Leadshine Technology DMC5400 User manual

HardwareManual
For
4-axisServo/Stepping
MotionControl Card
Revision 1.2
2006 AllRightsReserved
Attention:Please read thismanual carefullybefore using the card!
Floor 3, Block 2, Nanyou Tianan IndustryPark, NanshanDist, Shenzhen, China
Tel: [phone]Fax: [phone]
URL: www.leadshine.com E-Mail: [e-mail]

I
Table ofContents
Chapter 1GeneralInformation....................................................................................................................................1
1.1Introduction...................................................................................................................................................1
1.2Features.........................................................................................................................................................2
1.3Specifications................................................................................................................................................2
1.4Environment..................................................................................................................................................3
1.5Power Consumption......................................................................................................................................3
1.6Dimension.....................................................................................................................................................3
1.8Applications...................................................................................................................................................3
1.9Applicationsoftwaredevelopment................................................................................................................3
Chapter 2Installation..................................................................................................................................................5
2.1Package Contents...........................................................................................................................................5
2.2Unpacking.....................................................................................................................................................5
2.3Hardware Installation....................................................................................................................................5
InstallationProcedures................................................................................................................................5
2.4Jumper & SwitchSettings.............................................................................................................................6
2.4.1Command SignalType Settings (J1~J8).............................................................................................6
2.4.2ChoosingExternalor InternalPower Supply(J9~J10)......................................................................7
2.4.3EmergencyStopInput SignalSetting(J11)........................................................................................7
2.5Power SupplyConnections............................................................................................................................8
Chapter 3Connectors..................................................................................................................................................9
3.1X1Connector.................................................................................................................................................9
3.2X2connector...............................................................................................................................................10
3.3X3connector...............................................................................................................................................11
3.4X4connector...............................................................................................................................................11
Chapter 4Interface Circuits.......................................................................................................................................12
4.1PulseandDirection Signals PUL/DIR........................................................................................................12
4.2OriginPosition SignalORG........................................................................................................................13
4.3SlowDownSignalSD.................................................................................................................................14
4.4EndLimit SignalEL+ &EL-......................................................................................................................14
4.5Encoder FeedbackSignalEA, EBandEZ..................................................................................................15
4.6AlarmSignalALM......................................................................................................................................17
4.7In-PositionSignalINP.................................................................................................................................17
4.8GeneralPurposeDigital InputINPUT........................................................................................................18
4.9GeneralPurposeDigital Output OUT.........................................................................................................18
4.10Position ChangeSignalPCS......................................................................................................................19
4.11Pulser InputSignalsPAand PB.................................................................................................................20
4.12Position LatchSignalLTC.........................................................................................................................20
4.13EmergencyStopSignalEMG....................................................................................................................21
4.14TypicalConnection for OneAxis..............................................................................................................21
Chapter 5Connectionto Drivers...............................................................................................................................22
5.1ConnectiontoSingle-endedSteppingDriver..............................................................................................22
5.2ConnectiontoDifferentialSteppingDriver.................................................................................................22
5.3ConnectiontoServoDriver.........................................................................................................................22

HardwareManualfor theDMC5400 Motion Controller
II
Chapter 6Motion5000DemoSoftware.....................................................................................................................24
Chapter 7Order Information.....................................................................................................................................31
Chapter 8Troubleshooting........................................................................................................................................33
Appendix...................................................................................................................................................................35

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Chapter 1GeneralInformation
1.1Introduction
TheDMC5400isanadvanced4axesmotioncontroller cardwithPCI interface. Itcangeneratepulsecontrol
signal(upto 6.5MHz)tocontrolsteppinganddigitalservosystems. Asamotioncontroller,itprovides any2-axis
circular interpolation,4-axislinear interpolation,continuousinterpolation withvelocitycontinuity inmulti-axes
operation.Insingleaxisoperation,changepositionand speedontheflyare available. MultipleDMC5400cards
canbeusedin onesystem.Incrementalencoder interfaceonallfouraxes providetheabilityto correctpositioning
errors generatedbyinaccuratemechanicaltransmissions, andwiththehelp ofonboardFIFO,theDMC5400can
alsoperformpreciseandextremelyfastpositioncompare andtrigger functionwithoutconsuming CPUresource.
Inaddition,mechanicalsensorinterface, servo motorinterfaceandgeneral-purpose I/Osignalsare providedfor
systemintegration.
Figure1.1showsthefunction blockdiagramoftheDMC5400card.TheDMC5400 usesoneASIC toperform 4
axes motioncontrol.Themotioncontrolfunctionsincludetrapezoidaland S-curvevelocityprofiles
acceleration/deceleration,circular interpolationbetweentwoaxes, linear interpolation between2~4axes,
continuousmotion,inpositioningand13homereturnmodes aredonebytheASIC. Sincethesefunctionsneeding
complexcomputationsare doneinternally on theASIC, thePC sCPUisfree to superviseand performother
tasks.
TheMotion5000 Demosoftware, aMicrosoftWindowsbasedsoftware isequippedwith theDMC5400cardfor
supportingapplicationdevelopment.TheMotion5000Demosoftware isveryhelpful forverifying andtesting a
motion controlsystemduring thedesign phase ofaproject.Besidesthisdemosoftware, aWindowsversion
function libraryisincludedforprogrammers usingVB/VC/LabVIEW languages.Severalsampleprogramsare
giventoillustratehowto usethefunctionlibrary.
Figure 1.1: Functionblockdiagramof theDMC5400

