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

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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

November, 2017 3-1

Signal Connection Interface

This chapter introduces the PCI-M324 signal connection interface.

000

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

Signal Connection Interface PCI-M324 User Guide

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3

3.1 Operation interface

3.1.1 Mechanical DI/O interface

 Mechanical limit signal PEL & MEL (axis control signal / DI signal)

Endpoint setting function: in general, when executing motion control, users will set two limit
sensors between a fixed distance. Setting the moving range of the motion axis avoids the risk of
improper mechanical operation or control. The PEL and MEL endpoint sensor signals are
connected to the PCI-M324 and servo drive at the same time, so that both the drive and the
control card can effectively stop the motion beyond the allowable moving range.

Pin

Mark

I/O

Description

Pin

Mark

I/O

Description

4

MEL_1

I

1st mechanical limit signal (-)

54

MEL_3

I

3rd mechanical limit signal (-)

5

PEL_1

I

1st mechanical limit signal (+)

55

PEL_3

I

3rd mechanical limit signal (+)

8

MEL_2

I

2nd mechanical limit signal (-)

58

MEL_4

I

4th mechanical limit signal (-)

9

PEL_2

I

2nd mechanical limit signal (+)

59

PEL_4

I

4th mechanical limit signal (+)

(1) Sink mode (NPN mode)

24VDC

+24V

0V

Sink

IN

Internal Circuit

Power Supply

JP1 Sink

1 2

3

Filter

Controller

EGND

24V

JP1

24V JP1

3.3V

(2) Source mode (PNP mode)

24VDC

Source

Internal circuit

Power supply

JP1 source

1 2

3

3.3V

Controller

Filter

0V

EGND

+24V

IN

24V

JP1

EGND

JP1

24VDC

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3

 ORG (axis control signal / DI signal)

Determine the starting position of the motion control: the mechanical action error and execution
order of the motion command will change the zero position of the servo drive and the starting
position of the mechanical device. Thus, for open-type control mechanical devices, you need to
execute homing after a certain motion distance or operation time to ensure the accuracy of the
motion control.

Pin

Mark

I/O

Description

Pin

Mark

I/O

Description

6

ORG_1

I

1st origin position signal

56

ORG_3

I

3rd origin position signal

10

ORG_2

I

2nd origin position signal

60

ORG_4

I

4th origin position signal

(1) Sink mode (NPN mode)

24VDC

+24V

0V

Sink

IN

Internal Circuit

Power Supply

JP1 Sink

1 2

3

Filter

Controller

EGND

24V

JP1

24V JP1

3.3V

(2) Source mode (PNP mode)

24VDC

Source

Internal circuit

Power supply

JP1 source

1 2

3

Controller

Filter

0V

EGND

+24V

IN

24V

JP1

EGND

JP1

24VDC

3.3V

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 SLD (axis control signal / DI signal)

Deceleration point signal control: when the motion-controlled object passes through the sensor
point, the motion speed reduces to the set deceleration motion control speed. When SLD control
mode is required, enable the SLD function first. For more information, please refer to the
PCI-M324 Programming Guide.

Pin

Mark

I/O

Description

Pin

Mark

I/O

Description

7

SLD_1

I

1st deceleration point signal

57

SLD_3

I

3rd deceleration point signal

11

SLD_2

I

2nd deceleration point signal

61

SLD_4

I

4th deceleration point signal

(1) Sink mode (NPN mode)

24VDC

+24V

0V

Sink

IN

Internal Circuit

Power Supply

JP1 Sink

1 2

3

Filter

Controller

EGND

24V

JP1

24V JP1

3.3V

(2) Source mode (PNP mode)

24VDC

Source

Internal circuit

Power supply

JP1 source

1 2

3

Controller

Filter

0V

EGND

+24V

IN

24V

JP1

EGND

JP1

24VDC

3.3V

PCI-M324 User Guide Signal Connection Interface

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3

 DI (axis control signal / DI signal)

Digital signal input for axis control, which can connect to external digital signals to provide
reference signals to each PCI-M324 axis control.

Pin

Mark

I/O

Description

Pin

Mark

I/O

Description

15

DI_1

I

1st axis GPIO input

65

DI_3

I

3rd axis GPIO input

19

DI_2

I

2nd axis GPIO input

69

DI_4

I

4th axis GPIO input

Note: GPIO is short for General Purpose Input / Output.

(1) Sink mode (NPN mode)

24VDC

+24V

0V

Sink

IN

Internal Circuit

Power Supply

JP1 Sink

1 2

3

Filter

Controller

EGND

24V

JP1

24V JP1

3.3V

(2) Source mode (PNP mode)

24VDC

Source

Internal circuit

Power supply

JP1 source

1 2

3

Controller

Filter

0V

EGND

+24V

IN

24V

JP1

EGND

JP1

24VDC

3.3V

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3

 EMG (global signal / DI signal)

Emergency stop signal input point: when the emergency stop is in action, the motion control
pulse output of each axis stops the output and enters the safety protection state. You can
operate all motion axes only when this signal is cleared.

