PCI Bus
2/4-Axis Motor Control Board
MC8022P/MC8042P
Hardware Manual
2013-04-17 Ver. 1.0
NOVA electronics
NOVA electronics MC8022P/MC8042P - i
Prevent Electrostatic Discharge
ATTENTION: MC8022P/MC8042P is sensitive to electr ostati c di scharge, which can
cause internal damage and affect normal operation. Follow these guidelines when
you handle MC8022P/MC8042P:
・Touch a grounded object to discharge potential static.
・Wear an approved grounding wrist strap.
・Hold both ends of the boar d betwe en your fingers o r hold a mounting bracket.
・Do not touch connectors or pins on component boards.
・Do not touch circuit components on MC8022P/MC8042P.
・Store MC8022P/MC8042P i n appro pri ate static-safe p ackagi ng when not in use.
Safety Notice
WARNING: MC8022P/ MC8042P is not designed or intended to be fail-safe, or for
use in any application requiring fail-safe performance, such as in life-support or
safety devices or systems that could lead to death, personal injury or severe
property or environmental damage (individually and collectively, "critical
applications"). Customer must be fully responsible for the use of MC8022P/MC8 042P
in critical applications. Pr ovide adequate design and operating safe guards in order to
minimize risks associated with customer's applications when incorporating
MC8022P/MC8042P in a system.
Before you begin
ATTENTION: Before using MC8022P/MC8042P, read this manual thoroughly to
ensure correct usage and observe all the instructions given in this manual.
Checking the Contents
ATTENTION: When you unpack a package of MC 8022 P/MC 8042P, check f or the
following accessories. If something is missing or broken, co ntac t the plac e of
purchase.
The user’s manual and software are not with the package for resource-saving. If you
need additional manuals or software, contact the place of purchase or con tact us
to the following email address as "novaelec_info@novaelec.co.jp".
MC8042P or MC80222P 1
I/O Cable (CN2) 1
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NOVA electronics MC8022P/MC8042P - ii
T
,
Consulting Other Manuals
ATTENTION: The circuit of MC8022P/MC8042P consists of mainly 4-axis motion
control IC “MCX304”, a PCI-bus interface ci rcuit and I/O interface circuits of each
axis. Basic functions of this board all depend on MCX304, so please refer to the
user’s manual of MCX304 regarding these functi ons. This manual describes about
Electric Specification of each axis I/O signal. R egarding the insta llation on Windows ,
API function for board control and sample program files for this board, see “MC8000P
Device Driver Manual.”
Environmental Conditions
ATTENTION: Use the following environmental conditions.
Operating Temperature 0～45°C(32～113°F)
Humidity 20～90% (no condensation)
Floating dust Not to be excessive
Corrosive gases None
Electric supply source DC+5V (±5%), external source: DC+24V
Inspection and Maintenance
ATTENTION: Perform inspection and maintenance periodically for correct use.
Cable connection
properly be connected.
Card-edge No dust and no corrosion.
Connector terminal area No dust and no corrosion.
On the IC and board No excessive dust and no foreign substance.
he connector of the board and a cable sh ould
Handling Precautions
ATTENTION:
・Do not use in any location subject to shock, vibration, magnetism and electricity.
Otherwise, the equipment may be damaged or malfunctioned.
・Do not disassemble, re pair or mo dify the equi pm ent.
・Do not connect or di sconnec t the bo ard or ca bles whi le power is appl ied.
Otherwise
breakdown or operation error may result.
・Information in this manual is subject to change without notic e.
・Windows are register ed trademark of Mi crosoft C orpo ration.
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NOVA electronics MC8022P/MC8042P - iii
1. Outline ................................................................... 1
1.1 MCX304 Functional Restriction ...................................................................................................... 2
1.2 PCI Bus Interface ........................................................................................................................... 2
1.3 Each Axis I/O Interface................................................................................................................... 2
2. I/O Address Setting and Register .......................... 3
3. I/O Signals ............................................................. 4
3.1 CN2 Connector (Rear connector)................................................................................................... 4
3.2 CN3, 4 Connector (Connector on the board).................................................................................. 6
3.3 Drive Pulse Output Signal (nP+P, nP+N, nP-P, nP-N) .................................................................... 8
3.4 General Output Signal and Deviation Counter Clear Output Signal (OUT1~14, nOUT0/DCC) ...... 8
3.5 Over Run Limit Input Signal (nLMT+, nLMT-)............................................................................... 10
3.8 Input Signals for Servo Motor (nINPOS, nALARM) ...................................................................... 13
3.10 Driving by External Signal (nEXOP+, nEXOP-) ............................................................................ 15
3.11 Emergency Stop Input Signal (EMG)............................................................................................ 15
3.12 External Power (VEX) .................................................................................................................. 15
4. Interrupt ............................................................... 16
5. Connection Example for Motor Driver.................. 17
5.1 Connection Example for Stepper Motor Driver ............................................................................. 17
5.2 Connection Example for AC servo motor driver............................................................................ 18
6. Input/Output Signals Timing................................. 19
6.1 Reset............................................................................................................................................ 19
6.2 Beginning of Driving ..................................................................................................................... 19
6.3 Input Pulse Timing........................................................................................................................ 19
6.4 Instant Stop Timing....................................................................................................................... 20
6.5 Decelerating Stop Timing ............................................................................................................. 20
7. Board Dimensions ...............................................21
8. Specifications ......................................................22
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NOVA electronics MC8022P/MC8042P - 1
1. Outline
MC8022P/MC8042P is a PCI-bus compliant circuit board equipped with 4-axis motion control IC “MCX304”. It can
independently control 2/4-axis of either stepper motor or pulse type servo drives for position and speed controls.
MC8022P/MC8042P functional block diagram is shown as follows. MC8022P/MC8042P consists of mainly 4-axis motion
control IC “MCX304”, a PCI-bus interface circuit and I/O interface circuits of each axis: X, Y, Z and U. Therefore, basic
functions of this board all depend on MCX304, so please refer to the user’s manual of MCX304 regarding these functions.
CN1
PCI Bus
Crystal Oscillator
16MHz
APIC21
PCI Interface
Adapter
EEPROM
93LC66
For multiple
Address SW
CLK
General Purpose
Input/Output IC
PIX132
CLK
XOUT0/DCC
XSTOP2～0
XINPOS
XALARM
MCX304
XPP
XPM
XLMTP
XLMTM
XECA
XECB
XEXPP
XEXPM
EMGN
X axis I/O Interface
Line Driver
26C31
AM
Output Buffer
TD62503
Photo Coupler
High-speed
Photo Coupler IC
Note: Input signals need an external electric supply 24V.
XP+P/N +direction pulse output
XP-P/N - direction pulse output
XOUT0/DCC general output
1 point/deviation C clear
XLMT+ +direction limit
CN2CN3
XLMT- -direction limit
XSTOP2～0 deceleration/
XINPOS servo in-position
XALARM servo alarm
XECAP/N encoder A-phase
XECBP/N encoder B-phase
XEXOP+ +direction driving
XEXOP- - direction driving
instant stop
Y axis I/O Interface
(same as X axis)
Z axis I/O Interface
(same as X axis) *Only for MC8042P
U axis I/O Interface
(same as X axis) *Only for MC8042P
EMG emergency stop for all axes
CN2
Output Buffer
TD62503
OUT1～14 general output
CN4
14 points
CN1: PCI card edge connector
CN2: PC rear connector
CN3, 4: Connectors on the board
MC8022P/MC8042P Circuit Block Diagram
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NOVA electronics MC8022P/MC8042P - 2
1.1 MCX304 Functional Restriction
MC8022P/MC8042P does not support the following MCX304 general output signals. However, it is equipped with
PIX132(NOVA Electronics) on the board, so that it has fourteen general output signals and nOUT general output signals of
MCX304.