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1.2Features
The following lists summarize the main features of theDMC5400motioncontrolcard.
²32-bit PCI-Bus plug andplay.
²4axes of pulse anddirectionsignaloutputfor controllingsteppingor digitalservo.
²Maximumoutputfrequencyis upto6.5Mpps.
²Controlsignal types:PUL/DIR, CW/CCW.
²Trapezoidaland S-curvevelocityprofiles.
²Programmable acceleration anddeceleration time.
²Any2of4axes circular interpolation.
²2~4axes linear interpolation.
²Continuousinterpolation.
²Changeposition andspeed on thefly.
²Software limit function.
²28-bit up/downcounters forincrementalencoder feedbacks.
²Home switch,indexsignal,positive andnegative limit switches interface providedfor allaxes.
²4axes highspeedpositionlatchinput.
²Programmable interrupt sources.
²Simultaneous start/stopmotion onmultipleaxes.
²Manualpulserinputinterface.
²Software supports upto5pieces DMC5400operationin onecomputer.
²Motion5000Demosoftware for verifyingandtesting amotion controlsystem.
²DMC5400.DLL for API functioncallingin Windows 95/98/NT/2000/XP systemswith VB/VC/LabVIEW
1.3Specifications
1.3.1Performances
²Number of controllableaxes:4axes.
²Internalreference clock:19.6608 MHz
²Pulse outputfrequency:1pps ~ 6.5Mpps
²Position settingrange:-134,217,728~ +134,217,728pulses (28-bit).
²Up/downcounter countingrange:-134,217,728~ +134,217,727(28-bit).
²Linear andcircular interpolationaccuracies: ±0.5LSB
²Maximummanualpulser inputfrequency:100KHz
²Maximumencoder inputfrequency:4MHz ( 4)
1.3.2I/O Signals
²Number of generalpurpose digitalinput:16 (Isolated)
²Number of generalpurpose digitaloutput:16(Isolated)
²Command signals:PUL and DIR (Non-isolated)
²Incrementalencoder signalsinputpins:EAand EB (Isolated)
²Encoder indexsignalinputpin:EZ (Isolated)
²Mechanicallimit/switchsignalinputpins: ±EL, SD, PCS andORG(Isolated)
²Servo motor interface I/Opins:INP, ALMandERC (Isolated)

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²Position latch inputpin:LTC (Isolated)
²Pulser signalinput pin: PAand PB (Non-isolated)
²Simultaneous start/stopsignalI/Opins:STAandSTP
1.4Environment
²Operatingtemperature:0 ～50
²Storage temperature:-20 ～80
²Humidity:5%RH~ 85%RH
1.5PowerConsumption
²PCI slot:+5VDC±5% @ 1100mA(Max)
²Externalpower supply:+12 ~ 24VDC±5%@ 500mA(Max)
1.6Dimension
²177mm(L) ×106mm(H)
1.8Applications
²Electronicassembly,measurement
²Semiconductor, LCDmanufacturing
²Laser processing
²Laboratoryautomation
²Vision& photocomposition automation
²Biotechsamplingandhanding
²Robotics
²CNCmachines
1.9Application softwaredevelopment
ThefeaturesoftheDMC5400are madeaccessibleby usingthefunctionsprovidedintheDMC5400.dll (for
Windows95/98/2000/XP). Motion5000demosoftware assiststhe systemdeveloper in verifying and testing
hardware systems. User applicationsmayutilizetheDMC5400bycalling providedfunctionsintheDMC5400 s
DynamicLinkLibrary(DLL) with VisualC++, VisualBasic, LabVIEW, and etc.Theusers canfollowFigure 1.2
to buildanintendedapplicationsystem.

