Advantech PCI-1220U User manual

PCI-1220U
2-axis Universal PCI Stepping/
Pulse-type Servo Motor Control
Card
User Manual

PCI-1220U User Manual ii
Copyright
This documentation and the software included with this product are
copyrighted 2009 by Advantech Co., Ltd. All rights are reserved.
Advantech Co., Ltd. reserves the right to make improvements in the
products described in this manual at any time without notice.
No part of this manual may be reproduced, copied, translated or
transmitted in any form or by any means without the prior written
permission of Advantech Co., Ltd. Information provided in this manual is
intended to be accurate and reliable. However, Advantech Co., Ltd.
assumes no responsibility for its use, nor for any infringements of the
rights of third parties which may result from its use.
Acknowledgments
PC-LabCard is a trademark of Advantech Co., Ltd. IBM and PC are
trademarks of International Business Machines Corporation. MS-DOS,
Windows®, Microsoft®Visual C++ and Visual BASIC are trademarks of
Microsoft® Corporation. Intel®and Pentium®are trademarks of Intel
Corporation. Delphi and C++Builder are trademarks of Inprise
Corporation.
CE notification
The PCI-1220U, developed by ADVANTECH CO., LTD., has passed the
CE test for environmental specifications when shielded cables are used
for external wiring. We recommend the use of shielded cables. This kind
of cable is available from Advantech. Please contact your local supplier
for ordering information.
Printed in Taiwan September 2009

iii
Product Warranty (2 years)
Advantech warrants to you, the original purchaser, that each of its prod-
ucts will be free from defects in materials and workmanship for two years
from the date of purchase.
This warranty does not apply to any products which have been repaired or
altered by persons other than repair personnel authorized by Advantech,
or which have been subject to misuse, abuse, accident or improper instal-
lation. Advantech assumes no liability under the terms of this warranty as
a consequence of such events.
Because of Advantech’s high quality-control standards and rigorous test-
ing, most of our customers never need to use our repair service. If an
Advantech product is defective, it will be repaired or replaced at no
charge during the warranty period. For out-of-warranty repairs, you will
be billed according to the cost of replacement materials, service time and
freight. Please consult your dealer for more details.
If you think you have a defective product, follow these steps:
1. Collect all the information about the problem encountered. (For
example, CPU speed, Advantech products used, other hardware
and software used, etc.) Note anything abnormal and list any
onscreen messages you get when the problem occurs.
2. Call your dealer and describe the problem. Please have your man-
ual, product, and any helpful information readily available.
3. If your product is diagnosed as defective, obtain an RMA (return
merchandize authorization) number from your dealer. This allows
us to process your return more quickly.
4. Carefully pack the defective product, a fully-completed Repair and
Replacement Order Card and a photocopy proof of purchase date
(such as your sales receipt) in a shippable container. A product
returned without proof of the purchase date is not eligible for war-
ranty service.
5. Write the RMA number visibly on the outside of the package and
ship it prepaid to your dealer.

PCI-1220U User Manual iv
Technical Support and Assistance
Step 1. Visit the Advantech web site at www.advantech.com/support
where you can find the latest information about the product.
Step 2. Contact your distributor, sales representative, or Advantech's cus-
tomer service center for technical support if you need additional
assistance. Please have the following information ready before
you call:
- Product name and serial number
- Description of your peripheral attachments
- Description of your software (operating system, version, appli-
cation software, etc.)
- A complete description of the problem
- The exact wording of any error messages
Packing List
Before setting up the system, check that the items listed below are
included and in good condition. If any item does not accord with the
table, please contact your dealer immediately.
• PCI-1220U
• Companion CD-ROM (DLL driver included)
• User Manual
Safety Precaution - Static Electricity
Follow these simple precautions to protect yourself from harm and the
products from damage.
1. To avoid electrical shock, always disconnect the power from your
PC chassis before you work on it. Don't touch any components on
the CPU card or other cards while the PC is on.
2. Disconnect power before making any configuration changes. The
sudden rush of power as you connect a jumper or install a card may
damage sensitive electronic components.

