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ICP DAS USA i8094A Getting Started

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i8094A & i-8094H Getting Started
(Version 1.3)
PAC WinCon-8000 Series Controllers
(Applied to: i8094A & i8094H)
I8094A &I8094HGetting Started manual
http://www.icpdas.com
Ver 1.3-- 1

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  • Page 1 & i-8094H Getting Started (Version 1.3) PAC WinCon-8000 Series Controllers (Applied to: i8094A & i8094H) I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 1...
  • Page 2 License The user can use, modify and backup this software on a single machine. The user may not reproduce, transfer or distribute this software, or any copy, in whole or in part. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 2...

  • Page 3: Table Of Contents

    1.2.16 FRnet (i8094F only) ......... 11 1.3 Environment ..................... 12 1.4 Ordering Information................12 2 HARDWARE INSTALLATION........13 2.1 i8094A/i8094H Check Package & Installation........13 2.1.1 Check Package ..........13 2.1.2 i8094A/i8094H Installation ........13 2.2 DN-8468GB Terminal Board ..............15 2.2.1 DN-8468GB Board Layout ........
  • Page 4 2.3.8 Servo On/Off Output Signal (ENABLE) ......32 2.3.9 Compare Trigger Output ........32 2.4 Connection Example for Motor Driver ..........33 3 I8094A/I8094H SOFTWARE DEVELOPMENT... 34 3.1 Software development Overview............34 3.1.1 Register Module ..........35 3.2 Safety IO Setting (Troubleshooting for Motion not working) ..... 35 3.2.2 Configure the Servo ALARM Signals ......
  • Page 5 5.4.1 Download the file ..........65 5.4.2 Program execution ..........65 APPENDIX A ............... 66 A.1 Setup the Development Environment of I8094A/I8094H....66 A.1.1 eVC ++ 4.0 ........... 66 A.2 Appearance and Dimension ..............67 APPENDIX B DN-8468 SERIES DAUGHTER BOARD. 68 B.1 DN-8468M Daughter Board ..............
  • Page 6 B.4.3 Jumper and Switch Settings ........103 B.5 DN-8468FB Daughter Board..............106 B.5.1 Board Layout for DN-8468FB ........106 B.5.2 Signal Connections for DN-8468FB ......107 B.5.3 Jumper and Switch Settings ........115 I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 6...

  • Page 7: Control Module

    128 DI and 128 DO control points; each with cycle time of 0.74ms. Moreover, when i8094A/i8094H performs functions above, it does not consume WinCon system resources. The CPU could monitor other status at the same time. It require very little system resources, therefore one WinCon-8000 could insert with a couple of i8094A/i8094H modules, to perform control of multi-axis (4,8 ..) motion Control on the...

  • Page 8: Hardware Specification

    477 x 10^3 ~ 31.25 x 10^9 PPS/S^2  Acceleration/deceleration range 125 ~ 1 x 10^6 PPS/S 62.5×10^3 ~ 500 x 10^6 PPS/S Speed precision 1 PPS ~ 500PPS( Depends on the max. speed) I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 8...

  • Page 9: Encoder Input

    Step 3 ( Low-speed Index Z searching) Step 4 ( High-speed offset drive) By software functions, each step enables user to configure actions and directions, therefore, offers user more than 10 homing modes to choose from. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 9...

  • Page 10: Servo Motor Input Signal

    User can be selected a filter time constant. 1.2.13 Software Limit There are two software-limit for each axis: -SLimit & + SLimit ( Setting range : −2,147,483,646 ~ +2,147,483,646) I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 10...

  • Page 11: Manual Pulse Generator

    Running Motion Indicator ( will turn on when under Running Motion) 1.2.16 Compare Trigger Output For X-axis and Y-axis only Output mode: 5V TTL 1.2.16 FRnet (i8094F only) up to 128 connecting points up to 128 connecting points I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 11...

  • Page 12: Environment

    5 ~ 90%，non-condensing I/O optically isolated 2500Vrms External Power supply( Input): 24V DC (connect to terminal board) 1.4 Ordering Information W-8x31-GM1 PAC controllers i8094A/i8094H 4-axes motion control module DN-8468GB i8094A/i8094H interface board DN-8468DB i8094A/i8094H interface board DN-8468MB i8094A/i8094H interface board...

