pci bus cpd board series hpci-cpd553 - hivertec€¦ · pci bus cpd board series hpci-cpd553...

PCI Bus CPD Board Series

HPCI-CPD553

User's Manual <Hardware>

NC Board

Multifunctional High-Speed Circular/Linear Interpolation and Positioning

Hivertec,inc.

http://www.hivertec.co.jp/

http://www.hivertec.co.jp/

..

This manual is for HPCI-CPD553.

It is prohibited to reprint or copy all or any part of this manual or programs without prior written permission.

The contents of this manual are subject to change without notice to enable improvements to be made.

Please notify us -- or your sales representative if you have purchased our products via your sales representative -- for this

product if you find any concerns with the contents of this manual.

Company and product names are the trademarks or registered trademarks of their respective companies.

Hivertec Inc.

Mitsuiseimei Shin-Ohashi Bldg.

1-8-11 Shin-Ohashi, Koto-Ku, Tokyo 135-0007, Japan

TEL +81-3-3846-3801

FAX +81-3-3846-3773

[email protected]

Version 5.03 Janualy 18, 2016

Copyright Hivertec Inc.

mailto:[email protected]

CONTENTS

Please read first ............................................................................................................................................... 1

Extent of Warranty..................................................................................................................................... 1

Limitations to Liability ................................................................................................................................ 1

Important Safety Instructions ..................................................................................................................... 1

Authorized For ...................................................................................................................................... 2

Compatible Bus .................................................................................................................................... 2

Environmental Conditions ..................................................................................................................... 2

Transportation and Installation ............................................................................................................. 3

Wiring ................................................................................................................................................... 4

Disposal ................................................................................................................................................ 4

Manual Configuration ................................................................................................................................ 5

Terms and Names appearing in this Manual ............................................................................................. 6

1. Introduction ............................................................................................................................................... 7

1.1 Model Options at Purchase ....................................................................................................................... 7

1.2 Axes Names .............................................................................................................................................. 7

1.3 Block Diagram ......................................................................................................................................... 8

2. Board Settings ........................................................................................................................................... 9

2.1 Setting Positions ....................................................................................................................................... 9

2.2 Board ID .................................................................................................................................................... 9

2.3 Encoder Input Circuit Format .................................................................................................................... 9

3. External Connections .............................................................................................................................. 10

3.1 Command Pulse Output and Connection to Drivers ................................................................................ 10

3.2 Axis Sensor and Servo Interface Input Circuit ......................................................................................... 11

3.3 Encoder Input Circuits ............................................................................................................................. 12

3.4 Servo Interface ........................................................................................................................................ 13

3.5 Generic Input ........................................................................................................................................... 13

3.6 Generic Output ........................................................................................................................................ 13

3.8 Connector Signals ................................................................................................................................... 15

3.8.1 J1 connector (Panel surface) ................................................................................................................. 15

3.8.2 J2 Connector (on Board) ....................................................................................................................... 16

4. Board Specifications................................................................................................................................ 17

4.1 Board Specifications................................................................................................................................ 17

4.2 Combination between Axes ..................................................................................................................... 18

5. Accessories ............................................................................................................................................. 19

5.1 ACB-PPD553 (MIL Type Connector Board) ............................................................................................ 19

5.1.1 Shape and dimensions .................................................................................................................. 19

5.1.2 Connector model ........................................................................................................................... 20

5.1.3 Connector table ............................................................................................................................. 20

5.1.4 Connection configuration ............................................................................................................... 22

5.1.5 ACB-PPD553 circuit diagram......................................................................................................... 23

5.2 ACB-MDR100 (Terminal Block Type Relay Connector Board) ............................................................... 25

5.2.1 Shape and dimensions .................................................................................................................. 25

5.2.2 Connector model ........................................................................................................................... 25

Please be sure to read the "Please read first" section

carefully before using the product.

5.3 HPCI-CPD553 Connection Cable ........................................................................................................... 26

5.3.1 HCL-018 ........................................................................................................................................ 26

5.3.2 HCL-018W ..................................................................................................................................... 26

5.3.3 HCL-018Y ...................................................................................................................................... 26

5.3.4 HCL-018 pin assignment ............................................................................................................... 27

5.3.5 HCL-018Y pin assignment ............................................................................................................. 28

6. Revision History ...................................................................................................................................... 29

Table of Figures

Figure 1.3-1 Block diagram...................................................................................................................................... 8

Figure 2.1-1 Setting positions .................................................................................................................................. 9

Table 3.1-1 Command pulse output and connection to drivers ............................................................................. 10

Table 3.2-2 Axis sensor and servo interface input circuits ..................................................................................... 11

Table 3.3-1 Encoder input circuits ......................................................................................................................... 12

Table 3.4-1 Servo interface output circuits ............................................................................................................ 13

Figure 3.5-1 Generic input circuit ........................................................................................................................... 13

Figure 2.3-6 Generic output circuit ........................................................................................................................ 13

Table 3.7-1 J1 connector signal table .................................................................................................................... 15

Table 4.1-1 Board specifications ........................................................................................................................... 18

Table 5.1-1 Accessories: Relay connector boards and cables .............................................................................. 19

Figure 5.1-1 ACB-PPD553/M* straight connector type (Left) Right-angle connector type (Right)....................... 19

Table 5.1-2 ACB-PPD553 connector models ........................................................................................................ 20

Figure 5.1-2 ACB-PPD553 connector types .......................................................................................................... 22

Figure 5.2-1 ACB-MDR100/Mx straight connector type (Left) Right-angle connector type (Right) ........................ 25

Figure 5.2-2 ACB-MDR100/MS(D) dimensions ..................................................................................................... 25

Table 5.2-3 ACB-MDR100 connector model ......................................................................................................... 25

Figure 5.3-1 HCL-018 cable .................................................................................................................................. 26

Figure 5.3-2 HCL-018W cable ............................................................................................................................... 26

Figure 5.3-3 HCL-018Y cable ................................................................................................................................ 26

Table 5.3-1 HCL-018 cable pin assignment .......................................................................................................... 27

Figure 5.3-4 HCL-018Y cable pin assignment ....................................................................................................... 28

Table 6.1-1 Revision history .................................................................................................................................. 29

1

Please read first

Extent of Warranty

1. The product warranty is valid for a period of three years from the date of purchase. If a defect is

acknowledged by Hivertec within the period of warranty, Hivertec will repair or replace the product upon

return of the product to Hivertec.

