Adlink PCI-8158 Advanced 8-axis Servo & Stepper Motion Controller Owner's Manual

PCI-8158

High Density & Advanced

8-Axis Servo / Stepper

Motion Control Card

User’s Manual

Manual Rev. 2.00

Revision Date: August 5, 2006

Part No: 50-11139-1000

Advance Technologies; Automate the World.

Copyright 2006 ADLINK TECHNOLOGY INC.

All Rights Reserved.

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.

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.

Trademarks

NuDAQ, NuIPC, DAQBench are registered trademarks of ADLINK

TECHNOLOGY INC.

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

Getting Service from ADLINK

Customer Satisfaction is top priority for ADLINK Technology Inc.

Please contact us should you require any service or assistance.

ADLINK TECHNOLOGY INC.

Web Site:

Sales & Service:

TEL:

FAX:

Address: http://www.adlinktech.com

[email protected]

+886-2-82265877

+886-2-82265717

9F, No. 166, Jian Yi Road, Chungho City,

Taipei, 235 Taiwan

Please email or FAX this completed service form for prompt and satisfactory service.

Company Information

Company/Organization

Contact Person

E-mail Address

Address

Country

TEL

Web Site

FAX:

Product Information

Product Model

Environment

OS:

M/B: CPU:

Chipset: BIOS:

Please give a detailed description of the problem(s):

Table of Contents

Table of Contents..................................................................... i

List of Tables........................................................................... v

List of Figures ........................................................................ vi

1 Introduction ........................................................................ 1

1.1

Features............................................................................... 5

1.2

Specifications....................................................................... 6

1.3

Supported Software ............................................................. 8

Programming Library ...................................................... 8

MotionCreatorPro ........................................................... 8

1.4

Available Terminal Board..................................................... 8

2 Installation .......................................................................... 9

2.1

Package Contents ............................................................... 9

2.2

PCI-8158 Outline Drawing ................................................. 10

2.3

PCI-8158 Hardware Installation......................................... 10

Hardware configuration ................................................. 10

PCI slot selection .......................................................... 11

Installation Procedures ................................................. 11

Troubleshooting ............................................................ 11

2.4

Software Driver Installation................................................ 12

2.5

P1/P2 Pin Assignments: Main Connector.......................... 13

2.6

K1/K2 Pin Assignments: Simultaneous Start/Stop ............ 14

2.7

J1 to J16 Jumper Settings for Pulse Output ...................... 15

2.8

S1 Switch Settings for Card Index ..................................... 16

2.9

P3 Manual Pulse................................................................ 17

3 Signal Connections.......................................................... 19

3.1

Pulse Output Signals OUT and DIR .................................. 20

3.2

Encoder Feedback Signals EA, EB and EZ....................... 23

Connection to Line Driver Output ................................. 25

Connection to Open Collector Output ........................... 25

3.3

Origin Signal ORG ............................................................. 27

3.4

End-Limit Signals PEL and MEL........................................ 28

3.5

In-position Signal INP ........................................................ 29

3.6

Alarm Signal ALM .............................................................. 30

Table of Contents i

3.7

Deviation Counter Clear Signal ERC ................................. 31

3.8

General-purpose Signal SVON.......................................... 32

3.9

General-purpose Signal RDY ............................................ 33

3.10 Multi-Functional output pin: DO/CMP ................................ 34

3.11 Multi-Functional input pin: DI/LTC/SD/PCS/CLR/EMG...... 35

3.12 Pulse Input Signals PA and PB (PCI-8158) ....................... 36

3.13 Simultaneously Start/Stop Signals STA and STP.............. 37

4 Operation Theory .............................................................. 41

4.1

Classifications of Motion Controller.................................... 41

Voltage type motion control Interface ........................... 41

Pulse type motion control Interface .............................. 42

Network type motion control Interface .......................... 42

Software real-time motion control kernel ...................... 42

DSP based motion control kernel ................................. 43

ASIC based motion control kernel ................................ 43

Compare Table of all motion control types ................... 44

PCI-8158’s motion controller type ................................. 44

4.2

Motion Control Modes........................................................ 45

Coordinate system ........................................................ 45

Absolute and relative position move ............................. 46

Trapezoidal speed profile ............................................. 47

S-curve and Bell-curve speed profile ............................ 47

Velocity mode ............................................................... 49

One axis position mode ................................................ 50

Two axes linear interpolation position mode ................. 51

Two axes circular interpolation mode ........................... 52

Continuous motion ........................................................ 53

Home Return Mode ...................................................... 55

Home Search Function ................................................. 63

Manual Pulse Function ................................................. 64

Simultaneous Start Function ......................................... 64

Speed Override Function .............................................. 65

Position Override Function ........................................... 65

4.3

The motor driver interface.................................................. 66

Pulse Command Output Interface ................................ 66

Pulse feedback input interface ...................................... 68

In position signal ........................................................... 70

Servo alarm signal ........................................................ 71

Error clear signal ........................................................... 71

ii Table of Contents

Servo ON/OFF switch ................................................... 71

Servo Ready Signal ...................................................... 72

Servo alarm reset switch .............................................. 72

4.4

Mechanical switch interface............................................... 72

Original or home signal ................................................. 73

End-Limit switch signal ................................................. 73

Slow down switch ......................................................... 73

Positioning Start switch ................................................. 73

Counter Clear switch .................................................... 74

Counter Latch switch .................................................... 74

Emergency stop input ................................................... 74

4.5

The Counters ..................................................................... 74

Command position counter ........................................... 75

Feedback position counter ............................................ 75

Command and Feedback error counter ........................ 75

General purpose counter .............................................. 76

Target position recorder ................................................ 76

4.6

The Comparators............................................................... 77

Soft end-limit comparators ............................................ 77

Command and feedback error counter comparators .... 77

General comparator ...................................................... 77

Trigger comparator ....................................................... 78

4.7

Other Motion Functions ..................................................... 78

Backlash compensation and slip corrections ................ 79

Vibration restriction function ......................................... 79

Speed profile calculation function ................................. 79

4.8

Interrupt Control................................................................. 80

4.9

Multiple Card Operation..................................................... 84

5 MotionCreatorPro............................................................. 85

5.1

Execute MotionCreatorPro ................................................ 85

5.2

About MotionCreatorPro .................................................... 86

5.3

MotionCreatorPro Form Introducing .................................. 87

Main Menu .................................................................... 87

Select Menu .................................................................. 88

Card Information Menu ................................................. 89

Configuration Menu ...................................................... 90

Single Axis Operation Menu ......................................... 95

Two-Axis Operation Menu .......................................... 102

2D_Motion Menu ........................................................ 105

Table of Contents iii

Help Menu .................................................................. 111

6 Function Library.............................................................. 113

6.1

List of Functions............................................................... 114

6.2

C/C++ Programming Library ............................................ 122

6.3

System & Initialization...................................................... 123

6.4

Pulse Input/Output Configuration..................................... 127

6.5

Velocity mode motion....................................................... 130

6.6

Single Axis Position Mode ............................................... 134

6.7

Linear Interpolated Motion ............................................... 138

6.8

Circular Interpolation Motion ............................................ 149

6.9

Home Return Mode.......................................................... 159

6.10 Manual Pulser Motion ...................................................... 162

6.11 Motion Status ................................................................... 165

6.12 Motion Interface I/O ......................................................... 167

6.13 Interrupt Control............................................................... 175

6.14 Position Control and Counters ......................................... 179

6.15 Position Compare and Latch............................................ 184

6.16 Continuous motion ........................................................... 189

6.17 Multiple Axes Simultaneous Operation ............................ 191

6.18 General-purpose DIO....................................................... 194

6.19 Soft Limit .......................................................................... 196

6.20 Backlash Compensation / Vibration Suppression ............ 198

6.21 Speed Profile Calculation................................................. 200

6.22 Return Code..................................................................... 204

7 Connection Example ...................................................... 207

7.1

General Description of Wiring .......................................... 207

7.2

Terminal Board User Guide ............................................. 207

Warranty Policy ................................................................... 209

iv Table of Contents

List of Tables

Table 1-1: Available Terminal Boards ........................................ 8

Table 2-1: P1/P2 Pin Assignments .......................................... 13

Table 2-2: K1/K2 Pin Assignments .......................................... 14

Table 2-3: J1 to J16 Jumper Settings ...................................... 15

Table 2-4: S1 Switch Settings .................................................. 16

Table 2-5: P3 Manual Pulse .................................................... 17

Table 3-1: Pulse Output Signals OUT (P1) .............................. 20

Table 3-2: Pulse Output Signals OUT (P2) .............................. 21

Table 3-3: Output Signal .......................................................... 22

Table 4-1: Motion Interrupt Source Bit Settings ....................... 81

Table 4-2: Error Interrupt return codes .................................... 82

Table 4-3: GPIO Interrupt Source Bit Settings ......................... 83

List of Tables v

List of Figures

Figure 1-1: Block Diagram of the PCI-8158 ................................. 2

Figure 1-2: Flow chart for building an application ........................ 4

Figure 2-1: PCB Layout of the PCI-8158 ................................... 10

vi List of Figures

1 Introduction

The PCI-8158 is an advanced & high-density 8-axis motion controller card with a PCI interface. It can generate high frequency pulses (6.55MHz) to drive stepper or servomotors. As a motion controller, it can provide 8-axis linear and circular interpolation and continuous interpolation for continuous velocity. Changing position/speed on the fly is also available with a single axis operation.

Multiple PCI-8158 cards can be used in one system. Incremental encoder interfaces on all eight axes provide the ability to correct positioning errors generated by inaccurate mechanical transmissions.

The PCI-8158 is a brand new design. The carrier board has 8-axis pulse train output control channels. For additional functions, such as high-speed triggering or distributed I/O control, users can add on daughter boards depending on requirements. The board has a position compare function. For line scan applications, a motion controller is needed to generate high speed triggering pulse and gain the high resolution images. In this situation, adopt a DB-8150 to extend the function on PCI-8158. Not only designed for motion control, the sensors and actuator are also key elements in machine automation. Usually, I/O is needed to integrate the sensors and actuators in the controller. ADLINK also provides another way to connect these devices – distributed I/O. A daughter board can be used to achieve distributed I/O with the PCI-8158. This configuration can save the wiring effort and physical controller size, and is also cost-effective.

Figure 1-1 shows the functional block diagram of the PCI-8158 card. Motion control functions include trapezoidal and S-curve acceleration/deceleration, linear and circular interpolation between two axes and continuous motion positioning, and 13 home return modes. All these functions and complex computations are performed internally by the ASIC, saving CPU loading.

The PCI-8158 also offers three user-friendly functions.

1. Card Index Setting:

PCI-8158 can assign the card index with the DIP switch setting.

The value is within 0 to 15. It is useful for machine makers to

Introduction 1

recognize the card index if the entire control system is very large.

2. Emergency Input

The emergency input pin can let users wire the emergency bottom to trigger this board to stop sending pulse output once there is any emergency situation.

3. Software’s Security Protection

For security protection design, users can set the 16-bit value into EEPROM. Your interface program can use this EEPROM to secure the software and hardware in order to prevent plagiarist.

2

Figure 1-1: Block Diagram of the PCI-8158

Introduction

MotionCreatorPro is a Windows-based application development software package included with the PCI-8158. Motion-

CreatorPro is useful for debugging a motion control system during the design phase of a project. An on-screen display lists all installed axes information and I/O signal status of the PCI-

8158.

Windows programming libraries are also provided for C++ compiler and Visual Basic. Sample programs are provided to illustrate the operations of the functions.

Introduction 3

Figure 1-2 illustrates a flow chart of the recommended process in using this manual in developing an application. Refer to the related chapters for details of each step.

4

Figure 1-2: Flow chart for building an application

Introduction

1.1 Features

The following list summarizes the main features of the PCI-

8158 motion control system.

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

X

32-bit PCI bus Plug and Play (Universal)

8 axes of step and direction pulse output for controlling stepping or servomotor

Maximum output frequency of 6.55 MPPS

Pulse output options: OUT/DIR, CW/CCW

Programmable acceleration and deceleration time for all modes

Trapezoidal and S-curve velocity profiles for all modes

2 to 4 axes linear interpolation

2 axes circular interpolation

Continuous interpolation for contour following motion

Change position and speed on the fly

13 home return modes with auto searching

Hardware backlash compensator and vibration suppression

2 software end-limits for each axis

28-bit up/down counter for incremental encoder feedback

Home switch, index signal (EZ), positive, and negative end limit switches interface on all axes

8-axis high speed position latch input

8-axis position compare and trigger output (Not for high speed. For high speed triggering output, users need to buy

DB-8150 for extension.)

All digital input and output signals are 2500Vrms isolated

Programmable interrupt sources

Simultaneous start/stop motion on multiple axes

Manual pulse input interface

Card index selection

Security protection on EERPOM

Dedicated emergency input pin for wiring

Software supports a maximum of up to 12 PCI-8158 cards

Introduction 5

6

X

X

X operation in one system

Compact PCB design

Includes MotionCreatorPro, a Microsoft Windows-based application development software

PCI-8158 libraries and utilities for Windows 2000/XP.

1.2 Specifications

X

X

Applicable Motors:

Z

Z

Stepping motors

AC or DC servomotors with pulse train input servo drivers

Performance:

Z Number of controllable axes: 8

Z

Z

Z

Z

Z

Maximum pulse output frequency: 6.55MPPS, linear, trapezoidal, or S-Curve velocity profile drive

Internal reference clock: 19.66 MHz

28-bit up/down counter range: 0-268,435,455 or –

134,217,728 to +134,217,727

Position pulse setting range (28-bit): -134,217,728 to

+134,217,728

Pulse rate setting range (Pulse Ratio = 1: 65535):

0.1 PPS to 6553.5 PPS. (Multiplier = 0.1)

1 PPS to 65535 PPS. (Multiplier = 1)

Introduction

X

X

X

X

100 PPS to 6553500 PPS. (Multiplier = 100)

I/O Signales:

Z Input/Output signals for each axis

Z

Z

All I/O signal are optically isolated with 2500Vrms isolation voltage

Command pulse output pins: OUT and DIR

Z

Z

Z

Incremental encoder signals input pins: EA and EB

Encoder index signal input pin: EZ

Mechanical limit/home signal input pins: ± EL, ORG

Z

Z

Z

Z

Z

Composite pins: DI / LTC(Latch) / SD(Slow-down) /

PCS(Position Change Signal) / CLR(Clear) /

EMG(Emergency Input)

Servomotor interface I/O pins: INP, ALM, and ERC

General-purposed digital output pin: SVON, DO

General-purposed digital input pin: RDY, GDI

Pulse signal input pin: PA and PB (With Isolation)

Simultaneous Start/Stop signal: STA and STP Z

General Specifications

Z

Z

Z

Connectors: 68-pin SCSI-type connector

Operating Temperature: 0 ° C - 50 ° C

Storage Temperature: -20 ° C - 80 ° C

Z Humidity: 5 - 85%, non-condensing

Power Consumption

Z Slot power supply (input): +5V DC ± 5%, 900mA max

Z

Z

External power supply (input): +24V DC ± 5%, 500mA max

External power supply (output): +5V DC ± 5%, 500mA, max

PCI-8158 Dimension (PCB size): 185mm(L) X 100 mm(W)

Introduction 7

8

1.3 Supported Software

1.3.1 Programming Library

Windows 2000/XP DLLs are provided for the PCI-8158 users.

These function libraries are shipped with the board.

1.3.2 MotionCreatorPro

This Windows-based utility is used to setup cards, motors, and systems. It can also aid in debugging hardware and software problems. It allows users to set I/O logic parameters to be loaded in their own program. This product is also bundled with the card.

Refer to Chapter 5 for more details.

1.4 Available Terminal Board

ADLINK provides the servo & steppers use terminal board for easy connection. For steppers, we provide DIN-100S which is pin-to-pin terminal board. For servo users, ADLINK offers DIN-

814M, DIN-814M-J3A, DIN-814Y and DIN-814P-A4. The suitable servos are listed as follows:

Mitsubishi J2 Super

Mitsubishi J3A

DIN-814M

DIN-814M-J3A

Yaskawa Sigma II DIN-814Y

Panasonic MINAS A4 DIN-814P-A4

Table 1-1: Available Terminal Boards

Introduction

2 Installation

This chapter describes how to install the PCI-8158. Please follow these steps below:

X

X

X

X

X

X

Check what you have (Section 2.1)

Check the PCB (Section 2.2)

Install the hardware (Section 2.3)

Install the software driver (Section 2.4)

Understanding the I/O signal connections (Chapter 3) and their operation (Chapter 4)

Understanding the connector pin assignments and wiring the connections (the remaining sections)

2.1 Package Contents

In addition to this User’s Guide, the package also includes the following items:

X

X

PCI-8158: advanced 8-axis Servo / Stepper Motion Control

Card

ADLINK All-in-one Compact Disc

The terminal board is an optional accessory. This would not be included in PCI-8158 package.

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.

Installation 9

2.2 PCI-8158 Outline Drawing

10

Figure 2-1: PCB Layout of the PCI-8158

X

X

X

X

X

P1 / P2: Input / Output Signal Connector (100-pin)

K1 / K2: Simultaneous Start / Stop Connector

P3: Manual Pulsar

S1: DIP switch for card index selection (0-15)

J1-J16: Pulse output selection jumper (Line Driver / Open

Collector)

2.3 PCI-8158 Hardware Installation

2.3.1 Hardware configuration

The PCI-8158 is fully Plug and Play compliant. Hence memory allocation (I/O port locations) and IRQ channel of the PCI card are assigned by the system BIOS. The address assignment is done on a board-by-board basis for all PCI cards in the system.

Installation

2.3.2 PCI slot selection

Your computer system may have both PCI and ISA slots. Do not force the PCI card into a PC/AT slot. The PCI-8158 can be used in any PCI slot.

2.3.3 Installation Procedures

1. Read through this manual and setup the jumper according to your application

2. Turn off your computer. Turn off all accessories (printer, modem, monitor, etc.) connected to computer. Remove the cover from your computer.

3. Select a 32-bit PCI expansion slot. PCI slots are shorter than ISA or EISA slots and are usually white or ivory.

4. Before handling the PCI-8158, discharge any static buildup on your body by touching the metal case of the computer. Hold the edge of the card and do not touch the components.

5. Position the board into the PCI slot you have selected.

6. Secure the card in place at the rear panel of the system unit using screws removed from the slot.

2.3.4 Troubleshooting

If your system doesn’t boot or if you experience erratic operation with your PCI board in place, it’s most likely caused by an interrupt conflict (possibly an incorrect ISA setup). In general, the solution, once determined it is not a simple oversight, is to consult the BIOS documentation that comes with your system.

Check the control panel of the Windows system if the card is listed by the system. If not, check the PCI settings in the BIOS or use another PCI slot.

Installation 11

2.4 Software Driver Installation

1. Auto run the ADLINK All-In-One CD. Choose Driver

Installation -> Motion Control -> PCI-8158

2. Follow the procedures of the installer.

3. After setup installation is completed, restart windows.

Note: Please download the latest software from the ADLINK website if necessary.

12 Installation

2.5 P1/P2 Pin Assignments: Main Connector

P1 / P2 are the main connectors for the motion control I/O signals.

No.

Name I/O

1 VDD O

2 EXGND -

3 OUT0+ O

4 OUT0O

5

6

DIR0+ O

DIR0O

7 SVON0 O

8 ERC0 O

9

10

ALM0

INP0

11 RDY0

12 EXGND

13

14

EA0+

EA0-

15 EB0+

16 EB0-

17

18

EZ0+

EZ0-

19 VDD O

20 EXGND -

I

I

I

I

I

I

I

I

I

21 OUT1+ O

22 OUT1O

23 DIR1+ O

24 DIR1O

25 SVON1 O

26 ERC1 O

27 ALM1

28 INP1 I

I

I 29 RDY1

30 EXGND

31 EA1+

32 EA1-

33

34

EB1+

EB1I

I

I

I

Function No.

Name I/O Function

+5V power supply output

Ext. power ground

Pulse signal (+)

Pulse signal (-)

Dir. signal (+)

Dir. signal (-)

Servo On/Off

Dev. ctr, clr. Signal

Alarm signal

In-position signal

Multi-purpose Input signal

Ext. power ground

Encoder A-phase (+)

Encoder A-phase (-)

Encoder B-phase (+)

Encoder B-phase (-)

Encoder Z-phase (+)

Encoder Z-phase (-)


Ext. power ground

Pulse signal (+)

Pulse signal (-)

Dir. signal (+)

Dir. signal (-)

Servo On/Off

Dev. ctr, clr. Signal

Alarm signal

In-position signal


Ext. power ground

Encoder A-phase (+)

Encoder A-phase (-)

Encoder B-phase (+)

Encoder B-phase (-)

51 VDD O

52 EXGND -

53 OUT2+ O

54 OUT2O

55 DIR2+ O

56 DIR2O

57 SVON2 O

58 ERC2 O

63

64

65

66

59 ALM2

60 INP2

61 RDY2

62 EXGND

EA2+

EA2-

EB2+

EB2-

67

68

EZ2+

EZ2-

69 VDD O

70 EXGND -

I

I

I

I

I

I

I

I

I

71 OUT3+ O

72 OUT3O

73 DIR3+ O

74 DIR3O

75 SVON3 O

76 ERC3 O

77 ALM3

78 INP3 I

I

I 79 RDY3

80 EXGND

81

82

EA3+

EA3-

83

84

EB3+

EB3I

I

I

I

Table 2-1: P1/P2 Pin Assignments


Ext. power ground

Pulse signal (+)

Pulse signal (-)

Dir. signal (+)

Dir. signal (-)

Servo On/Off

Dev. ctr, clr. signal

Alarm signal

In-position signal


Ext. power ground

Encoder A-phase (+)

Encoder A-phase (-)

Encoder B-phase (+)

Encoder B-phase (-)

Encoder Z-phase (+)

Encoder Z-phase (-)


Ext. power ground

Pulse signal (+)

Pulse signal (-)

Dir. signal (+)

Dir. signal (-)

Servo On/Off

Dev. ctr, clr. signal

Alarm signal

In-position signal


Ext. power ground

Encoder A-phase (+)

Encoder A-phase (-)

Encoder B-phase (+)

Encoder B-phase (-)

Installation 13

No.

Name I/O Function No.

Name I/O Function

35

36

EZ1+

EZ1-

37 PEL0

38 MEL0

39

40

GDI0

DO0

41 ORG0

42 EXGND

I

I

I

I

I

O

I

Encoder Z-phase (+)

Encoder Z-phase (-)

End limit signal (+)

End limit signal (-)

DI/LTC/PCS/SD/CLR0

General Output 0

Origin signal

Ext. power ground

85

86

EZ3+

EZ3-

87 PEL2

88 MEL2

89

90

GDI2

DO2

91 ORG2

92 EXGND

I

I

I

I

I

O

I

Encoder Z-phase (+)

Encoder Z-phase (-)



DI/LTC/PCS/SD/CLR2

General Output 2

Origin signal

Ext. power ground

43 PEL1

44 MEL1

45

46

GDI1

DO1

47 ORG1

48 EXGND -

I

49 EXGND -

50 EXGND -

I

I End limit signal (+)


93 PEL3

94 MEL3

I DI/LTC/PCS/SD/CLR1/EMG 95

O General Output 1 96

GDI3

DO3

Origin signal

Ext. power ground

Ext. power ground

Ext. power ground

97

98

99

100

ORG3

EXGND

E_24V

E_24V

I

I

I

O

I

-



DI/LTC/PCS/SD/CLR3

General Output 3

Origin signal

Ext. power ground

Isolation power Input, +24V

Isolation power Input, +24V

X

Table 2-1: P1/P2 Pin Assignments

P1 is for Axis 0 to 3 control and P2 is for Axis 4 to 7 control.