Pin

Mark

I/O

Description

Pin

Mark

I/O

Description

3

EMG

I

Emergency stop signal

53

EMG

I

Emergency stop signal

(1) Sink mode (NPN mode)

Internal circuit

+24V

ISO

IN

Controller

Filter

24V

EGND

24VDC

Power supply

24V

0V

EGND

N.O

N.C

PCI-M324 User Guide Signal Connection Interface

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3

 DO (axis control signal / DO signal)

Digital signal output for axis control, which can output digital signals to other peripheral devices.
The four main motion axes of PCI-M324 are built-in with the DO function.

Pin

Mark

I/O

Description

Pin

Mark

I/O

Description

24

DO_1

O

1

st

GPIO output

74

DO_3

O

3

rd

GPIO output

28

DO_2

O

2

nd

GPIO output

78

DO_4

O

4th GPIO output

Note: GPIO is short for General Purpose Input / Output.

(1) O.C mode

EGND

ISO

I < 10 mA

N.O

N.C

VCCID

Internal circuit

Controller

24V

EGND

OUT

24VDC

Power supply

24V

0V

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3

 CMP (pulse output control / output signal)

Position comparison function: when the motion control position matches the program's position
comparison setting, the PCI-M324 generates a pulse signal. PCI-M324 has built-in functions for
two high-elastic CMP comparators: Channels #0 and #1. Please refer to Section 3.1.4 for
hardware interface details.

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

1.6(V) Vref

LVDS reference voltage

(1) CMP signal circuit CMOS connection diagram

OUT

GND

Internal circuit

(2) CMP signal circuit LVDS connection diagram

OUT

GND

Internal circuit

Vref

PCI-M324 User Guide Signal Connection Interface

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3

3.1.2 Servo drive DI/O interface

 ALM (axis control signal / DI signal)

Servo drive alarm: when the servo drive is in error, it issues an alarm to the PCI-M324 to notify
the control system that the current motion control cannot work properly.

Pin

Mark

I/O

Description

Pin

Mark

I/O

Description

14

ALM_1

I

1st servo alarm

64

ALM_3

I

3rd servo alarm

18

ALM_2

I

2nd servo alarm

68

ALM_4

I

4th servo alarm

(1) Sink mode (NPN mode)

24VDC

+24V

0V

Sink

IN

Internal Circuit

Power Supply

JP1 Sink

1 2

3

Filter

Controller

EGND

24V

JP1

24V JP1

3.3V

(2) Source mode (PNP mode)

24VDC

Source

Internal circuit

Power supply

JP1 source

1 2

3

Controller

Filter

0V

EGND

+24V

IN

24V

JP1

EGND

JP1

24VDC

3.3V

Signal Connection Interface PCI-M324 User Guide

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3

 SVON (axis control signal / DO signal)

The output of the Servo On signal enables or disables the operation of the current connecting
servo drive.

Pin

Mark

I/O

Description

Pin

Mark

I/O

Description

21

SVON_1

O

1st servo on

71

SVON_3

O

3rd servo on

25

SVON_2

O

2nd servo on

75

SVON_4

O

4th servo on

(1) O.C mode

EGND

ISO

I < 10 mA

N.O

N.C

VCCID

Internal circuit

Controller

24V

EGND

OUT

24VDC

Power supply

24V

0V

PCI-M324 User Guide Signal Connection Interface

November, 2017 3-11

3

 RDY (axis control signal / DI signal)

Servo drive ready signal input: the input of the ready signal notifies the users that the servo drive
is ready and can operate normally.

Pin

Mark

I/O

Description

Pin

Mark

I/O

Description

12

RDY_1

I

1st servo ready

62

RDY_3

I

3rd servo ready

16

RDY_2

I

2nd servo ready

66

RDY_4

I

4th servo ready

(1) Sink mode (NPN mode)

24VDC

+24V

0V

Sink

IN

Internal circuit

Power supply

JP1 sink

1 2

3

Filter

Controller

EGND

24V

JP1

24V JP1

3.3V

(2) Source mode (PNP mode)

24VDC

Source

Internal circuit

Power supply

JP1 source

1 2

3

Controller

Filter

0V

EGND

+24V

IN

24V

JP1

EGND

JP1

3.3V

Signal Connection Interface PCI-M324 User Guide

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3

 INP (axis control signal / DI signal)

Servo in place notification function: notifies the users that the servo drive has reached the
specified target position.

Pin

Mark

I/O

Description

Pin

Mark

I/O

Description

13

INP_1

I

1st servo in place signal

63

INP_3

I

3rd servo in place signal

17

INP_2

I

2nd servo in place signal

67

INP_4

I

4th servo in place signal

(1) Sink mode (NPN mode)

24VDC

+24V

0V

Sink

IN

Internal circuit

Power supply

JP1 sink

1 2

3

Filter

Controller

EGND

24V

JP1

24V JP1

3.3V

(2) Source mode (PNP mode)

24VDC

Source

Internal circuit

Power supply

JP1 source

1 2

3

Controller

Filter

0V

EGND

+24V

IN

24V

JP1

EGND

JP1

3.3V

PCI-M324 User Guide Signal Connection Interface

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3

 ALMC (axis control signal / DO signal)

Output signal for clearing the servo drive alarm.

