JS Automation MPC3028A User manual

MPC3028A
8-Axis Motion Control Card
User’s Manual (V1.4)
健昇科技股份有限公司
JS AUTOMATION CORP.
新北市汐止區中興路 100 號 6 樓
6F., No.100, Zhongxing Rd.,
Xizhi Dist., New Taipei City, Taiwan
TEL ： [phone]
FAX ： [phone]
http://www.automation.com.tw
E-mail ： [e-mail]

1
Correction record
Version
Record
1.0
MPC3028A compatible with old version MPC3028
1.1
1.
Modify Notes on hardware installation
2.
Add Warranty
3.
Change orientation of JF1/2 and JF5/6 connector (chapt. 5.1)
4.
Add specifications to each input and output (chapt. 6)
5.
Add ADP9201DIN External wiring diagram (chapt. 7)
1.2
Add ADP9201DIN(N) specifications information
1.3
Modify ADP3024DIN Layout and dimension (chapt. 4.4)
1.4
Modify Ordering information (chapt. 11)

2
Contents
1. Forward ............................................................................................................................................6
2. Features.............................................................................................................................................7
2.1 Main card...................................................................................................................................7
2.2 DIN rail mounted wiring board .................................................................................................7
3. Specifications....................................................................................................................................8
3.1 MPC3028A Main card...............................................................................................................8
3.2 DIN rail mounted wiring board .................................................................................................9
4. Layout and dimension...................................................................................................................10
4.1 MPC3028A Main card.............................................................................................................10
4.2 MPC3028A daughter card .......................................................................................................10
4.3 MPC3028A piggy back............................................................................................................11
4.4 ADP3024DIN for JF1,2,5,6 DIN rail mounted wiring board..................................................11
4.5 JS51050 for JM3 25PM DIN rail mounted dummy wiring board...........................................12
4.6 ADP9201DIN for ADP9201_JM1 DIN rail mounted wiring board........................................12
4.7 ADP9201DIN(N) for ADP9201_JM1 DIN rail mounted wiring board..................................13
5. Pin definitions.................................................................................................................................14
5.1 JF1,JF2,JF5,JF6 Assignment / Definitions ..............................................................................14
5.2 JM1,JM2 Assignment / Definitions.........................................................................................16
5.3 JM3 Assignment / Definitions.................................................................................................16
5.4 ADP9201_JM1 Assignment / Definitions ...............................................................................16
6. I/O interface diagram....................................................................................................................17
6.1 JF1/2 ADP3024DIN ................................................................................................................17
6.2 JM3 JS51050............................................................................................................................20
6.3 ADP9201_JM1 ADP9201DIN ................................................................................................21
7. External wiring diagram...............................................................................................................23
8. Hardware settings..........................................................................................................................25
8.1 Card ID setting.........................................................................................................................25
8.2 Polarity setting for over-travel limit switch.............................................................................25
8.3 JP1 Jumper setting...................................................................................................................25
9. Applications....................................................................................................................................26
10. Wiring diagram examples (pulse mode control).........................................................................27
10.1 The wiring diagram for MPC3028A wiring board to panasonic MINAS-A driver.................27
10.2 The wiring diagram for MPC3028A wiring board to panasonic MINAS MSD*** driver.....27
10.3 The wiring diagram for MPC3028A wiring board to ESD servo driver .................................28
10.4 The wiring diagram for MPC3028A wiring board to Moda servo driver................................28
10.5 The wiring diagram for MPC3028A wiring board to YASKAWA servo driver......................29
10.6 The wiring diagram for MPC3028A wiring board to Mokon / YPV servo driver ..................29
10.7 The wiring diagram for MPC3028A wiring board to Mokon / YJD servo driver...................30
10.8 The wiring diagram for MPC3028A wiring board to MITSUBISHI J2-SUPER servo driver31

