SVON_3

O

3rd servo on

22

ERC_1

O

1

st

clear servo error

counter

72

ERC_3

O

3

rd

clear servo error

counter

23

ALMC_1

O

1st servo alarm clearing
output

73

ALMC_3

O

3rd servo alarm clearing
output

24

DO_1

O

1st axis GPIO output

74

DO_3

O

3rd axis GPIO output

25

SVON_2

O

2nd servo on

75

SVON_4

O

4th servo on

26

ERC_2

O

2

nd

clear servo error

counter

76

ERC_4

O

4

th

clear servo error

counter

27

ALMC_2

O

2nd servo alarm clearing
output

77

ALMC_4

O

4th servo alarm clearing
output

28

DO_2

O

2nd axis GPIO output

78

DO_4

O

4th axis GPIO output

29

EA+_1

I

1

st

A phase encoder

signal (+)

79

EA+_3

I

3

rd

A phase encoder

signal (+)

30

EA-_1

I

1st A phase encoder
signal (-)

80

EA-_3

I

3rd A phase encoder
signal (-)

31

EB+_1

I

1st B phase encoder
signal (+)

81

EB+_3

I

3

rd

B phase encoder

signal (+)

32

EB-_1

I

1st B phase encoder
signal (-)

82

EB-_3

I

3rd B phase encoder
signal (-)

33

EZ+_1

I

1st Z phase encoder
signal (+)

83

EZ+_3

I

3

rd

Z phase encoder

signal (+)

34

EZ-_1

I

1st Z phase encoder
signal (-)

84

EZ-_3

I

3rd Z phase encoder
signal (-)

35

EA+_2

I

2

nd

A phase encoder

signal (+)

85

EA+_4

I

4

th

A phase encoder

signal (+)

36

EA-_2

I

2nd A phase encoder
signal (-)

86

EA-_4

I

4th A phase encoder
signal (-)

37

EB+_2

I

2

nd

B phase encoder

signal (+)

87

EB+_4

I

4

th

B phase encoder

signal (+)

38

EB-_2

I

2nd B phase encoder
signal (-)

88

EB-_4

I

4th B phase encoder
signal (-)

39

EZ+_2

I

2

nd

Z phase encoder

signal (+)

89

EZ+_4

I

4

th

Z phase encoder

signal (+)

40

EZ-_2

I

2nd Z phase encoder
signal (-)

90

EZ-_4

I

4th Z phase encoder
signal (-)

41

DDA 5V

DDA 5V voltage output,
I < 100 mA

91

DDA 5V

DDA 5V voltage output,
I < 100 mA

42

IGND

DDA 5V ground signal

92

IGND

DDA 5V ground signal

43

DIR+_1

O

1st direction pulse
signal (+)

93

DIR+_3

O

3rd direction pulse
signal (+)

44

DIR-_1

O

1st direction pulse
signal (-)

94

DIR-_3

O

3rd direction pulse
signal (-)

45

OUT+_1

O

1

st

output pulse signal (+)

95

OUT+_3

O

3

rd

output pulse signal (+)

46

OUT-_1

O

1

st

output pulse signal (-)

96

OUT-_3

O

3

rd

output pulse signal (-)

Installation PCI-M324 User Guide

2-8 November, 2017

2

Pin

Mark

I/O

Description

Pin

Mark

I/O

Description

47

DIR+_2

O

2nd direction pulse
signal (+)

97

DIR+_4

O

4th direction pulse
signal (+)

48

DIR-_2

O

2nd direction pulse
signal (-)

98

DIR-_4

O

4th direction pulse
signal (-)

49

OUT+_2

O

2

nd

output pulse signal (+)

99

OUT+_4

O

4

th

output pulse signal (+)

50

OUT-_2

O

2

nd

output pulse signal (-)

100

OUT-_4

O

4

th

output pulse signal (-)

Note:

1. GPIO is short for General Purpose Input / Output.

2. Pin 41, Pin 91: DDA 5V voltage output, I < 100 mA. Only for checking the 5V signal detection, not recommended as
5V voltage output.

PCI-M324 User Guide Installation

November, 2017 2-9

2

2.5.2 CN3: position comparison triggering signal port

This section provides detailed specifications and functions of the PCI-M324 CN3.

(1) CN3 connector (male); (2) CN3 connector (female)

The following table shows the CN3 pin definition:

Pin

Mark

Description

1

3.3V CMP_OUT

CMOS 3.3V triggering signal outputs when position reached

2

DGND

CMOS 3.3V ground signal

3

DGND

CMOS 3.3V ground signal

4

1.65(V) Vref

1.65V LVDS reference voltage

Installation PCI-M324 User Guide

2-10 November, 2017

2

2.5.3 RSW1: switch for card ID number setting

This is the RSW1 switch knob. Card ID is the value corresponding to the position the knob is
assigned to. The setting value range is 0 - 15.

PCI-M324 User Guide Installation

November, 2017 2-11

2

2.5.4 JP1: select jumper according to input signal type (NPN / PNP)

This section introduces the PCI-M324 motion control card using the short-circuit latch for NPN /
PNP switching.

The following table shows the JP1 pin definition:

Pin

Mark

Description

1

I24 V

Internal +24V voltage contact

2

ICOM

Input signal internal common contact

3

EGND

24V ground signal

Note:

1. NPN mode: Pin 1 & Pin 2 short circuit. (Default)

2. PNP mode: Pin 2 & Pin 3 short circuit.

Installation PCI-M324 User Guide

2-12 November, 2017

2

2.5.5 JP2: internal pulse (DDA) 5V ground and external +24V ground

signal jumper

This section introduces the PCI-M324 motion control card using the short-circuit latch for
common or individual grounding for the 5V ground and external ground signal.

The following table shows the JP2 pin definition:

Pin

Mark

Description

1

Not in use

Reserved (not in use)

2

IGND

DDA pulse ground signal

3

EGND

24V ground signal