Comprehensive Product Summary: ADLINK PCI-8134 4-Axis Motion Control Board

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### 1. Product Overview

Product Name: PCI-8134
Model: PCI-8134
Series: NuDAQ Motion Control Series
Article Number: PCI-8134
Manufacturer: ADLINK Technology Inc.
Manufacturer Address: 9F, No. 166, Jian Yi Road, Chungho City, Taipei, 235 Taiwan, R.O.C.
Website: [www.adlink.com.tw](http://www.adlink.com.tw)
Support Email: service@adlink.com.tw

The ADLINK PCI-8134 is a high-performance, four-axis motion control card designed for precise control of stepper and servo motors via a PCI bus interface. It integrates advanced motion control ASICs (PCL5023) to provide real-time, deterministic control for industrial automation, robotics, and precision positioning systems. The board supports both incremental encoder feedback and pulse-train command output, enabling closed-loop or open-loop motion control.

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### 2. Key Features

- Four Independent Motion Axes: Supports up to four servo or stepper motor axes per card.
- High-Speed Pulse Output: Generates up to 2.4 million pulses per second (2.4 Mpps) per axis.
- Interpolation Capabilities: Supports 2-axis linear and circular interpolation for coordinated motion.
- Encoder Feedback: 28-bit up/down counter for incremental encoder feedback on each axis.
- Flexible Motion Profiles: Supports trapezoidal and S-curve acceleration/deceleration profiles.
- Simultaneous Start/Stop: Hardware synchronization across multiple axes or multiple cards.
- Change Speed on the Fly: Real-time velocity adjustment during motion.
- Manual Pulser Interface: Dedicated connector for handwheel or manual pulse generator input.
- Programmable Interrupts: Multiple interrupt sources for motion completion, limit switch activation, or error conditions.
- Multi-Card Support: Up to 12 PCI-8134 cards (48 axes) can be installed in a single system.
- Optical Isolation: 2500 Vrms isolation for all I/O signals ensures noise immunity and protection.
- Software Tools: Includes Motion Creator (Windows GUI), C/C++ libraries, Visual Basic DLLs, ISaGRAF library, and LabVIEW VIs.
- Compact Design: Half-size PCI card for easy integration into industrial PCs.

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### 3. Technical Specifications

Bus Interface:
- 32-bit PCI bus, plug-and-play compliant

Axes:
- 4 independent motion control channels

Pulse Output:
- Maximum frequency: 2.4 Mpps
- Output modes: OUT/DIR or CW/CCW
- Configurable via software and jumpers (J1–J8)
- Output type: Differential line driver or open collector

Encoder Feedback:
- 28-bit up/down counter per axis
- Input modes: 1×, 2×, 4× AB phase or CW/CCW
- Index (EZ) input supported
- Differential input voltage: ≥3.5 V

Motion Profiles:
- Trapezoidal and S-curve acceleration/deceleration
- Linear and circular interpolation (2-axis)
- Home return and manual pulser modes

Performance Ranges:
- Position range: 0–268,435,455 pulses (28-bit)
- Accel/decel rate: 1–65,535 (16-bit)
- Ramping-down point: 0–16,777,215
- Internal clock: 9.8304 MHz

I/O Signals (per axis):
- Outputs: OUT, DIR, SVON, ERC
- Inputs: EA, EB, EZ, ±EL, ±SD, ORG, INP, ALM, RDY
- Isolation: 2500 Vrms optical isolation

Connectors:
- CN1: External +24 V power input (2-pin)
- CN2: 100-pin SCSI-II main I/O connector
- CN3: 12-pin manual pulser input
- CN4: 6-pin simultaneous start/stop connector

Power Requirements:
- PCI slot: +5 VDC ±5%, 900 mA max
- External: +24 VDC ±5%, 500 mA max
- External +5 V output: 500 mA max

Environmental:
- Operating temperature: 0°C to +50°C
- Storage temperature: -20°C to +80°C
- Humidity: 5–85% non-condensing

Physical Dimensions:
- 164 mm (L) × 98.4 mm (H)
- Half-size PCI form factor

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### 4. Functionality

Operating Principle:
The PCI-8134 generates high-frequency pulse trains to control stepper or servo motor drivers. Each axis can operate independently or in coordinated motion with others. Encoder feedback allows closed-loop control for position verification and error correction.

Supported Motion Types:
- Continuous velocity motion
- Point-to-point (absolute/relative) motion
- Trapezoidal and S-curve profiles
- Linear and circular interpolation (2-axis)
- Homing routines (6 types)
- Manual pulser (handwheel) control
- Velocity change on the fly
- Multi-axis synchronized start

Applications:
- CNC machinery and robotics
- Semiconductor wafer handling
- Automated inspection systems
- Precision positioning and metrology
- Packaging and labeling equipment
- Laboratory automation and motion simulation

Compatibility:
- Operating Systems: Windows 95/98/NT/2000, DOS
- Programming Languages: C/C++, Visual Basic, ISaGRAF, LabVIEW
- Motion Creator GUI for configuration and testing

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### 5. Components & Accessories

