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PCI Bus CPD Board Series
HPCI-CPD553
User's Manual <Hardware>
NC Board
Multifunctional High-Speed Circular/Linear Interpolation and Positioning
Hivertec,inc.
http://www.hivertec.co.jp/
..
This manual is for HPCI-CPD553.
It is prohibited to reprint or copy all or any part of this manual or programs without prior written permission.
The contents of this manual are subject to change without notice to enable improvements to be made.
Please notify us -- or your sales representative if you have purchased our products via your sales representative -- for this
product if you find any concerns with the contents of this manual.
Company and product names are the trademarks or registered trademarks of their respective companies.
Hivertec Inc.
Mitsuiseimei Shin-Ohashi Bldg.
1-8-11 Shin-Ohashi, Koto-Ku, Tokyo 135-0007, Japan
TEL +81-3-3846-3801
FAX +81-3-3846-3773
Version 5.03 Janualy 18, 2016
Copyright Hivertec Inc.
CONTENTS
Please read first ............................................................................................................................................... 1
Extent of Warranty..................................................................................................................................... 1
Limitations to Liability ................................................................................................................................ 1
Important Safety Instructions ..................................................................................................................... 1
Authorized For ...................................................................................................................................... 2
Compatible Bus .................................................................................................................................... 2
Environmental Conditions ..................................................................................................................... 2
Transportation and Installation ............................................................................................................. 3
Wiring ................................................................................................................................................... 4
Disposal ................................................................................................................................................ 4
Manual Configuration ................................................................................................................................ 5
Terms and Names appearing in this Manual ............................................................................................. 6
1. Introduction ............................................................................................................................................... 7
1.1 Model Options at Purchase ....................................................................................................................... 7
1.2 Axes Names .............................................................................................................................................. 7
1.3 Block Diagram ......................................................................................................................................... 8
2. Board Settings ........................................................................................................................................... 9
2.1 Setting Positions ....................................................................................................................................... 9
2.2 Board ID .................................................................................................................................................... 9
2.3 Encoder Input Circuit Format .................................................................................................................... 9
3. External Connections .............................................................................................................................. 10
3.1 Command Pulse Output and Connection to Drivers ................................................................................ 10
3.2 Axis Sensor and Servo Interface Input Circuit ......................................................................................... 11
3.3 Encoder Input Circuits ............................................................................................................................. 12
3.4 Servo Interface ........................................................................................................................................ 13
3.5 Generic Input ........................................................................................................................................... 13
3.6 Generic Output ........................................................................................................................................ 13
3.8 Connector Signals ................................................................................................................................... 15
3.8.1 J1 connector (Panel surface) ................................................................................................................. 15
3.8.2 J2 Connector (on Board) ....................................................................................................................... 16
4. Board Specifications................................................................................................................................ 17
4.1 Board Specifications................................................................................................................................ 17
4.2 Combination between Axes ..................................................................................................................... 18
5. Accessories ............................................................................................................................................. 19
5.1 ACB-PPD553 (MIL Type Connector Board) ............................................................................................ 19
5.1.1 Shape and dimensions .................................................................................................................. 19
5.1.2 Connector model ........................................................................................................................... 20
5.1.3 Connector table ............................................................................................................................. 20
5.1.4 Connection configuration ............................................................................................................... 22
5.1.5 ACB-PPD553 circuit diagram......................................................................................................... 23
5.2 ACB-MDR100 (Terminal Block Type Relay Connector Board) ............................................................... 25
5.2.1 Shape and dimensions .................................................................................................................. 25
5.2.2 Connector model ........................................................................................................................... 25
Please be sure to read the "Please read first" section
carefully before using the product.
5.3 HPCI-CPD553 Connection Cable ........................................................................................................... 26
5.3.1 HCL-018 ........................................................................................................................................ 26
5.3.2 HCL-018W ..................................................................................................................................... 26
5.3.3 HCL-018Y ...................................................................................................................................... 26
5.3.4 HCL-018 pin assignment ............................................................................................................... 27
5.3.5 HCL-018Y pin assignment ............................................................................................................. 28
6. Revision History ...................................................................................................................................... 29
Table of Figures
Figure 1.3-1 Block diagram...................................................................................................................................... 8
Figure 2.1-1 Setting positions .................................................................................................................................. 9
Table 3.1-1 Command pulse output and connection to drivers ............................................................................. 10
Table 3.2-2 Axis sensor and servo interface input circuits ..................................................................................... 11
Table 3.3-1 Encoder input circuits ......................................................................................................................... 12
Table 3.4-1 Servo interface output circuits ............................................................................................................ 13
Figure 3.5-1 Generic input circuit ........................................................................................................................... 13
Figure 2.3-6 Generic output circuit ........................................................................................................................ 13
Table 3.7-1 J1 connector signal table .................................................................................................................... 15
Table 4.1-1 Board specifications ........................................................................................................................... 18
Table 5.1-1 Accessories: Relay connector boards and cables .............................................................................. 19
Figure 5.1-1 ACB-PPD553/M* straight connector type (Left) Right-angle connector type (Right)....................... 19
Table 5.1-2 ACB-PPD553 connector models ........................................................................................................ 20
Figure 5.1-2 ACB-PPD553 connector types .......................................................................................................... 22
Figure 5.2-1 ACB-MDR100/Mx straight connector type (Left) Right-angle connector type (Right) ........................ 25
Figure 5.2-2 ACB-MDR100/MS(D) dimensions ..................................................................................................... 25
Table 5.2-3 ACB-MDR100 connector model ......................................................................................................... 25
Figure 5.3-1 HCL-018 cable .................................................................................................................................. 26
Figure 5.3-2 HCL-018W cable ............................................................................................................................... 26
Figure 5.3-3 HCL-018Y cable ................................................................................................................................ 26
Table 5.3-1 HCL-018 cable pin assignment .......................................................................................................... 27
Figure 5.3-4 HCL-018Y cable pin assignment ....................................................................................................... 28
Table 6.1-1 Revision history .................................................................................................................................. 29
1
Please read first
Extent of Warranty
1. The product warranty is valid for a period of three years from the date of purchase. If a defect is
acknowledged by Hivertec within the period of warranty, Hivertec will repair or replace the product upon
return of the product to Hivertec.
