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MPC-3035/3035L
4-Axis Motion Control Card
User’s Manual (V1.2)
健昇科技股份有限公司
JS AUTOMATION CORP.
新北市汐止區中興路 100 號 6 樓
6F., No.100, Zhongxing Rd.,
Xizhi Dist., New Taipei City, Taiwan
TEL：+886-2-2647-6936
FAX：+886-2-2647-6940
http://www.automation.com.tw
http://www.automation-js.com/
E-mail：control.cards@automation.com.tw
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Correction record
Version
Record
V1.0->V1.1
Modify 4. Layout and dimensions
6. I/O interface diagram
V1.1->V1.2
Modify 2. Feature-Delete Software key function
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Contents
1. Forward ............................................................................................................................................... 5
2. Features ............................................................................................................................................... 6
2.1 Main card .................................................................................................................................. 6
2.2 Daughter card ............................................................................................................................ 6
2.3 Din rail mounted wiring board .................................................................................................. 7
3. Specifications ...................................................................................................................................... 8
3.1 MPC-3035 Main card ............................................................................................................... 8
3.2 Din rail mounted wiring board ................................................................................................ 10
4. Layout and dimension ........................................................................................................................ 11
4.1 MPC-3035 Main card .............................................................................................................. 11
4.2 MPC-3035D daughter card ..................................................................................................... 12
4.3 MPC-3035 piggy back ............................................................................................................ 12
4.4 ADP-3024DIN for JF1, JF2 Din rail mounted wiring board .................................................. 13
4.5 JS51050 for JM3 25PM Din rail mounted dummy wiring board ........................................... 13
5. Pin definitions ................................................................................................................................... 14
5.1 JF1,JF2 Assignment / Definitions ........................................................................................... 14
5.2 JM1,JM2 Assignment / Definitions ........................................................................................ 16
5.3 JM3 Assignment / Definitions ................................................................................................ 16
5.4 JM1 (MPC-3035D) Assignment / Definitions ........................................................................ 17
6. I/O interface diagram ........................................................................................................................ 18
6.1 JF1/2 ADP-3024DIN .............................................................................................................. 18
6.2 JM3 JS51050 .......................................................................................................................... 21
6.3 JM1 JS510501 ........................................................................................................................ 22
7. External wiring diagram ................................................................................................................... 24
8. Hardware settings ............................................................................................................................. 25
8.1 Card ID setting ........................................................................................................................ 25
8.2 Polarity setting for over-travel limit switch ............................................................................ 25
9. Applications ...................................................................................................................................... 26
10. Wiring diagram examples ................................................................................................................. 27
10.1 The wiring diagram for MPC-3035 wiring board to panasonic MINAS-A driver ................. 27
10.2 The wiring diagram for MPC-3035 wiring board to panasonic MINAS MSD*** driver ..... 27
10.3 The wiring diagram for MPC-3035 wiring board to ESD servo driver .................................. 28
10.4 The wiring diagram for MPC-3035 wiring board to Moda servo driver ................................ 28
10.5 The wiring diagram for MPC-3035 wiring board to YASKAWA servo driver ...................... 29
10.6 The wiring diagram for MPC-3035 wiring board to Mokon / YPV servo driver ................... 29
10.7 The wiring diagram for MPC-3035 wiring board to Mokon / YJD servo driver ................... 30
10.8 The wiring diagram for MPC-3035 wiring board to MITSUBISHI J2-SUPER servo driver 31
10.9 The wiring diagram for MPC-3035 wiring board to YAMAHA SRCP servo driver ............. 31
10.10 The wiring diagram for MPC-3035 wiring board to Delta ASDA-B servo driver ................. 32
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10.11 The wiring diagram for MPC-3035 wiring board to Delta ASDA-B2 servo driver ............... 32
11. Ordering information ........................................................................................................................ 33
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Notes on hardware installation
Please follow step by step as you are installing the control cards.