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Figure 1.2: Applicationsystems development flowchart

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Chapter2Installation
Thischapter describes howtoinstalltheDMC5400.TheDMC5400 automaticallyconfigures theportandBIOS
addresses. Itis notnecessaryto configuretheaddresses,hence avoidingaddressingconflicts.
2.1PackageContents
Besides this User's Manual (Electronic Edition), the package alsoincludes the following items:
•DMC54004-axis Servo/SteppingMotionControl Card(1piece)
•TB68TerminalBoard(1piece)
•Cable68-2.0(1piece)
•TB50TerminalBoard(optional)
•Cable50-2.0(optional)
•50-pin IDE to50-pinMCRconnector withbracket(Optional)
•Leadshine All-in-oneCD
See “Order Information”section formore information about packagecontents.
If anyofthese itemsare missing ordamaged,contactthedealer fromwhomyou purchasedtheproductor
Leadshine.
2.2Unpacking
Aswithanyelectronicdevice, youshouldtakecare whilehandlingtoavoiddamagefromstaticelectricity. Before
removing the DMC5400 fromitspackaging,ground yourselfto eliminateanystoredstaticcharge.Thecard
containselectro-staticsensitivecomponentsthatcanbeeasilydamagedbystaticelectricity.Therefore, thecard
should behandledonagroundedanti-staticmat.Inspectthecardmodulecarton forobviousdamage. Shipping
andhandlingmaycause damagetoyourmodule.Besure there isnoshippingandhandlingdamageonthecarton
before continuing.
Note: Donot attempt toinstall a damagedboardinthecomputer.
2.3HardwareInstallation
TheDMC5400isequipped with PlugandPlayPCI controllers. Itcanrequestbaseaddresses accordingto PCI
standards. ThesystemBIOSwill install thesystemresources basedon thePCI cards configurationregisters and
systemparameters (alsocan besetbythesystemBIOS).TheDMC5400 canbeinsertedintoanyPCI slot without
anyconfigurationmodificationto thesystemresources. Please notethatthePCI systemboardand slotmust
providebus-mastering capabilities tooperate atoptimumlevel. See “Power Consumption”sectioninpage3.
Installation Procedures
1. Turnoff your computer.

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2. Remove thecover fromyour computer.
3.Before handling thePCIcard,dischargeanystaticbuildup on yourbodybytouchingthemetalcase ofthe
computer. Holdtheedgeof the cardanddonot touchthe components.
4.Setthejumpers ontheDMC5400card.See “Jumper &SwitchSettings”section formore information.Connect
X2,X3orX4before installing theDMC5400 ifit snecessary.See “DMC5400 Connectors”section formore
information.
5. Selecta 32-bitPCI slot.
6. Position the boardintothePCI slotyou have selected.
7. Secure the cardin place atthe rear panelof thesystem.
2.4Jumper& SwitchSettings
There are 11jumpers (J1~J11)and one4-bit DIPswitchon theboardforsetting command signaltypes, EMG
signal,ELsignals,and selectingexternalpower supplyorinternalpower supply.See figure 2.1for distributions of
theseJumpersandSwitch.
Figure 2.1: Sketchdrawing of the DMC5400
2.4.1Command Signal Type Settings (J1~J8)
Thereare8jumpers (J1~J8)ontheDMC5400specificallyforcommand signaltypesettings.Theusercanuse
thesejumpers to setPUL/DIR command signalsof1~4axisto either single-ended(opencollector) ordifferential.
Thedefaultsetting is the single-endedmode. (J1~J8are shortcircuitbetweenpin2and pin3.)
Figure 2.2: J1~J8jumpers
Table2-1: Command signaltype settings
Pin Number of X1 Signal DifferentialOutput Single-ended(Opencollector) output
1 PUL0+ J1: shortcircuit betweenpin1and pin2 J1: shortcircuit betweenpin2and pin3
3 DIR0+ J2: shortcircuit betweenpin1and pin2 J2: shortcircuit betweenpin2and pin3
21 PUL1+ J3: shortcircuit betweenpin1and pin2 J3: shortcircuit betweenpin2and pin3
23 DIR1+ J4: shortcircuit betweenpin1and pin2 J4: shortcircuit betweenpin2and pin3