Pin

Mark

I/O

Description

Pin

Mark

I/O

Description

23

ALMC_1

O

1st alarm clearing signal

73

ALMC_3

O

3rd alarm clearing signal

27

ALMC_2

O

2nd alarm clearing signal

77

ALMC_4

O

4th alarm clearing signal

(1) O.C mode

EGND

ISO

I < 10 mA

N.O

N.C

VCCID

Internal circuit

Controller

24V

EGND

OUT

24VDC

Power supply

24V

0V

Signal Connection Interface PCI-M324 User Guide

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3

 ERC (axis control signal / DO signal)

Error value clearing function: when the following conditions occur, PCI-M324 outputs an ERC
signal to the servo drive.

(1) PEL and MEL signals are triggered.
(2) EMG hardware circuit is triggered.
(3) Software EMG stop signal is triggered (API: _m324_emg_stop_erc).
(4) Force output ERC signal is triggered (API: _m324_set_erc_on).
(5) To follow the safety procedure, you must first clear the remaining command values in the

servo drive before starting the servo drive.

Pin

Mark

I/O

Description

Pin

Mark

I/O

Description

22

ERC_1

O

1

st

clear servo error

counter

72

ERC_3

O

3

rd

clear servo error

counter

26

ERC_2

O

2

nd

clear servo error

counter

76

ERC_4

O

4

th

clear servo error

counter

(1) O.C mode

EGND

ISO

I < 10 mA

N.O

N.C

VCCID

Internal circuit

Controller

24V

EGND

OUT

24VDC

Power supply

24V

0V

PCI-M324 User Guide Signal Connection Interface

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3

3.1.3 Servo drive pulse I/O interface

 OUT / DIR (pulse output control / DO signal)

Pulse output control function: PCI-M324 is built-in with six different pulse output control functions,
which are controlled by the DIR and OUT output interfaces. The hardware circuit is designed to
adopt the RS-422 differential line driver output interface, which can connect to RS-422
differential, optocoupler, and TTL unipolar interfaces.

Pin

Mark

I/O

Description

Pin

Mark

I/O

Description

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 (-)

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 (-)

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 (-)

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 (-)

 Differential mode

(1) Differential output connects to differential input

Internal circuit

R

DIFF-

DIFF+

GND

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3

(2) Differential output connects to optocoupler

Internal circuit

Signal+

Signal-

4

5

6

1

3

R

DIFF+

DIFF-

7

5

6

(3) Differential output connects to single-ended input

Signal-

Signal+

DDA_GND

Internal circuit

R

DIFF-

DIFF+

GND

PCI-M324 User Guide Signal Connection Interface

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3

 Encoder A phase, B phase, and Z phase (axis control signal / DI signal)

Encoder A phase, B phase, and Z phase feedback pulse input counter function: connects to the
position feedback from the servo drive or external linear scale.

Pin

Mark

I/O

Description

Pin

Mark

I/O

Description

29

EA+_1

I

1st 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 (-)

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 (-)

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 (-)

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 Z phase encoder signal (-)

88

EB-_4

I

4th 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 (-)

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 (-)

 Differential mode

(1) Differential input mode

Internal circuit

Signal+

AM26LS31CD

Signal-

6
5

4 3

1

330R

DIFF-

DIFF+

7

5

6

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3

3.1.4 Position comparison triggering signal output interface

PCI-M324 provides the position comparison triggering pulse output function, as shown in
Figure 3.1.4.1. In this example, the encoder feedback value of the servo motor is compared with
the P1 and P2 position set values. When the feedback value equals the P1 or P2 value, the
pulse signal outputs respectively to trigger the image acquisition card or CCD to take images.
The card provides two flexible high-speed comparator channels (Channels #0 and #1) for the
users to choose from. You can choose different pulse comparison sources and pulse output
interfaces according to the parameter settings to meet your application requirements.

P2 P1

Data

Comparator

Interrupt signal (to host PC)

Trigger Circuit

T2 T1

Encoder Motor

Workpiece

Encoder feedback

signal

Figure 3.1.4.1 Position comparison triggering example

PCI-M324 User Guide Signal Connection Interface

November, 2017 3-19

3

 Channel #0 in-place comparator function description

The in-place comparator of Channel #0 has four sets of compare input sources for selection,
and they are the position counter values for axes #0, #1, #2, and #3. The output interface also
provides four sets of output interfaces for selection, and they are CMOS3.3V output, DO output
of each axis (24V), axis #3 RS422 DIR single serial output, and axis #3 RS422 dual serial output
at the same time (as shown in Figure 3.1.4.2).

Axis DO output 24V

RS-422 output

RS-422 output

CMOS3.3V

5V_GND

RS-422 Output

24V_GND

Axis #3 DIR

Axis #3 DIR /

Axis #3 OUT

Axis #3 OUT /

Axis#3 DIR
Axis#3 DIR /

Output interface

selection

Output selection

Comparator

Pulse width setting

Pulse width selection

Note: in the output selection function interface, you can only select
one channel for output. This means you cannot assign Channel #0
and Channel #1 at the same time for different signal output.

