ADLINK Technology AMP-104C User Manual
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ADLINK Technology AMP-104C User Manual

4-axis pulse motion controller
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AMP-104C
4-Axis Pulse Motion Controller
User's Manual
Manual Rev.:
Revision Date:
Part No:
Leading EDGE COMPUTING
1.0
2020-12-22
50-15116-1000

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Summary of Contents for ADLINK Technology AMP-104C

  • Page 1 AMP-104C 4-Axis Pulse Motion Controller User’s Manual Manual Rev.: Revision Date: 2020-12-22 Part No: 50-15116-1000 Leading EDGE COMPUTING...
  • Page 2 Leading EDGE COMPUTING Revision History Revision Release Date Description of Change(s) 2020-12-22 Initial release...
  • Page 3 AMP-104C Preface Copyright © 2020 ADLINK Technology Inc. This document contains proprietary information protected by copy- right. All rights are reserved. No part of this manual may be repro- duced by any mechanical, electronic, or other means in any form without prior written permission of the manufacturer.
  • Page 4 Leading EDGE COMPUTING California Proposition 65 Warning WARNING: This product can expose you to chemicals including acrylamide, arsenic, benzene, cadmium, Tris(1,3-dichloro-2-propyl) phosphate (TDCPP), 1,4- Dioxane, formaldehyde, lead, DEHP, styrene, DINP, BBP, PVC, and vinyl materials, which are known to the State of California to cause cancer, and acrylamide, benzene, cadmium, lead, mercury, phthalates, toluene, DEHP, DIDP, DnHP, DBP, BBP, PVC, and vinyl materials, which are known to the State of California to cause...

  • Page 5: Table Of Contents

    AMP-104C Table of Contents Preface ..................iii List of Tables................. vii List of Figures ................ ix 1 Introduction ................ 1 Overview................1 Features................2 Specifications............... 3 Supported Software ............. 4 Accessories ................. 5 2 Getting Started ..............7 Package Contents ............... 7 Board Layout ...............
  • Page 6 Leading EDGE COMPUTING This page intentionally left blank. Table of Contents...

  • Page 7: List Of Tables

    SW3 DO Initial State Selection......... 14 Table 2-5: CN1 External Stop/Start Signals ......15 Table 2-6: CN2 AMP-104C Main Connector ......17 Table 2-7: CN3 Extended TTL DIO ........... 18 Table 2-8: CN4 Extended Encoder Feedback Input Signals ..19 Table 3-1: Pulse Output Signals ..........
  • Page 8 Leading EDGE COMPUTING This page intentionally left blank. viii List of Tables...

  • Page 9: List Of Figures

    AMP-104C List of Figures Figure 1-1: Functional Diagram............1 Figure 2-1: AMP-104C Board Layout..........8 List of Figures...
  • Page 10 Leading EDGE COMPUTING This page intentionally left blank. List of Figures...

  • Page 11: Introduction

    PCI Express® interface that can generate a pulse train up to 4.9MHz to control a motor. With more general purpose IOs and 4-channel encoder feedback input, the AMP-104C can be used for a multitude of scenarios or applications. As a motion controller, the AMP-104C provides non-symmetric accel- eration and deceleration speed profile settings, T-curve and S-curve speed profile control, and selection of motion stop method.

  • Page 12: Features

    Leading EDGE COMPUTING 1.2 Features The following list summarizes the main features of the AMP-104C motion control system. 4 Axes Pulse Type Motion Card PCI Express® Gen1 x1 Supports up to 16 Cards in One System Pulse Output Frequency up to 4.9 Mpps...

  • Page 13: Specifications

    AMP-104C 1.3 Specifications Pulse Type Motion Control Max. Axes Pulse Output Frequency 0.5 pps to 4.9 Mpps Pulse Output Mode CW/CCW, OUT/DIR Pulse Output Type Differential / Single-End Encoder Feedback Input Mode CW/CCW; OUT/DIR; 1x/2x/4x AB Phase Encoder Feedback Input Frequency...