MCX304-nOUT1 output signal
nSTOP2/OUT1 pin of MCX304 is used as STOP2 input, so it cannot be used as general output nOUT1.
MCX304-nOUT2, 3 output signals
D15~D8 are used due to 16-bit data bus performance. Therefore, it cannot be used as nOUT2, 3 signals.
1.2 PCI Bus Interface
■ Occupied I/O Address
The board requires 24 I/O address locations for PCI bus. I/O addressing is determined by “plug and play” function of Windows.
■ Data Length
Data length is 16-bit. Read/Write access cannot be performed per byte.
■ Interrupt Signal
When using an interrupt to PCI bus, the board uses IRQ determined by “plug and play” function of Windows.
1.3 Each Axis I/O Interface
■ Drive Pulse Output (nP+P/N, nP-P/N)
Drive pulses in the +/- direction for motor driving are output a 50% duty cycle of from 1PPS to 4MPPS.
Drive pulse output signals of each direction are the differential line-driver output of AM26C31 line driver or equivalent.
■ General Output (OUT1~14, nOUT0)
General output signals (14points) from PIX132, output buffer uses TD62503 (Toshiba) and is the open collector output with
sustaining voltage 35V. These signals are placed in the connecto r CN4 on the board. nOUT 0 sig nal for each axis can be used a s a
deviation counter clear signal (DCC) for a servomotor in automatic home search executing. nOUT0 signal is placed in the rear
connector CN2.
■ Over Run Limit Input (nLMT+, nLMT-)
Input signal to disable output pulse for + and – direction respectively. Decelerating stop and instant stop for active can be
selected in mode setting. These input signals are isolated by photo coupler from internal circuit. external 24V power supply is
needed.
■ Decelerating Stop/Instant Stop Input (nSTOP2~0)
In automatic home search, this input signal is to stop drive pulse in deceleration or immediately from outside. Enable/Disable
and active logical level can be selected in mode setting and each axis has three inputs. For encoder Z-phase signal, input to
nSTOP2. The user can connect to the driver whose type of output circuit is open collector or differential line-driver. These input
signals are isolated by photo coupler from internal circuit.
■ Servo Motor Input (nINPOS, nALARM)
INPOS (in-position) signal and ALARM signal for servo motor drivers can be input, which can also be used as general input
signals. These input signals are isolated by photo coupler from internal circuit.
■ Encoder Input (nECAP/N, nECBP/N)
This signal inputs A/B phase signal from an encoder, which is placed in the connector CN3 on the board. nECAP/N, nECBP/N
signals are for an encoder A/B phase signal input and count up or down 32-bit real position counter inside MCX304. These input
signals are isolated by photo coupler from internal circuit and can easily be connected to a differential output line-driver.
■ Driving by External Input(nEXOP+, nEXOP-)
This signal externally controls driving in the + or – direction, which is placed in the connector CN3 on the board. In fixed
driving mode, the input signal triggers (the falling edge) to output specified drive pulse. In continuous driving mode, drive pulse
is output continuously while the input signal is low. This function can reduce the load of the host CPU, so the user can perform
jog feed of each axis speedy. These input signals are isolated by photo coupler from internal circuit.
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NOVA electronics MC8022P/MC8042P - 3
■ Emergency Stop Input (EMG)
This signal is to perform the emergency stop for all axes. Active logical level can be set by selecting a jumper on the board. This
input signal is isolated by photo coupler from internal circuit.
2. I/O Address Setting and Register
I/O port address of the board is automatically determined by the plug and play function (PnP function) of the PCI bus.
Read/Write registers of MCX304 on the board and ports of PIX132 can be accessed by API function which MC8000P device
driver provides. Each register and I/O port address are as shown in the table below.
For more details on each register, see chapter 4 of MCX304 user’s manual.
I/O Address IC Write Register Read Register
00 WR0 command register RR0 main status register
XWR1 X axis mode register 1
01
02
MCX304
03
04 WR4 output register 1 RR4 input register 1
05 WR5 output register 2 RR5 input register 2
06 WR6 write data register 1 RR6 read data register 1
07
10 write prohibit invalid
11 write prohibit invalid
12 write prohibit invalid
13 write prohibit invalid
14
15
16
17
PIX132
YWR1 Y axis mode register 1
ZWR1 Z axis mode register 1
UWR1 U axis mode register 1
XWR2 X axis mode register 2
YWR2 Y axis mode register 2
ZWR2 Z axis mode register 2
UWR2 U axis mode register 2
XWR3 X axis mode register 3
YWR3 Y axis mode register 3
ZWR3 Z axis mode register 3
UWR3 U axis mode register 3
WR7 write data register 2 RR7 read data register 2
Port A output data
(Set to D7~D0)
Port B output data
(Set to D7~D0)
Port C output data
(Set to D7~D0)
invalid invalid
XRR1 X axis status register 1
YRR1 Y axis status register 1
ZRR1 Z axis status register 1
URR1 U axis status register 1
XRR2 X axis status register 2
YRR2 Y axis status register 2
ZRR2 Z axis status register 2
URR2 U axis status register 2
XRR3 X axis status register 3
YRR3 Y axis status register 3
ZRR3 Z axis status register 3
URR3 U axis status register 3
Port A output data reading
(D7~D0)
Port B output data reading
(D7~D0)
Port C output data reading
(D7~D0)
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NOVA electronics MC8022P/MC8042P - 4
3. I/O Signals
This chapter describes each I/O signals of the I/O connector. In the description, the signal name of each axis is described as
n○○○○.
3.1 CN2 Connector (Rear connector)
CN2 connector is equipped with external power (+24VDC) input, and inputs/outputs signals of each axis as shown below.
Connector Signal Type Signal Name
Drive pulse output signal in the +/– direction
Over run limit input signal in the +/– direction
CN2
Decelerating stop/Instant stop input signal 3 points
In-position and alarm input signal for servo motor
Deviation counter clear output signal for servo motor (shared with general
output 1 point)
Emergency stop input signal for all axis
CN2 Connector Pin Assignments
nP+P/N, nP-P/N
nLMT+, nLMT-
nSTOP0, nSTOP1, nSTOP2
nINPOS, nALARM
nOUT0/DCC
EMG
A2 A1
B2 B1
A1
B1
Pin 1 Mark
Cable (included, 1.2m)
A50
B50
When implemented in PC, the connector may be upside down occasionally.
A50 A49
B50 B49
The cable (included) is A1, A2, … A49, A50 from the right (red) of the upper cable to the left, and B1, B2,
… B49, B50 from the right (red) of the lower cable to the left when Pin 1 mark (▲) of the connector is
placed in the upper right.
