![Green printed circuit board with various electronic components and connectors (no visible text or symbols)](.pci-8144-datasheet-en-1/5e8d52470cc3bd14cbe3e5ebd0e6f3ae6dd459d21787d4ab175b8eb672344a03.jpg)

![The image displays a horizontal sequence of six rectangular panels, likely part of a control interface.\n\n1.  The first panel has a white background with large blue text reading 'ORG' and smaller text below reading 'Home Return'.\n2.  The second panel has a blue background featuring a white bell curve graph and text reading 'B-Curve' at the top and bottom.\n3.  The third panel has a blue background featuring a white trapezoidal graph and text reading 'T-Curve' at the top and bottom.\n4.  The fourth panel has a blue background featuring a white sigmoid curve graph and text reading 'Speed Dome' at the top and bottom.\n5.  The fifth panel has a blue background featuring a white linear graph and text reading 'Linear Interpolation' at the top and bottom.\n6.  The sixth panel has a gold background with an icon of hands pressing a button with a 'STOP' sign, and text reading 'Emergency Stop' at the top and bottom.](.pci-8144-datasheet-en-1/00965439ad469ff9b1060e322446bb426a4826432b342dff2eb3c3f8db51dbca.jpg)

# Features

■ 32-bit PCI bus, Rev. 2.2, 33 MHz
Card index switch selection
■ Pulse output rates up 2.4 Mpps for stepper motor control
■ Pulse output options: CW/CCW
■ Speed change on-the-fly
■ 3 home return modes
■ Programmable acceleration and deceleration time
■ Trapezoidal and S-curve velocity profile
■ Simultaneously start/stop with external signal control (STA/STP)
■ Programmable interrupt control
Supports up to 12 cards in one system
■ Security protection for user's program
General purpose isolated I/O: 8 DI and 8 DO
■ Emergency stop input via STP pin
■ All digital I/O are 2500 VRMS isolated
More than 30 thread safe API functions
■ 2-phase stepping motor excitation optional

# Software Support

■	OS Information
• Windows® 8/7/XP
■	Software Compatibility
• VB/VC++/BCB/Delphi
• Various sample programs with source codes
Software Recommendations
• MotionCreatorPro2

# Specifications

Pulse Type Motion Control

<table><tr><td>Number of Axes</td><td>4</td></tr><tr><td>Pulse Output Rate</td><td>0.5 pps to 2.4 Mpps</td></tr><tr><td>Max. Acceleration Rate</td><td>737  $Mpps^{2}$ </td></tr><tr><td>Speed Resolution</td><td>16-bit</td></tr></table>

Motion Interface I/O Signals

<table><tr><td>I/O Pin</td><td>Differential and 2500 VRMS optically isolated</td></tr><tr><td>End Limit Signal Pin</td><td>PEL and MEL</td></tr><tr><td>Slow Down Signal Pin</td><td>PSD and MSD</td></tr><tr><td>Home Sensor</td><td>ORG</td></tr><tr><td>GPIO</td><td>8 DI and 8 DO</td></tr></table>

General Specifications

<table><tr><td>Connector</td><td>68-pin SCSI-type connector</td></tr><tr><td>Operating Temperature</td><td> $0^{\circ}C$  to  $+50^{\circ}C$  ( $32^{\circ}F$  to  $122^{\circ}F$ )</td></tr><tr><td>Storage Temperature</td><td> $20^{\circ}C$  to  $+80^{\circ}C$  ( $-4^{\circ}F$  to  $176^{\circ}F$ )</td></tr><tr><td>Humidity</td><td>5% to 85%, non-condensing</td></tr></table>

Power Consumption

<table><tr><td>Power Supply (Input)</td><td>+24 VDC ±5%</td></tr><tr><td>External Power Supply (Output)</td><td>+5 VDC ±5%, 100 mA (max.)</td></tr></table>

# Ordering Information

# ■ PCI-8144

4-axis stepper motion controller

# Accessories

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

# Terminal Board

■ DIN-68S-01

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

# Cabling

■ ACL-10569-1

68-pin SCSI-II cable

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

Pin Assignment

<table><tr><td>VDD</td><td>1</td><td>35</td><td>VDD</td></tr><tr><td>EGND</td><td>2</td><td>36</td><td>EGND</td></tr><tr><td>CW0+</td><td>3</td><td>37</td><td>CW2+</td></tr><tr><td>CW0-</td><td>4</td><td>38</td><td>CW2-</td></tr><tr><td>CCW0+</td><td>5</td><td>39</td><td>CCW2+</td></tr><tr><td>CCW0-</td><td>6</td><td>40</td><td>CCW2-</td></tr><tr><td>PEL0</td><td>7</td><td>41</td><td>PEL2</td></tr><tr><td>MEL0</td><td>8</td><td>42</td><td>MEL2</td></tr><tr><td>PSD0</td><td>9</td><td>43</td><td>PSD2</td></tr><tr><td>MSD0</td><td>10</td><td>44</td><td>MSD2</td></tr><tr><td>ORG0</td><td>11</td><td>45</td><td>ORG2</td></tr><tr><td>EGND</td><td>12</td><td>46</td><td>EGND</td></tr><tr><td>CW1+</td><td>13</td><td>47</td><td>CW3+</td></tr><tr><td>CW1-</td><td>14</td><td>48</td><td>CW3-</td></tr><tr><td>CCW1+</td><td>15</td><td>49</td><td>CCW3+</td></tr><tr><td>CCW1-</td><td>16</td><td>50</td><td>CCW3-</td></tr><tr><td>PEL1</td><td>17</td><td>51</td><td>PEL3</td></tr><tr><td>MEL1</td><td>18</td><td>52</td><td>MEL3</td></tr><tr><td>PSD1</td><td>19</td><td>53</td><td>PSD3</td></tr><tr><td>MSD1</td><td>20</td><td>54</td><td>MSD3</td></tr><tr><td>ORG1</td><td>21</td><td>55</td><td>ORG3</td></tr><tr><td>STP/EMG</td><td>22</td><td>56</td><td>STA</td></tr><tr><td>DIN0</td><td>23</td><td>57</td><td>DOUT0</td></tr><tr><td>DIN1</td><td>24</td><td>58</td><td>DOUT1</td></tr><tr><td>DIN2</td><td>25</td><td>59</td><td>DOUT2</td></tr><tr><td>DIN3</td><td>26</td><td>60</td><td>DOUT3</td></tr><tr><td>DIN4</td><td>27</td><td>61</td><td>DOUT4</td></tr><tr><td>DIN5</td><td>28</td><td>62</td><td>DOUT5</td></tr><tr><td>DIN6</td><td>29</td><td>63</td><td>DOUT6</td></tr><tr><td>DIN7</td><td>30</td><td>64</td><td>DOUT7</td></tr><tr><td>VDD</td><td>31</td><td>65</td><td>DO_COM</td></tr><tr><td>VDD</td><td>32</td><td>66</td><td>DO_COM</td></tr><tr><td>EGND</td><td>33</td><td>67</td><td>EGND</td></tr><tr><td>EX+24V</td><td>34</td><td>68</td><td>EX+24V</td></tr></table>
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