Adtech ADT-09 Series Manual 

http://www.adtechcn.com 1 ADT-09 Series Motion Control Card User Manual  ADT-8949C1/H1  ADT-8969C1/H1  ADT-8989C1/H1

http://www.adtechcn.com 2 Basic Information This Manual is written by Adtech (Shenzhen) Technology Co., Ltd. This Manual is mainly written by: Ai Xiaoyun. Copyright Adtech (Shenzhen) Technology Co., Ltd. (Adtech hereafter) is in possession of the copyright of this manual. Without the permission of Adtech, the imitation, copy, transcription and translation by any organization or individual are prohibited. This manual doesn’t contain any assurance, stance or implication in any form. Adtech and the employees are not responsible for any direct or indirect data disclosure, profits loss or cause termination caused by this manual or any information about mentioned products in this manual. In addition, the products and data in this manual are subject to changes without prior notice. All rights reserved. Adtech (Shenzhen) Technology Co., Ltd.

http://www.adtechcn.com 3 Contents CHAPTER 1 OVERVIEW .......................................... 1 1.1. INTRODUCTION .................................................. 1 1.2. MODEL DESIGNATION .......................................... 3 1.3. SOFTWARE SUPPORT: .......................................... 5 1.4. INDUSTRY APPLICATIONS .................................... 5 CHAPTER 2 QUICK START ...................................... 6 2.1. PACKING LIST .................................................... 6 2.1.1. ADT-8949 SERIES ............................................. 6 2.1.2. ADT-8969 SERIES ............................................. 6 2.1.3. ADT-8989 SERIES ............................................. 6 2.2. INSTALLATION DIMENSIONS ................................. 7 2.2.1. 09 SERIES MOTION CONTROL CARD ........................... 7 2.2.2. ADT-9140 TERMINAL BLOCK OF ADT-8949 ................ 7 2.2.3. ADT-9160 TERMINAL BLOCK OF ADT-8969 ................ 8 2.2.4. ADT-9180 TERMINAL BLOCK OF ADT-8989 ................ 8 2.2.5. ADT-D62GG DATA TRANSMISSION LINE .................... 8 2.3. SYSTEM STRUCTURE DIAGRAM ............................... 9 2.4. STEPS TO INSTALL CONTROL CARD .......................... 9 2.4.1. BOARD INSTALLATION .......................................... 9 2.4.2. ONE-CLICK SETUP OF DRIVER .................................. 9 2.4.3. MANUAL INSTALLATION OF DRIVER .......................... 12 2.4.4. COMMUNICATION SETUP ...................................... 18 2.4.5. MOTORS AND DRIVERS ....................................... 18 2.4.6. TERMINAL BOARD CONNECTION AND POWER SUPPLY ...... 19 2.4.7. TERMINAL BOARDS AND DRIVERS ........................... 20 CHAPTER 3 HARDWARE CONNECTION ................. 21 3.1. PORT DESCRIPTION .......................................... 21 3.1.1. 25-PIN DB PORT DEFINITION ............................... 21 3.1.2. 15-PIN HAND WHEEL PORT DEFINITION (CN9) .......... 23 3.1.3. ADT-9140INPUT PORT DEFINITION OFADT-8949

http://www.adtechcn.com 4 TERMINAL BOARD ...................................................... 24 3.1.4. ADT-9160 INPUT PORT DEFINITIONOFADT-8969 TERMINAL BOARD ...................................................... 24 3.1.5. ADT-9180INPUT PORT DEFINITION OFADT-8989 TERMINAL BOARD ...................................................... 25 3.1.6. ADT-9140\60\80 INPUT PORT DEFINITION ............. 25 3.1.7. ADT-9140\60\80 OUTPUT PORT DEFINITIONS ......... 27 3.1.8. DA PORT DEFINITION ........................................ 28 3.2. CONNECTING PULSE/DIRECTION OUTPUT SIGNAL ..... 29 3.3. CONNECTING ENCODER INPUT SIGNAL ................... 30 3.4. DIGITAL INPUT CONNECTION............................... 31 3.5. DIGITAL OUTPUT CONNECTION ............................ 34 3.6. ELECTRICAL SPECIFICATIONS .............................. 37 3.7. WORK ENVIRONMENT ........................................ 38 CHAPTER 4 BASIC DEBUGGING ........................... 39 4.1. ESTABLISHING A COMMUNICATION ....................... 40 4.2. BASIC PARAMETERS .......................................... 42 4.3. IO CONTROL.................................................... 44 4.4. AXIS INFORMATION MONITORING ........................ 45 4.5. MULTI-AXIS MOTION ......................................... 46 CHAPTER 5 APPENDIXES ..................................... 48 5.1. COMMON PROBLEMS FOR DRIVER INSTALLATION ...... 48 5.1.1. THE CONTROL CARD CANNOT BE DETECTED AND THE DRIVER CANNOT BE INSTALLED NORMALLY .................................... 48 5.2. CONTROL CARD INITIALIZATION FAILURE ............... 49 5.2.1. WINIO INITIALIZATION FAILED, ERROR CODE 9 .......... 49 5.2.2. PCI BRIDGE FAILED, ERROR CODE 10 ..................... 49 5.2.3. DIP SWITCH REPEATED, ERROR CODE 13 ................. 50 5.2.4. MOTION CONTROL CARD NOT DETECTED, ERROR CODE 14 50 5.3. COMMON SERVO WIRING DIAGRAM ....................... 51 5.3.1. QX SERIES SERVO DRIVE BY ADTECH ..................... 52

http://www.adtechcn.com 5 5.3.2. A5/A6 SERIES SERVO DRIVER BY PANASONIC ............ 53 5.3.3. MR-J4 SERIES SERVO DRIVER BY MITSUBISHI ............ 54 5.4. WIRING INSTRUCTIONS FOR ADT-8969G1 WITH ADT-9170 TERMINAL BLOCK ..................................... 55 5.4.1. 25-PIN DB PORT DEFINITION................................ 55 5.4.2. DEFINITIONS OF J2/J3/J4/J5 INPUT PORTS .............. 55 5.4.3. DEFINITIONS OF J6/J7/J8 OUTPUT PORTS ................ 56 5.4.4. J9 DA PORT DEFINITION ..................................... 57 5.5. WIRING INSTRUCTIONS OF ADT-8949G1 WITH ADT- 9192 TERMINAL BLOCK ............................................ 58 5.5.1. DEFINITION OF 25-PIN DB PORT ........................... 58 5.5.2. SIGNAL DEFINITION OF J2 INTERFACE: ..................... 58 5.5.3. J3 INTERFACE SIGNAL DEFINITION .......................... 59 5.6. PRECAUTIONS .................................................. 61 5.7. DOCUMENT VERSIONS ........................................ 63

http://www.adtechcn.com 1 Chapter 1 Overview 1.1. Introduction The ADTECH 09 Series Motion Control Card is of a high-performance multi- axis (4/6/8) motion control card based on PCI bus and dual-core platform as manufactured by Adtech. The 09 Series Motion Control Card follows the high-precision design. Compared with other similar products, it enjoys powerful hardware performances, with its receiving frequency up to 8Mpps, and 33.3M high-speed PCI bus. It has a larger number of configurable expanded IO and interruptible IO. It also supports hardware serial code, allows third-party encryption, as well as high-speed pulse frequency output up to 5Mbps. The characteristics such as small line blocks and large cache of the 09 Series High-performance Motion Control Card are designed for engraving machines or cutting applications, to help the data after CAM discretization be well restored to the machining model. Its 3-dimensional circular interpolation (spherical interpolation) would produce arcs in arbitrary spatial planes, as well as spherical arcs. It is useful for simplifying the complex graphics. By using 33.3M PCI communication, up to 10 control cards can be expanded on one PC. Furthermore, with the PC platform, complex occasions such as distributed motion control can be realized. 09 Series PCI- based pulse motion control card is suitable for control occasions such as engraving, cutting, turn-milling, milling, drilling, etc. 5Mpps pulse control mode and AB phase decoding can be used for step open-loop control, and also for servo closed-loop control. The speed adaptive model is applied to high-precision control applications such as milling machines and abrasive machining, which, from the speed planning, make the motor work within a reasonable error range. Four major technological creative highlights 1) Stable asymmetric acceleration/deceleration running, and low motor running noise Asymmetric acceleration/deceleration planning is adopted to make the motor run very stably and minimizing the running noise, which is suitable for industrial sites with high-noise requirements. 2) Hardware-level interpolation supports spatial curve interpolation

http://www.adtechcn.com 2 The hardware interpolation technology is integrated into the spatial curve interpolation, and the T/S/E/COS type acceleration/deceleration curve can be quickly calculated based on the set acceleration/deceleration mode. 2) Adaptive speed model, ensuring high speed under high precision The adaptive speed model guarantees both high speed and high precision, which satisfies needs of high precision and high efficiency in the industry. 3) Hardware can also be upgraded to create the maximum value Use of the FPGA + dual-DSP multi-embedded system, and the key performance is guaranteed by hardware-level real-time processing. The upgrade of the hardware enables the control card to be downward compatible, and the new product corresponded can be fully compatible with the old version, to create the maximum value to the customer.

