Adtech ADT-09 Series User manual

ADT-09 Series Motion Control Card http://www.adtechcn.com
1
ADT-09 Series Motion Control Card
User Manual
ADT-8949C1/H1
ADT-8969C1/H1
ADT-8989C1/H1

ADT-09 Series Motion Control Card http://www.adtechcn.com
2
Basic Information
This Manual is written by Adtech (Shenzhen) Technology
Co., Ltd. This Manual is mainly written by: Ai Xiaoyun.
Copyright
Adtech (Shenzhen) Technology Co., Ltd. (Adtech hereafter)
is in possession of the copyright of this manual. Without the
permission of Adtech, the imitation, copy, transcription and
translation by any organization or individual are prohibited. This
manual doesn’t contain any assurance, stance or implication in
any form. Adtech and the employees are not responsible for any
direct or indirect data disclosure, profits loss or cause
termination caused by this manual or any information about
mentioned products in this manual. In addition, the products and
data in this manual are subject to changes without prior notice.
All rights reserved.
Adtech (Shenzhen) Technology Co., Ltd.

ADT-09 Series Motion Control Card http://www.adtechcn.com
3
Contents
CHAPTER 1 OVERVIEW.......................................... 1
1.1. INTRODUCTION.................................................. 1
1.2. MODEL DESIGNATION .......................................... 3
1.3. SOFTWARE SUPPORT: .......................................... 5
1.4. INDUSTRY APPLICATIONS .................................... 5
CHAPTER 2 QUICK START...................................... 6
2.1. PACKING LIST.................................................... 6
2.1.1. ADT-8949 SERIES ............................................. 6
2.1.2. ADT-8969 SERIES ............................................. 6
2.1.3. ADT-8989 SERIES ............................................. 6
2.2. INSTALLATION DIMENSIONS ................................. 7
2.2.1. 09 SERIES MOTION CONTROL CARD........................... 7
2.2.2. ADT-9140 TERMINAL BLOCK OF ADT-8949................ 7
2.2.3. ADT-9160 TERMINAL BLOCK OF ADT-8969................ 8
2.2.4. ADT-9180 TERMINAL BLOCK OF ADT-8989................ 8
2.2.5. ADT-D62GG DATA TRANSMISSION LINE .................... 8
2.3. SYSTEM STRUCTURE DIAGRAM ............................... 9
2.4. STEPS TO INSTALL CONTROL CARD .......................... 9
2.4.1. BOARD INSTALLATION .......................................... 9
2.4.2. ONE-CLICK SETUP OF DRIVER.................................. 9
2.4.3. MANUAL INSTALLATION OF DRIVER .......................... 12
2.4.4. COMMUNICATION SETUP...................................... 18
2.4.5. MOTORS AND DRIVERS ....................................... 18
2.4.6. TERMINAL BOARD CONNECTION AND POWER SUPPLY...... 19
2.4.7. TERMINAL BOARDS AND DRIVERS ........................... 20
CHAPTER 3 HARDWARE CONNECTION ................. 21
3.1. PORT DESCRIPTION .......................................... 21
3.1.1. 25-PIN DB PORT DEFINITION ............................... 21
3.1.2. 15-PIN HAND WHEEL PORT DEFINITION (CN9).......... 23
3.1.3. ADT-9140INPUT PORT DEFINITION OFADT-8949

ADT-09 Series Motion Control Card http://www.adtechcn.com
4
TERMINAL BOARD...................................................... 24
3.1.4. ADT-9160 INPUT PORT DEFINITIONOFADT-8969
TERMINAL BOARD...................................................... 24
3.1.5. ADT-9180INPUT PORT DEFINITION OFADT-8989
TERMINAL BOARD...................................................... 25
3.1.6. ADT-9140\60\80 INPUT PORT DEFINITION ............. 25
3.1.7. ADT-9140\60\80 OUTPUT PORT DEFINITIONS ......... 27
3.1.8. DA PORT DEFINITION ........................................ 28
3.2. CONNECTING PULSE/DIRECTION OUTPUT SIGNAL..... 29
3.3. CONNECTING ENCODER INPUT SIGNAL ................... 30
3.4. DIGITAL INPUT CONNECTION............................... 31
3.5. DIGITAL OUTPUT CONNECTION ............................ 34
3.6. ELECTRICAL SPECIFICATIONS .............................. 37
3.7. WORK ENVIRONMENT ........................................ 38
CHAPTER 4 BASIC DEBUGGING ........................... 39
4.1. ESTABLISHING A COMMUNICATION ....................... 40
4.2. BASIC PARAMETERS .......................................... 42
4.3. IO CONTROL.................................................... 44
4.4. AXIS INFORMATION MONITORING ........................ 45
4.5. MULTI-AXIS MOTION......................................... 46
CHAPTER 5 APPENDIXES..................................... 48
5.1. COMMON PROBLEMS FOR DRIVER INSTALLATION ...... 48
5.1.1. THE CONTROL CARD CANNOT BE DETECTED AND THE DRIVER
CANNOT BE INSTALLED NORMALLY.................................... 48
5.2. CONTROL CARD INITIALIZATION FAILURE............... 49
5.2.1. WINIO INITIALIZATION FAILED,ERROR CODE 9 .......... 49
5.2.2. PCI BRIDGE FAILED,ERROR CODE 10 ..................... 49
5.2.3. DIP SWITCH REPEATED,ERROR CODE 13 ................. 50
5.2.4. MOTION CONTROL CARD NOT DETECTED,ERROR CODE 14
50
5.3. COMMON SERVO WIRING DIAGRAM ....................... 51
5.3.1. QX SERIES SERVO DRIVE BY ADTECH ..................... 52