2. Hivertec is not responsible beyond the purchase price of the product for any damages or loss of profit,
direct, indirect, or secondary, caused by application, delivery, or failure of a Hivertec product either within
or outside of the period of warranty.
Limitations to Liability
1. Hivertec is not responsible for any damages resulting from product installation, connections, settings, or
operation that do not follow the contents of this manual.
2. This product uses semiconductor devices manufactured for general electronics equipment, such as
machine tools, instrumentation, measurement hardware, FA devices, OA devices, and communications
equipment. They are not designed, conceived, approved for, or warranted for application in devices for
which faulty operation or failure will have a direct effect on human life or result in personal injury or damage
to property, such as medical equipment, traffic equipment, burning appliances, or safety devices.
The safety, quality, and performance of the products are not guaranteed explicitly or implicitly beyond those
given in this manual or related catalogs.
3. Hivertec is not responsible for any damages resulting from modifications or repairs made to the product
without the approval of Hivertec either within or outside of the period of warranty.
The contents of this manual do not guarantee or grant rights to patents, copyright, trademark rights, or any
other rights to the intellectual property of Hivertec or any third party.
Hivertec is not responsible for any problems that may occur concerning the rights to intellectual property
of third parties resulting from the application of information provided in this manual.
Important Safety Instructions
Thank you for choosing this product. This manual contains information that is important for the safe and reliable
operation of this product. Read this section and understand the information contained before attempting to use
the product.
Furthermore, save this manual and store it in an easily accessible location near the installed product, so that it
can be referenced when necessary.
Safety Precautions
Always read this manual and any attached documents completely before attempting to use this product. Be sure that you understand the information provided and are using the product correctly. Do not use the product before having a complete understanding of the product, product safety information, and precautions. In this manual, safety precautions are classified as either Warnings or Cautions.
Warning
Indicates a potentially hazardous situation which, if not avoided, could result in
death or serious injury.
Caution
Indicates a potentially hazardous situation which, if not avoided, may result in
minor or moderate injury, or property damage.
2
Authorized For
Caution
This product and this manual are designed for those with the following knowledge.
• A basic knowledge for installing and wiring expansion boards.
• A basic knowledge of electronic control devices and personal computers.
Compatible Bus
Warning
This product is a board compatible with PCI Local Bus Specification Rev.2.1 (+5V specification). Only use it in an environment in which PCI Local Bus Specification Rev.2.1 (+5V specification can operate.
Environmental Conditions
Warning
Store and use this product only under the following environmental conditions.
Ambient operating temperature: 0 to +50C Ambient operating humidity: 20% to 85% (with no condensation)
Ambient storage temperature: -15 to +75C Ambient storage humidity: 10% to 90% (with no condensation) Atmosphere: No corrosive gas, inflammable gas, oil mist, or dust Altitude: 3,000 m above sea level max. (Lower upper level of temperature
range by 2C for every 300 m.)
3
Transportation and Installation
Warning
Touch a metal object to discharge static electricity from your body before touching this product. Static electricity may cause a failure of the product. Do not wrap the product in any wrapping material that easily carries a static charge, such as bubble wrap. Static electricity may cause a failure of the product. Do not touch the edge connector on the product. Contamination on the edge connector may cause an operating error. Do not place any heavy object on the product. A heavy object may damage components on the product, possibly causing a failure of the product.
Set the jumpers (switches) on the product before installing to the computer. If the jumpers
(switches) are set with the power supply turned ON, the settings may not be recognized
correctly, possibly causing an operating error.
Set the jumpers (switches) on the product correctly. Incorrect settings may cause an
operating error.
Always turn the power supply of the computer OFF and disconnect the power supply cable before installing the product. Installing the product without removing the power supply cable may cause a failure, or the device may exhibit an unexpected operation.
When installing this product to the computer, make sure the board is straight to the
connector in the computer and press in the board so that the gold-plated edge connector
is deeply inserted into the PCI connector. If the board is inserted at an angle or not inserted
deeply enough, poor contact may cause an operating error or product damage.
When installing this product to the computer, be sure to securely fix the mounting hardware
(brackets) using screw. Improper securing of the board may cause an operating error.
Caution
Do not drop the product or handle it roughly. Vibration or shock may cause a failure. Do not touch the solder surface of the product with your hands. Sharp points on the components may cause injury.
4
Wiring
Warning
Turn the power supply to the computer OFF and disconnect the power supply cable before
wiring connectors to exterior lines, or before connecting or disconnecting such connectors.
Installing the product without removing the power supply cable may cause a failure.
Furthermore, the device may exhibit an unexpected operation.
When wiring connectors to exterior lines, check the connector signal tables carefully and
wire all lines correctly. Incorrect wiring may cause a failure or burning.
Always keep external power supply within ratings. Using a power supply that is not within
ratings may cause a failure, burning, or operating error.
Always keep circuits connected to the I/O circuits within the rated currents and voltages.
Using a power supply that is not within ratings may cause a failure, burning, or operating
error.
Use the recommended connectors for external lines. Using any other connector may cause
an operating error because of faulty contact.
Always lock connectors for external lines. A connector that is not locked may come loose,
possibly causing an operating error because of faulty contact.
Do not pull on or place heavy objects on cables for external wiring. The connector may
come loose and faulty contact may cause an operating error.
Separate cables for external wiring as far as possible from AC power cables, motor cables,
or other cables that generate excessive noise. Noise may cause an operating error.
Disposal
Warning
Abide by all applicable laws and ordinances when disposing of the product.
5
Manual Configuration
Manuals for the CPD Series are composed of the following 4 documents.
(1) CPD Series User’s Manual <Introduction>
(2) CPD Series User’s Manual <Operation>
(3) User’s Manual <Hardware>
(4) User’s Manual <Software> (Windows version provided as standard. DOS version provided on
request)
The contents of each manual are listed below.
