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I-8094
Getting Started Manual
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ICPDAS I-8094, I-8094F Getting Started Manual

I-8094 and I-8094F Getting Started
Manual
(Version 2.3)
Hardware & Software & Application
Using I-8094/I-8094F PAC Motion Control Module
1
Warranty
All products manufactured by ICPDAS Inc. are warranted against defective materials for a period of one year from the date of delivery to the original purchaser.
Warning
ICPDAS Inc. assumes no liability for damages consequent to the use of this product. ICPDAS Inc. reserves the right to change this manual at any time without notice. The information furnished by ICPDAS Inc. is believed to be accurate and reliable. However, no responsibility is assumed by ICPDAS Inc. for its use, or for any infringements of patents or other rights of third parties resulting from its use.
Copyright
Copyright 1997-2005 by ICPDAS Inc., LTD. All rights reserved worldwide.
Trademark
The names used for identification only maybe registered trademarks of their respective companies.
License
The user can use, modify and backup this software on a single machine. The user may not reproduce, transfer or distribute this software, or any copy, in whole or in part.
2
Contents of I8094/I8094F
1 INTRODUCTION...............................................................7
1.1 Introduction................................................................................................7
1.2 Hardware Specification .............................................................................8
1.2.1 Main Specification..................................................................................... 8
1.2.2 Interpolation Function ............................................................................... 8
1.2.3 Pulse Output............................................................................................. 8
1.2.4 Encoder Input ........................................................................................... 9
1.2.5 Position counter........................................................................................ 9
1.2.6 Auto-Homing............................................................................................. 9
1.2.7 Servo Motor Input Signal .......................................................................... 9
1.2.8 Limit Switch Input Signal......................................................................... 10
1.2.9 Other Input Signals ................................................................................. 10
1.2.10 Emergency Stop Signal Input ............................................................... 10
1.2.11 General Output Signal .......................................................................... 10
1.2.12 Integral Input Signal Filters ................................................................... 10
1.2.13 Software Limit....................................................................................... 10
1.2.14 Manual Pulse Generator....................................................................... 10
1.2.15 LED for Module status .......................................................................... 10
1.2.16 FRnet (i8094F only) .............................................................................. 10
1.3 Environment .............................................................................................11
1.4 Ordering Information..............................................................................11
2 HARDWARE INSTALLATION......................................12
2.1 Checking Package and Installation ........................................................12
2.1.1 Checking package .................................................................................. 12
2.1.2 Installation .............................................................................................. 12
2.2 DN-8468G Terminal Board......................................................................15
2.2.1 Board Layout for DN-8468G ................................................................... 15
2.2.2 Signal Connections for DN-8468G.......................................................... 15
2.2.3 Jumper and Switch Settings ................................................................... 22
2.3 Input/Output Connections.......................................................................24
2.3.1 Pulse output signals................................................................................ 24
2.3.2 Connection for Limit switch Signal.......................................................... 25
2.3.3 General Purpose Input Signals(nINPOS,nALARM) ................................ 26
3
2.3.4 Encoder Signals ..................................................................................... 26
2.3.5 Emergency Stop Signal .......................................................................... 27
2.3.6 Manual Pulse Generator Input Signal (EXP+,EXP-) ............................... 27
2.3.7 General Purpose Output signals(Servo On/Off)...................................... 28
2.4 Connection Example for Motor Driver..................................................29
3 SOFTWARE DEVELOPMENT OVERVIEW ..............30
3.1 Software development Overview............................................................30
3.1.1 Register Module ..................................................................................... 31
3.2 Safety IO Setting.......................................................................................31
3.2.1 Emergency Stop Signal Input ................................................................. 31
3.2.2 Configure the Servo ALARM Signals...................................................... 31
3.2.3 Configure the Limit Switch Signals(±EL)................................................. 31
3.2.4 Configure the Software Limite(±SEL) ..................................................... 32