2. Hivertec is not responsible beyond the purchase price of the product for any damages or loss of profit,

direct, indirect, or secondary, caused by application, delivery, or failure of a Hivertec product either within

or outside of the period of warranty.

Limitations to Liability

1. Hivertec is not responsible for any damages resulting from product installation, connections, settings, or

operation that do not follow the contents of this manual.

2. This product uses semiconductor devices manufactured for general electronics equipment, such as

machine tools, instrumentation, measurement hardware, FA devices, OA devices, and communications

equipment. They are not designed, conceived, approved for, or warranted for application in devices for

which faulty operation or failure will have a direct effect on human life or result in personal injury or damage

to property, such as medical equipment, traffic equipment, burning appliances, or safety devices.

The safety, quality, and performance of the products are not guaranteed explicitly or implicitly beyond those

given in this manual or related catalogs.

3. Hivertec is not responsible for any damages resulting from modifications or repairs made to the product

without the approval of Hivertec either within or outside of the period of warranty.

The contents of this manual do not guarantee or grant rights to patents, copyright, trademark rights, or any

other rights to the intellectual property of Hivertec or any third party.

Hivertec is not responsible for any problems that may occur concerning the rights to intellectual property

of third parties resulting from the application of information provided in this manual.

Important Safety Instructions

Thank you for choosing this product. This manual contains information that is important for the safe and reliable

operation of this product. Read this section and understand the information contained before attempting to use

the product.

Furthermore, save this manual and store it in an easily accessible location near the installed product, so that it

can be referenced when necessary.

Safety Precautions

Always read this manual and any attached documents completely before attempting to use this product. Be sure that you understand the information provided and are using the product correctly. Do not use the product before having a complete understanding of the product, product safety information, and precautions. In this manual, safety precautions are classified as either Warnings or Cautions.

Warning

Indicates a potentially hazardous situation which, if not avoided, could result in

death or serious injury.

Caution

Indicates a potentially hazardous situation which, if not avoided, may result in

minor or moderate injury, or property damage.

2

Authorized For

Caution

This product and this manual are designed for those with the following knowledge.

• A basic knowledge for installing and wiring expansion boards.

• A basic knowledge of electronic control devices and personal computers.

Compatible Bus

Warning

This product is a board compatible with PCI Local Bus Specification Rev.2.1 (+5V specification). Only use it in an environment in which PCI Local Bus Specification Rev.2.1 (+5V specification can operate.

Environmental Conditions

Warning

Store and use this product only under the following environmental conditions.

Ambient operating temperature: 0 to +50C Ambient operating humidity: 20% to 85% (with no condensation)

Ambient storage temperature: -15 to +75C Ambient storage humidity: 10% to 90% (with no condensation) Atmosphere: No corrosive gas, inflammable gas, oil mist, or dust Altitude: 3,000 m above sea level max. (Lower upper level of temperature

range by 2C for every 300 m.)

3

Transportation and Installation

Warning

Touch a metal object to discharge static electricity from your body before touching this product. Static electricity may cause a failure of the product. Do not wrap the product in any wrapping material that easily carries a static charge, such as bubble wrap. Static electricity may cause a failure of the product. Do not touch the edge connector on the product. Contamination on the edge connector may cause an operating error. Do not place any heavy object on the product. A heavy object may damage components on the product, possibly causing a failure of the product.

Set the jumpers (switches) on the product before installing to the computer. If the jumpers

(switches) are set with the power supply turned ON, the settings may not be recognized

correctly, possibly causing an operating error.

Set the jumpers (switches) on the product correctly. Incorrect settings may cause an

operating error.

Always turn the power supply of the computer OFF and disconnect the power supply cable before installing the product. Installing the product without removing the power supply cable may cause a failure, or the device may exhibit an unexpected operation.

When installing this product to the computer, make sure the board is straight to the

connector in the computer and press in the board so that the gold-plated edge connector

is deeply inserted into the PCI connector. If the board is inserted at an angle or not inserted

deeply enough, poor contact may cause an operating error or product damage.

When installing this product to the computer, be sure to securely fix the mounting hardware

(brackets) using screw. Improper securing of the board may cause an operating error.

Caution

Do not drop the product or handle it roughly. Vibration or shock may cause a failure. Do not touch the solder surface of the product with your hands. Sharp points on the components may cause injury.

4

Wiring

Warning

Turn the power supply to the computer OFF and disconnect the power supply cable before

wiring connectors to exterior lines, or before connecting or disconnecting such connectors.

Installing the product without removing the power supply cable may cause a failure.

Furthermore, the device may exhibit an unexpected operation.

When wiring connectors to exterior lines, check the connector signal tables carefully and

wire all lines correctly. Incorrect wiring may cause a failure or burning.

Always keep external power supply within ratings. Using a power supply that is not within

ratings may cause a failure, burning, or operating error.

Always keep circuits connected to the I/O circuits within the rated currents and voltages.

Using a power supply that is not within ratings may cause a failure, burning, or operating

error.

Use the recommended connectors for external lines. Using any other connector may cause

an operating error because of faulty contact.

Always lock connectors for external lines. A connector that is not locked may come loose,

possibly causing an operating error because of faulty contact.

Do not pull on or place heavy objects on cables for external wiring. The connector may

come loose and faulty contact may cause an operating error.

