ADLINK Technology PCI-8102, User Manual, Page: 76 / 210

66 Operation Theory
4.3 Motor Driver Interface
We provide several dedicated I/Os which can be connected to
motor driver directly and have their own functions. Motor drivers
have many kinds of I/O pins for external motion controller to use.
We classify them to two groups. One is pulse I/O signals including
pulse command and encoder interface. The other is digital I/O sig-
nals including servo ON, alarm, INP, servo ready, alarm reset and
emergency stop inputs. The following sections will describe the
functions these I/O pins.
4.3.1 Pulse Command Output Interface
The motion controller uses pulse command to control servo/step-
per motors via motor drivers. Please set the drivers to position
mode which can accept pulse trains as position command. The
pulse command consists of two signal pairs. It is defined as OUT
and DIR pins on connector. Each signal has two pins as a pair for
differential output. There are two signal modes for pulse output
command: (1) single pulse output mode (OUT/DIR), and (2) dual
pulse output mode (CW/CCW type pulse output). The mode must