PCI-M114 User Manual · TPM PCE-M114 User Manual 1 PCE-M114 . PCE-M114A/PCE-M114 . User Manual ....

TPM PCE-M114 User Manual

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PCE-M114

PCE-M114A/PCE-M114 User Manual

Version: V1.0 2018Jan10

To properly use the product, read this manual thoroughly is necessary. Part No.: 81-0211400-010


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Revision History Date Revision Description

2018/01/10 1.0 Document creation.


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© Copyright 2010 TPM The product, including the product itself, the accessories, the software, the manual and the software description in it, without the permission of TPM Inc. (“TPM”), is not allowed to be reproduced, transmitted, transcribed, stored in a retrieval system, or translated into any language in any form or by any means, except the documentation kept by the purchaser for backup purposes. The names of products and corporations appearing in this manual may or may not be registered trademarks, and may or may not have copyrights of their respective companies. These names should be used only for identification or explanation, and to the owners’ benefit, should not be infringed without any intention. The product’s name and version number are both printed on the product itself. Released manual visions for each product design are represented by the digit before and after the period of the manual vision number. Manual updates are represented by the third digit in the manual vision number. Trademark MS-DOS and Windows 95/98/NT/2000/XP, Visual Studio, Visual C++, Visual BASIC are registered

trademarks of Microsoft. BCB (Borland C++ Builder) is registered trademark of Borland. Other product names mentioned herein are used for identification purposes only and may be trademarks

and/or registered trademarks of their respective companies.


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Electrical safely To prevent electrical shock hazard, disconnect the power cable from the electrical outlet before relocating

the system. When adding or removing devices to or from the system, ensure that the power cables for the devices are

unplugged before the signal cables are connected. Disconnect all power cables from the existing system before you add a device.

Before connecting or removing signal cables from motherboard, ensure that all power cables are unplugged.

Seek professional assistance before using an adapter or extension card. These devices could interrupt the grounding circuit.

Make sure that your power supply is set to the voltage available in your area. If the power supply is broken, contact a qualified service technician or your retailer. Operational safely Please carefully read all the manuals that came with the package, before installing the new device. Before use ensure all cables are correctly connected and the power cables are not damaged. If you detect

and damage, contact the dealer immediately. To avoid short circuits, keep paper clips, screws, and staples away from connectors, slots, sockets and

circuitry. Avoid dust, humidity, and temperature extremes. Do not place the product in any area where it may

become wet. If you encounter technical problems with the product, contact a qualified service technician or the dealer.


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Contents CONTENTS .................................................................................................................................................................................. 5

1. PCE-M114 INTRODUCTION ..................................................................................................................................................... 6

1.1. FEATURES.................................................................................................................................................................................... 7 1.2. SPECIFICATIONS ............................................................................................................................................................................ 7 1.3. HARDWARE LAYOUT ...................................................................................................................................................................... 8

2. I/O INTERFACE DESCRIPTION .................................................................................................................................................. 9

2.1. 4-AXIS MOTION CONNECTOR CN2 .................................................................................................................................................. 9 2.2. MANUAL PULSE GENERATOR CONNECTOR CN3 ............................................................................................................................... 11 2.3. STA/STP CN4/CN5 .................................................................................................................................................................. 12 2.4. CARD NUMBER SWITCH RSW1 ..................................................................................................................................................... 13 2.5. JUMPER SETTING FOR COMPARE TRIGGER JP300 ............................................................................................................................. 13

3. INTRODUCTION OF THE TERMINAL BOARD FOR PCE-M114 .................................................................................................. 14

3.1. 107-T141-GEN SERIES .............................................................................................................................................................. 14 3.1.1. Options of 107-T141-GEN Series ........................................................................................................................ 14 3.1.2. Dimensions .......................................................................................................................................................... 14 3.1.3. Product Category ................................................................................................................................................. 15 3.1.4. Module Introduction ............................................................................................................................................ 16 3.1.5. Example ............................................................................................................................................................... 17 3.1.6. Connector Function .............................................................................................................................................. 18 3.1.7. Daughter Board Layout ........................................................................................................................................ 23

3.2. 107-T142-GEN ....................................................................................................................................................................... 30 3.2.1. 4-Axis Motion Connector CN1 ............................................................................................................................ 31 3.2.2. Power input and emergency input signal ............................................................................................................. 33 3.2.3. Machinery I/O Signals CN3/CN4/CN5/CN6 ....................................................................................................... 33 3.2.4. Mechanical Brake I/O Signals CN7 ..................................................................................................................... 34 3.2.5. Drive’s IO Interface Connector CN8/CN9/CN10/CN11 ...................................................................................... 34

3.3. WIRING EXAMPLES ..................................................................................................................................................................... 36

4. SIGNAL CONNECTION ........................................................................................................................................................... 37

4.1. MACHINE I/O INTERFACE SIGNALS ................................................................................................................................................. 37 4.2. DRIVER I/O INTERFACE SIGNALS .................................................................................................................................................... 40 4.3. DRIVER PULSE I/O INTERFACE SIGNALS ........................................................................................................................................... 42


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1. PCE-M114 Introduction The PCE-M114 is an advanced motion controller consisting of 4-axis motion controller The 4-axis motion control provides 2 to 8 axes liner interpolation, 2-axis circular interpolation and also continuous interpolation with velocity continuity. It provides 13 homing modes for different machine designs. It also provides position compare and trigger output functions to interface with other applications, like on-the-fly image acquisition. The position latch and interrupt functions let users to interface with other applications like machine tool length measurement. The PCE-M114 provides servo driver/motor dedicated digital I/O interfaces, for example, ALM, INP, and ERC and also machine dedicated digital I/O interfaces, for example, ORG, PEL, and EMG. These dedicated I/O signals guarantee the functionality via hardware and therefore reduces the loading of software.

