Adt Series Motion Control Card

8/3/2019 Adt Series Motion Control Card

1/97

Technical Manual of

ADT-series MotionControlling Card

ADTECH (SHENZHEN)CNC TECHNOLOGY CO. ,LTD

Add:36th building, Majialong Industrial Park,Nanshan District,Shenzhen

City,Guangdong Province,China

Post Code: 518052Tel:+86 755 26099116 Fax: +86 755 26722718


2/97

ADT-series Servo/Stepping Motion Card

http://www.adtechen.com

2

Statement about the Copyright

The book property right in this manual belongs to Adtech Digital Tech Co., Ltd only (Further it is Adtech for short).

Without the permission of Atech, anyone can not willfully imitate, copy, copy out or re-translate it. The manual has

no any forms of guarantee, experession of stand point or other suggestions. The Adtech and its staff have no any

responsibilities if there is a information given away secret to bring about a loss of interests or stop of deeds.

Besides, the sizes and data are only for reference in the manual. Its contents may be innovotaed without any further

notice.

Statement about the Trade Mark

The product names involving in the manual are only used to distinguish while they may belong to other different

trade marks or copyrights. Our statement is as follows:

INTEL, PENTIUM are trade marks of INTEL Company.

All WINDOWSMSDOS are product trade marks of MICROSOFT Company.

DT-850 is trade mark of Adtech Company.

The marks not mentioned above belong to companies registered.

All rights reserved

ADTECH (SHENZHEN)CNC TE CHNOLOGY CO. ,LTD


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3

Contents

Chapter I General Information ............................................................................................................................ 5

Chapter II Hardware Accessories Supply............................................................................................................ 6

Chapter III Electric Connection ........................................................................................................................... 7

PCICARD ELECTRIC CONNECTION ............................................................................................................................. 7

PC104CARD ELECTRIC CONNECTION......................................................................................................................... 8

ChapterIV Performance Introduction.................................................................................................................... 9

PCI bus type ........................................................................................................................................................... 9

ADT-856 ADVANCED 6-AXIS SERVO/STEPPER MOTION CONTROL CARD ....................................................................... 9

FEATURES.................................................................................................................................................................... 9

INPUT/OUTPUT INTERFACES DESCRIPTION................................................................................................................... 9

ADT-8946A1 ADVANCED 4-AXIS SERVO/STEPPER MOTION CONTROL CARD .............................................................. 14

FEATURES.................................................................................................................................................................. 14

INPUT/OUTPUT INTERFACES DESCRIPTION................................................................................................................. 14


FEATURES ................................................................................................................................................................... 19



FEATURES.................................................................................................................................................................. 24



FEATURES.................................................................................................................................................................. 27



FEATURES ................................................................................................................................................................... 30

INPUT/OUTPUT INTERFACES DESCRIPTION .................................................................................................................. 30

PCI104 bus type ................................................................................................................................................... 32

ADT-836ADVANCED 6-AXIS SERVO/STEPPER MOTION CONTROL CARD ..................................................................... 32

FEATURES.................................................................................................................................................................. 32


SET ADDRESS: ............................................................................................................................................................ 35ADT-860ADVANCED 4-AXIS SERVO/STEPPER MOTION CONTROL CARD ..................................................................... 37

FEATURES.................................................................................................................................................................. 37


SET ADDRESS ............................................................................................................................................................. 39

ADT-864ADVANCED 4-AXIS SERVO/STEPPER MOTION CONTROL CARD ..................................................................... 40

FEATURES.................................................................................................................................................................. 40


SET ADDRESS ............................................................................................................................................................. 42

Chapter V Installing Software ............................................................................................................................ 43

INSTALL DRIVER IN WIN2000 .................................................................................................................................... 43

INSTALL DRIVER IN WINXP ....................................................................................................................................... 44


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4

Chapter VI Functions Introduction.................................................................................................................... 45

QUANTITATIVE DRIVING ............................................................................................................................................ 45

CONTINUOUS DRIVING............................................................................................................................................... 45

VELOCITY CURVE....................................................................................................................................................... 45

POSITION MANAGEMENT ........................................................................................................................................... 47

LOGICAL POSITION COUNTER AND ACTUAL POSITION COUNTER................................................................................ 47COMPARE REGISTER AND SOFTWARE LIMIT ............................................................................................................... 47

INTERPOLATION ......................................................................................................................................................... 47

INTERPOLATION OF ACCELERATION/DECELERATION DRIVING.................................................................................. 49

PULSE OUTPUT MODE................................................................................................................................................. 50

POSITION LOCK.......................................................................................................................................................... 50

AUTOMATICALLY BACK TO HOME .............................................................................................................................. 50

EXTERNAL SIGNAL DRIVING ...................................................................................................................................... 50

STEPPING INTERPOLATION ......................................................................................................................................... 51

Chapte VII Basic Library Functions List of ADT-series Motion Control Card.............................................. 52

ChapteVIII Details of Basic Library Functions .................................................................................................. 57BASIC PARAMETERS SETTINGS................................................................................................................................... 57

DRIVING STATUS CHECKING....................................................................................................................................... 62

MOVING PARAMETER SETTINGS................................................................................................................................. 63

MOVING PARAMETER CHECKING ............................................................................................................................... 67

LIBRARY FUNCTION VERSION CHECKING ................................................................................................................... 68

BASIC DRIVING .......................................................................................................................................................... 68

SYNCHRONIZED FUNCTION SETTING.......................................................................................................................... 72

COMPOSITE DRIVING ................................................................................................................................................. 74

SWITCH QUANTITY INPUT/OUTPUT ............................................................................................................................ 79

Chapter IX Motion Control Function Library Guide...................................................................................... 82

Chapter X Key Points of Motion Control Development................................................................................... 84

INITIALIZE THE CARD ............................................................................................................................................. 84

SPEED SETTING .......................................................................................................................................................... 84

STOP0,STOP1 AND STOP2 SIGNAL ................................................................................................................... 85

SERVO SIGNAL ......................................................................................................................................................... 85

Chapter XI Examples of Motion Control Developing and Programming...................................................... 86

INITIALIZATION PART ................................................................................................................................................. 86

SET SPEED PART ......................................................................................................................................................... 86

