Advantech ADAM-5240 User Manual
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Advantech ADAM-5240 User Manual

Advantech ADAM-5240 User Manual

4-axis stepping/pulse-type servo motor control module
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ADAM-5240
4-axis Stepping/Pulse-type
Servo Motor Control Module
User Manual

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Summary of Contents for Advantech ADAM-5240

  • Page 1 ADAM-5240 4-axis Stepping/Pulse-type Servo Motor Control Module User Manual...
  • Page 2 CE test for environmental specifications when shielded cables are used for external wiring. We recommend the use of shielded cables. This kind of cable is available from Advantech. Please contact your local sup- plier for ordering information. Printed in Taiwan...
  • Page 3 Product Warranty (2 years) Advantech warrants to you, the original purchaser, that each of its prod- ucts will be free from defects in materials and workmanship for two years from the date of purchase. This warranty does not apply to any products which have been repaired or...
  • Page 4 Step 1. Visit the Advantech web site at www.advantech.com/support where you can find the latest information about the product. Step 2. Contact your distributor, sales representative, or Advantech's cus- tomer service center for technical support if you need additional assistance. Please have the following information ready before...

  • Page 5: Table Of Contents

    Contents Chapter 1 Introduction ............. 2 Features ................2 Applications ..............5 Accessories................ 5 Chapter 2 Signal Connections .......... 8 I/O Connector Pin Assignments........8 Pin Assignments..............9 Figure 2.1:I/O Connector Pin Assignments ....9 Table 2.1:I/O Connector Signal Description ....10 Table 2.1:I/O Connector Signal Description ....
  • Page 6 Appendix D Wiring with Third-Party Motor Drivers ..44 Figure D.1:Mitsubishi MR-J2S Series Motor Driver .. 44 Figure D.2:Oriental LIMO EZMC Motor Driver ..45 Figure D.3:Panasonic MINAS-A Series Motor Driver 46 Figure D.4:Yaskawa SGDM Series Motor Driver ..47 ADAM-5240 User Manual...
  • Page 7 Introduction This chapter introduces ADAM-5240 and lists features and specifications.

  • Page 8: Chapter 1 Introduction

    2/3-axis linear interpolation range and the number of output pulses, but also provides the “Go Home” function. 1.1 Features ADAM-5240 provides users with the most requested motor control func- tions as seen below: • Independent 4-axis motion control •...
  • Page 9 Programmable T/S-curve Acceleration and Deceleration Each of four axes can be preset individually with S-curve or trapezoidal acceleration/deceleration rates. When using S-curve acceleration to con- trol driving speed, output pulse is generated in parabolic-shaped accelera- tion or deceleration curves, and the triangular curve phenomenon will not occur through the NOVA MCX314AS-motion ASIC design concept.
  • Page 10 Each axis is with 8 output points for general output. Servo Motor Feedback Signals Each axis includes input pins for servo feedback signals such as in-posi- tioning, close loop positioning control and servo alarm. ADAM-5240 User Manual...

  • Page 11: Applications

    • Machine control with up to 4 axes • Semiconductor pick and place and testing equipment • Other stepping/pulse-type servo motor applications 1.3 Accessories Advantech offers a complete set of accessory products to support the ADAM-5240 card. These accessories include: Wiring Cable • PCL-10251 The PCL-10251 shielded cable is specially designed for ADAM-5240 card to provide higher resistance to noise.
  • Page 12 ADAM-5240 User Manual...
  • Page 13 Signal Connections This chapter provides useful informa- tion about how to connect input and output signals to the ADAM-5240 via the I/O connector.

  • Page 14: Chapter 2 Signal Connections

    Chapter 2 Signal Connections 2.1 I/O Connector Pin Assignments The I/O connector on the ADAM-5240 is a 100-pin connector that enables you to connect to accessories with the PCL-10251 shielded cable. Figure 3.1 shows the pin assignments for the 100-pin I/O connector on the ADAM-5240, and Table 3-1 shows its I/O connector signal descrip- tion.

  • Page 15: Pin Assignments

    2.2 Pin Assignments Figure 2.1: I/O Connector Pin Assignments Chapter 2...
  • Page 16 YEXOP+ Input Jog at the + Direction of Y axis YEXOP- Input Jog at the - Direction of Y axis Ground XOUT4 Output Common Output at X axis (CMP+) XOUT5 Output Common Output at X axis (CMP-) ADAM-5240 User Manual...
  • Page 17 Table 2.1: I/O Connector Signal Description Signal Name Reference Direction Description XOUT6 Output Common Output at X axis (Server on) XOUT7 Output Common Output at X axis (Reset) XP+P Output Output pulse CW/Pulse+ of X-axis XP+N Output Output pulse CW/ Pulse- of X-axis XP-P Output Output pulse CCW/DIR+ of X-axis...
  • Page 18 Common Output at U axis (Server UOUT7 Output Common Output at U axis (Reset) UP+P Output Output pulse CW/Pulse+ of U-axis UP+N Output Output pulse CW/Pulse- of U-axis UP-P Output Output pulse CCW/DIR+ of U-axis UP-N Output Output pulse CCW/DIR- of U-axis ADAM-5240 User Manual...

