![Close-up of a printed circuit board with various electronic components and connectors (no visible text or symbols)](.pci-8102-datasheet-en-1/611e2dd00a0ce460051d848353e00d134f49794e1686c468ed7573f7512458f5.jpg)

![The image displays a square icon or button with a glossy, blue gradient border. Inside, against a white background, is a line graph featuring a horizontal x-axis and a vertical y-axis, both with arrows indicating positive direction. A bell-shaped curve is plotted in the center. Below the graph, the text 'S-Curve' is written in gray sans-serif font.](.pci-8102-datasheet-en-1/085324cba2033336774fadab784b4b31fa8c4d0e8a386aa764866bcfe5c17fc6.jpg)

![The image displays a square icon with a blue gradient background that is lighter at the top. In the center, there is a white line drawing of a curve that rises and then falls, resembling a trapezoid. Below this graphic is the text 'T-Curve'. A faint white arrow pointing upward is visible in the upper left corner of the icon.](.pci-8102-datasheet-en-1/80fa1633a94f681a88013ee2bbd6f5a4a85c059ca404c58c8cb38dae03be4bf2.jpg)

![The image displays a section of a software toolbar featuring a square icon. Inside the icon is a white oval shape composed of four curved arrows arranged in a clockwise circular pattern. Below the icon, the text 'Continuous Move' is written in white against a grey background.](.pci-8102-datasheet-en-1/2404d35b2a2c878b7b9eb8f6b1e4308a87c20e85d8b257d4a2f4146549b4a98d.jpg)

![A square icon with a blue gradient background features a white line drawing of a lane or road narrowing with dashed center lines. Below the graphic, the text 'Position Override' is visible.](.pci-8102-datasheet-en-1/944f10abbfba7c5af6d4f7c401536326e4e55ef62c5a84f473f8f4cbc187f5c8.jpg)

![The image shows a close-up of a control interface element, likely a button, featuring a light blue gradient background. It displays a line graph icon with an x and y axis. The graph includes a solid white line in a stepped, ascending pattern and a dashed white horizontal line. Below the graph, the text 'Speed Override' is written in white.](.pci-8102-datasheet-en-1/1c1dbf6f0c340fb394ac0d34eacffd578e1024c87aa9fdb86832170be64d6b08.jpg)

![The image displays a blue square button with a gradient background. In the center is a white curved arrow curving upward and to the right, indicating a clockwise direction. Below the icon, the text 'Circular Interpolation' is written in white.](.pci-8102-datasheet-en-1/6b5f357263aeda7700831ef32eda5600480e0a2b7b4001d06b83c80e8d730481.jpg)

![The image displays a square button with rounded corners set against a tan background. Centered on the button is a white line-art icon depicting an open hand with the palm facing forward. Below the hand icon, the text 'Pulse input' is written in white.](.pci-8102-datasheet-en-1/966cd562e9e0c5f9fee09856526a35441955aa849c4bd56a441446eed18140c5.jpg)

![A yellow square sign features a black line drawing of a hand pressing a rectangular button. Inside the button outline, the word 'STOP' is printed. Below the graphic, the text 'Emergency stop push' is displayed.](.pci-8102-datasheet-en-1/2f64daac36ee0872fb397c75e8cdc4936cd711931e01e42d7bf5f603d76ef525.jpg)

# Features

■ 32-bit PCI bus, Rev. 2.2, 33 MHz
■ Pulse output rates up to 6.55 MHz
■ Pulse output options: OUT/DIR, CW/CCW
■ 2 axes linear/circular interpolation
Continuous interpolation
■ Position/Speed change override
■ 13 home return modes and auto home search
■ Hardware position compare
■ High-speed position latch function
■ Programmable acceleration and deceleration time
■ Trapezoidal and S-curve velocity profiles
■ Multi-axis, simultaneous start/stop
Programmable interrupt sources
■ Supports up to 12 cards in one system
Hardware backlash compensator
■ Softwares limit function
■ On-board GPIO: 16IN/16OUT (P2 connector)
■ Card index switch setting
■ Hardware emergency input
■ Security protection for user's program
Easy interface to any stepping motors, AC or DC servo, linear or rotary motors which have pulse train input mode
■ All digital inputs and outputs are 2500 VRMS isolated
■ Manual pulser input interface
■ More than 100 thread safe API functions

# Software Support

OS Information

• Windows® 8/7/XP
• Linux
• RTX 5.x/6.x/8.1a

■	Software Compatibility

• VB/VC++/BCB/Delphi
• Various sample programs with source codes

Software Recommendations

• MotionCreatorPro 2

# Specifications

Pulse Type Motion Control

<table><tr><td>Number of Axes</td><td>2</td></tr><tr><td>Pulse Output Rate</td><td>0.01 pps to 6.5 Mpps</td></tr><tr><td>Max. Acceleration Rate</td><td> $245 \text{ Mpps}^{2}$ </td></tr><tr><td>Speed Resolution</td><td>16-bit</td></tr><tr><td>Encoder Input Rate</td><td>6.55 MHz under 4 x AB phase @ 1 M cable</td></tr><tr><td>Encoder Counter Resolution</td><td>28-bit</td></tr><tr><td>Positioning Range</td><td>-134,217,728 to +134,217,727 pulses (28-bit)</td></tr><tr><td>Counters</td><td>x 4 for each axis</td></tr><tr><td>Comparators</td><td>x 5 for each axis</td></tr></table>

