Contec SMC-4DF-PCI User manual

PC-HELPER
High-Speed Motion Control
Board for PCI
(4 axes)
SMC-4DF-PCI
(8 axes)
SMC-8DF-PCI
User’s Guide
CONTEC CO.,LTD.

SMC-4DF-PCI, SMC-8DF-PCI i
Check Your Package
Thank you for purchasing the CONTEC product.
The product consists of the items listed below.
Check, with the following list, that your package is complete. If you discover damaged or missing items,
contact your retailer.
Product Configuration List
-Board (One of the following)
[SMC-4DF-PCI or SMC-8DF-PCI] …1
-
- First step guide …1
- CD-ROM *1 [API-PAC(W32)] …1
- Synchronization control cable (10cm) …1
*1 The CD-ROM contains the driver software and User’s Guide (this guide)
Synchronization control cable
Board CD-ROM
[API-PAC(W32)]
First step guide

ii SMC-4DF-PCI, SMC-8DF-PCI
Copyright
Copyright 2007 CONTEC CO., LTD. ALL RIGHTS RESERVED.
No part of this document may be copied or reproduced in any form by any means without prior written
consent of CONTEC CO., LTD.
CONTEC CO., LTD. makes no commitment to update or keep current the information contained in this
document. The information in this document is subject to change without notice.
All relevant issues have been considered in the preparation of this document. Should you notice an
omission or any questionable item in this document, please feel free to notify CONTEC CO., LTD.
Regardless of the foregoing statement, CONTEC assumes no responsibility for any errors that may
appear in this document or for results obtained by the user as a result of using this product.
Trademarks
MS, Microsoft and Windows are trademarks of Microsoft Corporation. Other brand and product names
are trademarks of their respective holder.

SMC-4DF-PCI, SMC-8DF-PCI iii
Table of Contents
Check Your Package............................................................................................................................ i
Copyright ............................................................................................................................................ ii
Trademarks ......................................................................................................................................... ii
Table of Contents............................................................................................................................... iii
1. BEFORE USING THE PRODUCT 1
About the Board.................................................................................................................................. 1
Features ........................................................................................................................................ 1
About Migration From The Existing Products............................................................................ 2
Support Software ......................................................................................................................... 3
Cable & Connector (Option) ...................................................................................................... 3
Accessories (Option) .................................................................................................................. 3
Customer Support ............................................................................................................................... 4
Web Site....................................................................................................................................... 4
Limited Three-Years Warranty .......................................................................................................... 4
How to Obtain Service ....................................................................................................................... 4
Liability............................................................................................................................................... 4
Safety Precautions .............................................................................................................................. 5
Safety Information ....................................................................................................................... 5
Handling Precautions................................................................................................................... 6
Environment................................................................................................................................. 7
Inspection..................................................................................................................................... 7
Storage ......................................................................................................................................... 7
Disposal ....................................................................................................................................... 7
2. SETUP 9
What is Setup? .................................................................................................................................... 9
Using the Board under Windows Using the Driver library API-PAC(W32).............................. 9
Using the Board under Window Using Software Other than the Driver library
API-PAC(W32)............................................................................................................................ 9
Using the Board under an OS Other than Windows ................................................................. 10
Step 1 Installing the Software .......................................................................................................... 11
Which Driver to Use .................................................................................................................. 11
Starting the Install Program....................................................................................................... 11
Selecting API-SMC(WDM) ...................................................................................................... 12
Executing the Installation .......................................................................................................... 12

