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TPM PCI-M114-GH User Manual

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PCI-M114-GH User Manual
PCI-M114-GH
PCI-M114-GH User Manual
Version: V1.1 2015M02
To properly use the product, read this manual thoroughly is necessary.
Part No.: 81-02114GH-010
1

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  • Page 1 PCI-M114-GH User Manual PCI-M114-GH PCI-M114-GH User Manual Version: V1.1 2015M02 To properly use the product, read this manual thoroughly is necessary. Part No.: 81-02114GH-010...

  • Page 2: Revision History

    PCI-M114-GH User Manual Revision History Date Revision Description 2014/5/5 Document creation. 2015/3/2 Add MPG interface description.
  • Page 3 The product, including the product itself, the accessories, the software, the manual and the software description in it, without the permission of TPM Inc. (“TPM”), is not allowed to be reproduced, transmitted, transcribed, stored in a retrieval system, or translated into any language in any form or by any means, except the documentation kept by the purchaser for backup purposes.
  • Page 4 PCI-M114-GH User Manual Electrical safely ◼ To prevent electrical shock hazard, disconnect the power cable from the electrical outlet before relocating the system. ◼ When adding or removing devices to or from the system, ensure that the power cables for the devices are unplugged before the signal cables are connected.

  • Page 5: Table Of Contents

    2.2.1. 104-T120-DUM terminal board for CN2 ......................11 2.3. STA/STP ....................................15 2.4. C ................................16 UMBER WITCH 3. INTRODUCTION OF THE TERMINAL BOARD FOR PCI-M114-GH ..................... 17 3.1. 107-T121-GEN ..................................17 3.2. S 107-T141 107-T121 ....................21 ERIES ERMINAL...

  • Page 6: Pci-M114-Gh Introduction

    PCI-M114-GH User Manual 1. PCI-M114-GH Introduction The PCI-M114-GH is an advanced motion controller consisting of 2 main parts, 4-axis motion controller and high speed real-time network extension, Motionnet. The 4-axis motion control provides 2 to 8 axes liner interpolation, 2-axis circular interpolation and also continuous interpolation with velocity continuity.

  • Page 7: Features

    PCI-M114-GH User Manual 1.1. Features ◼ Max. 6.5MHz, 4-Axis pulse output ◼ Linear, circular and continuous interpolation ◼ High speed position latch function ◼ Manual pulse generator input interface ◼ Simultaneously start/stop on multiple axes ◼ Programmable acceleration and deceleration time ◼...

  • Page 8: Hardware Layout

    ◼ PCI Spec. 2.2; supports 32-bit, 3.3V/5V DC operation ◼ Power consumption: +5V DC at 0.5A typical ◼ Working temperature: 0 to 60℃ 1.3. Hardware Layout The PCI-M114-GH PCB layout and onboard I/O interfaces are introduced as follows. Figure 1-2: hardware PCB layout...
  • Page 9 Mini-SCSI 68 pins×2, 2 axes motion Input / Output signal connector (1st and 2nd Axis) SCSI-26, through 104-T120-DUM provides 2 Motionnet masters. Simultaneous STA / STP connector Simultaneous STA / STP connector RSW1 Rotary switch for card number setting. Table 1-1: I/O interfaces on PCI-M114-GH...

  • Page 10: I/O Interface Description

    PCI-M114-GH User Manual 2. I/O Interface Description 2.1. 4-Axis Motion Figure 2-1: mini-SCSI-68pin socket (CN1 for PCI-M114-GH) Label 1st / 3rd Axis Description Label 2nd / 4th Axis Description Power +5V/200mA Output Power +5V/200mA Output External Ground(+5V) External Ground(+5V) OUTX+ Pulse Signal (+)

