ICP DAS USA I-8092F Getting Started Manual

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I-8092F Getting Started Manual

(Version 2.3)

Hardware & Software & Application

Using I-8092F PAC Motion Control Module

http://www.icpdas.com I8092F Getting Started ManualVer.2.3

Warranty

All products manufactured by ICPDAS Inc. are warranted against defective materials for a period of one year from the date of delivery to the original purchaser.

Warning

ICPDAS Inc. assumes no liability for damages consequent to the use of this product. ICPDAS Inc. reserves the right to change this manual at any time without notice. The information furnished by ICPDAS Inc. is believed to be accurate and reliable. However, no responsibility is assumed by ICPDAS Inc. for its use, or for any infringements of patents or other rights of third parties resulting from its use.

Copyright

Trademark

The names used for identification only maybe registered trademarks of their respective companies.

License

The user can use, modify and backup this software on a single machine.

The user may not reproduce, transfer or distribute this software, or any copy, in whole or in part. http://www.icpdas.com I8092F Getting Started ManualVer.2.3

Contents of I8092F

1 INTRODUCTION............................................................... 6

1.1 Introduction................................................................................................ 6

1.2 Hardware Specification ............................................................................. 7

1.2.1 Main Specification .................................................................................... 7

1.2.2 Interpolation Function............................................................................... 7

1.2.3 Pulse Output............................................................................................. 7

1.2.4 Encoder Input ........................................................................................... 8

1.2.5 Position counter........................................................................................ 8

1.2.6 Servo Motor Input Signal.......................................................................... 8

1.2.7 Limit Switch Input Signal .......................................................................... 8

1.2.8 Other Input Signals................................................................................... 8

1.2.9 Emergency Stop Signal Input ................................................................... 9

1.2.10 General Output Signal............................................................................ 9

1.2.11 Integral Input Signal Filters ..................................................................... 9

1.2.12 Software Limit......................................................................................... 9

1.2.13 Manual Pulse Generator ........................................................................ 9

1.2.14 LED for Module status............................................................................ 9

1.2.15 FRnet ..................................................................................................... 9

1.3 Environment ............................................................................................. 10

1.4 Ordering Information.............................................................................. 10

2 HARDWARE INSTALLATION ...................................... 11

2.1 Checking Package and Installation........................................................ 11

2.1.1 Checking package...................................................................................11

2.1.2 Installation ...............................................................................................11

2.2 DN-8237-GB Daughter Board ................................................................ 12

2.2.1 Board Layout for DN-8237-GB ............................................................... 12

2.2.2 Signal Connections for DN-8237-GB...................................................... 13

2.2.3 Jumper and Switch Settings ................................................................... 17

2.3 Input/Output Connections ...................................................................... 20

2.3.1 Pulse output signals ............................................................................... 20

2.3.2 Connection for Limit switch Signal.......................................................... 22

2.3.3 General Purpose Input Signals(nINPOS,nALARM)................................ 22

2.3.4 Encoder Signals ..................................................................................... 23

2.3.5 Emergency Stop Signal .......................................................................... 23

http://www.icpdas.com I8092F Getting Started ManualVer.2.3

2.3.6 Manual Pulse Generator Input Signal (EXP+,EXP-)............................... 24

2.3.7 General Purpose Output signals(Servo On/Off) ..................................... 24

2.4 Connection Example for Motor Driver ................................................. 25

3 SOFTWARE DEVELOPMENT OVERVIEW............... 26

3.1 Software development Overview............................................................ 26

3.1.1 Register Module ..................................................................................... 27

3.2 Safety IO Setting ...................................................................................... 27

3.2.1 Emergency Stop Signal Input ................................................................. 27

3.2.2 Configure the Servo ALARM Signals...................................................... 27

3.2.3 Configure the Limit Switch Signals(±EL) ................................................ 27

3.2.4 Configure the Software Limite(±SEL) ..................................................... 28

3.3 Error Checking ........................................................................................ 28

3.4 Basic Configuration of Motion ............................................................... 28

3.5 Manual Pulse Generator Testing ............................................................ 29

3.6 Home Search............................................................................................. 30

3.6.1 Home Search Configuration ................................................................... 30

3.7 Basic Motion ............................................................................................. 32

3.7.1 Speed Profie of the Motion Control......................................................... 32

3.7.2 Basic Setting of Single Axis .................................................................... 33

3.7.3 Basic Motion of Single Axis .................................................................... 34

3.7.4 Basic Setting of Muti-Axes Interpolation................................................. 34

3.7.5 Basic Motion of Muti-Axes Interpolation ................................................. 35

3.8 Advance Motion ....................................................................................... 35

4 GETTING STARTED OF SOFTWARE ......................... 37

4.1 WinCon eVC++ Guideline ...................................................................... 37

4.1.1 Confirm the Relative Files ...................................................................... 37

4.1.2 Create a new eVC++ Application Project ............................................... 37

4.1.3 Add the I8094.h into eVC++ Application Project ..................................... 39

4.1.4 Add the Reference Path into eVC++ Application Project ........................ 40

4.1.5 Start the eVC++ Sample......................................................................... 41

4.1.6 Build the Project ..................................................................................... 44

4.1.7 Download and Run................................................................................. 45

4.2 Microsoft Visual Studio .NET 2003(VB.NET

， C#) Guideline............ 46

4.2.1 Confirm the Relative Files ...................................................................... 46

4.2.2 Create a new VB.NET/C# Application Project ........................................ 46

http://www.icpdas.com I8092F Getting Started ManualVer.2.3

4.2.3 Add the DLL into Application Project....................................................... 48

4.2.4 Start the VB.NET/C# Sample ................................................................. 50

4.2.5 Build the Project ..................................................................................... 53

4.2.6 Download and Run................................................................................. 53

4.3 I-8000 Turbo C Guideine......................................................................... 53

4.3.1 Confirm the Relative Files ...................................................................... 53

4.3.2 Create a new TC ++ Application Project................................................. 54

4.3.3 Start the TC Sample ............................................................................... 56

4.3.4 Build the Project ..................................................................................... 63

4.3.6 Download and Run................................................................................. 63

APPENDIX-A SETUP TOOLS & OTHERS..................... 65

A.1 Setup the Development Environment of I8094 .................................... 65

A.1.1 eVC ++ 4.0............................................................................................. 65

A.1.2 Visual Studio .NET 2003(VB.NET

， C#)................................................. 65

A.1.3 Turbo C .................................................................................................. 65

A.2 I8094 Surface ........................................................................................... 66

A.3 Dimensions............................................................................................... 67

A.4 The Version Upgrades Note.................................................................... 67

APPENDIX B OTHER TERMINAL BOARDS................ 68

B.1 DN-8237-DB Daughter Board ................................................................ 68

B.1.1 Board Layout for DN-8237-DB ............................................................... 68

B.1.2 Signal Connections for DN-8237-DB ..................................................... 69

B.1.3 Jumper and Switch Settings................................................................... 74

B.2 DN-8237-MB Daughter Board ............................................................... 77

B.2.1 Board Layout for DN-8237-MB............................................................... 77

B.2.2 Signal Connections for DN-8237-MB ..................................................... 78

B1.3 Jumper and Switch Settings.................................................................... 85

B.3 DN-8237-PB Daughter Board ................................................................ 87

B.3.1 Board Layout for DN-8237-PB ............................................................... 87

B.3.2 Signal Connections for DN-8237-PB...................................................... 88

B.3.3 Jumper and Switch Settings................................................................... 93

B.4 DN-8237-YB Daughter Board ................................................................ 95

B.4.1 Board Layout for DN-8237-YB ............................................................... 95

B.4.2 Signal Connections for DN-8237-YB...................................................... 96

B.4.3 Jumper and Switch Settings................................................................. 101

http://www.icpdas.com I8092F Getting Started ManualVer.2.3

1 INTRODUCTION

1.1 Introduction

The I-8092F are the 2-axis pulse-type stepping/servo motor motion control module that can be used on any of the ICPDAS I-8000, WinCon and LinCo series controllers, and is suitable for general-purpose motion application. These modules contain a high-performance motion ASIC. Apart from a wide speed range, these intelligent motion controllers have a variety of motion control functions built in, such as

2-axis linear interpolation, 2-axis circular interpolation, T/S-curve acceleration/ deceleration, automatic homing, and others. Besides, it is a module that has full functions of I-8092F plus one port of FRnet. The FRnet port allows this module to expand its fast remote I/O easily. This two-wired FRnet can automatically scan its 128

DI and 128 DO with a period of 0.72/2.88ms. In addition, most of the I-8092F motion control functions are performed with little load on the processor. While driving the motors, the motion status, and the other I/O status on the I-8000, WinCon, or LinCon controllers, can still be monitored. As a result of the low CPU loading requirements of

I-8092F, one or more motion modules may be used on a single I-8000, WinCon, ot

LinCon controllers. ICPDAS also has provided a wide range of functions and examples to reduce the need for programming by user, making it a highly cost-effective solution for machine makers.