ADT-09 Series Motion Control Card http://www.adtechcn.com
5
5.3.2. A5/A6 SERIES SERVO DRIVER BY PANASONIC ............ 53
5.3.3. MR-J4 SERIES SERVO DRIVER BY MITSUBISHI ............ 54
5.4. WIRING INSTRUCTIONS FOR ADT-8969G1 WITH
ADT-9170 TERMINAL BLOCK..................................... 55
5.4.1. 25-PIN DB PORT DEFINITION................................ 55
5.4.2. DEFINITIONS OF J2/J3/J4/J5 INPUT PORTS .............. 55
5.4.3. DEFINITIONS OF J6/J7/J8 OUTPUT PORTS ................ 56
5.4.4. J9 DA PORT DEFINITION ..................................... 57
5.5. WIRING INSTRUCTIONS OF ADT-8949G1 WITH ADT-
9192 TERMINAL BLOCK ............................................ 58
5.5.1. DEFINITION OF 25-PIN DB PORT ........................... 58
5.5.2. SIGNAL DEFINITION OF J2 INTERFACE:..................... 58
5.5.3. J3 INTERFACE SIGNAL DEFINITION .......................... 59
5.6. PRECAUTIONS.................................................. 61
5.7. DOCUMENT VERSIONS........................................ 63

ADT-09 Series Motion Control Card http://www.adtechcn.com
1
Chapter 1 Overview
1.1. Introduction
The ADTECH 09 Series Motion Control Card is of a high-performance multi-
axis (4/6/8) motion control card based on PCI bus and dual-core platform as
manufactured by Adtech.
The 09 Series Motion Control Card follows the high-precision design. Compared
with other similar products, it enjoys powerful hardware performances, with its
receiving frequency up to 8Mpps, and 33.3M high-speed PCI bus. It has a larger
number of configurable expanded IO and interruptible IO. It also supports hardware
serial code, allows third-party encryption, as well as high-speed pulse frequency
output up to 5Mbps.
The characteristics such as small line blocks and large cache of the 09 Series
High-performance Motion Control Card are designed for engraving machines or
cutting applications, to help the data after CAM discretization be well restored to the
machining model. Its 3-dimensional circular interpolation (spherical interpolation)
would produce arcs in arbitrary spatial planes, as well as spherical arcs. It is useful for
simplifying the complex graphics. By using 33.3M PCI communication, up to 10
control cards can be expanded on one PC. Furthermore, with the PC platform,
complex occasions such as distributed motion control can be realized. 09 Series PCI-
based pulse motion control card is suitable for control occasions such as engraving,
cutting, turn-milling, milling, drilling, etc. 5Mpps pulse control mode and AB phase
decoding can be used for step open-loop control, and also for servo closed-loop
control. The speed adaptive model is applied to high-precision control applications
such as milling machines and abrasive machining, which, from the speed planning,
make the motor work within a reasonable error range.
Four major technological creative highlights
1) Stable asymmetric acceleration/deceleration running, and low motor running
noise
Asymmetric acceleration/deceleration planning is adopted to make the motor
run very stably and minimizing therunning noise, which is suitable for industrial
sites with high-noise requirements.
2) Hardware-level interpolation supports spatial curve interpolation

ADT-09 Series Motion Control Card http://www.adtechcn.com
2
The hardware interpolation technology is integrated into the spatial curve
interpolation, and the T/S/E/COS type acceleration/deceleration curve can be quickly
calculated based on the set acceleration/deceleration mode.
2) Adaptive speed model, ensuring high speed under high precision
The adaptive speed model guarantees both high speed and high precision, which
satisfies needs of high precision and high efficiency in the industry.
3) Hardware can also be upgraded to create the maximum value
Use of the FPGA + dual-DSP multi-embedded system, and the key performance
is guaranteed by hardware-level real-time processing. The upgrade of the hardware
enables the control card to be downward compatible, and the new product
corresponded can be fully compatible with the old version, to create the maximum
value to the customer.