1. Be sure your system is power off.
2. Be sure your external power supply for the wiring board is power off.
3. Plug your control card in slot, and make sure the golden fingers are put in right contacts.
4. Fasten the screw to fix the card.
5. Connect the cable between the card and wiring board.
6. Connect the external power supply for the wiring board.
7. Recheck everything is OK before system power on.
8. External power on.
Congratulation! You have it.
For more detail of step by step installation guide, please refer the file “installation.pdf “ on the CD
come with the product or register as a member of our user’s club at:
http://automation.com.tw/
to download the supplementary documents.
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1. Forward
Thank you for your selection of 4 axis motion control card. This card adopts the ASIC chip with
complex motion functions including point to point, linear and circular interpolation, linear and s-curve
acceleration/deceleration and several miscellaneous functions. With the daughter board MPC3035D, 2
multifunction encoder counters and 2 PWM DA’s are implemented. User can use Dll’s of various
functions to save a lot of time in the motion control related projects.
Our other motion control products:
MPC-3024 4 axes linear/circular/point to point (standard function) motion control card (PCI bus)
MPC-3028 8 axes linear/circular/point to point (standard function) motion control card (PCI bus)
MPC-3034 advanced 4 axes linear/circular/point to point (standard function) motion control card
(PCI bus)
MPC-3042A 2 axes linear/circular/point to point (standard function) motion control card with
Pulse Referenced PI Control (PCI bus)
MPC-3042AL 2 axes linear/circular/point to point (standard function) motion control card
(PCI bus)
Any comment is welcome,
please visit our website
http://www.automation.com.tw/
http://www.automation-js.com/ for the up to date information.
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2. Features
2.1 Main card
2.1.1 4-axis servo/stepping motor control
2.1.2 4 28-bit up/down counter for incremental encoder
2.1.3 4 28-bit up/down counter for pulse handler input
2.1.4 Pulse output rate up to 6.55MHz
2.1.5 Pulse output options : OUT/DIR,CW/CCW
2.1.6 2~4 axes linear interpolation
2.1.7 Any 2 axes circular interpolation
2.1.8 S curve or T curve acceleration / deceleration in interpolation and positioning
2.1.9 Continuous interpolation
2.1.10 Speed change on the fly
2.1.11 Synchronized start motion
2.1.12 Position latch function
2.1.13 Simultaneously start/stop on multi-axes
2.1.14 Programmable interrupt conditions
2.1.15 Backlash compensation
2.1.16 Pulse handler function
2.1.17 Software limit switches protection
2.1.18 2 nibble configurable TTL I/O
2.1.19 Motion parameters change on the fly
2.1.20 Matched software FIFO for arbitrary curve motion
2.2 Daughter card
2.2.1 High noise immunity with magnetic/photo-coupler isolation
2.2.2 2 MHz max. Quadrature input rate
2.2.3 Two 32-bit counters
2.2.4 Quadrature, pulse/direction and up/down counting
2.2.5 Programmable multiply rate at X1, X2, X4
2.2.6 Load preset value to counter by software trigger
2.2.7 Multiple counter reset (homing) modes
2.2.8 Differential or single-end input signal
2.2.9 Auto increment compare mode
2.2.10 FIFO compare mode (X axis)
2.2.11 Line driver type compare output