Connector type: Board side FX2B-100PA-1.27DS (Hirose), Cable side FX2B-100SA-1.27R (Hirose)
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NOVA electronics MC8022P/MC8042P - 5
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
CN2 Connector
Pin Signal I/O Content Chapter
*Note2
1 VEX External Power (+24V) 3.12 B1 EMG Input Emergency Stop (All
2 XLMT+ Input X axis Limit in + direction 3.5
3 XLMT- Input X axis Limit in – direction 3.5
4 XSTOP0 Input X axis Decelerating Stop /
Instant Stop
5 XSTOP1 Input X axis Decelerating Stop /
Instant Stop
6 YLMT+ Input Y axis Limit in + direction 3.5
7 YLMT- Input Y axis Limit in – direction 3.5
8 YSTOP0 Input Y axis Decelerating Stop /
Instant Stop
9 YSTOP1 Input Y axis Decelerating Stop /
Instant Stop
10 ZLMT+ Input Z axis Limit in + direction 3.5 MC8042P
11 ZLMT- Input Z axis Limit in – direction 3.5 MC8042P
12 ZSTOP0 Input Z axis Decelerating Stop /
Instant Stop
13 ZSTOP1 Input Z axis Decelerating Stop /
Instant Stop
14 ULMT+ Input U axis Limit in + direction 3.5 MC8042P
15 ULMT- Input U axis Limit in – direction 3.5 MC8042P
16 USTOP0 Input U axis Decelerating Stop /
Instant Stop
17 USTOP1 Input U axis Decelerating Stop /
Instant Stop
18 XSTOP2 Input X axis Encoder Z-phase 3.7
19 XINPOS Input X axis Inposition 3.8
20 XALARM Input X axis Alarm 3.8
21 YSTOP2 Input Y axis Encoder Z-phase 3.7
22 YINPOS Input Y axis Inposition 3.8
23 YALARM Input Y axis Alarm 3.8
24 ZSTOP2 Input Z axis Encoder Z-phase 3.7 MC8042P
25 ZINPOS Input Z axis Inposition 3.8 MC8042P
26 ZALARM Input Z axis Alarm 3.8 MC8042P
27 USTOP2 Input U axis Encoder Z-phase 3.7 MC8042P
28 UINPOS Input U axis Inposition 3.8 MC8042P
29 UALARM Input U axis Alarm 3.8 MC8042P
30 GND Internal Circuit GND
31 XOUT0/DCC Output X axis General Output/DCC
*Note1
32 YOUT0/DCC Output Y axis General Output/DCC 3.4
33 ZOUT0/DCC Output Z axis General Output/DCC 3.4 MC8042P
34 UOUT0/DCC Output U axis General Output/DCC 3.4 MC8042P
35 XP+P Output X axis Drive Pulse in + direction 3.3
36 XP+N Output X axis Drive Pulse in + direction 3.3
37 XP-P Output X axis Drive Pulse in – direction 3.3
38 XP-N Output X axis Drive Pulse in – direction 3.3
39 YP+P Output Y axis Drive Pulse in + direction 3.3
40 YP+N Output Y axis Drive Pulse in + direction 3.3
41 YP-P Output Y axis Drive Pulse in – direction 3.3
42 YP-N Output Y axis Drive Pulse in – direction 3.3
43 ZP+P Output Z axis Drive Pulse in + direction 3.3 MC8042P
44 ZP+N Output Z axis Drive Pulse in + direction 3.3 MC8042P
3.6
3.6
3.6
3.6
3.6 MC8042P
3.6 MC8042P
3.6 MC8042P
3.6 MC8042P
3.4
Pin Signal I/O Content Chapter
3.11
axes)
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NOVA electronics MC8022P/MC8042P - 6
A
A
A
A
A
A
y
45 ZP-P Output Z axis Drive Pulse in – direction 3.3 MC8042P
46 ZP-N Output Z axis Drive Pulse in – direction 3.3 MC8042P
47 UP+P Output U axis Drive Pulse in + direction 3.3 MC8042P
48 UP+N Output U axis Drive Pulse in + direction 3.3 MC8042P
49 UP-P Output U axis Drive Pulse in – direction 3.3 MC8042P
50 UP-N Output U axis Drive Pulse in – direction 3.3 MC8042P
Note1: DCC (Deviation Counter Clear): Output to clear the deviation counter of a servo motor driver.
*
*Note2: MC8042P: The signals which only MC8042P has. MC8022P doesn’t.
Note: When connecting or disconnecting the cable into the CN2 connector, turn OFF PC first and turn OFF external
power (DC+24V), then connect or disconnect the cable. Otherwise, the destruction of the internal circuit may be
caused. Be careful about the connector direction and not to reverse it.
3.2 CN3, 4 Connector (Connector on the board)
CN3, 4 connectors on the board input/output signals of each axis as shown below.
Connector Signal Type Signal Name
CN3
Driving by external input signal in the +/– direction (can be used as general
input)
Encoder A/B phase input signal
nEXOP+, nEXOP–
nECAP/N, nECBP/N
CN4 General output signal OUT1~14
CN3, 4 Connector Pin Assignments
Mounting face
Rear face
1
29
30
Connector: HIF3FC-30PA-2.54DS (Hirose)
Socket (included): HIF3BA-30D-2.54R
(Optional accessor
49
2
50
CN3(50P)CN4(30P)
Connector: HIF3FC-50PA-2.54DS (Hirose)
Socket (included): HIF3BB-50D-2.54R
(Optional accessory)
1
2
CN2
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NOVA electronics MC8022P/MC8042P - 7
X
Y
Z
X
X
Y
Y
Z
Z
CN3 Connector
Pin Signal I/O Content
1 VEX
3
EXOP+
5
EXOP+
7
EXOP+
9
UEXOP+
11
13
15
17
19
ECAP
21
ECBP
23
ECAP
25
ECBP
27
ECAP
29
ECBP
31
UECAP
33
UECBP
35
37
39
41
43
45
47
49
*Note2: MC8042P: The signals which only MC8042P has. MC8022P doesn’t.
