adt series motion control card
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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
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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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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
ADT-8948A1 ADVANCED 4-AXIS SERVO/STEPPER MOTION CONTROL CARD .............................................................. 19
FEATURES ................................................................................................................................................................... 19
INPUT/OUTPUT INTERFACES DESCRIPTION................................................................................................................. 19
ADT-8940A1 ADVANCED 4-AXIS SERVO/STEPPER MOTION CONTROL CARD .............................................................. 24
FEATURES.................................................................................................................................................................. 24
INPUT/OUTPUT INTERFACES DESCRIPTION................................................................................................................. 24
ADT-8960A1 ADVANCED 6-AXIS SERVO/STEPPER MOTION CONTROL CARD .............................................................. 27
FEATURES.................................................................................................................................................................. 27
INPUT/OUTPUT INTERFACES DESCRIPTION................................................................................................................. 27
ADT-8920A1 ADVANCED 2-AXIS SERVO/STEPPER MOTION CONTROL CARD .............................................................. 30
FEATURES ................................................................................................................................................................... 30
INPUT/OUTPUT INTERFACES DESCRIPTION .................................................................................................................. 30
PCI104 bus type ................................................................................................................................................... 32
ADT-836ADVANCED 6-AXIS SERVO/STEPPER MOTION CONTROL CARD ..................................................................... 32
FEATURES.................................................................................................................................................................. 32
INPUT/OUTPUT INTERFACES DESCRIPTION................................................................................................................. 32
SET ADDRESS: ............................................................................................................................................................ 35ADT-860ADVANCED 4-AXIS SERVO/STEPPER MOTION CONTROL CARD ..................................................................... 37
FEATURES.................................................................................................................................................................. 37
INPUT/OUTPUT INTERFACES DESCRIPTION................................................................................................................. 37
SET ADDRESS ............................................................................................................................................................. 39
ADT-864ADVANCED 4-AXIS SERVO/STEPPER MOTION CONTROL CARD ..................................................................... 40
FEATURES.................................................................................................................................................................. 40
INPUT/OUTPUT INTERFACES DESCRIPTION................................................................................................................. 40
SET ADDRESS ............................................................................................................................................................. 42
Chapter V Installing Software ............................................................................................................................ 43
INSTALL DRIVER IN WIN2000 .................................................................................................................................... 43
INSTALL DRIVER IN WINXP ....................................................................................................................................... 44
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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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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
acceleration/deceleration
S-curve
acceleration/deceleration
Symmetric linear
acceleration/deceleration
Symmetric linearacceleration/deceleration
asymmetric linear
acceleration/deceleration
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
the logical position counter and
actual position counter are 32-bit
up/down cyclic counters, no
variable cyclic function
the logical position counter and
actual position counter are 32-bit
up/down cyclic counters, with
variable cyclic function
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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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
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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
EXT_VCC Positive port of internal +5V power
supply; do not connect to external
power supply
EXT_VCC Positive port of internal +5V power
supply; do not connect to external
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
XSTOP1 X home signal 1; can be used as
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universal input signal
YLMT+ Y positive limit signal
YLMT- Y negative limit signal
YSTOP0 Y home signal 0; can be used as
universal input signal
YSTOP1 Y home signal 1; can be used as
universal input signal
ZLMT+ Z positive limit signal
ZLMT- Z negative limit signal
ZSTOP0 Z home signal 0; can be used as
universal input signal
ZSTOP1 Z home signal 1; can be used as
universal input signal
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
J2 cable marker description
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 -
EXT_VCC Positive port of internal +5V power
supply; do not connect to external power
supply
EXT_VCC Positive port of internal +5V power
supply; do not connect to external power
supply
EXT_VCC Positive port of internal +5V power
supply; do not connect to external power
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
universal input signal
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
universal input signal
BSTOP1 B home signal 1; can be used as
universal input signal
CLMT+ C positive limit signal
CLMT- C negative limit signal
CSTOP0 C home signal 0; can be used as
universal input signal
CSTOP1 C home signal 1; can be used as
universal input signal
OUTCOM
OUTCOMCommon output
OUT6
OUT7
OUT8
OUT9
OUT10
OUT11
Digital output
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P1 cable marker description
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XINPOS X servo in-position signal; can be
used as universal input signal
XALARM X servo alarm signal;
XSTOP2 X home signal 2; can be used as
universal input signal
XIN0 X input signal 0;can be used as
universal input signal
YINPOS Y servo in-position signal; can be used
as universal input signal
YALARM Y servo alarm signal;
YSTOP2 Y home signal 2; can be used as
universal input signal
YIN0 Y input signal 0;can be used as
universal input signal
INCOM1 Common port of photoelectric
coupling input (signals above)
ZINPOS Z servo in-position signal; can be used
as universal input signal
ZALARM Z servo alarm signal;
ZSTOP2 Z home signal 2; can be used as
universal input signal
ZIN0 Z input signal 0;can be used as
universal input signal
AINPOS A servo in-position signal; can be used
as universal input signal
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
universal input signal
INCOM2 Common port of photoelectric
coupling input (signals above)
BINPOS B ervo in-position signal; can be used
as universal input signal
BALARM B servo alarm signal;
BSTOP2 B home signal 2; can be used as
universal input signal
BIN0 B input signal 0;can be used as
universal input signal
CINPOS C ervo in-position signal; can be used
as universal input signal
CALARM C servo alarm signal;
CSTOP2 C home signal 2; can be used as
universal input signal
CIN0 C input signal 0;can be used as
universal input signal
INCOM3 Common port of photoelectric
coupling input (signals above)
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
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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
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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.