v Table of Contents
Contents
Chapter 1 Introduction ..................................................... 2
1.1 Features ............................................................................. 2
1.2 Applications ...................................................................... 5
1.3 Installation Guide .............................................................. 5
1.4 Accessories........................................................................ 6
Chapter 2 Installation ....................................................... 8
2.1 Unpacking ......................................................................... 8
2.2 Driver Installation ............................................................. 9
2.3 Installation Instructions ..................................................... 9
Chapter 3 Signal Connections ........................................ 12
3.1 I/O Connector Pin Assignments...................................... 12
3.2 Location of Jumpers and DIP switch .............................. 12
Figure 3.1:I/O Connector Pin Assignments ................. 13
Table 3.1:I/O Connector Signal Description ............... 14
Figure 3.2:Location of Jumpers & DIP Switch ........... 16
Table 3.2:BoardID register .......................................... 16
Table 3.3:BoardID setting ............................................ 16
3.3 Output Pulse Definition................................................... 17
Figure 3.3:Output Signal Loop for Drive Pulses ......... 17
Table 3.4:JP1~4 Jumpers ............................................. 17
Figure 3.4:Photo Coupler Input Interface .................... 18
Figure 3.5:Line Driver Input Interface ........................ 18
3.4 General Purposed Output ................................................ 19
Figure 3.6:General Purpose Output ............................. 19
3.5 Over Traveling Limit Switch Input................................. 19
Figure 3.7:Movement Limit Input Signals .................. 20
Figure 3.8:Photo Sensor in the Limit Input Signal ...... 20
3.6 Deceleration/Instantaneous Stop Switch Input ............... 21
Figure 3.9:Deceleration/Instantaneous Stop Input ....... 21
3.7 General Purposed Input for Servo Drives ....................... 22
Figure 3.10:Input Signal for Servo Motor ................... 22
3.8 Encoder Input .................................................................. 23
Figure 3.11:Circuit Diagram of Encoder Feedback ..... 23
Figure 3.12:Differential-output Line Driver ................ 24
Figure 3.13:Open Collector Output Encoder ............... 24
3.9 External Pulse Control Input........................................... 25
Figure 3.14:External Drive Operation Signals ............ 25
Figure 3.15:Example of Connecting to Jog ................. 25
3.10 Emergency Stop Input (EMG) ........................................ 26
Figure 3.16:Emergency Stop Input Signal ................... 26
Table 3.5:Jumper Settings of JP5 ................................ 26
3.11 External Power Input (VEX)........................................... 26
3.12 Interrupt Setting............................................................... 27
Figure 3.17:Circuit Diagram of Interrupt Setting ........ 27

PCI-1220U User Manual vi
3.13 Connection Examples for Motor Drivers ........................ 28
3.13.1 Connection to Step Motor Drivers ............................... 28
Figure 3.18:Connecting to KR515M Drive ................. 28
Figure 3.19:Connecting to UPK Step Drive ................ 29
3.13.2 Connection to Servo Motor Drivers ............................. 30
Figure 3.20:MINAS X Series AC Servo Motor Drive 30
3.14 Field Wiring Considerations ........................................... 31
3.15 I/O Signal Timing............................................................ 32
3.15.1 Power On RESET ........................................................ 32
Figure 3.21:Timing Diagram of Power On Reset ........ 32
3.15.2 Individual Axis Driving ............................................... 32
Figure 3.22:Individual Axis Driving ........................... 32
3.15.3 Interpolation Driving ................................................... 33
Figure 3.23:Timing Diagram of Interpolation Driving 33
3.15.4 Input Pulse Timing ....................................................... 33
Figure 3.24:Quadrature Pulse of Encoder Input .......... 33
Figure 3.25:Timing Diagram of Up/Down Pulse Input 33
3.15.5 Instantaneous Stop Timing .......................................... 34
Figure 3.26:External Instantaneous Stop Signal .......... 34
Figure 3.27:Instantaneous Stop Instruction ................. 34
3.15.6 Deceleration Stop Timing ............................................ 34
Figure 3.28:External Deceleration/Stop Signal ........... 34
Figure 3.29:Deceleration/Stop Instruction ................... 34
3.16 TTL Level Position Compare Output.............................. 35
Table 3.6:Jumper Settings of JP6 ................................ 35
Appendix A Specifications ................................................. 38
A.1 Axes........................................ 38
A.2 Digital Input/Output ........................... 39
A.3 Input Pulse for Encoder Interface ................. 39
A.4 External Signals Driving ........................ 40
A.5 Other Functions ............................... 40
A.6 General ............................................................................ 41
Appendix B Block Diagram ............................................... 44
Appendix C Wiring with Third-Party Motor Drivers .... 46
Figure C.1:Mitsubishi MR-J2S Series Motor Driver ... 46
Figure C.2:Oriental LIMO EZMC Motor Driver ........ 47
Figure C.3:Panasonic MINAS-A Series Motor Driver 48
Figure C.4:Yaskawa SGDM Series Motor Driver ....... 49