External Power（+24V）
X axis Driving by External
Input
Signal in + direction
Y axis Driving by External
Input
Signal in + direction
Z axis Driving by External
Input
Signal in + direction
U axis Driving by External
Input
Signal in + direction
12
14
16
18
Input
X axis Encoder A phase (+) 3.9 20 XECAN Input X axis Encoder A phase (–) 3.9
Input
X axis Encoder B phase (+) 3.9 22 XECBN Input X axis Encoder B phase (–) 3.9
Input
Y axis Encoder A phase (+) 3.9 24 YECAN Input Y axis Encoder A phase (–) 3.9
Input
Y axis Encoder B phase (+) 3.9 26 YECBN Input Y axis Encoder B phase (–) 3.9
Input
Z axis Encoder A phase (+)
Input
Z axis Encoder B phase (+)
Input U axis Encoder A phase (+)
Input U axis Encoder B phase (+)
36
38
40
42
44
46
48
50
Chapter
Pin Signal I/O Content
3.12 2 VEX
3.10 4 XEXOP- Input
3.10 6 YEXOP- Input
3.10
8 ZEXOP- Input
*Note2
3.10
10 UEXOP- Input
*Note2
3.9
28 ZECAN Input Z axis Encoder A phase (–)
*Note2
3.9
30 ZECBN Input Z axis Encoder B phase (–)
*Note2
3.9
32 UECAN Input U axis Encoder A phase (–)
*Note2
3.9
34 UECBN Input U axis Encoder B phase (–)
*Note2
External Power（+24V）
X axis Driving by External
Signal in - direction
Y axis Driving by External
Signal in - direction
Z axis Driving by External
Signal in - direction
U axis Driving by External
Signal in - direction
Chapter
3.12
3.10
3.10
3.10
*Note2
3.10
*Note2
3.9
*Note2
3.9
*Note2
3.9
*Note2
3.9
*Note2
CN4 Connector
Pin Signal I/O Content
1 VEX
3 4
5 6
7 8
9 OUT1/PA6 Output General Output1 3.4 10 OUT2/PA7 Output General Output2 3.4
11 OUT3/PB0 Output General Output3 3.4 12 OUT4/PB1 Output General Output4 3.4
13 OUT5/PB2 Output General Output5 3.4 14 OUT6/PB3 Output General Output6 3.4
15 OUT7/PB4 Output General Output7 3.4 16 OUT8/PB5 Output General Output8 3.4
17 OUT9/PB6 Output General Output9 3.4 18 OUT10/PB7 Output General Output10 3.4
19 OUT11/PC0 Output General Output11 3.4 20 OUT12/PC1 Output General Output12 3.4
21 OUT13/PC2 Output General Output13 3.4 22 OUT14/PC3 Output General Output14 3.4
23 24
25 26
27 GND Internal Circuit GND 28 GND Internal Circuit GND
29 GND Internal Circuit GND 30 GND Internal Circuit GND
External Power（+24V）
Chapter
Pin Signal I/O Content
3.12 2 VEX
External Power（+24V）
Chapter
3.12
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NOVA electronics MC8022P/MC8042P - 8
3.3 Drive Pulse Output Signal (nP+P, nP+N, nP-P, nP-N)
Drive pulse output signal outputs the drive pulse of +/– direction of MCX304 through a differential line-driver output
(AM26C31 or equivalent). nP+N is the reverse output of nP+P and nP-N is the reverse output of nP-P. At resetting, positive
output (nP+P, nP-P) becomes lo w level and reverse output (nP+ N, nP-N) becomes hi level. Drive pulse output is set to
independent 2-pulse type after resetting; however, the user can change to 1-pulse 1-direction type in mode setting. See chapter
2.6.2 and 4.5 of MCX304 user’s manual.
MCX304
nPP/PLS
AM26C31C or equivalent
nPM/DIR
nP+P
nP+N
nP-P
nP- N
Drive Pulse Output Signal Circuit
The following is the connection example of a motor driver with a photo coupler input and line receiver input.
MC8022P/MC8042P
AXP+P
AXP+N
AXP- P
AXP- N
CCW+
CCW-
Motor driver
CW+
CW-
Connection example of a motor driver with a photo coupler input
AXP+P
AXP+N
AXP- P
CW+
CW-
CCW+
+
-
AM26LS32
+
AXP- N
GND
CCW-
Twist Pair Shield
GND
Motor driver
Signal GND Line
-
AM26LS32
Connection example of a motor driver with a line receiver input
Note1: As shown above, when using a line receiver input circuit, connect MC8022P/MC8042P and a motor driver with GND
line. If there is the potential difference between MC8022P/MC8042P and motor driver, the malfunction and destruction of a
driver circuit and/or a motor driver circuit may be caused.
3.4 General Output Signal and Deviation Counter Clear Output Signal (OUT1~14, nOUT0/DCC)
General output signal outputs 14 points from PIX132 and one nOUT0/DCC output signal in MCX304 through buffer (TD62503).
nOUT0 signal is shared with deviation counter clear output (DCC) and is output from CN2 connector. Also other general output
signals: OUT1~14 are output from CN4 connector. At resetting, all the output signals (open collector output) will be OFF.
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NOVA electronics MC8022P/MC8042P - 9
■ OUT1~14 Output
PIX132
Port Output
Port Output
･
･
･
･
･
TD62503
OUT1
･
･
･
･
･
OUT14
GND
Output voltage：35V(max)
Output current：100mA(max)
2.7K
in
10K
TD62503(Toshiba)internal circuit
out
General Output Circuit
OUT1~14 general output signals are output from CN4. ON/OFF of this signal can be controlled by writing to each port of PIX132
(NOVA electronics). Each port is set to output and becomes OFF when the PC system is started.
General Output Signal(CN4pin),Register Bit Table
CN4 PIX132
Pin # Output signal Port address Bit position
9
10
11
12
13
14
15
16
17
18
19
20
21
22
OUT1
OUT2
OUT3
OUT4
OUT5
OUT6
OUT7
OUT8
OUT9
OUT10
OUT11
OUT12
OUT13
OUT14
0x14
0x14
0x15
0x15
0x15
0x15
0x15
0x15
0x15
0x15
0x16
0x16
0x16
0x16
6
7
0
1
2
3
4
5
6
7
0
1
2
3
ON/OFF of OUT1~14 output signals can be controlled by the following steps (1)~(4) on the program.
(1) Read current output data.
･Check the port address of the signal which the user wants to output and bit position according to the table above.
･Read the current output of the port.
Function: Nmc_InPort Current output data: mcb0pa
mcb0pa = Nmc_InPort(
Board number, Port address);
0x14, 0x15, 0x16
0x0~0xF
Example) Read the output data of the port which includes OUT1 output signal. mcb0pa = Nmc_In Port(0x0, 0x14);
(2) When turning ON the output.
･Set 1 to the bit corresponding to the signal which the user wants to turn ON.
･Example) When turning ON OUT1 output signal
mcb0pa = mcb0pa | 0x40;
(OUT1 is bit position 6, OR bit pattern is 0x40.)
(3) When turning OFF the output.
･Set 0 to the bit corresponding to the signal which the user wants to turn OFF.
･Example) When turning OFF OUT1 output signal.
mcb0pa = mcb0pa & 0xbf; (OUT1 is bit position 6, AND bit pattern is 0xbf.)
(4) Set the output data.
･Write the output data which is calculated by (2) or (3) to the port.
Function: Nmc_OutPort(Board number, Port address, Output data);
Example) Write the output data to the port Nmc_OutPort(0x0, 0x14, mcb0pa);
Examples of ON/OFF control of general output signals are described in sample program, so refer to it.
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NOVA electronics MC8022P/MC8042P - 10
■ nOUT0/DCC Output
MCX304
nDRIVE/
OUT0/DCC
TD62503(Toshiba)
nOUT0/DCC
GND
nOUT0/DCC output is shared with general output signal (nOUT0) and deviation counter clear output (DCC), and is output to CN2.
At resetting, it will be OFF. Control of this signal is different from other general output, it can be performed by writing to the
register of MCX304.
When used as general output.
(1) To enable nOUT0 output, set the nOT0E bit of MCX304/WR5 to 1.
(2) Turn ON: Set the nOUT0 bit of MCX304/WR4 to 1. Turn OFF: Set the nOUT0 bit of MCX304/WR4 to 0.
When used as deviation counter clear output.
Deviation counter clear output is the output to clear a deviation counter in a servo motor driver. MCX304 has the function to
output this deviation counter clear signal during automatic home search.
For setting of a deviation counter clear enable, a logical level and pulse width, see chapter 2.4.3 of MCX304 user’s manual. And
for automatic home search details, see chapter 2.4. As shown in the figure above, TD62503 is used as buffer on the board, so that
the board output (open collector) turns ON when MCX304 output is active Hi.
