ADLINK Technology EMX-100 User manual

Leading EDGE COMPUTING
EMX-100
4-axis Ethernet-based Motion Controller
User’s Manual
Manual Rev.: 1.0
Revision Date: Apr. 17, 2019
Part No: 50-1Z257-1010

ii
Leading EDGE COMPUTING
Revision History
Revision Release Date Description of Change(s)
1.0 Apr. 17, 2019 Initial Release

Preface iii
EMX-100
Preface
Copyright 2019 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.

iv Preface
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Battery Labels (for products with battery)
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.
ᘄ㟁ụㄳᅇᨲ

Preface v
EMX-100
CAUTION:
Information to prevent minor physical injury, component dam-
age, data loss, and/or program corruption when trying to com-
plete a task.
WARNING:
Information to prevent serious physical injury, component
damage, data loss, and/or program corruption when trying to
complete a specific task.

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Table of Contents vii
EMX-100
Table of Contents
Preface.................................................................................... iii
List of Figures........................................................................ ix
1 Introduction ........................................................................ 1
1.1 Features............................................................................... 2
1.2 Specifications....................................................................... 3
1.3 Software Support................................................................. 5
OS/Programming Library ................................................5
MotionCreatorPro 2 ........................................................5
1.4 Mechanical Drawings........................................................... 6
1.5 Power Connectors............................................................... 8
1.6 Motor Drive Connector CM1 to CM4 ................................... 9
1.7 Dedicated Motion I/O Connector ....................................... 10
1.8 General Input Connector ................................................... 11
1.9 General Digital Output Connector...................................... 12
1.10 Reset Button...................................................................... 13
1.11 Status LEDs....................................................................... 14
1.12 Power I/F Circuit ................................................................ 14
1.13 Pulse Output I/F Circuit...................................................... 15
1.14 Encoder Pulse Input I/F Circuit.......................................... 15
1.15 Digital Input I/F Circuit ....................................................... 16
1.16 Digital Output I/F Circuit..................................................... 17
1.17 Position Comparison and Trigger Output I/F Circuit.......... 19
1.18 Emergency Stop Input I/F Circuit....................................... 19
1.19 Power Input and Grounding I/F Circuit .............................. 20
1.20 Home Return Mode ........................................................... 21
Mode 1: Using ORG & EL .............................................22
Mode 2: Using ORG or EL only ....................................23
Mode 3: Using ORG or EL only ....................................25

viii Table of Contents
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2 Getting Started.................................................................. 27
2.1 Unpacking Checklist .......................................................... 27
2.2 Hardware Installation......................................................... 27
2.3 Software Installation........................................................... 27
A Appendix: Controller IP Settings......................................29
A.1 Connection Example:
Two EMX-100 units connected to a single Ethernet port... 29
A.1.1 Check/set the PC Network Interface.........................29
A.1.2 Open Set IP Tool and Select Initial...........................32
A.2 Connection Example:
One EMX-100 connected to each of two Ethernet ports.... 34
A.3 Troubleshooting................................................................. 38
A.4 Updating Firmware............................................................. 39
Important Safety Instructions............................................... 41
Getting Service...................................................................... 45

List of Figures ix
EMX-100
List of Figures
Figure 1-1: Front View ..................................................................6
Figure 1-2: (Left) Side View..........................................................7
Figure 1-3: Top View
(incl. RJ-45 connector and device Reset button)........8
Figure 1-4: Underside View ..........................................................8

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Introduction 1
EMX-100
1 Introduction
ADLINK’s EMX-100 motion controller, based on Ethernet connec-
tion, provides a significantly more compact PC system with simpli-
fied motor wiring via standard TCP/IP communication protocol,
eliminating the need to install a controller board at the main station
or extra real-time OS, making it particularly suitable for small
machine PC controller use in limited space.
The EMX-100 supports 4-axis pulse wave I/O for servo or step
motor encoder use. Each axis supports positive limit input, nega-
tive limit input, and zero point usage for motion control. Built-in 32-
point industrial-grade isolated input and 14-point industrial-grade
isolated output and 2 sets of command or encoder position com-
parison trigger dedicated output.
The EMX-100 library is compatible with ADLINK's standard APS
motion control library interface and offers the same high affinity
parameter settings, motor testing and system verification software
as MotionCreatorPro 2™, supporting all motion control libraries.
For users who are already familiar with ADLINK's motion control
products, there is no need to relearn, because the EMX-100 has a
consistent programming approach. For users new to ADLINK's
motion control products, the learning curve is significantly short-
ened, thanks to the intuitive nature of the APS library.