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(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)
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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
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
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
available for external power supply
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
universal input signal
XSTOP1(IN3) X home signal 1; can be used as
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universal input signal
XSTOP3(IN4) X home signal 2; can be used as
universal input signal
XALARM(IN5) X servo alarm signal; can be used as
universal input signal
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
universal input signal
YSTOP1(IN9) Y home signal 1; can be used as
universal input signal
YSTOP3(IN10) Y home signal 2; can be used as
universal input signal
YALARM(IN11) Y servo alarm signal; can be used as
universal input signal
ZLMT-(IN12) Z positive limit signal
ZLMT+(IN13) Z negative limit signal
ZSTOP0(IN14) Z home signal 0; can be used as
universal input signal
ZSTOP1(IN15) Z home signal 1; can be used as
universal input signal
INCOM3 Common port of 38-45pin digitalinput
ZSTOP3(IN16) Z home signal 2; can be used as
universal input signal
ZALARM(IN17) Z servo alarm signal; can be used as
universal input signal
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
ASTOP1(IN21) A home signal 1; can be used as
universal input signal
ASTOP3(IN22) A home signal 2; can be used as
universal input signal
AALARM(IN23) A servo alarm signal; can be used as
universal input signal
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
OUT8 Digital output
OUT9 Digital output
OUT10 Digital output
OUT11 Digital output
OUTCOM3 Common port of OUT8-11 digital
output negative
+12V Positive port of internal +12V power
supply; do not connect to external
power supply;
GND Internal power supply ground wire
J2 cable marker description
Symbol Description /MCX314 pin
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 +
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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 +
AECA- A-axis coder phase A input -
AECB+ A-axis coder phase B 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
universal input signal
XINPOS(IN25) X servo in-position signal; can be used
as universal input signal
YIN(IN26) Y home signal 3; can be used as
universal input signal
YINPOS(IN27) Y servo in-position signal; can be used
as universal input signal
ZIN(IN28) Z home signal 3; can be used as
universal input signal
ZINPOS(IN29) Z servo in-position signal; can be used
as universal input signal
AIN(IN30) A home signal 3; can be used asuniversal input signal
AINPOS(IN31) A servo in-position signal; can be used
as universal input signal
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
OUT12 Digital output
OUT13 Digital output
OUT14 Digital output
OUT15 Digital output
OUT16 Digital output
OUTCOM4 Common port of OUT12-16 digital
output negative
OUT17 Digital output
OUT18 Digital output
OUT19 Digital output
OUT20 Digital output
OUT21 Digital output
OUTCOM5 Common port of OUT17-21 digital
output negative
OUT22 Digital output
OUT23 Digital output
OUT24 Digital output
OUT25 Digital output
OUT26 Digital output
OUTCOM6 Common port of OUT22-26 digital
output negative
OUT27 Digital output
OUT28 Digital output
OUT29 Digital output
OUT30 Digital output
OUT31 Digital output
OUTCOM7 Common port of OUT27-31 digital
output negative
+12V Positive port of internal +12V power
supply; do not connect to external
power supply
+12V Positive port of internal +12V power
supply; do not connect to externalpower supply
+5V Positive port of internal +5V power
supply; do not connect to external
power supply
GND Internal power supply ground wire
GND Internal power supply ground wire
Connection of pulse/direction output signals
pulse 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 willdestroy the motion control card.
