PC-HELPER
High-Speed Motion Control
Board for PCI
(4 axes)
SMC-4DF-PCI
(8 axes)
SMC-8DF-PCI
User’s Guide
CONTEC CO.,LTD.
Check Your Package
Thank you for purchasing the CONTEC product.
The product consists of the items listed below.
Check, with the following list, that your package is complete. If you discover damaged or missing items,
contact your retailer.
Product Configuration List
-
Board (One of the following)
[SMC-4DF-PCI or SMC-8DF-PCI] …1
- First step guide …1
- CD-ROM *1 [API-PAC(W32)] …1
- Synchronization control cable (10cm) …1
*1 The CD-ROM contains the driver software and User’s Guide (this guide)
Board
First step guide
SMC-4DF-PCI, SMC-8DF-PCI
CD-ROM
[API-PAC(W32)]
Synchronization control cable
i
Copyright
Copyright 2007 CONTEC CO., LTD. ALL RIGHTS RESERVED.
No part of this document may be copied or reproduced in any form by any means without prior written
consent of CONTEC CO., LTD.
CONTEC CO., LTD. makes no commitment to update or keep current the information contained in this
document. The information in this document is subject to change without notice.
All relevant issues have been considered in the preparation of this document. Should you notice an
omission or any questionable item in this document, please feel free to notify CONTEC CO., LTD.
Regardless of the foregoing statement, CONTEC assumes no responsibility for any errors that may
appear in this document or for results obtained by the user as a result of using this product.
Trademarks
MS, Microsoft and Windows are trademarks of Microsoft Corporation. Other brand and product names
are trademarks of their respective holder.
ii
SMC-4DF-PCI, SMC-8DF-PCI
Table of Contents
Check Your Package............................................................................................................................ i
Copyright ............................................................................................................................................ ii
Trademarks ......................................................................................................................................... ii
Table of Contents............................................................................................................................... iii
1.
BEFORE USING THE PRODUCT
1
About the Board.................................................................................................................................. 1
Features ........................................................................................................................................ 1
About Migration From The Existing Products............................................................................ 2
Support Software ......................................................................................................................... 3
Cable & Connector (Option) ...................................................................................................... 3
Accessories (Option) .................................................................................................................. 3
Customer Support ............................................................................................................................... 4
Web Site....................................................................................................................................... 4
Limited Three-Years Warranty .......................................................................................................... 4
How to Obtain Service ....................................................................................................................... 4
Liability............................................................................................................................................... 4
Safety Precautions .............................................................................................................................. 5
Safety Information ....................................................................................................................... 5
Handling Precautions................................................................................................................... 6
Environment................................................................................................................................. 7
Inspection..................................................................................................................................... 7
Storage ......................................................................................................................................... 7
Disposal ....................................................................................................................................... 7
2.
SETUP
9
What is Setup? .................................................................................................................................... 9
Using the Board under Windows Using the Driver library API-PAC(W32).............................. 9
Using the Board under Window Using Software Other than the Driver library
API-PAC(W32)............................................................................................................................ 9
Using the Board under an OS Other than Windows ................................................................. 10
Step 1 Installing the Software .......................................................................................................... 11
Which Driver to Use .................................................................................................................. 11
Starting the Install Program....................................................................................................... 11
Selecting API-SMC(WDM) ...................................................................................................... 12
Executing the Installation .......................................................................................................... 12
SMC-4DF-PCI, SMC-8DF-PCI
iii
Step 2 Setting the Hardware ............................................................................................................. 13
Parts of this product and Factory Defaults ................................................................................ 13
Setting the Board ID .................................................................................................................. 15
Setting the Terminating Registor............................................................................................... 15
Plugging the Board .................................................................................................................... 16
Step 3 Installing the Hardware ......................................................................................................... 17
Turning on the PC...................................................................................................................... 17
When Using API-SMC(WDM) ................................................................................................. 17
Step 4 Initializing the Software ........................................................................................................ 19
Step 5 Checking Operations with the Diagnosis Program ............................................................... 21
What is the Diagnosis Program?................................................................................................ 21
Check method ............................................................................................................................ 21
Using the Diagnosis Program .................................................................................................... 23
Setup Troubleshooting...................................................................................................................... 26
Symptoms and Actions .............................................................................................................. 26
If your problem cannot be resolved ........................................................................................... 26
3.
EXTERNAL CONNECTION
27
How to connect the connectors......................................................................................................... 27
Connector shape......................................................................................................................... 27
Connector Pin Assignment ........................................................................................................ 28
Connecting Output Signals ............................................................................................................... 34
Pulse output circuit (CW, CCW) ............................................................................................... 34
Control signal/general-purpose signal output circuit (OUT1 - OUT3, ERC, CP1, CP2)......... 36
Connecting Input Signals.................................................................................................................. 37
Encoder input circuit.................................................................................................................. 37
Limit input/general-purpose input/control input circuit (IN1 - IN7, +LIM, -LIM, ORG) ....... 40
Connection Examples ....................................................................................................................... 41
Surge Voltage Countermeasures....................................................................................................... 42
4.
FUNCTIONS
43
About each motor control operation................................................................................................. 43
PTP operation function .............................................................................................................. 43
JOG operation function.............................................................................................................. 43
ORG operation function............................................................................................................. 43
Linear interpolation ................................................................................................................... 43
Circular interpolation................................................................................................................. 43
S-curve acceleration/deceleration function ............................................................................... 43
Frame (bank) sequence operation function ............................................................................... 44
Synchronous control function.................................................................................................... 45
iv
SMC-4DF-PCI, SMC-8DF-PCI
Meanings of signals .......................................................................................................................... 46
Limit input signals ..................................................................................................................... 46
Encoder input signal .................................................................................................................. 47
Pulse output signal..................................................................................................................... 48
General-purpose input signals ................................................................................................... 49
General-purpose output signals ................................................................................................. 50
P.COM (Plus common).............................................................................................................. 50
GND (Ground) ........................................................................................................................... 50
Connecting the synchronization control connectors ................................................................. 51
Motion control system ...................................................................................................................... 53
System configuration ................................................................................................................. 53
5.
ABOUT SOFTWARE
55
CD-ROM Directory Structure .......................................................................................................... 55
About Software for Windows........................................................................................................... 56
Accessing the Help File ............................................................................................................. 56
Uninstalling the Driver library .................................................................................................. 57
6.
ABOUT HARDWARE
59
For detailed technical information ................................................................................................... 59
Hardware specification ..................................................................................................................... 59
Block Diagram.................................................................................................................................. 63
SMC-4DF-PCI, SMC-8DF-PCI
v
vi
SMC-4DF-PCI, SMC-8DF-PCI
1. Before Using the Product
1. Before Using the Product
This chapter provides information you should know before using the product.
About the Board
This product is a PCI board that supports stepping motors and (“pulse string input” types of)
servomotors.
SMC-4DF-PCI can perform motor control for up to 4 axes.
SMC-8DF-PCI can perform motor control for up to 8 axes.
Multi-axis independent control and linear/circular interpolation control are performed via a motor driver
unit. It can store positioning information for up to 1024 frames per axis and control multiple axes
simultaneously. In addition, it can override speed/target positions during operation. Windows driver is
bundled with this product.
These various functions make it possible to build complex positioning control systems for variety of uses
such as manufacturing devices and test devices.
Features
- Capable of multi-axis independent control and pulse output up to 6.5Mpps
SMC-4DF-PCI : Control for up to 4 axes and motor control pulse output up to 6.5Mpps are available.
SMC-8DF-PCI : Control for up to 8 axes and motor control pulse output up to 6.5Mpps are available.
Command pulse for motor control supports common pulse, independent pulse and 90°C phase
difference pulse.
Limit input 3channels/axis, general-purpose input 7channels/axis, and general-purpose output
3channels/axis are equipped. Also, depending on the software setting, 6 general-purpose inputs can
be used as alarm inputs, and general-purpose outputs as deviation counter clear outputs.
- Capable of various control operations such as positioning, linear/circular interpolation, frame
continuous operations, synchronization control, and so on
Various control operations such as positioning, origin returning, linear/circular interpolation, S-curve
acceleration/deceleration, frame continuous motion, synchronization control, and so on are available.
Changing speed/target position during operation is available.
" PCL6045 series" from Nippon Pulse Motor CO., LTD. is used as the motor control IC.
- Provided with various input/output formats enabling connection to an encoder input circuit as well as
pulse output circuit.
Encoder input circuits can be connected with differential output, TTL level output, and open-collector
output. Pulse output circuits can be connected with differential input, opto-coupler and TTL level
input.
- Capable of storing positioning information up to 1024 frames for each axis and control without extra
CPU load
The parameters which are necessary for motor operations such as travel distance, travel speed,
acceleration/deceleration rate, and so on as 1 frame can be stored up to 1024 frames for each axis. In
addition, the control from the ending of 1 frame to the beginning of the next frame is mainly
performed by hardware, complex continuous positioning can operate at a high speed. It is possible to
repeatedly execute the frame after executing a frame once (loop operation).
SMC-4DF-PCI, SMC-8DF-PCI
1
1. Before Using the Product
- With the multi-axis synchronization control function, capable of aligning the timing for operation start
and end
Synchronization control of multi-axis simultaneous start/stop control, linear interpolation operation
(constant speed operation only) is available. Synchronization control of up to 16 boards is possible,
when dedicated synchronization control cables are connected.
- Windows compatible driver libraries is attached.
Using the attached driver library API-PAC(W32) makes it possible to create applications of Windows.
In addition, a diagnostic program by which the operations of hardware can be checked is provided.
- Connector shape and pin assignments are compatible with SMC-4DL-PCI, SMC-8DL-PCI
Since this product is compatible with SMC-4DL-PCI and SMC-8DL-PCI in the connector shape and
signal allocation, it can be replaced with them.
- Provided with a terminal strip CCB-SMC2 (option) to which driver units up to 4 pieces can be
connected
A dedicated terminal strip CCB-SMC2 (option) which assigns signals for each axis is provided.
Driver units and limit sensors for stepping motors and servo motors can be connected up to 4 pieces.