I8092f with PAC controller (WinCon-8000 、 LinCon-8000 、 I-8000) http://www.icpdas.com I8092F Getting Started ManualVer.2.3

1.2 Hardware Specification

1.2.1 Main Specification

ASIC Chip MCX312

Number of controllable 2-axis, Pulse output (stepping & servo motor)

Up to 4M PPS pulse output

1.2.2 Interpolation Function

2-axis linear interpolation

Interpolation range − 8,388,607 ~ +8,388607

Vectors speed of interpolation 1 PPS ~ 4M PPS

Precision of interpolation ± 0.5 LSB

Circular interpolation

Interpolation range − 8,388,607 ~ +8,388607

Vectors Speed of interpolation 1 PPS ~ 4M PPS

Bit interpolation

Vectors Speed of interpolation 1 PPS ~ 4M PPS(Dependent on CPIU data writing time)

Relative interpolation function

Fixed vectors speed

Continuous

1.2.3 Pulse Output

Output speed range 1 PPS ~ 4 MPPS

Output precision ± 0.1%

Jerk range of S-curve 954 ~ 62.5 x 10^6 PPS/S^2

477 x 10^3 ~ 31.25 x 10^9 PPS/S^2

Acceleration/deceleration range 125 ~ 1 x 10^6 PPS/S

62.5×10^3 ~ 500 x 10^6 PPS/S

Speed precision 1 PPS ~ 500PPS( Depend on the max.speed)

Output numbers 0 ~ 4,294,967,295 / unlimited

Velocity profiles mode:

Fixed

 Symmetrical & Asymmetrical Trapezoidal velocity profile http://www.icpdas.com I8092F Getting Started ManualVer.2.3

Symmetrical & Asymmetrical S-curve velocity profile

Acceleration & Deceleration mode

Auto

By user define

Position & Speed change on the fly

Fixed pulse output by Trapezoidal and S-curve velocity profile

Pulse output option: CW/CCW, PULSE/DIR

Programmable logic level （ Rising Edge/ Falling Edge ）

1.2.4 Encoder Input

Encoder option: A/B phase, Up/Down

Programmable A/B phase mode: 1, 1/2, and 1/4 A/B phase

Programmable direction of counter

1.2.5 Position counter

Command counter range − 2,147,483,648 ~ +2,147,483,647

Encoder counter range − 2,147,483,648 ~ +2,147,483,647

Programmable ring counter

Programmable direction of counter

Programmable read & write counter

1.2.6 Servo Motor Input Signal

Alarm

Choose IN2: In Position or Servo Ready signal

Choose input signal: Enable/Disable and logical level.

1.2.7 Limit Switch Input Signal

Two-limit switch signal for each axis: +Limit, − Limit

Programmable logic level

Programmable action mode( slow-down stop or immediately stop)

1.2.8 Other Input Signals

 IN3 : Digital Input of general purpose. http://www.icpdas.com I8092F Getting Started ManualVer.2.3

1.2.9 Emergency Stop Signal Input

There is a Emergency stop signal for Each module.

1.2.10 General Output Signal

Capability of configurable nOUT0 of each axes as general purpose DO signals.

Capability of configurable nOUT1 of each axes as Servo On/Off signal.

1.2.11 Integral Input Signal Filters

The motion module is equipped with an integral type filter in the input step of each input signal. User can be selected a filter time constant.

1.2.12 Software Limit

There are two software-limit for each axis: -SLimit & + SLimit ( Setting range :

− 2,147,483,646 ~ +2,147,483,646)

1.2.13 Manual Pulse Generator

Fixed Pulse Driving Mode (CW/CCW pulse mode)

Continuous Pulse Driving Mode (CW/CCW pulse mode)

Manual pulsar mode(A/B phase pulse mode)

Disable Mode: Disable manual pulse function

1.2.14 LED for Module status

Red Æ Power light

Orange Æ Servo Alarm

Ex:Misuibishi driver, No Alm: turn Orange LED on

Green Æ during Running Motion

1.2.15 FRnet

Connect to the distributed DI/DO module DI Æ max up to 128

DO Æ max up to 128

Read the status of distributed DI

Control the status of distributed DO

Support interrupt and frequence division function

 Reset http://www.icpdas.com I8092F Getting Started ManualVer.2.3

1.3 Environment

Operating Temp: -20 ~ + 75°C

Storage

Operating Humidity: 10 ~ 85% ， non-condensing

Storage 5 ， non-condensing

I/O optically isolated 2500Vrms

External Power supply( Input): 24V DC (connect to terminal board)

1.4 Ordering Information

i8092F 2-axis motion control module

DN-8237GB For general purpose usage

DN-8237DB For Delta ASDA Servo motor

DN-8237MB For Mitsubishi J2 Servo motor

DN-8237PB For Panasonic minas A4 Servo motor

DN-8237YB For Yaskawa Σ-Ⅱ Servo motor

CA-3710DM 37-pin Dsub cable ， length:1.0 m

CA-3730DM 37-pin Dsub cable ， length:3.0 m

CA3750DM 37-pin Dsub cable ， length:5.0 m

4PCA-SCSI20-M1 20-pin SCSI cable, length: 1.0 m

4PCA-SCSI50-D1 50-pin SCSI cable for Delta, length: 1.0 m

4PCA-SCSI50-PY1 50-pin SCSI cable for Panasonic and Yaskawa, length:

1.0 m

 http://www.icpdas.com I8092F Getting Started ManualVer.2.3

2 HARDWARE INSTALLATION

2.1 Checking Package and Installation

2.1.1 Checking package

The i8092F are a 2-axis stepping/servo motor control module that can be used on any of the ICPDAS I-8000, WinCon and WinPAC series controllers.

2.1.2 Installation

Prepare controller

1. Choose a PAC controller of ICPDAS (I-8000 or W-8000series) and have empty slot.

2. Turn power off

Module Plug in controller and wiring

1. Plug in the i8092F into a empty slot of I-8000/W-8000.

2. Connect the i8092F with DN-8237 by a CA-3710DM cable, as the below figure:

Figure. i8092F with PAC controller (WinCon-8000 、 LinCon-8000 、 I-8000) http://www.icpdas.com I8092F Getting Started ManualVer.2.3

2.2 DN-8237-GB Daughter Board

The DN-8237-GB is the daughter board for General Purpose Ampilifiers. It has 2-axis I/O signals.

2.2.1 Board Layout for DN-8237-GB

107mm

CON4

JP3

JP4

JP5

JP1

JP2

RJ1

DN-8237-MB

TB1

Fig. 2-1 Board layout for the DN-8237-GB http://www.icpdas.com I8092F Getting Started ManualVer.2.3

2.2.2 Signal Connections for DN-8237-GB

Maintaining signal connections is one of the most important factors in ensuring that your application system is sending and receiving data correctly.

 Pin Assignment for CON1

The I/O connector on the DN-8237-GB is a 37-pin connector that enables you to connect to the

PISO-PS200(or I-8092F) motion card. Fig. 2-2 shows the pin assignment for the 37-pin I/O connector on the DN-8237-GB (or on the motion card), and refer to Table 2-2 for description of each motion I/O signal.

Fig. 2-2 I/O connector pin assignment for the CON1 http://www.icpdas.com I8092F Getting Started ManualVer.2.3

Table 2-2 DN-8237-MB CON1 I/O connector signal description

Y_ALARM

X_LMTP

Y_LMTP

X_LMTM

Y_LMTM

X_STOP0

Y_STOP0

X_STOP1

Y_STOP1

X_IN3

Y_IN3

Pin name Pin number Description

FR_A 19 signal

FR_B 37 FRnet B-phase signal

X_ECA

Y_ECA

X_ECB

Y_ECB

Encoder A-phase signal for the X axis

Encoder A-phase signal for the Y axis

Encoder B-Phase signal for the X axis

Encoder B-Phase signal for the Y axis

X_STOP2

Y_STOP2

X_INPOS

Y_INPOS

X_ALARM

Stop 2 signal for the X axis

Stop 2 signal for the Y axis

In-position signal for the X axis

In-position signal for the Y axis

Alarm signal for the X axis

Alarm signal for the Y axis

Limit switch input signal (+) for the X axis

Limit switch input signal (+) for the Y axis

Limit switch input signal (-) for the X axis

Limit switch input signal (-) for the Y axis

Stop 0 signal for the X axis

Stop 0 signal for the Y axis

Stop 1 signal for the X axis

Stop 1 signal for the Y axis

Input 3 signal for the X axis

Input 3 signal for the Y axis

EMGN

VCC

Emergency stop input signal

Module power (+5V) http://www.icpdas.com I8092F Getting Started ManualVer.2.3

 CON2 & CON3 (I/O connector for each AXIS)

The connectors CON2 and CON3 are 20-pin connectors that enable you to connect to the I/O signals for general purpose motor drivers. Fig.2-3 shows the pin assignment for the 20-pin connector on the DN-8237-GB, and the Table 2-3 shows its I/O connector signal description. http://www.icpdas.com I8092F Getting Started ManualVer.2.3

 CON4

The connector CON4 is 16-pin connector that enables you to connect to the signals of your motor drivers. Fig.2-4 shows the pin assignment for the 11-pin connector on the DN-8237-GB, and the Table 2-4 shows its I/O connector signal description.

 TB1

The connector TB1 is 5-pin connector that enables you to connect to the signals of your motor drivers. Fig.2-4 shows the pin assignment for the 5-pin connector on the DN-8237-GB, and the

Table 2-4 shows its I/O connector signal description. http://www.icpdas.com I8092F Getting Started ManualVer.2.3

 RJ1 (The I/O signals of the FRnet)

The connectors RJ1 is an 8-pin RJ45 connector that enable you to connect to the signals of

FRnet. Fig.3-5 shows the pin assignment for the 8-pin connector on the DN-8237-GB, and the

Table 3-5 shows its I/O connector signal description.

2.2.3 Jumper and Switch Settings

 JP5

Jumper 5 controls the EMG-A signal of the CON4 connector. The following diagram is shown the selection condition of the jumper 5.

Fig. 3-6 Jumper 5 setting http://www.icpdas.com I8092F Getting Started ManualVer.2.3

 SW 1

The emergency stop signal for each servo ampilfier can be selected from SW1. The number 1 and 2 on SW1 are denoted as axis X and Y, respectively. The number 3 and 4 on SW1 are reserved for future work. Fig. 3-7 is the default setting to connect the EMG singals to GND.

The X-EMG and Y-EMG signal from CON4 not take effect. If the switch is disconnected as shown in Fig. 3-8, the emergency stop signals can be controlled from the X-EMG and Y-EMG signal in CON4.

Fig. 3-7 SW1 setting for normally GND (Default setting)

Fig. 3-8 SW1 setting for user controlled signals. http://www.icpdas.com I8092F Getting Started ManualVer.2.3

 JP1/2 & JP3/4

Jumper 1, 2 controls the XPP, XPM signals of the CON2. The couple of jumpers are indicated the type of pulse output signal for X axis. However there are the same jumper settings for Y axis

(Jumper 3, 4 for Y axis). The following diagram is shown the selection condition of the jumper 1,

Fig. 3-9 Jumper 1, 2 setting http://www.icpdas.com I8092F Getting Started ManualVer.2.3

2.3 Input/Output Connections

The signal connections of all the I/O signals are described in this chapter. Please refer the contents of this chapter befor wiring the cable between the i8092F and the motor drivers.

