JS Automation Corp MPC-3004 User Manual

MPC-3004

4 Axes Positioning card

User ’s Manual (V1.4)

健昇科技股份有限公司

JS AUTOMATION CORP.

台北縣汐止市㆗興路

100號6

樓

6F,NO.100,CHUNG-SHIN RD.

SHI-TSU,TAIPEI,TAIWAN,R.O.C.

TEL：[phone]

FAX：[phone]
http://www.automation.com.tw

E-mail：[e-mail]

[e-mail]

Export: [e-mail]

1 1

CONTENTS

1. FORWARD ........................................................................................................................................2

2. PACKING LIST................................................................................................................................2

3. FEATURES........................................................................................................................................3

4. SPECIFICATIONS...........................................................................................................................4

4.1 MPC-3004 MAIN CARD ...........................................................................................................4

4.2 MPC DIN RAIL MOUNTED WIRING BOARD......................................................................4

5. LAYOUT............................................................................................................................................5

5.1 MPC-3004 MAIN CARD LAYOUT .......................................................................................5

5.2 DIN RAIL MOUNTED WIRING BOARD LAYOUT ..............................................................5

6. PIN DEFINITIONS...........................................................................................................................6

6.1

CONNECTOR FRONT VIEW ................................................................................................. 6

6.2 PIN DEFINITIONS.....................................................................................................................6

7. I/O INTERFACE DIAGRAM..........................................................................................................7

7.1 WIRING BOARD INPUT DIAGRAM...................................................................................... 7

7.2 WIRING BOARD OUTPUT DIAGRAM..................................................................................7

7.3 MPC-3004 PULSE DRIVING METHOD FOR SINGLE END INPUT:

..................................8

7.4 PULSE DRIVING METHOD FOR DIFFERENTIAL INPUT:

...............................................8

8. EXTERNAL WIRING DIAGRAM.................................................................................................9

9. HARDWARE SETTINGS.............................................................................................................. 10

9.1 CARD ID SETTING.................................................................................................................10

9.2 SINGLE/DUAL PULSE MODE SETTING

............................................................................10

10. HOW TO USE DOS DEMO PROGRAM .................................................................................... 11

11. APPLICATIONS.............................................................................................................................12

12. DIMENSIONS.................................................................................................................................13

12.1 MAIN CARD DIMENSION.....................................................................................................13

12.2 DIN RAIL MOUNTED WIRING BOARD..............................................................................13

13. ORDER INFORMATION..............................................................................................................14

14. LAYOUT(OLD)...............................................................................................................................15

14.1 MPC-3004 MAIN CARD LAYOUT .....................................................................................15

14.2 DIN RAIL MOUNTED WIRING BOARD LAYOUT ............................................................15

15. I/O INTERFACE DIAGRAM (OLD)............................................................................................16

15.1 INPUT DIAGRAM...................................................................................................................16

15.2 OUTPUT DIAGRAM...............................................................................................................16

15.3 WIRING BOARD INPUT DIAGRAM.................................................................................... 16

15.4 WIRING BOARD OUTPUT DIAGRAM................................................................................16

16. DIMENSIONS(OLD)......................................................................................................................17

16.1 MAIN CARD DIMENSION.....................................................................................................17

2 2

1. FORWARD

MPC3004 is a PCI bus point to point 4 axes motion control card, which is DSP based design with the
FPGA technology de ve loped by JS Automation Corp.

Owing to the high performance of DSP we call this card “Intelligent card”, MPC3004 consumes less CPU
resource and give s a better performance than other dumm y cards.

The practical application consideration makes this card easy to use and easy to wire, the security function
also provides the system integrator a protection of illega l copy of firmware.

other motion control card:
MPC-2004 4 axes point to point motion control card (ISA bus)

Any comment is welcome,
please visit our website:

www.automation.com.tw

for the up to date informations.

