PCE-M134-LD User Manual · TPM PCE-M134-LD User Manual 6 1. PCE-M134-LD Introduction The PCE-M134-LD is a motion controller consisting of 4-axis motion controller. It provides position

TPM PCE-M134-LD User Manual

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PCE-M134-LD

PCE-M134-LD User Manual

Version: V1.0 2016Jun01

To properly use the product, read this manual thoroughly is necessary.

Part No.: 81-0213400-010


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Revision History

Date Revision Description

2016/06/01 1.0 Document creation.


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© Copyright 2010 TPM

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.

The names of products and corporations appearing in this manual may or may not be registered trademarks,

and may or may not have copyrights of their respective companies. These names should be used only for

identification or explanation, and to the owners’ benefit, should not be infringed without any intention.

The product’s name and version number are both printed on the product itself. Released manual visions for

each product design are represented by the digit before and after the period of the manual vision number.

Manual updates are represented by the third digit in the manual vision number.

Trademark

MS-DOS and Windows 95/98/NT/2000/XP, Visual Studio, Visual C++, Visual BASIC are registered

trademarks of Microsoft.

BCB (Borland C++ Builder) is registered trademark of Borland.

Other product names mentioned herein are used for identification purposes only and may be trademarks

and/or registered trademarks of their respective companies.


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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. Disconnect all power cables from the existing system

before you add a device.

Before connecting or removing signal cables from motherboard, ensure that all power cables are

unplugged.

Seek professional assistance before using an adapter or extension card. These devices could interrupt the

grounding circuit.

Make sure that your power supply is set to the voltage available in your area.

If the power supply is broken, contact a qualified service technician or your retailer.

Operational safely

Please carefully read all the manuals that came with the package, before installing the new device.

Before use ensure all cables are correctly connected and the power cables are not damaged. If you detect

and damage, contact the dealer immediately.

To avoid short circuits, keep paper clips, screws, and staples away from connectors, slots, sockets and

circuitry.

Avoid dust, humidity, and temperature extremes. Do not place the product in any area where it may

become wet.

If you encounter technical problems with the product, contact a qualified service technician or the dealer.


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Contents

CONTENTS .................................................................................................................................................................................. 5

1. PCE-M134-LD INTRODUCTION ................................................................................................................................................ 6

1.1. FEATURES.................................................................................................................................................................................... 7

1.2. SPECIFICATIONS ............................................................................................................................................................................ 7

1.3. HARDWARE LAYOUT ...................................................................................................................................................................... 8

2. I/O INTERFACE DESCRIPTION .................................................................................................................................................. 9

2.1. 4-AXIS MOTION CONNECTOR CN2 .................................................................................................................................................. 9

2.2. CARD NUMBER SWITCH RSW1 ..................................................................................................................................................... 11

2.3. JUMPER SETTING FOR COMPARE TRIGGER JP300 ............................................................................................................................. 11

3. INTRODUCTION OF THE TERMINAL BOARD FOR PCE-M134-LD ............................................................................................. 12

3.1. 107-T162-DUMG ................................................................................................................................................................... 12

3.1.1. Dimensions .......................................................................................................................................................... 12

3.1.2. 4-Axis Motion Connector CN1 ............................................................................................................................ 14

3.1.3. Power input CN12................................................................................................................................................ 15

3.1.4. Single End or Differential Pulse Output Switch SW1 ......................................................................................... 16

3.1.5. Single End Pulse Output Signals CN21, CN22.................................................................................................... 17

4. SIGNAL CONNECTION ........................................................................................................................................................... 18

4.1. MACHINE I/O INTERFACE SIGNALS ................................................................................................................................................. 18

4.2. DRIVER I/O INTERFACE SIGNALS .................................................................................................................................................... 20

4.3. DRIVER PULSE I/O INTERFACE SIGNALS ........................................................................................................................................... 21

4.4. ISOLATED DIGITAL INPUT CHANNELS INTERFACE ................................................................................................................................ 23

4.5. ISOLATED DIGITAL OUTPUT CHANNELS INTERFACE ............................................................................................................................. 23


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1. PCE-M134-LD Introduction

The PCE-M134-LD is a motion controller consisting of 4-axis motion controller. It provides position

compare and trigger output functions to interface with other applications, like on-the-fly image acquisition.

