MPC3034A

4-Axis Motion Control Card

User’s Manual (V1.3)

健昇科技股份有限公司

JS AUTOMATION CORP.

新北市汐止區中興路 100 號 6 樓
6F., No.100, Zhongxing Rd.,
Xizhi Dist., New Taipei City, Taiwan
TEL：+886-2-2647-6936
FAX：+886-2-2647-6940
http://www.automation.com.tw
E-mail：control.cards@automation.com.tw
 Correction record
Version Record
1.0 MPC3034A compatible with old version MPC3034
1.1 1. Modify Notes on hardware installation
2. Add Warranty
3. Change orientation of JF1 and JF2 connector (chapt. 5.1)
4. Add specifications to each input and output (chapt. 6)
1.2 Modify ADP3024DIN Layout and dimension (chapt. 4.2)
1.3 Modify Ordering information (chapt. 11)

1
 Contents
1. Forward ............................................................................................................................................ 5
2. Features ............................................................................................................................................. 6
2.1 Main card ................................................................................................................................... 6
2.2 DIN rail mounted wiring board ................................................................................................. 6
3. Specifications .................................................................................................................................... 7
3.1 MPC3034A Main card ............................................................................................................... 7
3.2 DIN rail mounted wiring board ................................................................................................. 8
4. Layout and dimension ..................................................................................................................... 9
4.1 MPC3034A Main card ............................................................................................................... 9
4.2 ADP3024DIN for JF1,2 DIN rail mounted wiring board .......................................................... 9
4.3 JS51050 for JM3 25PM DIN rail mounted dummy wiring board ........................................... 10
5. Pin definitions................................................................................................................................. 11
5.1 JF1,JF2 Assignment / Definitions ............................................................................................ 11
5.2 JM1,JM2 Assignment / Definitions ......................................................................................... 13
5.3 JM3 Assignment / Definitions ................................................................................................. 13
6. I/O interface diagram .................................................................................................................... 14
6.1 JF1/2 ADP3024DIN ................................................................................................................ 14
6.2 JM3 JS51050............................................................................................................................ 17
7. External wiring diagram ............................................................................................................... 18
8. Hardware settings .......................................................................................................................... 19
8.1 Card ID setting ......................................................................................................................... 19
8.2 Polarity setting for over-travel limit switch ............................................................................. 19
8.3 JP1 Jumper setting ................................................................................................................... 19
9. Applications .................................................................................................................................... 20
10. Wiring diagram examples (pulse mode control) ......................................................................... 21
10.1 The wiring diagram for MPC3034A wiring board to panasonic MINAS-A driver ................. 21
10.2 The wiring diagram for MPC3034A wiring board to panasonic MINAS MSD*** driver ..... 21
10.3 The wiring diagram for MPC3034A wiring board to ESD servo driver ................................. 22
10.4 The wiring diagram for MPC3034A wiring board to Moda servo driver................................ 22
10.5 The wiring diagram for MPC3034A wiring board to YASKAWA servo driver ...................... 23
10.6 The wiring diagram for MPC3034A wiring board to Mokon / YPV servo driver .................. 23
10.7 The wiring diagram for MPC3034A wiring board to Mokon / YJD servo driver ................... 24
10.8 The wiring diagram for MPC3034A wiring board to MITSUBISHI J2-SUPER servo driver 25
10.9 The wiring diagram for MPC3034A wiring board to YAMAHA SRCP servo driver ............. 25
10.10 The wiring diagram for MPC3034A wiring board to Delta ASDA-B servo driver........... 26
10.11 The wiring diagram for MPC3034A wiring board to Delta ASDA-B2 servo driver......... 26
11. Ordering information .................................................................................................................... 27

2
 Notes on hardware installation

Please follow step by step as you are installing the control cards.

1. Be sure your system is power off.

2. Be sure your external power supply for the wiring board is power off.
3. Plug your control card in slot, and make sure the golden fingers are put in right contacts.
4. Fasten the screw to fix the card.
5. Connect the cable between the card and wiring board.
6. Connect the external power supply for the wiring board.
7. Recheck everything is OK before system power on.
8. External power on.