2. PACKING LIST

2.1 MPC-3004 4 AXES POSITIONING CARD 1

2.2 DEMO CD 1

2.3 SCSI 50P CABLE 150CM.(OPTION 300CM) 1

2.4 DIN RAIL MOUNTED WIRING BOARD 1

2.5 ACCESSORY 1

3 3

3. FEATURES

3.1 PCI plug and play function with card ID for 16 identical cards

3.2 On board DSP processor performs multi-task controls with PC’s CPU

3.3 On board FPGA deal with real time servo control

3.4 Design with high pulse rate and good accuracy of acceleration

3.5 Software key (password) protects user’s know-how

3.6 Software limit switch blocks safe area (space)

3.7 Photo-coupler isolated general I/O and limit switch circuit

3.8 Backlash compensation to compensate tolerance on moving parts

3.9 Separate parameters setting for Homing and positioning function

3.10 Multiple programmable Homing modes

3.11 Programmable polarity and enable/disable function to fit different kinds of limit
switch

3.12 Absolute and relative positioning mode

3.13 Two stop modes included halt and deceleration to stop

3.14 Software programmable parameter setting for load_current_position

3.15 Scale ratio formula for real distance programming (pulse count implied)

3.16 Hardware selectable single or dual pulse mode

4 4

4. SPECIFICATIONS

4.1 MPC-3004 MAIN CARD

4.1.1 Input photo-coupler isolation voltage ― 2500Vac 1Min

4.1.2 Data width ― 32 Bits

4.1.3 Control axes ― 4

4.1.4 Card ID ― 4 bits

4.1.5 Specific input ― 3 (LS+, LS-, Home) per axis with photo-coupler

4.1.6 General input ― 8 with photo-coupler

4.1.7 General output ― 8 with photo-coupler and relay contact “a”

4.1.8 Maximum length setting ― 24 Bits (e.g. 16, 777, 215 unit length)

4.1.9 Arithmetic calculation ― 32 Bits

4.1.10 Max. speed of driving pulse ― 1Mhz

4.1.11 Max. acceleration rate ― 4Mhz/sec

4.1.12 Frequency deviation ― ± 0.005% of driving pulse

4.1.13 Max. working distance ― 32 Bits (e.g. ± 2,147,483,647 unit length)

4.1.14 Timer setting range ― 0-60,000ms circulating

4.1.15 I/O connector ― mini SCSI female 50 pins between wiring boards

4.1.16 Connector type ― plugable connector

4.1.17 External supply ― DC 24V±4V

4.1.18 Operation temp ― 0 to 70° C

4.1.19 Operation humidity ― RH5~95%, non-condensing

4.1.20 Dimension ― 178(W)*115(H)mm, 7.0(W)*4.53(H)in

4.2 MPC DIN RAIL MOUNTED WIRING BOARD

4.2.1 External supply ― DC 24V±4V

4.2.2 On board build-in s.p.s. ― DC+5V 500ma (max)

4.2.3 Operation temp ― 0 to 70° C

4.2.4 General input LED ― 8

4.2.5 General output ― 8 power MOS (1A 120V DC) with LED

4.2.6 Specific I/O LED ― 20

4.2.7 Specific servo control connector ― 4 D-type 9 pin connector

4.2.8 Operation humidity ― RH5~95%, non-condensing

4.2.9 Dimension ― 200(W)*72(H)mm, 7.87(W)*2.83(H)in

5 5

5. LAYOUT

5.1 MPC-3004 MAIN CARD LAYOUT

Card ID CLK select DIP-SW
DIP switch (Single/Dual pulse mode)

5.2 DIN RAIL MOUNTED WIRING BOARD LAYOUT

6 6

6. PIN DEFINITIONS

6.1 CONNECTOR FRONT VIEW

6.2 PIN DEFINITIONS

Pin

No.

Descriptions

Pin
No.