2.3.1 Pulse output signals

There are 2-axis pulse output signals on I8092F, For every axis, two pairs of CW and

CCW signals are used to send the pulse train. The CW and CCW signals can also be programmed as PULSE and DIR signals pait.

Two types of the pulse output signal,

Differential-Type and Open-Collector Type, can be selected from JP2/3 and JP4/5 and are described in section 2.2.2. The following wiring diagram is for the CW and CCW signals of the

2-axis.

Output to Motor Drivers in Differential Circuit

Fig. 2.8 Differential-Type pulse output circuit

Open Collector TTL Output

Fig. 2.9 The wiring is open collector output http://www.icpdas.com I8092F Getting Started ManualVer.2.3

Example: wiring of pulse signal

Two types of pulse output signal, Differential-Type and Open-Collector Type, can be selected from JP2/3 and JP4/5 for each axis. The following wiring diagram is an example to select pulse type of the output signal

Fig. 2.10 Output pulse example

Pulse/Direction Pulse Output Mode:

In Pulse/Direction pulse output mode, the PULSE signal is output only at Pulse pins (P+,

P-). The driving direction is decided from the electric potential of Direction pins (N+, N-).

The following diagram is example signal of Pulse/Direction pulse output mode.

P±

N±

Positive Command Negative Command

CW/CCW Pulse Output Mode:

In CW/CCW pulse output mode, the PULSE signal is output at both CW pins (P+, P-) and CCW pins(N+, N-). At the same time, the driving direction is determined directly.

The following diagram is example signal of CW/CCW pulse output mode.

P±

N±

Positive Command

P±

N±

Negative Command http://www.icpdas.com I8092F Getting Started ManualVer.2.3

2.3.2 Connection for Limit switch Signal

Limit Switch Signal can prevent the over traveling appearance of the motion system.

User can set the hardware limit switch signal to be normal open or normal close by the software instruction in I8092F software manual. The following figure indicates that the photo couplers are used to keep out the sensor noise of the Limit Switch.

Fig. 2.11 Limit switch signal circuit

2.3.3 General Purpose Input Signals(nINPOS,nALARM)

INPOS is a digital input signal to indicate the In-Position signal of the driver. User can enable or disable the signal from the software instruction in I8092F software manual.

ALARM is a digital input signal to indicate the servo alarm signal of the driver. The output pulse will be stop if I-8092F receives the ALARM signal. User can enable or disable the signal from the software instruction in I8092F software manual.

Fig. 2.12 General Digital Input circuit http://www.icpdas.com I8092F Getting Started ManualVer.2.3

2.3.4 Encoder Signals

The following diagram is for Differential-Type encoder signals. Connect the Phase A signal to A+ and A- pins and connect Phase B signal to B+ and B- pins. After the high speed photo coupler isolation, the isolated encoder signals are connected to motion IC.

Fig. 2.13 Encoder signal connection

2.3.5 Emergency Stop Signal

The following diagram is for Emergency STOP signal. If the emergency signal is occurred, the output pulse for all axes will be STOP and the error flag will be set as 1.

After the photo coupler isolation, the isolated emergency signal is connected to motion

IC.

Fig. 2.14 Emergency Stop Signal connection http://www.icpdas.com I8092F Getting Started ManualVer.2.3

2.3.6 Manual Pulse Generator Input Signal (EXP+,EXP-)

The signals, EXP+ and EXP-, are used for manual pulsar signals. The following diagram is an example connection for the external inputs. User can set the signals as fixed pulse CW/CCW mode, continuous pulse CW/CCW mode, or A/B phase manual pulsar mode by using the setting in section 3.5.

Fig. 2.15 EXP+/- connection diagram

2.3.7 General Purpose Output signals(Servo On/Off)

The following diagram is a digital output signal for driver Servo On/Off signal. The output signal enable or disable the driver.

Fig. 2.16 Servo On/Off signal connection diagram http://www.icpdas.com I8092F Getting Started ManualVer.2.3

2.4 Connection Example for Motor Driver

The following diagram is the connection example between MITSUBISH MR-J2S AC servo driver and the extension boardDN-8237.

Fig. 2.17 The connection between MR-J2S AC servo driver and DN-8237 extension board. http://www.icpdas.com I8092F Getting Started ManualVer.2.3

3 Software Development Overview

3.1 Software development Overview

Please refer to the demo_start sample

Retrieve the ErrorCode

GET_ERROR_CODE()

Driver Initialize

DRIVER_INIT

Scheme the Safety

Emg.Stop

Servo Alarm

Travel Limits

Software Limits(if necessary)

Yes

Error Checking

GET_ERROR()

External pulse input(if necessary)

Manual pulse generator input driving

Fixed-pulse input driving

Continuous pulse input driving

External pulse input Enable/Disable

Motion Basic Settings

Pulse output

Max. axis speed

Encoder mode(if necessary)

Input signal filter(if necessary)

Circulat Motion Axis Ring counter(if necessary)

Motion Home Search

Set the Home limit logical trigger level (if necessary)

Set the Near-Home limit logical trigger level

Set the Home search mode

Set the Home search speed

Axes perform Home Searching each

Motion Settings

Acc./Dec. mode setting

Set the acceleration/deceleration

Starting speed setting

Run speed setting

Motion Actions

Fixed-pulse output

Continuous pulse

Waiting for the motion done

Multi-axes motion simultaneously

Multi-axes interpolation http://www.icpdas.com I8092F Getting Started ManualVer.2.3

3.1.1 Register Module

User must register for each I8092F module before sending command otherwise user will get error. Please refer to i8092MF_REGISTRATION() function, the section 2.2 of I8092F user manual.

3.2 Safety IO Setting

There are many reasons to stop motion during driving. Some reasons are described in this subsection.

3.2.1 Emergency Stop Signal Input

Emergency Stop is especially for the purpose to stop all of the Motion operations immediately when danger occurs in order to avoid critical accident.

If you don’t need to use the Emg. stop push button, configure the JP1 as pin2-3 short which descripts in the section 2.2.2 .If you need the EMG signal input , configure the JP1 as pin1-2 short, and the EMG_IN signal connect to the N.C. type EMG push button switch and install it at the suitable location.

3.2.2 Configure the Servo ALARM Signals

When the ALARM signals are occurred from servomotor drivers, users can be notified by these signals and determine what to do. The operating mode (Enable or Disable) and the proper trigger level of these signals can be set by user.

Please refer to i8092MF_SET_ALARM() function , the section 2.13 of I8092F user manual.

3.2.3 Configure the Limit Switch Signals (±EL )

To insure the machine in safety, hardware limit switches are placed at the both ends of machine traveling range. If the machine touch the hardware limit switch sensors, I-8092F will stop immediately. The operating mode (Enable or Disable) and the proper trigger level of these signals can be set by user.

Please refer to i8092MF_SET_HLMT () function, the section 2.6 of I8092F user manual. http://www.icpdas.com I8092F Getting Started ManualVer.2.3

3.2.4 Configure the Software Limite (±SEL )

To insure the machine in safety, hardware limit switches are placed at the both ends of machine traveling range. In addition, user can set the software limits to avoid the happening of the over range before the hardware limit takes effect.

If the machine reach the software limits condition, I-8092F will stop immediately. The operating mode (Enable or Disable) and the proper trigger condition of these signals can be set by user.

Please refer to i8092MF _SET_SLMT () and i8092MF_CLEAR_SLMT() function, the section 2.10 of

I8092F user manual.

3.3 Error Checking

Check whether there is any error. If there are something wrongs, please use the

GET_ERROR_CODE() function to get the error-code, then check the reason and remove it. Please refer to GET_ERROR_CODE() function, the section 3.6 of I8092F manual.

User also can use i8092MF_GET_DI() function to check the all of DI status. Please refer to i8092MF_GET_DI() function, the section 3.5 of I8092F user manual.

3.4 Basic Configuration of Motion

The basic Motion configuration is mainly aimed for general necsseary setting, as below:

1 Pulse output mode setting: Pulse/Dir 、 CW/CCW… i8092MF_SET_PULSE_MODE() (Please refer to the section 2.4 of I8092F user manual )

2 Max. speed limitation setting for each axis i8092MF_SET_MAX_V () (Please refer to the section 2.5 of I8092F user manual)

3 Encoder input setting i8092MF_SET_ENCODER() (Please refer to the section 2.11 of I8092F user manual)

4 DI noise filter setting( If necessary) i8092MF_SET_FILTER() (Please refer to the section 2.15 of I8092F user manual)

5 Circular motion declaration( Ring counter)( If necessary) http://www.icpdas.com I8092F Getting Started ManualVer.2.3

i8092MF_VRING_ENABLE()

(Please refer to the section 2.16 of I8092F user manual )

3.5 Manual Pulse Generator Testing

User can use the manual pulse generator function directly to drive motion forward or backward.

For further wiring and parameter tuning, user have to check the correction of the DI signals and the moving direction.

The manual pulse generator can be achieved from three driving methods described below:

1. A/B phase Manual Pulse Generator:

Use the A/B phase Manual Pulse Generator for forward/backward moving. i8092MF_EXD_MP() ( Please refer to the section 2.18.1 of I8092F user manual)

2. Fixed-pulse driving Manual Pulse Generator:

User have to preset fixed driving pulses. After setting, user can push the forward or backward button to drive fixed pulses for each direction. i8092MF_EXD_FP() ( Please refer to the section 2.18.2 of I8092F usere manual)

3. Continuous- pulse driving Manual Pulse Generator:

User can preset output-pulse frequency. After setting, user can push the forward or backward button to drive fixed velocity for each direction. If user release the button, the motion will be stop immediately.

i8092MF_EXD_CP ()

( Please refer to section 2.18.3 of I8092F user manual).

4 Disable external pulse input: http://www.icpdas.com I8092F Getting Started ManualVer.2.3

Disable external pulse input by this command after operating anyone of three functions above. i8092MF_EXD_DISABLE() ( Please refer to section 2.18.4 of I8092F user manual)

3.6 Home Search

I8092F provides the home function of automatic search. Operate that automatically after setting properly. The main steps is as bellow: z Near-home sensor searching under high-speed motion. z Near-home sensor searching under high-speed motion. z Servomotor Z-phase searching under low-speed motion. z Offset movement to the origin of the working area under high-speed motion.

