SPiiPlus PCI Series Hardware Guide (V5-20)

S PiiPlus P CI 4 / 8
Motion Co nt r o l l e r
SPiiPlus PCI
S P i i P lus P C I-L T
SPiiPlus PCI-ST
Hardware Guide
Version 5.20
Version 5.20
V e r s i o n 5 . 2 0 , November, 2006
123-456-789
Copyright ® 1999 - 2006 ACS Motion Control Ltd.
Changes are periodically made to the information in this document. Changes are published as release
notes and are be incorporated into future revisions of this document.
No part of this document may be reproduced in any form without prior written permission from ACS
Motion Control.
TRADEMARKS
ACS Motion Control, PEG and SPii are trademarks of ACS Motion Control Ltd.
Visual Basic and Windows are trademarks of Microsoft Corporation.
All other companies and product names mentioned herein may be the trademarks of their respective
owners.
Website: http://www.AcsMotionControl.com
Information: [email protected]
Tech Support: [email protected]
ACS Motion Control, Inc.

14700 28th Avenue North, Suite 25
Plymouth, MN 55447
USA
Tel: (1) (763) 559-7669 (800-545-2980 in USA)
Fax: (1) (763) 559-0110
ACS Motion Control, Ltd.

Ramat Gabriel Industrial Park
POB 5668
Migdal HaEmek, 10500
ISRAEL
Tel: (972) (4) 6546440
Fax: (972) (4) 6546443
NOTICE
The information in this document is deemed to be correct at the time of publishing. ACS Motion Control
reserves the right to change specifications without notice. ACS Motion Control is not responsible for
incidental, consequential, or special damages of any kind in connection with using this document.
Version 5.20 ii Hardware Guide

SPiiPlus PCI, SPiiPlus PCI-LT, SPiiPlus PCI-ST Version 5.20
Changes in Version 5.20
Page Change
Updated according to new products.
Version 5.20 iii Hardware Guide

SPiiPlus PCI Motion Controllers Hardware Guide
Table of Contents
1 About this Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 The SPiiPlus Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Conventions Used in this Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2.1 Statement Text and Icons Used in this Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2 Introduction and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.1 About the SPiiPlus PCI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.2 Axis Configuration Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.3 I/O Configuration Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.4 Ordering Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.5 Additional Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.5.1 SPiiPlus PCI-INT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.5.2 Interface Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.5.3 SPiiPlus PCI-Bracket . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.5.4 HSSI-IO16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.5.5 HSSI-ED2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.5.6 HSSI-Hub . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.1 SPiiPlus PCI Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.2 SPiiPlus PCI-LT Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.3 SPiiPlus PCI-ST Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.4 Layout and Dimensions of SPiiPlus PCI Line . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
4 Safety and EMC Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4.1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4.2 General Safety Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4.2.1 Emergency Stop Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4.2.2 Fail Safe Logic Recommendation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4.2.3 Initial Logic State of Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4.2.4 Electrical Separation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4.2.5 Over-Travel Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4.2.6 Thermal Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4.2.7 Power Supply and Motor Cable Ground . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4.3 General Wiring and Electromagnetic Compatibility (EMC) Guidelines . . . . . . . 27
4.3.1 Routing Signal and Power Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4.3.2 Cable Length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
4.3.3 Shielding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
4.3.4 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
5 Electrical Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
5.1 Electrical Interface Locations and Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
5.2 Main Connector J1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
5.2.1 Incremental Digital Encoder Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
5.2.2 Drive Enable Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
5.2.2.1 Drive Enable Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
5.2.3 Drive Fault Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
5.2.3.1 Drive Fault Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Version 5.20 iv
5.2.4 Analog (or Drive Command) Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

5.2.4.1 Drive Output Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
5.2.5 Pulse - Direction (Stepper) Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
5.2.5.1 Pulse - Direction Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
5.2.6 Safety Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
5.2.6.1 Emergency Stop Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
5.2.6.2 Limit Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
5.2.7 Digital Outputs/PEG Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
5.2.7.1 PEG Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
5.2.8 Digital Inputs/Registration MARK Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
5.2.8.1 Digital Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
5.3 Analog/SIN-COS Encoder Inputs Connector J2 . . . . . . . . . . . . . . . . . . . . . . . . . . 56
5.3.1 Sin-Cos Encoder/Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
5.3.1.1 Sin-Cos Encoder Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
5.3.2 Joystick Input Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
5.3.2.1 Joystick Input Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
5.4 HSSI & Additional Dedicated Outputs Connector J3 . . . . . . . . . . . . . . . . . . . . . . 63
5.4.1 HSSI Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
5.4.2 Dual Purpose Digital Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
5.5 Manufacturing and Testing Connector J4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
5.6 JTAG Connector J5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
5.7 Servo Interrupt Connector J6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
5.8 External Power Supply Connector J7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
5.9 Manufacturing and Testing Jumpers JP1 and JP3 . . . . . . . . . . . . . . . . . . . . . . . . . 67
5.10 Recovery Mode Jumper JP2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
5.11 LED Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
6 Communication Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
6.1 Serial RS-232 Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
6.2 COM2 RS-422 Serial Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
6.3 Ethernet Network Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
6.3.1 Ethernet Physical Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
7 SPiiPlus PCI-Bracket . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
7.1 SPiiPlus PCI-Bracket Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
8 SPiiPlus PCI Breakout Box Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
8.1 Breakout Box Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
8.2 Breakout Box Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
8.3 Breakout Box Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
8.3.1 Encoder Connectors J1 to J8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
8.3.2 Pulse/Dir Connectors J9 to J12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
8.3.3 Sin-Cos Encoder Connectors J13 to J16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
8.3.4 Drive Connectors J17 to J24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
8.3.5 Analog Input Connector J26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
8.3.6 Safety Connector J27 and J28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
8.3.7 MARK/Digital Inputs Connector J29 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
8.3.8 PEG & Digital Outputs Connector J30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
8.3.9 HSSI Connectors J31 to J34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Version 5.20 v
8.3.10 Power Supply Connector J35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

8.3.10.1 Non-Isolated Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
8.3.10.2 Isolated Power Supplies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
8.3.11 SPiiPlus PCI J1 Connector to BOB Connectors J36, J37, J40, J41 . . . . . . . . . . 90
9 Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
10 Appendix A: RS-485/422 Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Version 5.20 vi
List of Figures
Figure 1 SPiiPlus PCI, Motion Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Figure 2 SPiiPlus PCI Ordering Code Elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Figure 3 SPiiPlus PCI Line and Breakout Box - Layout and Dimensions . . . . . . . . . . . 25
Figure 4 Cable Spacing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Figure 5 Shielded Cable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Figure 6 Improved Shielding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Figure 7 Electrical Interface Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Figure 8 MPU 585 Connectivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Figure 9 Main Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Figure 10 Incremental Digital Encoder Interface (X Axis) . . . . . . . . . . . . . . . . . . . . . . . . 37
Figure 11 Source-Type Drive Enable Output (X Axis) . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Figure 12 Two Terminal Drive Enable Output (X Axis). . . . . . . . . . . . . . . . . . . . . . . . . . 39
Figure 13 Source Drive Enable Output (X Axis). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Figure 14 Source-Type Drive Fault Input (X Axis). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Figure 15 Connection To Drive With Sink Fault Input (X Axis) . . . . . . . . . . . . . . . . . . . 41
Figure 16 Connection of Output Commands to a Drive of a DC Brush Motor
(X Axis) 44
Figure 17 Output Command Connection to a DC Brushless Motor Drive (X Axis). . . . . 44
Figure 18 Differential Pulse-Direction Output Connection to a Stepper Motor Drive (X
Axis) 45
Figure 19 Source Connection for Emergency Stop Input . . . . . . . . . . . . . . . . . . . . . . . . . 47
Figure 20 Sink Connection for Emergency Stop Input . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Figure 21 Source Connection for Switched Limit Input (X Axis Right Limit). . . . . . . . . 48
Figure 22 Source Connection for a PNP Limit Input (X Axis Right Limit) . . . . . . . . . . . 49
Figure 23 Sink Connection for a Switched Limit Input (X Axis Right Limit) . . . . . . . . . 49
Figure 24 Sink Connection for NPN Input (X Axis Right Limit) . . . . . . . . . . . . . . . . . . . 50
Figure 25 Differential PEG Pulse Digital Output Connection (X Axis) . . . . . . . . . . . . . . 52
Figure 26 Single-Ended General Purpose Digital Output Connection (X Axis) . . . . . . . . 53
Figure 27 Differential Connection for MARK1 Input (X Axis) . . . . . . . . . . . . . . . . . . . . 55
Figure 28 Single-Ended Connection for a Digital Input (Input 0). . . . . . . . . . . . . . . . . . . 55
Figure 29 Switched Connection for MARK1 Input (X Axis) . . . . . . . . . . . . . . . . . . . . . . 56
Figure 30 Sin-Cos Encoder Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Figure 31 Analog Inputs with 10V ptp configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Figure 32 Joystick Connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Figure 33 J2 – Recovery Mode Jumper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Figure 34 COM ports header and Jumper 1 settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Figure 35 RS-232 Rx/Tx Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Figure 36 COM2 port and jumpers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Figure 37 SPiiPlus PCI Bracket. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Figure 38 Breakout Box Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Figure 39 Sin-Cos Encoder Connection for Standalone Controller to SPiiPlus Breakout Box
81
Figure 40 Breakout Box 5V Non-Isolated Power Supply Wiring Diagram . . . . . . . . . . . 89
Figure 41 Breakout Box 5/24V Isolated Power Supply Wiring Diagram . . . . . . . . . . . . . 89
Version 5.20 vii List of Figures.

List of Tables
Table 1 Collateral Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Table 2 Text Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Table 3 ..................................................................... 4
Table 4 SPiiPlus PCI Axis Assignment Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Table 5 SPiiPlus PCI-LT Axis Assignment Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Table 6 SPiiPlus PCI-ST Axis Assignment Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Table 7 SPiiPlus PCI I/O Configuration Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Table 8 SPiiPlus PCI-LT I/O Configuration Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Table 9 SPiiPlus PCI-ST I/O Configuration Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Table 10 SPiiPlus Ordering Code Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Table 11 Standard items supplied with the SPiiPlus PCI Line . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Table 12 Profile Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Table 13 Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Table 14 Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Table 15 Drive Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Table 16 Digital I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Table 17 HSSI Expansion Channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Table 18 Analog I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Table 19 Communication Channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Table 20 Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Table 21 Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Table 23 Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Table 24 Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Table 26 Digital I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Table 28 Analog I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Table 33 Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Table 35 Digital I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Table 40 Main Connector J1 - Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Table 41 Cable from Main Connector J1 – 50-Pin Plugs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Table 42 Main Connector J1 - Signal Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Table 43 Main Connector J1- Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Table 44 Incremental Digital Encoder Support. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Table 45 Drive Enable Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Table 46 Drive Fault Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Table 47 Analog Outputs and Drive Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Table 48 Axis Analog Outputs Used for Drive Command(s) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Table 49 Stepper Drive Pulse and Direction Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Table 50 Emergency Stop Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Version 5.20 viii

Table 51 Limit Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Table 52 Fast Digital Outputs/PEG. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Table 53 Outputs Used for PEG Pulse and PEG State* . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Table 54 Fast Digital Inputs (MARK) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Table 55 Analog/SIN-COS Encoder Inputs Connector J2 - Components . . . . . . . . . . . . . . . . . . 56
Table 56 Analog/SIN-COS Inputs- Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Table 57 Analog/SIN-COS Encoder Inputs Connector J2 - Pinout . . . . . . . . . . . . . . . . . . . . . . . 58
Table 58 Analog and Sin-Cos Encoder Inputs and Their Jumpers . . . . . . . . . . . . . . . . . . . . . . . 59
Table 59 Sin-Cos Encoder Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Table 60 HSSI & Additional Dedicated Outputs Connector J3- Components . . . . . . . . . . . . . . . 63
Table 61 HSSI Signal Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Table 62 External Power Supply Connector J7- Components . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Table 63 External Power Supply Connector J7 - Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Table 64 LED Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Table 65 Communication Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Table 66 20-pin COM Port Header Pin Out- MPU. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Table 67 9-pin D-sub COM Port Cable Pin Out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Table 68 COM2 Port RS-422 Pin Out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Table 69 SPiiPlus PCI Breakout Box Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Table 70 Encoder Connectors J1 to J8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Table 71 Encoder Connectors J1 to J8 - Axis Relation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Table 72 Encoder Connectors J1 to J8 - Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Table 73 Pulse/Dir Connectors J9 to J12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Table 74 Pulse/Dir Connectors J9 to J12 - Axis Relation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Table 75 Pulse/Dir Connectors J9 to J12 -Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Table 76 Sin-Cos Encoder Connectors J13 to J16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Table 77 SIN-COS Encoder Connectors J13 to J16 - Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Table 78 Drive Connectors J17 to J24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Table 79 Drive Connectors J17 to J24 - Axis Relation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Table 80 Drive Connectors J17 to J24 Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Table 81 Analog Input Connector J26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Table 82 Analog Inputs Connector J26 - Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Table 83 Safety Connectors J27 and J28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Table 84 Safety Connector J27 and J28 - Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Table 85 MARK/Digital Input Connector J29 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Table 86 MARK/Digital Inputs Connector J29 - Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Table 87 PEG & Digital Outputs Connector J30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Table 88 PEG & Digital Outputs Connector J30- Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Table 89 HSSI Connectors J31 to J34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Table 90 HSSI Connectors J31 to J34 Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Table 91 Power Supply Connector J35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Table 92 Power Supply Connector J35 Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Table 93 Breakout Box 5V Non-Isolated Power Supply Pinout. . . . . . . . . . . . . . . . . . . . . . . . . . 89
Table 94 Breakout Box 5V Isolated Power Supply Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Table 95 Breakout Box J36, J37, J40, and J41 Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Table 96 RS-485 Compatible Input Signal Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Table 97 RS-485 Compatible Output Signal Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Version 5.20 ix
1 About this Guide

This guide provides detailed hardware information concerning the SPiiPlus PCI, SPiiPlus PCI-
LT, SPiiPlus PCI-STline of motion control modules - SPiiPlus PCI, SPiiPlus PCI-LT and
SPiiPlus-ST. This guide includes the following information:
• Ηow to install the SPiiPlus PCI, SPiiPlus PCI-LT, SPiiPlus PCI-ST, SPiiPlus PCI-LT and
SPiiPlus-ST
• Ηow to connect the electrical interface with the system (motors, feedback, I/O, etc.)
For a setup procedure of the SPiiPlus PCI, SPiiPlus PCI-LT, SPiiPlus PCI-STproducts, refer to
the SPiiPlus Setup Guide. It includes:
• Ηow to establish communication
• Ηow to configure the drive, motor, feedback for an axis
• Ηow to adjust (tune) the parameters of an axis
The remaining tasks involved in operating the SPiiPlus PCI, SPiiPlus PCI-LT, SPiiPlus PCI-
STproducts, are described in the SPiiPlus ACSPL+ Programmers Guide, including:
• Ηow to program motion,
• Ηow to program I/O events
• Additional product features
1.1 The SPiiPlus Documentation
Table 1 Collateral Documentation (page 1 of 2)