Separate cables for external wiring as far as possible from AC power cables, motor cables,

or other cables that generate excessive noise. Noise may cause an operating error.

Disposal

Warning

Abide by all applicable laws and ordinances when disposing of the product.

5

Manual Configuration

Manuals for the CPD Series are composed of the following 4 documents.

(1) CPD Series User’s Manual <Introduction>

(2) CPD Series User’s Manual <Operation>

(3) User’s Manual <Hardware>

(4) User’s Manual <Software> (Windows version provided as standard. DOS version provided on

request)

The contents of each manual are listed below.

CPD Series User’s Manual <Introduction> CPD Series User’s Manual <Operation>

－For All Developers －Primarily for Software Developers

CPD Series Overview Installation Trial Operation Glossary

Basic Operation Special Operations

User’s Manual <Hardware> User’s Manual <Software>

－Primarily for Wiring Personnel －Primarily for Software Developers

Product Specification, Options at Purchase

Block Diagram Connection Configuration Board Settings External Connections Accessories (Relay Connector Board, Connection Cable, etc.) Examples of Connection with Servo

Amplifiers of Various Companies

Software Overview Library Functions Driver Functions Sample Program Information on Ports

6

Terms and Names appearing in this Manual

1. The axes are named X, Y, Z, U, V, W, A, and B.

2. As for input/output description in this manual of various kinds, about which axis is clearly

specified.

Example：XCWP (CW : pulse output+ for X-axis)

3. Abbreviations appearing in this Manual here after

ELS End Limit Sensor (XELS : End Limit Sensor of X-axis)

DLS Deceleration Sensor (YDLS : Deceleration Sensor of Y-axis)

OLS Origin Sensor (ZOLS : Origin Sensor of Z-axis)

CMP Comparator coincident output (CMPX : Comparator output

of X-axis)

INPOS In-position

SVALM Servo Alarm (XSVALM : Servo Alarm of X-axis)

SVCTRCL Servo Error Counter Clear (YSVCTRCL : Servo Error

Counter Clear for Y-axis)

EXTPOW External Power Supply

EXTGND External Ground

EMG Master stop request

(eventually abbreviated for full stop of each 4-axis, that is

from X to U and from V to B)

(This is not the “Emergency Stop” as a hardware device.)

DSW Dip Switch

SYNCA Syncronized Connection for Interboard master slave

connection for CW pulse

SYNCB Syncronized Connection for Interboard master slave

connection for CCW pulse

AP encoder phase-A input+(Positive) (XAP : encoder phase-

A input+ for X-axis)

AN encoder phase-A input-(Negative) (XAN : encoder phase-

A input- for X-axis)

TTL Transistor Transistor Logic

4. As for Status

Please refer to the "User’s Manual <Operation>" and "<Software>" such as describe below.

Example：ERST, MSTS, RSTS

7

1. Introduction

This manual describes the HPCI-CPD553, a PCI bus compatible, 3-axis interpolation and positioning CPD

series board with general-purpose insulated input/output. In this manual, HPCI-CPD553 is referred to as

CPD553.

As for control LSIs such as the PCL6045, they are generically referred to as PCL.

1.1 Model Options at Purchase

The following are options to be specified at the time of purchase.

(1) External power supply voltage

Change of the standard 24V to 12V.

[Model]

HPCI-CPD553/EXP1□2△3○

□ = C: 12V EXTPOW1 specification

△ = C: 12V EXTPOW2 specification

△ = C: 12V EXTPOW3 specification

Note: Specify the above-described code only for required options, and shift the option specification string

to the left for any empty character space created as a result of not specifying an option code.

[Example of model specification]

HPCI-CPD553/EXP1C

EXTPOW1 (generic input/output) power: 12V specification

1.2 Axes Names

The axes are named X, Y, and Z.

8

1.3 Block Diagram

Figure 1.3-1 Block diagram

Ｊ1

ＰＣＩＢＵＳ

ＬｏｃａｌＢｕｓＩ／Ｆ

PCL

X

Y

Z

U

Ｂｕｆｆｅｒ

ＰｈｏｔｏＩｓｏｒａｔｏｒ

Filter&

Ｂｕｆｆｅｒ

WaveCompensation

Ｂｕｆｆｅｒ


Filter&

Ｂｕｆｆｅｒ

WaveCompensation

PCL(X,Y,Z)


Filter&

Ｂｕｆｆｅｒ

PCL(X,Y,Z)

ＰｈｏｔｏＩｓｏｒａｔｏｒＢｕｆｆｅｒＤｒｉｖｅｒ

OptionPort

(Register)





Commad Pulse XCWP,XCWN XCCWP,XCCWN

Limit Sensor ±XELS <XDLS/XPCS> XOLS

Encoder XZ,XA,XB

ＢｕｆｆｅｒＤｒｉｖｅｒ

ＢｕｆｆｅｒＤｒｉｖｅｒ

Filter&

Ｂｕｆｆｅｒ

Filter&

Ｂｕｆｆｅｒ

Commad Pulse ZCWP,ZCWN ZCCWP,ZCCWN

Limit Sensor ±ZELS <ZDLS/ZPCS> ZOLS

Encoder ZZ,ZA,ZB

SVALM(X,Y,Z) INPOS (X,Y,Z)

SVON (X,Y,Z) SVRST (X,Y,Z) SVCTRCL(X,Y,Z)

OUT 1～8

OUT 9～12　OrIN 13～16

IN 1～12

INT

9

5

251 2 1

99 1

0049

50

XABZ

1 2 3

YABZ

ZABZ

F

BA CDE

65

7

8

9

10234

BDID

2. Board Settings

2.1 Setting Positions

On the board, there are two types of settings to configure: the board ID and encoder circuit format.

The board ID is used as board group in the application program when there are two or more boards.

Encoder circuit format Board ID

Figure 2.1-1 Setting positions

2.2 Board ID

Selects the ID (can be set in the range of 0 to 15) to identify the board when using two or more. Set it with the rotary switch located in the lower right corner of the board.