2.6 K1/K2 Pin Assignments: Simultaneous Start/

Stop

K1 and K2 are for simultaneous start/stop signals for multiple axes or multiple cards.

No. Name Function

1 +5V PCI Bus power Output (VCC)

2 STA Simultaneous start signal input/output

3 STP Simultaneous stop signal input/output

4 GND PCI Bus power ground

Table 2-2: K1/K2 Pin Assignments

Note: +5V and GND pins are provided by the PCI Bus power.

14 Installation

2.7 J1 to J16 Jumper Settings for Pulse Output

J1-J16 are used to set the type of pulse output signals (DIR and

OUT). The output signal type can either be differential line driver or open collector output. Refer to Section 3.1 for detail jumper settings. The default setting is differential line driver mode. The mapping table is as follows:

JP1 & JP2 Axis 0 JP9 & JP10 Axis 4




Table 2-3: J1 to J16 Jumper Settings

Installation 15

16

2.8 S1 Switch Settings for Card Index

The S1 switch is used to set the card index. For example, if you turn 1 to ON and others are OFF. It means the card index as 1.

The value is from 0 to 15. Refer to the following table for details.

Card ID Switch Setting (ON=1)

12

13

14

15

8

9

10

11

6

7

4

5

2

3

0

1

Table 2-4: S1 Switch Settings

1000

1001

1010

1011

1100

1101

1110

1111

0000

0001

0010

0011

0100

0101

0110

0111

Installation

2.9 P3 Manual Pulse

The signals on P3 are for manual pulse input.

No. Name Function (Axis)

3

4

1

2

VDD Isolated Power +5V

PA+ Pulse A+ phase signal input

PAPulse A- phase signal input

PB+ Pulse B+ phase signal input

7

8

5 PB-

6 EXGND

9

N/A

N/A

N/A

Pulse B- phase signal input

External Ground

Not Available

Not Available

Not Available

Table 2-5: P3 Manual Pulse

Note: The +5V and GND pins are directly given by the PCI-bus power. Therefore, these signals are not isolated.

Installation 17

18 Installation

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 cable between the

PCI-8158 and any motor driver.

This chapter contains the following sections:

Section 3.1

Section 3.2

Section 3.3

Section 3.4

Section 3.5

Section 3.6

Section 3.7

Pulse Output Signals OUT and DIR

Encoder Feedback Signals EA, EB and EZ

Origin Signal ORG

End-Limit Signals PEL and MEL

In-position signals INP

Alarm signal ALM

Deviation counter clear signal ERC

Section 3.8

Section 3.9 general-purposed signals SVON

General-purposed signal RDY

Section 3.10

Multifunction output pin: DO/CMP

Section 3.11 Multifunction input signal DI/LTC/SD/PCS/CLR/EMG

Section 3.12

Pulse input signals PA and PB

Section 3.13

Simultaneous start/stop signals STA and STP

Section 3.14

Termination Board

Signal Connections 19

20

3.1 Pulse Output Signals OUT and DIR

There are 8 axis pulse output signals on the PCI-8158. For each axis, two pairs of OUT and DIR differential signals are used to transmit the pulse train and indicate the direction. The OUT and

DIR signals can also be programmed as CW and CCW signal pairs. Refer to Section 4.1.1 for details of the logical characteristics of the OUT and DIR signals. 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, OUT0 consists of OUT0+ and OUT0- signals. The following table shows all pulse output signals on P1.

P1 Pin No. Signal Name

71

72

73

74

53

54

55

56

21

22

23

24

5

6

3

4

OUT2+

OUT2-

DIR2+

DIR2-

OUT3+

OUT3-

DIR3+

DIR3-

OUT0+

OUT0-

DIR0+

DIR0-

OUT1+

OUT1-

DIR1+

DIR1-

Description

Pulse signals (+)

Pulse signals (-)

Direction signal (+)

Direction signal (-)

Pulse signals (+)

Pulse signals (-)



Pulse signals (+)

Pulse signals (-)



Pulse signals (+)

Pulse signals (-)



Table 3-1: Pulse Output Signals OUT (P1)

Axis #

3

3

3

3

2

2

2

2

1

1

1

1

0

0

0

0

Signal Connections

P2 Pin No. Signal Name

71

72

73

74

53

54

55

56

21

22

23

24

5

6

3

4

OUT6+

OUT6-

DIR6+

DIR6-

OUT7+

OUT7-

DIR7+

DIR7-

OUT4+

OUT4-

DIR4+

DIR4-

OUT5+

OUT5-

DIR5+

DIR5-

Description

Pulse signals (+)

Pulse signals (-)



Pulse signals (+)

Pulse signals (-)



Pulse signals (+)

Pulse signals (-)



Pulse signals (+)

Pulse signals (-)



Axis #

7

7

7

7

6

6

6

6

5

5

5

5

4

4

4

4

Table 3-2: Pulse Output Signals OUT (P2)

The output of the OUT or DIR signals can be configured by jumpers as either differential line drivers or open collector output. Users can select the output mode either by jumper wiring between 1 and

2 or 2 and 3 of jumpers J1-J16 as follows:

Output

Signal

OUT0+

DIR0+

OUT1+

DIR1+

OUT2+

DIR2+

OUT3+

For differential line driver output, close breaks between 1 and 2 of:

J1

J9

J2

J10

J3

J11

J4

For open collector output, close breaks between 2 and 3 of:

J1

J9

J2

J10

J3

J11

J4


Output

Signal

DIR3+

OUT4+

DIR4+

OUT5+

DIR5+

OUT6+

DIR6+

OUT7+

DIR7+

For differential line driver output, close breaks between 1 and 2 of:

J14

J7

J15

J8

J16

J12

J5

J13

J6

Table 3-3: Output Signal

For open collector output, close breaks between 2 and 3 of:

J14

J7

J15

J8

J16

J12

J5

J13

J6

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 2 axes.

22

NOTE : If the pulse output is set to open collector output mode, OUT- and DIR- are used to transmit OUT and DIR signals. T he sink current must not exceed 20mA on the OUT- and

DIR- pins . The default setting is 1-2 shorted.

Signal Connections

Suggest Usage: Jumper 2-3 shorted and connect OUT-/DIR- to a

470 ohm pulse input interface’s COM of driver. See the following figure. Choose OUT-/DIR- to connect to driver’s OUT/DIR

Warning: The sink current must not exceed 20mA or the

26LS31 will be damaged!

3.2 Encoder Feedback Signals EA, EB and EZ

The encoder feedback signals include EA, EB, and EZ. Every axis has six pins for three differential pairs of phase-A (EA), phase-B

(EB), and index (EZ) inputs. EA and EB are used for position counting, and EZ is used for zero position indexing. Its relative signal names, pin numbers, and axis numbers are shown in the following tables:

P1 Pin No Signal Name Axis # P1 Pin No Signal Name Axis #

63

65

81

83

13

15

31

33

EA0+

EB0+

EA1+

EB1+

EA2+

EB2+

EA3+

EB3+

0

0

1

1

2

2

3

3

14

16

32

34

64

66

82

84

EA0-

EB0-

EA1-

EB1-

EA2-

EB2-

EA3-

EB3-

2

2

3

3

0

0

1

1


24


63

65

81

83

13

15

31

33

EA4+

EB4+

EA5+

EB5+

EA6+

EB6+

EA7+

EB7+

4

4

5

5

6

6

7

7

14

16

32

34

64

66

82

84

EA4-

EB4-

EA5-

EB5-

EA6-

EB6-

EA7-

EB7-

7

7

6

6

5

5

4

4


17

35

67

85

EZ0+

EZ1+

EZ2+

EZ3+

0

1

2

3

18

36

68

86

EZ0-

EZ1-

EZ2-

EZ3-

0

1

2

3


17

35

67

85

EZ4+

EZ5+

EZ6+

EZ7+

4

5

6

7

18

36

68

86

EZ4-

EZ5-

EZ6-

EZ7-

4

5

6

7

The input circuit of the EA, EB, and EZ signals is shown as follows:

Signal Connections

Please note that the voltage across each differential pair of encoder input signals (EA+, EA-), (EB+, EB-), and (EZ+, EZ-) should be at least 3.5V. Therefore, the output current must be observed when connecting to the encoder feedback or motor driver feedback as not to over drive the source. The differential signal pairs are converted to digital signals EA, EB, and EZ; then feed to the motion control ASIC.

Below are examples of connecting the input signals with an external circuit. The input circuit can be connected to an encoder or motor driver if it is equipped with: (1) a differential line driver or (2) an open collector output.

3.2.1 Connection to Line Driver Output

To drive the PCI-8158 encoder input, the driver output must provide at least 3.5V across the differential pairs with at least 8mA driving capacity. The grounds of both sides must be tied together.

The maximum frequency is 4Mhz or more depends on wiring distance and signal conditioning.

3.2.2 Connection to Open Collector Output

To connect with an open collector output, an external power supply is necessary. Some motor drivers can provide the power source. The connection between the PCI-8158, encoder, and the power supply is shown in the diagram below. Note that an external current limiting resistor R is necessary to protect the PCI-8158 input circuit. The following table lists the suggested resistor values according to the encoder power supply.


I f

= 8mA

Encoder Power (V) External Resistor R

+5V

+12V

+24V

0

Ω

(None)

1.5k

Ω

3.0k

Ω

For more operation information on the encoder feedback signals, refer to Section 4.4.

26 Signal Connections

3.3 Origin Signal ORG

The origin signals (ORG0-ORG7) are used as input signals for the origin of the mechanism. The following table lists signal names, pin numbers, and axis numbers:

P1 Pin No Signal Name Axis #

41

47

91

97

ORG0

ORG1

ORG2

ORG3

2

3

0

1


41

47

91

97

ORG4

ORG5

ORG6

ORG7

6

7

4

5

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 contact capacity of +24V @

6mA minimum. An internal filter circuit is used to filter out any high frequency spikes, which may cause errors in the operation.

When the motion controller is operated in the home return mode, the ORG signal is used to inhibit the control output signals (OUT and DIR). For detailed operations of the ORG signal, refer to Section 4.3.3.


28

3.4 End-Limit Signals PEL and MEL

There are two end-limit signals PEL and MEL for each axis. PEL indicates the end limit signal is in the plus direction and MEL indicates the end limit signal is in the minus direction. The signal names, pin numbers, and axis numbers are shown in the table below:


37

43

87

93

PEL0

PEL1

PEL2

PEL3

0

1

2

3

38

44

88

94

MEL0

MEL1

MEL2

MEL3

0

1

2

3


37

43

87

93

PEL4

PEL5

PEL6

PEL7

4

5

6

7

38

44

88

94

MEL4

MEL5

MEL6

MEL7

4

5

6

7

A circuit diagram is shown in the diagram below. The external limit switch should have a contact capacity of +24V @ 8mA minimum.

Either ‘A-type’ (normal open) contact or ‘B-type’ (normal closed) contact switches can be used. To set the active logic of the external limit signal, please refer to the explanation of

_8158_set_limit_logic function.

Signal Connections

3.5 In-position Signal INP

The in-position signal INP from a servo motor driver indicates its deviation error. If there is no deviation error then the servo’s position indicates zero. The signal names, pin numbers, and axis numbers are shown in the table below:


10

28

60

78

INP0

INP1

INP2

INP3

0

1

2

3


10

28

60

78

INP4

INP5

INP6

INP7

4

5

6

7

The input circuit of the INP signals is shown in the diagram below:

The in-position signal is usually generated by the servomotor driver and is ordinarily an open collector output signal. An external circuit must provide at least 8mA current sink capabilities to drive the INP signal.


3.6 Alarm Signal ALM

The alarm signal ALM is used to indicate the alarm status from the servo driver. The signal names, pin numbers, and axis numbers are shown in the table below:


9

27

59

77

ALM0

ALM1

ALM2

ALM3

0

1

2

3


9

27

59

77

ALM4

ALM5

ALM6

ALM7

4

5

6

7

The input alarm circuit is shown below. The ALM signal usually is generated by the servomotor driver and is ordinarily an open collector output signal. An external circuit must provide at least 8mA current sink capabilities to drive the ALM signal.


3.7 Deviation Counter Clear Signal ERC

The deviation counter clear signal (ERC) is active in the following

4 situations:

1. Home return is complete

2. End-limit switch is active

3. An alarm signal stops OUT and DIR signals

4. An emergency stop command is issued by software

(operator)

The signal names, pin numbers, and axis numbers are shown in the table below:


8

26

58

76

ERC0

ERC1

ERC2

ERC3

0

1

2

3


8

26

58

76

ERC4

ERC5

ERC6

ERC7

4

5

6

7

The ERC signal is used to clear the deviation counter of the servomotor driver. The ERC output circuit is an open collector with a maximum of 35V at 50mA driving capacity.


3.8 General-purpose Signal SVON

The SVON signal can be used as a servomotor-on control or general purpose output signal. The signal names, pin numbers, and its axis numbers are shown in the following table:


7

25

57

75

SVON0

SVON1

SVON2

SVON3

0

1

2

3


7

25

57

75

SVON4

SVON5

SVON6

SVON7

4

5

6

7

The output circuit for the SVON signal is shown below:


3.9 General-purpose Signal RDY

The RDY signals can be used as motor driver ready input or general purpose input signals. The signal names, pin numbers, and axis numbers are shown in the following table:


11

29

61

79

RDY0

RDY1

RDY2

RDY3

2

3

0

1


11

29

61

79

RDY4

RDY5

RDY6

RDY7

6

7

4

5

The input circuit of RDY signal is shown in the following diagram:


34

3.10 Multi-Functional output pin: DO/CMP

The PCI-8158 provides 8 multi-functional output channels: DO/

CMP0 to DO/CMP7 corresponds to 8 axes. Each of the output pins can be configured as Digit Output (DO) or as Comparison

Output (CMP) individually. When configured as a Comparison Output pin, the pin will generate a pulse signal when the encoder counter matches a pre-set value set by the user.

The multi-functional channels are located on P1 and P2. The signal names, pin numbers, and axis numbers are shown below:


40

46

90

96

DO/CMP0

DO/CMP1

DO/CMP2

DO/CMP3

0

1

2

3


40

46

90

96

DO/CMP4

DO/CMP5

DO/CMP6

DO/CMP7

4

5

6

7

The following wiring diagram is of the CMP on the first 2 axes:

Signal Connections

3.11 Multi-Functional input pin: DI/LTC/SD/PCS/CLR/

EMG

The PCI-8158 provides 8 multi-functional input pins. Each of the 8 pins can be configured as DI(Digit Input) or LTC(Latch) or

SD(Slow down) or PCS(Target position override) or CLR(Counter clear) or EMG(Emergency). To select the pin function, please refer to 6.12.

The multi-functional input pins are on P1 and P2. The signal names, pin numbers, and axis numbers are shown in the following table:

P1 Pin No

39

45

89

95

Signal Name

DI/LTC/SD/PCS/CLR/EMG_0




Axis #

2

3

0

1

P2 Pin No

39

45

89

95

Signal Name





Axis #

6

7

4

5

The multi-functional input pin wiring diagram is as followed:


3.12 Pulse Input Signals PA and PB (PCI-8158)

The PCI-8158 can accept differential pulse input signals through the pins of PN1 listed below. The pulse behaves like an encoder.

The A-B phase signals generate the positioning information, which guides the motor.


2

4

PA+

PB+

0-7

0-7

3

5

PA-

PB-

0-7

0-7

The pulse signals are used for Axis 0 to Axis 7. User can decide to enable or disable each axis pulse with

_8158_disable_pulser_input function.

The wiring diagram of the differential pulse input pins are as follows:


3.13 Simultaneously Start/Stop Signals STA and STP

The PCI-8158 provides STA and STP signals, which enable simultaneous start/stop of motions on multiple axes. The STA and STP signals are on CN4.

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

The STP and STA signals are both input and output signals. To operate the start and stop action simultaneously, both software control and external control are needed. With software control, the signals can be generated from any one of the PCI-8158. 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 PCI-8158 cards, connect the K2 connector on the previous card to K1 connector on the following card. The

K1 and K2 connectors on a same PCI-8158 are connected internally.


You can also use external start and stop signals to issue a crosscard simultaneous motor operation. Just connect external start and stop signals to STA and STP pins on the K1 connector of the first PCI-8158 card.




4 Operation Theory

This chapter describes the detail operation of the motion controller card. Contents of the following sections are as follows:

Section 4.1:

Section 4.2:

Section 4.3:

Section 4.4:

Section 4.5:

Section 4.6:

Section 4.7:

Section 4.8:

Section 4.9:

Classifications of Motion Controller

Motion Control Modes

Motor Driver Interface

Mechanical switch Interface

The Counters

The Comparators

Other Motion Functions

Interrupt Control

Multiple Cards Operation

4.1 Classifications of Motion Controller

When servo/stepper drivers were first introduced, motor control was separated into two layers: motor control and motion control.

Motor control relates to PWM, power stage, closed loop, hall sensors, vector space, etc. Motion control refers to speed profile generating, trajectory following, multi-axes synchronization, and coordinating.

4.1.1 Voltage type motion control Interface

The interfaces between motion and motor control are changing rapidly. From the early years, voltage signals were used as a command to motor controller. The amplitude of the signal means how fast a motor rotating and the time duration of the voltage changes means how fast a motor acceleration from one speed to the other speed. Voltage signal as a command to motor driver is so called

“analog” type motion controller. It is much easier to integrate into an analog circuit of motor controller. However, sometimes noise is a big issue for this type of motion control. Besides, if you want to do positioning control of a motor, the analog type motion controller must have a feedback signal of position information and use a closed loop control algorithm to make it possible. This increased the complexity of motion control.

Operation Theory 41

42

4.1.2 Pulse type motion control Interface

The second motion and motor control interface type of is pulses train. As a trend of digital world, pulse train types represents a new concept to motion control. The counts of pulses show how many steps of a motor rotates and the frequency of pulses show how fast a motor runs. The time duration of frequency changes represent the acceleration rate of a motor. Because of this interface, users can control a servo or stepper motor more easier than analog type for positioning applications. It means that motion and motor control can be separated more easily by this way.

Both of these two interfaces need to take care of gains tuning. For analog position controllers, the control loops are built inside and users must tune the gain from the controller. For pulses type position controller, the control loops are built outside on the motor drivers and users must tune the gains on drivers.

For the operation of more than one axes, motion control seems more important than motor control. In industrial applications, reliable is a very important factor. Motor driver vendors make good performing products and a motion controller vendors make powerful and variety motion software. Integrated two products make our machine go into perfect.

4.1.3 Network type motion control Interface

Network motion controllers were recently introduced. The command between motor driver and motion controller is not analog or pulses signal anymore; it is a network packet which contents position information and motor information. This type of controller is more reliable because it is digitized and packetized. Because a motion controller must be real-time, the network must have realtime capacity around a cycle time below 1 ms. Mitsubishi’s SSC-

NET network is one type of network that can meet such speed requirements.

4.1.4 Software real-time motion control kernel

There are three methods used for motion control kernels: DSPbased, ASIC based, and software real-time based.

Operation Theory

A motion control system needs an absolutely real-time control cycle and the calculation on controller must provide a control data at the same cycle. If not, the motor will not run smoothly. This is typically accomplished by using the PC’s computing power and by a simple a feedback counter card and a voltage output or pulse output card. This method is very low-end but requires extensive software development. To ensure real-time performance, real-time software will be used on the system. This increases the complexity of the system, but this method is the most flexible way for a professional motion control designers. Most of these methods are on NC machines.

4.1.5 DSP based motion control kernel

A DSP-based motion controller kernel solves real-time software problems on computer. A DSP is a micro-processor and all motion control calculations can be done on it. There is no real-time software problem because DSP has its own OS to arrange all the procedures. There is no interruption from other inputs or context switching problem like Windows based computer. Although it has such a perfect performance on real-time requirements, its calculation speed is not as fast as PC’s CPU at this age. The software interfacing between DSP based controller’s vendors and users are not easy to use. Some controller vendors provide some kind of assembly languages for users to learn and some controller vendors provide only a handshake documents for users to use. Both ways are not easy to use. Naturally, DSP based controller provide a better way than software kernel for machine makers to build applications.

4.1.6 ASIC based motion control kernel

An ASIC-base motion control kernel is quite a bit different than software and DSP kernels. It has no real-time problem because all motion functions are done via ASIC. Users or controller vendors just need to set some parameters which ASIC requires and the motion control will be done easily. This kind of motion control separates all system integration problems into 4 parts: motor driver’s performance, ASIC outputting profile, vendor’s software parameters to ASIC, and users’ command to vendors’ software. It makes motion controller co-operated more smoothly between devices.

Operation Theory 43

44

4.1.7 Compare Table of all motion control types

Price

Functionality

Maintenance

Software

*Fair

Highest

Hard

* Real-time OS included

ASIC

Cheap

Low

Easy

Price

Signal Quality

(refer to distance)

Maintenance

Analog

High

Fair

Hard

Pulses

Low

Good

Fair

** DSP or software real-time OS is needed

DSP

Expensive

Normal

Fair

Network

**Normal

Best

Easy

4.1.8 PCI-8158’s motion controller type

The PCI-8158 is an ASIC based, pulse type motion controller. This controller is made into three blocks: motion ASIC, PCI card, software motion library. Users can access motion ASIC via our software motion library under Windows 2000/XP, Linux, and RTX driver. Our software motion library provides one-stop-function for controlling motors. All the speed parameters’ calculations are done via our library.

For example, if you want to perform an one-axis point to point motion with a trapezoidal speed profile, just fill the target position, speed, and acceleration time in one function. Then the motor will run as the profile. It takes no CPU resources because generation of every control cycle pulse is done by the ASIC. The precision of target position depends on the closed loop control performance and mechanical parts of the motor driver, not on motion controller command because the motion controller is only responsible for sending correct pulses counts via a desired speed profile. So it is much easier for programmers, mechanical or electrical engineers to find out problems and debug.

Operation Theory

4.2 Motion Control Modes

Motor control is not only for positive or negative moving, motion control can make the motors run according to a specific speed profile, path trajectory and synchronous condition with other axes.

The following sections describe the motion control modes of this motion controller could be performed.

4.2.1 Coordinate system

The Cartesian coordinate system and pulses for the unit of length are used . The physical length depends on mechanical parts and motor’s resolution. For example, if the motor is installed on a screw ball. The pitch of screw ball is 10mm and the pulses needed for a round of motor are 10,000 pulses. We can say the physical unit of one pulse is equal to 10mm/10,000p =1 micro-meter.

Simply set a command with 15,000 pulses for motion controller to move 15mm. How about if we want to move 15.0001mm? The motion controller will keep the residual value less than 1 pulse and add it to next command.

The motion controller sends incremental pulses to motor drivers. It means that we can only send relative command to motor driver.

But we can solve this problem by calculating the difference between current position and target position first. Then send the differences to motor driver. For example, if current position is

1000. We want to move a motor to 9000. User can use an absolute command to set a target position of 9000. Inside the motion controller, it will get current position 1000 first then calculate the difference from target position. It gets a result of +8000. So, the motion controller will send 8000 pulses to motor driver to move the position of 9000.

Sometimes, you may need to install a linear scale or external encoder to check machine’s position. But how do you to build this coordinate system? If the resolution of external encoder is 10,000

Operation Theory 45

46 pulses per 1mm and the motor will move 1mm if the motion controller send 1,000 pulses, It means that when we want to move 1 mm, we need to send 1,000 pulses to motor driver then we will get the encoder feedback value of 10,000 pulses. If we want to use an absolute command to move a motor to 10,000 pulses position and current position read from encoder is 3500 pulses, how many pulses will it send to motor driver? The answer is (10000 – 3500 ) /

(10,000 / 1,000)=650 pulses. The motion controller will calculate it automatically if you have already set the “move ratio”. The “move ratio” equals the feedback resolution/command resolution.

4.2.2 Absolute and relative position move

There are two kinds of commands to locate target positions in the coordinate system: absolute and relative. Absolute command means that for a given motion controller a position, the motion controller will move a motor to that position from current position.

