NPM PPCI7443 User manual

PPCI7443
Advanced 4 Axes Servo / Stepper
Motion Control Card
User's Guide
(Version : 2.00)

Table of Contents •
••
•i
Table of Contents
INTRODUCTION...................................................................................................... 1
1.1 FEATURES ..................................................................................................... 4
1.2 SPECIFICATIONS ............................................................................................ 5
1.3 SOFTWARE SUPPORTING ................................................................................ 6
1.3.1 Programming Library.......................................................................... 6
1.3.2 PPCI7443 Utility.................................................................................. 6
INSTALLATION....................................................................................................... 7
2.1 WHAT YOU HAVE ......................................................................................... 7
2.2 PPCI7443 OUTLINE DRAWING ...................................................................... 8
2.3 HARDWARE INSTALLATION............................................................................ 9
2.3.1 Hardware configuration....................................................................... 9
2.3.2 PCI slot selection ................................................................................. 9
2.3.3 Installation Procedures........................................................................ 9
2.3.4 Trouble shooting:................................................................................. 9
2.4 SOFTWARE DRIVER INSTALLATION .............................................................. 10
2.5 CN1 PIN ASSIGNMENTS:EXTERNAL POWER INPUT ...................................... 10
2.6 CN2 PIN ASSIGNMENTS:MAIN CONNECTOR ................................................ 11
2.7 CN3 PIN ASSIGNMENTS:MANUAL PULSER INPUT........................................ 12
2.8 CN4 PIN ASSIGNMENTS:SIMULTANEOUS START/STOP................................. 12
2.9 CN5 PIN ASSIGNMENT : TTL OUTPUT ......................................................... 13
2.10 JUMPER SETTING FOR PULSE OUTPUT .......................................................... 13
2.11 SWITCH SETTING FOR EL LOGIC .................................................................. 14
SIGNAL CONNECTIONS...................................................................................... 15
3.1 PULSE OUTPUT SIGNALS OUT AND DIR...................................................... 16
3.2 ENCODER FEEDBACK SIGNALS EA, EB AND EZ........................................... 18
3.3 ORIGIN SIGNAL ORG .................................................................................. 21
3.4 END-LIMIT SIGNALS PELAND MEL............................................................ 22
3.5 RAMPING-DOWN & PCS.............................................................................. 23
3.6 IN-POSITION SIGNAL INP............................................................................. 24
3.7 ALARM SIGNAL ALM.................................................................................. 25
3.8 DEVIATION COUNTER CLEAR SIGNAL ERC.................................................. 26
3.9 GENERAL-PURPOSE SIGNAL SVON.............................................................. 27
3.10 GENERAL-PURPOSE SIGNAL RDY................................................................ 28
3.11 POSITION COMPARE OUTPUT PIN: CMP......................................................... 29
3.12 POSITION LATCH INPUT PIN: LTC................................................................. 30
3.13 PULSER INPUT SIGNALS PA AND PB ............................................................ 31
3.14 SIMULTANEOUSLY START/STOP SIGNALS STAAND STP ............................. 32
3.15 GENERAL-PURPOSED TTL OUTPUT.............................................................. 33
OPERATION THEOREM...................................................................................... 35