3.5 Over Run Limit Input Signal (nLMT+, nLMT-)
It is the input signal to stop each drive pulse in the +/ – direction. This input signal is connected to the limit input of MCX304
through a photo coupler. After resetting, MCX304 becomes low active, so limit function works when electric current flows from a
signal pin (nLMT+, nLMT-). For more details on mode setting, see chapter 4.5 of MCX304 user’s manual.
To enable this signal, external power supply DC24V is needed. When the board is powered on, a built-in filter of this signal
becomes the setting of signal delay time 512μsec as default. This signal delay time can be changed for circumstances of system
noise. For more details, see chapter 2.6.9 and 4.6 of MCX304 user’s manual.
nLMTP
nLMTM
+5V
10K
TLP281 or equivalent
+5V
8.2K
VEX(+24V)
nLMT+
nLMT-
MCX304
Built-in fi lter
Built-in filter
Delay time: 512µSEC (default)
Over Run Limit Input Signal Circuit
The connection example of an over run limit input signal and a photo microsensor is shown below. When D3 bit of X axis mode
register 2 (XWR2) is set to 0 (the mode at reset), limit function becomes active at the light interception.
MC8022P/
MC8042P
VEX
+
DC24V Power
-
AXLMT+
MCX304 X axis mode register 2 WR2/D3 bit:0
Connection Example of Over Run Limit Input Signal and Photo Microsensor
When long wiring is needed, use the shield cable.
- 10 -
EE- SX670(Omron)
+
L
OUT
-
Active at the light interception
NOVA electronics MC8022P/MC8042P - 11
3.6 Decelerating Stop / Instant Stop (nSTOP0, nSTOP1)
Input signal to stop drive pulse output in deceleration or immediately. Generally, nSTOP0 signal is used a s a near home signal and
nSTOP1 signal is used as a home signal. MCX304 has three signals, STOP2~STOP0 for each axis as a home search input signal;
however, STOP2 is equipped with an interface circuit for encoder Z-phase. STOP1 signal is used as an input signal for home and
STOP0 is for near home.
[Enable/Disable and Logical setting]
Each input signal can be set enable/disable and logical level in mode setting. When enable is set in mode setting, and when this
signal becomes active during driving, drive pulse output stops. When during acceleration/deceleration driving, it stops in
deceleration and when during constant driving, it stops immediately. After resetting, all the signals are disabled. For instant, when
D1, D0 bit of XWR1 register is set to 1, 0 and set to low level and enable, and when current flows out from XSTOP0 signal pin
(CN2-A4) of this board, driving stops. For more details on mode setting, see chapter 4.4 of MCX304 user’s manual.
[Automatic Home Search]
MCX304 has automatic home search function. See chapter 2.4 of MCX304 user’s manual.
To perform high-speed home search → low-speed home search by only one signal, use nSTOP0 signal and switch JP3 jumper to
UPPER side as follows:
MCX304
Built-in filter
nSTOP0
+5V
VEX (+24V)
10K
Built-in filter
Delay time
：
512µSEC(Default)
nSTOP1
Factory setting
JP3
UPPER
LOWER
8.2K
TLP281 or equivalet
+5V
nSTOP0
nSTOP1
Decelerating Stop/ Instant Stop Input Signal Circuit
To enable this signal, external power supply DC24V is needed. When the board is powered on, a built-in filter in this signal
becomes the setting of signal delay time 512μsec as default. This signal delay time can be changed for circumstances of system
noise. For more details, see chapter 2.6.9 and 4.6 of MCX304 user’s manual.
This signal can read out the signal status by input register 1, 2 (RR4, 5) at any time, so it can be used as general input.
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NOVA electronics MC8022P/MC8042P - 12
3.7 Encoder Z-phase Input Signal (nSTOP2)
nSTOP2 input signal is to stop drive pulse output during driving by connecting to the Z-phase output signal of an encoder or a
servo motor driver.
To enable this signal, external power supply DC24V is needed. When the board is powered on, a built-in filter in this signal
becomes the setting of signal delay time 512μsec as default. This signal delay time can be changed for circumstances of system
noise. For more details, see chapter 2.6.9 and 4.6 of MCX304 user’s manual.
[Enable/Disable and Logical setting]
nSTOP2 signal can be set enable/disable and logical level in mode setting as well as nSTOP1, 0 signal. For instant, when D5, D4
bit of WR1 register is set to 1, 0 and set to low and enable, and when current flows out from nSTOP2 signal pin of this board,
driving stops. For more details on mode setting, see chapter 4.4 of MCX304 user’s manual.
[Jumper setting]
This input signal can be adapted to either open collector output or line-driver output of the other output side by switching JP4
jumper. When the other side is open collector output, set JP4 to LOWER side (factory setting) and when is line-driver output, set
JP4 to UPPER side and connect nSTOP2 signal to one side of line-driver output.
MCX304
Built-in f ilter
nSTOP2
+5V
10K
1K
+5V
JP4
VEX (+24V)
8.2K
UPPER
LOWER
(Factory setting)
TLP281 or equivalent
Delay time: 512µSEC(default)
nSTOP2
Encoder Z-phase Input Signal Circuit
[Notes on Z-phase search]
Drive speed of Z-phase search
When this board is powered on, a built-in filter of nSTOP2 signal becomes the setting of signal delay time 512μsec as default. In
addition, TLP281 photo coupler (Toshiba) has approximately 100μsec delay time, so that the drive speed to search Z-phase must
be set for Z-phase signal to be active more than 1msec at least. When noise circumstances are good, search operation can be
performed at the higher speed by disabling the built-in filter of STOP2 signal.
Starting position for Z-phase search
In automatic home search of MCX304, the function stops search driving when the Z-phase signal (nSTOP2) changes from inactive
to active. Therefore, the starting position for Z-phase search must be completely away from this change point. Normally, adjust
mechanically so that this starting position becomes the 180°opposite side to the encoder Z-phase position.
The connection example of nSTOP2 input signal and open collector output of an encoder is shown below. When open collector
output is ON at Z-phase detected, set the D4 bit (SP2-L) of WR1 register to 0 (state of reset) for logical setting of MCX304.
MCX304
Built-in filter
JP4: Set to LOWER side
+5V
nSTOP2
10K
TLP281 or equivalent
MC8022P/
MC8042P
JP4
LOWER
nSTOP2
8.2K
VEX
＋
DC24Vpower
－
Encoder
VCC
Open collector output
EC-Z
GND
Connection Example with Z-phase Output of open collector
The following is the connection example of nSTOP2 input signal and one pin of line-driver output of an encoder. When output is
low level at Z-phase detected, set the D4 bit (SP2-L) of WR1 register to 0 (state of reset) for logical setting of MCX304.
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NOVA electronics MC8022P/MC8042P - 13
MC8022P/
MC8042P
JP4
UPPER
nSTOP2
GND
Encoder
EC- Z
GND
MCX304
Built-in filter
JP4:Set to UPPER side
+5V
nSTOP2
10K
TLP281 or equivalent
+5V
1K
Connection Example with Z-phase Output of line-driver
3.8 Input Signals for Servo Motor (nINPOS, nALARM)
nINPOS input signal is applied to the in-position output of a servo motor driver. Enable/disable and logical level can be set in
mode setting of MCX304. When enable is set and after completion of the driving, nDRV bit of main status register (RR0) returns
to 0 after this signal becomes active.
nALARM input signal is applied to the alarm output from a servo motor driver. Enable/disable and logical level can be set in
mode setting. When enable is set, nALARM input signal is monitored, and when nALARM is active, the ALARM bit of status
register 2 (nRR2) is set to 1. When the signal becomes active during driving, driving will stop immediately.