About Migration From The Existing Products
This product cannot use [API-SMC(98/PC)] (CD-ROM attached) which is the driver software for the
existing products SMC-2P(PCI), SMC-4P(PCI), and SMC-3(PC). [API-SMC(98/PC)] (bundled
CD-ROM) cannot be used. Please use [API-SMC(WDM)] (bundled CD-ROM) which is the driver
software for this product. As a reference material when migrating from the existing products to this
product, “Migration guide” which summarizes migration methods and differences about initial settings
and API function units is provided. Please use the guide for your reference.
”Migration guide” can be downloaded from the download library of CONTEC’s Web site
(http://www.contec.com/download)
2
SMC-4DF-PCI, SMC-8DF-PCI
1. Before Using the Product
Support Software
You should use CONTEC support software according to your purpose and development environment.
Windows version of motion control driver API-SMC(WDM)
[Stored on the bundled CD-ROM driver library API-PAC(W32)]
The API-SMC(WDM) is the Windows version driver library software that provides products in the form of Win32 API
functions (DLL). Various sample programms such as Visual Basic and Visual C++, etc and diagnostic program useful
for checking operation is provided.
< Operating environment >
OS
Windows XP, Server 2003, 2000
Adaptation language
Visual Basic, Visual C++, Visual C#
You can download the updated version from the CONTEC’s Web site (http://www.contec.com/apipac/). For more
details on the supported OS, applicable language and new information, please visit the CONTEC’s Web site.
Cable & Connector (Option)
Shielded Cable With Two 100pin Connector
:
:
:
:
PCB100PS-0.5 (0.5m)
PCB100PS-1.5 (1.5m)
PCB100PS-3 (3m)
PCB100PS-5 (5m)
Flat Cable with One 100-Pin Connector
: PCA100P-1.5 (1.5m)
: PCA100P-3 (3m)
: PCA100P-5 (5m)
Accessories (Option)
Connection Conversion Board for SMC
Screw Terminal (M3*100)
: CCB-SMC2 *1*2*3
: EPD-100A *2*3
*1 Distributes 100-pin 0.8-mm pitch connector x 1 to: D-SUB 37 connector x 4, D-SUB-9 connector x
4.
*2 A PCB100PS optional cable is required separately.
*3 Cables and accessories are required each connector.
*
Check the CONTEC’s Web site for more information on these options.
SMC-4DF-PCI, SMC-8DF-PCI
3
1. Before Using the Product
Customer Support
CONTEC provides the following support services for you to use CONTEC products more efficiently and
comfortably.
Web Site
Japanese
English
Chinese
http://www.contec.co.jp/
http://www.contec.com/
http://www.contec.com.cn/
Latest product information
CONTEC provides up-to-date information on products.
CONTEC also provides product manuals and various technical documents in the PDF.
Free download
You can download updated driver software and differential files as well as sample programs available in
several languages.
Note! For product information
Contact your retailer if you have any technical question about a CONTEC product or need its price,
delivery time, or estimate information.
Limited Three-Years Warranty
CONTEC products are warranted by CONTEC CO., LTD. to be free from defects in material and
workmanship for up to three years from the date of purchase by the original purchaser.
Repair will be free of charge only when this device is returned freight prepaid with a copy of the original
invoice and a Return Merchandise Authorization to the distributor or the CONTEC group office, from
which it was purchased.
This warranty is not applicable for scratches or normal wear, but only for the electronic circuitry and
original products. The warranty is not applicable if the device has been tampered with or damaged
through abuse, mistreatment, neglect, or unreasonable use, or if the original invoice is not included, in
which case repairs will be considered beyond the warranty policy.
How to Obtain Service
For replacement or repair, return the device freight prepaid, with a copy of the original invoice. Please
obtain a Return Merchandise Authorization number (RMA) from the CONTEC group office where you
purchased before returning any product.
*
No product will be accepted by CONTEC group without the RMA number.
Liability
The obligation of the warrantor is solely to repair or replace the product. In no event will the warrantor
be liable for any incidental or consequential damages due to such defect or consequences that arise from
inexperienced usage, misuse, or malfunction of this device.
4
SMC-4DF-PCI, SMC-8DF-PCI
1. Before Using the Product
Safety Precautions
Understand the following definitions and precautions to use the product safely.
Safety Information
This document provides safety information using the following symbols to prevent accidents resulting in
injury or death and the destruction of equipment and resources. Understand the meanings of these labels
to operate the equipment safely.
DANGER
DANGER indicates an imminently hazardous situation which, if not avoided, will
result in death or serious injury.
WARNING
WARNING indicates a potentially hazardous situation which, if not avoided, could
result in death or serious injury.
CAUTION
CAUTION indicates a potentially hazardous situation which, if not avoided, may
result in minor or moderate injury or in property damage.
SMC-4DF-PCI, SMC-8DF-PCI
5
1. Before Using the Product
Handling Precautions
DANGER
Do not use the product where it is exposed to flammable or corrosive gas. Doing so may result in an
explosion, fire, electric shock, or failure.
CAUTION
-
There are switches and jumpers on this product that need to be set in advance.
Be sure to check these before installing this product.
-
Only set the switches and jumpers on this product to the specified settings.
Otherwise, this product may malfunction, overheat, or cause a failure.
-
Do not strike or bend this product.
Otherwise, this product may malfunction, overheat, cause a failure or breakage.
-
Do not touch this product’s metal plated terminals (edge connector) with your hands.
Otherwise, this product may malfunction, overheat, or cause a failure.
If the terminals are touched by someone's hands, clean the terminals with industrial alcohol.
-
Do not install or remove this product to or from the extension slot while the computer's power is
turned on. And also do not connect this product and external device while the power is turned on.
Otherwise, this product may malfunction, overheat, or cause a failure.
Be sure that the personal computer or the I/O extension unit power is turned off.
-
Do not connect or remove a cable with or from this product while the computer's power is turned on.
And also do not connect this product and external device while the power is turned on.
Otherwise, this product may malfunction, overheat, or cause a failure.
Be sure that the personal computer or the I/O extension unit power is turned off.
-
When you use this product in a noisy environment or are nervous about noise, attach ferrite cores to
the connection cable
-
Make sure that your PC or expansion unit can supply ample power to all the products installed.
Insufficiently energized products could malfunction, overheat, or cause a failure.
-
The specifications of this product are subject to change without notice for enhancement and quality
improvement.
Even when using this product continuously, be sure to read the manual and understand the contents.
-
Do not modify this product. CONTEC will bear no responsibility for any problems, etc., resulting
from modifying this product.
-
Regardless of the foregoing statements, CONTEC is not liable for any damages whatsoever
(including damages for loss of business profits) arising out of the use or inability to use this
CONTEC product or the information contained herein.
6
SMC-4DF-PCI, SMC-8DF-PCI
1. Before Using the Product
Environment
Use this product in the following environment. If used in an unauthorized environment, the board may
overheat, malfunction, or cause a failure.
Operating temperature
0 - 50ºC
Humidity
10 - 90%RH (No condensation)
Corrosive gases
None
Floating dust particles
Not to be excessive
Inspection
Inspect the product periodically as follows to use it safely.
- Check that the bus connector
of the board and its cable have
been plugged correctly.
- Check that the board has
no dust or foreign matter adhering.
- The gold-plated leads of the bus connector
have no stain or corrosion.
Storage
When storing this product, keep it in its original packing form.
(1) Put this product in the storage bag.
(2) Wrap it in the packing material, then put it in the box.
(3) Store the package at room temperature at a place free from direct sunlight, moisture, shock,
vibration, magnetism, and static electricity.
Disposal
When disposing of the product, follow the disposal procedures stipulated under the relevant laws and
municipal ordinances.
SMC-4DF-PCI, SMC-8DF-PCI
7
1. Before Using the Product
8
SMC-4DF-PCI, SMC-8DF-PCI
2. Setup
2. Setup
This chapter explains how to set up this product.
What is Setup?
Setup means a series of steps to take before the product can be used.
Different steps are required for software and hardware.
The setup procedure varies with the OS and applications used.
Using the Board under Windows
Using the Driver library API-PAC(W32)
This section describes the setup procedure to be performed before you can start developing application
programs for the board using the bundled CD-ROM “Driver library API-PAC(W32)”.
Taking the following steps sets up the software and hardware. You can use the diagnosis program later
to check whether the software and hardware function normally.
Step 1 Installing the Software
Step 2 Setting the Hardware
Step 3 Installing the Hardware
Step 4 Initializing the Software
Step 5 Checking Operations with the Diagnosis Program
If Setup fails to be performed normally, see the “Setup Troubleshooting” section at the end of this
chapter.
Using the Board under Window
Using Software Other than the Driver library API-PAC(W32)
For setting up software other than API-PAC(W32), refer to the manual for that software. See also the
following parts of this manual as required.
This chapter Step 2 Setting the Hardware
This chapter Step 3 Installing the Hardware
Chapter 3 External Connection
Chapter 6 About Hardware
SMC-4DF-PCI, SMC-8DF-PCI
9
2. Setup
Using the Board under an OS Other than Windows
For using the board under an OS other than Windows, see the following parts of this manual.
This chapter Step 2 Setting the Hardware
Chapter 3 External Connection
Chapter 6 About Hardware
10
SMC-4DF-PCI, SMC-8DF-PCI
2. Setup
Step 1 Installing the Software
This section describes how to install the API function libraries.
Before installing the hardware on your PC, install the API driver libraries from the bundled
API-PAC(W32) CD-ROM.
The following description assumes the operating system as Windows XP. Although some user
interfaces are different depending on the OS used, the basic procedure is the same.
Which Driver to Use
This product supports the advanced motion control driver API-SMC(WDM) only. The motion control
driver API-SMC(98/PC) cannot be used.
Starting the Install Program
(1) Load the CD-ROM [API-PAC(W32)] on your PC.
(2) The API-PAC(W32) Installer window appears automatically.
If the panel does not appear, run (CD-ROM drive letter):\AUTORUN.exe.
(3) Click on the [Install Development or Execution Environment] button.