2.2.12 Programmable duration for Compare out
2.2.13 Interrupt on FIFO alarm (X axis), compare equal, borrow, carry and counter clear
2.2.14 2 8 bit 0~10V PWM DA (MPC-3035 only)
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2.3 Din rail mounted wiring board
2.3.1 JS51050 dummy wiring board for JM3 pulse handler interface
2.3.2 ADP-3024DIN wiring board for JF1, JF2 motion control interface
2.3.3 JS510501 DIN rail mounted dummy wiring board for 25-pin D-Type female connector
(for MPC3035D JM1)
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3. Specifications
3.1 MPC-3035 Main card
Motion
3.1.1 Max pulse rate ─ 6,553,500 pps
3.1.2 Pulse output mode ─ Single phase: CLOCK,DIR
3.1.3 Dual phase ─ CW, CCW
3.1.4 Acceleration / Deceleration mode ─ linear ,S-curve mode
3.1.5 Homing mode ─ 14 types
3.1.6 Encoder up/down counter ─ 4 28bit counter
3.1.7 Pulse Handle up/down counter ─ 4 28 bit counter
3.1.8 Linear interpolation ─ any 2 up to 4 axis
3.1.9 Circular interpolation ─ any 2 axes
Counter (MPC3035D)
3.1.10 Number of axes ─ 2, independent
3.1.11 Maximum quadrature input frequency ─ 2MHz
3.1.12 Maximum input pulse frequency ─ 4MHz
3.1.13 Encoder Type ─ Single-end or differential
3.1.14 Input pulse multiple rate ─ X1, X2, X4 programmable (quadrature signal only)
3.1.15 Counter length ─ 32 Bits
3.1.16 Counter Mode ─ (QUADRATURE)，(CLOCK/DIRECTION)，
3.1.17 (UP CLOCK/ DOWN CLOCK)
3.1.18 Sample clock frequency ─ 8MHz
3.1.19 Software homing (reset) counter method ─ one software trigger mode
3.1.20 Hardware homing (reset) counter method ─ five H/W trigger mode
3.1.21 FIFO depth ─ 1023 (X,Z axis)
3.1.22 Compare out one shot duration ─ 1 ~ 16777215 us
Digital I/O
3.1.23 Motion specific input ─ SRDY, ALM, LS+(EL+), LS-(EL-), SD, HOME(ORG),
PCS, LTC per axis , EMG per card
3.1.24 Motion specific output ─ CMP,SVON,ERC,FIN per axis
3.1.25 General input ─ INP per axis
3.1.26 General output ─ FIN per axis
3.1.27 TTL I/O ─ 2 nibble configurable TTL I/O
3.1.28 General purpose differential input ─ 1 bit per axis (MPC3035D)
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Analog output
3.1.29 PWM DA ─ 8 bit, unipolar 0-10Vdc (MPC-3035 only)
General
3.1.30 Card ID ─ 16 locations set by rotary switch
3.1.31 Insulation resistance ─ 100 MΩ (min) at 1000Vdc
3.1.32 Isolation voltage ─ 2500Vac 1Min
3.1.33 I/O connector ─ 2 68pin female mini SCSI connector for motion control function
(JF1/JF2)
1 25 pin D type for MPC3035D counter function (JM1)
1 25 pin D type for pulse handler related function (JM3)
3.1.34 External supply ─ DC 24±4V
3.1.35 Operation temperature ─ 0 to 70° C
3.1.36 Storage temperature ─ -20 to 80° C
3.1.37 Operation humidity ─ 5~95% RH, non-condensing
3.1.38 Dimensions ─ 175(W) * 122(H) mm , 6.9(W)*4.8(H)in
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3.2 Din rail mounted wiring board
ADP-3024DIN for JF1,2 motion control interface
3.2.1 Power Requirement ─ 24Vdc ± 4Vdc
3.2.2 On Board Build-in s.p.s. ─ +5Vdc 500mA (max)
3.2.3 General input ─ 4 with LED indicator
3.2.4 Output capacity ─ 8 N-MOS output, 1A continuous、120Vdc(max)
Option : 8 P-MOS output, 1A continuous、24Vdc(max)
Option : 8 Relay output, 3A continuous、250Vac(max)
3.2.5 Connector ─ 2 68pin mini SCSI female connector for main card connection
3.2.6 Specific servo control connectors ─ 4 26p mini D-type (1 per axis)
3.2.7 Operation temperature ─ 0 to 70° C
