Delta Electronics PCI-M324 User Manual

Motion control card

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PCI-M324 User Guide

www.deltaww.com

Table of Contents

Summary of Contents for Delta Electronics PCI-M324

Page 1 C/Llul, 321-329 (Edif. CINC) | 22@Barcrelona | 08019 Barcelona TEL: 82-2-515-5303 / FAX: 82-2-515-5302 MAIL: Sales.IA.Iberia@deltaww.com Delta Electronics Int’l (S) Pte Ltd. Delta Energy Systems Srl (Italy) 4 Kaki Bukit Ave 1, #05-05, Singapore 417939 Via Senigallia 18/2 – 20161 Milano (MI) TEL: 65-6747-5155 / FAX: 65-6744-9228 Piazza Grazioli 18 –...
Page 2: Product Overview
How to use this user guide You can refer to the information in this user guide when using the PCI-M324 motion control card. This user guide provides the hardware electrical specifications and wiring examples of the PCI-M324 card.
Page 3 (This page is intentionally left blank.) November, 2017...
Page 4: Table Of Contents
Table of Contents Product Overview 1.1 Function description ·························································································· 1-2 1.2 Specifications ·································································································· 1-3 1.3 Safety precautions ···························································································· 1-4 1.4 Operational safety instructions ············································································ 1-4 1.5 Supported software ·························································································· 1-5 1.6 Application development ···················································································· 1-6 Installation 2.1 Product packaging and accessories ····································································· 2-2 2.2 PCB diagram ···································································································...
Page 5 Hardware Configuration API 6.1 Introduction to EzDMC functions·········································································· 6-2 6.2 Operate M324 functions with EzDMC ··································································· 6-3 6.3 Find PCI-M324 card ·························································································· 6-3 6.4 4-axis motion function control ·············································································· 6-4 6.5 Function description of File and Simulation ···························································· 6-7 November, 2017...
Page 6 Product Overview PCI-M324 is a 4-axis pulse type motion control card for 4-axis servo or stepping motion control. This chapter includes the function descriptions, specifications, safety instructions, and other information of the PCI-M324 motion control card to help you quickly understand the product features.
Page 7: Function Description
The four main axis controls of the PCI-M324 motion control card are built-in with the incremental encoder interface, which can correct the incorrect mechanical data transmission. PCI-M324 is equipped with precise and fast-motion position comparison and triggering functions, and does not take up additional CPU resources.
Page 8: Specifications
PCI-M324 User Guide Product Overview 1.2 Specifications  Product features (1) Maximum 3.2 MHz, 4-axis pulse output (2) Linear, circular, and continuous interpolations (3) Programmable acceleration / deceleration time (4) Programmable pulse output and interrupt functions (5) Position comparison and signal trigger ...
Page 9: Safety Precautions
Product Overview PCI-M324 User Guide 1.3 Safety precautions To avoid electric shock resulting in serious damage, please check the following precautions before installing the equipment: (1) Before moving the host computer, please unplug the computer power cord from the power outlet.
Page 10: Supported Software
In the initial stage of using PCI-M324 for program development, you can also use EzDMC to simplify the parameter setting and functional test verification, which can help new users to reduce the time required for learning and development.
Page 11: Application Development
Product Overview PCI-M324 User Guide 1.6 Application development  Software application development structure Window XP / 7 Terminal board HM1 / Programming Motor #1 BCB++ / VB / VC++/C# SCSI 100 Pins EzDMC Motor #2 Cable Motion API Motor #3...
Page 12: Installation