User can select which steps are ignored when setting for the actual operation. It performs automatically that economize the CPU resource and program code reducing.

Although there are four home search steps,but user can create more than 10 types of different home search mode by vary with the software functions. It is attributed to the configurable home search direction and perform it or not of each step.

3.6.1 Home Search Configuration

1. Logic level setting for Near home sensor and Home sensor ( If necessary) i8092MF_SET_NHOME() ( Please refer to section 2.8 of I8092F user manual)

2 Home sensor logic level setting i8092MF_SET_HOME_EDGE() ( Please refer to section 2.9 of I8092F user manual)

3 Auto-Home i8092MF_AUTO_HOME() ( Please refer to section 5.2 of I8092F user manual)

4 Step by step Home function (Only Software)

BYTE i8092MF_SEARCH_NHOME() http://www.icpdas.com I8092F Getting Started ManualVer.2.3

BYTE i8092MF_SEARCH_HOME()

BYTE i8092MF_SEARCH_ZPHASE()

Please refer to section 5.3 of I8092F user manual.

http://www.icpdas.com I8092F Getting Started ManualVer.2.3

3.7 Basic Motion

3.7.1 Speed Profie of the Motion Control

1 Symmetrical T-profile of motion volicety

(If SV is larger than V or equal to V, perform constant velocity driving)

2 Asymmetrical T-profile of motion velocity

3 Symmetrical S-curve of motion velocity http://www.icpdas.com I8092F Getting Started ManualVer.2.3

4 Asymmetrical S-curve of motion velocity

3.7.2 Basic Setting of Single Axis

1 Setting the mode of Acceleration/deceleration: There are four speed modes

0 Æ Symmetrical T-Profile (SV 、 V 、 A 、 AO)

1 Æ Symmetrical S-curve (SV 、 V 、 K 、 AO)

2 Æ Asymmetrical T-profile (SV 、 V 、 A 、 D 、 AO)

3 Æ Asymmetrical S-curve (SV 、 V 、 K 、 L 、 AO) i8092MF_NORMAL_SPEED()

( Please refer to section 6.1.1 of I8092F user manual)

2 Setting the start velocity: Set lowest speed i8092MF_SET_SV () ( Please refer to section 6.1.2 of I8092F user manual)

3 Setting the Velocity: Set the desired speed i8092MF_SET_V ()

( Please refer to section 6.1.3 of I8092F user manual)

4 Setting the Acceleration/Deceleration speed: Set the Acceleration/Deceleration speed. i8092MF_ SET_A ()

( Please refer to section 6.1.4 of I8092F user manual) i8092MF_ SET_D () ( Please refer to section 6.1.5 of I8092F user manual) http://www.icpdas.com I8092F Getting Started ManualVer.2.3

3.7.3 Basic Motion of Single Axis

1 Fixed-pulse driving output: Perform fixed-quantity of single axis pulse output.

i8092MF_FIXED_MOVE() ( Please refer to section 6.1.9 of I8092F user manual)

2 Continuous-pulse driving output: Perform continuous pulse output of single axis. i8092MF_CONTIUNE_MOVE ()

( Please refer to section 6.1.10 of I8092F user manual)

3 Waiting for motion done: Waiting for the axis driving accomplished. i8092MF_STOP_WAIT() ( Please refer to section 6.5.3 of I8092F user manual)

3.7.4 Basic Setting of Muti-Axes Interpolation

1 Setting axes of interpolation: Don’t need to select axes to do the interpolation.

2 Setting the mode of Acceleration/Deceleration of vector: There are seven modes as below:

0 Æ 2-axis( Linear & ARC & Circular) Fixed-vector velocity (VV)

1 Æ 2-axis linear symmetrical T-profile (VSV 、 VV 、 VA 、 VAO)

2 Æ 2-axis linear symmetrical S-curve (VSV 、 VV 、 VK 、 VAO)

3 Æ 2-axis linear asymmetrical T-profile (VSV 、 VV 、 VA 、 VD 、 VAO)

4 Æ N/A

5 Æ 2-axis (ARC & Circular) symmetrical T-profile (VSV 、 VV 、 VA 、 VAO)

6 Æ 2-axis (ARC & Circular) asymmetrical T-profile (VSV 、 VV 、 VA 、 VD 、 VAO) i8092MF_VECTOR_SPEED() ( Please refer to section 6.2.2 of I8092F user manaul)

2 Setting the start vector velocity: Set the lowest vector speed. i8092MF_SET_VSV() ( Please refer to section 6.2.3 of I8092F user manual)

3 Setting the vector velocity: Set the desired vector speed i8092MF_SET_VV() ( Please refer to section 6.2.4 of I8092F user manual)

4 Setting the velocity of Acceleration/Deceleration of vector: Set the speed of http://www.icpdas.com I8092F Getting Started ManualVer.2.3

Acceleration/Deceleration of vector. i8092MF_SET_VA() ( Please refer to section 6.2.5 of I8092F user manual) i8092MF_SET_VD() ( Please refer to section 6.2.6 of I8092F user manual)

3.7.5 Basic Motion of Muti-Axes Interpolation

1 2-axis linear interpolation: Perform 2-axis linear interpolation. i8092MF_LINE_2D()

( Please refer to section 6.2.10 of I8092F user manual)

2 2-axis ARC interpolation: Perform 2-axis ARC interpolation. i8092MF_ARC_CW () ( Please refer to section 6.2.12 of I8092F user manual) i8092MF_ARC_CCW () ( Please refer to section 6.2.12 of I8092F user manual)

3 2-axisCircular interpolation: Perform 2-axis Circular interpolation. i8092MF_ CIRCLE _CW ()

( Please refer to section 6.2.13 of I8092F user manual) i8092MF_ CIRCLE _CCW () ( Please refer to section 6.2.13 of I8092F user manual)

3.8 Advance Motion

1 2-axis continuous interpolation of rectangle: Perform2-axis continuous interpolation of rectangle. i8092MF_RECTANGLE() ( Please refer to section 6.4.1 of I8092F user manual)

2 2-axis continuous interpolation of line:

Initial setting continuous interpolation of 2-axis line( Symmetrical T-profile). i8092MF_LINE_2D_INITIAL() ( Please refer to section 6.4.2 of I8092F user http://www.icpdas.com I8092F Getting Started ManualVer.2.3

manual)

Perform 2-axis continuous interpolation of line. i8092MF_LINE_2D_CONTINUE() ( Please refer to section 6.4.2 of I8092F user manual)

3 Others continuous interpolation: Muti-point continuous interpolation, 3-axes Helix interpolation, 2-axis Ratio motion ( Please refer to section 6.4.4~6.4.7 of I8092F user manual) http://www.icpdas.com I8092F Getting Started ManualVer.2.3

4 GETTING STARTED OF SOFTWARE

4.1 WinCon eVC++ Guideline

4.1.1 Confirm the Relative Files

Please confirm you have the following relevance files:

1. I8092.lib

2. I8092.dll

3. I8092.h

If you don’t have, please look for CD or download the latest edition from

ICPDAS’s website http://www.icpdas.com/download/download-list.htm

4.1.2 Create a new eVC++ Application Project

Please execute the Microsoft eVC++ 4.0. Then click“File” -> “New” to create a new application project. In the “Projects“ property page, choose “ WCE MFC AppWizard

(exe) ＂ option and specifythe project name ”Demo_First”, then key in the disk path in the “Location” field, then select the “ Win 32[WCE ARMV4]“ in CPU list. If necessary, please also select others options together. And then click ＂ OK ＂ .

Choose “ Dialog based “ and click “NEXT” http://www.icpdas.com I8092F Getting Started ManualVer.2.3

Click “Finish” and finish the new project establishment. http://www.icpdas.com I8092F Getting Started ManualVer.2.3

4.1.3 Add the I8094.h into eVC++ Application Project

Add the i8092.h into the WorkSpace of application project, as below:

Click the right key of mouse on Header Files, then choose “Add Files to Folder….”

It will appear on a dialog of selecting file, find out the I8092.h and click OK. http://www.icpdas.com I8092F Getting Started ManualVer.2.3

4.1.4 Add the Reference Path into eVC++ Application Project

A. Open the “Options” dialog in “Tools” menu.

B. Select “Directories“ , then select the “SA_IA” in “Platform” item. Then select the

“Win32 [WCE ARMV4]” in “CPUS” item and select the “include files” in “Show directories“ item.

C. Add in the path of including files. Double-click the rectangle in the buttom of

Directories ＂ List-Box. Please key in the specific path that your header files located. For instance, C:\DAQPRO\Wincon\inc, as below snapshot.

D. Then select the “Library files” in “Show directories” item.

E. Add in the path of library files. Double-click the rectangle in the buttom of

Directories ＂ List-Box. Please key in the specific path that your header files located. For instance, C:\DAQPRO\Wincon\lib, as below snapshot. http://www.icpdas.com I8092F Getting Started ManualVer.2.3

4.1.5 Start the eVC++ Sample

Add a BUTTON on Dialog, as below snapshot:

Double-click on BUTTON and generate subprogram, then add ”#include “i8092.h”,

“WinConSDK.h”, and declare CI8092MF I8092MF & bool Driver_Open & BYTE cardNo=0 in start point, as below snapshot: http://www.icpdas.com I8092F Getting Started ManualVer.2.3

Because we have built a class “CI8092MF(For Macro function)”, it is convenient to guide in designing program. User also can use the function of manual directly. Double-click on

BUTTON that will generate a subprogram, then key in “I8092MF”, then it will appear a windows guide to help user to select a relevance function.