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55 PUL2+ J5: shortcircuit betweenpin1and pin2 J5: shortcircuit betweenpin2and pin3
57 DIR2+ J6: shortcircuit betweenpin1and pin2 J6: shortcircuit betweenpin2and pin3
Pin Number of X2 Signal DifferentialOutput Single-ended(Opencollector) output
1 PUL3+ J7: shortcircuit betweenpin1and pin2 J7: shortcircuit betweenpin2and pin3
3 DIR3+ J8: shortcircuit betweenpin1and pin2 J8: shortcircuit betweenpin2and pin3
Note: Differentialsignalsare preferreddueto theirexcellentnoiseimmunity.Recommend use differentialoutput
if possible.
2.4.2ChoosingExternalorInternal PowerSupply (J9~J10)
J9and J10ontheDMC5400 are usedforchoosingexternalorinternalpower supplyforthecard.Choosing
externalpowersupplyforthecardcanoffer higher noise immunityperformances andfullfunctionsofthecard.
Whilechoosing internalpower supplyiseasier fortheuser to setup thesystem(no externalpower supplyis
needed.), but withlower noiseimmunityperformances andnoI/O functions. Here werecommend theuser
choosingexternalpower supplyforthecard.Thedefaultmodeischoosingexternal powersupplyforthecard,see
Figure2.3.
Figure 2.3: J9~J10 jumpers
2.4.3EmergencyStop Input Signal Setting(J11)
J11ontheDMC5400isspeciallyusedforsettingeffectivelogicleveloftheemergencystopsignal.Jumper
settingsandtheirrelativeeffectivelogiclevelsare shownin theTable2-2.Thedefault settingoftheJ11ispin1
and pin2shortcircuit,namelytheemergencystop signaliseffectivewhenit ispulledtolowlevel.Pleasecheck
theinputsignalandthe setting of emergencystopsignalwhentheDMC5400cannotoperateproperly.
Table2-2: Emergencystopinput signalsetting
Effective Level J11Settings
Low(EMGandEXGND is inconducting state.) Pin 1andpin2shortcircuit
High (EMGand EXGND is in disconnection state.) Pin 2andpin3shortcircuit
Figure 2.4: J11jumper

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2.5PowerSupplyConnections
Figure 2.5: Power supplyconnections
Inorder toimprovetheanti-interferenceperformances ofthecontroller,theusercanusetwoseparatepower
supplies forPUL/DIR control signalsandI/OsignalsoftheDMC5400.VDD1-GND1or5V-GND1isthepower
supplyinputportsforPUL/DIR controlsignals(5V-GND1portscan beused asapower supplyforcustomer use
whenuseVDD1-GND1), andVDD-EXGND isthepower supplyinputportsforI/Osignals.If I/Odevices
generatelittleinterferencesignal,thentheuser canuseonlyonepower supplyforboth PUL/DIR control signals
and I/Osignals. If theuser has one12~24VDCand one5VDCpower supplies, thenthe12~24VDCsupplycanbe
connectedtotheVDD&EXGND portsand5VDCsupply canbeconnectedto5V&GND1ports, whileleftVDD1
NOTCONNECTED(NC).

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Chapter3Connectors
3.1X1Connector
X1connectoris a 68pinSCSI-II connector, anditcontains the following signals:
All signalsofAxis0,Axis1,Axis2,powersupplyinputportsfortheDMC5400 andEMGinput,except encoder1
andencoder2 signals, LTC1, LTC2, ERC2,4digitalinputs and4digitaloutputs.
Table3-1: X1connector
Pin Signal IN/OUT Description(Axis) Pin Signal IN/OUT Description(Axis)
1 PUL0+ O Pulse signal(+),Axis0 35 EL0+ I End limit signal(+),Axis0
2 PUL0- O Pulse signal(-),Axis0 36 EL0- I End limit signal(-),Axis0
3 DIR0+ O Direction signal(+),Axis0 37 SD0 I* Slow down signal,Axis0
4 DIR0- O Direction signal(-),Axis0 38 ORG0 I Origin position signal,Axis0
5 EA0+ I EncoderA+,Axis0 39 ALM0 I Alarmsignal,Axis0
6 EA0- I EncoderA-,Axis0 40 INP0 I* In-position signal,Axis0
7 EB0+ I EncoderB+,Axis0 41 LTC0 I Position latchinput,Axis0
8 EB0- I EncoderB-,Axis0 42 PCS0 I* Position changesignal,Axis0
9 EZ0+ I EncoderZ+,Axis0 43 INPUT1 I Digitalinput1
10 EZ0- I EncoderZ-,Axis0 44 INPUT2 I Digitalinput2
11 OUT1 O Digitaloutput1 45 INPUT3 I Digitalinput3
12 OUT2 O Digitaloutput2 46 INPUT4 I Digitalinput4
13 OUT3 O Digitaloutput3 47 INPUT5 I Digitalinput5
14 OUT4 O Digitaloutput4 48 INPUT6 I Digitalinput6
15 OUT5 O Digitaloutput5 49 INPUT7 I Digitalinput7
16 OUT6 O Digitaloutput6 50 INPUT8 I Digitalinput8
17 OUT7 O Digitaloutput7 51 OUT8 O Digitaloutput8
18 OUT9 O Digitaloutput9 52 OUT11 O Digitaloutput11
19 OUT10 O Digitaloutput10 53 OUT12 O Digitaloutput12
20 ERC1 O Error clearedsignal,Axis1 54 ERC0 O Error clearedsignal,Axis0
21 PUL1+ O Pulse signal(+),Axis1 55 PUL2+ O Pulse signal(+),Axis2
22 PUL1- O Pulse signal(-),Axis1 56 PUL2- O Pulse signal(-),Axis2
23 DIR1+ O Direction signal(+),Axis1 57 DIR2+ O Direction signal(+),Axis2
24 DIR1- O Direction signal(-),Axis1 58 DIR2- O Direction signal(-),Axis2
25 ALM1 I Alarmsignal,Axis1 59 ALM2 I Alarmsignal,Axis2
26 INP1 I* In-position signal,Axis1 60 INP2 I* In-position signal,Axis2
27 EL1+ I End limit signal(+),Axis1 61 EL2+ I End limit signal(+),Axis2
28 EL1- I End limit signal(-),Axis1 62 EL2- I End limit signal(-),Axis2
29 SD1 I* Slow down signal,Axis1 63 SD2 I Slow down signal,Axis2
30 ORG1 I Origin position signal,Axis1 64 ORG2 I Origin position signal,Axis2
31 PCS1 I* Position changesignal,Axis1 65 PCS2 I* Position changesignal,Axis2