Installation This chapter describes how to install the PCI-M324 motion control card. Please follow the installation procedure below. 2.1 Product packaging and accessories ······················································· 2-2 2.2 PCB diagram ···················································································· 2-3 2.3 Hardware installation ·········································································· 2-4 2.3.1 Hardware setting ..................2-4 2.3.2 PCI slot selection ..................2-4 2.3.3 Installation procedure ................2-4...
Page 13: Product Packaging And Accessories
PCI-M324 User Guide 2.1 Product packaging and accessories The package should contain the following items: Standard  Advanced 4-axis servo or stepping PCI-M324 motion control card x 1  PCI-M324 driver CD-ROM x 1  PCI-M324 User Guide x 1 Optional ...
Page 14: Pcb Diagram
PCI-M324 User Guide Installation 2.2 PCB diagram This is the general structure of the PCI-M324 motion control card displaying the positions for CN1, JP1, JP2, CN3, and RSW1. Description of each connector on the PCI-M324 card is as follows: Name...
Page 15: Hardware Installation
PCI expansion slot. Remove the PCI-M324 card from the PCI slot and restart the PC to check that the PC system is working properly. If the PC system is working properly, please reinstall the PCI-M324 card by following the installation procedure in Section 2.3.3.
Page 16: Driver Software Installation
PCI-M324 User Guide Installation 2.4 Driver software installation Please note the following before installing the driver and application software: (1) The driver for this product is currently only compatible with Windows XP / 7. Before installing this product, please make sure that the operating system meets the requirement of this product.
Page 17: Connector Pin Description
Installation PCI-M324 User Guide 2.5 Connector pin description This section provides detailed specifications and functions of the PCI-M324 motion control card I/O signal terminals. (1) CN1 connector (male); (2) CN1 I/O signal connector (female) 2.5.1 CN1: I/O signal port Mark...
Page 18 PCI-M324 User Guide Installation Mark Description Mark Description DI_2 axis GPIO input DI_4 axis GPIO input EGND 24V ground signal EGND 24V ground signal SVON_1 servo on SVON_3 servo on clear servo error clear servo error ERC_1 ERC_3 counter counter...
Page 19 Installation PCI-M324 User Guide Mark Description Mark Description direction pulse direction pulse DIR+_2 DIR+_4 signal (+) signal (+) direction pulse direction pulse DIR-_2 DIR-_4 signal (-) signal (-) OUT+_2 output pulse signal (+) OUT+_4 output pulse signal (+) OUT-_2 output pulse signal (-)
Page 20: Cn3: Position Comparison Triggering Signal Port
PCI-M324 User Guide Installation 2.5.2 CN3: position comparison triggering signal port This section provides detailed specifications and functions of the PCI-M324 CN3. (1) CN3 connector (male); (2) CN3 connector (female) The following table shows the CN3 pin definition: Mark Description 3.3V CMP_OUT...
Page 21: Rsw1: Switch For Card Id Number Setting
Installation PCI-M324 User Guide 2.5.3 RSW1: switch for card ID number setting This is the RSW1 switch knob. Card ID is the value corresponding to the position the knob is assigned to. The setting value range is 0 - 15.
Page 22: Jp1: Select Jumper According To Input Signal Type (Npn / Pnp)
PCI-M324 User Guide Installation 2.5.4 JP1: select jumper according to input signal type (NPN / PNP) This section introduces the PCI-M324 motion control card using the short-circuit latch for NPN / PNP switching. The following table shows the JP1 pin definition:...
Page 23: Jp2: Internal Pulse (Dda) 5V Ground And External +24V Ground Signal Jumper
2.5.5 JP2: internal pulse (DDA) 5V ground and external +24V ground signal jumper This section introduces the PCI-M324 motion control card using the short-circuit latch for common or individual grounding for the 5V ground and external ground signal. The following table shows the JP2 pin definition:...
Page 24: Signal Connection Interface
Signal Connection Interface This chapter introduces the PCI-M324 signal connection interface. 3.1 Operation interface ············································································ 3-2 3.1.1 Mechanical DI/O interface ...............3-2 3.1.2 Servo drive DI/O interface ...............3-9 3.1.3 Servo drive pulse I/O interface .............. 3-15 3.1.4 Position comparison triggering signal output interface......3-18 3.1.5 Position latch signal input interface ............
Page 25: Operation Interface
The PEL and MEL endpoint sensor signals are connected to the PCI-M324 and servo drive at the same time, so that both the drive and the control card can effectively stop the motion beyond the allowable moving range.