Congratulation! You have it.

For more detail of step by step installation guide, please refer the file
“..\download\Supplemental_technical_data\Step_by_step_installation_of_Contrl_Card.pdf “ on the CD
come with the product or download the complementary documents from
http://www.automation.com.tw/common/Supplemental_technical_data.htm

Warning:
Some computer BIOS has “Auto detect DIMM/PCI clock” option, be sure to switch to
“DISABLE” else in some cases the PCI add on cards will not be detected by windows at cold start.

3
 Warranty
The MPC3034A is warranted against defects in materials and workmanship for a period of two
years from the date of shipment, as evidenced by receipts or serial no. on board. JS automation Corp.
will, at its option, repair or replace product that proves to be defective during the warranty period. This
warranty includes parts, labor and shipping costs of returning.

Except as specified herein, JS automation Corp. makes no warranties, express or implied, and
specifically disclaims any warranty of merchantability or fitness for a particular purpose. Customer’s
right to recover damages caused by fault or negligence on the part of JS automation Corp. shall be
limited to the amount theretofore paid by the customer. JS automation Corp. will not be liable for
damages resulting from loss of data, profits, use of products, or incidental or consequential damages,
even if advised of the possibility thereof. This limitation of the liability of JS automation Corp. will
apply regardless of the form of action, whether in contract or tort, including negligence. Any action
against JS automation Corp. must be brought within one year after the cause of action accrues.

JS automation Corp. shall not be liable for any delay in performance due to causes beyond its
reasonable control. The warranty provided herein does not cover damages, defects, malfunctions, or
service failures caused by owner’s failure to follow the JS automation Corp. installation, operation, or
maintenance instructions; owner’s modification of the product; owner’s abuse, misuse, or negligent acts;
and power failure or surges, fire, flood, accident, actions of third parties, or other events outside
reasonable control.

If any defect occurs, you should email to us as the following form to get the fast response:
Detailed Company Information
Company/Organization:
Contact Person:
E-mail:
Address:
Country:
Tel/Fax:
Web Site:

Product information
product model:
serial no.:
Environment to Use: such as CPU board, Operating System, target application...
description of defect: (as detail as possible)

4
1. Forward
Thank you for your selection of 4 axis motion control card. This card adopt the ASIC chip with
complex motion functions including point to point, linear and circular interpolation, linear and s-curve
acceleration/deceleration and several miscellaneous functions. Dll’s of various functions will save you a
lot of time in the motion related projects.

Our other motion control products:

MPC3024A 4 axes linear/circular/point to point (standard function) motion control card (PCI bus)
MPC3024AC 4-axis linear/circular/point to point (standard function) motion control card with
Pulse referenced PI closed loop control (PCI bus)
MPC3028A 8 axes linear/circular/point to point (standard function) motion control card (PCI bus)
MPC3035A 4 axes linear/circular/point to point (standard function) motion control card with
advanced encoder counter function / with 2 8bit DA’s motion control card (PCI bus)
MPC3035AL 4 axes linear/circular/point to point (standard function) motion control card with
advanced encoder counter function motion control card (PCI bus)
MPC3042A 2 axes linear/circular/point to point (standard function) motion control card with
Pulse Referenced PI Control (PCI bus)
MPC3042AL 2 axes linear/circular/point to point (standard function) motion control card
(PCI bus)

MPC8024 4 axes linear/circular/point to point (standard function) motion control card (PCIe bus)

Any comment is welcome, please visit our website

http://www.automation.com.tw/ for the up to date information.