3
10.9 The wiring diagram for MPC3028A wiring board to YAMAHASRCP servo driver.............31
10.10 The wiring diagram for MPC3028A wiring board to Delta ASDA-B servo driver...........32
10.11 The wiring diagram for MPC3028A wiring board to Delta ASDA-B2 servo driver.........32
11. Ordering information....................................................................................................................33

4
Notes on hardware installation
Please follow step by step as you are installing the control cards.
1. Be sure your system is power off.
2. Be sure your external power supply for the wiring board is power off.
3. Plug your control card in slot, and make sure the golden fingers are put in right contacts.
4. Fasten the screw to fix the card.
5. Connect the cable between the card and wiring board.
6. Connect the external power supply for the wiring board.
7. Recheck everything is OK before system power on.
8. External power on.
Congratulation! You have it.
For more detail of step by step installation guide, please refer the file
“..\download\Supplemental_technical_data\Step_by_step_installation_of_Contrl_Card.pdf “ on the CD
come with the product or download the complementary documents from
http://www.automation.com.tw/common/Supplemental_technical_data.htm
Warning:
Some computer BIOS has “Auto detect DIMM/PCI clock” option, be sure to switch to
“DISABLE” else in some cases the PCI add on cards will not be detected by windows at cold start.

5
Warranty
The MPC3028A is warranted against defects in materials and workmanship for a period of two
years from the date of shipment, as evidenced by receipts or serial no. on board. JS automation Corp.
will, at its option, repair or replace product that proves to be defective during the warranty period. This
warranty includes parts, labor and shipping costs of returning.
Except as specified herein, JS automation Corp. makes no warranties, express or implied, and
specifically disclaims any warranty of merchantability or fitness for a particular purpose. Customer’s
right to recover damages caused by fault or negligence on the part of JS automation Corp. shall be
limited to the amount theretofore paid by the customer. JS automation Corp. will not be liable for
damages resulting from loss of data, profits, use of products, or incidental or consequential damages,
even if advised of the possibility thereof. This limitation of the liability of JS automation Corp. will
apply regardless of the form of action, whether in contract or tort, including negligence. Any action
against JS automation Corp. must be brought within one year after the cause of action accrues.
JS automation Corp. shall not be liable for any delay in performance due to causes beyond its
reasonable control. The warranty provided herein does not cover damages, defects, malfunctions, or
service failures caused by owner’s failure to follow the JS automation Corp. installation, operation, or
maintenance instructions; owner’s modification of the product; owner’s abuse, misuse, or negligent acts;
and power failure or surges, fire, flood, accident, actions of third parties, or other events outside
reasonable control.
If any defect occurs, you should email to us as the following form to get the fast response:
Detailed Company Information
Company/Organization:
Contact Person:
E-mail:
Address:
Country:
Tel/Fax:
Web Site:
Product information
product model:
serial no.:
Environment to Use: such as CPU board, Operating System, target application...
description of defect: (as detail as possible)

6
1. Forward
Thank you for your selection of 8-axis motion control card. This card adopt the ASIC chip with
complex motion functions including point to point, linear and circular interpolation, linear and s-curve
acceleration/deceleration and several miscellaneous functions. Dll’s of various functions will save you a
lot of time in the motion related projects.
Our other motion control products:
MPC3024A 4 axes linear/circular/point to point (standard function) motion control card (PCI bus)
MPC3024AC 4-axis linear/circular/point to point (standard function) motion control card with
Pulse referenced PI closed loop control (PCI bus)
MPC3034A 4 axes linear/circular/point to point (advanced function) motion control card
(PCI bus)
MPC3035A 4 axes linear/circular/point to point (standard function) motion control card with
advanced encoder counter function / with 2 8bit DA’s motion control card (PCI bus)
MPC3035AL 4 axes linear/circular/point to point (standard function) motion control card with
advanced encoder counter function motion control card (PCI bus)
MPC3042A 2 axes linear/circular/point to point (standard function) motion control card with
Pulse Referenced PI Control (PCI bus)
MPC3042AL 2 axes linear/circular/point to point (standard function) motion control card
(PCI bus)
MPC8024 4 axes linear/circular/point to point (standard function) motion control card (PCIe bus)
Any comment is welcome, please visit our website
http://www.automation.com.tw/ for the up to date information.