2Introduction
Leading EDGE COMPUTING
1.1 Features
Libraries and utilities for Windows 7/10
Expansion deployment up to 100 meters via Ethernet
Support for standard C++, C#, VB.NET
2-axis position Compare and Trigger output
Includes MotionCreator Pro 2 Windows-based application
development software
16 axes of step and direction pulse output for controlling
stepping or servomotor
Digital input and output signals 37500Vrms isolated
Plug and play provides easy setup and maintainance

Introduction 3
EMX-100
1.2 Specifications
General Specifications
Dimensions 215 (l) x 164 (w) x 39 (h) mm
Weight 1030kg ±10g
Installation method 4 x screw lock
Power module input voltage 24 VDC ±10%
Power consumption 11.48W
Overvoltage protection ≥28V
Overcurrent protection ≥1.25A
IP rating IP20
Operating temperature 0°C to 50°C
Storage temperature -20°C to 80°C
Humidity 80% RH
Heat dissipation Natural air cooling
Compliance CE/FCC/RoHs
Internet Control
Physical level 10/100M Ethernet
Communication level Standard TCP/IP, Intranet communication
only
Approximate level Uses APS library provided by ADLINK
Support topology Based on star topology through switch or
hub
Motion Control Switch
Support axis/module 4
Support motor type Supports whole servo or step motor drive by
pulse wave I/O
Max. axes supported 16
Position control range -2,147,483,648 to +2,147,483,647 pulse
units
Max. pulse output rate a4Mpps (Hz)

4Introduction
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Controller pulse output
format Differential OUT/DIR, CW/CCW and 2x, 4x AB phase
Encoder pulse input
format Differential CW/CCW and 1x, 2x, 4x AB phase
Max. encoder input
frequency 4Mhz (under 4 x AB phase)
Motion Control Function
Motion track T/S curve
Point-to-point Arbitrary axis
Linear interpolation 1 set of 2 axes (max. one set)
Jog operation Arbitrary axis
Speed control Arbitrary axis
Return to zero mode Single instruction auto-completion, with
origin ORG, limit EL and encoder EZ signal
Dedicated Motion I/O
Digital output Servo ON/Alarm Reset/Deviation Counter
Clear
Digital input Servo alarm/in place/servo ready/return to zero/ negative and positive limit signal/
emergency stop
Universal Digital Input Signal
Digital input channels 32
Digital input W/ optical isolation Sink & Source with
DICOM
Digital input voltage 24VDC ±10%
General Purpose Digital Output Signal
Digital output channels 14
Digital output Dry contact with optical isolation and
flywheel diode protection
Max. digital output
current 40mA
Location Comparison and Triggering
Supported types Single or continuous trigger, with the
encoder of the first two axes
Continuous trigger mode Equal pulse interval

Introduction 5
EMX-100
1.3 Software Support
OS/Programming Library
The EMX-100 supports Windows 7/10 64/32-bit OS and provides
DLL files for easy application development by users.
MotionCreatorPro 2
MotionCreatorPro 2™ is a user interface exclusively developed for
ADLINK motion control products in a standard Windows environ-
ment. It provides easy card and axis parameter setup, and a Setup
Wizard guides users through hardware installation and wiring as
well as single-axis manipulation in minutes. MotionCreatorPro 2™
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.
For more information, please see the ADLINK document Motion-
CreatorPro 2 User’s Manual.
Channels 2
Trigger pulse bandwidth 64µs/256µs/1000µs via software
Continuous trigger max.
frequency 500Hz
Software
Operating software MotionCreatorPro 2
Support library APS library DLL form
OS Windows 7/Windows 10 32/64-bit
API function response Class function minimum parameter command 2ms, feedback function less than
1ms, state update is 2ms

