# PCI-8253 / PCI-8256

# DSP-based 3/6-axis Analog Motion Controllers

![Close-up of a green PCI-8253 electronic circuit board (no readable text or symbols beyond label)](.pci-8253-8256-datasheet-en-1/e8123d911ab0da36b3dc6c05b99beb6257ae2a728df7895914b68f8789832cdf.jpg)

![Green printed circuit board with various electronic components and connectors (no visible text or symbols)](.pci-8253-8256-datasheet-en-1/08d85d4233b242a2a4c99c771812455bd03004a339f9dcc38f92094fc9c3af84.jpg)

PCI-8256

![The image displays a square icon with a light blue gradient background. In the center is a white, stylized spiral graphic featuring an arrow at the top pointing to the left. Below the graphic, the text 'Helical Interpolation' is written in white.](.pci-8253-8256-datasheet-en-1/de02c83b73a11ecf6ee3f04604f1a0979f856fef71a2363b531af13f7a31b6d8.jpg)

![The image displays a square icon with a light blue gradient background. Centered within the icon is a white graphic consisting of curved arrows forming a loop; the top arrow points to the right and the bottom arrow points to the left. Below the graphic, the text 'Continuous Move' is written in a grey sans-serif font.](.pci-8253-8256-datasheet-en-1/8f2600b491f0c3979b8eb0a61510a9d40c205c5cae343b0f8a25d47d7d8ab35b.jpg)

![The image displays a square icon button with a light blue gradient background. In the center is a white line-art graphic depicting a road with dashed center lines and a small downward arrow near the top. Below the graphic, the text 'Passion Override' is written in white, sans-serif font.](.pci-8253-8256-datasheet-en-1/44691c17191fdbad79f249a98d35c3d815821eaad6eb23e982adfcfdb5109efd.jpg)

![This is a close-up image of a digital display screen, likely from a calculator. The text 'DSP' appears in white capital letters on the right side against a tan background. A vertical line separates the text from the left portion of the screen. The surrounding frame of the device is a brownish-orange color.](.pci-8253-8256-datasheet-en-1/227791d8dd0f69d8f877ae7eeadc234f647af4c198f0b5816251d27901de1031.jpg)

![This image displays a square icon with a beige background. On the left is a white schematic symbol featuring a zig-zag line and a rectangular shape resembling a sensor. To the right of this are two stacked rectangular boxes containing the letters 'AB' and 'Z'. Below the graphics, the text reads 'Digital Encoder Input'.](.pci-8253-8256-datasheet-en-1/099ffa5c7fd17e0384dc1b9a93356055c76954fd7484da7b64c70261ffce8fe0.jpg)

![This image features a square icon with a light tan background. In the center is a darker tan square containing a stylized hand pointing to the right towards a rectangular box. Inside the box is the word 'STOP' in capital letters. Below the central graphic, the text 'Emergency Stop Input' appears in a dark, sans-serif font.](.pci-8253-8256-datasheet-en-1/34ef9fc62138370c530fccd58711bfe1d54b95dfdb43b6049ed5efc7672f8861.jpg)

![The image displays a graphic icon for 'PID Control' set against a light teal background.\n\nAt the center is a white square outline containing a schematic block diagram. Inside the diagram, a central box contains the verbatim text '**PID**' in white. Surrounding this box are arrows indicating a control loop: an input arrow points right into the box from the left, a feedback arrow loops from the right side back towards the left, and an output arrow points right from the bottom of the box.\n\nBelow the graphical icon, the text '**PID Control**' is written in white.](.pci-8253-8256-datasheet-en-1/f5578631e299e52e80f1fd6f548196b811b7b35fc7ef175aee254d18a5f231c6.jpg)

![This image features a square icon with a purple gradient background. It displays a white line drawing of a trapezoidal waveform. Below the graphic, the text reads 'Trigger' on the top line and 'Output' on the bottom line.](.pci-8253-8256-datasheet-en-1/314b2907a1349434ec0d8eb002c1250bf6f95c6ce7bad920604c01a663d4b0ce.jpg)

