# AMP-104C

# 4-Axis Pulse Motion Controller

# User's Manual

![Green printed circuit board with various electronic components and connectors (no readable text or symbols)](.amp-104c-50-15116-1000-10/611cc9c53c844ee17ffa89e4226eaaa70ffca03efb677f4e24cf90a2cb186c9b.jpg)

Manual Rev.: 1.0

Revision Date: 2020-12-22

Part No: 50-15116-1000

Revision History

<table><tr><td>Revision</td><td>Release Date</td><td>Description of Change(s)</td></tr><tr><td>1.0</td><td>2020-12-22</td><td>Initial release</td></tr></table>

# Preface

# Copyright © 2020 ADLINK Technology Inc.

This document contains proprietary information protected by copyright. All rights are reserved. No part of this manual may be reproduced by any mechanical, electronic, or other means in any form without prior written permission of the manufacturer.

# Disclaimer

The information in this document is subject to change without prior notice in order to improve reliability, design, and function and does not represent a commitment on the part of the manufacturer.

In no event will the manufacturer be liable for direct, indirect, special, incidental, or consequential damages arising out of the use or inability to use the product or documentation, even if advised of the possibility of such damages.

# Environmental Responsibility

ADLINK is committed to fulfill its social responsibility to global environmental preservation through compliance with the European Union's Restriction of Hazardous Substances (RoHS) directive and Waste Electrical and Electronic Equipment (WEEE) directive. Environmental protection is a top priority for ADLINK. We have enforced measures to ensure that our products, manufacturing processes, components, and raw materials have as little impact on the environment as possible. When products are at their end of life, our customers are encouraged to dispose of them in accordance with the product disposal and/or recovery programs prescribed by their nation or company.

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Battery Labels (for products with battery)

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Li-ion

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廢電池請回收

# California Proposition 65 Warning

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WARNING: This product can expose you to chemicals including acrylamide, arsenic, benzene, cadmium, Tris(1,3-dichloro-2-propyl) phosphate (TDCPP), 1,4- Dioxane, formaldehyde, lead, DEHP, styrene, DINP, BBP, PVC, and vinyl materials, which are known to the State of California to cause cancer, and acrylamide, benzene, cadmium, lead, mercury, phthalates, toluene, DEHP, DIDP, DnHP, DBP, BBP, PVC, and vinyl materials, which are known to the State of California to cause birth defects or other reproductive harm. For more information go to www.P65Warnings.ca.gov.

# Trademarks

Product names mentioned herein are used for identification purposes only and may be trademarks and/or registered trademarks of their respective companies.

# Conventions

Take note of the following conventions used throughout this manual to make sure that users perform certain tasks and instructions properly.

![The image shows a white document icon with a folded top-left corner and faint horizontal lines. A large red checkmark is superimposed over the document.](.amp-104c-50-15116-1000-10/b580efcc1815896140d7e78d31e6bc17cd21e29cd587ad29f9a8094292651e8f.jpg)
NOTE:

Additional information, aids, and tips that help users perform tasks.

![The image displays a standard warning symbol consisting of a yellow triangle with a thick black border. Centered within the triangle is a large black exclamation mark.](.amp-104c-50-15116-1000-10/0765c695ec559bbffa7af1e3f98af5567331d4a62783d04c99f87be1065f2f8f.jpg)
CAUTION:

Information to prevent minor physical injury, component damage, data loss, and/or program corruption when trying to complete a task.

ATTENTION: Informations destinées à prévenir les blessures corporelles mineures, les dommages aux composants, la perte de données et/ou la corruption de programme lors de l'exécution d'une tâche.

![The image shows a standard warning symbol consisting of a red triangle containing a white exclamation point in the center, set against a white background.](.amp-104c-50-15116-1000-10/dfc24ba093935d08688fb189fd234aef08186832536888026ad7894dd767f61b.jpg)
WARNING:

Information to prevent serious physical injury, component damage, data loss, and/or program corruption when trying to complete a specific task.

AVERTISSEMENT: Informations destinées à prévenir les blessures corporelles graves, les dommages aux composants, la perte de données et/ou la corruption de programme lors de l'exécution d'une tâche spécifique.

# Table of Contents

# Preface...... iii

# List of Tables...... vii

# List of Figures ix

# 1 Introduction .... 1

1.1 Overview.... 1
1.2 Features.... 2
1.3 Specifications.... 3
1.4 Supported Software 4
1.5 Accessories 5

# 2 Getting Started 7

2.1 Package Contents 7
2.2 Board Layout 8
2.3 Hardware and Software Driver Installation 9
2.4 DIP Switch Settings 12
2.5 Jumper Setting: Pulse Output Mode Selection 15
2.6 Pin Assignments to Connectors.... 15

# 3 Signal Connections.... 21

3.1 Pulse Output Signals 22
3.2 Encoder Feedback Input Signal.... 26
3.3 Motion I/O Interface Signal 28
3.4 GPIO Interface Signal 32
3.5 Other I/O Interface Signal 35

# Important Safety Instructions 37

# Consignes de Sécurité Importante.... 39

# Getting Service.... 43

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# List of Tables

Table 2-1: Board Features Legend....8
Table 2-2: SW1 Card ID Selection....12
Table 2-3: SW2 End Limit Type Selection....13
Table 2-4: SW3 DO Initial State Selection....14
Table 2-5: CN1 External Stop/Start Signals 15
Table 2-6: CN2 AMP-104C Main Connector 17
Table 2-7: CN3 Extended TTL DIO 18
Table 2-8: CN4 Extended Encoder Feedback Input Signals ..... 19
Table 3-1: Pulse Output Signals 22

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# List of Figures

Figure 1-1: Functional Diagram.... 1

Figure 2-1: AMP-104C Board Layout....8

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# 1 Introduction

# 1.1 Overview

The AMP-104C is a cost-effective 4-axis motion controller card with a PCI Express® interface that can generate a pulse train up to 4.9MHz to control a motor. With more general purpose IOs and 4-channel encoder feedback input, the AMP-104C can be used for a multitude of scenarios or applications.

As a motion controller, the AMP-104C provides non-symmetric acceleration and deceleration speed profile settings, T-curve and S-curve speed profile control, and selection of motion stop method. Also, changing speed on the fly with a single axis operation, linear Interpolation with any 2 axes, and simultaneously start/stop on multiple axes are also available.

Multiple AMP-104C cards can be installed in one system. The on-board switch can be used to the set a specific index for each board in order to manage multiple cards.

Figure 1-1 shows the AMP-104C card functional diagram. All functions and computations are performed internally by the ASIC and FPGA, thus limiting the impact on the PC's CPU.

![Based on the provided image, here is the description of the block diagram:\n\n**Blocks:**\n*   **Left Section:** A rectangular box containing two sub-blocks stacked vertically: 'ASIC' (top) and 'FPAGA' (bottom).\n*   **Right Section:** A dashed rectangular box containing four sub-blocks stacked vertically: 'Pulse Output', 'Motion I/O Interface', 'Encoder Feedback Input', and 'GPIO Interface'.\n*   **Far Right:** Two vertical rectangular blocks labeled 'SCSI 68PIN' (top) and 'DSUB 37PIN' (bottom).\n*   **Bottom:** A long horizontal arrow labeled 'PCI Express Bus'.\n\n**Connections:**\n*   A thick vertical double-headed arrow connects 'ASIC' and 'FPAGA'.\n*   A thick horizontal double-headed arrow connects the left section (ASIC/FPAGA box) to the right section (dashed box).\n*   A thick horizontal double-headed arrow connects the upper portion of the dashed box to 'SCSI 68PIN'.\n*   A thick horizontal double-headed arrow connects the lower portion of the dashed box to 'DSUB 37PIN'.\n*   A thick vertical double-headed arrow connects the bottom of the left section ('FPAGA') to the 'PCI Express Bus' arrow.](.amp-104c-50-15116-1000-10/e850f994a5ec54b7acf975dfe48eddb7a2ae273d50df409c7005c7c4fb811f72.jpg)

Figure 1-1: Functional Diagram

# 1.2 Features

The following list summarizes the main features of the AMP-104C motion control system.

