Adlink PCI-8132 Entry-level 2-axis Servo & Stepper Motion Controller Owner's Manual
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PCI-8132
2 Axes Servo / Stepper
Motion Control Card
User’s Guide
Recycled Paper
@Copyright 2006 ADLINK Technology Inc.
All Rights Reserved.
Manual Rev. 2.01: Jan 17, 2006
The information in this document is subject to change without prior notice in order to improve reliability, design and function and does not represent a commitment on the part of the manufacturer.
In no event will the manufacturer be liable for direct, indirect, special, incidental, or consequential damages arising out of the use or inability to use the product or documentation, even if advised of the possibility of such damages.
This document contains proprietary information protected by copyright. All rights are reserved. No part of this manual may be reproduced by any mechanical, electronic, or other means in any form without prior written permission of the manufacturer.
Trademarks
NuDAQ, PCI-8132 are registered trademarks of ADLINK Technology Inc,
MS-DOS , Windows 95/98 , Windows NT/2000 are registered trademarks of Microsoft Corporation., Borland C++ is a registered trademark of
Borland International, Inc. Other product names mentioned herein are used for identification purposes only and may be trademarks and/or registered trademarks of their respective companies.
Getting service from ADLINK
♦ Customer Satisfaction is always the most important thing for ADLINK Tech
Inc. If you need any help or service, please contact us and get it.
ADLINK Technology Inc.
Web Site http://www.adlinktech.com
Sales & Service [email protected]
Technical NuDAQ [email protected]
Support Automation
NuIPC [email protected] [email protected]
NuPRO/EBC [email protected]
Address 9F, No. 166, Jian Yi Road, Chungho City, Taipei, 235 Taiwan
♦ Please inform or FAX us of your detailed information for a prompt, satisfactory and constant service.
Company/Organization
Contact Person
Detailed Company Information
E-mail Address
Address
Country
TEL
Web Site
FAX
Product Model
Environment to Use
Challenge Description
Suggestions for ADLINK
Questions
OS
Computer Brand
M/B:
Chipset:
Video Card:
Network Interface Card:
Other:
CPU:
Bios:
Table of Contents
Chapter 1 Introduction .......................................................................1
1.1
Features..................................................................................4
1.2
Specifications ........................................................................5
1.3
Software Supporting .............................................................6
Chapter 2 Installation .........................................................................7
2.1
What You Have .......................................................................7
2.2
PCI-8132 Outline Drawing.....................................................8
2.3
Hardware Installation ............................................................9
2.3.1
Hardware configuration........................................................... 9
2.3.2
PCI slot selection ..................................................................... 9
2.3.3
Installation Procedures ........................................................... 9
2.3.4
Trouble shooting: .................................................................... 9
2.4
Software Driver Installation ................................................10
2.5
CN1 Pin Assignments: External Power Input ...................10
2.6
CN2 Pin Assignments: Main connector............................. 11
2.7
CN3 Pin Assignments: Simultaneous Start/Stop..............12
2.8
Jumper Setting.....................................................................13
2.9
Switch Setting ......................................................................13
Chapter 3 Signal Connections ........................................................14
3.1
Pulse Output Signals OUT and DIR ...................................15
3.2
Encoder Feedback Signals EA, EB and EZ.......................17
3.3
Origin Signal ORG ...............................................................19
3.4
End-Limit Signals PEL and MEL ........................................20
3.5
Ramping-down Signals PSD and MSD ..............................21
3.6
In-position Signal INP..........................................................22
3.7
Alarm Signal ALM ................................................................23
3.8
Deviation Counter Clear Signal ERC .................................24
3.9
General-purpose Signal SVON...........................................25
3.10
General-purpose Signal RDY .............................................26
3.11
Isolated Digital Output DOx ................................................27
3.12
Isolated Digital Input DIx.....................................................28
3.13
Pulser Input Signals PA and PB .........................................29
3.14
Simultaneously Start/Stop Signals STA and STP .............30
3.15
Daughter Board Connector ................................................31
3.16
Comparison Output CMP1 and CMP2 ...............................32
Table of Contents
•
i
Chapter 4 Operation Theorem.........................................................33
4.1
Motion Control Modes.........................................................33
4.1.1
Pulse Command Output .........................................................34
4.1.2
Constant Velocity Motion .......................................................35
4.1.3
Trapezoidal Motion .................................................................36
4.1.4
S-curve Profile Motion............................................................40
4.1.5
Linear and Circular Interpolated Motion ...............................43
4.1.6
Home Return Mode .................................................................44
4.1.7
Manual Pulser Mode ...............................................................46
4.2
Motor Driver Interface .........................................................47
4.2.1
INP............................................................................................47
4.2.2
ALM ..........................................................................................47
4.2.3
ERC ........................................................................................48
4.3
The Limit Switch Interface and I/O Status.........................49
4.3.1
SD.............................................................................................49
4.3.2
EL .............................................................................................49
4.3.3
ORG..........................................................................................50
4.3.4
SVON and RDY........................................................................50
4.4
The Encoder Feedback Signals (EA, EB, EZ) ...................50
4.5
Multiple PCI-8132 Cards Operation....................................52
4.6
Change Speed on the Fly....................................................53
4.7
Position Comparison...........................................................55
4.8
Interrupt Control ..................................................................59
Chapter 5 Motion Creator.................................................................63
5.1
Main Menu ............................................................................64
5.2
Axis Configuration Window................................................65
5.3
Axis Operation Windows ....................................................68
5.3.1
Motion Status Display ............................................................68
5.3.2
Axis Status Display.................................................................68
5.3.3
I/O Status Display ...................................................................69
5.3.4
Set Position Control ...............................................................69
5.3.5
Operation Mode Control.........................................................69
5.3.6
Motion Parameters Control ....................................................70
5.3.7
Play Key Control .....................................................................70
5.3.8
Velocity Profile Selection .......................................................71
5.3.9
Repeat Mode ...........................................................................71
5.4
2-D Motion Windows ...........................
錯誤 ! 尚未定義書籤。
5.4.1
Linear Interpolation .................................
錯誤 ! 尚未定義書籤。
5.4.2
Circular Interpolation...............................
錯誤 ! 尚未定義書籤。
5.4.3
Continuous Jog........................................
錯誤 ! 尚未定義書籤。
5.4.4
Incremental Jog .......................................
錯誤 ! 尚未定義書籤。 ii
•
Table of Contents
5.4.5
Other Control Objects .............................
錯誤 ! 尚未定義書籤。
Chapter 6 Function Library..............................................................73
6.1
List of Functions..................................................................73
6.2
C/C++ Programming Library...............................................77
6.3
Initialization ..........................................................................78
6.4
Pulse Input / Output Configuration....................................81
6.5
Continuously Motion Move.................................................82
6.6
Trapezoidal Motion Mode....................................................83
6.7
S-Curve Profile Motion ........................................................86
6.8
Multiple Axes Point to Point Motion ..................................88
6.9
Linear and Circular Interpolated Motion ...........................90
6.10
Interpolation Parameters Configuring...............................90
6.11
Home Return ........................................................................92
6.12
Manual Pulser Motion..........................................................93
6.13
Motion Status .......................................................................95
6.14
Servo Drive Interface...........................................................97
6.15
I/O Control and Monitoring .................................................99
6.16
Position Control.................................................................100
6.17
Interrupt Control ................................................................101
6.18
Digital Input/Output Control .............................................104
6.19
Position Compare Control ................................................105
Chapter 7 Connection Example ....................................................108
7.1
General Description of Wiring..........................................108
7.2
Connection Example with Servo Driver .......................... 111
Product Warranty/Service................................
錯誤 ! 尚未定義書籤。
Table of Contents
•
iii
How to Use This Guide
This manual is designed to help you use the PCI-8132. The manual describes how to modify various settings on the PCI-8132 card to meet your requirements. It is divided into seven chapters: y Chapter 1 , "Introduction", gives an overview of the product features, applications, and specifications. y Chapter 2 , "Installation", describes how to install the PCI-8132. y Chapter 3 , "Signal Connection", describes the connectors' pin assignment and how to connect the outside signal and devices with the PCI-8132. y Chapter 4 , "Operation Theorem", describes detail operations of the PCI-8132. y Chapter 5 , “Motion Creator”, describe how to utilize a Microsoft
Windows based utility program to configure and test running the
PCI-8132 y Chapter 6 , " Function Library", describes high-level programming interface in C/C++ and VB language. It helps programmer to control PCI-8132 in high level language style. y Chapter 7, “Connection Example” shows some typical connection examples between PCI-8132 and servo driver and stepping driver.
1
Introduction
The PCI-8132 is a 2 axes motion control card with PCI interface. It can generate high frequency pulses to drive stepping motors and servo motors.
Multiple PCI-8132 cards can be used in one system. Incremental encoder interface on all four axes provide the ability to correct for positioning errors generated by inaccurate mechanical transmissions. In addition, mechanical sensor interface, servo motor interface and general purpose
I/O signals are provided for system integration. Hardware position compare function and trigger signal output provide users a way of taking pictures while the motors are still in motion.
Figure 1.1 shows the function block diagram of PCI-8132 card. PCI-8132 uses one ASIC (PCL5023) to perform 2 axes motion control. This ASIC is made of Nippon Pulse Motor incooperation. The motion control functions include linear and S-curve acceleration/deceleration, interpolation between two axes, continuous motion, in positioning and home return are done by the ASIC. Since these functions needing complex computations are done internally on the ASIC, the PC’s CPU is free to supervise and perform other tasks.
Motion Creator, a Microsoft Windows based software is equipped with the
PCI-8132 card for supporting application development. The Motion
Creator is very helpful for debugging a motion control system during the design phase of a project. The on-screen monitor shows all installed axis information and I/O signals status of PCI-8132 cards. In addition to Motion
Creator, both DOS and Windows version function library are included for programmers using C++ and Visual Basic language. Several sample programs are given to illustrate how to use the function library.
Figure 1.2 is a flowchart that shows a recommending process of using this manual to develop an application. Please also refer the relative chapters for the detail of each step.
Introduction
•
1
PCL 5023 for axes
X & Y
Isolation
PCI Bus
PCI Bus
Controller
FPGA for
Position
Comparison
CN3
Simultaneousl y
Ext+24V Input
DC/DC
Pulse I/O
OUT,
DIR,
EA, EB,
EZ
Mechanic al
Interface
+EL, -EL,
+SD,-SD,
ORG
Servo
Driver
Interface
INP, ALM
ERC
General
Purpose
I/O
SVON/RDY
DI/DO 0~15
Pulser
PA/PB
Figure 1.1 Block Diagram of PCI-8132
Compariso n
Output
CMP1
CMP2
CN1
Ext +5V out
CN2
2
•
Introduction
No
Hardware Installation
Jumper Setting
Wiring
Chapter 2 & 3
Run Motion Creator
To Configure System
Chapter 5
Run Motion Creator
To Verify Operation
Chapter 4 & 5
Use Function Library
To develop Applications
Chapter 4 & 6
System is
OK?
Yes
END
Figure 1.2 Flowchart of building an application
Introduction
•
3
1.1 Features
The following lists summarize the main features of the PCI-8132 motion control system. y 32-bit PCI-Bus, plug and play. y 2 axes of step and direction pulse output for controlling stepping or servomotor. y Maximum output frequency of 2.4 Mpps. y 28-bit up/down counter for incremental encoder feedback. y Home switch, index signal, positive and negative limit switches interface provided for all axes. y Programmable interrupt sources. y Change Speed on the Fly. y Positiion Compare and Trigger Signal output. y Simultaneous start/stop motion on multiple axes. y Manual pulser input interface. y Software supports maximum up to 12 PCI-8132 cards (24 axes) operation. y Compact, half size PCB. y Motion Creator, Microsoft Windows based application development software. y PCI-8132 Library and Utility for DOS library and Windows
95/98/NT/2000/XP DLL.
4
•
Introduction
1.2 Specifications
♦
Applicable Motors: y Stepping y AC or DC servomotors with pulse train input servodrivers.
♦
Performance: y Number of controllable axes: 2 axes. y Maximum pulse output frequency: 2.4Mpps, linear, trapezoidal or
S-Curve velocity profile drive. y Internal reference clock: 9.8304 MHz y Position pulse setting range: 0~268,435,455 pulses(28-bit). y Up / down counter counting range: 0~268,435,455 (28-bit.) or –134,217,728 to +134,217,727 y Pulse rate setting steps: 0 to 2.4Mpps. y Position Comparison Range:-8,388,608 ~ +8388607(24 bits)
♦
I/O Signales: y Input/Output Signals for each axis y All I/O signal are optically isolated with 2500Vrms isolation voltage y Command pulse output pins: OUT and DIR. y Incremental encoder signals input pins: EA and EB. y Encoder index signal input pin: EZ. y Mechanical limit/switch signal input pins: ± EL, ± SD and ORG. y Servomotor interface I/O pins: INP, ALM and ERC. y General purpose digital output pin: SVON. y General purpose digital input pin: RDY. y Pulser signal input pin: PA and PB. y Simultaneous Start/Stop signal I/O pins: STA and STP. y 16 Channels Open collector digital output y 16 Channels Isolated digital input y Trigger Output Signals:CMP1/CMP2 y
♦
General Specifications y Connectors: 100-pin SCSI-type connector y Operating Temperature: 0 ° C ~ 50 ° C y Storage Temperature: -20 ° C ~ 80 ° C y Humidity: 5 ~ 85%, non-condensing y Power
Slot power supply(input): +5V DC ± 5%, 900mA max.