7
2. Features
2.1 Main card
-8-axis servo/stepping motor control
-8 28-bit up/down counter for incremental encoder
-4 28-bit up/down counter for pulse handler input
-Pulse output rate up to 6.55MHz
-Pulse output options : OUT/DIR,CW/CCW
-2~8 axes linear interpolation
-Circular interpolation of the same chip: any 2 axes
-S curve or T curve acceleration / deceleration in interpolation and positioning
-Continuous interpolation
-Speed change on the fly
-Synchronized start motion
-Position latch function
-Simultaneously start/stop on multi-axes
-Programmable interrupt conditions
-Backlash compensation
-Pulse handler function
-Software limit switches protection
-2 nibble configurable TTL I/O
-Motion parameters change on the fly
-8 isolated digital I/P
-8 isolated digital O/P
2.2 DIN rail mounted wiring board
-JS51050 dummy wiring board for JM3 pulse handler interface
-ADP3024DIN wiring board for JF1,2,5,6 motion control interface
-ADP9201DIN for ADP9201_JM1 isolated digital I/O interface

8
3. Specifications
3.1 MPC3028A Main card
Motion
-Max pulse rate : 6,553,500 pps
-Pulse output mode : Single phase: CLOCK,DIR
Dual phase: CW, CCW
-Acceleration / Deceleration mode : linear ,S-curve mode
-Homing mode : 14 types
-Encoder up/down counter : 8 28bit counter
-Pulse Handle up/down counter : 4 28 bit counter
-Linear interpolation : any 2 up to 4 axis (of the same chip)
-Circular interpolation : any 2 axes (of the same chip)
Digital I/O
-Motion specific input : SRDY, ALM, LS+(EL+), LS-(EL-), SD, HOME(ORG),
PCS, LTC per axis , EMG per card
-Motion specific output : CMP, SVON, ERC, FIN per axis
-General input : INP per axis
-TTL I/O : 2 nibble configurable TTL I/O
-Isolated I/O : 8I/P, 8 O/P
General
-Card ID : 16 locations set by rotary switch
-Insulation resistance : 100 MΩ(min) at 1000Vdc
-Isolation voltage : 2500Vac 1Min
-PCI bus data width : 32 bits
-Connector : 4 68pin female mini SCSI connector
1 20 pin flat cable
1 25 pin D type connector
-External supply : 24Vdc ± 4Vdc
-Operation temperature : 0 to 70°C
-Storage temperature : -20 to 80°C
-Operation humidity : 5~95% RH, non-condensing
-Dimensions : 175(W) * 122(H) mm , 6.9(W)*4.8(H)in

9
3.2 DIN rail mounted wiring board
ADP3024DIN for JF1,2,5,6 motion control interface
-Power Requirement : 24Vdc ±4Vdc
-On Board Build-in s.p.s. : +5Vdc 500mA (max)
-General input : 4 with LED indicator
-Output capacity : 8 NMOS output, 1A continuous、120Vdc(max)
Option : 8 PMOS output, 1A continuous、24Vdc(max)
Option : 8 Relay output, 3A continuous、250Vac(max)
-Differential (pulse) output : 20mA(max), Voh>2.5V, Vol<0.5V
-Connector : 2 68pin mini SCSI female connector for main card connection
-Specific servo control connectors : 4 D-type 26p (1 per axis)
-Operation temperature : 0 to 70°C
-Operation humidity : RH5~95%, non-condensed
-Dimension : ADP3024DIN(N) : 121(W) * 204(L) *47(H)mm;
4.8(W)*8.1(L)*1.9(H)in
ADP3024DIN(P) / (R) : 121(W) * 204(L) *45(H)mm
4.8(W)*8.1(L)*1.8(H)in
JS51050 for JM3 pulse handler interface
-Connection cable : D-type 25P cable to connect main and wiring board
-Dimension : 86(W)*79(L)*52(H)mm , 3.4(W)*3.2(L)*2.1(H)in
ADP9201DIN forADP9201_JM1 isolated digital I/O
-Power Requirement : 24Vdc ±4Vdc
-Indicator : 8 input and 8 output LED indicators
-Output capacity : 8 relay output, 3A @250Vac , 3A @30Vdc
Option : 8 NMOS output, 1A @48Vdc
Option : 8 PMOS output, 1A @24Vdc
Option : 8 SSR output, 2A@250Vac
-Connector : 20pin
-Operation temperature : 0 to 70°C
-Operation humidity : RH5~95%, non-condensed
-Dimension : ADP9201DIN(R) / (N) / (P) : 86(W) * 103(L) *45(H)mm;
3.4(W)*4.1(L)*1.8(H)in
ADP9201DIN(S) : 86(W) * 103(L) *50(H)mm;
3.4(W)*4.1(L)*2.0(H)in