▶ 4 Axes Pulse Type Motion Card
▶ PCI Express® Gen1 x1
▶ Supports up to 16 Cards in One System
▶ Pulse Output Frequency up to 4.9 Mpps
▶ Pulse Output Mode: CW/CCW, OUT/DIR
▶ Encoder Feedback Input Frequency up to 20 MHz
▶ Mechanical Signal Input
▶ 28-ch Onboard Isolated GPIO/31-ch Extended TTL GPIO
▶ 8-ch Position Latch Trigger Input
▶ Selection of Card Index by Switch
▶ Selection of EL Logic NO/NC Mode by Switch
▶ Selection of DO Initial State by Switch
▶ Selection of Motion Stop Method: EMG / Deceleration Stop
▶ External Start/Stop Control (STA/STP)
▶ Current Position Counter/Encoder Feedback Counter
▶ Programmable Interrupt Control
▶ Linear and S-curve Acceleration/Deceleration Control
▶ Speed Change On-The-Fly
▶ 3 Home Return Modes
▶ Linear Interpolation
▶ Security Protection for User's Program

# 1.3 Specifications

<table><tr><td colspan="2">Pulse Type Motion Control</td></tr><tr><td>Max. Axes</td><td>4</td></tr><tr><td>Pulse Output Frequency</td><td>0.5 pps to 4.9 Mpps</td></tr><tr><td>Pulse Output Mode</td><td>CW/CCW, OUT/DIR</td></tr><tr><td>Pulse Output Type</td><td>Differential / Single-End</td></tr><tr><td>Encoder Feedback Input Mode</td><td>CW/CCW; OUT/DIR; 1x/2x/4x AB Phase</td></tr><tr><td>Encoder Feedback Input Frequency</td><td>5 MHz (up to 20 MHz at 4x AB)</td></tr><tr><td>Encoder Feedback Counter Resolution</td><td>32-bit</td></tr><tr><td>Positon Counter Resolution</td><td>24-bit</td></tr><tr><td colspan="2">Motion I/O Interface Signals</td></tr><tr><td>External Stop/Start Signal Pin</td><td>STP and STA</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 colspan="2">GPIO Interface Signals</td></tr><tr><td rowspan="2">GPIO Onboard</td><td>16-ch Optically Isolated DI</td></tr><tr><td>12-ch Optically Isolated DO</td></tr><tr><td rowspan="2">GPIO Extended</td><td>16-ch Non-isolated TTL DI</td></tr><tr><td>15-ch Non-isolated TTL DO</td></tr><tr><td colspan="2">General Specifications</td></tr><tr><td>Main Connector</td><td>68-pin SCSI-Type Connector</td></tr><tr><td>Extend Connector</td><td>40-pin to 37-pin SCSI Box Header</td></tr><tr><td>Operating Temperature</td><td>0°C to 60°C</td></tr><tr><td>Storage Temperature</td><td>-20°C to 80°C</td></tr><tr><td>Humidity</td><td>5% to 85%, non-condensing</td></tr><tr><td colspan="2">Power Consumption</td></tr><tr><td>External Power Supply (Input)</td><td>24V DC ±5%</td></tr></table>

# 1.4 Supported Software

# 1.4.1 OS Support / Software Compatibility

▶ OS Support
▷ Windows 7/8/10 (x86/x64)
▶ Software Compatibility
▷ Visual Studio VB.NET, C#, VC.NET Compatible
▶ APS Function Library Support

# 1.4.2 APS Functions

The AMP-104C is fully compliant with the APS (Automation Product Software) function library, independent of programming languages and operating systems (OS). A complete detailed listing of functions can be found in the APS Function Library User Manual.

# 1.4.3 MotionCreatorPro 2 (MCP2)

MotionCreatorPro2 $^{™}$ is a user interface exclusively developed for ADLINK motion control products in a standard Windows environment to easily to setup cards and axis parameters. A Setup Wizard guides users through hardware installation and wiring as well as single-axis manipulation in minutes.

MotionCreatorPro2 $^{™}$ not only effectively reduces development time but also enables concurrent validation of overall mechanism and electric design with all single axis and interpolation motion operation pages.

# 1.5 Accessories

The main connector utilizes ADLINK's exclusive DIN-68S terminal board and ACL-10569 cable. For extended connectors, TTL DI/O and Encoder Feedback Input, use a DIN-37 terminal board with ACL-10437 and ACL-10137 cables (sold separately).

<table><tr><td></td><td>Main Function</td><td>TTL DI/O</td><td>Encoder Feedback Input</td></tr><tr><td colspan="4">Terminal Board</td></tr><tr><td>DIN-68S-01</td><td>Yes</td><td></td><td></td></tr><tr><td>DIN-37D-01</td><td></td><td>Yes</td><td>Yes</td></tr><tr><td colspan="4">Cable</td></tr><tr><td>ACL-10569-X, X = 1, 2, 3 (M)</td><td>Yes</td><td></td><td></td></tr><tr><td>ACL-10137-X, X = 1, 2, 3, 5 (M)</td><td></td><td>Yes</td><td>Yes</td></tr><tr><td>ACL-10437</td><td></td><td>Yes</td><td>Yes</td></tr></table>

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# 2 Getting Started

This chapter describes how to install and connect to the AMP-104C, its hardware settings, and related signals.

# 2.1 Package Contents

The package includes the following items:

▶ 1x AMP-104C Card 4-Axis Pulse Motion Controller
▶ Product Warranty Card

If any of these items are missing or damaged, contact the dealer from whom you purchased the product. Save the shipping materials and carton to ship or store the product in the future.

# 2.2 Board Layout

![CN4\nSW1-SW3\nCN1\nCN2\nJ8\nJ1\nCN3](.amp-104c-50-15116-1000-10/29053c92ea8dbf5c154353e37544f957d70cc58984f26f16daaa13841b048b41.jpg)

Figure 2-1: AMP-104C Board Layout

<table><tr><td>Item</td><td>Description</td></tr><tr><td>SW1</td><td>Card ID Selection Switch</td></tr><tr><td>SW2</td><td>End Limit Type Selection Switch</td></tr><tr><td>SW3</td><td>DO Initial State Selection Switch</td></tr><tr><td>J1-J8</td><td>Pulse Output Mode Selection Jumper</td></tr><tr><td>CN1</td><td>External Stop/Start Signals 6-pin header (ST/D2.54)</td></tr><tr><td>CN2</td><td>AMP-104C Main Connector 68-pin SCSI</td></tr><tr><td>CN3</td><td>Extended TTL DIO 40-pin box header</td></tr><tr><td>CN4</td><td>Extended Encoder Feedback Input Signals 40-pin box header</td></tr></table>

Table 2-1: Board Features Legend

# 2.3 Hardware and Software Driver Installation

# 2.3.1 Hardware Configuration

The AMP-104C is fully Plug-and-Play compliant and can be installed in any PCI Express slot. It employs a PCI Express Gen1 x1 bus, and the system BIOS can auto-configure memory and IRQ channels.

ADLINK's exclusive DIN-68S-01 terminal board and ACL-10569 cable combine for an easy-to-use set to connect to external drivers. The DIN-37D-01 terminal board and ACL-10137/ACL-10437 cables is another easy-to-use set to fulfill extra functions.

# 2.3.2 Installation Procedures

1. Read through this manual and setup the switches, jumper and I/O signals according to your application.

2. Turn off the computer and all relevant terminal boards, and install the AMP-104C in any available PCI Express x1/x4/x8/x16 slot. Make sure you have proper ESD (Electrostatic discharge) protection.

3. Connect the AMP-104C and DIN-68S-01 with the ACL-10569 (68-pin SCSI-II) cable.

4. Connect the AMP-104C and DIN-37D-01 with the ACL-10137 (37-pin D-SUB) and ACL-10437 cables (if applicable).

5. Set up servo or stepper drive connection as well as mechanical signals, GPIO and any essential drive signals.

6. Turn on the system power including computer power, terminal board power, and 24V DC power.

7. Verify all signals and servo operation via MotionCreatorPro2.

# 2.3.3 Troubleshooting

If the computer cannot power on normally or the motion control system operates abnormally after system installation, follow the steps described below for troubleshooting. If the problem persists, please consult the dealer for technical services.

<table><tr><td>Problem</td><td>Correction</td></tr><tr><td>The card does not appear in Windows Device Manager after its driver has been installed</td><td>Ensure the card is properly mounted in PCI Express slot and the driver is properly installed in Windows Control Panel&#x27;s &quot;Add/remove programs&quot;</td></tr><tr><td>MotionCreatorPro2TM is not lunch after driver installation</td><td>Ensure .NET framework v3.5 or later version has been installed</td></tr><tr><td>The NO Signal indicator in MotionCreatorPro2TM appears after the motor is connected and the motor does not work.</td><td>Ensure 24 VDC power is provided to the system</td></tr><tr><td>When using the MotionCreatorPro2TM, all the control indicators of the drive light correctly but the drive warns</td><td>Ensure correctness of the axis parameter setup, alarm logic (ALM) and the EMG loop configuration</td></tr><tr><td>Value of output command differs from the encoder feedback</td><td>Ensure encoder feedback signal (CW/CCW, OUT/DIR, 1xAB, 2xAB, 4xAB) settings comply with that of the drive</td></tr><tr><td>During motion control, the motor moves only in one direction rather than both back and forth movement</td><td>Ensure setting of signal pattern (CW/CCW, OUT/DIR) comply with that of the motor drive</td></tr></table>

# 2.3.4 Software Driver Installation

1. Download the AMP-104C WDM file from ADLINK and run it. Installation executes automatically.
2. Select NEXT as prompted to complete installation.
3. After installation is complete, select FINISH.
4. Ensure the Windows Device Manager lists the AMP-104C correctly.
5. Restart the computer immediately, or later, as desired.