Compare

value set

Channel #1

enable

Position counter

AXIS#0AXIS#1AXIS

#2

AXIS

#3

Select compare

source

Figure 3.1.4.2 Diagram of Channel #0 in-place comparator

CMOS 3.3V output interface: please refer to Section 3.1.1 for the mechanical DI/O interface
CMP signal description. Please do not share use with Channel #1.

DO output interface of each axis: please refer to Section 3.1.1 for the mechanical DI/O interface
DO signal description.

Axis #3 RS-422 DIR single serial output interface: please refer to Section 3.1.3 for the servo
drive I/O interface pulse output description.

Axis #3 RS-422 dual serial output interface: please refer to Section 3.1.3 for the servo drive I/O
interface pulse output description. Please do not share use with Channel #1.

Signal Connection Interface PCI-M324 User Guide

3-20 November, 2017

3

 Channel #1 in-place comparator function description

The in-place comparator of Channel #1 has four sets of compare input sources for selection,
and they are the position comparator values for axes #0, #1, #2, and #3. The output interface
also provides four sets of output interfaces for selection, and they are CMOS3.3V output,
DO output of each axis (24V), axis #3 RS-422 OUT single serial output, and axis #3 RS-422 dual
serial output at the same time (as shown in Figure 3.1.4.3).

Axis DO output 24V

RS-422 output

RS-422 output

CMOS3.3V

5V_GND

RS-422 Output

24V_GND

Axis #3 DIR
Axis #3 DIR /

Axis #3 OUT
Axis #3 OUT /

Axis#3 DIR
Axis#3 DIR /

Output interface

selection

Output selection

Comparator

Pulse width setting

Pulse width selection

Note: in the output selection function interface, you can only select

one channel for output. This means you cannot assign Channel #0
and Channel #1 at the same time for different signal output.

Compare

value set

Channel #1

enable

Position counter

AXIS#0AXIS#1AXIS

#2

AXIS

#3

Select compare

source

Figure 3.1.4.3 Diagram of Channel #1 in-place comparator

CMOS 3.3V output interface: please refer to Section 3.1.1 for the mechanical DI/O interface
CMP signal description. Please do not share use with Channel #0.

DO output interface of each axis: please refer to Section 3.1.1 for the mechanical DI/O interface
DO signal description.

Axis #3 RS-422 OUT single serial output interface: please refer to Section 3.1.3 for the servo
drive I/O interface pulse output description.

Axis #3 RS-422 dual serial output interface: please refer to Section 3.1.3 for the servo drive I/O
interface pulse output description. Please do not share use with Channel #0.

PCI-M324 User Guide Signal Connection Interface

November, 2017 3-21

3

3.1.5 Position latch signal input interface

PCI-M324 provides the position latch function as shown in Figure 3.1.5.1. In this example,
when the measuring probe touches the workpiece surface, it triggers the DI signal to execute
the position latch function, which records the position counter value in the latch counter.
Then, by reading the latch counter value, you can see the position value when triggered.

Workpiece

Measurement

Command

Feedback

Figure 3.1.5.1 Position latch function example

This card is designed with four sets of latch triggering source for selection. For details,
please refer to Figure 3.1.5.2.

Latch

Position counter

G

Set latch logic

Get latch data

Select latch source

DI

24V_GND

EZ+

EZ-

ORG

24V_GND

MEL

24V_GND

Figure 3.1.5.2 Position latch triggers source diagram

Axis DI, ORG, MEL input interfaces: please refer to Section 3.1.1 for the mechanical DI/O
interface DI, ORG, and MEL signals description.
EZ+ and EZ- input interfaces: please refer to Section 3.1.3 for the servo drive I/O interface pulse
input description.

Signal Connection Interface PCI-M324 User Guide

3-22 November, 2017

3

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November, 2017 4-1

Terminal Board

PCI-M324 provides two types of terminal boards for you to choose from. They are
DB-100S general terminal board and DB-M324 adapter board with 25-pin D-SUB
connector and signal indicator. Please refer to the following sections for detailed
specifications and instructions.

000

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

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

Terminal Board PCI-M324 User Guide

4-2 November, 2017

4

4.1 DB-100S general terminal board

 Specifications

(1) SCSI 100-pin 1.27 mm female connector
(2) Supports DIN rail mounting
(3) Dimension (L-157 x W-122 x H-45 mm)
(4) Pitch: 5.00 mm
(5) Wire diameter: 26 - 14 AWG

 DB-100S illustration

Description of each DB-100S pin:

Mark

Function

CN1

SCSI 100-pin female connector (pin to pin)
Connector for the PCI-M324 servo motion control card and DB-100S

CN2

The terminal pins correspond to the CN1 pins

CN3

The terminal pins correspond to the CN1 pins

Note: the pin definition is the same as the CN1 on the PCI-M324 servo motion control card.

Please refer to Section 2.5.1.