The PCE-M134-LD provides stepping driver/motor dedicated digital I/O interfaces, for example, ALM and

SVON dedicated digital I/O interfaces, for example, ORG, PEL, and EMG. These dedicated I/O signals

guarantee the functionality via hardware and therefore reduces the loading of software.

The PCE-M134-LD also provides 16/16-ch high-density isolated digital input/output.

Figure 1-1: PCE-M134-LD and supported control devices

107-T162-DUMG

PCE-M134-LD


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1.1. Features

PCI Express x1 compliant

Max. 2.4MHz, 4-Axis pulse output

Linear interpolation

Programmable acceleration and deceleration time

Position compare and trigger output

1.2. Specifications

4-Axis Motion Control

Pulse output mode: ±OUT/DIR, ±CW/CCW

Pulse output rate: Max. 2.4Mpps / Min. 1pps

Home return function

Velocity profiles: T-curve, S-curve

Interpolation mode: linear

Position compare output: CMP x 4, with programmable pulse width

Compare trigger output rate: Max. 100KHz

FIFO buffer for compare trigger positions: 4 axes

1024 points for each axis.

Machine interface: PEL x 4, MEL x 4, ORG x 4, SLD x 4

Servo driver interface: ALM x 4, SVON x 4

Surge Protection: 10KV

IO Isolation Voltage: 2.5KVrms

Output Types: NPN open collector with Darlington transistors

High sink current on isolated output channels (350mA max./ch)

Response Time: On to Off about 50μs, Off to On about 8μs

Input Current: ±10mA (Max)

Input Impedance: 5.6KΩ/0.5W.

Input Types: NPN

Input Voltage: +18V DC ~ +30V DC

I/O pin type: optically isolated with 2.5KVrms on all SCSI 100 pins

General

PCIe Spec.: 1-lane 2.5 Gb/s PCI Express

Power consumption: 3.3V at 430mA, 12V at 55mA typical

Working temperature: 0 to 60℃


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1.3. Hardware Layout

The PCE-M134-LD PCB layout and onboard I/O interfaces are introduced as follows.

Figure 1-2: hardware PCB layout

Figure 1-3: I/O interfaces

Name Description

CN2 4 Axis motion SCSI 100 pins connector.

RSW1 Rotary switch for card number setting.

JP300 Jumper setting for Compare Trigger

Table 1-1: I/O interfaces on PCE-M134-LD

PCE-M134-LD

CN2

RSW1

JP300

CN2


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2. I/O Interface Description

2.1. 4-Axis Motion Connector CN2

Figure 2-1: 100 pin connector for motion

Pin Label I/O 1st / 2nd / 3rd / 4th Description Pin Label I/O 1st / 2nd / 3rd / 4th Description

1 24V +24V / 200mA power input 51 24V +24V / 200mA power input

2 EGND External ground 52 EGND External ground

3 EMG I Emergency signal 53 EMG I Emergency signal

4 MEL_1 I 1st end limit (-) 54 MEL_3 I 3rd end limit (-)

5 PEL_1 I 1st end limit (+) 55 PEL_3 I 3rd end limit (+)

6 ORG_1 I 1st home signal 56 ORG_3 I 3rd home signal

7 SLD_1 I 1st ramp-down signal 57 SLD_3 I 3rd ramp-down signal

8 MEL_2 I 2nd end limit (-) 58 MEL_4 I 4th end limit (-)

9 PEL_2 I 2nd end limit (+) 59 PEL_4 I 4th end limit (+)

10 ORG_2 I 2nd home signal 60 ORG_4 I 4th home signal

11 SLD_2 I 2nd ramp-down signal 61 SLD_4 I 4th ramp-down signal

12 ALM_1 I 1st servo alarm 62 ALM_3 I 3rd servo alarm

13 ALM_2 I 2nd servo alarm 63 ALM_4 I 4th servo alarm

14 SVON_1 O 1st servo on 64 SVON_3 O 3rd servo on

15 CMP_1 O 1st compare output 65 CMP_3 O 3rd compare output

16 SVON_2 O 2nd servo on 66 SVON_4 O 4th servo on

17 CMP_2 O 2nd compare output 67 CMP_4 O 4th compare output

18 N.C. 68 N.C.


20 DI_00 I Digital Input 00 70 DI_08 I Digital Input 08







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28 N.C. 78 N.C.