  • Page 14: Supported Software

    APS Function Library Support 1.4.2 APS Functions The AMP-104C is fully compliant with the APS (Automation Prod- uct Software) function library, independent of programming lan- guages and operating systems (OS). A complete detailed listing of functions can be found in the APS Function Library User Manual.

  • Page 15: Accessories

    AMP-104C 1.5 Accessories The main connector utilizes ADLINK’s exclusive DIN-68S terminal board and ACL-10569 cable. For extended connectors, TTL DI/O and Encoder Feedback Input, use a DIN-37 terminal board with ACL-10437 and ACL-10137 cables (sold separately). Encoder Main TTL DI/O...
  • Page 16 Leading EDGE COMPUTING This page intentionally left blank. Introduction...

  • Page 17: Getting Started

    104C, its hardware settings, and related signals. 2.1 Package Contents The package includes the following items: 1x AMP-104C Card 4-Axis Pulse Motion Controller Product Warranty Card If any of these items are missing or damaged, contact the dealer from whom you purchased the product. Save the shipping materi- als and carton to ship or store the product in the future.

  • Page 18: Board Layout

    Leading EDGE COMPUTING 2.2 Board Layout Figure 2-1: AMP-104C Board Layout Item Description Card ID Selection Switch End Limit Type Selection Switch DO Initial State Selection Switch J1-J8 Pulse Output Mode Selection Jumper External Stop/Start Signals 6-pin header (ST/D2.54) AMP-104C Main Connector 68-pin SCSI...

  • Page 19: Hardware And Software Driver Installation

    2.3 Hardware and Software Driver Installation 2.3.1 Hardware Configuration The AMP-104C is fully Plug-and-Play compliant and can be installed in any PCI Express slot. It employs a PCI Express Gen1 x1 bus, and the system BIOS can auto-configure memory and IRQ channels.
  • Page 20 Leading EDGE COMPUTING 2.3.3 Troubleshooting If the computer cannot power on normally or the motion control system operates abnormally after system installation, follow the steps described below for troubleshooting. If the problem persists, please consult the dealer for technical services. Problem Correction The card does not appear in...
  • Page 21 AMP-104C 2.3.4 Software Driver Installation 1. Download the AMP-104C WDM file from ADLINK and run it. Installation executes automatically. 2. Select NEXT as prompted to complete installation. 3. After installation is complete, select FINISH. 4. Ensure the Windows Device Manager lists the AMP- 104C correctly.

  • Page 22: Dip Switch Settings

    Leading EDGE COMPUTING 2.4 DIP Switch Settings 2.4.1 SW1 – Card ID Selection The SW1 switch is used to set the card ID. For example, if 1 is set to ON and the others are OFF, that card index is 1. The index value can be from 0 to 15.

  • Page 23: Table 2-3: Sw2 End Limit Type Selection

    AMP-104C 2.4.2 SW2 – End Limit Type Selection The SW2 switch is used to set the type of end limit logic, which are Normally Open (NO) and Normally Closed (NC). For example, if the switch pin is set to “OFF”, the type of end limit logic is Normally Open.

  • Page 24: Table 2-4: Sw3 Do Initial State Selection

    Leading EDGE COMPUTING 2.4.3 SW3 – DO Initial State Selection The SW3 switch is used to set the initial DO state group setting. For example, if the SW3 Pin1 is set to “OFF”, the initial states of “DO0 to DO3” are high. Refer to the following table for details. DO # SW3 Pin No.

  • Page 25: Jumper Setting: Pulse Output Mode Selection

    AMP-104C 2.5 Jumper Setting: Pulse Output Mode Selection Jumpers J1-J8 are used to set the mode of pulse output signals. The output signal mode can either be differential line driver or sin- gle-ended output. Refer to Section 3.1 for detailed jumper set- tings.
  • Page 26 Leading EDGE COMPUTING 2.6.2 CN2 – AMP-104C Main Connector Name Function Name Function Digital GND OUT2+ Pulse Signal + OUT0+ Pulse Signal + OUT2- Pulse Signal - OUT0- Pulse Signal - DIR2+ Direction Signal + DIR0+ Direction Signal + DIR2-...