2
CHAPTER
1
Introduction
This chapter introduces PCI-1220U and
lists features and specifications.

PCI-1220U User Manual 2
Chapter 1 Introduction
PCI-1220U 2-axis Stepping/Pulse-type Servo Motor Control Card is
designed for general-purpose motion applications. The card simplifies
stepping and pulse-type servo motor control.
The cards’ intelligent NOVA MCX312 motion ASIC builds in a variety
of motion control functions, such as 2-axis linear interpolation, 2-axis cir-
cular interpolation, T/S-curve acceleration/deceleration rate and more.
PCI-1220U performs motion control functions without processor load
during driving. For advanced applications, we supply Windows DLL
drivers and user-friendly examples to decrease your programming load.
Moreover, through a free bundled motion utility, you can complete con-
figuration and diagnosis easily.
1.1 Features
PCI-1220U provides users with the most requested motor control func-
tions as seen below:
• Independent 2-axis motion control
• Support hand wheel and jog function
• 2-axis linear interpolation function
• 2-axis circular interpolation function
• Continuous interpolation function
• Programmable T/S-curve acceleration and deceleration
• Up to 4MPPS pulse output for each axis
• Two pulse output types: Up/Down or Pulse/Direction
• Up to 1 MHz encoder input for each axis
• Two encoder pulse input types: A/B phase or Up/Down
• Position management and software limit switch function
• BoardID Switch
• Free Motion Utility bundled for configuration and diagnosis
• "Go home” functions
• Universal PCI Bus for both 3.3 and 5 V PCI slots

3 Chapter 1
The Advantech PCI-1220U offers the following main features:
Individual Control for 2 Axes
Each of the axes has identical capabilities, and is controlled by the same
method of operation with constant speed, trapezoidal or S-curve driving.
Programmable T/S-curve Acceleration and Deceleration
Each of four axes can be preset individually with S-curve or trapezoidal
acceleration/deceleration rates. When using S-curve acceleration to con-
trol driving speed, output pulse is generated in parabolic-shaped accelera-
tion or deceleration curves, and the triangular curve phenomenon will not
occur through the NOVA MCX-312-motion ASIC design concept.
Linear and Circular Interpolation
Two axes can be used to execute linear interpolation driving and circular
arc interpolation control. The interpolation speed range is from 1 PPS to 4
MPPS.
Powerful Position Management Function
Each axis is equipped with a 32-bit logical position counter and a 32-bit
real position counter. The logical position counter counts the axis’ pulse
output number and the real position counter is recorded with the feedback
pulse from the outside encoder or linear scale.
Speed Control
The speed range of the pulse output is from 1PPS to 4MPPS for constant
speed, trapezoidal or S-curve acceleration/deceleration driving. The
accuracy of the frequency of the pulse output is less than +/- 0.1% (at
CLK=16 MHz). The speed of driving pulse output can be freely changed
during the driving.
Continuous Interpolation
Different interpolation methods can be used continuously, for example:
Linear interpolationCircular interpolationLinear interpolation.
The maximum driving speed of performing continuous interpolation is 2
MPPS.

PCI-1220U User Manual 4
Constant Vector Speed Control
This function performs a constant vector speed. During the interpolation
driving, MCX312 can set a 1.414 times pulse cycle for 2-axis simultane-
ous pulse output that keeps constant speed during driving.
Compare Register and Software Limit
Each axis has two 32-bit compare registers for logical position counter
and real position counter. The comparison result can be read from the sta-
tus registers. The comparison result can be notified by an interrupt signal.
These registers can be also functioned as software limits.
Driving by External Signal
It is possible to control each axis by external signals. The +/- direction
fixed pulse driving and continuous driving can be also performed through
the external signals. This function is used for JOG or teaching modes, and
will share the CPU load.
Input/ Output Signal
Each axis has 2 points of general input signals. Besides, there are ORG
and EZ signals for high-speed near-by home search, home search and z-
phase search during the home returning. Each axis is with 4 output points
for general output.
Servo Motor Feedback Signals
Each axis includes input pins for servo feedback signals such as in-posi-
tioning, close loop positioning control and servo alarm.
Interrupt Signals
Interrupt signals can be generated when: (1) the start/finish of a constant
speed drive during the trapezoidal driving, (2) the end of driving, and (3)
the compare result higher/lower the border-lines of the position counter.
An interrupt signal can be also generated during the interpolation driving.

