ADLINK Technology AMP-104C User manual

Leading EDGE COMPUTING
AMP-104C
4-Axis Pulse Motion Controller
User’s Manual
Manual Rev.: 1.0
Revision Date: 2020-12-22
Part No: 50-15116-1000

ii
Leading EDGE COMPUTING
Revision History
Revision Release Date Description of Change(s)
1.0 2020-12-22 Initial release

Preface iii
AMP-104C
Preface
Copyright © 2020 ADLINK Technology Inc.
This document contains proprietary information protected by copy-
right. All rights are reserved. No part of this manual may be repro-
duced by any mechanical, electronic, or other means in any form
without prior written permission of the manufacturer.
Disclaimer
The information in this document is subject to change without prior
notice in order to improve reliability, design, and function and does
not represent a commitment on the part of the manufacturer.
In no event will the manufacturer be liable for direct, indirect, spe-
cial, incidental, or consequential damages arising out of the use or
inability to use the product or documentation, even if advised of
the possibility of such damages.
Environmental Responsibility
ADLINK is committed to fulfill its social responsi-
bility to global environmental preservation
through compliance with the European Union's
Restriction of Hazardous Substances (RoHS)
directive and Waste Electrical and Electronic
Equipment (WEEE) directive. Environmental pro-
tection is a top priority for ADLINK. We have
enforced measures to ensure that our products,
manufacturing processes, components, and raw
materials have as little impact on the environment as possible.
When products are at their end of life, our customers are encour-
aged to dispose of them in accordance with the product disposal
and/or recovery programs prescribed by their nation or company.
Battery Labels (for products with battery)
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iv Preface
Leading EDGE COMPUTING
California Proposition 65 Warning
WARNING: This product can expose you to chemicals
including acrylamide, arsenic, benzene, cadmium,
Tris(1,3-dichloro-2-propyl) phosphate (TDCPP), 1,4-
Dioxane, formaldehyde, lead, DEHP, styrene, DINP, BBP, PVC,
and vinyl materials, which are known to the State of California to
cause cancer, and acrylamide, benzene, cadmium, lead, mercury,
phthalates, toluene, DEHP, DIDP, DnHP, DBP, BBP, PVC, and
vinyl materials, which are known to the State of California to cause
birth defects or other reproductive harm. For more information go
to www.P65Warnings.ca.gov.
Trademarks
Product names mentioned herein are used for identification pur-
poses only and may be trademarks and/or registered trademarks
of their respective companies.
Conventions
Take note of the following conventions used throughout this
manual to make sure that users perform certain tasks and
instructions properly.
NOTE:
NOTE:
Additional information, aids, and tips that help users perform
tasks.
CAUTION:
Information to prevent minor physical injury, component dam-
age, data loss, and/or program corruption when trying to com-
plete a task.
ATTENTION: Informations destinées à prévenir les blessures
corporelles mineures, les dommages aux composants, la perte
de données et/ou la corruption de programme lors de l'exécu-
tion d'une tâche.
WARNING:
Information to prevent serious physical injury, component
damage, data loss, and/or program corruption when trying to
complete a specific task.
AVERTISSEMENT: Informations destinées à prévenir les bles-
sures corporelles graves, les dommages aux composants, la
perte de données et/ou la corruption de programme lors de
l'exécution d'une tâche spécifique.

Table of Contents v
AMP-104C
Table of Contents
Preface.................................................................................... iii
List of Tables......................................................................... vii
List of Figures........................................................................ ix
1 Introduction ........................................................................ 1
1.1 Overview.............................................................................. 1
1.2 Features............................................................................... 2
1.3 Specifications....................................................................... 3
1.4 Supported Software............................................................. 4
1.5 Accessories ......................................................................... 5
2 Getting Started ................................................................... 7
2.1 Package Contents ............................................................... 7
2.2 Board Layout ....................................................................... 8
2.3 Hardware and Software Driver Installation.......................... 9
2.4 DIP Switch Settings ........................................................... 12
2.5 Jumper Setting: Pulse Output Mode Selection.................. 15
2.6 Pin Assignments to Connectors......................................... 15
3 Signal Connections.......................................................... 21
3.1 Pulse Output Signals......................................................... 22
3.2 Encoder Feedback Input Signal......................................... 26
3.3 Motion I/O Interface Signal................................................ 28
3.4 GPIO Interface Signal........................................................ 32
3.5 Other I/O Interface Signal.................................................. 35
Important Safety Instructions.............................................. 37
Consignes de Sécurité Importante...................................... 39
Getting Service...................................................................... 43