Descriptions

1

+24V (External supplied DC/24V power
input)

26

GND (common terminal for +24V，+5V,
I/P，O/P)

2

+24V (External supplied DC/24V power
input)

27

GND (common terminal for +24V，+5V,
I/P，O/P)

3

+5V (DC/5V output,requlated fr om
external 24V input)

28

GND (common terminal for +24V，+5V,
I/P，O/P)

4

+5V (DC/5V output,requlated fr om
external 24V input)

29

GND (common terminal for +24V，+5V,
I/P，O/P)

5

X_CW (CLO CK)：CW for dual pulse
mode，CLOCK for single pulse mode

30

Z_CW (CL O CK)：CW for dual pulse
mode，CLOCK for single pulse mode

6

Y_CW (CLO CK)：CW for dual pulse
mode，CLOCK for single pulse mode

31

A_CW (CLO CK)：CW for dual pulse
mode，CLOCK for single pulse mode

7

X_CCW (DIR)：CCW for dual pulse
mode，DIRECTION for single pulse mode

32

Z_CCW (DI R)：CCW for dual pulse
mode，DIRECTION for single pulse mode

8

Y_CCW (DIR)：CCW for dual pulse
mode，DIRECTION for single pulse mode

33

A_CCW (DIR)：CCW for dual pulse
mode，DIRECTION for single pulse mode

9

X_LS+ : Positive over-travel limit switch
input for X axis

34

Z_LS+ : Positive over-travel limit switch
input for Z axis。

10

Y_LS+ : Positive over-travel limit switch
input for Y axis

35

A_LS+ : Positive over-travel limit switch
input for A axis。

11

X_LS-- : Negative over-travel limit switch
input for X axis

36

Z_LS- : Negative over-travel limit switch
input for Z axis

。

12

Y_LS-- : Negative over-travel limit switch
input for Y axis

37

A_LS- : Negative over-travel limit switch
input for A axis。

13

X_HOME : Home limit switch input for X
axis

38

Z_HOME : Home limit switch input for Z
axis。

14

Y_HOME : Home limit switch input forY
axis

39

A_HOME : Home limit switch input for A
axis。

15

GND ( common terminal for +24V，+5V,
I/P，O/P)

40

GND (common terminal for +24V，+5V,
I/P，O/P)

16

GND ( common terminal for +24V，+5V,
I/P，O/P)

41

GND (common terminal for +24V，+5V,
I/P，O/P)

17

GND ( common terminal for +24V

，

+5V,

I/P

，

O/P)

42

GND (common terminal for +24V

，

+5V,

I/P

，

O/P)
18 IN0：General purpose input0 43 OUT0：General purpose output。
19 IN1：General purpose input1 44 OUT1：General purpose output。
20 IN2：General purpose input2 45 OUT2：General purpose output。
21 IN3：General purpose input3 46 OUT3：General purpose output。
22 IN4：General purpose input4 47 OUT4：General purpose output。
23 IN5：General purpose input5 48 OUT5：General purpose output。
24 IN6：General purpose input6 49 OUT6：General purpose output。
25 IN7：General purpose input7

50 OUT7：General purpose output。

7 7

7. I/O INTERFACE DIAGRAM

7.1 WIRING BOARD INPUT DIAGRAM

7.2 WIRING BOARD OUTPUT DIAGRAM

IN0 / IN1 / IN4 / IN5

+24Ve

EXTG

JP1-JP4

+5Ve

1

2

3

2-3 Short : I/P 5V Level
1-2 Short : I/P 24V Level

JP1,JP2,JP3,JP4

O.C.

+5V

4.7K

EXTG

External Inputs

External
Supply +24Ve

IN2 / IN3 / IN6 / I

N

HOME / LS+ / LS-

+24Ve

EXTG

+5V

EXTG

External Inputs

External
Supply +24Ve

CW / CCW

+5V +5Ve

+5Ve

EXTG

O.C.

2803

+5Ve

Relay

+24Ve

OUTn

O.C.

2803

+5Ve

Relay

+24Ve

COMn

OUTn

OUT0,OUT1

OUT2,OUT3

OUT4,OUT5

OUT6,OUT7

COMA

COMB

COMC

COMD

8 8

O.C.