  • Page 13: Hardware Installation

    4-axes stepping/servo motor control module; you will need a WinCON-8000 series PAC to serve as the controller. You will need: W-8x31-GM1 PAC controller You will also need the following items to implement installation of i8094A/i8094H modules: i8094A/i8094H 4-axes motion control module...
  • Page 14 [此圖要修正為I-8094A/H] I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 14...

  • Page 15: Dn-8468Gb Terminal Board

    2.2 DN-8468GB Terminal Board 2.2.1 DN-8468GB Board Layout 107mm CON6 JP5 JP6 JP11 JP10 JP13 JP15 JP12 JP14 DN-8468G Fig. 2.0 DN-8468G Board layout I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 15...

  • Page 16: Pin Assignment

    2.2.2 Pin Assignment CON1 68-pin SCSI II Pin Assignment (connector to connect modules and wiring terminal board Fig. 2.1 CON1 I/O connector pin assignment I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 16...
  • Page 17 Input 1 signal for U axis XIN0 Input 0 signal for X axis YIN0 Input 0 signal for Y axis ZIN0 Input 0 signal for Z axis UIN0 Input 0 signal for U axis I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 17...
  • Page 18 EXT pulse input signal for interpolation EMGN1 Emergency stop input signal FrnetA FRnet port A FrnetB FRnet port B XDCC Deviation Counter Clear for X axis YDCC Deviation Counter Clear for Y axis Ground External power (12~24V) I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 18...
  • Page 19 CON2 ~ CON5 (AXIS X、Y、Z、U I/O connector Wiring information) I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 19...
  • Page 20 DI/DO modules, etc.. FRnet(i8094HF)connectors could connect to FRnet series IO modules, such as FR-2053, FR-2057, etc. For more information, please go to website: http://www.icpdas.com/products/Remote_IO/frnet/frnet_introduction.htm TB2: External power supply input connector I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 20...
  • Page 21 FRnet series IO modules such as FR-2053, FR-2057. For more information, please refer to ICP DAS website: http://www.icpdas.com/products/Remote_IO/frnet/frnet_introduction.htm Fig.2.5 Pin assignment for the 8-pin connector on the DN-8468G. Table 2.6 I/O connector signal description. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 21...

  • Page 22: Jumper And Switch Settings

    JP8/9, JP10/11, JP12/13, JP14/15: Jumper 8~15 are used to set the signal type of the pulse output signals. The output signal type could be differential line driver output (2-3 Pin short )or open collector output(1-2 Pin short). I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 22...
  • Page 23 If the switch is disconnected as shown in Fig. 2.8, the emergency stop signals can be controlled from EMG signals in CON6. Fig. 2.7 EMG SW setting for normally GND (Default setting) Fig. 2.8 EMG SW setting for user controlled signals. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 23...

  • Page 24: Input/Output Connections

    2.3 Input/Output Connections 2.3.1 Pulse output signals Differential-Type pulse output circuit Fig. 2.8 Differential-Type pulse output circuit Open collector output Fig. 2.9 open collector output I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 24...
  • Page 25 Pulse Signal Wiring Example: I8094A/I8094H pulse output signal could be sent out by CW/CCW mode or PULSE/DIR mode. The user could choose Differential-Type and Open-Collector Type byJP2 & JP3. Fig. 2.10 Pulse Signal Wiring Example I8094A &I8094HGetting Started manual http://www.icpdas.com...

  • Page 26: Connection For Limit Switch Signal

    User can set up the hardware limit switch to be normal open or normal close by the Function Library. The following figure shows the photo couplers that are used to keep out the sensor noise of the Limit Switch. Fig. 2.11 Wiring sample I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 26...

  • Page 27: General Purpose Di Signals(Ninpos,Nalarm)

    Function Library. nALARM is a digital input signal for servo driver alarm signal. The output pulse will be stopped when I8094A/I8094H receives this signal. User could enable or disable this function by Function Library.