PART FUNCTION INTRODUCES..................................................................................................................................... 87

I/O OPERATION........................................................................................................................................................... 95

Chapter XII Troubleshooting.............................................................................................................................. 96

MOTION CARD DETECTION FAILED ............................................................................................................................ 96

MALFUNCTION OF MOTOR......................................................................................................................................... 96

SWITCH QUANTITY INPUT ERROR............................................................................................................................... 96

SWITCH QUANTITY OUTPUT ERROR........................................................................................................................... 97

CODER ERROR............................................................................................................................................................ 97


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5

Chapter I General Information

slot type PCI PC104

card type ADT-856ADT-89

46A1

ADT-894

8A1

ADT-894

0A1

ADT-8960

A1

ADT-89

20A1ADT-836 ADT-860 ADT-864

axis number 6 4 4 4 6 2 6 4 4

motor 16*6 16*4 16*4 16*4 16*6 16*2 16*6 16*4 16*4

max output

pulse

frequency

4MHZ 2MHZ 4MHZ

move mode

Symmetric linear

acceleration/deceleration

asymmetric linear


S-curve


Symmetric linear


Symmetric linearacceleration/deceleration

asymmetric linear


S-curve acceleration/deceleration

linear

interpolatio

n axis

number

fixed

2-6

fixed

2-4

random2-

3

random2

-4

random2-

6

random

2fixed2-6

random

2-3fixed2-4

whether

continuous

interpolatio

available

max driving frequency 2MHZ unavailable

available

max driving frequency 2MHZ

whether arc

interpolatio

fixed

axis

CW,CC

fixed

axis

CW,CC

random2-

axis

CW,CCW

unavailable

fixed axis

CW,CC

W

random2

-axis

CW,CCW

fixed

axis

CW,CC

counter

the logical position counter and

actual position counter are 32-bit

up/down cyclic counters, with

variable cyclic function



up/down cyclic counters, no




up/down cyclic counters, with


I/O

each axis has 8-in/8-out digital

I/O

40

input,16output

32input,16

output,

with

16unoccup

ied IO,youcan all

used them

as input or

ouput

20

input,8output

each axis has 8-in/8-out digital

I/O

Support

card numberOne system can use up to 16 motion cards

pulse mode Pulse+Direction ,Pulse+Pulse

frequency

error rangethe frequency error is less than 0.1%

Note:

CW is clockwise,CCW is clock against.


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6

In circular arc interpolation mode and continuous interpolation mode,only symmetric acceleration/deceleration andasymmetric acceleration/deceleration are available,S-curve acceleration/deceleration is unavailable.

Chapter II Hardware Accessories Supply

slot type PCI PC104

Card type ADT-856 ADT-8946A1 ADT-8948A1 ADT-8940A1 ADT-8960A1 ADT-8920A1 ADT-836 ADT-860 ADT-864

Technical

Manual1

card

number1

Data CD 1

ADT-9137 4 1 1 2 2 2

ADT-9164 1 1 1

DB37 2 1 1 2 2 2

ADT-9162 2 2 1 2 1

D62GG 2 2 1 2 1

DB64 1 1 1

D37GG 4 1 1 2 2 2

ADT-9125 2 1 1

D25GG 2 1 1

DB25 2 1 1

40-pin line 1

20-pin line 1

Note:

ADT-9137: 37-core terminal blocks ADT-9164:transition board DB37:37-core flat cable

ADT-9162: 62-core terminal blocks D62GG:62-core shielded cables DB64:64-core flat cable

D37GG:37-core shielded cables ADT9125:25-core terminal blocks D25GG:25-core shielded cables

DB25:25-core flat cable


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Chapter III Electric Connection

PCI Card Electric Connection

ADT-856card:

ADT-8946A1 card:

ADT-8948A1 card:

ADT-8940A1 card:

ADT-8960A1 card:

ADT-8920A1 card:


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PC104 Card Electric Connection

ADT-836card: ADT-864 card:

ADT-860 card:

Install:

1. Cut off the power supply of PC.

2. Open the back cover of computer case.

3. Select an idle PCI slot or PC104 port and insert

the motion control card.

4.Install interface cable

http://www.adtechen.com8


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ChapterIV Performance Introduction

PCI bus typeADT-856 advanced 6-axis servo/stepper

motion control card

Features

32-bit PCI bus, PnP 6-axis servo/stepping motor control; each axis can

control independently

The frequency error of pulse input is less than 0.1% Maximum pulse output frequency is 4MHz Pulse output can be either single pulse (pulse +

direction) or double pulse (pulse + pulse)

All the 6 axes have code feedback input; 32-bitcounting; maximum counting range:

-2,147,483,648~+2,147,483,647

Linear or S-curve acceleration/deceleration Asymmetric linear acceleration/deceleration 2-6 axes linear interpolation CW and CCW circular-arc interpolation

Continuous interpolation is available; top drivingspeed: 2MHz

Each axis has two 32-bit compare registers, whichare used for position comparison between logical

position counter and actual position counter, and

software limit

Receive signals from servo motor drive, e.g. coderZ-phase signal, in-position signal, alarm signal, etc

Each axis has 3 STOP signals, which are used tosearch for home and Z-phase of coder

The speed and target position can be changed inreal-time in the motion process

Read the logical position, real position, drivingspeed, acceleration/ deceleration and driving state

in real-time in the motion process

Position counter is integrated with variable cyclicfunction; the logical position counter and actual

position counter are 32-bit up/down cyclic counters

Each axis has 8-in/8-out digital I/O. Except twolimit signals, all signals can be used as general I/O.

Digital output can be used in signals of servo on

and servo alarm reset

The input port of every input signal is equippedwith integral filter. You can select to

activate/deactivate the filter of certain input signal.

