AXIOMTEK DB-87040 User manual

DB-87040/DB-87060
4/6 Axes Motion Daughter Board
User’s Manual

ii
Disclaimers
The information in this manual has been carefully checked and is
believed to be accurate. AXIOMTEK Co., Ltd. assumes no
responsibility for any infringements of patents or other rights of third
parties which may result from its use.
AXIOMTEK assumes no responsibility for any inaccuracies that may
be contained in this document. AXIOMTEK makes no commitment to
update or to keep current the information contained in this manual.
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written permission ofAXIOMTEK Co., Ltd.
©Copyright 2005 by AXIOMTEK Co., Ltd.
All rights reserved.
October 2005, Version A1
Printed in Taiwan

Table of Contents iii
Table of Contents
Chapter 1 Introduction ---------------------- iv
1.1 Specifications......................................................1
Chapter 2 Hardware Setting -------------------3
2.1 System Connection Diagram................................3
2.2 HARDWARE LAYOUT .........................................3

iv Table of Contents
This page does not contain any information.

DB-87040 / DB-87060 User’s Manual
Introduction 1
C h a p t e r 1
Introduction
DB-87040 and DB-87060 are a general terminal board for 4 axes and
6 axes motion controls, respectively. They are convenience and
efficiency for connecting the 4/6-axes motion control card with
external devices such as servo drive, encoder, local I/O and DAC
signal. They are also compatible with various types of servo drive by
wiring with the servo specified wiring configuration.
1.1 Specifications
General Specifications
Dedicated Digital input/output interface for the ASP-52504/52506
4/6 axes motion board
Connector: 30-pin terminal block
System I/O Signal: external RDY, STOP, HOM, OT
Encoder interface for the DASP-52504/52506 motion board
Connector: 25-pin D-Sub female type
Signal: 4 axes or 6 axes A/B/Z encoder signal
Servo /Stepper drive control command and status
Connector: 4 sets or 6 sets, 25-pin D-Sub male type
Signal: pulse train or Analog command, control/status

DB-87040 / DB-87060 User’s Manual
Introduction
2
4-axes or 6-axes motion control wiring signals
Connector: SCSI-II 100-pin pin type
Signal: 4-axes or 6-axes motion control board signals
Dedicated Digital Input and Output
D/I Signal: HOME, OT+, OT-, STOP (Emergency Stop)
D/O Signal: INH (Output Inhibits) and RDY (Servo Ready)
Operation: DIP switch forced setting or normal
Input Signal: Opto-isolation low active
Output Signal: OPEN COLLECTOR
General Environment
Power: external +24V
Operating Temperature: 0-60°C
Storage temp: -20 to 70°C
Humility: 0 to 90 non-condensing
Humility: 0 to 90%
Dimensions: 245 mm x 108 mm
Mechanism: DIN-Rail terminal block

DB-87040 / DB-87060 User’s Manual
Hardware Setting 3
C h a p t e r 2
Hardware Setting
2.1 System Connection Diagram
DB-87060 Terminal Board
DDA x 6 , ENC x 6,
LIO x 26, D/A x 6
DASP52506 6 servo motors
(For Example: DB-87060 Terminal Board)
2.2 HARDWARE LAYOUT
SW1 SW2 SW3 SW4 SW5 SW6 SW7
J7
TB2
TB1
D1 D6 D11 D16 D21 D26
P1
J1 J2 J3 J4 J5 J6
JP1 JP2 JP3 JP4 JP5 JP6
D34 D31 D32
D2 D3 D4 D5 D7 D8 D9 D10 D12D13D14 D15 D17D18D19 D20D22D23D24 D25 D27D28D29 D30
DB-87060 Terminal Board Layout

DB-87040 / DB-87060 User’s Manual
Hardware Setting
4
(A). Terminal Block - TB1
2
DGND
1
+24V
Pin 1: Power Ground
Pin 2: +24V Power Input
(B). Terminal Block – TB2
29
NC 30 NC
27
GND 28 STOP
25
RDY+ 26 RDY-
23
HOM6 24 OT+6
21
GND 22 OT-6
19
HOM5 20 OT+5
17
GND 18 OT-5
15
HOM4 16 OT+4
13
GND 14 OT-4