  • Page 11: Motionnet Extension

    Table 2-2: MPG and Motionnet extension pin definition 2.2.1. 104-T120-DUM terminal board for CN2 Through a SCSI-26 cable, the CN2 on PCI-M114-GH connects to the terminal board 104-T120-DUM for Motionnet and MPG interfaces extension. 104-T120-DUM is shown as the following figure.
  • Page 12 Spring plug of pin 1 to pin 10 of CN1 Spring plug of pin 14 to pin 23 of CN1 SCSI-20 interface for MPG Power and EMG signal connector 2.2.1.1 Motionnet Connector CN3&CN4 Figure 2-4: Motionnet extension connector Ring0/Ring1 for PCI-M114-GH Label Description Filed Ground Filed Ground...
  • Page 13 PCI-M114-GH User Manual 2.2.1.2 Manual Pulse Generator Connector CN2 Figure 2-5: MPG pin definition Definition Description Definition Description +24V/200mA Power Ground X Select Input signal Y Select Input signal Z Select Input signal U Select Input signal Input signal Input signal...
  • Page 14 PCI-M114-GH User Manual 2.2.1.4 Manual Pulse Generator Connector CN7 Definition Description Definition Description Power Ground 4V/200mA X Select Input signal Y Select Input signal Z Select Input signal U Select Input signal Input signal Input signal X100 Input signal IOCOM...

  • Page 15: Sta/Stp

    PCI-M114-GH User Manual 4.7K 4.7K Figure 2-7: hand wheel PNP logic circuit 2.3. STA/STP Figure 2-8: STA/STP pin definition (CN201 & CN202 for PCI-M114-GH) Label Description Ground Simultaneous Start Simultaneous Stop Ground Table 2-6: STA/STP pin definition...

  • Page 16: Card Number Switch

    PCI-M114-GH User Manual 2.4. Card Number Switch Figure 2-9: card number switch (RSW1 for PCI-M114-GH)

  • Page 17: Introduction Of The Terminal Board For Pci-M114-Gh

    PCI-M114-GH User Manual 3. Introduction of the Terminal Board for PCI-M114-GH 3.1. 107-T121-GEN Figure 3-1: drawing of 107-T121-GEN Label Function DB Connector DB Connector SCSI 68 pin Connector Power Connector Machinery I/O Signals Connector Reserved I/O Signals Connector Machinery IO Signals Connector...
  • Page 18 PCI-M114-GH User Manual CN3 SCSI 68 pin Label Description Label Description +5V power +5V power EGND External ground EGND External ground OUT+_1 pulse signal (+) OUT+_2 pulse signal (+) OUT-_1 pulse signal (-) OUT-_2 pulse signal (-) DIR+_1 direction signal (+)
  • Page 19 PCI-M114-GH User Manual CN5/ CN7 machinery I/O signals connector Pin Label Description PEL End Limit Signal(+) External Ground(24V) EGND MEL End Limit Signal(-) External Ground(24V) EGND ORG home signal External Ground(24V) EGND SLD ramp-down signal External Ground(24V) EGND EMG CN5( EMG : Emergency signal), CN7( DI: Digital input)
  • Page 20 PCI-M114-GH User Manual CN4 Power input and emergency input signal Pin Label Description 24V +24V Power External Ground EGND 24V +24V Power External Ground EGND CN1/CN2 Pin Label I/O Description Pin Label I/O Description Encoder A phase signal(+) +24V power...