Select one from the 8 constants for the filter time

Up to 16 motion cards can be used in one system Supported operating systems: DOS,

WINDOWS95/98/NT/2000/XP, WINCE

Input/output interfaces description

J1 cable marker description

XPU+ X pulse signal +

XPU- X pulse signal -

XDR+ X direction signal +

XDR- X direction signal -

YPU+ Y pulse signal +

YPU- Y pulse signal -

YDR+ Y direction signal +

YDR- Y direction signal -

ZPU+ Z pulse signal +

ZPU- Z pulse signal -

ZDR+ Z direction signal +

ZDR- Z direction signal -

EXT_VCC Positive port of internal +5V power

supply; do not connect to external

power supply



power supply



power supply

INCOM1 Common port of photoelectric

coupling input (signals below)

XLMT+ X positive limit signal

XLMT- X negative limit signal

XSTOP0 X home signal 0; can be used as

universal input signal



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YLMT+ Y positive limit signal

YLMT- Y negative limit signal

YSTOP0 Y home signal 0; can be used as




ZLMT+ Z positive limit signal

ZLMT- Z negative limit signal

ZSTOP0 Z home signal 0; can be used as




GND Internal power supply ground wire

OUTCOM Common ground wire of output point

of switching quantity

OUT0

OUT1

OUT2

OUT3

OUT4

OUT5

Digital output

NC untapped


APU+ A pulse signal +

APU- A pulse signal -

ADR+ A direction signal +

ADR- A direction signal -

BPU+ B pulse signal +

BPU- B pulse signal -

BDR+ B direction signal +

BDR- B direction signal -

CPU+ C pulse signal +

CPU- C pulse signal -

CDR+ C direction signal +

CDR- C direction signal -


supply; do not connect to external power

supply



supply



supply

INCOM1 Common port of photoelectric coupling

input (signals below)

ALMT+ A positive limit signal

ALMT- A negative limit signal

ASTOP0 A home signal 0; can be used as


ASTOP1 A home signal 1; can be used as

universal input signalBLMT+ B positive limit signal

BLMT- B negative limit signal

BSTOP0 B home signal 0; can be used as




CLMT+ C positive limit signal

CLMT- C negative limit signal

CSTOP0 C home signal 0; can be used as




OUTCOM

OUTCOMCommon output

OUT6

OUT7

OUT8

OUT9

OUT10

OUT11

Digital output



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NC untapped

P1 cable marker description


XINPOS X servo in-position signal; can be

used as universal input signal

XALARM X servo alarm signal;



XIN0 X input signal 0;can be used as


YINPOS Y servo in-position signal; can be used

as universal input signal

YALARM Y servo alarm signal;



YIN0 Y input signal 0;can be used as



coupling input (signals above)

ZINPOS Z servo in-position signal; can be used


ZALARM Z servo alarm signal;



ZIN0 Z input signal 0;can be used as


AINPOS A servo in-position signal; can be used


AALARM A servo alarm signal;

ASTOP2 A home signal 2; can be used asuniversal input signal

AIN0 A input signal 0;can be used as




BINPOS B ervo in-position signal; can be used


BALARM B servo alarm signal;



BIN0 B input signal 0;can be used as


CINPOS C ervo in-position signal; can be used


CALARM C servo alarm signal;



CIN0 C input signal 0;can be used as




OUT12

OUT13

OUT14

OUT15

Digital output

OUTCOM1 Common output

OUT16

OUT17

OUT18

OUT19

Digital output

OUTCOM2 Common output

P2 cable marker description


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XECA X-axis coder phase A input -

XECA+ X-axis coder phase A input +

XECB X-axis coder phase B input -

XECB+ X-axis coder phase B input +

YECA Y-axis coder phase A input -

YECA+ Y-axis coder phase A input +

YECB Y-axis coder phase B input -

YECB+ Y-axis coder phase B input +

ZECA Z-axis coder phase A input -

ZECA+ Z-axis coder phase A input +

ZECB Z-axis coder phase B input -

ZECB+ Z-axis coder phase B input +

AECA A-axis coder phase A input -

WECA+ A-axis coder phase A input +

AECB A-axis coder phase B input -

AECB+ A-axis coder phase B input +

BECA B-axis coder phase A input -

BECA+ B-axis coder phase A input +

BECB B-axis coder phase B input -

BECB+ B-axis coder phase B input +

CECA C-axis coder phase A input -

CECA+ C-axis coder phase A input +

CECB C-axis coder phase B input -

CECB+ C-axis coder phase B input +

OUT20

OUT21

OUT22

OUT23

OUT24

OUT25

OUT26

OUT27OUT28

OUT29

OUT30

OUT31

Digital output

OUTCOM Digital output


Connection of pulse/direction output signals

Impulse output is of differential output and can be easily

connected with stepping/servo driver.

Next chart shows that impulse and direction are joined up with

positive electrode.

Notice:

In open-collector connection, PU+/CW+DR+/CCW+

cant connect with onther (electrical) appliance, or else will

destroy the motion control card.

The following figure shows the differential wiring of

pulse/direction (this mode is recommended for its strong

anti-interference performance):

Connection of input signals of coder

Connection of digital input

Notice:

(1) To make the input signals valid, connect the common

photoelectric coupling port of corresponding input signals

(INCOM1, INCOM2, INCOM3, INCOM4, INCOMA, INCOMB)

to the positive port of 12V or 24V power supply; connect one end

of common switch or ground wire of approach switch to negative


13/97


port (ground wire) of power supply; connect the other end of

common switch or control end of approach switch to

corresponding input port of terminal board.


(2) The following figure shows the wiring diagram of

common switch and approach switch supplying common

photoelectric coupling port with external power (take J1 terminal

board for example).

Connection of digital output

Notice:

(1) To make the output signals valid, connect common output

(OUTCOM) to negative end (ground wire) of external power

supply; connect the ground wire (GND) of internal power supply

to earth. Connect one end of relay coil to positive end of power

supply and the other end to corresponding output of terminal

board.

(2) Do not connect positive ends of external and internal power

supply.

(3) The following figure shows the actual wiring diagram of relay

with external power supply (take J1 terminal borad for example)


14/97

ADT-8946A1 advanced 4-axis

servo/stepper motion control card

Features All the input and output are under photoelectric coupler

isolation, with strong resistance to disturbance.

