PCI

All motion drive I/O for XMP-PCI controllers is performed via VHDCI connectors on the rear end panel of the controller. Each VHDCI connector is connected to a motion drive via cable. Pin-outs are described below:

XMP-PCI, VHDCI Connectors, Main Board

Axis 0-1, VHDCI Connector (XMP-PCI)

Connector for axes 0 and 1 (PCI main board).
Pin	Signal	Signal	Pin
1	Analog_IN_0+	Analog_IN_0-	35
2	Analog_IN_1+	Analog_IN_1-	36
3	Gnd	AGnd	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	Aux_Dac_OUT_0+	Aux_Dac_OUT_0-	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	Aux_Dac_OUT_1+	Aux_Dac_OUT_1-	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 (PCI)

Connector for axes 2 and 3 (PCI main board).
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	Aux_Dac_OUT_2+	Aux_Dac_OUT_2-	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	Aux_Dac_OUT_3+	Aux_Dac_OUT_3-	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	AGnd	66
33	Analog_IN_2+	Analog_IN_2-	67
34	Analog_IN_3+	Analog_IN_3-	68

Axis 4-5 VHDCI Connector (PCI)

Connector for axes 4 and 5 (PCI main board).
Pin	Signal	Signal	Pin
1	UserIO_B0	UserIO_B0_Rtn	35
2	UserIO_B1	UserIO_B1_Rtn	36
3	Gnd	Gnd	37
4	Enc4_A+	Enc4_A-	38
5	Enc4_B+	Enc4_B-	39
6	Enc4_I+	Enc4_I-	40
7	Home4_IN	5V_OUT	41
8	Pos_Lim4_IN	Gnd	42
9	Neg_Lim4_IN	HomeLim4_Rtn	43
10	Cmd_Dac_OUT_4+	Cmd_Dac_OUT_4-	44
11	Aux_Dac_OUT_4+	Aux_Dac_OUT_4-	45
12	Amp_Flt4_IN	Amp_Flt4_Rtn	46
13	Amp_En4_Collector	Amp_En4_Emitter	47
14	UserIO_B2	UserIO_B2_Rtn	48
15	Xcvr4A+	Xcvr4A-	49
16	Xcvr4B+	Xcvr4B-	50
17	Xcvr4C+	Xcvr4C-	51
18	Enc5_A+	Enc5_A-	52
19	Enc5_B+	Enc5_B-	53
20	Enc5_I+	Enc5_I-	54
21	Home5_IN	5V_OUT	55
22	Pos_Lim5_IN	Gnd	56
23	Neg_Lim5_IN	HomeLim5_Rtn	57
24	Cmd_Dac_OUT_5+	Cmd_Dac_OUT_5-	58
25	Aux_Dac_OUT_5+	Aux_Dac_OUT_5-	59
26	Amp_Flt5_IN	Amp_Flt5_Rtn	60
27	Amp_En5_Collector	Amp_En5_Emitter	61
28	Gnd	Gnd	62
29	Xcvr5A+	Xcvr5A-	63
30	Xcvr5B+	Xcvr5B-	64
31	Xcvr5C+	Xcvr5C-	65
32	Gnd	AGnd	66
33	Analog_IN_4+	Analog_IN_4-	67
34	Analog_IN_5+	Analog_IN_5-	68

Axis 6-7 VHCDI Connector (PCI)

Connector for axes 6 and 7 (PCI main board).
Pin	Signal	Signal	Pin
1	Analog_IN_6+	Analog_IN_6-	35
2	Analog_IN_7+	Analog_IN_7-	36
3	Gnd	AGnd	37
4	Enc6_A+	Enc6_A-	38
5	Enc6_B+	Enc6_B-	39
6	Enc6_I+	Enc6_I-	40
7	Home6_IN	5V_OUT	41
8	Pos_Lim6_IN	Gnd	42
9	Neg_Lim6_IN	HomeLim6_Rtn	43
10	Cmd_Dac_OUT_6+	Cmd_Dac_OUT_6-	44
11	Aux_Dac_OUT_6+	Aux_Dac_OUT_6-	45
12	Amp_Flt6_IN	Amp_Flt6_Rtn	46
13	Amp_En6_Collector	Amp_En6_Emitter	47
14	UserIO_B3	UserIO_B3_Rtn	48
15	Xcvr6A+	Xcvr6A-	49
16	Xcvr6B+	Xcvr6B-	50
17	Xcvr6C+	Xcvr6C-	51
18	Enc7_A+	Enc7_A-	52
19	Enc7_B+	Enc7_B-	53
20	Enc7_I+	Enc7_I-	54
21	Home7_IN	5V_OUT	55
22	Pos_Lim7_IN	Gnd	56
23	Neg_Lim7_IN	HomeLim7_Rtn	57
24	Cmd_Dac_OUT_7+	Cmd_Dac_OUT_7-	58
25	Aux_Dac_OUT_7+	Aux_Dac_OUT_7-	59
26	Amp_Flt7_IN	Amp_Flt7_Rtn	60
27	Amp_En7_Collector	Amp_En7_Emitter	61
28	Gnd	Gnd	62
29	Xcvr7A+	Xcvr7A-	63
30	Xcvr7B+	Xcvr7B-	64
31	Xcvr7C+	Xcvr7C-	65
32	EncB_A+	EncB_A-	66
33	EncB_B+	EncB_B-	67
34	EncB_I+	EncB_I-	68