Page 26 PCI-M324 User Guide Signal Connection Interface  ORG (axis control signal / DI signal) Determine the starting position of the motion control: the mechanical action error and execution order of the motion command will change the zero position of the servo drive and the starting position of the mechanical device.
Page 27 Signal Connection Interface PCI-M324 User Guide  SLD (axis control signal / DI signal) Deceleration point signal control: when the motion-controlled object passes through the sensor point, the motion speed reduces to the set deceleration motion control speed. When SLD control mode is required, enable the SLD function first.
Page 28 PCI-M324 User Guide Signal Connection Interface  DI (axis control signal / DI signal) Digital signal input for axis control, which can connect to external digital signals to provide reference signals to each PCI-M324 axis control. Mark Description Mark Description...
Page 29 Signal Connection Interface PCI-M324 User Guide  EMG (global signal / DI signal) Emergency stop signal input point: when the emergency stop is in action, the motion control pulse output of each axis stops the output and enters the safety protection state. You can operate all motion axes only when this signal is cleared.
Page 30 Signal Connection Interface  DO (axis control signal / DO signal) Digital signal output for axis control, which can output digital signals to other peripheral devices. The four main motion axes of PCI-M324 are built-in with the DO function. Mark Description Mark...
Page 31 CMP (pulse output control / output signal) Position comparison function: when the motion control position matches the program's position comparison setting, the PCI-M324 generates a pulse signal. PCI-M324 has built-in functions for two high-elastic CMP comparators: Channels #0 and #1. Please refer to Section 3.1.4 for hardware interface details.
Page 32: Servo Drive Di/O Interface
3.1.2 Servo drive DI/O interface  ALM (axis control signal / DI signal) Servo drive alarm: when the servo drive is in error, it issues an alarm to the PCI-M324 to notify the control system that the current motion control cannot work properly. Mark...
Page 33 Signal Connection Interface PCI-M324 User Guide  SVON (axis control signal / DO signal) The output of the Servo On signal enables or disables the operation of the current connecting servo drive. Mark Description Mark Description SVON_1 servo on SVON_3...
Page 34 PCI-M324 User Guide Signal Connection Interface  RDY (axis control signal / DI signal) Servo drive ready signal input: the input of the ready signal notifies the users that the servo drive is ready and can operate normally. Mark Description...
Page 35 Signal Connection Interface PCI-M324 User Guide  INP (axis control signal / DI signal) Servo in place notification function: notifies the users that the servo drive has reached the specified target position. Mark Description Mark Description INP_1 servo in place signal...
Page 36 PCI-M324 User Guide Signal Connection Interface  ALMC (axis control signal / DO signal) Output signal for clearing the servo drive alarm. Mark Description Mark Description ALMC_1 alarm clearing signal ALMC_3 alarm clearing signal ALMC_2 alarm clearing signal ALMC_4 alarm clearing signal (1) O.C mode...
Page 37 PCI-M324 User Guide  ERC (axis control signal / DO signal) Error value clearing function: when the following conditions occur, PCI-M324 outputs an ERC signal to the servo drive. (1) PEL and MEL signals are triggered. (2) EMG hardware circuit is triggered.
Page 38: Servo Drive Pulse I/O Interface
 OUT / DIR (pulse output control / DO signal) Pulse output control function: PCI-M324 is built-in with six different pulse output control functions, which are controlled by the DIR and OUT output interfaces. The hardware circuit is designed to adopt the RS-422 differential line driver output interface, which can connect to RS-422 differential, optocoupler, and TTL unipolar interfaces.
Page 39 Signal Connection Interface PCI-M324 User Guide (2) Differential output connects to optocoupler Signal+ DIFF+ Signal- DIFF- Internal circuit (3) Differential output connects to single-ended input Signal- DIFF- Signal+ DIFF+ DDA_GND Internal circuit 3-16 November, 2017...
Page 40 PCI-M324 User Guide Signal Connection Interface  Encoder A phase, B phase, and Z phase (axis control signal / DI signal) Encoder A phase, B phase, and Z phase feedback pulse input counter function: connects to the position feedback from the servo drive or external linear scale.
Page 41: Position Comparison Triggering Signal Output Interface
PCI-M324 User Guide 3.1.4 Position comparison triggering signal output interface PCI-M324 provides the position comparison triggering pulse output function, as shown in Figure 3.1.4.1. In this example, the encoder feedback value of the servo motor is compared with the P1 and P2 position set values. When the feedback value equals the P1 or P2 value, the pulse signal outputs respectively to trigger the image acquisition card or CCD to take images.