Select “i8092MF.REGISTRATION” and key in (cardNo,3), that indicate the i8092F on third slot is registered to 0 th module. The detailed procedure is as below:

//====='Step 1 Driver init if (!Driver_Open)

{

I8092MF.REGISTRATION(cardNo,3);

}

//====='Step 2 CONFIG IO

I8092MF.RESET_CARD (cardNo);

I8092MF.SET_PULSE_MODE (cardNo, AXIS_XYZU, 2); //set the pulse output mode

I8092MF.SET_ALARM (cardNo, AXIS_XYZU, 0, 0); //disable the SERVO ALARM Input

I8092MF.SET_ENCODER (cardNo, AXIS_XYZU, 0, 0, 0); //set the encoder input type

I8092MF.SET_MAX_V (cardNo, AXIS_XYZU, 16000);

I8092MF.EXD_DISABLE (cardNo, AXIS_XYZU);

//set the max speed for XYZU

//set the external input Off

I8092MF.SET_LP (cardNo, AXIS_XYZU, 0);

I8092MF.SET_EP (cardNo, AXIS_XYZU, 0);

I8092MF.SET_A (cardNo, AXIS_XYZU, 1000);

//set the Logic position =0

//set the Encoger position =0

//set the Acc =1000 http://www.icpdas.com I8092F Getting Started ManualVer.2.3

I8092MF.SERVO_ON (cardNo, AXIS_XYZU);

//======'Step 3 Check ERROR

//set the Servo_ON to servo motors

if YES)

{

//No ERROR: Step 4 Move X axis

BYTE axis=AXIS_X; //for AXIS_X it can be to AXIS_XYZU axis, //set axis as Symmetrical T curve mode

20000); //set v=10000 PPS

100000); //set acc=100000 PPS/S

10); //set start speed=1000 PPS axis, //set offset pulse (at SV speed)= 0 PS

10000); //run the fixed 10000 Pulse move.

while (I8092MF.STOP_WAIT(cardNo, axis) == NO)

{

DoEvents();

Sleep(1);

//wait for axis to stop

}

long //Get X Now position

}

else

{

//Please check the ERROR CODE

//Get X ERROR CODE

//Get Y ERROR CODE

//Get Z ERROR CODE

//Get U ERROR CODE

//====================================

}

Please refer to the example “demo_First” http://www.icpdas.com I8092F Getting Started ManualVer.2.3

After you finished that, please choose the “Project”->”Setting” menu will appear the a dialgo as below, then select the “Link” item and key in “WinConSDK.lib i8092.lib”(as below snapshot) into the Object/library modules box and the click OK.

4.1.6 Build the Project

Please select the “Build” -> ”Build All” in the menu, then you will be finished this example program if there isn’t any wrong. http://www.icpdas.com I8092F Getting Started ManualVer.2.3

4.1.7 Download and Run

Please copy the ”i8092Demo.exe” and “I8092.dll” into the same floder of WinCon ( User can use the eVC++ Online Download/FTP/USB disk to do), then execute it. http://www.icpdas.com I8092F Getting Started ManualVer.2.3

4.2 Microsoft Visual Studio .NET 2003(VB.NET

， C#) Guideline

Because the Microsoft Visual Studio .NET 2003 has similar environment, therefore we make an example with VB.NET.

4.2.1 Confirm the Relative Files

Please confirm you have the following relevance files: i8092.dll i8092_NET.dll

If you don’t have, please look for CD or download the latest edition from

ICPDAS’s website http://www.icpdas.com/download/download-list.htm

4.2.2 Create a new VB.NET/C# Application Project

Please execute the Microsoft Visual Studio .NET 2003. Then create a new application project of VB and select “ Smart Device Application”, as below snapshot:

Click “OK” after finishing all of the selecting, then go to next step. http://www.icpdas.com I8092F Getting Started ManualVer.2.3

Select the “WinDows CE” and “Windows Application”, then click “OK”. http://www.icpdas.com I8092F Getting Started ManualVer.2.3

4.2.3 Add the DLL into Application Project

Click the right key of mouse on”Solution Explorer” =>add Reference

=>Select “Browse” button. http://www.icpdas.com I8092F Getting Started ManualVer.2.3

Select the i8902 _NET.DLL

Select the “Open” button, as above snapshot: http://www.icpdas.com I8092F Getting Started ManualVer.2.3

4.2.4 Start the VB.NET/C# Sample

Add a “BUTTON” on the Form1, then double-click the BUTTON, then it will appear a code of Form1.vb, then add the “imports i8092MF_NET” in top, as below snapshot:

Add the “i8092MF” into the Button1_Click, then it will appear a windows guide to help user to select a relevance function.

Detailed code as below:

'====='Step 1 Driver init http://www.icpdas.com I8092F Getting Started ManualVer.2.3

If Not Driver_Open Then

i8092MF.i8092MF_REGISTRATION(cardNo, 1)

Driver_Open = True

End If

'====='Step 2 CONFIG IO

i8092MF.i8092MF_RESET_CARD(cardNo)

i8092MF.i8092MF_SET_PULSE_MODE(cardNo, AXIS_XYZU, 2) 'set the pulse output mode

i8092MF.i8092MF_SET_ALARM(cardNo, AXIS_XYZU, 0, 0) 'disable the SERVO ALARM Input

i8092MF.i8092MF_SET_ENCODER(cardNo, AXIS_XYZU, 0, 0, 0) 'set the encoder input type

i8092MF.i8092MF_SET_MAX_V(cardNo, AXIS_XYZU, Convert.ToUInt32(16000)) 'set the max speed for XYZU

i8092MF.i8092MF_EXD_DISABLE(cardNo, AXIS_XYZU) 'set the external input Off

i8092MF.i8092MF_SET_LP(cardNo, AXIS_XYZU, 0) 'set the Logic position =0

i8092MF.i8092MF_SET_EP(cardNo, AXIS_XYZU, 0) 'set the Encoger position =0

i8092MF.i8092MF_SET_A(cardNo, AXIS_XYZU, Convert.ToUInt32(1000)) 'set the Acc =1000

i8092MF.i8092MF_SERVO_ON(cardNo, AXIS_XYZU) 'set the Servo_ON to servo motors

'======'Step 3 Check ERROR

Dim KK As Long = 0

KK = i8092MF.i8092MF_GET_ERROR(cardNo)

Dim MSGG As String

If (KK <> YES) Then

'No ERROR: Step 4 Move X axis

Dim axis As UInt16 = AXIS_X 'for AXIS_X it can be to AXIS_XYZU

i8092MF.i8092MF_SET_MAX_V(cardNo, axis, Convert.ToUInt32(20000))

i8092MF.i8092MF_NORMAL_SPEED(cardNo, axis, Convert.ToUInt16(0)) 'set axis as Symmetrical T curve mode

i8092MF.i8092MF_SET_V(cardNo, axis, Convert.ToUInt32(20000)) 'set v=10000 PPS

i8092MF.i8092MF_SET_A(cardNo, axis, Convert.ToUInt32(100000)) 'set acc=100000 PPS/S

i8092MF.i8092MF_SET_SV(cardNo, axis, Convert.ToUInt32(10)) 'set start speed=1000 PPS

i8092MF.i8092MF_SET_AO(cardNo, axis, 0) 'set offset pulse (at SV speed)= 0 PS

i8092MF.i8092MF_FIXED_MOVE(cardNo, axis, 10000) 'run the fixed 10000 Pulse move.

Do While (i8092MF.i8092MF_STOP_WAIT(cardNo, axis) = NO)

i8092MF.system.DoEvents()

System.Threading.Thread.Sleep(1)

'wait for axis to stop

Loop

Dim AA As Long = i8092MF.i8092MF_GET_LP(cardNo, axis) 'Get X Now position

Else

'Please check the ERROR CODE http://www.icpdas.com I8092F Getting Started ManualVer.2.3

'Get X ERROR CODE

KK = Convert.ToInt32(i8092MF.i8092MF_GET_ERROR_CODE(cardNo, AXIS_X))

'Get Y ERROR CODE

KK = Convert.ToInt32(i8092MF.i8092MF_GET_ERROR_CODE(cardNo, AXIS_Y))

'Get Z ERROR CODE

KK = Convert.ToInt32(i8092MF.i8092MF_GET_ERROR_CODE(cardNo, AXIS_Z))

'Get U ERROR CODE

KK = Convert.ToInt32(i8092MF.i8092MF_GET_ERROR_CODE(cardNo, AXIS_U))

'====================================

End If

Please refer to a example “ demo_First” http://www.icpdas.com I8092F Getting Started ManualVer.2.3

4.2.5 Build the Project

Please select the “Build” -> ”Build Solution” in pull-down menu, then you will be finished this example program if there isn’t any wrong.

4.2.6 Download and Run

Please copy the ”Demo_First.exe”, “I8092.dll” and “I8092_NET.dll” into the same floder of WinCon ( User can use the VS.NET Online Download/FTP/USB disk to do), then execute it.

4.3 I-8000 Turbo C Guideine

4.3.1 Confirm the Relative Files

Please confirm you have the following relevance files:

I8092.lib

I8092.h

I8000.lib

I8000.h

If you don’t have, please look for CD or download the latest edition from

ICPDAS’s website http://www.icpdas.com/download/download-list.htm

http://www.icpdas.com I8092F Getting Started ManualVer.2.3

4.3.2 Create a new TC ++ Application Project

1. Execute the TC.EXE in the demo100 folder, then create a new

Project( demo100.prj).