The following figure shows the differential wiring of
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ADT-series Servo/Stepping Motion Card
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 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.
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) 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
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ADT-8948A1 advanced 4-axis
servo/stepper motion control card
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
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
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
Input/output interfaces description
J1 cable marker description
Symbol Description
PUCOM Positive port of internal +5V power
supply; do not connect to external power
supply; COM for common anode wiring
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 +
YDR-/CCW- Y direction signal -
PUCOM Positive port of internal +5V power
supply; do not connect to external power
supply; COM for common anode wiringZPU+/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 photoelectric coupling
input (signals below), 12V-24V
XLMT-/IN0 X positive limit signal
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XLMT+/IN1 X negative limit signal
XSTOP0/IN2 X home signal 0; can be used as universal
input signal
XSTOP1/IN3 X home signal 1; can be used as universal
input signal
XSTOP2/IN4 X home signal 2; can be used as universal
input signal
XALM/IN5 X servo alarm signal; can be used as
universal input signal
YLMT-/IN6 Y positive limit signal
YLMT+/IN7 Y negative limit signal
INCOM2 Common port of photoelectric coupling
input (signals below), 12V-24V
YSTOP0/IN8 Y home signal 0; can be used as universal
input signal
YSTOP1/IN9 Y home signal 1; can be used as universal
input signal
YSTOP2/IN10 Y home signal 2; can be used as universal
input signal
YALM/IN11 Y servo alarm signal; can be used as
universal input signal
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
INCOM3 Common port of photoelectric coupling
input (signals below), 12V-24V
ZSTOP2/IN16 Z home signal 2; can be used as universal
input signal
ZALM/IN17 Z servo alarm signal; can be used as
universal input signal
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
ASTOP1/IN21 A home signal 1; can be used as universal
input signal
ASTOP2/IN22 A home signal 2; can be used as universal
input signal
AALM/IN23 Z servo alarm signal; can be used as
universal input signal
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
OUTCOM External power supply ground wire;
common port of digital output OUT4-7
OUT8
OUT9
OUT10
OUT12
Digital output
OUTCOM External power supply ground wire;
common port of digital output OUT8-12
+12V Positive port of internal +12V power
supply; do not connect to external power
supply
GND Internal power supply ground wire
J2 cable marker description
Symbol Description
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 -
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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 +
AECA- A-axis coder phase A input -
AECB+ A-axis coder phase B input +
AECB- A-axis coder phase B input -
INCOM Common port of photoelectric
coupling input (signals below),
12V-24V
XIN/IN24 X position lock signal; can be used as
universal input signal
XINPOS/IN2
5
X servo in-position signal; can be used
as universal input signal
YIN/IN26 Y position lock signal; can be used as
universal input signal
YINPOS/IN2
7
Y servo in-position signal; can be used
as universal input signal
ZIN/IN28 Z position lock signal; can be used asuniversal input signal
ZINPOS/IN2
9
Z servo in-position signal; can be used
as universal input signal
AIN/IN30 A position lock signal; can be used as
universal input signal
AINPOS/IN3
1
A servo in-position signal; can be used
as universal input signal
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
coupling input (signals below),
12V-24V
EMGN Emergency stop input signal (IN34)
INCOMB Common port of photoelectric
coupling input (signals below),
12V-24V
EXPLSN Stepping interpolation input signal
OUT12
OUT13
OUT14
OUT15
OUT16
Digital output
OUTCOM External power supply ground wire;
common port of digital output
OUT12-16
OUT17
OUT18
OUT19
OUT20
OUT21
Digital output
OUTCOM External power supply ground wire;
common port of digital output
OUT17-21
OUT22
OUT23
OUT24OUT25
OUT26
Digital output
OUTCOM External power supply ground wire;
common port of digital output
OUT22-26
OUT27
OUT28
OUT29
OUT30
OUT31
Digital output
OUTCOM External power supply ground wire;
common port of digital output
OUT27-31
+12V Potive port of internal +12V power
supply; do not connect to external
power supply
+12V Potive port of internal +12V power
supply; do not connect to external
power supply
+5V Potive port of internal +5V power
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ADT-series Servo/Stepping Motion Card
supply; do not connect to external
power supply
GND Internal power supply ground wire
GND Internal power supply ground wire
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Notice:
XIN, YIN, ZIN and AIN are control signals of position lock
and synchronous control
Connection of pulse/direction output signals
Pulse 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 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
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:
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ADT-series Servo/Stepping Motion Card
(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 powersupply.