  • Page 28: Encoder Signals

    A+ and A- pins and connect Phase B signal to B+ and B- pins. After the high speed photo coupler isolation, the isolated encoder signals are connected to motion IC of ASIC chip. Fig. 2.13 Encoder signal connection I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 28...

  • Page 29: External Pulse Signal

    The following diagram shows an example for external pulse signal. After the high speed photo coupler isolation, the isolated encoder signals are connected to motion IC of ASIC chip. Fig. 2.14 wiring example for external pulse signal I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 29...

  • Page 30: Emergency Stop Signal

    1. After the high speed photo coupler isolation, the isolated encoder signals are connected to motion IC of ASIC chip. emergency stop signal Fig. 2.15 Wiring example for I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 30...

  • Page 31: External Pulse Input Signal (Exp+,Exp-)

    +/- input wiring. User can set the signals as fixed pulse CW/CCW mode, continuous pulse CW/CCW mode, or A/B phase manual pulsar mode (please refer to section 5.1 for detail setting configuration). External Pulse Input Signal(EXP+,EXP-) Fig. 2.16 Wiring example for I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 31...

  • Page 32: Servo On/Off Output Signal (Enable)

    The following diagram is a wiring example for Trigger Output Signal. This output signal could be adapted only on axis X and axis Y for Compare Trigger Output for specific applications such as image capture. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 32...

  • Page 33: Connection Example For Motor Driver

    2.4 Connection Example for Motor Driver The following diagram is the connection example between MITSUBISH MR-J2S AC servo driver and the extension boardDN-8468G. Fig. 2.18 The connection between MR-J2S AC servo driver and DN-8468G extension board. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 33...

  • Page 34: I8094A/I8094H Software Development

    3 i8094A/i8094H Software Development 3.1 Software development Overview For detail information, please refer to i8094H_star sample code. 註 冊 軸 卡 R E G IS T R A T IO N 安 全 IO 規 劃 測 試 1 緊 急 開 關 輸 入...

  • Page 35: Register Module

    You could set up operating mode (Enable or Disable) or select proper trigger level of these signals. Please refer Manual “i8094H_Manual_1.3tc.pdf” section 2.13, function i8094H_SET_ALARM() for detail settings. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 35...

  • Page 36: Configure The Limit Switch Signals(±El)

    When error occurs, you could get the error-code by GET_ERROR_CODE() to check out error message and perform troubleshooting. The user could also check all DI status to ensure DI input accuracy. Please refer Manual “i8094H_Manual_1.3tc.pdf” section 3.5, function i8094H_GET_DI() for detail settings. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 36...
  • Page 37 4. DI noise filter setting( optional) (Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 2.15, function i8094H_SET_FILTER() for detail settings.) 5. Circular motion declaration( Ring counter)( optional) (Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 2.16, function i8094H_VRING_ENABLE() for detail settings.) I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 37...

  • Page 38: Manual Pulse Generator Testing (Optional)

    (Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 2.18.3, function i8094H_EXD_CP() for detail settings.) I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 38...
  • Page 39 4. Disable external pulse input: This command is for disabling the external pulse input operated by any of the three functions above. Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 2.18.4, function i8094H_EXD_DISABLE() for detail settings. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 39...

  • Page 40: Home Search

    3.6 Home Search I8094A/I8094H offers automatic home search function; if providing with proper settings, it would function automatically. The main steps are as bellows: Near-home sensor searching under high-speed motion. Home sensor searching under low-speed motion. Servomotor Z-phase searching under low-speed motion.

  • Page 41: Running The Home Search

    _START() for detail settings. 2 Waiting for completing homing operation： Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.5.3, function i8094H_STOP_WAIT() for detail settings. Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 7.2.7, function i8094H_MP_STOP_WAIT() for detail settings. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 41...

  • Page 42: Basic Motion

    3.7.1 Speed Profile of the Motion Control 1 Symmetrical T-profile of motion velocity (If SV is larger than V or equal to V, perform constant velocity driving) 2 Asymmetrical T-profile of motion velocity I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 42...
  • Page 43 3 Symmetrical S-curve of motion velocity 4 Asymmetrical S-curve of motion velocity I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 43...