5 Chapter 1
Real Time Monitoring
During the driving, the present status such as logical position, real
position, drive speed, acceleration / deceleration, status of accelerating /
decelerating and constant driving can be read.
1.2 Applications
• Precise X-Y position control
• Precise rotation control
• Packaging and assembly equipment
• Machine control with up to 2 axes
• Semiconductor pick and place and testing equipment
• Other stepping/pulse-type servo motor applications
1.3 Installation Guide
Before you install your PCI-1220U card, please make sure you have the
following necessary components:
• PCI-1220U Motion Card
• PCI-1220U Startup Manual
• Driver Software
Advantech PCI-1220U DLL drivers (Included in the CD-ROM)
• Motion Utility
Advantech PCI-1220U Motion Utility (Included in the CD-ROM)
• Personal computer or workstation with a PCI-bus slot
After you have got the necessary components and maybe some accesso-
ries for enhanced operation of your Motion card, you can then begin the
installation procedure.

PCI-1220U User Manual 6
1.4 Accessories
Advantech offers a complete set of accessory products to support the
PCI-1220U card. These accessories include:
Wiring Cable
• PCL-10152 The PCL-10152 shielded cable is specially designed for
PCI-1220U card to provide higher resistance to noise. To
achieve a better signal quality, the signal wires are
twisted in such away as to form a “twisted-pair cable”,
reducing cross talk and noise from other signal sources.
Wiring Boards
• ADAM-3952 The ADAM-3952 is a 50-pin SCSI wiring terminal
module for DIN-rail mounting. This terminal module
can allow easy yet reliable access to individual pin
connections for the PCI-1220U card.

12202
CHAPTER
2
Installation
This chapter gives users a package item
checklist, proper instructions about
unpacking and step-by-step procedures
for both driver and card installation.

PCI-1220U User Manual 8
Chapter 2 Installation
2.1 Unpacking
After receiving your PCI-1220U package, please inspect its contents first.
The package should contain the following items:
• PCI-1220U Card
• Companion CD-ROM (DLL driver included)
• User Manual
The PCI-1220U card harbors certain electronic components vulnerable to
electrostatic discharge (ESD). ESD could easily damage the integrated
circuits and certain components if preventive measures are not carefully
paid attention to.
Before removing the card from the antistatic plastic bag, you should take
following precautions to ward off possible ESD damage:
• Touch the metal part of your computer chassis with your hand to dis-
charge static electricity accumulated on your body. Or one can also use
a grounding strap.
• Touch the antistatic bag to a metal part of your computer chassis before
opening the bag.
• Take hold of the card only by the metal bracket when removing it out of
the bag.
After taking out the card, you should first:
• Inspect the card for any possible signs of external damage (loose or
damaged components, etc.). If the card is visibly damaged, please
notify our service department or the local sales representative immedi-
ately. Avoid installing a damaged card into your system.
Also pay extra caution to the following to ensure proper installation:
• Avoid physical contact with materials that could hold static electricity
such as plastic, vinyl and Styrofoam.
• Whenever you handle the card, grasp it only by its edges. DO NOT
TOUCH the exposed metal pins of the connector or the electronic com-
ponents.