3.2.8 Operation humidity ─ RH5~95%, non-condensed
3.2.9 Dimension ─ ADP-3024DIN(N) : 121(W) * 204(L) *47(H)mm;
4.8(W)*8.1(L)*1.9(H)in
ADP-3024DIN(P) / (R) : 121(W) * 204(L) *45(H)mm
4.8(W)*8.1(L)*1.8(H)in
JS51050 for JM3 pulse handler interface
3.2.10 Connection cable ─ D-type 25P cable to connect main and wiring board
3.2.11 Dimension ─ 86(W)*79(L)*52(H)mm , 3.4(W)*3.2(L)*2.1(H)in
JS510501 for JM1 (MPC3035D) encoder counter interface
3.2.12 Connection cable ─ D-type 25P cable to connect main and wiring board
3.2.13 Dimension ─ 86(W)*79(L)*52(H)mm , 3.4(W)*3.2(L)*2.1(H)in
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4. Layout and dimension
4.1 MPC-3035 Main card
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4.2 MPC-3035D daughter card
4.3 MPC-3035 piggy back
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4.4 ADP-3024DIN for JF1, JF2 Din rail mounted wiring board
4.5 JS51050 for JM3 25PM Din rail mounted dummy wiring board
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5. Pin definitions
5.1 JF1,JF2 Assignment / Definitions
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PIN
I/O
Descriptions
PIN
I/O
Descriptions
1 I Z/X_LS+(EL+)
Positive over travel LS(EL) of Z/X axis
35 I Z/X_LS-(EL-)
Negative over travel LS(EL) of Z/X axis
2 I Z/X_SD
Slowdown LS(EL) of Z/X axis
36 I Z/X_HOME(ORG)
Home(ORG) LS(EL) of Z/X axis
3 I Z/X_PCS
Position change start signal of Z/X axis
37 I Z/X_LTC
Latch counter trigger of Z/X axis
4 O Z/X_FIN
General purpose output of Z/X axis
38 O Z/X_CMP
General out or compare out of Z/X axis
5 I Z/X_EA+
Encoder phase A+ feedback of Z/X axis
39 I Z/X_EA-
Encoder phase A- feedback of Z/X axis
6 I Z/X_EB+
Encoder phase B+ feedback of Z/X axis
40 I Z/X_EB-
Encoder phase B- feedback of Z/X axis
7 I Z/X_EZ+
Encoder phase Z+ feedback of Z/X axis
41 I Z/X_EZ-
Encoder phase Z- feedback of Z/X axis
8 O Z/X_CW+
CW+ or PULSE+ of Z/X axis
42 O Z/X_CW-
CW- or PULSE- of Z/X axis
9 O Z/X_CCW+
CCW+ or DIR+ of Z/X axis
43 O Z/X_CCW-
CCW- or DIR- of Z/X axis
10 I Z/X_INP
General I/p of Z/X axis
44 I Z/X_SRDY
Servo Ready signal of Z/X axis
11 I Z/XALM
ALARM I/p of Z/X axis
45 O XSVON
-- Servo on of X axis
12 O Z/X_ERC
Output for resetting error counter of Z/X axis
46 I A/Y_LS+(EL+)
Positive over travel LS(EL) of A/Y axis
13 I A/YLS-(EL-)
Negative over travel LS(EL) of A/Y axis
47 I A/Y_SD
Slowdown LS(EL) of A/Y axis
14 I A/Y_HOME(ORG)
Home(ORG) LS(EL) of A/Y axis
48 I A/Y_PCS
Position change start signal of A/Y axis
15 I A/Y_LTC
Latch counter trigger of A/Y axis
49 O A/Y_FIN
General purpose output of A/Y axis
16 O A/Y_CMP
General out or compare out of A/Y axis
50 I A/Y_EA+
Encoder phase A+ feedback of A/Y axis
17 I A/Y_EA-
Encoder phase A- feedback of A/Y axis
51 I A/Y_EB+
Encoder phase B+ feedback of A/Y axis
18 I A/Y_EB-
Encoder phase B- feedback of A/Y axis
52 I A/Y_EZ+
Encoder phase Z+ feedback of A/Y axis
19 I A/Y_EZ-
Encoder phase Z- feedback of A/Y axis
53 O A/YCW+
CW+ or PULSE+ of A/Y axis
20 O A/Y_CW-
CW - or PULSE- of A/Y axis
54 O A/Y_CCW+
CCW+ or DIR+ of A/Y axis
21 O A/Y_CCW-
CCW- or DIR- of A/Y axis
55 I A/Y_INP
General I/p of A/Y axis
22 I A/Y_SRDY
Servo Ready signal of A/Y axis
56 I A/Y_ALM
ALARM I/p of A/Y axis
23 O A/YSVON
Servo on of A/Y axis
57 O A/Y_ERC
Output for resetting error counter of A/Y axis
24
NC
58
NC
| | 29
63
30 I EMG