Relative command means that to move a motion controller distance, the motion controller will move motor by the distance from current position. During the movement, you can specify the speed profile, meaning you can define how fast and at what speed to reach the position.

Operation Theory

4.2.3 Trapezoidal speed profile

A trapezoidal speed profile means the acceleration/deceleration area follows a first-order linear velocity profile (constant acceleration rate). The profile chart is shown as follows:

The area of the velocity profile represents the distance of this motion. Sometimes, the profile looks like a triangle because the desired distance is smaller than the area of given speed parameters. When this situation happens, the motion controller will lower the maximum velocity but keep the acceleration rate to meet the distance requirement. The chart of this situation is shown as below:

This kind of speed profile could be applied on velocity mode, position mode in one axis or multi-axes linear interpolation and two axes circular interpolation modes.

4.2.4 S-curve and Bell-curve speed profile

S-curve means the speed profile in accelerate/decelerate area follows a second-order curve. It can reduce vibration at the beginning of motor start and stop. In order to speed up the acceleration/ deceleration during motion, we need to insert a linear part into

Operation Theory 47

these areas. We call this shape as “bell” curve. It adds a linear curve between the upper side of s-curve and lower side of s-curve.

This shape improves the speed of acceleration and also reduces the vibration of acceleration.

For a bell curve, we define its shape’s parameter as below:

48

X

X

X

X

X

X

Tacc: Acceleration time in second

Tdec: Deceleration time in second

StrVel: Starting velocity in PPS

MaxVel: Maximum velocity in PPS

VSacc: S-curve part of a bell curve in deceleration in PPS

VSdec: S-curve part of a bell curve in deceleration in PPS

If VSacc or VSdec=0, the acceleration or deceleration is a pure Scurve without any linear components. The acceleration chart of bell curve is shown below:

Operation Theory

The S-curve profile motion functions are designed to always produce smooth motion. If the time for acceleration parameters combined with the final position don’t allow an axis to reach the maximum velocity (i.e. the moving distance is too small to reach

MaxVel), then the maximum velocity is automatically lowered (see the following Figure).

The rule is to lower the value of MaxVel and the Tacc, Tdec,

VSacc, VSdec automatically, and keep StrVel, acceleration, and jerk unchanged. This is also applicable to Trapezoidal profile motion.

This kind of speed profile could be applied on velocity mode, position mode in one axis or multi-axes linear interpolation and two axes circular interpolation modes.

4.2.5 Velocity mode

Velocity mode means the pulse command is continuously outputting until a stop command is issued. The motor will run without a target position or desired distance unless it is stopped by other reason. The output pulse accelerates from a starting velocity to a specified maximum velocity. It can be followed by a linear or Scurve acceleration shape. The pulse output rate is kept at maximum velocity until another velocity command is set or a stop command is issued. The velocity can be overridden by a new speed setting. Notice that the new speed could not be a reversed speed of original running speed. The speed profile of this kind of motion is shown below:

Operation Theory 49

4.2.6 One axis position mode

Position mode means the motion controller will output a specific amount of pulses which is equal to the desired position or distance. The unit of distance or position is pulse internally on the motion controller. The minimum length of distance is one pulse.

With the PCI-8158, we provide a floating point function for users to transform a physical length to pulses. Inside our software library, we will keep those distance less than one pulse in register and apply them to the next motion function. Besides positioning via pulse counts, our motion controller provides three types of speed profile to accomplish positioning: first-order trapezoidal, secondorder S-curve, and mixed bell curve. Users can call respective functions to perform that. The following diagram shows the relationship between distance and speed profiles.

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The distance is the area of the V-t diagram of this profile.

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4.2.7 Two axes linear interpolation position mode

“Interpolation between multi-axes” means these axes start simultaneously, and reach their ending points at the same time. Linear means the ratio of speed of every axis is a constant value.

Assume that we run a motion from (0,0) to (10,4). The linear interpolation results are shown as below.

The pulses output from X or Y axis remains 1/2 pulse difference according to a perfect linear line. The precision of linear interpolation is shown as below:

To stop an interpolation group, just call a stop function on first axis of the group.

As in the diagram below, 8-axis linear interpolation means to move the XY position from P0 to P1. The 2 axes start and stop simultaneously, and the path is a straight line.

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The speed ratio along X-axis and Y-axis is ( ∆ X: ∆ Y), respectively, and the vector speed is:

When calling 8-axis linear interpolation functions, the vector speed needs to define the start velocity, StrVel, and maximum velocity,

MaxVel.

4.2.8 Two axes circular interpolation mode

Circular interpolation means XY axes simultaneously starts from initial point, (0,0) and stop at end point,(1800,600). The path between them is an arc, and the MaxVel is the tangential speed.

Notice that if the end point of arc is not at a proper position, it will move circularly without stopping.

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The motion controller will move to the final point user desired even this point is not on the path of arc. But if the final point is not at the location of the shadow area of the following graph, it will run circularly without stopping.

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The command precision of circular interpolation is shown below.

The precision range is at radius ±1/2 pulse.

4.2.9 Continuous motion

Continuous motion means a series of motion command or position can be run continuously. You can set a new command right after previous one without interrupting it. The motion controller can make it possible because there are three command buffers (preregisters) inside.

When the first command is executing, you can set second command into first buffer and third command into second buffer. Once the first command is finished, the motion controller will push the second command to the executing register and the third command to first buffer. Now, the second buffer is empty and user can set

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the fourth command into second buffer. Normally, if users have enough time to set a new command into second buffer before executing register is finished, the motion can run endlessly. The following diagram shows this architecture of continuous motion.

In addition to a position command, the speed command should be set correctly to perform a speed continuous profile. For the following example, there are three motion command of this continuous motion. The second one has high speed than the others. The interconnection of speed between these three motion functions should be set as the following diagram:

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If the speed value of the second command is less than the others, the settings would be like the following diagram:

For 8-axis continuous arc interpolation, it is the same concept. You can set the speed matched between the speed settings of two commands.

If the INP checking is enabled, the motion will have some delayed between each command in buffers. INP check enabled makes the desired point be reached but reduces the smoothing between each command. Turn INP checking off, if you don’t need this delay and need smooth motion.

4.2.10 Home Return Mode

Home return means to search for a zero position point on the coordinate. Sometimes, you use a ORG, EZ or EL pin as a zero position on the coordinate. During system power-on, the program

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needs to find a zero point of this machine. Our motion controller provides a home return mode to make it.

We have many home modes and each mode contents many control phases. All of these phases are done by the ASIC. No software is needed or CPU loading will be taken. After home return is completed, the target counter will be reset to zero at the desired condition of home mode, such as a raising edge when ORG input.

Sometimes, the motion controller will still output pulses to make machine show down after resetting the counter. When the motor stops, the counter may not be at zero point but the home return procedure is finished. The counter value you see is a reference position from machine’s zero point already.

The following figures show the various home modes: R means counter reset (command and position counter) and E means ERC signal output.

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4.2.11 Home Search Function

This mode is used to add auto searching function on normal home return mode described in previous section no matter which position the axis is. The following diagram shows an example for home mode 2 via home search function. The ORG offset can’t be zero.

The suggested value is the double length of ORG area.

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4.2.12 Manual Pulse Function

The manual pulse is a device to generate pulse trains by hand.

The pulses are sent to motion controller and re-directed to pulse output pins. The input pulses could be multiplied or divided before sending out.

The motion controller receives two kinds of pulse trains from manual pulse device: CW/CCW and AB phase. If the AB phase input mode is selected, the multiplier has additional selection of 1, 2, or

4.

The following figure shows pulse ratio block diagram.

4.2.13 Simultaneous Start Function

Simultaneous motion means more than one axis can be started by a simultaneous signal which can be external or internal signals.

For external signal, users must set move parameters first for all axes then these axes will wait an extern start/stop command to start or stop. For internal signals, the start command could be from a software start function. Once it is issued, all axes which are in waiting synchronous mode will start at the same time.

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4.2.14 Speed Override Function

Speed override means that you can change speed of the command during the operation of motion. The change parameter is a percentage of original defined speed. You can define a 100% speed value then change the speed by percentage of original speed when motion is running. If users didn’t define the 100% speed value. The default 100% speed is the latest motion command’s maximum speed. This function can be applied on any motion function. If the running motion is S-curve or bell curve, the speed override will be a pure s-curve. If the running motion is tcurve, the speed override will be a t-curve.

4.2.15 Position Override Function

Position override means that when you issue a positioning command and want to change its target position during this operation.

If the new target position is behind current position when override command is issued, the motor will slow down then reverse to new target position. If the new target position is far away from current position on the same direction, the motion will remain its speed and run to new target position. If the override timing is on the deceleration of current motion and the target position is far away from current position on the same direction, it will accelerate to original speed and run to new target position. The operation examples are shown as below. Notice that if the new target position’s

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relative pulses are smaller than original slow down pulses, this function can’t work properly.

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4.3 The 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: pulse I/O signals including pulse command and encoder interface, and digital I/O signals 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/stepper motors via motor drivers. 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 be the same as motor driver. The modes vs. signal type of OUT and DIR pins are listed in the table below:

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Single Pulse Output Mode (OUT/DIR Mode)

Mode

Dual pulse output

(CW/CCW)

Single pulse output (OUT/DIR)

Output of OUT pin

Pulse signal in plus (or CW) direction

Pulse signal

Output of DIR pin

Pulse signal in minus

(or CCW) direction

Direction signal (level)

In this mode, the OUT pin is for outputting command pulse chain.

The numbers of OUT pulse represent distance in pulse. The frequency of the OUT pulse represents speed in pulse per second.

The DIR signal represents command direction of positive (+) or negative (-). The diagrams below show the output waveform. It is possible to set the polarity of the pulse chain.

Dual Pulse Output Mode (CW/CCW Mode)

In this mode, the waveform of the OUT and DIR pins represent

CW (clockwise) and CCW (counter clockwise) pulse output

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respectively. The numbers of pulse represent distance in pulse.

The frequency of the pulse represents speed in pulse per second.

Pulses output from the CW pin makes the motor move in positive direction, whereas pulse output from the CCW pin makes the motor move in negative direction. The following diagram shows the output waveform of positive (+) commands and negative (-) commands.

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The command pulses are counted by a 28-bit command counter.

The command counter can store a value of total pulses outputting from controller.

4.3.2 Pulse feedback input interface

Our motion controller provides one 28-bit up/down counter of each axis for pulse feedback counting. This counter is called position counter. The position counter counts pulses from the EA and EB signal which have plus and minus pins on connector for differential signal inputs. It accepts two kinds of pulse types: dual pulse input

(CW/CCW mode) and AB phase input. The AB phase input can be multiplied by 1, 2 or 4. Multiply by 4 AB phase mode is the most commonly used in incremental encoder inputs.

For example, if a rotary encoder has 2000 pulses per rotation, then the counter value read from the position counter will be 8000 pulses per rotation when the AB phase is multiplied by four.

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If you don’t use encoder for motion controller, the feedback source for this counter must be set as pulse command output or the counter value will always be zero. If it is set as pulse command output, users can get the position counter value from pulse command output counter because the feedback pulses are internal counted from command output pulses.

The following diagrams show these two types of pulse feedback signal.

The pattern of pulses in this mode is the same as the Dual Pulse

Output Mode in the Pulse Command Output section except that the input pins are EA and EB.

In this mode, pulses from EA pin cause the counter to count up, whereas EB pin caused the counter to count down.

90° phase difference signals Input Mode (AB phase Mode)

In this mode, the EA signal is a 90° phase leading or lagging in comparison with the EB signal. “Lead” or “lag” of phase difference between two signals is caused by the turning direction of the motor. The up/down counter counts up when the phase of

EA signal leads the phase of EB signal.

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The following diagram shows the waveform.

The index input (EZ) signal is as the zero reference in linear or rotary encoder. The EZ can be used to define the mechanical zero position of the mechanism. The logic of signal must also be set correctly to get correct result.

4.3.3 In position signal

The in-position signal is an output signal from motor driver. It tells motion controllers a motor has been reached a position within a predefined error. The predefined error value is in-position value.

Most motor drivers call it as INP value. After motion controller issues a positioning command, the motion busy status will keep true until the INP signal is ON. You can disable INP check for motion busy flag. If it is disabled, the motion busy will be FALSE when the pulses command is all sent.

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4.3.4 Servo alarm signal

The alarm signal is an output signal from motor driver. It tells motion controller that there has something error inside servo motor or driver. Once the motion controller receives this signal, the pulses command will stop sending and the status of ALM signal will be ON. The reasons of alarm could be servo motor’s over speed, over current, over loaded and so on. Please check motor driver’s manual about the details.

The logic of alarm signal must be set correctly. If the alarm logic’s setting is not the same as motor driver’s setting, the ALM status will be always ON and the pulse command can never be outputted.

4.3.5 Error clear signal

The ERC signal is an output from the motion controller. It tells motor driver to clear the error counter. The error counter is counted from the difference of command pulses and feedback pulses. The feedback position will always have a delay from the command position. It results in pulse differences between these two positions at any moment. The differences are shown in error counter. The motor driver uses the error counter as a basic control index. The large the error counter value is, the faster the motor speed command will be set. If the error counter is zero, it means that zero motor speed command will be set.

At following four situations, the ERC signal will be output automatically from the motion controller to the motor driver in order to clear error counter at the same time.

1. Home return is complete

2. The end-limit switch is touched

3. An alarm signal is active

4. An emergency stop command is issued

4.3.6 Servo ON/OFF switch

The servo on/off switch is a general digital output signal on motion controller. It is defined as the SVON pin on the connector. It can be used for switching motor driver’s controlling state. Once it is turned

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72 on, the motor will be held because the control loop of driver is active. Be careful that when the axis is vertically installed and the servo signal is turned off, the axis will be in uncontrolled state and it can fall. Some situations, such as a servo alarm and emergency signal ON may result in the same state.

4.3.7 Servo Ready Signal

The servo ready signal is a general digital input on motion controller. It has no relative purpose to motion controller. You can connect this signal to motor driver’s RDY signal to check if the motor driver is in ready state. It lets you check if, for example, the motor driver’s power has been input or not. Or, users can connect this pin as a general input for other purpose and it does not affect motion control.

4.3.8 Servo alarm reset switch

The servo driver will raise an alarm signal if there is something wrong inside the servo driver. Some alarm situations include servo motor over current, over speed, over loading, etc. Power reset can clear the alarm status but you usually don’t want to power off the servo motor when operating. There is one pin from servo driver for users to reset the alarm status. Our motion controller provides one general output pin for each axis. You can use this pin for resetting servo alarm status.

4.4 Mechanical switch interface

We provide some dedicated input pins for mechanical switches like original switch (ORG), plus and minus end-limit switch ( ± EL), slow down switch (SD), positioning start switch (PCS), counter latch switch (LTC), emergency stop input (EMG) and counter clear switch (CLR). These switches’ response time is very short, only a few ASIC clock cycles. There is no real-time problem when using these signals. All functions are done by the motion ASIC.

The software does not need to do anything and only needed to wait on the results.

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4.4.1 Original or home signal

Our controller 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. Please refer to home mode section for details.

4.4.2 End-Limit switch signal

The end-limit switches are usually installed on both ending sides of one axis. We must install plus EL at the positive position of the axis and minus EL at the negative position of the axis. These two signals are for safety reason. If they are installed reversely, the protection will be invalid. Once the motor’s moving part touches one of the end-limit signal, the motion controller will stop sending pulses and output an ERC signal. It can prevent machine crash when a miss operation is missed.

4.4.3 Slow down switch

The slow down signals are used to force the command pulse to decelerate to the starting velocity when it is active. This signal is used to protect a mechanical moving part under high speed movement toward the mechanism’s limit. The SD signal is effective for both plus and minus directions.

4.4.4 Positioning Start switch

The positioning start switch is used to move a specific position when it is turned on. The function is shown as below.

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4.4.5 Counter Clear switch

The counter clear switch is an input signal which makes the counters of motion controller to reset. If you need to reset a counter according to external command, use this pin as controlling source.

4.4.6 Counter Latch switch

The counter latch switch is an input signal which makes counter value to be kept into a register when this input active. If you need to know counter value at the active moment of one input, they can connect this pin to catch that.

4.4.7 Emergency stop input

Our motion controller provides a global digital input for emergency situation. Once the input is turned on, our motion controller will stop all motion of the axes immediately to prevent machine’s damage. Usually, you can connect an emergency stop button to this input on their machine. We suggest this input as normal closed type for safety.

4.5 The Counters

There are four counters for each axis of this motion controller.

They are described in this section.

X

X

X

X

X

Command position counter: counts the number of output pulses

Feedback position counter: counts the number of input pulses

Position error counter: counts the error between command and feedback pulse numbers.

General purpose counter: The source can be configured as the command position, feedback position, manual pulse, or half of the ASIC clock.

Target position recorder: A software-maintained target position value of latest motion command.

Operation Theory

4.5.1 Command position counter

The command position counter is a 28-bit binary up/down counter.

Its input source is the output pulses from the motion controller. It provides the information of the current command position. It is useful for debugging the motion system.

Our motion system is an open loop type. The motor driver receives pulses from motion controller and drive the motor to move. When the driver is not moving, it can check this command counter and see if there is an update value on it. If it is, it means that the pulses have seen sent and the problem could be on the motor driver. Try to check motor driver’s pulse receiving counter when this situation is happened.

The unit of command counter is in pulse. The counter value could be reset by a counter clear signal or home function completion.

Users can also use a software command counter setting function to reset it.

4.5.2 Feedback position counter

The feedback position counter is a 28-bit binary up/down counter.

Its input source is the input pulses from the EA/EB pins. It counts the motor position from motor’s encoder output. This counter could be set from a source of command position for an option when no external encoder inputs.

The command output pulses and feedback input pulses will not always be the same ratio in mini-meters. Users must set the ratio if these two pulses are not 1:1.

Because our motion controller is not a closed-loop type, the feedback position counter is just for reference after motion is moving.

The position closed-loop is done by servo motor driver. If the servo driver is well tuned and the mechanical parts are well assembled, the total position error will remain in acceptable range after motion command is finished.

4.5.3 Command and Feedback error counter

The command and feedback error counter is used to calculate the error between the command position and the feedback position.

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The value is calculated from command subtracting feedback position.

If the ratio between command and feedback is not 1:1, the error counter is meaningless.

This counter is a 16-bit binary up/down counter.

4.5.4 General purpose counter

The source of general purpose counter could be any of the following:

1. Command position output – the same as a command position counter

2. Feedback position input – the same as a feedback position counter

3. Manual Pulse input – default setting

4. Clock Ticks – counter from a timer about 9.8MHz

4.5.5 Target position recorder

The target position recorder is used for providing target position information. It is used in continuous motion because motion controller need to know the previous motion command’s target position and current motion command’s target position in order to calculate relative pulses of current command then send results into pre-register. Please check if the target position is the same with current command position before continuous motion. Especially after the home function and stop function.

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4.6 The Comparators

There are 5 counter comparators of each axis. Each comparator has dedicated functions. They are:

1. Positive soft end-limit comparator to command counter

2. Negative soft end-limit comparator to command counter

3. Command and feedback error counter comparator

4. General comparator for all counters

5. Trigger comparator for all command and feedback counters

4.6.1 Soft end-limit comparators

There are two comparators for end-limit function of each axis. We call them for the soft end-limit comparators. One is for plus or positive end-limit and the other is for minus or negative end-limit. The end-limit is to prevent machine crash when over traveling. We can use the soft limit instead of a real end-limit switch. Notice that these two comparators only compare the command position counter. Once the command position is over the limited set inside the positive or negative comparators, it will stop moving as it touches the end-limit switch.

4.6.2 Command and feedback error counter comparators

This comparator is only for command and feedback counter error.

Users can use this comparator to check if the error is too big. It can be set a action when this condition is met. The actions include generating interrupt, immediately stop, and deceleration to stop.

4.6.3 General comparator

The general comparator let users to choose the source to compare. It could be chosen from command, feedback position counter, error counter or general counter. The compare methods could be chosen by equal, greater than or less than with directional or directionless. Also, the action when condition is met can be chosen from generating interrupt, stop motion or others.

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4.6.4 Trigger comparator

The trigger comparator is much like general comparator. It has an additional function, generating a trigger pulse when condition is met. Once the condition is met, the CMP pin on the connector will output a pulse for specific purpose like triggering a camera to catch picture. Not all of axes have this function. It depends on the existence of CMP pin of the axis. The following diagram shows the application of triggering.

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In this application, the table is controlled by the motion command, and the CCD Camera is controlled by CMP pin. When the comparing position is reached, the pulse will be outputted and the image is captured. This is an on-the-fly image capture. If you want to get more images during the motion path, try to set a new comparing point right after previous image is captured. Continuous image capturing can be accomplished by this method.

4.7 Other Motion Functions

We provide many other functions on the motion controller. Such as backlash compensation, slip correction, vibration restriction, speed profile calculation and so on. The following sections will describe these functions.

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4.7.1 Backlash compensation and slip corrections

The motion controller has backlash and slip correction functions.

These functions output the number of command pulses in FA speed. The backlash compensation is performed each time when the direction changes on operation. The slip correction function is performed before a motion command, regardless of the direction.

The correction amount of pulses can be set through the function library.

4.7.2 Vibration restriction function

The method of vibration restriction of the motion controller is by adding one pulse of reverse direction and then one pulse of forward direction shortly after completing a motion command. The timing of these two dummy pulses are shown below: (RT is reverse time and FT is forward time)

4.7.3 Speed profile calculation function

Our motion function needs several speed parameters from users.

Some parameters are conflict in speed profile. For example, if you input a very fast speed profile and a very short distance to motion function, the speed profile is not exist for these parameters. At this situation, motion library will keep the acceleration and deceleration rate. It tries to lower the maximum speed from users automatically to reform a speed profile feasible. The following diagram shows this concept.

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Our motion library has a series of functions to know the actual speed profile of the command from users.

4.8 Interrupt Control

The motion controller can generate an interrupt signal to the host

PC. It is much useful for event-driven software application. Users can use this function _8158_int_control() to enable or disable the interrupt service.

There are three kinds of interrupt sources on PCI-8158. One is motion interrupt source and the other is error interrupt source and another is GPIO interrupt sources. Motion and GPIO interrupt sources can be maskable but error interrupt sources can’t. Motion interrupt sources can be maskable by

_8158_set_motion_int_factor(). Its mask bits are shown as following table:

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Motion Interrupt Source Bit Settings

Bit Description

12

13

14

15

8

9

10

11

16

17

18

19

20-31

6

7

4

5

0

1

Normally Stop

Next command in buffer starts

2 Command pre-register 2 is empty and allow new command to write

3 0

Acceleration Start

Acceleration End

Deceleration Start

Deceleration End

+Soft limit or comparator 1 is ON

-Soft limit or comparator 2 is ON

Error comparator or comparator 3 is ON

General comparator or comparator 4 is ON

Trigger comparator or comparator 5 is ON

Counter is reset by CLR input

Counter is latched by LTC input

Counter is latched by ORG Input

SD input turns on

0

0

CSTA input or _8158_start_move_all() turns on

0

Table 4-1: Motion Interrupt Source Bit Settings

The error interrupt sources are non-maskable but the error number of situation could be get from _8158_wait_error_interrupt()’s return code if it is not timeout.