After resetting, both signals are disabled. For nINPOS input signal, set the D15, 14 bit of mode register 2 (nWR2) of MCX304 to
1,0 as low level active, and the n-DRV bit of RR0 register returns to 0 after waiting to flow current from nINPOS signal. For
nALARM input signal, set the D13, 12 bit of nWR2 register to 1,0 as low level active, and the signal becomes an alarm state when
current flows from nALARM signal pin. For more details, see chapter 2.6.5 and 4.5 of MCX304 user’s manual.
nINPOS
nALARM
+5V
10K
TLP281 or equivalent
+5V
8.2K
VEX (+24V)
nINPOS
nALARM
MCX304
Built-in filter
Built-in filter
Delay time: 512µSEC (default)
Input Signal Circuit for Servo Motor
To enable this signal, external power supply DC24V is needed. When the board is powered on, a built-in filter in this signal
becomes the setting of signal delay time 512μsec as default. This signal delay time can be changed for circumstances of system
noise. For more details, see chapter 2.6.9 and 4.6 of MCX304 user’s manual.
In addition, the input signal for a servo motor can read out the signal status by input register 1, 2 (RR4, 5) at any time, so it can be
used as general input.
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NOVA electronics MC8022P/MC8042P - 14
3.9 Encoder A/B phase Input Signal (nECAP, nECAN, nECBP, nECBN)
nECAP/N, nECBP/N, input signals are the input to count a real position counter of MCX304 by connecting to the 2-phase output
signal of an encoder or a servo motor driver. For more details, see chapter 2.3.1, 2.6.3 and 4.5 of MCX304 user’s manual.
MCX304
nECA/PPIN
nECB/PMIN
+5V
750
+5V
TLP115A
220
1K
nECAP
nECAN
nECBP
nECBN
Encoder A/B phase Input Signal Circuit
As shown above, encoder A/B phase input signal circuit uses high-speed photo coupler IC TLP115A (Toshiba). Each input signal
can be directly connected to a differential line-driver output. As the figure below, when n***P/N signal is H/L, n*** signal of
MCX304 becomes Low and when is L/H, it becomes Hi. The delay time from input to the signal pin of MCX304 is under
100nSEC, so that the signal can count up to 4MHz in the case of 2-phase pulse input.
Input Signal
MCX304 Signal
n***P
n***N
n***
H
L
L
L
H
H
The connection example of an encoder A/B phase input signal and a differential line-driver output is shown as follows:
MC8022P/
MC8042P
XECAP
XECAN
CN3
Encoder
EC-A
AM26LS31
XECBP
EC- B
XECBN
Connection Example with Differential line-driver Output
The connection example of an encoder A/B phase input signal and an encoder with open collector output is shown as follows:
MC8022P/
MC8042P
XECAP
XECAN
XECBP
XECBN
CN3
R
R
Power Voltage(V)
12
24
R(Ω)
5
0
820 1/4W
2K 1W
+
-
DC Power
VCC
EC-A
EC-B
GND
Encoder
Connection Example with Open Collector Output
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NOVA electronics MC8022P/MC8042P - 15
3.10 Driving by External Signal (nEXOP+, nEXOP-)
The signal externally controls driving in the + or – direction. In fixed driving mode, the falling edge of these signals trigger
outputs specified drive pulse. In continuous driving mode, drive pulse is output continuou sly while the input signals are low. This
function can reduce the load of the host CPU, so the user can perform jog feed of each axis speedy. External signal for driving can
be set in mode setting of MCX304. For more details, see chapter 2.6.1 and 4.6 of MCX304 user’s manual.
nEXPP
nEXPM
+5V
10K
TLP281 or equivalent
+5V
8.2K
VEX (+24V)
nEXOP+
nEXOP-
MCX304
Built- in filter
Built-in filter
Delay time: 512µSEC (default)
External Driving Signal(nEXOP+/-) Circuit
To enable this signal, external power supply DC24V is needed. When the board is powered on, a built-in filter in this signal
becomes the setting of signal delay time 512μsec as default. This signal delay time can be changed for circumstances of system
noise. For more details, see chapter 2.6.9 and 4.6 of MCX304 user’s manual.
3.11 Emergency Stop Input Signal (EMG)
All the drive pulse output stops when emergency stop signal becomes active. Active level can be switched by the JP2 jumper pin
on the board. When emergency stop signal becomes active during driving, driving for all axes stops instantly and 1 is set to the
error bit of all axes of main status register. For emergency stop of MCX304, see chapter 2.6.6 and 4.1.2 of MCX304 user’s
manual.
MCX304
Built-in filter
EMGN
1
3
JP2:EMG level switching
2
4
(1- 2 short-circuited
in factory default)
74HC14 or equivalent
JP2
+5V
10K
TLP281 or equivalent
8.2K
VEX (+24V)
EMG
Emergency Stop Input Signal Circuit
To enable this signal, external power supply DC24V is needed. When the board is powered on, a built-in filter in this signal
becomes the setting of signal delay time 512μsec as default. This signal delay time can be changed for circumstances of system
noise. For more details, see chapter 2.6.9 and 4.6 of MCX304 user’s manual.
JP2
1
34
Pin assignments of the JP2 jumper is shown on the left.
2
1-2 short circuit: When emergency stop signal (EMG) is short-circuited with GND of the external power, it becomes
active.
3-4 short circuit: When emergency stop signal (EMG) is open, it becomes active.
Factory default is 1-2 short-circuited.
3.12 External Power (VEX)
The power supplied externally is used for over run limit input signal (nLMT+, nLMT–) of each axis, decelerating stop/instant stop
(nSTOP0, nSTOP1, nSTOP2) input signal, input signal for servo motor (nINPOS, nALARM), external signal for driving
(nEXOP+, nEXOP–) and emergency stop input signal (EMG). DC24V is needed. Consumption current is 2.8mA per 1 input
signal.
- 15 -
NOVA electronics MC8022P/MC8042P - 16
4. Interrupt
This board has an interrupt signal generated by MCX304, which connect to the INTA# of four interrupt request signals in the
PCI bus. When an interrupt occurs in MCX304, the interrupt request signal of this board changes from Hi to Low. By reading
out the status register 3 (nRR3) of the axis generated the interrupt, the interrupt request signal returns from Low to Hi.
For the interrupt function of MCX304, please refer to the following.
Article Reference manual
Function of the interrupt Chapter 2.5 of MCX304 user’s manual
Setting of the interrupt enable / disable Chapter 4.4 of MCX304 user ’s manual
Interrupt notion to the application MC8000P User’s manual of device driver
When handling the interrupt by VC in Chapter 3.4.3
Chapter 4.13 of MCX304 user’s manual Reading out of the interrupt generation
MC8000P User’s manual of device driver
When handling the interrupt by VC in Chapter 3.4.3
[Notes for using interrupt]
IRQ number for the interrupt signal of this board is determined depending on PnP function.
