Nanomotion XCDX User manual


XCDX458000-00 rev A June 2, 2016
Nanomotion Ltd. POB 623, Yokneam 20692, Israel
Tel: [phone] Fax: [phone]
Web Site: www.nanomotion.com
E-mail: [e-mail]
User Manual
XCDX
Four Axis
Controller/Driver

XCDX458000-00 rev A ii

XCDX458000-00 rev A iii
Copyright © 2012 by Nanomotion Ltd.
All rights reserved worldwide. No part of this publication may be reproduced, modified,
transmitted, transcribed, stored in retrieval system, or translated into any human or computer
language, in any form or by any means, electronic, mechanical, magnetic, chemical, manual, or
otherwise, without the express written permission of Nanomotion Ltd., Mordot HaCarmel
Industrial Park, Yokneam, 20692, Israel.
This document contains proprietary information and shall be respected as a proprietary
document with permission for review and usage given only to the rightful owner of the
equipment to which this document is associated.
Limited Warranty
Nanomotion Ltd. (hereinafter NM) warrants the product (other than software) manufactured by
it to be free from defects in material and workmanship for a period of time of one year (except
those parts normally considered as consumable/expendable components such as motor
conditioning brushes). The warranty commences thirty (30) days from the date of shipment.
NM warrants those parts replaced under warranty for a period equal to the remaining warranty
coverage of the original part.
NM's sole and exclusive obligation under this warranty provision shall be to repair, or at its sole
option exchange defective products or the relevant part or component, but only if: (i) the
Purchaser reports the defect to NM in writing and provides a description of the defective product
and complete information about the manner of its discovery within ten (10) days of its
discovery; (ii) NM has the opportunity to investigate the reported defect and to determine that
the defect arises from faulty material, parts or workmanship; and (iii) the Purchaser returns the
affected product to a location designated by NM. These provisions constitute the exclusive
remedy of the Purchaser for product defects or any other claim of liability in connection with the
purchase or use of NM products.
This warranty policy applies only to NM products purchased directly from NM or from an
authorized NM distributor or representative.
This warranty shall not apply to (i) products repaired or altered by anyone other than those
authorized by NM; (ii) products subjected to negligence, accidents or damage by circumstances
beyond NM control; (iii) product subjected to improper operation or maintenance (i.e. operation
not in accordance with NM Installation Manuals and/or instructions) or for use other than the
original purpose for which the product was designed to be used.
NM shall not in any event have obligations or liabilities to the Purchaser or any other party for
loss of profits, loss of use or incidental, increased cost of operation or delays in operation,
special or consequential damages, whether based on contract, tort (including negligence), strict
liability, or any other theory or form of action, even if NM has been advised of the possibility
thereof, arising out of or in connection with the manufacture, sale, delivery, use, repair or

XCDX458000-00 rev A iv
performance of the NM products. Without limiting the generality of the preceding sentence, NM
shall not be liable to the Purchaser for personal injury or property damages.
Patents
Nanomotion products are covered under one or more of the following registered or applied for
patents.
5,453,653; 5,616,980; 5,714,833; 111597; 5,640,063; 6,247,338; 6,244,076; 6,747,391;
6,661,153; 69838991.3; 6,384,515; 7,119,477; 7,075,211; 69932359.5;1186063; 7,211,929;
69941195.5; 1577961; 4813708; 6,879,085; 6,979,936; 7,439,652; 7061158;1800356;
1800356; 1800356; 2007-533057 (pending); 2011-093431 (pending); 7,876,509; 10-2007-
7009928 (pending); 200780019448.6; 7713361.9 (pending); 12/294,926 (pending);
GB2008000004178 (pending); GB2009000003796 (pending); 12/398,216 (pending);
GB2446428; 12/517,261 (pending); 08702695.1 (pending); 10-2009-7017629 (pending); 12/
524,164 (pending); 12/581,194 (pending)
Contact Information
Website: www.nanomotion.com
Customer Service
Contact your local distributor or email Nanomotion Ltd. Technical Support Department at
[email protected], with detailed problem description, additions, corrections or
suggestions.
Nanomotion Ltd. Worldwide Headquarters
Mordot HaCarmel Industrial Park
HaYetsira Street, PO Box 623
Yokneam 20692
Tel: [phone]
Fax: [phone]
Email: [email protected]
Nanomotion Inc - US Headquarters
1 Comac Loop, Suite 14B2
Ronkonkoma
NY 11779
Tel: [phone]
Fax: [phone]
Email: [email protected]