Emergency stop, stop all axes
64 EXTG
Common for external power (+24V and +5V)
31 NC
65 NC
32 EXTG
Common for external power (+24V and +5V)
66 EXTG
Common for external power (+24V and +5V)
33 O +5V
DC5V power output for external device
67 O +5V
DC5V power output for external device
34 I +24V
External DC24V power input
68 I +24V
External DC24V power input
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5.2 JM1,JM2 Assignment / Definitions
PIN
Description
PIN
Description
1
CSTA: common start I/O
2
CSTP: common stop I/O
PIN
Description
PIN
Description
1
+5Vout_PC
+5V from PC
14
+5Vout_PC
+5V from PC
2
PA1
Pulse handler1 A phase input
15
PB1
Pulse handler1 B phase input
3
PA2
Pulse handler2 A phase input
16
PB2
Pulse handler2 B phase input
4
GND
17
GND
5
PA3
Pulse handler3 A phase input
18
PB3
Pulse handler3 B phase input
6
PA4
Pulse handler4 A phase input
19
PB4
Pulse handler4 B phase input
7
GND
20
GND
8
+5Vout_PC
+5V from PC
21
+5Vout_PC
+5V from PC
9
IO0
TTL I/O bit0
22
IO1
TTL I/O bit1
10
IO 2
TTL I/O bit2
23
IO 3
TTL I/O bit3
11
IO 4
TTL I/O bit4
24
IO 5
TTL I/O bit5
12
IO 6
TTL I/O bit6
25
IO 7
TTL I/O bit7
13
GND
Note: Connect CSTA low to start motion from external.
Connect CSTP low to emergency stop motion from external.
5.3 JM3 Assignment / Definitions
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5.4 JM1 (MPC-3035D) Assignment / Definitions
PIN
Description
PIN
Description
14
YA+
Channel Y encoder input A+
1
XA+
Channel X encoder input A+
15
YAChannel Y encoder input A-
2
XAChannel X encoder input A-
16
YB+
Channel Y encoder input B+
3
XB+
Channel X encoder input B+
17
YBChannel Y encoder input B-
4
XBChannel X encoder input B-
18
YZ+
Channel Y encoder input Z+
5
XZ+
Channel X encoder input Z+
19
YZChannel Y encoder input Z-
6
XZChannel X encoder input Z-
20
IN1
Input1
7
IN0
Input0
21
+5Vout_PC
+5V from PC
8
+5Vout_PC
+5V from PC
22
YOUT+
Channel Y trigger out+
9
XOUT+
Channel X trigger out+
23
YOUTChannel Y trigger out-
10
XOUTChannel X trigger out-
24
GND
11
GND
25
DA2
D/A output 2(option)
12
DA1
D/A output 1(option)
13
GND
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6. I/O interface diagram
Type1 input:
For input: LS+(EL+), LS-(EL-), HOME(ORG), SD,PCS,EMG, LTC
Type2 input:
For input: INP,SRDY,ALM
6.1 JF1/2 ADP-3024DIN
6.1.1 Input diagram
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Type3 input:
For encoder feedback input : A+/-,B+/-,Z/-
Type1 output:
For SVON, ERC
Type2 output:
FIN,CMP(N-MOS)
6.1.2 Output diagram
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Type3 output:
FIN,CMP(Relay)
Type4 output:
FIN,CMP(P-MOS)
Type5 output:
For motion control pulse output : CW,CCW
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6.2 JM3 JS51050
Type 1 Input:
For Pulse Handler Input : PA,PB
Type 2 TTL I/O:
For IO0 ~ IO7
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6.3 JM1 JS510501
Type1 input:
I/P : X(A+,B+,Z+),Y(A+,B+,Z+)
X(A-,B-,Z-),Y(A-,B-,Z-)
Type2 input:
I/P : IN0,IN1
6.3.1 Input diagram
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6.3.2 Output diagram
Type1 output:
O/P : (X,Y) OUT
Type2 output:
O/P : DA
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7. External wiring diagram
wiring board with NMOS output
wiring board with PMOS output
* User may connect the signals with this DB26
specific connectors (one axis per connector) or
screw terminals.