http://www.adtechcn.com 3 1.2. Model designation Function and Performance ADT-8949 ADT-8969 ADT-8989 C1 H1 C1 H1 C1 H1 Hardware Performance Control mode 32-bit PCI bus, plug and play Number of axes 4 4 6 6 8 8 Maximum pulse output frequency 5MHz Number of supporting encoder axes 4 4 6 6 8 8 Encoder feedback frequency 4MHz DIP switch 0~9 Platform performance A9 dual core Universal digital input 42 Universal digital output 24 Servo enable output 4 4 6 6 8 8 Alarm clear output 4 4 6 6 8 8 Servo alarm input 4 4 6 6 8 8 Fast input port 2 Fast output port 2 Control Function Hardware Signal Hardware emergency stop √ Limit signal stop √ Mechanical origin stop √ Encoder Z-phase signal stop √ Input filter √ Programming mode / pulse equivalent √ Software limit √ Logic variable loop mode √ User encryption √ Acceleratio S √

http://www.adtechcn.com 4 n Mode T √ EXP √ COS √ Asymmetric acceleration and deceleration √ Speed multiplier √ High-precision zero return √ Drive Mode PT drive √ Continuous drive / JOG √ Linear interpolation √ Plane arc interpolation √ Space arc interpolation √ Spiral interpolation √ Synchronous follow √ Change the drive speed in motion √ Change the target position in motion √ High-speed IO High-speed position latch √ 1D/2D/3D High-speed position comparison √ Advanced Cache Control Speed look-ahead - √ - √ - √ Cache interpolation capacity - 10000 - 10000 - 10000 Cache IO event capacity - 1000 - 1000 - 1000 Cache output control - √ - √ - √ Cache delay - √ - √ - √ Cache PWM - √ - √ - √ NURBS - √ - √ - √

http://www.adtechcn.com 5 1.3. Software support: ➢ Operating system: DOS, WINDOWS95/98/NT/2000/XP, WINCE, WIN7 ➢ Programming environment: C/BC++/VC/VB/C#/C++Builder/ Delphi/ LabVIEW/ EVC ➢ Application examples of open-DOS and Windows 1.4. Industry Applications ➢ Machine vision, automatic test equipment, AOI; ➢ Biological, medical automatic sampling equipment; ➢ Cutting equipment: diamond cutter, sponge cutting machine; ➢ Dispensing industry; ➢ Semiconductor packaging industry: Bonder; ➢ Advertising industry: CNC bending machine; ➢ Packaging and printing equipment: printer, pad printer; ➢ Engraving equipment; ➢ Industrial robot equipment; ➢ PCB processing, SMT and other industries;

http://www.adtechcn.com 6 Chapter 2 Quick Start 2.1. Packing list 2.1.1. ADT-8949 series Product Model Name Description Dimension Parameters ADT-8949C1 ADT-8949H1 Motion control card ADT-8949C1/ADT-8949H1 135 mm × 110 mm × 1 Wiring board ADT-9140 248 mm × 154 mm × 30 mm × 1 Data cable ADT-D62GG 1.5 M × 1 User's Manual Instructions 1 User CD Electronic files such as SDK, examples and Instructions. 1 2.1.2. ADT-8969 series Product Model Name Description Dimension Parameters ADT-8969C1 ADT-8969H1 Motion control card ADT-8969C1/ADT-8969H1 135 mm × 110 mm × 1 Wiring board ADT-9160 248 mm × 154 mm × 30 mm × 1 Data cable ADT-D62GG 1.5 M × 1 User's Manual Instructions 1 User CD Electronic files such as SDK, examples and Instructions. 1 2.1.3. ADT-8989 series Product Model Name Description Dimension Parameters ADT-8989C1 ADT-8989H1 Motion control card ADT-8989C1/ADT-8989H1 135 mm × 110 mm × 1 Wiring board ADT-9180 248 mm × 154 mm × 30 mm × 1 Data cable ADT-D62GG 1.5 M × 1 User's Manual Instructions 1 User CD Electronic files such as SDK, examples and Instructions. 1

http://www.adtechcn.com 7 2.2. Installation dimensions 2.2.1. 09 series motion control card 2.2.2. ADT-9140 terminal block of ADT-8949 Dimensions chart of ADT-9140 terminal block

http://www.adtechcn.com 8 2.2.3. ADT-9160 terminal block of ADT-8969 Dimensions chart of ADT-9160 terminal block 2.2.4. ADT-9180 terminal block of ADT-8989 Dimensions chart of ADT-9180 terminal block 2.2.5. ADT-D62GG data transmission line

http://www.adtechcn.com 9 2.3. System structure diagram ADT-8949C1/H1 ADT-8969C1/H1 ADT-8989C1/H1 Terminal board Terminal board Terminal board ADT-9140 ADT-9160 ADT-9180 Servo/Stepper + motor Input devices Output devices 2.4. Steps to install control card 2.4.1. Board installation 1) Power off the computer (Note: turn off the main power of ATX); 2) Open the back cover of the computer case; 3) Select an unoccupied PCI slot and insert the motion control board; 4) Make sure the gold finger of the motion control board is completely inserted into the PCI slot, and tighten the screws. When the 09 Series Motion Control Card is properly installed, the green LED on the back of the board will light up, which means that the FPGA chip is running normally. When the red LED on the front will light up, it means that the board is powered normally. If the above LED indicators do not work, there may be a hardware failure occurred in the board. Please return it to the factory for repair or replacement timely. 2.4.2. One-click setup of driver Tips Most users choose to install the control card driver by "one-click setup of driver". When the driver cannot be installed by one-click setup, you can consider the 2.4.3 Manual Installation of Driver. The “One-click setup of driver” of 09 Series Motion Control Card is as follows: 1. Open the computer case, insert the control card, then power on and enter the windows system;

http://www.adtechcn.com 10 2. Double click and open the driver installation package. 3. If a dialog box “ADT-09 series control card not detected” as shown in the figure below appears, please check that the control card is still plugged in, and try again. 4. The computer can detect the card by displaying the following screen: 5. Click Next, you can then enter the following screen: 6. Select the installation path (it is recommended to choose the default installation path), and click Next;

http://www.adtechcn.com 11 7. Click Next; 8. Click Install and wait for the installation process to complete; 9. After the installation is completed, checking “Run VC DEMO” and Finish, you can then test the driver installation, which is shown in the figure below;

http://www.adtechcn.com 12 2.4.3. Manual installation of driver 1) Premise After the board is installed, only the operating system recognizes an unknown PCI device, then can the driver be installed. As for the XP system, the wizard for new hardware will pop up automatically after startup, or an unknown PCI device will be found in the device manager. Unknown PCI devices are found in the Device Manager for WIN7 systems. The number of unknown PCI devices should be no less than the number of boards installed in the current system.