Figure 1-1: PCE-M114 and supported control devices

107-T142-GEN

PCE-M114


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1.1. Features

Max. 6.5MHz, 4-Axis pulse output Linear, circular and continuous interpolation High speed position latch function Manual pulse generator input interface Simultaneously start/stop on multiple axes Programmable acceleration and deceleration time Programmable pulse output and interrupt Position compare and trigger output

1.2. Specifications

4-Axis Motion Control Pulse output mode: ±OUT/DIR, ±CW/CCW, A/B Phase Pulse output rate: Max. 6.5Mpps / Min. 0.05pps Position range: 32 bits(±2,147,483,648 pulses) Home return mode: 13 types Velocity profiles: T-curve, S-curve Interpolation mode: linear, circular, helix and continuous Counter for encoder feedback signals: 32 bits up/down x 4 Position latch input: LTC x 4 FIFO buffer for latch positions:

PCE-M114 : 2 axes, 2048 points for each axis PCE-M114A : 2 axes, 2048 points for each axis

Position compare output: CMP x 4, with programmable pulse width Compare trigger output rate: Max. 100Kbps FIFO buffer for compare trigger positions:

PCE-M114 : 2048 points per axis PCE-M114A : 4096 points per axis

Incremental encoder input: ±EA x 4, ±EB x 4 Encoder index signal input: ±EZ x 4 Machine interface: PEL x 4, MEL x 4, ORG x 4, SLD x 4 Servo driver interface: ALM x 4, RDY x 4, SVON x 4, INP x 4, ERC x 4 Simultaneous start/stop motion input: STA, STP I/O pin type: optically isolated with 2.5KVrms on all SCSI 100 pins Manual pulse generator: isolated

General PCI Express 1-lane 2.5 Gb/s


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Power consumption: 3.3V at 430mA, 12V at 55mA typical Working temperature: 0 to 60℃

1.3. Hardware Layout

The PCE-M114 PCB layout and onboard I/O interfaces are introduced as follows.

Figure 1-2: hardware PCB layout

Name Description CN2 4 Axis motion SCSI 100 pins connector. CN3 Connecting to manual pulse generator. CN4 Simultaneous STA / STP connector CN5 Simultaneous STA / STP connector

RSW1 Rotary switch for card number setting. JP300 Jumper setting for Compare Trigger

Table 1-1: I/O interfaces on PCE-M114

PCE-M114

CN2

RSW1

JP300

CN3 CN4 CN5


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2. I/O Interface Description

2.1. 4-Axis Motion Connector CN2

Figure 2-1: 100 pin connector for motion

Pin Label I/O 1st / 2nd / 3rd / 4th Description Pin Label I/O 1st / 2nd / 3rd / 4th Description

1 24V +24V / 200mA power input 51 24V +24V / 200mA power input

2 EGND External ground 52 EGND External ground

3 EMG I Emergency signal 53 EMG I Emergency signal

4 MEL_1 I 1st end limit (-) 54 MEL_3 I 3rd end limit (-)

5 PEL_1 I 1st end limit (+) 55 PEL_3 I 3rd end limit (+)

6 ORG_1 I 1st home signal 56 ORG_3 I 3rd home signal

7 SLD_1 I 1st ramp-down signal 57 SLD_3 I 3rd ramp-down signal

8 MEL_2 I 2nd end limit (-) 58 MEL_4 I 4th end limit (-)

9 PEL_2 I 2nd end limit (+) 59 PEL_4 I 4th end limit (+)

10 ORG_2 I 2nd home signal 60 ORG_4 I 4th home signal

11 SLD_2 I 2nd ramp-down signal 61 SLD_4 I 4th ramp-down signal

12 RDY_1 I 1st servo ready 62 RDY_3 I 3rd servo ready

13 INP_1 I 1st servo in-position signal 63 INP_3 I 3rd servo in-position signal

14 ALM_1 I 1st servo alarm 64 ALM_3 I 3rd servo alarm

15 LTC_1 I 1st latch input 65 LTC_3 I 3rd latch input

16 RDY_2 I 2nd servo ready 66 RDY_4 I 4th servo ready

17 INP_2 I 2nd servo in-position signal 67 INP_4 I 4th servo in-position signal

18 ALM_2 I 2nd servo alarm 68 ALM_4 I 4th servo alarm

19 LTC_2 I 2nd latch input 69 LTC_4 I 4th latch input


21 SVON_1 O 1st servo on 71 SVON_3 O 3rd servo on

22 ERC_1 O 1st clear servo error counter 72 ERC_3 O 3rd clear servo error counter

23 ALMC_1 O 1st reset servo alarm 73 ALMC_3 O 3rd reset servo alarm

24 CMP_1 O 1st compare output 74 CMP_3 O 3rd compare output

25 SVON_2 O 2nd servo on 75 SVON_4 O 4th servo on


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26 ERC_2 O 2nd clear servo error counter 76 ERC_4 O 4th clear servo error counter

