User`s guide

34 • Operation Theorem
4.1.1 Pulse Command Output
The PCI-8134 uses pulse command to control the servo / stepper motors
via the drivers. The pulse command consists of two signals: OUT and DIR.
There are two command types: (1) single pulse output mode (OUT/DIR);
and (2) dual pulse output mode (CW/CCW type pulse output). The software
function: set_pls_outmode() is used to program the pulse command type.
The modes vs. signal type of OUT and DIR pins are as following table:
Mode Output of OUT pin Output of DIR pin
Dual pulse output
Pulse
signal in plus (or
CW) direction
Pulse signal in minus (or
CCW) direction
Single pulse output Pulse signal Direction signal (level)
The interface characteristics of these signals could be differential line driver
or open collector output. Please refer to section 3.1 for the jumper setting
of signal types.
Single Pulse Output Mode (OUT/DIR Mode)
In this mode, the OUT signal is represent the pulse (position or velocity)
command. The numbers of OUT pulse represent the motion command for
relative “distance” or “position”, the frequency of the OUT pulse represents
the command for “speed” or “velocity”. The DIR signal represents direction
command of the positive (+) or negative (-). This mode is the most common
used mode. The following diagram shows the output waveform.
Dual Pulse Output Mode (CW/CCW Mode)
In this mode, the waveform of the OUT and DIR pins represents CW
(clockwise) and CCW (counter clockwise) pulse output respectively. Pulses
output from CW pin makes motor move in positive direction, whereas pulse
output from CCW pin makes motor move in negative direction. The
following diagram shows the output waveform of positive (plus,+) command
and negative (minus,-) command.
OUT
DIR
Positive Command
Negative Command