http://www.adtechcn.com 13 It is similar to other systems, and no more detailed description will be given herein. If there’s prompt for the new hardware wizard by the system, and no abnormal device is found in the device manager, it means that there’s no board information detected by the current operating system. Possible problem descriptions and solutions can be found in the 5.1 Driver Installation FAQs. 2) Driver installation under Windows XP When the system starts, if the PCI detects an unknown hardware device, the prompt below appears. Select in above figure to pop up the following screen Select in above figure and click Next to pop up the following screen

http://www.adtechcn.com 14 Click “Browse”, select CD “Development Kits\Drivers\Control Card Drivers” to locate the driver file path, and click Next to pop up the following screen

http://www.adtechcn.com 15 Click “Finish” to finish the installation of The ADT-09 Series control card. 3) Installing drivers on Win7 Insert the control card into PCI slot, right click "My Computer" and select "Properties" to enter Device Manager, as shown below: Expand "Other devices", select "PCI Bridge Device" (Different systems may have different unknown device names), and right click, as shown below: In the popup dialog box, click "Update Driver Software" to show the following dialog box:

http://www.adtechcn.com 16 Select the option "Browse my computer for driver software" Click the "Browse" button to specify the path for the driver, and select the appropriate system file. Next

http://www.adtechcn.com 17 Always install this driver software Follow the installation instructions until installation is complete The ADT-09 Series control card has been installed by this time, and the device manager will update of the device details.

http://www.adtechcn.com 18 For WIN7 and above system, after the driver is installed normally, there will be a blue small question mark appeared in the icon of the control card device. This is because the control card driver has not passed the official logo certification of Microsoft, resulting in that the company’s logo cannot be normally displayed by the icon. However, this will not affect the normal use, function and performance of the control card. 2.4.4. Communication setup The purpose to set up a communication is to ensure that the control card is installed correctly and available in real time. For actual operation, refer to 4.1 Establishing a Communication herein. For problems appeared during the communication setup process, refer to 5.1 Control Card Initialization Failure. Tips Administrator rights shall be given to WIN7 system to load the PCI driver. If you run the control card application directly for the first time by double clicking, the control card initialization will then be failed. Therefore, after the first installation is completed, right click the control card application (i.e. VC demonstration program "DEMO.EXE") and select "Run as administrator (A)" program (as shown below), then start the application by double clicking. 2.4.5. Motors and drivers Before the peripherals such as the driver are connected to the control card, be sure to read the key documentation such as the driver's instruction manual carefully, and test the driver and motor according to the manual to ensure that they work properly. Tips During the debugging process, please temporarily disconnect the control card and the terminal block from the load if there’s no special requirement. After the offline debugging, and make sure that the peripheral parameters are set correctly, restore the connection between the control card, the terminal block and the load. In case that drive control is required, run it at low speed first

http://www.adtechcn.com 19 then high to prevent device fault or damage due to operational errors during debugging. 2.4.6. Terminal board connection and power supply Connect one end of the D62GG cable to the J1 connector of the control card, and the other end to the J1 connector if ADT-9180 board. The ADT-9180 terminal block is powered by an external 24V power supply. Wire the external power supply +24V VCC and the external power supply +24V GND as per the terminal board silkscreen print. After D62GG is properly connected to the board and terminal board J1, and the board is powered on, the POWER green indicator in the lower left corner of the terminal board will work, indicating that the terminal board and the board are connected normally; when the external 24V power supply supplies power to the terminal board, the RUN green indicator on the lower left corner of the terminal block will flash, which means that the terminal board is powered normally. If the above indicator does not work properly or flashes after the terminal board is properly connected and powered, the terminal board may have a hardware failure. Please return the product to the factory for repair or for replacement. J1 J1 ADT-62GG GND+24V PE GND +24V PE External power supply

http://www.adtechcn.com 20 2.4.7. Terminal boards and drivers Connect the terminal board to the driver based upon actual needs. 4/6/8 sets of drivers can be connected to the terminal board. AXIS is a 25-pin DB port. For terminal definition, refer to 3.1.1 25-pin DB port definition. For the servo driver, you can refer to 5.3 Common Servo Wiring Diagram.

http://www.adtechcn.com 21 Chapter 3 Hardware Connection 3.1. Port Description 3.1.1. 25-pin DB Port Definition (CN1\CN2\CN3\CN4\CN5\CN6\CN7\CN8) The ADT-9180 has eight DB heads corresponding to eight axes (XYZABCDE), the ADT-9160 has six DB heads corresponding to six axes (XYZABC), and the ADT- 9140 has four DB heads corresponding to four axes (XYZA). The following takes X axis as an example. (Note: All input and output signals are active low.) 25-pin DB Port Definition S/N Port name Definition 1 +24V_GND 24V power output ground 2 EXT_IN0 External input, active low, and does not support two-wire sensor connection. It is usually used as a servo alarm input, Y axis, Z axis, A axis, B axis, C axis, D axis, E axis, corresponding to IN1, IN2, IN3, IN4, IN5, IN6, IN7. 3 EXT_OUT1 Output control signal, opto-isolated output, active low. It is usually used as servo enable, Y axis, Z axis, A axis, B axis, C axis, D axis, E axis, corresponding to OUT3, OUT5, OUT7, OUT9, OUT11, OUT13, OUT15. 4 XECA- X-axis encoder phase-A input negative. It can be used as a normal input point, corresponding to the sample program input point IN68, 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 +24V GND IN0 XECA- XECB- XECZ- +5V_OUT XDR+ +5V GND XPU- +5V GND OUT1 +24V_OUT OUT0 XECA+ XECB+ XECZ+ +5V GND +5V GND XDR- XPU+ +5V GND X轴25针DB头 方向、脉冲、信号、编码器接口

http://www.adtechcn.com 22 Y axis, Z axis, A axis, B axis, C axis, D axis, E axis, corresponding to IN69, IN70, IN71, IN72. IN73, IN74, IN75. When the IN75 is used as a normal input point, please refer to 3.4 Digital Input Connection for wiring mode, and the encoder signal is used as a graphic description of the general input. 5 XECB- X-axis encoder phase-B input negative. It can be used as a normal input point, corresponding to the sample program input point IN76, Y axis, Z axis, A axis, B axis, C axis, D axis, E axis, corresponding to IN77, IN78, IN79, IN80, IN81, IN82. When the IN83 is used as a normal input point, please refer to 3.4 Digital Input Connection for wiring mode, and the encoder signal is used as a graphic description of the general input. 6 XECZ- X-axis encoder phase-Z input negative. It can be used as a normal input point, corresponding to the sample program input point IN60, Y axis, Z axis, A axis, B axis, C axis, D axis, E axis, corresponding to IN61, IN62, IN63, IN64. IN65, IN66. When the IN67 is used as a normal input point, please refer to 3.4 Digital Input Connection for wiring mode, and the encoder signal is used as a graphic description of the general input. 7 VCC +5V power output (can’t be connected to external power supply) 8 NC 9 XDR+ X axis direction positive signal 10 GND 5V power grounding 11 XPU- X axis pulse negative signal 12 NC 13 GND 5V power grounding. If the servo pulse signal uses the high-speed pulse port of the differential output, the internal ground (this pin) of the control card must be connected to the ground of the servo pulse input port. 14 OVCC +24V power output (not allowed to connect 24V + externally) 15 EXT_OUT0 Output control signal, opto-isolated output, active low. It is usually used as servo alarm clear, Y axis, Z axis, A axis, B axis, C axis, D

http://www.adtechcn.com 23 axis, E axis, corresponding to OUT2, OUT4, OUT6, OUT8, OUT10, OUT12, OUT14. 16 NC 17 XECA+ X-axis encoder phase A input positive 18 XECB+ X-axis encoder phase B input positive 19 XECZ+ X-axis encoder phase Z input positive 20 GND 5V power grounding 21 GND 5V power grounding 22 XDR- X axis direction negative signal 23 XPU+ X axis pulse positive signal 24 GND 5V power grounding 25 NC 3.1.2. 15-pin Hand Wheel Port Definition (CN9) CN9 wiring diagram wiring definition ADT-CNC6A Handwheel Box Wiring Definition Pin No. Pin Definitions Function 1 IN50 Hand wheel general input (for gear X1 with ADT- CNC6A hand-held box) 2 IN52 Hand wheel general input (for gear X10 with ADT-CNC6A hand-held box) 3 IN54 Hand wheel general input (for gear X100 with ADT-CNC6A hand-held box) 4 IN56 Hand wheel general input (for switching to C axis with ADT-CNC6A hand-held box)