2803

+5Ve

O.C.

+24Ve

COMn

OUTn

EXTG

O.C.

2803

+5Ve

O.C.

+24Ve

OUTn

EXTG

N-MOS

OUT0,OUT

1

OUT2,OUT

3

OUT4,OUT

5

OUT6,OUT

7

COMA

COMB

COMC

COMD

7.3 MPC-3004 PULSE DR IV IN G M E T HOD FOR SINGLE END INPUT:
<< Active Lo >> << Active Hi >>

7.4 PULSE DRIVING METHOD FOR DIFFERENTIAL INPUT:

If your driver’s differential input has pull up resistor as the right diagram,direct
connection to cw+/ccw+ is acceptable otherwise external resistor connect as right
diagram is required.
The recommended value for R1~R3 is 4.7K |Ohm.
.

R1 R2

-

+

R3

+5Ve

26LS32

INPUT CIRCUIT

INPUT FROM WIRING BD.

DIFFERENTIAL INPUT ON DRIVER

NC

R1 R2

-

+

R3

+5Ve

26LS32

INPUT CIRCUIT

INPUT FROM WIRING BD.

DIFFERENTIAL INPUT ON DRIVER

NC

1

23

4

+5V

Circuit on driver

CW / CCW

1

23

4

CW / CCW

Circuit on driver

9 9

8. EXTERNAL WIRING DIAGRAM

1 EXTG
2 +24V
3 EXTG
4 +5V

1 IN0
2 IN1
3 IN2
4 IN3
5 EXTG

1 IN4
2 IN5
3 IN6
4 IN7
5 EXTG

1 +5V
2 A_CCW
3 A_CW
4 EXTG
5 A_LS+
6 A_LS­7 A_HOME

O0 1
O1 2

COMA 3

EXTG 4

O2 1
O3 2

COMB 3

EXTG 4

O4 1
O5 2

COMC 3

EXTG 4

O6 1
O7 2

COMD 3

EXTG 4

+5V 1

X_CCW 2

X_CW 3

EXTG 4

X_LS+ 5

X_LS- 6

X_HOME 7

+5V 1

Y_CCW 2

Y_CW 3

EXTG 4

Y_LS+ 5

Y_LS- 6

Y_HOME 7

Load

Load

SERVO MOTOR

DC120VMax *1

1 +5V
2 Z_CCW
3 Z_CW
4 EXTG
5 Z_LS+
6 Z_LS­7 Z_HOME

SERVO
DRIVER

1 +5V
2 Z_CCW
3 Z_CW
4 EXTG
5 Z_LS+
6 Z_LS­7 Z_HOME

Mini SCSI cable

from main card

*1 connection example
for power MOSFET output

** Be sure to check
the output type of your wiring board

for easy connection
of servo drivers,
4 individual D-9
connectors are
provided.

OUT0
OUT2

IN0

IN2

X_CCW

X_CW
EXTG

+5Ve

1
6
2
7
3
8
4
9
5

X_DB9F

OUT1
OUT3

IN1

IN3

Y_CCW

Y_CW
EXTG

+5Ve

1
6
2
7
3
8
4
9
5

Y_DB9F

OUT4
OUT6

IN4

IN6

Z_CCW

Z_CW
EXTG

+5Ve

1
6
2
7
3
8
4
9
5

Z_DB9F

OUT5
OUT7

IN5

IN7

A_CCW

A_CW
EXTG

+5Ve

1
6
2
7
3
8
4
9
5

A_DB9F

10 10

1 234

ON

Dual

Single

XYZA

9. HARDWARE SETTINGS

9.1 CARD ID SETTING

Since PCI cards have plug and play function, the card ID is required for programmer to
identify which card he/she will control without knowing the physical address assigned
by the Windows. A 4 bits DIP switch for distinguishing the 16 identical card.
The following example sets the card ID at 12.