iv SMC-4DF-PCI, SMC-8DF-PCI
Step 2 Setting the Hardware ............................................................................................................. 13
Parts of this product and Factory Defaults ................................................................................ 13
Setting the Board ID .................................................................................................................. 15
Setting the Terminating Registor............................................................................................... 15
Plugging the Board .................................................................................................................... 16
Step 3 Installing the Hardware ......................................................................................................... 17
Turning on the PC...................................................................................................................... 17
When Using API-SMC(WDM) ................................................................................................. 17
Step 4 Initializing the Software ........................................................................................................ 19
Step 5 Checking Operations with the Diagnosis Program ............................................................... 21
What is the Diagnosis Program?................................................................................................ 21
Check method ............................................................................................................................ 21
Using the Diagnosis Program .................................................................................................... 23
Setup Troubleshooting...................................................................................................................... 26
Symptoms and Actions .............................................................................................................. 26
If your problem cannot be resolved ........................................................................................... 26
3. EXTERNAL CONNECTION 27
How to connect the connectors......................................................................................................... 27
Connector shape......................................................................................................................... 27
Connector Pin Assignment ........................................................................................................28
Connecting Output Signals ............................................................................................................... 34
Pulse output circuit (CW, CCW) ............................................................................................... 34
Control signal/general-purpose signal output circuit (OUT1 - OUT3, ERC, CP1, CP2)......... 36
Connecting Input Signals.................................................................................................................. 37
Encoder input circuit.................................................................................................................. 37
Limit input/general-purpose input/control input circuit (IN1 - IN7, +LIM, -LIM, ORG) ....... 40
Connection Examples ....................................................................................................................... 41
Surge Voltage Countermeasures....................................................................................................... 42
4. FUNCTIONS 43
About each motor control operation................................................................................................. 43
PTP operation function .............................................................................................................. 43
JOG operation function.............................................................................................................. 43
ORG operation function............................................................................................................. 43
Linear interpolation ................................................................................................................... 43
Circular interpolation................................................................................................................. 43
S-curve acceleration/deceleration function ............................................................................... 43
Frame (bank) sequence operation function ............................................................................... 44
Synchronous control function....................................................................................................45

SMC-4DF-PCI, SMC-8DF-PCI v
Meanings of signals .......................................................................................................................... 46
Limit input signals ..................................................................................................................... 46
Encoder input signal .................................................................................................................. 47
Pulse output signal..................................................................................................................... 48
General-purpose input signals ...................................................................................................49
General-purpose output signals ................................................................................................. 50
P.COM (Plus common).............................................................................................................. 50
GND (Ground) ........................................................................................................................... 50
Connecting the synchronization control connectors ................................................................. 51
Motion control system ...................................................................................................................... 53
System configuration ................................................................................................................. 53
5. ABOUT SOFTWARE 55
CD-ROM Directory Structure .......................................................................................................... 55
About Software for Windows........................................................................................................... 56
Accessing the Help File............................................................................................................. 56
Uninstalling the Driver library .................................................................................................. 57
6. ABOUT HARDWARE 59
For detailed technical information ................................................................................................... 59
Hardware specification ..................................................................................................................... 59
Block Diagram.................................................................................................................................. 63

vi SMC-4DF-PCI, SMC-8DF-PCI

1. Before Using the Product
SMC-4DF-PCI, SMC-8DF-PCI 1
1. Before Using the Product
This chapter provides information you should know before using the product.
About the Board
This product is a PCI board that supports stepping motors and (“pulse string input” types of)
servomotors.
SMC-4DF-PCI can perform motor control for up to 4 axes.
SMC-8DF-PCI can perform motor control for up to 8 axes.
Multi-axis independent control and linear/circular interpolation control are performed via a motor driver
unit. It can store positioning information for up to 1024 frames per axis and control multiple axes
simultaneously. In addition, it can override speed/target positions during operation. Windows driver is
bundled with this product.
These various functions make it possible to build complex positioning control systems for variety of uses
such as manufacturing devices and test devices.
Features
- Capable of multi-axis independent control and pulse output up to 6.5Mpps
SMC-4DF-PCI : Control for up to 4 axes and motor control pulse output up to 6.5Mpps are available.
SMC-8DF-PCI : Control for up to 8 axes and motor control pulse output up to 6.5Mpps are available.
Command pulse for motor control supports common pulse, independent pulse and 90°C phase
difference pulse.
Limit input 3channels/axis, general-purpose input 7channels/axis, and general-purpose output
3channels/axis are equipped. Also, depending on the software setting, 6 general-purpose inputs can
be used as alarm inputs, and general-purpose outputs as deviation counter clear outputs.
- Capable of various control operations such as positioning, linear/circular interpolation, frame
continuous operations, synchronization control, and so on
Various control operations such as positioning, origin returning, linear/circular interpolation, S-curve
acceleration/deceleration, frame continuous motion, synchronization control, and so on are available.
Changing speed/target position during operation is available.
" PCL6045 series" from Nippon Pulse Motor CO., LTD. is used as the motor control IC.
- Provided with various input/output formats enabling connection to an encoder input circuit as well as
pulse output circuit.
Encoder input circuits can be connected with differential output, TTL level output, and open-collector
output. Pulse output circuits can be connected with differential input, opto-coupler and TTL level
input.
- Capable of storing positioning information up to 1024 frames for each axis and control without extra
CPU load
The parameters which are necessary for motor operations such as travel distance, travel speed,
acceleration/deceleration rate, and so on as 1 frame can be stored up to 1024 frames for each axis. In
addition, the control from the ending of 1 frame to the beginning of the next frame is mainly
performed by hardware, complex continuous positioning can operate at a high speed. It is possible to
repeatedly execute the frame after executing a frame once (loop operation).