2. Add the contents of project ： demo100.cpp and ..\lib\8000l.lib

， I8092.lib

3. Setting the relevance option

 Compiler -> Code Generation item as below ： http://www.icpdas.com I8092F Getting Started ManualVer.2.3

Compiler -> Advance Code Generation item as below ：

 Debugger setting as below, close the Source debugging. http://www.icpdas.com I8092F Getting Started ManualVer.2.3

4.3.3 Start the TC Sample

1. Add the declared contents into the demo100.cpp:

#include <dos.h>

#include <math.h>

#include "8000.h"

#include "I8092.h"

BYTE cardNo; long x_value, y_value, z_value, u_value;

2. Add the relevance code into the main program( Please refer to demo100.cpp): void main ()

{

//=================== I-8000 ===================

//Set (slot0~slot7) = cardNO (1~8) 。 int Found = 0; for (slot = 0; slot < 8; slot++)

{ cardNo = slot + 1; if (i8092MF_REGISTRATION(cardNo, slot) == YES)

{

//Found Axis Card 。

i8092MF_RESET_CARD(cardNo);

Found++;

}

} if (Found == 0)

{

//Not Found 。

Print("I-8092 card not found ! \r\n"); return ;

} cardNo = 1;

i8092MF_INIT_CARD(cardNo); i8092MF_SET_PULSE_MODE(cardNo, AXIS_XYZU, 2); http://www.icpdas.com I8092F Getting Started ManualVer.2.3

i8092MF_SET_ALARM(cardNo, AXIS_XYZU, 1, 1);

i8092MF_SET_ENCODER(cardNo, AXIS_XYZU, 0, 0, 0);

i8092MF_SET_MAX_V(cardNo, AXIS_XYZU, 16000);

//==========================================================================

BYTE ret1 = 0;

DWORD //PPS

DWORD //PPS/s do

{

Print(" (0:Exit, 1:HELIX_3D_1, 2:HELIX_3D_2, 3:RATIO, 4:FRnet output, 5:FRnet input)

\r\n");

Print(" (6:Reset Encoder, 7:Stop, 8:Clear Error) \r\n");

Print(" (X:Jog X, Y:Jog Y, Z:Jog Z, U:Jog U, S:Stop Jog) \r\n");

Print("\n");

Print("----------------------LOGIC AND REAL POSITION COUNTER----------------------\n"); y_value = i8092MF_GET_LP(cardNo, AXIS_Y); z_value = i8092MF_GET_LP(cardNo, AXIS_Z); u_value = i8092MF_GET_LP(cardNo, AXIS_U); x=%10ld, %10ld, z= %10ld, u=%10ld \r\n", x_value, y_value, z_value, u_value); x_value = i8092MF_GET_EP(cardNo, AXIS_X); y_value = i8092MF_GET_EP(cardNo, AXIS_Y); z_value = i8092MF_GET_EP(cardNo, AXIS_Z); u_value = i8092MF_GET_EP(cardNo, AXIS_U);

Print("REAL POSITION: x=%10ld, y= %10ld, z= %10ld, u=%10ld \r\n", x_value, y_value, z_value, u_value); while (!Kbhit());

chkey=Getch();

Print("%s\r\n",&chkey); switch (chkey)

{ http://www.icpdas.com I8092F Getting Started ManualVer.2.3

case '0':

i8092MF_RESET_CARD(cardNo);

Print("EXIT! \r\n"); return ;

//--------------------------------------------------------------- case '1':

v=50000; //PPS 。

ret1=i8092MF_HELIX_3D(cardNo, AXIS_Y, AXIS_Z, AXIS_X, 1, v, 0,

1000, 5, -2000);

Delay(1000); break ;

//--------------------------------------------------------------- case '2':

v=100000; //PPS 。

ret1=i8092MF_HELIX_3D(cardNo, AXIS_Y, AXIS_Z, AXIS_U, 1, v, 0,

25000, 10, 3600);

Delay(2000); break ;

//--------------------------------------------------------------- case '3':

sv=300; //PPS 。

v=30000; //PPS 。

a=500000; //PPS/s 。 int int

loop1;

loop2; float ratio;

Scanf("%f", &ratio);

i8092MF_RATIO_INITIAL(cardNo,AXIS_U, AXIS_X, sv, v, a, ratio); for (loop2 = 0; loop2 < 5; loop2++) http://www.icpdas.com I8092F Getting Started ManualVer.2.3

{ for (loop1 = 0; loop1 < 5; loop1++)

{

}

Delay(3000); break ;

//--------------------------------------------------------------- case '4':

WORD wSA;

WORD data;

Print("FRnet wSA ? \r\n");

Scanf("%d", &wSA);

16 data

Scanf("%d", &data); break ;

//--------------------------------------------------------------- case '5':

WORD wRA;

Print("FRnet wRA ? \r\n");

Scanf("%d", &wRA); long data1 = i8092MF_FRNET_RA(cardNo, wRA); break ;

//--------------------------------------------------------------- case '6':

16 = break ;

//--------------------------------------------------------------- http://www.icpdas.com I8092F Getting Started ManualVer.2.3

case '7':

//--------------------------------------------------------------- case '8':

Print("STOP! \r\n"); break ;

i8092MF_CLEAR_ERROR(cardNo); break ;

//--------------------------------------------------------------- case 88: case 120:

BYTE m_Axis=AXIS_X;

Symmetrical T curve mode

PPS/S m_Axis, //set Acc =50000 break ;

//--------------------------------------------------------------- case 89: case 121: m_Axis=AXIS_Y;

Symmetrical T curve mode

PPS/S m_Axis, //set Acc =50000 http://www.icpdas.com I8092F Getting Started ManualVer.2.3

break ;

//--------------------------------------------------------------- case 90: case 122: m_Axis=AXIS_Z;

Symmetrical T curve mode

PPS/S m_Axis, //set Acc =50000 break ;

//--------------------------------------------------------------- case 85: case 117: m_Axis=AXIS_U;

Symmetrical T curve mode

PPS/S m_Axis, //set Acc =50000 break ;

//--------------------------------------------------------------- case 83: case 115: http://www.icpdas.com I8092F Getting Started ManualVer.2.3

}

} (1); break ;

//--------------------------------------------------------------- default : break ; http://www.icpdas.com I8092F Getting Started ManualVer.2.3

4.3.4 Build the Project

Click F9 to compile program, LINK or demo100.EXE

。

4.3.6 Download and Run

1. Please execute the “7188.EXE” on computer （ The “7188.EXE” is a executed file of DOS, it can be used in DOS or DOS BOX of Win9X/WINNT/WIN2K ） .

2. Please depend on actual wiring "COM PORT" that assign to "COM1(ALT_1)" or

"COM2(ALT_2)" and set the transmission speed to “115200,N,8,1”.

3. Turn on the power of I-8000. It will have two situation ： o

It will appear a version of MiniOs7 message if the ” INIT*” connected to

“ INIT*COM”, then appear I-8000> 。 o

The I-8000 will run the “AUTOEXEC.BAT” if the “INIT*“ unconnected, then appear I-8000> 。

4. User can start to make a command of I-8000 after appearing the “I-8000>”, as below drawing: http://www.icpdas.com I8092F Getting Started ManualVer.2.3

5. Press the F2 button on the keyboard, then key in “demo100.exe”, then press the

F10 button to download and execute demo100.exe, as following drawing:

Please refer to the 7188 getting started manual. http://www.icpdas.com I8092F Getting Started ManualVer.2.3

APPENDIX-A Setup Tools & Others

A.1 Setup the Development Environment of I8094

A.1.1 eVC ++ 4.0

1. Microsoft eVC++ 4.0: at least ServicPack2 (Have already got at present

ServicPack4)

2. WinCon8000_EVC4_SP1: WinCon in eVC++ Development Environment

(SA_IA)

3. WinConSDK:WinCon Software Tool(inc,lib,dll,demo…)

A.1.2 Visual Studio .NET 2003(VB.NET

， C#)

1. Above Microsoft Visual Studio.NET 2003 professional, including a

SmartDeviceApplication item

2. Debug Tool: Windows CE .NET Utilities v1.1 for Visual Studio .NET 2003

3. WinConSDK:WinCon software Tool(inc,lib,dll,demo…)

A.1.3 Turbo C

1. Above boland Turbo C 2.0 http://www.icpdas.com I8092F Getting Started ManualVer.2.3

A.2 I8094 Surface

I-8092F motion module

WinCon W-8331, I-8092F and DN-8237 http://www.icpdas.com I8092F Getting Started ManualVer.2.3

A.3 Dimensions

A.4 The Version Upgrades Note

New i8092.DLL

New i8092.h

New i8092_NET.DLL http://www.icpdas.com I8092F Getting Started ManualVer.2.3

APPENDIX B Other Terminal Boards

B.1 DN-8237-DB Daughter Board

The DN-8237DB is the daughter board for Delta ASDA-A Series Ampilifier. It has 2-axis I/O signals.

B.1.1 Board Layout for DN-8237-DB

107mm

EMG

JP2

TB2

JP5

RJ1

JP1

DN-8237-DB

TB1

Fig. B1-1 Board layout for the DN-8237-DB http://www.icpdas.com I8092F Getting Started ManualVer.2.3

B.1.2 Signal Connections for DN-8237-DB

Maintaining signal connections is one of the most important factors in ensuring that your application system is sending and receiving data correctly.

 Pin Assignment for CON1

The I/O connector on the DN-8237-DB is a 37-pin connector that enables you to connect to the

PISO-PS200 or I-8092F motion card. Fig. B1-2 shows the pin assignment for the 37-pin I/O connector on the DN-8237-DB (or on the motion card), and refer to Table B1-2 for description of each motion I/O signal.

Fig. B1-2 I/O connector pin assignment for the CON1 http://www.icpdas.com I8092F Getting Started ManualVer.2.3

Table B1-2 DN-8237-DB CON1 I/O connector signal description

Pin name Pin number Description

FR_A 19 signal

FR_B

X_ECA

Y_ECA

X_ECB

Y_ECB

FRnet B-phase signal

Encoder A-phase signal for the X axis

Encoder A-phase signal for the Y axis

Encoder B-Phase signal for the X axis

Encoder B-Phase signal for the Y axis

X_STOP2

Y_STOP2

X_INPOS

Y_INPOS

X_ALARM

Y_ALARM

X_LMTP

Y_LMTP

Stop 2 signal for the X axis

Stop 2 signal for the Y axis

In-position signal for the X axis

In-position signal for the Y axis

Alarm signal for the X axis

Alarm signal for the Y axis

Limit switch input signal (+) for the X axis

Limit switch input signal (+) for the Y axis

X_LMTM

Y_LMTM

X_STOP0

Y_STOP0

X_STOP1

Y_STOP1

X_IN3

Y_IN3

Limit switch input signal (-) for the X axis

Limit switch input signal (-) for the Y axis

Stop 0 signal for the X axis

Stop 0 signal for the Y axis

Stop 1 signal for the X axis

Stop 1 signal for the Y axis

Input 3 signal for the X axis

Input 3 signal for the Y axis

EMGN

VCC

Emergency stop input signal

Module power (+5V) http://www.icpdas.com I8092F Getting Started ManualVer.2.3

 TB1

The connector TB1 is 7-pin connector that enables you to connect to the signals of your motor drivers. Fig.B1-3 shows the pin assignment for the 7-pin connector on the DN-8237-DB, and the

Table B1-3 shows its I/O connector signal description.