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32 VDD1 I PUL/DIR power1 66 EXGND - Externalpowerground
33 5V I/O PUL/DIR power2/5VOutput 67 VDD I Externalpower12~24VDC
34 GND1 - PUL/DIR power1or2ground 68 EMG I Emergencystopsignal
EXGND - Externalpowerground EXGND - Externalpowerground
*Whenthe functionisdisabled,itcanbeuse as ageneralpurpose input.
3.2X2connector
X2connectoris a 50pinSCSI-II connector, anditcontains the following signals:
All signalsofAxis3,encoder1signals,encoder2signals,LTC1,LTC2,ERC2,VDD/EXGND,4digitalinputsand
4digitaloutputs.
Table3-2: X2connector
Pin Signal IN/OUT Description(Axis) Pin Signal IN/OUT Description(Axis)
1 PUL3+ O Pulse signal(+),Axis3 26 EL3+ I End limit signal(+),Axis3
2 PUL3- O Pulse signal(-),Axis3 27 EL3- I End limit signal(-),Axis3
3 DIR3+ O Direction signal(+),Axis3 28 SD3 I* Slow down signal,Axis3
4 DIR3- O Direction signal(-),Axis3 29 ORG3 I Origin position signal,Axis3
5 EA3+ I EncoderA+,Axis3 30 ALM3 I Alarmsignal,Axis3
6 EA3- I EncoderA-,Axis3 31 INP3 I* In-position signal,Axis3
7 EB3+ I EncoderB+,Axis3 32 LTC3 I Position latchinput,Axis3
8 EB3- I EncoderB-,Axis3 33 PCS3 I* Position changesignal,Axis3
9 EZ3+ I EncoderZ+,Axis3 34 INPUT16 I Digitalinput16
10 EZ3- I EncoderZ-,Axis3 35 INPUT15 I Digitalinput15
11 OUT16 O Digitaloutput16 36 INPUT14 I Digitalinput14
12 OUT15 O Digitaloutput15 37 INPUT13 I Digitalinput13
13 OUT14 O Digitaloutput14 38 OUT13 O Digitaloutput13
14 ERC3 O Error clearedsignal,Axis3 39 ERC2 O Error clearedsignal,Axis2
15 EA1+ I EncoderA+,Axis1 40 EA2+ I EncoderA+,Axis2
16 EA1- I EncoderA-,Axis1 41 EA2- I EncoderA-,Axis2
17 EB1+ I EncoderB+,Axis1 42 EB2+ I EncoderB+,Axis2
18 EB1- I EncoderB-,Axis1 43 EB2- I EncoderB-,Axis2
19 EZ1+ I EncoderZ+,Axis1 44 EZ2+ I EncoderZ+,Axis2
20 EZ1- I EncoderZ-,Axis1 45 EZ2- I EncoderZ-,Axis2
21 LTC1 I Position latchinput,Axis1 46 LTC2 I Position latchinput,Axis2
22 INPUT9 I Digitalinput9 47 INPUT11 I Digitalinput11
23 INPUT10 I Digitalinput10 48 INPUT12 I Digitalinput12
24 EXGND - Externalpowerground 49 EXGND - Externalpowerground
25 VDD I Externalpower12~24VDC 50 EXGND - Externalpowerground
EXGND - Externalpowerground EXGND - Externalpowerground
*Whenthe functionisdisabled,itcanbeuse as ageneralpurpose input.