ADT-09 Series Motion Control Card http://www.adtechcn.com
3
1.2. Model designation
Function and Performance
ADT-8949
ADT-8969
ADT-8989
C1
H1
C1
H1
C1
H1
Hardware
Performance
Control mode
32-bit PCI bus, plug and play
Number of axes
4
4
6
6
8
8
Maximum pulse output frequency
5MHz
Number of supporting encoder axes
4
4
6
6
8
8
Encoder feedback frequency
4MHz
DIP switch
0~9
Platform performance
A9 dual core
Universal digital input
42
Universal digital output
24
Servo enable output
4
4
6
6
8
8
Alarm clear output
4
4
6
6
8
8
Servo alarm input
4
4
6
6
8
8
Fast input port
2
Fast output port
2
Control
Function
Hardware
Signal
Hardware
emergency stop
√
Limit signal stop
√
Mechanical origin
stop
√
Encoder Z-phase
signal stop
√
Input filter
√
Programming mode / pulse
equivalent
√
Software limit
√
Logic variable loop mode
√
User encryption
√
Acceleratio
S
√

ADT-09 Series Motion Control Card http://www.adtechcn.com
4
n Mode
T
√
EXP
√
COS
√
Asymmetric acceleration and
deceleration
√
Speed multiplier
√
High-precision zero return
√
Drive
Mode
PT drive
√
Continuous drive /
JOG
√
Linear interpolation
√
Plane arc
interpolation
√
Space arc
interpolation
√
Spiral interpolation
√
Synchronous follow
√
Change the drive speed in motion
√
Change the target position in motion
√
High-speed IO
High-speed position latch
√
1D/2D/3D High-speed position
comparison
√
Advanced
Cache
Control
Speed look-ahead
-
√
-
√
-
√
Cache interpolation capacity
-
10000
-
10000
-
10000
Cache IO event capacity
-
1000
-
1000
-
1000
Cache output control
-
√
-
√
-
√
Cache delay
-
√
-
√
-
√
Cache PWM
-
√
-
√
-
√
NURBS
-
√
-
√
-
√

ADT-09 Series Motion Control Card http://www.adtechcn.com
5
1.3. Software support:
➢Operating system: DOS, WINDOWS95/98/NT/2000/XP, WINCE,
WIN7
➢Programming environment: C/BC++/VC/VB/C#/C++Builder/ Delphi/
LabVIEW/ EVC
➢Application examples of open-DOS and Windows
1.4. Industry Applications
➢ Machine vision, automatic test equipment, AOI;
➢ Biological, medical automatic sampling equipment;
➢ Cutting equipment: diamond cutter, sponge cutting machine;
➢ Dispensing industry;
➢ Semiconductor packaging industry: Bonder;
➢ Advertising industry: CNC bending machine;
➢ Packaging and printing equipment: printer, pad printer;
➢ Engraving equipment;
➢ Industrial robot equipment;
➢ PCB processing, SMT and other industries;

ADT-09 Series Motion Control Card http://www.adtechcn.com
6
Chapter 2 Quick Start
2.1. Packing list
2.1.1. ADT-8949 series
Product Model
Name
Description
Dimension Parameters
ADT-8949C1
ADT-8949H1
Motion control card
ADT-8949C1/ADT-8949H1
135 mm × 110 mm × 1
Wiring board
ADT-9140
248 mm × 154 mm × 30 mm × 1
Data cable
ADT-D62GG
1.5 M × 1
User's Manual
Instructions
1
User CD
Electronic files such as SDK,
examples and Instructions.
1
2.1.2. ADT-8969 series
Product Model
Name
Description
Dimension Parameters
ADT-8969C1
ADT-8969H1
Motion control card
ADT-8969C1/ADT-8969H1
135 mm × 110 mm × 1
Wiring board
ADT-9160
248 mm × 154 mm × 30 mm × 1
Data cable
ADT-D62GG
1.5 M × 1
User's Manual
Instructions
1
User CD
Electronic files such as SDK,
examples and Instructions.
1
2.1.3. ADT-8989 series
Product Model
Name
Description
Dimension Parameters
ADT-8989C1
ADT-8989H1
Motion control card
ADT-8989C1/ADT-8989H1
135 mm × 110 mm × 1
Wiring board
ADT-9180
248 mm × 154 mm × 30 mm × 1
Data cable
ADT-D62GG
1.5 M × 1
User's Manual
Instructions
1
User CD
Electronic files such as SDK,
examples and Instructions.
1