 TB2

The connector TB2 is 5-pin connector that enables you to connect to the signals of your motor drivers. Fig.B1-4 shows the pin assignment for the 5-pin connector on the DN-8237-DB, and the

Table B1-4 shows its I/O connector signal description. http://www.icpdas.com I8092F Getting Started ManualVer.2.3

CN-X & CN-Y (CN1 connector for each AXIS in Driver)

The connectors CN-X and CN-Y are 50-pin connectors that enable you to connect to the CN1 connector of Delta ASDA-A series motor drivers. Fig.B1-5 shows the pin assignment for the

50-pin connector on the DN-8468-DB, and the Table B1-5 shows its I/O connector signal description. http://www.icpdas.com I8092F Getting Started ManualVer.2.3

 CN1 & CN2 (The I/O signals of the X and Y AXIS )

The connectors CN1 and CN2 are 11-pin connectors that enable you to connect to the signals of your motor drivers. Fig.B1-6 shows the pin assignment for the 20-pin connector on the

DN-8237-DB, and the Table B1-6 shows its I/O connector signal description.

 RJ1 (The I/O signals of the FRnet)

The connectors RJ1 is an 8-pin RJ45 connector that enable you to connect to the signals of

FRnet. Fig.B1-7 shows the pin assignment for the 8-pin connector on the DN-8237-DB, and the

Table B1-7 shows its I/O connector signal description. http://www.icpdas.com I8092F Getting Started ManualVer.2.3

B.1.3 Jumper and Switch Settings

 JP5

Jumper 5 controls the EMG-A signal of the TB1 connector. The following diagram is shown the selection condition of the jumper 5.

Fig. B1-8 Jumper 5 setting http://www.icpdas.com I8092F Getting Started ManualVer.2.3

 SW 1

The emergency stop signal for each servo ampilfier can be selected from SW1. The number 1 and 2 on SW1 are denoted as axis X and Y, respectively. The number 3 and 4 on SW1 are reserved for future work. Fig. B1-9 is the default setting to connect the EMG singals to GND.

The EMG signals from CN1 and CN2 will not take effect. If the switch is disconnected as shown in Fig. B1-10, the emergency stop signals can be controlled from EMG signals in CN1 and CN2.

Fig. B1-9 SW1 setting for normally GND (Default setting)

Fig. B1-10 SW1 setting for user controlled signals. http://www.icpdas.com I8092F Getting Started ManualVer.2.3

 JP1 ~ JP2

Jumper 1 ~ Jumper 2 can select the reset function in CN1 and CN2 for each axis. The following diagram is shown the selection condition of the JP1.

Fig. B1-15 JP 1 and 2 setting http://www.icpdas.com I8092F Getting Started ManualVer.2.3

B.2 DN-8237-MB Daughter Board

The DN-8237MB is the daughter board for Mitsubishi J2 Series Ampilifier. It has 2-axis I/O signals.

B.2.1 Board Layout for DN-8237-MB

107mm

TB2

RJ1

JP5

DN-8237-MB

TB1

Fig. B2-1 Board layout for the DN-8237-MB http://www.icpdas.com I8092F Getting Started ManualVer.2.3

B.2.2 Signal Connections for DN-8237-MB

Maintaining signal connections is one of the most important factors in ensuring that your application system is sending and receiving data correctly.

 Pin Assignment for CON1

The I/O connector on the DN-8237-MB is a 37-pin connector that enables you to connect to the

PISO-PS200 or I-8092F motion card. Fig. B2-2 shows the pin assignment for the 37-pin I/O connector on the DN-8237-MB (or on the motion card), and refer to Table B2-2 for description of each motion I/O signal.

Fig. B2-2 I/O connector pin assignment for the CON1 http://www.icpdas.com I8092F Getting Started ManualVer.2.3

Table B2-2 DN-8237-MB CON1 I/O connector signal description

Pin name Pin number Description

FR_A 19 signal

FR_B

X_ECA

Y_ECA

X_ECB

Y_ECB

FRnet B-phase signal

Encoder A-phase signal for the X axis

Encoder A-phase signal for the Y axis

Encoder B-Phase signal for the X axis

Encoder B-Phase signal for the Y axis

X_STOP2

Y_STOP2

X_INPOS

Y_INPOS

X_ALARM

Y_ALARM

X_LMTP

Y_LMTP

Stop 2 signal for the X axis

Stop 2 signal for the Y axis

In-position signal for the X axis

In-position signal for the Y axis

Alarm signal for the X axis

Alarm signal for the Y axis

Limit switch input signal (+) for the X axis

Limit switch input signal (+) for the Y axis

X_LMTM

Y_LMTM

X_STOP0

Y_STOP0

X_STOP1

Y_STOP1

X_IN3

Y_IN3

Limit switch input signal (-) for the X axis

Limit switch input signal (-) for the Y axis

Stop 0 signal for the X axis

Stop 0 signal for the Y axis

Stop 1 signal for the X axis

Stop 1 signal for the Y axis

Input 3 signal for the X axis

Input 3 signal for the Y axis

EMGN

VCC

Emergency stop input signal

Module power (+5V) http://www.icpdas.com I8092F Getting Started ManualVer.2.3

 TB2

The connector TB2 is 7-pin connector that enables you to connect to the signals of your motor drivers. Fig.B2-3 shows the pin assignment for the 7-pin connector on the DN-8237-MB, and the

Table B2-3 shows its I/O connector signal description.

Table B2-3 TB2 Signal Connection

Name Number Description

FR-B

XOUT0

YOUT0

FRnet port B

General output 0 for X axis

EMG-A 2

EXT_GND 1

EMG input signal for all axis

EXT POWER Ground

Fig B2-3 Pin definition for TB2 http://www.icpdas.com I8092F Getting Started ManualVer.2.3

 TB1

The connector TB1 is 5-pin connector that enables you to connect to the signals of your motor drivers. Fig.B2-4 shows the pin assignment for the 5-pin connector on the DN-8237-MB, and the

Table B2-4 shows its I/O connector signal description.

Table B2-4 TB1 Signal Connection

Name Number Description

EXT_PWR 1 EXT POWER 24V

EXT_PWR

EXT_GND

EXT POWER 24V

EXT POWER Ground

EXT_GND 4 EXT POWER Ground

FGND 5 Frame

Fig B2-4 Pin definition for TB1 http://www.icpdas.com I8092F Getting Started ManualVer.2.3

 CN-XA & CN-YA (Fig B2-5 connector for each AXIS )

The connectors CN-XA and CN-YA are 20-pin connectors that enable you to connect to the CNA connector of Mitsubishi motor drivers. Fig.B2-5 shows the pin assignment for the 20-pin connector on the DN-8237-MB, and the Table B2-5 shows its I/O connector signal description.

Table B2-5 CN-X A,CN-YA

Name Number Description

EXT_GND 1 EXT POWER Ground

P+ 3

Pulse(+)

Positive Direction Pulse(+)

EXT_PWR

EXT_GND

EXT POWER 24V

EXT POWER Ground

P- 13

Pulse(-)

Positive Direction Pulse (-)

Fig B2-5 Pin definition for CN-XA,

CN-YA

B-

INPOS

EXT_GND 20

Encoder B-phase (-)

Servo In Position

EXT POWER Ground http://www.icpdas.com I8092F Getting Started ManualVer.2.3

 CN-XB & CN-YB (Fig B2-6 connector for each AXIS )

The connectors CN-XB and CN-YB are 20-pin connectors that enable you to connect to the CNB connector of your motor drivers. Fig.B2-6 shows the pin assignment for the 20-pin connector on the DN-8237-MB, and the Table B2-6 shows its I/O connector signal description.

Table B2-6 CN-XB ,CN-YB

Name Number Description

EXT_GND 1 EXT POWER Ground

Fig B2-6 Pin definition for CN-XB,

CN-YB

SVON 5 Servo

EXT_GND

EXT_PWR

EXT_GND 16 EXT POWER Ground

EXT_GND 17 EXT POWER Ground

ALARM 18 Servo

EXT_GND

EXT POWER Ground

EXT POWER 24V

EXT POWER Ground http://www.icpdas.com I8092F Getting Started ManualVer.2.3

 CN1 & CN2 (The I/O signals of the X and Y AXIS )

The connectors CN1 and CN2 are 11-pin connectors that enable you to connect to the signals of your motor drivers. Fig.B2-7 shows the pin assignment for the 20-pin connector on the

DN-8237-MB, and the Table B2-7 shows its I/O connector signal description.

Table B2-7 CN1~CN2

Name Number Description

EXT_PWR 11 EXT POWER 24V

Fig B2-7 Pin definition for CN1~ CN2

LMT+ 9

LMT-

INPUT3

NRHOME

HOME

RESET

EXP+

EXP- 2

EXT_GND 1

Limit switch Input

Signal(+)

Limit switch Input Signal(-)

Input Signal (IN3)

Near HOME Sensor Input

Signal

HOME Sensor Input

Signal

RESET Input Signal

EXT Positive Direction

Pulse(+)

EXT Positive Direction

Pulse(-)

EXT POWER Ground http://www.icpdas.com I8092F Getting Started ManualVer.2.3

 RJ1 (The I/O signals of the FRnet)

The connectors RJ1 is an 8-pin RJ45 connector that enable you to connect to the signals of

FRnet. Fig.B2-8 shows the pin assignment for the 8-pin connector on the DN-8237-MB, and the Table B2-8 shows its I/O connector signal description.

B2.3 Jumper and Switch Settings

 JP5

Jumper 5 controls the EMG-A signal of the TB1 connector. The following diagram is shown the selection condition of the jumper 5.

Fig. B2-9 Jumper 5 setting http://www.icpdas.com I8092F Getting Started ManualVer.2.3

 SW 1

The emergency stop signal for each servo ampilfier can be selected from SW1. The number 1 and 2 on SW1 are denoted as axis X and Y, respectively. The number 3 and 4 on SW1 are reserved for future work. Fig. B2-10 is the default setting to connect the EMG singals to GND.

The EMG signals from CN1 and CN2 will not take effect. If the switch is disconnected as shown in Fig. B2-11, the emergency stop signals can be controlled from EMG signals in CN1 and CN2.