http://www.adtechcn.com 24 5 IN58 Hand wheel general input (for emergency stop with ADT-CNC6A hand-held box) 6 HA Hand wheel output phase A signal 7 GND_24V_EXT 24V power output grounding 8 VCC 5V 5V power output 9 IN51 Hand wheel general input (for switching to X axis with ADT-CNC6A hand-held box) 10 IN53 Hand wheel general input (for switching to Y axis with ADT-CNC6A hand-held box) 11 IN55 Hand wheel general input (for switching to Z axis with ADT-CNC6A hand-held box) 12 IN57 Hand wheel general input (for switching to A axis with ADT-CNC6A hand-held box) 13 IN59 Hand wheel general input (for switching to B axis with ADT-CNC6A hand-held box) 14 HB Hand wheel output phase B signal 15 GND_5V_EXT 5V power output grounding Note: Before using the hand wheel, please confirm that the INCOM, OUTCOM, and +EX24V of the input and output ports are connected to the DC24V power supply. 3.1.3. ADT-9140Input Port Definition ofADT-8949 Terminal Board 3.1.4. ADT-9160 Input Port DefinitionofADT-8969 Terminal Board

http://www.adtechcn.com 25 3.1.5. ADT-9180Input Port Definition ofADT-8989 Terminal Board 3.1.6. ADT-9140\60\80 Input Port Definition Port Pin No. Pin Definitions Function J2 1 IN8/XLT+ X positive limit signal, can be used as general input 2 IN9/XLT- X negative limit signal, can be used as general input 3 IN10/YLT+ Y positive limit signal, can be used as general input 4 IN11/YLT- Y negative limit signal, can be used as general input 5 IN12/ZLT+ Z positive limit signal, can be used as general input 6 IN13/ZLT- Z negative limit signal, can be used as general input 7 IN14/ALT+ A positive limit signal, can be used as general input 8 IN15/ALT- A negative limit signal, can be used as general input 9 IN16/XHM X origin signal (alias STOP0), can be used as general input, position latch 10 IN17/YHM Y origin signal (alias STOP0), can be used as general input, position latch 11 IN18/ZHM Z origin signal (alias STOP0), can be used as general input, position latch 12 IN19/AHM A origin signal (alias STOP0), can be used as general input, position latch 13 INCOM1 IN8-IN19 input public terminal, access DC12-24V+ J3 1 IN20/BLT+ B positive limit signal, can be used as general input (ADT- 9140\60 for general input) 2 IN21/BLT- B negative limit signal, can be used as general input (ADT- 9140\60 for general input) 3 IN22/CLT+ C positive limit signal, can be used as general input (ADT- 9140\60 for general input) 4 IN23/CLT- C negative limit signal, can be used as general input (ADT- 9140\60 for general input)

http://www.adtechcn.com 26 5 IN24/DLT+ D positive limit signal, can be used as general input (ADT- 9140\60 for general input) 6 IN25/DLT- D negative limit signal, can be used as general input (ADT- 9140\60 for general input) 7 IN26/ELT+ E positive limit signal, can be used as general input (ADT- 9140\60 for general input) 8 IN27/ELT- E negative limit signal, can be used as general input (ADT- 9140\60 for general input) 9 IN28/BHM B origin signal (alias STOP0), can be used as general input, position latch (ADT-9140\60 for general input) 10 IN29/CHM C origin signal (alias STOP0), can be used as general input, position latch (ADT-9140\60 for general input) 11 IN30/DHM D origin signal (alias STOP0), can be used as general input, position latch (ADT-9140\60 for general input) 12 IN31/EHM E origin signal (alias STOP0), can be used as general input, position latch (ADT-9140\60 for general input) 13 INCOM2 IN20-IN31 input public terminal, access DC12-24V+ J4 1 IN32 General input, can be used for hardware emergency stop function, position latch 2 IN33 General input, can be used for position latch 3 IN34 General input 4 IN35 General input 5 IN36 General input 6 IN37 General input 7 IN38 General input 8 IN39 General input 9 IN40 General input 10 IN41 General input 11 IN42 General input 12 IN43 General input 13 INCOM3 IN32-IN43 input public terminal, access DC12-24V+

http://www.adtechcn.com 27 J5 1 IN44 General input 2 IN45 General input 3 IN46 General input 4 IN47 General input 5 IN48 General input 6 IN49 General input 7 INCOM4 IN44-IN49 input public terminal, access DC12-24V+ Note: All input signals are active low. 3.1.7. ADT-9140\60\80 Output Port Definitions Port Pin No. Pin definitions Function J6 1 OUT16/PWM1 High-speed output control signal, active low, PWM, position comparison dedicated output 2 OUT17/PWM2 High-speed output control signal, active low, PWM, position comparison dedicated output 3 OUTCOM OUT16, OUT17 output public terminal, access DC12- 24VGND J7 1 +EX24V OUT18-OUT29 output port power DC24V+ input 2 OUT18 Output control signal, opto-isolated output, active low 3 OUT19 Output control signal, opto-isolated output, active low 4 OUT20 Output control signal, opto-isolated output, active low 5 OUT21 Output control signal, opto-isolated output, active low 6 OUT22 Output control signal, opto-isolated output, active low 7 OUT23 Output control signal, opto-isolated output, active low 8 OUT24 Output control signal, opto-isolated output, active low 9 OUT25 Output control signal, opto-isolated output, active low 10 OUT26 Output control signal, opto-isolated output, active low 11 OUT27 Output control signal, opto-isolated output, active low

http://www.adtechcn.com 28 12 OUT28 Output control signal, opto-isolated output, active low 13 OUTCOM OUT18-OUT28 output port power DC24V GND input J8 1 +EX24V OUT29-OUT41 output port power DC24V+ input 2 OUT29 Output control signal, opto-isolated output, active low 3 OUT30 Output control signal, opto-isolated output, active low 4 OUT31 Output control signal, opto-isolated output, active low 5 OUT32 Output control signal, opto-isolated output, active low 6 OUT33 Output control signal, opto-isolated output, active low 7 OUT34 Output control signal, opto-isolated output, active low 8 OUT35 Output control signal, opto-isolated output, active low 9 OUT36 Output control signal, opto-isolated output, active low 10 OUT37 Output control signal, opto-isolated output, active low 11 OUT38 Output control signal, opto-isolated output, active low 12 OUT39 Output control signal, opto-isolated output, active low 13 OUT40 Output control signal, opto-isolated output, active low 14 OUT41 Output control signal, opto-isolated output, active low 15 OUTCOM OUT29-OUT41 output port power DC24V GND input 3.1.8. DA Port Definition Pin No. Pin definitions Function 1 DA1 DA1 output, 0 ~ 10 V output 2 DACOM DA output signal grounding 3 DA2 DA2 output, 0 ~ 10 V output 4 DACOM DA output signal ground

http://www.adtechcn.com 29 3.2. Connecting pulse/direction output signal Pulse output is differential output, and can be easily connected to the stepper / servo drives. The figure below shows the connection between the pulse and the anode of the direction. PUCOM is the 7th pin of the 25-pin DB connector (+5V power output). To enhance the anti-interference ability of the common anode connection, it is recommended to connect the DB side +5V GND (Pin 10/13/20/21/24) to the driver terminal ground wire. PUCOM Step motor driver PU-/CW- DR-/CCW- PU+ PU- DR+ DR- Below is independent connection of pulse and direction signal. Differential connection is recommended due to strong anti-interference. PU+/CW+ Step motor driver PU-/CW- DR-/CCW- PU+ PU- DR+ DR- DR-/CCW-

http://www.adtechcn.com 30 PU+/CW+ Servo motor driver PU-/CW- DR-/CCW- CW+ CW- CCW+ CCW- DR-/CCW- + - + - 5VGND If the servo pulse signal uses the high-speed pulse port of the differential output, the Pin 13 of the 25-pin DB connector pin in the control card must be connected to the ground wire of the servo pulse output port. 3.3. Connecting encoder input signal OPEN-CONNECT Output Encoder Wiring Diagram as below. For +5V power, R can be omitted; for +12V power, R = 1 kΩ; for +24V power, R = 2 KΩ. Encoder ECA+ ECA- B+ B- A+ A- +5V ACC +5V GND

http://www.adtechcn.com 31 Encoder Z phase connection as below ECA+ ECA- Z+ Z- Encoder +5V ACC +5V GND 3.4. Digital input connection The mechanical switch connection of the general input IN8 (as an example) is as shown in the figure below, for which, the switch polarity is no longer needed to be considered. IN8 IN9 IN10 IN11 IN12 IN13 IN14 IN15 IN16 IN17 IN18 IN19 INCOM1 J2 DC24V Mechanical switch connection The figure below shows the two-wire sensor connection. The polarity of the two-wire sensor must be considered. In general, the ground line is in blue, and output line is brown. The input port IN0 ~ IN5 in the 25-pin DB port does not support the 2-wire sensor connection.

