PMC-4B-PCI
PMC-4B-PCI
4-Axis board type programmable motion controller
Features
● Available to control 4-Axis independent AC servo motor
and stepper motor
● PC-PCI card
● Auto home search and synchronous operation
● Interpolation on circular/linear, bit pattern/continuous/
ac/deceleration drive
● 2/3-Axis constant linear velocity.
● Compatible with windows 98, NT, 2000, XP, 7
● Supports Labview library and help, C language library and
examples (download at Autonics website)
Please read “Caution for your safety” in operation
manual before using.
※Visit our website (www.autonics.com) to
download the user manual.
Ordering information
PMC
4B
PCI
Connection type
Axis/Type
Item
PCI
PCI
4B
4-Axis board type
PMC
Programmable motion controller
Specifications
Model
PMC-4B-PCI
Control axis
4-Axis
Power supply
5VDC(uses PC inner power)
External power supply
12-24VDC
Allowable voltage range
90 to 110% of rated voltage
CPU data bus
8/16 Bit selectable
Interpolation range -2,147,483,648 to 2,147,483,647 for each axis
2/3-Axis
Interpolation speed 1pps to 4 Mpps
linear
interpolation Shortcut position
Max. ±0.5LSB(within all interpolation range)
accuracy
Interpolation range Uses PC inner power
Circular
Interpolation speed 1pps to 4 Mpps
interpolation
Shortcut position
Max. ±1 LSB(within all interpolation range)
accuracy
2/3-Axis bit pattern
1 to 4MPPS(depends on CPU data setup)
interpolation speed
Other interpolations
Selectable the axis, constant linear velocity, consecutive interpolation, interpolation step
transmission(command, external signal)
Output speed range : 1 pps to 4 Mpps
Output speed accuracy : Max ±0.1%(for setting value)
Speed magnification: 1 to 500
S jerk speed: 954 to 62.5×106pps/sec. (Mag.=1)
(accel/decel increase rate) 477×103 to 31.25×109pps/sec. (Mag.=500)
Accel/Decel: 125 to 1×106pps/sec. (Mag.=1)
62.5×103 to 500×106pps/sec. (Mag.=500)
X, Y-axis common
specifications
Initial velocity: 1 to 8,000pps(Mag.=1)/500 to 4×106pps(Mag.=500)
Drive speed: 1 to 8,000pps(Mag.=1) / 500 to 4×106pps(Mag.=500)
Number of output pulses: 0 to 4,294,967,295(Fixed pulse drive)
Speed curve: Constant speed/Symmetric, Asymmetric linear accel/decel/Parabola S curve drive
Fixed pulse drive deceleration mode auto deceleration(asymmetric linear accel/decel function)/
Manual deceleration
Changeable output pulse for driving, drive speed
Selectable individual 2-pulse/1-pulse direction method
Selectable drive pulse logic level, changeable output terminal
Encoder input pulse
Q-64
Inputtable 2-phase pulse/Up-Down pulse, Selectable 2-phase pulse 1, 2, 4 multiply
4-Axis Motion Controller
Specifications
Position counter
(A)
Photo
electric
sensor
Logic position counter(for output pulse) count range: -2,147,483,648 to +2,147,483,647
Actual position counter(for input pulse) count range: -2,147,483,648 to 2,147,483,647
(B)
Fiber
optic
sensor
Comp.+ register position compare range: -2,147,483,648 to +2,147,483,647
Compare register
Comp.- register position compare range: -2,147,483,648 to +2,147,483,647
(C)
Door/Area
sensor
Status output for position counter size, signal output
Enables to operate as software limit
Auto home search
Step 1(high speed near home search) → Step2(low speed near home search)
Interrupt function
(Except interpolation)
1drive pulse output
When changes position counter ≥ COMP-, When changes position counter ≤ COMP+
When changes position counter < COMP-, When changes position counter < COMP+
When starting constant speed in accel/decel drive, when ending constant speed in accel/decel
drive when ending drive, when ending auto home search, Synchronous operation
Drive adjustment by external signal
(F)
Rotary
encoder
Enable to drive 2-phase encoder signal mode(encoder input)
IN 0 to 3 each axis 4-point
Input signal for servo motor
Selectable alarm, INPOS signal valid/invalid and logic level
General output signal
OUT4 to 7 each axis 4-point(uses same terminal with drive status output signal)
Drive status signal output
ASND (accelerating), DSND(decelerating)
(G)
Connector/
Socket
Selectable signal valid/invalid and logical level, usable as general input
(H)
Temp.