CPD Series User’s Manual <Introduction> CPD Series User’s Manual <Operation>
-For All Developers -Primarily for Software Developers
CPD Series Overview Installation Trial Operation Glossary
Basic Operation Special Operations
User’s Manual <Hardware> User’s Manual <Software>
-Primarily for Wiring Personnel -Primarily for Software Developers
Product Specification, Options at Purchase
Block Diagram Connection Configuration Board Settings External Connections Accessories (Relay Connector Board, Connection Cable, etc.) Examples of Connection with Servo
Amplifiers of Various Companies
Software Overview Library Functions Driver Functions Sample Program Information on Ports
6
Terms and Names appearing in this Manual
1. The axes are named X, Y, Z, U, V, W, A, and B.
2. As for input/output description in this manual of various kinds, about which axis is clearly
specified.
Example:XCWP (CW : pulse output+ for X-axis)
3. Abbreviations appearing in this Manual here after
ELS End Limit Sensor (XELS : End Limit Sensor of X-axis)
DLS Deceleration Sensor (YDLS : Deceleration Sensor of Y-axis)
OLS Origin Sensor (ZOLS : Origin Sensor of Z-axis)
CMP Comparator coincident output (CMPX : Comparator output
of X-axis)
INPOS In-position
SVALM Servo Alarm (XSVALM : Servo Alarm of X-axis)
SVCTRCL Servo Error Counter Clear (YSVCTRCL : Servo Error
Counter Clear for Y-axis)
EXTPOW External Power Supply
EXTGND External Ground
EMG Master stop request
(eventually abbreviated for full stop of each 4-axis, that is
from X to U and from V to B)
(This is not the “Emergency Stop” as a hardware device.)
DSW Dip Switch
SYNCA Syncronized Connection for Interboard master slave
connection for CW pulse
SYNCB Syncronized Connection for Interboard master slave
connection for CCW pulse
AP encoder phase-A input+(Positive) (XAP : encoder phase-
A input+ for X-axis)
AN encoder phase-A input-(Negative) (XAN : encoder phase-
A input- for X-axis)
TTL Transistor Transistor Logic
4. As for Status
Please refer to the "User’s Manual <Operation>" and "<Software>" such as describe below.
Example:ERST, MSTS, RSTS
7
1. Introduction
This manual describes the HPCI-CPD553, a PCI bus compatible, 3-axis interpolation and positioning CPD
series board with general-purpose insulated input/output. In this manual, HPCI-CPD553 is referred to as
CPD553.
As for control LSIs such as the PCL6045, they are generically referred to as PCL.
1.1 Model Options at Purchase
The following are options to be specified at the time of purchase.
(1) External power supply voltage
Change of the standard 24V to 12V.
[Model]
HPCI-CPD553/EXP1□2△3○
□ = C: 12V EXTPOW1 specification
△ = C: 12V EXTPOW2 specification
△ = C: 12V EXTPOW3 specification
Note: Specify the above-described code only for required options, and shift the option specification string
to the left for any empty character space created as a result of not specifying an option code.
[Example of model specification]
HPCI-CPD553/EXP1C
EXTPOW1 (generic input/output) power: 12V specification
1.2 Axes Names
The axes are named X, Y, and Z.
8
1.3 Block Diagram
Figure 1.3-1 Block diagram
J1
PCIBUS
LocalBusI/F
PCL
X
Y
Z
U
Buffer
PhotoIsorator
Filter&
Buffer
WaveCompensation
Buffer
PhotoIsorator
Filter&
Buffer
WaveCompensation
PCL(X,Y,Z)
PhotoIsorator
Filter&
Buffer
PCL(X,Y,Z)
PhotoIsoratorBuffer Driver
OptionPort
(Register)
PhotoIsorator
PhotoIsorator
PhotoIsorator
PhotoIsorator
Commad Pulse XCWP,XCWN XCCWP,XCCWN
Limit Sensor ±XELS <XDLS/XPCS> XOLS
Encoder XZ,XA,XB
Buffer Driver
Buffer Driver
Filter&
Buffer
Filter&
Buffer
Commad Pulse ZCWP,ZCWN ZCCWP,ZCCWN
Limit Sensor ±ZELS <ZDLS/ZPCS> ZOLS
Encoder ZZ,ZA,ZB
SVALM(X,Y,Z) INPOS (X,Y,Z)
SVON (X,Y,Z) SVRST (X,Y,Z) SVCTRCL(X,Y,Z)
OUT 1~8
OUT 9~12 OrIN 13~16
IN 1~12
INT
9
5
251 2 1
99 1
0049
50
XABZ
1 2 3
YABZ
ZABZ
F
BA CDE
65
7
8
9
10234
BDID
2. Board Settings
2.1 Setting Positions
On the board, there are two types of settings to configure: the board ID and encoder circuit format.
The board ID is used as board group in the application program when there are two or more boards.
Encoder circuit format Board ID
Figure 2.1-1 Setting positions
2.2 Board ID
Selects the ID (can be set in the range of 0 to 15) to identify the board when using two or more. Set it with the rotary switch located in the lower right corner of the board.
2.3 Encoder Input Circuit Format
Select the input circuit depending on the encoder circuit (differential or open collector).
The input circuit is set to differential connection by factory default.
F
BA CDE65
7
8
9
10234
BDID
XABZ
1 2 3
YABZ
ZABZ
Z軸
Y軸
X軸A相B相Z相
A相B相Z相A相B相Z相
(2-3ジャンパ時)差動接続
(1-2ジャンパ時)オープンコレクタ接続
Z-axis
Y-axis
X-axis
Phase-Z Phase-B Phase-A
Phase-Z Phase-B Phase-A
Phase-Z Phase-B Phase-A
(When pins 2 and 3 are connected by a jumper) Differential connection (When pins 1 and 2 are connected by a jumper) Open collector connection
10
3. External Connections
3.1 Command Pulse Output and Connection to Drivers
The following table shows the output circuit conditions.