(3) The following figure shows the actual wiring diagram of
relay with external power supply (take J1 terminal borad for
example).
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ADT-8940A1 advanced 4-axis
servo/stepper motion control card
Features 32-bit PCI bus, PnP All the input and output are under photoelectric coupler
isolation, with strong resistance to disturbance.
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)
All the 4 axes have position feedback input; 32-bitcounting; maximum counting range:
-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
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
Symbol Description
PCOM1Used 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 +
YDR-/CCW- Y direction signal -
PCOM2Used for single-port input, not available
for external power supply
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
IN0(XLMT-) X negative limit signal
IN1(XLMT+) X positive limit signal
IN2 (XSTOP0)X home signal 0; can be used as
universal input signal
IN3 (XSTOP1)X home signal 1; can be used as
universal input signal
IN4 (XSTOP2)X home signal 2; can be used as
universal input signal
IN5 (XALARM)X servo alarm signal; can be used as
universal input signal
IN6 (YLMT-) Y negative limit signal
IN7 (YLMT+) Y positive limit signal
INCOM2 Common port of 29-36pin digital input
IN8 (YSTOP0)Y home signal 0; can be used as
universal input signal
IN9 (YSTOP1)Y home signal 1; can be used as
universal input signal
IN10 (YSTOP2)Y home signal 2; can be used as
universal input signal
IN11(YALARM)Y servo alarm signal; can be used as
universal input signal
IN12(ZLMT-) Z negative limit signal
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IN13(ZLMT+) Z positive limit signal
IN14(ZSTOP0)Z home signal 0; can be used as
universal input signal
IN15(ZSTOP1)Z home signal 1; can be used as
universal input signal
INCOM3 Common port of 38-45pin digital input
IN16(ZSTOP2)Z home signal 2; can be used as
universal input signal
IN17(ZALARM)Z servo alarm signal; can be used as
universal input signal
IN18(ALMT-) A negative limit signal
IN19(ALMT+) A positive limit signal
IN20(ASTOP0)A home signal 0; can be used as
universal input signal
IN21(ASTOP1)A home signal 1; can be used as
universal input signal
IN22(ASTOP2)A home signal 2; can be used as
universal input signal
IN23(AALARM)A servo alarm signal; can be used as
universal input signal
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
OUT10 Digital output
OUT11 Digital output
OUTCOM3Common port of OUT8-11 digital
output negative
+12V
Positive port of internal +12V power
supply; do not connect to external
power supply;
GND Internal power supply ground wire
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J2 cable marker description
Symbol Description
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 +
AECA- A-axis coder phase A input -
AECB+ A-axis coder phase B input +
AECB- A-axis coder phase B input -
INCOM4 Common port of OUT18-25 digital
output negative
IN24(XIN) X home signal 3; can be used as
universal input signal
IN25(XINPOS) X servo in-position signal; can be used
as universal input signal
IN26(YIN) Y home signal 3; can be used as
universal input signal
IN27(YINPOS) Y servo in-position signal; can be used
as universal input signal
IN28(ZIN) Z home signal 3; can be used as
universal input signal
IN29(ZINPOS) Z servo in-position signal; can be used
as universal input signal
IN30(AIN) A home signal 3; can be used as
universal input signal
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IN31(AINPOS) A servo in-position signal; can be used
as universal input signal
OUT12 Digital output
OUT13 Digital output
OUT14 Digital output
OUT15 Digital output
OUTCOM4 Common port of OUT12-15 digital
output negative
+12V Positive port of internal +12V power
supply; do not connect to external power
supply
+12V Positive port of internal +12V power
supply; do not connect to external power
supply
+5V Positive port of internal +5V power
supply; do not connect to external power
supply
+5V Positive port of internal +5V power
supply; do not connect to external power
supply
GND Internal power supply ground wire
GND Internal power supply ground wire
GND Internal power supply ground wire
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.
