# PCI-8158 / PCI-8154

# Advanced 8/4-axis Servo & Stepper Motion Controllers with Modular Design

# Features

3 axes helical interpolation
● Hardware-controlled position compare and trigger (with DB-8150, up to 1 MHz)
● One HSL network support (with DB-8151)
● PCIe bus Plug-and-Play (Universal)
High density (200-pin) 8-axis motion controller
Pulse output rate: up to 6.55 MHz
Pulse output options: OUT/DIR, CW/CCW, AB Phase
. 2 to 4 axes linear interpolation
2 axes circular interpolation
● Helical interpolation
● Multi-axis continuous interpolation
. Position/Speed change override
Hardware emergency input
. Supports up to 12 cards in one system

# Introduction

The PCI-8158 delivers high-frequency pulse rates of up to 6.55 MHz and features hardware-controlled emergency input stop, software security protection to avoid plagiarism, card index switch, and linear/circular run at the same time for that exceed the industry"s cost over performance requirements. Compatible with Mitsubishi, Panasonic and Yaskawa servos and steppers, the PCI-8158 allows complex moving patterns through multiple axes that move with linear and circular interpolations using continuous contouring. Applicable for various linear-wise and circular-wise trajectories, the PCI-8158 delivers the smoothest motion control for a widerange of manufacturing applications. Besides, PCI-8158 design is modularized. ADLINK provides extension board for distributed I/O control, high-speed triggering and ECAM control.

# Software Support

● OS Information
Windows® 8.1/7
Linux
RTX 8.1a
● Software Compatibility
VB/VC++/BCB/VB.NET
Various sample programs with source codes
● Software Recommendations
MotionCreatorPro2

![Close-up of a green printed circuit board with various electronic components and connectors (no visible text or symbols)](.pci-8158-datasheet-en-1/8050c096f29e0be9fbd91dc7926174213d0ba5bc5a4c8c1f0eda099d37a4ca1d.jpg)

# Ordering Information

● PCI-8158
Advanced 8-axis servo & stepper motion controller
. PCI-8154
Advanced 4-axis servo & stepper motion controller
● DB-8150
High-speed triggering daughter board
● DB-8151
Single HSL master controller daughter board

# Optional Accessories

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

# Terminal Boards

● DIN-100S-01
Terminal board with one 100-pin SCSI-II connector and DIN-rail mounting
● DIN-814-GP
Terminal board for general purpose with 100-pin SCSI-II connector
● DIN-814M0
Terminal board for Mitsubishi MR-J2S-A servo amplifier
● DIN-814M -J3A0
Terminal board for Mitsubishi MR-J3A/J4A servo amplifiers
● DIN-814Y0
Terminal board for Yaskawa Sigma V servo amplifier
● DIN-814P-A40
Terminal board for Panasonic MINAS A4/A5 servo amplifiers with 100-pin SCSI-II connector

# Cabling

● ACL-102100-1 (for PCI-8154)
100-pin SCSI-II cable (mating with AMP-787082-9), 1 M
● SCSI-VHDCI 100P (for PCI-8158)
100-pin SCSI-VHDCI cable, available for 2 M, 3 M

Specifications

<table><tr><td colspan="2">Pulse Type Motion Control</td></tr><tr><td>Max. Number of Axes</td><td>8</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  $Mpps^2$ </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>

<table><tr><td colspan="2">Motion Interface I/O Signals</td></tr><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 Signal Input Pin</td><td>±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>DO x 8 for DO/CMP</td></tr><tr><td>General DI Pin</td><td>GDI x 8 for DI/LTC/PCS/SD/CLR/EMG</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><tr><td>General Purposed TTL DO Channel</td><td>16 channel</td></tr><tr><td>General Purposed TTL DI Channel</td><td>16 channel</td></tr></table>