http://www.adtechcn.com 32 IN8 IN9 IN10 IN11 IN12 IN13 IN14 IN15 IN16 IN17 IN18 IN19 INCOM1 J2 DC24V Two-wire sensor connection Two-wire sensor connection - + Output wire Grounding wire The three-wire sensor is connected as shown in the figure below. The polarity of the three-wire sensor must be considered. The colors corresponded to the polarity is provided in the instructions for the corresponding three-wire sensor. IN8 IN9 IN10 IN11 IN12 IN13 IN14 IN15 IN16 IN17 IN18 IN19 INCOM1 J2 DC24V Three-wire sensor connection Three-wire sensor - + Out Grounding wire

http://www.adtechcn.com 33 When the AB-phase signal of encoder is used as a universal input point. Taking X-axis is taken as an example, with its wiring method shown below. The K1/K2/K3 in the figure are connected using the mechanical switch.

http://www.adtechcn.com 34 3.5. Digital output connection All universal output ports are of open-drain output ports, and the drive current of the output port is within 1.5A (if only one-way output port is used, the drive current can reach 2A), make sure if the output port drive current meet the requirements when using. If the current drive capability is insufficient, an external relay can be used for current expansion, and the follow-current protection diode shall also be connected. Taking OUT18 as an example. The general electromagnetic relay of output port drives is connected as below. The polarity of the electromagnetic relay coil is not required to be considered if special instructions are provided. OUT18 OUT19 OUT20 OUT21 OUT22 OUT23 OUT24 OUT25 OUT26 OUT27 OUT28 OUT29 OUTCOM J7 DC24V Connection of electromagnetic relay +24VEX Electromagnetic relay coil

http://www.adtechcn.com 35 When expand the current with an external relay, a NO relay must be used, as shown in the figure below J7 +24VEX OUT18 OUT19 OUT20 OUT21 OUT22 OUT23 OUT24 OUT25 OUT26 OUT27 OUT28 OUT29 OUTCOM Current expansion connection of electromagnetic relay DC24V High-current electrical equipment Electromagnetic relay coil External VCC power supply External GND power supply

http://www.adtechcn.com 36 Figure below shows the way the output port of the solid-state relay is connected. Pay attention to the polarity of the control terminal of the solid-state relay. J7 +24VEX OUT18 OUT19 OUT20 OUT21 OUT22 OUT23 OUT24 OUT25 OUT26 OUT27 OUT28 OUT29 OUTCOM Solid state relay connection DC24V Solid state relay + - INPUT LOAD

http://www.adtechcn.com 37 3.6. Electrical specifications ➢ Digital input Input channel: 42-channel, all opto-isolated Servo alarm input channel (25-pin DB port): 1 channel for each axis, opto- isolated Input voltage: DC12-24V High level: >4.5V Low level: <1.0V Isolation voltage: 2,500V DC ➢ Digital output Output channel: 24-channel, all opto-isolated Servo enable output channel (25-pin DB port): 1 channel for each axis, opto- isolated Alarm clear output channel (25-pin DB port): 1 channel for each axis, opto- isolated Output type: NPN open collector 12-24V DC; the single-channel maximum output current of common output port 1A, and single-channel maximum output current of 25-pin DB port is 50 mA ➢ Count input Channel: 4/6/8 AB-phase encoder input, all opto-isolated Maximum counting frequency: 4MHz Input voltage: 5V High level: >4.5V Low level: <1.0V Isolation voltage: 2500V DC ➢ Pulse output Channel: 4/6/8-axis pulse, 4/6/8-axis direction, all opto-isolated Maximum pulse frequency: 5MHz Output type: 5V differential output Output mode: pulse + direction, double pulse, 90 ° phase difference two-phase pulse

http://www.adtechcn.com 38 3.7. Work environment ➢ Working temperature 0 ~ 60°C ➢ Storage temperature -20 ~ 80°C ➢ Working humidity 20% ~ 95% ➢ Storage humidity 0% ~ 95%

http://www.adtechcn.com 39 Chapter 4 Basic Debugging The 09 series motion control card also provides users with a variety of platform sample applications such as VC/VB/C# with open source, which can either be available for debugging by users in field, or be used as development reference for programmers. The user interface and operation of sample application under each platform are essentially the same. The basic debugging process of the 09 Series 8-axis Motion Control Card is described below by taking the VC sample application as an example to. After locating the VC sample program DEMO09.exe, right click to choose “Run as administrator”. After locating the VC sample program DEMO09.exe, right click to choose “Run as administrator”. The main interface preview is shown below.

http://www.adtechcn.com 40 Tips During the debugging process, please temporarily disconnect the control card and the terminal block from the load if there’s no special requirement. After the offline debugging, and make sure that the peripheral parameters are set correctly, restore the connection between the control card, the terminal block and the load. In case that drive control is required, run it at low speed first then high to prevent device fault or damage due to operational errors during debugging. 4.1. Establishing a communication The communication between the PC and the control card can be the initialization of the control card, which can be established by debugging the control card initialization of the software. You can try to establish communication between the PC and the 09 series motion control card by clicking the "Control Card Initialization" button in the upper right corner. The user interface will change as follows if the communication is successfully established.

http://www.adtechcn.com 41 1) Completion of control card basic information. For example, the control card index can be used, that is, the front dial switch number of the control card will be listed in the drop-down box control; the version information of control card is used as the basis for the control card program upgrade, and will be displayed under the available control card index. 2) The system will get the number of available axes of the current control card as per the card number, while allocate the controllable axis number data control. Taking the basic parameter property page as an example. The No. 0 control card (i.e., the current index of the control card) is the 09 series 8-axis motion control card, and the property page will intelligently disable the No. 9 ~ 12 axis, and will intelligently read the emergency stop signal mode of current control card, as well as the default basic parameter of axis 1 ~ 8, which will be displayed in the corresponding parameter drop-down box control. The remaining property pages will also open 1 ~ 8 axis data control and read default parameters for them or provide default settings for controllable parameters. If the communication between the PC and the control card is failed to be established, the software will then identify different exception and give the error messages. There are many causes for the failure of communication establishment. For details of the problems and solutions, please refer to 5.2 Control card initialization failure in appendix. For example, error prompt interface as follows will appear if the motion control card is not recognized.