PCI-M324 User Guide Terminal Board

November, 2017 4-3

4

4.2 DB-M324 adapter board with signal indicator

 Specifications

(1) SCSI 100-pin P1.27 mm female connector
(2) D-SUB 25 P2.27 mm female connector
(3) Supports DIN rail mounting
(4) Dimension L-117 x W-215 x H-60 mm (PCB L-107 x W-209)
(5) Pitch: 5.00 mm
(6) Operating temperature: 0°C - 60°C (32°C - 140°F)
(7) Emergency stop input: EMG
(8) Mechanical I/O interface signal input: PEL x4, MEL x4, ORG x4, SLD x4
(9) Servo drive interface signal output: ALM x4, ALMC x4, RDY x4, SVON x4, INP x4, ERC x4
(10) GPIO point: DI x4, DO x4
(11) Power supply input: +24 VDC ± 10%; power consumption: 3W typical
(12) For DDA pulse level voltage output: +5 VDC (output from PCI-M324), I < 100 mA
(13) Indicator light: power indicator, emergency stop input indicator, mechanical I/O interface

signal indicator, servo drive interface signal output indicator, GPIO indicator

(14) DB-M324 is for NPN wiring type

Terminal Board PCI-M324 User Guide

4-4 November, 2017

4

 DB-M324 illustration

Description of each DB-M324 pin:

Mark

Connector type

Function

CN1

SCSI 100-pin female connector

Connector for the PCI-M324 servo motion control
card and DB-M324

CN2

D-SUB 25 female connector

Axis 1 motor connector

CN3

D-SUB 25 female connector

Axis 2 motor connector

CN4

D-SUB 25 female connector

Axis 3 motor connector

CN5

D-SUB 25 female connector

Axis 4 motor connector

CN6

Plug-in terminal block connector

24V power input connector

CN7

Screw terminal block connector

Axis 1, 2 motor connector for other signals

CN8

Screw terminal block port

Axis 3, 4 motor connector for other signals

CN9

Plug-in terminal block connector

DDA 5V voltage output

PCI-M324 User Guide Terminal Board

November, 2017 4-5

4

 DB-M324 CN1 pin definition diagram

Note: the pin definition is the same as the CN1 on the PCI-M324 servo motion control card.

Please refer to Section 2.5.1.

Terminal Board PCI-M324 User Guide

4-6 November, 2017

4

 DB-M324 CN2 / CN3 / CN4 / CN5 (Axis 1 - Axis 4) pin definition diagram

Description of each DB-M324 CN2 / CN3 / CN4 / CN5 pin:

Pin

Mark

I/O

Description

Pin

Mark

I/O

Description

1

OUT-

O

Output pulse signal (-)

14

DIR-

O

Direction pulse signal (-)

2

OUT+

O

Output pulse signal (+)

15

DIR+

O

Direction pulse signal (+)

3

DDA

5V

V

DDA 5V voltage output,
I < 100 mA

16

INP

I

Servo in place signal

4

EGND

G

24V ground signal

17

PEL

I

Mechanical positive limit
signal

5

MEL

I

Mechanical negative limit
signal

18

24V

V

+24V power supply

6

SVON

O

Servo on

19

ALM

I

Servo alarm

7

EGND

G

24V ground signal

20

EGND

G

24V ground signal

8

EGND

G

24V ground signal

21

EGND

G

24V ground signal

9

ALMC

O

Servo alarm clearing output

22

ERC

Clear servo error counter

10

EZ+

I

Z phase encoder signal (+)

23

EZ-

I

Z phase encoder signal (-)

11

EA+

I

A phase encoder signal (+)

24

EA-

I

A phase encoder signal (-)

12

EB+

I

B phase encoder signal (+)

25

EB-

I

B phase encoder signal (-)

13

FG G FG

Note: CN2 - CN5 correspond to the CN1 Axis 1 - Axis 4 control points respectively on the PCI-M324 servo

motion control card. Please refer to Section 2.5.1.

PCI-M324 User Guide Terminal Board

November, 2017 4-7

4

 DB-M324 CN6 pin definition diagram

Description of each DB-M324 CN6 pin:

Pin

Mark

Description

1

FG

FG

2

EGND

24V ground signal

3

24V

Power +24V

Terminal Board PCI-M324 User Guide

4-8 November, 2017

4

 DB-M324 CN7 / CN8 (Axis 1, 2) pin definition diagram

Description of each DB-M324 CN7 / CN8 pin:

Pin

Mark

I/O

Description

Pin

Mark

I/O

Description

1

ORG

I

1st origin position signal

9

DO

O

1

st

GPIO output

2

ORG

I

2nd origin position signal

10

DO

O

2

nd

GPIO output

3

SLD

I

1st deceleration point
signal

11

MEL

I

1st mechanical negative
limit signal

4

SLD

I

2nd deceleration point
signal

12

MEL

I

2nd mechanical negative
limit signal

5

RDY

I

1st servo ready

13

PEL

I

1st mechanical positive
limit signal

6

RDY

I

2nd servo ready

14

PEL

I

2nd mechanical positive
limit signal

7

DI I 1

st

GPIO input

15

EMG

I

Emergency stop input

8

DI I 2

nd

GPIO input

16

EGND

G

24V ground signal

Note:

1. GPIO is short for General Purpose Input / Output. The EMG of CN7 / CN8 is the same signal pin.

2. CN7 and CN8 correspond to the CN1 Axis 1 - Axis 4 control points respectively on the PCI-M324 servo

motion control card. Please refer to Section 2.5.1.