ADT-09 Series Motion Control Card http://www.adtechcn.com
7
2.2. Installation dimensions
2.2.1. 09 series motion control card
2.2.2. ADT-9140 terminal block of ADT-8949
Dimensions chart of ADT-9140 terminal block

ADT-09 Series Motion Control Card http://www.adtechcn.com
8
2.2.3. ADT-9160 terminal block of ADT-8969
Dimensions chart of ADT-9160 terminal block
2.2.4. ADT-9180 terminal block of ADT-8989
Dimensions chart of ADT-9180 terminal block
2.2.5. ADT-D62GG data transmission line

ADT-09 Series Motion Control Card http://www.adtechcn.com
9
2.3. System structure diagram
ADT-8949C1/H1 ADT-8969C1/H1 ADT-8989C1/H1
Terminal board Terminal board Terminal boardADT-9140 ADT-9160 ADT-9180
Servo/Stepper + motor Input devices Output devices
2.4. Steps to install control card
2.4.1. Board installation
1) Power off the computer (Note: turn off the main power of ATX);
2) Open the back cover of the computer case;
3) Select an unoccupied PCI slot and insert the motion control board;
4) Make sure the gold finger of the motion control board is completely
inserted into the PCI slot, and tighten the screws.
When the 09 Series Motion Control Card is properly installed, the green LED
on the back of the board will light up, which means that the FPGA chip is running
normally. When the red LED on the front will light up, it means that the board is
powered normally. If the above LED indicators do not work, there may be a hardware
failure occurred in the board. Please return it to the factory for repair or replacement
timely.
2.4.2. One-click setup of driver
Tips
Most users choose to install the control card driver by "one-click
setup of driver". When the driver cannot be installed by one-click
setup, you can consider the 2.4.3 Manual Installation of Driver.
The “One-click setup of driver” of 09 Series Motion Control Card is as follows:
1. Open the computer case, insert the control card, then power on and enter the
windows system;

ADT-09 Series Motion Control Card http://www.adtechcn.com
10
2. Double click and open the driver
installation package.
3. If a dialog box “ADT-09 series control card not detected” as shown in the figure
below appears, please check that the control card is still plugged in, and try again.
4. The computer can detect the card by displaying the following screen:
5. Click Next, you can then enter the following screen:
6. Select the installation path (it is recommended to choose the default installation
path), and click Next;

ADT-09 Series Motion Control Card http://www.adtechcn.com
11
7. Click Next;
8. Click Install and wait for the installation process to complete;
9. After the installation is completed, checking “Run VC DEMO” and Finish, you
can then test the driver installation, which is shown in the figure below;

ADT-09 Series Motion Control Card http://www.adtechcn.com
12
2.4.3. Manual installation of driver
1) Premise
After the board is installed, only the operating system recognizes an unknown
PCI device, then can the driver be installed.
As for the XP system, the wizard for new hardware will pop up automatically
after startup, or an unknown PCI device will be found in the device manager.
Unknown PCI devices are found in the Device Manager for WIN7 systems.
The number of unknown PCI devices should be no less than the number of
boards installed in the current system.

ADT-09 Series Motion Control Card http://www.adtechcn.com
13
It is similar to other systems, and no more detailed description will be given
herein.
If there’s prompt for the new hardware wizard by the system, and no abnormal
device is found in the device manager, it means that there’s no board information
detected by the current operating system. Possible problem descriptions and solutions
can be found in the 5.1 Driver Installation FAQs.
2) Driver installation under Windows XP
When the system starts, if the PCI detects an unknown hardware device, the
prompt below appears.
Select in above figure to pop up the following screen
Select in above figure and click Next to pop up the following screen

ADT-09 Series Motion Control Card http://www.adtechcn.com
14
Click “Browse”, select CD “Development Kits\Drivers\Control
Card Drivers” to locate the driver file path, and click Next to pop up the
following screen

ADT-09 Series Motion Control Card http://www.adtechcn.com
15
Click “Finish” to finish the installation of The ADT-09 Series control
card .
3) Installing drivers on Win7
Insert the control card into PCI slot, right click "My Computer" and
select "Properties" to enter Device Manager, as shown below:
Expand "Other devices", select "PCI Bridge Device" (Different
systems may have different unknown device names), and right click, as
shown below:
In the popup dialog box, click "Update Driver Software" to show the
following dialog box: