GE-S Series Motion Controller User Manual

GE-S Series Motion Controller User Manual
Googol Technology (Shenzhen) Co., Ltd.
Add.: W211, 2/F, West Building, SZHK Industry, Education
and Research Base, South Area, High-tech Industry
Park, Shenzhen, PRC
Tel. : (+86 755) 26970823 26970824 26970835 26970817
Fax. : (+86 755) 26970821
Email: support@googoltech.com
Web:
http://www.googoltech.com.cn/
Googol Technology (HK) Co., Ltd.
Add.: Room 3639, Annex Building, The Hong Kong University
of Science and Technology, Clear Water Bay, Kowloon,
Hong Kong
Tel. : (+852) 2358-1033
Fax. : (+852) 2719-8399
GE-S Series Motion Controller
User Manual
Be sure to hand over this manual to the user.

Thank you for the purchase of GE-S Series Motion Controller.

Please read this manual carefully to guarantee the correct operation before the controller is used.

Please keep this manual carefully for reading and referring at any time.
Copyright Statement
Copyright Statement
Googol Technology (Shenzhen) Co., Ltd.
All rights reserved.
Googol Technology (Shenzhen) Co., Ltd. (Googol Technology hereafter) reserves the right to
modify the products and the product specifications described in this manual without advance notice.
Googol Technology is not responsible for any direct, indirect, special, incidental or consequential
damage or liability caused by the improper use of this manual or this product.
This product is not designed and manufactured for using in the machinery and systems involved in
human life. If you plan to use this product for this type of machinery and systems, please contact with
Googol Technology.
If this product is used in the equipment which may endanger the personal life or cause the significant
loss, the appropriate safety devices should be installed.
Googol Technology owns the patent, copyright and related intellectual property of this product and
its software. No duplication, reproduction, processing, using of this product and its related parts directly
or indirectly is granted without the authorization by Googol Technology.
It is dangerous of the machinery in moving. It is the responsibility of the
user to design the effective error handling system and security protection
as the part of the machinery. Googol Technology has no obligation or
responsibility for any incidental or consequential damages.
Foreword
Foreword
Thank you for using Googol Motion Controller
Your own control system will be established supported by our first-class motion controller, perfect after-sale
service and high-efficiency technical support.
More information about Googol products
The web of Googol Technology is http://www.googoltech.com.cn. More information about Googol
Technology and its products can be obtained on the web, including the introduction of Googol Technology,
products, technical support, latest products and so on.
You can also call (+86 0755-26970839/26970817) to consult more information about Googol Technology
and its products.
Technical Support and After-sale Service
You may get our technical support and after-sale service through the following approaches:
 Email: support@googoltech.com
 Tel.: (+86 755) 26970823, 26970824, 26970835, 26970817
 Add.: Googol Technology (Shenzhen) Co. Ltd.
W211, 2/F, West Building, SZHK Industry, Education and Research Base,
High-tech Industry Park, Shenzhen, PRC
 Post: 518057
Purpose of this Programming Manual
By reading this manual, you can understand the basic structure of GE-S Motion Controller, learn the
installation of motion controller, and study the connection of motion controller, motor control system and laser
control system. Finally, you can complete the debug of motion control and laser control system.
User of this Programming Manual
This manual is applicable for those engineering staff with the basic knowledge of hardware and certain
understanding of control.
Contents of this Programming Manual
There are three chapters and appendix in this manual. The first chapter is overview which introducing GE-S
Series Motion Controller and how to buildup the electromechanical control system. The second chapter is quick
start which introducing the installation and wiring of motion controller, the installation of drive program. The
third chapter is system debug. And the technology specification of motion controller, typical wiring and
troubleshooting are provided in appendix.
Relevant Documents
Please refer to “GE-S Series Motion Controller – Programming Manual” provided together with the product
about the programming of GE-S Series Motion Controller.
Contents
Contents
CHAPTER 1 OVERVIEW ............................................................................................................... 1
1.1 INTRODUCTION ........................................................................................................................... 1
1.2 SIGNIFICATION OF GE-S SERIES MODELS.................................................................................... 1
1.3 FUNCTION LIST OF GE-S SERIES MOTION CONTROL................................................................... 1
1.4 COMPONENTS OF GE-S CONTROL SYSTEM ................................................................................. 2
CHAPTER 2 QUICK START .......................................................................................................... 4
2.1 OPEN FOR CHECKUP .................................................................................................................... 4
2.2 OVERALL STRUCTURE OF GE-S SERIES MOTION CONTROLLER .................................................. 4
2.3 INSTALLATION PROCEDURES ....................................................................................................... 7
2.3.1 Step 1: Insert the Control System into the Computer .......................................................... 7
2.3.2 Step 2: Install the Drivers of Motion Controller (only for Windows OS) ............................ 7
2.3.3 Step 3: Establish the Communication between the Host and the Motion Controller .......... 7
2.3.4 Step 4: Connect the Motor with the Driver ......................................................................... 8
2.3.5 Step 5: Connect the Motion Controller with the Terminal Board........................................ 8
2.3.6 Step 6: Connect the Driver, System I/O with the Terminal Board ....................................... 8
CHAPTER 3 SYSTEM DEBUG .................................................................................................... 16
APPENDIX A TECHNICAL SPECIFICATION.......................................................................... 17
APPENDIX B TYPICAL WIRING ............................................................................................... 19
B.1 WIRING WITH PANASONIC MSDA SERIES DRIVER IN VELOCITY CONTROL MODE ................... 19
B.2 WIRING WITH PANASONIC MSDA SERIES DRIVER IN POSITION CONTROL MODE..................... 20
B.3 WIRING WITH SANYO DENKI PV1 SERIES DRIVER IN VELOCITY CONTROL MODE ............... 21
B.4 WIRING WITH SANYO DENKI PV1 SERIES DRIVER IN POSITION CONTROL MODE ................ 22
B.5 WIRING WITH SANYO DENKI PY0/PY2 SERIES DRIVER IN VELOCITY CONTROL MODE ...... 23
B.6 WIRING WITH SANYO DENKI PY0/PY2 SERIES DRIVER IN POSITION CONTROL MODE ........ 24
B.7 WIRING WITH SANYO DENKI PU SERIES DRIVER IN VELOCITY CONTROL MODE ................. 25
B.8 WIRING WITH YASKAWA SERVOPACK SERIES DRIVER IN VELOCITY/MOMENT CONTROL
MODE ..................................................................................................................................... 26
B.9 WIRING WITH YASKAWA SERVOPACK SERIES DRIVER IN POSITION CONTROL MODE ........ 27
B.10 WIRING WITH YASKAWA SGDE SERIES DRIVER IN POSITION CONTROL MODE ................... 28
B.11 WIRING WITH YASKAWA SGDM DRIVER IN VELOCITY CONTROL MODE ............................ 29
B.12 WIRING WITH YASKAWA SGDM DRIVER IN POSITION CONTROL MODE.............................. 30
B.13 WIRING WITH MITSUBISHI MELSERVO-J2-SUPER SERIES DRIVER IN VELOCITY CONTROL
MODE ..................................................................................................................................... 31
B.14 WIRING WITH MITSUBISHI MELSERVO-J2-SUPER SERIES DRIVER IN POSITION CONTROL
MODE ..................................................................................................................................... 32
B.15 WIRING WITH FUJI FALDIC-W SERIES DRIVER IN VELOCITY CONTROL MODE ..................... 33
B.16 WIRING WITH FUJI FALDIC-W SERIES DRIVER IN POSITION CONTROL MODE ...................... 34
APPENDIX C TROUBLESHOOTING ........................................................................................ 35
Chapter 1 Overview
Chapter 1 Overview
1.1 Introduction
GE-S Series Motion Controller produced by Googol Technology can implement not only the
coordinated motion of multi-axis but also the different special functions due to the various types of motion
controllers. The motion controller can be used in many industries, such as drilling and milling, engraving,
laser control and so on. The core of GE-S Series Motion Controller is composed of DSP and FPGA for
realizing the high-powered computation.
IBM-PC and its compatible computer is the host of GE-S Series Motion Controller and the standard PCI
bus is provided. Windows dynamic link library (DLL) is provided to implement the complex control
functions by the motion controller. These control functions can be integrated with the required data
processing, interface display, user interface and other application modules to create the special control
system for meeting the requirements of various applications. The programming experience of C language or
dynamic link library (DLL) in Windows should be possessed by the user when the motion controller is used.
1.2 Signification of GE-S Series Models
GE
– X00
– XX
–
Series of Motion Controller
GE: Economy
Number of Current Axis:
300: 3 axes
400: 4 axes
XXX
Special Function Custom Code:
SF/DM/ENG/LASER
SG: Continuous Path Motion
Pulse Output Control Mode
SV: Continuous Path Motion
Analog/Pulse Output Control Mode
1.3 Function List of GE-S Series Motion Control
√ Included
- Excluded
Features
* Optional
DM
ENG
SG-LASER
SV-LASER
Bus
PCI
√
√
√
√
Control Cycle
200 s (Constant)
√
√
√
√
Analog Output
Range: -10 V ~ +10 V
-
-
-
√
Pulse Output
3/4 axes
√
√
√
√
Encoder Input
Quadruple mode incremental encoder of
2/3/4/8 channels
Max. Frequency: 4 MHz
√
√
√
√
1
Chapter 1 Overview
Features
DM
ENG
SG-LASER
SV-LASER
-
√
-
-
√
√
√
√
Auxiliary Encoder
Quadruple mode incremental encoder of 1
channel
Max. Frequency: 4 MHz
Limit Signal Input
Positive
and
negative
opticalcoupler of each axis
Home Signal Input
1 channel opticalcoupler of each axis
√
√
√
√
Driver
Input
1 channel opticalcoupler of each axis
√
√
√
√
Driver Enable Signal
Output
1 channel opticalcoupler of each axis
√
√
√
√
Driver
Output
1 channel opticalcoupler of each axis
√
√
√
√
General Digital Signal
Input
16 channels opticalcoupler
√
√
√
√
General Digital Signal
Output
16 channels opticalcoupler
√
√
√
√
Interpolation
Linear interpolation
Circular interpolation
√
√
√
√
Program Buffer
Pretreatment of motion trajectory
√
√
√
√
Filter
PID
+
Velocity
feedforward
Acceleration feedforward
-
-
-
√
Index signal of encoder
√
√
√
√
Home signal of origin
√
√
√
√
-
-
-
√
√
√
√
√
Set the output voltage saturation limit
-
-
-
√
Laser Switch (Enable)
Control
1 channel, Differential output, TTL level,
30 mA
-
-
√
√
Laser power Control
2 channels PWM Output
2 channels DA Output
-
-
√
√
Laser
Process
Support scanning mode and vector mode
-
√
√
CO2 and other gas laser
YAG laser (Q pulse)
-
√
√
Alarm
Reset
Signal
Signal
Hardware Capture
limit
Set the following error limit
Safety Precaution
Machining
Supportable Laser Type
Set the acceleration limit
1.4 Components of GE-S Control System
1. A set of motion controller;
2. Host with PCI interface;
3. Step motor or servo motor and its driver;
4. Power of driver;
2
+
-
Chapter 1 Overview
5. +24V DV power (for terminal board);
6. Home switch and positive/negative limit switch (optional as needed).
Both AC and DC servo motors can be selected.
To control servo motor
If GE-X00-SG-XXX Motion Controller is used, position control mode should be selected for the motor
driver and the setting of pulse mode should be same for the motion controller and the driver.
If the pulse output function of GE-X00-SV-XXX Motion Controller is used, position control mode
should be selected for the motor driver and the setting of pulse mode should be same for the motion
controller and the driver.
If the analog output function of GE-X00-SV-XXX Motion Controller is used, velocity control mode
should be selected for the motor driver. If you have any questions, please refer to your motor suppliers or
contact with Googol Technology.
To control step motor
Two kinds of control signals are provided by the motion controller: positive/negative pulse and pulse +
direction. When the step motor is controlled, the control mode is open loop control and the feedback signal
of encoder is not required. The encoder is defaulted as closed when the motion controller is in the pulse
output mode. If the encoder is connected to monitor the actual position from the external, the interrelated
functions can be called to open the encoder during the programming.
The typical connection of control system with GE-300-SG-XXX Motion Controller can be seen in
Figure 1-1.
Motor 1
Motor 2
Driver
Driver
Driver
24 V Power
Motor 3
Figure 1-1 Contro l System with GE-300-SG-X XX Mo tion Co ntroller
3
Chapter 1 Overview
The typical connection of GE-400-SX-LASER Motion Controller can be seen in Figure 1-2.
Motor 2
Motor 1
Laser
Driver
Driver
Driver
Driver
24 V Power
Motor 4
Motor 3
Figure 1-2 Control System with GE-400-SX-LASER Mo tion Co ntro ller
The typical connection of GE-400-SX-SF Motion Controller can be seen in Figure 1-3.
CN9
CN7
CN8
Driver
Driver
Driver
CN3
Driver
24V
CN6
CN5
CN1
CN11
CN1
Motion Controller
CN12
CN10
CN 13
Motor
Motor
Motor
Motor
Figure 1-3 Contro l System with GE-400-SX-SF Mo tion Controller
4
Auxiliary
Encoder
Chapter 2 Quick Start
Chapter 2 Quick Start
2.1 Open for Checkup
Before the package is opened, please check whether the product model indicating on the package is
consistent with your order. After the package is opened, please check firstly whether the surface of the
motion controller has mechanical damage and then check carefully whether all the accessories are
submitted following the package list or the order contract.
If the surface of motion controller is damaged or the product is not complied, please do not use and
immediately contact with Googol Technology or the product suppliers.
Product list of GE-S Series Motion Controller:

One GE-S series controller, one terminal board (ACC);

One 62 PIN cable;

Two fusing resistors, two screws, one antistatic glove;

One warranty card, One product CD
To prevent the motion controller from static damage, please touch the effectively
grounded metal object to release the static charge carried by the body before
contact with the controller circuit or plug/unplug the controller, and wear the
anti-static gloves.
2.2 Overall Structure of GE-S Series Motion Controller
The overall structure of GE-S Series Motion Controller is showed in Figure 2-1.
Figure 2-1 Schematic Diagram of the Structure of GE-S Motion Controller
The terminal interface of GE-X00-SX-DM/ENG/LASER Motion Controller is showed in Figure 2-2.
4
Chapter 2 Quick Start
Figure 2-2 Schematic Diagram of Terminal Interface of GE-X00-SX-DM/ENG/LASER
The terminal interface of GE-400-SX-SF Motion Controller is showed in Figure 2-3.
Figure 2-3 Schematic Diagram of Terminal Interface of GE-400-SX-SF
The definitions of terminal interface for GE-S Series Motion Controllers are showed in the following
tables from Table 2-1 to Table 2-4.
Table 2-1 Definition of Terminal Interface of GE-300-SG-DM Motion Controller
Channel
Definition
CN1
Connection to Motion Controller
CN3
24 V external power interface
CN5
X-axis interface
CN6
Y-axis interface
CN7
Z-axis interface
CN8
Reserved
CN9
Reserved
CN10
Reserved
CN12
Special I/O interface
General I/O interface
5
Chapter 2 Quick Start
Table 2-2 Definition of Terminal Interface of GE-300-SG-ENG Motion Controller
Channel
Definition
CN1
Connection to Motion Controller
CN3
24 V external power interface
CN5
Current axis interface (X-axis)
CN6
Current axis interface (Y-axis)
CN7
Current axis interface (Z-axis)
CN8
Handwheel interface
CN9
Reserved
CN10
Reserved
CN12
Special I/O interface
General I/O interface
Table 2-3 Definition of Terminal Interface of GE-400-SX-LASER Motion Controller
Channel
Definition
CN1
Connection to Motion Controller
CN3
24 V external power interface
CN5
Current axis interface (X-axis)
CN6
Current axis interface (Y-axis)
CN7
Current axis interface (Z-axis)
CN8
Current axis interface (A-axis)
CN9
Reserved
CN10
Laser control interface
CN12
Special I/O interface
General I/O interface
Table 2-4 Definition of Terminal Interface of GE-400-SX-SF Motion Controller
Channel
Definition
CN1
Connection to Motion Controller
CN3
24 V external power interface
CN5
Current axis interface (X-axis)
CN6
Current axis interface (Y-axis)
CN7
Current axis interface (Z-axis)
CN8
Current axis interface (A-axis)
CN9
Extend module interface
CN10
Auxiliary encoder interface
CN11
High-speed I/O interface
CN12
Special I/O interface
General I/O interface
The terminal board is connected with the motion controller by the 62 PIN cable with the interface of
CN1.
6
Chapter 2 Quick Start
2.3 Installation Procedures
Please setup the control system according to the following steps:
Step 1: Insert the motion controller into the computer
Step 2: Install the drivers of the motion controller (only for Windows OS)
Step 3: Establish the communication between the host and the motion controller
Step 4: Connect the motor with the driver
Step 5: Connect the motion controller with the terminal board
Step 6: Connect the driver, system I/O with the terminal board
2.3.1 Step 1: Insert the Control System into the Computer
Please be careful to handle. To prevent the motion controller from static damage,
please touch the effectively grounded metal object before contact with the
controller circuit or plug/unplug the controller, and wear the anti-static gloves.
1.
Close the power of computer.
2.
Open the computer case, select a free PCI slot and remove the baffle of this slot with screwdriver.
3.
Insert the motion controller into this slot firmly.
4.
Tighten the screw on it.
5.
Close the computer case, open the power of PC and start the computer.
2.3.2 Step 2: Install the Drivers of Motion Controller (only for Windows OS)
1.
After the hardware has been installed and the computer has been started, Windows Operation
System will detect the motion controller automatically and start “Add New Hardware Wizard”. In
the wizard, click “Next”.
2.
In the prompt of “What do you want Windows to do?” select “Search the device driver
(recommended)” and click “Next”
3.
Put the product CD into the CD-ROM.
4.
Select “Specified Location”, use “Browse” to select the dictionary of your operation system in
“CD-ROM:\Windows\Setup:”
5.
Follow “Add New Hardware Wizard” and click “Next” until the installation is finished.
6.
Check the device attributes of computer system and there will be a new device of “GoogolTech”
controller.
2.3.3 Step 3: Establish the Communication between the Host and the Motion Controller
If there is a prompt of “communication successful “, the user can run the system. Otherwise, refer to
“Appendix D: Troubleshooting” to find the problems and re-test after the troubleshooting. If necessary,
contact with Googol Technology by the approaches on the manual cover.
7
Chapter 2 Quick Start
2.3.4 Step 4: Connect the Motor with the Driver
It is suggested to remove the motor from the load when you use the card firstly
for the safety. Don’t connect the motor with any mechanical device before the
installation and debug of control system has been finished. Only after the
parameters of the card and the driver can be adjusted to control the motor, then
the system can be connected, or else it may result in serious results.
Connect the driver with the motor before it is connected with the motion controller. Please read the
instruction of driver and connect it rightly. Test the drive and the motor according to the instruction of
driver and ensure the normal work.
2.3.5 Step 5: Connect the Motion Controller with the Terminal Board
Understand the interface signals of motion controller and the interface definition
of motor drive carefully. Connect properly and avoid plugging/unplugging the
interface in live working. Otherwise, the system can not work due to the positive
feedback of system and the damage of hardware resulted by the signal
connection error or the live working.
Close the power of computer and take out the accessory 62 PIN shielded cable. Connect CN1 on the
motion controller with CN1 on the terminal controller board.
2.3.6 Step 6: Connect the Driver, System I/O with the Terminal Board
(1) Connect the power of terminal board
CN3 on the terminal board is connected with the external power provided by the user. The port marked
with +24 V on the board is connected with +24V. The port marked with OGND is connected with the
external power ground. As for the voltage value of external power supply, it depends on the external
sensors and the power requirements of the actuators. The power supply should be selected according to the
actual requirements (default as 24 V, 3A). The connection can be seen in Figure 2-4.
Terminal Board
Use
Inside
(24 V provided by user)
Figure 2-4 Connection of Terminal Board Power
(2) Connection of special input and special output
Special input include: drive alarm signal, home signal and limit signal. The special inputs are
connected with the driver and external switch by CN5 (CN6, CN7) and CN12 on the terminal board.
The definition of CN5 can be seen in Table 2-5. The definition of CN12 can be seen in Table 2-6.
Special output include: drive enable and drive alarm reset. The special outputs are connected
with the driver by CN5, CN6 and CN7 on the terminal board. CN5 is corresponding to 1-axis. CN6
8
Chapter 2 Quick Start
is corresponding to 2-axis. CN7 is corresponding to 3-axis. The pin definition of CN5~CN7 is
same as seen in Table 2-5. The usage of these signals is determined by the requirement of the
driver.
Based on the safety standard:
1. Driver alarm input signal is normally closed;
2. Limit switch of system must be normally closed;
3. Home switch is normally open.
Table 2-5 Pin Definition of Control Interface CN5 (CN6, CN7) on Terminal Board
Pin
1
Signal
OGND
Description
Extern al power ground
Pin
14
Signal
OVCC
Description
+24V output
2
ALM
Driv e alarm
15
RESET
Reset d river
3
ENABLE
Drive enable signal
16
Reserved
4
A-
Encod er inpu t o f A-
17
A+
Encod er inpu t o f A+
5
B-
Encoder input o f B-
18
B+
Encod er inpu t o f B+
6
C-
Encoder input o f C-
19
C+
Encod er inpu t o f C+
+5V power output
20
GND
Reserved
21
Reserved
7
+5V
8
Reserved
9
DIR+
Step direction output
22
DIR-
10
GND
Dig ital g round
23
PULSE+
11
PULSE-
Step pu lse ou tput
24
GND
12
Reserved
Reserved
25
Reserved
13
GND
Reserved
Dig ital g round
Reserved
Step direction output
Step pu lse ou tput
Digital ground
Reserved
Dig ital g round
Table 2-6 Pin Definition of General/Special Input/output Interface CN12 on Terminal Board
Pin
Signal
Description
1
EXI0
General input 1-channel
2
EXI1
General input 2-channel
3
EXI2
General input 3-channel
4
EXI3
General input 4-channel
5
EXI4
General input 5-channel
6
EXI5
General input 6-channel
7
EXI6
General input 7-channel
8
EXI7
General input 8-channel
9
EXI8
General input 9-channel
10
EXI9
General input 10 -channel
11
EXI10
General input 11 -channel
12
EXI11
General input 12-channel
13
EXI12
General input 13-channel
14
EXI13
General input 14-channel
15
EXI14
General input 15-channel
16
EXI15
General input 16-channel
9
Chapter 2 Quick Start
17
HOME0
Home input of 1-axis
18
HOME1
Home input of 2-axis
19
HOME2
Home input of 3-axis
20
HOME3
Home input of 4-axis
21
LIMIT0+
Positive limit of 1-axis
22
LIMIT0 -
Negative limit o f 1 -axis
23
LIMIT1+
Positive limit of 2-axis
24
LIMIT1 -
Negative limit o f 2 -axis
25
LIMIT2+
Positive limit of 3-axis
26
LIMIT2 -
Negative limit o f 3 -axis
27
LIMIT3+
Positive limit of 4-axis
28
LIMIT3 -
Negative limit o f 4 -axis
29
EEO0
General outpu t 1 -channel
30
EEO1
General outpu t 2 -channel
31
EEO2
General outpu t 3 -channel
32
EEO3
General outpu t 4 -channel
33
EEO4
General outpu t 5 -channel
34
EEO5
General outpu t 6 -channel
35
EEO6
General outpu t 7 -channel
36
EEO7
General outpu t 8 -channel
37
EEO8
General outpu t 9 -channel
38
EEO9
General outpu t 10 -channel
39
EEO10
General outpu t 11 -ch annel
40
EEO11
General outpu t 12 -channel
41
EEO12
General outpu t 13 -channel
42
EEO13
General outpu t 14 -channel
43
EEO14
General outpu t 15 -channel
44
EEO15
General outpu t 16 -channel
45
+24V
+24 V ou tput
46
OGND
Extern al power g round
47
+24V
+24 V ou tput
48
OGND
Extern al power g round
For GE-300-SG-DM Motion Controller, other interfaces CN8, CN9 and CN10 are reserved.
For GE-300-SG-ENG Motion Controller, CN9 and CN10 are reserved; CN8 is handwheel interface
which definition can be seen in Table 2-7.
Table 2-7 Pin Definition of Handwheel Interface CN8 on Terminal Board of GE-300-SG-ENG
Pin
4
Signal
A-
Description
Encoder input o f A-
Pin
17
Signal
A+
Description
Encod er inpu t o f A+
5
B-
Encod er inpu t o f B-
18
B+
Encod er inpu t o f B+
6
C-
Encod er inpu t o f C-
19
C+
Encod er inpu t o f C+
7
+5V
+5V power output
20
GND
10
Dig ital g round
Chapter 2 Quick Start
For GE-400-SX-LASER Motion Controller, CN9 is reserved, CN8 is the control interface of 4-axis
which interface definition is same with CN5 (CN6, CN7) in Table 2-5. CN10 is laser control interface
which definition can be seen in Table 2-8.
Table 2-8 Pin Definition of Laser Control Interface CN10 on Terminal Board of GE-400-SX-LASER
Pin
1
2
3
Signal
Description
LASER+
Default
as
laser
switch
co ntrol signal. (also can be
u sed to enab le signal output
of CO 2 Radio Frequency
Tube)
Low level after reset.
PWM1 +
Laser power control signal
(Duty
Ratio
ou tput
or
Freq uency ou tput, defau lt as
Duty
Ratio
outpu t)
(1 s t
ch annel).
Low level after reset.
PWM2 +
Laser power control signal
(Duty
Ratio
ou tput
or
Freq uency ou tput, defau lt as
Duty Ratio outpu t) (2 n d
ch annel).
Low level after reset.
DA1
Laser po wer co ntrol sign al,
1 s t ch annel.
0 V after reset.
DA2
Laser po wer co ntrol sign al,
2 n d channel.
0 V after reset.
4
5
Pin
Signal
Description
LASER-
Same to LASER+
(inverted output).
High
level
after
reset.
PWM1-
Same
to
PWM1+
(in verted output).
High
level
after
reset.
8
PWM2-
Same
to
PWM2+
(inverted output).
High
level
after
reset.
9
GND
6
7
Digital ground
For GE-400-SX-SF Motion Controller, CN9 is extended module interface; CN10 is auxiliary encoder
interface which pin definition can be seen in Table 2-9.
Table 2-9 Pin Definition of Handwheel Control Interface CN10 on Terminal Board of GE-400-SX-SF
Pin
1
Signal
A+
2
B+
3
C+
4
Reserved
5
+5 V
Description
Encod er inpu t
Pin
6
Signal
A-
Description
Encod er inpu t
Encod er inpu t
7
B-
Encod er inpu t
Encod er inpu t
8
C-
Encod er inpu t
Reserved
9
GND
Dig ital g round
Po wer output
The circuit diagram of special input/output signal described in Table 2-5 and Table 2-6 can be seen in
Figure 2-5. The electrical definition of the input/output signals must be understood before the implement
of accurate connection.
11
Chapter 2 Quick Start
Driver
Terminal Board
Limit Switch
Limit Switch
Home Switch
Driver Alarm
Driver Enable
Driver Alarm Clear
Special Output
for other axes
External Power
(Provided by User)
Figure 2-5 Circuit Diagram of Special Input/Output Signal
(3) Connection of Control Output Signal
For GE-X00-SG-XXX Motion Controller, it only can be used in pulse output mode. By default, each
current axis outputs the value of pulse.
For GE-X00-SV-XXX Motion Controller, it can be used in pulse output mode or analog output mode.
By default, each current axis outputs the value of analog. When it is used to control the step motor (or the
servo motor is controlled by position mode), the output of current axis can be set as pulse output with the
output setting command GT_CtrlMode(1) provided by the controller system.
a. Connection of Pulse Output
There are two modes of pulse output. One is pulse + direction mode, and the other is
positive/negative pulse mode. The pulse + direction mode of output is defaulted. The command
12
Chapter 2 Quick Start
GT_StepPulse can be called to switch to positive/negative pulse mode, and the command GT_StepDir also
can be called to switch to pulse + direction mode.
The pulse + direction output signal is outputted by the pins 9, 22, 23, 11 of CN5 (CN6, CN7) in the
motion controller. GND is the pin of digital ground.
In pulse + direction output mode, the pins 23 and 11 output the differential pulse control signal, and
the pins 9 and 22 output the differential motion direction control signal.
In positive/negative pulse mode, the pins 9 and 22 output the differential forward pulse control signal,
and the pins 23 and 11 output the differential reverse pulse control signal.
If the drive doesn’t need the differential signal, connect the signal to the positive port of differential
signal output (pin 9 and 23), and the negative port is disconnected. The signal connection of pulse control
output is showed in Figure 2-6. The output wave of different pulse direction is showed in Figure 2-7.
Controller
Controller
Driver
Driver
Direction Signal
Forward Pulse Signal
Pulse signal
Reverse Pulse Signal
Pulse/Dir Double Ended Mode
Controller
+/- Pulse Double Ended Mode
Driver
Controller
Driver
Public COM
Public COM
COM (VCC)
COM (VCC)
Direction Signal
Forward Pulse Signal
Pulse Signal
Reverse Pulse Signal
Pulse/Dir Single Ended Mode
+/- Pulse Single Ended Mode
Figure 2-6 Signal Connection of Pulse Control Output
Output Mode
Pin
-Pulse
+
+Pulse
23-11
Pulse
+
Direction
23-11
Positive
Negative
9-22
9-22
Figure 2-7 Output Wave of Different Pulse Direction
13
Chapter 2 Quick Start
b. Connection of analog output
The analog output is outputted by Pin 8 of CN5 (CN6, CN7). The reference ground is digital ground.
The pin definition of CN5 (CN6, CN7) can be seen in Table 2-5. The electrical connection can be seen in
Figure 2-8.
Driver
端子板内部
Terminal
Board
×10
+
DAC0
.
.
o
VCMD
-
0.1uF
GND
SG
Figure 2-8 Electrical Connection of Analog Output
(4) Connection of General Digital Input/Output
The general digital input is connected by CN12 on terminal board. The pin definition of CN12 can be
seen in Table 2-6 and its connection can be seen in Figure 2-9.
The general digital output is connected by CN12 on terminal board. The pin definition of CN12 can
be seen in Table 2-6 and its connection can be seen in Figure 2-9. The power supply of general output can
be led from CN12.
When the general I/O output is connected with the inductive load, it should be
considered to connect the diode for discharging the counter Electromotive
Force.
14
Chapter 2 Quick Start
Terminal Board
Switch
Sensor
Diode Discharging CEMF
Drive Relay
Drive Indicator
Power Supply
Figure 2-9 Connection of General Input/Output Signal
15
Chapter 3 System Debug
Chapter 3 System Debug
The system debug can be done by simple commands after the system hardware has been set and
connected properly. In system debug, the correction of system wiring and the normal working of control
system can be confirmed, and some simple trajectory can be implemented.
It is suggested that the motor is disconnected with any mechanical device in the
process of system debug for the safety. Please check the motor without any load.
Close the laser output or turn off the laser power in system debug for avoiding any
accidents.
16
Appendix A Technical Specification
Appendix A Technical Specification
Electrical Specification of GE-S Series Motion Controller
Bus
PCI
Control Cycle
200 s
Pulse Output
Number of axis: 3/4 axes
Maximum Frequency: 256 KHz/1 MHz
Level Standard: TTL
Drive Capability: 30 mA
Duty ratio: 50 %
Nonlinear: <1 %
Reset level: low level
Analog Output
Output Range: -10V ~ +10V
Resolution: 16 bit
Encoder Input
Signal Standard: TTL-compatible quadrature signal of A and B
Input Mode: double ended or single ended input. The standard is double ended input.
(Note: If single ended input is used by the user, please contact with Googol Technology.)
Maximum Frequency: 4 MHz
I/O:56 channels, TTL-compatible, no Pull-up Resistance
Special Input: LIMIT
(Positive)
4 channels
LIMIT
(Negative) 4 channels
HOME
(Home)
4 channels
General Input: 16 channels
General Output: 16 channels
Drive Capability: Maximum 30 mA
17
Appendix A Technical Specification
Optical Coupler I/O
Input:
Isolation Voltage: 5000 V RMS
Input Voltage: +24 V DC
Input Current: 3.7 mA ~ 7.6 mA
Transfer Lag: H→L 5 s
L→H 3 s
Output:
Isolation Voltage: 5000 V RMS
Collector-Open-Circuit Output, no Pull-up Resistance
Vceo ≤ 50 V
Veco ≤ 5 V
Ic ≤ 30 mA
Average Output Delay: 8 s
Duty Ratio Output (GE-400-SX-LASER, Laser Power Control)
Level Standard: TTL
Duty Ratio Range: 0-100 % (512 grades)
Drive Capability: Maximum 30 mA
Reset Level: Low level
Analog Output (GE-400-SX-LASER, Laser Power Control)
Output Range: 0 V ~ +5 V (4096 grades)
Resolution: 12 bit
Reset Status: 0 V
Laser Switch Output (GE-400-SX-LASER)
Level Standard: TTL
Drive Capability: Maximum 30 mA
Reset Level: Low level
Power Supply
Voltage: 24 V
Current: 3 A above
Dimension
122 mm×185 mm
18
Appendix B Typical Wiring
Appendix B Typical Wiring
B.1 Wiring with Panasonic MSDA Series Driver in Velocity
Control Mode
Terminal Board of Motion Controller
CN1, CN2, CN3
Terminal Block of Driver
CN1、CN2、CN3
Panasonic MSDA Series Driver in Velocity Control Mode
19
Appendix B Typical Wiring
B.2 Wiring with Panasonic MSDA Series Driver in Position
Control Mode
Terminal Block of Driver
Terminal Board of Motion Controller
CN1, CN2, CN3
Panasonic MSDA Series Driver in Position Control Mode
20
Appendix B Typical Wiring
B.3 Wiring with SANYO DENKI PV1 Series Driver in
Velocity Control Mode
Terminal Board of Motion Controller
Terminal Block of Driver
CN1, CN2, CN3
SANYO DENKI PV1 Series Driver in Velocity Control Mode
21
Appendix B Typical Wiring
B.4 Wiring with SANYO DENKI PV1 Series Driver in
Position Control Mode
Terminal Board of Motion Controller
Terminal Block of Driver
CN1, CN2, CN3
SANYO DENKI PV1 Series Driver in Position Control Mode
22
Appendix B Typical Wiring
B.5 Wiring with SANYO DENKI PY0/PY2 Series Driver in
Velocity Control Mode
Terminal Board of Motion Controller
Terminal Block of Driver
CN1, CN2, CN3
SANYO DENKI PY0/PY2 Series Driver in Velocity Control Mode
23
Appendix B Typical Wiring
B.6 Wiring with SANYO DENKI PY0/PY2 Series Driver in
Position Control Mode
Terminal Board of Motion Controller
Terminal Block of Driver
CN1, CN2, CN3
SANYO DENKI PY0/PY2 Series Driver in Position Control Mode
24
Appendix B Typical Wiring
B.7 Wiring with SANYO DENKI PU Series Driver in Velocity
Control Mode
Terminal Board of Motion Controller
Terminal Block of Driver
CN1, CN2, CN3
SANYO DENKI PU Series Driver in Velocity Control Mode
25
Appendix B Typical Wiring
B.8 Wiring with YASKAWA SERVOPACK Series Driver in
Velocity/Moment Control Mode
Terminal Board of Motion Controller
Terminal Block of Driver
CN1, CN2, CN3
YASKAWA SERVOPACK Series Driver in Velocity/Moment Control Mode
26
Appendix B Typical Wiring
B.9 Wiring with YASKAWA SERVOPACK Series Driver in
Position Control Mode
Terminal Board of Motion Controller
Terminal Block of Driver
CN1, CN2, CN3
YASKAWA SERVOPACK Series Driver in Position Control Mode
27
Appendix B Typical Wiring
B.10 Wiring with YASKAWA SGDE Series Driver in Position
Control Mode
Terminal Board of Motion Controller
Terminal Block of Driver
CN1, CN2, CN3
YASKAWA SGDE Series Driver in Position Control Mode
28
Appendix B Typical Wiring
B.11 Wiring with YASKAWA SGDM Driver in Velocity
Control Mode
Terminal Block of Driver
Terminal Board of Motion Controller
CN1, CN2, CN3
YASKAWA SGDM Driver in Velocity Control Mode
29
Appendix B Typical Wiring
B.12 Wiring with YASKAWA SGDM Driver in Position
Control Mode
Terminal Board of Motion Controller
CN1, CN2, CN3
Terminal Block of Driver
CN1
YASKAWA SGDM Driver in Position Control Mode
30
Appendix B Typical Wiring
B.13 Wiring with Mitsubishi MELSERVO-J2-Super Series
Driver in Velocity Control Mode
Terminal Block of Driver
Terminal Board of Motion Controller
CN1, CN2, CN3
Terminal Block of Driver
Mitsubishi MELSERVO-J2-Super Series Driver in Velocity Control Mode
31
Appendix B Typical Wiring
B.14 Wiring with Mitsubishi MELSERVO-J2-Super Series
Driver in Position Control Mode
Terminal Block of Driver
Terminal Board of Motion Controller
CN1, CN2, CN3
Terminal Block of Driver
MELSERVO-J2-Super Series Driver in Position Control Mode
32
Appendix B Typical Wiring
B.15 Wiring with Fuji FALDIC-W Series Driver in Velocity
Control Mode
Terminal Board of Motion Controller
Terminal Block of Driver
CN1, CN2, CN3
Alarm for “b”, parameter value is 4)
(Servo started, parameter value is 1)
(Reset, parameter value is 2)
(Manual forward rotate, parameter value is 15)
Fuji FALDIC-W Series Driver in Velocity Control Mode
33
Appendix B Typical Wiring
B.16 Wiring with Fuji FALDIC-W Series Driver in Position
Control Mode
Terminal Board of Motion Controller
CN1, CN2, CN3
Terminal Block of Driver
(Alarm for “b”, parameter value is 4)
1 (Servo started, parameter value is 1)
(Reset, parameter value is 2)
(Manual rotate forward, parameter value is 15)
Fuji FALDIC-W Series Driver in Position Control Mode
34
Appendix C Troubleshooting
Appendix C Troubleshooting
Trouble
1
2
Reason
The host can not be
started
or
other
hardware
work
abnormally after the
motion controller has
been installed.
Communication error
between the host and
the motion controller.
Handling
The installation of motion
controller has not finished.
Reinstall the motion controller.
PCI bus interface is damaged.
Change to another PCI slot and retry.
Change to another computer and retry.
Change to another motion controller and retry.
Refer to Trouble 1
Same as above
Chip of motion controller is
damaged.
Unmatchable of the hardware
and the software of motion
controller
The positive/negative limit
switches are all the triggering
status. The setting of limit
switch trigger level is not
right.
out
5
Incorrect
of
input/output signal
the
Reset the trigger level of limit switch.
Check the wiring according to the instruction
Incorrect of grounding
Check the
instruction
Alarm of motor driver
Too small
moment
4
or
Incorrect of the motor wiring
of
As the motor driver is
electrified (without
servo-on signal), the
motor runs suddenly
when it is power-on.
controller
Abnormal work of motion
controller.
Unmatchable of the control
mode setting.
Motor is
control.
Replace the motion
supporting software.
Call the command GT_AxisOn( ) and enable
the drive.
Check the control mode of driver to ensure the
matching with motion controller.
Check the reason of motor driver alarm. Reset
the motor driver. If the driver has no alarm
signal output, connect the pin1 with pin2 of
CN5-CN8 or call the related command to
close the alarm signal input.
Check the status of motion controller and
correct it.
Disable of the drive
3
Replace the motion controller.
of
the
motor
grounding
according
to
the
Check the motor driver.
Motion controller is in the
uncertain status at the moment
of power-on and power-off,
but the motor is in working
status.
Before the power-on of the host, ensure that
the motor driver is power-off.
(Electrify the light-current first, then the
heavy-current)
Error of wiring.
Check the wiring.
No external power supply.
Check the external power supply.
Error of grounding.
The input/output interface of
motion controller is damaged.
Reconnect the ground wire.
The fusing resistor of 5 V or
24 V is burnout.
35
Replace the motion controller.
Replace the fusing resistor.
Appendix C Troubleshooting
Trouble
6
Error of general I/O
output
Reason
Check whether the interface of
corresponding I/O device is
matched with the interface of
GE-S
Series
Motion
Controller.
Check whether the required
drive current of external I/O
device is matched with the
load capability provided by
GE-S
Series
Motion
Controller.
Maybe the laser is damaged.
7
No output of laser.
Error of the laser control
signal interface.
No output of GE-400-SX
-LASER Motion Controller.
36
Handling
Because I/O output of GE-S Series Motion
Controller is collector-open-circuit output, the
interface of I/O device must be matched with
it. If the load capability of motion controller is
not enough, it is suggested to replace the
terminal board of power output.
Check whether the laser is damaged. Maybe
the laser tube is damaged.
The reference ground of laser control signal is
digital ground. Don’t take the OGND on the
terminal board as the reference ground.
Check the output of laser control signal of
GE-400-SX-LASER Motion Controller.
Googol Technology (Shenzhen) Co., Ltd.
Googol Technology (HK) Co., Ltd.
Add. : W211, 2/F, West Building, SZHK Industry, Education
Add.: Room 3639, Annex Building, The Hong Kong University
and Research Base, South Area, High-tech Industry
of Science and Technology, Clear Water Bay, Kowloon,
Park, Shenzhen, PRC
Hong Kong
Tel. : (+86 755) 26970823 26970819 26970824
Tel. : (+852) 2358-1033
Fax. : (+86 755) 26970821
Fax. : (+852) 2719-8399
Email: support@googoltech.com
Email: info@googoltech.com
Web: http://www.googoltech.com.cn/
Web: http://www.googoltech.com/
Was this manual useful for you? yes no
Thank you for your participation!

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project

Download PDF

advertising