3.3 Error Checking.........................................................................................32
3.4 Basic Configuration of Motion................................................................32
3.5 Manual Pulse Generator Testing ............................................................33
3.6 Home Search.............................................................................................34
3.6.1 Home Search Configuration ................................................................... 34
3.6.2 Running the Home Search ..................................................................... 35
3.7 Basic Motion .............................................................................................36
3.7.1 Speed Profie of the Motion Control......................................................... 36
3.7.2 Basic Setting of Single Axis .................................................................... 37
3.7.3 Basic Motion of Single Axis..................................................................... 38
3.7.4 Basic Setting of Muti-Axes Interpolation ................................................. 38
3.7.5 Basic Motion of Muti-Axes Interpolation.................................................. 39
3.8 Advance Motion........................................................................................40
3.9 Synchronization Action............................................................................40
4 GETTING STARTED OF SOFTWARE.........................41
4.1 WinCon eVC++ Guideline.......................................................................41
4.1.1 Confirm the Relative Files....................................................................... 41
4.1.2 Create a new eVC++ Application Project................................................ 41
4.1.3 Add the I8094.h into eVC++ Application Project ..................................... 43
4.1.4 Add the Reference Path into eVC++ Application Project ........................ 44
4.1.5 Start the eVC++ Sample ......................................................................... 45
4.1.6 Build the Project ..................................................................................... 48
4
4.1.7 Download and Run ................................................................................. 49
4.2 Microsoft Visual Studio .NET 2003(VB.NET，C#) Guideline ............50
4.2.1 Confirm the Relative Files....................................................................... 50
4.2.2 Create a new VB.NET/C# Application Project ........................................ 50
4.2.3 Add the DLL into Application Project....................................................... 52
4.2.4 Start the VB.NET/C# Sample.................................................................. 54
4.2.5 Build the Project ..................................................................................... 56
4.2.6 Download and Run ................................................................................. 56
4.3 I-8000 Turbo C Guideine.........................................................................57
4.3.1 Confirm the Relative Files....................................................................... 57
4.3.2 Create a new TC ++ Application Project ................................................. 57
4.3.3 Start the TC Sample ............................................................................... 59
4.3.4 Build the Project ..................................................................................... 65
4.3.6 Download and Run ................................................................................. 65
APPENDIX-A SETUP TOOLS & OTHERS.....................67
A.1 Setup the Development Environment of I8094.....................................67
A.1.1 eVC ++ 4.0 ............................................................................................. 67
A.1.2 Visual Studio .NET 2003(VB.NET，C#) ................................................. 67
A.1.3 Turbo C .................................................................................................. 67
A.2 I8094 Surface ...........................................................................................68
A.3 Dimensions ...............................................................................................69
A.4 The Version Upgrades Note....................................................................70
APPENDIX-B OTHERS TERMINAL BOARDS.............71
B.1 DN-8468M Daughter Board....................................................................71
B.1.1 Board Layout for DN-8468M .................................................................. 71
B.1.2 Signal Connections for DN-8468M......................................................... 72
B.1.3 Jumper and Switch Settings................................................................... 76
B.2 DN-8468P Daughter Board.....................................................................78
B.2.1 Board Layout for DN-8468P ................................................................... 78
B.2.2 Signal Connections for DN-8468P.......................................................... 79
B.2.3 Jumper and Switch Settings................................................................... 83
B.3 DN-8486Y Daughter Board.....................................................................85
B.3.1 Board Layout for DN-8468Y ................................................................... 85
B.3.2 Signal Connections for DN-8468Y.......................................................... 86
5
B.3.3 Jumper and Switch Settings................................................................... 90
B.4 DN-8468D Daughter Board ....................................................................92
B4.1 Board Layout for DN-8468D.................................................................... 92
B4.2 Signal Connections for DN-8468D .......................................................... 94
B4.3 Jumper and Switch Settings.................................................................. 102
6