XMP-PCI, VHDCI Connectors, Expansion Board

Axis 8-9 VHDCI Connector (PCI)

Connector for axes 8 and 9 (PCI expansion board).
Pin	Signal	Signal	Pin
1	Not Connected	Not Connected	35
2	Not Connected	Not Connected	36
3	Gnd	AGnd	37
4	Enc8_A+	Enc8_A-	38
5	Enc8_B+	Enc8_B-	39
6	Enc8_I+	Enc8_I-	40
7	Home8_IN	5V_OUT	41
8	Pos_Lim8_IN	Gnd	42
9	Neg_Lim8_IN	HomeLim8_Rtn	43
10	Cmd_Dac_OUT_8+	Cmd_Dac_OUT_8-	44
11	Aux_Dac_OUT_8+	Aux_Dac_OUT_8-	45
12	Amp_Flt8_IN	Amp_Flt8_Rtn	46
13	Amp_En8_Collector	Amp_En8_Emitter	47
14	UserIO_C0	UserIO_C0_Rtn	48
15	Xcvr8A+	Xcvr8A-	49
16	Xcvr8B+	Xcvr8B-	50
17	Xcvr8C+	Xcvr8C-	51
18	Enc9_A+	Enc9_A-	52
19	Enc9_B+	Enc9_B-	53
20	Enc9_I+	Enc9_I-	54
21	Home9_IN	5V_OUT	55
22	Pos_Lim9_IN	Gnd	56
23	Neg_Lim9_IN	HomeLim9_Rtn	57
24	Cmd_Dac_OUT_9+	Cmd_Dac_OUT_9-	58
25	Aux_Dac_OUT_9+	Aux_Dac_OUT_9-	59
26	Amp_Flt9_IN	Amp_Flt9_Rtn	60
27	Amp_En9_Collector	Amp_En9_Emitter	61
28	Gnd	Gnd	62
29	Xcvr9A+	Xcvr9A-	63
30	Xcvr9B+	Xcvr9B-	64
31	Xcvr9C+	Xcvr9C-	65
32	UserIO_C1	UserIO_C1_Rtn	66
33	Not Connected	UserIO_C2	67
34	Not Connected	UserIO_C2_Rtn	68

Axis 10-11 VHCDI Connector (PCI)

Connector for axes 10 and 11 (PCI expansion board).
Pin	Signal	Signal	Pin
1	EncC_A+	EncC_A-	35
2	EncC_B+	EncC_B-	36
3	EncC_I+	EncC_I-	37
4	Enc10_A+	Enc10_A-	38
5	Enc10_B+	Enc10_B-	39
6	Enc10_I+	Enc10_I-	40
7	Home10_IN	5V_OUT	41
8	Pos_Lim10_IN	Gnd	42
9	Neg_Lim10_IN	HomeLim10_Rtn	43
10	Cmd_Dac_OUT_10+	Cmd_Dac_OUT_10-	44
11	Aux_Dac_OUT_10+	Aux_Dac_OUT_10-	45
12	Amp_Flt10_IN	Amp_Flt10_Rtn	46
13	Amp_En10_Collector	Amp_En10_Emitter	47
14	UserIO_C3	UserIO_C3_Rtn	48
15	Xcvr10A+	Xcvr10A-	49
16	Xcvr10B+	Xcvr10B-	50
17	Xcvr10C+	Xcvr10C-	51
18	Enc11_A+	Enc11_A-	52
19	Enc11_B+	Enc11_B-	53
20	Enc11_I+	Enc11_I-	54
21	Home11_IN	5V_OUT	55
22	Pos_Lim11_IN	Gnd	56
23	Neg_Lim11_IN	HomeLim11_Rtn	57
24	Cmd_Dac_OUT_11+	Cmd_Dac_OUT_11-	58
25	Aux_Dac_OUT_11+	Aux_Dac_OUT_11-	59
26	Amp_Flt11_IN	Amp_Flt11_Rtn	60
27	Amp_En11_Collector	Amp_En11_Emitter	61
28	Gnd	Gnd	62
29	Xcvr11A+	Xcvr11A-	63
30	Xcvr11B+	Xcvr11B-	64
31	Xcvr11C+	Xcvr11C-	65
32	Gnd	AGnd	66
33	Not Connected	Not Connected	67
34	Not Connected	Not Connected	68

Axis 12-13 VHDCI Connector (PCI)