Document Description
SPiiPlus PCI Series Hardware Installation and hardware connection with the SPiiPlus PCI
Guide series of products
SPiiPlus CM Hardware Guide Installation and hardware connection with the SPiiPlus
Control Module
SPiiPlus Setup Guide Communication, configuration and adjustment procedures
for SPiiPlus motion control products.
SPiiPlus ACSPL+ Command set and high level language for programming
Programmer's Guide SPiiPlus controllers.
SPiiPlus Command & Commands and variables of high level language for
Variable Reference Guide programming SPiiPlus controllers.
SPiiPlus MMI User’s Guide Software tools reference guide.
HSSI Expansion Modules High-Speed Synchronous Serial Interface (HSSI) for
Guide expanded I/O, distributed axes, and nonstandard devices.
SPiiPlus C Library Reference C++ and Visual Basic® libraries for host PC applications.
This guide is applicable for all the SPiiPlus motion control
products
SPiiPlus Utilities User’s Guide Firmware upgrade and recovery procedures.
Version 5.20 1 About this Guide

Table 1 Collateral Documentation (page 2 of 2)

Document Description
SPiiPlus COM Library COM Methods, Properties, and Events for Communication
Reference Guide with the Controller
SPiiPlus FRF Analyzer User’s The SPiiPlus FRF (Frequency Response Function)
Guide Analyzer™ is a powerful servo analysis GUI for ACS Control
Motion SPiiPlus motion controllers.
SPiiPlus SA and SA-LT Installation and hardware connection with the SPiiPlus SA
Hardware Guide and SPiiPlus SA-LT Controllers.
SPiiPlus 3U Hardware Guide Installation and hardware connection with the SPiiPlus 3U
Controller.
1.2 Conventions Used in this Guide

Several text formats and fonts, illustrated in Table 2, are used in the text to convey information
about the text.
Table 2 Text Conventions

Text Description
BOLD CAPS ACSPL+ elements (commands, functions, operators,
standard variables, etc.) when mentioned in the text.
Software tool menus, menu items, dialog box names and
dialog box elements.
bold Emphasis or an introduction to a key concept.
Monospace Code examples.
Italic monospace Information in code examples that the user provides.
ALL CAPS (Keyboard) key names [example: SHIFT key].
Bold Blue Text Links within this document, to web pages, and to e-mail
addresses.
| When used in command syntax, indicates input from one
alternative or another.
When used in GUI descriptions, indicates nested menu
items and dialog box options leading to a final action. For
example, the sequence:
Debug | New Watch | Real-time |
directs the user to open the Debug menu, choose the New
Watch command, and select the Real-time option.

1.2.1 Statement Text and Icons Used in this Guide
Note
Highlights an essential operating or maintenance procedure,
condition, or statement
Model
Model Dependent Text Here!
CAUTION
Caution describes a condition that may result in damage to
equipment.
A warning describes a condition that may result in serious

bodily injury, or death!

2 Introduction and Specifications
Figure 1 SPiiPlus PCI, Motion Controller
2.1 About the SPiiPlus PCI

The SPiiPlus PCI motion control line handles complex demands without compromising
accuracy or throughput. The SPiiPlus PCI can operate inside a PC or as a standalone motion
controller. Each product of the SPiiPlus PCI line is tailored to a specific application as
explained henceforth:
• SPiiPlus PCI - The SPiiPlus PCI meets the motion control requirements of the utmost
demanding applications such as semiconductors manufacturing, wafers inspection and Flat
Panel Display assembly and testing.
• SPiiPlus PCI-LT - The SPiiPlus PCI-LT is designed for enhancing the performance of OEM
machinery that requires multi-axis synchronization and low price.
• SPiiPlus PCI-ST - The SPiiPlus PCI-ST is designed for enhancing the performance of OEM
systems operating with step motors and servo motor drives with Pulse-Direction interface.
The following table lists the main features unique to each SPiiPlus PCI product:
Table 3
Product Drive Interface Feedback HSSI Channels
SPiiPlus PCI One command for torque Digital encoder Up to four
or two for torque and Sin-cos encoder
software commutation
SPiiPlus-LT One torque command Digital encoder only One
SPiiPlus-ST Pulse direction Digital encoder only One
commands
Version 5.20 4 Introduction and Specifications

SPiiPlus PCI line of products is furnished with the following features:

Controller - The servo control algorithm executes at an uncompromising rate of 20kHz for
each axis regardless of the number of axis, providing very large bandwidth, exceptional
dynamic tracking, fast settling, and excellent smoothness at low velocities.
The controller is manufactured under ISO 9001 certified quality management system, meeting
stringent safety and EMC standards and is CE marked.
Communication Channels - The Communication with the controller through all channels can
be done simultaneously:
In the PC, the SPiiPlus PCI communicates with the PC host via a bi-directional FIFO and user
programmable dual port RAM.
In addition it can communicate with other computers via an RS-232 and an RS-232/422 serial
channel (115,200 baud) or Ethernet 10/100 BaseT channel.
Digital I/O - The SPiiPlus PCI comes with digital and analog I/O that can be used for general
purpose. In addition, digital inputs can be used for hardware-based position registration and
outputs can be used to trigger position-based events with sub-microsecond delays.
ACSPL+ - Complex applications are easy to develop with ACSPL+, a powerful, compiled, true
multitasking, high-level language that is optimized for motion control applications. Ten
programs can run simultaneously, enabling multiple interacting and synchronized processes.
ACSPL+ enables implementation of highly complex motion-time-event sequences with
accurate positioning and timing. The program can run directly on the controller or can be
implemented in a host PC application using libraries provided for C, C++, and COM.
Suite of Tools - Powerful software tools are also provided for setup, tuning, and programming.
Application development is particularly easy with the integrated four-channel soft scope and
multi-axis motion simulator.
2.2 Axis Configuration Options

The SPiiPlus PCI line of products can control up to eight axes, which can comprise:
• One to eight direct-connected servo drives for DC brush, DC brushless/AC servo motors.
• Οne to four direct-connected drives for stepper motors.
• Οne to four HSSI-Networked Drives for remote servo motors (DC brush, DC brushless/AC
servo).
For Example:
• The SPiiPlus PCI-4 can be connected to two stepper drives and two DC brush motor drives.
• The SPiiPlus PCI-LT-8 can be connected to one stepper drive, three directly connected DC
brushless motor drives and four remotely connected DC brush motors via two units of
HSSI-ED2.
• The SPiiPlus PCI-ST-2 can be connected to two stepper drives.
See the SPiiPlus Setup Guide for how to assign an axis to a direct-connected servo/stepper drive
or HSSI-networked servo drive.

Table 4 lists the SPiiPlus PCI axis assignment configuration.

Table 5 lists the SPiiPlus PCI-LT axis assignment configuration
Table 6 list the SPiiPlus PCI-ST axis assignment configuration.
Table 4 SPiiPlus PCI Axis Assignment Configuration

Product Motors Direct- Direct- SW Dual HSSI MPU
SPiiPlus PCI Connected Connected Commutation Loop Cycle
Servo Drives Stepper (msec)
Drives
PCI-2 DC brush, 2(X,A) 1(X) Yes (by two 1(X) 1
PCI-4 DC 4(X,Y,A,B) 2(X,Y) ±10V drive 2(X,Y) 2
brushless, commands per
PCI-6 6 3(X,Y,Z) axis) 3 3
Nano
(X,A,Y,B,Z,C) (X,Y,Z) 0.5,1*,2
motion,
PCI-8 Stepper 8 4(X,Y,Z,T) 4 4
(X,Y,Z,T,A,B, (X,Y,Z,
C,D) T)
1* - 1 is the defalut MPU Cycle (msec)
Table 5 SPiiPlus PCI-LT Axis Assignment Configuration

SPiiPlus Connected Connected Commutation Loop Cycle
PCI-LT Servo Drives Stepper (msec)
Drives
PCI-LT-2 DC brush, 2(X,A) 1(X) 1(X)
PCI-LT-4 DC 4(X,Y,A,B) 2(X,Y) 2(X,Y)
brushless,
PCI-LT-6 6 3(X,Y,Z) 3
Nano
(X,A,Y,B,Z,C) No (X,Y,Z) 1 1
motion,
PCI-LT-8 Stepper 8 4(X,Y,Z,T) 4
(X,Y,Z,T,A,B, (X,Y,Z,
C,D) T)
Table 6 SPiiPlus PCI-ST Axis Assignment Configuration

PCI-ST Connected Connected Commutation Loop Cycle
Servo Drives Stepper (msec)
Drives
PCI-ST-2 Stepper N.A 2(X,Y) No No 1 1
PCI-ST-4 N.A 4(X,Y,Z,T)

2.3 I/O Configuration Options

The SPiiPlus PCI line of products comes with digital and analog I/O that can be used for general
purpose. Digital inputs can be used for hardware-based position registration (MARK) and
digital outputs to trigger position-based events (PEG pulse and PEG State).
The following tables list the digital and analog I/O configuration options for each product:
Table 7 lists the SPiiPlus PCI I/O configuration options
Table 8 lists the SPiiPlus PCI-LT I/O configuration options
Table 9 lists the SPiiPlus PCI-ST I/O configuration options
Table 7 SPiiPlus PCI I/O Configuration Options

Digital I/O Analog I/O
Product Digital Digital I/O PEG PEG State MARK Analog Analog Sin-Cos
SPiiPlus PCI Encoders Pulse Output Input Inputs Output Encoder
Output (per axis) (per axis)
PCI-2 6/5 1(X) 4 (X) 2(X) 4 4
PCI-4 8/10 2(X,Y) 4 (X,Y) 2(X,Y) 8 8
1 per axis 1 per
PCI-6 8/11 3(X,Y,Z) 4 (X,Y) 2 12 12
(X,Y,Z) axis
PCI-8 8/12 4(X,Y,Z,T) 4 (X,Y) 2 16 16
(X,Y,Z,T)
Table 8 SPiiPlus PCI-LT I/O Configuration Options

(for general purpose)
SPiiPlus Encoders Pulse Output Input Inputs Output Encoder
PCI-LT Output (per axis) (per axis)
PCI-LT-2 6/5 1(X) 2(X)
PCI-LT-4 8/10 2(X,Y) 2(X,Y)
1 per axis
PCI-LT-6 8/11 3(X,Y,Z) N.A 2 4*1 2*2 N.A
(X,Y,Z)
PCI-LT-8 8/12 4(X,Y,Z,T) 2
(X,Y,Z,T)
*1 - General purpose analog inputs are AIN0...AIN3

*2 - General purpose analog outputs are AOUT1 and AOUT3

Table 9 SPiiPlus PCI-ST I/O Configuration Options

SPiiPlus PCI Encoders Pulse Output Input Inputs Output Encoder
Output (per axis) (per axis)
PCI-2 8/10 2(X,Y) 2(X,Y)
PCI-4 1 per axis 8/12 4(X,Y,Z,T) N.A 2 N.A N.A N.A
(X,Y,Z,T)

2.4 Ordering Options

Figure 2 illustrates the SPiiPlus PCI ordering code elements. These elements and options are
described in Table 10.
SPiiPlus PCI-8-E-2-I
SPiiPlus PCI-LT-6
SPiiPlus PCI-ST-4
Figure 2 SPiiPlus PCI Ordering Code Elements
Table 10 SPiiPlus Ordering Code Options

Element and Description Options
SPiiPlus PCI - Product name PCI or PCI-LT or PCI-ST
8 - Represents the number of axes PCI - [2] or [4] or [6] or [8]
6 - Represents the number of axes PCI-LT [2] or [4] or [6] or [8]
4 - Represents the number of axes PCI-ST [2] or [4]
E - Represents the communications options [E] = one RS-232, one RS-232/422 and one
Applies to SPiiPlus PCI only Ethernet 10/100BaseT channel
2 - Represents the number of optional [0], [1], [2].....[8]
encoder sine/cosine multipliers
Applies to SPiiPlus PCI only
I - Optional field Convolve Input Shaping® algorithm to reduce
Applies to SPiiPlus PCI only vibration and settling time
Table 11 lists the items that are supplied with the SPiiPlus PCI line:Standard items supplied
with the SPiiPlus PCI Line.

Table 11 Standard items supplied with the SPiiPlus PCI Line

Item Explanation
Serial communication cable (37cm/14.1inc P.N FC-50920-226) for one RS-232 channel and
one RS-232/422 channel
SPiiPlus ADK (Advanced CD includes:
Development Kit) CD • SPiiPlus MMI - for axis configuration, servo tuning,
intended for programmers programming and viewing parameters
who develop ACSPL+ based
applications and host based • SPiiPlus Library - for host programming in C/C++ or
programs. Visual Basic
• SPiiPlus Utilities -for upgrading or reinstalling firmware
• SPiiPlus Simulator – controller simulator for fast
application development
• Hardware, software, setup, and programming guides in PDF
format
• ACSPL+ and C/C++ training files and programming
examples
• SPiiPlus FRF (Frequency Response Function) Analyzer ™
2.5 Additional Products
2.5.1 SPiiPlus PCI-INT

Interface kit for easy connection of controller to system using standard D-type connectors and
provided cables. Kit includes:
• One SPiiPlus breakout box. Dimensions: 35mm (1.37”)x 425mm (16.73”)x 145mm
(5.70”)[H x W x D] (P.N SB-12527-700)
• One flat cable (95cm/36”)- 200-pin header to four 50 pin headers (P.N FC-52050-493)
Note
This cable can be ordered in various lengths separately. See “Interface
Cables” on Page 11.
• One flat cable (95cm/37.4”)- 50-pin headers (P.N FC-35050-100)

• One flat cable (95cm/37.4”)- 30-pin headers (P.N FC-03030-100)
• One power male connector and cable (150cm/59”). for standalone operation
(P.N SB-11338-700)

• One Breakout Box power mating connector, Phoenix Contact MC 1.5/5-STF-3.81

(P.N CO-21205-STF)
2.5.2 Interface Cables

The SPiiPlus PCI is always supplied only with a RS-232 flat communication cable
(37cm/14.1”) for COM1 and COM2 (P.N FC-50920-226).
In addition, you can order each of the following Interface cables:
• One flat cable (20cm/7.8”)- 200-pin header to four 50 pin headers (P.N FC-52050-420)
• One flat cable (95cm/37.4”)- 200-pin header to four 50 pin headers (P.N FC-52050-493).
This cable is included in the SPiiPlus PCI-INT.
• One RS-422 communication flat cable (36cm/14.1”) with D-connector, 9-pin, male
(P.N CB-RS422-040). See description at “COM2 RS-422 Serial Communication” on
Page 71.
2.5.3 SPiiPlus PCI-Bracket

Mounting bracket for standalone controller operation. Dimensions: 175mm (6.88”)x 345mm
(13.58”)x 40mm (1.57”)[H x W x D].
2.5.4 HSSI-IO16
I/O expansion module providing 16 additional opto-isolated digital inputs and 16 opto-isolated
digital outputs per module. Up to four HSSI-IO16 units can be daisy chained to an HSSI
channel, providing a total of 64 inputs and 63 outputs per channel. For more information, refer
to the HSSI-IO16 data sheet.
2.5.5 HSSI-ED2
The HSSI-ED2 is applicable to the SPiiPlus PCI and SPiiPlus PCI-LT only. The HSSI-ED2 is
an I/O expansion module providing encoder and drive interface up to 20m from the controller,
8 additional opto-isolated digital inputs and 8 opto-isolated digital outputs per module. For
more information, refer to the HSSI-ED2 data sheet.
2.5.6 HSSI-Hub
The HSSI-Hub is a PC-based distribution board for up to four HSSI channels. The HSSI Hub
may be used with a SPiiPlus PCI as a unit between the controller and the HSSI module.