No. Item Contents
1
Ele
ctr
ical
conditio
ns
Output pulse driver Output pulse width
Differential output driver (26LS31 or equivalent) Up to 2.4Kpps 200µs width 2.4Kpps to 4.9Mpps duty: approximately 50% Note that it can go below 50% depending on the register setting. More than 4.9Mpps 50ns width
2
Sig
nal ty
pe
Individual pulse method
Direction and pulse train method
3
Connectio
n to m
oto
r driver
Connection to differential input driver
Connection to driver of a photo-coupler input
When the driver side guarantees differential input
Connection to driver of a TTL input
"x" in the table above indicates axis name.
Table 3.1-1 Command pulse output and connection to drivers
Note: Make sure that the speed and cable length are appropriate when the motor driver is not on the
differential input.
The standard is 500Kpps (cable length: 3m) for drivers with photo-coupler input, and 250Kpps (cable
length: 1m) for those with TTL input.
Also, make sure to check the motor driver input circuit specifications before using.
CWP端子
CWN端子
CCWP端子
CCWN端子
0V
0V
0V
0V
CWP端子
CWN端子
CCWP端子
CCWN端子
0V
0V
0V
0V
GND GND
xCWP
xCWN
xCCWP
xCCWN
GND
CPD側 ドライバ側
xCWP
xCWN
xCCWP
xCCWN
GND
GND
GND
GND
R
R
外部電源+5VCPD側 ドライバ側
RxCWP
xCWN
GND
(片側のみ表示)
CPD側 ドライバ側
GNDGND
xCWP
xCWN
GND
GND
GND
R
(片側のみ表示)
CPD側 ドライバ側+5V
CWP pin
CWN pin
CCWP pin
CCWN pin
CWP pin
CWN pin
CCWP pin
CCWN pin
CPD side Driver side
Driver side CPD side
External power supply
CPD side Driver side
Driver side CPD side
Only one side shown
Only one side shown
11
3.2 Axis Sensor and Servo Interface Input Circuit
The following table shows the input circuits.
No. Item Contents
1
Cir
cu
it f
orm
at
±xELS, xDLS, and xOLS (common)
R
4.7k
EXTPOW2端子(+24V入力)
入力端子(±xELS,xDLS,xOLS)
EXTPOW2: External power supply, standard 24V, input pin
2
Cir
cu
it f
orm
at
xINPOS, xSVALM (common)
R
4.7k
EXTPOW3端子(+24V入力)
入力端子(xINPOS,xSVALM)
EXTPOW3: External power supply, standard 24V, input pin
3
Po
lari
ty s
ett
ing
Polarities of ±xELS, xDLS, xOLS, xINPOS, and xSVALM
Normal open: detects when the current is ON on a photo-coupler
Normal close: detects when the current is OFF on a photo-coupler
Polarity setting
±xELS ELS is set from the option port
xDLS, xOLS, DLS, OLS, INPOS, and SVALM are set by PCL.RENV1
xINPOS, xSVALM (See User's Manual <Operation>)
4
Exte
rna
l co
nne
ctio
n
Photo sensor input 4.7k
EXTPOW2 or EXTPOW3
入力端子
External power+24V
+
-
OUT
Sensor
CPD側
Limit switch input
4.7k入力端子
External power+24V
CPD側
Switch
EXTPOW2 or EXTPOW3
"x" in the table above indicates axis name.
Table 3.2-2 Axis sensor and servo interface input circuits
EXTPOW2 pin
+24V input
Input pin
EXTPOW3 pin
+24V input
Input pin
Input pin
CPD side
CPD side
Input pin
12
3.3 Encoder Input Circuits
The following table shows the input circuit conditions.
No. Item Contents
1 Encoder input circuit format
2 Phase advancement/delay
setting for phase-A/B (See User's Manual <Common>)
3
Differential connection
Open collector connection (when using the internal +5V)
"x" in the table above indicates axis name.
Table 3.3-1 Encoder input circuits
180
270xAP,xBP,xZP
3
2
1+5V
270
xAN,xBN,xZN
Pn
180
270
3
2
1+5V270
CPD側 エンコーダ側
xAP,xBP,xZP
xAN,xBN,xZN
Pn
180
270
3
2
1+5V
270
GNDGND
CPD側 エンコーダ側
xAP,xBP,xZP
xAN,xBN,xZN
Pn
CPD side Encoder side
Encoder side CPD side
13
3.4 Servo Interface
The following table shows the output circuit conditions.
No. Item Contents
1
Driver circuit format xSVON xSVRST xSVCTRCL
EXTPOW3
xSVON,xSVRST,xSVCTRCL
EXTGND3
Rated load voltage: DC12V to DC24V Working load current: 80mA or less / one unit SVON for all axes, SVRST for all axes: Six pins in total Total load current: 400mA or less
2 Output logic level (Fixed polarity)
When port output is '1', xSVON, xSVRST, and xSVCTRCL are ON.
3 External connection
EXTPOW3
xSVON,xSVRST,xSVCTRCL
EXTGND3
External power+24V
R
CPD Driver
Table 3.4-1 Servo interface output circuits
3.5 Generic Input
The following figure shows the input circuit of this board.
Power to the switch
(sensor) is supplied
from an external power
source.
Standard input from external
power supply is 24V.
Figure 3.5-1 Generic input circuit
(When inputting 12V, the jumper pad must be short-circuited (soldered))
3.6 Generic Output
The following figure shows the output circuit of this board.
The output circuit
cannot be
converted to 5V
output.
Figure 2.3-6 Generic output circuit
EXTGND1
EXTPOW1
IN
820_OHM
2.2K_OHM2.2K_OHM
ジャンパパッド
外部電源(DC24V)
EXTPOW1
負荷外部電源(DC24V)
OUT
トランジスタ
33K_OHM
外部電源(24V)
Jumper pad
Transistor
External power supply
(DC 24V)
External power supply
(DC 24V)
External power supply (DC 24V)
Load
14
3.7 J2 Connector
By connecting the J2 connector to each other by a dedicated cable, it is available for simultaneous start-stop
across the board.
The timing output of the comparator conditions are satisfied was taken out of the J2 connector, it is available to
use in external (visual capture timing, the dispenser ON/OFF timing, etc.)