5
2. Features

2.1 Main card

- 4-axis servo/stepping motor control

- 4 28-bit up/down counter for incremental encoder
- 4 28-bit up/down counter for pulse handler input
- Pulse output rate up to 6.55MHz
- Pulse output options : OUT/DIR,CW/CCW
- 2~4 axes linear interpolation
- Any 2 axes circular interpolation
- S curve or T curve acceleration / deceleration in interpolation and positioning
- Continuous interpolation
- Speed change on the fly
- Synchronized start motion
- Position latch function
- Simultaneously start/stop on multi-axes
- Programmable interrupt conditions
- Backlash compensation
- Pulse handler function
- Software limit switches protection
- 2 nibble configurable digital TTL I/O
- Motion parameters change on the fly
- Matched software FIFO for arbitrary curve motion

2.2 DIN rail mounted wiring board

- JS51050 dummy wiring board for JM3 pulse handler interface

- ADP3024DIN wiring board for JF1,2 motion control interface

6
3. Specifications

3.1 MPC3034A Main card

Motion

- Max pulse rate : 6,553,500 pps

- Pulse output mode : Single phase: CLOCK,DIR
Dual phas : CW, CCW
- Acceleration / Deceleration mode : linear ,S-curve mode
- Homing mode : 14 types
- Encoder up/down counter : 4 28bit counter
- Pulse Handle up/down counter : 4 28 bit counter
- Linear interpolation : any 2 up to 4 axis
- Circular interpolation : any 2 axes

Digital I/O

- Motion specific input : SRDY, ALM, LS+(EL+), LS-(EL-), SD, HOME(ORG),

PCS, LTC per axis , EMG per card
- Motion specific output : CMP, SVON, ERC, FIN per axis
- General input : INP per axis
- TTL I/O : 2 nibble configurable TTL I/O

General

- Card ID : 16 locations set by rotary switch

- Insulation resistance : 100 MΩ (min) at 1000Vdc

- Isolation voltage : 2500Vac 1Min

- PCI bus data width : 32 bits
- Connector : 2 68pin female mini SCSI connector
- External supply : 24Vdc ± 4Vdc
- Operation temperature : 0 to 70° C
- Storage temperature : -20 to 80° C
- Operation humidity : 5~95% RH, non-condensing
- Dimensions : 175(W) * 122(H) mm , 6.9(W)*4.8(H)in

7
3.2 DIN rail mounted wiring board
ADP3024DIN for JF1,2 motion control interface

- Power Requirement : 24Vdc ± 4Vdc

- On Board Build-in s.p.s. : +5Vdc 500mA (max)

- General input : 4 with LED indicator
- Output capacity : 8 NMOS output, 1A continuous、120Vdc(max)
Option : 8 PMOS output, 1A continuous、24Vdc(max)
Option : 8 Relay output, 3A continuous、250Vac(max)

- Differential (pulse) output : 20mA(max), Voh>2.5V, Vol<0.5V

- Connector : 2 68pin mini SCSI female connector for main card connection
- Specific servo control connectors : 4 D-type 26p (1 per axis)
- Operation temperature : 0 to 70° C
- Operation humidity : RH5~95%, non-condensed
- Dimension : ADP3024DIN(N) : 121(W) * 204(L) *47(H)mm;
4.8(W)*8.1(L)*1.9(H)in
ADP3024DIN(P) / (R) : 121(W) * 204(L) *45(H)mm
4.8(W)*8.1(L)*1.8(H)in

JS51050 for JM3 pulse handler interface

- Connection cable : D-type 25P cable to connect main and wiring board
- Dimension : 86(W)*79(L)*52(H)mm , 3.4(W)*3.2(L)*2.1(H)in