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ADT-8960A1 advanced 6-axis
servo/stepper motion control card
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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
Input/output interfaces description
J1 cable marker description
Symbol Description
PUCOM0 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 +
YDR-/CCW- Y direction signal -
PUCOM1 Used for single-port input, not
available for external power supply
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 -
PUCOM2 Used for single-port input, not
available for external power supply
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 -
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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
universal input signal
IN3(XSTOP1) X home signal 1; can be used as
universal input signal
IN4(YLMT-) Y negative limit signal
IN5(YMT+) Y positive limit signal
IN6(YSTOP0) Y home signal 0; can be used as
universal input signal
IN7(YSTOP1) Y home signal 1; can be used as
universal input signal
IN8(ZLMT-) Z negative limit signal
IN9(ZLMT+) Z positive limit signal
IN10(ZSTOP0) Z home signal 0; can be used as
universal input signal
IN11(ZSTOP1) Z home signal 1; can be used as
universal input signal
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
universal input signal
IN15(ASTOP1) A home signal 1; can be used as
universal input signal
IN16(BLMT-) B negative limit signal
IN17(BLMT+) B positive limit signal
IN18(BSTOP0) B home signal 0; can be used as
universal input signal
IN19(BSTOP1) B home signal 1; can be used as
universal input signal
IN20(CLMT-) C negative limit signal
IN21(CLMT+) C positive limit signal
IN22(CSTOP0) C home signal 0; can be used as
universal input signal
IN23(CSTOP1) C home signal 1; can be used as
universal input signal
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
J2 cable marker description
Symbol Description
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 +
AECA- A-axis coder phase A input -
AECB+ A-axis coder phase B input +
AECB- A-axis coder phase B input -
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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 -
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
OUT10 Digital output
OUT11 Digital output
OUT12 Digital output
OUT13 Digital output
OUT14 Digital output
OUT15 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/O1 either input/output
I/O2 either input/output
I/O3 either input/output
I/O4 either input/outputI/O5 either input/output
I/O6 either input/output
I/O7 either input/output
INCOM5 Common input port of I/O8-I/O15
OUTCOM4 Common input port of I/O8-I/O15
I/O8 either input/output
I/O9 either input/output
I/O10 either input/output
I/O11 either input/output
I/O12 either input/output
I/O13 either input/output
I/O14 either input/output
I/O15 either input/output
Notice: In case an encoder is used for general input signals,
XECA+XECB+YECA+YECB+ZECA+ZECB+AECA+
AECB+BECA+BECB+CECA+ and CECB+ 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.
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ADT-8920A1 advanced 2-axis
servo/stepper motion control card
Features 32-bit PCI bus, PnP All the input and output are under photoelectric coupler
isolation, with strong resistance to disturbance.
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)
All the 2 axes have position feedback input; 32-bitcounting; maximum counting range:
-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
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
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 +
YDR-/CCW- Y direction signal -
INCOM1 Common port of 20-27pin digital input
IN0(XLMT-) X positive limit signal
IN1(XLMT+) X negative limit signal
IN2 (XSTOP0) X home signal 0; can be used as
universal input signal
IN3 (XSTOP1) X home signal 1; can be used as
universal input signal
IN4 (XSTOP2) X home signal 2; can be used as
universal input signal
IN5 (XALARM) X servo alarm signal; can be used as
universal input signal
IN6 (YLMT-) Y positive limit signal
IN7 (YLMT+) Y negative limit signal
INCOM2 Common port of 29-32pin digital input
IN8 (YSTOP0) Y home signal 0; can be used as
universal input signal
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IN9 (YSTOP1) Y home signal 1; can be used as
universal input signal
IN10 (YSTOP2) Y home signal 2; can be used as
universal input signal
IN11(YALARM) Y servo alarm signal; can be used as
universal input signal
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
+12V Positive port of internal +12V power
supply; do not connect to external
power supply
GND Internal power supply ground wire
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J2 cable marker description
Symbol Description
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 -
INCOM4 Common port of 18-21pin digital input
IN24(XIN) X home signal 3; can be used as universal
input signal
IN25(XINPOS) X servo in-position signal; can be used as
universal input signal
IN26(YIN) Y home signal 3; can be used as universal
input signal
IN27(YINPOS) Y servo in-position signal; can be used as
universal input signal
+12V Positive port of internal +12V power
supply; do not connect to external power
supply
+12V Positive port of internal +12V power
supply; do not connect to external power
supply
+5V Positive port of internal +5V power
supply; do not connect to external power
supply
+5V Positive port of internal +5V power
supply; do not connect to external power
supply
GND Internal power supply ground wire
GND Internal power supply ground wire
GND Internal power supply ground wire
Notice: In case an encoder is used for general input signals,
XECA+, XECB+, YECA+ and YECB+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 connecta 1K resistance. The digital input connection part for wiring
method, Please refer to ADT-8946A1 card and ADT-8948A1 card.