controller
(I)
SSR/
Power
controller
Selectable + direction, - direction each 1-point and logic level
At active, selectable immediate stop/decelerate stop
(J)
Counter
Emergency stop signal input
EMG 1-point, stops drive pulse of all axes by low level
Integral filter
Built-in integral filter at each input signal input terminal, selectable pass time(8 types)
Others
Selectable the axis, constant linear velocity, consecutive interpolation,
interpolation step transmission(command, external signal)
Environ- Ambient temperature
ment
Ambient humidity
(E)
Pressure
sensor
Enable to fixed/continuous pulse drive of +/- direction by EXP+/EXP- signal
External deceleration stop/
immediate stop signal
Overrun limit signal input
(D)
Proximity
sensor
(K)
Timer
0 to 45℃, storage: -10 to 55℃
35 to 85%RH, storage: 35 to 85%RH
(L)
Panel
meter
Approx. 98g
(M)
Tacho/
Speed/ Pulse
meter
Approval
Unit weight
※Environment resistance is rated at no freezing of condensation.
(N)
Display
unit
System
Host controller
(O)
Sensor
controller
Motion controller
Drivers & Motor (Example)
(P)
Switching
mode power
supply
X-Axis
(Q)
Stepper
motor&
Driver&Controller
(R)
Graphic/
Logic
panel
Y-Axis
Z-Axis
Servo
motor driver
&
Stepper
motor driver
Stepper
motor
&
Servo motor
(S)
Field
network
device
(T)
Software
PC
PMC-4B-PCI
U-Axis
(U)
Other
Q-65
PMC-4B-PCI
Dimensions
(unit: mm)
106.7
174.6
Connections
Connection of pulse output signal for operating driver(nP+P/N, nP-P/N)
PMC-4B-PCI outputs pulse for operating driver as +/- of CW/CCW output using Line driver (AM26c31) and refer to the
follows connections of motor driver with photocoupler and line driver input.
● Connection to motor driver with photocoupler
PMC-4B-PCI
Motor driver
nP+P
CW+
nP+N
AM26c31
CWnP-P
CCW+
nP-N
CCW-
● Connection to motor driver with line driver
PMC-4B-PCI
Motor driver
nP+P
CW+
nP+N
AM26c31
CWnP-P
CCW+
nP-N
CCW-
※It is recommended to use twisted pair shield wire for pulse output signal of driver operation regarding EMC.
Connection of common output signal (nOUT4 to 7)
Output signal is outputted by buffer(74LS06), and all outputs are OFF after reset.
PMC-4B-PCI
nOUT7
nOUT6
nOUT5
nOUT4
Q-66
4-Axis Motion Controller
Connection of encoder input signal(nECAP/N, nECBP/N) and nlNO+/- signal
(A)
Photo
electric
sensor
● Connection of encoder input signal and auto output line driver
PMC-4B-PCI
(B)
Fiber
optic
sensor
Encoder output circuit
nECAP/nIN0+
(C)
Door/Area
sensor
EC-A
nECAP/nIN0+
(D)
Proximity
sensor
※Encoder A, B, Z phase are same connection.
(E)
Pressure
sensor
Example for the connection of encoder input signal and
NPN open collector output encoder
R
PMC-4B-PCI
VEX
External
power
GND
nECAP/nIN0+
Encoder output circuit
nECAP/nIN0-
(F)
Rotary
encoder
External power supply
Resistance(R)
5V
0
12V
820Ω 1/4W
24V
2kΩ 12W
(G)
Connector/
Socket
(H)
Temp.
controller
EC-A
(I)
SSR/
Power
controller
※Encoder A, B, Z phase are same connection.