http://www.adtechcn.com 42 4.2. Basic parameters Basic parameters are defined as, when the motion control card is connected to the peripheral device, the control card should be configured accordingly to ensure the normal execution of the control function based on the actual configuration of the peripheral device. After the communication is successfully established, the basic configuration of the 09 Series Motion Control Card is mainly embodied in the property page “Basic Configuration”, which covers the pulse mode, programming mode, pulse equivalent, hardware positive/negative limit mode and active level, mechanical origin (STOP0) signal mode, encoder Z-phase (STOP1) signal mode, ES signal mode, etc. ➢ Pulse mode It includes the pulse + direction mode, double pulse mode, and analog encoder AB-phase mode. In this mode, the pulse logic and direction output signal of pulse signal can be set. These parameters, dependent on the actual parameter settings of the peripherals. Only they match with peripheral parameters, can the drive control be made in right accuracy and consistent direction. ➢ Programming mode Generally, there are two programming modes for each axis of the control card, one is mm unit programming mode based on the pulse equivalent, and the other is pulse-based unit system programming mode. The difference between the two programming modes lies in the counting unit (mm or pulse) of the specified target position parameter when driving control. The mm-based programming mode is more convenient for device development and debugging. It is defaulted as mm unit-based programming mode. ➢ Pulse equivalent When the programming mode of the axis is mm unit-based pulse equivalent, this parameter will determine that 1mm=x pulse. By default, 1mm = 1000pulse, and this parameter depends on the pulse subdivision parameter settings of the peripheral. A matched pulse equivalent setting should be used so as to guarantee the accurate drive position. ➢ Limit mode The limit mode here refers to the hardware limit mode. Whether it is enabled and the active level are rested with the wiring method and process requirements of the

http://www.adtechcn.com 43 positive/negative limit sensors or other signal components at both ends of the corresponding module. ➢ STOP0 mode The STOP0 mode sets the working mode of the STOP0 signal sensor or other types of signal components after the device homing. If the device is wished to stop driving at this signal after homing, it can then be set to be valid, and the active level as per the wiring form. In general, this signal mode is enabled mostly to multiplex the STOP0 signal as a hardware limit signal in a direction after homing. It is defaulted as invalid. ➢ STOP1 mode The encoder Z-phase signal is only used for high-precision homing or universal input signals of the device, and is usually set to be invalid after homing is done. It is defaulted as invalid, and default setting can be used. After the communication is successfully done, the default value of the basic parameter attribute is the current actual configuration that is read from the control card and each axis, and that is also the default configuration of the control card and each axis. In this mode, only the non-debugging stage of the control card function verification will be performed, that is, the control card will not be connected to the peripheral during trial stage. Do not change the default setting of the control card at this time. By default, the positive/negative limit low level is active, the mechanical origin (STOP0) and the encoder Z-phase (STOP1) signal are invalid, and the emergency stop signal is invalid for 09 Series Motion Control Card. Since the above signal terminals of the 09 Series Control Card are in the h l state by default (can be observed from the property page “4.3 IO control”). If the following settings are made when an original card is used, the configuration axis drive may be abnormal (observed in the "Stop Information" in the "Axis Information Monitoring" interface): 1) Positive/negative limit active high 2) STOP0/STOP1 active high 3) Emergency stop signal active high

http://www.adtechcn.com 44 4.3. IO control When the device is normally driven, it is necessary to strictly check whether the I/O ports of the device are normal, especially before homing. If the signal is abnormal, it may cause abnormal conditions when the device is driven, or even a collision. The IO monitoring window of the current control card can be found on the property page "IO Control". Take the 4-axis motion control card as an example. This panel monitors all input/output states of the ADT-09 motion control card in real time. It is necessary to verify hardware input signals of the "Function Port" panel one by one, including hardware positive/negative limit, STOP0 and so on. In the case of wiring support, the encoder Z-phase signal ECZ-(STOP1) and the servo alarm signal must also be verified. Also, the servo alarm clear port and servo enable port of each axis can be verified one by one.

http://www.adtechcn.com 45 4.4. Axis information monitoring Open the axis drive status monitoring window by pressing the "Axis Information Monitoring" button in the lower right corner of the sample application. The panel monitors the logical position, actual position, current speed, drive status, stop information and target position information of all axes available of the current control card. It also offers convenient monitoring of critical hardware signals for the debugging process. Meanwhile, the panel offers information such as the current speed, drive status, interpolation margin, etc. of the interpolation axis of 09 Series Motion Control Card. By opening the panel, the following basic debugging operations can be done easily.

http://www.adtechcn.com 46 4.5. Multi-axis motion The panel offers basic drive for each axis, including PT drive, continuous drive, and so on. The data unit such as the speed, acceleration and deceleration, and target location of the driver is determined by the settings of the "Programming Mode" attribute in "Basic Parameters". When the programming mode of the axis is pulse equivalent based, the data unit of speed and location in the panel is expressed in mm, mm/s or mm/s²; when the pulse mode of the axis is pulse-based, the data unit of speed and location in the panel is in pulse, pulse/s, and pulse/s². In the position mode, the relative position is the displacement of the target position relative to the current location, and the absolute position is the target position is a displacement point in relative to 0 in coordinate position. To verify the asymmetric acceleration/deceleration effect, you can enable the deceleration setting by checking the attribute “Deceleration”. If the default speed and position parameters are inappropriate, just make appropriate adjustment. After the parameter configuration is confirmed, drive the selected axis by performing "Linkage Forward" or "Linkage Reverse". Drive information can be viewed through the “Axis Information Monitoring” panel. The effect is shown as follows.

http://www.adtechcn.com 47 To verify whether the configuration of the pulse mode, the limit mode, the pulse equivalent, the servo pulse subdivision and other parameters are reasonable and effective, observe the actual driving speed, the stop information when the driving is finished, and the position measurement after the driving is done. The basic debugging of the control card has been verified at this time. Where there is no abnormality found in the above process, the control card hardware is correctly connected and the function is effective. For the rest of the functions, refer to the introduction of other functions in the “09 Series Motion Control Card Programming Manual.pdf” to enable configuration and debugging.

http://www.adtechcn.com 48 Chapter 5 Appendixes 5.1. Common problems for driver installation 5.1.1. The control card cannot be detected and the driver cannot be installed normally In the process of using the control card, if the control card is not detected, you can make troubleshooting by following the method below: 1) Check if the MB driver of the operating system is installed properly before inserting the control card into the PCI slot. When the motherboard driver is not installed properly, the device manager will prompt that the "Other PCI Bridge Device" device runs abnormal, which may vary depending on the system version. 2) Check that the board and slot are in good contact. When the control card is powered on, a RED indicator will light on the front of the board. If the board is powered on improperly, or the system still cannot detect the board after normal power-on, it is then recommended to shut down and take out board, and clear the dirt on gold finger of the control card with eraser, clean the PCI slot or replace other available PCI slots, and finally reinstall the board. 3) Check to see if the operating system version matches the system version supported by the driver, and that the control card model is compatible with the driver model. 4) Some IPCs may conflict with other hardware due to PCI load limitations or constraints imposed by other hardware. It is recommended to shut down,

http://www.adtechcn.com 49 and remove sound card, network card, etc., to ensure that the board is properly tightened and installed. Then, restart it for verification. 5) If you check as per the above steps and the system still cannot detect the board, try to seek for technical support or consult us to ask for replacing the board. 5.2. Control card initialization failure There are many reasons for the initialization failure of control card. The problem description and recommended solutions are listed below. 5.2.1. WinIO initialization failed, Error Code 9 Possible cause Run the sample application not as an administrator Solution 1. Close the sample application currently run by right clicking and choose to Run as administrator”. 2. Close the sample application currently run by right clicking Properties --> Compatibility --> Privilege Level, and run this program as an administrator. 3. Upgrade the current user system level to the administrator 5.2.2. PCI bridge failed, Error Code 10 Possible cause 1. The PCI bridge is in poor contact with the board, and the PCI slot needs to be cleared or partially damaged. Solution 1. Shut down and take out the control card; clean the PCI slot, and clear the

http://www.adtechcn.com 50 gold finger with eraser. Reinstall it. 2. Shut down, clear the card gold finger with eraser, and replace with other available PCI slots. 5.2.3. DIP switch repeated, Error Code 13 Possible cause 1. When multiple motion control cards of the same series are used, the DIP switch is repeated. Solution 1. Close the sample application, dial the DIP switches of multiple control cards to different gears, and restart the sample program. 5.2.4. Motion Control Card Not Detected, Error Code 14 The motion control card not detected as mentioned here is only considered in the case where the control card has been properly assembled and the device manager has detected the motion control card of the specified model. Possible cause 1. The control card driver is not installed properly. 2. Run the sample application not as an administrator. Recommended solution 1. Uninstall and reinstall the motion control card driver. When uninstalling, locate the specified control card device through the device manager. Then right click and uninstall it. 2. Refer to 5.2.1 WinIO initialization failed, Error Code 9 for details. 3. For WIN7 and above system, Control Panel --> User Account and Family Safety--> Change User Account Settings Message to "Never Notify" 4. Uninstall the control card driver and restart the PC. Enter the Advanced Setup option by pressing F8 when booting; then select "Disable driver signature enforcement" before entering the system, reinstall the driver, and run the sample application as administrator

http://www.adtechcn.com 51 5.3. Common servo wiring diagram Following general recommendations are put forward before the servo driver is connected to the 25-pin DB port of the terminal box. 1) It is recommended to use an external 24V DC power supply for servo drive to minimize interference that may occur on the control card power supply system while the servo drive is running. 2) The encoder signal, pulse signal, and direction signal are differential signals. Please use a twisted-pair connection. 3) When the pulse frequency is 0 ~ 500 Kpps, command pulse input applies the optocoupler input mode usually; when the pulse frequency is 0 ~ 4Mpps, the command pulse input uses private input mode of the long-distance driver. When the pulse frequency requirement is below 500 Kpps, the optocoupler input mode is recommended. Different command pulse input modes correspond to different pulse direction signal input terminals of the driver. Please refer to the corresponding driver instructions for details. 4) The control card end uses the differential pulse work mode. The driver- side GND pin (specific terminal number depends on different driver models) needs to be directly connected to the terminal box DB pin 13 GND to maximize the shielding of differential signal interference.