2.3 Encoder Input Circuit Format

Select the input circuit depending on the encoder circuit (differential or open collector).

The input circuit is set to differential connection by factory default.

F

BA CDE65

7

8

9

10234

BDID

XABZ

1 2 3

YABZ

ZABZ

Z軸

Y軸

X軸A相B相Z相

A相B相Z相A相B相Z相

（2-3ｼﾞｬﾝﾊﾟ時）差動接続

（1-2ｼﾞｬﾝﾊﾟ時）オープンコレクタ接続

Z-axis

Y-axis

X-axis

Phase-Z Phase-B Phase-A



(When pins 2 and 3 are connected by a jumper) Differential connection (When pins 1 and 2 are connected by a jumper) Open collector connection

10

3. External Connections

3.1 Command Pulse Output and Connection to Drivers

The following table shows the output circuit conditions.

No. Item Contents

1

Ele

ctr

ical

conditio

ns

Output pulse driver Output pulse width

Differential output driver (26LS31 or equivalent) Up to 2.4Kpps 200µs width 2.4Kpps to 4.9Mpps duty: approximately 50% Note that it can go below 50% depending on the register setting. More than 4.9Mpps 50ns width

2

Sig

nal ty

pe

Individual pulse method

Direction and pulse train method

3

Connectio

n to m

oto

r driver

Connection to differential input driver

Connection to driver of a photo-coupler input

When the driver side guarantees differential input

Connection to driver of a TTL input

"x" in the table above indicates axis name.

Table 3.1-1 Command pulse output and connection to drivers

Note: Make sure that the speed and cable length are appropriate when the motor driver is not on the

differential input.

The standard is 500Kpps (cable length: 3m) for drivers with photo-coupler input, and 250Kpps (cable

length: 1m) for those with TTL input.

Also, make sure to check the motor driver input circuit specifications before using.

CWP端子

CWN端子

CCWP端子

CCWN端子

0V

0V

0V

0V

CWP端子

CWN端子

CCWP端子

CCWN端子

0V

0V

0V

0V

GND GND

xCWP

xCWN

xCCWP

xCCWN

GND

ＣＰＤ側ﾄﾞﾗｲﾊﾞ側

xCWP

xCWN

xCCWP

xCCWN

GND

GND

GND

GND

R

R

外部電源+5VＣＰＤ側ﾄﾞﾗｲﾊﾞ側

RxCWP

xCWN

GND

(片側のみ表示）

ＣＰＤ側ﾄﾞﾗｲﾊﾞ側

GNDGND

xCWP

xCWN

GND

GND

GND

R

(片側のみ表示）

ＣＰＤ側ﾄﾞﾗｲﾊﾞ側+5V

CWP pin

CWN pin

CCWP pin

CCWN pin

CWP pin

CWN pin

CCWP pin

CCWN pin

CPD side Driver side

Driver side CPD side

External power supply

CPD side Driver side

Driver side CPD side

Only one side shown

Only one side shown

11

3.2 Axis Sensor and Servo Interface Input Circuit

The following table shows the input circuits.

No. Item Contents

1

Cir

cu

it f

orm

at

±xELS, xDLS, and xOLS (common)

R

4.7k

EXTPOW2端子(+24V入力)

入力端子(±xELS,xDLS,xOLS)

EXTPOW2: External power supply, standard 24V, input pin

2

Cir

cu

it f

orm

at

xINPOS, xSVALM (common)

R

4.7k

EXTPOW3端子(+24V入力)

入力端子(xINPOS,xSVALM)

EXTPOW3: External power supply, standard 24V, input pin

3

Po

lari

ty s

ett

ing

Polarities of ±xELS, xDLS, xOLS, xINPOS, and xSVALM

Normal open: detects when the current is ON on a photo-coupler

Normal close: detects when the current is OFF on a photo-coupler

Polarity setting

±xELS ELS is set from the option port

xDLS, xOLS, DLS, OLS, INPOS, and SVALM are set by PCL.RENV1

xINPOS, xSVALM (See User's Manual <Operation>)

4

Exte

rna

l co

nne

ctio

n

Photo sensor input 4.7k

EXTPOW2 or EXTPOW3

入力端子

External power+24V

+

-

OUT

Sensor

ＣＰＤ側

Limit switch input

4.7k入力端子

External power+24V

ＣＰＤ側

Switch

EXTPOW2 or EXTPOW3


Table 3.2-2 Axis sensor and servo interface input circuits

EXTPOW2 pin

+24V input

Input pin

EXTPOW3 pin

+24V input

Input pin

Input pin

CPD side

CPD side

Input pin

12

3.3 Encoder Input Circuits

The following table shows the input circuit conditions.

No. Item Contents

1 Encoder input circuit format

2 Phase advancement/delay

setting for phase-A/B (See User's Manual <Common>)

3

Differential connection

Open collector connection (when using the internal +5V)


Table 3.3-1 Encoder input circuits

180

270xAP,xBP,xZP

3

2

1+5V

270

xAN,xBN,xZN

Ｐn

180

270

3

2

1+5V270

ＣＰＤ側ｴﾝｺｰﾀﾞ側

xAP,xBP,xZP

xAN,xBN,xZN

Ｐn

180

270

3

2

1+5V

270

GNDGND

ＣＰＤ側ｴﾝｺｰﾀﾞ側

xAP,xBP,xZP

xAN,xBN,xZN

Ｐn

CPD side Encoder side

Encoder side CPD side

13

3.4 Servo Interface

The following table shows the output circuit conditions.

No. Item Contents

1

Driver circuit format xSVON xSVRST xSVCTRCL

EXTPOW3

xSVON,xSVRST,xSVCTRCL

EXTGND3

Rated load voltage: DC12V to DC24V Working load current: 80mA or less / one unit SVON for all axes, SVRST for all axes: Six pins in total Total load current: 400mA or less

2 Output logic level (Fixed polarity)

When port output is '1', xSVON, xSVRST, and xSVCTRCL are ON.