  • Page 44: Basic Settings For Single Axis

    4. Setting the Acceleration/Deceleration speed: Set the Acceleration/Deceleration speed at a certain rate： Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.1.4, function i i8094H_SET_A() for detail settings. Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.1.5, function i8094H_SET_D() for detail settings. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 44...

  • Page 45: Basic Motion Of Single Axis

    3. Waiting for motion done: Waiting for finishing the axis driving operation. Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.5.3, function i8094H_STOP_WAIT() for detail settings. Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 7.2.7, function i8094H_MP_STOP_WAIT() for detail settings. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 45...

  • Page 46: Basic Setting Of Muti-Axes Interpolation

    5. Setting the velocity of Acceleration/Deceleration of vector: Set the speed of Acceleration/Deceleration of vector at a certain rate. Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.3.5, function i8094H_SET_VA() for detail settings. Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.3.6, function i8094H_SET_VD() for detail settings. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 46...

  • Page 47: Basic Motion Of Muti-Axes Interpolation

    4. 2-axesCircular interpolation: Perform 2-axes Circular interpolation. Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.2.13, function i8094H_CIRCLE_CW() for detail settings. Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.2.13, function i8094H_CIRCLE_CCW() for detail settings. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 47...

  • Page 48: Advance Motion

    Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.4.3, function i8094H_LINE_3D_CONTINUE() for detail settings. 4. Others continuous interpolation: Muti-point continuous interpolation, 3-axes Helix interpolation, 2-axes Ratio motion Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.4.4~6.4.10 for detail information. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 48...

  • Page 49: Motion Synchronization Action

    3.9 Motion Synchronization Action i8094A/i8094H provides a lot of functions that support Synchronization Action, such as comparison of EP, LATCH…and so on. Please refer to Manual “i8094H_Manual_1.3tc.pdf” section 6.4.4~6.4.10 for detail informaion. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 49...

  • Page 50: Software Getting Started Guide

    5. In Projects property page, key in or browse the disk path in the field “Location”. 6. In Projects property page, check Win 32[WCE ARMV4] in CPUs list. 7. If necessary, please also select others options together. And then click OK. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 50...
  • Page 51 8. Choose Dialog based and click NEXT 9. Click Finish to end establishment of the new project. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 51...

  • Page 52: Add The Reference Path Into Evc++ Application Project

    C. Specify the path of Include files and Library files. To add the path, double-click on the blank line at the end of the Directories list. Please key in the specific path that your header files located. For example, C:\DAQPRO\Wincon\inc. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 52...

  • Page 53: Start The Evc++ Sample

    4.1.4 Start the eVC++ Sample Add a BUTTON on Dialog, as below: Double-click on BUTTON to create a subprogram; declare the following header files. #include "WinConSDK.h" #include "i8094H.h" I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 53...
  • Page 54 On the Tools menu, click Options. The Options popup menu will appears. Select menu Project->Setting, will bring up a dialog box as below, click on tab Link, key in WinConSDK.lib i8094.lib(showing as below) into the Object/library modules box and the click OK. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 54...

  • Page 55: Wincon Microsoft Visual Studio .Net 2003(Vb.net，C#)

    4.2 WinCon Microsoft Visual Studio .NET 2003(VB.NET，C#) Reserved 4.3 I-8000 Turbo C++ Reserved I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 55...

  • Page 56: Mptool : Ezmake

    All the I-8094H modules will be display on EzMake default page, select the I-8094H in use and click on OK. Note: the in use will display Used. I-8094H Fig. 5.1 EzMake default page I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 56...

  • Page 57: Operation Page

    5.3.1 Tree Diagram There are four branches under the Tree Diagram Initial Table: Edit I-8094Hinitial settings Macro Problem: Create MP Interrupt Service Routine: Create ISR Machine Data: Edit data for power outage carry-over I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 57...