# 2.4 DIP Switch Settings

# 2.4.1 SW1 – Card ID Selection

The SW1 switch is used to set the card ID. For example, if 1 is set to ON and the others are OFF, that card index is 1. The index value can be from 0 to 15. Refer to the following table for details.

<table><tr><td>Card ID</td><td>Switch Setting (ON=1)</td></tr><tr><td>0</td><td>0000</td></tr><tr><td>1</td><td>0001</td></tr><tr><td>2</td><td>0010</td></tr><tr><td>3</td><td>0011</td></tr><tr><td>4</td><td>0100</td></tr><tr><td>5</td><td>0101</td></tr><tr><td>6</td><td>0110</td></tr><tr><td>7</td><td>0111</td></tr><tr><td>8</td><td>1000</td></tr><tr><td>9</td><td>1001</td></tr><tr><td>10</td><td>1010</td></tr><tr><td>11</td><td>1011</td></tr><tr><td>12</td><td>1100</td></tr><tr><td>13</td><td>1101</td></tr><tr><td>14</td><td>1110</td></tr><tr><td>15</td><td>1111 (default)</td></tr></table>

Table 2-2: SW1 Card ID Selection

# 2.4.2 SW2 – End Limit Type Selection

The SW2 switch is used to set the type of end limit logic, which are Normally Open (NO) and Normally Closed (NC). For example, if the switch pin is set to "OFF", the type of end limit logic is Normally Open. Refer to the following table for details.

![ON\n1 2 3 4](.amp-104c-50-15116-1000-10/0c8e7e0e2fac2af084dd9d64ffcaa28c2f4c5c99c8986beeda96c291596b97a2.jpg)

<table><tr><td>Axis #</td><td>SW2 Pin No.</td><td>NO (Default)</td><td>NC</td></tr><tr><td>0</td><td>1</td><td>OFF</td><td>ON</td></tr><tr><td>1</td><td>2</td><td>OFF</td><td>ON</td></tr><tr><td>2</td><td>3</td><td>OFF</td><td>ON</td></tr><tr><td>3</td><td>4</td><td>OFF</td><td>ON</td></tr></table>

Table 2-3: SW2 End Limit Type Selection

# 2.4.3 SW3 – DO Initial State Selection

The SW3 switch is used to set the initial DO state group setting. For example, if the SW3 Pin1 is set to "OFF", the initial states of "DO0 to DO3" are high. Refer to the following table for details.

![ON\n1 2 3 4](.amp-104c-50-15116-1000-10/6e6b8acf97435b4543475b2333006d95ce0f88b2d5b751df5c68f0a787496b9b.jpg)

<table><tr><td>DO #</td><td>SW3 Pin No.</td><td>High (Default)</td><td>Low</td></tr><tr><td>DO0 - DO3</td><td>1</td><td>OFF</td><td>ON</td></tr><tr><td>DO4 - DO11</td><td>2</td><td>OFF</td><td>ON</td></tr><tr><td>TDO0 - TDO7</td><td>3</td><td>OFF</td><td>ON</td></tr><tr><td>TDO8 - TDO14</td><td>4</td><td>OFF</td><td>ON</td></tr></table>

Table 2-4: SW3 DO Initial State Selection

# 2.5 Jumper Setting: Pulse Output Mode Selection

Jumpers J1-J8 are used to set the mode of pulse output signals. The output signal mode can either be differential line driver or single-ended output. Refer to Section 3.1 for detailed jumper settings.

<table><tr><td>J1 &amp; J2</td><td>Axis 0</td></tr><tr><td>J3 &amp; J4</td><td>Axis 1</td></tr><tr><td>J5 &amp; J6</td><td>Axis 2</td></tr><tr><td>J7 &amp; J8</td><td>Axis 3</td></tr></table>

![The image displays a diagram labeled **J1** at the top right. It illustrates a connector interface with configuration options listed on the left.\n\n**Labeled Blocks:**\n*   **J1**\n*   **Single-Ended (1-2)**\n*   **Differential (2-3) (default)**\n*   **1**\n*   **2**\n*   **3**\n\n**Connections:**\n*   An arrow points from the text **Single-Ended (1-2)** towards the number **1** on the connector.\n*   An arrow points from the text **Differential (2-3) (default)** towards the number **2** on the connector.\n\nThe connector area features the numbers **1**, **2**, and **3** running vertically alongside a column of two black squares with white dots, followed by two small open circles below them. A second, identical column is positioned to the right.](.amp-104c-50-15116-1000-10/927bea235af9d43b906f35c2b96949c09304800d1da2b1f85d95adca8959c244.jpg)

# 2.6 Pin Assignments to Connectors

# 2.6.1 CN1 – External Stop/Start Signals

<table><tr><td>No.</td><td>Name</td><td>I/O</td><td>Function</td></tr><tr><td>1</td><td>GND</td><td>-</td><td>Digital GND</td></tr><tr><td>2</td><td>STP/EMG</td><td>I/O</td><td>STOP Signal</td></tr><tr><td>3</td><td>STA</td><td>I/O</td><td>START Signal</td></tr><tr><td>4</td><td>STP/EMG</td><td>I/O</td><td>STOP Signal</td></tr><tr><td>5</td><td>STA</td><td>I/O</td><td>START Signal</td></tr><tr><td>6</td><td>+3V3</td><td>O</td><td>Digital Power +3.3V, output current limit: 1000mA</td></tr></table>

Table 2-5: CN1 External Stop/Start Signals

# 2.6.2 CN2 – AMP-104C Main Connector

1
![Front view of a dual-port electronic connector (no text or symbols visible)](.amp-104c-50-15116-1000-10/3ba3cae9b0f75609f3e2bcd85f98aff67faa5280dae0077c636865e9b18c7e64.jpg)

<table><tr><td>No.</td><td>Name</td><td>I/O</td><td>Function</td><td>No.</td><td>Name</td><td>I/O</td><td>Function</td></tr><tr><td>1</td><td>GND</td><td>--</td><td>Digital GND</td><td>35</td><td>OUT2+</td><td>O</td><td>Pulse Signal +</td></tr><tr><td>2</td><td>OUT0+</td><td>O</td><td>Pulse Signal +</td><td>36</td><td>OUT2-</td><td>O</td><td>Pulse Signal -</td></tr><tr><td>3</td><td>OUT0-</td><td>O</td><td>Pulse Signal -</td><td>37</td><td>DIR2+</td><td>O</td><td>Direction Signal +</td></tr><tr><td>4</td><td>DIR0+</td><td>O</td><td>Direction Signal +</td><td>38</td><td>DIR2-</td><td>O</td><td>Direction Signal -</td></tr><tr><td>5</td><td>DIR0-</td><td>O</td><td>Direction Signal -</td><td>39</td><td>OUT3+</td><td>O</td><td>Pulse Signal +</td></tr><tr><td>6</td><td>OUT1+</td><td>O</td><td>Pulse Signal +</td><td>40</td><td>OUT3-</td><td>O</td><td>Pulse Signal -</td></tr><tr><td>7</td><td>OUT1-</td><td>O</td><td>Pulse Signal -</td><td>41</td><td>DIR3+</td><td>O</td><td>Direction Signal +</td></tr><tr><td>8</td><td>DIR1+</td><td>O</td><td>Direction Signal +</td><td>42</td><td>DIR3-</td><td>O</td><td>Direction Signal -</td></tr><tr><td>9</td><td>DIR1-</td><td>O</td><td>Direction Signal -</td><td>43</td><td>DO0</td><td>O</td><td>Digital Output</td></tr><tr><td>10</td><td>PEL0</td><td>I</td><td>Positive End Limit Signal</td><td>44</td><td>DO1</td><td>O</td><td>Digital Output</td></tr><tr><td>11</td><td>MEL0</td><td>I</td><td>Negative End Limit Signal</td><td>45</td><td>DO2</td><td>O</td><td>Digital Output</td></tr><tr><td>12</td><td>PSD0</td><td>I</td><td>Positive Ramping-down Signal</td><td>46</td><td>DO3</td><td>O</td><td>Digital Output</td></tr><tr><td>13</td><td>MSD0</td><td>I</td><td>Negative Ramping-down Signal</td><td>47</td><td>DO4</td><td>O</td><td>Digital Output</td></tr><tr><td>14</td><td>ORG0</td><td>I</td><td>Origin Position Signal</td><td>48</td><td>DO5</td><td>O</td><td>Digital Output</td></tr><tr><td>15</td><td>PEL1</td><td>I</td><td>Positive End Limit Signal</td><td>49</td><td>DO6</td><td>O</td><td>Digital Output</td></tr><tr><td>16</td><td>MEL1</td><td>I</td><td>Negative End Limit Signal</td><td>50</td><td>DO7</td><td>O</td><td>Digital Output</td></tr><tr><td>17</td><td>PSD1</td><td>I</td><td>Positive Ramping-down Signal</td><td>51</td><td>DO8</td><td>O</td><td>Digital Output</td></tr><tr><td>18</td><td>MSD1</td><td>I</td><td>Negative Ramping-down Signal</td><td>52</td><td>DO9</td><td>O</td><td>Digital Output</td></tr></table>