Introduction
•
5
External power supply(input): +24V DC ± 5%, 500mA max.
External power supply(output): +5V DC ± 5%, 500mA, max. y Dimension: 164mm(L) X 98.4mm(H)
For the customers who are writing their own programs, we provide
MS-DOS Borland C/C++ programming library and Windows
95/98/NT/2000/XP DLL for PCI-8132. These function libraries are shipped with the board.
6
•
Introduction
2
Installation
This chapter describes how to install the PCI-8132. Please follow the follow steps to install the PCI-8132. y Check what you have (section 2.1) y Check the PCB (section 2.2) y Install the hardware (section 2.3) y Install the software driver (section 2.4) y Understanding the I/O signal connections (chapter 3) and their operation (chapter 4) y Understanding the connectors’ pin assignments (the rest of the sections) and wiring the connections
2.1 What You Have
In addition to this User's Guide , the package includes the following items: y PCI-8132 2 axes Servo / Stepper Motion Control Card y ADLINK y User’s y +24V power input cable (for CN1)
If any of these items are missing or damaged, contact the dealer from whom you purchased the product. Save the shipping materials and carton in case you want to ship or store the product in the future.
Installation
•
7
2.2 PCI-8132 Outline Drawing
Front Panel
Figure 2.1 PCB Layout of the PCI-8132
CN1: External Power Input Connector
CN2: Input / Output Signal Connector
CN3: Simultaneous Start/Stop
8
•
Installation
PCI-8132 has plug and play PCI controller on board. The memory usage
(I/O port locations) of the PCI card is assigned by system BIOS. The address assignment is done on a board-by-board basis for all PCI cards in the system.
2.3.2 PCI slot selection
Your computer will probably have both PCI and ISA slots. Do not force the
PCI card into a PC/AT slot. The PCI-8132 can be used in any PCI slot.
1. Read through this manual, and setup the jumper according to your application
2. Turn off your computer, Turn off all accessories (printer, modem, monitor, etc.) connected to computer.
Remove the cover from your computer.
3. Select a 32-bit PCI expansion slot. PCI slots are short than ISA or
EISA slots and are usually white or ivory.
4. Before handling the PCI-8132, discharge any static buildup on your body by touching the metal case of the computer. Hold the edge and do not touch the components.
5. Position the board into the PCI slot you selected.
6. Secure the card in place at the rear panel of the system unit using screw removed from the slot.
If your system won‘t boot or if you experience erratic operation with your
PCI board in place, it’s likely caused by an interrupt conflict (perhaps because you incorrectly described the ISA setup). In general, the solution, once you determine it is not a simple oversight, is to consult the BIOS documentation that come with your system.
Installation
•
9
Please refer to the PCI Software Installation Guide.
2.5 CN1 Pin Assignments: External Power Input
CN1 Pin No Name
1 EXGND
Description
Grounds of the external power.
2 EX+24V ± 5%
Notes:
1. CN1 is a plug-in terminal board with no screw.
2. Be sure to use the external power supply. The +24V DC is used by external input/output signal circuit. The power circuit is configured as follows.
3.Wires for connection to CN1 wire: 0.32mm to ϕ 0.65mm (AWG28 to AWG22) wire:0.08mm
2 to 0.32mm
2 (AWG28 to AWG22)
Naked wire length:10mm standard
The following diagram shows the external power supply system of the
PCI-8132. The external +24V power must be provided, an on-board regulator generates +5V for both internal and external usage.
(External Power) (Bus Power)
+5V
GND
EX+24V
DC/DC
EXGND
EX+5V
I/O
SIGNALS
(OUTPUT)
Isolation
I/O SIGNALS
10
•
Installation
2.6 CN2 Pin Assignments: Main connector
The CN2 is the major connector for the motion control I/O signals.
No. Name I/O
1
Function(axis c / d ) No.
VPP +5V O +5V power supply output
I/O Function(axis e / f )
51 DO COM+ I Ext power input for Dout
2 EXGND O Ext. power ground
3 OUT1+
4 OUT1-
O Pulse signal (+),
O Pulse signal (-), c signal c c
6 DIR1- O Dir. (-), c
8 ERC1
9 ALM1
10 INP1
O Dev. ctr, clr. signal,
I Alarm
I In-position c c c
11 RDY1 I Multi-purpose c
52 EXGND
53 DO0
54 DO1
55 DO2
56 DO3
57 DO4
58 DO5
59 DO6
60 DO7
61 DO8
62 DO9
O Ext. power ground
O Isolated digital output 0
O Isolated digital output 1
O Isolated digital output 2
O Isolated digital output 3
O Isolated digital output 4
O Isolated digital output 5
O Isolated digital output 6
O Isolated digital output 7
O Isolated digital output 8
O Isolated digital output 9 12 EXGND O Ext. power ground
13 EA1+ (+),
14 EA1-
15 EB1+
16 EB1-
17 EZ1+
18 EZ1-
I
(-),
I Encoder B-phase (+), c
Encoder B-phase (-), c
I Encoder Z-phase (+), c
I Encoder Z-phase (-), c
19 VPP +5V O +5V power supply output
20 EXGND
21 OUT2+
22 OUT2-
O Ext. power ground
O Pulse signal (+), d
O Pulse signal (-), d
63 DO10
64 DO11
65 DO12
66 DO13
67 DO14
68 DO15
69 EXGND
70 EXGND
71 DI COM+
O Isolated digital output 10
O Isolated digital output 11
O Isolated digital output 12
O Isolated digital output 13
O Isolated digital output 14
O Isolated digital output 15
O Ext. power ground
O Ext. power ground
I Ext power input for Din
23 DIR2+
24 DIR2-
26 ERC2
27 ALM2
28 INP2
29 RDY2
O Dir.
O Dir.
(+),
(-), signal,
O Dev. ctr, clr. signal, d
I Alarm signal,
I Multi-purpose d
72 DI COM+
73 DI0
74 DI1
75 DI2
76 DI3
77 DI4
78 DI5
79 DI6 I
I
I Ext power input for Din
I Isolated digital input 0
I Isolated digital input 1
I Isolated digital input 2
I Isolated digital input 3
I Isolated digital input 4
Isolated digital input 5
Isolated digital input 6
30 EXGND O Ext. power ground
31 EA2+
32 EA2-
(+),
(-),
33 EB2+
34 EB2-
35 EZ2+
36 EZ2-
37 PEL1
38 MEL1
39 PSD1
40 MSD1 I Ramp-down (-),
41 ORG1 I Origin c
42 EXGND O Ext. power ground
43 PEL2
44 MEL2
45 PSD2
I
I
End limit signal (+),
End limit signal (-), d d
46 MSD2
47 ORG2
48 EXGND
I Encoder B-phase (+), d
I Encoder B-phase (-), d
I Encoder Z-phase (+), d
I Encoder Z-phase (-), d
I
I
End limit signal (+),
End limit signal (-),
I Ramp-down
I Origin d
O Ext. power ground
49 EXGND O Ext. power ground
50 EXGND O Ext. power ground c c
(-),
80 DI7
81 DI8
82 DI9
83 DI10
84 DI11
85 DI12
86 DI13
87 DI14
88 DI15
89 EXGND
90 EXGND
91 PA+
92 PA-
93 PB+
94 PB-
I
I
I
I
I Isolated digital input 8
I Isolated digital input 9
I Isolated digital input 10
I Isolated digital input 11
I Isolated digital input 12
I Isolated digital input 13
I Isolated digital input 14
I Isolated digital input 15
I
I
I Isolated digital input 7
Ext. power ground
Ext. power ground
Manual Pulser Input PHA+
Manual Pulser Input PHA-
Manual Pulser Input PHB+
Manual Pulser Input PHB-
95 EXGND
96 CMP1
97 CMP2
98 EXGND
I Ext. power ground
O Position compare Trigger 1
O Position compare Trigger 2
O Ext. power ground
99 VPP +24V O +24V power supply output
100 VPP +24V O +24V power supply output
Installation
•
11
2.7 CN3 Pin Assignments: Simultaneous
Start/Stop
The signals on CN3 is for simultaneously start/stop signals for multiple axes and multiple cards.
No. Name
1 GND Bus power ground
2
3
4
5
6
STP Simultaneous stop signal input/output
STA Simultaneous start signal input/output
STP Simultaneous stop signal input/output
STA Simultaneous start signal input/output
+5V Bus power, +5V
Note: +5V and GND pins are directly given by the PCI Bus power.
12
•
Installation
The J1~J4 is used to set the signal type of the pulse output signals (DIR and OUT). The output signal type could be differential line driver output or open collector output. Please refer to section 3.1 for details of the jumper setting. The default setting is the differential line driver mode.
Open Collector
Line Driver
3
2
1
J1
J1
J1
J2
J1
J3
J1
J4
OFF
ON
The switch bits 1/2 of S1 are used to set the EL limit switch’s type. The default setting of EL switch type is “normal open” type limit switch (or “A” contact type). The switch on is to use the “normal closed” type limit switch (or “B” contact type). The default setting is set as normal open type.
The bits 3/4 of S1 are used to set the active logic of CMP1,CMP2 respectively.
Default setting is active low. This means that when a positive comparison condition is met ,CMP will go high for 100 us automatically.
4 3
S1
2
Bit
1
Placement of S1 Switch on Board
Bits1/2: Select ‘a’ Contact EL Switch (Normal
Bits1/2: Select ‘b’ Contact EL Switch (Normal
Bits3/4: Set CMP1/2 active High at ON position
Bits3/4: Set CMP1/2 active Low at OFF position
Installation
•
13
3
Signal Connections
The signal connections of all the I/O signals are described in this chapter.
Please refer the contents of this chapter before wiring the cable between the PCI-8132 and the motor drivers.
This chapter contains the following sections:
Section 3.1 Pulse output signals OUT and DIR
Section 3.2 Encoder feedback signals EA, EB and EZ
Section 3.3 Origin signal ORG
Section 3.4 End-Limit signals PEL and MEL
Section 3.5 Ramping-down signals PSD and MSD
Section 3.6 In-position signal INP
Section 3.7 Alarm signal ALM
Section 3.8 Deviation counter clear signal ERC
Section 3.9 General-purpose signal SVON
Section 3.10 General-purpose signal RDY
Section 3.11 General Purpose Digital Output
Section 3.12 General Purpose Digital Input
Section 3.13 Pulser input signals PA and PB
Section 3.14 Simultaneous start/stop signals STA and STP
Section 3.15 Comparison Output CMP1,CMP2
Section 3.16 Daughter Board Connector
14
•
Signal Connections
3.1 Pulse Output Signals OUT and DIR
There are 2-axis pulse output signals on PCI-8132. For every axis, two pairs of OUT and DIR signals are used to send the pulse train and to indicate the direction. The OUT and DIR signals can also be programmed as CW and CCW signals pair, refer to section 4.1.1 for details of the logical characteristics of the OUT and DIR signals. In this section, the electronic characteristics of the OUT and DIR signals are shown. Each signal consists of a pair of differential signals. For example, the OUT2 is consisted of OUT2+ and OUT2- signals. The following table shows all the pulse output signals on CN2.
CN2 Pin No. Signal Name
3
4
5
6
OUT1+
OUT1-
DIR1+
DIR1-
21
22
23
24
OUT2+
OUT2-
DIR2+
DIR2-
Description
Pulse signals (+)
Pulse signals (-)
Direction signal(+)
Direction signal(-)
Pulse signals (+)
Pulse signals (-)
Direction signal(+)
Direction signal(-)
Axis # c c c c d d d d
The output of the OUT or DIR signals can be configured by jumpers as either the differential line driver or open collector output. You can select the output mode either by closing breaks between 1 and 2 or 2 and 3 of jumpers J1~J4 as follows.
Output
Signal
OUT1-
DIR1-
OUT2-
DIR2-
For differential line driver output, close a break
For open collector output, close a break between 1 and 2 of between 2 and 3 of:
J1 J1
J2 J2
J3 J3
J4 J4
The
default setting of OUT and DIR signals are the as differential line driver mode.
Signal Connections
•
15
The following wiring diagram is for the OUT and DIR signals of the 2 axes.
Inside PCI-8132
VCC
EX+5V
CN2
J1~J8
3
R
2
OUT+, DIR+
1
OUT-, DIR-
OUT
DIR from PCL5023
2631
EXGND
NOTE: If the pulse output is set to the open collector output mode, the
OUT- and DIR- are used to send out signals. Please take care that the current sink to OUT- and DIR- pins must not exceed 20mA. The current may provide by the EX+5V power source, however, please note that the maximum capacity of EX+5V power is 500mA.
16
•
Signal Connections
3.2 Encoder Feedback Signals EA, EB and EZ
The encoder feedback signals include the EA, EB, and EZ. Every axis has six pins for three differential pairs of phase-A (EA), phase-B (EB) and index (EZ) input. The EA and EB are used for position counting, the EZ is used for zero position index. The relative signal names, pin numbers and the axis number are shown in the following tables.
CN2 Pin No Signal Name Axis # CN2 Pin No Signal Name Axis #
31 EA2+
32 EA2-
33 EB2+
34 EB2-
CN2 Pin No Signal Name Axis # CN2 Pin No Signal Name Axis #
35 EZ2+
36 EZ2-
The input circuits of the EA, EB, EZ signals are shown as follows.
Inside PCI-8132 CN2
R
PCL5023
EA+, EB+,
EZ+
EA, EB
EZ
EA-, EB-
EZ-
Please note that the voltage across every differential pair of encoder input signals (EA+, EA-), (EB+, EB-) and (EZ+, EZ-) should be at least 3.5V
or higher. Therefore, you have to take care of the driving capability when connecting with the encoder feedback or motor driver feedback. The differential signal pairs will be converted to digital signal EA, EB and EZ to connect to PCL5023 ASIC.
Here are two examples of connecting the input signals with the external circuits. The input circuits can connect to the encoder or motor driver, which are equipped with: (1) differential line driver or (2) open collector output.
Signal Connections
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17
♦
Connection to Line Driver Output
To drive the PCI-8132 encoder input, the driver output must provide at least
3.5V
across the differential pairs with at least
6 mA
driving capability.
The ground level of the two sides must be tight together too.
PCI-8132
EA+,EB+,EZ+
EA-, EB-, EZ-
EXGND
External Encoder / Driver
With line driver output
GND
A,B phase signals
Index signal
♦
Connection to Open Collector Output
To connect with open collector output, an external power supply is necessary. Some motor drivers also provide the power source. The connection between PCI-8132, encoder, and the power supply is shown in the following diagram. Please note that the external current limit resistor
R is necessary to protect the PCI-8132 input circuit. The following table lists the suggested resistor value according to the encoder power supply.
Encoder Power(VDD)
+5V
+12V
+24V
If=6mA max.
External Resistor R
0 Ω (None)
1.8k
Ω
4.3k
Ω
PCI-8132
EA+, EB+,
R
VDD
GND
External Power for
Encoder
Motor Encoder / Driver
With Open Collector Output
EA-, EB-,
A, B phase signals
Index signal
For more detail operation of the encoder feedback signals, please refer to setcion 4.4.
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Signal Connections
3.3 Origin Signal ORG
The origin signals (ORG1~ORG2) are used as input signals for origin of the mechanism. The following table lists the relative signal name, pin number, and the axis number.
CN2 Pin No Signal Name Axis #
The input circuits of the ORG signals are shown as following. Usually, a limit switch is used to indicate the origin of one axis. The specifications of the limit switches should with contact capacity of +24V, 6mA minimum.
An internal filter circuit is used to filter out the high frequency spike, which may cause wrong operation.
Inside PCI-8132
4.7K
EX+24V
CN2
Filter
Circuit
To PCL5023
I f
=6mA Max.
ORG
Å S witch
EXGND
When the motion controller is operated at the home return mode, the ORG signal is used to stop the control output signals (OUT and DIR). For the detail operation of the ORG, please refer to section 4.3.3.
Signal Connections
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19
3.4 End-Limit Signals PEL and MEL
There are two end-limit signals PEL and MEL for one axis. PEL indicates end limit signal in plus direction and MEL indicates end limit signal in minus direction. The relative signal name, pin number and axis number are shown in the following table.
CN2 Pin No Signal Name Axis # CN2 Pin No Signal Name Axis #
37 PEL1
38 MEL1
43 PEL2
44 MEL2
The signals connection and relative circuit diagram is shown in the following diagram. The external limit switches featuring a contact capacity of +24V, 6mA minimum. You can use either ‘A-type’ (normal open) contact switch or ‘B-type’ (normal closed) contact switch by setting the DIP switch S1. The PCI-8132 is delivered with all bits of S1 set to OFF, refer to section 2.10. For the details of the EL operation, please refer to section 4.3.2.
Inside PCI-8132
4.7K
EX+24V
CN2
Filter
Circuit
To PCL5023
I f
=6mA Max
.
PEL
MEL
Å
Switch
EXGND
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Signal Connections
3.5 Ramping-down Signals PSD and MSD
There are two ramping-down (Slow-Down) signals PSD and MSD for one axis. The relative signal name, pin number and axis number are shown in the following table.
CN2 Pin No Signal Name Axis #
The signals connection and relative circuit diagram is shown in the following diagram. Usually, limit switches are used to generate the slow-down signals to make motor operating in a slower speed. For more details of the SD operation, please refer to section 4.3.1.
Inside PCI-8132
4.7K
EX+24V
CN2
Filter
Circuit
To PCL5023
I f
=6mA Max.
PSD
MSD
Å
Switch
EXGND
Signal Connections
•
21
3.6 In-position Signal INP
The in-position signals INP from the servo motor driver indicate the deviation error is zero, that is the servo position error is zero. The relative signal name, pin number and axis number are shown in the following table.
CN2 Pin No Signal Name Axis #
The input circuit of the INP signals are shown in the following diagram.
Inside PCI-8132
R
EX+5V
CN2
To PCL5023
I
I f
=12mA Max.
f
=5mA Min.
INP
The in-position signals are usually from servomotor drivers, which usually provide open collector output signals. The external circuit must provide at least 5 mA current sink capability to drive the INP signal active. For more details of the INP signal operating, please refer to section 4.2.1.
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Signal Connections
3.7 Alarm Signal ALM
The alarm signal ALM is used to indicate the alarm status from the servo driver. The relative signal name, pin number and axis number are shown in the following table.
CN2 Pin No Signal Name Axis #
9 ALM1 c
27 ALM2 d
The input circuit of alarm circuit is shown in the following diagram. The
ALM signals are usually from servomotor drivers, which usually provide open collector output signals. The external circuit must provide at least
5 mA current sink capability to drive the ALM signal active. For more details of the ALM operation, please refer to section 4.2.2.
Inside PCI-8132
R
EX+5V
CN2
To PCL5023
I f
=12mA Max.
I f
=5mA Min.
ALM
Signal Connections
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23
3.8 Deviation Counter Clear Signal ERC
The deviation counter clear signal (ERC) is active in the following 4 situations:
(1) home return is complete;
(2) the end-limit switch is active;
(3) an alarm signal stops OUT and DIR signals;
(4) an emergency stop command is issued by software (operator).
The relative signal name, pin number and axis number are shown in the following table.
CN2 Pin No Signal Name Axis #
8 ERC1
26 ERC2
The ERC signal is used to clear the deviation counter of servomotor driver.
The ERC output circuit is in the open collector with maximum 35 V external power at 50mA driving capability. For more details of the ERC operation, please refer to section 4.2.3.
Inside PCI-8132
35V 50mA Maximum
CN2
ERC
From PCL5023
EXGND
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Signal Connections
3.9 General-purpose Signal SVON
The SVON signals can be used as servomotor-on control or general-purpose output signals. The relative signal name, pin number and axis number are shown in the following table.
CN2 Pin No Signal Name Axis #
7 SVON1
25 SVON2
The output circuit of SVON signal is shown in the following diagram.
Inside PCI-8132
35V 50mA Maximum
CN2
SVON
From PCL5023
EXGND
Signal Connections
•
25
3.10 General-purpose Signal RDY
The RDY signals can be used as motor driver ready input or general-purpose input signals. The relative signal name, pin number and axis number are shown in the following table.
CN2 Pin No Signal Name Axis #
11 RDY1
29 RDY2
Inside PCI-8132
R
EX+5V
CN2
To PCL5023
I f
I f
=12mA Max.
=5mA Min.
RDY
The input circuit of RDY signal is shown in the following diagram
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Signal Connections
3.11 Isolated Digital Output DOx
The connection of isolated-digital output is shown as following diagram.
When the isolated digital output goes to high, the sink current will be from external Dout supplied voltage. Each transistor on TD62083 is at OFF
State when reset.
DO COM+
TD 62083
DOut
DOx
PhotoCouple
Isolation
DGND EXGND
Inside PCI-8132
Spec. of TD62083 y Output sustaning voltage: 50V y Output Current: 123 mA/ch (Duty=50%), 500 mA/ch( MAX. ) y Clamp Diode Reverse Voltage: 50V y Clamp Diode Forward Current: 500mA y Power Dissipation: 1.47W (maximum)
Signal Connections
•
27
3.12 Isolated Digital Input DIx
The isolated digital input is open collector transistor structure. The Input voltage range from 5V to 24V and input resister is 4.7K (1/2W). The connection between outside signal is shown bellow. Maximum forward current through the diode of photocoupler is +/- 50mA
Photocoupler
Isolation
4.7K ohm 1/2W
DI COM+
DI
DGND
Inside PCI-8132
DI
Switch
EXGND
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Signal Connections
3.13 Pulser Input Signals PA and PB
The PCI-8132 can accept the input signals from pulser signals through the following pins of connector CN2. The pulser’s behavior is as an encoder.
The signals are usually used as generate the position information which guide the motor to follow.
CN2
Pin No
Signal
Name
91 PA+
92 PA-
93 PB+
94 PB-
PA and PB pins of connector CN2 are directly connected to PA and PB pins of PCL5023. The interfac circuits are shown as follows.
PCL5023
PA, PB
Inside PCI-8132
R
CN2
PA+, PB+
PA-, PB-
If the signal voltage of pulser is not +5V or if the pulser is distantly placed, it is recommended to put a photo coupler or line driver in between.
Signal Connections
•
29
3.14 Simultaneously Start/Stop Signals STA and
STP
The PCI-8132 provides the STA and STP signals, which enable simultaneous start/stop of motions on multiple axes. The STA and STP signals are on the CN3.
On one card, two PCL5023 chips provide two sets of STA and STP signals.
The following diagram shows the on-board circuits. The STA and STP signals of the two axes are tight together respectively.
PCL5023
STP, AXIS 1&2
STA, AXIS 1&2
Inside PCI-8132
VCC
4.7K
VCC
4.7K
2
3
CN3
STP
STA
The STP and STA signals are both input and output signal. To operate the simultaneously start and stop action, both software control and external control are possible. By the software control, the signals can be generated from any one of the PCL5023, and other chip will start and stop simultaneously if proper programmed. You can also use an external open collector or switch to drive the STA/STP signals for simultaneous start/stop.
If there are two or more PCI-8132 cards, cascade CN3 connectors of all cards for simultaneous start/stop control on all concerned axes is possible.
In this case, connect CN3 as follows.
PCI-8132 #1 PCI-8132 #2 PCI-8132 #3
CN3
STP
STA
STP
STA
CN3
STP
STA
STP
STA
CN3
STP
STA
STP
STA
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Signal Connections
To let an external signal to initiate simultaneous start/stop, connect the 7406
(open collector) or the equivalent circuit as follows.
PCI-8132 #1
CN4
PCI-8132 #2
CN4
PCI-8132 #3
CN4 7406 STOP
STP
STA
STP
STA
STP
STA
STP
STA
STP
STA
STP
STA
7406
START
3.15 Daughter Board Connector
The CN2 connector of PCI-8132 can be connected with DIN-100S, including a cable ACL-102100 (a 100-pin SCSI-II cable). DIN-100S is a general purpose DIN-socket with 100-pin SCSI-II connector. It has easily wiring screw terimal and easily installation DIN socket that can be mounted on DIN-rails
Please check the NuDAQ catalog by ADLINK for further information of
DIN-100S.
Signal Connections
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31
3.16 Comparison Output CMP1 and CMP2
The PCI-8132 provides two pins for position compare trigger output. The pulse width of this trigger is 100 micro seconds for most industrial CCD camera. The pin assignment and wiring are as follows:
CN2 Pin No Signal Name Axis #
96 CMP1
97 CMP2
EX+5V
VCC
1k
Ohm
Pulse
Inside 8132
CMP
EX
GND
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Signal Connections
4
Operation Theorem
This chapter describes the detail operation of the PCI-8132 card. Contents of the following sections are as following.
Section 4.1: The motion control modes
Section 4.2: The motor driver interface (INP, ERC, ALM, SVON, RDY)
Section 4.3: The limit switch interface and I/O status (SD, EL, ORG)
Section 4.4: The encoder feedback signals (EA, EB, EZ)
Section 4.5: Multiple PCI-8132 cards operation.
Section 4.6: Change Speed on the Fly
Section 4.7: Position Comparison
Section 4.8: Interrupt Control
4.1 Motion Control Modes
In this section, the pulse output signals’ configurations, and the following motion control modes are described. y Constant motion for one axis y Trapezoidal motion for one axis y S-Curve profile motion for one axis y Linear / Circular interpolation for two axes y Home return mode for one axis y Manual pulser mode for one axis
Operation Theorem
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33
4.1.1 Pulse Command Output
The PCI-8132 uses pulse command to control the servo / stepper motors via the drivers. The pulse command consists of two signals: OUT and
DIR. There are two command types: (1) single pulse output mode
(OUT/DIR); and (2) dual pulse output mode (CW/CCW type pulse output).
The software function: set_pls_outmode() is used to program the pulse command type. The modes vs. signal type of OUT and DIR pins are as following table:
Mode
Dual pulse output
Single pulse output
Output of OUT pin
Pulse signal in plus (or
CW) direction
Pulse signal
Output of DIR pin
Pulse signal in minus (or
CCW) direction
Direction signal (level)
The interface characteristics of these signals could be differential line driver or open collector output. Please refer to section 3.1 for the jumper setting of signal types.
♦
Single Pulse Output Mode(OUT/DIR Mode)
In this mode, the OUT signal is represent the pulse (position or velocity) command. The numbers of OUT pulse represent the motion command for relative “distance” or “position”, the frequency of the OUT pulse represents the command for “speed” or “velocity”. The DIR signal represents direction command of the positive (+) or negative (-). This mode is the most common used mode. The following diagram shows the output waveform.
OUT
DIR
Positive Command Negative Command
♦
Dual Pulse Output Mode(CW/CCW Mode)
In this mode, the waveform of the OUT and DIR pins represents CW
(clockwise) and CCW (counter clockwise) pulse output respectively.
Pulses output from CW pin makes motor move in positive direction, whereas pulse output from CCW pin makes motor move in negative direction. The following diagram shows the output waveform of positive
(plus,+) command and negative (minus,-) command.
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Operation Theorem
OUT
DIR
OUT
Positive Command
DIR
Negative Command
♦
Relative Function:
_8132_set_pls_optmode(): Refer to section 6.4
4.1.2 Constant Velocity Motion
This mode is used to operate one axis motor at constant velocity motion.
The output pulse accelerates from a starting velocity (str_vel) to the specified constant velocity (max_vel). The
_8132_v_move()
function is used to accelerate constantly while the _8132_sv_move() function is to accelerate according to S-curve (constant jerk). The pulse output rate will keep at maximum velocity until another velocity command is set or stop command is issued. The
_8132_v_change()
is used to change speed during moving. The _8132_v_stop() function is used to decelerate the motion to zero velocity (stop). The velocity profile is shown as following.
Note that v_stop() function can be also be applied to stop outputting command pulses during
Preset Mode
(both trapezoidal and S-curve
Motion) , Home Mode or Manual Pulser Mode operations .
♦
Relative Functions:
_8132_v_move( ), _8132_v_stop( ), _8132_sv_move(): Refer to section 5.5
Operation Theorem
•
35
max_vel str_vel
Time(second)
Tacc v_move()
Tdec v_stop()
This mode is used to move one axis motor to a specified position (or distance) with a trapezoidal velocity profile. Single axis is controlled from point to point. An absolute or relative motion can be performed. In absolute mode, the target position is assigned. In relative mode, the target displacement is assigned. In both absolute and relative mode, the acceleration and the deceleration can be different. The
_8132_motion_done() function is used to check whether the movement is complete.
The following diagram shows the trapezoidal profile. There are 9 relative functions. In the _8132_a_move() , _8132_ta_move() and _8132_start_a
_move()
,
_8132_start_ta_move()
functions, the absolute target position must be given in the unit of pulse. The physical length or angle of one movement is dependent on the motor driver and the mechanism (includes the motor). Since absolute move mode needs the information of current actual position, so “External encoder feedback (EA, EB pins)” must be enabled in _8132_set_cnt_src() function. And the ratio between command pulses and external feedback pulse input must be appropriately set by
_8132_set_move_ratio()
function.
In the
_8132_r_move()
,
_8132_t_move()
and
_8132_start_r_move()
,
_8132_start_t_move() functions, the relative displacement must be given in the unit of pulse. Unsymmetrical trapezoidal velocity profile (Tacc is not equal Tdec) can be specified in _8132_ta_move() and
_8132_t_move()
functions; where symmetrical profile (Tacc = Tdec) can be specified in _8132_a_move() and _8132_r_move() functions
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Operation Theorem
The str_vel and max_vel parameters are given in the unit of pulse per second (pps). The Tacc and Tdec parameters are given in the unit of second represent accel./decel. time respectively. You have to know the physical meaning of “one movement” to calculate the physical value of the relative velocity or acceleration parameters. The following formula gives the basic relationship between these parameters. max_vel = str_vel + accel*Tacc; str_vel = max_vel + decel *Tdec; where accel/decel represents the acceleration/deceleration rate in unit of pps/sec. The area inside the trapezoidal profile represents the moving distance.
The unit of velocity setting is pulses per second (pps). Usually, the unit of velocity in the manual of motor or driver is in rounds per minute (rpm). A simple conversion is necessary to match between these two units. Here we use a example to illustrate the conversion.
Operation Theorem
•
37
For example:
A servo motor with a AB phase encoder is used for a X-Y table. The resolution of encoder is 2000 counts per phase. The maximum rotating speed of motor is designed to be 3600 rpm. What is the maximum pulse command output frequency that you have to set on
PCI-8132?
Answer: max_vel = 3600/60*2000*4
= 48000pps
The reason why *4 is because there are four states per AB phase (See
Figures in Section 4.4). max_vel str_vel str_vel
Time (second)
Tacc
Tdec
Usually, the axes need to set the move ratio if their mechanical resolution is different from the resolution of command pulse. For example, if an incremental type encoder is mounted on the working table to measure the actual position of moving part. A servomotor is used to drive the moving part through a gear mechanism. The gear mechanism is used to convert the rotating motion of motor into linear motion.(see the following diagram).
If the resolution of motor is 8000 pulses/round. The resolution of gear mechanism is 100 mm/round.(i.e., part moves 100 mm if motor turns one round). Then the resolution of command pulse will be 80 pulses/mm.
The resolution of encoder mounting on the table is 200 pulses/mm. Then users have to set the move ratio as 200/80=2.5 by the function:
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•
Operation Theorem
♦
_8132_ set_move_ratio(axis, 2.5);
Moving part
Motor
Gear
Table
Encoder
If this ratio is not set before issuing the start moving command, it will cause problems when running in “Absolute Mode”. Because the PCI-8132 can’t recognize the actual absolute position during motion.
♦
Relative Functions:
_8132_a_move(),_8132_r_move(),_8132_t_move(),_8132_ta_move(),
_8132_start_a_move(),
_8132_start_r_move(),_8132_start_t_move(),_8132_start_ta_move()
Refer to section 6.6.
_8132_motion_done(): Refer to section 6.13.
_8132_set_cnt_src(): Refer to section 6.4.
_8132_set_move_ratio(): Refer to section 6.10.
Operation Theorem
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39
4.1.4 S-curve Profile Motion
This mode is used to move one axis motor to a specified position (or distance) with a S-curve velocity profile. S-curve acceleration profiles are useful for both stepper and servo motors. The smooth transitions between the start of the acceleration ramp and the transition to the constant velocity produce less wear and tear than a trapezoidal profile motion. The smoother performance increases the life of the motors and mechanics of a system.
There are several parameters needed to be set in order to make a S-curve move. They are: pos: target position in absolute mode; dist : moving distance in relative mode; str_vel : specify the start velocity; max_vel : specify the maximum velocity;
Tlacc : specify the time for linear acceleration section
(constant acceleration).
Tsacc : specify the time for S-curve acceleration section
(constant jerk).
Tldec : specify the time for linear deceleration section
(constant deceleration).
Tsdec : specify the time for S-curve deceleration section
(constant jerk).
Tsacc
Tlacc
Tsacc Tsdec
Tldec
Tsdec
40
•
Operation Theorem
Total time of acceleration is : Tlacc+2Tsacc. The following formula gives the basic relationship between these parameters. max_vel = str_vel + accel*(Tlacc+Tsacc); str_vel = max_vel + decel *(Tldec+Tsdec); accel = Tsacc * jerk1; decel = Tsdec * jerk2; where accel/decel represents the acceleration/deceleration rate at linear accel./decel. section and are in unit of pps/sec. jerk1, jerk2 are in unit of pps/sec^2. The minimum value for setting time of accel./decel. should be
0.
The S-curve profile motion functions are designed to always produce smooth motion. If the time for linear/S-Curve acceleration parameters combined with the final position don’t allow an axis to reach the maximum velocity( i.e.: the moving distance is too small to reach max_vel), the maximum velocity is automatically lowered and smooth accel./decel. is made (see the following Figure). This means that with moves that don’t reach maximum velocity may cause longer than expected move times. In such a case, the smaller the moving distance, the shorter the linear accel./decel. section becomes and the S-curve section is not reduced unless the linear section is decreased to 0.
Time (sec)
Operation Theorem
•
41
The following two graphs show the results of experiments after executing the unsymmetrical absolute S-curve motion command. Graph1 is the typical result. of S-curve velocity profile. Graph2 is obtained when the amount of command pulses is failed to let the velocity reach the designated maximum velocity. The PCI-8132 automatically lower the maximum velocity thus provide a smooth velocity profile.
Command of Graph1: start_tas_move(axis, 500000, 100, 1000000, 0.05, 0.05, 0.2, 0.2);
The total accelerating time = 0.05+2*0.05 = 0.15 (second).
Total decelerating time = 0.2+2*0.2 = 0.6 (second).
Command of Graph2: start_tas_move(axis, 200000, 100, 1000000, 0.05, 0.05, 0.2, 0.2);
♦
Relative Functions:
_8132_s_move(),_8132_rs_move(),_8132_tas_move(),
_8132_start_s_move(),_8132_start_rs_move(),_8132_start_tas_mo ve() Refer to section 6.7
_8132_motion_done(): Refer to section 6.13
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Operation Theorem
4.1.5 Linear Interpolated Motion
In this mode, two axes (“X and Y” or “Z and U” axes) is controlled by linear interpolation or circular interpolation by designating the number of pulses respectively. “Interpolation between two axes” means the two axes start simultaneously, and reach their ending points at the same time. For example, in the Figure below, we want to move the axes from P0 to P1, and hope the two axes start and stop simultaneously at a period of time
∆ t. Then the moving speed along X-axis and Y-axis will be ∆ X/ ∆ t., ∆ Y/ ∆ t. respectively.
P1
∆ Y
P0 ∆ X
X-Axis
The axis with larger numbers of moving pulses is the main axis, and the other axis is the secondary axis. When both axes are set at the same amount of pulses, the ‘X’ is the main axis. The speed relation between main and secondary axes is as follows:
Composite Speed = Speed of main axis x
♦
Relative Functions:
_8132_move_xy(),_8132_start_move_xy(): Refer to section 6.9
_8132_set_move_speed(),_8132_set_move_accel() ,_8132_set_mov e_ratio(): Refer to section 6.10
Operation Theorem
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43
4.1.6 Home Return Mode
In this mode, you can let the PCI-8132 output pulses until the conditions to complete the home return is satisfied after writing the
_8132_home_move() command. Finish of home return can be checked by
_8132_motion_done()
function. Or you can check finish of home return accompanied with the interrupt function by setting bit 5 of int_factor to 1 in
_8132_set_int_factor() function.
Moving direction of motors in this mode is determined by the sign of velocity parameter in _8132_home_move() function. A _8132_v_stop() command during returning home can stop OUT and DIR from outputting pulses.
Before writing _8132_home_move() command, configuration must be set by
_8132_set_home_config()
function. . See also Section 4.3.3 for further description. There are total three home return modes can be selected by setting home_mode parameter in
_8132_set_home_config() function. The meaning of Home_mode will be described as the following:
1 . immediately stops OUT and DIR pins from outputting pulses to complete the origin return.
Velocity mvel svel
ORG accel c time c Writing home-move( ) command to begin home return operation d ORG Signal ON
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Operation Theorem
2 . Home_mode=1: both ORG and index signal are useful. The ORG signal lets the PCI-8132 starts to wait for EZ signal and then EZ signal stops
OUT and DIR pins from outputting pulses to complete the home return.
Velocity accel mvel svel
ORG
EZ c d time c Writing home-move( ) command to begin home return operation d ORG Signal ON e EZ Signal ON
3 . Home_mode=2: both ORG and index signal are useful. The ORG signal lets the PCI-8132 decelerate to starting velocity and then EZ signal stops OUT and DIR pins from outputting pulses to complete the home return.
Velocity accel mvel svel c d time
EZ
Note: If the starting velocity is zero, the axis will work properly in home mode 2.
♦
Relative Function:
_8132_set_home_config(),_8132_home_move(),_8132_v_stop():
Refer to section 6.11
Operation Theorem
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45
4.1.7 Manual Pulser Mode
For manual operation of a device, you may use a manual pulser such as a rotary encoder. The PCI-8132 can input signals from the pulser and output corresponding pulses from the OUT and DIR pins, thereby allowing you to simplify the external circuit and control the present position of axis. This mode is effective between a _8132_manu_move() command is written and a
_8132_v_stop()
command.
The PCI-8132 receives plus and minus pulses (CW/CCW) or 90 degrees phase difference signals(AB phase) from the pulser at PA and PB pins.
The 90 ° phase difference signals can be input through multiplication by 1,
2 or 4. If the AB pahse input mode is selected, the PA and PB signals should be with 90 ° phase shifted, and the position counting is increasing when the PA signal is leasding the PB signal by 90 ° phase.
Also, one pulser may be used for ‘X’ and ‘Y’ axes while internally distributing the signals appropriately to two axes. To set the input signal modes of pulser, use _8132_set_manu_iptmode() function. Then write
_8132_manu_move()
to begin manual operation function. User must write _8132_v_stop() command in order to end this function and begins to operate at another mode. User can choose pulse output axis by
_8132_set_manu_axis().
The error input of PA and PB can be used to generate IRQ. The following two situations will be considered as error input of PA and PB signals. (1)
The PA and PB signals are changing simultaneously. (2) The input pulser frequency is higher than the maximum output frequency 2.4M pps. Set bit 14 of INT factor will enable the IRQ when error happen.
Maximum moving velocity in this mode can be limited by setting max_vel parameter in _8132_manu_move() function.
♦
Relative Function:
_8132_set_manu_iptmode(),_8132_manu_move(),_8132_manu_axis(),
_8132_v_stop(): Refer to section 6.12
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The PCI-8132 provides the INP, ERC and ALM signals for servomotor driver’s control interface. The INP and ALM are used for feedback the servo driver’s status. The ERC is used to reset the servo driver’s deviation counter under special conditions.
4.2.1 INP
Usually, servomotor driver with pulse train input has a deviation (position error) counter to detect the deviation between the input pulse command and feedback counter. The driver controls the motion of servomotor to minimize the deviation until it becomes 0. Theoretically, the servomotor operates with some time delay from command pulses. Accordingly, when the pulse generator stops outputting pulses, the servomotor does not stop but keep running until the deviation counter become zero. At this moment, the servo driver sends out the in-position signal (INP) to the pulse generator to indicate the motor stops running.