Motion Interface I/O Signals

<table><tr><td>Position Latch Input Pin</td><td>LTC</td></tr><tr><td>Position Compare Output Pin</td><td>CMP</td></tr><tr><td>I/O Pin</td><td>Differential and 2500 VRMS optically isolated</td></tr><tr><td>Incremental Encoder Signals Input Pin</td><td>EA and EB</td></tr><tr><td>Encoder Index Signal Input</td><td>EZ</td></tr><tr><td>Mechanical Limit Switch Signal Input Pin</td><td> $\pm$ EL, SD, and ORG</td></tr><tr><td>Servomotor Interface I/O Pin</td><td>INP, ALM, ERC, RDY, SVON</td></tr><tr><td>General DO Pin</td><td> $\times$  16 (P2 connector)</td></tr><tr><td>General DI Pin</td><td> $\times$  16 (P2 connector)</td></tr><tr><td>Pulser Signal Input</td><td>PA and PB</td></tr><tr><td>Simultaneous Start/Stop Signal I/O Pin</td><td>STA and STP</td></tr></table>

# Ordering Information

■ PCI-8102

Advanced 2-axis servo & stepper motion controller

# Accessories

For more information on terminal boards & cables, please refer to page 6-31.

# Terminal Boards

■	DIN-68S-01

Terminal board with 68-pin SCSI-II connector and DIN-rail mounting

■	DIN-68M-J3A0

Terminal board for Mitsubishi MR-J3A/J4A servo amplifiers

■	DIN-68M-J2A0

Terminal board for Mitsubishi MR-J2S-A servo amplifier

DIN-68Y-SGII0

Terminal board for Yaskawa Sigma V servo amplifier

■ DIN-68P-A40

Terminal board for Panasonic MINAS A4/A5 servo amplifiers with 60-pin SCSI-II connector

■	DIN-37D-01

Terminal board with one 37-pin D-sub connector and DIN-rail mounting (for additional DI/O usage)

# Cabling

■ ACL-10568-1

68-pin SCSI-VHDCI cable

(mating with AMP-787082-7), 1 M

■ ACL-10137-1MM

37-pin D-sub male/male cable, 1 M (for additional DI/O usage)

# Pin Assignment

68-pin SCSI type Connector

<table><tr><td>VPP</td><td>1</td><td>35</td><td>VPP</td></tr><tr><td>EXGND</td><td>2</td><td>36</td><td>EXGND</td></tr><tr><td>OUT0+</td><td>3</td><td>37</td><td>OUT1+</td></tr><tr><td>OUT0-</td><td>4</td><td>38</td><td>OUT1-</td></tr><tr><td>DIR0+</td><td>5</td><td>39</td><td>DIR1+</td></tr><tr><td>DIR0-</td><td>6</td><td>40</td><td>DIR1-</td></tr><tr><td>SVON0</td><td>7</td><td>41</td><td>SVON1</td></tr><tr><td>ERC0</td><td>8</td><td>42</td><td>ERC1</td></tr><tr><td>ALM0</td><td>9</td><td>43</td><td>ALM1</td></tr><tr><td>INP0</td><td>10</td><td>44</td><td>INP1</td></tr><tr><td>RDY0</td><td>11</td><td>45</td><td>RDY1</td></tr><tr><td>EA0+</td><td>12</td><td>46</td><td>EA1+</td></tr><tr><td>EA0-</td><td>13</td><td>47</td><td>EA1-</td></tr><tr><td>EB0+</td><td>14</td><td>48</td><td>EB1+</td></tr><tr><td>EB0-</td><td>15</td><td>49</td><td>EB1-</td></tr><tr><td>EZ0+</td><td>16</td><td>50</td><td>EZ1+</td></tr><tr><td>EZ0-</td><td>17</td><td>51</td><td>EZ1-</td></tr><tr><td>VPP</td><td>18</td><td>52</td><td>VPP</td></tr><tr><td>N/C</td><td>19</td><td>53</td><td>EXGND</td></tr><tr><td>PEL0</td><td>20</td><td>54</td><td>PEL1</td></tr><tr><td>MEL0</td><td>21</td><td>55</td><td>MEL1</td></tr><tr><td>EXGND</td><td>22</td><td>56</td><td>EXGND</td></tr><tr><td>LTC/SD/PCS0/CLR0</td><td>23</td><td>57</td><td>LTC/SD/PCS1/CLR1</td></tr><tr><td>ORG0</td><td>24</td><td>58</td><td>ORG1</td></tr><tr><td>N/C</td><td>25</td><td>59</td><td>EXGND</td></tr><tr><td>PA+_ISO</td><td>26</td><td>60</td><td>EMG</td></tr><tr><td>PA-_ISO</td><td>27</td><td>61</td><td>DINO</td></tr><tr><td>PB+_ISO</td><td>28</td><td>62</td><td>DINO1</td></tr><tr><td>PB-_ISO</td><td>29</td><td>63</td><td>DINO2</td></tr><tr><td>CMP0</td><td>30</td><td>64</td><td>DINO3</td></tr><tr><td>CMP1</td><td>31</td><td>65</td><td>DOUT0</td></tr><tr><td>EXGND</td><td>32</td><td>66</td><td>DOUT1</td></tr><tr><td>EXGND</td><td>33</td><td>67</td><td>EXGND</td></tr><tr><td>EX+24V</td><td>34</td><td>68</td><td>EX+24V</td></tr></table>
[🔗 Link to the original document](.pci-8102-datasheet-en-1/pci-8102-datasheet-en-1.pdf)