  • Page 21: Series Terminal Layout Drawing For 107-T141 And 107-T121

    12 OUT- Pulse signal(-) Note: the dummy type does not have the encoder interface. If users want to connect the EA, EB, EZ of the servo driver feedback to the controller, please contact TPM for customization. ⚫ DB-T141-DUME dummy type interface board.
  • Page 22 PCI-M114-GH User Manual ⚫ DB-T141-DAA Delta A2 type interface board. DB-T141-DAA Pin Label Description Pin Label Description INP Servo In-position signal 26 EGND External ground 2 EGND External ground 27 EGND External ground DO3 HOME ALM Servo Alarm 4 EGND...
  • Page 23 PCI-M114-GH User Manual ⚫ DB-T141-SAN Sanyo Q Series type interface board. DB-T141-SAN Pin Label Description Label Description NC Reserved DIR+ Dir. Signal(+) NC Reserved DIR- Dir. Signal(-) EA+ Encoder A phase signal(+) OUT+ Pulse signal(-) EA- Encoder A phase signal(-)
  • Page 24 PCI-M114-GH User Manual ⚫ DB-T141-YS2 Yaskawa Sigma II to Sigma V drivers DB-T141-YS2 Pin Label Description Pin Label Description 1 EGND 26 EGND External ground External ground 2 EGND NC Reserved External ground NC Reserved NC Reserved 4 +5V +5V Power...
  • Page 25 PCI-M114-GH User Manual ⚫ DB-T141-PA4 Panasonic A4 Series driver with more than 500k pps input DB-T141-PA4 Pin Label Description Pin Label Description NC Reserved NC Reserved NC Reserved NC Reserved NC Reserved NC Reserved NC Reserved 29 SVON Servo On...
  • Page 26 PCI-M114-GH User Manual ⚫ DB-T141-MJ3 Mitsubishi J3 series driver interface board DB-T141-MJ3 Pin Label Description Pin Label Description NC Reserved NC Reserved NC Reserved NC Reserved 3 EGND 28 EGND External ground External ground EA+ Encoder A phase signal(+) NC Reserved...
  • Page 27 PCI-M114-GH User Manual ⚫ DB-T141-EZS Ezi servo driver interface board DB-T141-EZS Pin Label Description Pin Label Description OUT+ Pulse signal(+) 11 ALM Servo Alarm OUT- Pulse signal(-) INP Servo In-position signal DIR+ Dir. Signal(+) 13 SVON Servo On DIR- Dir. Signal(-)

  • Page 28: Wiring Examples

    PCI-M114-GH User Manual 3.3. Wiring Examples ⚫ For Panasonic Minas A series drivers. Figure 3-2: wiring example for Panasonic A4 series...

  • Page 29: Signal Connection

    PCI-M114-GH User Manual 4. Signal Connection There are 3 groups of signal connection of PCI-M114-GH, Machine I/O, Pulse I/O and Servo Driver I/O interface. They are described in the following sections. 4.1. Machine I/O Interface Signals ◼ PEL and MEL (End Limit / Digital Input Signal) There are two end-limit signals called PEL and MEL for each axis.
  • Page 30 PCI-M114-GH User Manual Note that the command pulse will be stopped when PEL/MEL is active. ◼ ORG (Origin / Digital Input Signal) The origin signals (ORG1~ORG4) are necessary when the position feedback is incremental type or without any feedback encoders. They are used to indicate the origin of the system. Please refer to the following table for detailed information.
  • Page 31 PCI-M114-GH User Manual Figure 4-5: SLD wiring for NPN sink mode Figure 4-6: SLD wiring for PNP source mode ◼ CMP (Position Compare / Output Signal) CMP signals are used to make a comparison between target value and actual value and generate a trigger signal output.
  • Page 32 PCI-M114-GH User Manual Figure 4-8: Response diagram from oscilloscope ◼ LTC (Counter Latch) LTC is used to latch the value in the counter when the LTC input is active. The following table lists the signal names, pin numbers and axis numbers.
  • Page 33 PCI-M114-GH User Manual Figure 4-10: LTC wiring for PNP source mode ◼ DI (Axis Digital Input / Digital Input Signal) Digital input for each axis is shown below. The DI for 1st input is designed for EMG connection. The other inputs are for general purpose of each axis.