Usually, the PCI-8132 stops outputting pulses upon completion of outputting designated pulses. But by setting inp_enable parameter in
_8132_set_inp_logic() function , you can delay the completion of operation to the time when the INP signal is turned on. Status of
_8132_motion_done()
and INT signal are also delayed. That is, when performing under position control mode, the completion of
_8132_start_a_move()
,
_8132_start_r_move()
, start_s_move()
… functions are delayed until INP signal is turned ON.
However, EL or ALM signal or the completion of home return does not cause the INP signal to delay the timing of completion. The INP signal may be a pulse signal, of which the shortest width is 5 micro seconds.
The in-position function can be enable or disable. The input logic polarity isalso programmable by software function: _8132_set_inp_logic() . The signal status can be monitored by software function:
_8132_get_io_status() .
4.2.2 ALM
The ALM pin receives the alarm signal output from the servo driver. The signal immediately stops the PCI-8132 from generating pulses or stops it after deceleration. If the ALM signal is in the ON status at the start, the
PCI-8132 outputs the INT signal without generating any command pulse.
The ALM signal may be a pulse signal, of which the shortest width is a time length of 5 micro seconds.
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You can change the input logic by
_8132_set_alm_logic() function.
Whether or not the PCI-8132 is generating pulses, the ALM signal lets it output the INT signal.. The ALM status can be monitored by software function: _8132_get_io_status() . The ALM signal can generate IRQ by setting the bit 2 of INT. factor in software function:
_8132_set_int_factor().
4.2.3 ERC
The deviation counter clear signal is inserted in the following 4 situations:
1. home return is complete;
2. the end-limit switch is active;
3. an alarm signal stops OUT and DIR signals;
4. an emergency stop command is issued by software operator.
Since the servomotor operates with some delay from pulse generated from the PCI-8132, it keeps operating by responding to the position error remaining in the deviation counter of the driver if the ± EL signal or the completion of home return stops the PCL5023 from outputting pulses. The
ERC signal allows you to immediately stop the servomotor by resetting the deviation counter to zero. The ERC signal is output as an one-shot signal.
The pulsewidth is a time length of 10ms. The ERC signal will automatically output when ± EL signals, ALM signal is turned on to immediately stop the servomotor. User can set the ERC pin output enable/disable by
_8132_set_erc_enable()
function. ERC pin output is set output enabled when initializing.
OFF
ON
ERC Output
Approximate 10ms
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4.3 The Limit Switch Interface and I/O Status
In this section, the following I/O signals’ operations are described. y ± SD: Ramping Down sensor y ± EL: End-limit sensor y ORG: Origin position y SVON and RDY
I
/O status readback
In any operation mode, if an ± EL signal is active during moving condition, it will cause PCI-8132 to stop output pulses automatically. If an SD signal is active during moving condition, it will cause PCI-8132 to decelerate.
4.3.1 SD
The ramping-down signals are used to slow-down the control output signals (OUT and DIR) when it is active. The signals are very useful to protect the mechanism moving under high speed toward the mechanism limit. PSD indicates ramping-sown signal in plus (+) direction and MSD indicates ramping-down signal in minus (-) direction.
During varied speed operation in the home return mode or continuous operation mode, the ramping-down signal in the moving direction lets the output control signals (OUT and DIR) ramp down to the pre-setting starting velocity.
The ramping-down function can be enable or disable by software function:
_8132_set_sd_logic() . The input logic polarity, level operation mode, or latched input mode can also be set by this function. The signals status can be monitored by
_8132_ get_io_status() .
4.3.2 EL
The end-limit signals are used to stop the control output signals (OUT and
DIR) when the end-limit is active. PEL signal indicates end-limit in positive (plus) direction. MEL signal indicates end-limit in negative
(minus) direction. When the output pulse signals (OUT and DIR) are toward positive direction, the pulse train will be immediately stopped when the PEL signal is inserted, while the MEL signal is meaningless in this case, and vise versa. When the PEL is inserted and the output pulse is fully stop, only the negative (minus) direction output pulse can be generated for moving the motor to negative (minus) direction.
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The end-limit signals can be used to generate the IRQ by setting the bit 0 of INT. factor in software function: _8132_set_int_factor() .
You can use either 'a' contact switch or 'b' contact switch by setting the dip switch S1. The PCI-8132 is delivered from the factory with all bits of S1 set to OFF.
The signal status can be monitored by software function: _8132_get_ io_status().
4.3.3 ORG
When the motion controller is operated at the home return mode, the ORG signal is used to stop the control output signals (OUT and DIR).
There are three home return modes, you can select one of them by setting
“ home_mode
” argument in software function: set_home_config(). Note that if home_mode=1 or 2, the ORG signal must be ON or latched during the EZ signal is inserted (EZ=0). The logic polarity of the ORG signal, level input or latched input mode are selectable by software function:
_8132_set_ home_config()
.
After setting the configuration of home return mode by
_8132_set
_home_config() , a home_move() command can perform the home return function.
The ORG signal can also generate IRQ signal by setting the bit 5 of interrupt reason register (or INT. factor) in software function:
_8132_set_int_factor()
.
4.3.4 SVON and RDY
The SVON signals are controlled by software function:
_8132_Set_SVON()
. The function set the logic of AP0 (SVON) of
PCL5023. The signal status of SVON pins can be monitored by software function:
_8132_get_io_status()
.
RDY pins are dedicated for digital input use The status of this signal can be monitored by software function get_io_status(). RDY pin is interfaced with AP3 pin of PCL5023 through a photocoulpe. The RDY signal can also generate IRQ signal by setting the bit 23 of INT. factor in software function: set_int_factor(). Note that interrupt is generated when AP3 from high to low.
4.4 The Encoder Feedback Signals (EA, EB, EZ)
The PCI-8132 has a 28-bits binary up/down counter for managing the present position for each axis. The counter counts signals input from EA and EB pins.
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EB
EA
EB
It can accept 2 kinds of pulse input.: (1). plus and minus pulses input(CW/CCW mode); (2). 90 ° phase difference signals(AB phase mode).
90 ° phase difference signals may be selected to be multiplied by a factor of 1,2 or 4. 4x AB phase mode is the most commonly used for incremental encoder input. For example, if a rotary encoder has 2000 pulses per phase (A or B phase), then the value read from the counter will be 8000 pulses per turn or –8000 pulses per turn depends on its turning direction.
These input modes can be selected by _8132_set_pls_iptmode() function.
To enable the counters counting pulses input from (EA, EB) pins, set
“ cnt_src ” parameter of software function _8132_set_cnt_src() to 1.
♦
Plus and Minus Pulses Input Mode(CW/CCW Mode)
The pattern of pulses in this mode is the same as
Dual Pulse Output
Mode in Pulse Command Output section, expect that the input pins are
EA and EB.
In this mode, pulse from EA causes the counter to count up, whereas EB caused the counter to count down.
♦
90
°
phase difference signals Input Mode(AB phase Mode)
In this mode, the EA signal is 90 ° phase leading or lagging in comparison with EB signal. Where “lead” or “lag’ of phase difference between two signals is caused by the turning direction of motors. The up/down counter counts up when the phase of EA signal leads the phase of EB signal.
The following diagram shows the waveform.
EA
Positive Direction
Negative Direction
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The encoder error interrupt is provided to detect abnormal situation.
Simultaneously changing of EA and EB signals will cause an encoder error.
If bit #14 of the interrupt factor register (INT factor) is set as 1, the IRQ will be generated when detect encoder error during operation.
The index inputs (EZ) signals of the encoders are used as the “ZERO” index. This signal is common on most of the rotational motors. EZ can be used to define the absolute position of the mechanism. The input logic polarity of the EZ signals is programmable by software function
_8132_set_home_config().
The EZ signals status of the four axis can be monitored by _8132_get_io_status() .
♦
Relative Function:
_8132_set_cnt_src(),_8132_set_pls_iptmode(): Refer to section 6.4
4.5 Multiple PCI-8132 Cards Operation
The software fuction library support maximum up to 12 PCI-8132 Cards, that means maximum up to 24 axes of motors can be controlled. Since
PCI-8132 has the characteristic of Plug-and-Play, users do not have to care about setting the Based address and IRQ level of cards. They are automatically assigned by the BIOS of system when booting up. Users can utilize Motion Creator to check if the plugged PCI-8132 cards are successfully installed and see the Baseaddress and IRQ level assigned by
BIOS.
One thing needed to be noticed by users is to identify the card number of
PCI-8132 when multiple cards are applied. The card number of one
PCI-8132 depends on the locations on the PCI slots. They are numbered either from left to right or right to left on the PCI slots. These card numbers will effect the corresponding axis number on the cards. And the axis number is the first argument for most funcions called in the library. So it is important to identify the axis number before writing application programs. For example, if 3 PCI-8132 cards are plugged in the PCI slots.
Then the corresponding axis number on each card will be:
Axis No.
Card No.
Axis 1 Axis 2
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If we want to accelerate Axis 1 of Card2 from 0 to 10000pps in 0.5sec for
Constant Velocity Mode operation. The axis number should be 6. The code on the program will be:
_8132_v_move(2, 0, 10000, 0.5);
To determine the right card number, Try and Error may be necessary before application. Motion Creator can be utilized to minimize the search time.
For applications needed to move many axes simultaneously on multiple
PCI_8132 cards, users should follow the connection diagrams in Section
3.12 to make connections between their CN3 connectors. Several functions illustrated in Section 6.8 may be useful when writing programs for such applications.
♦
Relative Function:
_8132_start_move_all(), _8132_move_all(), _8132_wait_for_all(): Refer to section 6.8
4.6 Change Speed on the Fly
You can change the velocity profile of command pulse ouput during operation by
_8132_v_change()
function. This function changes the maximum velocity setting during operation. However, if you operate under
“Preset Mode” (like start_a_move(),…), you are not allowed to change the acceleration parameter during operation because the deceleration point is pre-determined. But changing the acceleration parameter when operating under “Constant Velocity Mode” is valid. Changing speed pattern on the fly is valid no matter what you choose “Trapezoidal Velocity Profile” or
“S-curve Velocity Profile”. Here we use an example of Trapezoidal velocity profile to illustarte this function.
Example: There are 3 speed change sensor during an absolute move for
200000 pulses. Initial maximum speed is 10000pps. Change to 25000pps if Sensor 1 is touched. Change to 50000pps if Sensor 2 is touched.
Change to 100000pps if Sensor 3 is touched. Then the code for this application and the resulting velocity profiles are shown below.
User must set
_8132_fix_max_speed()
before any PTP motion in order to get the better performance of speed change. The value in this function is the possible maximum speed during the PTP motion.
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Moving part
Motor
Sensor 1 Sensor 2 Sensor 3
Pos=0 Pos=200000
#include “pci_8132.h”
_8132
_fix_max_speed(axis,100000);
_8132_start_a_move(axis, 200000.0, 1000, 10000, 0.02); while(!_8132_motion_done(axis))
{
// Get Sensor’s information from other I/O card
if((Sensor1==High) && (Sensor2==Low) && (Sensor3 == Low))
_8132_v_change(axis, 25000, 0.02);
else if((Sensor1==Low) && (Sensor2==High) && (Sensor3 == Low))
High))
}
_8132_v_change(axis, 50000, 0.02); else if((Sensor1==Low) && (Sensor2==Low) && (Sensor3 ==
_8132_v_change(axis, 100000, 0.02);
Where the informations of three sensors are acquired from other I/O card.
And the resulting velocity profile from experiment is shown below.
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♦
Relative Function:
_8132_v_change(), _8132_fix_max_speed(): Refer to section 6.5
The position comparison function is fulfilled by the FPGA comparator on board. Please refer to the following figure. The comparator is applied to compare the preset comparison data with the contents of its counter under different modes. These comparison modes consist of different logical comparison ( >/=/< ) of different counters ( 1 and/or 2 ).
1 Counter Source EA or EB
2
_8132_Set_CompHome
_8132_Set_CompCnt
_8132_Get_CompCnt
_8132_Set_CompMode
2
Comparator
Counter 1/2
3
3
4
_8132_Set_CompInt
_8132_Set_CompData
_8132_Get_CompData
_8132_Get_CompSts
Motion Command of 5023
4
5023
ASIC
1
To make use of position comparison function the following guidelines will be of much help.
1.
Decides the comparison mode : Use_ 8132_ Set_CompMode function and consider the counter source and the comparison conditions .
2.
Sets the counter initial value
: There are two ways to set the counter
Directly use _
8132_
Set_CompCnt function to set its value
Use _ 8132 _Set_CompHome to set its value to 0 automatically after homing
3.
Enables the interrupt function
: Use _
8132_
Set_CompInt function
4.
Sets up the desired comparison data
: Use _
8132_
Set_CompData function.
5.
Gets the status of the comparator : Use _ 8132_G et_CompSts
6.
Sending motion commands :After setting up the comparator users can send other moiton control functions eg. start_a_move ,or v_move etc .
The comparator will fulfill the comparison function without interfering the
CPU.
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For user who want to compare multiple data continuously with the comparator
The method of building comparison tables is also provided as shown in the following
1. U16 _8132_Build_Comp_Table(U16 axis, I32 *table, I16 Size);
I32 *table: an one dimension array pointer for compare positions
I16 Size: Total amount of position compare points ( Maximum=1024)
2. U16 _8132_Set_Comp_Table(U16 axis, U16 logic);
U16 logic: enable/disable position compare table
( 0 for disable, 1 for enable )
Here are two examples of using position comparison functions.