# Features

■ On-board 250 MHz DSP
■ 3/6 axes of ±10 volts analog command for controlling servo motors by differential command signal
■ Maximum servo update rate is less than 300 µs for 6 axes
■ Encoder feedback frequency up to 20 MHz
■ Digital filter for encoder input to reduce noise disturbance
Manual pulse generator inteface
■ One dedicated emergency input pin
■ High speed position latch function via ORG and Index signals
■ On-board 512 kb flash ROM for motion kernel and non-volatile data – PID parameters
Programmable interrupt source control to host PC
■ Watch dog timer for safety control
■ Support for up to 16 cards in one system

# Motion Features

■ Jogging mode
■ Any 2-4 axes linear interpolation
■ Any 2 axes circular interpolation
■ Position override & speed override in anytime
■ Variety of homing modes via signals
■ Linear and FIFO position comparison method for high speed trigger output
■ Contouring function by point table description
■ Gantry mode
■ Ring counter (32-bit) for rotatory encoder input
■ Motion trajectory & PID parameters can be changed on-the-fly

# Software Support

OS Information

• Windows® 8/7/XP

■	Software Compatibility

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

Software Recommendations

• MotionCreatorPro2

# Specifications

Analog Input / Output Channels

<table><tr><td>Number of Channels</td><td>3 for PCI-8253; 6 for PCI-8256</td></tr><tr><td>Analog Output</td><td> $\pm 10$  Volt with 16-bit D/A Converter</td></tr><tr><td>Analog Input</td><td> $\pm 10$  Volt with 14-bit A/D Converter</td></tr></table>

Encoder Input Channels

<table><tr><td>Number of Channels</td><td>3 for PCI-8253; 6 for PCI-8256</td></tr><tr><td>Max. Encoder Input Frequency</td><td>20 MHz under 4 x AB mode</td></tr><tr><td>Encoder Counter</td><td>6-CH, 32-bit</td></tr><tr><td>Pulse Command Type</td><td>AB phase and CW/CCW modes</td></tr></table>

Trigger Channels

<table><tr><td>Number of High speed Channels</td><td>1 for PCI-8253; 2 for PCI-8256</td></tr><tr><td>Number of Low Speed Channels</td><td>1 for PCI-8253; 2 for PCI-8256</td></tr><tr><td>Maximum Trigger Pulse Frequency</td><td>1 MHz for high speed trigger; 25 KHz for low speed trigger</td></tr><tr><td>Trigger Pulse Width</td><td>0.3 μs to 300 ms</td></tr></table>

Motion I/O Interface Signals

<table><tr><td>I/O Pins</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 Pins</td><td> $\pm$ EL and ORG</td></tr><tr><td>Servomotor Interface I/O Pin</td><td>INP, ALM, ERC, SVON, RDY</td></tr><tr><td>Position Compare Output Pin</td><td>CMP</td></tr></table>

General Purpose I/O

<table><tr><td>Digital Input</td><td>4-CH (PCI-8253) / 8-CH (PCI-8256) isolated digital input</td></tr><tr><td>Input Voltage</td><td>0 to 24 V</td></tr><tr><td>Input Resistance</td><td>2.4 KΩ @ 0.5 W</td></tr><tr><td>Digital Output</td><td>4-CH (PCI-8253) / 8-CH (PCI-8256) isolated digital output</td></tr><tr><td>Output Voltage</td><td>5 V (min.); 35 V (max.)</td></tr><tr><td>Output Type</td><td>NPN open collector Darlington transistors</td></tr><tr><td>Current Sink</td><td>90 mA</td></tr></table>

Analog Input (A/D)

<table><tr><td>Resolution</td><td>14-bit</td></tr><tr><td>Input Channel</td><td>4 single-ended</td></tr><tr><td>Input Range</td><td> $\pm 10$  V, bipolar</td></tr><tr><td>Conversion Time</td><td>8  $\mu$ s</td></tr><tr><td>Sampling Rate</td><td>110 K samples/sec (Max.)</td></tr><tr><td>Accuracy</td><td>0.01% of FSR,  $\pm 1$  LSB</td></tr></table>