(J)
Counter
Connection of input signal (nIN1 to 3, nINPOS, nALRAM, nEXP+/-, EMG)
(K)
Timer
PMC-4B-PCI
(L)
Panel
meter
VEX
+5V
(M)
Tacho/
Speed/ Pulse
meter
Input signal
(N)
Display
unit
GND
(O)
Sensor
controller
Connection of limit input signal(nLMIT+/-)
(P)
Switching
mode power
supply
The outgoing cable of limit signal can be affected by noise, it can not be removed only with photocoupler, so, the filter
circuit is built in and set enough passing time. (FL=2, 3)
VEX
PMC-4B-PCI
GND
VEX
(Q)
Stepper
motor&
Driver&Controller
External
power
(R)
Graphic/
Logic
panel
+
OUT
Noise
removal filter
(S)
Field
network
device
XLIT+
(T)
Software
(U)
Other
Q-67
PMC-4B-PCI
Entire I/O connections
A1
A50
B1
B50
PMC-4B-PCI
B50
B49
B48
B47
B46
B45
B44
B43
B42
B41
B40
B39
B38
B37
B36
B35
B34
B33
B32
B31
B30
B29
B28
B27
B26
B25
B24
B23
B22
B21
B20
B19
B18
B17
B16
B15
B14
B13
B12
B11
B10
B9
B8
B7
B6
B5
B4
B3
B2
B1
Q-68
A50
A49
A48
A47
A46
A45
A44
A43
A42
A41
A40
A39
A38
A37
A36
A35
A34
A33
A32
A31
A30
A29
A28
A27
A26
A25
A24
A23
A22
A21
A20
A19
A18
A17
A16
A15
A14
A13
A12
A11
A10
A9
A8
A7
A6
A5
A4
A3
A2
A1
CCWCCW+
CWCW+
BLACK
GREEN
ORANGE
RED
BLUE
Y-Axis
stepper motor
Y-Axis motor driver
CCWCCW+
CWCW+
BLACK
GREEN
ORANGE
RED
BLUE
X-Axis
stepper motor
X-Axis motor driver
※Connected resistance for no. 15, 17, 19, 23, 25, 27 is 1/2W
220Ω, for the other numbers is 1/2W 3.3kΩ.
※Use NPN open collector output(+12VDC) for encoder.
※Only axis A 50pins are shown on the figure.
Other 50 pins of axis B are having same connection.
However, No. 2 of axis B is not for use.
Z-phase
B-phase
A-phase
Y-Axis encoder
Z-phase
B-phase
A-phase
X-Axis encoder
Power
24VDC
VEX GND
4-Axis Motion Controller
I/O specifications
Pin No. Signal
Description
Pin No. Signal
Pin description
A1
12-24VDC
B1
12-24VDC
VEX
VEX
A2
EMG
Emergency stop (4-axis stop)
B2
-
-
A3
XLMIT+
X-axis + direction limit
B3
ZLMIT+
Z-axis + direction limit
A4
XLMIT-
X-axis - direction limit
B4
ZLMIT-
Z-axis – direction limit
A5
XIN1
X-axis input signal(home signal)
B5
ZIN1
Z-axis input signal(home signal)
ZIN0
Z-axis input signal(near home signal)
A6
XIN0
X-axis input signal(near home signal)
B6
(A)
Photo
electric
sensor
(B)
Fiber
optic
sensor
(C)
Door/Area
sensor
A7
XIN3
X-axis input signal(Encoder Z phase signal) B7
ZIN3
Z-axis input signal(Encoder Z phase signal)
A8
YLMIT+
Y-axis + direction limit
B8
ULMIT+
U-axis +direction limit
A9
YLMIT-
Y-axis - direction limit
B9
ULMIT-
U-axis –direction limit
A10
YIN1
Y-axis input signal(home signal)
B10
UIN1
U-axis input signal(home signal)
A11
YIN0
Y-axis input signal(near home signal)
B11
UIN0
U-axis input signal(near home signal)
(E)
Pressure
sensor
(F)
Rotary
encoder
A12
YIN3
Y-axis input signal(Encoder Z phase signal) B12
UIN3
U-axis input signal(Encoder Z phase signal)
A13
XINPOS
X-axis inposition input
ZINPOS
Z-axis inposition input
B13
A14
XALRAM
X-axis alarm input
B14
ZALRAM
Z-axis alarm input
A15
XECAP
X-axis Encoder A phase+
B15
ZECAP