XCDX458000-00 rev A v
Revision History
The following table shows the last three revisions to this document.
ECO Doc
Rev Date Description
-- A May 2016 Release

Table of Contents
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
Conventions used in this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Related. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Overview & Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Front and Rear Panel Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Motor Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Encoder Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
I/O Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Isolated signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Digital triggers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Position Pulse Incremental (ppi). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Coordinated moves. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Emergency Stop (EMO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Joystick . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Installation and Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Electrical Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Operating the XCDX Controller/Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
System Setup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
XCDX Commander . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
XCDX Test Panel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Commands tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Raster tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Log Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Joystick . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Flash. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
User Flash . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
XCDX Communications Protocol. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
COM Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Destination Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Communication Protocol. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
General USB Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Ethernet Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
DHCP protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Static address. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
AutoIP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
MAC Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
UDP ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Command and reply structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Discovery protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Data types. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
XCDX Commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

XCDX458000-00 rev A vii
Set IP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .41
Add Vectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42
Get Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42
Axis enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42
Get IP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43
Set License . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43
Get License . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43
Get IP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44
GET MAC Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44
Home . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44
Get Status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45
Set Origin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45
Kill . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46
Set Trigger Polarity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46
Joystick. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46
Center Joystick . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
Raster Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
Raster Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48
Move . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48
Read User Flash. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48
Write User Flash . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49
Erase User Flash . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49
Special Operations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49
Raster operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49
Raster Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50
Rectangular raster . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52
Non-rectangular raster . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .53
Pause, Abort and Single Vector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .53
Step-Repeat Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54
Example Scripts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54
Setting IO State. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54
Creating Square Pulse on IO_2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54
Programming the XCDX Controller/Driver . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Programming the XCDX MCU and the XCD-HR MCUs . . . . . . . . . . . . . . . . . . . . . . . .56
PREPARE THE UPGRADE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .56
Writing the Script. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .56
TO EXECUTE UPGRADE:. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57

XCDX458000-00 rev A 8
1INTRODUCTION
The manual provides operating information about the Nanomotion Ltd
XCDX™ Controller/Driver. The XCDX Controller/Driver can control up to 4
axes on a mechanical stage using either programmed operations or a joystick.
This manual contains:
•Overview & Specification on page 10
•Installation and Operation on page 21
•XCDX Communications Protocol on page 34
•Programming the XCDX Controller/Driver on page 56
The XCDX Box contains two firmware and software programs. The XCD-HR™
and EDGE™ Controller/Drivers are programmed with XCD Motion Script™
(XMS). for detailed information about this firmware refer to the latest XCD
Firmware user manual.
1.1 CONVENTIONS USED IN THIS MANUAL
Throughout this manual commands areshown in BOLD and parameter values
are shown in italics.
NOTE: Notes provide additional information that is not included in the normal
text flow.
CAUTION: Caution provides information about actions that will adversely
affect system performance.