■ Connector Position
■STA/STP/CMP Circuit Format
TTL Output
Rated load voltage DC5V
1 9
2 10
STA/STP/CMP
15
3.8 Connector Signals
3.8.1 J1 connector (Panel surface) Pin No. Signal Pin No. Signal
1 +5V output 51 +5V output
2 GND 52 GND
3 XCWP (CW pulse output+ / Pulse output) 53 YCWP (CW pulse output+ / Pulse output)
4 XCWN (CW pulse output- / Pulse output) 54 YCWN (CW pulse output- / Pulse output)
5 XCCWP (CCW pulse output+ / Direction signal) 55 YCCWP (CCW pulse output+ / Direction signal)
6 XCCWN (CCW pulse output- / Direction signal) 56 YCCWN (CCW pulse output- / Direction signal)
7 ZCWP (CW pulse output+ / Pulse output) 57 ZCCWP (CCW pulse output+ / Direction signal)
8 ZCWN (CW pulse output- / Pulse output) 58 ZCCWN (CCW pulse output- / Direction signal)
9 XAP (encoder phase-A input+) 59 YAP (encoder phase-A input+)
10 XAN (encoder phase-A input-) 60 YAN (encoder phase-A input-)
11 XBP (encoder phase-B input+) 61 YBP (encoder phase-B input+)
12 XBN (encoder phase-B input-) 62 YBN (encoder phase-B input-)
13 XZP (encoder phase-Z input+) 63 YZP (encoder phase-Z input+)
14 XZN (encoder phase-Z input-) 64 YZN (encoder phase-Z input-)
15 ZAP (encoder phase-A input+) 65 ZZP (encoder phase-Z input+)
16 ZAN (encoder phase-A input-) 66 ZZN (encoder phase-Z input-)
17 ZBP (encoder phase-B input+) 67 GND
18 ZBN (encoder phase-B input-) 68 GND
19 XSVALM (servo alarm input) 69 YSVALM (servo alarm input)
20 XINPOS (end of positioning input) 70 YINPOS (end of positioning input)
21 XSVON (servo ON output) 71 YSVON (servo ON output)
22 XSVRST (servo reset output) 72 YSVRST (servo reset output)
23 XSVCTRCL (servo error counter clear) 73 YSVCTRCL (servo error counter clear)
24 ZSVALM (servo alarm input) 74 ZSVON (servo ON output)
25 ZINPOS (end of positioning input) 75 ZSVRST (servo reset output)
26 Input0 / CMP0 76 ZSVCTRCL (servo error counter clear)
27 EXTGND3 (+24V common) 77 EXTGND3 (+24V common)
28 EXTPOW3 (+24V input) 78 EXTPOW3 (+24V input)
29 +XELS (CW stroke-end-limit sensor input) 79 +YELS (CW stroke-end-limit sensor input)
30 -XELS (CCW stroke-end-limit sensor input) 80 -YELS (CCW stroke-end-limit sensor input)
31 XDLS (deceleration sensor input) 81 YDLS (deceleration sensor input)
32 XOLS (origin sensor input) 82 YOLS (origin sensor input)
33 +ZELS (CW stroke-end-limit sensor input) 83 ZDLS (deceleration sensor input)
34 -ZELS (CCW stroke-end-limit sensor input) 84 ZOLS (origin sensor input)
35 Input1 / CMP1 85 Reserved
36 EXTPOW2 (+24V input) 86 EXTPOW2 (+24V input)
37 IN1 (generic input 1) 87 OUT1 (generic output 1)
38 IN2 (generic input 2) 88 OUT2 (generic output 2)
39 IN3 (generic input 3) 89 OUT3 (generic output 3)
40 IN4 (generic input 4) 90 OUT4 (generic output 4)
41 IN5 (generic input 5) 91 OUT5 (generic output 5)
42 IN6 (generic input 6) 92 OUT6 (generic output 6)
43 IN7 (generic input 7) 93 OUT7 (generic output 7)
44 IN8 (generic input 8) 94 OUT8 (generic output 8)
45 IN9 (generic input 9) 95 OUT9 (generic output 9) / IN13
46 IN10 (generic input 10) 96 OUT10 (generic output 10) / IN14
47 IN11 (generic input 11) 97 OUT11 (generic output 11) / IN15
48 IN12 (generic input 12) 98 OUT12 (generic output 12) / IN16
49 EXTGND1 (+24V common) 99 EXTGND1 (+24V common)
50 EXTPOW1 (+24V input) 100 EXTPOW1 (+24V input)
Table 3.7-1 J1 connector signal table
■ Connector model
Board side 100PIN MDR connector (half-pitch)
Model 102A0-52A2PL (Sumitomo 3M)
Cable side Plug 101A0-6000EL (Insulation displacement type)
48
51
98
52
100
99 49
1
2
50
16
3.8.2 J2 Connector (on Board)
Pin No. Signal Pin No. Signal
1 GND 2 GND 3 Reserved 4 Reserved 5 CMP 6 Reserved 7 Reserved 8 Reserved 9 STA 10 STP
■Connector model
Board side 10PIN 2.54 Pitch header XG4C-1031(OMRON)
Cable side For flat cable XG4M-1030-T(OMRON))
STA:Simultaneous Start
(TTL level,active Low)
STP:Simultaneous Stop
(TTL level,active Low)
CMP:Comparator output
(TTL level,active Low)
17
4. Board Specifications
4.1 Board Specifications
Category Item Specification Remarks Basic
specification ■Axis control specification Controls a maximum of 3 axes Control method (1) 3 axes independent axis positioning
(2) 2 to 4-axis linear interpolation (3) 2-axis circular interpolation
Control LSI: PCL6045 or equivalent (Manufactured by Nippon Pulser Motor)
■Position command
Command pulses Positioning pulse-train command output Output element: Differential driver Position command range -134,217,728 to +134,217,727 [pulse] Command coordinate Relative coordinate command Command range for continuous feed Unlimited Position override Only positioning is allowed (Target position change before
positioning completion) ■Speed control 0.1pps to 6.5Mpps (Speed multiplier: 0.1 to
100) Speed register length: 16 bits (65,535)
Speed range However, the encoder input speed is as follows. Differential input • • Max. 4Mpps (x4) Open collector input • • Max. 500Kpps
x1 multiplication mode: 1 to 65.535Kpps x10 multiplication mode: 10 to 655.35Kpps
Constant vector speed control
For 2-axis circular or linear interpolation: a √2 control is applied For 3-axis linear interpolation: a √3 control is applied
However, constant vector speed control for circular interpolation is limited to constant speed control.