3 External connection

EXTPOW3

xSVON,xSVRST,xSVCTRCL

EXTGND3

External power+24V

R

ＣＰＤ Driver

Table 3.4-1 Servo interface output circuits

3.5 Generic Input

The following figure shows the input circuit of this board.

Power to the switch

(sensor) is supplied

from an external power

source.

Standard input from external

power supply is 24V.

Figure 3.5-1 Generic input circuit

(When inputting 12V, the jumper pad must be short-circuited (soldered))

3.6 Generic Output

The following figure shows the output circuit of this board.

The output circuit

cannot be

converted to 5V

output.

Figure 2.3-6 Generic output circuit

EXTGND1

EXTPOW1

IN

820_OHM

2.2K_OHM2.2K_OHM

ジャンパパッド

外部電源（DC24V)

EXTPOW1

負荷外部電源（DC24V)

OUT

トランジスタ

33K_OHM

外部電源（２４V）

Jumper pad

Transistor


(DC 24V)


(DC 24V)

External power supply (DC 24V)

Load

14

3.7 J2 Connector

By connecting the J2 connector to each other by a dedicated cable, it is available for simultaneous start-stop

across the board.

The timing output of the comparator conditions are satisfied was taken out of the J2 connector, it is available to

use in external (visual capture timing, the dispenser ON/OFF timing, etc.)

■ Connector Position

■STA/STP/CMP Circuit Format

TTL Output

Rated load voltage DC5V

1 9

2 10

STA/STP/CMP

15

3.8 Connector Signals

3.8.1 J1 connector (Panel surface) Pin No. Signal Pin No. Signal

1 +5V output 51 +5V output

2 GND 52 GND

3 XCWP (CW pulse output+ / Pulse output) 53 YCWP (CW pulse output+ / Pulse output)

4 XCWN (CW pulse output- / Pulse output) 54 YCWN (CW pulse output- / Pulse output)

5 XCCWP (CCW pulse output+ / Direction signal) 55 YCCWP (CCW pulse output+ / Direction signal)

6 XCCWN (CCW pulse output- / Direction signal) 56 YCCWN (CCW pulse output- / Direction signal)

7 ZCWP (CW pulse output+ / Pulse output) 57 ZCCWP (CCW pulse output+ / Direction signal)

8 ZCWN (CW pulse output- / Pulse output) 58 ZCCWN (CCW pulse output- / Direction signal)

9 XAP (encoder phase-A input+) 59 YAP (encoder phase-A input+)

10 XAN (encoder phase-A input-) 60 YAN (encoder phase-A input-)

11 XBP (encoder phase-B input+) 61 YBP (encoder phase-B input+)

12 XBN (encoder phase-B input-) 62 YBN (encoder phase-B input-)

13 XZP (encoder phase-Z input+) 63 YZP (encoder phase-Z input+)

14 XZN (encoder phase-Z input-) 64 YZN (encoder phase-Z input-)

15 ZAP (encoder phase-A input+) 65 ZZP (encoder phase-Z input+)

16 ZAN (encoder phase-A input-) 66 ZZN (encoder phase-Z input-)

17 ZBP (encoder phase-B input+) 67 GND

18 ZBN (encoder phase-B input-) 68 GND

19 XSVALM (servo alarm input) 69 YSVALM (servo alarm input)

20 XINPOS (end of positioning input) 70 YINPOS (end of positioning input)

21 XSVON (servo ON output) 71 YSVON (servo ON output)

22 XSVRST (servo reset output) 72 YSVRST (servo reset output)

23 XSVCTRCL (servo error counter clear) 73 YSVCTRCL (servo error counter clear)

24 ZSVALM (servo alarm input) 74 ZSVON (servo ON output)

25 ZINPOS (end of positioning input) 75 ZSVRST (servo reset output)

26 Input0 / CMP0 76 ZSVCTRCL (servo error counter clear)

27 EXTGND3 (+24V common) 77 EXTGND3 (+24V common)

28 EXTPOW3 (+24V input) 78 EXTPOW3 (+24V input)

29 +XELS (CW stroke-end-limit sensor input) 79 +YELS (CW stroke-end-limit sensor input)

30 -XELS (CCW stroke-end-limit sensor input) 80 -YELS (CCW stroke-end-limit sensor input)

31 XDLS (deceleration sensor input) 81 YDLS (deceleration sensor input)

32 XOLS (origin sensor input) 82 YOLS (origin sensor input)

33 +ZELS (CW stroke-end-limit sensor input) 83 ZDLS (deceleration sensor input)

34 -ZELS (CCW stroke-end-limit sensor input) 84 ZOLS (origin sensor input)

35 Input1 / CMP1 85 Reserved


37 IN1 (generic input 1) 87 OUT1 (generic output 1)








45 IN9 (generic input 9) 95 OUT9 (generic output 9) / IN13




49 EXTGND1 (+24V common) 99 EXTGND1 (+24V common)


Table 3.7-1 J1 connector signal table

■ Connector model

Board side 100PIN MDR connector (half-pitch)

Model 102A0-52A2PL (Sumitomo 3M)

Cable side Plug 101A0-6000EL (Insulation displacement type)

48

51

98

52

100

99 49

1

2

50

16

3.8.2 J2 Connector (on Board)

Pin No. Signal Pin No. Signal

1 GND 2 GND 3 Reserved 4 Reserved 5 CMP 6 Reserved 7 Reserved 8 Reserved 9 STA 10 STP

■Connector model

Board side 10PIN 2.54 Pitch header XG4C-1031(OMRON)

Cable side For flat cable XG4M-1030-T(OMRON))

STA：Simultaneous Start

(TTL level，active Low)