1. Before Using the Product
2SMC-4DF-PCI, SMC-8DF-PCI
- With the multi-axis synchronization control function, capable of aligning the timing for operation start
and end
Synchronization control of multi-axis simultaneous start/stop control, linear interpolation operation
(constant speed operation only) is available. Synchronization control of up to 16 boards is possible,
when dedicated synchronization control cables are connected.
- Windows compatible driver libraries is attached.
Using the attached driver library API-PAC(W32) makes it possible to create applications of Windows.
In addition, a diagnostic program by which the operations of hardware can be checked is provided.
- Connector shape and pin assignments are compatible with SMC-4DL-PCI, SMC-8DL-PCI
Since this product is compatible with SMC-4DL-PCI and SMC-8DL-PCI in the connector shape and
signal allocation, it can be replaced with them.
- Provided with a terminal strip CCB-SMC2 (option) to which driver units up to 4 pieces can be
connected
A dedicated terminal strip CCB-SMC2 (option) which assigns signals for each axis is provided.
Driver units and limit sensors for stepping motors and servo motors can be connected up to 4 pieces.
About Migration From The Existing Products
This product cannot use [API-SMC(98/PC)] (CD-ROM attached) which is the driver software for the
existing products SMC-2P(PCI), SMC-4P(PCI), and SMC-3(PC). [API-SMC(98/PC)] (bundled
CD-ROM) cannot be used. Please use [API-SMC(WDM)] (bundled CD-ROM) which is the driver
software for this product. As a reference material when migrating from the existing products to this
product, “Migration guide” which summarizes migration methods and differences about initial settings
and API function units is provided. Please use the guide for your reference.
”Migration guide” can be downloaded from the download library of CONTEC’s Web site
(http://www.contec.com/download)

1. Before Using the Product
SMC-4DF-PCI, SMC-8DF-PCI 3
Support Software
You should use CONTEC support software according to your purpose and development environment.
Windows version of motion control driver API-SMC(WDM)
[Stored on the bundled CD-ROM driver library API-PAC(W32)]
The API-SMC(WDM) is the Windows version driver library software that provides products in the form of Win32 API
functions (DLL). Various sample programms such as Visual Basic and Visual C++, etc and diagnostic program useful
for checking operation is provided.
< Operating environment >
OS Windows XP, Server 2003, 2000
Adaptation language Visual Basic, Visual C++, Visual C#
You can download the updated version from the CONTEC’s Web site (http://www.contec.com/apipac/). For more
details on the supported OS, applicable language and new information, please visit the CONTEC’s Web site.
Cable & Connector (Option)
Shielded Cable With Two 100pin Connector
:PCB100PS-0.5 (0.5m)
:PCB100PS-1.5 (1.5m)
:PCB100PS-3 (3m)
:PCB100PS-5 (5m)
Flat Cable with One 100-Pin Connector
: PCA100P-1.5 (1.5m)
: PCA100P-3 (3m)
: PCA100P-5 (5m)
Accessories (Option)
Connection Conversion Board for SMC :CCB-SMC2 *1*2*3
Screw Terminal (M3*100) :EPD-100A *2*3
*1 Distributes 100-pin 0.8-mm pitch connector x 1 to: D-SUB 37 connector x 4, D-SUB-9 connector x
4.
*2 A PCB100PS optional cable is required separately.
*3 Cables and accessories are required each connector.
* Check the CONTEC’s Web site for more information on these options.