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3.3X3connector
X3connectoris a 12pinconnector,anditcontains4axes pulser input signals.
Table3-3: X3connector
Pin Signal Description(Axis) Pin Signal Description(Axis)
1 GND PCpowerground 7 GND PCpowerground
2 PA0 A phase signalofpulser,Axis0 8 PA2 A phase signalofpulser,Axis2
3 PB0 B phase signalofpulser,Axis0 9 PB2 B phase signalofpulser,Axis2
4 PA1 A phase signalofpulser,Axis1 10 PA3 A phase signalofpulser,Axis3
5 PB1 B phase signalofpulser,Axis1 11 PB3 B phase signalofpulser,Axis3
6 +5V +5V PCpowersupply 12 +5V +5V PCpowersupply
3.4X4connector
X4connectoris a 6pin connector, and it contains simultaneous start/stop controlsignals formulti-cardoperation.
Table3-4: X4connector
Pin Signal Description(Axis)
1 GND PCpowerground
2 STP Simultaneousstop signalinput/output
3 STA Simultaneousstart signalinput/output
4 STP Simultaneousstop signalinput/output
5 STA Simultaneousstart signalinput/output
6 +5V +5V PCpowersupply
If there are twoor more DMC5400controllers, cascadeX4connectors of allcards for simultaneous start/stop
controlonall concernedaxes is possible.Inthiscase,connectX4 as follows.
Figure 3.1: Simultaneous start/stop connections

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Chapter4InterfaceCircuits
4.1Pulseand Direction SignalsPUL/DIR
TheDMC5400canoutput4axes PUL/DIR signalstocontrol 4stepping/digitalservo motordrivers.Forevery
axis, twopairsofPULand DIR signalsare usedto sendthepulsetrainandtoindicatethedirection.ThePULand
DIR signalscanalsobeprogrammedasCW andCCWsignalspair, see “Software ManualfortheDMC5400
MotionController”formoreinformation. Theinterfacecircuit ofthePULand DIR signalsisshownas figure 4.1.
Eachsignalconsistsofapairofdifferentialsignals.Forexample, thePUL0isconsistedofPUL0+andPUL0-
signals. Thefollowingtableshows all the PUL/DIR outputsignals onX1andX2connectors.
Table 4-1: PUL/DIR pins
X1Pin Signal Description(Axis) X2Pin Signal Description(Axis)
1 PUL0+ Pulse signal(+),Axis0 1 PUL3+ Pulse signal(+),Axis3
2 PUL0- Pulse signal(-),Axis0 2 PUL3- Pulse signal(-),Axis3
3 DIR0+ Direction signal(+),Axis0 3 DIR3+ Direction signal(+),Axis3
4 DIR0- Direction signal(-),Axis0 4 DIR3- Direction signal(-),Axis3
21 PUL1+ Pulse signal(+),Axis1
22 PUL1- Pulse signal(-),Axis1
23 DIR1+ Direction signal(+),Axis1
24 DIR1- Direction signal(-),Axis1
55 PUL2+ Pulse signal(+),Axis2
56 PUL2- Pulse signal(-),Axis2
57 DIR2+ Direction signal(+),Axis2
58 DIR2- Direction signal(-),Axis2
There are 8jumpers (J1~J8)ontheDMC5400 which canbeusedto setPUL/DIR command signalstoeither
single-ended(opencollector) ordifferential.Thedefaultsettingsare thesingle-endedmodes (J1~J8areshort
circuit betweenpin2and pin3.). Differentialsignalsare preferredduetotheirexcellentnoiseimmunity.
Recommend use differentialoutputifpossible.See page6of this manual.
(a) Differentialoutput

