ADLINK PCI-8144 - Manual (Page 54)

44 Operation Theory
4.3 The motor driver interface
We provide several dedicated I/Os which can be connected to
motor driver directly and have their own functions. Motor drivers
have many kinds of I/O pins for external motion controller to use.
We classify them to two groups. One is pulse I/O signals including
pulse command and encoder interface. The other is digital I/O sig-
nals including servo ON, alarm, INP, servo ready, alarm reset and
emergency stop inputs. The following sections will describe the
functions these I/O pins.
The PCI-8144 has only pulse command interface.
4.3.1 Pulse Command Output Interface
The motion controller uses pulse command to control servo/step-
per motors via motor drivers. Please set the drivers to position
mode which can accept pulse trains as position command. The
pulse command consists of two signal pairs. It is defined as CW
and CCW pins on connector. Each signal has two pins as a pair for
differential output.
Dual Pulse Output Mode (CW/CCW Mode)
The waveform of the CW and CCW pins represent CW (clock-
wise) and CCW (counter clockwise) pulse output respectively.
The numbers of pulse represent distance in pulse. The fre-
quency of the pulses represents speed in pulse per second.
Pulses output from the CW pin makes the motor move in posi-
tive direction, whereas pulse output from the CCW pin makes
the motor move in negative direction. The following diagram
shows the output waveform of positive (+) commands and neg-
ative (-) commands.