XCDX458000-00 rev A 9
Related
Best Known Methods: Provides additional detailed information about
operations and methods.
Danger: Indicates operations or activities that may cause damage to
equipment or injury to personnel.
1.2 RELATED
The following table lists Nanomotion products which may have this software
version. Refer to your user manual to verify installed software version.
BKM
Product Part Number
XCD HR1™ Controller Driver XCD-HR1-BD-04
XCD HR2™ Controller Driver XCD-HR2-BD-04
XCD HR4™ Controller Driver XCD-HR4-BD-04
XCD HR8™ Controller Drive XCD-HR8-BD-04
XCD EDGE™ Controller XCD-EDGE-BD-03
XCD™ Component IC000028

XCDX458000-00 rev A 10
2OVERVIEW & SPECIFICATION
The XCDX motherboard has an FPGA and MCU that provide control of up to
four axes with any of the following motors:
•EDGE
•HR1
• HR2
• HR4
• HR8
• HR16MCU
Control of the axes is by open loop control from the XCDX Commander, an
external joystick, or a XMS program saved to each of the XCD Controller/
Drivers.
System Features
• Usable with a 3 axis Joystick
• Trigger composition from the 4 axis drivers
• general I/O outputs (software controlled)
• Analog/Digital I/O on rear panel
• USB and ethernet communication (MAC Address)
• Power switch on the Back panel
• Front panel LEDs show XCDX power and XCD-HR status
• Communication between the XCDX and the host computer is through
the XCDX Commander (refer to XCDX Commander, page 23).
2.1 SPECIFICATIONS
All communications with the computer are via USB or Ethernet connection.
• USB2.0 (USB type B connector, VCP implemented)
• Ethernet 10/100 Mbit

XCDX458000-00 rev A 11
Specifications
2.1.1 FRONT AND REAR PANEL LAYOUT
The XCDX front panel has LEDs to indicate the status of the XCDX box and
each of the installed axes.
Figure 1: Front Panel
• XCDX Power - power to the XCDX box
•Axisindicators
• Power - power to the axis Controller/Driver
• Enable - the axis motor is enabled
• Fault - indicates an error in axis (Controller/Driver, motor, or
interconnection)
Figure 2: Rear Panel

XCDX458000-00 rev A 12
Specifications
• Motor connectors - refer to Table 2
• Encoder connectors - refer to Table 3
• I/O connectors - refer to Table 4 and Table 5
2.1.2 POWER
The XCDX Controller/Driver is factory configured for either AC or DC power
based on customer request. The XCDX Box meets EMI/RFI compatibility
according to CE class B. The front panel has LED power indicators for the
XCDX Box and the XCD Controller//Driver for each configured axis.
AC Power
AC power supply is 110/220VAC using a standard US or European mains
connection.
Table 1: 6 pin Male, DIN453322
Pin Function
1 24 VDC
2Return
3Return
4Return
5 24 VDC
6 24 VDC
outer shell GND

XCDX458000-00 rev A 13
Specifications
2.1.3 MOTOR INTERFACE
XCDX have 4x Motor connectors corresponding to each axis.
2.1.4 ENCODER INTERFACE
The XCDX Controller/Driver supports up to 4 digital Differential encoders
(Renishaw), each encoder corresponding to specific axis and XCD-HR
Controller/Driver connected. When configured with XCD-EDGE Controller/
Drivers, only single-ended encoders are supported.
Table 2: Motor connection - NM standard D-SUB 9pin plug
Pin Function Signal
3 Motor Power Motor White - High Voltage
4 Motor Power Motor Common
5 Motor Power Motor Red - High Voltage
1 Protection Motor Connected Common
6 Protection Motor Connected
Case Shield Cable shield
Safety hazard
Pins 1 and 6 are a safety connection that disables the driver when the
motor is disconnected.
They must be shorted together on the plug connected to the motor
Table 3: Encoder Connector Pinout
Function Output
Type Signal Pin
Power
5 V 7
5 V 8
0 V 2
0 V 9
Incremental signal RS422A
Digital
A+ 14
A- 6
B+ 13
b- 5
Reference Mark RS422A
Digital Z+ 12
Z- 4
Limits Open
collector P11
Q10

XCDX458000-00 rev A 14
Specifications
2.1.5 I/O CONNECTORS
The back panel has two 37 pin connectors to provide monitoring and use of
various internal signals including GPIOs.
Figure 3: I/O Connector Layout
Analog input
• Connected directly to corresponding axis controller
• Input range ±10V
• Absolute maximum range ±12V
Alarm E- 3
Set-up X 1
Shield inner shield no
connection
outer shield case
Table 3: Encoder Connector Pinout
Function Output
Type Signal Pin
The Limits, Alarm, and Set-up signals are not connected
Are these still not enabled?
IOs are set as not-isolated as default from the factory.