CAUTION
Before installing the software in Windows XP, Server 2003, 2000, log in as a user with
administrator privileges.
SMC-4DF-PCI, SMC-8DF-PCI
11
2. Setup
Selecting API-SMC(WDM)
(1) The following dialog box appears to select “Driver Type” and “Install Type”.
(2) Select the "High Functionality WDM Motor Control driver".
(3) Click on the [Install] button.
*
Clicking the [API-SMC] button displays detailed information about API-SMC(WDM) and
API-SMC(98/PC).
Executing the Installation
(1) Follow the on-screen instructions to proceed to install.
(2) After finishing installing, Readme file is displayed.
You have now finished installing the software.
12
SMC-4DF-PCI, SMC-8DF-PCI
2. Setup
Step 2 Setting the Hardware
This section describes how to set this product and plug it on your PC.
This product has some switches and jumper to be preset.
Check the on-product switches and jumpers before plugging this product into an expansion slot.
This product can be set up even with the factory defaults untouched. You can change this product
settings later.
Parts of this product and Factory Defaults
Figure 2.1. - 2.2. shows the names of major parts on this product.
Note that the switch setting shown below is the factory default.
- Synchronization signal
connector (CN2, CN3)
- Terminator setting
SW
(SW2 - SW5)
1 2 3 4 5 6 7 8
SW1
BOARD ID
SW4
SW5
- Board ID setting
switch
- Interface connector
(CNA, CNB)
CNB
CNA
456
SW1
BOARD ID
789
23
1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
SW3
1 2 3 4 5 6 7 8
ON
SW3
ON
SW4
ON
CN3
BCDE
SW5
CN2
A
ON
SW2
CN3
F01
SW2
CN2
Figure 2.1. Component Locations < SMC-8DF-PCI >
SMC-4DF-PCI, SMC-8DF-PCI
13
2. Setup
- Synchronization signal
connector (CN2, CN3)
1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
ON
SW3
ON
SW2
- Terminator setting
SW
(SW2 - SW3)
CN2
CN2
CN1
CN3
CN3
SW1
BOARD ID
SW2
SW3
- Interface connector
- Board ID setting
switch
23
78 9
CD
AB E
456
SW1
BOARD ID
F0 1
Figure 2.2. Component Locations < SMC-4DF-PCI >
14
SMC-4DF-PCI, SMC-8DF-PCI
2. Setup
Setting the Board ID
If you install two or more boards on one personal computer, assign a different ID value to each of the
boards to distinguish them.
The board IDs can be set from 0 - Fh to identify up to sixteen boards.
If only one board is used, the original factory setting (Board ID = 0) should be used.
Setting Procedure
To set the board ID, use the rotary switch on the board. Turn the SW1 knob to set the board ID as shown
below.
789
CD E
23
AB
456
SW1
BOARD ID
Factory setting:
(Board ID = 0)
F01
Figure 2.3. Board ID Settings (SW1)
Setting the Terminating Registor
You can select whether to insert a terminator (terminal resistor) in the differential input section.
Select whether to insert the terminator depending on the system to be used.
Setup Method
To select whether to insert the terminator, use the DIP switches (SMC-4DF-PCI : SW2 and SW3,
SMC-8DF-PCI : SW2 - SW5) on the board.
Set each SW according to the figure shown below.
SW2
ON
SW3
ON
1 2 3 4 5 6 7 8
SMC-8DF-PCI : Axis6
SMC-4DF-PCI : Axis0
SW4
ON
1 2 3 4 5 6 7 8
Axis7
Axis1
Axis4
Axis2
Axis5
Axis3
SW5
ON
1 2 3 4 5 6 7 8
Axis2
Bit
Input
signal
Insert the terminal
Not insert the terminal
1
Phaze-A
ON
OFF
2
Phaze-B
ON
OFF
3
Phaze-Z
ON
OFF
4
N.C.
----
----
5
Phaze-A
ON
OFF
6
Phaze-B
ON
OFF
7
Phaze-Z
ON
OFF
8
N.C.
----
----
Axis3
1 2 3 4 5 6 7 8
Axis0
Axis1
Factory setting : All is ON
Figure 2.4. Terminator Setup SW and Settings
SMC-4DF-PCI, SMC-8DF-PCI
15
2. Setup
Plugging the Board
(1) Before plugging the board, shut down the system, unplug the power code of your PC.
(2) Remove the cover from the PC so that the board can be mounted.
(3) Plug the board into an expansion slot.
(4) Put the cover back into place.
Applicable PCI bus slots
PCI bus slots used in PCs have keys to prevent 5V and 3.3V PCI bus boards from being accidentally
plugged into wrong bus slots. This board can be plugged into both of the 5V and 3.3V PCI bus slots.
<PCI bus slot>
<PCI bus board>
5-V PCI bus slot
3.3-V PCI bus slot
5V key
3.3V key
B
A : Slit for 5-V PCI bus slot
B : Slit for 3.3-V PCI bus slot
A
CAUTION
-
Do not touch the board's metal plated terminals (edge connector) with your hands.
Otherwise, the board may malfunction, overheat, or cause a failure.
If the terminals are touched by someone's hands, clean the terminals with industrial alcohol.
-
Do not install or remove the board to or from the slot while the computer's power is turned on.
Otherwise, the board may malfunction, overheat, or cause a failure.
Doing so could cause trouble. Be sure that the personal computer or the I/O expansion unit power is
turned off.
-
Make sure that your PC or expansion unit can supply ample power to all the boards installed.
Insufficiently energized boards could malfunction, overheat, or cause a failure.
-
Power supply from the PCI bus slot at +5V is required.
16
SMC-4DF-PCI, SMC-8DF-PCI
2. Setup
Step 3 Installing the Hardware
For using an expansion board under Windows, you have to let the OS detect the I/O addresses and IRQ to
be used by the board. The process is referred to as installing the hardware.
In the case of using two or more boards, make sure you install one by one with the Found New Hardware
Wizard.
Turning on the PC
Turn on the power to your PC.
CAUTION
-
The board cannot be properly installed unless the resources (I/O addresses and interrupt level) for
the board can be allocated. Before attempting to install the board, first determine what PC resources
are free to use.
-
The resources used by each board do not depend on the location of the slot or the board itself. If you
remove two or more boards that have already been installed and then remount one of them on the
computer, it is unknown that which one of the sets of resources previously assigned to the two boards is
assigned to the remounted board. In this case, you must check the resource settings.
When Using API-SMC(WDM)
(1) The “Found New Hardware Wizard” will be started.
Select “Install from a list or specific location[Advanced]”, then click on the [Next] button.
SMC-4DF-PCI, SMC-8DF-PCI
17
2. Setup
(2) Specify that folder on the CD-ROM which contains the setup information (INF) file to register the
board.
* The name of the board
you have just added is
displayed.
- SMC-4DF-PCI
- SMC-8DF-PCI
Source folder
The setup information (INF) file is contained in the following folder on the bundled CD-ROM.
\INF\WDM\SMC
\INF\WDM\SMC
You have now finished installing the hardware.
18
SMC-4DF-PCI, SMC-8DF-PCI
2. Setup
Step 4 Initializing the Software
The API function library requires the initial setting to recognize the execution environment. It is called
the initialization of the API function library.
Setting the device name
(1) Run Device Manager. From [My Computer] - [Control Panel], select [System] and then select the
[Device Manager] tab.
(You can also open Device Manager by right clicking on My Computer and selecting Properties.)
* The name of the board
you have just added is
displayed.
- SMC-4DF-PCI
- SMC-8DF-PCI
(2) The installed hardware appears under the CONTEC Devices node. Open the CONTEC Devices
node and select the device you want to setup (the device name should appear highlighted). Click
[Properties].
SMC-4DF-PCI, SMC-8DF-PCI
19
2. Setup
(3) The property page for the device opens.
Enter the device name in the common settings tab page and then click [OK].
The device name you set here is used later when programming.
* The name of the board
you have just added is
displayed.
- SMC-4DF-PCI
- SMC-8DF-PCI
*
The initial device name that appears is a default value. You can use this default name if you wish.
*
Make sure that you do not use the same name for more than one device.
You have now finished installing the initial setting of Software.
20
SMC-4DF-PCI, SMC-8DF-PCI
2. Setup
Step 5 Checking Operations with the Diagnosis
Program
Use the diagnosis program to check that the board and driver software work normally, thereby you can
confirm that they have been set up correctly.
What is the Diagnosis Program?
The diagnosis program diagnoses the states of the board and driver software.
For Quick Check, the program checks the board resources for validity. The resources include the I/O
addresses, interrupt level (IRQ), board ID, and sync signal.
For Detail Check, the program checks the connections of the motor control board, driver unit, and limit
sensor for validity. The program inputs/outputs signals in interactive mode to check for validity. Check
items are Limit Signals Input, Control Signals Input/Output and Pulse Signals Output.
Check method
Perform the input/output test and check the execution environment with the driver unit connected.
The dedicated screw terminal CCB-SMC2 will come in handy when you check the board.
The board should be checked with the factory defaults.
For direct connection to the board, see Chapter 3 “External Connection”.
Connection diagram
The following connection diagrams show connections using the dedicated screw terminal CCB-SMC2.
<Pulse output>
CCB-SMC2
Driver Unit
CW+
CW+
CW-
CW-
CCW+
CCW+
CCW-
CCW-
CW
CCW
Figure 2.5. Connection diagram < 1 / 2 >
SMC-4DF-PCI, SMC-8DF-PCI
21
2. Setup
<Limit input>
CCB-SMC2
ORG
ORG
ORG
GND
+LIM
+LIM
+LIM
GND
-LIM
-LIM
-LIM
GND
+12V
- +24VDC
+
-
+
-
Figure 2.5. Connection diagram < 2 / 2 >
22
SMC-4DF-PCI, SMC-8DF-PCI
2. Setup
Using the Diagnosis Program
Starting the Diagnosis Program
Click the [Diagnosis] button on the device property page to start the diagnosis program.
* The name of the board
you have just added is
displayed.