32-bit PCI bus, PnP

4-axis servo/stepping motor control; each axis cancontrol independently

The frequency error of pulse input is less than 0.1% Maximum pulse output frequency is 4MHz Pulse output can be either single pulse (pulse + direction)

or double pulse (pulse + pulse)

All the 4 axes have position feedback input; 32-bitcounting; maximum counting range:

-2,147,483,648~+2,147,483,647

Linear or S-curve acceleration/deceleration Asymmetric linear acceleration/deceleration 2-4 axes linear interpolation CW and CCW arc interpolation Continuous interpolation is available; top driving speed:

2MHz

Each axis has two 32-bit compare registers, which areused for position comparison between logical position

counter and actual position counter, and software limit

Receive signals from servo motor drive, e.g. coderZ-phase signal, in-position signal, alarm signal, etc

Each axis has 3 stop signals, which are used to search forhome and Z-phase of coder

The speed can be changed in real-time in the motionprocess

Read the logical position, real position, driving speed,acceleration and driving state in real-time in the motion

process

(at acceleration, level speed and deacceleration). Handwheel and external signal operation Each axis has 8-in/8-out digital I/O. Except two limitsignals, all signals can be used as general I/O. Digital

output can be used in signals of servo on and servo alarm

reset

The input port of every input signal is equipped withintegral filter. You can select to activate/deactivate the

filter of certain input signal. Select one from the 8

constants for the filter time





Symbol Description

PCOM1 Used for single-port input, not

available for external power supply

XPU+/CW+ X pulse signal +

XPU-/CW- X pulse signal -

XDR+/CCW+ X direction signal +

XDR-/CCW- X direction signal -

YPU+/CW+ Y pulse signal +YPU-/CW- Y pulse signal -

YDR+/CCW+ Y direction signal +

YXDR-/CCW- Y direction signal -

PCOM2 Used for single-port input, not


ZPU+/CW+ Z pulse signal +

ZPU-/CW- Z pulse signal -

ZDR+/CCW+ Z direction signal +

ZDR-/CCW- Z direction signal -

APU+/CW+ A pulse signal +

APU-/CW- A pulse signal -

ADR+/CCW+ A direction signal +

ADR-/CCW- A direction signal -

INCOM1 Common port of 20-27pin digital

input

XLMT-(IN0) X negative limit signal

XLMT+(IN1) X positive limit signal

XSTOP0(IN2) X home signal 0; can be used as




15/97





XALARM(IN5) X servo alarm signal; can be used as


YLMT-(IN6) Y negative limit signal

YLMT+(IN7) Y positive limit signal

INCOM2 Common port of 29-36pin digital

input

YSTOP0(IN8) Y home signal 0; can be used as






YALARM(IN11) Y servo alarm signal; can be used as


ZLMT-(IN12) Z positive limit signal

ZLMT+(IN13) Z negative limit signal

ZSTOP0(IN14) Z home signal 0; can be used as




INCOM3 Common port of 38-45pin digitalinput



ZALARM(IN17) Z servo alarm signal; can be used as


ALMT-(IN18) A positive limit signal

ALMT+(IN19) A negative limit signal

ASTOP0(IN20) A home signal 0; can be used as






AALARM(IN23) A servo alarm signal; can be used as


OUT0 Digital output

OUT1 Digital output

OUT2 Digital output

OUT3 Digital output

OUTCOM1 Common port of OUT0-3 digital

output negative

OUT4 Digital output

OUT5 Digital output

OUT6 Digital output

OUT7 Digital output


output negative

OUT8 Digital output

OUT9 Digital output

OUT10 Digital output



output negative

+12V Positive port of internal +12V power


power supply;



Symbol Description /MCX314 pin


XECA- X-axis coder phase A input -


XECB- X-axis coder phase B input -


YECA- Y-axis coder phase A input -YECB+ Y-axis coder phase B input +



16/97


YECB- Y-axis coder phase B input -


ZECA- Z-axis coder phase A input -


ZECB- Z-axis coder phase B input -

AECA+ A-axis coder phase A input +

AECA- A-axis coder phase A input -


AECB- A-axis coder phase B input -

INCOM4 Common port of OUT18-25 digital

input

XIN(IN24) X home signal 3; can be used as


XINPOS(IN25) X servo in-position signal; can be used


YIN(IN26) Y home signal 3; can be used as


YINPOS(IN27) Y servo in-position signal; can be used


ZIN(IN28) Z home signal 3; can be used as


ZINPOS(IN29) Z servo in-position signal; can be used


AIN(IN30) A home signal 3; can be used asuniversal input signal

AINPOS(IN31) A servo in-position signal; can be used


EXPP+ hand wheel inputpositive direction +

EXPP- hand wheel inputpositive direction -

EXPM+ hand wheel input negative direction +

EXPM- hand wheel input negative direction -

INCOMA the power of the emergency stop input

EMGN emergency stop input

INCOMB use the power of the common stop input

XIN1 general input







output negative







output negative







output negative







output negative



power supply


supply; do not connect to externalpower supply



power supply




pulse output is of differential output and can be easily


Next chart shows that impulse and direction are joined up

with positive electrode.

Notice:

In open-collector connection,PU+/CW+DR+/CCW+

cant connect with onther (electrical) appliance,or else willdestroy the motion control card.




17/97



anti-interference performance).



Notice:

(1) To make the input signals valid, connect the commonphotoelectric coupling port of corresponding input

signals to the positive port of 12V or 24V power

supply; connect one end of common switch or ground

wire of approach switch to negative port (ground wire)

of power supply; connect the other end of common

switch or control end of approach switch to

corresponding input port of terminal board.

(2) The following figure shows the wiring diagram ofcommon switch and approach switch supplying

common photoelectric coupling port with external

power.


Notice:






board

(2) When J2 terminal borad use external power supply, connect

the common output port (GND) of external power supply to earth,

to make the output signals valid.J2 terminal borad recommend to

use internal power supply.

(3) Do not connect positive ends of external and internal power

supply.