PCI-M324 User Guide Terminal Board

November, 2017 4-9

4

 DB-M324 CN9 pin definition diagram

Description of each DB-M324 CN9 pin:

Pin

Mark

Description

1

5VGND

DDA 5V ground signal

2

DDA5V

DDA 5V voltage output

Note: CN9: The DDA 5V voltage output source is from the PCI-M324 control card, I < 100 mA.

Limited to use as a reference point for 5V voltage comparison.

Terminal Board PCI-M324 User Guide

4-10 November, 2017

4

 Description of the DB-M324 LED

Item

Description

Power LED

24V power input indicator light

LED Array

The function definition of the LED signal indicator light is the same as the CN1
on the PCI-M324 servo motion control card. Please refer to Section 2.5.1.

November, 2017 5-1

Wiring

This chapter lists the standard wiring diagrams for the PCI-M324 motion control card
connected to various series of servo drives.

000

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

Wiring PCI-M324 User Guide

5-2 November, 2017

5

5.1 Terminal board wiring example

 Delta ASDA-A2 series servo drive

Delta ASDA-A2

38

29

46

40

21

22

25

23

50

24

10

7
6

28

27

1

HPulse
/HPulse

HSIGN

/HSIGN

OA

OA-

OB

OB­OZ+
OZ-

CCLR

SRDY+

SRDY-

ALRM+

ALRM­TPOS+

TPOS-

26

SON

ARST

9

33

0V

+24V

45,47,49

Break Coil

Table

Motor

MEL

PEL

ORG

SLD2

SLD1

GND

COM-

GND

COM+

44

11

NL(CWL)

PL(CCWL)

32

31

OUT+_1

OUT-_1

DIR+_1

DIR-_1

EA+_1

EA-_1
EB+_1

EB-_1

EZ+_1

EZ-_1

ERC_1

RDY_1

ALM_1

INP_1
SVON_1
RALM_1

45

46

43

44

29

30

31

32

33

34

22

12
14
13
21
23

PEL_1

MEL_1

SLD_1

ORG_1

5
4
7

6

EGND

EGND

E_24V

E_24V

2,20

52,70

1

51

EMG53,3

PCI-M324 Axis 1 connected to Delta ASDA-A2 series servo drive

PCI-M324 CN1

30

12,13

EMGS

PCI-M324 User Guide Wiring

November, 2017 5-3

5

 Delta ASDA-B2 series servo drive

Delta ASDA-B2

38
36
42
40
21
22

25

23

13

24

10

7

6

28

27

1

HPulse
/HPulse
HSIGN

/HSIGN

OA

OA-

OB

OB-

OZ+

OZ-

CCLR

SRDY+

SRDY-

ALRM+

ALRM-

TPOS+

TPOS-

26

SON

ARST

9

33

0V

+24V

45,47,49

Table

Motor

MEL

PEL

ORG

SLD2

SLD1

GND

COM-

GND

COM+

12,13

44
11

NL(CWL)
PL(CCWL)

32

31

OUT+_1

OUT-_1
DIR+_1

DIR-_1

EA+_1

EA-_1

EB+_1

EB-_1

EZ+_1

EZ-_1

ERC_1

RDY_1

ALM_1

INP_1

SVON_1

RALM_1

45
46
43
44
29
30

31

32

33

34

22

12

14

13

21

23

PEL_1

MEL_1

SLD_1

ORG_1

5

4

7

6

EGND

EGND

E_24V
E_24V

2,20

52,70

1

51

EMG53,3

PCI-M324 Axis 1 connected to Delta ASDA-B2 series servo drive

PCI-M324 CN1

EMGS

30

Wiring PCI-M324 User Guide

5-4 November, 2017

5

 Delta ASDA-A3 series servo drive

32

Delta ASDA-A3

43
41
36
37
21
22
25
23
50

24

10

7

6

28

27

1

Pulse

/Pulse

SIGN

/SIGN

OA

OA-

OB

OB­OZ+
OZ-

CCLR
SRDY+
SRDY­ALRM+
ALRM­TPOS+

TPOS-

26

SON

ARST

9

33

0V

+24V

45,47,49

Table

Motor

MEL

PEL

ORG

SLD2

SLD1

EMGS

GND

COM-

GND

COM+

13,19

44

11

NL(CWL)

PL(CCWL)

32
31

OUT+_1

OUT-_1

DIR+_1

DIR-_1

EA+_1

EA-_1

EB+_1

EB-_1

EZ+_1

EZ-_1

ERC_1

RDY_1

ALM_1

INP_1
SVON_1
RALM_1

45

46

43

44

29

30

31

32

33

34

22

12
14
13
21
23

PEL_1

MEL_1

SLD_1

ORG_1

5
4
7

6

EGND

EGND

E_24V

E_24V

2,20

52,70

1

51

EMG53,3

PCI-M324 Axis 1 connected to Delta ASDA-A3 series servo drive

PCI-M324 CN1

30

PCI-M324 User Guide Wiring

November, 2017 5-5

5

 Panasonic Minas A series servo drive

MINAS-CN I/F

(Panasonic)