1 INTRODUCTION

1.1 Introduction

The I-8094 and I-8094F are the 4-axes pulse-type stepping/servo motor motion
control module that can be used on any of the ICPDAS I-8000 and WinCon series
controllers, and is suitable for general-purpose motion application. These modules
contain a high-performance motion ASIC. Apart from a wide speed range, these
intelligent motion controllers have a variety of motion control functions built in, such as
2~3-axes linear interpolation, 2-axes circular interpolation, T/S-curve
acceleration/deceleration, various synchronous actions, automatic homing, and others.
Besides, it is a module that has full functions of I-8094F plus one port of FRnet. The
FRnet port allows this module to expand its fast remote I/O easily. This two-wired FRnet
can automatically scan its 128 DI and 128 DO with a period of 0.72/2.88ms. In addition,
most of the I-8094 and I-8094F motion control functions are performed with little load on
the processor. While driving the motors, the motion status, and the other I/O status on
the I-8000 or WinCon controllers, can still be monitored. As a result of the low CPU
loading requirements of I-8094 and I-8094F, one or more motion modules may be used
on a single I-8000 or WinCon controllers. ICPDAS also has provided a wide range of
functions and examples to reduce the need for programming by user, making it a highly
cost-effective solution for machine makers.
I8094 with PAC controller (WinCon-8000 and I-8000)
7

1.2 Hardware Specification

1.2.1 Main Specification

ASIC Chip MCX314As
Number of controllable 4-Axes, Pulse output (stepping & servo
motor)
Up to 4M PPS pulse output

1.2.2 Interpolation Function

2-axes & 3-axes linear interpolation
Interpolation range −2,147,483,646 ~ +2,147,483,646
Vectors speed of interpolation 1 PPS ~ 4M PPS
Precision of interpolation ± 0.5 LSB
Circular interpolation
Interpolation range −2,147,483,646 ~ +2,147,483,646
Vectors Speed of interpolation 1 PPS ~ 4M PPS
Relative interpolation function
Any 2-axes or 3-axes interpolation
Fixed vectors speed
Continuous interpolation

1.2.3 Pulse Output

Output speed range 1 PPS ~ 4 MPPS
Output precision ± 0.1%
Jerk range of S-curve 954 ~ 62.5 x 10^6 PPS/S^2
477 x 10^3 ~ 31.25 x 10^9 PPS/S^2
Acceleration/deceleration range 125 ~ 1 x 10^6 PPS/S
62.5×10^3 ~ 500 x 10^6 PPS/S
Speed precision 1 PPS ~ 500PPS( Depend on the
max.speed)
Output numbers 0 ~ 4,294,967,295 / unlimited
Velocity profiles mode:
Fixed Symmetrical & Asymmetrical Trapezoidal velocity profile Symmetrical & Asymmetrical S-curve velocity profile
8
Acceleration & Deceleration mode
Auto By user define
Position & Speed change on the fly
Fixed pulse output by Trapezoidal and S-curve velocity profile
Pulse output option: CW/CCW, PULSE/DIR
Programmable logic level （Rising Edge/ Falling Edge）

1.2.4 Encoder Input

Encoder option: A/B phase, Up/Down
Programmable A/B phase mode: 1, 1/2, and 1/4 A/B phase

1.2.5 Position counter

Command counter range −2,147,483,648 ~ +2,147,483,647
Encoder counter range −2,147,483,648 ~ +2,147,483,647
Programmable ring counter
Programmable direction of counter
Using DI(IN3) to Clear feedback counter
Programmable read & write counter

1.2.6 Auto-Homing

Four Steps
Step 1 ( High-speed ”Near Home” searching) Step 2 ( Low-speed ”Home” searching) Step 3 ( Low-speed Index Z searching) Step 4 ( High-speed offset drive)
Even though there are only 4 steps of the home searching, but user can vary
the operations into over 10 homing modes by software function since its
configurable action and direction of each step.