9 Chapter 2
2.2 Driver Installation
We recommend you install the software driver before installing the PCI-
1220U module, since this will guarantee a smooth installation process.
The 32-bit DLL driver Setup program for the PCI-1220U module is
included on the companion CD-ROM that is shipped with your module
package.
For further information on driver-related issues, an online version of the
Device Drivers Manual is available by accessing the following path:
Start\Programs\Advantech Automation \Device Manager\Device
Driver’s Manual
2.3 Installation Instructions
The PCI-1220U can be installed in any PCI slot in the computer. How-
ever, refer to the computer user's manual to avoid any mistakes and dan-
ger before you follow the installation procedure below:
1. Turn off your computer and any accessories connected to the computer.
Warning!TURN OFF your computer power supply whenever you
install or remove any card, or connect and disconnect cables.
2. Disconnect the power cord and any other cables from the back of the
computer.
3. Remove the cover of the computer.
4. Select an empty +3.3/+5V PCI slot. Remove the screw that secures the
expansion slot cover to the system unit. Save the screw to secure the
interface card retaining bracket.
5. Carefully grasp the upper edge of the PCI-1220U. Align the hole in the
retaining bracket with the hole on the expansion slot and align the gold
striped edge connector with the expansion slot socket. Press the card
into the socket gently but firmly. Make sure the card fits the slot
tightly.
6. Secure the PCI-1220U by screwing the mounting bracket to the back
panel of the computer.
7. Attach any accessories to the card.
8. Replace the cover of your computer and connect the cables you
removed in step 2.
9. Turn the computer power on.

PCI-1220U User Manual 10

2
CHAPTER
3
Signal Connections
This chapter provides useful informa-
tion about how to connect input and
output signals to the PCI-1220U via the
I/O connector.

PCI-1220U User Manual 12
Chapter 3 Signal Connections
3.1 I/O Connector Pin Assignments
The I/O connector on the PCI-1220U is a 50-pin connector that enables
you to connect to accessories with the PCL-10152 shielded cable.
Figure 3.1 shows the pin assignments for the 50-pin I/O connector on the
PCI-1220U, and Table 3-1 shows its I/O connector signal description.
3.2 Location of Jumpers and DIP switch
Figure 3.2 shows the names and locations of jumpers and DIP switch on
the PCI-1220U. There are ten jumpers, JP1 to JP10 on the PCI-1220U.
Please refer to Section 3.4 Output Pulse Definition and Section 3.11
Emergency Stop Input for more information about JP1~4 and JP5 config-
urations.
BoardID Switch
PCI-1220U has have a built-in DIP switch (SW1), which is used to define
each card’s unique identifier for the Motion Utility. You can determine
the BoardID identifier on the register as shown in Table 3-2. When there
are multiple cards on the same chassis, this BoardID setting is useful for
identifying each card’s device number.
We set the BoardID switch of PCI-1220U to 0 at the factory. If you need
to adjust it to another number, set SW1 by referring to Table 3.3.
Note The PCL-10152 shielded cable is especially
designed for the PCI-1220U to reduce noise in
the analog signal lines.

13 Chapter 3
Figure 3.1: I/O Connector Pin Assignments

PCI-1220U User Manual 14
Table 3.1: I/O Connector Signal Description
Signal Name Reference Direction Description
VEX - Input External Power (12~24VDC)
EMG - Input Emergency Stop (for all axes)
XLMT+ - Input + Direction Limit at X axis
XLMT- - Input - Direction Limit at X axis
XIN0 - Input General Input at X axis
XIN1 - Input General Input at X axis
XORG - Input Home Signal Input at X axis
YLMT+ - Input + Direction Limit at Y axis
YLMT- - Input - Direction Limit at Y axis
YIN0 - Input General Input at Y axis
YIN1 - Input General Input at Y axis
YORG - Input Home Signal Input at Y axis
XINPOS - Input In-Position input at X axis
XALARM - Input Servo Error at X axis
XECAP - Input Encoder Phase A at X axis
XECAN - Input Encoder Phase A at X axis
XECBP - Input Encoder Phase B at X axis
XECBN - Input Encoder Phase B at X axis
XEZ+ - Input Encoder Phase Z at X axis
XEZ- - Input Encoder Phase Z at X axis
YINPOS - Input In-Position input at Y axis
YALARM - Input Servo Error at Y axis
YECAP - Input Encoder Phase A at Y axis
YECAN - Input Encoder Phase A at Y axis
YECBP - Input Encoder Phase B at Y axis
YECBN - Input Encoder Phase B at Y axis
YEZ+ - Input Input Encoder Phase Z at Y axis
YEZ- - Input Encoder Phase Z at Y axis
XEXOP+ - Input Jog at the + Direction of X axis
XEXOP- - Input Jog at the - Direction of X axis
YEXOP+ - Input Jog at the + Direction of Y axis
YEXOP- - Input Jog at the - Direction of Y axis
GND - - Ground
XOUT0 GND Output General Output at X axis (CMP+)