<table><tr><td>No.</td><td>Name</td><td>I/O</td><td>Function</td><td>No.</td><td>Name</td><td>I/O</td><td>Function</td></tr><tr><td>19</td><td>ORG1</td><td>I</td><td>Origin Position Signal</td><td>53</td><td>DO10</td><td>O</td><td>Digital Output</td></tr><tr><td>20</td><td>PEL2</td><td>I</td><td>Positive End Limit Signal</td><td>54</td><td>DO11</td><td>O</td><td>Digital Output</td></tr><tr><td>21</td><td>MEL2</td><td>I</td><td>Negative End Limit Signal</td><td>55</td><td>DI4</td><td>I</td><td>Digital Input</td></tr><tr><td>22</td><td>PSD2</td><td>I</td><td>Positive Ramping-down Signal</td><td>56</td><td>DI5</td><td>I</td><td>Digital Input</td></tr><tr><td>23</td><td>MSD2</td><td>I</td><td>Negative Ramping-down Signal</td><td>57</td><td>DI6</td><td>I</td><td>Digital Input</td></tr><tr><td>24</td><td>ORG2</td><td>I</td><td>Origin Position Signal</td><td>58</td><td>DI7</td><td>I</td><td>Digital Input</td></tr><tr><td>25</td><td>PEL3</td><td>I</td><td>Positive End Limit Signal</td><td>59</td><td>DI8</td><td>I</td><td>Digital Input</td></tr><tr><td>26</td><td>MEL3</td><td>I</td><td>Negative End Limit Signal</td><td>60</td><td>DI9</td><td>I</td><td>Digital Input</td></tr><tr><td>27</td><td>PSD3</td><td>I</td><td>Positive Ramping-down Signal</td><td>61</td><td>DI10</td><td>I</td><td>Digital Input</td></tr><tr><td>28</td><td>MSD3</td><td>I</td><td>Negative Ramping-down Signal</td><td>62</td><td>DI11</td><td>I</td><td>Digital Input</td></tr><tr><td>29</td><td>ORG3</td><td>I</td><td>Origin Position Signal</td><td>63</td><td>DI12</td><td>I</td><td>Digital Input</td></tr><tr><td>30</td><td>DI0</td><td>I</td><td>Digital Input</td><td>64</td><td>DI13</td><td>I</td><td>Digital Input</td></tr><tr><td>31</td><td>DI1</td><td>I</td><td>Digital Input</td><td>65</td><td>DI14</td><td>I</td><td>Digital Input</td></tr><tr><td>32</td><td>DI2</td><td>I</td><td>Digital Input</td><td>66</td><td>EXGND</td><td>--</td><td>Isolation GND</td></tr><tr><td>33</td><td>DI3</td><td>I</td><td>Digital Input</td><td>67</td><td>E24V</td><td>I</td><td>Isolation Power +24V</td></tr><tr><td>34</td><td>EXGND</td><td>--</td><td>Isolation GND</td><td>68</td><td>DI15</td><td>I</td><td>Digital Input</td></tr></table>

Table 2-6: CN2 AMP-104C Main Connector

![The image features a graphic of a white document with a folded top-left corner and faint horizontal gray lines indicating text. A large, bold red checkmark is superimposed over the document.](.amp-104c-50-15116-1000-10/3784314a4a5447113ebef72035dbceb561a9a18b1b12f5b6cc1aeb363d40b173.jpg)
NOTE:

Pins 1-9, 35-42: Non-Isolation Signals.

# 2.6.3 CN3 – Extended TTL DIO

![1](.amp-104c-50-15116-1000-10/295366b665585c55f73e08efe096e79fa75e5c8bcaf617aa6a6c0cf8f76d88d7.jpg)

<table><tr><td>No.</td><td>Name</td><td>I/O</td><td>Function</td><td>No.</td><td>Name</td><td>I/O</td><td>Function</td></tr><tr><td>1</td><td>TDI0</td><td>I</td><td>TTL Input</td><td>2</td><td>TDI1</td><td>I</td><td>TTL Input</td></tr><tr><td>3</td><td>TDI2</td><td>I</td><td>TTL Input</td><td>4</td><td>TDI3</td><td>I</td><td>TTL Input</td></tr><tr><td>5</td><td>TDI4</td><td>I</td><td>TTL Input</td><td>6</td><td>TDI5</td><td>I</td><td>TTL Input</td></tr><tr><td>7</td><td>TDI6</td><td>I</td><td>TTL Input</td><td>8</td><td>TDI7</td><td>I</td><td>TTL Input</td></tr><tr><td>9</td><td>TDI8</td><td>I</td><td>TTL Input</td><td>10</td><td>TDI9</td><td>I</td><td>TTL Input</td></tr><tr><td>11</td><td>TDI10</td><td>I</td><td>TTL Input</td><td>12</td><td>TDI11</td><td>I</td><td>TTL Input</td></tr><tr><td>13</td><td>TDI12</td><td>I</td><td>TTL Input</td><td>14</td><td>TDI13</td><td>I</td><td>TTL Input</td></tr><tr><td>15</td><td>TDI14</td><td>I</td><td>TTL Input</td><td>16</td><td>TDI15</td><td>I</td><td>TTL Input</td></tr><tr><td>17</td><td>+3V3</td><td>O</td><td>Digital Power +3.3V</td><td>18</td><td>+3V3</td><td>O</td><td>Digital Power +3.3V</td></tr><tr><td>19</td><td>GND</td><td>--</td><td>Digital GND</td><td>20</td><td>GND</td><td>--</td><td>Digital GND</td></tr><tr><td>21</td><td>TDO0</td><td>O</td><td>TTL Output</td><td>22</td><td>TDO1</td><td>O</td><td>TTL Output</td></tr><tr><td>23</td><td>TDO2</td><td>O</td><td>TTL Output</td><td>24</td><td>TDO3</td><td>O</td><td>TTL Output</td></tr><tr><td>25</td><td>TDO4</td><td>O</td><td>TTL Output</td><td>26</td><td>TDO5</td><td>O</td><td>TTL Output</td></tr><tr><td>27</td><td>TDO6</td><td>O</td><td>TTL Output</td><td>28</td><td>TDO7</td><td>O</td><td>TTL Output</td></tr><tr><td>29</td><td>TDO8</td><td>O</td><td>TTL Output</td><td>30</td><td>TDO9</td><td>O</td><td>TTL Output</td></tr><tr><td>31</td><td>TDO10</td><td>O</td><td>TTL Output</td><td>32</td><td>TDO11</td><td>O</td><td>TTL Output</td></tr><tr><td>33</td><td>TDO12</td><td>O</td><td>TTL Output</td><td>34</td><td>TDO13</td><td>O</td><td>TTL Output</td></tr><tr><td>35</td><td>TDO14</td><td>O</td><td>TTL Output</td><td>36</td><td>----</td><td>--</td><td>Reserved</td></tr><tr><td>37</td><td>GND</td><td>--</td><td>Digital GND</td><td>38</td><td>----</td><td>--</td><td>Reserved</td></tr><tr><td>39</td><td>----</td><td>--</td><td>Reserved</td><td>40</td><td>----</td><td>--</td><td>Reserved</td></tr></table>

Table 2-7: CN3 Extended TTL DIO

![The image displays a white icon of a document with a folded top-left corner. Faint horizontal gray lines run across the page, and a large, bold red checkmark is superimposed over the center of the document.](.amp-104c-50-15116-1000-10/a1aea66f44b0d73c7af6ec6fb2990a070993576768b87175df7339367da70a61.jpg)
NOTE:

+3V3 output current limit: 1000mA

# 2.6.4 CN4 – Extended Encoder Feedback Input Signals

![1](.amp-104c-50-15116-1000-10/6633e889c0ac4e544cc33115642a904fead3c2e715850ac18d9281b82abc4941.jpg)