XCDX458000-00 rev A 15
Specifications
• Input impedance >7k
Analog output
• Connected directly to corresponding axis controller
• Output voltage range 0-10V
• Maximum load 5k(1% voltage drop)
Example external power supply 24v+10% Max
.
Table 4: J5A- GPIO, Connector 2
Pin Name Direction Description Voltage
A1 GND GND
A2 GPIO 1 input T-Axis digital GPIO1 TTL 5V
A3 GPIO 2 output T-Axis digital GPIO2 TTL 5V
A4 GND GND
A5 GPIO 5 input Z-Axis digital GPIO1 TTL 5V
A6 GPIO 6 output Z-Axis digital GPIO2 TTL 5V
A7 GND GND
A8 GPIO 9 input Y-Axis digital GPIO1 TTL 5V
A9 GPIO 10 output Y-Axis digital GPIO2 TTL 5V
A10 GND GND
A11 GPIO 13 input X-Axis digital GPIO1 TTL 5V
A12 GPIO 14 output X-Axis digital GPIO2 TTL 5V
A13 24V Do not use 24V
A14 Limit 2 input T-Axis Right Limit Pull to
GND
A15 Limit 3 input Z-Axis Left Limit Pull to
GND
A16 Limit 5 input Y-Axis Left Limit Pull to
GND
A17 NC
A18 Limit 8 input X-Axis Right Limit Pull to
GND
A19 GND Do not use
A20 GPIO 0 output T-Axis PPI digital output TTL 5V
A21 GND GND
A22 GPIO 3 output T-Axis digital GPIO3 TTL 5V
A23 GPIO 4 output Z-Axis PPI digital output TTL 5V
A24 GND GND
A25 GPIO 7 output Z-Axis digital GPIO3 TTL 5V

XCDX458000-00 rev A 16
Specifications
A26 GPIO 8 output Y-Axis PPI digital output TTL 5V
A27 GND GND
A28 GPIO 11 output Y-Axis digital GPIO3 TTL 5V
A29 GPIO 12 output X-Axis PPI digital output TTL 5V
A30 GND GND
A31 GPIO 15 output X-Axis digital GPIO3 TTL 5V
A32 Limit 1 input T-Axis Left Limit Pull to
GND
A33 NC
A34 Limit 4 input Z-Axis Right Limit Pull to
GND
A35 Limit 6 input Y-Axis Right Limit Pull to
GND
A36 Limit 7 input X-Axis Left Limit Pull to
GND
A37 ES input Emergency Stop Pull to
24V
Table 5: J5B - Analog IO, Connector 1
Pin Name Direction Description Voltage
B1 GND GND
B2 AI 2 input T-Axis Analog Input 2 +/-10V
B3 AO 1 output X-Axis AO 2 0V-10V
B4 GND GND
B5 AI 4 input Z-Axis Analog Input 2 +/-10V
B6 AO 3 output Y-Axis AO 2 0V-10V
B7 GND GND
B8 AI 6 input Y-Axis Analog Input 2 +/-10V
B9 AO 5 output Z-Axis AO 2 0V-10V
B10 GND GND
B11 AI 8 input X-Axis Analog Input 2 +/-10V
B12 AO 7 output T-Axis AO 2 0V-10V
B13 INS_OI_
24V Do not use
B14 INS_OUT
1Do not use
B15 INS_OUT
3Do not use
Table 4: J5A- GPIO, Connector 2
Pin Name Direction Description Voltage