3 Specifications
3.1 SPiiPlus PCI Specifications

For axes specifications, see “Axis Configuration Options” on Page 5.
Table 12 Profile Generation

Element Description
Trajectory Programmable 0.5, 1 (default), 2kHz
Calculation Rate
Position Range ±4x1015 counts
Velocity 160x109 counts/second
Acceleration Up to ±4x1015 counts/second2
Table 13 Control
Element Description
Position+Velocity PI type, second order low pass and notch filters
Loop
Sampling Rate 20kHz
Accuracy ±1 encoder count
Dual Loop SPiiPlus PCI-2: 1(X)
SPiiPlus PCI-4: 2(X,Y)
SPiiPlus PCI-6: 3(X,Y,Z)
SPiiPlus PCI-8: 4(X,Y,Z,T)
Note
Each dual loop consumes another axis which should be defined as a
dummy.
Version 5.20 12 Specifications

Table 14 Feedback
Element Description
Type • Incremental digital encoders - one per axis, A&B,I; UP/DN,I;
CLK/DIR,I Type RS-485 Max. rate: 20 million encoder counts/sec
• Sin-cos encoders (optional) - one per axis, three channel, 1Vptp,
differential. Programmable multiplication factor x4-x65,536, rate:
up to 250,000 sine periods/second. Max. acceleration with Sin-cos
encoder: 108 sine periods/second2.
• Analog inputs or user defined devices via HSSI channels
Table 15 Drive Interface

Element Description
Analog Command Quantity Two for torque and commutation
Type ±10V, differential
Resolution 16bit DAC
Offset Programmable, 0.3mV res.
Compensation
Pulse Direction Quantity Half of the axes
Commands Type RS-485. Up to 4 million pulse/sec
Drive Enable Output Quantity One per axis
Type Two terminal, source or sink
Collector Emitter 5Vdc to 30Vdc
Voltage
Output Current 50mA
Drive Fault Input Quantity One per axis
Input Voltage 5Vdc(±10%), or 24Vdc(±20%) requires an
external supply

Table 16 Digital I/O

Element Description
Safety Inputs Quantity One E-stop. Left and Right limit per axis
Type Two terminal, source or sink, opto-isolated
Voltage 5Vdc(±10%) or 24Vdc(±20%), requires external
supply
MARK and Digital Quantity See “I/O Configuration Options” on Page 7.
Inputs Can be general purpose or registration mark
inputs.
Note: When working in open loop, the
registration mark is based on the internal pulse
counter. When working in closed loop, the
registration mark is based on the encoder counter.
Type RS-485.
Propagation <0.1μsec
Delay
PEG and Digital Quantity See “I/O Configuration Options” on Page 7.
Outputs Can be general purpose or PEG outputs or
mechanical brake control
Type RS-485
Maximum 20 mA per output or 80mA for four outputs
Current (OUT0...OUT3 or OUT4...OUT7)
Delay
PEG Pulse Width 25nsec to 1.6 msec
PEG Position ±1 count at up to 5,000,000 count/sec
Accuracy
PEG Random Up to 30,000
Events
Table 17 HSSI Expansion Channels

Element Description
Quantity See “I/O Configuration Options” on Page 7.
Input Bits 64 per channel
Output Bits 64 per channel
Sampling and 20kHz
Updating Rate
Type RS-485
Comment Up to additional 64/63 I/Os via each HSSI channel

Table 18 Analog I/O

Element Description
Analog Inputs Quantity See “I/O Configuration Options” on Page 7.
Type 1V ptp, differential
Resolution 14bit
Comment Analog inputs may be used as Sin-cos encoder
inputs. Each Sin-cos encoder uses two analog
inputs.
Analog Outputs Quantity See “I/O Configuration Options” on Page 7.
Resolution 16bit
Comment Analog outputs may be used as drive command
outputs. Each servo axis uses one toque command
or two commutation command analog outputs.
Table 19 Communication Channels

Element Description
PCI Bus 33MHz, 32bit, bi -directional
FIFO 512x8 in each direction
RS232/422 two ports (one port can be RS422), up to 115,200bps
Ethernet TCP/IP, 10/100 Mbt per sec
Note
Simultaneous communication through all channels is fully supported.
Table 20 Controller
Element Description
User Memory RAM: 13 MB, Flash: 13MB
Powerup Time 25sec
Power Supply 5Vdc(-2%/+5%) /3.5A, ±12Vdc(±5%)/0.25A
Voltage/Current

Note
When the controller is outside of the PC, the 5V and ±12V should be
supplied through dedicates power connector.
Table 21 Environment
Element Description
0 0
Operating 0 C to 60 C
Temperature
Storage -400C to 850C
Temperature
Humidity 90%RH, non condensing

3.2 SPiiPlus PCI-LT Specifications


Element Description
Trajectory 1kHz
Calculation Rate
Velocity 160x109 counts/second
Acceleration no practical limitation
Table 23 Control
Element Description
Position+Velocity PI type, second order low pass and notch filters
Loop
Sampling Rate 20kHz
Accuracy ±1 encoder count
Dual Loop SPiiPlus PCI-LT-2: 1(X)
SPiiPlus PCI-LT-4: 2(X,Y)
SPiiPlus PCI-LT-6: 3(X,Y,Z)
SPiiPlus PCI-LT-8: 4(X,Y,Z,T)
Note
Each dual loop consumes another axis which should be defined as a
dummy
Table 24 Feedback
Element Description
Note: Encoders require external supply.


Element Description
Analog Command Quantity One torque command
Resolution 16bit DAC
Offset Programmable, 0.3mV res.
Compensation
Pulse Direction Quantity Half of the axes
Voltage
Output Current 50mA
Input Voltage 5Vdc(±10%), or 24Vdc(±20%), requires an
external supply

Element Description
Safety Inputs Quantity One E-stop.
Left and Right limit per axis
supply
inputs.
Type RS-485.
Delay


Element Description
Type RS-485
Delay
Accuracy
Events

Element Description
Sampling and 20kHz
Updating Rate
Type RS-485
Table 28 Analog I/O

Element Description
Analog Inputs Quantity Four for general purpose
Type 1V ptp, differential
Resolution 14bit
Analog Outputs Quantity Two for general purpose.
Resolution 16bit


Element Description
Note
Table 30 Controller
Element Description
Powerup Time 25sec
Voltage/Current
Note
Element Description
0 0
Temperature
Temperature

3.3 SPiiPlus PCI-ST Specifications


Element Description
Trajectory 1kHz
Calculation Rate
Velocity up to four million pulse/sec
Acceleration up to 4x1015 counts/sec2
Table 33 Feedback
Element Description
Note: Encoders require external supply.

Element Description
Pulse Direction Quantity Two or four
Voltage
Output Current 50mA
Input Voltage 5Vdc(±10%), or 24Vdc(±20%), requires an
external supply


Element Description
Safety Inputs Quantity One E-stop.
Left and Right limit per axis
supply
inputs.
Type RS-485.
Delay
Type RS-485
Delay
Accuracy
Events
Num. of PEG unlimited
Events in
Incremental
Mode

Element Description
Sampling and 20kHz
Updating Rate


Element Description
Type RS-485

Element Description
Note
Table 38 Controller
Element Description
Powerup Time 25sec
Voltage/Current
Note

Element Description
0 0
Temperature
Temperature

3.4 Layout and Dimensions of SPiiPlus PCI Line
Figure 3 SPiiPlus PCI Line and Breakout Box - Layout and Dimensions

4 Safety and EMC Guidelines
4.1 Installation
Install the controller of the SPiiPlus PCI, or the SPiiPlus PCI-LT, or the SPiiPlus PCI-ST in a
standard full-length PCI slot in the host PC. The thickness of the controller takes up an adjacent
slot as well. As many controllers can be installed as there are slot pairs. For example, if there
are six long slots, three controllers can be installed. When communicating with the controller
via the PCI bus, it is necessary to specify the slot. This is done in the Communication dialog
box of SPiiPlus software tools.
Alternatively, the controller can operate standalone when installed in the optional SPiiPlus PCI-
BRACKET.
For easy connection of controller to system using standard D-type connectors, the optional
SPiiPlus PCI-INT interface kit with breakout box is available.
4.2 General Safety Guidelines

Under emergency situations the unit should be completely disconnected from any power
supply. The E-Stop Inputs and Left/Right Limits on ACS Motion Control products are designed
for use in conjunction with customer-installed devices to protect driver load. The end user is
responsible for complying with all Electrical Codes.
4.2.1 Emergency Stop Device
An emergency stop device shall be located at each operator

control station and other operating stations where an emergency
stop may be required. The emergency stop device shall
disconnect any electrical equipment connected to the unit from
the power supply. It will not be possible to restore the circuit until
the operator manually resets the emergency stop. In situations
with multiple emergency stop devices the circuit shall not be
restored until all emergency stops devices are manually reset.
4.2.2 Fail Safe Logic Recommendation

ACS Motion Control recommends connecting all safety inputs (limit inputs and emergency
stop input) with a fail safe logic. Meaning during normal operation the inputs is active. When
a safety event happens (or the input wire is cut) the input becomes zero and the controller
identifies that as a fault.
Version 5.20 26 Safety and EMC Guidelines

4.2.3 Initial Logic State of Outputs

The relevance of analog and digital output pins is product and model dependent. The initial
logic state of the inactive analog and digital pins is undefined. They might carry a potential of
5V relatively to ground.
4.2.4 Electrical Separation

Electrical separation is required between the control and power supply cables to prevent
electrical shock or damage to the equipment.
4.2.5 Over-Travel Protection
Provide Over-travel limit protection where over-travel is

hazardous. Design and install the over-travel limiting device to
interrupt the power circuit.
4.2.6 Thermal Detection
Suitable thermal detection devices to interrupt the power

circuit where abnormal temperatures can cause a hazardous
condition.
4.2.7 Power Supply and Motor Cable Ground

The power supply cable and the motor cable must have a ground wire that is connected to the
protective earth terminal located on the motor and power connectors. A connection must also
be made between the protective earth screw (located on the top of the unit) and the equi-
potential bar inside electrical enclosure.
4.3 General Wiring and Electromagnetic Compatibility

(EMC) Guidelines
4.3.1 Routing Signal and Power Cables

Power cables (to the motor, mains outlet, etc.) and signal cables (to I/O, encoder, RS-232, etc.)
must be kept as far apart as possible. Keep at least an inch (∼2.5 cm) for each 3 feet (∼1 m) of
parallel run as illustrated in Figure 4. For example, if the motor and encoder cables run parallel
for 6 feet (∼2 m), maintain a 2 inch (∼5 cm) separation between them.

Motor Cable
1 inch (~2.5 cm)
Separation of 1 inch for every 3 feet
Encoder / RS 232 Cable

cable_spacing
Figure 4 Cable Spacing

It is recommended to use completely shielded cables as illustrated in Figure 5.
Cable Sheath Cable Shielding
cable
Figure 5 Shielded Cable
4.3.2 Cable Length

Use short cables runs, and route cables as far from other EMI sources as possible.
4.3.3 Shielding
To reduce EMI radiation, do the following:
• Use shielded cables
• Install a ferrite core around the cable as close to the unit as possible as illustrated in
Figure 6.

improved
Figure 6 Improved Shielding
4.3.4 Grounding
Grounding of the system electrical components is crucial in two aspects:
• Safety grounding
Verify that all electric circuits and electrical components

including motion controllers, power drives, motors, etc. have a
grounding system. Grounding of ac and dc equipment shall be
in accordance with 29 CFR 1910.304(f).
• High frequency grounding:

The primary objective of a high-frequency ground system is to provide a well defined path for
HF currents and to minimize the loop area of the HF current paths. It is also important to
separate HF grounds from sensitive circuit grounds. A single-point, parallel connected ground
system is recommended.
The power supply cable and the motor cable must have a ground wire that is connected to the
protective earth terminal located on the motors. A connection must also be made between the
protective earth screw (located on the side of the unit) and the equi-potential bar inside
electrical cabinet.

5 Electrical Interface
5.1 Electrical Interface Locations and Designation
J2 J3 J4 J5 J6
MPU 585
J1
J7
PCI Bus
Legend :
J1 - Incremental Encoders Drives/ Amplifiers, J4 – J6 Manufacturing and Testing
Safety Inputs , Digital Outputs/ PEG J7 – External Power Supply
Analog Outputs, Digital Inputs/ MARK MPU 585 – For connectivity, see
J2 - Analog Inputs, SIN-COS Encoder Joystick Inputs picture below
J3 - HSSI, Additional Outputs
SPiiPlus PCI card
Figure 7 Electrical Interface Locations
Ethernet
COM 1&2 for RS- communication
232/422
communication ports
Figure 8 MPU 585 Connectivity
Version 5.20 30 Electrical Interface

5.2 Main Connector J1
CAUTION
The relevance of analog and digital output pins is product and
model dependent. The initial logic state of the analog and digital
pins that are inactive is undefined. They may carry an electrical
potential.
Table 40 Main Connector J1 - Components

Component Description
Jack on SPiiPlus PCI Molex® 200-pin, 71718-2000
Jack on SPiiPlus PCI-LT
Jack on SPiiPlus PCI-ST
Plug from System Molex 200-pin, 71719-3000
Recommended Wires 200pin connector with the four flat cables to 50pin headers (ACS
Motion Control P.N FC-52050-493)
There are two ways to connect the system to the main connector J1of the SPiiPlus PCI products:
• Breakout Box: The optional SPiiPlus PCI-INT, see SPiiPlus PCI Breakout Box
Connections, includes a breakout box, plugs and cables. The breakout box receives
two/four 50-pin plugs from main connector J1 and distributes the signals via convenient D-
type connectors arranged according to axis and functional. This option is particularly
recommended for prototyping.
• Direct: Instead of purchasing the full SPiiPlus PCI-INT the user can purchase only the flat
cable with a 200-pin header at the J1 end and two/four flat cables at the system end (P.N.
FC-52050-493) for connecting to the user’s own distribution box. This option is
recommended for serial production (saves the cost of the breakout box).
The flat cable's 200-pin J1 header connects to the controller's J1 jack on the back of the
computer. The cable divides into four 50-pin connectors, each of which is labeled with its
lowest pin number (pin 1, pin 51, pin 101, or pin 151). A red line in the connector flat cable
indicates the wire connecting to the lowest pin number.
Table 41 Cable from Main Connector J1 – 50-Pin Plugs

Product Axes 50-Pin Plug Pin
Number
SPiiPlus PCI-2/4/6/8 X and A J36 1-50
SPiiPlus PCI-LT-2/4/6/8 X and A
SPiiPlus PCI-ST-2/4 X only
SPiiPlus PCI-4/6/8 Y and B J37 51-100
SPiiPlus PCI-LT-2/4/6/8 Y and B
SPiiPlus PCI-ST-2/4 Y only

Table 41 Cable from Main Connector J1 – 50-Pin Plugs

SPiiPlus PCI-6/8 Z and C J40 101-150
SPiiPlus PCI-LT-6/8 Z and C
SPiiPlus PCI-ST-2 Z only
SPiiPlus PCI-8 only T and D J41 151-200
SPiiPlus PCI-LT-8 only T and D
SPiiPlus PCI-ST-2/4 T only
Table 42 lists the abbreviations used for the J1 plug signals listed in Table 43. The symbol # is
a place holder for the axis designation, which can be X, Y, Z, T, A, B, C, or D. The letter x is a
place holder for a number.
Table 42 Main Connector J1 - Signal Abbreviations

Symbol Description
#FLT Drive Fault Input
#ENA Drive Enable Output
#RL and #LL Right and Left Limit (safety inputs)
VIN+, VIN-, REF Pins used for connecting external power supply for safety inputs
ES Emergency Stop
#DIR, #PULSE Pulse direction commands (for step motor control)
OUTx PEG or digital output
#MARKx, INx MARK or digital inputs
#CHA Channel A of incremental encoder
#CHB Channel B of incremental encoder
#CHI Channel Index of incremental encoder
#DACx, AOUTx * Analog drive command or analog output
NC Not Connected
* The symbols #DACx, AOUTx apply only to SPiiPlus PCI and SPiiPlus PC-LT. SPiiPlus PCI-
ST does not support analog I/Os.
Note
Pins in connector J1 apply according to the axes and I/Os supported by
the product. For example, pin 198 applies to SPiiPlus PCI-8 only.