1. Before Using the Product
4SMC-4DF-PCI, SMC-8DF-PCI
Customer Support
CONTEC provides the following support services for you to use CONTEC products more efficiently and
comfortably.
Web Site
Japanese http://www.contec.co.jp/
English http://www.contec.com/
Chinese http://www.contec.com.cn/
Latest product information
CONTEC provides up-to-date information on products.
CONTEC also provides product manuals and various technical documents in the PDF.
Free download
You can download updated driver software and differential files as well as sample programs available in
several languages.
Note! For product information
Contact your retailer if you have any technical question about a CONTEC product or need its price,
delivery time, or estimate information.
Limited Three-Years Warranty
CONTEC products are warranted by CONTEC CO., LTD. to be free from defects in material and
workmanship for up to three years from the date of purchase by the original purchaser.
Repair will be free of charge only when this device is returned freight prepaid with a copy of the original
invoice and a Return Merchandise Authorization to the distributor or the CONTEC group office, from
which it was purchased.
This warranty is not applicable for scratches or normal wear, but only for the electronic circuitry and
original products. The warranty is not applicable if the device has been tampered with or damaged
through abuse, mistreatment, neglect, or unreasonable use, or if the original invoice is not included, in
which case repairs will be considered beyond the warranty policy.
How to Obtain Service
For replacement or repair, return the device freight prepaid, with a copy of the original invoice. Please
obtain a Return Merchandise Authorization number (RMA) from the CONTEC group office where you
purchased before returning any product.
* No product will be accepted by CONTEC group without the RMA number.
Liability
The obligation of the warrantor is solely to repair or replace the product. In no event will the warrantor
be liable for any incidental or consequential damages due to such defect or consequences that arise from
inexperienced usage, misuse, or malfunction of this device.

1. Before Using the Product
SMC-4DF-PCI, SMC-8DF-PCI 5
Safety Precautions
Understand the following definitions and precautions to use the product safely.
Safety Information
This document provides safety information using the following symbols to prevent accidents resulting in
injury or death and the destruction of equipment and resources. Understand the meanings of these labels
to operate the equipment safely.
DANGER DANGER indicates an imminently hazardous situation which, if not avoided, will
result in death or serious injury.
WARNING WARNING indicates a potentially hazardous situation which, if not avoided, could
result in death or serious injury.
CAUTION CAUTION indicates a potentially hazardous situation which, if not avoided, may
result in minor or moderate injury or in property damage.

1. Before Using the Product
6SMC-4DF-PCI, SMC-8DF-PCI
Handling Precautions
DANGER
Do not use the product where it is exposed to flammable or corrosive gas. Doing so may result in an
explosion, fire, electric shock, or failure.
CAUTION
- There are switches and jumpers on this product that need to be set in advance.
Be sure to check these before installing this product.
- Only set the switches and jumpers on this product to the specified settings.
Otherwise, this product may malfunction, overheat, or cause a failure.
- Do not strike or bend this product.
Otherwise, this product may malfunction, overheat, cause a failure or breakage.
- Do not touch this product’s metal plated terminals (edge connector) with your hands.
Otherwise, this product may malfunction, overheat, or cause a failure.
If the terminals are touched by someone's hands, clean the terminals with industrial alcohol.
- Do not install or remove this product to or from the extension slot while the computer's power is
turned on. And also do not connect this product and external device while the power is turned on.
Otherwise, this product may malfunction, overheat, or cause a failure.
Be sure that the personal computer or the I/O extension unit power is turned off.
- Do not connect or remove a cable with or from this product while the computer's power is turned on.
And also do not connect this product and external device while the power is turned on.
Otherwise, this product may malfunction, overheat, or cause a failure.
Be sure that the personal computer or the I/O extension unit power is turned off.
- When you use this product in a noisy environment or are nervous about noise, attach ferrite cores to
the connection cable
- Make sure that your PC or expansion unit can supply ample power to all the products installed.
Insufficiently energized products could malfunction, overheat, or cause a failure.
- The specifications of this product are subject to change without notice for enhancement and quality
improvement.
Even when using this product continuously, be sure to read the manual and understand the contents.
- Do not modify this product. CONTEC will bear no responsibility for any problems, etc., resulting
from modifying this product.
- Regardless of the foregoing statements, CONTEC is not liable for any damages whatsoever
(including damages for loss of business profits) arising out of the use or inability to use this
CONTEC product or the information contained herein.

1. Before Using the Product
SMC-4DF-PCI, SMC-8DF-PCI 7
Environment
Use this product in the following environment. If used in an unauthorized environment, the board may
overheat, malfunction, or cause a failure.
Operating temperature
0 - 50ºC
Humidity
10 - 90%RH (No condensation)
Corrosive gases
None
Floating dust particles
Not to be excessive
Inspection
Inspect the product periodically as follows to use it safely.
- Check that the board has
no dust or foreign matter adhering.
- Check that the bus connector
of the board and its cable have
been plugged correctly.
- The gold-plated leads of the bus connector
have no stain or corrosion.
Storage
When storing this product, keep it in its original packing form.
(1) Put this product in the storage bag.
(2) Wrap it in the packing material, then put it in the box.
(3) Store the package at room temperature at a place free from direct sunlight, moisture, shock,
vibration, magnetism, and static electricity.
Disposal
When disposing of the product, follow the disposal procedures stipulated under the relevant laws and
municipal ordinances.