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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
double pulse (pulse + pulse)
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
The speed and target position can be changed in real-time inthe motion process
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
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
Supported operating systems: DOS,WINDOWS95/98/NT/2000/XP, WINCE
Input/output interfaces description
J1 cable marker description
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 +
GND Internal power supply ground wire
J3 cable marker description
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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
GND Internal power supply ground wire
GND Internal power supply ground wire
GND Internal power supply ground wire
GND Internal power supply ground wire
GND Internal power supply ground wire
J6 cable marker description
Symbol Description
XINCOM Common port of X axis photoelectric coupling
input (signals below)
XLMT+ X positive limit signal
XLMT- X negative limit signal
XSTOP2 X home signal 2; can be used as universal
input signal
XSTOP1 X home signal 1; can be used as universal
input signal
XSTOP0 X home signal 0; can be used as universal
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
input (signals below)
YLMT+ Y positive limit signal
YLMT- Y negative limit signal
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ADT-series Servo/Stepping Motion Card
YSTOP2 Y home signal 2; can be used as universal
input signal
YSTOP1 Y home signal 1; can be used as universal
input signal
YSTOP0 Y home signal 0; can be used as universal
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
input (signals below)
ZLMT+ Z positive limit signal
ZLMT- Z negative limit signal
ZSTOP2 Z home signal 2; can be used as universal
input signal
ZSTOP1 Z home signal 1; can be used as universal
input signal
ZSTOP0 Z home signal 0; can be used as universal
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
input (signals below)
ALMT+ A positive limit signal
ALMT- A negative limit signal
ASTOP2 A home signal 2; can be used as universal
input signal
ASTOP1 A home signal 1; can be used as universal
input signal
ASTOP0 A home signal 0; can be used as universal
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
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J7 cable marker description
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
BSTOP1 B home signal 1; can be used as universal
input signal
BSTOP0 B home signal 0; can be used as universal
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
input (signals below)
CLMT+ C positive limit signal
CLMT- C negative limit signal
CSTOP2 C home signal 2; can be used as universal
input signal
CSTOP1 C home signal 1; can be used as universal
input signal
CSTOP0 C home signal 0; can be used as universal
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
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GND Internal power supply ground wire
VCC Positive port of internal +5V power supply; do
not connect to external power supply
VCC Positive port of internal +5V power supply; do
not connect to external power supply
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
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J8 cable marker description
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 +
AECA- 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 -
untapped
Connection of pulse/direction output signals
The pulse output of ADT-836 control card is
open-collector,pulse+pulse and pulse+direction wire
connecting mode.
Connection of input signals of coder
Above example use internal +5V power supply, also connect
to +5V external power supply
Connection of digital input
Connection of digital output
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
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ADT-series Servo/Stepping Motion Card
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
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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
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/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
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
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
Supported operating systems: DOS,WINDOWS95/98/NT/2000/XP, WINCE
Input/output interfaces description
J3 cable marker description
Symbol Description
XINCOM Common port of X axis photoelectric
coupling input
XLMT+ X negative limit signal
XLMT- X positive limit signal
XSTOP2 X home signal 2; can be used as universal
input signal
XSTOP1 X home signal 1; can be used as universal
input signal
XSTOP0 X home signal 0; can be used as universal
input signalXINPOS X axis in-position signal, can be used as
universal input signal
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
YSTOP2 Y home signal 2; can be used as universal
input signal
YSTOP1 Y home signal 1; can be used as universal
input signal
YSTOP0 Y home signal 0; can be used as universal
input signal
YINPOS Y axis in-position signal, can be used as
universal input signal
YALARM Y axis alarm signal, can be used as universal
input signal
YIN0 Y axis universal input signal
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ZINCOM Common port of Z axis photoelectric
coupling input
ZLMT+ Z negative limit signal
ZLMT- Z positive limit signal
ZSTOP2 Z home signal 2; can be used as universal
input signal
ZSTOP1 Z home signal 1; can be used as universal
input signal
ZSTOP0 Z home signal 0; can be used as universal
input signal
ZINPOS Z axis in-position signal, can be used as
universal input signal
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
ASTOP2 A home signal 2; can be used as universal
input signal
ASTOP1 A home signal 1; can be used as universal
input signal
ASTOP0 A home signal 0; can be used as universalinput signal
AINPOS A axis in-position signal, can be u
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