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(b) Single-endedoutput
Figure4.1:PUL/DIR interface circuit
If thePUL/DIR issettothe opencollector(Single-ended)output mode, thePUL- and DIR- are usedtosend out
signals. Pleasetakecare thatthecurrent sink to PUL- and DIR- pinsmustnot exceed20mA.Thecurrent may
providebythe+5VPUL/DIR power source, andmostofmotordriver sopto-couplers canworkproperlywhen
thecurrent isabout 10mA.Have currentlimitingresistors in series atthe PUL&DIR terminals ifnecessary.
4.2OriginPosition Signal ORG
Theoriginposition signals(ORG0~ORG3)are usedas input signalsfororiginposition detecting devicesor
mechanisms. The following tableliststherelativesignal name, pin number, andtheaxisnumber.
Table 4-2: ORGpins
X1Pin Signal Description(Axis) X2Pin Signal Description(Axis)
38 ORG0 Origin position signal,Axis0 29 ORG3 Origin position signal,Axis3
30 ORG1 Origin position signal,Axis1
64 ORG2 Origin position signal,Axis2
TheinputcircuitsoftheORGsignalsare shownas Figure 4.2.Usually,aswitchisusedtoindicatetheoriginof
oneaxis. Thespecificationsofthelimit switches should with contactcapacityof+24V,6mAminimum.An
internalfiltercircuitisused tofilter outthehighfrequencyspike,whichmaycause wrongoperation.Whenthe
motion controller isoperatedatthehomereturnmode,theORGsignalisusedtostoptheoutputsignals
(PUL/DIR). See “Software Manualfor the DMC5400MotionController”for more detail operationoftheORG.
Figure4.2:ORGsignalinterface circuit

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4.3SlowDownSignal SD
The slowdownsignals (SD0~SD3) are usedasinputsignals for slowing down the speedtotheinitialspeedwhen
necessary. The following tablelists the relativesignalname, pinnumber, andthe axisnumber.
Table 4-3: SDpins
X1Pin Signal Description(Axis) X2Pin Signal Description(Axis)
37 SD0 Slow down signal,Axis0 28 SD3 Slow down signal,Axis3
29 SD1 Slow down signal,Axis1
63 SD2 Slow down signal,Axis2
TheinputcircuitsoftheSDsignalsare shownas Figure 4.3.Usually,aswitchisusedtoindicatetheposition
where slowingdownisnecessary.Thespecificationsoftheswitches should with contactcapacity of+24V,6mA
minimum.Aninternalfiltercircuitisusedto filter out thehigh frequencyspike, whichmaycause wrong
operation.See “Software Manualfor theDMC5400MotionController”for more detailoperationof the SD.
Figure4.3:SDsignalinterface circuit
4.4End LimitSignal EL+& EL-
There are two end-limit signals EL+andEL- for eachaxis. EL+indicates end limit signalin positivedirection and
EL- indicatesend limit signalinminusdirection.Therelativesignalname, pin number and axisnumber are
shownin the followingtable.
Table 4-4: ELpins
X1Pin Signal Description(Axis) X2Pin Signal Description(Axis)
35 EL0+ Positiveend-limit signal,Axis0 26 EL3+ Positiveend-limit signal,Axis3
36 EL0- Minusend-limit signal,Axis0 27 EL3- Minusend-limit signal,Axis3
27 EL1+ Positiveend-limit signal,Axis1
28 EL1- Minusend-limit signal,Axis1
61 EL2+ Positiveend-limit signal,Axis2
62 EL2- Minusend-limit signal,Axis2
TheswitchS1isusedtosetthetypesofELlimit switches, seeTable4-5.Thedefaultsetting ofEL switchtypeis
normalopen”typelimit switch.TheswitchOFF isto use the “normalclosed”typelimit switch.Thedefault
settingis setas normalopen type.

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Table 4-5: Endlimit signal settingswitch
DIP ON/OFF End Limit SwitchType
ON EL0±NormalOpen
0 OFF EL0±NormalClose
ON EL1±NormalOpen
1 OFF EL1±NormalClose
ON EL2±NormalOpen
2 OFF EL2±NormalClose
ON EL3±NormalOpen
3 OFF EL3±NormalClose
Figure 4.4: Endlimit signal settingswitch
Thesignalsconnectionandrelativecircuitdiagramisshownin thefollowingdiagram.Theexternallimit switches
featuring acontactcapacity of+24V,6mAminimum. Aninternalfiltercircuitisused tofilter outthehigh
frequencyspike,whichmaycausewrongoperation.You canuseeither normalopenswitchornormalclosed
switchbysetting theDIP switchS1.Thedefaultsettingissetas normalopentype.See “Software Manualforthe
DMC5400MotionController”for more detailoperationof the EL.
Figure 4.5: ELsignalinterface circuit
4.5EncoderFeedbackSignalEA,EBand EZ
Theencoder feedbacksignalsincludetheEA,EB, andEZ. Everyaxishas sixpinsforthreedifferentialpairs of
phase-A(EA),phase-B (EB)and index(EZ) inputs. TheEAand EB are usedforposition counting,and theEZ is
usedforzeropositionindex.Therelativesignalnames, pinnumbers and theaxisnumber are showninthe
followingtables.
Table 4-6: EA, EB andEZ pins
X1Pin Signal Description(Axis) X2Pin Signal Description(Axis)
5 EA0+ EncoderA+,Axis0 15 EA1+ EncoderA+,Axis0
6 EA0- EncoderA-,Axis0 16 EA1- EncoderA-,Axis0
7 EB0+ EncoderB+,Axis0 17 EB1+ EncoderB+,Axis0
8 EB0- EncoderB-,Axis0 18 EB1- EncoderB-,Axis0