Fig. B2-10 SW1 setting for normally GND (Default setting)

Fig. B2-11 SW1 setting for user controlled signals. http://www.icpdas.com I8092F Getting Started ManualVer.2.3

B.3 DN-8237-PB Daughter Board

The DN-8237PB is the daughter board for Panasonic A4 Series Ampilifier. It has 2-axis I/O signals.

B.3.1 Board Layout for DN-8237-PB

107mm

EMG

TB2

RJ1

JP5

DN-8237-PB

TB1

Fig. B3-1 Board layout for the DN-8237-PB http://www.icpdas.com I8092F Getting Started ManualVer.2.3

B.3.2 Signal Connections for DN-8237-PB

Maintaining signal connections is one of the most important factors in ensuring that your application system is sending and receiving data correctly.

 Pin Assignment for CON1

The I/O connector on the DN-8237-PB is a 37-pin connector that enables you to connect to the

PISO-PS200(or I-8092F) motion card. Fig. B3-2 shows the pin assignment for the 37-pin I/O connector on the DN-8237-PB (or on the motion card), and refer to Table B3-2 for description of each motion I/O signal.

Fig. B3-2 I/O connector pin assignment for the CON1 http://www.icpdas.com I8092F Getting Started ManualVer.2.3

Table B3-2 DN-8237-PB CON1 I/O connector signal description

Pin name Pin number Description

FR_A 19 signal

FR_B

X_ECA

Y_ECA

X_ECB

Y_ECB

FRnet B-phase signal

Encoder A-phase signal for the X axis

Encoder A-phase signal for the Y axis

Encoder B-Phase signal for the X axis

Encoder B-Phase signal for the Y axis

X_STOP2

Y_STOP2

X_INPOS

Y_INPOS

X_ALARM

Y_ALARM

X_LMTP

Y_LMTP

Stop 2 signal for the X axis

Stop 2 signal for the Y axis

In-position signal for the X axis

In-position signal for the Y axis

Alarm signal for the X axis

Alarm signal for the Y axis

Limit switch input signal (+) for the X axis

Limit switch input signal (+) for the Y axis

X_LMTM

Y_LMTM

X_STOP0

Y_STOP0

X_STOP1

Y_STOP1

X_IN3

Y_IN3

Limit switch input signal (-) for the X axis

Limit switch input signal (-) for the Y axis

Stop 0 signal for the X axis

Stop 0 signal for the Y axis

Stop 1 signal for the X axis

Stop 1 signal for the Y axis

Input 3 signal for the X axis

Input 3 signal for the Y axis

EMGN

VCC

Emergency stop input signal

Module power (+5V) http://www.icpdas.com I8092F Getting Started ManualVer.2.3

 TB1

The connector TB1 is 7-pin connector that enables you to connect to the signals of your motor drivers. Fig.B3-3 shows the pin assignment for the 7-pin connector on the DN-8237-PB, and the

Table B3-3 shows its I/O connector signal description.

 TB2

The connector TB2 is 5-pin connector that enables you to connect to the signals of your motor drivers. Fig.B3-4 shows the pin assignment for the 5-pin connector on the DN-8237-PB, and the

Table B3-4 shows its I/O connector signal description. http://www.icpdas.com I8092F Getting Started ManualVer.2.3

 CN-X &CN-Y(CN X5 connector for each Axis in Driver)

The connectors CN-X and CN-Y are 50-pin connectors that enable you to connect to the CN X5 connector of Panasonic motor drivers. Fig.B3-5 shows the pin assignment for the 50-pin connector on the DN-8468-PB, and the Table B3-5 shows its I/O connector signal description. http://www.icpdas.com I8092F Getting Started ManualVer.2.3

 CN1& CN2 (The I/O signals of the X and Y axis)

The connectors CN1 and CN2 are 11-pin connectors that enable you to connect to the signals of your motor drivers. Fig.B3-6 shows the pin assignment for the 20-pin connector on the

DN-8237-PB, and the Table B3-6 shows its I/O connector signal description.

 RJ1 (The I/O signals of the FRnet)

The connectors RJ1 is an 8-pin RJ45 connector that enable you to connect to the signals of

FRnet. Fig.B3-7 shows the pin assignment for the 8-pin connector on the DN-8237-PB, and the

Table B3-7 shows its I/O connector signal description. http://www.icpdas.com I8092F Getting Started ManualVer.2.3

B.3.3 Jumper and Switch Settings

 JP5

Jumper 5 controls the EMG-A signal of the TB1 connector. The following diagram is shown the selection condition of the jumper 5.

Fig. B3-8 Jumper 5 setting http://www.icpdas.com I8092F Getting Started ManualVer.2.3

 SW 1

The emergency stop signal for each servo ampilfier can be selected from SW1. The number 1 and 2 on SW1 are denoted as axis X and Y, respectively. The number 3 and 4 on SW1 are reserved for future work. Fig. B3-9 is the default setting to connect the EMG singals to GND.

The EMG signals from CN1 and CN2 will not take effect. If the switch is disconnected as shown in Fig. B3-10, the emergency stop signals can be controlled from EMG signals in CN1 and CN2.

Fig. B3-9 SW1 setting for normally GND (Default setting)

Fig. B3-10 SW1 setting for user http://www.icpdas.com I8092F Getting Started ManualVer.2.3

B.4 DN-8237-YB Daughter Board

The DN-8237YB is the daughter board for Yaskawa Series Ampilifier. It has 2-axis I/O signals.

B.4.1 Board Layout for DN-8237-YB

107mm

EMG

TB2

RJ1

JP5

DN-8237-YB

TB1

Fig. B4-1 Board layout for the DN-8237-YB http://www.icpdas.com I8092F Getting Started ManualVer.2.3

B.4.2 Signal Connections for DN-8237-YB

Maintaining signal connections is one of the most important factors in ensuring that your application system is sending and receiving data correctly.

 Pin Assignment for CON1

The I/O connector on the DN-8237-YB is a 37-pin connector that enables you to connect to the

PISO-PS200 or I-8092F motion card. Fig. B4-2 shows the pin assignment for the 37-pin I/O connector on the DN-8237-YB (or on the motion card), and refer to Table B4-2 for description of each motion I/O signal.

Fig. B4-2 I/O connector pin assignment for the CON1 http://www.icpdas.com I8092F Getting Started ManualVer.2.3

Table B4-2 DN-8237-YB CON1 I/O connector signal description

Pin name Pin number Description

FR_A 19 signal

FR_B

X_ECA

Y_ECA

X_ECB

Y_ECB

FRnet B-phase signal

Encoder A-phase signal for the X axis

Encoder A-phase signal for the Y axis

Encoder B-Phase signal for the X axis

Encoder B-Phase signal for the Y axis

X_STOP2

Y_STOP2

X_INPOS

Y_INPOS

X_ALARM

Y_ALARM

X_LMTP

Y_LMTP

Stop 2 signal for the X axis

Stop 2 signal for the Y axis

In-position signal for the X axis

In-position signal for the Y axis

Alarm signal for the X axis

Alarm signal for the Y axis

Limit switch input signal (+) for the X axis

Limit switch input signal (+) for the Y axis

X_LMTM

Y_LMTM

X_STOP0

Y_STOP0

X_STOP1

Y_STOP1

X_IN3

Y_IN3

Limit switch input signal (-) for the X axis

Limit switch input signal (-) for the Y axis

Stop 0 signal for the X axis

Stop 0 signal for the Y axis

Stop 1 signal for the X axis

Stop 1 signal for the Y axis

Input 3 signal for the X axis

Input 3 signal for the Y axis

EMGN

VCC

Emergency stop input signal

Module power (+5V) http://www.icpdas.com I8092F Getting Started ManualVer.2.3

 TB1

The connector TB1 is 7-pin connector that enables you to connect to the signals of your motor drivers. Fig.B4-3 shows the pin assignment for the 7-pin connector on the DN-8237-YB, and the

Table B4-3 shows its I/O connector signal description.

 TB2

The connector TB2 is 5-pin connector that enables you to connect to the signals of your motor drivers. Fig.B4-4 shows the pin assignment for the 5-pin connector on the DN-8237-YB, and the

Table B4-4 shows its I/O connector signal description. http://www.icpdas.com I8092F Getting Started ManualVer.2.3

 CN-X & CN-Y (CN1 connector for each AXIS in Driver)

The connectors CN-X and CN-Y are 50-pin connectors that enable you to connect to the CN1 connector of Yaskawa motor drivers. Fig.B4-5 shows the pin assignment for the 50-pin connector on the DN-8468-YB, and the Table B4-5 shows its I/O connector signal description. http://www.icpdas.com I8092F Getting Started ManualVer.2.3

 CN1 & CN2 (The I/O signals of the X and Y AXIS )

The connectors CN1 and CN2 are 11-pin connectors that enable you to connect to the signals of your motor drivers. Fig.B4-6 shows the pin assignment for the 20-pin connector on the

DN-8237-YB, and the Table B4-6 shows its I/O connector signal description.

 RJ1 (The I/O signals of the FRnet)

The connectors RJ1 is an 8-pin RJ45 connector that enable you to connect to the signals of

FRnet. Fig.B4-7 shows the pin assignment for the 8-pin connector on the DN-8237-YB, and the

Table B4-7 shows its I/O connector signal description. http://www.icpdas.com I8092F Getting Started ManualVer.2.3

B.4.3 Jumper and Switch Settings

 JP5

Jumper 5 controls the EMG-A signal of the TB1 connector. The following diagram is shown the selection condition of the jumper 5.

Fig. B4-8 Jumper 5 setting http://www.icpdas.com I8092F Getting Started ManualVer.2.3

 SW 1

The emergency stop signal for each servo ampilfier can be selected from SW1. The number 1 and 2 on SW1 are denoted as axis X and Y, respectively. The number 3 and 4 on SW1 are reserved for future work. Fig. B4-9 is the default setting to connect the EMG singals to GND.

The EMG signals from CN1 and CN2 will not take effect. If the switch is disconnected as shown in Fig. B4-10, the emergency stop signals can be controlled from EMG signals in CN1 and CN2.

Fig. B4-9 SW1 setting for normally GND (Default setting)

Fig. B4-10 SW1 setting for user controlled signals. http://www.icpdas.com I8092F Getting Started ManualVer.2.3

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