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Error Interrupt return codes

Value Description

6

7

4

5

0

1

+Soft Limit is ON and axis is stopped

-Soft Limit is ON and axis is stopped

2 Comparator 3 is ON and axis is stopped

3 General Comparator or comparator 4 is ON and axis is stopped

Trigger Comparator or comparator 5 is ON and axis is stopped

+End Limit is on and axis is stopped

-End Limit is on and axis is stopped

ALM is happened and axis is stop

12

13

14

15

8 CSTP is ON or _8158_stop_move_all is on and axis is stopped

9 CEMG is on and axis is stopped

10

11

SD input is on and axis is slowed down to stop

0

Interpolation operation error and stop axis is stopped from other axis’s error stop

Pulse input buffer overflow and stop

Interpolation counter overflow

16

17

11-31

Encoder input signal error but axis is not stopped

Pulse input signal error but axis is not stopped

0

Table 4-2: Error Interrupt return codes

The GPIO interrupt sources are maskable. The mask bits table is shown below:

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GPIO Interrupt Source Bit Settings (1=Enable,0=Disable)

Bit Description

6

7

4

5

2

3

0

1

DI0 falling edge

DI1 falling edge

DI2 falling edge

DI3 falling edge

DI0 raising edge

DI1 raising edge

DI2 raising edge

DI3 raising edge

8

9

Pin23 input interrupt

Pin57 input interrupt

10 Pin23/57 interrupt mode selection (0=falling, 1=raising)

11-14 0

15 GPIO interrupt switch ( Always=1)

Table 4-3: GPIO Interrupt Source Bit Settings

The steps for using interrupts:

1. Use _8158_int_control(CARD_ID, Enable=1/Disable=0);

2. Set interrupt sources for Event or GPIO interrupts.

3. _8158_set_motion_int_facor(AXIS0, 0x01); // Axis0 normally stop

4. _8158_set_gpio_int_factor(CARD0, 0x01); // DI0 falling edge

5. _8158_wait_motion_interrupt(AXIS0, 0x01, 1000) // Wait

1000ms for normally stop interrupt

6. _8158_wait_gpio_interrupt(CARD0, 0x01, 1000) // Wait

1000ms for DI0 falling edge interrupt

7. I16 ErrNo=_8158_wait_error_interrupt(AXIS0, 2000); //

Wait 2000ms for error interrupts

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4.9 Multiple Card Operation

The motion controller allows more than one card in one system.

Since the motion controller is plug-and-play compatible, the base address and IRQ setting of the card are automatically assigned by the PCI BIOS at the beginning of system booting. You don’t need and can’t change the resource settings.

When multiple cards are applied to a system, the number of card must be noted. The card number depends on the card ID switch setting on the board. The axis number is depends on the card ID.

For example, if three motion controller cards are plugged into PCI slots, and the corresponding card ID is set, then the axis number on each card will be:

Notice that if there has the same card ID on multiple cards, the function will not work correctly.

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5 MotionCreatorPro

After installing the hardware (Chapters 2 and 3), it is necessary to correctly configure all cards and double check the system before running. This chapter gives guidelines for establishing a control system and manually testing the 8158 cards to verify correct operation. The MotionCreatorPro software provides a simple yet powerful means to setup, configure, test, and debug a motion control system that uses 8158 cards.

Note that MotionCreatorPro is only available for Windows 2000/

XP with a screen resolution higher than 1024x768. Recommended screen resolution is 1024x768. It cannot be executed under the

DOS environment.

5.1 Execute MotionCreatorPro

After installing the software drivers for the 8158 in Windows 2000/

XP, the MotionCreatorPro program can be located at <chosen path> \PCI-Motion\MotionCreatorPro. To execute the program, double click on the executable file or use Start>Program

Files>PCI-Motion>MotionCreatorPro.

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5.2 About MotionCreatorPro

Before Running MotionCreatorPro, the following issues should be kept in mind.

1. MotionCreatorPro is a program written in VB.NET 2003, and is available only for Windows 2000/XP with a screen resolution higher than 1024x768. It cannot be run under

DOS.

2. 2.MotionCreatorPro allows users to save settings and configurations for 8158 cards. Saved configurations will be automatically loaded the next time MotionCreatorPro is executed. Two files, 8158.ini and 8158MC.ini, in the windows root directory are used to save all settings and configurations.

3. To duplicate configurations from one system to another, copy 8158.ini and 8158MC.ini into the windows root directory.

4. If multiple 8158 cards use the same MotionCreatorPro saved configuration files, the DLL function call

_8158_config_from_file() can be invoked within a user developed program. This function is available in a DOS environment as well.

MotionCreatorPro

5.3 MotionCreatorPro Form Introducing

5.3.1 Main Menu

The main menu appears after running MotionCreatorPro. It is used to:

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5.3.2 Select Menu

The select menu appears after running MotionCreatorPro. It is used to:

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5.3.3 Card Information Menu

This menu shows Information about this card.

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5.3.4 Configuration Menu

In this menu, you can configure ALM, INP, ERC, EL, ORG, and

EZ.

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1.

ALM Logic and Response mode : Select logic and response modes of ALM signal. The related function call is _8158_set_alm().

2.

INP Logic and Enable/Disable selection : Select logic, and Enable/ Disable the INP signal. The related function call is _8158_set_inp()

3.

ERC Logic and Active timing : Select the Logic and

Active timing of the ERC signal. The related function call is _8158_set_erc().

4.

EL Response mode : Select the response mode of the

EL signal. The related function call is

_8158_set_limit_logic ().

MotionCreatorPro

5.

ORG Logic : Select the logic of the ORG signal. The related function call is _8158_set_home_config().

6.

EZ Logic : Select the logic of the EZ signal. The related function call is _8158_set_home_config().

7.

Buttons :

Z

Z

Z

Z

Next Card : Change operating card.

Next Axis : Change operating axis.

Save Config : Save current configuration to 8158.ini and

8158MC.ini.

Close : Close the menu.

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In this menu, you can configure LTC, SD, PCS, and Select_Input.

92

1.

LTC Logic: Select the logic of the LTC signal. The related function call is _8158_set_ltc_logic().

2.

LTC latch_source : Select the logic of the latch_source signal. The related function call is

_8158_set_latch_source ().

3.

SD Configuration : Configure the SD signal. The related function call is _8158_set_sd().

4.

PCS Logic : Select the logic of the SelectNo signal. The related function call is _8158_set_pcs_logic().

5.

Set gpio input : Select the configurations of the gpio input. The related function call is

_8158_set_gpio_input_function.

6.

Gpio Logic : Select the logic of the gpio. The related

MotionCreatorPro

function call is _8158_set_gpio_input_function.

7.

Buttons :

Z

Z

Z

Z



Save Config : Save current configuration to 8158.ini And

8158MC.ini.

Close: Close the menu.

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In this menu, you can configure pulse input/output and move ratio and INT factor.

94

1.

Pulse Output Mode : Select the output mode of the pulse signal (OUT/ DIR). The related function call is

_8158_set_pls_outmode().

2.

Pulse Input : Sets the configurations of the Pulse input signal(EA/EB). The related function calls are

_8158_set_pls_iptmode(), _8158_set_feedback_src().

3.

INT Factor : Select factors to initiate the event int. The related function call is _8158_set_int_factor().

4.

Buttons :

Z

Z

Z

Z




8158MC.ini.


MotionCreatorPro

5.3.5 Single Axis Operation Menu

In this menu, you can change the settings a selected axis, including velocity mode motion, preset relative/absolute motion, manual pulse move, and home return.

1.

Position :

Z

Z

Z

Z

Command : displays the value of the command counter.

The related function is _8158_get_command().

Feedback : displays the value of the feedback position counter. The related function is _8158_get_position()

Pos Error : displays the value of the position error counter. The related function is

_8158_get_error_counter().

Target Pos : displays the value of the target position recorder. The related function is

MotionCreatorPro 95

96

_8158_get_target_pos().

2.

Position Reset : clicking this button will set all positioning counters to a specified value. The related functions are:

_8158_set_position()

_8158_set_command()

_8158_reset_error_counter()

_8158_reset_target_pos()

3.

Motion Status : Displays the returned value of the

_8158_motion_done function. The related function is

_8158_motion_done().

4.

INT Status :

Z

Z

Z

Z int_factor bit no : Set int_factor bit.

Normal INT : display of Normal INT status. The related function is _8158_wait_motion_interrupt ().

Error INT : display of Error INT status. The related function is _8158_wait_error_interrupt ().

GPIO INT : display of GPIO INT status. The related function is _8158_wait_gpio_interrupt ().

5.

Velocity : The absolute value of velocity in units of PPS.

The related function is _8158_get_current_speed().

6.

Show Velocity Curve Button : Clicking this button will open a window showing a velocity vs. time curve. In this curve, every 100ms, a new velocity data point will be added. To close it, click the same button again. To clear data, click on the curve.

MotionCreatorPro

7.

Operation Mode : Select operation mode.

Z

Z

Z

Z

Absolute Mode : “Position1” and “position2” will be used as absolution target positions for motion. The related functions are _8158_start_ta_move(),

_8158_start_sa_move().

Relative Mode : “Distance” will be used as relative displacement for motion. The related function is

_8158_start_tr_move(), _8158_start_sr_move().

Cont. Move : Velocity motion mode. The related function is _8158_tv_move(), _8158_start_sv_move().

Manual Pulse Move : Manual Pulse motion. Clicking this button will invoke the manual pulse configuration window.

Z Home Mode : Home return motion. Clicking this button will invoke the home move configuration window. The related function is _8158_set_home_config().If the

MotionCreatorPro 97

Z

Z

Z

Z

Z check box “ATU” is checked, it will execute auto homing when motion starts.

ERC Output : Select if the ERC signal will be sent when home move completes.

EZ Count : Set the EZ count number, which is effective on certain home return modes.

Mode : Select the home return mode. There are 13 modes available.

Home Mode figure : The figure shown explains the actions of the individual home modes.

Close : Click this button close this window.

98

8.

Position : Set the absolute position for “Absolute Mode.”

It is only effective when “Absolute Mode” is selected.

9.

Distance : Set the relative distance for “Relative Mode.”

It is only effective when “Relative Mode” is selected.

10.

Repeat Mode : When “On” is selected, the motion will become repeat mode (forward<->backward or

MotionCreatorPro

position1<->position2). It is only effective when “Relative

Mode” or “Absolute Mode” is selected.

11.

Vel. Profile : Select the velocity profile. Both Trapezoidal and S-Curve are available for “Absolute Mode,” “Relative

Mode,” and “Cont. Move.”

12.

FA Speed/ATU : Sets the configurations of the FA

Speed. The related function calls are

_8158_set_fa_speed().If the check box “ATU” is checked, it will execute auto homing when motion starts.

13.

Motion Parameters : Set the parameters for single axis motion. This parameter is meaningless if “Manual Pulse

Move” is selected, since the velocity and moving distance is decided by pulse input.

Z

Z

Z

Z

Z

Z

Z

Start Velocity : Set the start velocity of motion in units of

PPS. In “Absolute Mode” or “Relative Mode,” only the value is effective. For example, -100.0 is the same as

100.0. In “Cont. Move,” both the value and sign are effective. –100.0 means 100.0 in the minus direction.

Maximum Velocity : Set the maximum velocity of motion in units of PPS. In “Absolute Mode” or “Relative Mode,” only the value is effective. For example, -5000.0 is the same as 5000.0. In “Cont. Move,” both the value and sing is effective. –5000.0 means 5000.0 in the minus direction.

Accel. Time : Set the acceleration time in units of second.

Decel. Time : Set the deceleration time in units of second.

SVacc : Set the S-curve range during acceleration in units of PPS.

SVdec : Set the S-curve range during deceleration in units of PPS.

Move Delay : This setting is effective only when repeat mode is set “On.” It will cause the 8158 to delay for a specified time before it continues to the next motion.

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14.

Speed_Profile : Clicking this button will show the Speed

Profile.

100

15.

Digital I/O : Display and set Digital I/O. The related function is

_8158_get_gpio_output(),_8158_get_gpio_input(),

_8158_set_gpio_output().

16.

Servo On : Set the SVON signal output status. The related function is _8158_set_servo().

17.

Play Key :

Left play button : Clicking this button will cause the 8158 start to outlet pulses according to previous setting.

Z

Z

Z

Z

In “Absolute Mode,” it causes the axis to move to position1.

In “Relative Mode,” it causes the axis to move forward.

In “Cont. Move,” it causes the axis to start to move according to the velocity setting.

In “Manual Pulse Move,” it causes the axis to go into pulse move. The speed limit is the value set by “Maximum Velocity.”

MotionCreatorPro

Right play button : Clicking this button will cause the 8158 start to outlet pulses according to previous setting.

Z

Z

Z

Z

In “Absolute Mode,” it causes the axis to move to position.

In “Relative Mode,” it causes the axis to move backwards.

In “Cont. Move,” it causes the axis to start to move according to the velocity setting, but in the opposite direction.

In “Manual Pulse Move,” it causes the axis to go into pulse move. The speed limit is the value set by “Maximum Velocity.”

18.

Stop Button : Clicking this button will cause the 8158 to decelerate and stop. The deceleration time is defined in

“Decel. Time.” The related function is _8158_sd_stop().

19.

I/O Status : The status of motion I/O. Light-On means

Active, while Light-Off indicates inactive. The related function is _8158_get_io_status().

20.

Buttons :

Z

Z

Z

Z




8158MC.ini.


MotionCreatorPro 101

5.3.6 Two-Axis Operation Menu

In this menu, users can change the settings two selected axis, including velocity mode motion, preset relative/absolute motion.

102

1.

Motion Parameters : Set the parameters for single axis motion. This parameter is meaningless if “Manual Pulse

Move” is selected, since the velocity and moving distance is decided by pulse input.

Z

Z


PPS. In “Absolute Mode” or “Relative Mode,” only the value is effective. For example, -100.0 is the same as

100.0.

Maximum Velocity : Set the maximum velocity of motion in units of PPS. In “Absolute Mode” or “Relative Mode,” only the value is effective. For example, -5000.0 is the same as 5000.0.

MotionCreatorPro

Z

Z

Z

Z

Tacc : Set the acceleration time in units of second.

Tdec : Set the deceleration time in units of second.

Sacc : Set the S-curve range during acceleration in units of PPS.

Sdec : Set the S-curve range during deceleration in units of PPS.

2.

Repeat Mode : When “On” is selected, the motion will become repeat mode (forward<->backward or position1<->position2). It is only effective when “Relative

Mode” or “Absolute Mode” is selected.

3.

Vel. Profile : Select the velocity profile. Both Trapezoidal and S-Curve are available for “Absolute Mode,” “Relative

Mode,” and “Cont. Move.”

4.


Z

Z

Absolute Mode : “Position1” and “position2” will be used as absolution target positions for motion. The related functions are _8158_start_ta_move(),


Relative Mode : “Distance” will be used as relative displacement for motion. The related function is

_8158_start_tr_move(), _8158_start_sr_move().

5.

Distance : Set the relative distance for “Relative Mode.”

It is only effective when “Relative Mode” is selected.

6.

Position : Set the absolute position for “Absolute Mode.”

It is only effective when “Absolute Mode” is selected.

7.

Buttons :

Z

Z



8.

I/O Status : The status of motion I/O. Light-On means

Active, while Light-Off indicates inactive. The related function is _8158_get_io_status().

9.

Motion status : Displays the returned value of the




104

10.

Current Position :

Z Command : displays the value of the command counter.

The related function is _8158_get_position().

11.



12.

Play Key :

Left play button : Clicking this button will cause the 8158 start to outlet pulses according to previous setting.

Z

Z

In “Absolute Mode”, it causes the axis to move to position1.

In “Relative Mode”, it causes the axis to move forward.

Right play button : Clicking this button will cause the 8158 start to outlet pulses according to previous setting.

Z

Z

In “Absolute Mode”, it causes the axis to move to position2.

In “Relative Mode”, it causes the axis to move backwards.

Stop Button : Clicking this button will cause the 8158 to decelerate and stop. The deceleration time is defined in “Decel.

Time.” The related function is _8158_sd_stop().

13.

Buttons :

Z Axis0 Reset : clicking this button will set all positioning counters of selected axis to zero. The related functions are:

_8158_set_position()

_8158_set_command()

_8158_reset_error_counter()

_8158_reset_target_pos()

Z Axis1 Reset : clicking this button will set all positioning counters of selected axis to zero.

Z ClearPlots : Clear the Motion Graph.

Z

Z

Save Config : Save current configuration to 8158.ini and

8158MC.ini.


MotionCreatorPro

5.3.7 2D_Motion Menu

Press 2-D button in operating window will enter this window. This is for 2-D motion test. It includes the following topics:

X

X

X

X

X

Linear Interpolation

Circular Interpolation

Incremental Jog

Continuous Jog

Other Control Objects

1.

Jog Type :

Z Continuous Jog : Continuous Jog means that when you press one directional button, the axis will continuously move with an increasing speed. The longer you press,


the faster it runs. When you un-press the button, the axis will stop immediately.

Z Incremental Jog : Incremental jog means that when you click one directional button, the axis will step a distance according to the Step-Size’s setting.

106

2.

Jog Setting : Set the parameters for single axis motion.

This parameter is meaningless if “Jog Mode” is selected, since the velocity and moving distance is decided by pulse input.

Z

Z

Z


PPS.

Maximum Velocity : Set the maximum velocity of motion in units of PPS.

Tacc : Set the acceleration time in units of second.

3.


Z

Z

Absolute Mode : “Position” will be used as absolution target positions for motion when “Linear Interpolation

Mode” is selected. “ABS EndPos” and “ABS Center” will be used as absolution target positions for motion when

“Circular Interpolation Mode” is selected. The related functions are _8158_start_ta_move(),


Relative Mode : “Distance” will be used as absolution

MotionCreatorPro

target positions for motion when “Linear Interpolation

Mode” is selected. “Dis EndPos” and “Dis Center” will be used as absolution target positions for motion when “Circular Interpolation Mode” is selected. The related function is _8158_start_tr_move(), _8158_start_sr_move().

4.

DIR : Specified direction of arc, CW/CCW, It is only effective when “Circular Interpolation Mode” is selected.

5.

Vel. Profile : Select the velocity profile. Both Trapezoidal and S-Curve are available for “Linear Interpolation

Mode” and “Circular Interpolation Mode”.

6.

Speed Parameters : Set the parameters for single axis motion. This parameter is meaningless if “Linear Interpolation Mode” or “Circular Interpolation Mode” is selected, since the velocity and moving distance is decided by pulse input.

Z

Z

Z

Z

Z

Z


PPS.

Maximum Velocity : Set the maximum velocity of motion in units of PPS.

Accel. Time : Set the acceleration time in units of second.

Decel. Time : Set the deceleration time in units of second.

SVacc : Set the S-curve range during acceleration in units of PPS.

SVdec : Set the S-curve range during deceleration in units of PPS.

7.

Set Distance/End Pos : Set the absolution target positions or relative distance for “Linear Interpolation Mode” .

Set the position end of arc for “Circular Interpolation

Mode”. It is available for “Linear Interpolation Mode” and

“Circular Interpolation Mode”.

8.

Set Center : Set the position of center for “Circular Interpolation Mode”. It is only effective when “Circular Interpolation Mode” is selected.


9.

Jog Command : Press one directional button to move.

108

10.



11.

Interpolation Command :

Z Command: displays the value of the command counter.

The related function is _8158_get_command().

12.

Current Position :

Z Feedback: displays the value of the feedback position counter. The related function is _8158_get_position().

13.

Home Mode : Home return motion. Clicking this button will invoke the home move configuration window. The related function is _8158_set_home_config().There are two home return buttons at the left-down corner of this window. It is useful when user need to return to the origin.

14.

Mode :

Z

Z

Linear Interpolation : After setting motion parameters correctly in “Motion Parameters Setting Frame”, you can enter the destination in this frame. Then click Run button to start linear interpolation motion.

Circular Interpolatio n: The setting for circular interpolation mode has three additional parameters in “Motion

Parameters Setting Frame”. They are arc degree, division axis and optimize option. Please refer to section 6.7

,6.8 to set them.

MotionCreatorPro

After setting these parameters, you can enter the arc center and degree in “Play Key Frame”. Click Run button to start circular interpolation motion.

Z Jog Type : Continuous Jog

Continuous Jog means that when you press one directional button, the axis will continuously move with an increasing speed. The longer you press, the faster it runs. When you unpress the button, the axis will stop immediately.

Z Incremental Jog : Incremental jog means that when you click one directional button, the axis will step a distance according to the Step-Size’s setting.

15.

Motion status : Displays the returned value of the



16.

Play Key :

X Play button : Clicking this button will cause the 8158 start to outlet pulses according to previous setting.

Z

Z

In “Linear Mode,” it causes the axis to move to Distance.

The related function is _8158_start_tr_move_xy,

_8158_start_sr_move_xy.

In “Circular Mode,” it causes the axis to move to Distance(By Pos/Dist(pulse)).The related function is

_8158_start_tr_arc_xy, _8158_start_sr_arc_xy.


X Stop Button : Clicking this button will cause the 8158 to decelerate and stop. The deceleration time is defined in

“Decel. Time.” The related function is _8158_sd_stop().

17.

Buttons :

Z

Z

Z

• Next Car d: Change operating card.

• Save Config : Save current configuration to 8158.ini

And 8158MC.ini.

• Close : Close the menu.

110

18.

Graph Range Frame :

Z

Z

Clear : Clear the Motion Graph.

Center : Display the Motion Graph in center position.

19.

Graph Range : controls X or Y axis’s display range.

20.

Origin Position : let user to pan the display location.

MotionCreatorPro

5.3.8 Help Menu

In this menu, users can Click Mouse Right Key to show Help Information.


112 MotionCreatorPro

6 Function Library

This chapter describes the supporting software for the PCI-8158 card. User can use these functions to develop programs in C,

C++, or Visual Basic. If Delphi is used as the programming environment, you will need to transform the header files and pci_8158.h manually.

Function Library 113

114

6.1 List of Functions

System & Initialization Section 6.3

Function Name Description

_8158_initial

_8158_close

_8158_get_version

_8158_set_security_key

Card initialization

Card Close

Check the hardware and software version

Set security the password

_8158_check_security_key Check security the password

_8158_reset_security_key Reset the security password to default value

_8158_config_from_file Config PCI-8158 setting from file

Pulse Input/Output Configuration Section 6.4


_8158_set_pls_outmode

_8158_set_pls_iptmode

Set pulse command output mode

Set encoder input mode

_8158_set_feedback_src Set counter input source

Velocity mode motion Section 6.5


_8158_tv_move

_8158_sv_move

Accelerate an axis to a constant velocity with trapezoidal profile

Accelerate an axis to a constant velocity with Scurve profile

_8158_sd_stop

_8158_emg_stop

Decelerate to stop

Immediately stop

_8158_get_current_speed Get current speed(pulse/sec)

_8158_speed_override Change speed on the fly

_8158_set_max_override_s peed

Set the maximum override speed

Function Library

Single Axis Position Mode Section 6.6

Function Name

_8158_start_tr_move

_8158_start_ta_move

_8158_start_sr_move

_8158_start_sa_move

_8158_set_move_ratio

_8158_position_override

Description

Begin a relative trapezoidal profile move

Begin an absolute trapezoidal profile move

Begin a relative S-curve profile move

Begin an absolute S-curve profile move

Set the ratio of command pulse and feedback pulse.