In addition, it shares the same interrupt request signal with other devices by PnP function and Windows, competition is not
occurred because Windows generally controls it.
- 16 -
NOVA electronics MC8022P/MC8042P - 17
5. Connection Example for Motor Driver
5.1 Connection Example for Stepper Motor Driver
The figure shown below illustrates the connection example of MC8022P/MC8042P X axis and the 5-phase micro step driver of
TECHNO DRIVE KR535M.
MC8022P/
MC8042P
CN2 Connector
XP+P
XP+N
XP- P
XP-N
XOUT0
A35
A36
A37
A38
A31
Set JP4/AX
to UPPER.
＋
DC5V Power
－
Source
CW pulse
CCW pulse
Hold OFF
5- phase micro step driver
KR-535M
F+
FR+
RH.O+
H.O-
XSTOP2
GND
A18
A30
Excitation timing
Z.P+
Z.P-
Note1: Wire hold OFF and excitation timing signals according to need. The hold off signal can be controlled by writing 0, 1 into
the D0 bit of MCX304 WR4 register after the D0 bit of WR5 register is 1 for enabling XOUT0 signal. The excitation timing
signal can perform a home search by the mode setting of WR1 register D4, 5 bit. In addition, the excitation timing signal can
directly read out the signal level through the RR4 register.
Note2: When the circumstances are affected by strong noise or there is long distance to the driver, the twist pair shield cable
shown above is recommended.
The figure shown below illustrates the connection example of MC8022P/MC8042P X axis and the stepper motor driver of
Oriental Motor UPK series.
MC8022P/
MC8042P
CN2 Connector
XP+P
XP+N
XP- P
XP- N
GND
XOUT0
GND
VEX
XSTOP2
XALARM
A35
A36
A37
A38
A31
A30
A1
A18
A20
Set JP4/AX
to LOWER
CW pulse
CCW pulse
2KΩ1W
Hold OFF
＋
DC24V Power
－
.
Source
Excitation timing
Over heat
UPK series
Driver
CW+
CWCCW+
CCW-
H.OFF+
H.OFF-
TIMING
O.HEAT
COM
Note1: Wire hold OFF, excitation timing and over heat signals according to need. The hold off signal can be controlled by
writing 0, 1 into the D0 bit of MCX304 WR4 register after the D0 bit of WR5 register is 1 for enabling XOUT0 signal. The
excitation timing signal can perform a home search by the mode setting of the WR1 register D4, 5 bit. The over heat signal can
perform an alarm function by the mode setting of the WR2 register D12, 13 bit. In addition, the excitation timing and over heat
signals can directly read out the signal level through the RR4 register.
Note2: When the circumstances are affected by strong noise or there is long distance to the driver, the twist pair shield cable
shown above is recommended.
- 17 -
NOVA electronics MC8022P/MC8042P - 18
5.2 Connection Example for AC servo motor driver
The figure shown below illustrates the connection example of MC8022P/MC8042P X axis and the AC servo motor driver of
MINAS S series.
MC8022P/MC8042P
CN2 Connector
A35
XP+P
A36
XP+N
A37
XP- P
A38
XP- N
A1
VEX
GND
CN3
A18
A20
A19
A31
A30
19
20
21
22
XSTOP2
XALARM
XINPOS
XOUT0/DCC
XECAP
XECAN
XECBP
XECBN
CN4
XOUT1
XOUT2
GND
27
CW pulse
CCW pulse
Encoder Z- phase
Servo alarm
Positioning completion
Deviation counter clear
Encoder A- phase
Encoder B- phase
3
4
Servo on
Alarm reset
＋
DC24V Power
－
Source
MINASSseries
CN I/F
23
PULS2
22
PULS1
25
SIGN2
24
SIGN1
21
CZ
14
GND
1
COM+
9
ALM
10
COIN
13
COM-
4
CL
15
OA+
16
OA-
17
OB+
18
OB-
2
SRV- ON
3
A- C L R
CN2
+
XLMT+
A2
L
OUT
CW direction
Limit
-
+
XLMT-
A3
L
OUT
CCW direction
Limit
-
+
XSTOP
A5
1
L
OUT
Home
-
+
XSTOP0
A4
L
OUT
Near home
-
EE-SX670 (Omron)
Note1: Set the mode of MINAS driver control to the position control mode and the pulse form to CW/CCW pulse mode. Do not
set the pulse form to Pulse/Sign mode because the lack of t6 time occurs.
Note2: Use encoder A/B phase signals when the user counts a real position counter in MCX3 04. If the real position data is not
necessary, no need to connect them. For other signals, connect them according to need.
Note3: In this example, encoder Z-phase uses the open collector output of driver side, so set JP4 to Lower side (default).
Note4: In this example, a near home signal and home signal are each connected for the home signal, so set JP3 to LOWER side
(default).
Note5: When the circumstances are affected by strong noise or the distance to the driver is long, the twist pair shield cable
shown above is recommended.
- 18 -
NOVA electronics MC8022P/MC8042P - 19
6. Input/Output Signals Timing
6.1 Reset
+5V
TRESET#
nP±P
nP±N
Read/Write to this board
Low
Hi
①
Disable
②
Enable
① Drive pulse output signals (nP±P, nP±N) are determined within a maximum of 250nSEC from ↓ of the target reset signal
(TRESET#) of APIC21 (ADTEC).
② Writing/Reading to this board can be performed after 500nSEC from ↑ of the target reset signal (TRESET#).
6.2 Beginning of Driving
＊
IOW
nP±P
nP-P
(Direction Signal)
←
Writing of Drive Command.
Previous State
①
②
③
Valid Level
First Puls e Second Pulse
① First drive pulse is output within a maximum of 650nSEC after writing of drive command.
②③ When drive output pulse is 1-pulse type, a direction signal (nP-P) beco mes valid level within a maximum of 275nSEC
after writing of drive command. And first drive pulse is output after 375nSEC when the direction signal becomes valid level.
6.3 Input Pulse Timing
■ Encoder 2-phase Pulse Input
Count Up Count Down
nECAP
nECAN
nECBP
nECBN
①①①
① EC-A,EC-B phase difference time : 200nSEC min.
①
①①
①①
- 19 -
NOVA electronics MC8022P/MC8042P - 20
■ Up/Down Pulse Input
nECAP
nECAN
nECBP
nECBN
①
①
③
②
①
①
③
① UP/DOWN pulse width : 130nSEC min. ② UP⇔DOWN between the pulses : 260nSEC min.
③ UP/DOWN pulse cycle : 260nSEC min.
6.4 Instant Stop Timing
■ Instant Stop by External Signal
EMG,nLMT±
nSTOP2,1,0
nP±P
① When an external stop signal becomes valid level during driving, the driving stops after photo coupler delay time (100μsec
max.) + the delay time of IC built-in integral filter (512μsec default) + 1 drive pulse.
Valid Level
①
■ Instant Stop by Command
←
WRN
Writing of Stop Command
nP±P
②
② When stop command is written during drivin g, the driving stops after a maximum of 1 drive pulse.
6.5 Decelerating Stop Timing
■ Decelerating Stop by External Signal
nLMT±
nSTOP2,1,0
nP±P
① When an external decelerating stop signal becomes valid level during driving, the driving starts deceleration after photo
coupler delay time (100μsec max.) + the delay time of IC built-in integral filter (512μsec default) + 2 drive pulses.