Table 43 Main Connector J1- Pinout (page 1 of 3)

Pin J36 Pin J37 Pin J40 Pin J41 Description
Cable Cable Cable Cable
1 AFLT- 51 BFLT- 101 CFLT- 151 DFLT- Drive Fault
2 AFLT+ 52 BFLT+ 102 CFLT+ 152 DFLT+
Interface
3 XFLT- 53 YFLT- 103 ZFLT- 153 TFLT-
4 XFLT+ 54 YFLT+ 104 ZFLT+ 154 TFLT+
5 AENA- 55 BENA- 105 CENA- 155 DENA- Drive Enable
6 AENA+ 56 BENA+ 106 CENA+ 156 DENA+
Interface
7 XENA- 57 YENA- 107 ZENA- 157 TENA-
8 XENA+ 58 YENA+ 108 ZENA+ 158 TENA+
9 ARL 59 BRL 109 CRL 159 DRL Limit Inputs
10 ALL 60 BLL 110 CLL 160 DLL
11 XRL 61 YRL 111 ZRL 161 TRL
12 XLL 62 YLL 112 ZLL 162 TLL
13 REF 63 NC 113 NC 163 NC Safety Inputs
14 VIN- 64 ES- 114 NC 164 NC
15 VIN+ 65 ES+ 115 NC 165 NC
16 XDIR- 66 YDIR- 116 ZDIR- 166 TDIR- Pulse - Direction
17 XDIR+ 67 YDIR+ 117 ZDIR+ 167 TDIR+
(Stepper) Outputs
18 XPULSE- 68 YPULSE- 118 ZPULSE- 168 TPULSE-
19 XPULSE+ 69 YPULSE+ 119 ZPULSE+ 169 TPULSE+
20 XPEG_ 70 XPEG_ 120 YPEG_ 170 YPEG_ Digital
STATE1- / STATE3- / STATE1- STATE3- / Outputs/PEG
OUT0.1- OUT0.3- / OUT0.5- OUT0.7- Outputs
21 XPEG_ 71 XPEG_ 121 YPEG_ 171 YPEG_
STATE1+ STATE3+ STATE1+ STATE3+/
/ OUT0.1+ / OUT0.3+ / OUT0.5+ OUT0.7+
STATE0- / STATE2- / STATE0- STATE2- /
OUT0.0- OUT0.2- / OUT0.4- OUT0.6-
STATE0+ STATE2+ STATE0+ STATE2+ /
/ OUT0.0+ / OUT0.2+ / OUT0.4+ OUT0.6+


24 XM2ARK 74 YM2ARK 124 ZM2ARK 174 TM2ARK- Digital
-/IN0.1- -/IN0.3- -/IN0.5- /IN0.7- Inputs/Registratio
25 XM2ARK 75 YM2ARK 125 ZM2ARK 175 TM2ARK+
n MARK Inputs
+/IN0.1+ +/IN0.3+ +/IN0.5+ /IN0.7+
26 XMARK1 76 YMARK1 126 ZMARK1 176 TMARK1-
-/IN0.0- -/IN0.2- -/IN0.4- /IN0.6-
27 XMARK1 77 YMARK1 127 ZMARK1 177 TMARK1+
+/IN0.0+ +/IN0.2+ +/IN0.4+ /IN0.6+
28 ACHI- 78 BCHI- 128 CCHI- 178 DCHI- Incremental
29 ACHI+ 79 BCHI+ 129 CCHI+ 179 DCHI+
Digital Encoder
Interface
30 ACHB- 80 BCHB- 130 CCHB- 180 DCHB-
31 ACHB+ 81 BCHB+ 131 CCHB+ 181 DCHB+
32 ACHA- 82 BCHA- 132 CCHA- 182 DCHA-
33 ACHA+ 83 BCHA+ 133 CCHA+ 183 DCHA+
34 XCHI- 84 YCHI- 134 ZCHI- 184 TCHI-
35 XCHI+ 85 YCHI+ 135 ZCHI+ 185 TCHI+
36 XCHB- 86 YCHB- 136 ZCHB- 186 TCHB-
37 XCHB+ 87 YCHB+ 137 ZCHB+ 187 TCHB+
38 XCHA- 88 YCHA- 138 ZCHA- 188 TCHA-
39 XCHA+ 89 YCHA+ 139 ZCHA+ 189 TCHA+
40 GND 90 GND 140 GND 190 GND Digital ground
41 +5VUF 91 +5VUF 141 +5VUF 191 +5VUF User 5V
42 AGND 92 AGND 142 AGND 192 AGND Analog ground


43 ADAC1- 93 BDAC1- 143 CDAC1- 193 DDAC1- Analog (or Drive
/AOUT3 /AOUT7 /AOUT11 /AOUT15 Command)
44 ADAC1+ 94 BDAC1+ 144 CDAC1+ 194 DDAC1+
Outputs
/AOUT3 /AOUT7 /AOUT11 /AOUT15
45 ADAC0- 95 BDAC0- 145 CDAC0- 195 DDAC0-
46 ADAC0+ 96 BDAC0+ 146 CDAC0+ 196 DDAC0+
47 XDAC1- 97 YDAC1- 147 ZDAC1- 197 TDAC1-
48 XDAC1+ 98 YDAC1+ 148 ZDAC1+ 198 TDAC1+
49 XDAC0- 99 YDAC0- 149 ZDAC0- 199 TDAC0-
50 XDAC0+ 100 YDAC0+ 150 ZDAC0+ 200 TDAC0+
Figure 9 Main Connector

5.2.1 Incremental Digital Encoder Interface
CAUTION
Power supply for encoders and safety switches must be
provided separately by the user via the J35 connector of the
breakout box or directly to the encoder.
Table 44 describes the incremental digital encoders supported by the SPiiPlus PCI products.
Table 44 Incremental Digital Encoder Support

SPiiPlus PCI SPiiPlus PCI-LT SPiiPlus PCI-ST
Quantity SPiiPlus PCI-2: 2 SPiiPlus PCI-LT-2: 2 SPiiPlus PCI-LT-2: 2
SPiiPlus PCI-4:4 SPiiPlus PCI-LT-4:4 SPiiPlus PCI-LT-4:4
SPiiPlus PCI-6:6 SPiiPlus PCI-LT-6:6
SPiiPlus PCI-8:8 SPiiPlus PCI-LT-8:8
Encoders per 1 1 1
axis
Characteristics See Specifications See Specifications See Specifications
ACSPL+ FPOS FPOS FPOS
standard variable
Recommended AWG22 wires with As in SPiiPlus PCI As in SPiiPlus PCI
Wires shielding. Twisted pair
cable for each
differential signal
(+ and -).
Supported Types • A&B, I: Quadrature As in SPiiPlus PCI As in SPiiPlus PCI
encoder with index.
• CLK-Dir, I: Clock –
direction encoder
with index.
• UP–DN, I: Up-
down encoder with
index.
Breakout Box Encoder Connectors J1 As in SPiiPlus PCI As in SPiiPlus PCI
Connectors to J8 on page 77
(option)

Note
For more information about using incremental encoders refer to the
SPiiPlus Setup Guide.
The input buffer is built around a 26C32 line receiver with 220 termination resistor. The use of
encoders with built-in line drivers, such as AM26C31 or similar, is recommended. Figure 10
is an example (for the X axis) of an incremental encoder connection.
encoder _x_axis
Figure 10 Incremental Digital Encoder Interface (X Axis)

5.2.2 Drive Enable Interface

All of the SPiiPlus PCI products provide one drive enable output per axis. The drive enable
output is used with user-supplied 5V or 24V. The drive enable output can be used in a sink or
source type configuration.
Table 45 Drive Enable Outputs

Category Value
Quantity One enable output per axis
Type Opto-isolated, two-terminal. May be used as source (open emitter) or
sink (open collector).
Propagation Delay <1ms
Output Voltage 5Vdc (±10%) or 24Vdc (±20%) – user supplied
Maximum Current 50mA per enable output
Breakout Box For For Stepper drive: Pulse/Dir Connectors J9 to J12 on page 78
Connectors For Servo drive: Drive Connectors J17 to J24 on page 81
(option)
5.2.2.1 Drive Enable Examples

The following examples illustrate the drive enable interface for an X-axis direct-connected
servo drive. The same interface applies for direct-connected stepper drives.
CAUTION
The value of the pull-up or pull-down resistor must ensure that
the enable output current does not exceed the controller's
rated maximum current (50mA).
Figure 11 is an example (for the X axis) of an enable output connection to a source-type input
on a servo drive, the drive having internal pull-down resistor. When the drive receives
external 5V/24V, it becomes enabled.

SPiiPlus PCI BreakOut Box
Power
Supply Third Party
5V or 24V Servo Drive
PIN PIN + -
ENA+
8 3
GND
ENA- ENABLE
7 8
from Drive
SPii Connector
(J17) GND
Main
Connector
(J1)
source_type_drive _enable _output
Figure 11 Source-Type Drive Enable Output (X Axis)
Figure 12 is an example (for the X axis) of an enable output connection to a two terminal
input drive, the drive having an internal pull-up resistor and internal power supply. When the
drive receives GND, it becomes enabled.
Third Party
Servo Drive
5V or 24V
PIN PIN
8 3 ENA+
from ENA- ENABLE

SPii 7 8
Drive GND
Main Connector
Connector (J17)
(J1)
sink_type_drive_ enable _output
Figure 12 Two Terminal Drive Enable Output (X Axis)

Figure 13is an example (for the X axis) of a source enable connection to a servo drive, the drive
having an external pull-up resistor and an external power supply. When the drive receives
GND and source (5V/24V), it becomes enabled.

Power
SPiiPlus PCI BreakOut Box Supply
5V or 24V
+ - Third Party
GND Servo
Drive
PIN PIN
8 3 ENA+
7 8 ENA-
from ENABLE
SPii GND
Drive
Main Connector
Connector (J17)
(J1)
two_terminal _drive_ enable _output
Figure 13 Source Drive Enable Output (X Axis)
5.2.3 Drive Fault Interface

All of the SPiiPlus PCI products provide one drive fault input per axis with user-supplied 5Vor
24V. The drive fault input can be used in a sink or source type configuration.
Table 46 Drive Fault Inputs

Category Value
Quantity One fault input per axis
Type Opto-isolated, two-terminal. Can be used as source (open emitter) or
sink (open collector).
Propagation Delay <1ms
Input Voltage 5Vdc (±10%) or 24Vdc (±20%), detected automatically
Maximum Current Up to 10mA per input
Protection Protected against reverse polarity
Breakout Box For Stepper drive: Pulse/Dir Connectors J9 to J12 on page 78
Connectors (option) For Servo drive: Drive Connectors J17 to J24 on page 81
5.2.3.1 Drive Fault Examples

The following examples illustrate an X-axis drive fault interface for direct-connected servo
drives. The same interface applies for direct-connected stepper drives.
Figure 14 is an example (for the X axis) of a source-type drive fault input from a servo drive.

Power Supply
BreakOut
5V or 24V
SPiiPlus PCI Box
+ -
PIN
4 GND Third Party
0 Servo Drive
5/24V
FLT
4 4
to
SPii 3 9
GND
Drive
Main Connector (J17)
Connector (J1)
source _type_drive _fault_input
Figure 14 Source-Type Drive Fault Input (X Axis)

Figure 15 is an example (for the X axis) of a sink-type drive fault input connection (with
external power supply) from a servo drive.
Power
Supply
SPiiPlus PCI BreakOut Box 5V or 24V
+ -
PIN
GND
4 FLT+
4 Third Party
to Servo Drive
SPii
FLT- FLT
3 9
Drive
Main Connector
Connector (J17)
(J1)
connection to drive with sink fault input
Figure 15 Connection To Drive With Sink Fault Input (X Axis)

5.2.4 Analog (or Drive Command) Outputs

The number of analog outputs varies from product to product as explained below:
• SPiiPlus PCI - provides up to 16 differential analog outputs.
• SPiiPlus PCI-LT - provides up to 10 differential analog outputs.
• SPiiPlus PCI-ST - does not support analog outputs.
(For details, see “I/O Configuration Options” on Page 7). The analog outputs can be used to
send drive commands to a third party drive for the following types of motors. For details, see
“Axis Configuration Options” on Page 5.
• DC brush motor - consumes one analog output per axis.
• Three-phase DC brushless/AC servo motor - consumes one analog output per axis when
the drive is doing the motor commutation. Consumes two analog outputs per axis when the
controller is doing the motor commutation (“software commutation”).
• Nanomotion motor - consumes one analog output per axis.
In SPiiPlus PCI only, analog outputs that are not used for drive commands are available for
general-purpose use. If an axis is not in use, the drive command output(s) can be freed up for
general use by defining the axis as a dummy axis as follows: MFLAGS(axis).#DUMMY= 1.
This feature is supported by the SPiiPlus PCI only and not by the SPiiPlus PCI-LT.
CAUTION
potential.
Table 47 Analog Outputs and Drive Commands

Category SPiiPlus PCI SPiiPlus PCI-LT
Quantity SPiiPlus PCI-2:4 SPiiPlus PCI-LT-2: Two drive command,
Two general purpose
SPiiPlus PCI-4:8 SPiiPlus PCI-LT-4: Four drive command,
Two general purpose
SPiiPlus PCI-6:12 SPiiPlus PCI-LT-6:Six drive command,
Two general purpose
SPiiPlus PCI-8:16 SPiiPlus PCI-LT-8: Eight drive command,
Two general purpose
Type Differential, not isolated
Voltage Range Between the output's two differential lines: -10V to 10V.
Between (GND) and the output's (+) line: -5V to 5V.
D/A Resolution 16 bit
D/A Conversion ±2%
Circuit Accuracy

Table 47 Analog Outputs and Drive Commands

Category SPiiPlus PCI SPiiPlus PCI-LT
Voltage -32768 to 32768
Representation
Maximum Current 10mA per output
Protection short circuit
Corresponding OUT0… AOUT15 AOUT0, AOUT2, AOUT4, AOUT6,
ACSPL+ Variables AOUT8, AOUT10, AOUT12, AOUT14
AOUT1 and AOUT3
Breakout Box Drive Connectors J17 to J24 on page 81
Connectors
(option)
Note
When using non-differential drivers, the single ended command from
the controller is ±5V.
Table 48 Axis Analog Outputs Used for Drive Command(s)

Axis One axis output is used when Both axis outputs are used when
commutation is by drive (brushless commutation is by controller
motor) or by motor (brush motor) (brushless motor)
Default
X AOUT0 AOUT0 and AOUT1
Y AOUT4 AOUT4 and AOUT5
Z AOUT8 AOUT8 and AOUT9
T AOUT12 AOUT12 and AOUT13
A AOUT2 AOUT2 and AOUT3
B AOUT6 AOUT6 and AOUT7
C AOUT10 AOUT10 and AOUT11
D AOUT14 AOUT14 and AOUT15
Note
Controller commutation is supported only by SPiiPlus PCI.