27 ALMC_2 O 2nd reset servo alarm 77 ALMC_4 O 4th reset servo alarm

28 CMP_2 O 2nd compare output 78 CMP_4 O 4th compare output

29 EA+_1 I 1st encoder A phase (+) 79 EA+_3 I 3rd encoder A phase (+)

30 EA-_1 I 1st encoder A phase (-) 80 EA-_3 I 3rd encoder A phase (-)

31 EB+_1 I 1st encoder B phase (+) 81 EB+_3 I 3rd encoder B phase (+)

32 EB-_1 I 1st encoder B phase (-) 82 EB-_3 I 3rd encoder B phase (-)

33 EZ+_1 I 1st encoder Z phase (+) 83 EZ+_3 I 3rd encoder Z phase (+)

34 EZ-_1 I 1st encoder Z phase (-) 84 EZ-_3 I 3rd encoder Z phase (-)

35 EA+_2 I 2nd encoder A phase (+) 85 EA+_4 I 4th encoder A phase (+)

36 EA-_2 I 2nd encoder A phase (-) 86 EA-_4 I 4th encoder A phase (-)

37 EB+_2 I 2nd encoder B phase (+) 87 EB+_4 I 4th encoder B phase (+)

38 EB-_2 I 2nd encoder B phase (-) 88 EB-_4 I 4th encoder B phase (-)

39 EZ+_2 I 2nd encoder Z phase (+) 89 EZ+_4 I 4th encoder Z phase (+)

40 EZ-_2 I 2nd encoder Z phase (-) 90 EZ-_4 I 4th encoder Z phase (-)

41 DDA 5V DDA 5V power output. I<100mA


42 DDA GND Internal 5V ground 92 DDA GND Internal 5V ground

43 DIR+_1 O 1st direction signal (+) 93 DIR+_3 O 3rd direction signal (+)

44 DIR-_1 O 1st direction signal (-) 94 DIR-_3 O 3rd direction signal (-)

45 OUT+_1 O 1st pulse signal (+) 95 OUT+_3 O 3rd pulse signal (+)

46 OUT-_1 O 1st pulse signal (-) 96 OUT-_3 O 3rd pulse signal (-)

47 DIR+_2 O 2nd direction signal (+) 97 DIR+_4 O 4th direction signal (+)

48 DIR-_2 O 2nd direction signal (-) 98 DIR-_4 O 4th direction signal (-)

49 OUT+_2 O 2nd pulse signal (+) 99 OUT+_4 O 4th pulse signal (+)

50 OUT-_2 O 2nd pulse signal (-) 100 OUT-_4 O 4th pulse signal (-)

Table 2-1: SCSI 100-pin definition


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2.2. Manual Pulse Generator Connector CN3

Figure 2-2: MPG pin definition

Pin Label Description Pin Label Description 1 +24V/200mA Power 2 G24 Ground 3 X Select Input signal 4 Y Select Input signal 5 Z Select Input signal 6 U Select Input signal 7 X1 Input signal 8 X10 Input signal 9 X100 Input signal 10 IOCOM 11 +5V/200mA Power 12 DGND Ground 13 PA Input signal 14 PB Input signal 15 IOCOM 16 Enable Input signal 17 JOG+ Input signal 18 JOG- Input signal 19 Reserved 20 Reserved

Table 2-2: MPG pin definition

The logic circuit is illustrated below.

Figure 2-3: hand wheel NPN logic circuit

20 2

19 1


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Figure 2-4: hand wheel PNP logic circuit

2.3. STA/STP CN4/CN5

Figure 2-5: STA/STP pin definition

Pin Label Description 1 GND Ground 2 STA Simultaneous Start 3 STP Simultaneous Stop 4 GND Ground

Table 2-3: STA/STP pin definition


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2.4. Card Number Switch RSW1

Figure 2-6: card number switch

2.5. Jumper setting for Compare Trigger JP300

JP300 sets the voltage and maximum frequency of trigger output signal. The output signal voltage may either be 24V or 5V. The default setting is 24V output.

Figure 2-7: Voltage setting for compare trigger

AXIS X Y Z U X Y Z U

24V

5V

Default


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3. Introduction of the Terminal Board for PCE-M114

3.1. 107-T141-GEN Series

3.1.1. Options of 107-T141-GEN Series

The 107-T141-GEN is a versatile terminal board working as a bridge along with the SCSI 100-pin motion connector and servo driver connectors. While choosing 107-T141-GEN, it is necessary to select the corresponding DB series terminal boards in relation to motor drivers.