The first example is typically in the application of machine vision. v
CCD
Camera
1 2 3 4 5 6 t
In this application the table is controlled by the motion command and the
CCD Camera is controlled by the position comparison output of PCI-8132.
The image of moving object can be get in this way easily.
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The example code is shown in the following
_8132_Set_CompHome(0); for( i=0 ; i<6 ; i++)
CompTable[i] = 10000 + 10000 * i; ' Set Compare Data
_8132_Build_Comp_Table(0, CompTable, 6);
_8132_Set_CompMode(0, 0);
_8132_Set_CompInt( Axis0, 1);
_8132_Set_Comp_Table( Axis0, 1);
_8132_start_r_move( Axis0, 80000, 0,10000, 0.5);
The second example is a fly-cut application v
E
1 2 t
Motor E
In this application the cutter is moved forward and backward on the x-axis and the knife is moved up and down by the y-axis. The comparator is used to compare the actual position in x-axis with the encoder feedback on y-axis with the encoder mounted under the belt. I.e.The comparator counter source in this case is the encoder under the belt but not the encoder on the back of the motor. In this application the cutter will cut down when the motor reaches the same speed as the belt and the comparison condition is match.
The comparator in the PCI-8132 generates an interrupt to move the knife down to cut the belt.
The following graph shows the result of position compare trigger output. A compare point table is triggered during a start_a_move() function. The compare table contents 1024 points from 10000 to 112300 with 100 pulses
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interval. It can be represented as follows:
For(i = 0 ; i < 1024; i++ )
CMP_TBL(i)= 10000+100*i;
Once the axis passes by these preset points during a moving function, the corresponding compare output pin will send a pulse with 100 us width to trigger other device to work. The moving command for this example is as follows: start_a_move(AXIS0, 150000, 1000, 160000, 0.2);
The maximum command for this function is 160k pps. So the axis takes about 625us to travel 100 pulses long and the width of trigger pulse is about 100us. (The maximum frequency for trigger signal is about 10k)
♦
Relative Function:
_8132_Set_CompHome(),_8132_Build_Comp_Table(),_8132_Set_Comp
Mode(), _8132_Set_CompInt(),_8132_Set_Comp_Table(): Refer to section 6.19
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The PCI-8132 motion controller can generate INT signal to host PC according to 13 types of factors, refer to _8132_set_int_factor() function for more details.. The INT signal is output when one or more interrupt factors occur on either axis. To judge on which axis the interrupt factors occur, use
_8132_get_int_axis()
function. The interrupt status is not closed until
_8132_get_int_status()
function is performed. There is a little difference between using DOS or Windows 95/NT to perform interrupt control. Users should refer to Section 6.17 for more details. Here we use an example on Windows OS to demonstrate how to perform interrupt control with the function library we provided.
♦
Use Thread to deal with Interrupt under Windows NT/95
In order to detect the interrupt signal from PCI-8132 under Windows
NT/95, user must create a thread routine first. Then use APIs provided by
PCI-8132 to get the interrupt signal. The sample program is as follows :
Situatuins: Assume that we have one card (2 axes) and want to receive
Home Return and Preset Movement Finish interrupt signal from axis 1.
Steps:
1. Define a Global Value to deal with interrupt event
HANDLE hEvent[2]; volatile bool ThreadOn;
2. In Initializing Section ( you must Initialize PCI-8132 properly first), set interrupt types and enable an event for each axis. set_int_factor(1,0x002040);
_8132_Set_INT_Control(0,1);
_8132_INT_Enable(0,&hEvent[0]);
Note: For each card, you must assign 2 4-events-array in
_8132_INT_Enable function.
3. Define a Global Function (Thread Body). Use WaitForSingleObject() or
WaitForMultipleObjects() to wait events. Remenber to reset this event after you get the event.
UINT IntThreadProc(LPVOID pParam)
{
IntSts;
while(ThreadOn=TRUE)
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{
::WaitForSingleObject(hEvent[1],INFINITE);
_8132_get_int_status(1,&IntSts);
::ResetEvent(hEvent[1]);
}
0;
}
4. Start the thread( Use a boolean value to control the thread’s life )
ThreadOn=TRUE;
AfxBeginThread(IntThreadProc,GetSafeHwnd(),THREAD_PRIORITY_
HIGHEST);
5. Before exit the program, remember to let the thread go to end naturally.
ThreadOn=FALSE;
For each time when a preset movement or homing of axis 2 is completed, this program will receive a interrupt signal from PCI-8132.
♦
PCI-8132 Interrupt Service Routine (ISR) with DOS
A DOS function library is equipped with PCI-8132 for users to develop applications under DOS environment. This library also provide some functions for users to work with ISR. It is highly recommended to write programs according to the following example for applications should work with ISR. Since PCI-bus has the ability to do IRQ sharing when multiple
PCI-8132 are applied, each PCI-8132 should have a corresponding ISR.
For users who use the library we provide, the names of ISR are fixed, such as: _ 8132_isr0(void), _8132_isr1(void)…etc.
The sample program are described as below. It assume two PCI-8132 are plugged on the slot , axis 1 and axis5 are asked to work with ISR.:
// header file declare
#include “pci_8132.h”
PCI_INFO info;
1
5
U16 int_flag=0,
U32 irq_sts;
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*/
*/
/****************************************************************************/
/* MAIN Program
/****************************************************************************/ void main( void )
{
U16 i, bn=0, status;
_8132_Initial( &bn, &info );
// Do System configuration for all I/O signals
…………………..
//
// Set Interrupt factors for axis1, axis5
set_int_factor(axis1, factor1);
set_int_factor(axis5, factor2);
// Enable Interrupt for both PCI-8132 cards
for(i=0; i<bn; i++)
_8132_Set_INT_Enable(i, 1);
// Main program for application
…………………..
// End of Main Program
}
for(i=0; i<bn; i++)
_8132_Close(i); // Close all IRQ resources
/****************************************************************************/
/* ISR begin here
/****************************************************************************/ void interrupt _8132_isr0(void)
{
U16 int_axis;
U16 irq_status;
//
disable(); // disable all interrupt
_8132_Get_IRQ_Status(0, &irq_status);
if(irq_status) // Judge if INT for card 0?
{
_8132_get_int_axis(&int_axis);
int_flag = 1;
irq_axs = int_axis;
_8132_get_int_status(int_axis, &irq_sts);
}
else
_chain_intr(pcinfo.old_isr[0]); // If not, chain to other INT
//
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outportb(0x20, 0x20);
enable();
// End of INT
outportb(0xA0, 0x20);
//---------------------------------------------------------------------
// enable interrupt request
} void interrupt _8132_isr1(void)
{
U16 int_axis;
U16 irq_status;
//
disable(); // disable all interrupt
_8132_Get_IRQ_Status(1, &irq_status);
if(irq_status) // Judge if INT for card 1?
{
_8132_get_int_axis(&int_axis);
int_flag = 1;
irq_axs = int_axis;
_8132_get_int_status(int_axis, &irq_sts);
}
else
_chain_intr(pcinfo.old_isr[1]); // If not, chain to other INT
//
outportb(0x20, 0x20);
outportb(0xA0, 0x20);
// End of INT
//---------------------------------------------------------------------
enable(); // enable interrupt request
}
So with the sample, user can get the interrupt signal about each axis in the motion control system.
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5
Motion Creator
After installing all the hardware properly according to Chapter 2, 3, configuring cards and checkout are required before running. This chapter gives guidelines for establishing a control system and manually exercising the PCI-8132 cards to verify correct operation. Motion Creator provides a simple yet powerful means to setup, configure, test and debug motion control system that uses PCI-8132 cards.
Note that Motion Creator is available only for Windows 95/98 or Windows
NT with the screen resolution higher than 800x600 environment and can not run on DOS.
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Main Menu will appear when executing Motion Creator. Figure 5.1 shows the Main Menu.
Figure 5.1 Main Menu of Motion Creator
From main menu window all PCI-8132 cards and their axes and the corresponding status can be viewed. First of all, check if all the PCI-8132 cards which are plugged in the PCI-Bus can be viewed on “Select Card” column. Next select the card and axis you want to configure and operate.
Since there are totally four axes on a card, the axis number of first axis on n-the card will be numbered as 4*(n-1). Base address and IRQ level of the card are also shown on this window.
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5.2 Axis Configuration Window
Press the “Config Axis” button on the Main Menu will enter the Axis
Configuration window. Figure 5.2 shows the window.
Figure 5.2 Axis Configuration Window the Axis Configuration window includes the following setting items which cover most I/O signals of PCI-8132 cards and part of the interrupt factors.
♦
Pulse I/O Mode:
Related functions: y set_pls_outmode() for “Pulse Output Mode” property. y set_cnt_src() for “Pulse Input Active” property. y set_pls_iptmode() for “Pulse Input Mode” property.
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65
♦
Mechanical Signal:
Related functions: y set_home_config() for “Home Signal” and “Index Signal” property. y set_sd_logic() for “Slow Down Point Signal” property.
♦
Servo Motor Signal:
Related functions: y set_alm_logic() for “Alarm Signal” property. y set_inp_logic() for “INP” property.
♦
Manual Pulser Input Mode:
Related functions: y set_manu_iptmode() for “Manual Pulser Input Mode” property.
♦
Interrupt Factor:
Related functions: y set_int_factor() for “INT Factor” property.
♦
Home Mode:
Related functions: y set_home_config() for “Home Mode” property.
The details of each section are shown at its related functions.
After selecting all the items you want to configure, user can choose to push the “Save Configurations “ button on the right bottom side. If you push this button, all the configurations you select for system integration will be saved to a file called “8132.cfg”. This file is very helpful when user is developing their own application programs. The following example illustrate how to make use of this function. This example program is shown in C language form.
Main()
{
_
8132_initial();
_8132_Set_Config();
:
8132.cfg
:
}
// Initialize the PCI-8132 cards
// Configure PCI-8132 cards according
// to
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Where _ 8132_initial() and _8132_Set_Config() can be called from the function library we provide. _
8132_initial() should be the first function called within main{} function. It will check all the PCI-8132 existed and give the card a base address and IRQ level.
_8132_Set_Config() will configure the PCI-8132 cards according to “8132.cfg”. That is, the contents of Axis
Configuration Window can be transferred to the application program by this function called.
Figure 5.3 Axis Operation window
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5.3 Axis Operation Windows
Press the “Operate Axis” button on the Main Menu or Axis Configuration
Menu will enter the Axis Configuration window. Figure 5.3 shows the window. User can use this window to command motion, monitor all the I/O status for the selected axis. This window includes the following displays and controls: y Motion Display, y Axis Status Display y I/O Status Display y Set Position Control y Operation Mode Control y Motion Parameter Control y Play Control y Velocity Profile Selection y Repeat
5.3.1 Motion Status Display
The Motion Status display provides a real-time display of the axis’s position in the Command, Actual, Error fields. Motion Creator automatically updates these command, actual and error displays whenever any of the values change.
When Pulse Input Active property is Axis Configuration Window is set to
Enable, the Actual Position read will be from the external encoder inputs(EA, EB). Else, it will display the command pulse output when set to
Disable.
The Axis Status display provides a real-time display of the axis’s status.
It displays the status(Yes(for logical True) or No(for logical False)) for In
Position or In Motion or displays there is Interrupt Events Occurs. When In motion, you can check the motion done status in the next column. In
Position range can be specified in the Pos_Err column.
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5.3.3 I/O Status Display
Use I/O Status display to monitor the all the I/O status of PCI-8132. The
Green Light represents ON status, Red Light represents OFF status and
BLACK LIGHT represents that I/O function is disabled. The ON/OFF status is read based on the setting logic in Axis Configuration window.
Use the Set Position Control to arbitrarily change the actual position of axis.
Write the position wanting to specify into the column and click the “Set
Position” button will set the actual position to the specified position.
5.3.5 Operation Mode Control
There are four Operation Modes mentioned in Chapter 4 can be tested in the Axis Operation window. They are “Continuous Move Mode”, “Preset
Mode Operation”, “Home Mode Operation”, “Manual Mode Operation”.
♦
Continuous Move Mode:
Press “Continuous Move” button will enable Continuous Velocity motion as specified by values entered in “Start Velocity” and “Maximum Velocity”
2 fields of Motion Parameters Control. The steady state moving velocity will be as specified by “Maximum Velocity”. Press → to move forward or ← to move backward. Press “STOP” to stop moving.
♦
Preset Mode:
Press “Absolute Mode” to enable absolute motion as specified by values entered in “Position 1” and “Position 2” 2 fields. When selected, “Distance” field for “Relative Mode” is disabled. Press → to move to Position 2 or ← to move to Position 1. Press “STOP” to stop motion.
Also, user can specify repetitive motion in “Absolute Mode” by setting
“Repeat Mode” to “ON” state. When “Repeat Mode” goes “ON” and either
→ or ← is pressed., axis starts repetitive motion between Position 1 and
Position 2 until “Repeat Mode” goes “OFF” as “STOP” are clicked.
Press “Relative Mode” to enable relative motion as specified by values entered in “Distance” fields. When selected, “Position 1” and “Position 2” fields for “Absolute Mode” is disabled. Press → to move forward to a distance relative to present position as specified by “Distance” or ← to move backward.