- SMC-4DF-PCI
- SMC-8DF-PCI
Checking for motor control
(1) Select the name of the axis you want to diagnose, then click on the [Execute Initial Setup Utility]
button to execute Quick Check.
SMC-4DF-PCI, SMC-8DF-PCI
23
2. Setup
To execute Detail Check, click on the [Next] button. Otherwise, click on the [Back] or [Cancel]
button.
(2) Check/mask each signal.
When the alarm (ALM/ES) is ON or each limit (+LIM, -LIM) is ON, the motor does not operate in
that direction. In this case, check the connection of the signal or mask it.
24
SMC-4DF-PCI, SMC-8DF-PCI
2. Setup
(3) Simple operation is performed.
SMC-4DF-PCI, SMC-8DF-PCI
25
2. Setup
Setup Troubleshooting
Symptoms and Actions
Data input or output does not operate correctly
-
Run the diagnosis program to check that the device is registered and whether any initialization errors
have occurred.
-
Is there a problem with the device settings, wiring, or similar? Check the I/O setting of motor driver
unit and limit sensor for validity.
The diagnostic program works correctly but the application program does not.
The diagnostic program uses the API-TOOL functions. If the diagnostic program works correctly, other
applications should work correctly also. If you have a problem, recheck your program taking note of the
following points.
-
Check the return values of the API functions.
-
Refer to the source code for the sample programs.
The OS does not boot correctly or does not detect the device correctly.
Refer to the "Troubleshooting" section of API-SMC(WDM) HELP.
If your problem cannot be resolved
Contact your retailer.
26
SMC-4DF-PCI, SMC-8DF-PCI
3. External Connection
3. External Connection
This chapter describes the interface connectors on the board and the external I/O circuits.
Check the information available here when connecting an external device.
How to connect the connectors
Connector shape
< SMC-8DF-PCI >
The on-board interface connector (CNA, CNB) is used when connecting this product and the external
devices.
Interface connector
CNB
CNA
-
Connector used
HDRA-E100W1LFDT1EC-SL+
[mfd.by HONDA TSUSHIN
KOGYO CO., LTD] equivalent
-
Compatible connector
HDRA-E100MA1[mfd.by
HONDA TSUSHIN
KOGYO CO., LTD]
* Please refer to chapter 1 for more information on the supported cable and accessories. Cables and accessories are
required each connector.
Figure 3.1. Interface Connector Shape < SMC-8DF-PCI >
< SMC-4DF-PCI >
The on-board interface connector is used when connecting this product and the external devices.
Interface connector
-
Connector used
HDRA-EC100LFDT+ [mfd.by
HONDA TSUSHIN
KOGYO CO., LTD] equivalent
-
Compatible connector
HDRA-E100MA1[mfd.by
HONDA TSUSHIN
KOGYO CO., LTD]
* Please refer to chapter 1 for more information on the supported cable and accessories.
Figure 3.2. Interface Connector Shape < SMC-4DF-PCI >
SMC-4DF-PCI, SMC-8DF-PCI
27
3. External Connection
Connector Pin Assignment
Pin Assignments of Interface Connector (CNA, CNB) < SMC-8DF-PCI >
CNB
axis0 : P-COM
axis0 : IN1/ALM
axis0 : IN2/INP
axis0 : IN3/SD
axis0 : IN4/LTC
axis0 : IN5/PCS
axis0 : IN6/CLR
axis0 : IN7
axis0 : ORG
axis0 : +LIM
axis0 : -LIM
axis1 : P-COM
axis1 : IN1/ALM
axis1 : IN2/INP
axis1 : IN3/SD
axis1 : IN4/LTC
axis1 : IN5/PCS
axis1 : IN6/CLR
axis1 : IN7
axis1 : ORG
axis1 : +LIM
axis1 : -LIM
axis0 : A+
axis0 : Aaxis0 : B+
axis0 : Baxis0 : Z+
axis0 : Zaxis1 : A+
axis1 : Aaxis1 : B+
axis1 : Baxis1 : Z+
axis1 : Zaxis0 : OUT3
axis0 : OUT2
axis0 : OUT1
axis0 : DIR+/CCW+
axis0 : DIR-/CCWaxis0 : OUT+/CW+
axis0 : OUT-/CWGND
axis1 : OUT3
axis1 : OUT2
axis1 : OUT1
axis1 : DIR+/CCW+
axis1 : DIR-/CCWaxis1 : OUT+/CW+
axis1 : OUT-/CWGND
28
100
99
98
97
96
95
94
93
92
91
90
89
88
87
86
85
84
83
82
81
80
79
78
77
76
75
74
73
72
71
70
69
68
67
66
65
64
63
62
61
60
59
58
57
56
55
54
53
52
51
50
49
48
47
46
45
44
43
42
41
40
39
38
37
36
35
34
33
32
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
axis2
axis2
axis2
axis2
axis2
axis2
axis2
axis2
axis2
axis2
axis2
axis3
axis3
axis3
axis3
axis3
axis3
axis3
axis3
axis3
axis3
axis3
axis2
axis2
axis2
axis2
axis2
axis2
axis3
axis3
axis3
axis3
axis3
axis3
axis2
axis2
axis2
axis2
axis2
axis2
axis2
GND
axis3
axis3
axis3
axis3
axis3
axis3
axis3
GND
: P-COM
: IN1/ALM
: IN2/INP
: IN3/SD
: IN4/LTC
: IN5/PCS
: IN6/CLR
: IN7
: ORG
: +LIM
: -LIM
: P-COM
: IN1/ALM
: IN2/INP
: IN3/SD
: IN4/LTC
: IN5/PCS
: IN6/CLR
: IN7
: ORG
: +LIM
: -LIM
: A+
: A: B+
: B: Z+
: Z: A+
: A: B+
: B: Z+
: Z: OUT3
: OUT2
: OUT1
: DIR+/CCW+
: DIR-/CCW: OUT+/CW+
: OUT-/CW:
:
:
:
:
:
:
OUT3
OUT2
OUT1
DIR+/CCW+
DIR-/CCWOUT+/CW+
OUT-/CW-
SMC-4DF-PCI, SMC-8DF-PCI
3. External Connection
Plus common
B+
IN1/ALM
P-COM
General-purpose input1/Alarm input
B-
Encoder phaseB input-
IN2/INP
General-purpose input2/Positionig input
Z+
Encoder phaseZ input+
Z-
Encoder phaseZ input-
IN3/SD
IN4/LTC
IN5/PCS
IN6/CLR
IN7
General-purpose input3/Slow down input
General-purpose input4/counter latch input
General-purpose input5/positioning
operation start input
General-purpose input6/Counter clear input
General-purpose input7
Encoder phaseB input+
OUT1
General-purpose output1
OUT2
General-purpose output2
OUT3
General-purpose output3
DIR+/CCW+ Direction/CCW output+
ORG
Origin input
DIR-/CCW- Direction/CCW output-
+LIM
Positive-direction limit
OUT+/CW+ Pulse/CW output+
-LIM
Negative-direction limit
OUT-/CW- Pulse/CW output-
A+
Encoder phaseA input+
A-
Encoder phaseA input-
GND
Power ground input (common to internal
GND)
Figure 3.3. Pin Assignments of Interface Connector (CNB) < SMC-8DF-PCI >
SMC-4DF-PCI, SMC-8DF-PCI
29
3. External Connection
CNA
GND
axis7 : OUT-/CWaxis7 : OUT+/CW+
axis7 : DIR-/CCWaxis7 : DIR+/CCW+
axis7 : OUT1
axis7 : OUT2
axis7 : OUT3
GND
axis6 : OUT-/CWaxis6 : OUT+/CW+
axis6 : DIR-/CCWaxis6 : DIR+/CCW+
axis6 : OUT1
axis6 : OUT2
axis6 : OUT3
axis7 : Zaxis7 : Z+
axis7 : Baxis7 : B+
axis7 : Aaxis7 : A+
axis6 : Zaxis6 : Z+
axis6 : Baxis6 : B+
axis6 : Aaxis6 : A+
axis7 : -LIM
axis7 : +LIM
axis7 : ORG
axis7 : IN7
axis7 : IN6/CLR
axis7 : IN5/PCS
axis7 : IN4/LTC
axis7 : IN3/SD
axis7 : IN2/INP
axis7 : IN1/ALM
axis7 : P-COM
axis6 : -LIM
axis6 : +LIM
axis6 : ORG
axis6 : IN7
axis6 : IN6/CLR
axis6 : IN5/PCS
axis6 : IN4/LTC
axis6 : IN3/SD
axis6 : IN2/INP
axis6 : IN1/ALM
axis6 : P-COM
30
1
51
2
52
3
53
4
54
5
55
6
56
7
57
8
58
9
59
10
60
11
61
12
62
13
63
14
64
15
65
16
66
17
67
18
68
19
69
20
70
21
71
22
72
23
73
24
74
25
75
26
76
27
77
28
78
29
79
30
80
31
81
32
82
33
83
34
84
35
85
36
86
37
87
38
88
39
89
40
90
41
91
42
92
43
93
44
94
45
95
46
96
47
97
48
98
49
99
50 100
GND
axis5 : OUT-/CWaxis5 : OUT+/CW+
axis5 : DIR-/CCWaxis5 : DIR+/CCW+
axis5 : OUT1
axis5 : OUT2
axis5 : OUT3
GND
axis4 : OUT-/CWaxis4 : OUT+/CW+
axis4 : DIR-/CCWaxis4 : DIR+/CCW+
axis4 : OUT1
axis4 : OUT2
axis4 : OUT3
axis5 : Zaxis5 : Z+
axis5 : Baxis5 : B+
axis5 : Aaxis5 : A+
axis4 : Zaxis4 : Z+
axis4 : Baxis4 : B+
axis4 : Aaxis4 : A+
axis5 : -LIM
axis5 : +LIM
axis5 : ORG
axis5 : IN7
axis5 : IN6/CLR
axis5 : IN5/PCS
axis5 : IN4/LTC
axis5 : IN3/SD
axis5 : IN2/INP
axis5 : IN1/ALM
axis5 : P-COM
axis4 : -LIM
axis4 : +LIM
axis4 : ORG
axis4 : IN7
axis4 : IN6/CLR
axis4 : IN5/PCS
axis4 : IN4/LTC
axis4 : IN3/SD
axis4 : IN2/INP
axis4 : IN1/ALM
axis4 : P-COM
SMC-4DF-PCI, SMC-8DF-PCI
3. External Connection
Plus common
B+
IN1/ALM
P-COM
General-purpose input1/Alarm input
B-