3.1.2. Dimensions

Figure 3-1: dimensions of 107-T141-GEN, unit: mm

148mm H: 52mm

123mm


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3.1.3. Product Category

1. 107-T141-GEN (versatile terminal board) 2. Modules for 107-T141-GEN

(1) DB-T141-DA2 (2) DB-T141-DAB (3) DB-T141-DUM (4) DB-T141-DUME (5) DB-T141-YS2 (6) DB-T141-SAN (7) DB-T141-PA4 (8) DB-T141-MJ3 (9) DB-T141-EZS


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107-T141-GEN

Driver Type Add modules of 107-T141 Terminal Board Series

Delta B Type Driver

DB-T141-DAA

DB-T141-DAB

Servo or stepping Driver

DB-T141-DUM

DB-T141-DUME

Yaskawa Sigma-II/V Driver

DB-T141-YS2

Sanyo Q series Driver

DB-T141-SAN

Panasonic Minas A Driver

DB-T141-PA4

Mitsubishi MR-J3 Driver

DB-T141-MJ3

Ezi-SERVO Driver

DB-T141-EZS

3.1.4. Module Introduction

The 107-T141-GEN terminal board has 4 connector sockets from left to right with number 1 to 4 correspondingly. The figure below illustrates the connector number on the board. These selections compose the naming convention of the product which will be introduced in the following section.


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Figure 3-2: connector socket number of 107-T141-GEN

3.1.5. Example

If a user needs 4 axes motion control with 2 Delta B type, 1 Panasonic Minas A and 1 Mitsubishi MR-J3 drivers, the items needed would be 107-T141-GEN * 1, DB-T141-DAB * 2, DB-T141-PA4 * 1 and DB-T141-MJ3 * 1 as the following table.

107-T141-GEN

Site Driver Add modules of 107-T141

Terminal Board Series

1

2

Delta B Type Driver DB-T141-DAB

3

Panasonic Minas A Driver DB-T141-PA4

4

Mitsubishi MR-J3 Driver DB-T141-MJ3

Table 3-1: selected list example

Specification Convention According to the previous example, the product specification is 107-T141 with DABx2 + PA4 + MJ3. 107-T141 with DABx2 + PA4 +MJ3 = 107-T141-GEN spec. + DB-T141-DAB spec. * 2 + DB-T141-PA4 spec. + DB-T141-MJ3 spec.


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3.1.6. Connector Function

Figure 3-3: 107-T141-GEN terminal board

Label Function CN1 1st Reserved IO Signals Connector CN2 1st Machinery IO Signals Connector CN3 2nd Reserved IO Signals Connector CN4 2nd Machinery IO Signals Connector CN5 3rd Reserved IO Signals Connector CN6 3rd Machinery IO Signals Connector CN7 4th Reserved IO Signals Connector CN8 4th Machinery IO Signals Connector CN9 Power Connector CN10 SCSI 100 pin Connector CN12 1st DB Connector CN13 2nd DB Connector CN14 3rd DB Connector CN15 4th DB Connector


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CN1/ CN3/ CN5/ CN7 encoder signals connector Pin Label Description 1 N-1 Reserved 2 N-2 Reserved 3 N-3 Reserved 4 N-4 Reserved 5 N-5 Reserved 6 N-6 Reserved 7 CMP Compare output 8 GND External Ground(24V) 9 BK+ Brake signal(+)

10 BK- Brake signal(-) 11 24V +24V power 12 24V +24V power

CN2/ CN4/ CN6/ CN8 machinery I/O signals connector

Pin Label Description 1 PEL End Limit Signal(+) 2 GND External Ground(24V) 3 MEL End Limit Signal(-) 4 GND External Ground(24V) 5 ORG home signal 6 GND External Ground(24V) 7 LTC Latch input 8 GND External Ground(24V) 9 SLD ramp-down signal

10 GND External Ground(24V) 11 24V +24V power 12 24V +24V power


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CN11 / CN12 / CN13 / CN14 Servo driver connector sockets Pin Label I/O Description Pin Label I/O Description 1 EA+ I Encoder A phase signal(+) 2 24V +24V power 3 EA- I Encoder A phase signal(-) 4 GND External Ground(24V) 5 EB+ I Encoder B phase signal(+) 6 MEL I End Limit Signal(-) 7 EB- I Encoder B phase signal(-) 8 PEL I End Limit Signal(+) 9 EZ+ I Encoder Z phase signal(+) 10 RDY I Servo Ready

11 EZ- I Encoder Z phase signal(-) 12 INP I Servo In-position signal 13 OUT- O Pulse signal(-) 14 ALM O Servo Alarm 15 OUT+ O Pulse signal(+) 16 SVON O Servo On 17 DIR- O Dir. Signal(-) 18 ERC O Clear Servo Error Counter 19 DIR+ O Dir. Signal(+) 20 ALMC O Clear Servo Alarm 21 GND

External Ground(24V) 22 BRK- O Brake signal(-)

23 5V

+5V Power 24 BRK+ O Brake signal(+) 25 N-1

Reserved 26 N-2

Reserved

27 N-3

Reserved 28 N-4

Reserved 29 N-5

Reserved 30 N-6

Reserved

CN9 Power input and emergency input signal

Pin Label Description 1 24V +24V Power 2 GND Ground 3 EMG Emergency Signal


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3.1.7. Daughter Board Layout