  • Page 58: Main Menu

    Create a File 5.3.2.1 Please follow the steps to create a file: In Initial Table, you could only edit functions that is displayed in Functions & Parameters Editor (Fig. 5.2) Fig. 5.2 Initial Table I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 58...
  • Page 59 For ISR, it is similar to MP, however the number of Functions and ISR are less. You could edit Description after you adding on MP. Press OK to finish creating file. Fig. 5.3 MP Resouse Configuration I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 59...
  • Page 60 5.3.2.2 Open a file The default path for saving files will be: CompactFlash\EzProg-I\EzMake\ If you select MacroProgram in Tree Diagram, you could only open the file with .mp extension name. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 60...

  • Page 61: Function & Parameter Editor

    You could also edit Macro Program and Interrupt Service Routine. Note that Machine Data is for data storage, it is different the other three(Fig. 5.5) Fig. 5.5 MD Resource Configuration I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 61...

  • Page 62: Function Library Groups Menu

    When you click on the Function groups displayed on Function Library Groups Menu, it will shows all functions in this group, select the function you’d like to add on and edit its parameters. Fig. 5.6 I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 62...

  • Page 63: Message & Status

    After you execute MP or ISR, various statuses will be shown in the window. 5.3.6.3 Hardware Signals After you execute MP or ISR, the corresponding LED indicators for Axes statuses and locations will be light-on. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 63...
  • Page 64 5.3.6.4 Debug After you execute MP or ISR, this window will display the location where the executed functions being made a change of. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 64...

  • Page 65: Download Files And Programs Execution

    Select the file(*.it/*.mp/*.isr/*.md) you’d like to download, click to download the program (Fig. 5.7) Fig. 5.7 Downloading 5.4.2 Program execution Select the files (MPxx/ISRxx) you want to download, click , the program will be executed immediately. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 65...

  • Page 66: Setup The Development Environment Of I8094A/I8094H

    APPENDIX A A.1 Setup the Development Environment of I8094A/I8094H A.1.1 eVC ++ 4.0 1. Microsoft eVC++ 4.0: ServicPack2 or above ( current version: ServicPack4) 2. WinCon8000_EVC4_SP1: WinCon in eVC++ Development Environment (SA_IA) 3. WinConSDK:WinCon Software Tool(inc,lib,dll,demo…) I8094A &I8094HGetting Started manual http://www.icpdas.com...

  • Page 67: Appearance And Dimension

    A.2 Appearance and Dimension I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 67...

  • Page 68: Appendix B Dn-8468 Series Daughter Board

    The DN-8468M is the daughter board for Mitsubitch J2 Series Amplifier. It has 4-axis I/O signals. B.1.1 Board Layout for DN-8468M 107mm JP4 JP3 DN-8468M Fig. 1-1 Board layout for the DN-8468M I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 68...
  • Page 69 I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 69...

  • Page 70: Signal Connections For Dn-8468M

    The connector TB2 is 5-pin connector that enables you to connect to the signals of your motor drivers. Fig.1-4 shows the pin assignment for the 5-pin connector on the DN-8468M, and the Table 1-5 shows its I/O connector signal description. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 70...
  • Page 71 CNA connector of Mitsubishi motor drivers. Fig.1-5 shows the pin assignment for the 20-pin connector on the DN-8468M, and the Table 1-6 shows its I/O connector signal description. Table 1-6 CNA Signal Connection Fig. 1-5 Pin definition for CN-XA, CN-YA, CN-ZA, CN-UA I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 71...
  • Page 72 CNB connector of your motor drivers. Fig.1-6 shows the pin assignment for the 20-pin connector on the DN-8468M, and the Table 1-7 shows its I/O connector signal description. Table 1-7 CNB Signal Connection Fig. 1-6 Pin definition for CN-XB, CN-YB CN-ZB, CN-UB I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 72...
  • Page 73 Near HOME Sensor Input Signal HOME HOME Sensor Input Signal RESET RESET Input Signal EXP+ EXT Positive Direction Pulse(+) EXP- EXT Positive Direction Fig 1-7 Pin definition for CN1~ CN4 Pulse(-) EXT_GND EXT POWER Ground I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 73...
  • Page 74 Fig.1-8 shows the pin assignment for the 15-pin connector on the DN-8468M, and the Table 1-9 shows its I/O connector signal description. Table 1-9 CN5~8 Fig. 1-8 Pin definition for CN5~CN8 I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 74...
  • Page 75 The connectors RJ1 is an 8-pin RJ45 connector that enable you to connect to the signals of FRnet. Fig.1-9 shows the pin assignment for the 8-pin connector on the DN-8468M, and the Table 1-10 shows its I/O connector signal description. Fig. 1-9 Pin definition for RJ1 I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 75...