  • Page 27: Table 2-6: Cn2 Amp-104C Main Connector

    Digital Input Digital Input DI14 Digital Input Digital Input EXGND Isolation GND Isolation Power Digital Input E24V +24V 34 EXGND -- Isolation GND DI15 Digital Input Table 2-6: CN2 AMP-104C Main Connector Pins 1-9, 35-42: Non-Isolation Signals. NOTE: NOTE: Getting Started...

  • Page 28: Table 2-7: Cn3 Extended Ttl Dio

    Leading EDGE COMPUTING 2.6.3 CN3 – Extended TTL DIO Name Function Name Function TDI0 TTL Input TDI1 TTL Input TDI2 TTL Input TDI3 TTL Input TDI4 TTL Input TDI5 TTL Input TDI6 TTL Input TDI7 TTL Input TDI8 TTL Input TDI9 TTL Input TDI10...

  • Page 29: Table 2-8: Cn4 Extended Encoder Feedback Input Signals

    AMP-104C 2.6.4 CN4 – Extended Encoder Feedback Input Signals Name Function Name Function EA0+ Encoder A-phase+ EA0- Encoder A-phase- EB0+ Encoder B-phase+ EB0- Encoder B-phase- EZ0+ Encoder Z-phase+ EZ0- Encoder Z-phase- DGND Digital GND DGND Digital GND DGND Digital GND...
  • Page 30 Leading EDGE COMPUTING This page intentionally left blank. Getting Started...

  • Page 31: Signal Connections

    Signal Connections Signal connections of all I/O’s are described in this chapter. Refer to the contents of this chapter before wiring any cables between the AMP-104C and any motor drivers. This chapter contains the following sections: Section 3.1:Pulse Output Signals Section 3.2:Encoder Feedback Input Signal...

  • Page 32: Pulse Output Signals

    Leading EDGE COMPUTING 3.1 Pulse Output Signals There are 4 axis pulse output signals on the AMP-104C, each supporting up to 4.9 MHz output frequency. For each axis, two pairs of OUT and DIR signals are used to transmit the pulse train and to indicate the direction.
  • Page 33 AMP-104C The output of the signals can be configured by jumpers as either Single-Ended or Differential Line Driver output. Users can select the output mode either by closing breaks between 1 and 2 or 2 and 3 of jumpers J1-J8 as follows:...
  • Page 34 Leading EDGE COMPUTING AMP-104C OUT/DIR D 5V Jum per O U T +_JU MP 33ohm _+-1% O U T + XC VR _O U T + O U T AM26LS31 F rom PC D 4641A XC VR _O U T -...
  • Page 35 AMP-104C Choose one of CW/CCW+ and CW/CCW- to connect to driver’s OUT/DIR The sink current must not exceed 20mA or the 2631 will be damaged! WARNING: Signal Connections...

  • Page 36: Encoder Feedback Input Signal

    Leading EDGE COMPUTING 3.2 Encoder Feedback Input Signal The AMP-104C provides 4 encoder feedback input channels each with up to 5MHz and EA, EB, and EZ signals. Each group of EA, EB, and EZ signals contains a pair of differential signals (e.g. the EA signal contains EA+ and EA-).
  • Page 37 AMP-104C AMP-104C Encoder D 3V3 IE A+ F P G A_IE A AM26LS32 T o F PG A IE A- U 124 74L VC 1G 125 DGND D 3V3 IE B + F P G A_IE B AM26LS32 T o F PG A...

  • Page 38: Motion I/O Interface Signal

    STA/STP signals for simultaneous start/stop. If there are two or more AMP-104C cards, tie all STA and all STP signals of all cards for simultaneous start/stop control on all con- cerned axes.
  • Page 39 3.3.2.1 Origin Position Signal (ORG) The AMP-104C provides one original or home signal for each axis. This signal is used for defining the zero position of this axis. The logic of this signal must be set properly before doing home proce- dure.
  • Page 40 These two signals are for safety, which can pre- vent a machine crash when missing an operation. The AMP-104C provides two direction end limit signals, PEL and MEL, for each axis. PEL indicates the end limit signal is in the pos- itive direction and MEL indicates the end limit signal is in the nega- tive direction.
  • Page 41 Direction Ramping-down Point Detection Signal (PSD / MSD) The AMP-104C provides a slow down function through PSD or MSD signal input for each axis. PSD indicates the direction is in the positive and MEL indicates the direction is in the negative.