10
4. Layout and dimension
4.1 MPC3028A Main card
*dimension in bare board
4.2 MPC3028A daughter card
*dimension in bare board

11
4.3 MPC3028A piggy back
*dimension in bare board
4.4 ADP3024DIN for JF1,2,5,6 DIN rail mounted wiring board
*dimension in bare board

12
4.5 JS51050 for JM3 25PM DIN rail mounted dummy wiring board
*dimension in bare board
4.6 ADP9201DIN for ADP9201_JM1 DIN rail mounted wiring board
*dimension in bare board

13
4.7 ADP9201DIN(N) for ADP9201_JM1 DIN rail mounted wiring board
*dimension in bare board

14
5. Pin definitions
5.1 JF1,JF2,JF5,JF6 Assignment / Definitions
JF2: for X,Y axis
JF1: for Z,A axis
JF6: for B,C axis
JF5: for D,E axis
Note:Be sure the wiring board is power off for more than 1min while to connect or disconnect the
cable.

15
PIN
I/O
Descriptions
PIN
I/O
Descriptions
68
I
+24V
External DC24V power input
34
I
+24V
External DC24V power input
67
O
+5V
DC5V power output for external device
33
O
+5V
DC5V power output for external device
66
EXTG
Common for external power (+24V and +5V)
32
EXTG
Common for external power (+24V and +5V)
65
O
NC
31
O
NC
64
I
EXTG
Common for external power (+24V and +5V)
30
I
EMG
Emergency stop, stop all axes
63
NC
29
NC
|
|
58
24
57
O
Y/A/C/E_ERC
Output for resetting error counter of Y/A/C/E
axis
23
O
Y/A/C/E_SVON
Servo on of Y/A/C/E axis
56
I
Y/A/C/E_ALM
ALARM I/p of Y/A/C/E axis
22
I
Y/A/C/E_SRDY
Servo Ready signal of Y/A/C/E axis
55
I
Y/A/C/E_INP
General I/p of Y/A/C/E axis
21
O
Y/A/C/E_CCW-
CCW- or DIR- of Y/A/C/E axis
54
O
Y/A/C/E_CCW+
CCW+ or DIR+ of Y/A/C/E axis
20
O
Y/A/C/E_CW-
CW- or PULSE- of Y/A/C/E axis
53
O
Y/A/C/E_CW+
CW+ or PULSE+ of Y/A/C/E axis
19
I
Y/A/C/E_EZ-
Encoder phase Z- feedback of Y/A/C/E axis
52
I
Y/A/C/E_EZ+
Encoder phase Z+ feedback of Y/A/C/E axis
18
I
Y/A/C/E_EB-
Encoder phase B- feedback of Y/A/C/E axis
51
I
Y/A/C/E_EB+
