ADLINK cPCI-8168 6U CompactPCI Eight Axis Motion Control Card

Product Overview

1. Hardware specifications and bus standards

CPCI-8168 is a 6U size, 32-bit CompactPCI (PICMG 2.0 Rev2.1) industrial motion control card that supports 8-axis stepper/servo motors on a single card and has one onboard HSL high-speed remote I/O network; Compliant with RoHS environmental standards, supports hot plug and play, with up to 6 cards inserted into one set of cPCI chassis, and can expand up to 48 axis motion control.

2. Core positioning

Targeting high-precision multi axis automation equipment, this integrated motion acquisition solution combines pulse motion control, incremental encoder feedback, isolated digital IO, analog AD/DA acquisition, and distributed HSL remote IO.

Core hardware functions and performance parameters

（1） Core ability of motion pulse control

pulse output

Output frequency range: 0.01pps~6.5MHz, maximum acceleration 245Mpps ²

Three pulse modes to choose from: pulse+direction (OUT/DIR), forward/reverse (CW/CCW), AB orthogonal phase

Compatible devices: stepper motor, AC/DC servo, linear/rotary servo motor

Interpolation motion (hardware acceleration, reducing CPU load)

Linear interpolation: 2-4 axis synchronized linear trajectory

Arc interpolation: 2-axis planar arc

Support multi axis continuous and uninterrupted interpolation operation

Speed curve: trapezoidal T-shaped and S-shaped smooth acceleration and deceleration (suppressing mechanical resonance), with programmable acceleration and deceleration time software

Dynamic control characteristics

Real time modification of speed and target position during exercise (online variable speed and pitch)

Multi axis synchronous start/stop

High speed position comparison+hardware triggered output (cam function)

Zero Return to Origin: Built in 13 types of zero return logic, including automatic search for origin mode

Encoder feedback

Each axis has an independent 28 bit up and down counter, with a positioning range of -134217728~+134217727 pulses

Supports 4th harmonic AB phase incremental encoder, with a maximum input rate of 6.55MHz

Differential signal input, strong anti-interference, matching index (EZ) origin marking signal

（2） Isolated digital I/O (full channel 2500Vrms optoelectronic isolation)

Universal DI: 8-way isolated input, 0~24V input, input impedance 2.4k Ω

Universal DO: 8-way NPN Darlington collector open circuit output, withstand voltage 5-35V, single channel current 90mA

Each axis dedicated servo signal: limit (± EL), origin (ORG), servo ready (RDY), servo alarm (ALM), in place (INP), error clearing (ERC), servo enable (SVON), position comparison trigger (CMP)

（3） Analog quantity acquisition (AD/DA)

AD input (12 bit, LTC1402)

4-channel single ended, ± 10V bipolar range

Conversion cycle of 8 μ s, maximum sampling rate of 110kSPS, accuracy of 0.01% FSR ± 1LSB, supporting ± 35V overvoltage protection

DA output (16 bit, AD1866R)

4-channel single ended, ± 10V bipolar range

Establishment time is only 2 μ s (-10V) ↔+ 10V full range switching)

（4） HSL high-speed distributed I/O (onboard RJ45 interface)

Physical layer: Shielding 100Mbps Ethernet cable, transformer isolation differential RS485 full duplex

Transmission rate of 6Mbps, with a maximum of 63 remote slave modules mounted on a single bus

Scanning performance: Only 30.4 μ s per slave refresh, global high-speed scanning of 1000 points per second

Function: Implement centralized motion control+distributed remote IO expansion, reduce control cabinet wiring

（5） Interruption and hardware monitoring

Programmable interrupt source: hardware events such as limit triggering, servo alarm, zeroing completion, end of single axis motion, position comparison triggering, etc

Onboard LED indicator light: motion chip busy status, HSL bus communication fault alarm

（6） 68 pin VHDCI external interface pin definition

A single card uses one 68 pin VHDCI to externally output all 8-axis pulses, encoders, limits, servo signals, universal DI/DO, AD/DA, 24V power supply. The document fully lists all power supplies, differential pulses, feedback, analog quantities, and ground wire allocation for pins 1 to 68.

Matching terminal board and cable (ordering model)

1. Main card: cPCI-8168 (8-axis motion card body)

2. Terminal adapter board (compatible with different servo brands)

DIN-68S-01: Universal DIN rail 68 pin SCSI terminal board

DIN-68M-J3A0: Mitsubishi MR-J3 servo specific terminal board

DIN-68M-J2A0: Mitsubishi MR-J2S servo specific terminal board

DIN-68Y-SGII0: Yaskawa Sigma II servo specific terminal board

DIN-68P-A40: Panasonic MINAS A4 servo specific terminal board

3. Connection cable: ACL-10568 (68 pin shielded cable)

Software development support

1. Operating system compatibility

Windows 2000/XP/Vista 32-bit, currently does not support DOS, Linux

2. Development environment

Supports VB, VC++, BCB, Delphi, and provides a complete source code routine library

3. API Function Library

400+thread safe underlying APIs, covering full functions such as axis initialization, pulse output, interpolation motion, origin, encoder reading, AD/DA read-write, HSL bus, interrupt configuration, electronic cam, etc., supporting customer customized encapsulated functions.

4. MotionCreator ™  debugging tool

A graphical upper level debugging software that can be completed without writing code:

Troubleshooting of Cable Wiring Malfunctions

Axis parameters, limit, servo IO configuration

HSL Remote IO Bus Test

Single axis/multi axis motion simulation debugging

Significantly shorten the early debugging cycle of equipment

Typical application industries

Semiconductor front-end and back-end process equipment

TFT/LCD LCD panel manufacturing equipment

Electronic assembly and automated testing equipment

AOI automatic optical inspection equipment

Glue dispensing, cutting, and carving processing equipment

Military aviation/vehicle simulation simulator