http://www.adtechcn.com 52 5.3.1. QX Series Servo Drive by Adtech 25-pin DB connector Pin Definitions Driver CN1 Pin Definitions PIN PIN Pin Definitions 1 +24V GND 2 IN0 3 OUT1 17 ECA+ 4 ECA- 18 ECB+ 5 ECB- 19 ECZ+ 6 ECZ- 9 DR+ 22 DR- 23 PU+ 11 PU- 13 +5V GND 14 +24V VCC 15 OUT0 24 OUT-COM 25 OUT-COM 39 ALM 37 SRV-ON 3 OA+ 4 OA- 5 OB+ 6 OB- 7 OZ+ 8 OZ- 16 DR+ 15 DR- 14 PU+ 13 PU- 23 +5V GND 50 COM+ 36 A-CLR Pulse frequency is 0 ~ 500Kpps PE Driver CN1 Pin Definitions PIN 24 OUT-COM 25 OUT-COM 39 ALM 37 SRV-ON 3 OA+ 4 OA- 5 OB+ 6 OB- 7 OZ+ 8 OZ- 26 DR+ 27 DR- 28 PU+ 29 PU- 23 +5V GND 50 COM+ 36 A-CLR Pulse frequency is 0 ~ 4Mpps Note 1) When the pulse frequency is 0~500Kpps, the driver CN1 terminals DR+, DR-, PU+, PU- correspond to terminals 16, 15, 14,13, respectively; 2) when the pulse frequency is 0 ~ 4Mpps, the driver CN1 terminals DR+, DR-, PU+, PU- correspond to the terminals 26, 27, 28, 29, respectively.

http://www.adtechcn.com 53 5.3.2. A5/A6 series servo driver by Panasonic 25-pin DB connector Pin Definitions Driver CN1 Pin Definitions PIN PIN Pin Definitions 1 +24V GND 2 IN0 3 OUT1 17 ECA+ 4 ECA- 18 ECB+ 5 ECB- 19 ECZ+ 6 ECZ- 9 DR+ 22 DR- 23 PU+ 11 PU- 13 +5V GND 14 +24V VCC 15 OUT0 36 ALM- 41 OUT-COM 37 ALM+ 29 SRV-ON 21 OA+ 22 OA- 48 OB+ 49 OB- 23 OZ+ 24 OZ- 5 SIGN1 6 SIGN2 3 PULS1 4 PULS2 13 GND 7 COM+ 37 A-CLR Pulse frequency is 0 ~ 500Kpps PE Driver CN1 Pin Definitions PIN Pulse frequency is 0 ~ 4Mpps 36 ALM- 41 OUT-COM 37 ALM+ 29 SRV-ON 21 OA+ 22 OA- 48 OB+ 49 OB- 23 OZ+ 24 OZ- 47 SIGNH2 46 SIGNH1 45 PULSH2 44 PULSH1 13 GND 7 COM+ 37 A-CLR Note * 1) When the pulse frequency is 0~500Kpps, the CN1 terminals SIGN1, SIGN2, PULS1, and PULS2 of the driver correspond to terminals 5, 6, 3, and 4, respectively, that is, the command pulse input mode is the optocoupler input (Pr0.05=0); 2) when the pulse frequency is 0 ~ 4 Mpps, the CN1 terminals SIGN1, SIGN2, PULS1, and PULS2 of the driver correspond to terminals 46, 47, 44, and 45, respectively, that is, the command pulse input is a dedicated input for the long-distance driver (Pr0.05=1).

http://www.adtechcn.com 54 5.3.3. MR-J4 series servo driver by Mitsubishi 25-pin DB connector Pin Definitions Driver CN1 Pin Definitions PIN PIN Pin Definitions 1 +24V GND 2 IN0 3 OUT1 17 ECA+ 4 ECA- 18 ECB+ 5 ECB- 19 ECZ+ 6 ECZ- 9 DR+ 22 DR- 23 PU+ 11 PU- 13 +5V GND 14 +24V VCC 15 OUT0 46\47 COM- 42 EMG 48 ALM 15 SRV-ON 4 OA+ 5 OA- 6 OB+ 7 OB- 8 OZ+ 9 OZ- 35 SING1 36 SING2 10 PULS1 11 PULS2 3 +5V GND 20\21 COM+ 19 A-CLR PE

http://www.adtechcn.com 55 5.4. Wiring instructions for ADT-8969G1 with ADT-9170 terminal block 5.4.1. 25-pin DB port definition Refer to 3.1.1 25-pin DB port definition for the definition of ADT-9170 25-pin DB port. 5.4.2. Definitions of J2/J3/J4/J5 input ports Pin No. Pin definitions Function 1 IN6/XLT+ X positive limit signal, can be used as general input 2 IN7/XLT- X negative limit signal, can be used as general input 3 IN8/YLT+ Y positive limit signal, can be used as general input 4 IN9/YLT- Y negative limit signal, can be used as general input 5 IN10/ZLT+ Z positive limit signal, can be used as general input 6 IN11/ZLT- Z negative limit signal, can be used as general input 7 IN12/ALT+ A positive limit signal, can be used as general input 8 IN13/ALT- A negative limit signal, can be used as general input 9 IN14/BLT+ B positive limit signal, can be used as general input 10 IN15/BLT- B negative limit signal, can be used as general input 11 IN16/CLT+ C positive limit signal, can be used as general input 12 IN17/CLT- C negative limit signal, can be used as general input 13 IN18/XHM X home signal (STOP0), can be used as general input 14 IN19/YHM Y home signal (STOP0), can be used as general input 15 IN20/ZHM Z home signal (STOP0), can be used as general input 16 IN21/AHM A home signal (STOP0), can be used as general input 17 IN22/BHM B home signal (STOP0), can be used as general input 18 IN23/CHM C home signal (STOP0), can be used as general input 19 IN24/EMGN Emergency stop signal, can be used as general input 20 IN25 General input 21 IN26 General input

http://www.adtechcn.com 56 22 IN27 General input 23 IN28 General input 24 IN29 General input 25 IN30 General input 26 IN31 General input 27 IN32 General input 28 IN33 General input 29 IN34 General input 30 IN35 General input 31 IN36 General input 32 IN37 General input 33 IN38 General input 34 IN39 General input 35 IN40 General input 36 IN41 General input 37 +24V GND 24V power grounding 38 +24V VCC +24V power output (can’t be connected to external 24V+) Note: Both digital input and output signals are active low. 5.4.3. Definitions of J6/J7/J8 output ports Pin No. Pin definitions Function 1 OUT12 Output control signal, opto-isolated output, active low 2 OUT13 Output control signal, opto-isolated output, active low 3 OUT14 Output control signal, opto-isolated output, active low 4 OUT15 Output control signal, opto-isolated output, active low 5 OUT16 Output control signal, opto-isolated output, active low 6 OUT17 Output control signal, opto-isolated output, active low 7 OUT18 Output control signal, opto-isolated output, active low