1. Before Using the Product
8SMC-4DF-PCI, SMC-8DF-PCI

2. Setup
SMC-4DF-PCI, SMC-8DF-PCI 9
2. Setup
This chapter explains how to set up this product.
What is Setup?
Setup means a series of steps to take before the product can be used.
Different steps are required for software and hardware.
The setup procedure varies with the OS and applications used.
Using the Board under Windows
Using the Driver library API-PAC(W32)
This section describes the setup procedure to be performed before you can start developing application
programs for the board using the bundled CD-ROM “Driver library API-PAC(W32)”.
Taking the following steps sets up the software and hardware. You can use the diagnosis program later
to check whether the software and hardware function normally.
Step 1 Installing the Software
Step 2 Setting the Hardware
Step 3 Installing the Hardware
Step 4 Initializing the Software
Step 5 Checking Operations with the Diagnosis Program
If Setup fails to be performed normally, see the “Setup Troubleshooting” section at the end of this
chapter.
Using the Board under Window
Using Software Other than the Driver library API-PAC(W32)
For setting up software other than API-PAC(W32), refer to the manual for that software. See also the
following parts of this manual as required.
This chapter Step 2 Setting the Hardware
This chapter Step 3 Installing the Hardware
Chapter 3 External Connection
Chapter 6 About Hardware

2. Setup
10 SMC-4DF-PCI, SMC-8DF-PCI
Using the Board under an OS Other than Windows
For using the board under an OS other than Windows, see the following parts of this manual.
This chapter Step 2 Setting the Hardware
Chapter 3 External Connection
Chapter 6 About Hardware

2. Setup
SMC-4DF-PCI, SMC-8DF-PCI 11
Step 1 Installing the Software
This section describes how to install the API function libraries.
Before installing the hardware on your PC, install the API driver libraries from the bundled
API-PAC(W32) CD-ROM.
The following description assumes the operating system as Windows XP. Although some user
interfaces are different depending on the OS used, the basic procedure is the same.
Which Driver to Use
This product supports the advanced motion control driver API-SMC(WDM) only. The motion control
driver API-SMC(98/PC) cannot be used.
Starting the Install Program
(1) Load the CD-ROM [API-PAC(W32)] on your PC.
(2) The API-PAC(W32) Installer window appears automatically.
If the panel does not appear, run (CD-ROM drive letter):\AUTORUN.exe.
(3) Click on the [Install Development or Execution Environment] button.
CAUTION
Before installing the software in Windows XP, Server 2003, 2000, log in as a user with
administrator privileges.

2. Setup
12 SMC-4DF-PCI, SMC-8DF-PCI
Selecting API-SMC(WDM)
(1) The following dialog box appears to select “Driver Type” and “Install Type”.
(2) Select the "High Functionality WDM Motor Control driver".
(3) Click on the [Install] button.
* Clicking the [API-SMC] button displays detailed information about API-SMC(WDM) and
API-SMC(98/PC).
Executing the Installation
(1) Follow the on-screen instructions to proceed to install.
(2) After finishing installing, Readme file is displayed.
You have now finished installing the software.

2. Setup
SMC-4DF-PCI, SMC-8DF-PCI 13
Step 2 Setting the Hardware
This section describes how to set this product and plug it on your PC.
This product has some switches and jumper to be preset.
Check the on-product switches and jumpers before plugging this product into an expansion slot.
This product can be set up even with the factory defaults untouched. You can change this product
settings later.
Parts of this product and Factory Defaults
Figure 2.1. - 2.2. shows the names of major parts on this product.
Note that the switch setting shown below is the factory default.
SW2
ON
12345678
SW3
ON
12345678
SW4
ON
12345678
SW5
ON
12345678
SW1
BOARD ID
SW5
SW4
SW3
SW2
SW1
BOARD ID
0
1
2
3
4
5
6
7
9
A
B
C
D
E
F
8
CNACNB
CN2
CN2 CN3
CN3
- Terminator setting
SW
(SW2 - SW5)
- Interface connector
(CNA, CNB)
- Board ID setting
switch
- Synchronization signal
connector (CN2, CN3)
Figure 2.1. Component Locations < SMC-8DF-PCI >