5.2.4.1 Drive Output Examples

The following examples illustrate the drive output interface for an X axis.
Figure 16 is an example (for the X axis) of an output command connection for a DC brush
motor.
PIN PIN
4 XDAC0- R phase
1
From 9
SPii0 5 XDAC0+ S phase
6
0 Third Party Brush
4 5 AGND Drive Motor
2 PE
SHIELD
Main X Drive Encoder

Encoder signals
Connector (J1) Connector (J17) to the controller
commands to a drive of a DC brush motor
Figure 16 Connection of Output Commands to a Drive of a DC Brush Motor

(X Axis)
Figure 17 is an example (for the X axis) of an output command connection for a DC brushless
motor.
PIN PIN
4 XDAC0- R phase
From 1
9
SPii0 5 XDAC0+ S phase
0 6
Third T phase
Brushless
Party PE
4 2
XDAC1- Motor
From 7 Drive
SPii0 4 7 XDAC1+
8
4 5 AGND
2
SHIELD Encoder
Encoder
Main X Drive signals to the
Connector (J1) Connector (J17) controller
output commands to a drive of a DC brushless motor
Figure 17 Output Command Connection to a DC Brushless Motor Drive (X Axis)

5.2.5 Pulse - Direction (Stepper) Outputs

The SPiiPlus PCI line of products provides up to four pulse direction digital differential outputs
to control a stepper motor. For details, see the following table.
The SPiiPlus PCI line of products provides up to four sets of pulse and direction digital
differential outputs to control a stepper motor.
Table 49 Stepper Drive Pulse and Direction Outputs

Category SPiiPlus PCI SPiiPlus PCI-LT SPiiPlus PCI-ST
Quantity PCI-2: 1(X) PCI-LT-2: 1(X) PCI-ST-2: 2(X,Y)
PCI-4: 2(X,Y) PCI-LT-4: 2(X,Y) PCI-ST-4: 4(X,Y,Z,T)
PCI-6: 3(X,Y,Z) PCI-LT-6: 3(X,Y,Z)
PCI-8: 4(X,Y,Z,T) PCI-LT-8: 4(X,Y,Z,T)
Type RS-485
Maximum Current 10mA per output
Breakout Box See Pulse/Dir Connectors J9 to J12 on
Connectors (option) page 78
5.2.5.1 Pulse - Direction Output

The following example illustrates the pulse – direction output interface for an X axis. Figure 18
is an example (for the X axis) of a pulse – direction output to a stepper drive.

PIN PIN
XDAC0- R phase
49 1
XDAC0+ S phase
50 6
Third
From SPii0
T phase
Brushless
XDAC1-
Party PE Motor
47 2
Drive
48 7 XDAC1+
42 5 AGND
SHIELD Encoder
X Drive Encoder
Main Connector
signals to the
Connector (J1) controller
(J17)
outputs to a drive of a stepper motor
Figure 18 Differential Pulse-Direction Output Connection to a Stepper Motor Drive (X

Axis)

5.2.6 Safety Inputs

The safety inputs of the SPiiPlus PCI line of products includes:
• One emergency stop (ES) input per controller
• Two limit inputs: left limit (LL) and right limit (RL), per axis.
5.2.6.1 Emergency Stop Input
The motion controller SHOULD NOT be used as the Emergency

Stop handler of the entire system. The ES input only indicates
to the controller that an emergency situation exists.
Table 50 Emergency Stop Input

Category Value
Quantity One
Type Opto-isolated, two-terminal. May be used as source (open emitter)
or sink (open collector)
Corresponding SFAULT.#ES
ACSPL+ Variables
Maximum 1msec
Propagation Delay
External Supply 5Vdc (±10%) or 24Vdc (±20%), detected automatically – as
Voltage defined for the limit switches.
Input Current 2mA to 7mA
Breakout Box See Safety Connector J27 and J28 on page 84
Connector (option)
Emergency Stop Input Example
The following examples illustrate the emergency stop input interface for an X axis. Figure 19
is an example of a source emergency stop input.

BreakOut Box
SPiiPlus PCI Power Supply
Connector
PIN PIN
To VIN+(J35) 5V or 24V
Safety 15 3
VIN-
+
Circuit 14 4 Power
- Supply
PIN ES
65 14 + GND
to SPii
64 6 ES-
Main Connector Safety Connector

(J1) (J27)
Source Connection for Emergency Stop Input
Figure 19 Source Connection for Emergency Stop Input

Figure 20 is an example of a sink emergency stop input

Power Supply
PIN PIN Connector (J35)
To VIN+ 5V or 24V
Safety 15 3
VIN-
+
Circuit 14 4 Power
PI - Supply
N ES
65 14 + GND
to SPii
64 6 ES-

(J1) (J27)
Sink Connection for Emergency Stop Input
Figure 20 Sink Connection for Emergency Stop Input

5.2.6.2 Limit Inputs
Table 51 Limit Inputs

Category Value
Quantity One left limit and one right limit per axis
Type Two terminal, source (open emitter) or sink (open collector),
opto-isolated.
Corresponding <AXIS>_FAULT.#LL and <AXIS>_FAULT.#RL (example:
ACSPL+ Variables X_FAULT.#LL)
Maximum Propagation 1msec
Delay
External Supply 5Vdc (±10%) or 24Vdc (±20%), detected automatically.
Voltage Must be connected between the V_SUP_SFTY and
V_RET_SFTY pins
Input Current From 2mA to 7mA per input
Breakout Box See Safety Connector J27 and J28 on page 84
Connectors (option)
Limit Input Examples

The following examples illustrate the limit input interface for an X axis. Figure 21 is an
example (for the X axis) of a source-type switched limit input

Power Supply
To PIN PIN Connector(J35)
15 3 VIN+ + 5V or 24V
Safety
Circuit 14 4 VIN- Power
PIN XR
- Supply
11 10 L
to SPii
1 REF
13

(J1) (J27)
Source Connection for Switched Limit Input
Figure 21 Source Connection for Switched Limit Input (X Axis Right Limit)
Figure 22 is an example (for the X axis) of a source-type PNP limit input.

SPiiPlus PCI BreakOut Box Power Supply

Connector (J35)
To PIN PIN
15 3 VIN+ + 5V or 24V
Safety
PNP Sensor
- Supply
PIN
XRL
11 10
to SPii
1 REF
13

(J1) (J27)
Source Connection for a PNP Limit Input
Figure 22 Source Connection for a PNP Limit Input (X Axis Right Limit)
Figure 23 is an example (for the X axis) of a sink-type switched limit input.

Power Supply
To
Safety 15 3 VIN+ + 5V or 24V
- Supply
PIN
REF
13 1 GND
to SPii
11 10

(J1) (J27)
Sink Connection for a Switched Limit Input
Figure 23 Sink Connection for a Switched Limit Input (X Axis Right Limit)
Figure 24 is an example (for the X axis) of a sink-type NPN limit input.


Power Supply
To
VIN+ 5V or 24V
Safety 15 3
VIN-
+
Circuit 14 4 Power
- Supply
PIN
REF GND
13 1
to SPii
1 NPN Sensor
11 0

(J1) (J27) Sink Connection for NPN Input
Figure 24 Sink Connection for NPN Input (X Axis Right Limit)
5.2.7 Digital Outputs/PEG Outputs

SPiiPlus PCI provides up to twelve fast digital outputs:
• Eight (OUT0.0 to OUT0.7) on the Main Connector J1.
• Four (OUT0.8 to OUT0.11) on the HSSI & Additional Dedicated Outputs Connector J3.
For details, see “I/O Configuration Options” on Page 7. The digital outputs can be assigned
for the following:
• General purpose digital output: total of twelve outputs.
• Mechanical brake logical digital outputs: for up to eight axes. See instructions in SPiiPlus
Setup Guide, Axis Configuration and Setup, Mechanical Brake.
• PEG (Pulse Event Generation) for up to four outputs (SPiiPlus PCI-8, SPiiPlus PCI-LT-8
and SPiiPlus PCI-ST-4). The PEG pulse can be triggered at a precise position by
Incremental or Random PEG commands – See PEG description in the SPiiPlus ACSPL+
Programmer's Guide.
• OUT0.8 to OUT0.11 PEG State – In SPiiPlus PCI only, four states for each of X and Y axes:
total of up to eight outputs. When an output is configured as PEG State, the output state is
set to on. When a PEG pulse is activated, the output state changes to off.– See PEG
description in the SPiiPlus ACSPL+ Programmer's Guide.
Note
The ASSIGNPEG command is used to assign the digital outputs for
either PEG or general purpose (default) use. PEG affects the physical
outputs but has no effect on the OUT variable. Refer to the SPiiPlus
ACSPL+ Programmer's Guide.

Table 52 Fast Digital Outputs/PEG

Category Value
Quantity Up to twelve, for details see, “I/O Configuration Options” on
Page 7. The fast digital outputs can be configured by software as
PEG outputs or as general purpose outputs.
Type Differential, RS-485, not isolated. (Requires 220ohm termination
resistor.)
The differential output state is:
– Off: when the (+) is 0V and the (-) is inverted (5V)
– On: when the (+) is 5V and (-) is inverted (0V).
(The outputs may also be configured as single ended, see Figure 26
"Single-Ended General Purpose Digital Output Connection (X
Axis)" on Page 53 In this case, they are TTL compatible.)
When the controller firmware is not operational (for example,
during powerup), the output states are not defined (tristate).
Associated ACSPL+ peg_i and peg_r. The fast output signal is generated with
Functions extremely small delay when the encoder position matches a
predefined value. See PEG description in the SPiiPlus ACSPL+
Programmer's Guide.
Maximum < 0.1µsec
Propagation Delay
Breakout Box PEG & Digital Outputs Connector J30 on page 86
Connector (option)
Table 53 Outputs Used for PEG Pulse and PEG State*

Axis PEG Pulse PEG state 0 PEG state 1 PEG state 2 PEG state 3
X OUT3 OUT0 OUT1 OUT2 OUT8
Y OUT7 OUT4 OUT5 OUT6 OUT9
Z OUT10 - - - -
T OUT11 - - - -
Note
PEG state outputs are supported only by SPiiPlus PCI

5.2.7.1 PEG Output

Figure 25 is an example (for the X axis) of a differential PEG digital output.
from 51R PIN PIN

1 X_PEG_PULSE+ 220 Ω
SPii 19 8
AM26C31 5
1 2 termination
18 X_PEG_PULSE- resistor (user-
4 1
51R SHIELD supplied)
Main Connector PEG & Digital

(J1) Outputs (J30)
Differential PEG Pulse Digital Output Connection
Figure 25 Differential PEG Pulse Digital Output Connection (X Axis)
CAUTION
A user-supplied 220Ω resistor must be installed between the
differential signals of the PEG outputs.

Figure 26 is an example (for the X axis) of a single-ended general purpose digital output. The
output is TTL compatible.
51R PIN
PIN PIN
from
19
15 8 Load
SPii
AM26C31
14 21
18 X
51R
Main Connector PEG & Digital Outputs

(J1) (J30)
Single-Ended General Purpose Digital Output Connection
Figure 26 Single-Ended General Purpose Digital Output Connection (X Axis)
CAUTION
If the output is configured as single-ended, the unused
complementary pin MUST NOT be connected to ground.
5.2.8 Digital Inputs/Registration MARK Inputs

The SPiiPlus PCI line of products provide up to eight fast digital inputs. For details, see “I/O
Configuration Options” on Page 7. The digital inputs can be used for:
• General purpose digital inputs.
• Fast registration inputs (MARK), two per X, Y, Z, and T-axis
Encoder Registration (MARK) inputs shares the same pins as the general-purpose inputs.
Encoder latching occurs on the falling edge of input signal (input changes state from ON to
OFF state).

Table 54 Fast Digital Inputs (MARK)

Category Value
Quantity See, “I/O Configuration Options” on Page 7.
Type Differential, RS-485, not isolated. An input's state is:
undefined: when there is no voltage on either the (+) or (-).
on: when the (+) is 5V and the (-) is 0V.
off: when the (+) is 0V and the (-) is 5V.
(The inputs may also be configured as single ended see: Single-
Ended Connection for a Digital Input (Input 0) on page 55
Interface TI AM26C31 line receiver
MARK Input 5Vdc (±10%) only
Voltage
Associated MARK and M2ARK. The fast input signal latches the current
ACSPL+ Variables encoder position to the associated variable with extremely small
delay. See the SPiiPlus ACSPL+ Programmer's Guide.
Maximum < 0.1µsec
Propagation Delay
Breakout Box See: MARK/Digital Inputs Connector J29 on page 85
Connector (option)
The inputs can be used for general purposes or for MARK with no software reconfiguration
required.
When an input is not connected, the state is undefined!
5.2.8.1 Digital Input

The following examples illustrate the digital input interface for an X axis. Figure 27 is an
example (for the X axis) of a differential digital input connection

Digital I/O and Analog

Outputs Connector (J9) + 5V Power

- Supply
to PIN PIN X_MARK1+

127 5
SPii AM26C32 5
1
Input
X_MARK1- Sensor
426 18
220R SHIELD
Main Connector Mark/Digital Inputs

(J1) Connector (J29)
Differential Connection for MARK 1 Input
Figure 27 Differential Connection for MARK1 Input (X Axis)

Figure 28 is an example (for the X axis) of a single-ended digital input connection. A voltage
divider is used as a source of reference voltage.
+
5V Power
- Supply
SPiiPlus PCI BreakOut Box 420 Ω
to PIN PIN
SPii
127 5
IN0.0+ + NPN Input
AM26C32 5
1 IN0.0- Sensor
426 18
220 Ω INPUT
40 13 200 Ω
-
Main Connector Mark/Digital Inputs
(J1) Connector (J29)
Single-Ended Connection for a Digital Input
Figure 28 Single-Ended Connection for a Digital Input (Input 0)

Figure 29 is an example of a switched digital input connection.