1.2.7 Servo Motor Input Signal

Alarm
Choose IN2: In Position or Servo Ready signal
Choose input signal: Enable/Disable and logical level.
9

1.2.8 Limit Switch Input Signal

Two-limit switch signal for each axis: +Limit, −Limit
Programmable logic level
Programmable action mode( slow-down stop or immediately stop)

1.2.9 Other Input Signals

IN3 : other purpose, as a trigger of synchronal control……

1.2.10 Emergency Stop Signal Input

There is a Emergency stop signal for Each module.

1.2.11 General Output Signal

The Servo-on signal (nOUT1) can be used as servo-on control or general
purpose output signal for each axis.

1.2.12 Integral Input Signal Filters

The motion module is equipped with an integral type filter in the input step of
each input signal. User can be selected a filter time constant.

1.2.13 Software Limit

There are two software-limit for each axis: -SLimit & + SLimit ( Setting range :
−2,147,483,646 ~ +2,147,483,646)

1.2.14 Manual Pulse Generator

Fixed Pulse Driving Mode (CW/CCW pulse mode)
Continuous Pulse Driving Mode (CW/CCW pulse mode)
Manual pulsar mode(A/B phase pulse mode)
Disable Mode: Disable manual pulse function

1.2.15 LED for Module status

Red LED Æ Power light
Orange LED Æ Servo Alarm
Ex:Misuibishi driver, No Alm: turn Orange LED on
Green LED Æ during Running Motion

1.2.16 FRnet (i8094F only)

Connect to the distributed DI/DO module DI Æ max up to 128
10
DO Æ max up to 128
Read the status of distributed DI
Control the status of distributed DO
Support interrupt and frequence division function
Reset function

1.3 Environment

Operating Temp: -20 ~ + 75°C
Storage Temp: -30 ~ +85°C
Operating Humidity: 10 ~ 85%，non-condensing
Storage Humidity: 5 ~ 90%，non-condensing
I/O optically isolated 2500Vrms
External Power supply( Input): 24V DC (connect to terminal board)

1.4 Ordering Information

I-8000、W-8000 PAC controllers
i8094 4-axes motion control module
DN-8468GB For general purpose usage
DN-8468MB For Mitsubishi Servo motor
DN-8468PB For Panasonic servo motor
DN-8468DB For Detal servo motor
CA-SCSI15 68-pin SCSI-II cable，length:1.5 m
11

2 HARDWARE INSTALLATION

2.1 Checking Package and Installation

2.1.1 Checking package

The i8094 and i8094F are a 4-axes stepping/servo motor control module that can
be used on any of the ICPDAS I-8000 and WinCon series controllers. The base system
package is as below list:
I-8000、W-8000 Embedded PAC control system series(Two systems choose
one)
i8094/i8094F-G/S includes the following item
i8094/i8094F 4-axes motion module
DN-8468 Terminal board for i8094 and i8094F
CA-SCSI15 68-pin SCSI-II cable，length:1.5 m

2.1.2 Installation

Prepare controller
1. Choose a PAC controller of ICPDAS (I-8000 or W-8000series) and have empty
slot.
2. Turn power off
Module Plug in controller and wiring
1. Plug in the i8094/i8094F into a empty slot of I-8000/W-8000.
2. Connect the i8094/i8094F with DN-8468G by a CA-SCSI15 cable, as the below
figure:
12
13
Figure. i8094 with PAC controller (WinCon-8000 and I-8000)
14

2.2 DN-8468G Terminal Board

The DN-8468 is the terminal board for general purpose amplifier usage. It has 4-axis I/O signals.