DB-87040 / DB-87060 User’s Manual
Hardware Setting 5
11
HOM3 12 OT+3
9
GND 10 OT-3
7
HOM2 8 OT+2
5
GND 6 OT-2
3
HOM1 4 OT+1
1
GND 2 OT-1
RDY+, RDY-: Output Servo Ready Signal
STOP: Emergency Stop Input Signal
OT+n, OT-n: Input Inhibit Signal from the nth Axes
HOMn: Input Home Signal from the nth Axes
Wiring Diagram:
HOME, OT+, OT- (digital input of each axis) and STOP

DB-87040 / DB-87060 User’s Manual
Hardware Setting
RDY digital output
(C). Switch – SW1, SW2, SW3, SW4, SW5, SW6
Pin 1 2 3 4 5
Definition HOME OT+ OT- MODE
INH
Default OFF OFF OFF OFF OFF
zHOME : Parallel connection with TB1. HOME should be set OFF
when it connected with the external HOME Sensor. The Dip
Switch is simulated as the external Home Sensor when the actual
external Home Sensor is not connected. Set the Dip Switch ON
indicates the simulated Home Sensor is enabled and OFF
indicates disable.
zOT+ : Parallel connection with TB1. OT+ should be set OFF
when it connected with the external OT+ Sensor. The Dip Switch
is simulated as the external OT+ Sensor when the actual external
OT+ Sensor is not connected. Set the Dip Switch ON indicates
6

DB-87040 / DB-87060 User’s Manual
Hardware Setting 7
the simulated OT+ Sensor is enabled and OFF indicates disable.
zOT- : Parallel connection with TB1. OT- should be set OFF when
it connected with the external OT- Sensor. The Dip Switch is
simulated as the external OT+ Sensor when the actual external
OT- Sensor is not connected. Set the Dip Switch ON indicates the
simulated OT- Sensor is enabled and OFF indicates disable.
zMODE : Reserved (Not Available)
zINH : Parallel connection with Connector J1, J2, J3, J4, J5 and J6
of each driver. INH should be set OFF if the Servo On signal is
provided by software. It should be set ON if the Servo On signal
is provided by hardware device. The Dip Switch is simulated as
the function of Servo On. Set the Dip Switch ON indicates the
simulated Servo On signal is enabled and OFF indicates disable.

DB-87040 / DB-87060 User’s Manual
Hardware Setting
8
(D). Indicator
Indicator D2 D3 D4 D5 D1
Axis 1 Definition HOME1
OT+1 OT-1 INH1 S_RDY1
Indicator D7 D8 D9 D10 D6
Axis 2 Definition HOME2
OT+2 OT-2 INH2 S_RDY2
Indicator D12 D13 D14 D15 D11
Axis 3 Definition HOME3
OT+3 OT-3 INH3 S_RDY3
Indicator D17 D18 D19 D20 D16
Axis 4 Definition HOME4
OT+4 OT-4 INH4 S_RDY4
Indicator D22 D23 D24 D25 D21
Axis 5 Definition HOME5
OT+5 OT-5 INH5 S_RDY5
Indicator D27 D28 D29 D30 D26
Axis 6 Definition HOME6
OT+6 OT-6 INH6 S_RDY6
Indicator D34 D31 D32
Others Definition +24V P_RDY
STOP
zHOME: ONÆHOME signal input, OFFÆHOME finish.
zOT+: ONÆOT+ signal input, OFFÆOT+ finish.
zOT-: ONÆOT- signal input, OFFÆOT- finish.
zINH: ONÆServo On, OFFÆServo Off.
z+24V: External +24V power source.
zSTOP: ONÆSTOP signal input, OFFÆSTOP signal finish.
zP_RDY: ON( P_RDYActive, PDY+ and PDY- is shorted,
OFF( P_RDY finish.
zS_RDY: Controlled by Servo driver, ON( Servo Ready,
OFF( Servo Off.

DB-87040 / DB-87060 User’s Manual
Hardware Setting 9
(E). Connector – P1
Encoder Input Signal

DB-87040 / DB-87060 User’s Manual
Hardware Setting
10
(F). Jumper – JP1, JP2, JP3, JP4, JP5, JP6
Pins Assignment
3 Torque Command (T.CMD)
2 DAC Output
1 Velocity Command (V.CMD)
Function and Configuration
Jumper JP1 JP2 JP3 JP4 JP5 JP6
1-2 short V_CMD1 V_CMD2
V_CMD3 V_CMD4 V_CMD5 V_CMD6
2-3 short T_CMD1 T_CMD2
T_CMD3 T_CMD4 T_CMD5 T_CMD6
JP1~JP6 do not setting if the servo driver is a Pulse type