ii •
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•Table of Contents
4.1 MOTION CONTROL MODES .......................................................................... 35
4.1.1 Pulse Command Output...................................................................... 36
4.1.2 Velocity mode motion......................................................................... 39
4.1.3 Trapezoidal Motion Profile................................................................ 40
4.1.4 S-curve Motion Profile....................................................................... 42
4.1.5 Linear interpolation for 2~4 axes....................................................... 44
4.1.6 Circular interpolation for 2 axes........................................................ 48
4.1.7 Circular interpolation with Acc/Dec time .......................................... 50
4.1.8 The Relationship between Velocity and Acceleration Time................ 51
4.1.9 Continuous motion ............................................................................. 54
4.1.10 Home Return Mode ............................................................................ 59
4.1.11 Manual Pulser Mode.......................................................................... 67
4.1.12 Timer Mode........................................................................................ 67
4.1.13 Pulser Interpolation ........................................................................... 68
4.2 THEMOTORDRIVERINTERFACE................................................................... 69
4.2.1 INP.................................................................................................... 69
4.2.2 ALM................................................................................................... 70
4.2.3 ERC................................................................................................... 71
4.2.4 SVON and RDY.................................................................................. 71
4.3 THE LIMIT SWITCH INTERFACE AND I/O STATUS.................................................. 72
4.3.1 SD/PCS............................................................................................... 72
4.3.2 EL...................................................................................................... 73
4.3.3 ORG .................................................................................................. 73
4.4 THE COUNTERS ........................................................................................... 75
4.4.1 Command position counter ................................................................ 75
4.4.2 Feedback position counter ................................................................. 75
4.4.3 Position error counter........................................................................ 77
4.4.4 General-Purposed counter................................................................. 77
4.4.5 Target position recorder .................................................................... 79
4.5 MULTIPLE PPCI7443 CARDS OPERATION .................................................... 80
4.6 CHANGE POSITION OR SPEED ON THE FLY...................................................... 81
4.6.1 Change speed on the fly...................................................................... 81
4.6.2 Change position on the fly.................................................................. 85
4.7 POSITION COMPARE AND LATCH .................................................................. 87
4.7.1 Comparators of PPCI7443................................................................. 87
4.7.2 Position compare................................................................................ 88
4.7.3 Position Latch .................................................................................... 91
4.8 HARDWARE BACKLASH COMPENSATOR AND VIBRATION SUPPRESSION .......... 92
4.9 SOFTWARE LIMIT FUNCTION........................................................................ 93
4.10 INTERRUPT CONTROL .................................................................................. 94
4.11 IDLING CONTROL ......................................................................................... 99
PPCI7443 UTILITY .............................................................................................. 101
5.1 EXECUTE PPCI7443 UTILITY .................................................................... 102
5.2 ABOUT PPCI7443 UTILITY........................................................................ 102
5.3 PPCI7443 UTILITY FORM INTRODUCING ................................................... 103

Table of Contents •
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•iii
5.3.1 Main form......................................................................................... 103
5.3.2 Interface I/O Configuration Form.................................................... 103
5.3.3 Pulse IO & Interrupt Configuration Form....................................... 104
5.3.4 Operate form:................................................................................... 105
FUNCTION LIBRARY......................................................................................... 111
6.1 LIST OF FUNCTIONS ................................................................................... 111
6.2 C/C++ PROGRAMMING LIBRARY ............................................................... 118
6.3 INITIALIZATION ......................................................................................... 119
6.4 PULSE INPUT/OUTPUT CONFIGURATION..................................................... 121
6.5 VELOCITY MODE MOTION........................................................................... 123
6.6 SINGLE AXIS POSITION MODE.................................................................... 126
6.7 LINEAR INTERPOLATED MOTION................................................................ 131
6.8 CIRCULAR INTERPOLATION MOTION.......................................................... 137
6.9 HOME RETURN MODE ............................................................................... 143
6.10 MANUAL PULSER MOTION......................................................................... 145
6.11 MOTION STATUS ....................................................................................... 148
6.12 MOTION INTERFACE I/O ............................................................................ 149
6.13 MOTION I/O MONITORING......................................................................... 151
6.14 INTERRUPT CONTROL ................................................................................ 152
6.15 POSITION CONTROL AND COUNTERS .......................................................... 158
6.16 POSITION COMPARE AND LATCH................................................................ 161
6.17 CONTINUOUS MOTION................................................................................ 167
6.18 MULTIPLE AXES SIMULTANEOUS OPERATION ............................................ 168
6.19 GENERAL-PURPOSED TTL OUTPUT............................................................. 171
CONNECTION EXAMPLE................................................................................. 172
7.1 GENERAL DESCRIPTION OF WIRING ........................................................... 172
7.2 CONNECTION EXAMPLE WITH SERVO DRIVER ............................................ 173

How to Use This Guide
This manual is designed to help you use the PPCI7443. The manual
describes how to modify various settings on the PPCI7443 card to meet
your requirements. It is divided into six chapters:
Chapter 1
“ Introduction ” , gives an overview of the product features,
applications, and specifications.
Chapter 2
“ Installation ” , describes how to install the PPCI7443.
Chapter 3
“ Signal Connection ” , describes the connectors’ pin
assignment and how to connect the outside signal and
devices with the PPCI7443.
Chapter 4 “ Operation Theorem ” , describes detail operations of the
PPCI7443.
Chapter 5 “ PPCI7443 Utility ” , describes how to utilize a Microsoft
Windows based utility program to configure and test running
the PPCI7443.
Chapter 6 “ C/C++ Function Library ” , describes high-level
programming interface in C/C++ language. It helps
programmer to control PPCI7443 in high level language
style.
Chapter 7
“ Connection Example ” shows some typical connection
examples between PPCI7443 and servo driver and stepping
driver.