Encoder phase B+ feedback of Y/A/C/E axis
17
I
Y/A/C/E_EA-
Encoder phase A- feedback of Y/A/C/E axis
50
I
Y/A/C/E_EA+
Encoder phase A+ feedback of Y/A/C/E axis
16
O
Y/A/C/E_CMP
General out or compare out of Y/A/C/E axis
49
O
Y/A/C/E_FIN
General purpose output of Y/A/C/E axis
15
I
Y/A/C/E_LTC
Latch counter trigger of Y/A/C/E axis
48
I
Y/A/C/E_PCS
Position change start signal of Y/A/C/E axis
14
I
Y/A/C/E_HOME(ORG)
Home(ORG) LS(EL) of Y/A/C/E axis
47
I
Y/A/C/E_SD
Slowdown LS(EL) of Y/A/C/E axis
13
I
Y/A/C/E_LS-(EL-)
Negative over travel LS(EL) of Y/A/C/E axis
46
I
Y/A/C/E_LS+(EL+)
Positive over travel LS(EL) of Y/A/C/E axis
12
O
X/Z/B/D_ERC
Output for resetting error counter of X/Z/B/D
axis
45
O
X/Z/B/D_SVON
-- Servo on of X/Z/B/D axis
11
I
X/Z/B/D_ALM
ALARM I/p of X/Z/B/D axis
44
I
X/Z/B/D_SRDY
Servo Ready signal of X/Z/B/D axis
10
I
X/Z/B/D_INP
General I/p of X/Z/B/D axis
43
O
X/Z/B/D_CCW-
CCW- or DIR- of X/Z/B/D axis
9
O
X/Z/B/D_CCW+
CCW+ or DIR+ of X/Z/B/D axis
42
O
X/Z/B/D_CW-
CW- or PULSE- of X/Z/B/D axis
8
O
X/Z/B/D_CW+
CW+ or PULSE+ of X/Z/B/D axis
41
I
X/Z/B/D_EZ-
Encoder phase Z- feedback of X/Z/B/D axis
7
I
X/Z/B/D_EZ+
Encoder phase Z+ feedback of X/Z/B/D axis
40
I
X/Z/B/D_EB-
Encoder phase B- feedback of X/Z/B/D axis
6
I
X/Z/B/D_EB+
Encoder phase B+ feedback of X/Z/B/D axis
39
I
X/Z/B/D_EA-
Encoder phase A- feedback of X/Z/B/D axis
5
I
X/Z/B/D_EA+
Encoder phase A+ feedback of X/Z/B/D axis
38
O
X/Z/B/D_CMP
General out or compare out of X/Z/B/D axis
4
O
X/Z/B/D_FIN
General purpose output of X/Z/B/D axis
37
I
X/Z/B/D_LTC
Latch counter trigger of X/Z/B/D axis
3
I
X/Z/B/D_PCS
Position change start signal of X/Z/B/D axis
36
I
X/Z/B/D_HOME(ORG)
Home(ORG) LS(EL) of X/Z/B/D axis
2
I
X/Z/B/D_SD
Slowdown LS(EL) of X/Z/B/D axis
35
I
X/Z/B/D_LS-(EL-)
Negative over travel LS(EL) of X/Z/B/D axis
1
I
X/Z/B/D_LS+(EL+)
Positive over travel LS(EL) of X/Z/B/D axis