(4) The following figure shows the actual wiring diagram of

relay with external power supply



18/97




19/97



Features32-bit PCI bus, PnP4-axis servo/stepping motor control; each axis can control

independently

The frequency error of pulse input is less than 0.1%Maximum pulse output frequency is 4MHzPulse output can be either single pulse (pulse + direction) or

double pulse (pulse + pulse)

All the 4 axes have position feedback input; 32-bit counting;maximum counting range:

-2,147,483,648~+2,147,483,647

Linear or S-curve acceleration/decelerationAsymmetric linear acceleration/decelerationRandom 2-3 axes linear interpolationRandom 2 axes arc interpolationContinuous interpolation is available; top driving speed:

2MHz

Each axis has two 32-bit compare registers, which are usedfor position comparison between logical position counter

and actual position counter, and software limitReceive signals from servo motor drive, e.g. coder Z-phase

signal, in-position signal, alarm signal, etc

Each axis has 3 STOP signals, which are used to search forhome and Z-phase of coder

The speed and target position can be changed in real-time inthe motion process

Read the logical position, real position, driving speed,acceleration/deceleration and driving state in real-time in

the motion process

Position counter is integrated with variable cyclic function;the logical position counter and actual position counter

are 32-bit up/down cyclic counters

Each axis has 8-in/8-out digital I/O. Except two limitsignals, all signals can be used as general I/O. Digital

output can be used in signals of servo on and servo alarm

reset




Constant linear speed mode is availableAutomatic back to home in various modesPosition lock triggered by external signalSynchronized motion triggered by external signalSynchronized stop triggered by external signalSynchronized motion at specified positionSynchronized stop at specified positionHandwheel and external signal operationStepping interpolation functionUp to 16 motion cards can be used in one system

Supported operating systems: DOS,WINDOWS95/98/NT/2000/XP, WINCE



Symbol Description

PUCOM Positive port of internal +5V power


supply; COM for common anode wiring





YPU+/CW+ Y pulse signal +

YPU-/CW- Y pulse signal -


YDR-/CCW- Y direction signal -

PUCOM Positive port of internal +5V power


supply; COM for common anode wiringZPU+/CW+ Z pulse signal +









input (signals below), 12V-24V

XLMT-/IN0 X positive limit signal


20/97


XLMT+/IN1 X negative limit signal

XSTOP0/IN2 X home signal 0; can be used as universal

input signal


input signal


input signal

XALM/IN5 X servo alarm signal; can be used as


YLMT-/IN6 Y positive limit signal

YLMT+/IN7 Y negative limit signal



YSTOP0/IN8 Y home signal 0; can be used as universal

input signal


input signal


input signal

YALM/IN11 Y servo alarm signal; can be used as


ZLMT-/IN12 Z positive limit signal

ZLMT+/IN13 Z negative limit signal

ZSTOP0/IN14 Z home signal 0; can be used as universalinput signal

ZSTOP1/IN15 Z home signal 1; can be used as universal

input signal



ZSTOP2/IN16 Z home signal 2; can be used as universal

input signal

ZALM/IN17 Z servo alarm signal; can be used as


ALMT-/IN18 A positive limit signal

ALMT+/IN19 A negative limit signal

ASTOP0/IN20 A home signal 0; can be used as universal

input signal


input signal


input signal

AALM/IN23 Z servo alarm signal; can be used as


OUT0 Digital output

OUT1

OUT2

OUT3

OUTCOM External power supply ground wire;

common port of digital output OUT0-3

OUT4

OUT5

OUT6

OUT7

Digital output



OUT8

OUT9

OUT10

OUT12

Digital output





supply



Symbol Description







21/97




YECA- Y-axis coder phase A input -











INCOM Common port of photoelectric

coupling input (signals below),

12V-24V

XIN/IN24 X position lock signal; can be used as


XINPOS/IN2

5

X servo in-position signal; can be used


YIN/IN26 Y position lock signal; can be used as


YINPOS/IN2

7

Y servo in-position signal; can be used


ZIN/IN28 Z position lock signal; can be used asuniversal input signal

ZINPOS/IN2

9

Z servo in-position signal; can be used


AIN/IN30 A position lock signal; can be used as


AINPOS/IN3

1

A servo in-position signal; can be used


EXPP+ Handwheel phase A input +, can be

used as common port of universal

input signal (IN32)

EXPP- Handwheel phase A input -, can be

used as universal input signal (IN32)

EXPM+ Handwheel phase B input +, can be

used as common port of universal

input signal (IN33)

EXPM- Handwheel phase B input -, can be

used as universal input signal (IN33)

INCOMA Common port of photoelectric


12V-24V

EMGN Emergency stop input signal (IN34)

INCOMB Common port of photoelectric


12V-24V

EXPLSN Stepping interpolation input signal

OUT12

OUT13

OUT14

OUT15

OUT16

Digital output


common port of digital output

OUT12-16

OUT17

OUT18

OUT19

OUT20

OUT21

Digital output



OUT17-21

OUT22

OUT23

OUT24OUT25

OUT26

Digital output



OUT22-26

OUT27

OUT28

OUT29

OUT30

OUT31

Digital output



OUT27-31

+12V Potive port of internal +12V power


power supply



power supply



22/97



power supply




Notice:

XIN, YIN, ZIN and AIN are control signals of position lock

and synchronous control


Pulse output is of differential output and can be easily


Next chart shows that impulse and direction are joined up

with positive electrode.

Notice:

In open-collector connection, PU+/CW+DR+/CCW+

cant connect with onther (electrical) appliance, or else will

destroy the motion control card.



anti-interference performance):



Notice:

(1) To make the input signals valid, connect the

common photoelectric coupling port of corresponding input

signals (INCOM1, INCOM2, INCOM3, INCOM4, INCOMA,

INCOMB) to the positive port of 12V or 24V power supply;

connect one end of common switch or ground wire of approach

switch to negative port (ground wire) of power supply; connect

the other end of common switch or control end of approach

switch to corresponding input port of terminal board.

(2) The following figure shows the wiring diagram of

common switch and approach switch supplying common

photoelectric coupling port with external power (take J1 terminal

board for example).


OUT0-OUT31 is photoelectric coupling isolation output;

see the figure above for wiring mode; the output current of eachline should be smaller than 100Ma.

Notice:


23/97







board.

(2) Do not connect positive ends of external and internal powersupply.

(3) The following figure shows the actual wiring diagram of

relay with external power supply (take J1 terminal borad for

example).