DB-T141-DUM dummy type interface board. DB-T141-DUM

Pin Label Description Pin Label Description 1 RDY Servo Ready 7 +5V +5V Power 2 INP Servo In-position signal 8 IGND 5V Ground 3 ALM Servo Alarm 9 DIR+ Dir. Signal(+) 4 SVON Servo On 10 DIR- Dir. Signal(-) 5 ERC Clear Servo Error Counter 11 OUT+ Pulse signal(-) 6 ALMC Clear Servo Alarm 12 OUT- Pulse signal(+)

Note: the dummy type does not have the encoder interface. If users want to connect the EA, EB, EZ of the servo driver feedback to the controller, please contact TPM for customization.

DB-T141-DUME dummy type interface board.

DB-T141-DUME Pin Label Description Pin Label Description 1 EA+ Encoder A phase signal(+) 1 RDY Servo Ready 2 EA- Encoder A phase signal(-) 2 INP Servo In-position signal 3 EB+ Encoder B phase signal(+) 3 ALM Servo Alarm 4 EB- Encoder B phase signal(-) 4 SVON Servo On 5 EZ+ Encoder Z phase signal(+) 5 ERC Clear Servo Error Counter 6 EZ- Encoder Z phase signal(-) 6 ALMC Clear Servo Alarm 7 EGND External ground 7 +5V +5V Power 8 EGND External ground 8 EGND External ground

9 DIR+ Dir. Signal(+)

10 DIR- Dir. Signal(-)

11 OUT+ Pulse signal(-)

12 OUT- Pulse signal(+)


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DB-T141-DAA Delta A2 type interface board. DB-T141-DAA

Pin Label Description Pin Label Description 1 INP Servo In-position signal 26 EGND External ground 2 EGND External ground 27 EGND External ground 3 DO3 HOME 28 ALM Servo Alarm 4 EGND External ground 29 NC Reserved 5 DO4 TPOS 30 EGND External ground 6 EGND External ground 31 MEL End Limit Signal(-) 7 RDY Servo Ready 32 PEL End Limit Signal(+) 8 DI4 TCM1 33 ALMC Clear Servo Alarm 9 SVON Servo On 34 DI3 TCM0

10 ERC Clear Servo Error Counter 35 NC Reserved 11 +24V +24V 36 DIR+ Dir. Signal(+) 12 EGND External ground 37 DIR- Dir. Signal(-) 13 EGND External ground 38 NC Reserved 14 NC Reserved 39 NC Reserved 15 MON2 MON2 40 NC Reserved 16 MON1 MON1 41 OUT+ Pulse signal(+) 17 NC Reserved 42 NC Reserved 18 NC Reserved 43 OUT- Pulse signal(-) 19 EGND External ground 44 NC Reserved 20 NC Reserved 45 EGND External ground 21 EA+ Encoder A phase signal(+) 46 NC Reserved 22 EA- Encoder A phase signal(-) 47 EGND External ground 23 EB- Encoder B phase signal(-) 48 NC Reserved 24 EZ- Encoder Z phase signal(-) 49 EGND External ground 25 EB+ Encoder B phase signal(+) 50 EZ+ Encoder Z phase signal(+)

DB-T141-DAB Delta B2 type interface board.

DB-T141-DAB Pin Label Description Pin Label Description 1 ALM Servo Alarm 14 EGND External ground 2 INP Servo In-position signal 15 MEL End Limit Signal(-) 3 PEL End Limit Signal(+) 16 RDY Servo On 4 24V +24V 17 SVON Servo On 5 ERC Clear Servo Error Counter 18 ALMC Clear Servo Alarm 6 NC Reserved 19 DIR- Dir. Signal(-) 7 NC Reserved 20 DIR+ Dir. Signal(+) 8 NC Reserved 21 OUT- Pulse signal(-) 9 NC Reserved 22 OUT+ Pulse signal(+)

10 EA+ Encoder A phase signal(+) 23 EA- Encoder A phase signal(-) 11 EB- Encoder B phase signal(-) 24 EZ+ Encoder Z phase signal(+) 12 EB+ Encoder B phase signal(+) 25 EZ- Encoder Z phase signal(-) 13 EGND External ground


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DB-T141-SAN Sanyo Q Series type interface board.