<table><tr><td>No.</td><td>Name</td><td>I/O</td><td>Function</td><td>No.</td><td>Name</td><td>I/O</td><td>Function</td></tr><tr><td>1</td><td>EA0+</td><td>I</td><td>Encoder A-phase+</td><td>2</td><td>EA0-</td><td>I</td><td>Encoder A-phase-</td></tr><tr><td>3</td><td>EB0+</td><td>I</td><td>Encoder B-phase+</td><td>4</td><td>EB0-</td><td>I</td><td>Encoder B-phase-</td></tr><tr><td>5</td><td>EZ0+</td><td>I</td><td>Encoder Z-phase+</td><td>6</td><td>EZ0-</td><td>I</td><td>Encoder Z-phase-</td></tr><tr><td>7</td><td>DGND</td><td>--</td><td>Digital GND</td><td>8</td><td>DGND</td><td>--</td><td>Digital GND</td></tr><tr><td>9</td><td>DGND</td><td>--</td><td>Digital GND</td><td>10</td><td>DGND</td><td>--</td><td>Digital GND</td></tr><tr><td>11</td><td>EA1+</td><td>I</td><td>Encoder A-phase+</td><td>12</td><td>EA1-</td><td>I</td><td>Encoder A-phase-</td></tr><tr><td>13</td><td>EB1+</td><td>I</td><td>Encoder B-phase+</td><td>14</td><td>EB1-</td><td>I</td><td>Encoder B-phase-</td></tr><tr><td>15</td><td>EZ1+</td><td>I</td><td>Encoder Z-phase+</td><td>16</td><td>EZ1-</td><td>I</td><td>Encoder Z-phase-</td></tr><tr><td>17</td><td>DGND</td><td>--</td><td>Digital GND</td><td>18</td><td>DGND</td><td>--</td><td>Digital GND</td></tr><tr><td>19</td><td>DGND</td><td>--</td><td>Digital GND</td><td>20</td><td>DGND</td><td>--</td><td>Digital GND</td></tr><tr><td>21</td><td>EA2+</td><td>I</td><td>Encoder A-phase+</td><td>22</td><td>EA2-</td><td>I</td><td>Encoder A-phase-</td></tr><tr><td>23</td><td>EB2+</td><td>I</td><td>Encoder B-phase+</td><td>24</td><td>EB2-</td><td>I</td><td>Encoder B-phase-</td></tr><tr><td>25</td><td>EZ2+</td><td>I</td><td>Encoder Z-phase+</td><td>26</td><td>EZ2-</td><td>I</td><td>Encoder Z-phase-</td></tr><tr><td>27</td><td>DGND</td><td>--</td><td>Digital GND</td><td>28</td><td>DGND</td><td>--</td><td>Digital GND</td></tr><tr><td>29</td><td>DGND</td><td>--</td><td>Digital GND</td><td>30</td><td>DGND</td><td>--</td><td>Digital GND</td></tr><tr><td>31</td><td>EA3+</td><td>I</td><td>Encoder A-phase+</td><td>32</td><td>EA3-</td><td>I</td><td>Encoder A-phase-</td></tr><tr><td>33</td><td>EB3+</td><td>I</td><td>Encoder B-phase+</td><td>34</td><td>EB3-</td><td>I</td><td>Encoder B-phase-</td></tr><tr><td>35</td><td>EZ3+</td><td>I</td><td>Encoder Z-phase+</td><td>36</td><td>EZ3-</td><td>I</td><td>Encoder Z-phase-</td></tr><tr><td>37</td><td>DGND</td><td>--</td><td>Digital GND</td><td>38</td><td>DGND</td><td>--</td><td>Digital GND</td></tr><tr><td>39</td><td>DGND</td><td>--</td><td>Digital GND</td><td>40</td><td>DGND</td><td>--</td><td>Digital GND</td></tr></table>

Table 2-8: CN4 Extended Encoder Feedback Input Signals

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# 3 Signal Connections

Signal connections of all I/O's are described in this chapter. Refer to the contents of this chapter before wiring any cables between the AMP-104C and any motor drivers.

This chapter contains the following sections:

Section 3.1: Pulse Output Signals

Section 3.2: Encoder Feedback Input Signal

Section 3.3: Motion I/O Interface Signal

Section 3.4: GPIO Interface Signal

Section 3.5: Other I/O Interface Signal

# 3.1 Pulse Output Signals

There are 4 axis pulse output signals on the AMP-104C, each supporting up to 4.9 MHz output frequency. For each axis, two pairs of OUT and DIR signals are used to transmit the pulse train and to indicate the direction. In this section, the electrical characteristics of the OUT and DIR signals are detailed. Each signal consists of a pair of differential signals. For example, OUT2 consists of OUT2+ and OUT2- signals. The following table shows all pulse output signals on CN2.

<table><tr><td>Max. Axes</td><td>4</td></tr><tr><td>Pulse Output Frequency</td><td>Up to 4.9 MHz</td></tr><tr><td>Pulse Output Mode</td><td>CW/CCW, OUT/DIR</td></tr><tr><td>Pulse Output Type</td><td>Differential / Single-End</td></tr></table>

<table><tr><td>Axis #</td><td>CN2 Pin No.</td><td>Signal Name</td><td>Description</td></tr><tr><td rowspan="4">0</td><td>2</td><td>OUT0+</td><td>Pulse Signal +</td></tr><tr><td>3</td><td>OUT0-</td><td>Pulse Signal -</td></tr><tr><td>4</td><td>DIR0+</td><td>Direction Signal +</td></tr><tr><td>5</td><td>DIR0-</td><td>Direction Signal -</td></tr><tr><td rowspan="4">1</td><td>6</td><td>OUT1+</td><td>Pulse Signal +</td></tr><tr><td>7</td><td>OUT1-</td><td>Pulse Signal -</td></tr><tr><td>8</td><td>DIR1+</td><td>Direction Signal +</td></tr><tr><td>9</td><td>DIR1-</td><td>Direction Signal -</td></tr><tr><td rowspan="4">2</td><td>35</td><td>OUT2+</td><td>Pulse Signal +</td></tr><tr><td>36</td><td>OUT2-</td><td>Pulse Signal -</td></tr><tr><td>37</td><td>DIR2+</td><td>Direction Signal +</td></tr><tr><td>38</td><td>DIR2-</td><td>Direction Signal -</td></tr><tr><td rowspan="4">3</td><td>39</td><td>OUT3+</td><td>Pulse Signal +</td></tr><tr><td>40</td><td>OUT3-</td><td>Pulse Signal -</td></tr><tr><td>41</td><td>DIR3+</td><td>Direction Signal +</td></tr><tr><td>42</td><td>DIR3-</td><td>Direction Signal -</td></tr></table>

Table 3-1: Pulse Output Signals

The output of the signals can be configured by jumpers as either Single-Ended or Differential Line Driver output. Users can select the output mode either by closing breaks between 1 and 2 or 2 and 3 of jumpers J1-J8 as follows:

![The diagram depicts a connector configuration labeled **J1**.\n\n**Labeled Blocks and Text:**\n*   **Single-Ended (1-2)**\n*   **Differential (2-3) (default)**\n*   **J1**\n*   **1**\n*   **2**\n*   **3**\n\n**Connections:**\n*   An arrow points from the text **Single-Ended (1-2)** towards the connector area.\n*   An arrow points from the text **Differential (2-3) (default)** towards the connector area.\n\n**Visual Structure:**\n*   The numbers **1**, **2**, and **3** are arranged vertically to the left of the connector housing.\n*   The connector housing is depicted as black rectangular blocks. The left block contains two white circles (representing pin holes), corresponding to positions 1 and 2. The right block contains two white circles and a small white circle below it, indicating the pin layout.](.amp-104c-50-15116-1000-10/72c26b796b354884bee0d58c28fd1a0985579b19fe18f7ce959f3f524d748bd2.jpg)

<table><tr><td>Axis #</td><td>Signal Name</td><td>Jumper</td><td>Single-Ended Output</td><td>Differential Line Driver Output</td></tr><tr><td rowspan="2">0</td><td>OUT0</td><td>J1</td><td rowspan="8">Close breaks between 1 and 2</td><td rowspan="8">Close breaks between 2 and 3</td></tr><tr><td>DIR0</td><td>J2</td></tr><tr><td rowspan="2">1</td><td>OUT1</td><td>J3</td></tr><tr><td>DIR1</td><td>J4</td></tr><tr><td rowspan="2">2</td><td>OUT2</td><td>J5</td></tr><tr><td>DIR2</td><td>J6</td></tr><tr><td rowspan="2">3</td><td>OUT3</td><td>J7</td></tr><tr><td>DIR3</td><td>J8</td></tr></table>

The default setting of OUT and DIR is set to differential line driver mode. The following wiring diagram is for OUT and DIR signals on the 4 axes.