+ 5V Power
- Supply
100 Ω 100 Ω
to PIN PIN
127 IN0.0+
SPii AM26C32 5
5
1
426 18 IN0.0-
1N521B
220 Ω
40 13 or
1N522B
Main Connector
(J1) Mark/Digital Inputs
Connector (J29)
Switched Connection for MARK 1 Input
Figure 29 Switched Connection for MARK1 Input (X Axis)
5.3 Analog/SIN-COS Encoder Inputs Connector J2
Note
Only SPiiPlus PCI supports Sin-cos encoder inputs.
Table 55 Analog/SIN-COS Encoder Inputs Connector J2 - Components

Jack on SPiiPlus PCI Type: dual row pin header, 50 pin, male
Plug from System Type: dual row pin header, 50 pin, female
Recommended Wires AWG22 wires with shielding. Twisted pair cable for each
differential signal (+ and -).

Table 56 Analog/SIN-COS Inputs- Specification

Element Description
Quantity SPiiPlus PCI-2: 4 inputs (2 encoders)
SPiiPlus PCI-4: 8 inputs (4 encoders)
SPiiPlus PCI-LT-2: 4 inputs (general purpose only)
SPiiPlus PCI-ST: N.A
Inputs per Axis 2. See Analog/SIN-COS Encoder Inputs Connector J2 - Pinout
on page 58.
Input Assignment SPiiPlus PCI: General purpose or joystick or SIN-COS encoder
input.
SPiiPlus PCI-LT: General purpose or joystick only
– Joystick Potentiometer output must be connected to AIN#+ and return
supply must be connected to AIN#-. See Joystick Input Example
on page 62
– SIN-COS encoder Optional feature that takes both of an axis's analog inputs and
requires that the appropriate jumpers be installed.
Jumper Pairs When installed, the inputs accept the SIN-COS encoder signal and
terminate the input at 120 ohms. When removed, inputs carry
general purpose signal or joystick signal. See Analog and Sin-
Cos Encoder Inputs and Their Jumpers on page 59.
– Across analog input >1Mohm
(Ain#+ to Ain#-
where # indicates
an input number)
– Between analog Approximately 50Kohm
input and ground
– SIN-COS input 120 ohm (termination resistor)
Input type 1V ptp, differential

ADC resolution 14bit
ACSPL+ standard AIN. Example: AIN7 represents analog input 7.
variable
– Variable range -8192 to 8191
Breakout Box Analog inputs: J26
Connectors (option) Sin-cos encoders: J13 to J16

Note
the product. For example, pin 7 applies to SPiiPlus PCI-2/4/6/8 only.
Table 57 Analog/SIN-COS Encoder Inputs Connector J2 - Pinout

Pin Signal Pin Signal
1 X-SIN+ / AIN0+ 2 X-SIN- / AIN0-
3 X-COS+ / AIN1+ 4 X-COS- / AIN1-
5 X-INDEX+ 6 X-INDEX-
7 A-SIN+ / AIN2+ 8 A-SIN- / AIN2-
9 A-COS+ / AIN3+ 10 A-COS- / AIN3-
11 A-INDEX+ 12 A-INDEX-
13 AGND 14 Y-SIN- / AIN4-
15 Y-SIN+ / AIN4+ 16 Y-COS- / AIN5-
17 Y-COS+ / AIN5+ 18 Y-INDEX-
19 Y-INDEX+ 20 B-SIN- / AIN6-
21 B-SIN+ / AIN6+ 22 B-COS- / AIN7-
23 B-COS+ / AIN7+ 24 B-INDEX-
25 B-INDEX+ 26 Z-SIN- / AIN8-
27 Z-SIN+ / AIN8+ 28 Z-COS- / AIN9-
29 Z-COS+ / AIN9+ 30 Z-INDEX-
31 Z-INDEX+ 32 C-SIN- /AIN10-
33 C-SIN+ / AIN10+ 34 C-COS- / AIN11-
35 C-COS+ / AIN11+ 36 C-INDEX-
37 C-INDEX+ 38 AGND
39 T-SIN+ / AIN12+ 40 T-SIN- / AIN12-
41 T-COS+ / AIN13+ 42 T-COS- / AIN13-
43 T-INDEX+ 44 T-INDEX-
45 D-SIN+ / AIN14+ 46 D-SIN- / AIN14-
47 D-COS+ / AIN15+ 48 D-COS- / AIN15-
49 D-INDEX+ 50 D-INDEX-

5.3.1 Sin-Cos Encoder/Analog Inputs
Note
This section applies only to SPiiPlus PCI-2-4-6-8.
The SPiiPlus PCI is equipped with up to 16 differential analog inputs. These 0.5 to (-0.5V)
differential inputs can be used to interface with a Sin-Cos encoder (with 1Vp-p analog output
amplitude) or for general purpose usage.
Note
Sin-Cos encoder support is NOT provided as a standard feature. Up to
four/eight sin-cos encoder interfaces can be specified in the product
purchase order. The number of enabled sin-cos multipliers is written on
a PAL located at the back side of the SPiiPlus PCI where“M1” means
one multiplier, “M2” means two multipliers etc.
CAUTION
When working with a Sin-Cos encoder, two jumpers on the
SPiiPlus PCI board must be configured.
Table 58 describes the jumper settings and the associated input which carries the Sin-Cos
encoder input signal. When the jumper is removed, the input carries the analog input signal.
Table 58 Analog and Sin-Cos Encoder Inputs and Their Jumpers

Axis Analog Input Sin-Cos Encoder Input Select Sin-Cos Input by
Installing Jumper
X AIN0, X-SIN, JP4,
AIN1 X-COS JP5
Y AIN4, Y-SIN, JP8,
AIN5 Y-COS JP9
Z AIN8, Z-SIN, JP12,
AIN9 Z-COS JP13

Table 58 Analog and Sin-Cos Encoder Inputs and Their Jumpers

Axis Analog Input Sin-Cos Encoder Input Select Sin-Cos Input by
Installing Jumper
T AIN12, T-SIN, JP16,
AIN13 T-COS JP17
A AIN2, A-SIN, JP6,
AIN3 A-COS JP7
B AIN6, B-SIN, JP10,
AIN7 B-COS JP11
C AIN10, C-SIN, JP14,
AIN11 C-COS JP15
D AIN14, D-SIN, JP18,
AIN15 D-COS JP19
Table 59 Sin-Cos Encoder Input

Category Value
Quantity Up to eight interfaces, each comprising two encoder
signals and one index signal
Type 1V ptp differential signals
Input frequency Up to 250K sine or cosine periods per second
Digital representation of input –8192…+8191
voltage (AIN variable)
A/D conversion resolution 14 bit
Corresponding ACSPL+ AIN0... AIN5
Variables

5.3.1.1 Sin-Cos Encoder Input

Figure 30 illustrates the Sin-Cos encoder interface for an X axis.
BreakOut Box
PIN Power Supply
GND 2
Connector (J35)
SPiiPlus PCI +5V 1
4R PIN 5F (5.1V SUPPLY)

PIN 1
to 1R
SPii - 1 2 X Sin+
+ 220R
AGN X Sin-
2 3 SIN-COS
D 4R 1
4R
Incremental
to Encoder with
1R X INDEX+
SPii - 5 6 Differential
+ 220R Outputs
AGN X INDEX-
6 7
D 4R 1R
4R
to
SPii 1R X COS+
- 3 4
+ 220R
AGN 4 5 X COS-
D 4R 1R 1 AGND
3 8
9 SHIELD
Main X S/C Encoder

connector (J1) connector (J13)
Sin-Cos Encoder Interface
Figure 30 Sin-Cos Encoder Interface

5.3.2 Joystick Input Interface
Note
This section applies to SPiiPlus PCI and SPiiPlus PCI-LT only.
To configure the differential analog inputs to work with 10V to -10V, you may add 75Kohms
resistors connected in series to the analog inputs pins as Figure 31 illustrates. to change email
15/10
SPiiPlus PCI External 0-10V device
10V
AIN+
75kohm
AIN-
75kohm
AGND
AIN=0 @ 0v
AIN=7476 @ 10v
Analog inputs with 10V
Figure 31 Analog Inputs with 10V ptp configuration
5.3.2.1 Joystick Input Example

Figure 32 illustrates the joystick interface.

USER SPiiPlus PCI

39K
+1.25V 10K
AIN#-
-
Supply Return
+
1-5K 10K
-1.25V AIN#+
39K
Joystick Interface
Figure 32 Joystick Connection
5.4 HSSI & Additional Dedicated Outputs Connector J3

The J3 connector pins 1 through 22 are for the HSSI interface and pins 22 through 30 are
dedicated digital outputs.
CAUTION
potential.
Table 60 HSSI & Additional Dedicated Outputs Connector J3- Components

Connector on SPiiPlus PCI 30-pin, male, dual row header (Pin 1 is marked on the PCB)
products
Plug from System 30-pin, female, dual row header
Recommended Wires Standard flat cable

HSSI and Additional Digital Outputs

Category Value
Quantity: HSSI SPiiPlus PCI-2: 1 channel
SPiiPlus PCI-4: 2 channels
SPiiPlus PCI-LT-2-4-6-8: 1 channel
SPiiPlus PCI-ST-2-4: 1 channel
Quantity • Up to eight (OUT0.0 to OUT0.7) on the Main Connector J1, see
Page 31.
• Up to four (OUT0.8 to OUT0.11) on the HSSI & Additional
Dedicated Outputs Connector J3, see Page 63.
Breakout Box HSSI: J9 to 12
Connectors Digital outputs: J30
(option)
Note
the product. For example, pin 16 applies to SPiiPlus PCI-8 only.
HSSI & Additional Dedicated Outputs Connector J3 – Pinout

Pin Signal / SW Comm. Pin Signal / SW Comm. Description
1 XSER_DI+ 2 XSER_DI-
3 YSER_DI+ 4 YSER_DI-
Ground (pin 22) is
5 ZSER_DI+ 6 ZSER_DI-
common to both
7 TSER_DI+ 8 TSER_DI- HSSI and the
9 GND 10 XSER_DO- dedicated digital
XSER_DO+ YSER_DO- outputs
11 12
13 YSER_DO+ 14 ZSER_DO-
15 ZSER_DO+ 16 TSER_DO-
17 TSER_DO+ 18 CONTROL1-
19 CONTROL1+ 20 CONTROL2-
21 CONTROL2+ 22 GND

HSSI & Additional Dedicated Outputs Connector J3 – Pinout

Pin Signal / SW Comm. Pin Signal / SW Comm. Description
23 XPEG_STATE3+ / 24 XPEG_STATE3- / PEG or general
OUT0.8+ OUT0.8- purpose outputs
25 YPEG_STATE3+ / 26 YPEG_STATE3- /
OUT0.9+ OUT0.9-
27 ZPEG_PULSE+ / 28 ZPEG_PULSE- /
OUT0.10+ OUT0.10-
29 TPEG_PULSE+ / 30 TPEG_PULSE- /
OUT0.11+ OUT0.11-
5.4.1 HSSI Signals
Table 61 HSSI Signal Description

Symbol Description
SER_DI HSSI serial data input
SER_DO HSSI serial data output
CONTROL Composite signal that includes START and SER_CLK (data clock signal)
START Synchronization signal for data transfer
SER_CLK Data clock signal
5.4.2 Dual Purpose Digital Output Signals

The dual purpose digital outputs, see “Digital Outputs/PEG Outputs” on Page 50, operate
via pins 22 through 30 on the J3 connector.
• Quantity: 4 (can be assigned for either PEG or general purpose use)
• Output type: Differential, RS-422
5.5 Manufacturing and Testing Connector J4
The J4 connector is used for manufacturing and testing

purposes only. Do not connect anything to this connector.

5.6 JTAG Connector J5
The J5 JTAG connector is used for manufacturing and testing

purposes only. Do not connect anything to this connector.
5.7 Servo Interrupt Connector J6
The J6 Servo Interrupt connector is reserved for future

enhancements. Do not connect anything to this connector.
5.8 External Power Supply Connector J7

The J7 connector is used for standalone operation only when connecting the controller outside
a PC.
Table 62 External Power Supply Connector J7- Components

Jack on SPiiPlus PCI JST™ B4B-EH-A
Jack on SpiiPlus PCI-ST
Plug from System JST EHR-4 with contacts SEH-001T-P0.6
Recommended Wires Use 22-AWG# wire
Note
When installed into a PC host, the controller is powered via the PCI
Bus.
In this case the J7 connector is NOT in use.

Table 63 External Power Supply Connector J7 - Pinout

J7 Pin Cable Color Signal (consumption)
1 Red +5V (3.5A)
2 Green +12V (250mA)
3 White -12V (250mA)
4 Black GND
CAUTION
The J7 connector should supply the power for the SPiiPlus
controller only. Power supply for encoders and safety switches
must be provided separately by the user via the J35 connector
of the breakout box or directly to the encoder.
5.9 Manufacturing and Testing Jumpers JP1 and JP3
Jumpers JP1 and JP3 are used for manufacturing and testing
purposes only. Do not change these jumper setting.
5.10 Recovery Mode Jumper JP2
JP2 is by default not installed. Do not set JP2 unless instructed

to do so by the SPiiPlus Emergency Wizard during a firmware
recovery. The controller firmware is disabled when JP2 is set.
Figure 33 illustrates the location of JP2.

JP2
Figure 33 J2 – Recovery Mode Jumper
5.11 LED Indicator
Table 64 LED Indicators

LED Indicator Description
MP_ON Green LED.
After power is turned on (about 30sec), the MPU_ON LED flickers and
then remains green, indicating that the controller is functioning properly.
During normal operation the LED may flicker or remain green.