29 N.C. 79 N.C.

30 DO_00 O Digital Output 00 80 DO_08 O Digital Output 08









39 N.C. 89 N.C.

40 N.C. 90 N.C.

41 DDA 5V DDA 5V power output.

I<100mA 91 DDA 5V

DDA 5V power output.

I<100mA

42 DDA GND Internal 5V ground 92 DDA GND Internal 5V ground

43 DIR+_1 O 1st direction signal (+) 93 DIR+_3 O 3rd direction signal (+)

44 DIR-_1 O 1st direction signal (-) 94 DIR-_3 O 3rd direction signal (-)

45 OUT+_1 O 1st pulse signal (+) 95 OUT+_3 O 3rd pulse signal (+)

46 OUT-_1 O 1st pulse signal (-) 96 OUT-_3 O 3rd pulse signal (-)

47 DIR+_2 O 2nd direction signal (+) 97 DIR+_4 O 4th direction signal (+)

48 DIR-_2 O 2nd direction signal (-) 98 DIR-_4 O 4th direction signal (-)

49 OUT+_2 O 2nd pulse signal (+) 99 OUT+_4 O 4th pulse signal (+)

50 OUT-_2 O 2nd pulse signal (-) 100 OUT-_4 O 4th pulse signal (-)

Table 2-1: SCSI 100-pin definition


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2.2. Card Number Switch RSW1

Figure 2-2: card number switch

2.3. Jumper setting for Compare Trigger JP300

JP300 sets the voltage and maximum frequency of trigger output signal. The output signal voltage may

either be 24V or 5V. The default setting is 24V output.

Figure 2-3: Voltage setting for compare trigger

AXIS X Y Z U

24V

5V

Default


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3. Introduction of the Terminal Board for

PCE-M134-LD

3.1. 107-T162-DUMG

The 107-T162-DUMG is a diversified terminal board for the either differential line driver or open collector

output signal. While choosing 107-T162-DUMG, it is necessary to select the corresponding pin number in

terminal boards in relation to motor drivers.

3.1.1. Dimensions

Figure 3-1: drawing of 107-T162-DUMG

84mm

H: 52mm

123mm


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Figure 3-2: Connectors on 107-T162-DUMG

Label Function

CN1 SCSI 100 pin Connector

CN2 ~ CN11 Corresponding to SCSI 100 one by one

CN12 Power Connector

CN21 Single End Pulse Output Connector

CN22 Single End Pulse Output Connector

SW1 Single End or Differential Pulse Output Switch

Table 3-1: I/O interfaces on 107-T162-DUMG


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3.1.2. 4-Axis Motion Connector CN1

