CPCI-3U
The
XMP-CPCI-3U boards have two hardware stuff options for bringing
out Motor I/O: VHDCI connectors on the front panel or Backplane
connectors on the rear panel. The I/O for these connectors is
decribed below.
XMP-CPCI-3U,
VHDCI Connectors, Front Panel J0-3: Axes 0-3
Axis
0-1, VHDCI Connector (CPCI)
Connector
for axes 0 and 1.
|
Pin
|
Signal
|
Signal
|
Pin
|
|
1
|
No
Connect
|
No
Connect
|
35
|
|
2
|
No
Connect
|
No
Connect
|
36
|
|
3
|
Gnd
|
Gnd
|
37
|
|
4
|
Enc0_A+
|
Enc0_A-
|
38
|
|
5
|
Enc0_B+
|
Enc0_B-
|
39
|
|
6
|
Enc0_I+
|
Enc0_I-
|
40
|
|
7
|
Home0_IN
|
5V_OUT
|
41
|
|
8
|
Pos_Lim0_IN
|
Gnd
|
42
|
|
9
|
Neg_Lim0_IN
|
HomeLim0_Rtn
|
43
|
|
10
|
Cmd_Dac_OUT_0+
|
Cmd_Dac_OUT_0-
|
44
|
|
11
|
No
Connect
|
Gnd
|
45
|
|
12
|
Amp_Flt0_IN
|
Amp_Flt0_Rtn
|
46
|
|
13
|
Amp_En0_Collector
|
Amp_En0_Emitter
|
47
|
|
14
|
UserIO_A0
|
UserIO_A0_Rtn
|
48
|
|
15
|
Xcvr0A+
|
Xcvr0A-
|
49
|
|
16
|
Xcvr0B+
|
Xcvr0B-
|
50
|
|
17
|
Xcvr0C+
|
Xcvr0C-
|
51
|
|
18
|
Enc1_A+
|
Enc1_A-
|
52
|
|
19
|
Enc1_B+
|
Enc1_B-
|
53
|
|
20
|
Enc1_I+
|
Enc1_I-
|
54
|
|
21
|
Home1_IN
|
5V_OUT
|
55
|
|
22
|
Pos_Lim1_IN
|
Gnd
|
56
|
|
23
|
Neg_Lim1_IN
|
HomeLim1_Rtn
|
57
|
|
24
|
Cmd_Dac_OUT_1+
|
Cmd_Dac_OUT_1-
|
58
|
|
25
|
No
Connect
|
Gnd
|
59
|
|
26
|
Amp_Flt1_IN
|
Amp_Flt1_Rtn
|
60
|
|
27
|
Amp_En1_Collector
|
Amp_En1_Emitter
|
61
|
|
28
|
Gnd
|
Gnd
|
62
|
|
29
|
Xcvr1A+
|
Xcvr1A-
|
63
|
|
30
|
Xcvr1B+
|
Xcvr1B-
|
64
|
|
31
|
Xcvr1C+
|
Xcvr1C-
|
65
|
|
32
|
UserIO_A1
|
UserIO_A1_Rtn
|
66
|
|
33
|
RESET_IN
|
UserIO_A2
|
67
|
|
34
|
ESTOP_IN
|
UserIO_A2_Rtn
|
68
|
Axis
2-3 VHDCI Connector (CPCI)
Connector
for axes 2 and 3.
|
Pin
|
Signal
|
Signal
|
Pin
|
|
1
|
EncA_A+
|
EncA_A-
|
35
|
|
2
|
EncA_B+
|
EncA_B-
|
36
|
|
3
|
EncA_I+
|
EncA_I-
|
37
|
|
4
|
Enc2_A+
|
Enc2_A-
|
38
|
|
5
|
Enc2_B+
|
Enc2_B-
|
39
|
|
6
|
Enc2_I+
|
Enc2_I-
|
40
|
|
7
|
Home2_IN
|
5V_OUT
|
41
|
|
8
|
Pos_Lim2_IN
|
Gnd
|
42
|
|
9
|
Neg_Lim2_IN
|
HomeLim2_Rtn
|
43
|
|
10
|
Cmd_Dac_OUT_2+
|
Cmd_Dac_OUT_2-
|
44
|
|
11
|
No
Connect
|
Gnd
|
45
|
|
12
|
Amp_Flt2_IN
|
Amp_Flt2_Rtn
|
46
|
|
13
|
Amp_En2_Collector
|
Amp_En2_Emitter
|
47
|
|
14
|
UserIO_A3
|
UserIO_A3_Rtn
|
48
|
|
15
|
Xcvr2A+
|
Xcvr2A-
|
49
|
|
16
|
Xcvr2B+
|
Xcvr2B-
|
50
|
|
17
|
Xcvr2C+
|
Xcvr2C-
|
51
|
|
18
|
Enc3_A+
|
Enc3_A-
|
52
|
|
19
|
Enc3_B+
|
Enc3_B-
|
53
|
|
20
|
Enc3_I+
|
Enc3_I-
|
54
|
|
21
|
Home3_IN
|
5V_OUT
|
55
|
|
22
|
Pos_Lim3_IN
|
Gnd
|
56
|
|
23
|
Neg_Lim3_IN
|
HomeLim3_Rtn
|
57
|
|
24
|
Cmd_Dac_OUT_3+
|
Cmd_Dac_OUT_3-
|
58
|
|
25
|
No
Connect
|
Gnd
|
59
|
|
26
|
Amp_Flt3_IN
|
Amp_Flt3_Rtn
|
60
|
|
27
|
Amp_En3_Collector
|
Amp_En3_Emitter
|
61
|
|
28
|
Gnd
|
Gnd
|
62
|
|
29
|
Xcvr3A+
|
Xcvr3A-
|
63
|
|
30
|
Xcvr3B+
|
Xcvr3B-
|
64
|
|
31
|
Xcvr3C+
|
Xcvr3C-
|
65
|
|
32
|
Gnd
|
Gnd
|
66
|
|
33
|
No
Connect
|
No
Connect
|
67
|
|
34
|
No
Connect
|
No
Connect
|
68
|
XMP-CPCI-3U,
Backplane Connectors, Rear Panel J2: Motor I/O
On
CPCI-3U controllers using backplane I/O, Motor I/O is controlled
through connector J2. Connector J1 is reserved for computer
data bussing. For more information about computer data bussing,
see Chapter 2.