Speed override (1) Constant speed is available for all operations (2) When accompanied by acceleration/deceleration Only positioning, linear interpolation, and continuous feed are available
■Acceleration/deceleration
control Automatic acceleration/deceleration system
(1) The following functions are available for positioning and linear interpolation:
The S-curve acceleration/deceleration, the partial S-curve pattern acceleration/deceleration, and the linear acceleration/deceleration functions
(All with triangular drive peak prevention function)
During automatic acceleration/deceleration: Asymmetrical ramp can be used
(2) For circular interpolation, the automatic acceleration/deceleration function is available when constant vector speed control is OFF.
Acceleration/deceleration range during the slope of acceleration/deceleration Linear acceleration/deceleration: 2.7ms to 871s S-curve acceleration/deceleration: 5.4ms to 1742s
Function
specifications ■Acceleration/ deceleration
block Can configure an acceleration block, constant speed block, and deceleration block. However, the deceleration start point must be manually calculated.
■Homing control Homing method 13 types of homing methods are available for sensor origin, phase-Z origin, and
ELS homing. Origin search Available Escape origin Available
■Counter function Command position (command pulse count)
Four sets per axis Machine position (encoder count) General-purpose counter and step-out
counter
■Comparator Comparator 1, 2: For ± Software limit Five sets per axis
Comparator 3 to 5: General-purpose ■Encoder input/pulsar input Encoder input and pulsar input are alternatively chosen, one set for each axis (Input
speed: See Speed range under Basic specification) ■Backlash compensation Automatically inserts a compensation pulse whenever the movement direction is
inverted ■Slip operation
compensation Inserts a compensation pulse regardless of the movement direction
■Positioning-control-start signal
Positioning starts when a pulse (PCS) is input during continuous feeding
■Idling pulse function Accelerates the pulse motor ■Vibration reduction when
stopping Reduces the vibration of the pulse motor when stopping
■Machine interface ±ELS, OLS, DLS, encoder phase-A/B/Z for each axis ■Servo interface Command pulse output (differential), SVALM, INPOS, servo reset, servo ON
Servo error counter clear
(Continued to the next page)
18
(Continued from the previous page)
Category Item Specification Remarks
Generic input
Number of inputs 12 (16)
Voltage range 12 to 24V Resistance must be changed when using 12V.
Drive current Approximately 4mA (at 24V input)
Common 1 pin (One fuse for the unit of 16 pins)
Digital filter Up to 2.5ms in increments of 5µs
Response speed 45µs 20µs when resistance is changed
Interrupt 16 bits IN1 to IN15 can be used as interrupt.
Latch function Can latch up to 16 bits
Generic output
Number of outputs 12 (8)
Voltage range 12 to 24v (Max. 26V) External power supply input
Operating current Max. 100mA
Common 1 pin (One fuse for the unit of 12 pins)
Response speed 150µs
Event timer OUT_01 bit can be used as a timer Event timer
Output status The output status can be read as a port Output Status Read-back
Operating environment specifications
PCI bus power supply
+5V (Max. 350mA)
+3.3V (Max. 500mA)
Operating temperature
0ºC to 40ºC
Storage temperature -20ºC to 85ºC
Operating humidity 20% to 90% (with no condensation)
Storage humidity 20% to 90% (with no condensation)
Dimensions External dimensions 174.63mm (L) x 106.68mm (W) (short size)
Cable Used connector 102A0-52A2PL (Manufactured by Sumitomo 3M)
Cable side connector
Plug 101A0-6000EL (Manufactured by Sumitomo 3M) Shell 103A0-200-00 (Manufactured by Sumitomo 3M)
Table 4.1-1 Board specifications
4.2 Combination between Axes
The 4-axis PCL can operate (1) each axis independently, (2) linearly interpolate a set of 2 to 4 axes, or (3)
circularly interpolate a set of 2 axes. Here, "Independent axis operation" includes the following:
Positioning (PTP), Continuous Feed (terminated by stop command), Homing, Pulsar Feed (handle feed), and
Timer Operation
In the table below, "simultaneous operation" refers to the following:
(1) Multiple independent axes move at the same time
Example: Y-axis starts moving while X-axis is moving, etc.
(2) Multiple interpolation axes combinations move at the same time
Example: Z-U pair of axes starts linear interpolation during circular interpolation of X-Y pair of axes
(3) Independent axis and interpolation axis move at the same time.
Example: U-axis starts moving independently during linear interpolation of XYZ axes
Possible combinations are as follows.
No. Combinations Explanation Remarks
1 All axes are independent
Simultaneous operation possible
2 All axes are linear interpolation axes
2 to 4-axis linear interpolation
3 Linear interpolation axis and independent axis
Simultaneous operation possible
4 Circular interpolation axis and remaining axes
Circular interpolation and simultaneous operation of remaining axes possible
Remaining axes refer to linear interpolation axes or independent axes
19
5. Accessories
The connector boards and cables below are available as accessories to make CPD board, motor driver and
machine sensor connection easier.
■ Relay connector board
ACB-PPD553/* makes wiring easy by dividing the motor driver and sensor by axis using MIL head
connector.
ACB-MDRxxx/* is a terminal block type connector board, recommended for use on trial machines.
■ Cable
There are two types of cables available for CPD533: HCL-018W for the connector board and HCL-018
(laminated and flat on one end). (The standard length is 2m for both, but custom lengths are also
available)
Compatible board
Compatible cable
No. of pins
Connector board Comment
CPD553 HCL-018W 100
ACB-PPD553/* Specify one of the following for *: MR: Right-angle connector MS: Straight connector MS(D): With DIN rail latch
Connector is half pitched
Terminal block model
ACB-MDR100/*
Table 5.1-1 Accessories: Relay connector boards and cables
5.1 ACB-PPD553 (MIL Type Connector Board)
ACB-PPD553/MS, /MR, and /MS(D) are optional (sold separately) MIL type connector boards convenient for
distributing signals from HPCI-CPD553 to motor drivers, machine axis sensors, etc.