XCDX458000-00 rev A 17
Specifications
2.1.6 ISOLATED SIGNALS
The XCDX Box provides internally isolated inputs and ouputs.
• Limits
• INS - isolated IO inputs
•PLD_INS_IN
•PLD_INS_OUT
Each of the following images shows the isolated circuit.
B16 INS_OUT
5Do not use
B17 INS_IN2 Do not use
B18 INS_IN4 Do not use
B19 INS_IO_
COM Do not use
B20 AI 1 input T-Axis Analog Input 1 +/-10V
B21 GND GND
B22 AO 2 output X-Axis AO 1 0V-10V
B23 AI 3 input Z-Axis Analog Input 1 +/-10V
B24 GND GND
B25 AO 4 output Y-Axis AO 1 0V-10V
B26 AI 5 input Y-Axis Analog Input 1 +/-10V
B27 GND GND
B28 AO 6 output Z-Axis AO 1 0V-10V
B29 AI 7 input X-Axis Analog Input 1 +/-10V
B30 GND GND
B31 AO 8 output T-Axis AO 1 0V-10V
B32 INS_IO_
COM Do not use
B33 INS_OUT
2Do not use
B34 INS_OUT
4Do not use
B35 INS_IN1 Do not use
B36 INS_IN3 Do not use
B37 INS_IN5 Do not use
Table 5: J5B - Analog IO, Connector 1
Pin Name Direction Description Voltage

XCDX458000-00 rev A 18
Specifications
Figure 4: Limit and EMO Switch Input Connections
Figure 5: Isolated Output Connection

XCDX458000-00 rev A 19
Specifications
Figure 6: PPI Outputs
2.1.7 DIGITAL TRIGGERS
The XCDX Controller/Driver supports a TTL level digital trigger output signal
(selectable polarity) that can be programmed to provide a pulse at various
times during the execution of the stored program. The pulse is available on a
BNC connector (shell is ground). This signal can provide triggers from all 4
axes. The XCDX Motherboard combines (ORs) the 4 signals to create the
output signal. The trigger is programmable (Level, Axis in trigger, Pulse width)
Maximum delay from each axis output trigger to the XCDX output trigger is
less than 1s. This corresponds to 100ns jitter.
Trigger generation
• Standard - a pulse is generated on position compare
• Extended - the output goes high when Position 1 is reached, and goes
low when Position 2 (> Position 1) is reached.
2.1.7.1 POSITION PULSE INCREMENTAL (PPI)
The Incremental Position Pulse (ppi) allows for a position compare function for
an axis or between axes. This function provides for synchronizing motor/axis
position. The function is supported in XCD-HR hardware with a related delay
of 0.1second.

XCDX458000-00 rev A 20
Specifications
The function can be activated using either the XMS command ppi or Host
command POSITION PULSE INCREMENTAL (33). Three parameters are
specified in the command:
• start - when the start position is reached the Controller generates the
first pulse.
• increment - specifies the pulse timing in mm; the next position for
compare is set as previous position plus increment. The increment is
rounded to integer number of encoder pulses.
• count - specifies the number of pulses. If count is set to one a single
pulse is produced at the start point.
2.1.7.2 COORDINATED MOVES
The XCDX can coordinate moves between the X and Y axes when operating
in Raster mode.
To minimize turnaround time, the secondary axis must start motion as soon as
possible after completing last trigger position in the primary axis.
2.1.8 EMERGENCY STOP (EMO)
The user can use the EMO to stop stage operation. Refer to Figure 4, page
18
2.1.9 JOYSTICK
The XCDX can be controlled by a 3 axis 2 button joystick when configured for
3 axis operation. The default setting at power up is joystick. The XCDX SW
can lockout the joystick if desired. The joystick interface connector is a mini
DIN 8 pin.
The joystick is calibrated to its middle position at beginning of operation
For a detailed explanation of the Position Compare (ppi) refer to the XCD-
HR Firmware user manual, XCD0458002-00