3
4
5

6
21
22

48

49
23
24
30

35
34

37

36
39

PULS1

PULS2

SIGN1

SIGN2

OA+
OA-

OB+
OB­OZ+
OZ-

CL

S-RDY+

S-RDY-

ALM+

ALM-

COIN+

COIN- 38

SVR-ON

A-CLR

29

31

0V

+24V

41

Break Coil

Table

Motor

MEL

PEL

ORG

SLD2

SLD1

BRKOFF+

BRKOFF-

GND

COM-

GND

COM+

11

10

13

25

7

CWL

CCWL

8

9

OUT+_1

OUT-_1

DIR+_1

DIR-_1

EA+_1

EA-_1

EB+_1
EB-_1

EZ+_1

EZ-_1
ERC_1
RDY_1

ALM_1
INP_1

SVON_1

RALM_1

45

46

43

44

29

30
31
32
33
34
22
12
14
13
21

23

PEL_1

MEL_1

SLD_1

ORG_1

5

4

7

6

EGND

EGND

E_24V

E_24V

2,20

52,70

1

51

EMG53,3

PCI-M324 Axis 1 connected to Panasonic Minas A series servo drive

PCI-M324 CN1

Wiring PCI-M324 User Guide

5-6 November, 2017

5

 Mitsubishi J2S series servo drive

J2S-CN 1A

3

13

2

12

6

16

7

17

5

15

8

18

10

20

PP

PG

NP

NG

LA

LAR

LB

LBR

LZ

LZR

CR

0V

+24V

Table

Motor

MEL

PEL

ORG

SLD2

SLD1

INP

SG(0V)

SG(0V)

RD

COM(+ 24V) 9

19

J2S-CN1B

5

14

16

17

10

20

RES

LSP

LSN

SG

SG

18

SON

ALM

COM(+ 24V) 13

OUT+_1

OUT-_1

DIR+_1

DIR-_1

EA+_1

EA-_1

EB+_1

EB-_1

EZ+_1

EZ-_1

ERC_1

RDY_1

ALM_1

INP_1

SVON_1

RALM_1

45

46

43

44

29

30

31

32

33
34

22

12
14

13

21

23

PEL_1

MEL_1

SLD_1
ORG_1

5

4
7

6

EGND

EGND

E_24V

E_24V

2,20

52,70

1

51

EMG

53,3

PCI-M324 Axis 1 connected to Mitsubishi J2S series servo drive

PCI-M324 CN1

PCI-M324 User Guide Wiring

November, 2017 5-7

5

 Yaskawa SGDM Sigma II series servo drive

SGDM-CN 1

7

8
11
12
33
34
35

36
19
20
15

14

29

30

31

32

PULS

*PULS
SIGN

*SIGN

PAO

*PAO

PBO

*PBO

PCO

*PCO

CLR

25

26

40

0V

+24V

44

42

7

Break Coil

Table

Motor

MEL

PEL

ORG

SLD2

SLD1

/S-RDY+

/S-RDY-

ALM+

ALM-

/COIN+

/COIN-

/SVR-ON

/ALM-RST

/TGON+
/TGON-

*CLR

+24V-IN

47

P-OT

N-OT

43

27

28

+24V 0V

OUT+_1

OUT-_1

DIR+_1

DIR-_1

EA+_1

EA-_1

EB+_1

EB-_1

EZ+_1

EZ-_1

ERC_1

RDY_1

ALM_1

INP_1
SVON_1
RALM_1

45
46

47

48

29

30

31

32

33

34

22

12
14

13

21
23

PEL_1
MEL_1
SLD_1

ORG_1

4

5

6

7

EGND

EGND

E_24V

E_24V

2

20

2

52

R=4.7k

PCI-M324 Axis 1 connected to Yaskawa SGDM Sigma II series servo drive

PCI-M324 CN1

Wiring PCI-M324 User Guide

5-8 November, 2017

5

(This page is intentionally left blank.)

November, 2017 6-1

EzDMC Functions

EzDMC is a serial control tool to test the functionality of the serial connection. When
EzDMC is operating, the system monitors and automatically categorizes the connected
PCI-M324 motion control cards. You may use the listed cards to determine if the cards
are functioning properly and select each card for functional testing. The following
introduces how to operate the functions of EzDMC.

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

EzDMC Functions PCI-M324 User Guide

6-2 November, 2017

6

6.1 Introduction to EzDMC functions

As shown in Figure 6.1.1, once you launch EzDMC, the program screen as shown below
appears on your computer system. Please refer to the following table for the functions of
each block.

Figure 6.1.1

No.

Function

(1)

Function menu.

(2)

Tool bar for basic operating functions.

(3)

Area for displaying the main controller system and expansion module list.

(4)

Area for displaying the basic messages of expansion functions and operation control.
It operates in SDI mode which can display multiple relevant information dialog box.

(5)

Program status display area: area for displaying the connection status of the system (for
the DMC motion card).

(3)

(5)

(1)

(2)

(4)

PCI-M324 User Guide EzDMC Functions

November, 2017 6-3

6

6.2 Operate M324 functions with EzDMC

When the PCI-M324 card and connection modules (e.g. drive and motor) are set up,
please follow the procedures below to use EzDMC to test the connection:

1. Open EzDMC.

2. Find the PCI-M324 master card. (Refer to Section 6.3.)

3. Open the motion control screen.

4. Set the pulse output / input mode and I/O related settings. After making sure the settings are
correct, you can start the motion control.