24/97



Features 32-bit PCI bus, PnP All the input and output are under photoelectric coupler


4-axis servo/stepping motor control; each axis can controlindependently

The frequency error of pulse input is less than 0.1% Maximum pulse output frequency is 2MHz Large capacity of hardware features,which can ensure the

continous movement

Pulse output can be either single pulse (pulse + direction)or double pulse (pulse + pulse)


-2,147,483,648~+2,147,483,647

Trapezoidal acceleration/ deceleration Random 2-4 axes linear interpolation Themaximum interpolation speed: 1MHz Read the logical position, real position, driving speed, in

real-time in the motion process

40-line digital input (each axis of position feedback maybe used as 2 input points, altogether 8)

Two limit input for each axis may be set as invalid andwork as general input





Symbol Description

PCOM1Used for single-port input, not available

for external power supply


XPU-/CW- X pulse signal -XDR+/CCW+ X direction signal +






PCOM2Used for single-port input, not available










INCOM1 Common port of 20-27pin digital input

IN0(XLMT-) X negative limit signal

IN1(XLMT+) X positive limit signal

IN2 (XSTOP0)X home signal 0; can be used as






IN5 (XALARM)X servo alarm signal; can be used as


IN6 (YLMT-) Y negative limit signal

IN7 (YLMT+) Y positive limit signal


IN8 (YSTOP0)Y home signal 0; can be used as






IN11(YALARM)Y servo alarm signal; can be used as


IN12(ZLMT-) Z negative limit signal


25/97


IN13(ZLMT+) Z positive limit signal

IN14(ZSTOP0)Z home signal 0; can be used as







IN17(ZALARM)Z servo alarm signal; can be used as


IN18(ALMT-) A negative limit signal

IN19(ALMT+) A positive limit signal

IN20(ASTOP0)A home signal 0; can be used as






IN23(AALARM)A servo alarm signal; can be used as


OUT0 Digital output

OUT1 Digital output

OUT2 Digital output

OUT3 Digital output

OUTCOM1Common port of OUT0-3 digital output

negative

OUT4 Digital output

OUT5 Digital output

OUT6 Digital output

OUT7 Digital output

OUTCOM2Common port of OUT4-7 digital output

negative

OUT8 Digital output

OUT9 Digital output



OUTCOM3Common port of OUT8-11 digital

output negative

+12V

Positive port of internal +12V power


power supply;




Symbol Description

















INCOM4 Common port of OUT18-25 digital

output negative

IN24(XIN) X home signal 3; can be used as


IN25(XINPOS) X servo in-position signal; can be used


IN26(YIN) Y home signal 3; can be used as


IN27(YINPOS) Y servo in-position signal; can be used


IN28(ZIN) Z home signal 3; can be used as


IN29(ZINPOS) Z servo in-position signal; can be used


IN30(AIN) A home signal 3; can be used as



26/97



IN31(AINPOS) A servo in-position signal; can be used







output negative



supply



supply



supply



supply




Notice: In case an encoder is used for general input signals,

XECA+, XECB+, YECA+, YECB+, ZECA+, ZECB+, AECA+,

and AECB+ will be respectively used as public ports of

corresponding input signals.

Voltage at the public ports can only be +5V; in case of

using an external+12V power supply, users must serially connect

a 1K resistance. The digital input connection part for wiring

method, Please refer to ADT-8946A1 card and ADT-8948A1 card.


27/97





Features32-bit PCI bus, PnP

Maximum pulse output frequency is 2MHz

6-axis servo/stepping motor control; each axis can control

independently

Random 2-6 axes linear interpolation,multiple axes

continuous motion

All the 6 axes have position feedback input; 32-bit counting,

frequency reach up to 2MHz; maximum counting range:

-2,147,483,648~+2,147,483,647

Pulse output type: pulse + direction, pulse + pulse

Photoelectric coupling isolation,32-digital input/16-digital

output,including every axis contains two positive and negativelimit signals,besides 16-either input/output,to make them allinput signal or output signal.

The speed and target position can be changed in real-time in

the motion process

All the 6 axes can synchronized motion and synchronized

stop,and you can sudden stop by hardware

Read the logical position, real position, driving speed,

acceleration and driving state in real-time in the motion

process

Each axis has 2 STOP signals, which are used to search for

home and Z-phase of coder

Each axis has 8-in/8-out digital I/O. Except two limit signals,

all signals can be used as general I/O. Digital output can be

used in signals of servo on and servo alarm reset

Receive signals from servo motor drive, e.g. coder Z-phase

signal, in-position signal, alarm signal, etc

Up to 16 motion cards(96 axes) can be used in one system Supported operating systems:

DOS,WINDOWS95/98/NT/2000/XP, WINCE

Supported C/BC++/VC/VB/C++Builder/Delphi/LabVIEW/EVC

to develop



Symbol Description

PUCOM0 Used for single-port input, not






















BPU+/CW+ B pulse signal +

BPU-/CW- B pulse signal -

BDR+/CCW+ B direction signal +

BDR-/CCW- B direction signal -

CPU+/CW+ C pulse signal +

CPU-/CW- C pulse signal -


28/97


CDR+/CCW+ C direction signal +

CDR-/CCW- C direction signal -

INCOM1 Common port of IN0-11 digital

input

IN0(XLMT-) X negative limit signal

IN1(XLMT+) X positive limit signal

IN2(XSTOP0) X home signal 0; can be used as


IN3(XSTOP1) X home signal 1; can be used as


IN4(YLMT-) Y negative limit signal

IN5(YMT+) Y positive limit signal

IN6(YSTOP0) Y home signal 0; can be used as


IN7(YSTOP1) Y home signal 1; can be used as


IN8(ZLMT-) Z negative limit signal

IN9(ZLMT+) Z positive limit signal

IN10(ZSTOP0) Z home signal 0; can be used as


IN11(ZSTOP1) Z home signal 1; can be used as


INCOM2 Common port of IN12-23 digital

inputIN12(ALMT-) A negative limit signal

IN13(ALMT+) A positive limit signal

IN14(ASTOP0) A home signal 0; can be used as


IN15(ASTOP1) A home signal 1; can be used as


IN16(BLMT-) B negative limit signal

IN17(BLMT+) B positive limit signal

IN18(BSTOP0) B home signal 0; can be used as


IN19(BSTOP1) B home signal 1; can be used as


IN20(CLMT-) C negative limit signal

IN21(CLMT+) C positive limit signal

IN22(CSTOP0) C home signal 0; can be used as


IN23(CSTOP1) C home signal 1; can be used as


OUTCOM1 Common port of OUT0-OUT7

OUT0 Digital output

OUT1 Digital output

OUT2 Digital output

OUT3 Digital output

OUT4 Digital output

OUT5 Digital output

OUT6 Digital output

OUT7 Digital output


Symbol Description



















29/97




BECA- B-axis coder phase A input -


BECB- B-axis coder phase B input -


CECA- C-axis coder phase A input -


CECB- C-axis coder phase B input -

INCOM3 Common port of OUT24-OUT31

IN24 Digital output

IN25 Digital output

IN26 Digital output

IN27 Digital output

IN28 Digital output

IN29 Digital output

IN30 Digital output

IN31 Digital output

OUTCOM2 Common port of OUT8-OUT15

OUT8 Digital output

OUT9 Digital output







INCOM4 Common input port of I/O0-I/O7

OUTCOM3 Common input port of I/O0-I/O7

I/O0 either input/output




I/O4 either input/outputI/O5 either input/output



INCOM5 Common input port of I/O8-I/O15

OUTCOM4 Common input port of I/O8-I/O15










XECA+XECB+YECA+YECB+ZECA+ZECB+AECA+

AECB+BECA+BECB+CECA+ and CECB+ will be

respectively used as public ports of corresponding input signals.


using an external+12V power supply, users must serially connect

a 1K resistance. The digital input connection part for wiring



30/97



Features 32-bit PCI bus, PnP All the input and output are under photoelectric coupler


2-axis servo/stepping motor control; each axis can control

independently

The frequency error of pulse input is less than 0.1% Maximum pulse output frequency is 2MHz large capacity of hardware features,which can ensure the

continous movement

Pulse output can be either single pulse (pulse + direction)or double pulse (pulse + pulse)


-2,147,483,648~+2,147,483,647

Trapezoidal acceleration/ deceleration Random 2-axes linear interpolation The maximum interpolation speed: 1MHz Read the logical position, real position, driving speed, in

real-time in the motion process

20-line digital input (each axis of position feedback maybe used as 2 input points, altogether 8)

Two limit input for each axis may be set as invalid andwork as general input





Symbol Description

PCOM1 Used for single-port input, not available





XDR-/CCW- X direction signal -YPU+/CW+ Y pulse signal +





IN0(XLMT-) X positive limit signal

IN1(XLMT+) X negative limit signal

IN2 (XSTOP0) X home signal 0; can be used as






IN5 (XALARM) X servo alarm signal; can be used as


IN6 (YLMT-) Y positive limit signal

IN7 (YLMT+) Y negative limit signal


IN8 (YSTOP0) Y home signal 0; can be used as



31/97






IN11(YALARM) Y servo alarm signal; can be used as


OUT0 Digital output

OUT1 Digital output

OUT2 Digital output

OUT3 Digital output

OUTCOM1 Common port of OUT0-3 digital output

negative

OUT4 Digital output

OUT5 Digital output

OUT6 Digital output

OUT7 Digital output

OUTCOM2 Common port of OUT4-7 digital output

negative



power supply




Symbol Description










IN24(XIN) X home signal 3; can be used as universal

input signal

IN25(XINPOS) X servo in-position signal; can be used as


IN26(YIN) Y home signal 3; can be used as universal

input signal

IN27(YINPOS) Y servo in-position signal; can be used as




supply



supply



supply



supply





XECA+, XECB+, YECA+ and YECB+will be respectively used

as public ports of corresponding input signals.


using an external+12V power supply, users must serially connecta 1K resistance. The digital input connection part for wiring



32/97

PCI104 bus typeADT-836 advanced 6-axis servo/stepper

motion control card

Features 6-axis servo/stepping motor control; each axis can control

independently

The frequency error of pulse input is less than 0.1% 4MHz Maximum pulse output frequency is 4MHz Pulse output can be either single pulse (pulse + direction) or


All the 6 axes have position feedback input; 32-bit counting;maximum counting range:

-2,147,483,648~+2,147,483,647

Linear or S-curve acceleration/deceleration Asymmetric linear acceleration/deceleration 2-6 axes linear interpolation CW and CCW circular-arc interpolation Continuous interpolation is available; top driving speed: 2MHz Each axis has two 32-bit compare registers, which are used forposition comparison between logical position counter and

actual position counter, and software limit

Receive signals from servo motor drive, e.g. coder Z-phasesignal, in-position signal, alarm signal, etc

Each axis has 3 STOP signals, which are used to search forhome and Z-phase of coder


Read the logical position, real position, driving speed,acceleration and driving state in real-time in the motion

process

Each axis has 8-in digital I/O. Except two limit signals, allsignals can be used as general DI. DI signals up to48

Digital output add up to 32,can be used for signals ofservo-on and alarm reset of servo

Position counter is integrated with variable cyclic function; thelogical position counter and actual position counter are