5.1.1 Shape and dimensions
Figure 5.1-1 ACB-PPD553/M* straight connector type (Left) Right-angle connector type (Right)
20
5.1.2 Connector model Connector models on the relay connector board are listed below.
Use HCL-018W cable for the connection to CPD (J1) shown in the table below.
Part name
Name Vendor Model Remarks
J1
MDR receptacle (straight)
Sumitomo 3M
102A0-6202PL Plug 101A0-6000EL Shell 103A0-A200-00 (Die-cast aluminum shell/straight type)
MDR receptacle (right-angle)
102A0-52A2PL
J2 to J4 26-pin flat cable connector
OMRON XG4A-2631 (MIL type plug with long lock)
XG4M-2630 (For flat cable) XG5M-2632-N (For loose wires)
J6 to J8 10-pin flat cable connector
OMRON XG4A-1031 (MIL type plug with long lock)
XG4M-1030 (For flat cable) XG5M-1032-N (For loose wires)
J5, J9 20-pin flat cable connector
OMRON XG4A-2031 (MIL type plug with long lock)
XG4M-2030 (For flat cable) XG5M-2032-N (For loose wires)
Table 5.1-2 ACB-PPD553 connector models
5.1.3 Connector table
(1) J2 to J4 (Servo/Stepping motor driver connector)
J2 (X-axis), J3 (Y-axis), and J4 (Z-axis)
Pin No. Signal Pin No. Signal
1 EXTPOW3 (+24V power supply) 2 EXTPOW3 (+24V power supply)
3 SVALM (servo alarm input) 4 INPOS (end of positioning input)
5 SVON (servo ON output) 6 SVRST (servo reset output)
7 CTRCL (error counter clear output) 8
9 COM3 (EXTPOW3 GND) 10 COM3 (EXTPOW3 GND)
11 GND 12 GND
13 AP (encoder phase-A input+) 14 AN (encoder phase-A input-)
15 BP (encoder phase-B input+) 16 BN (encoder phase-B input-)
17 ZP (encoder phase-Z input+) 18 ZN (encoder phase-Z input-)
19 GND 20 GND
21 CWP (CW command pulse output+) 22 CWN (CW command pulse output-)
23 CCWP (CCW command pulse output+) 24 CCWN (CCW command pulse output-)
25 +5V output (for Driver coupler) 26 +5V output (for Driver coupler)
(2) J6 to J8 (axis sensor connector)
J6 (X-axis), J7 (Y-axis), and J8 (Z-axis)
Pin No. Signal Pin No. Signal 1 EXTPOW2 (+24V power supply) 2 EXTPOW2 (+24V power supply) 3 +ELS (CW side end limit input) 4 -ELS (CCW side end limit input) 5 DLS (deceleration sensor input) 6
7 OLS (sensor origin input) 8 9 COM2 (EXTPOW2 GND) 10 COM2 (EXTPOW2 GND)
21
(3) J5 (input port connector) Pin No. Signal Pin No. Signal
1 EXTPOW1 (+24V power supply) 2 EXTPOW1 (+24V power supply)
3 IN1 (input 1) 4 IN2 (input 2)
5 IN3 (input 3) 6 IN4 (input 4)
7 IN5 (input 5) 8 IN6 (input 6)
9 IN7 (input 7) 10 IN8 (input 8)
11 IN9 (input 9) 12 IN10 (input 10)
13 IN11 (input 11) 14 IN12 (input 12)
15 IN13 (input 13) 16 IN14 (input 14)
17 IN15 (input 15) 18 IN16 (input 16)
19 COM1 (EXTPOW1 GND) 20 COM1 (EXTPOW1 GND)
(4) J9 (output port connector) Pin No. Signal Pin No. Signal
1 EXTPOW1 (+24V power supply) 2 EXTPOW1 (+24V power supply)
3 OUT1 (output 1) 4 OUT2 (output 2)
5 OUT3 (output 3) 6 OUT4 (output 4)
7 OUT5 (output 5) 8 OUT6 (output 6)
9 OUT7 (output 7) 10 OUT8 (output 8)
11 OUT9 (output 9) 12 OUT10 (output 10)
13 OUT11 (output 11) 14 OUT12 (output 12)
15 Reserved 16 Reserved
17 Reserved 18 Reserved
19 COM1 (EXTPOW1 GND) 20 COM1 (EXTPOW1 GND)
(5) TB1 (EXTPOW1, 2 external power supply receiving terminal) Terminal
No. Signal
1A EXTPOW1 (+24V external power reception)
1B COM1 (+24V external power ground)
2A EXTPOW2 (+24V external power reception)
2B COM2 (+24V external power ground)
3A EXTPOW3 (+24V external power reception)
3B COM3 (+24V external power ground)
Remarks
Power supply to EXTPOW3 of J2 to J4, EXTPOW2 of J6 to J8, and EXTPOW1 of J5 and J9 is possible by supplying external power to TB1. Jumper P1 1-2 (4-5): Connects EXTPOW1 and EXTPOW2 (COM1 and COM2) 1-12 (4-9): Connects EXTPOW1 and EXTPOW3 (COM1 and COM3) 2-11 (5-8): Connects EXTPOW2 and EXTPOW3 (COM2 and COM3) Connecting EXTPOW1 to EXTPOW3 and COM1 to COM3 are possible by connecting 1-12 and 2-11 (4-9 and 5-8). Range of connection cables: AWG26 to AWG16 Wire stripping length: 5mm Tightening torque: 0.22 to 0.25Nm
22
5.1.4 Connection configuration
Figure 5.1-2 ACB-PPD553 connector types
TB1: External power supply (standard +24V DC) terminal
P1: Jumper for supplying common external power EXTPOW1, EXTPOW2, and/or EXTPOW3
From positioning board
From X-axis sensor Output port
To X-axis motor driver
Input port
23
5.1.5 ACB-PPD553 circuit diagram
24
25
211.3mm
72m
m
J1
TB1
4-Φ 3.5
200mm
60m
m
6mm
5.6mm
105.6mm
J1
6.2m
m
84.2mm
1.6m
m
9.1m
m
45m
m
78mm 214mm
45m
m
5.2 ACB-MDR100 (Terminal Block Type Relay Connector Board)
ACB-MDR100/MS, /MR, or /MS(D) is an optional connector board of terminal block type.