Encoder phaseB input-
IN2/INP
General-purpose input2/Positionig input
Z+
Encoder phaseZ input+
Z-
Encoder phaseZ input-
IN3/SD
IN4/LTC
IN5/PCS
IN6/CLR
IN7
General-purpose input3/Slow down input
General-purpose input4/counter latch input
General-purpose input5/positioning
operation start input
General-purpose input6/Counter clear input
General-purpose input7
Encoder phaseB input+
OUT1
General-purpose output1
OUT2
General-purpose output2
OUT3
General-purpose output3
DIR+/CCW+ Direction/CCW output+
ORG
Origin input
DIR-/CCW- Direction/CCW output-
+LIM
Positive-direction limit
OUT+/CW+ Pulse/CW output+
-LIM
Negative-direction limit
OUT-/CW- Pulse/CW output-
A+
Encoder phaseA input+
A-
Encoder phaseA input-
GND
Power ground input (common to internal
GND)
Figure 3.4. Pin Assignments of Interface Connector (CNA) < SMC-8DF-PCI >
SMC-4DF-PCI, SMC-8DF-PCI
31
3. External Connection
Pin Assignments of Interface Connector < SMC-4DF-PCI >
axis0 : P-COM
axis0 : IN1/ALM
axis0 : I N2/INP
axis0 : IN3/SD
axis0 : IN4/LTC
axis0 : IN5/PCS
axis0 : IN6/CLR
axis0 : IN7
axis0 : ORG
axis0 : +LIM
axis0 : -LIM
axis1 : P-COM
axis1 : IN1/ALM
axis1 : IN2/INP
axis1 : IN3/SD
axis1 : IN4/LTC
axis1 : IN5/PCS
axis1 : IN6/CLR
axis1 : IN7
axis1 : ORG
axis1 : +LIM
axis1 : -LIM
axis0 : A+
axis0 : Aaxis0 : B+
axis0 : Baxis0 : Z+
axis0 : Zaxis1 : A+
axis1 : Aaxis1 : B+
axis1 : Baxis1 : Z+
axis1 : Zaxis0 : OUT3
axis0 : OUT2
axis0 : OUT1
axis0 : DIR+/CCW+
axis0 : DIR-/CCWaxis0 : OUT+/CW+
axis0 : OUT-/CWGND
axis1 : OUT3
axis1 : OUT2
axis1 : OUT1
axis1 : DIR+/CCW+
axis1 : DIR-/CCWaxis1 : OUT+/CW+
axis1 : OUT-/CWGND
32
100
99
98
97
96
95
94
93
92
91
90
89
88
87
86
85
84
83
82
81
80
79
78
77
76
75
74
73
72
71
70
69
68
67
66
65
64
63
62
61
60
59
58
57
56
55
54
53
52
51
50
49
48
47
46
45
44
43
42
41
40
39
38
37
36
35
34
33
32
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
axis2
axis2
axis2
axis2
axis2
axis2
axis2
axis2
axis2
axis2
axis2
axis3
axis3
axis3
axis3
axis3
axis3
axis3
axis3
axis3
axis3
axis3
axis2
axis2
axis2
axis2
axis2
axis2
axis3
axis3
axis3
axis3
axis3
axis3
axis2
axis2
axis2
axis2
axis2
axis2
axis2
GND
axis3
axis3
axis3
axis3
axis3
axis3
axis3
GND
: P-COM
: IN1/ALM
: IN2/INP
: IN3/SD
: IN4/LTC
: IN5/PCS
: IN6/CLR
: IN7
: ORG
: +LIM
: -LIM
: P-COM
: IN1/ALM
: IN2/INP
: IN3/SD
: IN4/LTC
: IN5/PCS
: IN6/CLR
: IN7
: ORG
: +LIM
: -LIM
: A+
: A: B+
: B: Z+
: Z: A+
: A: B+
: B: Z+
: Z: OUT3
: OUT2
: OUT1
: DIR+/CCW+
: DIR-/CCW: OUT+/CW+
: OUT-/CW:
:
:
:
:
:
:
OUT3
OUT2
OUT1
DIR+/CCW+
DIR-/CCWOUT+/CW+
OUT-/CW-
SMC-4DF-PCI, SMC-8DF-PCI
3. External Connection
Plus common
B+
IN1/ALM
P-COM
General-purpose input1/Alarm input
B-
Encoder phaseB input-
IN2/INP
General-purpose input2/Positionig input
Z+
Encoder phaseZ input+
Z-
Encoder phaseZ input-
IN3/SD
IN4/LTC
IN5/PCS
IN6/CLR
IN7
General-purpose input3/Slow down input
General-purpose input4/counter latch input
General-purpose input5/positioning
operation start input
General-purpose input6/Counter clear input
General-purpose input7
Encoder phaseB input+
OUT1
General-purpose output1
OUT2
General-purpose output2
OUT3
General-purpose output3
DIR+/CCW+ Direction/CCW output+
ORG
Origin input
DIR-/CCW- Direction/CCW output-
+LIM
Positive-direction limit
OUT+/CW+ Pulse/CW output+
-LIM
Negative-direction limit
OUT-/CW- Pulse/CW output-
A+
Encoder phaseA input+
A-
Encoder phaseA input-
GND
Power ground input (common to internal
GND)
Figure 3.5. Pin Assignments of Interface Connector < SMC-4DF-PCI >
SMC-4DF-PCI, SMC-8DF-PCI
33
3. External Connection
Connecting Output Signals
Pulse output circuit (CW, CCW)
The pulse output circuit on this product, which is in the form of a differential line driver (AM26LS31
equivalent) as shown in the following figure, can be connected with differential input, opto-coupler, and
TTL level input.
Connection with the differential input
Driver Unit
Board
AM26LS31 or equivalence to it
CW+
CW
CWCCW+
CCW
CCW-
Figure 3.6. Pulse output circuit (Connection with the differential input)
Connection with the opto-coupler input (When the driver unit guarantees the connection with the
differential output)
Driver Unit
Board
AM26LS31 or equivalence to it
CW+
CW
CW
CWCCW+
CCW
CCW
CCW-
Figure 3.7. Pulse output circuit (connection with the opto-coupler input)
34
SMC-4DF-PCI, SMC-8DF-PCI
3. External Connection
Connection with the opto-coupler input
Driver Unit
Board
AM26LS31 or equivalence to it
CW+
CW
CW
CWCCW+
CCW
CCW
CCWGND
Figure 3.8. Pulse output circuit (connection with the opto-coupler input)
Connection with TTL level input
Driver Unit
Board
AM26LS31 or equivalence to it
Vcc
Vcc
CW+
CW
CW
CWVcc
CCW+
CCW
Vcc
CCW
CCWGND
Figure 3.9. Pulse output circuit (connection with the TTL level input)
CAUTION
-
When connecting with the photo-coupler input or the TTL level input, check the specification for the
driver unit beforehand.
In addition, please insert a current-limiting resistor according to the allowable current and drive
current of the connected input circuit.
-
To prevent the circuit from malfunctioning due to noise, wire it as far away from other signal lines
and noise sources as possible.
SMC-4DF-PCI, SMC-8DF-PCI
35
3. External Connection
Control signal/general-purpose signal output circuit
(OUT1 - OUT3, ERC, CP1, CP2)
Output circuit of each output signal on this product is illustrated below. The signal output is an
open-collector output. A ground wire must therefore be connected for driving.
Board
Driver Unit
OUT1 - OUT3
GND
+
+12 - +24VDC
Figure 3.10. Output circuit
36
SMC-4DF-PCI, SMC-8DF-PCI
3. External Connection
Connecting Input Signals
Encoder input circuit
Encoder input circuit on this product is illustrated below. The signal input is a differential input capable
of connecting a line driver output, TTL level output and open-collector output.
Connection with the differential output
Board
Vcc
Driver Unit
Vcc
AM26LS31 or
equivalence to it
A+
Phase A+
A-
Phase A-
B+
Phase B+
B-
Phase B-
Z+
Phase Z+
ZGND
Phase ZGND
Vcc Vcc
AM26LS31 or
equivalence to it
Vcc Vcc
AM26LS31 or
equivalence to it
Figure 3.11. Encoder input circuit
SMC-4DF-PCI, SMC-8DF-PCI
37
3. External Connection
Connection with the TTL level output
Board
Vcc
Driver Unit
Vcc
Vcc
AM26LS31 or
equivalence to it
A+
TTL level
output
Phase A+
A-
Vcc Vcc
Vcc
AM26LS31 or
equivalence to it
B+
TTL level
output
Phase B+
B-
Vcc
Vcc Vcc
AM26LS31 or
equivalence to it
Z+
ZGND
Phase Z+
TTL level
output
GND
Figure 3.12. Encoder input circuit
38
SMC-4DF-PCI, SMC-8DF-PCI
3. External Connection
Connection with the open-collector output
Board
Vcc
Driver Unit
Vcc
Vcc
AM26LS31 or
equivalence to it
A+
Output
(open-collector)
Phase A+
A-
Vcc
Vcc Vcc
AM26LS31 or
equivalence to it
B+
Output
(open-collector)
Phase B+
B-
Vcc
Vcc Vcc
AM26LS31 or
equivalence to it
Z+
ZGND
Phase Z+
Output
(open-collector)
GND
Figure 3.13. Encoder input circuit
CAUTION
-
When connecting open-collector output signals or TTL level output signals, please do not insert a
terminating resistor with reference to "Setting the Terminating Resistor in chapter 2". When
inserted with a terminating resistor (factory setting), this product may malfunction, overheat, or
causes a failure.
-
Restrict the use of cables to 10m for the line driver output, 3m for the open-collector output, and
1.5m for the TTL level output.