16
5.2 JM1,JM2 Assignment / Definitions
PIN
Description
1
CSTA: common start I/O
2
CSTP: common stop I/O
3
GND
Note: Connect CSTA low to start motion from external.
Connect CSTP low to emergency stop motion from external.
5.3 JM3 Assignment / Definitions
PIN
Description
PIN
Description
1
+5Vout_PC
+5V from PC
14
+5Vout_PC
+5V from PC
2
PA1
Pulse handler1 A phase input
15
PB1
Pulse handler1 B phase input
3
PA2
Pulse handler2 A phase input
16
PB2
Pulse handler2 B phase input
4
GND
17
GND
5
PA3
Pulse handler3 A phase input
18
PB3
Pulse handler3 B phase input
6
PA4
Pulse handler4 A phase input
19
PB4
Pulse handler4 B phase input
7
GND
20
GND
8
+5Vout_PC
+5V from PC
21
+5Vout_PC
+5V from PC
9
IO0
TTL I/O bit0
22
IO1
TTL I/O bit1
10
IO 2
TTL I/O bit2
23
IO 3
TTL I/O bit3
11
IO 4
TTL I/O bit4
24
IO 5
TTL I/O bit5
12
IO 6
TTL I/O bit6
25
IO 7
TTL I/O bit7
13
GND
5.4 ADP9201_JM1 Assignment / Definitions
PIN
Description
PIN
Description
1
IN0: Isolated I/P 0
2
OUT0: Isolateds O/P 0
3
IN1: Isolated I/P 1
4
OUT1: Isolateds O/P 1
5
IN2: Isolated I/P 2
6
OUT2: Isolateds O/P 2
7
IN3: Isolated I/P 3
8
OUT3: Isolateds O/P 3
9
IN4: Isolated I/P 4
10
OUT4: Isolateds O/P 4
11
IN5: Isolated I/P 5
12
OUT5: Isolateds O/P 5
13
IN6: Isolated I/P 6
14
OUT6: Isolateds O/P 6
15
IN7: Isolated I/P 7
16
OUT7: Isolateds O/P 7
17
0V: External GND
18
0V: External GND
19
24V: External +24Vdc
20
24V: External +24Vdc

17
6. I/O interface diagram
6.1 JF1/2 ADP3024DIN
Input diagram
Type1 input:
For input : LS+(EL+), LS-(EL-),HOME(ORG),
SD, PCS, EMG, LTC
I/P specification:
VI(input voltage)
VIH (min)
10V
VIL (max)
5V
II(input current)
IIH (max)
3mA
IIL (min)
6mA
** VIH, High-level input voltage
** VIL, Low-level input voltage
** IIH, High-level input current
** IIL, Low-level input current
Type2 input:
For input : INP, SRDY, ALM
I/P specification:
VI(input voltage)
VIH (min)
4V
VIL (max)
2V
II(input current)
IIH (max)
0.1mA
IIL (min)
2mA
** VIH, High-level input voltage
** VIL, Low-level input voltage
** IIH, High-level input current
** IIL, Low-level input current
Type3 input:
For encoder feedback input : A+/-,B+/-,Z+/-
I/P specification:
VI(input voltage)
VIL (max)
0.8V
VIH (min)
2V
VIT+ (max)
0.2V
VIT- (min)
-0.2V
** VIH, High-level input voltage
** VIL, Low-level input voltage
** VIT+, Positive-going input threshold voltage
** VIT-, Negative-going input threshold voltage

18
Output diagram
Type1 output:
For output: SVON, ERC
O/P specification:
VO(output voltage)
VOH (max)
48Vdc
VOL (max)
1.6V
IO(output current)
IOL (max)
500mA
** VOH, High-level output voltage
** VOL, Low-level output voltage
** IOL, Low-level output current
Type2 output:
For output: FIN,CMP(NMOS)
O/P specification:
VO(output voltage)
VOH (max)
120Vdc
RDS(on) (max)
0.4Ω
IO(output current)
IOL (cont)
1A sink
** VOH, High-level output voltage
** RDS(on), Static Drain-Source On-Resistance
** IOL, Low-level output current
Type3 output:
For output: FIN,CMP(PMOS)
O/P specification:
VO(output voltage)
VOH (max)
4Vdc
IO(output current)
IOH (cont)
1A source
** VOH, High-level output voltage
** IOH, High-level output current
Type4 output:
For output: FIN,CMP(Relay)
O/P specification:
VO(output voltage)
VO(max)
250Vac/30Vdc
Io (output current)
IO(cont)
3A(rms)

19
Type5 output:
For output: CW,CCW
O/P specification:
VO(output voltage)
VOL (max)
0.5V@20mA sink
VOH (min)
2.5V@20mA source
** VOH, High-level output voltage
** VOL, Low-level output voltage