Figure 3-3: 100 pin connector for motion




3 EMG I Emergency signal 53 EMG I Emergency signal

4 MEL_1 I 1st end limit (-) 54 MEL_3 I 3rd end limit (-)

5 PEL_1 I 1st end limit (+) 55 PEL_3 I 3rd end limit (+)

6 ORG_1 I 1st home signal 56 ORG_3 I 3rd home signal

7 SLD_1 I 1st ramp-down signal 57 SLD_3 I 3rd ramp-down signal

8 MEL_2 I 2nd end limit (-) 58 MEL_4 I 4th end limit (-)

9 PEL_2 I 2nd end limit (+) 59 PEL_4 I 4th end limit (+)

10 ORG_2 I 2nd home signal 60 ORG_4 I 4th home signal

11 SLD_2 I 2nd ramp-down signal 61 SLD_4 I 4th ramp-down signal

12 ALM_1 I 1st servo alarm 62 ALM_3 I 3rd servo alarm

13 ALM_2 I 2nd servo alarm 63 ALM_4 I 4th servo alarm

14 SVON_1 O 1st servo on 64 SVON_3 O 3rd servo on

15 CMP_1 O 1st compare output 65 CMP_3 O 3rd compare output

16 SVON_2 O 2nd servo on 66 SVON_4 O 4th servo on

17 CMP_2 O 2nd compare output 67 CMP_4 O 4th compare output

18 N.C. 68 N.C.










28 N.C. 78 N.C.

29 N.C. 79 N.C.



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39 N.C. 89 N.C.

40 N.C. 90 N.C.

41 DDA 5V DDA 5V power output.

I<100mA 91 DDA 5V

DDA 5V power output.

I<100mA

42 DDA GND Internal 5V ground 92 DDA GND Internal 5V ground

43 DIR+_1 O 1st direction signal (+) 93 DIR+_3 O 3rd direction signal (+)

44 DIR-_1 O 1st direction signal (-) 94 DIR-_3 O 3rd direction signal (-)

45 OUT+_1 O 1st pulse signal (+) 95 OUT+_3 O 3rd pulse signal (+)

46 OUT-_1 O 1st pulse signal (-) 96 OUT-_3 O 3rd pulse signal (-)

47 DIR+_2 O 2nd direction signal (+) 97 DIR+_4 O 4th direction signal (+)

48 DIR-_2 O 2nd direction signal (-) 98 DIR-_4 O 4th direction signal (-)

49 OUT+_2 O 2nd pulse signal (+) 99 OUT+_4 O 4th pulse signal (+)

50 OUT-_2 O 2nd pulse signal (-) 100 OUT-_4 O 4th pulse signal (-)

Table 3-2: SCSI 100-pin definition

3.1.3. Power input CN12

Pin Label Description

1 24V +24V Power

2 EGND External Ground

3 FG Frame Ground

Table 3-3: Power input pin definition

1 3


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3.1.4. Single End or Differential Pulse Output Switch SW1

Label Label Description On Off

8 DX S.E./DIFF. switch for 1st direction signal S.E. DIFF.

7 OX S.E./DIFF. switch for 1st pulse signal S.E. DIFF.

6 DY S.E./DIFF. switch for 2nd direction signal S.E. DIFF.

5 OY S.E./DIFF. switch for 2nd pulse signal S.E. DIFF.

4 DZ S.E./DIFF. switch for 3rd direction signal S.E. DIFF.

3 OZ S.E./DIFF. switch for 3rd pulse signal S.E. DIFF.

2 DU S.E./DIFF. switch for 4th direction signal S.E. DIFF.

1 OU S.E./DIFF. switch for 4th pulse signal S.E. DIFF.

*Default setting is off.

Table 3-4: Pulse Output switch definition


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3.1.5. Single End Pulse Output Signals CN21, CN22


1 5V +5V power out

2 DIRXH 1st direction signal with 4.7K ohm

3 DIRX 1st direction signal with 220 ohm

4 OUTXH 1st pulse signal with 4.7K ohm

5 OUTX 1st pulse signal with 220 ohm

6 DIRYH 2nd direction signal with 4.7K ohm

7 DIRY 2nd direction signal with 220 ohm

8 OUTYH 2nd pulse signal with 4.7K ohm

9 OUTY 2nd pulse signal with 220 ohm

10 DGND +5V Ground


1 5V +5V power out

2 DIRZH 3rd direction signal with 4.7K ohm

3 DIRZ 3rd direction signal with 220 ohm

4 OUTZH 3rd pulse signal with 4.7K ohm

5 OUTZ 3rd pulse signal with 220 ohm

6 DIRUH 4th direction signal with 4.7K ohm

7 DIRU 4th direction signal with 220 ohm

8 OUTUH 4th pulse signal with 4.7K ohm

9 OUTU 4th pulse signal with 220 ohm

10 DGND +5V Ground

Table 3-5: Single End Pulse Output pin definition

1

10


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4. Signal Connection

There are 3 groups of signal connection of PCE-M134-LD, 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. Usually they are Normal-Close type

signals from external sensors. PEL indicates the limit of motion in the plus direction and MEL indicates the

limit of motion in the minus direction.