Pin Assignment
PCI-8158/PCI-8154 100-pin Mini SCSI Connector Pin Assignment

<table><tr><td>VDD</td><td>1</td><td>51</td><td>VDD</td></tr><tr><td>EXGND</td><td>2</td><td>52</td><td>EXGND</td></tr><tr><td>OUT0+</td><td>3</td><td>53</td><td>OUT2+</td></tr><tr><td>OUT0-</td><td>4</td><td>54</td><td>OUT2-</td></tr><tr><td>DIR0+</td><td>5</td><td>55</td><td>DIR2+</td></tr><tr><td>DIR0-</td><td>6</td><td>56</td><td>DIR2-</td></tr><tr><td>SVON0</td><td>7</td><td>57</td><td>SVON2</td></tr><tr><td>ERC0</td><td>8</td><td>58</td><td>ERC2</td></tr><tr><td>ALM0</td><td>9</td><td>59</td><td>ALM2</td></tr><tr><td>INP0</td><td>10</td><td>60</td><td>INP2</td></tr><tr><td>RDY0</td><td>11</td><td>61</td><td>RDY2</td></tr><tr><td>EXGND</td><td>12</td><td>62</td><td>EXGND</td></tr><tr><td>EA0+</td><td>13</td><td>63</td><td>EA2+</td></tr><tr><td>EA0-</td><td>14</td><td>64</td><td>EA2-</td></tr><tr><td>EB0+</td><td>15</td><td>65</td><td>EB2+</td></tr><tr><td>EB0-</td><td>16</td><td>66</td><td>EB2-</td></tr><tr><td>EZ0+</td><td>17</td><td>67</td><td>EZ2+</td></tr><tr><td>EZ0-</td><td>18</td><td>68</td><td>EZ2-</td></tr><tr><td>VDD</td><td>19</td><td>69</td><td>VDD</td></tr><tr><td>EXGND</td><td>20</td><td>70</td><td>EXGND</td></tr><tr><td>OUT1+</td><td>21</td><td>71</td><td>OUT3+</td></tr><tr><td>OUT1-</td><td>22</td><td>72</td><td>OUT3-</td></tr><tr><td>DIR1+</td><td>23</td><td>73</td><td>DIR3+</td></tr><tr><td>DIR1-</td><td>24</td><td>74</td><td>DIR3-</td></tr><tr><td>SVON1</td><td>25</td><td>75</td><td>SVON3</td></tr><tr><td>ERC1</td><td>26</td><td>76</td><td>ERC3</td></tr><tr><td>ALM1</td><td>27</td><td>77</td><td>ALM3</td></tr><tr><td>INP1</td><td>28</td><td>78</td><td>INP3</td></tr><tr><td>RDY1</td><td>29</td><td>79</td><td>RDY3</td></tr><tr><td>EXGND</td><td>30</td><td>80</td><td>EXGND</td></tr><tr><td>EA1+</td><td>31</td><td>81</td><td>EA3+</td></tr><tr><td>EB1-</td><td>32</td><td>82</td><td>EA3-</td></tr><tr><td>EB1+</td><td>33</td><td>83</td><td>EB3+</td></tr><tr><td>EB1-</td><td>34</td><td>84</td><td>EB3-</td></tr><tr><td>EZ1+</td><td>35</td><td>85</td><td>EZ3+</td></tr><tr><td>EZ1-</td><td>36</td><td>86</td><td>EZ3-</td></tr><tr><td>PEL0</td><td>37</td><td>87</td><td>PEL2</td></tr><tr><td>MEL0</td><td>38</td><td>88</td><td>MEL2</td></tr><tr><td>GDI0</td><td>39</td><td>89</td><td>GDI2</td></tr><tr><td>DO0</td><td>40</td><td>90</td><td>DO2</td></tr><tr><td>ORG0</td><td>41</td><td>91</td><td>ORG2</td></tr><tr><td>EXGND</td><td>42</td><td>92</td><td>EXGND</td></tr><tr><td>PEL1</td><td>43</td><td>93</td><td>PEL3</td></tr><tr><td>MEL1</td><td>44</td><td>94</td><td>MEL3</td></tr><tr><td>GDI1</td><td>45</td><td>95</td><td>GDI3</td></tr><tr><td>DO1</td><td>46</td><td>96</td><td>DO3</td></tr><tr><td>ORG1</td><td>47</td><td>97</td><td>ORG3</td></tr><tr><td>EXGND</td><td>48</td><td>98</td><td>EXGND</td></tr><tr><td>EXGND</td><td>49</td><td>99</td><td>E_24V</td></tr><tr><td>EXGND</td><td>50</td><td>100</td><td>E_24V</td></tr></table>
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