  • Page 76: Jumper And Switch Settings

    Fig. 1-11 shows that the encoder signals are selected from servo driver encoder. In meantime, Fig. 1-12 shows that the encoder signals are selected from external encoder. Fig. 1-11 Primary encoder signals setting Fig. 1-12 External encoder signals setting I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 76...
  • Page 77 If the switch is disconnected as shown in Fig. 1-14, the emergency stop signals can be controlled from EMG signals in CN1 ~ CN4. Fig. 1-13 EMG SW setting for normally GND (Default setting) Fig. 1-14 EMG SW setting for user controlled signals. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 77...

  • Page 78: Dn-8468P Daughter Board

    The DN-8468P is the daughter board for Panasonic A4 Series Ampilifier. It has 4-axis I/O signals. B.2.1 Board Layout for DN-8468P 107mm JP4 JP3 DN-8468P Fig. B2-1 Board layout for the DN-8468P I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 78...

  • Page 79: Signal Connections For Dn-8468P

    The connector TB2 is 5-pin connector that enables you to connect to the signals of your motor drivers. Fig.1-4 shows the pin assignment for the 5-pin connector on the DN-8468P, and the Table 1-5 shows its I/O connector signal description. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 79...
  • Page 80 The connectors CNX, CNY, CNZ, and CNU are 50-pin connectors that enable you to connect to the CN X5 connector of Panasonic motor drivers. Fig.1-5 shows the pin assignment for the 50-pin connector on the DN-8468P, and the Table 1-6 shows its I/O connector signal description. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 80...
  • Page 81 The connectors CN1~CN4 are 11-pin connectors that enable you to connect to the signals of your motor drivers. Fig.1-7 shows the pin assignment for the 20-pin connector on the DN-8468P, and the Table 1-8 shows its I/O connector signal description. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 81...
  • Page 82 CNZ and CN7 at the same time. In U axis, do not connect CNU and CN8 at the same time. Note 3 : Don’t connect NC (not connected) signals. Connecting these signals could cause permanent damage to your motion controller. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 82...
  • Page 83 Table 1-10 shows its I/O connector signal description. Fig. 1-9 Pin definition for RJ Note: Don’t connect NC (not connected) signals. Connecting these signals could cause permanent damage to your motion controller. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 83...

  • Page 84: Jumper And Switch Settings

    Fig. 1-11 shows that the encoder signals are selected from servo driver encoder. In meantime, Fig. 1-12 shows that the encoder signals are selected from external encoder. Fig. 1-11 Primary encoder signals setting I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 84...
  • Page 85 If the switch is disconnected as shown in Fig. 1-14, the emergency stop signals can be controlled from EMG signals in CN1 ~ CN4. Fig. 1-13 EMG SW setting for normally GND (Default setting) Fig. 1-14 EMG SW setting for user controlled signals. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 85...

  • Page 86: Dn-8486Y Daughter Board

    B.3 DN-8486Y Daughter Board The DN-8468Y is the daughter board for Yaskawa Ampilifier. It has 4-axis I/O signals. B.3.1 Board Layout for DN-8468Y 107mm JP4 JP3 DN-8468Y Fig. 3-1 Board layout for the DN-8468Y I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 86...