-
To prevent the circuit from malfunctioning due to noise, wire it as far away from other signal lines
and noise sources as possible.
SMC-4DF-PCI, SMC-8DF-PCI
39
3. External Connection
Limit input/general-purpose input/control input circuit
(IN1 - IN7, +LIM, -LIM, ORG)
The limit input/general-purpose input/control input circuit on this board is illustrated below.
The signal input is an current drive input by opto-coupler (Corresponding to the current sink output). To
drive the limit input/
general-purpose input/control input block, therefore, an external power supply is required
at +12 - +24 V.
External
Device
Board
Vcc
External
Power Supply
+12 - +24VDC
Plus
Common
Photocoupler
Input
Pin
Swich
Vcc
Photocoupler
Input
Pin
Swich
* Input pin is IN1 - IN7, +LIM, -LIM, ORG.
Figure 3.14. Limit input/general-purpose input/control input circuit
40
SMC-4DF-PCI, SMC-8DF-PCI
3. External Connection
Connection Examples
Given below are practical examples of connection of this product that outputs pulses by the independent
pulsing method to motor drivers. These examples show the connections through axis0.
Example of Connection to driver unit (Σ II Series) for Servo motor
Servo motor
SMC-4DF-PCI
SMC-8DF-PCI
+12 - +24VDC
+
-
P.COM(100)
ORG
Motor driver by
YASKAWA ELECTRIC
CORPORATION
Σ II Series
+24V IN
(47)
(92)
+LIM (91)
P-OT
(42)
-LIM (90)
N-OT
(43)
IN1
ALM+
(31)
ALM-
(32)
(25)
(26)
(29)
(30)
(27)
(28)
(37)
(38)
(99)
IN2
(98)
IN3
(97)
IN4
(96)
IN5
(95)
/COIN+
/COIN/S-RDY+
/S-RDY/TGON+
/TGONALO1
IN6
(94)
ALO2
IN7
(93)
ALO3
(39)
A+
(78)
PAO
(33)
A-
(77)
/PAO
(34)
B+
(76)
PBO
(35)
B-
(75)
/PBO
(36)
Z+
(74)
PCO
(19)
Z-
(73)
/PCO
(20)
GND (59)
SG
(01)
OUT1 (64)
/S-ON
(40)
OUT2 (65)
/ALM-RST (44)
PL3
(18)
CLR
(15)
/CLR
(14)
OUT3 (66)
CW+
(61)
PLUS
(7)
CW-
(60)
/PLUS
(8)
CCW+ (63)
SIGN
(11)
CCW- (62)
/SIGN
(12)
Figure 3.15. Example of Connection to driver unit (Σ II Series) for Servo motor
SMC-4DF-PCI, SMC-8DF-PCI
41
3. External Connection
Surge Voltage Countermeasures
When connecting a load that generates surge voltages and inrush currents, such as an induction load
(relay coil) or an incandescent light bulb, to the digital output, appropriate protection must be provided
in order to prevent damage to the output stage or a malfunction due to noise. The rapid shutoff of a coil,
such as a relay, generates a sudden high-voltage pulse. If this voltage exceeds the voltage tolerance level
of the output transistor, it can cause the transistor to gradually deteriorate, or even completely damage
the transistor. Therefore, when driving an induction load, such as a relay coil, you should always
connect a surge-absorbing device. The following illustrates a surge voltage countermeasure that can be
employed:
Examples of use of relay coil
Board
Board
Relay
coil
Diode
OUT 1 - 3
External
Power Supply
+12 - +24VDC OUT 1 - 3
Relay
coil
External
Power Supply
+12 - +24VDC
Zener
diode
GND
GND
External power voltage < Zener diode voltage
Examples of use of lump
Board
Board
External
Power Supply
+12 - +24VDC OUT 1 - 3
OUT 1 - 3
Surge current
prevention
resistor
GND
External
Power Supply
+12 - +24VDC
Resistor
GND
Figure 3.16. Surge Voltage Countermeasure
CAUTION
In order for a protection circuit to operate effectively, it must be connected within 50 cm of a load
and a contact point.
42
SMC-4DF-PCI, SMC-8DF-PCI
4. Functions
4. Functions
This chapter describes the functions of this product.
You can easily set up and execute each of the functions using the bundled driver library.
For more information on this product, please refer to the “API-SMC HELP” after installing.
About each motor control operation
PTP operation function
This function moves the motor from one point to another (Point To Point motion).
Use the function for simple position control.
JOG operation function
This function moves the motor without specifying the travel distance.
Use the function to manually position the motor.
ORG operation function
This function moves the motor to the origin.
Linear interpolation
This product supports multi-axial linear interpolation. Linear interpolation causes linear motion to the
specified position.
Circular interpolation
This product supports any 2-axial circular interpolation. Circular interpolation causes circular motion
from the current coordinate to the target coordinate along an arc centered at the center point.
S-curve acceleration/deceleration function
This product has the S-curve acceleration/deceleration function in addition to the linear
acceleration/deceleration function. The S-curve acceleration/deceleration function reduces acceleration
when starting and stopping accelerating/decelerating the motor, thereby suppressing the vibration
generated at the start and end of motion.
SMC-4DF-PCI, SMC-8DF-PCI
43
4. Functions
Frame (bank) sequence operation function
This product handles the set of parameters which are necessary for motor operations such as travel
distance, travel speed, acceleration/deceleration rate, and so on as 1 frame, and can store up to 1024
frames for each axis. It is possible to repeatedly execute the frame after executing a frame once (loop
operation). By storing and executing continuous multiple frames in the memory of the board, the
following benefits can be got.
-
Decrease the CPU load on the PC for complex control
-
Shorten the idling time for the operation switchover of each frame
-
By combination with synchronization control function, multi-axial continuous interpolation control
is available.
Difference in minimum time when possible to the frame (bank) sequence operation by system
configuration
When the time of a frame (bank) is short, the frame (bank) sequence operation might not be able to be
done normally. Time of a frame (bank) sequence operation that can be normally operated depends on the
speed of CPU. Information on PC (CPU and Chip Set), the number of axes for operation, and
time of operation a frame that confirms normal operation are showed in the following table.
Table 4.1. When it inserts in the expansion slot of a personal computer
CPU / Chip Set / Number of operation axes
Time of a frame (bank) sequence (Min.)
Core 2 Duo E6300 / Q965 / 1 axis
200µsec
Core 2 Duo E6300 / Q965 / 4 axes
200µsec
Core 2 Duo E6300 / Q965 / 8 axes
400µsec
Pentium III 800MHz / i815 / 1 axis
400µsec
Pentium III 800MHz / i815 / 4 axes
600µsec
Pentium III 800MHz / i815 / 8 axes
800µsec
Table 4.2. When CONTEC's expansion unit ECH(PCI)BE-H2B, ECH(PCI)BE-H4B,
ECH(PCI)BE-F2B, ECH(PCI)BE-F4B and ECH(PCI)BE-H4A are used
CPU / Chip Set / Number of operation axes
Time of a frame (bank) sequence (Min.)
Core 2 Duo E6300 / Q965 / 1 axis
200µsec
Core 2 Duo E6300 / Q965 / 4 axes
200µsec
Core 2 Duo E6300 / Q965 / 8 axes
400µsec
Pentium III 800MHz / i815 / 1 axis
500µsec
Pentium III 800MHz / i815 / 4 axes
600µsec
Pentium III 800MHz / i815 / 8 axes
900µsec
These values may not be satisfied depending on the system configuration including other boards and
applications.
44
SMC-4DF-PCI, SMC-8DF-PCI
4. Functions
Synchronous control function
This product makes it possible for synchronization control up to 128 axes (SMC-8DF-PCI : 16 pieces in
use) by connecting to SMC-4DF-PCI or SMC-8DF-PCI with a dedicated synchronization control cable.
Synchronization is the function that makes the motors start operation at the identical timing or, if any of
the motors is stopped with an alarm (abnormal stop), stops all the relevant axes at once.
The following types of synchronous control are available.
-
Multi-axis synchronous start control
-
Multi-axis synchronous stop
-
Linear interpolation (constant speed only)
SMC-4DF-PCI, SMC-8DF-PCI
45
4. Functions
Meanings of signals
Limit input signals
Limits switches are used to detect the position of the carrier in a positioning system using a stepping
motor to stop the motor when the carrier has reached the target position (final destination). This product
is also provided with the slow-down stop input to slow down the high-speed rotation at acceleration or
deceleration. The mounting position of each limit switch is shown below.
Pulse motor
Connection
part
-LIM SD ORG
carrier
Negative Positive
(CCW)
(CW)
SD
+LIM
Figure 4.1. The attachment position relation of a limit switch
+LIM (Positive-direction end limit input), -LIM (Negative-direction end limit input)
Place +LIM at the end position when the stepping motor rotates clockwise (CW) and -LIM at the end
position when the stepping motor rotates counterclockwise (CCW). When the carrier reaches either
position (the limit input is turned on), the motor stops immediately unconditionally. Even when a
subsequent operation directive (instruction) for moving in the same direction is issued, the carrier won’t
move forward beyond the limit position as long as the limit has been applied. The motor restarts
operation (rotation) in response to an operation directive for moving in the opposite direction.
The logical direction can be set by software.
SD (deceleration (decelerated stop) input)
SD is a limit input to detect the position at which to start deceleration during high-speed rotation
(accelerating/decelerating operation). The carrier operating (moving) at high speed starts deceleration at
that position and stops after slowing down to the initial speed. The logical direction can be set by
software.
ORG (origin input)
ORG is the switch input to detect the origin to be set as the base point for each operation. The logical
direction can be set by software.
46
SMC-4DF-PCI, SMC-8DF-PCI
4. Functions
Encoder input signal
Phases A, B and Z are available to this product for encoder input. The signals that can be connected are
those in the following output forms: the line driver output form, the TTL level output form, and the
open-collector output form.