Introduction •
••
•1
1
Introduction
The PPCI7443 is an advanced 4 axes motion controller card with PCI
interface. It can generate high frequency pulses (6.4MHz) to drive
stepping/micro stepping motors and servo motors. In motion functions, it
provides 2-axis circular, 4-axis linear interpolation, continuous interpolation
with velocity continuity. Also, change position/speed on the fly are available
in single axis operation. Multiple PPCI7443 cards can be used in one
system. Incremental encoder interface on all four axes provide the ability to
correct positioning errors generated by inaccurate mechanical
transmissions, and with the help of on board FIFO, PPCI7443 can also
perform precise and extremely fast position compare and trigger function
without consuming CPU resource. In addition, mechanical sensor interface,
servo motor interface and general-purpose I/O signals are provided for
system integration.
Figure 1.1 shows the function block diagram of PPCI7443 card. PPCI7443
uses one ASICs (PCL6045) to perform 4 axes motion control. These ASICs
are made of Nippon Pulse Motor incorporation. The motion control
functions include linear and S-curve acceleration/deceleration, circular
interpolation between two axes, linear interpolation between 2~4 axes,
continuous motion, in positioning and 13 home return modes are done by
the ASIC. Since these functions needing complex computations are done
internally on the ASIC, the PC’s CPU is free to supervise and perform other
tasks.
PPCI7443 Utility, a Microsoft Windows based software is equipped with the
PPCI7443 card for supporting application development. The PPCI7443
Utility is very helpful for debugging a motion control system during the
design phase of a project. The on-screen monitor shows all installed axis
information and I/O signals status of PPCI7443 cards. In addition to
PPCI7443 Utility, both DOS and Windows version function library are

2•Introduction
included for programmers using C++ and Visual Basic language. Several
sample programs are given to illustrate how to use the function library.
Figure 1.2 is a flowchart that shows a recommending process of using this
manual to develop an application. Please also refer the relative chapters
for the detail of each step.
Figure 1.1 Block Diagram of PPCI7443
PCI Bus
PCI Bus
Controller
FPGAFIFO
PCL6045
Pulser
(CN3)
STA/STP
(CN4)
TTL Dout
(CN5)
Pulse I/O Mechanical
Interface Servo Driver Interface Latch Input Compare Output
Isolation
OUT
DIR
EA,EB,EZ
+EL,-EL
SD
ORG
INP,ALM
ERC
SVON
RDY
CMP1
CMP2
LTC3
LTC4
DC/DC
Ext +24V
+5VExt +5V
CN2
CN1

Introduction •
••
•3
Figure 1.2 Flowchart of building an application
Hardware Instllation
Jumper Setting
Wiring
Run PPCI7443 Utility
To Configure System
Run PPCI7443 Utility
To Verify Operation
UseFunctionLibrary
To develop Applications
System is OK?
END
Chapter 2 & 3
Chapter 5
Chapter 4 & 5
Chapter 4 & 6
No
Yes

4•Introduction
1.1 Features
The following lists summarize the main features of the PPCI7443 motion
control system.
 32-bit PCI-Bus plug and play.
 4 axes of step and direction pulse output for controlling stepping or
servomotor.
 Maximum output frequency of 6.55 Mpps.
 Pulse output options: OUT/DIR, CW/CCW
 Programmable acceleration and deceleration time
 Trapezoidal and S-curve velocity profiles for all modes.
 Any 2 of 4 axes circular interpolation.
 Any 2~4 of 4 axes linear interpolation.
 Continuous interpolation for contour following motion.
 Change position and speed on the Fly.
 Change speed by compare condition.
 13 home return modes with searching.
 Hardware backlash compensator and vibration suppression
 2 Software end-limits for each axes to save I/O switches.
 28-bit up/down counter for incremental encoder feedback.
 Home switch, index signal(EZ), positive and negative limit switches
interface provided for all axes.
 2 axes high speed position latch input
 2 axes position compare trigger output with 4K FIFO auto-loading.
 All digital input and output signals are 2500Vrms isolated
 Programmable interrupt sources.
 Simultaneous start/stop motion on multiple axes.
 Manual pulser input interface.
 Software supports maximum up to 12 PPCI7443 cards (48 axes)
operation in one system.
 Compact, half size PCB.
 PPCI7443 Utility, Microsoft Windows based application development
software.
 PPCI7443 Library and Utility for DOS library and Windows
95/98/NT/2000/XP DLL.