STP：Simultaneous Stop


CMP：Comparator output


17

4. Board Specifications

4.1 Board Specifications

Category Item Specification Remarks Basic

specification ■Axis control specification Controls a maximum of 3 axes Control method (1) 3 axes independent axis positioning

(2) 2 to 4-axis linear interpolation (3) 2-axis circular interpolation

Control LSI: PCL6045 or equivalent (Manufactured by Nippon Pulser Motor)

■Position command

Command pulses Positioning pulse-train command output Output element: Differential driver Position command range -134,217,728 to +134,217,727 [pulse] Command coordinate Relative coordinate command Command range for continuous feed Unlimited Position override Only positioning is allowed (Target position change before

positioning completion) ■Speed control 0.1pps to 6.5Mpps (Speed multiplier: 0.1 to

100) Speed register length: 16 bits (65,535)

Speed range However, the encoder input speed is as follows. Differential input • • Max. 4Mpps (x4) Open collector input • • Max. 500Kpps

x1 multiplication mode: 1 to 65.535Kpps x10 multiplication mode: 10 to 655.35Kpps

Constant vector speed control

For 2-axis circular or linear interpolation: a √2 control is applied For 3-axis linear interpolation: a √3 control is applied

However, constant vector speed control for circular interpolation is limited to constant speed control.

Speed override (1) Constant speed is available for all operations (2) When accompanied by acceleration/deceleration Only positioning, linear interpolation, and continuous feed are available

■Acceleration/deceleration

control Automatic acceleration/deceleration system

(1) The following functions are available for positioning and linear interpolation:

The S-curve acceleration/deceleration, the partial S-curve pattern acceleration/deceleration, and the linear acceleration/deceleration functions

(All with triangular drive peak prevention function)

During automatic acceleration/deceleration: Asymmetrical ramp can be used

(2) For circular interpolation, the automatic acceleration/deceleration function is available when constant vector speed control is OFF.

Acceleration/deceleration range during the slope of acceleration/deceleration Linear acceleration/deceleration: 2.7ms to 871s S-curve acceleration/deceleration: 5.4ms to 1742s

Function

specifications ■Acceleration/ deceleration

block Can configure an acceleration block, constant speed block, and deceleration block. However, the deceleration start point must be manually calculated.

■Homing control Homing method 13 types of homing methods are available for sensor origin, phase-Z origin, and

ELS homing. Origin search Available Escape origin Available

■Counter function Command position (command pulse count)

Four sets per axis Machine position (encoder count) General-purpose counter and step-out

counter

■Comparator Comparator 1, 2: For ± Software limit Five sets per axis

Comparator 3 to 5: General-purpose ■Encoder input/pulsar input Encoder input and pulsar input are alternatively chosen, one set for each axis (Input

speed: See Speed range under Basic specification) ■Backlash compensation Automatically inserts a compensation pulse whenever the movement direction is

inverted ■Slip operation

compensation Inserts a compensation pulse regardless of the movement direction

■Positioning-control-start signal

Positioning starts when a pulse (PCS) is input during continuous feeding

■Idling pulse function Accelerates the pulse motor ■Vibration reduction when

stopping Reduces the vibration of the pulse motor when stopping

■Machine interface ±ELS, OLS, DLS, encoder phase-A/B/Z for each axis ■Servo interface Command pulse output (differential), SVALM, INPOS, servo reset, servo ON

Servo error counter clear

(Continued to the next page)

18

(Continued from the previous page)

Category Item Specification Remarks

Generic input

Number of inputs 12 (16)

Voltage range 12 to 24V Resistance must be changed when using 12V.

Drive current Approximately 4mA (at 24V input)

Common 1 pin (One fuse for the unit of 16 pins)

Digital filter Up to 2.5ms in increments of 5µs

Response speed 45µs 20µs when resistance is changed

Interrupt 16 bits IN1 to IN15 can be used as interrupt.

Latch function Can latch up to 16 bits

Generic output

Number of outputs 12 (8)

Voltage range 12 to 24v (Max. 26V) External power supply input

Operating current Max. 100mA

Common 1 pin (One fuse for the unit of 12 pins)

Response speed 150µs

Event timer OUT_01 bit can be used as a timer Event timer

Output status The output status can be read as a port Output Status Read-back

Operating environment specifications

PCI bus power supply

+5V (Max. 350mA)

+3.3V (Max. 500mA)

Operating temperature

0ºC to 40ºC

Storage temperature -20ºC to 85ºC

Operating humidity 20% to 90% (with no condensation)

Storage humidity 20% to 90% (with no condensation)

Dimensions External dimensions 174.63mm (L) x 106.68mm (W) (short size)

Cable Used connector 102A0-52A2PL (Manufactured by Sumitomo 3M)

Cable side connector

Plug 101A0-6000EL (Manufactured by Sumitomo 3M) Shell 103A0-200-00 (Manufactured by Sumitomo 3M)

Table 4.1-1 Board specifications

4.2 Combination between Axes

The 4-axis PCL can operate (1) each axis independently, (2) linearly interpolate a set of 2 to 4 axes, or (3)

circularly interpolate a set of 2 axes. Here, "Independent axis operation" includes the following:

Positioning (PTP), Continuous Feed (terminated by stop command), Homing, Pulsar Feed (handle feed), and

Timer Operation

In the table below, "simultaneous operation" refers to the following:

(1) Multiple independent axes move at the same time

Example: Y-axis starts moving while X-axis is moving, etc.

(2) Multiple interpolation axes combinations move at the same time

Example: Z-U pair of axes starts linear interpolation during circular interpolation of X-Y pair of axes

(3) Independent axis and interpolation axis move at the same time.

Example: U-axis starts moving independently during linear interpolation of XYZ axes

Possible combinations are as follows.