DB-T141-SAN Pin Label Description Pin Label Description 1 NC Reserved 26 DIR+ Dir. Signal(+) 2 NC Reserved 27 DIR- Dir. Signal(-) 3 EA+ Encoder A phase signal(+) 28 OUT+ Pulse signal(-) 4 EA- Encoder A phase signal(-) 29 OUT- Pulse signal(+) 5 EB+ Encoder B phase signal(+) 30 NC Reserved 6 EB- Encoder B phase signal(-) 31 EGND External ground 7 EZ+ Encoder Z phase signal(+) 32 CONT6 Reserved 8 EZ- Encoder Z phase signal(-) 33 CONT5 Ground 9 NC Reserved 34 ERC Clear Servo Error Counter

10 NC Reserved 35 EMG Emergency Signal 11 NC Reserved 36 ALMC Clear Servo Alarm 12 NC Reserved 37 SVON Servo On 13 NC Reserved 38 EGND External ground 14 NC Reserved 39 INP Servo In-position signal 15 NC Reserved 40 NC Reserved 16 NC Reserved 41 RDY Servo Ready 17 EGND External ground 42 OUT4 ALM5_OFF 18 PEL End Limit Signal(+) 43 OUT5 ALM6_OFF 19 MEL End Limit Signal(-) 44 OUT6 ALM7_OFF

20 NC Reserved 45 OUT7 ALM_OFF

21 NC Reserved 46 ALM Servo Alarm 22 NC Reserved 47 EGND External ground 23 NC Reserved 48 EGND External ground 24 EGND External ground 49 +24V +24V 25 EGND External ground 50 +24V +24V


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DB-T141-YS2 Yaskawa Sigma II to Sigma V drivers DB-T141-YS2

Pin Label Description Pin Label Description 1 EGND External ground 26 EGND External ground

2 EGND External ground 27 NC Reserved 3 NC Reserved 28 NC Reserved 4 +5V +5V Power 29 RDY Servo Ready 5 V_REF Reference speed 30 EGND External ground

6 EGND External ground 31 ALM Servo Alarm 7 OUT+ Pulse signal(+) 32 EGND External ground

8 OUT- Pulse signal(-) 33 EA+ Encoder A phase signal(+) 9 T_REF Torque reference 34 EA- Encoder A phase signal(-)

10 EGND External ground 35 EB+ Encoder B phase signal(+) 11 DIR+ Dir. Signal(+) 36 EB- Encoder B phase signal(-) 12 DIR- Dir. Signal(-) 37 NC Reserved 13 NC Reserved 38 NC Reserved 14 ERC Clear Servo Error Counter 39 NC Reserved 15 24V +24V 40 SVON Servo On 16 NC Reserved 41 NC Reserved 17 NC Reserved 42 PEL End Limit Signal(+) 18 NC Reserved 43 MEL End Limit Signal(-) 19 EZ+ Encoder Z phase signal(+) 44 ALMC Clear Servo Alarm 20 EZ- Encoder Z phase signal(-) 45 NC Reserved 21 BAT+ Backup battery (+) 46 NC Reserved 22 BAT- Backup battery (-) 47 24V +24V 23 NC Reserved 48 NC Reserved 24 NC Reserved 49 NC Reserved 25 INP Servo In-position signal 50 NC Reserved


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DB-T141-PA4 Panasonic A4 Series driver with more than 500k pps input DB-T141-PA4

Pin Label Description Pin Label Description 1 NC Reserved 26 NC Reserved 2 NC Reserved 27 NC Reserved 3 NC Reserved 28 NC Reserved 4 NC Reserved 29 SVON Servo On 5 NC Reserved 30 ERC Clear Servo Error Counter 6 NC Reserved 31 ALMC Clear Servo Alarm 7 24V +24V 32 NC Reserved 8 PEL End Limit Signal(+) 33 EGND External ground

9 MEL End Limit Signal(-) 34 EGND External ground

10 BRK+ Brake signal(+) 35 RDY Servo Ready 11 BRK- Brake signal(-) 36 EGND External ground

12 NC Reserved 37 ALM Servo Alarm 13 EGND External ground 38 EGND External ground

14 NC Reserved 39 INP Servo In-position signal 15 EGND External ground 40 NC Reserved 16 NC Reserved 41 EGND External ground

17 EGND External ground 42 NC Reserved 18 NC Reserved 43 NC Reserved 19 NC Reserved 44 OUT+ Pulse signal(-) 20 NC Reserved 45 OUT- Pulse signal(+) 21 EA+ Encoder A phase signal(+) 46 DIR+ Dir. Signal(+) 22 EA- Encoder A phase signal(-) 47 DIR- Dir. Signal(-) 23 EZ+ Encoder Z phase signal(+) 48 EB+ Encoder B phase signal(+) 24 EZ- Encoder Z phase signal(-) 49 EB- Encoder B phase signal(-) 25 EGND External ground 50 NC Reserved


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DB-T141-MJ3 Mitsubishi J3 series driver interface board DB-T141-MJ3

Pin Label Description Pin Label Description 1 NC Reserved 26 NC Reserved 2 NC Reserved 27 NC Reserved 3 EGND External ground 28 EGND External ground

4 EA+ Encoder A phase signal(+) 29 NC Reserved 5 EA- Encoder A phase signal(-) 30 NC Reserved 6 EB+ Encoder B phase signal(+) 31 NC Reserved 7 EB- Encoder B phase signal(-) 32 NC Reserved 8 EZ+ Encoder Z phase signal(+) 33 NC Reserved 9 EZ- Encoder Z phase signal(-) 34 EGND External ground