DB-87040 / DB-87060 User’s Manual
Hardware Setting 11
(G). Driver Connector – J1, J2, J3, J4, J5, J6
No. Definition Function
1 Z+ Differential signal of Encoder Phase Z+ Input
2 A+ Differential signal of Encoder Phase A+ Input
3 B+ Differential signal of Encoder Phase B+ Input
4 PULSE+ Differential signal of Encoder Phase PULSE+ Input
5 SIGN+ Differential signal of Encoder Phase SIGN+ Input
6 COM- Digital Ground Input
7 COM- Digital Ground Input
8 COM+ +24V Input
9 SERVO_ON Connect to COM- for Servo ON
10 C_MODE Reserved
11 AGND Analog Ground
12 NC No define
13 FG Frame Ground
14 Z- Differential signal of Encoder Phase Z- Input
15 A- Differential signal of Encoder Phase A- Input
16 B- Differential signal of Encoder Phase B- Input
17 PULSE- Differential signal of Encoder Phase PULSE- Input
18 SIGN- Differential signal of Encoder Phase SIGN- Input
19 S_RDY Servo Ready Input
20 COM- Digital Ground Input
21 COM- Digital Ground Input
22 COM- Digital Ground Input
23 T_CMD Torque Command Output
24 V_CMD Velocity Command Output
25 AGND Analog Ground

DB-87040 / DB-87060 User’s Manual
Hardware Setting
12
(H). SCSI-II 100Pin (Pin-Type) – J7
SCSI II-100PIN CONNECTOR
Definition pin pin Definition
AGND 1 51 AGND
DAC/D1 2 52 DAC/D4
DAC/D2 3 53 DAC/D5
DAC/D3 4 54 DAC/D6
VCC_OUT(+5V) 5 55 COM-
COM+ 6 56 COM-
COM 7 57 E_STOP
COM 8 58 P_RDY
HOME_I1 9 59 HOME_I2
OT+_I1 10 60 OT+_I2
OT-_I1 11 61 OT-_I2
INH_O1 12 62 INH_O2
HOME_I3 13 63 HOME_I4
OT+_I3 14 64 OT+_I4
OT-_I3 15 65 OT-_I4
INH_O3 16 66 INH_O4
HOME_I5 17 67 HOME_I6
OT+_I5 18 68 OT+_I6
OT-_I5 19 69 OT-_I6
INH_O5 20 70 INH_O6
XENC_INA1 21 71 XENC_INA2
~XENC_INA1 22 72 ~XENC_INA2
XENC_INB1 23 73 XENC_INB2
~XENC_INB1 24 74 ~XENC_INB2
XENC_INC1 25 75 XENC_INC2
~XENC_INC1 26 76 ~XENC_INC2
XENC_INA3 27 77 XENC_INA4
~XENC_INA3 28 78 ~XENC_INA4
XENC_INB3 29 79 XENC_INB4

DB-87040 / DB-87060 User’s Manual
Hardware Setting 13
SCSI II-100PIN CONNECTOR
Definition pin pin Definition
~XENC_INB3 30 80 ~XENC_INB4
XENC_INC3 31 81 XENC_INC4
~XENC_INC3 32 82 ~XENC_INC4
XENC_INA5 33 83 XENC_INA6
~XENC_INA5 34 84 ~XENC_INA6
XENC_INB5 35 85 XENC_INB6
~XENC_INB5 36 86 ~XENC_INB6
XENC_INC5 37 87 XENC_INC6
~XENC_INC5 38 88 ~XENC_INC6
XDDA_OUTA1 39 89 XDDA_OUTA2
~XDDA_OUTA1 40 90 ~XDDA_OUTA2
XDDA_OUTB1 41 91 XDDA_OUTB2
~XDDA_OUTB1 42 92 ~XDDA_OUTB2
XDDA_OUTA3 43 93 XDDA_OUTA4
~XDDA_OUTA3 44 94 ~XDDA_OUTA4
XDDA_OUTB3 45 95 XDDA_OUTB4
~XDDA_OUTB3 46 96 ~XDDA_OUTB4
XDDA_OUTA5 47 97 XDDA_OUTA6
~XDDA_OUTA5 48 98 ~XDDA_OUTA6
XDDA_OUTB5 49 99 XDDA_OUTB6
~XDDA_OUTB5 50 100 ~XDDA_OUTB6
*J7 connect to DASP-52504 or DASP-52506 axes control card