Change position on the fly

Linear Interpolated Motion Section 6.7

Function Name

_8158_start_tr_move_xy

_8158_start_ta_move_xy

_8158_start_sr_move_xy

_8158_start_sa_move_xy

_8158_start_tr_move_zu

_8158_start_ta_move_zu

_8158_start_sr_move_zu

_8158_start_sa_move_zu

_8158_start_tr_move_ab

_8158_start_ta_move_ab

_8158_start_sr_move_ab

_8158_start_sa_move_ab

Description

Begin a relative 2-axis linear interpolation for X & Y, with trapezoidal profile

Begin an absolute 2-axis linear interpolation for X &

Y, with trapezoidal profile

Begin a relative 2-axis linear interpolation for X & Y, with S-curve profile

Begin an absolute 2-axis linear interpolation for X &

Y, with S-curve profile

Begin a relative 2-axis linear interpolation for Z &

U, with trapezoidal profile

Begin an absolute 2-axis linear interpolation for Z &

U, with trapezoidal profile

Begin a relative 2-axis linear interpolation for Z &

U, with S-curve profile

Begin a s-curve absolute circular interpolation for Z

& U

Begin a relative 2-axis linear interpolation for A &

B, with trapezoidal profile

Begin an absolute 2-axis linear interpolation for A &

B, with trapezoidal profile

Begin a relative 2-axis linear interpolation for A &

B, with S-curve profile

Begin a s-curve absolute circular interpolation for A

& B


116

Function Name

_8158_start_tr_move_cd

_8158_start_ta_move_cd

_8158_start_sr_move_cd

_8158_start_sa_move_cd

_8158_start_tr_line2

_8158_start_ta_line2

_8158_start_sr_line2

_8158_start_sa_line2









Description

Begin a relative 2-axis linear interpolation for C &

D, with trapezoidal profile

Begin an absolute 2-axis linear interpolation for C &

D, with trapezoidal profile

Begin a relative 2-axis linear interpolation for C &

D, with S-curve profile

Begin an absolute 2-axis linear interpolation for C &

D, with S-curve profile

Begin a relative 2-axis linear interpolation for any 2 of 4 axes, with trapezoidal profile

Begin an absolute 2-axis linear interpolation for any

2 of 4 axes, with trapezoidal profile

Begin a relative 2-axis linear interpolation for any 2 of 4 axes, with S-curve profile


2 of 4 axes, with S-curve profile













Function Library

Circular Interpolation Motion Section 6.8

Function Name

_8158_start_tr_arc_xy

_8158_start_ta_arc_xy

_8158_start_sr_arc_xy

_8158_start_sa_arc_xy

_8158_start_tr_arc_zu

_8158_start_ta_arc_zu

_8158_start_sr_arc_zu

_8158_start_sa_arc_zu

_8158_start_tr_arc_ab

_8158_start_ta_arc_ab

_8158_start_sr_arc_ab

_8158_start_sa_arc_ab

_8158_start_tr_arc_cd

_8158_start_ta_arc_cd

_8158_start_sr_arc_cd

_8158_start_sa_arc_cd

_8158_start_tr_arc2

Description

Begin a t-curve relative circular interpolation for X &

Y

Begin a t-curve absolute circular interpolation for X

& Y

Begin a s-curve relative circular interpolation for X

& Y

Begin a s-curve absolute circular interpolation for X

& Y

Begin a t-curve relative circular interpolation for Z &

U

Begin a t-curve absolute circular interpolation for Z

& U

Begin a s-curve relative circular interpolation for Z

& U

Begin a s-curve absolute circular interpolation for Z

& U

Begin a t-curve relative circular interpolation for A &

B

Begin a t-curve absolute circular interpolation for A

& B

Begin a s-curve relative circular interpolation for A

& B

Begin a s-curve absolute circular interpolation for A

& B

Begin a t-curve relative circular interpolation for C

& D

Begin a t-curve absolute circular interpolation for C

& D

Begin a s-curve relative circular interpolation for C

& D

Begin a s-curve absolute circular interpolation for C

& D

Begin a t-curve relative circular interpolation for any 2 of 4 axes


Function Name

_8158_start_ta_arc2

_8158_start_sr_arc2

_8158_start_sa_arc2

Description

Begin a t-curve absolute circular interpolation for any 2 of 4 axes

Begin a s-curve relative circular interpolation for any 2 of 4 axes

Begin a s-curve absolute circular interpolation for any 2 of 4 axes

Home Return Mode Section 6.9

Function Name

_8158_set_home_config

_8158_home_move

_8158_home_search

Description

Set the home/index logic configuration

Begin a home return action

Perform an auto search home

Manual Pulse Motion Section 6.10


_8158_set_pulser_iptmode Set pulse input mode

_8158_disable_pulser_input Disable the pulse input

_8158_pulser_vmove

_8158_pulser_pmove

_8158_set_pulser_ratio

Start pulse v move

Start pulse p move

Set manual pulse ratio for actual output pulse rate

Motion Status Section 6.11

Function Name

_8158_motion_done

Description

Return the motion status

Motion Interface I/O Section 6.12

Function Name

_8158_set_servo

_8158_set_pcs_logic

_8158_set_pcs

_8158_set_clr_mode

_8158_set_inp

Description

Set On-Off state of SVON signal

Set PCS(Position Change Signal) signal’s logic

Enable PCS for position override

Set CLR signal’s mode

Set INP signal’s logic and operating mode

118 Function Library

Function Name

_8158_set_alm

_8158_set_erc

_8158_set_erc_out

_8158_clr_erc

_8158_set_sd

_8158_enable_sd

_8158_set_limit_logic

_8158_set_limit_mode

_8158_get_io_status

Description

Set ALM signal’s logic and operating mode

Set ERC signal’s logic and timing

Output an ERC signal

Clear the ERC signal

Set SD signal’s logic and operating mode

Enable SD signal

Set EL signal’s logic

Set EL operating mode

Get all the motion I/O status of 8158

Interrupt Control Section 6.13


_8158_int_control Enable/Disable INT service

_8158_wait_error_interrupt Wait error related interrupts

_8158_wait_motion_interrupt Wait motion related interrupts

_8158_set_motion_int_factor Set the factors of motion related interrupts

Position Control and Counters Section 6.14


_8158_get_position

_8158_set_position

_8158_get_command

_8158_set_command

Get the value of the feedback position counter

Set the feedback position counter

Get the value of the command position counter

Set the command position counter

_8158_get_error_counter Get the value of the position error counter

_8158_reset_error_counter Reset the position error counter

_8158_get_general_counter Get the value of the general counter

_8158_set_general_counter Set the general counter

_8158_get_target_pos

_8158_reset_target_pos

_8158_get_res_distance

_8158_set_res_distance

Get the value of the target position recorder

Reset target position recorder

Get remaining pulses accumulated from motions

Set remaining pulses record


Position Compare and Latch Section 6.15


_8158_set_trigger_logic

_8158_set_error_comparator

Set CMP signal logic

Set the error comparator

_8158_set_general_comparator Set the general comparator

_8158_set_trigger_comparator Set the trigger comparator

_8158_set_latch_source

_8158_set_ltc_logic

_8158_get_latch_data

Set the latch timing for a counter

Set the LTC signal’s logic

Get the latch data

Continuous Motion Section 6.16


_8158_set_continuous_move Enable continuous motion for absolute motion

_8158_check_continuous_buffer Check if the buffer is empty

_8158_dwell_move Set a dwell move

Multiple Axes Simultaneous Operation Section 6.17

Function Name

_8158_set_tr_move_all

_8158_set_ta_move_all

_8158_set_sr_move_all

_8158_set_sa_move_all

_8158_start_move_all

_8158_stop_move_all

Description

Multi-axis simultaneous operation setup




Begin a multi-axis trapezoidal profile motion

Simultaneously stop multi-axis motion

General-purposed Input/Output Section 6.18


_8158_set_gpio_output

_8158_get_gpio_output

Set digital output

Get digital output

_8158_get_gpio_input Get digital input

_8158_set_gpio_input_function Set the signal types to any digital inputs


Soft Limit 6.19

Function Name

_8158_disable_soft_limit

_8158_enable_soft_limit

_8158_set_soft_limit

Description

Disable soft limit function

Enable soft limit function

Set the soft limits

Backlash Compensation / Vibration Suppression 6.20


_8158_backlash_comp Set backlash corrective pulse for compensation

_8158_suppress_vibration Set suppress vibration idle pulse counts

_8158_set_fa_speed Set FA speed for home mode

Speed Profile Calculation 6.21


_8158_get_tr_move_profile Get relative trapezoidal speed profile

_8158_get_ta_move_profile Get absolute trapezoidal speed profile

_8158_get_sr_move_profile Get relative S-curve speed profile

_8158_get_sa_move_profile Get absolute S-curve speed profile


122

6.2 C/C++ Programming Library

This section details all the functions. The function prototypes and some common data types are declared in pci_8158.h. We suggest you use these data types in your application programs. The following table shows the data type names and their range.

Type Name

U8

I16

U16

I32

U32

F32

F64

Description

8-bit ASCII character

16-bit signed integer

16-bit unsigned integer

32-bit signed long integer

32-bit unsigned long integer

32-bit single-precision floating-point

64-bit double-precision floating-point

Range

0 to 255

-32768 to 32767

0 to 65535

-2147483648 to 2147483647

0 to 4294967295

-3.402823E38 to 3.402823E38

-1.797683134862315E308

to 1.797683134862315E309

TRUE, FALSE Boolean Boolean logic value

The functions of the PCI-8158’s software drivers use full-names to represent the functions real meaning. The naming convention rules are:

In a “C” programming environment:

_{hardware_model}_{action_name}. e.g. _8158_initial() .

In order to recognize the difference between a C library and a VB library, a capital “B” is placed at the beginning of each function name, e.g. B_8158_initial() .

Function Library

6.3 System & Initialization

@ Name

_8158_initial – Card initialization

_8158_close – Card close

_8158_get_version – Check hardware and software version information

_8158_set_security_key – Set the security password

_8158_check_security_key – Check the security password

_8158_reset_security_key – Rest the security password to default

_8158_config_from_file Config – PCI-8158 setting from file

@ Description

_8158_initial :

This function is used to initialize an 8158 card and assign hardware resources. All 8158 cards must be initialized by this function before calling other functions in your applications. By setting the parameter “ Manual_ID ”, user can choose the type that the card’s ID is assigned manually or automatically.

_8158_close :

This function is used to close 8158 card and release its resources, which should be called at the end of your applications.

_8158_get_version :

Lets users read back the firmware’s, driver’s and DLL’s version information.

_8158_set_security_key :

This function is used to set a security code to the PCI card.

See also: _8158_check_security_key,

_8158_reset_security_key

_8158_check_security_key :


This function is used to verify the security code which the user set by the function “_8158_set_security_key”.

See also: _8158_set_security_key, _8158_reset_security_key

_8158_reset_security_key :

By this function, Users can reset the security code on the PCI card to default value. The default security code is 0.

See also: _8158_check_security_key, _8158_set_security_key

_8158_config_from_file :

This function is used to load the configuration of the PCI-8158 according to specified file. By using MotionCreatorPro, user could test and configure the 8158 correctly. After saving the configuration, the file would be existed in user’s system directory as 8158.ini.

When this function is executed, all 8158 cards in the system will be configured as the following functions were called according to parameters recorded in 8158.ini.

_8158_set_limit_logic

_8158_set_pcs_logic

_8158_set_ltc_logic

_8158_set_inp

_8158_set_erc

_8158_set_alm

_8158_set_pls_iptmode

_8158_set_pls_outmode

_8158_set_move_ratio

_8158_set_latch_source

_8158_set_feedback_src

_8158_set_home_config

_8158_set_soft_limit

_8158_set_fa_speed

_8158_set_sd


@ Syntax

C/C++(Windows 2000/XP)

I16 _8158_initial(I16 *CardID_InBit, I16

Manual_ID);

I16 _8158_close(void);

I16 _8158_get_version(I16 card_id, I16

*firmware_ver, I32 *driver_ver, I32

*dll_ver);

I16 _8158_set_security_key(I16 card_id, I16 old_secu_code, I16 new_secu_code);

I16 _8158_check_security_key(I16 card_id, I16 secu_code);

I16 _8158_reset_security_key(I16 card_id);

I16 _8158_config_from_file();

Visual Basic 6(Windows 2000/XP)

B_8158_initial(CardID_InBit As Integer, ByVal

Manual_ID As Integer) As Integer

B_8158_close() As Integer

B_8158_get_version(ByVal card_id As Integer, firmware_ver As Integer, driver_ver As Long, dll_ver As Long) As Integer

B_8158_set_security_key(ByVal card_id As Integer,

ByVal old_secu_code As Integer, ByVal new_secu_code As Integer) As Integer

B_8158_check_security_key(ByVal card_id As

Integer, ByVal secu_code As Integer)As

Integer

B_8158_reset_security_key(ByVal card_id As

Integer);

B_8158_config_from_file() As Integer

@ Argument

CardID_InBit :

Manual_ID : Enable the On board dip switch (SW1) to decide the

Card ID

Value meaning:

The CardID could be decided by:

0: the sequence of PCI slot.


1: on board DIP switch (SW1).

card_id : Specify the PCI-8158 card index. The card_id could be decided by DIP switch (SW1) or depend on slot sequence. Please refer to _8158_initial().

firmware_ver : The current firmware version.

driver_ver : The current device driver version.

dll_ver : The current DLL library version.

old_secu_code : Old security code.

new_secu_code : New security code.

secu_code : security code.


6.4 Pulse Input/Output Configuration

@ Name

_8158_set_pls_iptmode – Set the configuration for feedback pulse input.

_8158_set_pls_outmode – Set the configuration for pulse command output.

_8158_set_feedback_src – Enable/Disable the external feedback pulse input

@ Description

_8158_set_pls_iptmode :

Configure the input modes of external feedback pulses. There are 4 types for feedback pulse input. Note that this function makes sense only when the Src parameter in

_8158_set_feedback_src() function is enabled.

_8158_set_pls_outmode :

Configure the output modes of command pulses. There are 6 modes for command pulse output.

_8158_set_feedback_src :

If external encoder feedback is available in the system, set the

Src parameter in this function to an Enabled state. Then, the internal 28-bit up/down counter will count according to the configuration of the _8158_set_pls_iptmode() function. Else, the counter will count the command pulse output.

@ Syntax


I16 _8158_set_pls_iptmode(I16 AxisNo, I16 pls_iptmode, I16 pls_logic);

I16 _8158_set_pls_outmode(I16 AxisNo, I16 pls_outmode);

I16 _8158_set_feedback_src(I16 AxisNo, I16 Src);


128

Visual Basic6 (Windows 2000/XP)

B_8158_set_pls_iptmode(ByVal AxisNo As Integer,

ByVal pls_iptmode As Integer, ByVal pls_logic As Integer) As Integer

B_8158_set_pls_outmode(ByVal AxisNo As Integer,

ByVal pls_outmode As Integer) As Integer

B_8158_set_feedback_src(ByVal AxisNo As Integer,

ByVal Src As Integer) As Integer

@ Argument

AxisNo : Axis number designated to configure pulse Input/Output.

card_id Physical axis AxisNo

0

1

0

1

…

0

1

…

7

8

9

…

0

1

…

7 pls_iptmode : setting of encoder feedback pulse input mode

Value Meaning

2

3

0

1

1X A/B

2X A/B

4X A/B

CW/CCW pls_logic : Logic of encoder feedback pulse

Value

0

1

Meaning

Not inverse direction

Inverse direction

Function Library

pls_outmode : Setting of command pulse output mode.

Src : Counter source

Value

0

1

Meaning

External Feedback

Command pulse


130

6.5 Velocity mode motion

@ Name

_8158_tv_move – Accelerate an axis to a constant velocity with trapezoidal profile

_8158_sv_move – Accelerate an axis to a constant velocity with

S-curve profile

_8158_emg_stop – Immediately stop

_8158_sd_stop – Decelerate to stop

_8158_get_current_speed – Get current speed

_8158_speed_override – Change speed on the fly

_8158_set_max_override_speed – Set the maximum override speed

@ Description

_8158_tv_move :

This function is to accelerate an axis to the specified constant velocity with a trapezoidal profile. The axis will continue to travel at a constant velocity until the velocity is changed or the axis is commanded to stop. The direction is determined by the sign of the velocity parameter.

_8158_sv_move :

This function is to accelerate an axis to the specified constant velocity with a S-curve profile. The axis will continue to travel at a constant velocity until the velocity is changed or the axis is commanded to stop. The direction is determined by the sign of velocity parameter.

_8158_emg_stop :

This function is used to immediately stop an axis. This function is also useful when a preset move (both trapezoidal and Scurve motion), manual move, or home return function is performed.

_8158_sd_stop :

Function Library

This function is used to decelerate an axis to stop with a trapezoidal or S-curve profile. This function is also useful when a preset move (both trapezoidal and S-curve motion), manual move, or home return function is performed. Note: The velocity profile is decided by original motion profile.

_8158_get_current_speed :

This function is used to read the current pulse output rate

(pulse/sec) of a specified axis. It is applicable in any time in any operation mode.

_8158_speed_override :

When in motion operation, (such as executing

"_8158_tv_move"), this function can be used to change the speed on the fly. Please refer to section 4.2.14.

See also : _8158_set_max_override_speed

8158_set_max_override_speed :

This function is used to set the maximum override speed

(100% speed) before speed override operation. Please refer to

Section 4.2.14

See also: _8158_speed_override

@ Syntax


I16 _8158_tv_move(I16 AxisNo, F64 StrVel, F64

MaxVel, F64 Tacc);

I16 _8158_sv_move(I16 AxisNo, F64 StrVel, F64

MaxVel, F64 Tacc, F64 SVacc);

I16 _8158_emg_stop(I16 AxisNo);

I16 _8158_sd_stop(I16 AxisNo, F64 Tdec);

I16 _8158_get_current_speed(I16 AxisNo, F64

*speed)

I16 _8158_set_max_override_speed(I16 AxisNo, F64

OvrdSpeed, I16 Enable);


132


B_8158_tv_move(ByVal AxisNo As Integer, ByVal

StrVel As Double, ByVal MaxVel As Double,

ByVal Tacc As Double) As Integer

B_8158_sv_move(ByVal AxisNo As Integer, ByVal


ByVal Tacc As Double, ByVal SVacc As Double)

As Integer

B_8158_emg_stop(ByVal AxisNo As Integer) As

Integer

B_8158_sd_stop(ByVal AxisNo As Integer, ByVal

Tdec As Double) As Integer

B_8158_get_current_speed(ByVal AxisNo As Integer,

ByRef Speed As Double) As Integer

B_8158_set_max_override_speed(ByVal AxisNo As

Integer, ByVal OvrdSpeed As Double, ByVal

Enable As Integer) As Integer

@ Argument

AxisNo : Axis number designated to move or stop.


0

1

0

1

…

0

1

…

7

8

9

…

0

1

…

7

StrVel : Starting velocity in units of pulse per second

MaxVel : Maximum velocity in units of pulse per second

Tacc : Specified acceleration time in units of second

SVacc : Specified velocity interval in which S-curve acceleration is performed.

Note: SVacc = 0, for pure S-Curve

Tdec : specified deceleration time in units of second

*Speed : Variable to get current speed (pulse/sec).

Function Library

NewVelPercent : The Percentage of maximum override speed

(100% speed)

Time : The duration time of current speed to override speed. Unit: sec

OvrdSpeed :The maximum override speed (pulse/s)

Enable : 0:disable, 1:enable the override speed operation


134

6.6 Single Axis Position Mode

@ Name

_8158_start_tr_move – Begin a relative trapezoidal profile move

_8158_start_ta_move – Begin an absolute trapezoidal profile move

_8158_start_sr_move – Begin a relative S-curve profile move

_8158_start_sa_move – Begin an absolute S-curve profile move

_8158_set_move_ratio – Set the ration of command pulse and feedback pulse

_8158_position_override – Change position on the fly

@ Description

General:

The moving direction is determined by the sign of the Pos or

Dist parameter. If the moving distance is too short to reach the specified velocity, the controller will automatically lower the

MaxVel, and the Tacc, Tdec, VSacc, and VSdec will also become shorter while dV/dt(acceleration / deceleration) and d(dV/dt)/dt (jerk) are keep unchanged.

_8158_start_tr_move :

This function causes the axis to accelerate form a starting velocity (StrVel), rotate at constant velocity (MaxVel), and decelerate to stop at the relative distance with trapezoidal profile. The acceleration (Tacc) and deceleration (Tdec) time is specified independently–it does not let the program wait for motion completion but immediately returns control to the program.

_8158_start_ta_move :

This function causes the axis to accelerate from a starting velocity (StrVel), rotate at constant velocity (MaxVel), and decelerates to stop at the specified absolute position with trap-

Function Library

ezoidal profile. The acceleration (Tacc) and deceleration (Tdec) time is specified independently. This command does not let the program wait for motion completion, but immediately returns control to the program.

_8158_start_sr_move :

This function causes the axis to accelerate from a starting velocity (StrVel), rotate at constant velocity (MaxVel), and decelerates to stop at the relative distance with S-curve profile.

The acceleration (Tacc) and deceleration (Tdec) time is specified independently. This command does not let the program wait for motion completion, but immediately returns control to the program.

_8158_start_sa_move :

This function causes the axis to accelerate from a starting velocity (StrVel), rotate at constant velocity, and decelerates to stop at the specified absolute position with S-curve profile. The acceleration and deceleration time is specified independently.

This command does not let the program wait for motion completion but immediately returns control to the program.

_8158_set_move_ratio :

This function configures scale factors for the specified axis.

Usually, the axes only need scale factors if their mechanical resolutions are different. For example, if the resolution of feedback sensors is two times resolution of command pulse, then the parameter “move_ratio” could be set as 2.

_8158_position_override :

This function is used to change target position on the fly. There are some limitations on this function. Please refer to section

4.2.15 before use it.

@ Syntax


I16 _8158_start_tr_move(I16 AxisNo, F64 Dist, F64

StrVel, F64 MaxVel, F64 Tacc, F64 Tdec);

I16 _8158_start_ta_move(I16 AxisNo, F64 Pos, F64

StrVel, F64 MaxVel, F64 Tacc, F64 Tdec);


136

I16 _8158_start_sr_move(I16 AxisNo, F64 Dist, F64

StrVel, F64 MaxVel, F64 Tacc, F64 Tdec, F64

SVacc, F64 SVdec);

I16 _8158_start_sa_move(I16 AxisNo, F64 Pos, F64

StrVel, F64 MaxVel, F64 Tacc, F64 Tdec, F64

SVacc, F64 SVdec);

I16 _8158_set_move_ratio(I16 AxisNo, F64 move_ratio);

I16 _8158_position_override(I16 AxisNo, F64

NewPos);


B_8158_start_tr_move(ByVal AxisNo As Integer,

ByVal Dist As Double, ByVal StrVel As

Double, ByVal MaxVel As Double, ByVal Tacc

As Double, ByVal Tdec As Double) As Integer

B_8158_start_ta_move(ByVal AxisNo As Integer,

ByVal Pos As Double, ByVal StrVel As Double,

ByVal MaxVel As Double, ByVal Tacc As

Double, ByVal Tdec As Double) As Integer

B_8158_start_sr_move(ByVal AxisNo As Integer,

ByVal Dist As Double, ByVal StrVel As


As Double, ByVal Tdec As Double, ByVal SVacc

As Double, ByVal SVdec As Double) As Integer

B_8158_start_sa_move(ByVal AxisNo As Integer,

ByVal Pos As Double, ByVal StrVel As Double,

ByVal MaxVel As Double, ByVal Tacc As

Double, ByVal Tdec As Double, ByVal SVacc As

Double, ByVal SVdec As Double) As Integer

B_8158_set_move_ratio(ByVal AxisNo As Integer,

ByVal move_ratio As Double) As Integer

B_8158_position_override(ByVal AxisNo As Integer,

ByVal NewPos As Double) As Integer

Function Library

@ Argument

AxisNo : Axis number designated to move or change position. card_id Physical axis AxisNo

0

1

0

1

…

0

1

…

7

8

9

…

0

1

…

7

Dist : Specified relative distance to move (unit: pulse)

Pos : Specified absolute position to move (unit: pulse)

StrVel : Starting velocity of a velocity profile in units of pulse per second

MaxVel : Maximum velocity in units of pulse per second

Tacc : Specified acceleration time in units of seconds

Tdec : Specified deceleration time in units of seconds


Note: SVacc = 0, for pure S-Curve. For more details, see section 4.2.4

SVdec : specified velocity interval in which S-curve deceleration is performed.