Introduction •
••
•5
1.2 Specifications
 Applicable Motors:
 Stepping motors with pulse train input stepping drivers.
 AC or DC servomotors with pulse train input servo drivers.
 Performance:
 Number of controllable axes: 4 axes.
 Maximum pulse output frequency: 6.55Mpps, linear, trapezoidal or S-
curve velocity profile drive.
 Internal reference clock: 19.66 MHz
 Position pulse setting range: -134,217,728~ +134,217,728 pulses
(28-bit).
 Up / down counter counting range: 0~268,435,455 (28-bit.) or –
134,217,728 to +134,217,727
 Pulse rate setting range (Pulse Ratio = 1: 65535):
0.1 PPS to 6553.5 PPS. (Multiplier = 0.1)
1 PPS to 65535 PPS. (Multiplier = 1)
100 PPS to 6553500 PPS. (Multiplier = 100)
 I/O Signales:
 Input/Output Signals for each axis
 All I/O signal are optically isolated with 2500Vrms isolation voltage
 Command pulse output pins: OUT and DIR.
 Incremental encoder signals input pins: EA and EB.
 Encoder index signal input pin: EZ.
 Mechanical limit/switch signal input pins: ±EL, SD/PCS and ORG.
 Servomotor interface I/O pins: INP, ALM and ERC.
 Position latch input pin: LTC
 Position compare output pin: CMP
 General-purpose digital output pin: SVON.
 General-purpose digital input pin: RDY.
 Pulser signal input pin: PA and PB.
 Simultaneous Start/Stop signal I/O pins: STA and STP.
 General-Purposed Output
 6 TTL level Digital Output

6•Introduction
 General Specifications
 Connectors: 100-pin SCSI-type connector
 Operating Temperature: 0°C~50°C
 Storage Temperature: -20°C~80°C
 Humidity: 5 ~ 85%, non-condensing
 Power Consumption:
 Slot power supply(input): +5V DC ±5%, 900mA max.
 External power supply(input): +24V DC ±5%, 500mA max.
 External power supply(output): +5V DC ±5%, 500mA, max.
 Dimension: 185mm(L) X 98.4mm(H)
1.3 Software Supporting
1.3.1 Programming Library
For the customers who are writing their own programs, we provide MS-DOS
Borland C/C++ (Version: 3.1) programming library and Windows-
95/98/NT/2000/XP DLL for PPCI7443. These function libraries are shipped
with the board.
1.3.2 PPCI7443 Utility
A Windows-based Utility for users to setup cards, motors and system. It can
help users to debug their hardware and software. It also can let users to
setting the I/O logic parameters which can be loaded in their own program.
This product is bundled with this card.
Refer to Chapter 5 for details.

Installation •7
2
Installation
This chapter describes how to install the PPCI7443. Please follow these
steps below to install the PPCI7443.
 Check what you have (section 2.1)
 Check the PCB (section 2.2)
 Install the hardware (section 2.3)
 Install the software driver (section 2.4)
 Understanding the I/O signal connections (chapter 3) and their
operation (chapter 4)
 Understanding the connectors’ pin assignments (the rest of the
sections) and wiring the connections
2.1 What You Have
In addition to this User’s Guide , the package includes the following items:
 PPCI7443: advanced 4 Axes Servo / Stepper Motion Control Card
 Install CD-ROM
 +24V power input cable (for CN1) accessory.
 Input/output signal cable(for CN2) accessory.
 Manual pulser input cable(for CN3) accessory.
 simultaneously start/stop signals for multiple axes cable(for CN4)
accessory.
 general-purposed TTL output signals cable(for CN5) accessory.
If any of these items are missing or damaged, contact the dealer from
whom you purchased the product. Save the shipping materials and carton
in case you want to ship or store the product in the future.