Note that both “Absolute Mode” and “Relative Mode” are operated under a trapezoidal velocity profile as specified by Motion Parameters Control.
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♦
Home Return Mode:
Press “Home Move” button will enable Home Return motion. The home returning velocity is specified by settings in Motion Parameters Control.
The arriving condition for Home Return Mode is specified in Axis
Configuration Window. Press → to begin returning home function. Press
“STOP” to stop moving.
♦
Manual Pulser Mode:
Press “Manual Pulser Move” button will enable motion controlled by hand wheel pulser. Using this function, user can manually operate the axis thus verify operation. The maximum moving velocity is limited as specified by
“Maximum Velocity”. Press “STOP” to end this mode.
Do remember to press “STOP” to end operation under this mode.
Otherwise, operations under other modes will be inhibited.
Use the Motion Parameters with the Operation Mode Control to command motion. y Starting Velocity: Specify the starting moving speed in pulses per second. y Maximum Velocity: Specify the maximum moving speed in pulses per second. y Acceleration: Specify the acceleration in pulses per second square. y Move delay: Specify time in mini seconds between movement. y S curve Acc/dec Time: Specify time in mini second for S_curve
Movement.
5.3.7 Play Key Control
Use buttons in Play Key Control to begin or end operation.
: click button under this symbol to begin moving to Positions 2 in Absolute
Mode or moving forward in other modes.
: click button under this symbol to begin moving to Positions 1 in Absolute
Mode or moving backward in other modes.
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: click button under this symbol to stop motion under any mode. Note that this button is always in latch mode. Click again to release “STOP” function.
: Click T_Curve or S_curve to select preset movement velocity profile. The relative parameter settings are in Motion Parameter Frame.
: Repeat mode is only for absolute and relative mode. After choosing a operation mode and click repeat mode on, you can press play key to make axis run between position 1 and 2 (in absolute mode) or run between a range (relative mode). It is useful on demonstrations. Use Stop button to stop this operation.
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6
Function Library
This chapter describes the supporting software for PCI-8132 cards. User can use these functions to develop application program in C or Visual
Basic or C++ language.
6.1 List of Functions
Initialization Section 6.3
_8132_Set_Config(void); Configure PCI-8132 according to
Motion Creator
Pulse Input/Output Configuration Section 6.4
_8132_set_pls_outmode(axis, pls_outmode);
Set pulse command output mode
_8132_set_pls_iptmode(axis, pls_iptmode); Set encoder input mode
_8132_set_cnt_src(axis, cnt_src); Set counter input source
Continuously Motion Mode
_8132_v_move(axis, svel, mvel, Tacc);
_8132_sv_move(axis, svel, mvel, Tlacc,
Tsacc);
_8132_v_change(axis, mvel, Tacc);
_8132_v_stop(axis, Tdec);
_8132 _fix_max_speed(axis,max_speed);
Section 6.5
Accelerate an axis to a constant velocity with trapezoidal profile
Accelerate an axis to a constant velocity with S-curve profile
Change speed on the fly
Decelerate to stop
Fix max speed for v_change
Trapezoidal Motion Mode Section6.6
_8132_a_move(axis, pos, svel, mvel, Tacc); Perform an absolute trapezoidal
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_8132_start_a_move(axis, pos, svel, mvel, profile move
Begin an absolute trapezidal
Tacc); profile move
_8132_r_move(axis, dist, svel, mvel, Tacc); Perform a relative trapezoidal profile move
Begin a relative trapezoidal _8132_start_r_move(axis, dist, svel, mvel,
Tacc);
_8132_t_move(axis, dist, svel, mvel, Tacc,
Tdec); profile move
Perform a relative non-symmetrical trapezoidal
_8132_start_t_move(axis, dist, svel, mvel,
Tacc, Tdec);
_8132_start_ta_move(axis, pos, svel, mvel,
Tacc, Tdec);
_8132_ta_move(axis, pos, svel, mvel, Tacc,
Tdec);
_8132_wait_for_done(axis); profile move
Begin a relative non-symmetrical trapezidal profile move
Begin an absolute non-symmetrical trapezidal profile move
Perform an absolute non-symmetrical trapezoidal profile move
Wait for an axis to finish
S-Curve Profile Motion
_8132_s_move(axis, pos, svel, mvel, Tlacc,
Tsacc);
_8132_start_s_move(axis, pos, svel, mvel,
Tlacc, Tsacc);
_8132_rs_move(axis, dist, svel, mvel,
Tlacc, Tsacc);
_8132_start_rs_move(axis, dist, svel, mvel,
Tlacc, Tsacc);
_8132_tas_move(axis, pos, svel, mvel,
Tlacc, Tsacc, Tldec, Tsdec);
_8132_start_tas_move(axis, pos, svel, mvel, Tlacc, Tsacc, Tldec, Tsdec);
Multiple Axes Point to Point Motion
Section 6.7
Perform an absolute S-curve profile move
Begin an absolute S-curve profile move
Perform a relative S-curve profile move
Begin a relative S-curve profile move
Perform an absolute non-symmetrical S-curve profile move
Begin an absolute non-symmetrical S-curve profile move
_8132_start_move_all(n_axes, *axes, *pos,
*svel, *mvel, *Tacc);
_8132_move_all(n_axes, *axes, *pos,
*svel, *mvel, *Tacc);
_8132_wait_for_all(n_axes, *axes);
Section 6.8
Begin a multi-axis trapezodial profile move
Perform a multi-axis trapezodial profile move
Wait for all axes to finish
Linear Interpolated Motion
_8132_move_xy(cardNo, x, y);
_8132_start_move_xy(cardNo, x, y)
_8132_ recover_xy(axisno);
Section 6.9
2-axis linear interpolated move for X & Y
2-axis linear interpolated move for X & Y
Return to single axis mode
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Interpolation Parameters Configuring
_8132_map_axes(n_axes, *map_array);
_8132_set_move_speed(svel, mvel);
_8132_set_move_accel(Tacc);
_8132_set_move_ratio(axis, ratio);
Section 6.10
Maps coordinated motion axes x, y, z….
Set the vector velocity
Set the vector acceleration time
Set the axis resolution ratios
Home Return Mode Section 6.11
_8132_set_home_config(axis, mode, org_logic, org_latch, index_logic);
Set or get the home/index logic configuration
_8132_home_move(axis, svel, mvel, accel); Begin a home return action
Manual Pulser Motion
_8132_set_manu_iptmode(axis, ipt_mode, op_mode);
_8132_manu_move(axis, mvel);
_8132_set_manu_axis(cardno, manu_axis );
_8132_set_step_unit(axisno, unit)
Set pulser input mode and operation mode
Begin a manual pulser movement
Select manual pulser axis
Set manual pulser ratio
Section 6.12
Motion Status
_8132_motion_done(axis);
Servo Drive Interface
_8132_set_alm_logic(axis, alm_logic, alm_mode);
_8132_set_inp_logic(axis, inp_logic, inp_enable);
_8132_set_sd_logic(axis, sd_logic, sd_latch, sd_enable);
_8132_set_erc_enable(axis, erc_enable)
I/O Control and Monitoring
_8132_Set_SVON(axis, on_off);
_8132_get_io_status(axis, *io_status);
Section 6.13
Returns TRUE if motion done
Section 6.14
Set alarm logic and alarm mode
Set In-Position logic and enable/disable
Set slow down point logic and enable/disable
Set the ERC output enable/disable
Section 6.15
Set the state of general purpose output bit
Get all the I/O staus of PCI-8132
Position Control
_8132_set/get_position(axis, pos);
_8132_set/get_command(axis, pos);
Section 6.16
Set or get current actual position
Set or get current command position
Interrupt Control Section 6.17
_8132_Set_INT_ENABLE (cardNo, intFlag) Set Interrupt enable (for DOS
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only)
_8132_INT_Enable(card_number, phEvent) Set Interrupt enable
_8132_INT_Disable(card_number)
_8132_Set_INT_Control(cardNo, int1Flag,
Set Interrupt disable
Enable/Disable IRQ channel int2Flag );
_8132_set_int_factor(axis, int_factor);
_8132_get_int_axis(*int_axis);
_8132_get_int_status(axis, *int_status);
Set Interrupt generationg factors
Get the axis which generates interrupt (DOS)
Get the interrupting status of axis
Digital I/O Control
_8132_DO(axis, DoData);
_8132_DI(axis, *DiData);
Position Compare Control
_8132_Get_CompCnt
_8132_Set_CompCnt
_8132_Set_CompMode
_8132_Set_CompData
_8132_Get_CompData
_8132_Set_CompInt
_8132_Set_CompHome
Output digital channel
Input digital channel
Section 6.18
Section 6.19
Get counter value from comparator
Set counter value in comparator
Set compare mode
Set comparator value
Get current comparator value
Enable comparator Interrupt
Set comparator origin
_8132_Build_Comp_Table
_8132_Set_Comp_Table
_8132_Build_Comp_Function
Build compare table
Enable/Disable compare table
Build a linear trigger table by a function
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This section gives the details of all the functions. The function prototypes and some common data types are decelerated in
PCI-8132.H
. These data types are used by PCI-8132 library. We suggest you to use these data types in your application programs. The following table shows the data type names and their range.
Type Name
U8
I16
U16
I32
U32
F32
F64
Boolean
Description
8-bit ASCII character
16-bit signed integer
16-bit unsigned integer
Range
0 to 255
-32768 to 32767
0 to 65535
32-bit signed long integer
32-bit unsigned long integer
-2147483648 to 2147483647
0 to 4294967295
32-bit single-precision floating-point -3.402823E38 to 3.402823E38
64-bit double-precision floating-point
Boolean logic value
-1.797683134862315E308 to
1.797683134862315E309
TRUE, FALSE
The functions of PCI-8132’s software drivers use full-names to represent the functions' real meaning. The naming convention rules are :
In DOS Environment :
_{hardware_model}_{action_name}. e.g.
_8132_Initial()
.
In order to recognize the difference between C and VB function, A capital "B" is put on the head of each function name of the Visual
Basic. e.g.
B_8132_Initial()
.
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6.3 Initialization
@ Name
_8132_Initial – Software Initialization for PCI-8132
_8132_InitialA – Software Initialization for PCI-8132
_8132_Close – Software release resources of PCI-8132
_8132_Set_Config – Configure PCI-8132 according to Motion Creator
_8132_Get_IRQ_Channel – Get the PCI-8132 card’s IRQ number
_8132_Get_ Base_Addr – Get the PCI-8132 card’s base address
@ Description
_8132_Initial :
This function is used to initialize PCI-8132 card. Every PCI-8132 card has to be initialized by this function before calling other functions.
_8132_InitialA :
This function is used to initialize all PCI-8132 cards in the host system.
Every PCI-8132 card has to be initialized by this function before calling other functions.
_8132_Close :
This function is used to close PCI-8132 card and release the
PCI-8132 related resources, which should be called at the end of an application.
_8132_Set_Config :
This function is used to configure PCI-8132 card. All the I/O configurations and some operating modes appeared on “Axis
Configuration Window” of Motion Creator will be set to PCI-8132.
Click “Save Configuration” button on the “Axis Configuration Window” if you want to use this function in the application program. Click “Save
Configuration” button will save all the configurations to a file call
“ 8132.cfg
”. This file will appear in the “WINDOWS\SYSTEM\” directory.
_8132_Get_IRQ_Channel :
This function is used to get the PCI-8132 card’s IRQ number. (This function just suport Window 95 and Window NT platform only).
_8132_Get_Base_Addr :
This function is used to get the PCI-8132 card’s base address. (This function just suport Window 95 and Window NT platform only).
@ Syntax
C/C++ (DOS)
U16 _8132_Initial (U16 *existCards, PCI_INFO *info)
U16 _8132_Close(U16 cardNo)
U16 _8132_Set_Config(char* filename)
C/C++ (Windows 95/NT)
U16 _8132_Initial(U16 *existCards, PCI_INFO *pciInfo) (Windows 95 Only)
U16 _8132_Initial(U16 cardNo)(Windows NT Only)
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U16 _8132_InitialA(I16 *TotalCard)
U16 _8132_Close(U16 cardNo)(Windows NT Only)
U16 _8132_Set_Config(char *fileName) void _8132_Get_IRQ_Channel(U16 cardNo, U16 *irq_no ) void _8132_Get_Base_Addr(U16 cardNo, U16 *base_addr )
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Visual Basic (Windows 95/NT)
B_8132_Initial (existCards As Integer, pciInfo As PCI_INFO) As
Integer(Windows 95 Only)
B_8132_Initial (ByVal cardNo As Long) As Integer (Windows NT Only)
B_8132_InitialA(TotalCard as Integer) As Interger
B_8132_Close (ByVal cardNo As Long) As Integer (Windows NT Only)
B_8132_Set_Config (ByVal fileName As String) As Integer
B_8132_Get_IRQ_Channel (ByVal cardno As Integer, irq_no As Integer)
B_8132_Get_Base_Addr (ByVal cardno As Integer, base_addr As Integer)
@ Argument existCards : numbers of existing PCI-8132 cards
TotalCard : numbers of existing PCI-8132 cards info : relative information of the PCI-8132 cards cardNo : The PCI-8132 card index number.
@ Return Code
ERR_NoError
ERR_BoardNoInit
ERR_PCIBiosNotExist
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6.4 Pulse Input / Output Configuration
@ Name
_8132_set_pls_outmode – Set the configuration for pulse command output.
_8132_set_pls_iptmode – Set the configuration for feedback pulse input.