  • Page 87: Signal Connections For Dn-8468Y

    The connector TB2 is 5-pin connector that enables you to connect to the signals of your motor drivers. Fig.3-4 shows the pin assignment for the 5-pin connector on the DN-8468Y, and the Table 3-5 shows its I/O connector signal description. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 87...
  • Page 88 The connectors CNX, CNY, CNZ, and CNU are 50-pin connectors that enable you to connect to the CN X5 connector of Panasonic motor drivers. Fig.3-5 shows the pin assignment for the 50-pin connector on the DN-8468Y, and the Table 3-6 shows its I/O connector signal description. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 88...
  • Page 89 The connectors CN1~CN4 are 11-pin connectors that enable you to connect to the signals of your motor drivers. Fig.3-7 shows the pin assignment for the 20-pin connector on the DN-8468Y, and the Table 3-8 shows its I/O connector signal description. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 89...
  • Page 90 The connectors CN5~CN8 are 15-pin connectors that enable users to connect the signals to external motor drivers. Fig.3-8 shows the pin assignment for the 15-pin connector on the DN-8468Y, and the Table 3-9 shows its I/O connector signal description. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 90...
  • Page 91 The connectors RJ1 is an 8-pin RJ45 connector that enable you to connect to the signals of FRnet. Fig.3-9 shows the pin assignment for the 8-pin connector on the DN-8468Y, and the Table 3-10 shows its I/O connector signal description. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 91...

  • Page 92: Jumper And Switch Settings

    Fig. 3-11 shows that the encoder signals are selected from servo driver encoder. In meantime, Fig. 3-12 shows that the encoder signals are selected from external encoder. Fig. 3-11 Primary encoder signals setting Fig. 3-12 External encoder signals setting I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 92...
  • Page 93 If the switch is disconnected as shown in Fig. 3-14, the emergency stop signals can be controlled from EMG signals in CN1 ~ CN4. Fig. 3-13 EMG SW setting for normally GND (Default setting) Fig. 3-14 EMG SW setting for user controlled signals. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 93...

  • Page 94: Dn-8468D Daughter Board

    The DN-8468D is the daughter board for Delta ASDA-A Series Ampilifier. It has 4-axis I/O signals. B.4.1 Board Layout for DN-8468D 107mm JP4 JP3 DN-8468D Fig. 3-1 Board layout for the DN-8468D I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 94...

  • Page 95: Signal Connections For Dn-8468D

    I-8094 motion card. Fig. 3-2 shows the pin assignment for the 68-pin I/O connector on the DN-8468D (or on the I-8094), and refer to Table 3-2, 3-3 for description of each motion I/O signal. Fig. 3-2 I/O connector pin assignment for the CON1 I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 95...
  • Page 96 Input 1 signal for U axis XIN0 Input 0 signal for X axis YIN0 Input 0 signal for Y axis ZIN0 Input 0 signal for Z axis UIN0 Input 0 signal for U axis I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 96...
  • Page 97 EXT pulse input signal for interpolation EMGN1 Emergency stop input signal FRnetA FRnet port A FRnetB FRnet port B XDCC Deviation Counter Clear for X axis YDCC Deviation Counter Clear for Y axis Ground External power (12~24V) I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 97...
  • Page 98 The connector TB2 is 5-pin connector that enables you to connect to the signals of your motor drivers. Fig.3-4 shows the pin assignment for the 5-pin connector on the DN-8468D, and the Table 3-5 shows its I/O connector signal description. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 98...
  • Page 99 The connectors CNX, CNY, CNZ, and CNU are 50-pin connectors that enable you to connect to the CN1 connector of Delta ASDA-A series motor drivers. Fig.3-5 shows the pin assignment for the 50-pin connector on the DN-8468D, and the Table 3-6 shows its I/O connector signal description. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 99...
  • Page 100 The connectors CN1~CN4 are 11-pin connectors that enable you to connect to the signals of your motor drivers. Fig.3-7 shows the pin assignment for the 20-pin connector on the DN-8468D, and the Table 3-8 shows its I/O connector signal description. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 100...
  • Page 101 The connectors CN5~CN8 are 15-pin connectors that enable users to connect the signals to external motor drivers. Fig.3-8 shows the pin assignment for the 15-pin connector on the DN-8468D, and the Table 3-9 shows its I/O connector signal description. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 101...
  • Page 102 The connectors RJ1 is an 8-pin RJ45 connector that enable you to connect to the signals of FRnet. Fig.3-9 shows the pin assignment for the 8-pin connector on the DN-8468D, and the Table 3-10 shows its I/O connector signal description. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 102...