Page 42 PCI-M324 User Guide Signal Connection Interface  Channel #0 in-place comparator function description The in-place comparator of Channel #0 has four sets of compare input sources for selection, and they are the position counter values for axes #0, #1, #2, and #3. The output interface also provides four sets of output interfaces for selection, and they are CMOS3.3V output, DO output...
Page 43 Signal Connection Interface PCI-M324 User Guide  Channel #1 in-place comparator function description The in-place comparator of Channel #1 has four sets of compare input sources for selection, and they are the position comparator values for axes #0, #1, #2, and #3. The output interface also provides four sets of output interfaces for selection, and they are CMOS3.3V output,...
Page 44: Position Latch Signal Input Interface
Signal Connection Interface 3.1.5 Position latch signal input interface PCI-M324 provides the position latch function as shown in Figure 3.1.5.1. In this example, when the measuring probe touches the workpiece surface, it triggers the DI signal to execute the position latch function, which records the position counter value in the latch counter.
Page 45 Signal Connection Interface PCI-M324 User Guide (This page is intentionally left blank.) 3-22 November, 2017...
Page 46 Terminal Board PCI-M324 provides two types of terminal boards for you to choose from. They are DB-100S general terminal board and DB-M324 adapter board with 25-pin D-SUB connector and signal indicator. Please refer to the following sections for detailed specifications and instructions.
Page 47: Db-100S General Terminal Board
The terminal pins correspond to the CN1 pins The terminal pins correspond to the CN1 pins Note: the pin definition is the same as the CN1 on the PCI-M324 servo motion control card. Please refer to Section 2.5.1. November, 2017...
Page 48: Db-M324 Adapter Board With Signal Indicator
± 10%; power consumption: 3W typical (12) For DDA pulse level voltage output: +5 V (output from PCI-M324), I < 100 mA (13) Indicator light: power indicator, emergency stop input indicator, mechanical I/O interface signal indicator, servo drive interface signal output indicator, GPIO indicator...
Page 49  DB-M324 illustration Description of each DB-M324 pin: Mark Connector type Function Connector for the PCI-M324 servo motion control SCSI 100-pin female connector card and DB-M324 D-SUB 25 female connector Axis 1 motor connector D-SUB 25 female connector Axis 2 motor connector...
Page 50 PCI-M324 User Guide Terminal Board  DB-M324 CN1 pin definition diagram Note: the pin definition is the same as the CN1 on the PCI-M324 servo motion control card. Please refer to Section 2.5.1. November, 2017...
Page 51 B phase encoder signal (+) B phase encoder signal (-) Note: CN2 - CN5 correspond to the CN1 Axis 1 - Axis 4 control points respectively on the PCI-M324 servo motion control card. Please refer to Section 2.5.1. November, 2017...
Page 52 PCI-M324 User Guide Terminal Board  DB-M324 CN6 pin definition diagram Description of each DB-M324 CN6 pin: Mark Description EGND 24V ground signal Power +24V November, 2017...
Page 53 1. GPIO is short for General Purpose Input / Output. The EMG of CN7 / CN8 is the same signal pin. 2. CN7 and CN8 correspond to the CN1 Axis 1 - Axis 4 control points respectively on the PCI-M324 servo motion control card.
Page 54 DDA 5V ground signal DDA5V DDA 5V voltage output Note: CN9: The DDA 5V voltage output source is from the PCI-M324 control card, I < 100 mA. Limited to use as a reference point for 5V voltage comparison. November, 2017...
Page 55 Description Power LED 24V power input indicator light The function definition of the LED signal indicator light is the same as the CN1 LED Array on the PCI-M324 servo motion control card. Please refer to Section 2.5.1. 4-10 November, 2017...
Page 56 Wiring This chapter lists the standard wiring diagrams for the PCI-M324 motion control card connected to various series of servo drives. 5.1 Terminal board wiring example ····························································· 5-2 November, 2017...
Page 57: Terminal Board Wiring Example
TPOS+ PEL_1 TPOS- MEL_1 SLD_1 ARST ORG_1 NL(CWL) PL(CCWL) 2,20 EGND 52,70 EGND Break Coil EMGS 53,3 45,47,49 COM- 12,13 E_24V COM+ E_24V +24V Table Motor SLD2 SLD1 PCI-M324 Axis 1 connected to Delta ASDA-A2 series servo drive November, 2017...