The specifications for the input pulse that can be set are as follows:
-
2-phase Input, Multiply by 1
-
2-phase Input, Multiply by 2
-
2-phase Input, Multiply by 4
-
Single-phase Input, Multiply by 1
2-phase Input
Two-phase input is a pulse input consisting of two phases between which there is a phase difference of
90° : Phase A (leading signal) and Phase B (trailing signal). The minimum phase difference between
Phase A and Phase B should be set to 0.2µ sec for line driver output connection, to 0.34µ sec for TTL
level output connection or to 1µ sec for open-collector output connection.
A
A
B
B
Multiply by 1
Multiply by 2
Multiply by 4
U - - - U - - - U
U - U - U - U - U
U U U U U U U U U
Multiply by 1 D - - - D - - - D
Multiply by 2 D - D - D - D - D
Multiply by 4 D D D D D D D D D U : Up Count
D : Down Count
Figure 4.2. Sample Count for Two-phase Input Setting
Single-phase input
In single-phase input, the counter counts up at the rising edge of Phase A (UP) pulse and counts down at
the rising edge of Phase B (DOWN) pulse.
A count cannot be performed properly, if Phase A (UP) pulse and Phase B (DOWN) pulse are generated
at the same time.
A
A
B
B
U
U
D
D
U : Up Count
D : Down Count
Figure 4.3. Sample Count for Single-phase Input Setting
SMC-4DF-PCI, SMC-8DF-PCI
47
4. Functions
Pulse output signal
Apart from the independent pulse (CW, CCW), this product can also generate the following pulses :
common pulse (pulse output, direction output), 90°C phase-different pulse (leading pulse output, trailing
pulse output). This allows you to use (or select) the most suitable one in accordance with the pulse motor
drive unit to be used (or connected). As these pulse outputs are line driver outputs, check the
specifications of the motor driver unit to be used before connecting them.
CAUTION
This product cannot directly drive the stepping motor. These pulse output signals must therefore be
connected to the motor driver unit prepared for the stepping motor.
CW (Positive-direction pulse output), CCW (Negative-direction pulse output)
CW (forward pulse output) is the pulse output signal to rotate (operate) the stepping motor clockwise
(CW). CCW (backward pulse output) rotates the motor counterclockwise. These signals are
independent of each other. When a command for rotation is executed, the pulse signal for the specified
direction outputs the preset number of operation pulses.
When positive direction operates
When negative direction operates
CW
CCW
Figure 4.4. Specification for Output Pulse in Independent Pulsing Method
OUT (Pulse output), DIR (Direction output)
OUT (pulse output) is the serial pulse output that carries the above CW and CCW signals on a single line.
The CW and CCW directions are indicated by the signal status of DIR (direction output). Note that the
DIR signal is valid only when the OUT signal is active.
When positive direction operates
When negative direction operates
OUT
DIR
Figure 4.5. Specification for Output Pulse in Common Pulsing Method
48
SMC-4DF-PCI, SMC-8DF-PCI
4. Functions
OUT (leading pulse output) and DIR (trailing pulse output)
The OUT (leading pulse output) signal and the DIR (trailing pulse output) signal are generated.
The motor is operated (rotated) in the positive direction (clockwise), when there is a phase difference of
+90° between DIR (trailing pulse output) and OUT (leading pulse output). On the other hand, the motor
is operated (rotated) in the negative direction (counterclockwise), when there is a phase difference
of -90° between DIR (trailing pulse output) and OUT (leading pulse output).
When positive direction operates
When negative direction operates
OUT
DIR
Figure 4.6. Specification for Output Pulse in 90°C phase-different Pulsing Method
General-purpose input signals
This product has general-purpose input signals (IN1 - IN7) in addition to limit input and encoder input
signals.
IN1 - IN7 (General-purpose input signals)
IN1 - IN7 (general-purpose input signals) can be used to read data from I/O ports. Since these are
independent of motor control, they do not affect pulse output even during motor operation. There are 7
pins for each axis, which are used for input of positioning completion signals or alarm signals from
motor driver units as well as for general-purpose input. By software, IN1-IN6 can be switched to serve
as alarm input, positioning completion input, deceleration (decelerated stop) input, counter latch,
positioning control start input, and counter clear input respectively. The input logic can also be changed
by software.
ALM (Alarm input signal)
ALM is the input signal to detect the alarm signal from the motor driver. The input logic can be changed
by software.
INP (positioning completion signal)
INP is the signal to detect the positioning completion signal from the motor driver unit. The input logic
can be changed by software.
SD (deceleration (decelerated stop) input)
SD is a signal to detect the position at which to start deceleration. The input logic can be changed by
software.
SMC-4DF-PCI, SMC-8DF-PCI
49
4. Functions
LTC (counter latch input)
Signal to latch with the counter value, allowing the counter value to be cleared immediately after
latching or an interrupt request to be generated upon latching. The input logic can be changed by
software.
PCS (positioning control start input)
Signal for overriding (replacing) the target position, allowing positioning to be performed by the set
amount of shifting from the input-ON timing. The input logic can be changed by software.
CLR (counter clear input)
It is a signal to reset a specified counter. Selecting edge input or level input and resetting multiple
counters are available. The input logic can be changed by software.
General-purpose output signals
This product has general-purpose output signals (OUT1 - OUT3) in addition to pulse output signal.
In addition, output signals can be switched to alarm clear output, driver differential clear output, or
comparator output by software.
OUT1 - OUT3 (General-purpose output signals)
OUT1 - OUT3 (general-purpose output signals) can be used to write data to I/O ports. Since these are
independent of motor control, they do not affect pulse output even during motor operation.
There are 3 pins for each axis, which are used for the output of level output signals for servo-on and
hold-off to the motor driver unit, one-shot pulse signals for various clear signals, and comparator output
signals. The output logic can also be changed by software.
ALMCLR (alarm clear output signal), ERC (driver differential clear output)
ALMCLR and ERC are signals to output clear one-shot pulses to the alarm clear and deviation counter
clear inputs of the motor driver unit. The width of one-shot pulses (output logic changeable) can be
selected from among 12 µsec, 102 µsec, 408 µsec, 1.6 msec, 13 msec, 52 msec, 104 msec.
CP1, CP2 (comparator output)
CP1 and CP2 compare the count value with the set comparator value. Signals will be output when the set
criteria are satisfied. The output logic can be changed by software.
P.COM (Plus common)
P.COM is the plus common signal for limit input signals (+LIM, -LIM, SD, ORG) and general-purpose
input/output signals (IN1 - IN7, OUT1 - OUT3).
GND (Ground)
GND is the ground line for the general-purpose output signals (OUT1 - OUT3).
50
SMC-4DF-PCI, SMC-8DF-PCI
4. Functions
Connecting the synchronization control connectors
There are synchronization signal control connectors (CN2, CN3) which enable synchronization
operations of multiple pieces of this product. These connectors are used for connecting synchronization
signal cables.
Connection method
For synchronous operations of two or more boards, connect them with synchronization signal cables.
Use a synchronization signal cable to connect the CN2 of a smaller ID board to the CN3 of the board
with a greater board ID number.
ID = 0
ID = 1
ID = 2
Figure 4.7. Connection method of a cable
SMC-4DF-PCI, SMC-8DF-PCI
51
4. Functions
Configuration examples for synchronization operations (for SMC-8DF-PCI)
Cable connection
Unconnection
Hardware
Synchronization
connector
number
CN3
BoardID
number
Axis number
Connection
CN2
First piece (ID = 0)
Connection
CN3
CN2
Unconnection
CN3
Second piece (ID = 1)
CN2
Third piece (ID = 2)
Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis
0
1
2
3
4
5
6
7
0
1
2
3
4
5
6
7
0
1
2
3
4
5
6
7
Group A
(24-axis synchronization operations)
Configuration
example 1
Configuration
example 2
Group A
(12-axis synchronization operations)
Group B
(12-axis synchronization operations)
Group B
Group A
(4-axis
(20-axis synchronization operations)
synchronization
operations)
Configuration
example 3
< Description for the above figure >
- Configuration example 1:
- Configuration example 2:
when all axes (24 axes) working synchronously by using 3 pieces of SMC-8DF-PCI
When divided into 2 groups of 12-axis synchronization operations by using 3 pieces of
SMC-8DF-PCI
- Configuration example 3:
When divided into 1 group of 20-axis synchronization operations and a group of 4-axis
synchronization operations by using 3 pieces of SMC-8DF-PCI
CAUTION
-
Connectors for synchronization signals control of this product (CN2, CN3) are dedicated for
SMC-4DF-PCI, SMC-8DF-PCI. Please do not connect this synchronization cable with products
other than SMC-4DF-PCI and SMC-8DF-PCI.
-
Please make up synchronization groups from axis 0 or axis 4.
52
SMC-4DF-PCI, SMC-8DF-PCI
4. Functions
Motion control system
System configuration
Stepping motor
Servo motor
Limit sensor
Driver unit Conversion cable
CCB-SMC2
PCB-100PS
SMC-4DF-PCI
SMC-8DF-PCI
+12V +24VDC
DC Power Supply
Figure 4.8. System configuration
Table 4.3. Component features
Item
SMC-4DF-PCI
SMC-8DF-PCI
(Main board)
PCB-100PS (Option)
Description
When installed on the PC, this board generates pulses required for position control.
This cable connects the board to the CCB-SMC2.
This screw terminal is used to efficiently connect the devices (the board, driver unit,
CCB-SMC2 (Option)
DC power supply, limit sensor) required for position control. The screw terminal
can connect a four-axis motion control system alone.
The shape of the control connector of each driver unit is largely different depending
Conversion cable (User)
on the manufacturer and type. A conversion cable must be prepared to connect each
driver unit to the CCB-SMC2.
Driver unit (Motor maker)
Motor and driver unit to be subject to motion control.
Stepping motor Servo motor
Available in various types by motor capacity, power-supply voltage, and motor
(Motor maker)
shape. Select the ones that best fit your needs.
Limit sensor (Switch maker)
positions. When a table is used in the system, the sensor is bundled with the table.
This sensor is installed at the forward/backward limit and origin detection
For a self-made system, use commercially available switches.
DC Power supply
(Power supply maker)
Power supply to the CCB-SMC2. Use a 12 - 24-VDC power supply.