Note: SVdec = 0, for pure S-Curve. For more details, see section 4.2.4

Move_ratio : ratio of (feedback resolution)/(command resolution), should not be 0

NewPos : specified new absolute position to move


138

6.7 Linear Interpolated Motion

@ Name

_8158_start_tr_move_xy – Begin a relative 2-axis linear interpolation for X & Y axis with trapezoidal profile

_8158_start_ta_move_xy – Begin an absolute 2-axis linear interpolation for X & Y axis with trapezoidal profile

_8158_start_sr_move_xy – Begin a relative 2-axis linear interpolation for X & Y axis with S-curve profile

_8158_start_sa_move_xy – Begin an absolute 2-axis linear interpolation for X & Y axis with S-curve profile

_8158_start_tr_move_zu – Begin a relative 2-axis linear interpolation for Z & U axis with trapezoidal profile

_8158_start_ta_move_zu – Begin an absolute 2-axis linear interpolation for Z & U axis with trapezoidal profile

_8158_start_sr_move_zu – Begin a relative 2-axis linear interpolation for Z & U axis with S-curve profile

_8158_start_sa_move_zu – Begin an absolute 2-axis linear interpolation for Z & U axis with S-curve profile

_8158_start_tr_move_ab – Begin a relative 2-axis linear interpolation for A & B axis with trapezoidal profile

_8158_start_ta_move_ab – Begin an absolute 2-axis linear interpolation for A & B axis with trapezoidal profile

_8158_start_sr_move_ab – Begin a relative 2-axis linear interpolation for A & B axis with S-curve profile

_8158_start_sa_move_ab – Begin an absolute 2-axis linear interpolation for A & B axis with S-curve profile

_8158_start_tr_move_cd – Begin a relative 2-axis linear interpolation for C & D axis with trapezoidal profile

_8158_start_ta_move_cd – Begin an absolute 2-axis linear interpolation for C & D axis with trapezoidal profile

_8158_start_sr_move_cd – Begin a relative 2-axis linear interpolation for C & D axis with S-curve profile

Function Library

_8158_start_sa_move_cd – Begin an absolute 2-axis linear interpolation for C & D axis with S-curve profile

_8158_start_tr_line2 – Begin a relative 2-axis linear interpolation for any 2 of 4 axes, with trapezoidal profile

_8158_start_ta_line2 – Begin an absolute 2-axis linear interpolation for any 2 of 4 axes, with trapezoidal profile

_8158_start_sr_line2 – Begin a relative 2-axis linear interpolation for any 2 of 4 axes, with S-curve profile

_8158_start_sa_line2 – Begin an absolute 2-axis linear interpolation for any 2 of 4 axes, with S-curve profile


_8158_start_ta_line3 – Begin a absolute 3-axis linear interpolation for any 3 of 4 axes, with trapezoidal profile


_8158_start_sa_line3 – Begin a absolute 3-axis linear interpolation for any 3 of 4 axes, with S-curve profile


_8158_start_ta_line4 – Begin a absolute 4-axis linear interpolation for any 4 of 4 axes, with trapezoidal profile


_8158_start_sa_line4 – Begin a absolute 4-axis linear interpolation for any 4 of 4 axes, with S-curve profile

@ Description

These functions perform linear interpolation motion with different profile. Detail Comparisons of those functions are described by follow table.


Function

_8158_start_tr_move_xy

_8158_start_ta_move_xy

_8158_start_sr_move_xy

_8158_start_sa_move_xy

_8158_start_tr_move_zu

_8158_start_ta_move_zu

_8158_start_sr_move_zu

_8158_start_sa_move_zu

_8158_start_tr_move_ab

_8158_start_ta_move_ab

_8158_start_sr_move_ab

_8158_start_sa_move_ab

_8158_start_tr_move_cd

_8158_start_ta_move_cd

_8158_start_sr_move_cd

_8158_start_sa_move_cd

Total axes Velocity Profile Relative / Absolute Target Axes

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

S

S

T

T

S

S

T

T

S

S

T

T

S

S

T

T

R

A

R

A

R

A

R

A

R

A

R

A

R

A

R

A

Axes 0 & 1

Axes 0 & 1

Axes 0 & 1

Axes 0 & 1

Axes 2 & 3

Axes 2 & 3

Axes 2 & 3

Axes 2 & 3

Axes 4& 5

Axes 4 & 5

Axes 4 & 5

Axes 4 & 5

Axes 6 & 7

Axes 6 & 7

Axes 6 & 7

Axes 6 & 7

Function






2

2

2

2

S

S

T

T

R

A

R

A

Any 2 of 4 axes

Any 2 of 4 axes

Any 2 of 4 axes

Any 2 of 4 axes

Note : The target two axes of linear interpolation are the 2 of former

0-3 axes or later 4-7 axes on a card. It can not cross over those two groups.

Function Total axes Velocity Profile Relative / Absolute Target Axes





3

3

3

3

S

S

T

T

R

A

R

A

Any 3 of 4 axes

Any 3 of 4 axes

Any 3 of 4 axes

Any 3 of 4 axes

Note : The target 3 axes of linear interpolation are the 3 of former 4 axes or later 4 axes on a card. It can not cross over those two groups.


Function Total axes Velocity Profile Relative / Absolute Target Axes





4

4

4

4

S

S

T

T

R

A

R

A

Any 4 of 4 axes

Any 4of 4 axes

Any 4 of 4 axes

Any 4 of 4 axes

Note : The target 4 axes of linear interpolation are the 4 of former 4 axes or later 4 axes on a card. It can not cross over those two groups.

Velocity profile:

T: trapezoidal profile

S: s curve profile

Relative / Absolute:

R: Relative distance

A: Absoulte position

@ Syntax


I16 _8158_start_tr_move_xy(I16 Card_id, F64

DistX, F64 DistY, F64 StrVel, F64 MaxVel,

F64 Tacc, F64 Tdec);

I16 _8158_start_ta_move_xy(I16 Card_id, F64 PosX,

F64 PosY, F64 StrVel, F64 MaxVel, F64 Tacc,

F64 Tdec);

I16 _8158_start_sr_move_xy(I16 Card_id, F64


F64 Tacc, F64 Tdec, F64 SVacc, F64 SVdec);

I16 _8158_start_sa_move_xy(I16 Card_id, F64 PosX,


F64 Tdec, F64 SVacc, F64 SVdec);

I16 _8158_start_tr_move_zu(I16 Card_id, F64



I16 _8158_start_ta_move_zu(I16 Card_id, F64 PosX,


F64 Tdec);


142

I16 _8158_start_sr_move_zu(I16 Card_id, F64



I16 _8158_start_sa_move_zu(I16 Card_id, F64 PosX,



I16 _8158_start_tr_move_ab(I16 Card_id, F64



I16 _8158_start_ta_move_ab(I16 Card_id, F64 PosX,


F64 Tdec);

I16 _8158_start_sr_move_ab(I16 Card_id, F64



I16 _8158_start_sa_move_ab(I16 Card_id, F64 PosX,



I16 _8158_start_tr_move_cd(I16 Card_id, F64



I16 _8158_start_ta_move_cd(I16 Card_id, F64 PosX,


F64 Tdec);

I16 _8158_start_sr_move_cd(I16 Card_id, F64



I16 _8158_start_sa_move_cd(I16 Card_id, F64 PosX,



I16 _8158_start_tr_line2(I16 *AxisArray, F64

*DistArray, F64 StrVel, F64 MaxVel, F64

Tacc, F64 Tdec);

I16 _8158_start_ta_line2(I16 *AxisArray, F64

*PosArray, F64 StrVel, F64 MaxVel, F64 Tacc,

F64 Tdec);

I16 _8158_start_sr_line2(I16 *AxisArray, F64


Tacc, F64 Tdec, F64 SVacc, F64 SVdec);

I16 _8158_start_sa_line2(I16 *AxisArray, F64



Function Library



Tacc, F64 Tdec);



F64 Tdec);









Tacc, F64 Tdec);



F64 Tdec);








B_8158_start_tr_move_xy(ByVal Card_id As Integer,

ByVal DistX As Double, ByVal DistY As

Double, ByVal StrVel As Double, ByVal MaxVel

As Double, ByVal Tacc As Double, ByVal Tdec

As Double) As Integer

B_8158_start_ta_move_xy(ByVal Card_id As Integer,

ByVal PosX As Double, ByVal PosY As Double,

ByVal StrVel As Double, ByVal MaxVel As

Double, ByVal Tacc As Double, ByVal Tdec As

Double) As Integer

B_8158_start_sr_move_xy(ByVal Card_id As Integer,




As Double, ByVal SVacc As Double, ByVal

SVdec As Double) As Integer


144

B_8158_start_sa_move_xy(ByVal Card_id As Integer,




Double, ByVal SVacc As Double, ByVal SVdec


B_8158_start_tr_move_zu(ByVal Card_id As Integer,




As Double);

B_8158_start_ta_move_zu(ByVal Card_id As Integer,




Double) As Integer

B_8158_start_sr_move_zu(ByVal Card_id As Integer,






B_8158_start_sa_move_zu(ByVal Card_id As Integer,






B_8158_start_tr_move_ab(ByVal Card_id As Integer,




As Double);

B_8158_start_ta_move_ab(ByVal Card_id As Integer,




Double) As Integer

B_8158_start_sr_move_ab(ByVal Card_id As Integer,




Function Library



B_8158_start_sa_move_ab(ByVal Card_id As Integer,






B_8158_start_tr_move_cd(ByVal Card_id As Integer,




As Double);

B_8158_start_ta_move_cd(ByVal Card_id As Integer,




Double) As Integer

B_8158_start_sr_move_cd(ByVal Card_id As Integer,






B_8158_start_sa_move_cd(ByVal Card_id As Integer,






B_8158_start_tr_line2(AxisArray() As Integer,

DistArray() As Double, ByVal StrVel As



B_8158_start_ta_line2(AxisArray() As Integer,

PosArray() As Double, ByVal StrVel As



B_8158_start_sr_line2((AxisArray() As Integer,



As Double, ByVal Tdec As Double, ByVal Svacc

As Double, ByVal Svdec As Double) As Integer


146

B_8158_start_sa_line2(AxisArray() As Integer,









































Function Library

@ Argument



0

1

0

1

…

0

1

…

7

8

9

…

0

1

…

7

DistX : specified relative distance of axis 0 to move (unit: pulse).

DistY : specified relative distance of axis 1 to move (unit: pulse).

PosX : specified absolute position of axis 0 to move (unit: pulse).

PosY : specified absolute position of axis 1 to move (unit: pulse).

StrVel : Starting velocity of a velocity profile in units of pulse per second.

MaxVel : Maximum velocity in units of pulse per second.

Tacc : Specified acceleration time in units of seconds.

Tdec : Specified deceleration time in units of seconds.





*AxisArray : Array of axis number to perform interpolation.


Example: I16 AxisArray[2] = {0, 3}; //axis 0, & axis 3 (correct)

I16 AxisArray[3] = {0,2, 3}; //axis 0, 2 & 3 (correct)

I16 AxisArray[2] = {1, 6}; //axis 1, & axis 6 (incorrect)

*DistArray : Array of relative distance for linear interpolation.

Example: I16 AxisArray[2] = {0, 3}; //axis 0, & axis 3

F64 DistArray[2] = {1000.0, 2000.0} //for axis 0 & 3

*PosArra y: Array of absolute position for linear interpolation.

Example: I16 AxisArray[3] = {0,2, 3}; //axis 0, 2 & 3

F64 PosArray[3] = {200.0, 300.0, 400.0} //absolute position for axis 0, 2 & 3


6.8 Circular Interpolation Motion

@ Name

_8158_start_tr_arc_xy – Begin a T-curve relative circular interpolation for X & Y axis

_8158_start_ta_arc_xy – Begin a T-curve absolute circular interpolation for X & Y axis

_8158_start_sr_arc_xy – Begin a S-curve relative circular interpolation for X & Y axis

_8158_start_sa_arc_xy –Begin a S-curve absolute circular interpolation for X & Y axis

_8158_start_tr_arc_zu – Begin a T-curve relative circular interpolation for Z & U axis

_8158_start_ta_arc_zu – Begin a T-curve absolute circular interpolation for Z & U axis

_8158_start_sr_arc_zu – Begin a S-curve relative circular interpolation for Z & U axis

_8158_start_sa_arc_zu –Begin a S-curve absolute circular interpolation for Z & U axis

_8158_start_tr_arc_ab – Begin a T-curve relative circular interpolation for A & B axis

_8158_start_ta_arc_ab – Begin a T-curve absolute circular interpolation for A & B axis

_8158_start_sr_arc_b – Begin a S-curve relative circular interpolation for A & B axis

_8158_start_sa_arc_ab –Begin a S-curve absolute circular interpolation for A & B axis

_8158_start_tr_arc_cd – Begin a T-curve relative circular interpolation for C & D axis

_8158_start_ta_arc_cd – Begin a T-curve absolute circular interpolation for C & D axis

_8158_start_sr_arc_cd – Begin a S-curve relative circular interpolation for C & D axis


150

_8158_start_sa_arc_cd –Begin a S-curve absolute circular interpolation for C & D axis

_8158_start_tr_arc2 – Begin a T-curve relative circular interpolation for any 2 of 4 axes

_8158_start_ta_arc2 – Begin a T-curve absolute circular interpolation for any 2 of 4 axes

_8158_start_sr_arc2 – Begin a S-curve relative circular interpolation for any 2 of 4 axes

_8158_start_sa_arc2 – Begin a S-curve absolute circular interpolation for any 2 of 4 axes

@ Description

Those functions perform Circular interpolation motion with different profile. Detail Comparisons of those functions are described by follow table.

Function

_8158_start_tr_arc_xy

_8158_start_ta_arc_xy

_8158_start_sr_arc_xy

_8158_start_sa_arc_xy

_8158_start_tr_arc_zu

_8158_start_ta_arc_zu

_8158_start_sr_arc_zu

_8158_start_sa_arc_zu

_8158_start_tr_arc_ab

_8158_start_ta_arc_ab

_8158_start_sr_arc_ab

_8158_start_sa_arc_ab

_8158_start_tr_arc_cd

_8158_start_ta_arc_cd

_8158_start_sr_arc_cd

_8158_start_sa_arc_cd


2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2 trapezoidal trapezoidal

S-curve

S-curve trapezoidal trapezoidal

S-curve


S-curve


S-curve

S-curve

R

A

R

A

R

A

R

A

R

A

R

A

R

A

R

A

Axes 0 & 1

Axes 0 & 1

Axes 0 & 1

Axes 0 & 1

Axes 2 & 3

Axes 2 & 3

Axes 2 & 3

Axes 2 & 3

Axes 4 & 5

Axes 4 & 5

Axes 4 & 5

Axes 4 & 5

Axes 6 & 7

Axes 6 & 7

Axes 6 & 7

Axes 6 & 7

Function Library

Function

_8158_start_tr_arc2

_8158_start_ta_arc2

_8158_start_sr_arc2

_8158_start_sa_arc2


2

2

2

2 trapezoidal trapezoidal

S-curve

S-curve

R

A

R

A

Any 2 of 4 Axis

Any 2 of 4 Axis

Any 2 of 4 Axis

Any 2 of 4 Axis

Note : The target two axes of linear interpolation are the 2 of former

4 axes (0-3) or later 4 axes (4-7) on a card. It can not cross over those two groups.

@ Syntax


I16 _8158_start_tr_arc_xy(I16 card_id, F64

OffsetCx, F64 OffsetCy, F64 OffsetEx, F64

OffsetEy, I16 CW_CCW, F64 StrVel,F64

MaxVel,F64 Tacc,F64 Tdec);

I16 _8158_start_ta_arc_xy(I16 card_id, F64 Cx,

F64 Cy, F64 Ex, F64 Ey, I16 CW_CCW, F64

StrVel,F64 MaxVel,F64 Tacc,F64 Tdec);

I16 _8158_start_sr_arc_xy(I16 card_id, F64



MaxVel,F64 Tacc,F64 Tdec,F64 SVacc,F64

SVdec);

I16 _8158_start_sa_arc_xy(I16 card_id, F64 Cx,


StrVel,F64 MaxVel,F64 Tacc,F64 Tdec,F64

SVacc,F64 SVdec);

I16 _8158_start_tr_arc_zu(I16 card_id, F64




I16 _8158_start_ta_arc_zu(I16 card_id, F64 Cx,



I16 _8158_start_sr_arc_zu(I16 card_id, F64




SVdec);


152

I16 _8158_start_sa_arc_zu(I16 card_id, F64 Cx,



SVacc,F64 SVdec);

I16 _8158_start_tr_arc_ab(I16 card_id, F64




I16 _8158_start_ta_arc_ab(I16 card_id, F64 Cx,



I16 _8158_start_sr_arc_ab(I16 card_id, F64




SVdec);

I16 _8158_start_sa_arc_ab(I16 card_id, F64 Cx,



SVacc,F64 SVdec);

I16 _8158_start_tr_arc_cd(I16 card_id, F64




I16 _8158_start_ta_arc_cd(I16 card_id, F64 Cx,



I16 _8158_start_sr_arc_cd(I16 card_id, F64




SVdec);

I16 _8158_start_sa_arc_cd(I16 card_id, F64 Cx,



SVacc,F64 SVdec);

I16 _8158_start_tr_arc2(I16 *AxisArray, F64

*OffsetCenter, F64 *OffsetEnd, I16 CW_CCW,

F64 StrVel,F64 MaxVel,F64 Tacc,F64 Tdec);

I16 _8158_start_ta_arc2(I16 *AxisArray, F64

*CenterPos, F64 *EndPos, I16 CW_CCW, F64


Function Library

I16 _8158_start_sr_arc2(I16 *AxisArray, F64

*OffsetCenter, F64 *OffsetEnd, I16 CW_CCW,

F64 StrVel,F64 MaxVel,F64 Tacc,F64 Tdec, F64

SVacc,F64 SVdec);

I16 _8158_start_sa_arc2(I16 *AxisArray, F64

*CenterPos, F64 *EndPos, I16 CW_CCW, F64

StrVel,F64 MaxVel, F64 Tacc, F64 Tdec, F64

SVacc, F64 SVdec);


B_8158_start_tr_arc_xy( ByVal card_id As Integer,

ByVal OffsetCx As Double, ByVal OffsetCy As

Double, ByVal OffsetEx As Double, ByVal

OffsetEy As Double, ByVal CW_CCW As Integer,



Double);

B_8158_start_ta_arc_xy(ByVal card_id As Integer,

ByVal Cx As Double, ByVal Cy As Double,

ByVal Ex As Double, ByVal Ey As Double,

ByVal CW_CCW As Integer, ByVal StrVel As



B_8158_start_sr_arc_xy(ByVal card_id As Integer,






Double, ByVal Svacc As Double, ByVal Svdec


B_8158_start_sa_arc_xy(ByVal card_id As Integer,







B_8158_start_tr_arc_zu( ByVal card_id As Integer,






154


Double);

B_8158_start_ta_arc_zu(ByVal card_id As Integer,






B_8158_start_sr_arc_zu(ByVal card_id As Integer,








B_8158_start_sa_arc_zu(ByVal card_id As Integer,







B_8158_start_tr_arc_ab( ByVal card_id As Integer,






Double);

B_8158_start_ta_arc_ab(ByVal card_id As Integer,






B_8158_start_sr_arc_ab(ByVal card_id As Integer,






Function Library



B_8158_start_sa_arc_ab(ByVal card_id As Integer,







B_8158_start_tr_arc_cd( ByVal card_id As Integer,






Double);

B_8158_start_ta_arc_cd(ByVal card_id As Integer,






B_8158_start_sr_arc_cd(ByVal card_id As Integer,








B_8158_start_sa_arc_cd(ByVal card_id As Integer,







B_8158_start_tr_arc2(AxisArray() As Integer,

OffsetCenter() As Double, OffsetEnd() As

Double, Byval CW_CCW As Integer, ByVal

StrVel As Double , ByVal MaxVel As Double,

ByVal Tacc As Double, ByVal Tdec As Double)

As Integer


156

B_8158_start_ta_arc2(AxisArray() As Integer,

CenterPos() As Double, EndPos() As Double,

Byval CW_CCW As Integer, ByVal StrVel As

Double , ByVal MaxVel As Double, ByVal Tacc


B_8158_start_sr_arc2(AxisArray() As Integer,

OffsetCenter() As Double, OffsetEnd() As

Double, Byval CW_CCW As Integer, ByVal

StrVel As Double , ByVal MaxVel As Double,

ByVal Tacc As Double, ByVal Tdec As Double,

ByVal Svacc As Double, ByVal Svdec As

Double) As Integer

B_8158_start_sa_arc2(AxisArray() As Integer,

CenterPos() As Double, EndPos() As Double,

Byval CW_CCW As Integer, ByVal StrVel As

Double , ByVal MaxVel As Double, ByVal Tacc



@ Argument


AxisNo : Axis number designated to move or change position.


0

1

0

1

…

0

1

…

7

8

9

…

0

1

…

7

OffsetCx : X-axis (first axis of target axes) offset to center

OffsetCy : Y-axis (second axis of target axes) offset to center

OffsetEx : X-axis (first axis of target axes) offset to end of arc

OffsetEy : Y-axis offset to end of arc

Function Library

Cx : X-axis (first axis of target axes) absolute position of center of arc

Cy : Y-axis (second axis of target axes) absolute position of center of arc

Ex : X-axis (first axis of target axes) absolute position of end of arc

Ey : Y-axis (second axis of target axes) absolute position of end of arc

CW_CCW : Specified direction of arc

Value Meaning

0 Clockwise(cw)

1 Counterclockwise(ccw)

StrVel : Starting velocity of a velocity profile in units of pulse per second.

MaxVel : Maximum velocity in units of pulse per second.

Tacc : Specified acceleration time in units of seconds.

Tdec : Specified deceleration time in units of seconds.





*AxisArray : Array of axis number to perform interpolation.

Example: I16 AxisArray[2] = {0, 3}; //axis 0, & axis 3 (correct)

I16 AxisArray[2] = {1, 6}; //axis 1, & axis 6 (incorrect)

*OffsetCenter : Array of the offset to center (relative to the start position)

Example: F64 OffsetCenter[2] = {2000.0, 0.0}; //offset from start position(initial point) for 1st & 2nd axes


*OffsetEnd : Array of the offset to end of arc (relative to the start position)

Example: F64 OffsetEnd[2] = {4000.0, 0.0}; //offset from start position(initial point for 1st & 2nd axes

*CenterPos : Array of the center of arc absolute position

Example: F64 CenterPos[2] = {2000.0, 0.0}; //absolute center position for 1st & 2nd axes

*EndPos : Array of the end point of arc absolute position

Example: F64 EndPos[2] = {4000.0, 0.0}; //absolute end position for 1st & 2nd axes


6.9 Home Return Mode

@ Name

_8158_set_home_config – Set the configuration for home return move motion

_8158_home_move – Perform a home return move.

_8158_home_search –Perform an auto search home

@ Description

_8158_set_home_config :

Configures the home return mode, origin(ORG) and index signal(EZ) logic, EZ count, and ERC output options for the home_move() function. Refer to section 4.2.10 for the setting of home_mode control.

_8158_home_move :

This function will cause the axis to perform a home return move according to the _8164_set_home_config() function settings.