![The provided image is a schematic diagram for a module labeled **AMP-104C** and **OUT/DIR**, featuring a connector block labeled **CN2**. The diagram details two signal paths originating from **From PCD4641A**:\n\n**Top Signal Path (OUT):**\n*   **Input:** A signal labeled **OUT** enters an integrated circuit labeled **AM26LS31**.\n*   **Positive Line:** The pin **XCVR_OUT+** connects to the middle pin (labeled **2**) of a **Jumper**. The top pin (labeled **1**) of the jumper connects to **D5V**. The bottom pin (labeled **3**) connects to a node labeled **OUT+_JUMP**. This signal passes through a resistor labeled **R 33ohm +1%** to reach the output terminal **OUT+**.\n*   **Negative Line:** The pin **XCVR_OUT-** connects directly to a resistor labeled **R 33ohm +1%**, which leads to the output terminal **OUT-**.\n\n**Bottom Signal Path (DIR):**\n*   **Input:** A signal labeled **DIR** enters an integrated circuit labeled **AM26LS31**.\n*   **Positive Line:** The pin **XCVR_DIR+** connects to the middle pin (labeled **2**) of a **Jumper**. The top pin (labeled **1**) of the jumper connects to **D5V**. The bottom pin (labeled **3**) connects to a node labeled **PUL+_JUMP**. This signal passes through a resistor labeled **R 33ohm +1%** to reach the output terminal **DIR+**.\n*   **Negative Line:** The pin **XCVR_DIR-** connects directly to a resistor labeled **R 33ohm +1%**, which leads to the output terminal **DIR-**.](.amp-104c-50-15116-1000-10/51350646b93eab36224eeccddffa57078f1c60343c3bf013f29c5c7f8acb7e26.jpg)

![A white document icon with a folded upper right corner featuring a large red checkmark overlaid on it.](.amp-104c-50-15116-1000-10/83cb90e9f8b6048e7acf0108d5fe970ac3f2647671fe06847676172f5f80b08e.jpg)
NOTE:

If the pulse output is set to Single-Ended output mode, CW- and CCW- are used to transmit CW and CCW signals. The sink current must not exceed 20mA on the CW- and CCW-pins. The default setting of jumper is 2-3 shorted.

Suggest Usage: Jumper 2-3 shorted and connect CW+/CCW+ to a 470 ohm pulse input interface's COM of driver. See the following figure.

Choose one of CW/CCW+ and CW/CCW- to connect to driver's OUT/DIR
![VDD\nInside\nMotion\nController\n2631\nCW+\nCCW+\nCW-, CCW-\nEGND\nGND\nCOM(+5V)\nOUT/DIR\nR = 470 Ohm\nInside\nMotor\nDriver](.amp-104c-50-15116-1000-10/c6aceb90c2a52678388401c100d51cbabc131b7721b1c0c22523fd87c4878302.jpg)

![The image displays a red triangle containing a white exclamation point. Below the triangle is a white rectangle with the text 'WARNINGS' in black capital letters.](.amp-104c-50-15116-1000-10/22830dc702d04cb117e484c63eae5d77e2618ec16a0c2fda6d9101a677b98e80.jpg)

The sink current must not exceed 20mA or the 2631 will be damaged!

# 3.2 Encoder Feedback Input Signal

The AMP-104C provides 4 encoder feedback input channels each with up to 5MHz and EA, EB, and EZ signals. Each group of EA, EB, and EZ signals contains a pair of differential signals (e.g. the EA signal contains EA+ and EA-).

A 32-bit counter for each encoder feedback input axis and three kinds of decoder modes (CW/CCW, OUR/DIR, 1x/2x/4x AB Phase) are available. For more information, see the APS Function Library User Manual.

<table><tr><td>Axis #</td><td>CN4 Pin No.</td><td>Signal Name</td><td>CN4 Pin No.</td><td>Signal Name</td></tr><tr><td rowspan="3">0</td><td>1</td><td>EA0+</td><td>2</td><td>EA0-</td></tr><tr><td>3</td><td>EB0+</td><td>4</td><td>EB0-</td></tr><tr><td>5</td><td>EZ0+</td><td>6</td><td>EZ0-</td></tr><tr><td rowspan="3">1</td><td>11</td><td>EA1+</td><td>12</td><td>EA1-</td></tr><tr><td>13</td><td>EB1+</td><td>14</td><td>EB1-</td></tr><tr><td>15</td><td>EZ1+</td><td>16</td><td>EZ1-</td></tr><tr><td rowspan="3">2</td><td>21</td><td>EA2+</td><td>22</td><td>EA2-</td></tr><tr><td>23</td><td>EB2+</td><td>24</td><td>EB2-</td></tr><tr><td>25</td><td>EZ2+</td><td>26</td><td>EZ2-</td></tr><tr><td rowspan="3">3</td><td>31</td><td>EA3+</td><td>32</td><td>EA3-</td></tr><tr><td>33</td><td>EB3+</td><td>34</td><td>EB3-</td></tr><tr><td>35</td><td>EZ3+</td><td>36</td><td>EZ3-</td></tr></table>

![The flowchart is titled **AMP-104C** with a subtitle **Encoder**. It illustrates three parallel signal processing channels originating from a connector block labeled **CN4**.\n\n**Top Channel:**\n*   Input signals **IEA+** and **IEA-** connect to a block labeled **AM26LS32**.\n*   The output from the **AM26LS32** connects to pin 2 of a buffer labeled **U124** (part number **74LVC1G125**).\n*   Pin 5 of **U124** connects to **D3V3** and pin 3 connects to **DGND**.\n*   Pin 4 of **U124** outputs a signal labeled **FPGA_IEA**, which leads **To FPGA**.\n\n**Middle Channel:**\n*   Input signals **IEB+** and **IEB-** connect to a block labeled **AM26LS32**.\n*   The output from the **AM26LS32** connects to pin 2 of a buffer labeled **U125** (part number **74LVC1G125**).\n*   Pin 5 of **U125** connects to **D3V3** and pin 3 connects to **DGND**.\n*   Pin 4 of **U125** outputs a signal labeled **FPGA_IEB**, which leads **To FPGA**.\n\n**Bottom Channel:**\n*   Input signals **IEZ+** and **IEZ-** connect to a block labeled **AM26LS32**.\n*   The output from the **AM26LS32** connects to pin 2 of a buffer labeled **U126** (part number **74LVC1G125**).\n*   Pin 5 of **U126** connects to **D3V3** and pin 3 connects to **DGND**.\n*   Pin 4 of **U126** outputs a signal labeled **FPGA_IEZ**, which leads **To FPGA**.](.amp-104c-50-15116-1000-10/b8a3733c5e0490409551dcd319470d446fa8009852d234508418c729f88a348c.jpg)

# 3.3 Motion I/O Interface Signal

# 3.3.1 External Stop/Start Signals (STP/STA)

The AMP-104C provides STP and STA signals, which not only enable simultaneous stop/start of motions on multiple axes, but STP can stop a motor in an emergency. If the external emergency stop signal is triggered, all motion control commands will be stopped immediately. See the table below for corresponding pins of STP and STA signals:

<table><tr><td>Pin No.</td><td>Signal Name</td><td>Description</td></tr><tr><td>2/4</td><td>STP/EMG</td><td>STOP signal</td></tr><tr><td>3/5</td><td>STA</td><td>START signal</td></tr></table>

The diagram below shows the onboard circuit. The STA and STP signals of the four axes are tied together respectively.

![D3V3\nC\nDGND\n5\nVec NC\n2\n4\nTo PCD4641A\nSTP/STA\n74AHC1G14\n3\nDGND](.amp-104c-50-15116-1000-10/85a2f7f888db8e0df6405ce12096bfa116cfce4b2f30dba7620fa8fbeeb2153a.jpg)

The STA and STP signals are input signals. To operate the start and stop action simultaneously, both software control and external control are needed. With software control, the signals must be generated from an external event to the PCD4641 chip. Users can also use an external open collector or switch to drive the STA/STP signals for simultaneous start/stop.

If there are two or more AMP-104C cards, tie all STA and all STP signals of all cards for simultaneous start/stop control on all concerned axes.

# 3.3.2 Mechanical Signal Input

The AMP-104C provides some dedicated input pins for mechanical signals such as original position signal (ORG), direction end limit signals (PEL/MEL), and direction ramping-down point detection signals (PSD/MSD).

# 3.3.2.1 Origin Position Signal (ORG)

The AMP-104C provides one original or home signal for each axis. This signal is used for defining the zero position of this axis. The logic of this signal must be set properly before doing home procedure.

<table><tr><td>Axis #</td><td>CN2 Pin No.</td><td>Signal Name</td></tr><tr><td>0</td><td>14</td><td>ORG0</td></tr><tr><td>1</td><td>19</td><td>ORG1</td></tr><tr><td>2</td><td>24</td><td>ORG2</td></tr><tr><td>3</td><td>29</td><td>ORG3</td></tr></table>

The input circuit of the ORG signals is shown below. Usually, a limit switch is used to indicate the origin on one axis. The specifications of the limit switch should have a contact capacity of +24V at 10mA minimum. An internal filter circuit is used to filter out any high frequency spikes, which may cause errors in the operation.

![CN2\nAMP-104C\nORG\nE24V\nR 4.7K +5%\nPS2805\nORG\nEG ND\n1\n2\n3\n4\nB\nD3V3\nR\nC\nTo PCD4641A\nDGND](.amp-104c-50-15116-1000-10/272d21f99d0d9389977bbdebee2b34897b0a205de194f9a5dc548c53af8dcf09.jpg)

When the motion controller is operated in the home return mode, the ORG signal is used to inhibit the Pulse Output Signals.