8
4. Layout and dimension

4.1 MPC3034A Main card

*dimension in bare board

4.2 ADP3024DIN for JF1,2 DIN rail mounted wiring board

*dimension in bare board

9
4.3 JS51050 for JM3 25PM DIN rail mounted dummy wiring board

*dimension in bare board

10
5. Pin definitions

5.1 JF1,JF2 Assignment / Definitions

11
PIN I/O Descriptions PIN I/O Descriptions
68 I +24V 34 I +24V
External DC24V power input External DC24V power input
67 O +5V 33 O +5V
DC5V power output for external device DC5V power output for external device
66 EXTG 32 EXTG
Common for external power (+24V and +5V) Common for external power (+24V and +5V)
65 O NC 31 O NC
64 I EXTG 30 I EMG
Common for external power (+24V and +5V) Emergency stop, stop all axes
63 29
| NC | NC
58 24
57 O A/Y_ERC 23 O A/Y_SVON
Output for resetting error counter of A/Y axis Servo on of A/Y axis
56 I A/Y_ALM 22 I A/Y_SRDY
ALARM I/p of A/Y axis Servo Ready signal of A/Y axis
55 I A/Y_INP 21 O A/Y_CCW-
General I/p of A/Y axis CCW- or DIR- of A/Y axis
54 O A/Y_CCW+ 20 O A/Y_CW-
CCW+ or DIR+ of A/Y axis CW- or PULSE- of A/Y axis
53 O A/Y_CW+ 19 I A/Y_EZ-
CW+ or PULSE+ of A/Y axis Encoder phase Z- feedback of A/Y axis
52 I A/Y_EZ+ 18 I A/Y_EB-
Encoder phase Z+ feedback of A/Y axis Encoder phase B- feedback of A/Y axis
51 I A/Y_EB+ 17 I A/Y_EA-
Encoder phase B+ feedback of A/Y axis Encoder phase A- feedback of A/Y axis
50 I A/Y_EA+ 16 O A/Y_CMP
Encoder phase A+ feedback of A/Y axis General out or compare out of A/Y axis
49 O A/Y_FIN 15 I A/Y_LTC
General purpose output of A/Y axis Latch counter trigger of A/Y axis
48 I A/Y_PCS 14 I A/Y_HOME(ORG)
Position change start signal of A/Y axis Home(ORG) LS(EL) of A/Y axis
47 I A/Y_SD 13 I A/Y_LS-(EL-)
Slowdown LS(EL) of A/Y axis Negative over travel LS(EL) of A/Y axis
46 I A/Y_LS+(EL+) 12 O Z/X_ERC
Positive over travel LS(EL) of A/Y axis Output for resetting error counter of Z/X axis
45 O Z/X_SVON 11 I Z/X_ALM
Servo on of Z/X axis ALARM I/p of Z/X axis
44 I Z/X_SRDY 10 I Z/X_INP
Servo Ready signal of Z/X axis General I/p of Z/X axis
43 O Z/X_CCW- 9 O Z/X_CCW+
CCW- or DIR- of Z/X axis CCW+ or DIR+ of Z/X axis
42 O Z/X_CW- 8 O Z/X_CW+
CW- or PULSE- of Z/X axis CW+ or PULSE+ of Z/X axis
41 I Z/X_EZ- 7 I Z/X_EZ+
Encoder phase Z- feedback of Z/X axis Encoder phase Z+ feedback of Z/X axis
40 I Z/X_EB- 6 I Z/X_EB+
Encoder phase B- feedback of Z/X axis Encoder phase B+ feedback of Z/X axis
39 I Z/X_EA- 5 I Z/X_EA+
Encoder phase A- feedback of Z/X axis Encoder phase A+ feedback of Z/X axis
38 O Z/X_CMP 4 O Z/X_FIN
General out or compare out of Z/X axis General purpose output of Z/X axis
37 I Z/X_LTC 3 I Z/X_PCS
Latch counter trigger of Z/X axis Position change start signal of Z/X axis
36 I Z/X_HOME(ORG) 2 I Z/X_SD
Home(ORG) LS(EL) of Z/X axis Slowdown LS(EL) of Z/X axis
35 I Z/X_LS-(EL-) 1 I Z/X_LS+(EL+)
Negative over travel LS(EL) of Z/X axis Positive over travel LS(EL) of Z/X axis

12
5.2 JM1,JM2 Assignment / Definitions
PIN Description
1 CSTA: common start I/O
2 CSTP: common stop I/O
3 GND
Note: Connect CSTA low to start motion from external.
Connect CSTP low to emergency stop motion from external.