6 Communication Interfaces
The SPiiPlus PCI, SPiiPlus PCI-LT and the SPiiPlus-ST provide the communication options
described in Table 65:
Table 65 Communication Options

Connection Type Required Cable SPiiPlus PCI
Simulator None N.A
PCI Bus None N.A
Serial RS-232 Null-Modem cable Supplied with SPiiPlus PCI
products, see “Interface Cables”
on Page 11.
Serial RS-422 Null-Modem cable Supplied with SPiiPlus PCI
products, see “Interface Cables”
on Page 11.
Ethernet Network 10/100BASE-T Path- Not supplied. Use a standard LAN
Through cable Path Through cable
Ethernet Point-to-Point 10/100BASE-T Crossover Not supplied. Use a standard LAN
cable Crossover cable
6.1 Serial RS-232 Communication

The SPiiPlus PCI products include two COM ports combined on one dual-row 20-pin header
where COM1 is pins 1 to 10 and COM2 is pins 11 to 20. Figure 34 illustrates the location of
the COM ports header on the MPU. COM1 is for RS-232 only and COM2 is for RS-232 or RS-
422.
ACS Motion Control supplies a 37 cm (14.1 inch) communication cable. One side of this cable
plugs into the 20-pin dual row MPU COM port header where COM1 is pins 1 to 10 and COM2
is pins 11 to 20. The other side has two 9-pin D-sub connectors for COM1 and COM2.Table 66
describes the pin out of the 20-pin COM port header on the MPU. Table 67 and Figure 35
describe the pin out the two 9-pin D-sub connectors.
To use the RS-232 communication cable, set jumper JP1 as follows:
• Pins 5 & 6 are connected.
Version 5.20 69 Communication Interfaces

Jumper 1
settings
COM 1 & 2 for

RS-232
Figure 34 COM ports header and Jumper 1 settings
Note
See a detailed description of serial communication setup in the
Table 66 20-pin COM Port Header Pin Out- MPU

Pin Name Description
1 (or 11) DCD Data Carrier Detect
2 (or 12) DSR Data Set Ready
3 (or 13) RX232 RS-232 receive signal
4 (or 14) RTS Request To Send
5 (or 15) TX232 RS-232 transmit signal
6 (or 16) CTS Clear To Send
7 (or 17) DTR Data Terminal Ready
8 (or 18) RI Ring Indicator
9 (or 19) GND RS-232 ground
10 (or 20) NC Not Connected

Table 67 9-pin D-sub COM Port Cable Pin Out

2 TX232 RS-232 transmit signal
3 RX232 RS-232 receive signal
5 GND Ground
Implement a serial communication connection illustrated in Figure 35 as follows:

1. The PC transmit (Tx) pin 3 is wired to the controller’s receive (Rx) pin 2
2. The PC receive (Rx) pin 2 is wired to the controller’s transmit (Tx) pin 3
3. The ground (GND) is properly connected by pin 5 in both sides.
9-pin D-sub
PC Connector
RS - 232 from MPU
Cable
Pin 2 Rx Rx Pin 2
Pin 3 Tx Tx Pin 3
Pin 5 GND GND Pin 5
rs232
Figure 35 RS-232 Rx/Tx Connection
6.2 COM2 RS-422 Serial Communication

By default COM2 is configured for RS-232.
COM2 may be configured for RS-422. Figure 36 illustrates the location of COM2 port header
on the MPU and the settings of the jumpers. The RS-422 cable is not supplied with the
controller.
You can purchase separately a 36cm (14.1 inch) RS-422 communication cable - see “Interface
Cables” on Page 11. One side of this cable plugs into the COM2 port on the MPU. The other
side has a D-sub connector, 9-pin, male for COM2. Table 68 describe the pin out of the 9-pin
D-connector.
To use the RS-422 communication cable, set Jumper JP1 & JP2 as follows:
• JP1 - Pins 1 & 2 are connected.

• JP2 - Pins 2 & 3 are connected.
JP1 & JP2 COM2 RS-422
Figure 36 COM2 port and jumpers
Note
See a detailed description of serial communication setup in the
Table 68 COM2 Port RS-422 Pin Out

1 TX+ RS-422 transmit signal
3 TX- RS-422 inverted transmit signal
2 RX- RS-422 inverted receive signal
4 RX+ RS-422 receive signal
5 5 Volt (referenced to GND)

6.3 Ethernet Network Communication

The SPiiPlus PCI products are equipped with a 10/100Mbit/sec Ethernet/LAN (10/100BASE-
T) network interface. The Ethernet interface includes one RJ-45 type connector.
If your PC host is already connected to a local Ethernet network, you only need to configure the
controller and to connect it to the same network.
6.3.1 Ethernet Physical Connection

The Ethernet connection is made through a standard RJ-45 connector.
• For Network connection: use a FTP, category 5, Ethernet Path-Through cable.
• For Network connection: use a FTP, category 5, Ethernet Crossover cable.
Note
See a detailed procedure about establishing Ethernet communication in
the SPiiPlus Setup Guide.

7 SPiiPlus PCI-Bracket
The SPiiPlus PCI Bracket is an accessory that provides the option to install the SPiiPlus PCI on
a metal bracket while using it as a standalone controller (out of a PC) during the integration and
development phases of the user’s application.
pci_bracket
Figure 37 SPiiPlus PCI Bracket
Version 5.20 74 SPiiPlus PCI-Bracket

7.1 SPiiPlus PCI-Bracket Installation

1. Remove nuts (connected with stand-off spacers that holds the MPU) the from the back side
of the controller card.
2. Screw supplied stand-off spacers with washers where previous nuts were removed.
3. Insert screws with washers through the pre drilled, reinforced holes on the BRACKET.
4. Screw stand-off spacers with washers to the inserted screws on the back side of the
BRACKET.
5. Attach nuts with washers to the bottom side of the mounting bracket.
6. Connect the open ends of the Power Supply Cable (part of the SPiiPlus PCI-INT) to the
external power supply connector (J7) –see External Power Supply Connector J7 on page
66.
Version 5.20 75 SPiiPlus PCI-Bracket

76 SPiiPlus PCI Breakout Box Connections
Hardware Guide
SPiiPlus BOB
SPiiPlus PCI Breakout Box Connections
The SPiiPlus Breakout box is a part of the optional SPiiPlus PCI-INT interface kit.
ACSTech80
SPiiPCI/SPiiPlus PCI
J35-USERSUPPLY
5V USER
J39 - SPiiPCI J1 (51 - 100) J43 - SPiiPCI J7 J48 - SPiiPCI J5

VIN+
GND
VIN-
PE
5V
J38 - SPiiPCI J1 (1 - 50) J42 - SPiiPCI J6 J47 - SPiiPlus PCI J2

Breakout
SPiiPlusBOB
Breakout Box Connection Diagram

J37 - SPiiPlus PCI J1 (51 - 100) J41 - SPiiPlus PCI J1 (151 - 200) J45 - SPiiPCI J2 J46 SPiiPCI J3
Box
J36 - SPiiPlus PCI J1 (1 - 50) J40 - SPiiPlus PCI J1 (101 - 150) J44 - SPiiPlus PCI J3
X HSSI YHSSI Z HSSI T HSSI
ACSTech80
SPiiPCI/SPiiPlusPCI
J-35USER SUPPLY
5VUSER
J4-T ENCODER J8-DENCODER J12-T P/DDRIVE J16-BS/CENCODER J20-T DRIVE J24-D DRIVE J28-ABCDSAFETY
J -39 SPiiPCI J(100 -51 )1 J -43 SPiiPCI J7 J -48 SPiiPCI J5
GND
VIN+
VIN-
490.0
PE
5V
Breakout
J -38 SPiiPCI J(50 -1 )1 J -42 SPiiPCI J6 JJ31 J32
-47 SPiiPlus PCI J2 J33 J34
SPiiPlus PCI Motion Controllers
Box
J -37 SPiiPlus PCI J(100 -51 )1 J -41 SPiiPlus PCI J(200 -151 )1 J -45 SPiiPCI J2 J46 SPiiPCI J3
J3-Z ENCODER J7-CENCODER J11
J-Z P/D
-36 DRIVEPCI J
SPiiPlus J15-Y
(50 -1S)/C
1 ENCODER J19-Z DRIVEJ -40 SPiiPlus
J23-C DR
PCI JIVE -101 )1 J27-XYZT SAFETY
(150 J -44 SPiiPlus PCI J3
X HSSI Y HSSI Z HSSI T HSSI
J-4T ENCODER J-8D ENCODER J-12T P/D DRIVE J-16B S/C ENCODER J-20T DRIVE J-24D DRIVE J-28ABCD SAFETY
J31 J32 J33 J34
J-3ZJENCODER
2-YENCODER J-7CJENCODER
6-BENCODER J-11J
Z1P/D
0-YDRIVE
P/DDRIVEJ-15J
Y1S/C
4-AS /CENCODER J-19ZJ1
ENCODER DRIVE
8-YDRIVE J-23CJ2
DRIVE
2-B DRIVE J-27XYZT
J26SAFETY
-ANALOGINPUTS J30-PEG&DIGITALOUTPUTS
J-2Y ENCODER J-6B ENCODER J-10Y P/D DRIVE J-14A S/C ENCODER J-18Y DRIVE J-22B DRIVE J-26ANALOG INPUTS J-30PEG & DIGITAL OUTPUTS
J-1X ENCODER J-5A ENCODER J-9X P/D DRIVE J-13X S/C ENCODER J-17X DRIVE J-21A DRIVE J-25G.P .I/O J-29MARK/DIGITAL INPUTS
J1-XENCODER J5-AENCODER J9-X P/DDRIVE J13-XS/CENCODER J17-XDRIVE J21-A DRIVE J25-G.P. I/O J29-MARK/DIGITAL INPUTS
490.0
Version 5.20
Figure 38
8
8.1 Breakout Box Specifications
Table 69 SPiiPlus PCI Breakout Box Specifications

Specification Description
Operating Temperature 0 to 55°C (32 to 131°F)
Storage Temperature -40 to 85°C (32 to 185°F)
Dimension (L x W x D) 42.5cm x 14.3cm x 3.75cm (16.75” x 5.63” x 1.48”)
8.2 Breakout Box Indicator

A green LED is connected to +5V encoder user power supply.
8.3 Breakout Box Connectors
Note
The usage of the connectors is product and model dependant. For
example, connector J8 applies to SPiiPlus PCI-8 and
SPiiPlus PCI-LT-8 only.
8.3.1 Encoder Connectors J1 to J8
Table 70 Encoder Connectors J1 to J8

Jack on SPiiPlus BOB D-connector, 9-pin, female
Plug from System D-connector, 9-pin, male
differential signal (+ and -)
Table 71 Encoder Connectors J1 to J8 - Axis Relation (page 1 of 2)

Connector Axis
J1 X
J2 Y
J3 Z
J4 T
J5 A
Version 5.20 77 SPiiPlus PCI Breakout Box Connections

Table 71 Encoder Connectors J1 to J8 - Axis Relation (page 2 of 2)

Connector Axis
J6 B
J7 C
J8 D
Table 72 Encoder Connectors J1 to J8 - Pinout

Pin Signal Description
1 +5V Encoder supply +5V, 100mA max
2 #CHA+ Channel A non-inverted input
3 #CHA- Channel A inverted input
4 #CHB+ Channel B non-inverted input
5 #CHB- Channel B inverted input
6 #CHI+ Index non-inverted input
7 #CHI- Index inverted input
8 GND Ground
9 PE Protected Earth
8.3.2 Pulse/Dir Connectors J9 to J12
Table 73 Pulse/Dir Connectors J9 to J12

Jack on SPiiPlus BOB D-connector, 9-pin, male
Plug from System D-connector, 9-pin, female
Table 74 Pulse/Dir Connectors J9 to J12 - Axis Relation

Connector # Axis
J9 X
J10 Y
J11 Z
J12 T

Table 75 Pulse/Dir Connectors J9 to J12 -Pinout

1 #PULSE- Pulse inverted
2 #DIR- Direction inverted
3 GND Ground
4 #ENA+ Drive Enable output, open collector
5 #FLT+ Drive Fault input +
6 #PULSE+ Pulse non-inverted
7 #DIR+ Direction non-inverted
8 #ENA- Drive Enable output, open emitter
9 #FLT- Drive Fault input -
8.3.3 Sin-Cos Encoder Connectors J13 to J16
Table 76 Sin-Cos Encoder Connectors J13 to J16

Table 77 SIN-COS Encoder Connectors J13 to J16 - Pinout

Pin X-Axis A-Axis Y-Axis B-Axis Description
Signal / SW Signal / SW Signal / SW Signal / SW
Comm. Comm. Comm. Comm.
J13 J14 J15 J16 Connector location
on the Breakout Box
1 +5V +5V +5V +5V Encoder supply +5V,
100mA max
2 XSIN+/AIN0+ ASIN+/AIN2+ YSIN+/AIN4+ BSIN+/AIN6+ SIN/AIN
non-inverted input
3 XSIN-/AIN0- ASIN-/AIN2- YSIN-/AIN4- BSIN-/AIN6- SIN/AIN inverted
input
4 XCOS+/AIN1 ACOS+/AIN3 YCOS+/AIN5 BCOS+/AIN7 COS/AIN
+ + + + non-inverted input
5 XCOS-/AIN1- ACOS-/AIN3- YCOS-/AIN5- BCOS-/AIN7- COS/AIN inverted
input

Table 77 SIN-COS Encoder Connectors J13 to J16 - Pinout

Pin X-Axis A-Axis Y-Axis B-Axis Description
Signal / SW Signal / SW Signal / SW Signal / SW
Comm. Comm. Comm. Comm.
6 XINDEX+ AINDEX+ YINDEX+ BINDEX+ Index non-inverted
input
7 XINDEX- AINDEX- YINDEX- BINDEX- Index inverted input
8 AGND AGND AGND AGND Analog ground
9 PE PE PE PE Protected Earth
CAUTION
When connecting a SIN-COS encoder, it is necessary to
connect the shields at each end of the cable (one shield at the
controller connector and one shield at the SPiiPlus BOB or
generic breakout box connector).