DIP SW SETTING：(ID=12)

CARD_ID

9.2

SINGLE/DUAL PULSE MODE SETTING

9.2.1 1_CLK(4DIP-SW)：Single/Dual pulse mode setting
Any bit set “on” means the corresponding axis in dual pulse mode ,otherwise single
pulse mode.

The following example sets Y,A ax es in Single pulse mo de (CLOCK,DIRECTION)and
both X&Z axes in Dual pulse mode (CW,CCW)

1 234

0

1

ON

1248

Weighting

0

1

2

3

4

5

6

7

8

9

A

B

C

D

E

F

11 11

10. HOW TO USE DOS DEMO PROGRAM

10.1 BEFORE USING THE DEMO PROGRAM
The demo program is provided to the user with the purpose of familiar the functions of

MPC card. You should setup the driver and dll in windows to register the resources.
Since the demo program is implemented in DOS environment, the card address should
be get from “settings->control panel->system->device manager->MPC3004”.

10.2 START UP：
Execute the demo program MPC3004.exe and then key in the card address.

If press “enter” without any card address data , the default address is 200H.

There are four blocks in the screen: motion control, speed adjustment, global i/o,
security

10.3 All the functions are “one stroke” command, you only press the key data as it is in the

bracket [ ], you will get a prompt and follows its instruction everything is ok.

12 12

11. APPLICATIONS

11.1 Control AC/DC servo motor/driver with pulse type input

11.2 Control various of stepping motor (PM/Hybrid/Micro-step)

11.3 Any combination mixed control servo and stepping motor

11.4 Control 4 servos with one card, easy to add on more cards to control more devices

11.5 As multiple of frequency generator up to 1 MHZ

11.6 Control precision machinery, or semi-conductor package equipment

13 13

12. DIMENSIONS

12.1 MAIN CARD DIMENSION

12.2 DIN RAIL MOUNTED WIRING BOARD

14 14

13. ORDER INFORMATION

PRODUCT DESCRIPTIONS
MPC-3004 4 axes of servo/step positioning control card
MPC-3004 DMO Demo program of MPC-3004 card for DOS (free with user manual)
MPC-3004 WIN Dll (VB/VC/C++ Builder) of MPC-3004 card for Win95/98/NT
MPC-3004 LVW Vi of MPC-3004 card for LabVIEW
MPC-3004 DIN 4 axes in one DIN RAIL MOUNTED wiring board

15 15

14. LAYOUT(OLD)

14.1 MPC-3004 MAIN CARD LAYOUT

14.2 DIN RAIL MOUNTED WIRING BOARD LAYOUT

16 16

CW / CCW

+5V

+5Ve

GND

GND

3.3K

330

12

3 4

+

5V

IN2 / IN3 / IN6 / IN 7

+24Ve

GND

GND

HOM E / LS+ / LS-

3.3K

330

12

3 4

+5V

IN0 / IN 1 / IN4 / IN5

+24Ve

GND

GND

4.7K

JP 6 / JP7

+5Ve

1

2

3

2-3 S h or t : I/P 5V Level
1-2 S h or t : I/P 24 V L evel

JP 6 / JP7 :

O.C.

OUTn

JP 1 / JP2 / JP 3 / JP 4

1

2

3

+24Ve

+5V

12

3 4

172

B

O.C.

Relay

15. I/O INTERFACE DIAGRAM (OLD)

15.1 INPUT DIAGRAM

MPC-3004 Wiring board

15.2 OUTPUT DIAGRAM

MPC-3004 Wiring board

15.3 WIRING BOARD INPUT DIAGRAM

MPC-3004 Wiring board

15.4 WIRING BOARD OUTPUT DIAGRAM

MPC-3004 Wiring board

EXTERNAL
Supply +24Ve

EXTERNAL
INPUTS

EXTERNAL
Supply +24Ve

EXTERNAL
INPUTS

17 17

16. DIMENSIONS(OLD)

16.1 MAIN CARD DIMENSION