6.3 Find PCI-M324 card

To find the PCI-M324 card, click Initial in the tool bar to scan the system as shown in Figure 6.3.1.
This defines the amount and configuration status of all PCI cards in the current host system.
When the search is complete, the device list displays the status of all found cards as well as the
amount and configuration of the master cards.

Figure 6.3.1

EzDMC Functions PCI-M324 User Guide

6-4 November, 2017

6

6.4 4-axis motion function control

After finding the M324 cards, select the card for operation (as shown in Figure 6.4.1),
and the operation screen for the 4-axis motion module is displayed (Figure 6.4.2).

Figure 6.4.1

Figure 6.4.2

No.

Item

Description

(1)

I/O Status

Display the current status of the M324 card using the ON /
OFF status signal.

(2)

Interface I/O Configuration

Pulse I/O Configuration

Interrupt Configuration

Interface I/O Configuration: I/O setting interface.
Pulse I/O Configuration: pulse setting interface.
Interrupt Configuration: interrupt setting interface.

(3)

Position / Velocity

Display each count value of the motion status, including
command, position, speed, motion status, etc.

(4)

Interrupt Status

Display the events and number of times that interrupt
occurred.

(5)

Operate Moving

Motion control buttons.

(6)

First / Second / Third Axis

Select the motion control axis.

(7)

Operate Mode

Set the motion operation mode, including point to point,
homing, constant velocity, etc.

(8)

Home_setting

When executing homing, you need to set the parameters,
homing mode, and the offset value when homing is
complete.

(9)

Operate Setting

Set the motion commands, including motion distance,
starting velocity, maximum velocity, and acceleration /
deceleration time.

(1)

(2)

(4)

(3)

(6)

(9)

(5)

(10)

(11)

(8)

(7)

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No.

Item

Description

(10)

Moving Mode

 Check [Repeat] to repeatedly execute clockwise and

counterclockwise motions.

 Check [S Curve] to set S-Curve acceleration /

deceleration; otherwise, T-Curve is used.

 Check [Abs] to use absolute motion; otherwise, relative

motion is used.

(11)

A Move Reference

Command: absolute motion follows the command counter.
Encoder: absolute motion follows the feedback counter

position.

After opening the main screen, you need to set the relevant settings before executing motion
control.

 Open the I/O related setting screen to set the signal logic, including ALM, INP, ELL, ORG, etc.

Click Interface I/O Configuration (Figure 6.4.3) on the M324 main screen to open the I/O
related setting screen (Figure 6.4.4).

Figure 6.4.3

Figure 6.4.4

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 Open the pulse I/O mode setting screen to set the relevant settings, i.e. AB Phase,

CW/CCW, PLS/DIR, then you can execute motion control.

Click Pulse I/O Configuration (Figure 6.4.5) on the M324 main screen to open the pulse
I/O mode setting screen (Figure 6.4.6).

Figure 6.4.5 Function buttons

Figure 6.4.6 Pulse I/O mode setting

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6.5 Function description of File and Simulation

1. Function to load / save configuration file

When you have completed the motion control, you can save the M324 motion control parameters
by using [File] > [Save Configuration_M324] in the function menu. When you open EzDMC the
next time, you can use [File] > [Load Configuration_M324] in the function menu to load the set
motion control parameters to EzDMC, and execute the motion control of this configuration.
Please refer to Figure 6.5.1 for the function menu as described above.

Figure 6.5.1 Function to load / save configuration file

2. Interrupt Configuration function page

Click Interrupt Configuration (Figure 6.5.2) on the M324 main screen to operate the interrupt
function. Once you click this button, the [Interrupt Configuration] setting screen (Figure 6.5.3)
pops up. Check the conditions for interruption and when the conditions are met, interruption
occurs and enters the callback function, and the [Interrupt Status] screen shows the number of
times that interruption occurred (Figure 6.5.4).

Figure 6.5.2 Function buttons

Figure 6.5.3 Interrupt Configuration setting page

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Figure 6.5.4 Number of times that interruption occurred

3. Speed / position curve page

You can open the speed and position simulation screen by clicking [Simulation] >
[Drawspeed_M324] and [DrawsPos_M324] in the function menu. As shown in Figure 6.5.6 and
Figure 6.5.7, these are the simulation images for the helical motion speed and position. After you
select the [CardNo] and [Axis], click Start, and the motion image is displayed when the motion
control card starts the movement.

Figure 6.5.5 Speed / position curve selection function

Figure 6.5.6 Position simulation image

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Figure 6.5.7 Speed simulation image

4. CMP setting screen

You can open the CMP setting screen (Figure 6.5.9) by clicking [Option] > [M324_Compare]
in the function menu. To output the trigger signal when in motion, set the CMP start position,
end position, and interval.

Figure 6.5.8 Open the position comparison setting screen

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Figure 6.5.9 Position comparison function setting screen

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Revision History

Release date

Version

Chapter

Revision contents

November, 2017

V1.0

(First edition)

Revision History PCI-M324 User Guide

2 November, 2017

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