POWER
SUPPLY
BRACKET S CRE E N
J7
J1
J3
J2
S CRE E N
FLAT CABLE
SHIELDED
ACS Tech80
5 V USER
SP i iP CI /S P iiP l us P CI
Breako ut Box
J47
J13 J17
BL DAIN
DP
C A LD E
E
TE
IE
IS
SH
TW
E NCODE R R R DRIV E
MOTORS SHI ELDE D S OUTP UT
P HAS ET CABL E T
DRIVER
MOTOR S CRE E N E GND
E ARTH
sincos_bob
Figure 39 Sin-Cos Encoder Connection for Standalone Controller to SPiiPlus Breakout

Box
8.3.4 Drive Connectors J17 to J24
Table 78 Drive Connectors J17 to J24


Table 79 Drive Connectors J17 to J24 - Axis Relation

Connector # Axis
J17 X
J18 Y
J19 Z
J20 T
J21 A
J22 B
J23 C
J24 D
Table 80 Drive Connectors J17 to J24 Pinout

1 #DAC0- Drive analog Command 0 inverted
2 #DAC1- Drive analog Command 1 inverted
3 #ENA+ Drive Enable output. Open collector
4 #FLT+ Drive Fault input +
5 AGND Analog ground
6 #DAC0+ Drive analog Command 0 non-inverted
7 #DAC1+ Drive analog Command 1 non-inverted
8 #ENA- Drive Enable output. Open emitter
9 #FLT- Drive Fault input -
8.3.5 Analog Input Connector J26
Table 81 Analog Input Connector J26


Table 82 Analog Inputs Connector J26 - Pinout

Pin Signals / SW Description
Comm.
J26 Connector location on the Breakout Box
1 ZSIN+ / AIN8+ Analog input 8+/Z SIN non-inverted encoder input
2 ZCOS+ / AIN9+ Analog input 9+/Z COS non-inverted encoder input
3 CSIN+ / AIN10+ Analog input 10+/C SIN non-inverted encoder input
4 CCOS+ / AIN11+ Analog input 11+/C COS non-inverted encoder input
5 TSIN+ / AIN12+ Analog input 12+/T SIN non-inverted encoder input
6 TCOS+ / AIN13+ Analog input 13+/T COS non-inverted encoder input
7 DSIN+ / AIN14+ Analog input 14+/D SIN non-inverted encoder input
8 DCOS+ / AIN15+ Analog input 15+/D COS non-inverted encoder input
9 ZINDEX+ Z Index non-inverted input
10 CINDEX+ C Index non-inverted input
11 AGND Analog ground
12 TINDEX+ T Index non-inverted input
13 DINDEX+ D Index non-inverted input
14 ZSIN- / AIN8- Analog input 8-/Z SIN inverted encoder input
15 ZCOS- / AIN9- Analog input 9-/Z COS inverted encoder input
16 CSIN- / AIN10- Analog input 10-/C SIN inverted encoder input
17 CCOS- / AIN11- Analog input 11-/C COS inverted encoder input
18 TSIN- / AIN12- Analog input 12-/T SIN inverted encoder input
19 TCOS- / AIN13- Analog input 1-/T COS inverted encoder input
20 DSIN- / AIN14- Analog input 14-/D SIN inverted encoder input
21 DCOS- / AIN15- Analog input 15-/D COS inverted encoder input
22 ZINDEX- Z Index inverted input
23 CINDEX- C Index inverted input
24 TINDEX- T Index inverted input
25 DINDEX- D Index inverted input

8.3.6 Safety Connector J27 and J28
Table 83 Safety Connectors J27 and J28

Table 84 Safety Connector J27 and J28 - Pinout

Pin Signals XYZT-Axes Signal ABCD-Axes Description - Connector
(J27) (J28) Location on the Breakout Box
1 REF REF Sink/Source
2 XLL ALL X or A Left limit
3 YLL BLL Y or B Left limit
4 ZLL CLL Z or C Left limit
5 TLL DLL T or D Left limit
6 ES- NC Emergency stop inverted input or NC
7 VIN- VIN- Safety inputs supply ref
8 PE PE Protected Earth
9 NC NC
10 XRL ARL X or A Right limit
11 YRL BRL Y or B Right limit
12 ZRL CRL Z or C Right limit
13 TRL DRL T or D Right limit
14 ES+ NC Emergency stop non-inverted input
or NC
15 VIN+ VIN+ Safety inputs supply

8.3.7 MARK/Digital Inputs Connector J29
Table 85 MARK/Digital Input Connector J29

Table 86 MARK/Digital Inputs Connector J29 - Pinout (page 1 of 2)

Pin Signals/SW Description - Connector Location on the Breakout Box
Comm.
1 NC
2 NC
3 NC
4 NC
5 XMARK1+ / IN0.0+ X MARK1 non-inverted input/Digital 0 non-inverted input
6 XM2ARK+ / IN0.1+ X M2ARK non-inverted input/Digital 1 non-inverted input
7 YMARK1+ / IN0.2+ Y MARK1 non-inverted input/Digital 2 non-inverted input
8 YM2ARK+ / IN0.3+ Y M2ARK non-inverted input/Digital 3 non-inverted input
9 ZMARK1+ / IN0.4+ Z MARK1 non-inverted input/Digital 4 non-inverted input
10 ZM2ARK+ / IN0.5+ Z M2ARK non-inverted input/Digital 5 non-inverted input
11 TMARK1+ / IN0.6+ T MARK1 non-inverted input/Digital 6 non-inverted input
12 TM2ARK+ / IN0.7+ T M2ARK non-inverted input/Digital 7 non-inverted input
13 GND Ground
14 NC
15 NC
16 NC
17 NC
18 XMARK1-/IN0.0- X MARK1 inverted input/Digital 0 inverted input
19 XM2ARK-/IN0.1- X M2ARK inverted input/Digital 1 inverted input
20 YMARK1-/IN0.2- Y MARK1 inverted input/Digital 2 inverted input
21 YM2ARK-/IN0.3- Y M2ARK inverted input/Digital 3 inverted input
22 ZMARK1-/IN0.4- Z MARK1 inverted input/Digital 4 inverted input
23 ZM2ARK-/IN0.5- Z M2ARK inverted input/Digital 5 inverted input

Table 86 MARK/Digital Inputs Connector J29 - Pinout (page 2 of 2)

Pin Signals/SW Description - Connector Location on the Breakout Box
Comm.
24 TMARK1-/IN0.6- T MARK1 inverted input/Digital 6 inverted input
25 TM2ARK-/IN0.7- T M2ARK inverted input/Digital 7 inverted input
8.3.8 PEG & Digital Outputs Connector J30
Table 87 PEG & Digital Outputs Connector J30

Table 88 PEG & Digital Outputs Connector J30- Pinout (page 1 of 2)

Pin Signals / SW Comm. Description - Connector Location on the
Breakout Box
J30 Connector location on the Breakout Box
1 XPEG_STATE3+ / OUT0.8+ X PEG STATE 3 non-inverted output /
Digital output 8 non-inverted
2 YPEG_STATE3 / OUT0.9+ Y PEG STATE 3 inverted output /
Digital output inverted
3 ZPEG_PULSE+ / OUT0.10+ Z PEG PULSE non-inverted output /
4 TPEG_PULSE / OUT0.11+ PEG PULSE non-inverted output /
5 XPEG_STATE0+ / OUT0.0+
8 XPEG_PULSE+ / OUT0.3+
9 YPEG_STATE0+/ OUT0.4+
10 YPEG_STATE1+ / OUT0.5+
11 YPEG_STATE2+ / OUT0.6+
12 YPEG_PULSE+ / OUT0.7+
13 GND Ground
14 XPEG_STATE3- / OUT0.8- X PEG STATE 3 inverted output /
Digital output 8 inverted

Table 88 PEG & Digital Outputs Connector J30- Pinout (page 2 of 2)

Pin Signals / SW Comm. Description - Connector Location on the
Breakout Box
15 YPEG_STATE3 / OUT0.9- Y PEG STATE 3 inverted output /
Digital output inverted
16 ZPEG_PULSE- / OUT0.10- Z PEG PULSE inverted output /
17 TPEG_PULSE / OUT0.11- PEG PULSE inverted output /
18 XPEG_STATE0- / OUT0.0-
21 XPEG_PULSE- / OUT0.3-
22 YPEG_STATE0- / OUT0.4-
25 YPEG_PULSE- / OUT0.7-
8.3.9 HSSI Connectors J31 to J34
Table 89 HSSI Connectors J31 to J34

Jack on SPiiPlus BOB RJ-45
Plug from System RJ-45
Table 90 HSSI Connectors J31 to J34 Pinout (page 1 of 2)

Pin J31 Signals J32 Signals J33 Signals J34 Signals Description
X-Axis Y-Axis Z-Axis T-Axis
1 CONTROL CONTROL CONTROL CONTROL Control 1 & 2 inverted
1+ 2+ 1+ 2+ output
2 CONTROL 1- CONTROL 2- CONTROL 1- CONTROL 2- Control 1 & 2
non-inverted output
3 XSER_DI+ YSER_DI+ ZSER_DI+ TSER_DI+ Serial data in
non-inverted input
4 XSER_DI- YSER_DI- ZSER_DI- TSER_DI- Serial data in inverted
input

Table 90 HSSI Connectors J31 to J34 Pinout (page 2 of 2)

Pin J31 Signals J32 Signals J33 Signals J34 Signals Description
X-Axis Y-Axis Z-Axis T-Axis
5 XSER_DO+ YSER_DO+ ZSER_DO+ TSER_DO+ Serial data out
non-inverted input
6 XSER_DO- YSER_DO- ZSER_DO- TSER_DO- Serial data out inverted
input
7 GND GND GND GND Ground
8 GND GND GND GND
8.3.10 Power Supply Connector J35
Table 91 Power Supply Connector J35

Jack on SPiiPlus BOB 5-pin, MC1.5/5 Phoenix Contact Jacket
Plug from System
Table 92 Power Supply Connector J35 Pinout

Pin Signal Description Notes
1 +5V 5Vdc supply, 2A max Used for LED indicator and
2 GND Ground external encoder supply
3 VIN+ VIN+ supply input 5Vdc or 24Vdc external power
4 VIN- VIN- supply return supply for safety inputs
5 PE Protected Earth
8.3.10.1 Non-Isolated Power Supply

For non-isolated 5V, connect VIN+ and VIN- to 5V and GND by using isolated wires on the
plug (VIN+ to 5V and VIN- to GND) as illustrated in Figure 40.

1 5Vdc External Power Supply for

2
3 Power encoders and safety input
4
5 Supply
non_iso_ps
Figure 40 Breakout Box 5V Non-Isolated Power Supply Wiring Diagram
Table 93 Breakout Box 5V Non-Isolated Power Supply Pinout

J35 Pin J35 Signal Needed Power Supply Signal
1 +5V +5V
2 GND GND
3 VIN+ +5V
4 VIN- GND
5 PE PE on power supply
8.3.10.2 Isolated Power Supplies

For isolated 5V or 24V, connect VIN+ and VIN- to a separate 5V/24V power supply as
illustrated in Figure 41.
5Vdc External power supply

Power
1 for encoder
2
3
Supply
4
5
5/24 Vdc External power supply

Power for safety inputs
Supply
non _iso_ps
Figure 41 Breakout Box 5/24V Isolated Power Supply Wiring Diagram

Table 94 Breakout Box 5V Isolated Power Supply Pinout

J35 Pin J35 Signal Power Supply Signal Connection
1 +5V +5V on power supply 1
2 GND GND on power supply 1
3 VIN+ +5V on power supply 2
4 VIN- GND on power supply 2
5 PE PE on power supply 1 & 2
8.3.11 SPiiPlus PCI J1 Connector to BOB Connectors J36,

J37, J40, J41
Table 95 Breakout Box J36, J37, J40, and J41 Connectors

Breakout Box Label on Cable Axis SPiiPlus PCI J1
Connector Connector Pins
J36 P36 (1-50) X and A 1-50
J37 P37 (51-100) Y and B 51-100
J40 P40 (101-150) Z and C 101-150
J41 P41 (151-200) T and D 151-200

9 Warranty
ACS Motion Control warrants that its products are free from defects in materials and
workmanship under normal use during the warranty period. The warranty period is one (1) year
from receipt by the end user. This warranty does not apply to any product from which the serial
number has been removed or destroyed, or damage as a result of accident, fire, misuse, abuse,
negligence, operation outside the usage parameters, unauthorized modifications, or acts of G-
d. If the product is provided in an enclosed case, this warranty does not apply if the case has
been opened.
ACS Motion Control is not liable for any damages (material, financial, or physical) caused by
the products or the failure of the products to perform. These limits of liability shall including,
but not limited to: any lost profits, lost savings, lost earnings, loss of programs or other data,
business interruption, incidental damages, consequential damages or personal injury.
These limitations apply whether damages are sought, or a claim made, under this warranty or
as a tort claim (including negligence and strict product liability), or any other claim. These
limitations of liability will be effective even if you have advised ACS Motion Control of the
possibility of any such damages.
ACS Motion Control makes no other warranties, expressed or implied, including any implied
warranties of merchantability or fitness of any product for a particular purpose. ACS Motion
Control expressly disclaims all warranties not stated in this warranty. ACS Motion Control
reserves the right to make change to this warranty without notice.
Version 5.20 91 Warranty

10 Appendix A: RS-485/422 Voltage
Table 96 RS-485 Compatible Input Signal Definitions

Item Description Comment
Vth Differential input voltage 200mv< | Vth | 14v
Vcm Common mode input voltage -14v < Vcm < 14v
Table 97 RS-485 Compatible Output Signal Definitions

Item Description Comment
Voh Output voltage high 2.5v < Voh < 5v
Vol Output voltage low Vol < 0.5v
Vt Differential output voltage at R1=100ohms >2.0
Version 5.20 92 Appendix A: RS-485/422 Voltage

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S PiiPlus P CI 4 / 8

ACS Motion Control, Inc.

ACS Motion Control, Ltd.

Version 5.20 ii Hardware Guide

Changes in Version 5.20

Version 5.20 iii Hardware Guide

5.2.4 Analog (or Drive Command) Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

8.3.10 Power Supply Connector J35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Version 5.20 vii List of Figures.

Version 5.20 viii

Table 51 Limit Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

1 About this Guide

1.1 The SPiiPlus Documentation

Table 1 Collateral Documentation (page 1 of 2)

Version 5.20 1 About this Guide

Table 1 Collateral Documentation (page 2 of 2)

1.2 Conventions Used in this Guide

Table 2 Text Conventions

Version 5.20 2 About this Guide

1.2.1 Statement Text and Icons Used in this Guide

A warning describes a condition that may result in serious

Version 5.20 3 About this Guide

2 Introduction and Specifications

Figure 1 SPiiPlus PCI, Motion Controller

2.1 About the SPiiPlus PCI

Version 5.20 4 Introduction and Specifications

SPiiPlus PCI line of products is furnished with the following features:

2.2 Axis Configuration Options

Version 5.20 5 Introduction and Specifications

Table 4 lists the SPiiPlus PCI axis assignment configuration.

Table 4 SPiiPlus PCI Axis Assignment Configuration

1* - 1 is the defalut MPU Cycle (msec)

Table 5 SPiiPlus PCI-LT Axis Assignment Configuration

Table 6 SPiiPlus PCI-ST Axis Assignment Configuration

Version 5.20 6 Introduction and Specifications

2.3 I/O Configuration Options

Table 7 SPiiPlus PCI I/O Configuration Options

Table 8 SPiiPlus PCI-LT I/O Configuration Options

*1 - General purpose analog inputs are AIN0...AIN3

Version 5.20 7 Introduction and Specifications

Table 9 SPiiPlus PCI-ST I/O Configuration Options

Version 5.20 8 Introduction and Specifications

2.4 Ordering Options

Table 10 SPiiPlus Ordering Code Options

Version 5.20 9 Introduction and Specifications

Table 11 Standard items supplied with the SPiiPlus PCI Line

2.5 Additional Products

2.5.1 SPiiPlus PCI-INT

• One flat cable (95cm/37.4”)- 50-pin headers (P.N FC-35050-100)

Version 5.20 10 Introduction and Specifications

• One Breakout Box power mating connector, Phoenix Contact MC 1.5/5-STF-3.81

2.5.2 Interface Cables

2.5.3 SPiiPlus PCI-Bracket

Version 5.20 11 Introduction and Specifications

3.1 SPiiPlus PCI Specifications

Table 12 Profile Generation

Version 5.20 12 Specifications

Table 15 Drive Interface

Version 5.20 13 Specifications

Table 16 Digital I/O