5.3 JM3 Assignment / Definitions

PIN Description PIN Description
1 +5Vout_PC 14 +5Vout_PC
+5V from PC +5V from PC
2 PA1 15 PB1
Pulse handler1 A phase input Pulse handler1 B phase input
3 PA2 16 PB2
Pulse handler2 A phase input Pulse handler2 B phase input
4 GND 17 GND
5 PA3 18 PB3
Pulse handler3 A phase input Pulse handler3 B phase input
6 PA4 19 PB4
Pulse handler4 A phase input Pulse handler4 B phase input
7 GND 20 GND
8 +5Vout_PC 21 +5Vout_PC
+5V from PC +5V from PC
9 IO0 22 IO1
TTL I/O bit0 TTL I/O bit1
10 IO 2 23 IO 3
TTL I/O bit2 TTL I/O bit3
11 IO 4 24 IO 5
TTL I/O bit4 TTL I/O bit5
12 IO 6 25 IO 7
TTL I/O bit6 TTL I/O bit7
13 GND

13
6. I/O interface diagram

6.1 JF1/2 ADP3024DIN

Input diagram
Type1 input:
For input : LS+(EL+), LS-(EL-), HOME(ORG),
SD, PCS, EMG, LTC

I/P specification:
VI (input voltage)
VIH (min) 10V
VIL (max) 5V
II (input current)
IIH (max) 3mA
IIL (min) 6mA
** VIH, High-level input voltage
** VIL, Low-level input voltage
** IIH, High-level input current
** IIL, Low-level input current

Type2 input:
For input : INP, SRDY, ALM

I/P specification:
VI (input voltage)
VIH (min) 4V
VIL (max) 2V
II (input current)
IIH (max) 0.1mA
IIL (min) 2mA
** VIH, High-level input voltage
** VIL, Low-level input voltage
** IIH, High-level input current
** IIL, Low-level input current

Type3 input:
For encoder feedback input : A+/-,B+/-,Z+/-

I/P specification:
VI (input voltage)
VIL (max) 0.8V
VIH (min) 2V
VIT+ (max) 0.2V
VIT- (min) -0.2V
** VIH, High-level input voltage
** VIL, Low-level input voltage
** VIT+, Positive-going input threshold voltage
** VIT-, Negative-going input threshold voltage

14
Output diagram
Type1 output:
For output: SVON, ERC

O/P specification:
VO (output voltage)
VOH (max) 48Vdc
VOL (max) 1.6V
IO (output current)
IOL (max) 500mA
** VOH, High-level output voltage
** VOL, Low-level output voltage
** IOL, Low-level output current

Type2 output:
For output: FIN,CMP(NMOS)

O/P specification:
VO (output voltage)
VOH (max) 120Vdc
RDS(on) (max) 0.4Ω
IO (output current)
IOL (cont) 1A sink
** VOH, High-level output voltage
** RDS(on), Static Drain-Source On-Resistance
** IOL, Low-level output current

Type3 output:
For output: FIN,CMP(PMOS)

O/P specification:
VO (output voltage)
VOH (max) Vdc
IO (output current)
IOH (cont) 1A source
** VOH, High-level output voltage
** IOH, High-level output current

Type4 output:
For output: FIN,CMP(Relay)

O/P specification:
VO (output voltage)
VO (max) 250Vac/30Vdc
Io (output current)
IO (cont) 3A(rms)

15
Type5 output:
For output: CW,CCW

O/P specification:
VO (output voltage)
VOL (max) 0.5V@20mA sink
VOH (min) 2.5V@20mA source
** VOH, High-level output voltage
** VOL, Low-level output voltage

16
6.2 JM3 JS51050
Type 1 Input:
For Pulse Handler Input : PA,PB

I/P specification:
VI (input voltage)
VIL (max) 0.8V
VIH (min) 1.7V
** VIH, High-level input voltage
** VIL, Low-level input voltage

Type 2 TTL I/O:

For TTL IO : IO0 ~ IO7

I/P specification:
VI (input voltage)
VIH (min) 2.0V
VIL (max) 0.8V
VO (output voltage)
VOH (min) 2.4V
VOL (max) 0.5V @24mA
** VIH, High-level input voltage
** VIL, Low-level input voltage
** VOH, High-level output voltage
** VOL, Low-level output voltage

For byte-programmable TTL I/O IO0 ~ IO7 to configured as pull high or pull low. JP1 are
used for output state of power on. (refer 8.3 JP1 Jumper setting)

17
7. External wiring diagram

wiring board with NMOS output wiring board with PMOS output

* User may connect the signals with this DB26

specific connectors (one axis per connector) or
screw terminals.

wiring board with Relay output wiring board DB26 specific connector
*Differential signals needs connect EXTG as common.
*COM connect to power supply as free-wheel path to avoid high voltage induced by inductive load.