The direction of movement is determined by the sign of velocity parameter (MaxVel). Since the stopping condition of this function is determined by the home_mode setting, users should take care in selecting the initial moving direction. Users should also take care to handle conditions when the limit switch is touched or other conditions that are possible causing the axis to stop. For more detail description, see section 4.2.10

_8158_home_search :

This function will cause the axis to perform a home-search move according to the _8164_set_home_config() function settings. The direction of movement is determined by the sign of velocity parameter (MaxVel). Since the stopping condition of this function is determined by the home_mode setting, users should take care in selecting the initial moving direction. Users should also take care to handle conditions when the limit switch is touched or other conditions that are possible causing the axis to stop. For more detail description, see section 4.2.11


160

@ Syntax


I16 _8158_set_home_config(I16 AxisNo, I16 home_mode, I16 org_logic, I16 ez_logic, I16 ez_count, I16 erc_out);

I16 _8158_home_move(I16 AxisNo, F64 StrVel, F64

MaxVel, F64 Tacc);

I16 _8158_home_search(I16 AxisNo, F64 StrVel, F64

MaxVel, F64 Tacc, F64 ORGOffset);

Visual Basic (Windows 2000/XP)

B_8158_set_home_config(ByVal AxisNo As Integer,

ByVal home_mode As Integer, ByVal org_logic

As Integer, ByVal ez_logic As Integer, ByVal ez_count As Integer, ByVal erc_out As

Integer) As Integer

B_8158_home_move(ByVal AxisNo As Integer, ByVal


ByVal Tacc As Double) As Integer

B_8158_home_search(ByVal AxisNo As Integer, ByVal


ByVal Tacc As Double, ByVal ORGOffset As

Double) As Integer

@ Argument


0

1

0

1

…

0

1

…

7

8

9

…

0

1

…

7 home_mode : Stopping modes for home return, This value is between 0 to 12. Please see Section 4.2.10

Function Library

org_logic : Action logic configuration for ORG

Value Meaning

0 Active low

1 Active high ez_logic : Action logic configuration for EZ

Value Meaning

0 Active low

1 Active high ez_count : 0-15 (Please refer to see Section 4.2.10) erc_out : Set ERC output options.

Value Meaning

0 no ERC out

1 ERC signal out when home-move finishing

StrVel : Starting velocity of a velocity profile. (unit: pulse/sec)

MaxVel : Maximum velocity. (unit: pulse/sec)

Tacc : Specified acceleration time (Unit: sec)

ORGOffset : The escape pulse amounts when home search touches the ORG singal (Unit: pulse)


162

6.10 Manual Pulser Motion

@ Name

_8158_disable_pulser_input – Disable the pulse input

_8158_pulser_pmove – Manual pulse p_move

_8158_pulser_vmove – Manual pulse v_move

_8158_set_pulser_ratio – Set manual pulse ratio for actual output pulse rate

_8158_set_pulser_iptmode – Set the input signal modes of pulse

@ Description

_8158_disable_pulser_input

This function is used to set the pulse input disable or enable.

_8158_pulser_pmove

With this command, the axis begins to move according to the manual pulse input. The axis will output one pulse when it receives one manual pulse, until the

_8158_disable_pulser_input function disables the pulse or the output pulse number reaches the distance.

_8158_pulser_vmove

With this command, the axis begins to move according to the manual pulse input. The axis will output one pulse when it receives one manual pulse, until the

_8158_disable_pulser_input function disables the pulse.

_8158_set_pulser_ratio

Set manual pulse ratio for actual output pulse rate. The formula for manual pulse output rate is:

Output Pulse Count = Input Pulse Count × 4 (MultiF +1) ×(DivF +1) / 2048

The DivF = 0~2047 Divide Factor

The MultiF= 0~31 Multiplication Factor

Function Library

_8158_set_pulser_iptmode

This function is used to configure the input mode of manual pulse.

@ Syntax


I16 _8158_disable_pulser_input(I16 AxisNo, U16

Disable );

I16 _8158_pulser_pmove(I16 AxisNo, F64 Dist, F64

SpeedLimit);

I16 _8158_pulser_vmove(I16 AxisNo, F64

SpeedLimit);

I16 _8158_set_pulser_ratio(I16 AxisNo, I16 DivF,

I16 MultiF);

I16 _8158_set_pulser_iptmode(I16 AxisNo, I16

InputMode, I16 Inverse);


B_8158_disable_pulser_input(ByVal AxisNo As

Integer, ByVal Disable As Integer) As

Integer

B_8158_pulser_pmove(ByVal AxisNo As Integer,

ByVal Dist As Double, ByVal SpeedLimit As

Double) As Integer

B_8158_pulser_vmove(ByVal AxisNo As Integer,

ByVal SpeedLimit As Double) As Integer

B_8158_set_pulser_ratio(ByVal AxisNo As Integer,

ByVal DivF As Integer, ByVal MultiF As

Integer) As Integer

B_8158_set_pulser_iptmode(ByVal AxisNo As

Integer, ByVal InputMode As Integer, ByVal

Inverse As Integer) As Integer


164

@ Argument

AxisNo: Axis number designated to move or change position.


0

1

0

1

…

0

1

…

7

8

9

…

0

1

…

7

Disable : Disable pulse input.

Disable = 1, disable pulse

Disable = 0, enable pulse

Dist : Specified relative distance to move (unit: pulse)

For example, if SpeedLimit is set to be 100pps, then the axis can move at fastest 100pps , even the input pulse signal rate is more then 100pps.

DivF : Divide factor (0-2047)

MultiF : Multiplication factor (0-31)

InputMode : Setting of manual pulse input mode from the PA and

PB pins

Value Meaning

0 1X AB phase type pulse input



3 CW/CCW type pulse input

Inverse : Reverse the moving direction from pulse direction

Value Meaning

0 no inverse

1 Reverse moving direction

Function Library

6.11 Motion Status

@ Name

_8102_motion_done – Return the motion status

@ Description

_8102_motion_done :

Return the motion status of the 8102. The return code show as below:

12

13

14

15

8

9

10

11

6

7

4

5

2

3

0

1

16

17

18

19

20

21

Normal stopped condition

Waiting for DR

Waiting for CSTA input

Waiting for an internal synchronous signal

Waiting for another axis to stop

Waiting for a completion of ERC timer

Waiting for a completion of direction change timer

Correcting backlash

Wait PA/PB

At FA speed

At FL Speed

Accelerating

At FH Speed

Decelerating

Wait INP

Others(Controlling Start)

SALM

SPEL

SMEL

SEMG

SSTP

SERC


@ Syntax


I16 _8102_motion_done(I16 AxisNo)


B_8102_motion_done(ByVal AxisNo As Integer) As

Integer

@ Argument


0

1

0

1

…

0

1

…

7

8

9

…

0

1

…

7


6.12 Motion Interface I/O

@ Name

_8158_set_servo – Set the ON-OFF state of the SVON signal

_8158_set_pcs_logic – Set the logic of PCS signal

_8158_set_pcs – Enable the PCS for position override

_8158_set_clr_mode – Set the mode of CLR signal

_8158_set_inp – Set the logic of INP signal and operating mode

_8158_set_alm – Set the logic of ALM signal and operating mode

_8158_set_erc – Set the logic of ERC signal and operating mode

_8158_set_erc_out – Output an ERC signal

_8158_clr_erc – Clear the ERC signal

_8158_set_sd – Set the logic SD signal and operating mode

_8158_enable_sd – Enable SD signal

_8158_set_limit_logic – Set the logic of PEL/MEL signal

_8158_set_limit_mode – Set PEL/MEL operating mode

_8158_get_io_status –Get all the motion I/O statuses of each

8158

@ Description

_8158_set_servo :

You can set the ON-OFF state of the SVON signal with this function. The default value is 1(OFF), which means the SVON is open to GND.

_8158_set_pcs_logic :

Set the active logic of the PCS signal input

_8158_set_pcs :


Enable the position override when input signal PCS is turn ON.

The PCS terminal status can be monitored by

“_8158_get_io_status” function.

_8158_set_clr_mode

CLR inputted signal can reset specified counters(command, position, error and general purpose counter). The reset action could be set by this function. The reset action mode has 4 types. For details refer to arguments description.

_8158_set_inp :

Set the active logic of the In-Position signal input from the servo driver. Users can select whether they want to enable this function. It is disabled by default.

_8158_set_alm :

Set the active logic of the ALARM signal input from the servo driver. Two reacting modes are available when the ALARM signal is active.

_8158_set_erc :

Users can set the logic and on time of the ERC with this function. It also can set the pulse width of ERC signal.

_8158_set_erc_out :

This function is used to output the ERC signal manually.

_8158_clr_erc :

This function is used to reset the output when the ERC signal output is specified to a level type output.

_8158_set_sd :

Set the active logic, latch control, and operating mode of the

SD signal input from a mechanical system. Users can select whether they want to enable this function by _8158_enable_sd.

It is disabled by default

_8158_enable_sd :

Enable the SD signal input. Default setting is default.

_8158_set_limit_logic :


Set the EL logic, normal open or normal closed.

_8158_set_limit_mode :

Set the reacting modes of the EL signal.

_8158_get_io_status :

Get all the I/O statuses for each axis. The definition for each bit is as follows:

Bit Name Description

0 RDY

1 ALM

RDY pin input

Alarm Signal

2 +EL Positive Limit Switch

3 -EL Negative Limit Switch

4 ORG

5 DIR

6 EMG

7 PCS

Origin Switch

DIR output

EMG status

PCS signal input

8 ERC

9 EZ

10 CLR

11 LTC

ERC pin output

Index signal

Clear signal

Latch signal input

12 SD Slow Down signal input

13 INP In-Position signal input

14 SVON Servo-ON output status

@ Syntax


I16 _8158_set_servo(I16 AxisNo, I16 on_off);

I16 _8158_set_pcs_logic(I16 AxisNo, I16 pcs_logic);

I16 _8158_set_pcs(I16 AxisNo, I16 enable);

I16 _8158_set_clr_mode(I16 AxisNo, I16 clr_mode,

I16 targetCounterInBit);

I16 _8158_set_inp(I16 AxisNo, I16 inp_enable, I16 inp_logic);


170

I16 _8158_set_alm(I16 AxisNo, I16 alm_logic, I16 alm_mode);

I16 _8158_set_erc(I16 AxisNo, I16 erc_logic, I16 erc_pulse_width, I16 erc_mode);

I16 _8158_set_erc_out(I16 AxisNo);

I16 _8158_clr_erc(I16 AxisNo);

I16 _8158_set_sd(I16 AxisNo, I16 sd_logic, I16 sd_latch, I16 sd_mode);

I16 _8158_enable_sd(I16 AxisNo, I16 enable);

I16 _8158_set_limit_logic(I16 AxisNo, U16 Logic

);

I16 _8158_set_limit_mode(I16 AxisNo, I16 limit_mode);

I16 _8158_get_io_status(I16 AxisNo, U16 *io_sts);


B_8158_set_servo(ByVal AxisNo As Integer, ByVal on_off As Integer) As Integer

B_8158_set_pcs_logic(ByVal AxisNo As Integer,

ByVal pcs_logic As Integer) As Integer

B_8158_set_pcs(ByVal AxisNo As Integer, ByVal enable As Integer)As Integer

B_8158_set_clr_mode(ByVal AxisNo As Integer,

ByVal clr_mode As Integer, ByBal targetCounterInBit as Integer) As Integer

B_8158_set_inp(ByVal AxisNo As Integer, ByVal inp_enable As Integer, ByVal inp_logic As

Integer) As Integer

B_8158_set_alm(ByVal AxisNo As Integer, ByVal alm_logic As Integer, ByVal alm_mode As

Integer) As Integer

B_8158_set_erc(ByVal AxisNo As Integer, ByVal erc_logic As Integer, ByVal erc_pulse_width

As Integer, ByVal erc_mode As Integer) As

Integer

B_8158_set_erc_out(ByVal AxisNo As Integer) As

Integer

B_8158_clr_erc(ByVal AxisNo As Integer) As

Integer

B_8158_set_sd(ByVal AxisNo As Integer, ByVal sd_logic As Integer, ByVal sd_latch As

Integer, ByVal sd_mode As Integer) As

Integer

Function Library

B_8158_enable_sd(ByVal AxisNo As Integer, ByVal

Enable As Integer) As Integer

B_8158_set_limit_logic(ByVal AxisNo As Integer,

ByVal Logic As Integer) As Integer

B_8158_set_limit_mode(ByVal AxisNo As Integer,

ByVal limit_mode As Integer) As Integer

I16 _8158_get_io_status(ByVal AxisNo As Integer, io_sts As Integer) As Integer

@ Argument

AxisNo : Axis number of Target Axis.


0

1

0

1

…

0

1

…

7

8

9

…

0

1

…

7 on_off : ON-OFF state of SVON signal

Value Meaning

0

1

ON

OFF pcs_logic : PCS signal input logic

Value Meaning

0 Negative logic

1 Positive logic enable : enable or disable

Value Meaning

0

1

Disable

Enable clr_mode : Specify a CLR input clear mode


clr_mode = 0 , Clear on the falling edge (default) clr_mode = 1 , Clear on the rising edge clr_mode = 2 , Clear on a LOW level clr_mode = 3 , Clear on a HIGH level targetCounterInBit : Enable/Disable clear target counter in bit

Value Meaning

Bit

0

1

2

Description

Reset command counter when CLR input turns ON

Reset position counter when CLR input turns ON

Reset error counter when CLR input turns ON

3 Reset general purpose counter when CLR input turns ON inp_enable : INP function enabled/disabled inp_enable = 0, Disabled (default) inp_enable = 1, Enabled inp_logic : Set the active logic for the INP signal

Value Meaning

0 Negative logic

1 Positive logic alm_logic : Setting of active logic for ALARM signals

Value Meaning

0 Negative logic

1 Positive logic alm_mode : Reacting modes when receiving an ALARM signal.

Value Meaning

0 motor immediately stops (default)

1 motor decelerates then stops


erc_logic : Set the active logic for the ERC signal

Value Meaning

0 Negative logic

1 Positive logic erc_pulse_width : Set the pulse width of the ERC signal

Value Meaning

0

1

2

12

µ s

102

µ s

409

µ s

5

6

3

4

1.6 ms

13 ms

52 ms

104 ms

7 Level output erc_mode :

Value Meaning

2

3

0 Disable

1 Output ERC when stopped by EL, ALM, or EMG input

Output ERC when complete home return

Both 1 and 2 sd_logic :

Value Meaning

0 Negative logic

1 Positive logic sd_latch : Set the latch control for the SD signal

Value Meaning

0 Do not latch

1 latch


sd_mode : Set the reacting mode of the SD signal

Value Meaning

0 slow down only

1 slow down then stop enable : Set the ramping-down point for high speed feed.

Value Meaning

0 Automatic setting

1 Manual setting (default)

Logic : Set the PEL/MEL logic.

Value Meaning

0 Normal low(normal open)

1 Normal high(normal close) limit_mode :

Value Meaning

0 Stop immediately

1 Slow down then stop

*io_sts : I/O status. Please refer to 6.12 function description.


6.13 Interrupt Control

@Name

_8158_int_control – Enable/Disable INT service

_8158_set_motion_int_factor – Set the factors of motion related interrupts

_8158_wait_error_interrupt – Wait error related interrupts

_8158_wait_motion_interrupt – Wait motion related interrupts

@ Description

_8158_int_control :

This function is used to enable the Windows interrupt event to host PC.

_8158_set_motion_int_factor :

This function allows users to select motion related factors to initiate the event int. The error can never be masked once the interrupt service is turned on by _8158_int_control(). Once the

Interrupt function is enabled, you can use

_8158_wait_motion_interrupt() to wait event.

_8158_wait_error_interrupt :

When user enabled the Interrupt function by

_8158_int_control(). He could use this function to wait the error interrupts. Please refer to the operation theory section 4.8

_8158_wait_motion_interrupt :

When user enabled the Interrupt function by

_8158_int_control() and set the interrupt factors by

_8158_set_motion_int_factor(). User could use this function to wait the specific interrupt. When this function was running, the process would never stop until evens were triggered or the function was time out.


176

@ Syntax


I16 _8158_int_control(I16 card_id, I16 intFlag);

I16 _8158_set_motion_int_factor(I16 AxisNo, U32 int_factor );

I16 _8158_wait_error_interrupt(I16 AxisNo, I32

TimeOut_ms );

I16 _8158_wait_motion_interrupt(I16 AxisNo, I16

IntFactorBitNo, I32 TimeOut_ms );


B_8158_int_control(ByVal card_id As Integer,

ByVal intFlag As Integer) As Integer

B_8158_wait_error_interrupt(ByVal AxisNo As

Integer, ByVal TimeOut_ms As Long) As

Integer

B_8158_wait_motion_interrupt(ByVal AxisNo As

Integer, ByVal IntFactorBitNo As Integer,

ByVal TimeOut_ms As Long) As Integer

B_8158_set_motion_int_factor(ByVal AxisNo As

Integer, ByVal int_factor As Long) As

Integer

@ Argument

card_id : Specify the index of target PCI-8158 card. The card_id could be decided by DIP switch (SW1) or depend on slot sequence. Please refer to _8158_initial().

intFlag : Enable/Disable the Interrupt function

Value Meaning

0

1

Disable

Enable

Function Library



0

1

0

1

…

0

1

…

7

8

9

…

0

1

…

7 int_factor : interrupt factor motion INT factors

Value Meaning (0: Disable, 1:Enable)

11

12

13

14

7

8

9

10

5

6

3

4

Bit Description

0 Normal stop

1

2

Next command in buffer starts

Command pre-register 2 is empty and allow new command to write

(Reserved) (Always set to 0)

Acceleration Start

Acceleration End

Deceleration Start

Deceleration End

+Soft limit or comparator 1 is ON

-Soft limit or comparator 2 is ON

Error comparator or comparator 3 is ON

General comparator or comparator 4 is ON

Trigger comparator or comparator 5 is ON

Counter is reset by CLR input

Counter is latched by LTC input

15

16

17

18

Counter is latched by ORG Input

SD input turns on

(Reserved) (Always set to 0)

CSTA input or _8158_start_move_all() turns on

19~31 Not define (Always set to 0)


TimeOut_ms : Specifies the time-out interval, in milliseconds. If

TimeOut_ms is zero, the function tests the states of the specified objects and returns immediately. If TimeOut_ms is -1, the function's time-out interval never elapses (infinate).

IntFactorBitNo : Specifies the bit number of the INT factor. e.g. IntFactorBitNo = 4, It means waiting the factor of “Acceleration Start” interrupt.


6.14 Position Control and Counters

@ Name

_8158_get_position – Get the value of feedback position counter

_8158_set_position – Set the feedback position counter

_8158_get_command – Get the value of command position counter

_8158_set_command – Set the command position counter

_8158_get_error_counter – Get the value of position error counter

_8158_reset_error_counter – Reset the position error counter

_8158_get_general_counter – get the value of general counter

_8158_set_general_counter – Set the general counter

_8158_get_target_pos – Get the value of target position recorder

_8158_reset_target_pos – Reset target position recorder

_8158_get_res_distance – Get remaining pulses accumulated from motions

_8158_set_res_distance – Set remaining pulses record

@ Description

_8158_get_position :

This function is used to read the feedback position counter value. Note that this value has already been processed by the move ratio setting by _8158_set_move_ratio(). If the move ratio is 0.5, than the value of position will be twice. The source of the feedback counter is selectable by the function

_8158_set_feedback_src() to be external EA/EB or internal pulse output of 8158 .

_8158_set_position :


This function is used to change the feedback position counter to the specified value. Note that the value to be set will be processed by the move ratio. If move ratio is 0.5, then the set value will be twice as given value.

_8158_get_command :

This function is used to read the value of the command position counter. The source of the command position counter is the pulse output of the 8158.

_8158_set_command :

This function is used to change the value of the command position counter.

_8158_get_error_counter :

This function is used to read the value of the position error counter.

_8158_reset_error_counter :

This function is used to clear the position error counter.

_8158_get_general_counter :

This function is used to read the value of the general counter.

_8158_set_general_counter :

This function is used to set the counting source of and change the value of general counter (By default, the source is pulse input).

_8158_get_target_pos :

This function is used to read the value of the target position recorder. The target position recorder is maintained by the

8158 software driver. It records the position to settle down for current running motion.

_8158_reset_target_pos :

This function is used to set new value for the target position recorder. It is necessary to call this function when home return completes, or when a new feedback counter value is set by function _8158_set_position().


_8158_get_res_distance :

This function is used to read the value of the residue distance recorder. The target position recorder is maintained by the

8158 software driver. It records the position to settle down for current running motion.

_8158_set_res_distance :

This function is used to change the value of the residue distance counter

@ Syntax


I16 _8158_get_position(I16 AxisNo, F64 *Pos);

I16 _8158_set_position(I16 AxisNo, F64 Pos);

I16 _8158_get_command(I16 AxisNo, I32 *Command);

I16 _8158_set_command(I16 AxisNo, I32 Command);

I16 _8158_get_error_counter(I16 AxisNo, I16

*error);

I16 _8158_reset_error_counter(I16 AxisNo);

I16 _8158_get_general_counter(I16 AxisNo, F64

*CntValue);

I16 _8158_set_general_counter(I16 AxisNo, I16

CntSrc, F64 CntValue);

I16 _8158_get_target_pos(I16 AxisNo, F64 *T_pos);

I16 _8158_reset_target_pos(I16 AxisNo, F64

T_pos);

I16 _8158_get_res_distance(I16 AxisNo, F64

*Res_Distance);

I16 _8158_set_res_distance(I16 AxisNo, F64

Res_Distance);


B_8158_get_position(ByVal AxisNo As Integer, Pos


B_8158_set_position(ByVal AxisNo As Integer,

ByVal Pos As Double) As Integer

B_8158_get_command(ByVal AxisNo As Integer, Cmd

As Long) As Integer

B_8158_set_command(ByVal AxisNo As Integer, ByVal

Cmd As Long) As Integer


182

B_8158_get_error_counter(ByVal AxisNo As Integer,

ByRef error As Integer) As Integer

B_8158_reset_error_counter(ByVal AxisNo As

Integer) As Integer

B_8158_set_general_counter(ByVal AxisNo As

Integer, ByVal CntSrc As Integer, ByVal

CntValue As Double) As Integer

B_8158_get_general_counter(ByVal AxisNo As

Integer, ByRef Pos As Double) As Integer

B_8158_reset_target_pos(ByVal AxisNo As Integer,

ByVal Pos As Double) As Integer

B_8158_get_target_pos(ByVal AxisNo As Integer,

ByRef Pos As Double) As Integer

B_8158_set_res_distance(ByVal AxisNo As Integer,

ByVal Res_Distance As Double) As Integer

B_8158_get_res_distance(ByVal AxisNo As Integer,

ByRef Res_Distance As Double) As Integer

@ Argument



0

1

0

1

…

0

1

…

7

8

9

…

0

1

…

7

Pos , *Pos : Feedback position counter value, (_8158_get/ set_position) range: -134217728-134217727

Cmd , *Cmd : Command position counter value, range: -134217728-134217727

*error : Position error counter value, range: -32768-32767

Function Library

CntSrc : general counter source

Value Meaning

2

3

0 Command pulse

1 EA/EB

Pulse input

System clock÷2

CntValue , *CntValue : the counter value

TargetPos , *TargetPos : Target position recorder value, range: -134217728-134217727

ResDistance , *ResDistance : residue distance


184

6.15 Position Compare and Latch

@ Name

_8158_set_trigger_logic – Set the CMP signal’s logic

_8158_set_trigger_comparator – Set the trigger comparator

_8158_set_error_comparator – Set the error comparator

_8158_set_general_comparator – Set the general comparator

_8158_set_latch_source – Set the latch timing for a counter

_8158_set_ltc_logic – Set the logic of LTC signal

_8158_get_latch_data – Get the latch data from counter

@ Description

_8158_set_trigger_logic :

This function is used to set the logic of CMP single.

_8158_set_error_comparator :

This function is used to set the comparing method and value for the error comparator. When the position error counter’s value reaches the comparing value, the 8158 will generate an interrupt to the host PC. Also see section 6.14 “Interrupt control”.

_8158_set_general_comparator :

This function is used to set the comparing source counter, comparing method and value for the general comparator. When the comparison conditions are met, there is one of the 4 reactions will be done. The detail setting, see the argument description.

_8158_set_trigger_comparator :

This function is used to set the comparing source counter, comparing method and value for the trigger comparator. When the comparison source counter’s value reaches the comparing value, the 8158 will generate a pulse output via CMP and an interrupt (event_int_status, bit 12) will also be sent to host PC.