8•Installation
2.2 PPCI7443 utline Drawing
Figure 2.1 PCB Layout of the PPCI7443
Figure 2.1 PCB Layout of the PPCI7443
CN1: External Power Input Connector
CN2: Input / Output Signal Connector
CN3: Manual Pulser Signal Connector
CN4: Simultaneous Start / Stop Connector
CN5: TTL Output Connector
S1 : End limit switch logic selection switch
J1~J8 : Pulse output type selection jumper
CN1
CN2
J1 J4
J5 J8
PCL6045
CN3 CN4
CN5
S1
185mm
98.4mm

Installation •9
2.3 Hardware Installation
2.3.1 Hardware configuration
PPCI7443 has plug and play PCI controller on board. The memory usage
(I/O port locations) of the PCI card is assigned by system BIOS. The
address assignment is done on a board-by-board basis for all PCI cards in
the system.
2.3.2 PCI slot selection
Your computer will probably have both PCI and ISA slots. Do not force the
PCI card into a PC/AT slot. The PPCI7443 can be used in any PCI slot.
2.3.3 Installation Procedures
1. Read through this manual, and setup the jumper according to your
application
2. Turn off your computer, Turn off all accessories (printer, modem, monitor,
etc.) connected to computer.
Remove the cover from your computer.
3. Select a 32-bit PCI expansion slot. PCI slots are shorter than ISA or EISA
slots and are usually white or ivory.
4. Before handling the PPCI7443, discharge any static buildup on your body
by touching the metal case of the computer. Hold the edge and do not
touch the components.
5. Position the board into the PCI slot you selected.
6. Secure the card in place at the rear panel of the system unit using screw
removed from the slot.
2.3.4 Trouble shooting:
If your system won ’ t boot or if you experience erratic operation with your
PCI board in place, it ’ s likely caused by an interrupt conflict (perhaps
because you incorrectly described the ISA setup). In general, the solution,
once you determine it is not a simple oversight, is to consult the BIOS
documentation that come with your system.

10 •Installation
2.4 Software Driver Installation
Step 1: Run setup from install CD
Step 2: Follow the procedures of installer.
Step 3: After setup completion, restart windows.
2.5 CN1 Pin Assignments: External Power Input
CN1 Pin No Name Description
1 EXGND Grounds of the external power.
2 EX+24V External power supply of +24V DC ±5%
Notes:
1. CN1 is a plug-in terminal board with no screw.
2. Be sure to use the external power supply. The +24V DC is used by
external input/output signal circuit. The power circuit is configured as
follows.
3. Wires for connection to CN1
Solid wire: ϕ0.32mm to ϕ0.65mm (AWG28 to AWG22)
Twisted wire:0.08mm2to 0.32mm2(AWG28 to AWG22)
Naked wire length:10mm standard
The following diagram shows the external power supply system of the
PPCI7443. The external +24V power must be provided, an on-board
regulator generates +5V for both internal and external usage.
Note: Please don’t use the +5V power source to drive too many
devices, especially stepping drivers or external encoders. The driving
capacity would be not enough.
DC/DC
Externaal
Power Supply
Isolation
(Bus Power)
+5V
GND
I/O SIGNALS
(External Power)
EX+24V
EXGND
EX+5V
I/O
SIGNALS
(OUTPUT)
Internal
Power Supply
from PCI BUS