Page 58 ALRM- RALM_1 TPOS+ PEL_1 TPOS- MEL_1 SLD_1 ARST ORG_1 NL(CWL) PL(CCWL) 2,20 EGND 52,70 EGND EMGS 53,3 COM- 45,47,49 12,13 E_24V COM+ E_24V +24V Table Motor SLD2 SLD1 PCI-M324 Axis 1 connected to Delta ASDA-B2 series servo drive November, 2017...
Page 59 ALRM- RALM_1 TPOS+ PEL_1 TPOS- MEL_1 SLD_1 ARST ORG_1 NL(CWL) PL(CCWL) 2,20 EGND 52,70 EGND EMGS 53,3 COM- 45,47,49 13,19 E_24V COM+ E_24V +24V Table Motor SLD2 SLD1 PCI-M324 Axis 1 connected to Delta ASDA-A3 series servo drive November, 2017...
Page 60 COIN+ PEL_1 COIN- MEL_1 SVR-ON SLD_1 A-CLR ORG_1 CCWL 2,20 EGND BRKOFF+ 52,70 EGND Break Coil BRKOFF- 53,3 COM- E_24V COM+ E_24V +24V Table Motor SLD2 SLD1 PCI-M324 Axis 1 connected to Panasonic Minas A series servo drive November, 2017...
Page 61 RDY_1 ALM_1 INP_1 SG(0V) SVON_1 SG(0V) RALM_1 COM(+24V) 9 PEL_1 MEL_1 SLD_1 J2S-CN1B ORG_1 EGND 2,20 EGND 52,70 53,3 E_24V E_24V COM(+24V) 13 +24V Table Motor SLD2 SLD1 PCI-M324 Axis 1 connected to Mitsubishi J2S series servo drive November, 2017...
Page 62 ALM- RALM_1 PEL_1 /COIN+ MEL_1 /COIN- SLD_1 /SVR-ON ORG_1 /ALM-RST P-OT EGND N-OT /TGON+ EGND Break Coil /TGON- E_24V +24V-IN E_24V +24V Table Motor SLD2 SLD1 PCI-M324 Axis 1 connected to Yaskawa SGDM Sigma II series servo drive November, 2017...
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Page 64 EzDMC is a serial control tool to test the functionality of the serial connection. When EzDMC is operating, the system monitors and automatically categorizes the connected PCI-M324 motion control cards. You may use the listed cards to determine if the cards are functioning properly and select each card for functional testing. The following introduces how to operate the functions of EzDMC.
Page 65: Introduction To Ezdmc Functions
EzDMC Functions PCI-M324 User Guide 6.1 Introduction to EzDMC functions As shown in Figure 6.1.1, once you launch EzDMC, the program screen as shown below appears on your computer system. Please refer to the following table for the functions of each block.
Page 66: Operate M324 Functions With Ezdmc
6.3 Find PCI-M324 card To find the PCI-M324 card, click Initial in the tool bar to scan the system as shown in Figure 6.3.1. This defines the amount and configuration status of all PCI cards in the current host system.
Page 67: 4-Axis Motion Function Control
EzDMC Functions PCI-M324 User Guide 6.4 4-axis motion function control After finding the M324 cards, select the card for operation (as shown in Figure 6.4.1), and the operation screen for the 4-axis motion module is displayed (Figure 6.4.2). Figure 6.4.1...
Page 68 PCI-M324 User Guide EzDMC Functions Item Description  Check [Repeat] to repeatedly execute clockwise and counterclockwise motions.  Check [S Curve] to set S-Curve acceleration / (10) Moving Mode deceleration; otherwise, T-Curve is used.  Check [Abs] to use absolute motion; otherwise, relative motion is used.
Page 69 EzDMC Functions PCI-M324 User Guide  Open the pulse I/O mode setting screen to set the relevant settings, i.e. AB Phase, CW/CCW, PLS/DIR, then you can execute motion control. Click Pulse I/O Configuration (Figure 6.4.5) on the M324 main screen to open the pulse I/O mode setting screen (Figure 6.4.6).
Page 70: Function Description Of File And Simulation
PCI-M324 User Guide EzDMC Functions 6.5 Function description of File and Simulation 1. Function to load / save configuration file When you have completed the motion control, you can save the M324 motion control parameters by using [File] > [Save Configuration_M324] in the function menu. When you open EzDMC the next time, you can use [File] >...
Page 71 EzDMC Functions PCI-M324 User Guide Figure 6.5.4 Number of times that interruption occurred 3. Speed / position curve page You can open the speed and position simulation screen by clicking [Simulation] > [Drawspeed_M324] and [DrawsPos_M324] in the function menu. As shown in Figure 6.5.6 and Figure 6.5.7, these are the simulation images for the helical motion speed and position.
Page 72 PCI-M324 User Guide EzDMC Functions Figure 6.5.7 Speed simulation image 4. CMP setting screen You can open the CMP setting screen (Figure 6.5.9) by clicking [Option] > [M324_Compare] in the function menu. To output the trigger signal when in motion, set the CMP start position, end position, and interval.
Page 73 EzDMC Functions PCI-M324 User Guide Figure 6.5.9 Position comparison function setting screen 6-10 November, 2017...
Page 74 Revision History Release date Version Chapter Revision contents V1.0 November, 2017 (First edition) November, 2017...
Page 75 Revision History PCI-M324 User Guide (This page is intentionally left blank.) November, 2017...

Delta Electronics PCI-M324 User Manual

Product Overview

Installation

Signal Connection Interface

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