http://www.adtechcn.com 57 8 OUT19 Output control signal, opto-isolated output, active low 9 OUT20 Output control signal, opto-isolated output, active low 10 OUT21 Output control signal, opto-isolated output, active low 11 OUT22 Output control signal, opto-isolated output, active low 12 OUT23 Output control signal, opto-isolated output, active low 13 OUT24 Output control signal, opto-isolated output, active low 14 OUT25 Output control signal, opto-isolated output, active low 15 OUT26 Output control signal, opto-isolated output, active low 16 OUT27 Output control signal, opto-isolated output, active low 17 OUT28 Output control signal, opto-isolated output, active low 18 OUT29 Output control signal, opto-isolated output, active low 19 OUT30 Output control signal, opto-isolated output, active low 20 OUT31 Output control signal, opto-isolated output, active low 21 OUT32 Output control signal, opto-isolated output, active low 22 OUT33 Output control signal, opto-isolated output, active low 23 OUT34 Output control signal, opto-isolated output, active low 24 OUT35 Output control signal, opto-isolated output, active low 25 OUT36 Output control signal, opto-isolated output, active low 26 OUT37 Output control signal, opto-isolated output, active low 27 OUT38 Output control signal, opto-isolated output, active low 28 OUT39 Output control signal, opto-isolated output, active low 29 +24V GND 24V power grounding 30 +24V VCC +24V power output (can’t be connected to external 24V+) 5.4.4. J9 DA port definition Pin No. Pin definitions Function 1 DA1 DA1 output, 0 ~ 10 V output 2 DA2 DA2 output, 0 ~ 10 V output 3 GND DA output signal ground (2-channel common-ground)

http://www.adtechcn.com 58 5.5. Wiring instructions of ADT-8949G1 with ADT-9192 terminal block 5.5.1. Definition of 25-pin DB port Refer to 3.1.1 Definition of 25-pin DB port for the definition of ADT-9192 25- pin DB port. 5.5.2. Signal definition of J2 interface: 34-bit double dislocation terminal wiring is defined as below 1 IN4/XLT+ X positive limit signal, can be used as general input 2 IN5/XLT- X negative limit signal, can be used as general input 3 IN6/YLT+ Y positive limit signal, can be used as general input 4 IN7/YLT- Y negative limit signal, can be used as general input 5 IN8/ZLT+ Z positive limit signal, can be used as general input 6 IN9/ZLT- Z negative limit signal, can be used as general input 7 IN10/ALT+ A positive limit signal, can be used as general input 8 IN11/ALT- A negative limit signal, can be used as general input 9 IN12/XHM X home signal (STOP0), can be used as general input 10 IN13/YHM Y home signal (STOP0), can be used as general input 11 IN14/ZHM Z home signal (STOP0), can be used as general input 12 IN15/AHM A home signal (STOP0), can be used as general input 13 IN16/EMGN Emergency stop signal, can be used as general input 14 IN17 General input 15 IN18 General input 16 IN19 General input 17 IN20 General input 18 IN21 General input 19 IN22 General input 20 IN23 General input 21 IN24 General input 22 IN25 General input 23 IN26 General input 24 IN27 General input 25 IN28 General input

http://www.adtechcn.com 59 26 IN29 General input 27 IN30 General input 28 IN31 General input 29 IN32/EXTX+ X manual forward rotation signal, can be used as general input 30 IN33/EXTX- X manual reverse rotation signal, can be used as general input 31 IN34/EXTY+ Y manual forward rotation signal, can be used as general input 32 IN35/EXTY- Y manual reverse rotation signal, can be used as general input 33 EXT_+24V GND 24V power grounding 34 EXT_+24V VCC +24V power output (can’t be connected to external 24V+) Note: Both digital input and output signals are active low. 5.5.3. J3 interface signal definition 26-bit double dislocation terminal wiring is defined as below Wire No. Name Function 1 EXT_OUT8 Output control signal, opto-isolated output, active low 2 EXT_OUT9 Output control signal, opto-isolated output, active low 3 EXT_OUT10 Output control signal, opto-isolated output, active low 4 EXT_OUT11 Output control signal, opto-isolated output, active low 5 EXT_OUT12 Output control signal, opto-isolated output, active low 6 EXT_OUT13 Output control signal, opto-isolated output, active low 7 EXT_OUT14 Output control signal, opto-isolated output, active low 8 EXT_OUT15 Output control signal, opto-isolated output, active low 9 EXT_OUT16 Output control signal, opto-isolated output, active low 10 EXT_OUT17 Output control signal, opto-isolated output, active low 11 EXT_OUT18 Output control signal, opto-isolated output, active low 12 EXT_OUT19 Output control signal, opto-isolated output, active low 13 EXT_OUT20 Output control signal, opto-isolated output, active low

http://www.adtechcn.com 60 14 EXT_OUT21 Output control signal, opto-isolated output, active low 15 EXT_OUT22 Output control signal, opto-isolated output, active low 16 EXT_OUT23 Output control signal, opto-isolated output, active low 17 EXT_OUT24 Output control signal, opto-isolated output, active low 18 EXT_OUT25 Output control signal, opto-isolated output, active low 19 EXT_OUT26 Output control signal, opto-isolated output, active low 20 EXT_OUT27 Output control signal, opto-isolated output, active low 21 EXT_OUT28 Output control signal, opto-isolated output, active low 22 EXT_OUT29 Output control signal, opto-isolated output, active low 23 EXT_OUT30 Output control signal, opto-isolated output, active low 24 EXT_OUT31 Output control signal, opto-isolated output, active low 25 EXT_+24V GND 24V power grounding 26 EXT_+24V VCC +24V power output (can’t be connected to external 24V+)

http://www.adtechcn.com 61 5.6. Precautions ◆ Transport and storage: ➢ Do not stack product package more than six layers; ➢ Do not climb, stand on or place heavy stuff on the product package; ➢ Do not pull the cable still connecting with machine to move product. ➢ Forbid impact and scratch on the panel and display; ➢ Prevent the product package from humidity, sun exposure, and rain. ◆ Open-box inspection: ➢ Open the package to confirm the product to be purchased by you. ➢ Check damages situation after transportation; ➢ Confirm the integrity of parts comparing with the parts list or damages situation; ➢ Contact our company promptly for discrepant models, shortage accessories, or transport damages. ◆ Wiring ➢ Ensure the persons involved into wiring and inspecting are specialized staff; ➢ Guarantee the product is grounded with less than 4Ω grounding resistance. Do not use neutral line (N) to substitute earth wire. ➢ Ensure grounding to be correct and solid, in order to avoid product failures or unexpected consequences; ➢ Connect the surge absorption diodes to the product in the required direction, otherwise, the product will be damaged; ➢ Ensure the power switch is OFF before inserting or removing plug, or disassembling chassis. ◆ Overhauling ➢ Ensure the power is OFF before overhauling or components replacement; ➢ Make sure to check failures after short circuit or overloading, and then restart the machine after troubleshooting ➢ Do not allow to frequently connect and disconnect the power,

http://www.adtechcn.com 62 and at least one minute interval between power-on and power- off. ◆ Miscellaneous ➢ Do not open housing without permission; ➢ Keep power OFF if not in use for a long time; ➢ Pay close attention to keep dust and ferrous powder away from control; ➢ Fix freewheel diode on relay coil in parallel if non-solid state relay is used as output relay. Check whether power supply meets the requirement to ensure not burning the control. ➢ Install cooling fan if processing field is in high temperature, due to close relationship between service life of the control and environmental temperature. Keep proper operative temperature range for the control: 0℃ ~ 60℃. ➢ Avoid using the product in the overheating, humid, dusty, or corrosive environments; ➢ Add rubber rails as cushion on the place with strong vibration. ◆ Maintenance Please implement routine inspection and regular check upon the following items, under the general usage conditions (i.e. environmental condition: daily average 30℃, load rate: 80%, and operating rate: 12 hours/ day) Routine Inspection Routine ● Confirm environmental temperature, humidity, dust, or foreign objects. ● Confirm abnormal vibration and noise; ● Check whether vents are blocked by yarn etc. Regular Check One year ● Check whether solid components are loose ● Confirm whether terminal block is damaged

http://www.adtechcn.com 63 5.7. Document versions Version No. Revised date 1.0 6/11/2019