2.2.1 Board Layout for DN-8468G

107mm
CON6
CON2CON4
EMG
SW
JP5 JP6
JP8
JP9
RJ1
JP7
JP11
JP10
X Y
162mm
Z U
JP13
JP12
DN-8468G
Fig. 2.0 Board layout for the DN-8468G
CON1
68 PIN SCSI
JP15
JP14
TB2
CON3CON5

2.2.2 Signal Connections for DN-8468G

Maintaining signal connections is one of the most important factors in ensuring that your
application system is sending and receiving data correctly.
Pin Assignment for CON1
The I/O connector on the DN-8468G is a 68-pin SCSI II connector that enables you to connect to
the I8094/I8094F motion modue. Fig. 2.1 shows the pin assignment for the 68-pin I/O connector
on the DN-8468G (or on the PISO-PS400), and refer to Table 2.1, 2.2 for description of each
motion I/O signal.
15
Fig. 2.1 I/O connector pin assignment for the CON1
16
Table 2.1 DN-8468G I/O connector signal description (part 1)
Pin name Pin number Description
XECA 1 Encoder A-phase signal for X axis YECA 36 Encoder A-phase signal for Y axis ZECA 33 Encoder A-phase signal for Z axis UECA 68 Encoder A-phase signal for U axis XECB 2 Encoder B-Phase signal for X axis YECB 37 Encoder B-Phase signal for Y axis ZECB 32 Encoder B-Phase signal for Z axis
UECB 67 Encoder B-Phase signal for U axis XINPOS 3 In-position signal for X axis YINPOS 38 In-position signal for Y axis ZINPOS 31 In-position signal for Z axis UINPOS 66 In-position signal for U axis
XALARM 4 Alarm signal for X axis YALARM 39 Alarm signal for Y axis ZALARM 30 Alarm signal for Z axis UALARM 65 Alarm signal for U axis
XLMTP 5 Limit switch input signal (+) for X axis YLMTP 40 Limit switch input signal (+) for Y axis ZLMTP 29 Limit switch input signal (+) for Z axis
ULMTP 64 Limit switch input signal (+) for U axis XLMTM 6 Limit switch input signal (-) for X axis YLMTM 41 Limit switch input signal (-) for Y axis ZLMTM 28 Limit switch input signal (-) for Z axis ULMTM 63 Limit switch input signal (-) for U axis
XIN3 7 Input 3 signal for X axis YIN3 42 Input 3 signal for Y axis ZIN3 27 Input 3 signal for Z axis UIN3 62 Input 3 signal for U axis XIN2 8 Input 2 signal for X axis XIN2 43 Input 2 signal for Y axis XIN2 26 Input 2 signal for Z axis XIN2 61 Input 2 signal for U axis XIN1 9 Input 1 signal for X axis YIN1 44 Input 1 signal for Y axis ZIN1 25 Input 1 signal for Z axis UIN1 60 Input 1 signal for U axis XIN0 10 Input 0 signal for X axis YIN0 45 Input 0 signal for Y axis ZIN0 24 Input 0 signal for Z axis UIN0 59 Input 0 signal for U axis
17
Table 2.2 DN-8468G I/O connector signal description (part 2)
Pin name Pin number Description
XEXPP 11 EXT pulsar input signal (+) for X axis YEXPP 46 EXT pulsar input signal (+) for Y axis ZEXPP 23 EXT pulsar input signal (+) for Z axis
UEXPP 58 EXT pulsar input signal (+) for U axis XEXPM 12 EXT pulsar input signal (-) for X axis YEXPM 47 EXT pulsar input signal (-) for Y axis ZEXPM 22 EXT pulsar input signal (-) for Z axis UEXPM 57 EXT pulsar input signal (-) for U axis
XDRIVE 13 Driver enable signal for X axis YDRIVE 48 Driver enable signal for Y axis ZDRIVE 21 Driver enable signal for Z axis UDRIVE 56 Driver enable signal for U axis
XPP 14 Driving pulsar signal (+) for X axis YPP 49 Driving pulsar signal (+) for Y axis ZPP 20 Driving pulsar signal (+) for Z axis
UPP 55 Driving pulsar signal (+) for U axis XPM 15 Driving pulsar signal (+) for X axis YPM 50 Driving pulsar signal (+) for Y axis ZPM 19 Driving pulsar signal (+) for Z axis UPM 54 Driving pulsar signal (+) for U axis
XOUT1 16 Output 1 signal for X axis YOUT1 48 Output 1 signal for Y axis ZOUT1 21 Output 1 signal for Z axis
UOUT1 56 Output 1 signal for U axis
EXPLSN1 17 EXT pulse input signal for interpolation
EMGN1 52 Emergency stop input signal
FrnetA 16 FRnet port A FrnetB 18 FRnet port B
XDCC 51 Deviation Counter Clear for X axis YDCC 53 Deviation Counter Clear for Y axis
GND 34 Ground VCC 35 External power (12~24V)
18
CON2 ~ CON5 (I/O connector for each AXIS)
The connectors CON2 ~ CON5 are 20-pin connectors that enable you to connect to the I/O
signals for general purpose motor drivers. Fig. 2.2 shows the pin assignment for the 20-pin
connector on the DN-8468G, and the Table 2.3 shows its I/O connector signal description.
19
CON6
The connector CON6 is 16-pin connector that enables you to connect to the signals of your
motor drivers. The FRnet connectors, FR-A and FR-B, can be used to serially connect a I/O
module of FRnet series, as FR-2053,FR-2057…. The more information, please refer to
web-site of ICPDAS :
http://www.icpdas.com/products/Remote_IO/frnet/frnet_introduction.htm
Fig.2.3 shows the pin assignment for the 16-pin connector on the DN-8468G, and the Table 2.4
shows its I/O connector signal description.
20
TB2
The connector TB2 is 5-pin connector that enables you to connect to the signals of your
motor drivers. Fig.2.4 shows the pin assignment for the 5-pin connector on the DN-8468G, and
the Table 2.5 shows its I/O connector signal description.
RJ1 (The I/O signals of the FRnet)
The connectors RJ1 is an 8-pin RJ45 connector that enable you to connect to the signals of
FRnet. The FRnet connectors, FR-A and FR-B, can be used to serially connect a I/O module of
FRnet series, as FR-2053,FR-2057…. The more information, please refer to web-site of
ICPDAS:
http://www.icpdas.com/products/Remote_IO/frnet/frnet_introduction.htm
Fig.2.5shows the pin assignment for the 8-pin connector on the DN-8468G, and the Table 2.6
shows its I/O connector signal description.
21