  • Page 19: Output Pulse Definition

    2.3 Output Pulse Definition The output pulse command of ADAM-5240 is from MCX314AS chip. The pulse command has two types. One is in Up/Down mode and another is in Pulse/Direction mode. While nP+P is differential from nP+N and nP-P is differential from nP-N. After system reset, the nP+P and nP-P is low level, and this invert output (nP+N, nP-N) is high level, and the de-fault setting of pulse output mode is Up/Down.
  • Page 20 The following figure 3-4 and 3-5 show the examples of input circuitry connection for both photo coupler and motor driver respectively. Figure 2.3: Photo Coupler Input Interface Figure 2.4: Line Driver Input Interface ADAM-5240 User Manual...

  • Page 21: General Purposed Output

    2.4 General Purposed Output The general purposed output nOUT7/DSND, nOUT6/ASND, nOUT5/ CMPM, and nOUT4/CMPP are from MCX314AS, and each output sig- nal is OFF status after system reset. Figure 2.5: General Purpose Output General purposed output signals used in motor drives can clear error counter, alarm reset, stimulus off, etc., or select acceleration/deceleration for driving, position counter, and the status of comparison register as your output during driving.
  • Page 22 3-8 is an example of photo sensor used in the case of over traveling limit switch input. When writing D3 bit of register2 (XWR2) into 0 to set the limit switch is low active in X-axis, the following figure can work normally. Figure 2.7: Photo Sensor in the Limit Input Signal ADAM-5240 User Manual...

  • Page 23: Deceleration/Instantaneous Stop Switch Input

    2.6 Deceleration/Instantaneous Stop Switch Input Note: When the axis/axes is/are about to stop (in the decelera- tion stage), the axis/axes will not stop totally but keep moving at a very low speed if you use S-curve accelera- tion/deceleration to control speed under the “Point to Point”...

  • Page 24: General Purposed Input For Servo Drives

    When servo drives have an abnormal condition, they active this signal to note ADAM-5240 to stop output pulses. When enable the nALARM function of ADAM-5240, the D14 bit of RR2 will set to 1 after nALARM active. If ADAM-5240 is driving pulses output, the output pulses will stop immediately when nALARM active.

  • Page 25: Encoder Input

    Figure 2.10: Circuit Diagram of Encoder Feedback From the circuit diagram above, ADAM-5240 use high speed photo cou- pler for isolation. The encoder output can be differential mode or open- collector mode. When n***P is high and n***N is low, the real feedback signal (n***) to MCX314AS is low.
  • Page 26 The following diagram is an example of the connection for encoder with differential-output linear driver. Figure 2.11: Differential-output Line Driver The following figure is an example of connection for the encoder with open-collector output. Figure 2.12: Open Collector Output Encoder ADAM-5240 User Manual...

  • Page 27: External Pulse Control Input

    (nEXOP+, nEXOP-). There are two output pulse mode for the external control pin. One is fixed pulse output mode, and the other is continuous output mode. In ADAM-5240, it provides Jog and Hand wheel functions that allow you driving motors through external Hand wheel or Jog equipment.

  • Page 28: Emergency Stop Input (Emg)

    2.11 External Power Input (VEX) External power is necessary for all input signals of each axis. Please apply DC12~24V voltage as your need. Current consumption of each point for input signal is DC12V = 3.3 mA, DC24V = 7 mA. ADAM-5240 User Manual...

  • Page 29: Interrupt Setting

    ADAM-5240 inverse the signal and latch the signal to adapt the PCI bus INTA. The Fig- 3.17 shows the inter- rupt structure of the ADAM-5240. We suggest users who want to pro- gram their own interrupt service routine (ISR) should follow the procedures: Step 1: When interrupt occurs.

  • Page 30: Connection Examples For Motor Drivers

    2.13 Connection Examples for Motor Drivers 2.13.1 Connection to Step Motor Drivers The following figure is an example of ADAM-5240 connected to 5-phase micro-step motor drives, KR515M manufactured by TECHNO company. Figure 2.17: Connecting to KR515M Drive Note JP1~8 of ADAM-5240 are set to +5V output side, +5V output for output terminals XP+P and XP-P.
  • Page 31 Figure 2.18: Connecting to UPK Step Drive Note The differential pulse output of ADAM-5240 is connected to CW/CCW input of UPK drive. XOUT4 can control UPK drive to hold by setting D8 of WR3. TIMING and Over HEAT signals can be read back by reading RR4,5.

