YMTL1P/YMTL2P — Mechatrolink I/II Interface Adapter for LinuxCNC

YMTLxP is a PCI interface adapter compatible with Mechatrolink I/II network servo amplifiers. It supports up to 8 connected drives in position or velocity control mode. The card also features general-purpose I/O headers for connecting to limit switches and relays. The software includes LinuxCNC 2.8 driver.

Specifications

• PCI 2.3 32bit, 33MHz, 5V/3.3V, low profile card 120mm x 80mm
• Mechatrolink I — 4 Mbit/s, 17 bytes packets, controls up to 8 servo amplifiers
• Mechatrolink II — 10 Mbit/s, 32 bytes packets, controls up to 8 servo amplifiers
• 2ms/1ms cycle, position or velocity control
• 12 optoisolated digital inputs, 24VDC
• 8 open drain outputs, overcurrent protected, up to 36VDC/500mA each
• Expansion connector — 17 bidirectional 5V tolerant I/O lines to the FPGA
• LinuxCNC driver

Compatible drives for YMTL2P

• Yaskawa SGD7S-xxxx10A *
• Yaskawa SGDV-xxx11A/xxx15A
• Yaskawa SGDS-xxx12A/xxx15A
• Yaskawa SGDH-xxxx+JUSP-NS115 *
• Omron R88D-WNxxx-ML2 *
• Omron R88D-KNxxx-ML2
* not tested yet

Compatible drives for YMTL1P

• all of the above in M-I (4 Mbps, 17 bytes) mode
• Yaskawa SGD-xxxN *
• Yaskawa SGDB-xxxN
• Yaskawa SGDM-xxxN
• Yaskawa SGDH-xxxx+JUSP-NS100
* not tested yet

Board layout

The card layout showing connectors and indication LEDs:

LEDs

• D1 — servo amplifier status
  • green, blinking — waiting for servo amplifiers to answer
  • green — servo amplifier(s) connected and initialized
  • red — Mechatrolink receive CRC error
• D5 — FPGA boot error
  • red, continuous — FPGA boot error
• D6 — firmware status
  • amber, continuous — FPGA boot error
  • amber, long off/short on — firmware is standing by
  • amber, long on/short off — firmware is in sync with LinuxCNC

Connectors

• CN1 — digital inputs
• CN2 — expansion connector
• CN3 — digital outputs
• M-II — Mehatrolink-I/II USB-A type connector
• J2 — JTAG connector

Jumpers

• J1 — +5V power to CN2

Jumpers

J1 — CN2 power
1-2	CN2 pins 18, 20, 22, 24, 26 connect to GND
2-3	--//-- to +5V*

* +5V is sourced from PCI connector via 500mA self-resettable fuse

J2 — JTAG
1	TCK	2	GND
3	TDI	4	TDO
5	TMS	6	VCC 3.3V

Digital inputs

CN1 contains 12 optoisolated digital inputs. External 24VDC field power supply is required for operation. Example connection of open-collector outputs or mechanical switches is shown on schematics. Inputs can be either common anode or cathode. They are divided into 2 groups: 0-7 and 8-11

CN1
1	IN0	2	IN1
3	IN2	4	IN3
5	IN4	6	IN5
7	IN6	8	IN7
9	IN8	10	IN9
11	IN10	12	IN11
13	COM0-7	14	COM8-11

Example connections:

Digital outputs

CN3 has 8 open-drain outputs from NCV7240 IC. Each output is rated to 600mA/36V max.

CN3
1	OUT0	2	OUT1
3	OUT2	4	OUT3
5	OUT4	6	OUT5
7	OUT6	8	OUT7
9	GND	10	GND

Example connections:

Expansion

CN2 connector is intended for daughter boards.

All IN12..IN28 lines are 3.3V LVTTL and are 5V tolerant.

Pins 18, 20, 22, 24, 26 optionally provide 5V power to external devices. The power is taken from the PCI bus and fused to 500mA.

CN2
1	IN28	2	IN27
3	IN26	4	IN25
5	IN24	6	IN23
7	IN22	8	IN21
9	IN20	10	GND
11	IN19	12	GND
13	IN18	14	GND
15	IN17	16	GND
17	IN16	18	GND or +5V
19	IN15	20	GND or +5V
21	IN14	22	GND or +5V
23	IN13	24	GND or +5V
25	IN12	26	GND or +5V*

* depends on J1 position, up to 500mA (fused)

Alternative CN2 pins functions depend on the mux configuration