2.2.3 Jumper and Switch Settings

JP7
Jumper 7 controls the EMG-A signal of the CON6 connector. The following diagram is shown the
selection condition of the jumper 7.
Fig. 2.6 Jumper 7 setting
JP8/9, JP10/11, JP12/13, JP14/15
The Jumper8~15 are used to set the signal type of the pulse output signals. The output signal
type could be differential line driver output or open collector output. The JP8 ~JP9 are set XPP、
XPM for X-axis(CON1), JP10 ~JP11 are for Y-axis, JP12 ~JP13 are for Z-axis and JP14 ~JP15
are for U-axis. The 2-3 Pin short is the differential line driver mode. The 1-2 Pin short is the Open
Collector mode, as below example
22
EMG SW
The emergency stop signal for each servo ampilfier can be selected from EMG SW. The
number 1, 2 , 3, 4 on EMG SW are denoted as axis X, Y, Z, U, respectively. Fig. 2.7 is the
default setting to connect the EMG singals to GND. The EMG signals from CN1 ~ CN4 will not
take effect. If the switch is disconnected as shown in Fig. 2.8, the emergency stop signals can
be controlled from EMG signals in CON6.
Fig. 2.7 EMG SW setting for normally GND (Default setting)
Fig. 2.8 EMG SW setting for user controlled signals.
23

2.3 Input/Output Connections

The signal connections of all the I/O signals are described in this chapter. Please refer
the contents of this chapter befor wiring the cable between the i8094/i8094F and the
motor drivers.