  • Page 32: Connection To Servo Motor Drivers

    2.13.2 Connection to Servo Motor Drivers The figure shown below is an example of ADAM-5240 connected to MINAS X series AC servo motor drive. Figure 2.19: MINAS X Series AC Servo Motor Drive Note The servo drive must be set in pulse-control drive mode and the type of pulse input is CW/CCW mode.

  • Page 33: Field Wiring Considerations

    2.14 Field Wiring Considerations When you use the ADAM-5240 to acquire data from outside, noises in the environment might significantly affect the accuracy of your measure- ments if due cautions are not taken. The following measures will be helpful to reduce possible interference running signal wires between sig- nal sources and the ADAM-5240.

  • Page 34: I/O Signal Timing

    • Output pulses (nP ± P, nP ± N) for drive control and general purpose output signals (nOUT4 ~ 7) for I/O control will be determined after 250 nsec from power on reset. • User can access ADAM-5240 only after 500 nsec from power-on reset. 2.15.2 Individual Axis Driving Figure 2.21: Individual Axis Driving •...

  • Page 35: Interpolation Driving

    2.15.3 Interpolation Driving Figure 2.22: Timing Diagram of Interpolation Driving • After interpolation command is enable, the first pulse will be outputted in 775 nsec. • If using pulse/direction mode, direction signal (nP-P) is valid in ± 125 nsec of high-level pulse signal. 2.15.4 Input Pulse Timing Quadrature Pulse of Encoder Input Figure 2.23: Quadrature Pulse of Encoder Input...

  • Page 36: Instantaneous Stop Timing

    • When external deceleration signal is enabled during driving, up to 400 µ SEC + 2 pulses will be output, and then stopped. Deceleration/Stop Instruction Figure 2.28: Deceleration/Stop Instruction • When the Deceleration/Stop instruction is issued during driving, at most two pulses will be output, and then stopped. ADAM-5240 User Manual...

  • Page 37: Ttl Level Position Compare Output

    By selecting with JP10, you can choose the XOUT4 pin as original design as ADAM-5240, or TTL level output. While the JP10 is in “CMP” position, the output of XOUT4 is (XOUT4 XOUT5). With this special design you can get the compared result in both increment and decrement direction through one unified pin.
  • Page 38 ADAM-5240 User Manual...
  • Page 39 Specifications...

  • Page 40: Appendix A Specifications

    ± 1 LSB Continous Speed 1 PPS ~ 2 MPPS Interpolation Output Signal nP+P/N, nP-P/N Range ADAM-5240:(-8,388,608 ~ +8,388,607) ADAM-5240: (-2,147,483,648 ~ +2,147,483,648) Precision ± 0.1% Single Axis Change of Acceler- 954 ~ 31.25 x 10 Movement ation for S Curve PPS/sec²...

  • Page 41: Digital Input/Output

    A.2 Digital Input/Output Input Signals Over Travel- nLMT+ and nLMT- ing Limit Switch Input* External nIN1 ~ 3 Deceleration/ Instantaneous Stop Signal Input Signal for nALARM (servo alarm); nINPOS (position Servo Motor command completed) Drives* Emergency EMG - one emergency stop input Stop Max.

  • Page 42: Input Pulse For Encoder Interface

    100 Hz quency Input Voltage 3 V DC max. High 10 V DC min. 30 V DC max. Driving Mode Fixed pulse driving or continuos driving. Supports Hand wheel and Jog. Protection 2,500 V DC photo coupler isolation ADAM-5240 User Manual...

  • Page 43: Other Functions

    A.5 Other Functions Position Range of Command -2,147,438,648 ~ Counter Position Counter (for +2,147,438,647 output pulse) Range of Actual Posi- -2,147,438,648 ~ tion Counter (for input +2,147,438,647 pulse) Comparison COMP+ Register Range -2,147,438,648 ~ Register +2,147,438,647 COMP- Register Range -2,147,438,648 ~ +2,147,438,647 Can be used for software over traveling limit Interrupt Func-...
  • Page 44 ADAM-5240 User Manual...
  • Page 45 Block Diagram...

  • Page 46: Appendix B Block Diagram

    Appendix B Block Diagram ADAM-5240 User Manual...
  • Page 47 Cable Pin Assignments...

  • Page 48: Appendix C Cable Pin Assignments

    Appendix C Cable Pin Assignments ADAM-5240 User Manual...
  • Page 49 Wiring with Third-Party Motor Drivers...

  • Page 50: Appendix D Wiring With Third-Party Motor Drivers

    Appendix D Wiring with Third-Party Motor Drivers Figure D.1: Mitsubishi MR-J2S Series Motor Driver ADAM-5240 User Manual...
  • Page 51 Figure D.2: Oriental LIMO EZMC Motor Driver Chapter D...
  • Page 52 Figure D.3: Panasonic MINAS-A Series Motor Driver ADAM-5240 User Manual...
  • Page 53 Figure D.4: Yaskawa SGDM Series Motor Driver Chapter D...
  • Page 54 ADAM-5240 User Manual...

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