10 OUT+ Pulse signal(+) 35 DIR+ Dir. Signal(+) 11 OUT- Pulse signal(-) 36 DIR- Dir. Signal(-) 12 NC Reserved 37 NC Reserved 13 NC Reserved 38 NC Reserved 14 NC Reserved 39 NC Reserved 15 SVON Servo On 40 NC Reserved 16 NC Reserved 41 ERC Clear Servo Error Counter 17 PC 42 EGND External ground

18 NC Reserved 43 PEL End Limit Signal(+) 19 ALMC Clear Servo Alarm 44 MEL End Limit Signal(-) 20 24V +24V 45 NC Reserved 21 24V +24V 46 EGND External ground

22 NC Reserved 47 EGND External ground

23 ZSP 48 ALM Servo Alarm 24 INP Servo In-position signal 49 RDY Servo Ready 25 TCL 50 NC Reserved


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DB-T141-EZS Ezi servo driver interface board DB-T141-EZS

Pin Label Description Pin Label Description 1 OUT+ Pulse signal(+) 11 ALM Servo Alarm 2 OUT- Pulse signal(-) 12 INP Servo In-position signal 3 DIR+ Dir. Signal(+) 13 SVON Servo On 4 DIR- Dir. Signal(-) 14 ALMC Clear Servo Alarm 5 EA+ Encoder A phase signal(+) 15 NC Reserved 6 EA- Encoder A phase signal(-) 16 NC Reserved 7 EB+ Encoder B phase signal(+) 17 NC Reserved 8 EB- Encoder B phase signal(-) 18 NC Reserved 9 EZ+ Encoder Z phase signal(+) 19 EGND External ground

10 EZ- Encoder Z phase signal(-) 20 24V +24V


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3.2. 107-T142-GEN

Figure 3-4: drawing of 107-T142-GEN

107-T142-GEN 123mm

104mm

CN1

CN2

CN3 CN4 CN5 CN6 CN7

CN8 CN9 CN10 CN11

H: 52mm


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Label Function

LED Power on/off status CN1 SCSI 100 pin Connector CN2 Power Connector CN3 Axis0 Machinery I/O Signals Connector CN4 Axis1 Machinery I/O Signals Connector CN5 Axis2 Machinery I/O Signals Connector CN6 Axis3 Machinery I/O Signals Connector CN7 Axis0/Axis1/Axis2/Axis3 BRK Signal Connector CN8 Axis0 Drive’s IO Interface Connector CN9 Axis1 Drive’s IO Interface Connector CN10 Axis2 Drive’s IO Interface Connector CN11 Axis3 Drive’s IO Interface Connector

Table 3-2: I/O interfaces on 107-M142-GEN

3.2.1. 4-Axis Motion Connector CN1

Figure 3-5: 100 pin connector for motion
















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Table 3-3: SCSI 100-pin definition


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3.2.2. Power input and emergency input signal

Pin Label Description 1 24V +24V Power 2 EGND External Ground 3 EMG Emergency Stop Signal 4 24V +24V Power 5 EGND External Ground 6 FG Frame Ground

Table 3-4: Power input pin definition

3.2.3. Machinery I/O Signals CN3/CN4/CN5/CN6

Pin Label Description 1 24V +24V power 2 EGND External Ground(24V) 3 PEL End Limit Signal(+) 4 MEL End Limit Signal(-) 5 24V +24V power 6 EGND External Ground(24V) 7 ORG Home signal 8 CMP Compare out 9 24V +24V power 10 EGND External Ground(24V) 11 LTC Latch input 12 SLD Ramp-down signal

Table 3-5: Machinery I/O pin definition

1

12

6 1


34

3.2.4. Mechanical Brake I/O Signals CN7

Pin Label Description 1 24V +24V power 2 EGND External Ground(24V) 3 BRK-1 Axis0 Mechanical break signal (-) output 4 BRK+1 Axis0 Mechanical break signal (+) output 5 BRK-2 Axis1 Mechanical break signal (-) output 6 BRK+2 Axis1 Mechanical break signal (+) output 7 24V +24V power 8 EGND External Ground(24V) 9 BRK-3 Axis2 Mechanical break signal (-) output 10 BRK+3 Axis2 Mechanical break signal (+) output 11 BRK-4 Axis3 Mechanical break signal (-) output 12 BRK+4 Axis4 Mechanical break signal (+) output

Table 3-6: Brake I/O pin definition

3.2.5. Drive’s IO Interface Connector CN8/CN9/CN10/CN11

Figure 3-6: drawing of Drive’s I/O Connector

Pin Label Function Pin Label Function 1 SVON Servo on output signal 14 BRK- Braking signal(-) 2 INP In-position input signal 15 EGND I/O power ground 3 ERC Deviation counter clear output

signal 16 EB- Encoder B-phase (-)

4 RDY Ready input signal 17 EB+ Encoder B-phase (+) 5 OUT- Pulse signal (-) 18 EGND I/O power ground 6 OUT+ Pulse signal (+) 19 EMG Emergency stop output signal 7 EA- Encoder A-phase (-) 20 EGND I/O power ground 8 EA+ Encoder A-phase (+) 21 EGND I/O power ground 9 BRK+ Braking signal(+) 22 EGND I/O power ground 10 RST Alarm reset output signal 23 DIR- Direction signal (-)

1 9

19 26

1

12


35

Pin Label Function Pin Label Function 11 ALM Alarm input signal 24 DIR+ Direction signal (+) 12 E24V I/O power supply, +24V 25 EZ- Encoder Z-phase (-) 13 EGND I/O power ground 26 EZ+ Encoder Z-phase (+)

Table 3-7: Drive’s I/O pin definition


36

3.3. Wiring Examples

For Panasonic Minas A series drivers.