No. Combinations Explanation Remarks

1 All axes are independent

Simultaneous operation possible

2 All axes are linear interpolation axes

2 to 4-axis linear interpolation

3 Linear interpolation axis and independent axis

Simultaneous operation possible

4 Circular interpolation axis and remaining axes

Circular interpolation and simultaneous operation of remaining axes possible

Remaining axes refer to linear interpolation axes or independent axes

19

5. Accessories

The connector boards and cables below are available as accessories to make CPD board, motor driver and

machine sensor connection easier.

■ Relay connector board

ACB-PPD553/* makes wiring easy by dividing the motor driver and sensor by axis using MIL head

connector.

ACB-MDRxxx/* is a terminal block type connector board, recommended for use on trial machines.

■ Cable

There are two types of cables available for CPD533: HCL-018W for the connector board and HCL-018

(laminated and flat on one end). (The standard length is 2m for both, but custom lengths are also

available)

Compatible board

Compatible cable

No. of pins

Connector board Comment

CPD553 HCL-018W 100

ACB-PPD553/* Specify one of the following for *: MR: Right-angle connector MS: Straight connector MS(D): With DIN rail latch

Connector is half pitched

Terminal block model

ACB-MDR100/*

Table 5.1-1 Accessories: Relay connector boards and cables

5.1 ACB-PPD553 (MIL Type Connector Board)

ACB-PPD553/MS, /MR, and /MS(D) are optional (sold separately) MIL type connector boards convenient for

distributing signals from HPCI-CPD553 to motor drivers, machine axis sensors, etc.

5.1.1 Shape and dimensions

Figure 5.1-1 ACB-PPD553/M* straight connector type (Left) Right-angle connector type (Right)

20

5.1.2 Connector model Connector models on the relay connector board are listed below.

Use HCL-018W cable for the connection to CPD (J1) shown in the table below.

Part name

Name Vendor Model Remarks

J1

MDR receptacle (straight)

Sumitomo 3M

102A0-6202PL Plug 101A0-6000EL Shell 103A0-A200-00 (Die-cast aluminum shell/straight type)

MDR receptacle (right-angle)

102A0-52A2PL

J2 to J4 26-pin flat cable connector

OMRON XG4A-2631 (MIL type plug with long lock)

XG4M-2630 (For flat cable) XG5M-2632-N (For loose wires)

J6 to J8 10-pin flat cable connector



J5, J9 20-pin flat cable connector



Table 5.1-2 ACB-PPD553 connector models

5.1.3 Connector table

(1) J2 to J4 (Servo/Stepping motor driver connector)

J2 (X-axis), J3 (Y-axis), and J4 (Z-axis)

Pin No. Signal Pin No. Signal

1 EXTPOW3 (+24V power supply) 2 EXTPOW3 (+24V power supply)

3 SVALM (servo alarm input) 4 INPOS (end of positioning input)

5 SVON (servo ON output) 6 SVRST (servo reset output)

7 CTRCL (error counter clear output) 8

9 COM3 (EXTPOW3 GND) 10 COM3 (EXTPOW3 GND)

11 GND 12 GND

13 AP (encoder phase-A input+) 14 AN (encoder phase-A input-)

15 BP (encoder phase-B input+) 16 BN (encoder phase-B input-)

17 ZP (encoder phase-Z input+) 18 ZN (encoder phase-Z input-)

19 GND 20 GND

21 CWP (CW command pulse output+) 22 CWN (CW command pulse output-)

23 CCWP (CCW command pulse output+) 24 CCWN (CCW command pulse output-)

25 +5V output (for Driver coupler) 26 +5V output (for Driver coupler)

(2) J6 to J8 (axis sensor connector)

J6 (X-axis), J7 (Y-axis), and J8 (Z-axis)

Pin No. Signal Pin No. Signal 1 EXTPOW2 (+24V power supply) 2 EXTPOW2 (+24V power supply) 3 +ELS (CW side end limit input) 4 -ELS (CCW side end limit input) 5 DLS (deceleration sensor input) 6

7 OLS (sensor origin input) 8 9 COM2 (EXTPOW2 GND) 10 COM2 (EXTPOW2 GND)

21

(3) J5 (input port connector) Pin No. Signal Pin No. Signal


3 IN1 (input 1) 4 IN2 (input 2)





13 IN11 (input 11) 14 IN12 (input 12)

15 IN13 (input 13) 16 IN14 (input 14)

17 IN15 (input 15) 18 IN16 (input 16)


(4) J9 (output port connector) Pin No. Signal Pin No. Signal


3 OUT1 (output 1) 4 OUT2 (output 2)






15 Reserved 16 Reserved

17 Reserved 18 Reserved


(5) TB1 (EXTPOW1, 2 external power supply receiving terminal) Terminal

No. Signal

1A EXTPOW1 (+24V external power reception)

1B COM1 (+24V external power ground)





Remarks

Power supply to EXTPOW3 of J2 to J4, EXTPOW2 of J6 to J8, and EXTPOW1 of J5 and J9 is possible by supplying external power to TB1. Jumper P1 1-2 (4-5): Connects EXTPOW1 and EXTPOW2 (COM1 and COM2) 1-12 (4-9): Connects EXTPOW1 and EXTPOW3 (COM1 and COM3) 2-11 (5-8): Connects EXTPOW2 and EXTPOW3 (COM2 and COM3) Connecting EXTPOW1 to EXTPOW3 and COM1 to COM3 are possible by connecting 1-12 and 2-11 (4-9 and 5-8). Range of connection cables: AWG26 to AWG16 Wire stripping length: 5mm Tightening torque: 0.22 to 0.25Nm

22

5.1.4 Connection configuration

Figure 5.1-2 ACB-PPD553 connector types

TB1: External power supply (standard +24V DC) terminal

P1: Jumper for supplying common external power EXTPOW1, EXTPOW2, and/or EXTPOW3

From positioning board

From X-axis sensor Output port

To X-axis motor driver

Input port

23

5.1.5 ACB-PPD553 circuit diagram

25

211.3mm

72m

m

J１

TB1

４－Φ ３．５

200mm

60m

m

6mm

5.6mm

105.6mm

J１

6.2m

m

84.2mm

1.6m

m

9.1m

m

45m

m

78mm 214mm

45m

m

5.2 ACB-MDR100 (Terminal Block Type Relay Connector Board)

ACB-MDR100/MS, /MR, or /MS(D) is an optional connector board of terminal block type.