Valid Level
①
■ Decelerating Stop by Command
←
WRN
nP±P
② When decelerating stop command is written during driving, the driving starts deceleration after a maximum of 2 drive
pulses.
Writing of Decelerating Stop Command.
②
- 20 -
NOVA electronics MC8022P/MC8042P - 21
7. Board Dimensions
21.6
17.2
11.4
(1.9)
176.5
174.6
unit:mm
2-φ3.2
CN3
B50
A50
UPPER
JP4
126.5
CN2
A1
B1
CN2
15 25.8
SW1
0
C
4
8
CN1 PCI bus connector
B1
APIC21
63.7
LOWER
B49
AXBXAYBYAZBZAU
JP1
B52
15.4
CN4
BU
AXAYAZAUBXBYBZ
B62
BU
UPPER
LOWER
JP3
JP2
2
1
4
3
Soldered surfaceA1 ~A49,A52 ~A62
PIX132
MCX304
5.1
89.5
106.7
3.8
8.3
JP1: Keep 1-2 short circuit (default).
JP2: Select active logical level for emergency stop signal (EMG).
1-2 short circuit (default): When the signal is short-circuited with GND, it becomes active.
3-4 short circuit: When the signal is open, it becomes active.
JP3: Select a home search signal. See chapter 3.6.
LOWER (default): Use STOP0 as a near home signal and STOP1 as a home signal.
UPPER: Use only STOP0 to perform high-speed home search → low-speed search.
*Axis assignment of MC8022P is executed by AX and AY, of MC8042P is executed by AX, AY, AZ
and AU.
JP4: Select STOP2 (Encoder Z-phase) input circuit. See chapter 3.7.
LOWER (default): For the open collector output.
UPPER: For the line-driver output.
*Axis assignment of MC8022P is executed by AX and AY, of MC8042P is executed by AX, AY, AZ
and AU.
SW1: Rotary switch to set the board number when multiple boards are used, which can be set from 0
to F (default setting: 0).
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NOVA electronics MC8022P/MC8042P - 22
8. Specifications
Control Axis MC8022P: 2 axes (Independent, Simultaneous Control)
MC8042P: 4 axes (Independent, Simultaneous Control)
PCI Bus Interface
Data Bit Width 16 bit
Common Specifications of Each Axis
Drive Pulses Output
Pulse Output Circuit Differential line-driver (AM26C31) output
Pulse Output Speed 1PPS ~ 4MPPS
Pulse Output Speed Accuracy ± 0.1% (according to the setting speed)
477 x 10
Accelerating / Decelerating Speed 125 ~ 1 x 10
62.5×103 ~ 500 x 10
Initial Speed 1 ~ 8,000PPS (Multiple = 1)
500PPS ~ 4×10
Drive Speed 1 ~ 8,000PPS (Multiple = 1)
500PPS ~ 4×10
Output-pulse Number 0 ~ 268,435,455 (fixed drive)
Speed Curve Constant speed, linear acceleration/deceleration, parabola S-curve
Fixed Drive Deceleration Mode Auto (non-symmetrical trapezoidal acceleration is also allowed) / manual
Output-pulse numbers and drive speeds changeable during the driving
Logical levels of drive pulse selectable
Input Circuit High-speed photo coupler input. Connectable with differential line-driverr.
Pulse of each single, double and quad count edge evaluation is selectable (2-phase pulse style).
Position Counter
Logic Position Counter (for output pulse) range −2,147,483,648 ~ +2,147,483,647
Real Position Counter (for input pulse) range − 2,147,483,648 ~ +2,147,483,647
Comparison Register
COMP + Register Position comparison range −1,073,741,824 ~ +1,073,741,823
COMP − Register Position comparison range −1,073,741,824 ~ +1,073,741,823
Software limit functioned
Automatic home search
Enable/Disable of each step and search direction selectable
Interrupt
The factors of occurring interrupt:
..start / finish of a constant-speed drive
..end of the driving
..transition to “position counter ≥ COMP−”
..transition to “position counter < COMP−”
..transition to “position counter ≥ COMP+”
..transition to “position counter < COMP+”
Enable / disable for these factors selectable
External Signal for Driving
EXOP+ and EXOP- signals for fixed / continuous drive
Input Circuit Photo coupler + IC built-in integral filter
Occupied I/O Address 64 Determined by PnP.
Interrupt IRQ Determined by PnP.
Speed Multiplier 1 ~ 500
S-curve Jerk 954 ~ 62.5 x 10
acceleration/deceleration drive
Independent 2-pulse system or 1-pulse 1-direction system selectable
6
PPS/SEC2 (Multiple = 1)
3
~ 31.25 x 109PPS/ SEC
6
PPS/SEC (Multiple = 1)
6
PPS/ SEC (Multiple = 500)
6
PPS (Multiple = 500)
6
PPS (Multiple = 500)
2
(Multiple =500)
Encoder A/B phase Input
A/B phase pulse style or Up/Down pulse style selectable
To read / write data is always possible.
Automatic execution of Step 1 (high-speed near home search) → Step 2 (low-speed home search) → Step 3 (low-speed
encoder Z-phase search) → Step 4 (high-speed offset drive).
Deviation counter clear output : Clear pulse width within the range of 10μ~20ｍsec and logical level selectable
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NOVA electronics MC8022P/MC8042P - 23
External Deceleration / Instant Stop Signal
STOP0 ~ 2 3 points for each axis (STOP0:near home, STOP1:home, STOP2:encoder Z-phase input)
Enable / disable and logical levels selectable and can be used as general input.
Servo Motor Input Signal
ALARM (Alarm), INPOS (In Position Check)
Enable / disable and logical levels selectable
DCC (Pin shared between deviation counter clear output and OUT0)
General Output Signal
OUT1 ~ 14 14 points
1 point for each + and − direction
Logical levels and decelerating / instant stop selectable
Emergency Stop Signal Input
EMG 1 point for all axes
Stop the drive pulse immediately for all axes and logical levels selectable by jumper on the board.
Input Circuit Photo coupler + IC built-in integral filter
Input Circuit Photo coupler + IC built-in integral filter
Servo Motor Output Signal
Output Circuit TD62503 output (open collector output)
Output Circuit TD62503 output (open collector output)
Limit Signals Input
Input Circuit Photo coupler + IC built-in integral filter
Input Circuit Photo coupler + IC built-in integral filter
Electrical Characters
Temperature Range for Driving 0 ~ + 45°C (No condensation)
CN3: HIF3FC-50PA-2.54DS (Hirose)
CN4: HIF3FC-30PA-2.54DS (Hirose)
CN4: HIF3BA-30D-2.54R (Hirose) connector only
AB80411: Round cable with a shield for CN2 (3.5m)
AC80801: Extension board for CN3, CN4
Power Voltage for Driving +5V ± 5 %
Consumption current MC8022P: 300mA max / MC8042P: 400mA max
External Supply Voltage +24V
Board Dimensions 174.6×106.7mm (Connectors and brackets excluded)
I/O Connector Type CN2: FX2B-100PA-1.27DS (Hirose)
Accessories CN2: FX2B-100SA-1.27R (Hirose) with 1.2m cable
Optional accessories CN3: HIF3BB-50D-2.54R (Hirose) connector only
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