6Introduction
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1.4 Mechanical Drawings
Figure 1-1: Front View
NOTE:
NOTE:
All dimensions shown are in millimeters (mm) unless otherwise
stated.
EMG
DICOM
IGND
I24V
POWERERROR
DI1
DI2
DI3
DI4
DI5
DI6
DI7
DI8
DI9
DI10
DI11
DI12
DI13
DI14
DI15
DI16
DI25
DI26
DI27
DI28
DI29
DI30
DI31
DI32
DI17
DI18
DI19
DI20
DI21
DI22
DI23
DI24
DO1
DO2
DO3
DO4
DO5
DO6
DO7
DO8
DO9
DO10
DO11
DO12
DO13
DO14
TRG1
TRG2
IGND
IGND
IGNDIGND
IGND IGND
IGNDIGND
IGNDIGND
+EL1
ORG1
-EL1
+EL2
ORG2
-EL2
IGND
IGND
+EL3
ORG3
-EL3
+EL4
ORG4
-EL4
IGND
IGND
PE
CM1
CM2
CM3
CM4
215
144.2

Introduction 7
EMX-100
Figure 1-2: (Left) Side View
ABarcode label
BMAC address label
A
B

8Introduction
Leading EDGE COMPUTING
Figure 1-3: Top View (incl. RJ-45 connector and device Reset button)
Figure 1-4: Underside View
1.5 Power Connectors
The main power supply connectors from which the external supply
controller 24VDC power is supplied. In addition to the power input,
the DICOM contact provides a choice of digital input point types,
such as Source or Sink. The emergency stop input signal in
motion control is also accessed from this connector. The PE point
should be grounded. It should be noted that the PE and digital I/
O's IGND location need to be separated, as do the PE and the
24VDC power supply GRND.
Pin Name I/O Function Pin Name I/O Function
1 I24V P 24VDC power
supply 4 DICOM I General input common
2IGNDP External power
ground 5EMGI Device emergency stop
3 PE Ground
ETHERNET
RESET

Introduction 9
EMX-100
1.6 Motor Drive Connector CM1 to CM4
A D-SUB connector for the motor driver. The EMX-100 provides a
series of cables of different lengths that can interface with com-
monly used servo drives. Generally, the servo driver terminal is
the popular SCSI-50pin connecter. If no pin-to-pin matched cable
is provided, the open cable can be used.
Pin Name I/O Function Pin Name I/O Function
1 SVON O Servo on 14 IGND P Isolation
Ground
2 INP I In position 15 IGND P Isolation
Ground
3 DCC O Deviation
counter clear 16 EB- I Encoder B-
phase(-)
4 RDY I Servo ready 17 EB+ I Encoder B-
phase(+)
5 OUT- O Pulse signal(-) 18 IGND P Isolation
Ground
6 OUT+ O Pulse signal(+) 19 EMG O Emergency stop
7 EA- I Encoder A-
phase(-) 20 IGND P Isolation Ground
1 2 3 4 5

10 Introduction
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1.7 Dedicated Motion I/O Connector
A quick-release Phoenix connector for the origin switch and limit
switch on the motion control platform.
8 EA+ I Encoder A-
phase(+) 21 IGND P Isolation
Ground
9N/A 22N/A
10 RST O Alarm reset 23 DIR- O Direction
signal(-)
11 ALM I Servo alarm 24 DIR+ O Direction
signal(+)
12 I24V P I/O power supply
+24V 25 EZ- I Encoder Z- phase(-)
13 IGND P Isolation ground 26 EZ+ I Encoder Z- phase(+)
Pin Name I/O Function Pin Name I/O Function
1+EL1I Axis 1 Positive
Limit Switch 5IGNDP Isolation
Ground
2ORG1I Axis 1 Origin
Switch 6+EL2I Axis 2 Positive Limit Switch
3-EL1I Axis 1 Negative
Limit Switch 7ORG2I Axis 2 Origin Switch
4 IGND P Isolation Ground 8 -EL2 I Axis 2 Negative
Limit Switch
Pin Name I/O Function Pin Name I/O Function
1+EL3I Axis 3 Positive
Limit Switch 5IGNDP Isolation Ground
2ORG3I Axis 3 Origin
Switch 6+EL4I Axis 4 Positive Limit Switch
Pin Name I/O Function Pin Name I/O Function