# 3.3.2.2 Direction End Limit Signal (PEL / MEL)

The end-limit switches are usually installed on both ends of an axis. The positive EL must be installed at the positive position of the axis, and vice versa. If they are installed reversely, the protection will be invalid. These two signals are for safety, which can prevent a machine crash when missing an operation.

The AMP-104C provides two direction end limit signals, PEL and MEL, for each axis. PEL indicates the end limit signal is in the positive direction and MEL indicates the end limit signal is in the negative direction.

<table><tr><td>Axis #</td><td>CN2 Pin No.</td><td>Signal Name</td><td>CN2 Pin No.</td><td>Signal Name</td></tr><tr><td>0</td><td>10</td><td>PEL0</td><td>11</td><td>MEL0</td></tr><tr><td>1</td><td>15</td><td>PEL1</td><td>16</td><td>MEL1</td></tr><tr><td>2</td><td>20</td><td>PEL2</td><td>21</td><td>MEL2</td></tr><tr><td>3</td><td>25</td><td>PEL3</td><td>26</td><td>MEL3</td></tr></table>

The external limit switch should have a contact capacity of +24V at 10mA minimum. The EL logical can be configured via switch.

![CN2\nAMP-104C\nEL\nE24V\nR 4.7K +5%\nPS2805\n1\n2\n3\n4\nD3V3\nR\nR\nC\n14\n3\n4\nSN74LVC14A\nTo FPGA\nDGND\nDGND\nEGND](.amp-104c-50-15116-1000-10/80ecf07359843ccf6474188328e08c833163f7abc572a406a9266419890474a6.jpg)

# 3.3.2.3 Direction Ramping-down Point Detection Signal (PSD / MSD)

The AMP-104C provides a slow down function through PSD or MSD signal input for each axis. PSD indicates the direction is in the positive and MEL indicates the direction is in the negative.

<table><tr><td>Axis #</td><td>CN2 Pin No.</td><td>Signal Name</td><td>CN2 Pin No.</td><td>Signal Name</td></tr><tr><td>0</td><td>12</td><td>PSD0</td><td>13</td><td>MSD0</td></tr><tr><td>1</td><td>17</td><td>PSD1</td><td>18</td><td>MSD1</td></tr><tr><td>2</td><td>22</td><td>PSD2</td><td>23</td><td>MSD2</td></tr><tr><td>3</td><td>27</td><td>PSD3</td><td>28</td><td>MSD3</td></tr></table>

![CN2\nAMP-104C\nSD\nE24V\nR 4.7K +5%\n1\n2\nPS 2805\n3\n4\nR\nD3V3\nR\nC\nTo PCD4641A\nSD\nEGND](.amp-104c-50-15116-1000-10/e9229f6022ef11c40769fa24f6a40e9e445ed624b3e0b8ac616b2e4b97c5edcd.jpg)

# 3.4 GPIO Interface Signal

The AMP-104C provides a 28-channel onboard isolated GPIO (DI/DO) and a 31-channel extended TTL GPIO (TDI/TDO).

<table><tr><td rowspan="2">GPIO Onboard</td><td rowspan="2">Main Connector CN2</td><td>16 CH Optically Isolated DI</td></tr><tr><td>12 CH Optically Isolated DO</td></tr><tr><td rowspan="2">GPIO Extended</td><td rowspan="2">Extend Connector CN3</td><td>16 CH Non-isolated TTL DI</td></tr><tr><td>15 CH Non-isolated TTL DO</td></tr></table>

# 3.4.1 28-Channel Onboard Isolated GPIO (DI/DO)

<table><tr><td>CN2 Pin No.</td><td>Signal Name</td><td>CN2 Pin No.</td><td>Signal Name</td></tr><tr><td>30</td><td>DI0</td><td>43</td><td>DO0</td></tr><tr><td>31</td><td>DI1</td><td>44</td><td>DO1</td></tr><tr><td>32</td><td>DI2</td><td>45</td><td>DO2</td></tr><tr><td>33</td><td>DI3</td><td>46</td><td>DO3</td></tr><tr><td>55</td><td>DI4</td><td>47</td><td>DO4</td></tr><tr><td>56</td><td>DI5</td><td>48</td><td>DO5</td></tr><tr><td>57</td><td>DI6</td><td>49</td><td>DO6</td></tr><tr><td>58</td><td>DI7</td><td>50</td><td>DO7</td></tr><tr><td>59</td><td>DI8</td><td>51</td><td>DO8</td></tr><tr><td>60</td><td>DI9</td><td>52</td><td>DO9</td></tr><tr><td>61</td><td>DI10</td><td>53</td><td>DO10</td></tr><tr><td>62</td><td>DI11</td><td>54</td><td>DO11</td></tr><tr><td>63</td><td>DI12</td><td></td><td></td></tr><tr><td>64</td><td>DI13</td><td></td><td></td></tr><tr><td>65</td><td>DI14</td><td></td><td></td></tr><tr><td>68</td><td>DI15</td><td></td><td></td></tr></table>

Optically Isolated Digital Input:
![CN2\nAMP-104C\nDI\nDI 24V\nR 4.7K +5%\nR\n499ohm_+-1%\nPS2805-1-F3-A\n1\n2\n3\n4\n5\n6\nD3V3\nR\nR\nG\n7\nSN74LVC14A\nDGND\nTo FPGA\nDGND\nEG ND](.amp-104c-50-15116-1000-10/3bd32a5ae5c720d69a3340cbd713f726b41e02e47aefd2a615d7959f475e67c2.jpg)

Optically Isolated Digital Output:
![This circuit diagram is titled **AMP-104C** with the label **DO** and includes a connector box labeled **CN2**.\n\nThe central component is an optocoupler labeled **PS 2802-1-F3-A**.\n\n**Connections:**\n*   **Input Side (Left):**\n    *   Terminal **D0_3V3** connects via a wire to a resistor labeled **R**, which then connects to pin **1** of the optocoupler.\n    *   An input labeled **From FPGA ))** connects directly to pin **2** of the optocoupler.\n*   **Output Side (Right):**\n    *   Pin **4** connects via a resistor labeled **R** (annotated **0ohm +-1%**) to the output terminal **D00**.\n    *   Pin **3** connects to pin **2** of a fuse labeled **Fuse**. Pin **1** of the fuse connects to a triangle symbol labeled **EGND**.](.amp-104c-50-15116-1000-10/a2d0d3aa28260ece20fcd81a26603316409f4910645e8f915d891542211f740a.jpg)

# 3.4.2 31-Channel Extended TTL GPIO (TDI/TDO)

<table><tr><td>CN3 Pin No.</td><td>Signal Name</td><td>CN3 Pin No.</td><td>Signal Name</td></tr><tr><td>1</td><td>TDI0</td><td>21</td><td>TDO0</td></tr><tr><td>2</td><td>TDI1</td><td>22</td><td>TDO1</td></tr><tr><td>3</td><td>TDI2</td><td>23</td><td>TDO2</td></tr><tr><td>4</td><td>TDI3</td><td>24</td><td>TDO3</td></tr><tr><td>5</td><td>TDI4</td><td>25</td><td>TDO4</td></tr><tr><td>6</td><td>TDI5</td><td>26</td><td>TDO5</td></tr><tr><td>7</td><td>TDI6</td><td>27</td><td>TDO6</td></tr><tr><td>8</td><td>TDI7</td><td>28</td><td>TDO7</td></tr><tr><td>9</td><td>TDI8</td><td>29</td><td>TDO8</td></tr><tr><td>10</td><td>TDI9</td><td>30</td><td>TDO9</td></tr><tr><td>11</td><td>TDI10</td><td>31</td><td>TDO10</td></tr><tr><td>12</td><td>TDI11</td><td>32</td><td>TDO11</td></tr><tr><td>13</td><td>TDI12</td><td>33</td><td>TDO12</td></tr><tr><td>14</td><td>TDI13</td><td>34</td><td>TDO13</td></tr><tr><td>15</td><td>TDI14</td><td>35</td><td>TDO14</td></tr><tr><td>16</td><td>TDI15</td><td></td><td></td></tr></table>

Non-isolated TTL Digital Input:
![CN3\nTTL_DI\nBAT54SW\nD5V\n2\n1\nDGND\n3\nR 1.2K +5%\nD3V3\nC\n6\nDGND\nU117C\nSN74LVC14A\n7\nDGND\nTo FPGA](.amp-104c-50-15116-1000-10/03a59ea990955203a0eb1f74b550de8de3522cffab8d88297a3c735c5bf47368.jpg)

Non-isolated TTL Digital Output:
![D0_3V3\nC\nDGND\nFrom FPGA\n5\n2\n4\nVCCOE\nU118\nGND\n74LVC 1G 125\nDGND\nTTL_OUT0\nCN3](.amp-104c-50-15116-1000-10/6547dc445bbfdf2dc3c8329358bc9816ad40083dea9f0b4e49529bbc9ecea122.jpg)

# 3.5 Other I/O Interface Signal

# 3.5.1 Position Latch Trigger Input (LTC)

The AMP-104C provides 8-channel position latch trigger inputs, which are common with DI and TDI. With encoder feedback input signals, a position latch function is available for each axis.