Figure 3-7: wiring example for Panasonic A4 series


37

4. Signal Connection There are 3 groups of signal connection of PCE-M114, Machine I/O, Pulse I/O and Servo Driver I/O interface. They are described in the following sections.

4.1. Machine I/O Interface Signals

PEL and MEL (End Limit / Digital Input Signal) There are two end-limit signals called PEL and MEL for each axis. Usually they are Normal-Close type signals from external sensors. PEL indicates the limit of motion in the plus direction and MEL indicates the limit of motion in the minus direction. The signals connections are shown in the following figures. Note that the command pulse will be stopped when PEL/MEL is active. ORG (Origin / Digital Input Signal) The origin signals (ORG1~ORG4) are necessary when the position feedback is incremental type or without any feedback encoders. They are used to indicate the origin of the system. The signals connections are shown in the following figures. SLD (Slow Down / Input Signal) The SLD signals are used to help the axis decelerate to stop by hardware. The signals connections are shown in the following figures.

Figure 4-1: EL, ORG and SLD wiring for NPN sink mode

1

2

4

3

4.7K

ICOM

NPNSink

GND

24V

Internal Curcuit

5mA


38

CMP (Position Compare / Output Signal) CMP signals are used to make a comparison between target value and actual value and generate a trigger signal output. The signals connections are shown in the following figures. Compare Trigger jumper is set as 24V. (Default)

Compare Trigger jumper is set as 5V.

Figure 4-2: CMP output signal circuit

CMP

6

5

43

1

24V

4.7K

GND

Internal Curcuit

5mA

CMP output signal circuit

CMP

6

5

43

1

5V

1K

GND

Internal Curcuit

5mA

CMP output signal circuit


39

LTC (Counter Latch) LTC is used to latch the value in the counter when the LTC input is active. The signals connections are shown in the following figures.

Figure 4-3: LTC wiring for NPN sink mode

E5V

6

5

4 3

1

Latch

DGND

+5V LTC


40

4.2. Driver I/O Interface Signals

ALM (Servo Alarm / Digital Input Signal) ALM- input signal from ALM signal at servo driver. Servo driver will issue ALM output when it is under abnormal operation or over-loading. The signals connections are shown in the following figures. RDY (Driver Ready Signal / Digital Input Signal) RDY is an input signal and is used to read the RDY signal at servo driver. The signals connections are shown in the following figures. INP (Axis In Position Signal / Digital Input Signal) INP is an input signal and is used to read the INP status inside servo driver. The signals connections are shown in the following figures.

Figure 4-4: ALM wiring for NPN sink mode

Note that when ALM is active and enabled, PCE-M114 will stop pulse output.

1

2

4

31K

5V

NPN

GNDInternal Curcuit

5mA


41

RALM(Servo Alarm Reset / Digital Output Signal) This RALM signal is designed to reset ALM status inside servo driver if the alarm status is able to be reset. The signals connections are shown in the following figures. SVON(Servo On / Digital Output Signal) SVON is an output signal from PCE-M114 and is used to make driver servo-on to hold the motor. The signals connections are shown in the following figures. ERC (Deviation Counter Clear / Digital Output Signal) ERC output will be active when the following condition is activated. Homing is completed. PEL/MEL is active. ALM is active. User issues EMG by software. The signals connections are shown in the following figures.

Figure 4-5: RALM, SVON and ERC output wiring diagram

1

2

4

3 GND

24V1

2 3

44.7K

Internal Curcuit

5mA


42

4.3. Driver Pulse I/O Interface Signals

OUT and DIR (Pulse Output Control / Digital Output Signal) There are 8 types of pulse output of PCE-M114. User has to specify the electrical spec. as differential or open collector first. Then select DIR/OUT or CW/CCW. The signals connections are shown in the following figures.

Figure 4-6: Pulse output wiring diagram

Note that the maximum output current for OUT and DIR is limited by 20mA.

13

2

AM26C31

OUT-

OUT+

Internal Curcuit

13

2

AM26LS32

13

2

AM26C31

OUT-

OUT+

Internal Curcuit

TTL

200

GND GND

20mA

TTL Receive pattern wiring

20mA

13

2

AM26C31

OUT-

OUT+

Internal Curcuit

6

5

43

1

100

100

20mA

Differential line driver output

Optocoupler wiring


43

EA, EB and EZ (Encoder A, B and Z Phase) The signals connections are shown in the following figures.

Figure 4-7: differential line driver encoder input

6

5

4 3

1

EA-

EA+

Internal Curcuit

13

2

AM26C31

100

100

20mA

Differential line driver encoder input

6

5

4 3

1

EA-

EA+

Internal Curcuit

100

100

Pulse input

GND

Pulse10mA

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