PCI-8504/ 8504L 4-Axis Motion Control Board Feature Four , configurable, axes position control for servo or stepper Supports real-time RTX driver (option) Most advanced encoder interface features On board Linear DDA for fine interpolation Output Interface can be analog or pulse train commands 250ns P position controls loop with offset compensation Four 32 bits encoder channels Four 16 bits D/A channels (PCI-8504 only) Encoder resolution multipliers: x1, x2 or x4 rates 18 on board system I/O points Further DI/O expansion up to 128 remote I/Os thru its I/O daughter board Watchdog timer and on board programmable timer Supports Windows 98/NT/2000/XP and LabView 6.0/7.0 driver Complete sample programs in VB, VC, BCB, Delphi Introduction Specifications The PCI-8504 is a PCI-bused, four-axis motion control board. It’s designed to control both servo and stepper motor. The PCI-8504 thus has two modes: The first one is to work with an analog interfaced, velocity mode servo drive. The PCI-8504 compares the segmental movement commands from Host PC and encoder feedback from servo motor, close the position loop once every 250ns and send the analog output velocity command to the velocity mode servo drive. The second mode is to convert the segmental movement command into well behaved pulse trains to either a position mode servo or a stepper drive. In addition to a Windows kernel soft driver, we also support the RTX (VenturCom) driver for applications requiring higher level of hard real time. Data bus: 16-bit Interrupt source: 83 Control axes: 4 DDA cycle: 25µs-3.35 ms D/A resolution: 16-bit Pulse command output: Pulse/Direction, CW/CCW, A/B phase Encoder feedback signal: Pulse/Direction, CW/CCW, A/B phase DAC: 4 D/A, 16 bits, position loop output (PCI-8504 only) Error counter: 16-bit Absolute position recorder: 24-bit Compensator: P, PI mode Local system I/O channels: 18 Local I/O type: general purpose, interrupt I/O Remote I/O channels: up to 128 DI/O Remote I/O type: Output sink type (open collector) input source type Interval timer channel: 1 Timer interrupt: 0.5µs-33ms Watchdog timer: 16-bit General Environment Connector type: 100-pin SCSI-II pin type female Power consumption: +5V @0.9A max. Operation temperature: 0 ~ 60°C Storage temperature: -20 ~ 70°C Humidity: 0 ~ 90% non-condensing Dimensions: 185mm x 122mm Higher Level of Hard Real Time Control: RTX Driver Depending on the level of CPU in your system, normally the “Block Processing Time” of a RTX motion application in Windows XP/2000 with the PCI-8504 can easily reach to a 500us level deterministically in a Pentium IV system while the CPU still has abundant power to perform Soft Logic and HMI. Most Advanced Encoder Interface ASIC ．Up to 1MHz A, B, Z phase ．Index, probing, and general digital input interrupt with position latches ．On board system I/O for each axis ．Position comparison with interrupt ．Optional subcount for low speed feedback 49 PCI-8504/ 8504L 4-Axis Motion Control Board Pin Assignment Ordering Information 100-Pin SCSI-II Pin Type Female Connector for PCI-8504/ 8504L (J1) Description Pin Pin AGND 1 51 AGND DAC/D1 2 52 DAC/D4 DAC/D2 3 53 DAC/D5 Description DAC/D3 4 54 DAC/D6 VCC_OUT(+5V) 5 55 COM- COM+ 6 56 COM- COM 7 57 E_STOP COM 8 58 P_RDY HOME_I1 9 59 HOME_I2 OT+_I1 10 60 OT+_I2 OT-_I1 11 61 OT-_I2 INH_O1 12 62 INH_O2 HOME_I3 13 63 HOME_I4 OT+_I3 14 64 OT+_I4 OT-_I3 15 65 OT-_I4 INH_O3 16 66 INH_O4 HOME_I5 17 67 HOME_I6 OT+_I5 18 68 OT+_I6 1 51 OT-_I5 19 69 OT-_I6 INH_O5 20 70 INH_O6 XENC_INA1 21 71 XENC_INA2 ~XENC_INA1 22 72 ~XENC_INA2 XENC_INB1 23 73 XENC_INB2 ~XENC_INB1 24 74 ~XENC_INB2 XENC_INC1 25 75 XENC_INC2 ~XENC_INC1 26 76 ~XENC_INC2 XENC_INA3 27 77 XENC_INA4 ~XENC_INA3 28 78 ~XENC_INA4 XENC_INB3 29 79 XENC_INB4 ~XENC_INB3 30 80 ~XENC_INB4 XENC_INC3 31 81 XENC_INC4 ~XENC_INC3 32 82 ~XENC_INC4 50 100 XENC_INA5 33 83 XENC_INA6 ~XENC_INA5 34 84 ~XENC_INA6 XENC_INB5 35 85 XENC_INB6 ~XENC_INB5 36 86 ~XENC_INB6 XENC_INC5 37 87 XENC_INC6 ~XENC_INC5 39 88 ~XENC_INC6 XDDA_OUTA1 38 89 XDDA_OUTA2 ~XDDA_OUTA1 40 90 ~XDDA_OUTA2 XDDA_OUTB1 41 91 XDDA_OUTB2 ~XDDA_OUTB1 42 92 ~XDDA_OUTB2 XDDA_OUTA3 43 93 XDDA_OUTA4 ~XDDA_OUTA3 44 94 ~XDDA_OUTA4 XDDA_OUTB3 45 95 XDDA_OUTB4 ~XDDA_OUTB3 46 96 ~XDDA_OUTB4 XDDA_OUTA5 47 97 XDDA_OUTA6 ~XDDA_OUTA5 48 98 ~XDDA_OUTA6 XDDA_OUTB5 49 99 XDDA_OUTB6 ~XDDA_OUTB5 50 100 ~XDDA_OUTB6 PCI-bus Board PCI-8504 4-Axis Motion Control Board PCI-8504L PCI-8504 without D/A on Board Daughter Board DB-87040 4-Axis Motion Control Daughter Board for DIN-Rail Mounting DB-87064 64 D/I and 64 D/O Daughter Board Preliminary DB-87063 64 Remote Isolated DI/O Module Cable CB-89200-2 100-Pin SCSI-II Pin Type Male to Male 2M Cable CB-89200-5 100-Pin SCSI-II Pin Type Male to Male 5M Cable CB-89009-2 9-Pin D-Sub Male to Male 2M Cable CB-89009-5 9-Pin D-Sub Male to Male 5M Cable CB-89410-0.2 2 Sets 10-Pin Flat Female to 2 Sets 9-Pin D-Sub Female Cable