  • Page 42: Gpio Interface Signal

    Leading EDGE COMPUTING 3.4 GPIO Interface Signal The AMP-104C provides a 28-channel onboard isolated GPIO (DI/ DO) and a 31-channel extended TTL GPIO (TDI/TDO). 16 CH Optically Isolated DI GPIO Onboard Main Connector CN2 12 CH Optically Isolated DO 16 CH Non-isolated TTL DI...
  • Page 43 AMP-104C Optically Isolated Digital Input: AMP-104C D 3 V 3 D I_ 2 4 V 4 .7 K _ + -5 % T o F PG A S N 7 4 L V C 1 4 A 4 9 9 o hm _ + -1 %...
  • Page 44 Leading EDGE COMPUTING 3.4.2 31-Channel Extended TTL GPIO (TDI/TDO) CN3 Pin No. Signal Name CN3 Pin No. Signal Name TDI0 TDO0 TDI1 TDO1 TDI2 TDO2 TDI3 TDO3 TDI4 TDO4 TDI5 TDO5 TDI6 TDO6 TDI7 TDO7 TDI8 TDO8 TDI9 TDO9 TDI10 TDO10 TDI11 TDO11...

  • Page 45: Other I/O Interface Signal

    Any 8-channel position latch trigger input can be assigned to a latch source to trigger any axis by software. The AMP-104C pro- vides 255 position latch buffer points for each axis. For more infor- mation, see the APS Function Library User Manual.
  • Page 46 Leading EDGE COMPUTING This page intentionally left blank. Signal Connections...

  • Page 47: Important Safety Instructions

    AMP-104C Important Safety Instructions For user safety, please read and follow all instructions, Warnings, Cautions, and Notes marked in this manual and on the associated device before handling/operating the device, to avoid injury or damage. Read these safety instructions carefully.
  • Page 48 Leading EDGE COMPUTING A Lithium-type battery may be provided for uninterrupted backup or emergency power. Risk of explosion if battery is replaced with one of an incorrect type; please dispose of used batteries appropriately. CAUTION: This equipment is not suitable for use in locations where children are likely to be present.

  • Page 49: Consignes De Sécurité Importante

    AMP-104C Consignes de Sécurité Importante S'il vous plaît prêter attention stricte à tous les avertissements et mises en garde figurant sur l'appareil, pour éviter des blessures ou des dommages. Lisez attentivement ces consignes de sécurité. Conservez le manuel de l'utilisateur pour pouvoir le con- sulter ultérieurement.
  • Page 50 Leading EDGE COMPUTING Si l'appareil ne doit pas être utilisé pendant de longues péri- odes, éteignez-le et débranchez-le de sa source d'alimenta- tion N'essayez jamais de réparer l'appareil, qui ne doit être réparé que par un personnel technique qualifié à l'aide d'outils appro- priés Une batterie de type Lithium peut être fournie pour une ali- mentation de secours ininterrompue ou d'urgence.
  • Page 51 AMP-104C RISQUE DE BRÛLURES Partie chaude! Ne touchez pas cette surface, cela pourrait entraîner des blessures. Pour éviter tout danger, laissez la surface refroidir avant de la toucher. Consignes de Sécurité Importante...
  • Page 52 Leading EDGE COMPUTING This page intentionally left blank. Consignes de Sécurité Importante...

  • Page 53: Getting Service

    San Jose, CA 95138, USA Tel: +1-408-360-0200 Toll Free: +1-800-966-5200 (USA only) Fax: +1-408-360-0222 Email: info@adlinktech.com ADLINK Technology (China) Co., Ltd. 300 Fang Chun Rd., Zhangjiang Hi-Tech Park Pudong New Area, Shanghai, 201203 China Tel: +86-21-5132-8988 Fax: +86-21-5132-3588 Email: market@adlinktech.com ADLINK Technology GmbH Hans-Thoma-Straße 11...

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