32-bit up/down cyclic counters







Symbol Description

XPU- X pulse signal -

XPU+ X pulse signal +

XDR- X direction signal -

XDR+ X direction signal +

YPU- Y pulse signal -

YPU+ Y pulse signal +YDR- Y direction signal -

YDR+ Y direction signal +

ZPU- Z pulse signal -

ZPU+ Z pulse signal +

ZDR- Z direction signal -

ZDR+ Z direction signal +

APU- A pulse signal -

APU+ A pulse signal +

ADR- A direction signal -

ADR+ A direction signal +

BPU- B pulse signal -

BPU+ B pulse signal +

BDR- B direction signal -

BDR+ B direction signal +

CPU- C pulse signal -

CPU+ C pulse signal +

CDR- C direction signal -

CDR+ C direction signal +




33/97


1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

26

27

28

29

30

31

32

33

34

35

36

37

DOUT0

DOUT1

DOUT2

DOUT4

DOUT6

DOUT5

DOUT7

DOUT8

DOUT9

DOUT10

DOUT11

DOUT12

DOUT13

DOUT14

DOUT15

DOUT16

DOUT17

DOUT18

DOUT3

DOUT19

DOUT24

DOUT23

DOUT21

DOUT20

DOUT22

DOUT25

DOUT26

DOUT27

DOUT28

GND

GND

DOUT30

DOUT29

DOUT31

GND

GND

GND

OUT0

OUT1

OUT2

OUT3

OUT4

OUT5

OUT6

OUT7

OUT8

OUT9

OUT10

OUT11

OUT12

OUT13

OUT14

OUT15

OUT16

OUT17

OUT18

OUT19

OUT20

OUT21

OUT22

OUT23

OUT24

OUT25

OUT26

OUT27

Digital output

OUT28

OUT29

OUT30

OUT31







Symbol Description

XINCOM Common port of X axis photoelectric coupling


XLMT+ X positive limit signal

XLMT- X negative limit signal

XSTOP2 X home signal 2; can be used as universal

input signal


input signal


input signal

XINPOS X axis in-position signal

XALARM X axis alarm signal

XIN X axis input signal; can be used as universal

input signal

YINCOM Common port of Y axis photoelectric coupling


YLMT+ Y positive limit signal

YLMT- Y negative limit signal



34/97


YSTOP2 Y home signal 2; can be used as universal

input signal


input signal


input signal

YINPOS Y axis in-position signal

YALARM Y axis alarm signal

YIN Y axis input signal; can be used as universal

input signal

ZINCOM Common port of Z axis photoelectric coupling


ZLMT+ Z positive limit signal

ZLMT- Z negative limit signal

ZSTOP2 Z home signal 2; can be used as universal

input signal


input signal


input signal

ZINPOS Z axis in-position signal

ZALARM Z axis alarm signal

ZIN Z axis input signal; can be used as universal

input signalAINCOM Common port of A axis photoelectric coupling


ALMT+ A positive limit signal

ALMT- A negative limit signal

ASTOP2 A home signal 2; can be used as universal

input signal


input signal


input signal

AINPOS A axis in-position signal

AALARM A axis alarm signal

AIN A axis input signal; can be used as universal

input signal

untapped



Symbol Description

BINCOM Common port of B axis photoelectric couplinginput (signals below)

BLMT+ B positive limit signal

BLMT- B negative limit signal

BSTOP2 B home signal 2; can be used as universal

input signal


input signal


input signal

BINPOS B axis in-position signal

BALARM B axis alarm signal

BIN B axis input signal; can be used as universal

input signal

CINCOM Common port of C axis photoelectric coupling


CLMT+ C positive limit signal

CLMT- C negative limit signal

CSTOP2 C home signal 2; can be used as universal

input signal


input signal


input signal

CINPOS C axis in-position signal

CALARM C axis alarm signal

CIN C axis input signal; can be used as universal

input signal

GND Internal power supply ground wireGND Internal power supply ground wire


35/97



VCC Positive port of internal +5V power supply; do

not connect to external power supply





+12V Positive port of internal +12V power supply;

do not connect to external power supply




















BECA- B-axis coder phase A input -


BECB- B-axis coder phase B input -


CECA- C-axis coder phase A input -


CECB- C-axis coder phase B input -

untapped


The pulse output of ADT-836 control card is

open-collector,pulse+pulse and pulse+direction wire

connecting mode.


Above example use internal +5V power supply, also connect

to +5V external power supply



Notice:The output circuit voltage is 12VDC only,not 24 VDC

set address:

1(A11) 2(A10) 3(A9) 4(A8) 5(A7) 6(A6)

0x1000 On On On On On On

0x1040 On On On On On Off

0x1080 On On On On Off On

0x10C0 On On On On Off Off

0x1800 Off On On On On On


36/97


0x1840 Off On On On On Off

.

0x1f00 Off Off Off Off On On

0x1f40 Off Off Off Off On Off

0x1f80 Off Off Off Off Off On

0x1fC0 Off Off Off Off Off Off

ON is resistance connect,OFF is resistance separate,

default address is 0x1000



37/97

ADT-860 advanced 4-axis servo/stepper

motion control card

Features 4-axis servo/stepping motor control; each axis can control

independently

The frequency error of pulse input is less than 0.1% Maximum pulse output frequency is 4MHz Pulse output can be either single pulse (pulse + direction) or


All the 4 axes have position feedback input; 32-bit counting;maximum counting range: -2,147,483,648~+2,147,483,647

Linear or S-curve acceleration/deceleration Asymmetric linear acceleration/deceleration Random 2-3 axes linear interpolation Random 2 axes CW,CCW arc interpolation Continuous interpolation is available; top driving speed:

2MHz

Each axis has two 32-bit compare registers, which are usedfor position comparison between logical position counter and

actual position counter, and software limit

Receive signals from servo motor drive, e.g. coder Z-phasesignal, in-position signal, alarm signal, etc

Each axis has 3 stop signals, which are used to search forhome and Z-phase of coder


Read the logical position, real position, driving speed,acceleration/deceleration and driving state in real-time in the

motion process

Each axis has 8-in/8-out digital I/O. Except two limit signals,all signals can be used as general I/O. Digital output can be

used in signals of servo on and servo alarm reset

The input port of every input signal is equipped with integralfilter. You can select to activate/deactivate the filter of certain

input signal. Select one from the 8 constants for the filter time




Symbol Description

XINCOM Common port of X axis photoelectric

coupling input

XLMT+ X negative limit signal

XLMT- X positive limit signal


input signal


input signal


input signalXINPOS X axis in-position signal, can be used as


XALARM X axis alarm signal, can be used as universal

input signal

XIN0 X axis universal input signal

YINCOM Common port of Y axis photoelectric

coupling input

YLMT+ Y negative limit signal

YLMT- Y positive limit signal


input signal


input signal


input signal

YINPOS Y axis in-position signal, can be used as


YALARM Y axis alarm signal, can be used as universal

input signal

YIN0 Y axis universal input signal


38/97


ZINCOM Common port of Z axis photoelectric

coupling input

ZLMT+ Z negative limit signal

ZLMT- Z positive limit signal


input signal


input signal


input signal

ZINPOS Z axis in-position signal, can be used as


ZALARM Z axis alarm signal, can be used as universal

input signal

ZIN0 Z axis universal input signal

AINCOM Common port of A axis photoelectric

coupling input

ALMT+ A negative limit signal

ALMT- A positive limit signal


input signal


input signal

ASTOP0 A home signal 0; can be used as universalinput signal

AINPOS A axis in-position signal, can be u

Documents

Adt Series Motion Control Card