  • Page 34: Driver I/O Interface Signals

    PCI-M114-GH User Manual Label Axis Description Label Axis Description DOX/DOZ Axis related DO DOY/DOU Axis related DO Table 4-7: pin definition for DO The signals connections are shown in the following figures. Note that the max output current limit is 20mA.
  • Page 35 Note that the maximum current is 20mA. ◼ SVON(Servo On / Digital Output Signal) SVON is an output signal from PCI-M114-GH and is used to make driver servo-on to hold the motor. Please refer to the following table. Label Axis Description Pin...
  • Page 36 PCI-M114-GH User Manual Figure 4-17: SVON output wiring diagram Note that the maximum current is 20mA. ◼ RDY (Driver Ready Signal / Digital Input Signal) RDY is an input signal and is used to read the RDY signal at servo driver. Please refer to the following table.
  • Page 37 PCI-M114-GH User Manual INP is an input signal at PCI-M114-GH and is used to read the INP status inside servo driver. Please refer to table below for descriptions. Label Axis Description Label Axis Description +24V for NPN, GND for PNP...

  • Page 38: Driver Pulse I/O Interface Signals

    OUT and DIR (Pulse Output Control / Digital Output Signal) There are 6 types of pulse output of PCI-M114-GH. User has to specify the electrical spec. as differential or open collector first. Then select DIR/OUT or CW/CCW. Please refer to the following table for detailed descriptions.
  • Page 39 PCI-M114-GH User Manual Figure 4-24: optocoupler wiring Figure 4-25: TTL receive pattern wiring diagram Note that the maximum output current for OUT and DIR is limited by 20mA. ◼ EA, EB and EZ (Encoder A, B and Z Phase) Please refer to the following table for the encoder input signal descriptions.

  • Page 40: Motionnet Extension Interface

    PCI-M114-GH User Manual Figure 4-26: differential line driver encoder input 4.4. Motionnet Extension Interface Figure 4-27: RS485 extension port Figure 4-28: Motionnet slave module address number settings...

  • Page 41: Pci-M114-Gh Wiring Information

    The wiring between PCI-M114-GH and driver /motor/ machines is categorized into 3 types. Type A: Pulse I/O between PCI-M114-GH and servo driver are CW+, CW-, CCW+ and CCW-. Pulse input from servo driver to PCI-M114-GH are EA+, EA-, EB+, EB-, EZ+ and EZ- respectively.
  • Page 42 PCI-M114-GH User Manual Figure 5-2: function block diagram Panasonic Minas A Yaskawa Sigma II Mitsubishi J2-Super P type PrNo. 42 Pn200.0 P021 CN_I/F pin 3,4, 5, 6 CN1 pin 7, 8, 11, 12 CN1A pin 3, 13, 2, 12 Gear Ratio PrNo.

  • Page 43: Micro Stepping Step Driver / Motor

    Type B: Digital outputs from PCI-M114-GH to machine are CMP and DO. Digital inputs from machine to PCI-M114-GH are PEL, MEL, ORG, SLD and LTC. Type C: Digital inputs from external encoder to PCI-M114-GH are EA+, EA-, EB+, EB-, EZ+ and EZ.

  • Page 44: Motionnet Introduction

    PCI-M114-GH User Manual 6. Motionnet Introduction 6.1. What Is Motionnet? Motionnet is a super high-speed serial communication system. The G9000 devices provide input/output control, motor control, CPU emulation and message communication with high speed serial communications (up to 20Mbps) all of which are required by current Factory Automation techniques. Motionnet always transfers 4 bytes of data in 15.1μsec using cyclic communication to control input and output.

  • Page 45: Advantage Of Motionnet

    PCI-M114-GH User Manual ⚫ Maximum 64 slave devices for each serial line on a master device. Input/output control of up to 256 ports (2048 points), motion control of up to 64 axes, and LSI control of up to 128 devices.
  • Page 46 PCI-M114-GH User Manual Number of local devices Communication cycle Remarks 0.97 ms If all of the local devices connected are I/O devices, 2048 input/output points can be used. If a different number of local devices are connected, or when the communication cycle is interrupted by data communications, refer to the calculation formulas in the user's manual to calculate the time latency.

  • Page 47: Motionnet Product Family

    PCI-M114-GH User Manual 6.4. Motionnet Product Family Figure 6-4: Motionnet product family...

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