Installation •11
2.6 CN2 Pin Assignments: Main connector
The CN2 is the major connector for the motion control I/O signals.
No. Name I/O Function(axis  /  ) No. Name I/O Function(axis  /  )
1 VPP O +5V power supply output 51 VPP O +5V power supply output
2 GND Ext. power ground 52 GND Ext. power ground
3 OUT1+ O Pulse signal (+),  53 OUT3+ O Pulse signal (+), 
4 OUT1- O Pulse signal (-),  54 OUT3- O Pulse signal (-), 
5 DIR1+ O Dir. signal (+),  55 DIR3+ O Dir. signal (+), 
6 DIR1- O Dir. signal (-),  56 DIR3- O Dir. signal (-), 
7 SVON1 O Multi-purpose signal,  57 SVON3 O Multi-purpose signal, 
8 ERC1 O Dev. ctr, clr. signal,  58 ERC3 O Dev. ctr, clr. signal, 
9 ALM1 I Alarm signal,  59 ALM3 I Alarm signal, 
10 INP1 I In-position signal,  60 INP3 I In-position signal, 
11 RDY1 I Multi-purpose signal,  61 RDY3 I Multi-purpose signal, 
12 GND Ext. power ground 62 EXGND Ext. power ground
13 EA1+ I Encoder A-phase (+),  63 EA3+ I Encoder A-phase (+), 
14 EA1- I Encoder A-phase (-),  64 EA3- I Encoder A-phase (-), 
15 EB1+ I Encoder B-phase (+),  65 EB3+ I Encoder B-phase (+), 
16 EB1- I Encoder B-phase (-),  66 EB3- I Encoder B-phase (-), 
17 EZ1+ I Encoder Z-phase (+),  67 EZ3+ I Encoder Z-phase (+), 
18 EZ1- I Encoder Z-phase (-),  68 EZ3- I Encoder Z-phase (-), 
19 VPP O +5V power supply output 69 VPP O +5V power supply output
20 GND Ext. power ground 70 GND Ext. power ground
21 OUT2+ O Pulse signal (+),  71 OUT4+ O Pulse signal (+), 
22 OUT2- O Pulse signal (-),  72 OUT4- O Pulse signal (-), 
23 DIR2+ O Dir. signal (+),  73 DIR4+ O Dir. signal (+), 
24 DIR2- O Dir. signal (-),  74 DIR4- O Dir. signal (-), 
25 SVON2 O Multi-purpose signal,  75 SVON4 O Multi-purpose signal, 
26 ERC2 O Dev. ctr, clr. signal,  76 ERC4 O Dev. ctr, clr. signal, 
27 ALM2 I Alarm signal,  77 ALM4 I Alarm signal, 
28 INP2 I In-position signal,  78 INP4 I In-position signal, 
29 RDY2 I Multi-purpose signal,  79 RDY4 I Multi-purpose signal, 
30 GND Ext. power ground 80 GND Ext. power ground
31 EA2+ I Encoder A-phase (+),  81 EA4+ I Encoder A-phase (+), 
32 EA2- I Encoder A-phase (-),  82 EA4- I Encoder A-phase (-), 
33 EB2+ I Encoder B-phase (+),  83 EB4+ I Encoder B-phase (+), 
34 EB2- I Encoder B-phase (-),  84 EB4- I Encoder B-phase (-), 
35 EZ2+ I Encoder Z-phase (+),  85 EZ4+ I Encoder Z-phase (+), 
36 EZ2- I Encoder Z-phase (-),  86 EZ4- I Encoder Z-phase (-), 
37 PEL1 I End limit signal (+),  87 PEL3 I End limit signal (+), 
38 MEL1 I End limit signal (-),  88 MEL3 I End limit signal (-), 
39 CMP1 O Position compare output  89 LTC3 I Position latch input 
40 SD/PCS1 I Ramp-down signal  90 SD/PCS3 I Ramp-down signal 
41 ORG1 I Origin signal,  91 ORG3 I Origin signal, 
42 GND Ext. power ground 92 GND Ext. power ground
43 PEL2 I End limit signal (+),  93 PEL4 I End limit signal (+), 
44 MEL2 I End limit signal (-),  94 MEL4 I End limit signal (-), 
45 CMP2 O Position compare output  95 LTC4 I Position latch input, 
46 SD/PCS2 I Ramp-down signal  96 SD/PCS4 I Ramp-down signal 
47 ORG2 I Origin signal,  97 ORG4 I Origin signal, 
48 GND Ext. power ground 98 GND Ext. power ground
49 GND Ext. power ground 99 E_24V 0 Ext. power supply, +24V
50 GND Ext. power ground 100 E_24V 0 Ext. power supply, +24V

12 •Installation
2.7 CN3 Pin Assignments: Manual Pulser Input
The signals on CN3 are for manual pulser input.
No. Name Function(Axis )
1 GND Bus power ground
2 PB4 Pulser B-phase signal input, 
3 PA4 Pulser A-phase signal input, 
4 PB3 Pulser B-phase signal input, 
5 PA3 Pulser A-phase signal input, 
6 +5V Bus power, +5V
7 GND Bus power ground
8 PB2 Pulser B-phase signal input, 
9 PA2 Pulser A-phase signal input, 
10 PB1 Pulser B-phase signal input, 
11 PA1 Pulser A-phase signal input, 
12 +5V Bus power, +5V
Note: +5V and GND pins are directly given by the PCI-Bus power.
Therefore, these signals are not isolated.
2.8 CN4 Pin Assignments: Simultaneous
Start/Stop
The signals on CN3 are for simultaneously start/stop signals for multiple
axes and multiple cards.
No. Name Function(Axis )
1 GND Bus power ground
2 STP Simultaneous stop signal input/output
3 STA Simultaneous start signal input/output
4 STP Simultaneous stop signal input/output
5 STA Simultaneous start signal input/output
6 +5V Bus power, +5V
Note: +5V and GND pins are directly given by the PCI Bus power.