Any 8-channel position latch trigger input can be assigned to a latch source to trigger any axis by software. The AMP-104C provides 255 position latch buffer points for each axis. For more information, see the APS Function Library User Manual.

<table><tr><td>CN2 Pin No.</td><td>Signal Name</td><td>CN3 Pin No.</td><td>Signal Name</td></tr><tr><td>30</td><td>DI0 / LTC</td><td>1</td><td>TDI0 / LTC</td></tr><tr><td>31</td><td>DI1 / LTC</td><td>2</td><td>TDI1 / LTC</td></tr><tr><td>32</td><td>DI2 / LTC</td><td>3</td><td>TDI2 / LTC</td></tr><tr><td>33</td><td>DI3 / LTC</td><td>4</td><td>TDI3 / LTC</td></tr></table>

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# Important Safety Instructions

For user safety, please read and follow all instructions, Warnings, Cautions, and Notes marked in this manual and on the associated device before handling/operating the device, to avoid injury or damage.

▶ Read these safety instructions carefully.
- Keep the User’s Manual for future reference.
▶ Read the Specifications section of this manual for detailed information on the recommended operating environment.
The device can be operated at an ambient temperature of $45^{\circ}$ C with DC input, and $35^{\circ}$ C with adapter input.
It is recommended that the device be installed in Information Technology Rooms that are in accordance with Article 645 of the National Electrical Code and NFPA 75.

▶ To avoid electrical shock and/or damage to device:

▷ Keep device away from water or liquid sources.
▷ Keep device away from high heat or humidity.
▷ Keep device properly ventilated (do not block or cover ventilation openings).
▶ Always use recommended voltage and power source settings.
▶ Always install and operate device near an easily accessible electrical outlet.
▷ Secure the power cord (do not place any object on/over the power cord).
▶ Only install/attach and operate device on stable surfaces and/or recommended mountings.
The power cord must be connected to a socket or outlet with a ground connection.

▶ If the device will not be used for long periods of time, turn off and unplug from its power source.
▶ Never attempt to repair the device, which should only be serviced by qualified technical personnel using suitable tools.

▶ A Lithium-type battery may be provided for uninterrupted backup or emergency power.

![A yellow triangular warning sign with a thick black border contains a large black exclamation point in the center. Below the triangle, the word 'CAUTION:' is printed in black capital letters.](.amp-104c-50-15116-1000-10/5a6ddecc656c570c0735d8623fcbf9244a606ecd772efe6fb0ba51313f73b435.jpg)

Risk of explosion if battery is replaced with one of an incorrect type; please dispose of used batteries appropriately.

▶ This equipment is not suitable for use in locations where children are likely to be present.
▶ The device must be serviced by authorized technicians when:

The power cord or plug is damaged
▷ Liquid has entered the device interior
The device has been exposed to high humidity and/or moisture
The device is not functioning or does not function according to the User's Manual
The device has been dropped and/or damaged and/or shows obvious signs of breakage

▶ Disconnect the power supply cord before loosening the thumbscrews and always fasten the thumbscrews with a screwdriver before starting the system up
It is recommended that the device be installed only in a server room or computer room where access is:

▷ Restricted to qualified service personnel or users familiar with restrictions applied to the location, reasons therefor, and any precautions required
▶ Only afforded by the use of a tool or lock and key, or other means of security, and controlled by the authority responsible for the location

![Warning sign depicting steam rising inside a yellow triangle, indicating hazardous or hazardous material.](.amp-104c-50-15116-1000-10/ab9bd5114670a328d65c6eb3e93bbac8c6a89f426469921695a0061d7995cc72.jpg)

# BURN HAZARD

Hot surface! Do not touch! Touching this surface could result in bodily injury. To reduce risk, allow the surface to cool before touching.

# Consignes de Sécurité Importante

S'il vous plaît prêter attention stricte à tous les avertissements et mises en garde figurant sur l'appareil, pour éviter des blessures ou des dommages.

▶ Lisez attentivement ces consignes de sécurité.
▶ Conservez le manuel de l'utilisateur pour pouvoir le consulter ultérieurement.
▶ Lisez la section Spécifications de ce manuel pour des informations détaillées sur l'environnement d'exploitation recommandé.
L'appareil peut être utilisé à une température ambiante de 45°C avec entrée CC pour les série MVP-61; 35°C avec entrée adaptateur pour la série MVP-61.
Il est recommandé d'installer l'appareil dans des salles de technologie de l'information conformes à l'article 645 du National Electrical Code et à la NFPA 75.

Pour éviter les chocs électriques et/ou d'endommager l'appareil:

▷ Tenez l'appareil à l'écart de toute source d'eau ou de liquide.
Tenez l'appareil à l'écart d'une forte chaleur ou d'une humidité élevée.
▶ Maintenez l'appareil correctement ventilé (n'obstruer ou ne couvrez pas les ouvertures de ventilation).
Utilisez toujours les réglages de tension et de source d'alimentation recommandés.
Installez et utilisez toujours l'appareil près d'une prise de courant facilement accessible.
▷ Fixez le cordon d'alimentation (ne placez aucun objet sur le cordon d'alimentation).
Installez/fixez et utilisez l'appareil uniquement sur des surfaces stables et/ou sur les fixations recommandées.
▷ Le cordon d'alimentation doit être connecté à une prise ou à une prise de courant avec mise à la terre.

Si l'appareil ne doit pas être utilisé pendant de longues périodes, éteignez-le et débranchez-le de sa source d'alimentation
N'essayez jamais de réparer l'appareil, qui ne doit être réparé que par un personnel technique qualifié à l'aide d'outils appropriés
Une batterie de type Lithium peut être fournie pour une alimentation de secours ininterrompue ou d'urgence.

![The image displays a yellow triangular warning sign with a black border. Inside the triangle is a large black exclamation point. Below the triangle, the text 'CAUTION:' appears in black capital letters.](.amp-104c-50-15116-1000-10/25388458085823015879875ba179456cc2342749330b09604a5b5f41b843e05c.jpg)

ATTENTION: Risque d'explosion si la pile est remplacée par une autre de type incorrect. Veuillez jeter les piles usagées de façon appropriée.

Cet équipement ne convient pas à une utilisation dans des lieux pouvant accueillir des enfants.
L'appareil doit être entretenu par des techniciens agrees lorsque:
▶ Le cordon d'alimentation ou la prise est endommagé(e)
▶ Un liquide a pénétré à l'intérieur de l'appareil.
L'appareil a été exposé à une forte humidité et/ou de la buée.
L'appareil ne fonctionne pas ou ne fonctionne pas selon le manuel de l'utilisateur.
L'appareil est tombé et/ou a été endommagé et/ou présente des signes évidents de dommage.
Débranchez le cordon d'alimentation avant de desserrer les vis à oreilles et serrez toujours les vis à oreilles avec un tournevis avant de mettre le système en marche.
Il est recommandé d'installer l'appareil uniquement dans une salle de serveurs ou une salle informatique où l'accès est:

Réservé au personnel de service qualifié ou aux utilisateurs familiarisés avec les restrictions appliquées à l'emplacement, aux raisons de ces restrictions et toutes les précautions requises
▷ Uniquement autorisé par l'utilisation d'un outil, d'une serrure et d'une clé, ou d'un autre moyen de sécurité, et contrôlé par l'autorité responsable de l'emplacement.

![Yellow triangular warning sign with black smoke symbol indicating hot weather](.amp-104c-50-15116-1000-10/2e190d0888d1c6efc831c57351a83660565ade3ac98b37a61db6e612566bf19f.jpg)

# RISQUE DE BRÛLURES

Partie chaude! Ne touchez pas cette surface, cela pourrait entraîner des blessures. Pour éviter tout danger, laissez la surface refroidir avant de la toucher.

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# Getting Service

Ask an Expert: http://askanexpert.adlinktech.com

# ADLINK Technology, Inc.

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Tel: +886-2-8226-5877

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Email: service@adlinktech.com

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Toll Free: +1-800-966-5200 (USA only)

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# ADLINK Technology (China) Co., Ltd.

300 Fang Chun Rd., Zhangjiang Hi-Tech Park

Pudong New Area, Shanghai, 201203 China

Tel: +86-21-5132-8988

Fax: +86-21-5132-3588

Email: market@adlinktech.com

# ADLINK Technology GmbH

Hans-Thoma-Straße 11

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Fax: +49-621 43214-30

Email: emea@adlinktech.com

Please visit the Contact page at www.adlinktech.com for information on how to contact the ADLINK regional office nearest you:
[🔗 Link to the original document](.amp-104c-50-15116-1000-10/amp-104c-50-15116-1000-10.pdf)