SMC-4DF-PCI, SMC-8DF-PCI
53
4. Functions
54
SMC-4DF-PCI, SMC-8DF-PCI
5. About Software
5. About Software
CD-ROM Directory Structure
\
|– Autorun.exe
| Readmej.html
| Readmeu.html
.
.
|–––APIPAC
| |––AIO
| | |––DISK1
| | |––DISK2
| | |––……
| | |––DISKN
| |––AioWdm
| |––CNT
| |––DIO
| |––……
.
.
| ––HELP
| |––Aio
| |––Cnt
| |––……
.
.
| ––INF
| |––WDM
| |––Win2000
| |––Win95
.
.
|––linux
| |––cnt
| |––dio
| |––……
.
.
| ––Readme
.
.
| ––Release
| |––API_NT
| |––API_W95
.
.
|––UsersGuide
Installer Main Window
Version information on each driver (Japanese)
Version information on each driver (English)
Driver file for Windows
HELP file
Each INF file for OS
Driver file for Linux
Readme file for each driver
Driver file on each API-TOOL
(For creation of a user-specific install program)
Hardware User's Guide (PDF files)
SMC-4DF-PCI, SMC-8DF-PCI
55
5. About Software
About Software for Windows
The bundled CD-ROM “API Function Library Package API-PAC(W32)” contains the functions that
provide the following features:
-
Function to easily set and control the position of the stepping motor or servomotor
-
Function to set and execute basic motor operations such as PTP and JOG operations
-
Capable of digital input/output of specified axes
For details, refer to the help file. The help file provides various items of information such as “Function
Reference”, “Sample Programs”, and “Q&A”. Use them for program development and troubleshooting.
Accessing the Help File
(1) Click on the [Start] button on the Windows taskbar.
(2) From the Start Menu, select “Programs” – “CONTEC API-PAC(W32)” - “SMC” - “API-SMC-D
HELP” to display help information.
56
SMC-4DF-PCI, SMC-8DF-PCI
5. About Software
Uninstalling the Driver library
To uninstall API-PAC(W32), follow the procedure below.
(1) Click on the [Start] button on the Windows taskbar. From the Start Menu, select “Settings” –
“Control Panel”.
(2) Double-click on “Change/Remove Programs” in the Control Panel.
(3) Double-click on “Change or Remove Programs” in the Control Panel.
Select “CONTEC API-SMC(WDM) driver” from the application list displayed, then click on the
[Change/Remove] button. Follow the on-screen instructions to uninstall the function libraries.
SMC-4DF-PCI, SMC-8DF-PCI
57
5. About Software
58
SMC-4DF-PCI, SMC-8DF-PCI
6. About Hardware
6. About Hardware
This chapter provides hardware specifications and hardware-related supplementary information.
For detailed technical information
For further detailed technical information (“Technical Reference” including the information such as an
I/O map, configuration register, etc.), visit the Contec's web site (http://www.contec.com/support/) to
call for it.
Hardware specification
Tables 6.1 - 6.6 list the hardware specifications of the board.
Table 6.1. Common Section
Specification
Item
SMC-4DF-PCI
SMC-8DF-PCI
Control target
Stepping motor or servo motor driver unit (pulse train input type)
Number of axes to control
4axis
Device used
PCL6045B (Nippon Pulse Motor CO., LTD.) or equivalence to it
Interrupt
1 ch
Interrupt factor
When stopping by positive-direction end limit input ON
When stopping by negative-direction end limit input ON
At the time of stop by alarm input on
When stopping by simultaneous stop operation
When stopping by deceleration (decelerated stop) input on
When occurring the encoder input error
The other event (setting by the software)
8axis
The number of sheets that can 16 sheets
be used simultaneously
I/O address
Any 128 ports boundary
Current consumption (Max.)
5VDC 800mA
Operating condition
0 - 50°C, 10 - 90% (No condensation)
PCI bus specification
32-bit, 33MHz, Universal key shapes supported *1
Dimension (mm)
176.41(L) x 106.68(H)
Connector used
HDRA-EC100LFDT+
[mfd by HONDA TSUSHIN
KOGYO CO., LTD.] or equivalence
to it
HDRA-E100W1LFDT1EC-SL+
[mfd by HONDA TSUSHIN
KOGYO CO., LTD.] or equivalence
to it
Weight
120g
150g
*1
5VDC 1600mA
This board requires power supply at +5V from an expansion slot (it does not work on a machine with a +3.3V power
supply alone).
SMC-4DF-PCI, SMC-8DF-PCI
59
6. About Hardware
Board dimensions
106.68(H)
176.41(L)
The standard outside dimension (L) is
the distance from the end of the board
to the outer surface of the slot cover.
[mm]
Table 6.2. Encoder Input Section
Item
Encode type
Specification
Incremental
Maximum counter value 8000000h - 7FFFFFFh(-134,217,728 - 134,217,727), 28 bit
Input signal type
Single-phase input (UP/DOWN/Z) / Phase input (A/B/Z)
Supported output type
Differential output, TTL level output, open-collector output
Device used
AM26LS32(T.I) or equivalence to it
Terminal resistor
150Ω (Separatable with SW)
Receiver input
sensitivity
±200mV
In-phase input voltage
range
±7V
10m (Depending on the time of connecting the differential output, wiring environment and
input frequency)
Distance in which signal 3m (Depending on the time of connecting the open-collector output, wiring environment and
input frequency)
can be extended
1.5m (Depending on the time of connecting the TTL level output, wiring environment and
input frequency)
Response frequency
(Max.)
5MHz duty (When connecting the differential output, 2-phase Input, Multiply by 4, duty
50%)
3MHz duty (When connecting the TTL level output, 2-phase Input, Multiply by 4, duty 50%)
1MHz duty (When connecting the open-collector output, 2-phase Input, Multiply by 4, duty
50%)
Table 6.3. Limit Input Section
Item
Specification
Signal channel
3channels/axis (original point, Forward limit, reserve limit)
Input signal name
ORG : origin input
+LIM : positive direction end limit input
-LIM : negative direction end limit input
Input logic
Enables selecting the positive/negative logic by using the Software
Input type
Opto-coupler input (corresponding to current sink output)
Response time (Max.)
200 µsec
Input resistance
4.7kΩ
Input ON current
2.0mA or more
Input OFF current
0.16mA or less
External circuit power
supply
60
12V - 24VDC(±10%)
SMC-4DF-PCI, SMC-8DF-PCI
6. About Hardware
Table 6.4. General-purpose Input Section
Item
Specification
Signal channel
7channels/axis
Input signal name
IN1/ALM : alarm input, general-purpose input
IN2/INP : positioning completion input, general-purpose input
IN3/SD : deceleration (decelerated stop) input, general-purpose input
IN4/LTC : counter latch input, general-purpose input
IN5/PCS : positioning control start input, general-purpose input
IN6/CLR : counter clear input, general-purpose input
IN7 : general-purpose input
Input logic
Enables selecting the positive/negative logic by using the Software
Input type
Opto-coupler input (corresponding to current sink output)
Response time (Max.)
200 µsec
Input resistance
4.7kΩ
Input ON current
2.0mA or more
Input OFF current
0.16mA or less
External circuit power supply 12V - 24VDC(±10%)
Table 6.5. Pulse Output Section
Item
Specification
Pulse rate
0.1 - 6.5 Mpps
Output signal name
CW : pulse / CW output
CCW : direction / CCW output
Output signal system
2 Pulse types (pulse for positive/negative direction) or the common
pulse type (pulse signal/directional signal)
90ºC phase difference pulse (lead/lag pulse)
Output form
Un-isolated differential line driver output
Device used
AM26LS31(T.I) or equivalence to it
H level output voltage
2.5V - 5.25V
L level output voltage
0V - 0.5V
Rated output current (Max.)
20mA
SMC-4DF-PCI, SMC-8DF-PCI
61
6. About Hardware
Table 6.6. General-purpose Output Section
Item
Specification
Number of signal channel
3channels/axis
Output signal name
OUT1 : general-purpose output
OUT2 : general-purpose output
OUT3 : general-purpose output
(Each output pin can be switched with the following functions)
ALMCLR : alarm clear output
ERC : driver differential clear output
CP1 : comparator1 output
CP2 : comparator2 output
Signal specification
Un-isolated open collector output (current sink type)
Response time (Max.)
10µsec (when using the loading on the input side 510Ω, +24VDC)
Rated output current (Max.)
100mA per 1ch, 300mA per 1axis
Rated output withstanding
voltage (Max.)
50VDC
(Enables selecting the positive/negative logic by using the Software)
62
SMC-4DF-PCI, SMC-8DF-PCI
6. About Hardware
Block Diagram
Driver
Pulse output
Receiver
Encoder input
Photo-coupler
Limit input
-
-
Motor controller
PCL6045B
Driver
Pulse output
Receiver
Encoder input
PCI Bus*
Photo-coupler
Control circuit
FPGA
Driver
Pulse output
Receiver
Encoder input
Limit input
-
-
Driver
Pulse output
Receiver
Encoder input
Photo-coupler
-
Axis 3
Limit input
Photo-coupler
Motor controller
PCL6045B
Axis 0
Axis 4
-
Axis 7
Limit input
* Only SMC-8DF-PCI
Transistor
General-purpose
output
Photo-coupler
(Each axis 3ch)
General-purpose
input
SMC-4DF-PCI
SMC-8DF-PCI
(Each axis 7ch)
Synchronization
signal
Figure 6.1. Block Diagram
SMC-4DF-PCI, SMC-8DF-PCI
63
SMC-4DF-PCI
SMC-8DF-PCI
User’s Guide
CONTEC CO.,LTD.
March 2007 Edition
3-9-31, Himesato, Nishiyodogawa-ku, Osaka 555-0025, Japan
Japanese http://www.contec.co.jp/
English http://www.contec.com/
Chinese http://www.contec.com.cn/
No part of this document may be copied or reproduced in any form by any means without prior written
consent of CONTEC CO., LTD.
[03092007]
[03092007]
Management No. A-51-318
Parts No.
LYGQ961