5.2.1 Shape and dimensions
Note: MS(D) is the type with DIN block
Figure 5.2-1 ACB-MDR100/Mx straight connector type (Left) Right-angle connector type (Right)
Figure 5.2-2 ACB-MDR100/MS(D) dimensions
5.2.2 Connector model Connector models on the relay connector board are listed below.
Use HCL-018W cable for the connection to CPD (J1) shown in the table below.
Part name
Name Vendor Model Cable side connector (Reference)
J1
MDR receptacle (straight)
Sumitomo 3M 102A0-6202PL Plug 101A0-6000EL Shell 103A0-A200-00 (Die-cast aluminum shell/straight type)
MDR receptacle (right-angle)
Sumitomo 3M 102A0-52A2PL
TB Terminal block Phoenix contact MKKDS 1/**-3.81 Line width 0.14-1.0 [mm]
Table 5.2-3 ACB-MDR100 connector model
26
150m
m
2000mm200mm
200m
m
5.3 HPCI-CPD553 Connection Cable
When using HPCI-CPD553, the HCL-018 series cables are useful for branching to connected devices. There
are three types to select from depending on the intended use. (The standard length is 2m for all three types)
5.3.1 HCL-018 In HCL-018, wires are laminated together into two groups: 1 to 50 and 51 to 100, which make them easy to
wire to the terminal block or crimp to a connector.
(See the pin assignment described separately)
CPD553 side
Figure 5.3-1 HCL-018 cable
5.3.2 HCL-018W HCL-018W is intended for connecting to the relay connector board ACB-MU1004 and ACB-MDR100 provided
by Hivertec.
CPD553 side
Figure 5.3-2 HCL-018W cable
5.3.3 HCL-018Y In HCL-018Y, wires 1 to 50 and 51 to 100 are respectively crimped into two MIL type connectors, which make
them easily connected to universal boards and the like. (See the pin assignment described separately)
CPD553 side
Figure 5.3-3 HCL-018Y cable
50-core laminated end
(Two sets)
Sumitomo 3M MDR connector
(ACB-MU1004/M* side)
(ACB-MDR100/M* side)
OMRON XG4M-5030-T
(Two sets, with one polarity guide)
27
5.3.4 HCL-018 pin assignment MDR100 Marker color Pair MDR100 Marker color Pair
1 Orange
Red . Pair
51 Orange
Red - Pair
2 Black . 52 Black -
3 Gray
Red . Pair
53 Gray
Red - Pair
4 Black . 54 Black -
5 White
Red . Pair
55 White
Red - Pair
6 Black . 56 Black -
7 Yellow
Red . Pair
57 Yellow
Red - Pair
8 Black . 58 Black -
9 Pink
Red . Pair
59 Pink
Red - Pair
10 Black . 60 Black -
11 Orange
Red .. Pair
61 Orange
Red -- Pair
12 Black .. 62 Black --
13 Gray
Red .. Pair
63 Gray
Red -- Pair
14 Black .. 64 Black --
15 White
Red .. Pair
65 White
Red -- Pair
16 Black .. 66 Black --
17 Yellow
Red .. Pair
67 Yellow
Red -- Pair
18 Black .. 68 Black --
19 Pink
Red .. Pair
69 Pink
Red -- Pair
20 Black .. 70 Black --
21 Orange
Red ... Pair
71 Orange
Red --- Pair
22 Black ... 72 Black ---
23 Gray
Red ... Pair
73 Gray
Red --- Pair
24 Black ... 74 Black ---
25 White
Red ... Pair
75 White
Red --- Pair
26 Black ... 76 Black ---
27 Yellow
Red ... Pair
77 Yellow
Red --- Pair
28 Black ... 78 Black ---
29 Pink
Red ... Pair
79 Pink
Red --- Pair
30 Black ... 80 Black ---
31 Orange
Red .... Pair
81 Orange
Red ---- Pair
32 Black .... 82 Black ----
33 Gray
Red .... Pair
83 Gray
Red ---- Pair
34 Black .... 84 Black ----
35 White
Red .... Pair
85 White
Red ---- Pair
36 Black .... 86 Black ----
37 Yellow
Red .... Pair
87 Yellow
Red ---- Pair
38 Black .... 88 Black ----
39 Pink
Red .... Pair
89 Pink
Red ---- Pair
40 Black .... 90 Black ----
41 Orange
Red ..... Pair
91 Orange
Red ----- Pair
42 Black ..... 92 Black -----
43 Gray
Red ..... Pair
93 Gray
Red ----- Pair
44 Black ..... 94 Black -----
45 White
Red ..... Pair
95 White
Red ----- Pair
46 Black ..... 96 Black -----
47 Yellow
Red ..... Pair
97 Yellow
Red ----- Pair
48 Black ..... 98 Black -----
49 Pink
Red ..... Pair
99 Pink
Red ----- Pair
50 Black ..... 100 Black -----
Table 5.3-1 HCL-018 cable pin assignment
28
100
99
98
97
4
3
2
1
52
51
50
49
4 3
2 1
50 49
48 47
2 1
50 49
5.3.5 HCL-018Y pin assignment
Core wire with red dot (.) mark Core wire with hyphen (-) mark
Figure 5.3-4 HCL-018Y cable pin assignment
Flat cable connector Plug Flat cable connector XG4M-5030-T 101A0-6000EL XG4M-5030-T (Insulation displacement side) (Fitting side) (Insulation displacement side)
29
6. Revision History
Date Version Modification
2015/11/24 5.02 Newly created English version
2016/01/18 5.03 1. Added “3.8.1 J1 Connector” 2. “Table 3.7-1 J1 connector signal table” was corrected. 3. Added “3.8.2 J2 Connector” and description of CMP
Table 6.1-1 Revision history