2.3.1 Pulse output signals

There are 4-axes pulse output signals on I8094/I8094F, For every axis, two pairs of CW
and CCW signals are used to send the pulse train. The CW and CCW signals can also
be programmed as PULSE and DIR signals pait.
Differential-Type and Open-Collector Type, can be selected from JP8/9, JP10/11, JP12/13, and
JP14/15 and are described in section 2.2.3.
The following wiring diagram is for the CW and
Two types of the pulse output signal,
CCW signals of the 4-axes.
Fig. 2.8 Differential-Type pulse output circuit
Fig. 2.9 The wiring is open collector output
Example: wiring of pulse signal
Two types of pulse output signal, Differential-Type and Open-Collector Type, can be
selected from JP8/9, JP10/11, JP12/13, and JP14/15 for each axis. The following wiring
diagram is an example to select pulse type of the output signal.
Fig. 2.10 Output pulse example
24
Pulse/Direction Pulse Output Mode:
In Pulse/Direction pulse output mode, the PULSE signal is output only at Pulse pins (P+,
P-). The driving direction is decided from the electric potential of Direction pins (N+, N-).
The following diagram is example signal of Pulse/Direction pulse output mode.
Positive Command Negative Command
CW/CCW Pulse Output Mode:
In CW/CCW pulse output mode, the PULSE signal is output at both CW pins (P+, P-)
and CCW pins(N+, N-). At the same time, the driving direction is determined directly.
The following diagram is example signal of CW/CCW pulse output mode.
P±
N±
P±
N±
Positive Command
Negative Command

2.3.2 Connection for Limit switch Signal

Limit Switch Signal can prevent the over traveling appearance of the motion system.
User can set the hardware limit switch signal to be normal open or normal close by the
software instruction in I8094/I8094F software manual. The following figure indicates
that the photo couplers are used to keep out the sensor noise of the Limit Switch.
Fig. 2.11 Limit switch signal circuit
25

2.3.3 General Purpose Input Signals(nINPOS,nALARM)

INPOS is a digital input signal to indicate the In-Position signal of the driver. User can
enable or disable the signal from the software instruction in I8094/I8094F software
manual.
ALARM is a digital input signal to indicate the servo alarm signal of the driver. The
output pulse will be stop if PISO-PS400 receives the ALARM signal. User can enable
or disable the signal from the software instruction in I8094/I8094F software manual.
Fig. 2.12 General Digital Input circuit

2.3.4 Encoder Signals

The following diagram is for Differential-Type encoder signals. Connect the Phase A signal to A+ and A- pins and connect Phase B signal to B+ and B- pins. After the high speed photo coupler isolation, the isolated encoder signals are connected to motion IC.
Fig. 2.13 Encoder signal connection
26

2.3.5 Emergency Stop Signal

The following diagram is for Emergency STOP signal. If the emergency signal is occurred, the output pulse for all axes will be STOP and the error flag will be set as 1. After the photo coupler isolation, the isolated emergency signal is connected to motion IC.
Fig. 2.14 Emergency Stop Signal connection

2.3.6 Manual Pulse Generator Input Signal (EXP+,EXP-)

The signals, EXP+ and EXP-, are used for manual pulsar signals. The following diagram is an example connection for the external inputs. User can set the signals as fixed pulse CW/CCW mode, continuous pulse CW/CCW mode, or A/B phase manual pulsar mode by using the setting in section 3.5.
Fig. 2.15 EXP+/- connection diagram
27

2.3.7 General Purpose Output signals(Servo On/Off)

The following diagram is a digital output signal for driver Servo On/Off signal. The
output signal enable or disable the driver.
Fig. 2.16 Servo On/Off signal connection diagram
28

2.4 Connection Example for Motor Driver

The following diagram is the connection example between MITSUBISH MR-J2S AC servo driver
and the extension boardDN-8468G.
Fig. 2.17 The connection between MR-J2S AC servo driver and DN-8468G extension board.
29

3 Software Development Overview

3.1 Software development Overview

Please refer to the demo_start sample
30
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