The signals connections are shown in the following figures.

Figure 4-1: PEL and MEL wiring for NPN sink mode

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.


Figure 4-2: ORG wiring for NPN sink mode

1

2

4

3

4.7K

COM

NPN

GND

24V

Internal Curcuit

5mA

1

2

4

3

4.7K

COM

NPN

GND

24V

Internal Curcuit

5mA


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SLD (Slow Down / Input Signal)

The SLD signals are used to help the axis decelerate to stop by hardware.


Figure 4-3: SLD wiring for NPN sink 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.


Figure 4-4: CMP output signal circuit

1

2

4

3

4.7K

COM

NPN

GND

24V

Internal Curcuit

5mA

CMP

6

5

43

1

5V

1K

GND

Internal Curcuit

1K5V

LEDTTL

GPIO

5mA

CMP output signal circuit


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4.2. Driver I/O Interface Signals

ALM (Servo Alarm / Digital Input Signal)

ALM- input signal from ALM signal at servo driver. Servo driver will issue ALM output when it is under

abnormal operation or over-loading.


Figure 4-5: ALM wiring for NPN sink mode

Note that when ALM is active and enabled, PCE-M134-LD will stop pulse output.

SVON(Servo On / Digital Output Signal)

SVON is an output signal from PCE-M134-LD and is used to make driver servo-on to hold the motor.


Figure 4-6: SVON output wiring diagram

Note that the maximum current is 20mA.

ALM , INP , RDY

1

2

4

3

1K5V

NPN

GNDInternal Curcuit

5mA

1

2

4

3GND

24V1

2 3

4

4.7K

Internal Curcuit

5mA


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4.3. Driver Pulse I/O Interface Signals

OUT and DIR (Pulse Output Differential Control)

There are 6 types of pulse output of PCE-M134-LD. User has to specify the electrical spec. as differential or

open collector first. Then select DIR/OUT or CW/CCW. The signals connections are shown in the following

figures.

Pin Label Function Pin Label Function

43 DIR+_1 1st direction signal (+) 45 OUT+_1 1st pulse signal (+)

44 DIR-_1 1st direction signal (-) 46 OUT-_1 1st pulse signal (-)

Figure 4-7: Signal circuit of DIFF. pulse out

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2

AM26C31

OUT-

OUT+

Internal Curcuit

13

2

AM26LS32

13

2

AM26C31

OUT-

OUT+

Internal Curcuit

TTL

200

GND GND

20mA

TTL Receive pattern wiring

20mA

13

2

AM26C31

OUT-

OUT+

Internal Curcuit

6

5

43

1

100

100

20mA

Differential line driver output

Optocoupler wiring


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OUT and DIR (Pulse Output Single Ended Control)

CN21 and CN22 provide a single ended pulse output interface for stepping motor driver.

The resistance of the output interface depends on the setting of switch “SW1”.

CN21 Label Function

DIRXH 1st direction signal with 4.7K ohm

DIRX 1st direction signal with 220 ohm

OUTXH 1st pulse signal with 4.7K ohm

OUTX 1st pulse signal with 220 ohm

Figure 4-8: Signal circuit of S.E. pulse out


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4.4. Isolated Digital Input Channels Interface

Input signal circuit in SINK mode (NPN) is illustrated as follows

Figure 4-9: Signal circuit of input NPN

4.5. Isolated Digital Output Channels Interface

Output signal circuit in SINK mode (NPN) is illustrated as follows

Figure 4-10: Signal circuit of Output NPN

Documents

PCE-M134-LD User Manual · TPM PCE-M134-LD User Manual 6 1. PCE-M134-LD Introduction The PCE-M134-LD is a motion controller consisting of 4-axis motion controller. It provides position