CPCI-3U
boards do not use expansion boards.
Backplane
connector pins are referred to by numbered rows and lettered
columns as shown below.
Axis
0-1, VHDCI Connector (CPCI)
NOTE:
the CPCI XMP does not use the 64 bit extension.
CPCI backplane
connector.
|
Pin
|
A
|
B
|
C
|
D
|
E
|
F
|
|
22
|
Reserved
|
Reserved
|
Reserved
|
Reserved
|
Reserved
|
GND
|
|
21
|
DAC_0+
|
DAC_1+
|
XCVR0A+
|
DAC_2+
|
DAC_3+
|
GND
|
|
20
|
DAC_0_RTN
|
DAC_1_RTN
|
XCVR0A-
|
DAC_2_RTN
|
DAC_3_RTN
|
GND
|
|
19
|
ENC0_A+
|
ENC0_A-
|
XCVR0B+
|
ENC2_A+
|
ENC2_A-
|
GND
|
|
18
|
ENC0_B+
|
ENC0_B-
|
XCVR0B-
|
ENC2_B+
|
ENC2_B-
|
GND
|
|
17
|
ENC0_I+
|
ENC0_I-
|
XCVR1A+
|
ENC2_I+
|
ENC2_I-
|
GND
|
|
16
|
ENC1_A+
|
ENC1_A-
|
XCVR1A-
|
ENC3_A+
|
ENC3_A-
|
GND
|
|
15
|
ENC1_B+
|
ENC1_B-
|
XCVR1B+
|
ENC3_B+
|
ENC3_B-
|
GND
|
|
14
|
ENC1_I+
|
ENC1_I-
|
XCVR1B-
|
ENC3_I+
|
ENC3_I-
|
GND
|
|
13
|
P2_A13
|
P2_B13
|
XCVR2A+
|
P2_D13
|
P2_E13
|
GND
|
|
12
|
P2_A12
|
P2_B12
|
XCVR2A-
|
P2_D12
|
P2_E12
|
GND
|
|
11
|
P2_A11
|
P2_B11
|
XCVR2B+
|
P2_D11
|
P2_E11
|
GND
|
|
10
|
P2_A10
|
P2_B10
|
XCVR2B-
|
DIR3+
|
DIR3-
|
GND
|
|
9
|
HOME_0_IN
|
HOMELIM_0_RTN
|
XCVR3A+
|
HOME_2_IN
|
HOMELIM_2_RTN
|
GND
|
|
8
|
HOME_1_IN
|
HOMELIM_1_RTN
|
XCVR3A-
|
HOME_3_IN
|
HOMELIM_3_RTN
|
GND
|
|
7
|
AMP_FLT_0_IN
|
AMP_FLT_0_RTN
|
XCVR3B+
|
AMP_FLT_2_IN
|
AMP_FLT_2_RTN
|
GND
|
|
6
|
P2_A6
|
P2_B6
|
XCVR3B-
|
P2_D6
|
P2_E6
|
GND
|
|
5
|
USERIO_A0
|
USERIO_A0_RTN
|
XCVR0C+
|
USERIO_A2
|
USERIO_A2_RTN
|
GND
|
|
4
|
USERIO_A1
|
USERIO_A1_RTN
|
XCVR0C-
|
USERIO_A3
|
USERIO_A3_RTN
|
GND
|
|
3
|
AMP_EN_0_COLL
|
AMP_EN_0_EMIT
|
P2_C3
|
AMP_EN_2_COLL
|
AMP_EN_2_EMIT
|
GND
|
|
2
|
P2_A2
|
P2_B2
|
P2_C2
|
P2_D2
|
P2_E2
|
GND
|
|
1
|
Reserved
|
Reserved
|
Reserved
|
Reserved
|
Reserved
|
GND
|