Z-axis Encoder A phase+
Z-axis Encoder A phase-
A16
XECAN
X-axis Encoder A phase-
B16
ZECAN
A17
XECBP
X-axis Encoder B phase+
B17
ZECBP
Z-axis Encoder B phase+
A18
XECBN
X-axis Encoder B phase-
B18
ZECBN
Z-axis Encoder B phase-
A19
XECZP
X-axis Encoder Z phase+
B19
ZECZP
Z-axis Encoder Z phase+
A20
XECZN
X-axis Encoder Z phase-
B20
ZECZN
Z-axis Encoder Z phaseU-axis inposition input
A21
YINPOS
Y-axis inposition input
B21
UINPOS
A22
YALARM
Y-axis alarm input
B22
UALARM
U-axis alarm input
A23
YECAP
Y-axis Encoder A phase+
B23
UECAP
U-axis Encoder A phase+
A24
YECAN
Y-axis Encoder A phase-
B24
UECAN
U-axis Encoder A phase-
A25
YECBP
Y-axis Encoder B phase+
B25
UECBP
U-axis Encoder B phase+
A26
YECBN
Y-axis Encoder B phase-
B26
UECBN
U-axis Encoder B phase-
A27
YECZP
Y-axis Encoder Z phase+
B27
UECZP
U-axis Encoder Z phase+
A28
YECZN
Y-axis Encoder Z phase-
B28
UECZN
U-axis Encoder Z phase-
A29
XEXP+
X-axis manual + drive
B29
ZEXP+
Z-axis manual + drive
A30
XEXP-
X-axis manual – drive
B30
ZEXP-
Z-axis manual – drive
A31
YEXP+
Y-axis manual + drive
B31
UEXP+
U-axis manual + drive
A32
YEXP-
Y-axis manual – drive
B32
UEXP-
U-axis manual – drive
A33
GND
GND
B33
GND
GND
A34
XOUT4/CMPP X-axis general output
B34
ZOUT4/CMPP Z-axis general output
A35
XOUT5/CMPM X-axis general output
B35
ZOUT5/CMPM Z-axis general output
A36
XOUT6/ASND X-axis general output
B36
ZOUT6/ASND Z-axis general output
A37
XOUT7/DSND X-axis general output
B37
ZOUT7/ DSND Z-axis general output
B38
ZP+P
Z-axis +direction +drive signal output
Z-axis +direction –drive signal output
A38
XP+P
X-axis +direction +drive signal output
A39
XP+N
X-axis +direction –drive signal output
B39
ZP+N
A40
XP-P
X-axis -direction +drive signal output
B40
ZP-P
Z-axis -direction +drive signal output
A41
XP-N
X-axis -direction –drive signal output
B41
ZP-N
Z-axis -direction –drive signal output
GND
A42
GND
GND
B42
GND
A43
YOUT4/CMPP Y-axis general output
B43
UOUT4/CMPP U-axis general output
A44
YOUT5/CMPM Y-axis general output
B44
UOUT5/CMPM U-axis general output
A45
YOUT6/ASND Y-axis general output
B45
UOUT6/ASND U-axis general output
A46
YOUT7/DSND Y-axis general output
B46
UOUT7/DSND U-axis general output
A47
YP+P
Y-axis +direction +drive signal output
B47
UP+P
U-axis +direction +drive signal output
A48
YP+N
Y-axis +direction –drive signal output
B48
UP+N
U-axis +direction –drive signal output
A49
YP-P
Y-axis -direction +drive signal output
B49
UP-P
U-axis -direction +drive signal output
A50
YP-N
Y-axis -direction –drive signal output
B50
UP-N
U-axis -direction –drive signal output
(D)
Proximity
sensor
(G)
Connector/
Socket
(H)
Temp.
controller
(I)
SSR/
Power
controller
(J)
Counter
(K)
Timer
(L)
Panel
meter
(M)
Tacho/
Speed/ Pulse
meter
(N)
Display
unit
(O)
Sensor
controller
(P)
Switching
mode power
supply
(Q)
Stepper
motor&
Driver&Controller
(R)
Graphic/
Logic
panel
(S)
Field
network
device
(T)
Software
(U)
Other
Q-69
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