18
8. Hardware settings

8.1 Card ID setting

Since PCI cards have plug and play function, the card ID is required for programmer to identify
which card he/she will control without knowing the physical address assigned by the Windows. A 4 bits
ROTARY switch (select from 0 to 0xF )for extinguishing the 16 identical card.

8.2 Polarity setting for over-travel limit switch

For different applications maybe you have different considerations, the polarity of over-travel limit
switch can be set by on card Dip switch to meet your requirement.
Default : A, Z, Y, X axis are in negative polarity , the DIP switch set as follows.

Example : A, Z axis are in negative polarity and Y, X axis polarity are positive, the DIP switch set as
follows.

8.3 JP1 Jumper setting

1-2 short Pull High 2-3 short Pull Low

Jumper JP1 is used for the TTL output default state, if you disable the TTL port or at computer
start-up period, the default state will be output. Select the one to match with the succeeding circuit.

19
9. Applications
 Precision positioning control
 Precision speed control
 Contouring control
 X-Y table control
 Rotary machine control
 Robotic control
 Biotech sampling and handling
 Any combined control of servo and stepping motors

20
10. Wiring diagram examples (pulse mode control)
Note: Be sure that your driver is set under position mode (pulse control mode)

10.1 The wiring diagram for MPC3034A wiring board to panasonic MINAS-A driver

10.2 The wiring diagram for MPC3034A wiring board to panasonic MINAS MSD*** driver

21
10.3 The wiring diagram for MPC3034A wiring board to ESD servo driver

10.4 The wiring diagram for MPC3034A wiring board to Moda servo driver

22
10.5 The wiring diagram for MPC3034A wiring board to YASKAWA servo driver

10.6 The wiring diagram for MPC3034A wiring board to Mokon / YPV servo driver

23
10.7 The wiring diagram for MPC3034A wiring board to Mokon / YJD servo driver

24
10.8 The wiring diagram for MPC3034A wiring board to MITSUBISHI J2-SUPER servo driver

10.9 The wiring diagram for MPC3034A wiring board to YAMAHA SRCP servo driver

25
10.10 The wiring diagram for MPC3034A wiring board to Delta ASDA-B servo driver

10.11 The wiring diagram for MPC3034A wiring board to Delta ASDA-B2 servo driver

26
11. Ordering information

PRODUCT DESCRIPTIONS
MPC3034A 4-axis motion control card for servo/step motor control
with advanced functions
ADP3024DIN(N) DIN rail mounted wiring board matched
MPC3024/3028/3034/3035/3035L/3024A/3028A/3034A/3035A/3035AL/
8024,General output: 8 power NMOS
ADP3024DIN(P) DIN rail mounted wiring board matched
MPC3024/3028/3034/3035/3035L/3024A/3028A/3034A/3035A/3035AL/
8024,General output: 8 power PMOS
ADP3024DIN(R) DIN rail mounted wiring board matched
MPC3024/3028/3034/3035/3035L/3024A/3028A/3034A/3035A/3035AL/
8024,General output: 8 relays
JS51050 DIN rail mounted dummy wiring board (for JM3)
M266868151 68-pin mini-SCSI cable 1.5M (2 axes control signal granted in one cable)
M2668683011 68-pin mini-SCSI cable 3.0M (2 axes control signal granted in one cable)
M270325X4 D type 25p male-female cable 1.5M
M270325X4S D type 25p male-female cable 1.5M,shielding
M270325X0 D type 25p male-female cable 3.0M
M270325X0S D type 25p male-female cable 3.0M,shielding
SM23404 Extension kit for JM3
(bracket and flat cable for 25p D-type connector) (Option)

27