Function Library

_8158_set_latch_source :

There are 4 latch triggering source. By using this function, user can choose the event source to latch counters’ data.

_8158_set_ltc_logic :

This function is used to set the logic of the latch input.

_8158_get_latch_data :

After the latch signal arrived, the function is used to read the latched value of counters.

@ Syntax


I16 _8158_set_trigger_logic(I16 AxisNo, I16

Logic);

I16 _8158_set_error_comparator(I16 AxisNo, I16

CmpMethod, I16 CmpAction, I32 Data);

I16 _8158_set_general_comparator(I16 AxisNo, I16

CmpSrc, I16 CmpMethod, I16 CmpAction, I32

Data);

I16 _8158_set_trigger_comparator(I16 AxisNo, I16

CmpSrc, I16 CmpMethod, I32 Data);

I16 _8158_set_latch_source(I16 AxisNo, I16

LtcSrc);

I16 _8158_set_ltc_logic(I16 AxisNo, I16

LtcLogic);

I16 _8158_get_latch_data(I16 AxisNo, I16

CounterNo, F64 *Pos);


B_8158_set_trigger_logic(ByVal AxisNo As Integer,

ByVal Logic As Integer) As Integer

B_8158_set_error_comparator(ByVal AxisNo As

Integer, ByVal CmpMethod As Integer, ByVal

CmpAction As Integer, ByVal Data As Long) As

Integer

B_8158_set_general_comparator(ByVal AxisNo As

Integer, ByVal CmpSrc As Integer, ByVal

CmpMethod As Integer, ByVal CmpAction As

Integer, ByVal Data As Long) As Integer


186

B_8158_set_trigger_comparator(ByVal AxisNo As

Integer, ByVal CmpSrc As Integer, ByVal

CmpMethod As Integer, ByVal Data As Long) As

Integer

B_8158_set_latch_source(ByVal AxisNo As Integer,

ByVal LtcSrc As Integer) As Integer

B_8158_set_ltc_logic(ByVal AxisNo As Integer,

ByVal StcLogic As Integer) As Integer

B_8158_get_latch_data(ByVal AxisNo As Integer,

ByVal CounterNo As Integer, Pos As Double)

As Integer

@ Argument



0

1

0

1

…

0

1

…

7

8

9

…

0

1

…

7

Logic : logic of comparing trigger

Value Meaning

0 Negative logic

1 Positive logic

CmpSrc : The comparing source counters

Value Meaning

2

3

0 Command counter

1 Feedback counter

Error counter

General counter

Function Library

CmpMethod : The comparing methods

Value Meaning

0 No Compare(Disable)

1 Data = Source counter (direction independent)

2 Data = Source counter (Count up only)

3 Data = Source counter (Count down only)

4 Data > Source counter

5 Data < Source counter

Data : Comparing value (Position)

CmpAction :

Value Meaning

0

1

No action

Stop immediately

2 Slow down then stop ltc_src :

Value Meaning

0 LTC pin input

1 ORG pin input

2 General comparator conditions are met

3 Trigger comparator conditions are met ltc_logic : LTC signal operation edge

Value Meaning

0 Negative logic

1 Positive logic

CounterNo : Specified the counter to latch

Value Meaning

2

3

0 Command counter

1 Feedback counter

Error counter

General counter


*Pos : Latch data (Position)


6.16 Continuous motion

@ Name

_8158_set_continuous_move – Enable continuous motion for absolute motion

_8158_check_continuous_buffer – Check if the buffer is empty

_8158_dwell_move – Set a dwell move

@ Description

_8158_set_continuous_move :

This function is necessary before and after continuous motion command sequences

_8158_check_continuous_buffer :

This function is used to detect if the command pre-register

(buffer) is empty or not. Once the command pre-register

(buffer) is empty, users may write the next motion command into it. Otherwise, the new command will overwrite the previous command in the 2nd command pre-register. If the return code is 1 means buffer is full. Otherwise return code is 0, buffer is not full.

_8158_dwell_move :

This function is used to start a dwell move that means the move does not cause real motion for a specific time.

Example:

_8158_set_continuous_move( 2, 1 ); // start continuous move

_8158_start_tr_move( 2, 20000.0, 10.0, 10000.0,

0.1, 0.1);

_8158_dwell_move( 2, 2000); //dwell move for 2 sec.

_8158_start_sr_move( 2, 20000.0, 10.0, 10000.0,

0.1, 0.1, 0, 0 );

_8158_set_continuous_move( 2, 0 ); //end continuous move


190

@ Syntax


I16 _8158_set_continuous_move(I16 AxisNo, I16

Enable);

I16 _8158_check_continuous_buffer(I16 AxisNo);

I16 _8158_dwell_move(I16 AxisNo, F64 miniSecond);


B_8158_set_continuous_move(ByVal AxisNo As

Integer, ByVal Enable As Integer) As Integer

B_8158_check_continuous_buffer(ByVal AxisNo As

Integer) As Integer

B_8158_dwell_move(ByVal AxisNo As Integer, ByVal miniSecond As Double) As Integer

@ Argument



0

1

0

1

…

0

1

…

7

8

9

…

0

1

…

7

Enable : continuous motion switch logic

Value Meaning

0 continuous motion sequence is finished (Disable)

1 continuous motion sequence is started (Enable) millisecond : Time of dwell move. the unit is in millisecond (ms).

Function Library

6.17 Multiple Axes Simultaneous Operation

@ Name

_8158_set_tr_move_all – Multi-axis simultaneous operation setup

_8158_set_ta_move_all – Multi-axis simultaneous operation setup

_8158_set_sr_move_all – Multi-axis simultaneous operation setup

_8158_set_sa_move_all – Multi-axis simultaneous operation setup

_8158_start_move_all – Begin a multi-axis trapezoidal profile motion

_8158_stop_move_all – Simultaneously stop Multi-axis motion

@ Description

Theses functions are related to simultaneous operations of multiaxes, even in different cards. The simultaneous multi-axis operation means to start or stop moving specified axes at the same time. The axes moved are specified by the parameter “AxisArray,” and the number of axes are defined by parameter “TotalAxes” in

_8158_set_tr_move_all().

When properly setup with _8158_set_xx_move_all(), the function

_8158_start_move_all() will cause all specified axes to begin a trapezoidal relative movement, and _8158_stop_move_all() will stop them. Both functions guarantee that motion Starting/Stopping on all specified axes are at the same time. Note that it is necessary to make connections according to section 2.6 if these two functions are needed.

The following code demos how to utilize these functions. This code moves axis 0 and axis 1 to distance 80000.0 and 120000.0

respectively. If we choose velocities and accelerations that are proportional to the ratio of distances, then the axes will arrive at their endpoints at the same time.

[Example]


192

I16 axes[2] = {0, 1};

F64 dist[2] = {80000.0, 120000.0},

F64 str_vel[2] = {0.0, 0.0},

F64 max_vel[2] = {4000.0, 6000.0},

F64 Tacc[2] = {0.1, 0.6},

F64 Tdec[2] = {0.1, 0.6};

_8158_set_tr_move_all(2, axes, dist, str_vel, max_vel, Tacc, Tdec);

_8158_start_move_all(axes[0]);

@ Syntax


I16 _8158_set_tr_move_all(I16 TotalAxes, I16

*AxisArray, F64 *DistA, F64 *StrVelA, F64

*MaxVelA, F64 *TaccA, F64 *TdecA);

I16 _8158_set_ta_move_all(I16 TotalAx, I16

*AxisArray, F64 *PosA, F64 *StrVelA, F64

*MaxVelA, F64 *TaccA, F64 *TdecA);

I16 _8158_set_sr_move_all(I16 TotalAx, I16

*AxisArray, F64 *DistA, F64 *StrVelA, F64

*MaxVelA, F64 *TaccA, F64 *TdecA, F64

*SVaccA, F64 *SVdecA);

I16 _8158_set_sa_move_all(I16 TotalAx, I16

*AxisArray, F64 *PosA, F64 *StrVelA, F64

*MaxVelA, F64 *TaccA, F64 *TdecA, F64

*SVaccA, F64 *SVdecA);

I16 _8158_start_move_all(I16 FirstAxisNo);

I16 _8158_stop_move_all(I16 FirstAxisNo);


B_8158_set_tr_move_all(ByVal TotalAxes As

Integer, ByRef AxisArray As Integer, ByRef

DistA As Double, ByRef StrVelA As Double,

ByRef MaxVelA As Double, ByRef TaccA As

Double, ByRef TdecA As Double) As Integer

B_8158_set_sa_move_all(ByVal TotalAxes As


PosA As Double, ByRef StrVelA As Double,


Double, ByRef TdecA As Double, ByRef SVaccA

Function Library

As Double, ByRef SVdecA As Double) As

Integer

B_8158_set_ta_move_all(ByVal TotalAxes As


PosA As Double, ByRef StrVelA As Double,


Double, ByRef TdecA As Double) As Integer

B_8158_set_sr_move_all(ByVal TotalAxes As


DistA As Double, ByRef StrVelA As Double,


Double, ByRef TdecA As Double, ByRef SVaccA

As Double, ByRef SVdecA As Double) As

Integer

B_8158_start_move_all(ByVal FirstAxisNo As

Integer) As Integer

B_8158_stop_move_all(ByVal FirstAxisNo As

Integer) As Integer

@ Argument

TotalAxes : Number of axes for simultaneous motion

*AxisArray : Specified axes number array designated to move.

*DistA : Specified distance array in units of pulse

*StrVelA : Starting velocity array in units of pulse per second

*MaxVel A: Maximum velocity array in units of pulse per second

*TaccA : Acceleration time array in units of seconds

*TdecA : Deceleration time array in units of seconds

*PosA : Specified position array in units of pulse

*SvaccA : Specified velocity interval array in which S-curve acceleration is performed.

*SvdecA : Specified velocity interval array in which S-curve deceleration is performed.

FirstAxisNo : The first element in AxisArray.


194

6.18 General-purpose DIO

@ Name

_8158_set_gpio_output – Set digital output

_8158_get_gpio_output – Get digital output

_8158_get_gpio_input – Get digital input

_8158_set_gpio_input_function – Set the signal types for any digital inputs

@ Description

_8158_set_gpio_output :

The PCI-8158 has 8 digital output channels. By this function, user could control the digital outputs.

_8158_get_gpio_output :

This function is used to get the digital output status.

_8158_get_gpio_input :

PCI-8158 has 8 digital input channels. By this function, user can get the digital input status.

_8158_set_gpio_input_function :

PCI-8158 has 8 digital input channels. By this function, user can set one of several input signals to any specific DI channels.

Those signals include LTCn, SDn, PCSn, CLRn, EMG. (The index word n mean axis index.)

@ Syntax


I16 _8158_set_gpio_output(I16 card_id, I16

DoValue);

I16 _8158_get_gpio_output(I16 card_id, I16 *

DoValue);

I16 _8158_get_gpio_input(I16 card_id, I16 *

DiValue);

I16 _8158_set_gpio_input_function(I16 card_id,

I16 Channel, I16Select, I16 Logic);

Function Library


B_8158_set_gpio_output(ByVal card_id As Integer,

ByVal DoValue As Integer) As Integer

B_8158_get_gpio_output(ByVal card_id As Integer,

DoValue As Integer) As Integer

B_8158_get_gpio_input(ByVal card_id As Integer,

DiValue As Integer) As Integer

B_8158_set_gpio_input_function(ByVal card_id As

Integer, ByVal Channel As Integer, ByVal

Select As Integer, ByVal Logic As Integer)As

Integer

@ Argument


DoValue , *DoValue : Digital output value. Bit 0-7: D_out0-7.

*DiValue : Digital input value, Bit 0-7: D_in0-7

Channel : Digital channel DI0 - DI7

Select : signal types select

Value Meaning

4

5

2

3

0 General DI (default)

1 LTC (active low)

SD (active low)

PCS (active low)

CLR (active low)

EMG (active low)

Logic : input signal logic

Value Meaning

0 Not inverse (default)

1 Inverse


196

6.19 Soft Limit

@ Name

_8158_disable_soft_limit – Disable soft limit function

_8158_enable_soft_limit – Enable soft limit function

_8158_set_soft_limit – Set soft limit

@ Description

_8158_disable_soft_limit :

This function is used to disable the soft limit function.

_8158_enable_soft_limit :

This function is used to enable the soft limit function. Once enabled, the action of soft limit will be exactly the same as physical limit.

_8158_set_soft_limit :

This function is used to set the soft limit value.

@ Syntax


I16 _8158_disable_soft_limit(I16 AxisNo);

I16 _8158_enable_soft_limit(I16 AxisNo, I16

Action);

I16 _8158_set_soft_limit(I16 AxisNo, I32

PlusLimit, I32 MinusLimit);


B_8158_disable_soft_limit(ByVal AxisNo As

Integer) As Integer

B_8158_enable_soft_limit(ByVal AxisNo As Integer,

ByVal Action As Integer) As Integer

B_8158_set_soft_limit(ByVal AxisNo As Integer,

ByVal PlusLimit As Long, ByVal MinusLimit As

Long) As Integer

Function Library

@ Argument



0

1

0

1

…

0

1

…

7

8

9

…

0

1

…

7

Action : The reacting method of soft limit

Value Meaning

0

1

INT only

Immediately stop

2 slow down then stop

PlusLimit : Soft limit value, positive direction

MinusLimit : Soft limit value, negative direction


198

6.20 Backlash Compensation / Vibration Suppression

@ Name

_8158_backlash_comp – Set backlash corrective pulse for compensation

_8158_suppress_vibration – Set vibration suppressing timing

_8158_set_fa_speed – Set the FA speed

@ Description

_8158_backlash_comp :

Whenever direction change occurs, the 8158 outputs backlash corrective pulses before sending commands. This function is used to set the compensation pulse numbers.

_8158_suppress_vibration :

This function is used to suppress vibration of mechanical systems by outputting a single pulse for negative direction and the single pulse for positive direction right after completion of command movement.

_8158_set_fa_speed :

This function is used to specify the low speed for backlash correction or slip correction. It also used as a reverse low speed for home return operation.

@ Syntax


I16 _8158_backlash_comp(I16 AxisNo, I16

CompPulse, I16 Mode);

I16 _8158_suppress_vibration(I16 AxisNo, U16

ReverseTime,

U16 ForwardTime);

I16 _8158_set_fa_speed(I16 AxisNo, F64 FA_Speed);

Function Library


B_8158_backlash_comps (ByVal AxisNo As Integer,

ByVal CompPulse As Integer, ByVal Mode As

Integer) As Integer

B_8158_suppress_vibration(ByVal AxisNo As

Integer, ByVal ReverseTime As Integer, ByVal

ForwardTime As Integer) As Integer

B_8158_set_fa_speed(ByVal AxisNo As Integer,

ByVal FA_Speed As Double) As Integer

@ Argument



0

1

0

1

…

0

1

…

7

8

9

…

0

1

…

7

CompPulse : Specified number of corrective pulses, 12 bit

Mode :

Value Meaning

0 Turns off

1 Enable backlash compensation

2 Slip correction

ReverseTime : Specified Reverse Time, 0 - 65535, unit 1.6 us

ForwardTime : Specified Forward Time, 0 - 65535, unit 1.6 us

FA_Speed : fa speed (unit: pulse/sec)


200

6.21 Speed Profile Calculation

@ Name

_8158_get_tr_move_profile – Get the relative trapezoidal speed profile

_8158_get_ta_move_profile – Get the absolute trapezoidal speed profile

_8158_get_sr_move_profile – Get the relative S-curve speed profile

_8158_get_sa_move_profile – Get the absolute S-curve speed profile

@ Description

_8158_get_tr_move_profile :

This function is used to get the relative trapezoidal speed profiles. By this function, user can get the actual speed profile before running.

_8158_get_ta_move_profile :

This function is used to get the absolute trapezoidal speed profiles. By this function, user can get the actual speed profile before running.

_8158_get_sr_move_profile :

This function is used to get the relative S-curve speed profiles.

By this function, user can get the actual speed profile before running.

_8158_get_sa_move_profile :

This function is used to get the absolute S-curve speed profiles. By this function user can get the actual speed profile before running.

Function Library

@ Syntax


I16 _8158_get_tr_move_profile(I16 AxisNo, F64

Dist, F64 StrVel, F64 MaxVel, F64 Tacc, F64

Tdec, F64 *pStrVel, F64 *pMaxVel, F64

*pTacc, F64 *pTdec, F64 *pTconst );

I16 _8158_get_ta_move_profile(I16 AxisNo, F64

Pos, F64 StrVel, F64 MaxVel, F64 Tacc, F64

Tdec, F64 *pStrVel, F64 *pMaxVel, F64

*pTacc, F64 *pTdec, F64 *pTconst );

I16 _8158_get_sr_move_profile(I16 AxisNo, F64

Dist, F64 StrVel, F64 MaxVel, F64 Tacc, F64

Tdec, F64 SVacc, F64 SVdec,F64 *pStrVel, F64

*pMaxVel, F64 *pTacc, F64 *pTdec, F64

*pSVacc, F64 *pSVdec, F64 *pTconst);

I16 _8158_get_sa_move_profile(I16 AxisNo, F64

Pos, F64 StrVel, F64 MaxVel, F64 Tacc, F64

Tdec, F64 SVacc, F64 SVdec,F64 *pStrVel, F64

*pMaxVel, F64 *pTacc, F64 *pTdec, F64

*pSVacc, F64 *pSVdec, F64 *pTconst);


B_8158_get_tr_move_profile(ByVal AxisNo As

Integer, ByVal Dist As Double, ByVal StrVel

As Double, ByVal MaxVel As Double, ByVal

Tacc As Double, ByVal Tdec As Double, ByRef pStrVel As Double, ByRef pMaxVel As Double,

ByRef pTacc As Double, ByRef pTdec As

Double, ByRef pTconst As Double) As Integer

B_8158_get_ta_move_profile(ByVal AxisNo As

Integer, ByVal Pos As Double, ByVal StrVel


Tacc As Double, ByVal Tdec As Double, ByRef pStrVel As Double, ByRef pMaxVel As Double,

ByRef pTacc As Double, ByRef pTdec As

Double, ByRef pTconst As Double) As Integer

B_8158_get_sr_move_profile(ByVal AxisNo As

Integer, ByVal Dist As Double, ByVal StrVel


Tacc As Double, ByVal Tdec As Double, ByVal

SVacc As Double, ByVal SVdec As Double,

ByRef pStrVel As Double, ByRef pMaxVel As


202

Double, ByRef pTacc As Double, ByRef pTdec

As Double, ByRef pSVacc As Double, ByRef pSVdec As Double, ByRef pTconst As Double)

As Integer

B_8158_get_sa_move_profile(ByVal AxisNo As

Integer, ByVal Pos As Double, ByVal StrVel


Tacc As Double, ByVal Tdec As Double, ByVal

SVacc As Double, ByVal SVdec As Double,

ByRef pStrVel As Double, ByRef pMaxVel As

Double, ByRef pTacc As Double, ByRef pTdec

As Double, ByRef pSVacc As Double, ByRef pSVdec As Double, ByRef pTconst As Double)

As Integer

@ Argument



0

1

0

1

…

0

1

…

7

8

9

…

0

1

…

7

Dist : Specified relative distance (unit: pulse)

Pos : Specified absolute position (unit: pulse)

StrVel : Starting velocity (unit: pulse/sec)

MaxVel : Maximum velocity (unit: pulse/sec)

Tacc : time for acceleration (unit: sec)

Tdec : time for deceleration (unit: sec)

SVacc : S-curve region during acceleration (unit: pulse/sec)


Function Library

SVdec : S-curve region during deceleration (unit: pulse/sec)


*pStrVel : Starting velocity by calculation

*pMaxVel : Maximum velocity by calculation

*pTacc : Acceleration time by calculation

*pTdec : Deceleration time by calculation

*pSVacc : S-curve region during acceleration by calculation

*pSVdec : S-curve region during deceleration by calculation

*pTconst : constant speed time(maximum speed)


204

6.22 Return Code

The return error code is defined in “8158_err.h”. The meaning is described in following table.

Code

-10320

-10321

-10322

-10323

-10324

-10325

-10326

-10327

-10328

-10329

-10312

-10313

-10314

-10315

-10316

-10317

-10318

-10319

-10304

-10305

-10306

-10307

-10308

-10309

-10310

-10311

0

-10000

-10001

-10002

-10300

-10301

-10302

-10303

Meaning

No error

Error Card number

Error operation system version

Error card’s ID conflict

Error other process exist

Error card not found

Error Open driver failed

Error ID mapping failed

Error trigger channel

Error trigger type

Error event already enabled

Error event not enable yet

Error on board FIFO full

Error unknown command type

Error unknown chip type

Error card not initial

Error position out of range

Error motion busy

Error speed error

Error slow down point

Error axis range error

Error compare parameter error

Error compare method

Error axis already stop

Error axis INT wait failed

Error user code write failed

Error array size exceed

Error factor number

Error enable range

Error auto accelerate time

Error dwell time

Error dwell distance

Error new position

Error motion not in running

Function Library

Code

-10330

-10331

-10332

-10333

-10334

-10335

-10336

-10337

-10338

Meaning

Error velocity change time

Error speed target

Error velocity percent

Error position change backward

Error counter number

Error gpio input function parameter

Error channel number

Error ERC mode

Error security code



7 Connection Example

This chapter shows some connection examples between the PCI-

8158 and servo drivers and stepping drivers.

7.1 General Description of Wiring

The connection between the PCI-8158 and the pulse input servo driver or stepping driver is the main connection. The following figure illustrates how to integrate the PCI-8158 and DIN-814M-J3A.

7.2 Terminal Board User Guide

Please refer the individual user guide of terminal board. The supported terminal boards are as follows:

Mitsubishi J2 Super DIN-814M

Mitsubishi J3A DIN-814M-J3A

Yaskawa Sigma II DIN-814Y

Panasonic MINAS A4 DIN-814P-A4

Connection Example 207

208 Connection Example

Warranty Policy

Thank you for choosing ADLINK. To understand your rights and enjoy all the after-sales services we offer, please read the following carefully.

1. Before using ADLINK’s products please read the user manual and follow the instructions exactly. When sending in damaged products for repair, please attach an RMA application form which can be downloaded from: http:// rma.adlinktech.com/policy/.

2. All ADLINK products come with a limited two-year warranty, one year for products bought in China:

X

X

X

X

X

The warranty period starts on the day the product is shipped from ADLINK’s factory.

Peripherals and third-party products not manufactured by ADLINK will be covered by the original manufacturers' warranty.

For products containing storage devices (hard drives, flash cards, etc.), please back up your data before sending them for repair. ADLINK is not responsible for any loss of data.

Please ensure the use of properly licensed software with our systems. ADLINK does not condone the use of pirated software and will not service systems using such software. ADLINK will not be held legally responsible for products shipped with unlicensed software installed by the user.

For general repairs, please do not include peripheral accessories. If peripherals need to be included, be certain to specify which items you sent on the RMA Request

& Confirmation Form. ADLINK is not responsible for items not listed on the RMA Request & Confirmation

Form.

Warranty Policy 209

3. Our repair service is not covered by ADLINK's guarantee in the following situations:

X

X

X

X

X

X

X

X

X

Damage caused by not following instructions in the

User's Manual.

Damage caused by carelessness on the user's part during product transportation.

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Damage caused by unsuitable storage environments

(i.e. high temperatures, high humidity, or volatile chemicals).

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Products with altered and/or damaged serial numbers are not entitled to our service.

This warranty is not transferable or extendible.

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4. Customers are responsible for shipping costs to transport damaged products to our company or sales office.

5. To ensure the speed and quality of product repair, please download an RMA application form from our company website: http://rma.adlinktech.com/policy. Damaged products with attached RMA forms receive priority.

If you have any further questions, please email our FAE staff: [email protected].

210 Warranty Policy

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