# Ordering Information

■ PCI-8253

DSP-based 3-axis analog motion controller

■ PCI-8256

DSP-based 6-axis analog motion controller

# Accessories

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

# Terminal Board

■	DIN-825-J3A0

Terminal board for Mitsubishi MR-J3A/J4A servo amplifier

DIN-68S-01

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

■	DIN-825-GP3

Terminal board with 68-pin SCSI-II connector for general purpose servo & stepper

# Cabling

■	ACL-10568-1

68-pin SCSI-VHDCI cable (mating with AMP-787082-7), 1 M

# Pin Assignment

PCI-8253 & PCI-8256

<table><tr><td>AOUT1+</td><td>1</td><td>35</td><td>AOUT1-</td></tr><tr><td>AOUT2+</td><td>2</td><td>36</td><td>AOUT2-</td></tr><tr><td>AOUT3+</td><td>3</td><td>37</td><td>AOUT3-</td></tr><tr><td>AGND</td><td>4</td><td>38</td><td>AGND</td></tr><tr><td>AIN1</td><td>5</td><td>39</td><td>AGND</td></tr><tr><td>AIN2</td><td>6</td><td>40</td><td>Rsv.</td></tr><tr><td>AIN3</td><td>7</td><td>41</td><td>Rsv.</td></tr><tr><td>EA1+</td><td>8</td><td>42</td><td>EA1-</td></tr><tr><td>EB1+</td><td>9</td><td>43</td><td>EB1-</td></tr><tr><td>EZ1+</td><td>10</td><td>44</td><td>EZ1-</td></tr><tr><td>ALM1</td><td>11</td><td>45</td><td>ORG1</td></tr><tr><td>SVON1</td><td>12</td><td>46</td><td>PEL1</td></tr><tr><td>ZSP1</td><td>13</td><td>47</td><td>MEL1</td></tr><tr><td>TRG1+</td><td>14</td><td>48</td><td>TRG1-</td></tr><tr><td>TRG2+</td><td>15</td><td>49</td><td>TRG2-</td></tr><tr><td>EA2+</td><td>16</td><td>50</td><td>EA2-</td></tr><tr><td>EB2+</td><td>17</td><td>51</td><td>EB2-</td></tr><tr><td>EZ2+</td><td>18</td><td>52</td><td>EZ2-</td></tr><tr><td>DOCOM</td><td>19</td><td>53</td><td>DICOM</td></tr><tr><td>ALM2</td><td>20</td><td>54</td><td>ORG2</td></tr><tr><td>SVON2</td><td>21</td><td>55</td><td>PEL2</td></tr><tr><td>ZSP2</td><td>22</td><td>56</td><td>MEL2</td></tr><tr><td>EA3+</td><td>23</td><td>57</td><td>EA3-</td></tr><tr><td>EB3+</td><td>24</td><td>58</td><td>EB3-</td></tr><tr><td>EZ3+</td><td>25</td><td>59</td><td>EZ3-</td></tr><tr><td>ALM3</td><td>26</td><td>60</td><td>ORG3</td></tr><tr><td>SVON3</td><td>27</td><td>61</td><td>PEL3</td></tr><tr><td>ZSP3</td><td>28</td><td>62</td><td>MEL3</td></tr><tr><td>DOCOM</td><td>29</td><td>63</td><td>IEMG</td></tr><tr><td>DOCOM</td><td>30</td><td>64</td><td>DICOM</td></tr><tr><td>EDO1</td><td>31</td><td>65</td><td>EDI1</td></tr><tr><td>EDO2</td><td>32</td><td>66</td><td>EDI2</td></tr><tr><td>EDO3</td><td>33</td><td>67</td><td>EDI3</td></tr><tr><td>EDO4</td><td>34</td><td>68</td><td>EDI4</td></tr></table>
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