  • Page 103: Jumper And Switch Settings

    The encoder signals of axis X and axis Y can be chosen from servo driver encoder or external encoder. Fig. 3-11 shows that the encoder signals are selected from servo driver encoder. In meantime, Fig. 3-12 shows that the encoder signals are selected from external encoder. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 103...
  • Page 104 Fig. 3-11 Primary encoder signals setting Fig. 3-12 External encoder signals setting I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 104...
  • Page 105 Jumper 10 ~ Jumper 13 can select the reset function in CN1 ~ CN4 for each axis. The following diagram is shown the selection condition of the JP10. Fig. 3-15 JP 10 ~ 13 setting I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 105...

  • Page 106: Dn-8468Fb Daughter Board

    B.5 DN-8468FB Daughter Board The DN-8468FB is the daughter board for FUJI FALDIC-W Series Ampilifier. It has 4-axis I/O signals. B.5.1 Board Layout for DN-8468FB Fig. 3-1 Board layout for the DN-8468FB I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 106...

  • Page 107: Signal Connections For Dn-8468Fb

    I-8094 motion card. Fig. 3-2 shows the pin assignment for the 68-pin I/O connector on the DN-8468FB (or on the I-8094), and refer to Table 3-2, 3-3 for description of each motion I/O signal. Fig. 3-2 I/O connector pin assignment for the CON1 I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 107...
  • Page 108 Input 1 signal for U axis XIN0 Input 0 signal for X axis YIN0 Input 0 signal for Y axis ZIN0 Input 0 signal for Z axis UIN0 Input 0 signal for U axis I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 108...
  • Page 109 EXT pulse input signal for interpolation EMGN1 Emergency stop input signal FRnetA FRnet port A FRnetB FRnet port B XDCC Deviation Counter Clear for X axis YDCC Deviation Counter Clear for Y axis Ground External power (12~24V) I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 109...
  • Page 110 The connector TB2 is 5-pin connector that enables you to connect to the signals of your motor drivers. Fig.3-4 shows the pin assignment for the 5-pin connector on the DN-8468FB, and the Table 3-5 shows its I/O connector signal description. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 110...
  • Page 111 OUT4 of Servo Motor No connection Fig 3-5 Pin definition for CN-X, CN-Y, Negative Direction Pulse (+) Negative Direction Pulse (-) CN-Z, CN-U No connection Encoder Z-phase (+) Encoder Z-phase (-) No connection No connection I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 111...
  • Page 112 Near HOME Sensor Input Signal HOME HOME Sensor Input Signal RESET RESET Input Signal EXP+ EXT Positive Direction Pulse(+) EXP- EXT Positive Direction Pulse(-) EXT_GND EXT POWER Ground Fig 3-7 Pin definition for CN1~ CN4 I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 112...
  • Page 113 Negative Direction Pulse(-) Encoder A-phase(+) Encoder B-phase(+) Encoder Z-phase(+) Encoder Z-phase(-) OUT4 OUT4 of Servo Motor CONT5 CONT5 of Servo Motor Fig 3-8 Pin definition for CN5~ CN8 EXT_PWR 15 EXT POWER 24V I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 113...
  • Page 114 The connectors RJ1 is an 8-pin RJ45 connector that enable you to connect to the signals of FRnet. Fig.3-9 shows the pin assignment for the 8-pin connector on the DN-8468FB, and the Table 3-10 shows its I/O connector signal description. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 114...

  • Page 115: Jumper And Switch Settings

    Fig. 3-11 shows that the encoder signals are selected from servo driver encoder. In meantime, Fig. 3-12 shows that the encoder signals are selected from external encoder. Fig. 3-11 Primary encoder signals setting Fig. 3-12 External encoder signals setting I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 115...
  • Page 116 Fig. 3-14, the CONT3 signals can be controlled from CONT3 signals in CN1 ~ CN4. Fig. 3-13 SW1 setting for normally GND (Default setting) Fig. 3-14 SW1 setting for user controlled signals. I8094A &I8094HGetting Started manual http://www.icpdas.com Ver 1.3-- 116...

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