Wiring board with Relay output
Wiring board DB26 specific connector
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8. Hardware settings
For different applications maybe you have different considerations, the
polarity of over-travel limit switch can be set by on card Dip switch to meet
your requirement.
POL+
POL X Y Z A
8.1 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 ROTARY switch (select from 0 to 0xF) for extinguishing the 16 identical card.
8.2 Polarity setting for over-travel limit switch
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9. Applications
Precision positioning control
Precision speed control
Contouring control
X-Y table control
Rotary machine control
Robotic control
Biotech sampling and handling
Any combined control of servo and stepping motors
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10. Wiring diagram examples
10.1 The wiring diagram for MPC-3035 wiring board to panasonic MINAS-A driver
10.2 The wiring diagram for MPC-3035 wiring board to panasonic MINAS MSD*** driver
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10.3 The wiring diagram for MPC-3035 wiring board to ESD servo driver
10.4 The wiring diagram for MPC-3035 wiring board to Moda servo driver
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10.5 The wiring diagram for MPC-3035 wiring board to YASKAWA servo driver
10.6 The wiring diagram for MPC-3035 wiring board to Mokon / YPV servo driver
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10.7 The wiring diagram for MPC-3035 wiring board to Mokon / YJD servo driver
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10.8 The wiring diagram for MPC-3035 wiring board to MITSUBISHI J2-SUPER servo driver
10.9 The wiring diagram for MPC-3035 wiring board to YAMAHA SRCP servo driver
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10.10 The wiring diagram for MPC-3035 wiring board to Delta ASDA-B servo driver
10.11 The wiring diagram for MPC-3035 wiring board to Delta ASDA-B2 servo driver
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11. Ordering information
PRODUCT
DESCRIPTIONS
MPC-3035
4-axis motion control card with advanced encoder counter function for
servo/step motor control with 2 8bit DA’s
MPC-3035L
4-axis motion control card with advanced encoder counter function for
servo/step motor control
ADP-3024 DIN(N)
DIN rail mounted wiring board matched MPC-3024 /3028/3034/3035 ,
General output: 8 power NMOS
ADP-3024 DIN(P)
DIN rail mounted wiring board matched MPC-3024 /3028/3034/3035 ,
General output: 8 power PMOS
ADP-3024 DIN( R)
DIN rail mounted wiring board matched MPC-3024 /3028/3034/3035 ,
General output: 8 relays
JS51050
DIN rail mounted dummy wiring board for 25-pin D-Type male
connector (for JM3)
JS510501
DIN rail mounted dummy wiring board for 25-pin D-Type female
connector (for JM1)
FVC01
F to V Module
M266868152
68-pin mini-SCSI cable 1.5M (2 axes control signal granted in one
cable)
M266868301
68-pin mini-SCSI cable 3.0M (2 axes control signal granted in one
cable)
M270325X4
D type 25p male-female cable 1.5M
M270325X4S
D type 25p male-female cable 1.5M,shielding
M270325X0
D type 25p male-female cable 3.0M
M270325X0S
D type 25p male-female cable 3.0M,shielding
SM23404
Extension kit for JM3 (bracket and flat cable for 25p D-type connector)
SM23405
Extension kit for JM1 (bracket and flat cable for 25p D-type connector)
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