5.2.1 Shape and dimensions

Note: MS(D) is the type with DIN block

Figure 5.2-1 ACB-MDR100/Mx straight connector type (Left) Right-angle connector type (Right)

Figure 5.2-2 ACB-MDR100/MS(D) dimensions

5.2.2 Connector model Connector models on the relay connector board are listed below.

Use HCL-018W cable for the connection to CPD (J1) shown in the table below.

Part name

Name Vendor Model Cable side connector (Reference)

J1

MDR receptacle (straight)

Sumitomo 3M 102A0-6202PL Plug 101A0-6000EL Shell 103A0-A200-00 (Die-cast aluminum shell/straight type)

MDR receptacle (right-angle)

Sumitomo 3M 102A0-52A2PL

TB Terminal block Phoenix contact MKKDS 1/**-3.81 Line width 0.14-1.0 [mm]

Table 5.2-3 ACB-MDR100 connector model

26

150m

m

2000mm200mm

200m

m

5.3 HPCI-CPD553 Connection Cable

When using HPCI-CPD553, the HCL-018 series cables are useful for branching to connected devices. There

are three types to select from depending on the intended use. (The standard length is 2m for all three types)

5.3.1 HCL-018 In HCL-018, wires are laminated together into two groups: 1 to 50 and 51 to 100, which make them easy to

wire to the terminal block or crimp to a connector.

(See the pin assignment described separately)

CPD553 side

Figure 5.3-1 HCL-018 cable

5.3.2 HCL-018W HCL-018W is intended for connecting to the relay connector board ACB-MU1004 and ACB-MDR100 provided

by Hivertec.

CPD553 side

Figure 5.3-2 HCL-018W cable

5.3.3 HCL-018Y In HCL-018Y, wires 1 to 50 and 51 to 100 are respectively crimped into two MIL type connectors, which make

them easily connected to universal boards and the like. (See the pin assignment described separately)

CPD553 side

Figure 5.3-3 HCL-018Y cable

50-core laminated end

(Two sets)

Sumitomo 3M MDR connector

(ACB-MU1004/M* side)

(ACB-MDR100/M* side)

OMRON XG4M-5030-T

(Two sets, with one polarity guide)

27

5.3.4 HCL-018 pin assignment MDR100 Marker color Pair MDR100 Marker color Pair

1 Orange

Red . Pair

51 Orange

Red - Pair

2 Black . 52 Black -

3 Gray

Red . Pair

53 Gray

Red - Pair


5 White

Red . Pair

55 White

Red - Pair


7 Yellow

Red . Pair

57 Yellow

Red - Pair


9 Pink

Red . Pair

59 Pink

Red - Pair


11 Orange

Red .. Pair

61 Orange

Red -- Pair

12 Black .. 62 Black --

13 Gray

Red .. Pair

63 Gray

Red -- Pair


15 White

Red .. Pair

65 White

Red -- Pair


17 Yellow

Red .. Pair

67 Yellow

Red -- Pair


19 Pink

Red .. Pair

69 Pink

Red -- Pair


21 Orange

Red ... Pair

71 Orange

Red --- Pair

22 Black ... 72 Black ---

23 Gray

Red ... Pair

73 Gray

Red --- Pair


25 White

Red ... Pair

75 White

Red --- Pair


27 Yellow

Red ... Pair

77 Yellow

Red --- Pair


29 Pink

Red ... Pair

79 Pink

Red --- Pair


31 Orange

Red .... Pair

81 Orange

Red ---- Pair

32 Black .... 82 Black ----

33 Gray

Red .... Pair

83 Gray

Red ---- Pair

34 Black .... 84 Black ----

35 White

Red .... Pair

85 White

Red ---- Pair

36 Black .... 86 Black ----

37 Yellow

Red .... Pair

87 Yellow

Red ---- Pair

38 Black .... 88 Black ----

39 Pink

Red .... Pair

89 Pink

Red ---- Pair

40 Black .... 90 Black ----

41 Orange

Red ..... Pair

91 Orange

Red ----- Pair

42 Black ..... 92 Black -----

43 Gray

Red ..... Pair

93 Gray

Red ----- Pair

44 Black ..... 94 Black -----

45 White

Red ..... Pair

95 White

Red ----- Pair

46 Black ..... 96 Black -----

47 Yellow

Red ..... Pair

97 Yellow

Red ----- Pair

48 Black ..... 98 Black -----

49 Pink

Red ..... Pair

99 Pink

Red ----- Pair

50 Black ..... 100 Black -----

Table 5.3-1 HCL-018 cable pin assignment

28

100

99

98

97

4

3

2

1

52

51

50

49

4 3

2 1

50 49

48 47

2 1

50 49

5.3.5 HCL-018Y pin assignment

Core wire with red dot (.) mark Core wire with hyphen (-) mark

Figure 5.3-4 HCL-018Y cable pin assignment

Flat cable connector Plug Flat cable connector XG4M-5030-T 101A0-6000EL XG4M-5030-T (Insulation displacement side) (Fitting side) (Insulation displacement side)

29

6. Revision History

Date Version Modification

2015/11/24 5.02 Newly created English version

2016/01/18 5.03 1. Added “3.8.1 J1 Connector” 2. “Table 3.7-1 J1 connector signal table” was corrected. 3. Added “3.8.2 J2 Connector” and description of CMP

Table 6.1-1 Revision history

pci bus cpd board series hpci-cpd553 - hivertec€¦ · pci bus cpd board series hpci-cpd553...

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