Connector for axes 12 and 13 (PCI expansion board).
Pin	Signal	Signal	Pin
1	UserIO_D0	UserIO_D0_Rtn	35
2	UserIO_D1	UserIO_D1_Rtn	36
3	Gnd	Gnd	37
4	Enc12_A+	Enc12_A-	38
5	Enc12_B+	Enc12_B-	39
6	Enc12_I+	Enc12_I-	40
7	Home12_IN	5V_OUT	41
8	Pos_Lim12_IN	Gnd	42
9	Neg_Lim12_IN	HomeLim12_Rtn	43
10	Cmd_Dac_OUT_12+	Cmd_Dac_OUT_12-	44
11	Aux_Dac_OUT_12+	Aux_Dac_OUT_12-	45
12	Amp_Flt12_IN	Amp_Flt12_Rtn	46
13	Amp_En12_Collector	Amp_En12_Emitter	47
14	UserIO_D2	UserIO_D2_Rtn	48
15	Xcvr12A+	Xcvr12A-	49
16	Xcvr12B+	Xcvr12B-	50
17	Xcvr12C+	Xcvr12C-	51
18	Enc13_A+	Enc13_A-	52
19	Enc13_B+	Enc13_B-	53
20	Enc13_I+	Enc13_I-	54
21	Home13_IN	5V_OUT	55
22	Pos_Lim13_IN	Gnd	56
23	Neg_Lim13_IN	HomeLim13_Rtn	57
24	Cmd_Dac_OUT_13+	Cmd_Dac_OUT_13-	58
25	Aux_Dac_OUT_13+	Aux_Dac_OUT_13-	59
26	Amp_Flt13_IN	Amp_Flt13_Rtn	60
27	Amp_En13_Collector	Amp_En13_Emitter	61
28	Gnd	Gnd	62
29	Xcvr13A+	Xcvr13A-	63
30	Xcvr13B+	Xcvr13B-	64
31	Xcvr13C+	Xcvr13C-	65
32	Gnd	AGnd	66
33	Not Connected	Not Connected	67
34	Not Connected	Not Connected	68

Axis 14-15 VHDCI Connector (PCI)

Connector for axes 14 and 15 (PCI expansion board).
Pin	Signal	Signal	Pin
1	Not Connected	Not Connected	35
2	Not Connected	Not Connected	36
3	Gnd	AGnd	37
4	Enc14_A+	Enc14_A-	38
5	Enc14_B+	Enc14_B-	39
6	Enc14_I+	Enc14_I-	40
7	Home6_IN	5V_OUT	41
8	Pos_Lim14_IN	Gnd	42
9	Neg_Lim14_IN	HomeLim14_Rtn	43
10	Cmd_Dac_OUT_14+	Cmd_Dac_OUT_14-	44
11	Aux_Dac_OUT_14+	Aux_Dac_OUT_14-	45
12	Amp_Flt14_IN	Amp_Flt14_Rtn	46
13	Amp_En14_Collector	Amp_En14_Emitter	47
14	UserIO_D3	UserIO_D3_Rtn	48
15	Xcvr14A+	Xcvr14A-	49
16	Xcvr14B+	Xcvr14B-	50
17	Xcvr14C+	Xcvr14C-	51
18	Enc15_A+	Enc15_A-	52
19	Enc15_B+	Enc15_B-	53
20	Enc15_I+	Enc15_I-	54
21	Home15_IN	5V_OUT	55
22	Pos_Lim15_IN	Gnd	56
23	Neg_Lim15_IN	HomeLim15_Rtn	57
24	Cmd_Dac_OUT_15+	Cmd_Dac_OUT_15-	58
25	Aux_Dac_OUT_15+	Aux_Dac_OUT_15-	59
26	Amp_Flt15_IN	Amp_Flt15_Rtn	60
27	Amp_En15_Collector	Amp_En15_Emitter	61
28	Gnd	Gnd	62
29	Xcvr15A+	Xcvr15A-	63
30	Xcvr15B+	Xcvr15B-	64
31	Xcvr15C+	Xcvr15C-	65
32	EncD_A+	EncD_A-	66
33	EncD_B+	EncD_B-	67
34	EncD_I+	EncD_I-	68

PCI

XMP-PCI, VHDCI Connectors, Main Board

Axis 0-1, VHDCI Connector (XMP-PCI)

Connector for axes 0 and 1 (PCI main board).

Axis 2-3 VHDCI Connector (PCI)

Connector for axes 2 and 3 (PCI main board).

Axis 4-5 VHDCI Connector (PCI)

Connector for axes 4 and 5 (PCI main board).

Axis 6-7 VHCDI Connector (PCI)

Connector for axes 6 and 7 (PCI main board).

XMP-PCI, VHDCI Connectors, Expansion Board

Axis 8-9 VHDCI Connector (PCI)

Connector for axes 8 and 9 (PCI expansion board).

Axis 10-11 VHCDI Connector (PCI)

Connector for axes 10 and 11 (PCI expansion board).

Axis 12-13 VHDCI Connector (PCI)

Connector for axes 12 and 13 (PCI expansion board).

Axis 14-15 VHDCI Connector (PCI)

Connector for axes 14 and 15 (PCI expansion board).