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9 EZ0+ EncoderZ+,Axis0 19 EZ1+ EncoderZ+,Axis0
10 EZ0- EncoderZ-,Axis0 20 EZ1- EncoderZ-,Axis0
40 EA2+ EncoderA+,Axis0
41 EA2- EncoderA-,Axis0
42 EB2+ EncoderB+,Axis0
43 EB2- EncoderB-,Axis0
44 EZ2+ EncoderZ+,Axis0
45 EZ2- EncoderZ-,Axis0
5 EA3+ EncoderA+,Axis0
6 EA3- EncoderA-,Axis0
7 EB3+ EncoderB+,Axis0
8 EB3- EncoderB-,Axis0
9 EZ3+ EncoderZ+,Axis0
10 EZ3- EncoderZ-,Axis0
Connection toLineDriverOutput (DifferentialEncoder)
Todrivethe encoder input, thedriver output mustprovide atleast3.5Vacross thedifferentialpairs with atleast6
mAdrivingcapability. Theground levelof thetwosidesmustbetight together too.
Figure 4.6: Connectiontoline driver output(differentialencoder)
Connection toOpen Collector Output (Single-ended Encoder)
Toconnectwith opencollectoroutput,anexternalpower supplyisnecessary.Somemotordrivers alsoprovide
thepower source. Theconnection betweentheDMC5400,encoder, andthepower supply isshowninthe
followingdiagram.Please notethattheexternalcurrentlimiting resistorRisnecessaryto protecttheDMC5400
inputcircuit.Table 4-7liststhesuggested resistorvalueaccordingtothe encoder power supply.
Figure 4.7: Connectiontoopencollectoroutput(single-endedencoder)

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Table 4-7: Externalresistor for opencollector output(single-endedencoder)
4.6AlarmSignalALM
ThealarmsignalALMisusedto indicatethealarmstatusfromtheservo driver. WhentheALMsignalisactive,
theDMC5400will stop theoutput signals(PUL/DIR). Thefollowing tableliststherelativesignalname, pin
number, andthe axisnumber. Whenthe functionisdisabled,these ports canbeuseas generalpurpose inputs.
Table 4-8: ALMpins
X1Pin Signal Description(Axis) X2Pin Signal Description(Axis)
39 ALM0 Alarmsignal,Axis0 30 ALM3 Alarmsignal,Axis3
25 ALM1 Alarmsignal,Axis1
59 ALM2 Alarmsignal,Axis2
Theinputcircuitofalarmsignalisshowninthefollowingdiagram.Theexternalswitchesfeaturingacontact
capacityof+24V,6mAminimum.Aninternalfilter circuit isusedtofilter outthehigh frequencyspike, which
maycause wrong operation.See “Software ManualfortheDMC5400 MotionController”formore detail
operation of the ALM.
Figure 4.7: ALMsignalinterface circuit
4.7In-Position Signal INP
Thein-positionsignalINPfromtheservomotordriverindicatesthedeviationerroriszero.Thatistheservo
position erroriszero.Thefollowingtableliststherelativesignalname, pinnumber,andtheaxisnumber. When
the functionisdisabled,these ports canbeuse as general purpose inputs.
Table 4-9: INP pins
X1Pin Signal Description(Axis) X2Pin Signal Description(Axis)
40 INP0 In-position signal,Axis0 31 INP3 In-position signal,Axis3
26 INP1 In-position signal,Axis1
60 INP2 In-position signal,Axis2
Thein-positionsignalsare usuallyfromservomotordrivers. Theexternalswitches featuringacontactcapacityof
+24V,6mAminimum.Aninternalfiltercircuitisusedtofilter out thehighfrequencyspike,whichmaycause
wrong operation.See “Software ManualfortheDMC5400 MotionController”formore detail operation ofthe
VDD ExternalResistor R
+5V 0Ω
+12V 1.8KΩ
+24V 4.3KΩ