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List of Tables vii
AMP-104C
List of Tables
Table 2-1: Board Features Legend..............................................8
Table 2-2: SW1 Card ID Selection.............................................12
Table 2-3: SW2 End Limit Type Selection.................................13
Table 2-4: SW3 DO Initial State Selection.................................14
Table 2-5: CN1 External Stop/Start Signals ..............................15
Table 2-6: CN2 AMP-104C Main Connector .............................17
Table 2-7: CN3 Extended TTL DIO ...........................................18
Table 2-8: CN4 Extended Encoder Feedback Input Signals.....19
Table 3-1: Pulse Output Signals................................................22

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List of Figures ix
AMP-104C
List of Figures
Figure 1-1: Functional Diagram..........................................................1
Figure 2-1: AMP-104C Board Layout.................................................8

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Introduction 1
AMP-104C
1 Introduction
1.1 Overview
The AMP-104C is a cost-effective 4-axis motion controller card with a
PCI Express® interface that can generate a pulse train up to 4.9MHz
to control a motor. With more general purpose IOs and 4-channel
encoder feedback input, the AMP-104C can be used for a multitude of
scenarios or applications.
As a motion controller, the AMP-104C provides non-symmetric accel-
eration and deceleration speed profile settings, T-curve and S-curve
speed profile control, and selection of motion stop method. Also,
changing speed on the fly with a single axis operation, linear Interpo-
lation with any 2 axes, and simultaneously start/stop on multiple axes
are also available.
Multiple AMP-104C cards can be installed in one system. The on-
board switch can be used to the set a specific index for each board in
order to manage multiple cards.
Figure 1-1 shows the AMP-104C card functional diagram. All func-
tions and computations are performed internally by the ASIC and
FPGA, thus limiting the impact on the PC’s CPU.
Figure 1-1: Functional Diagram
PCI Express Bus
DSUB 37PINSCSI 68PIN
Pulse Output
Motion I/O
Interface
Encoder
Feedback Input
GPIO Interface
FPGA
ASIC

2Introduction
Leading EDGE COMPUTING
1.2 Features
The following list summarizes the main features of the AMP-104C
motion control system.
X4 Axes Pulse Type Motion Card
XPCI Express® Gen1 x1
XSupports up to 16 Cards in One System
XPulse Output Frequency up to 4.9 Mpps
XPulse Output Mode: CW/CCW, OUT/DIR
XEncoder Feedback Input Frequency up to 20 MHz
XMechanical Signal Input
X28-ch Onboard Isolated GPIO/31-ch Extended TTL GPIO
X8-ch Position Latch Trigger Input
XSelection of Card Index by Switch
XSelection of EL Logic NO/NC Mode by Switch
XSelection of DO Initial State by Switch
XSelection of Motion Stop Method: EMG / Deceleration Stop
XExternal Start/Stop Control (STA/STP)
XCurrent Position Counter/Encoder Feedback Counter
XProgrammable Interrupt Control
XLinear and S-curve Acceleration/Deceleration Control
XSpeed Change On-The-Fly
X3 Home Return Modes
XLinear Interpolation
XSecurity Protection for User's Program

Introduction 3
AMP-104C
1.3 Specifications
Pulse Type Motion Control
Max. Axes 4
Pulse Output Frequency 0.5 pps to 4.9 Mpps
Pulse Output Mode CW/CCW, OUT/DIR
Pulse Output Type Differential / Single-End
Encoder Feedback Input Mode CW/CCW; OUT/DIR; 1x/2x/4x AB Phase
Encoder Feedback Input Frequency 5 MHz (up to 20 MHz at 4x AB)
Encoder Feedback Counter Resolution 32-bit
Positon Counter Resolution 24-bit
Motion I/O Interface Signals
External Stop/Start Signal Pin STP and STA
End Limit Signal Pin PEL and MEL
Slow Down Signal Pin PSD and MSD
Home Sensor ORG
GPIO Interface Signals
GPIO Onboard 16-ch Optically Isolated DI
12-ch Optically Isolated DO
GPIO Extended 16-ch Non-isolated TTL DI
15-ch Non-isolated TTL DO
General Specifications
Main Connector 68-pin SCSI-Type Connector
Extend Connector 40-pin to 37-pin SCSI Box Header
Operating Temperature 0°C to 60°C
Storage Temperature -20°C to 80°C
Humidity 5% to 85%, non-condensing
Power Consumption
External Power Supply (Input) 24V DC ±5%

4Introduction
Leading EDGE COMPUTING
1.4 Supported Software
1.4.1 OS Support / Software Compatibility
XOS Support
ZWindows 7/8/10 (x86/x64)
XSoftware Compatibility
ZVisual Studio VB.NET, C#, VC.NET Compatible
ZAPS Function Library Support
1.4.2 APS Functions
The AMP-104C is fully compliant with the APS (Automation Prod-
uct Software) function library, independent of programming lan-
guages and operating systems (OS). A complete detailed listing of
functions can be found in the APS Function Library User Manual.
1.4.3 MotionCreatorPro 2 (MCP2)
MotionCreatorPro2™ is a user interface exclusively developed for
ADLINK motion control products in a standard Windows environ-
ment to easily to setup cards and axis parameters. A Setup Wiz-
ard guides users through hardware installation and wiring as well
as single-axis manipulation in minutes.
MotionCreatorPro2™ not only effectively reduces development
time but also enables concurrent validation of overall mechanism
and electric design with all single axis and interpolation motion
operation pages.

Introduction 5
AMP-104C
1.5 Accessories
The main connector utilizes ADLINK’s exclusive DIN-68S terminal
board and ACL-10569 cable. For extended connectors, TTL DI/O
and Encoder Feedback Input, use a DIN-37 terminal board with
ACL-10437 and ACL-10137 cables (sold separately).
Main
Function TTL DI/O Encoder
Feedback
Input
Terminal Board
DIN-68S-01 Yes
DIN-37D-01 Yes Yes
Cable
ACL-10569-X, X = 1, 2, 3 (M) Yes
ACL-10137-X, X = 1, 2, 3, 5 (M) Yes Yes
ACL-10437 Yes Yes

6Introduction
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Getting Started 7
AMP-104C
2 Getting Started
This chapter describes how to install and connect to the AMP-
104C, its hardware settings, and related signals.
2.1 Package Contents
The package includes the following items:
X1x AMP-104C Card 4-Axis Pulse Motion Controller
XProduct Warranty Card
If any of these items are missing or damaged, contact the dealer
from whom you purchased the product. Save the shipping materi-
als and carton to ship or store the product in the future.

8 Getting Started
Leading EDGE COMPUTING
2.2 Board Layout
Figure 2-1: AMP-104C Board Layout
Table 2-1: Board Features Legend
Item Description
SW1 Card ID Selection Switch
SW2 End Limit Type Selection Switch
SW3 DO Initial State Selection Switch
J1-J8 Pulse Output Mode Selection Jumper
CN1 External Stop/Start Signals 6-pin header (ST/D2.54)
CN2 AMP-104C Main Connector 68-pin SCSI
CN3 Extended TTL DIO 40-pin box header
CN4 Extended Encoder Feedback Input Signals 40-pin box header
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Getting Started 9
AMP-104C
2.3 Hardware and Software Driver Installation
2.3.1 Hardware Configuration
The AMP-104C is fully Plug-and-Play compliant and can be
installed in any PCI Express slot. It employs a PCI Express Gen1
x1 bus, and the system BIOS can auto-configure memory and IRQ
channels.
ADLINK’s exclusive DIN-68S-01 terminal board and ACL-10569
cable combine for an easy-to-use set to connect to external driv-
ers. The DIN-37D-01 terminal board and ACL-10137/ACL-10437
cables is another easy-to-use set to fulfill extra functions.
2.3.2 Installation Procedures
1. Read through this manual and setup the switches,
jumper and I/O signals according to your application.
2. Turn off the computer and all relevant terminal boards,
and install the AMP-104C in any available PCI Express
x1/x4/x8/x16 slot. Make sure you have proper ESD
(Electrostatic discharge) protection.
3. Connect the AMP-104C and DIN-68S-01 with the
ACL-10569 (68-pin SCSI-II) cable.
4. Connect the AMP-104C and DIN-37D-01 with the
ACL-10137 (37-pin D-SUB) and ACL-10437 cables
(if applicable).
5. Set up servo or stepper drive connection as well as
mechanical signals, GPIO and any essential drive
signals.
6. Turn on the system power including computer power,
terminal board power, and 24V DC power.
7. Verify all signals and servo operation via MotionCreatorPro2.

10 Getting Started
Leading EDGE COMPUTING
2.3.3 Troubleshooting
If the computer cannot power on normally or the motion control
system operates abnormally after system installation, follow the
steps described below for troubleshooting. If the problem persists,
please consult the dealer for technical services.
Problem Correction
The card does not appear in
Windows Device Manager after its
driver has been installed
Ensure the card is properly mounted in
PCI Express slot and the driver is
properly installed in Windows Control
Panel's "Add/remove programs"
MotionCreatorPro2™ is not lunch
after driver installation Ensure .NET framework v3.5 or later version has been installed
The NO Signal indicator in
MotionCreatorPro2™ appears after
the motor is connected and the motor
does not work.
Ensure 24 VDC power is provided to the
system
When using the
MotionCreatorPro2™, all the control
indicators of the drive light correctly
but the drive warns
Ensure correctness of the axis
parameter setup, alarm logic (ALM) and
the EMG loop configuration
Value of output command differs from
the encoder feedback Ensure encoder feedback signal (CW/ CCW, OUT/DIR, 1xAB, 2xAB, 4xAB)
settings comply with that of the drive
During motion control, the motor
moves only in one direction rather
than both back and forth movement
Ensure setting of signal pattern (CW/
CCW, OUT/DIR) comply with that of the
motor drive