Included Items:
- PCI-8134 motion control card
- ADLINK All-in-One Software CD
- Programming Guide Diskette
- User’s Guide and Programming Guide manuals
- +24 V power input cable

Optional Accessories:
- DIN-100S: 100-pin SCSI-II DIN-rail terminal board
- ACL-102100: 100-pin SCSI-II cable
- Manual Pulser (MPG): For manual jog control
- ISaGRAF Library Disk: For PLC-style programming
- LabVIEW VI Library: For graphical programming integration

Connectors:
- CN1: External power (+24 VDC input)
- CN2: Main I/O (100-pin SCSI-II)
- CN3: Manual pulser input (PA/PB signals)
- CN4: Simultaneous start/stop (STA/STP signals)

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### 6. Installation & Setup

Hardware Installation Steps:
1. Power off the PC and all peripherals.
2. Insert the PCI-8134 into an available 32-bit PCI slot.
3. Secure the card with the bracket screw.
4. Connect external +24 VDC power to CN1.
5. Wire motor drivers, encoders, and sensors to CN2.
6. Optionally connect manual pulser (CN3) and synchronization lines (CN4).
7. Power on the system; BIOS will automatically assign resources.

Software Installation:
- Install drivers from the ADLINK All-in-One CD.
- Install Motion Creator for configuration and testing.
- Install programming libraries (C/C++, VB, ISaGRAF, or LabVIEW).

Configuration:
- Use Motion Creator or Config.exe to set axis parameters.
- Save configuration to `8134.cfg` or `8134.ini`.
- Load configuration automatically at startup via API or DLL.

Jumper & Switch Settings:
- J1–J8: Select pulse output type (line driver or open collector).
- S1: Select limit switch type (normally open or normally closed).

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### 7. Performance & Capabilities

Speed & Resolution:
- Pulse output up to 2.4 Mpps per axis
- Encoder resolution up to 28-bit (268 million counts)
- Supports 1×, 2×, 4× AB phase decoding

Motion Control Features:
- Trapezoidal Motion: Symmetrical or asymmetrical acceleration/deceleration.
- S-Curve Motion: Smooth jerk-limited acceleration for reduced mechanical stress.
- Interpolation: Linear and circular 2-axis motion with adjustable arc division.
- Homing: Six configurable homing routines (ORG, EZ, two-stage, midpoint, auto-search).
- Velocity Change: Dynamic speed adjustment during motion.
- Repeat Mode: Cyclic motion between defined positions.
- Jogging: Incremental or continuous jog with adjustable speed ramp.

Interrupts & Events:
- 24-bit interrupt factor register with 13 programmable sources:
- Limit switch activation
- Alarm or stop signal
- Home return completion
- Motion completion
- Encoder error
- Acceleration/deceleration events
- Ready (RDY) signal change
- Supports interrupt handling under DOS, Windows 95/98/NT

Multi-Card Synchronization:
- Up to 12 cards (48 axes)
- Hardware synchronization via CN4 (STA/STP lines)

Limitations:
- Velocity change limited by pre-set maximum speed (use `fix_max_speed()` before motion).
- Homing accuracy depends on encoder resolution and switch placement.
- Requires external +24 VDC for I/O isolation.

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### 8. Standards & Compliance

Electrical & Safety:
- Optical isolation: 2500 Vrms
- External power: +24 VDC ±5%
- Complies with PCI Local Bus Specification 2.1

Software & Interface Standards:
- Windows DLL and ISaGRAF library compliant
- LabVIEW VI library for graphical programming
- Compatible with Microsoft Visual C++, Visual Basic, Borland C++

Regulatory Compliance:
- CE and FCC Class A (industrial environment)
- RoHS-compliant manufacturing (for later revisions)

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### 9. Additional Information

Warranty:
- One-year limited warranty against defects in materials and workmanship.
- Excludes damage from misuse, modification, or exceeding specifications.

Technical Support:
- Email: service@adlink.com.tw
- Phone: +886-2-82265877
- Fax: +886-2-82265717
- Online resources: [www.adlink.com.tw](http://www.adlink.com.tw)

Maintenance:
- Keep connectors clean and free of dust.
- Ensure proper grounding and shielding for signal integrity.
- Periodically verify encoder calibration and limit switch function.

Software Updates:
- Firmware and driver updates available via ADLINK website.
- Motion Creator and library updates periodically released for new OS versions.

Documentation & Resources:
- User’s Guide: Hardware installation and signal wiring.
- Programming Guide: API and function library reference.
- ISaGRAF Library Manual: PLC-style programming functions.
- LabVIEW VI Manual: Graphical programming interface.

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### Summary

The ADLINK PCI-8134 is a robust, industrial-grade motion control card engineered for multi-axis servo and stepper motor control. With its 2.4 Mpps pulse output, 28-bit encoder feedback, and advanced motion profiles, it delivers high precision and flexibility for automation systems. Its comprehensive software ecosystem—including Motion Creator, C/C++ libraries, ISaGRAF, and LabVIEW VIs—makes it suitable for both OEM integration and research applications. The PCI-8134’s optical isolation, programmable interrupts, and multi-card scalability ensure reliable performance in demanding industrial environments.