_8132_set_cnt_src – Enable/Disable the external feedback pulse input
@ Description
_8132_set_pls_outmode:
Configure the output modes of command pulse. There are two modes for command pulse output.
_8132_set_pls_iptmode:
Configure the input modes of external feedback pulse. There are four types for feedback pulse input. Note that this function makes sense only when cnt_src parameter in set_cnt_src() function is enabled.
_8132_set_cnt_src:
If external encoder feedback is available in the system, set the cnt_src
parameter in this function to
Enabled
state. Then internal
28-bit up/down counter will count according configuration of set_pls_iptmode() function.
Or the counter will count the command pulse output.
@ Syntax
C/C++ (DOS, Windows 95/NT)
U16 _8132_set_pls_outmode(I16 axis, I16 pls_outmode)
U16 _8132_set_pls_iptmode(I16 axis, I16 pls_iptmode)
U16 _8132_set_cnt_src(I16 axis, I16 cnt_src)
Visual Basic (Windows 95/NT)
B_8132_set_pls_outmode (ByVal axis As Long, ByVal pls_outmode As
Long) As Integer
B_8132_set_pls_iptmode (ByVal axis As Long, ByVal pls_iptmode As Long)
As Integer
B_8132_set_cnt_src (ByVal axis As Long, ByVal cnt_src As Long) As
Integer
@ Argument axis : axis number designated to configure pulse Input/Output. pls_outmode
: setting of command pulse output mode for OUT and DIR pins. pls_outmode=0, OUT/DIR type pulse output. pls_outmode=1, CW/CCW type pulse output. pls_iptmode : setting of encoder feedback pulse input mode for EA and EB pins.
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pls_iptmode=0, 1X AB phase type pulse input. pls_iptmode=1, 2X AB phase type pulse input. pls_iptmode=2, 4X AB phase type pulse input. pls_iptmode=3, CW/CCW type pulse input. cnt_src : Counter source cnt_src=0, counter source from command pulse cnt_src=1, counter source from external input EA, EB
@ Return Code
ERR_NoError
6.5 Continuously Motion Move
@ Name
_8132_v_move – Accelerate an axis to a constant velocity with trapezoidal profile
_8132_sv_move – Accelerate an axis to a constant velocity with
S-curve profile
_8132_v_change – Change speed on the fly
_8132_v_stop – Decelerate to stop
_8132_fix_max_speed – Set max speed when using v_change() function
@ Description
_8132_v_move:
This function is used to accelerate an axis to the specified constant velocity. The axis will continue to travel at a constant velocity until the velocity is changed or the axis is commanded to stop. The direction is determined by the sign of velocity parameter.
_8132_sv_move:
This function is similar to v_stop() but accelerating with S-curve.
_8132_v_change:
You can change the velocity profile of command pulse ouput during operation by this function. This function changes the maximum velocity setting during operation. However, if you operate under
“Preset Mode” (like start_a_move(),…), you are not allowed to change the acceleration parameter during operation because the deceleration point is pre-determined. But changing the acceleration parameter when operating under “Constant Velocity Mode” is valid.
_8132_fix_max_speed:
In order to calculate better performance when using v_change() function, user must set this function before any PTP function
_8132_v_stop:
This function is used to decelerate an axis to stop. This function is also useful when preset move (both trapezoidal and S-curve motion),
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manual move or home return
function is performed.
@ Syntax
C/C++ (DOS, Windows 95/NT)
U16 _8132_v_move(I16 axis, F64 str_vel, F64 max_vel, F64 Tacc)
U16 _8132_sv_move(I16 axis, F64 str_vel, F64 max_vel, F64 Tlacc, F64
Tsacc)
U16 _8132_v_change(I16 axis, F64 max_vel, F64 Tacc)
U16 _8132_fix_max_speed(I16 axis, F64 max_vel)
U16 _8132_v_stop(I16 axis, F64 Tdec)
Visual Basic (Windows 95/NT)
B_8132_v_move (ByVal axis As Integer, ByVal str_vel As Double, ByVal max_vel As Double, ByVal Tacc As Double) As Integer
B_8132_sv_move(I16 axis, F64 str_vel, F64 max_vel, F64 Tlacc, F64 Tsacc)
As Integer
B_8132_v_change(I16 axis, F64 max_vel, F64 Tacc) As Integer
B_8132_fix_max_speed (ByVal axis As Integer, ByVal max_speed As
Double) As Integer
B_8132_v_stop (ByVal axis As Integer, ByVal Tacc As Double) As Integer
@ Argument axis : axis number designated to move or stop. str_vel : starting velocity in unit of pulse per second max_vel
: maximum velocity in unit of pulse per second max_speed : maximum velocity during a v_change() function
Tacc : specified acceleration time in unit of second
Tdec : specified deceleration time in unit of second
@ Return Code
ERR_NoError
@ Name
_8132_start_a_move– Begin an absolute trapezoidal profile motion
_8132_start_r_move– Begin a relative trapezoidal profile motion
_8132_start_t_move– Begin a non-symmetrical relative trapezoidal profile motion
_8132_start_ta_move– Begin a non-symmetrical absolute trapezoidal profile motion
_8132_a_move– Begin an absolute trapezoidal profile motion and wait for completion
_8132_r_move– Begin a relative trapezoidal profile motion and wait for completion
_8132_t_move– Begin a non-symmetrical relative trapezoidal profile motion and wait for completion
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_8132_ta_move– Begin a non-symmetrical absolute trapezoidal profile motion and wait for completion
@ Description
_8132_start_a_move() :
This function causes the axis to accelerate from a starting velocity, slew at constant velocity, and decelerate to stop at the specified absolute position, immediately returning control to the program. The acceleration rate is equal to the deceleration rate.
_8132_ a_move() starts an absolute coordinate move and waits for completion.
_8132_start_r_move() :
This function causes the axis to accelerate from a starting velocity, slew at constant velocity, and decelerate to stop at the relative distance, immediately returning control to the program. The acceleration rate is equal to the deceleration rate.
_8132_ r_move() starts a relative move and waits for completion.
_8132_start_ta_move() :
This function causes the axis to accelerate from a starting velocity, slew at constant velocity, and decelerate to stop at the specified absolute position, immediately returning control to the program..
_8132_ ta_move() starts an absolute coordinate move and waits for completion.
_8132_start_t_move() :
This function causes the axis to accelerate from a starting velocity, slew at constant velocity, and decelerate to stop at the relative distance, immediately returning control to the program..
_8132_ t_move() starts a relative coordinate move and waits for completion.
The moving direction is determined by the sign of pos
or dist parameter.If the moving distance is too short to reach the specified velocity, the controller will accelerate for the first half of the distance and decelerate for the second half (triangular profile). wait_for_done() waits for the motion to complete.
@ Syntax
C/C++ (DOS, Windows 95/NT)
U16 _8132_start_a_move(I16 axis, F64 pos, F64 str_vel, F64 max_vel, F64
Tacc)
U16 _8132_a_move(I16 axis, F64 pos, F64 str_vel, F64 max_vel, F64 Tacc)
U16 _8132_start_r_move(I16 axis, F64 distance, F64 str_vel, F64 max_vel,
F64 Tacc)
U16 _8132_r_move(I16 axis, F64 distance, F64 str_vel, F64 max_vel, F64
Tacc)
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U16 _8132_start_t_move(I16 axis, F64 dist, F64 str_vel, F64 max_vel, F64
Tacc, F64 Tdec)
U16 _8132_t_move(I16 axis, F64 dist, F64 str_vel, F64 max_vel, F64 Tacc,
F64 Tdec)
U16 _8132_start_ta_move(I16 axis, F64 pos, F64 str_vel, F64 max_vel, F64
Tacc, F64 Tdec)
U16 _8132_ta_move(I16 axis, F64 pos, F64 str_vel, F64 max_vel, F64 Tacc,
F64 Tdec)
U16 _8132_wait_for_done(I16 axis)
Visual Basic (Windows 95/NT)
B_8132_start_a_move (ByVal axis As Integer, ByVal pos As Double, ByVal str_vel As Double, ByVal max_vel As Double, ByVal Tacc l As
Double) As Integer
B_8132_a_move (ByVal axis As Integer, ByVal pos As Double, ByVal str_vel As Double, ByVal max_vel As Double, ByVal Tacc As Double)
As Integer
B_8132_start_r_move (ByVal axis As Integer, ByVal distance As Double,
ByVal str_vel As Double, ByVal max_vel As Double, ByVal Tacc As
Double) As Integer
B_8132_r_move (ByVal axis As Integer, ByVal distance As Double, ByVal str_vel As Double, ByVal max_vel As Double, ByVal Tacc As Double)
As Integer
B_8132_start_t_move (ByVal axis As Integer, ByVal distance As Double,
ByVal str_vel As Double, ByVal max_vel As Double, ByVal Tacc As
Double, ByVal Tdec As Double) As Integer
B_8132_t_move (ByVal axis As Integer, ByVal distance As Double, ByVal str_vel As Double, ByVal max_vel As Double, ByVal Tacc As Double,
ByVal Tdec As Double) As Integer
B_8132_start_ta_move(ByVal axis As Integer, ByVal pos As Double , ByVal str_vel As Double, ByVal max_vel As Double, ByVal Tacc As Double,
ByVal Tdec As Double) As Interger
B_8132_ta_move(ByVal axis As Integer, ByVal pos As Double , ByVal str_vel As Double, ByVal max_vel As Double, ByVal Tacc As Double,
ByVal Tdec As Double) As Integer
B_8132_wait_for_done(ByVal axis As Integer) As Integer
@ Argument axis : axis number designated to move. pos : specified absolute position to move distance or dist
: specified relative distance to move str_vel : starting velocity of a velocity profile in unit of pulse per second max_vel : starting velocity of a velocity profile in unit of pulse per second
Tacc : specified acceleration time in unit of second
Tdec : specified deceleration time in unit of second
@ Return Code
ERR_NoError
ERR_MoveError
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6.7 S-Curve Profile Motion
@ Name
_8132_start_s_move– Begin a S-Curve profile motion
_8132_s_move– Begin a S-Curve profile motion and wait for completion
_8132_start_rs_move– Begin a relative S-Curve profile motion
_8132_rs_move– Begin a relative S-Curve profile motion and wait for completion
_8132_start_tas_move– Begin a non-symmetrical absolute S-curve profile motion
_8132_tas_move– Begin a non-symmetrical absolute S-curve profile motion and wait for completion
@ Description
_8132_start_s_move() :
This function causes the axis to accelerate from a starting velocity, slew at constant velocity, and decelerate to stop at the specified absolute position, immediately returning control to the program. The acceleration rate is equal to the deceleration rate.
_8132_ s_move() starts an absolute coordinate move and waits for completion.
_8132_start_rs_move() :
This function causes the axis to accelerate from a starting velocity, slew at constant velocity, and decelerate to stop at the relative distance, immediately returning control to the program. The acceleration rate is equal to the deceleration rate.
_8132_ rs_move() starts a relative move and waits for completion.
_8132_start_tas_move() :
This function causes the axis to accelerate from a starting velocity, slew at constant velocity, and decelerate to stop at the specified absolute position, immediately returning control to the program..
_8132_ tas_move() starts an absolute coordinate move and waits for completion.
@ Syntax
C/C++ (DOS, Windows 95/NT)
U16 _8132_start_s_move(I16 axis, F64 pos, F64 str_vel, F64 max_vel, F64
Tlacc, F64 Tsacc)
U16 _8132_s_move(I16 axis, F64 pos, F64 str_vel, F64 max_vel, F64 Tlacc,
F64 Tsacc)
U16 _8132_start_rs_move(I16 axis, F64 distance, F64 str_vel, F64 max_vel,
F64 Tlacc, F64 Tsacc)
U16 _8132_rs_move(I16 axis, F64 distance, F64 str_vel, F64 max_vel, F64
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Tlacc, F64 Tsacc)
U16 _8132_start_tas_move(I16 axis, F64 pos, F64 str_vel, F64 max_vel,
F64 Tlacc, F64 Tsacc, F64 Tldec, F64 Tsdec)
U16 _8132_tas_move(I16 axis, F64 pos, F64 str_vel, F64 max_vel, F64
Tlacc, F64 Tsacc, F64 Tldec, F64 Tsdec)
Visual Basic (Windows 95/NT)
B_8132_start_s_move(ByVal axis As Integer, ByVal pos As Double, ByVal str_vel As Double, ByVal max_vel As Double, ByVal Tlacc As
Double, ByVal Tsacc As Double) As Integer
B_8132_s_move(ByVal axis As Integer, ByVal pos As Double, ByVal str_vel
As Double, ByVal max_vel As Double ByVal Tlacc As Double, ByVal
Tsacc As Double) As Integer
B_8132_start_rs_move(ByVal axis As Integer, ByVal distance As Double,
ByVal str_vel As Double, ByVal max_vel As Double, ByVal Tlacc As
Double, ByVal Tsacc As Double) As Integer
B_8132_rs_move(ByVal axis As Integer, ByVal distance As Double, ByVal str_vel As Double, ByVal max_vel As Double, ByVal Tlacc As
Double, ByVal Tsacc As Double) As Integer
B_8132_start_tas_move(ByVal axis As Integer, ByVal pos As Double, ByVal str_vel As Double, ByVal max_vel As Double, ByVal Tlacc As
Double, ByVal Tsacc As Double, ByVal Tldec As Double, ByVal
Tsdec As Double) As Integer
B_8132_tas_move(ByVal axis As Integer, ByVal pos As Double ByVal str_vel As Double, ByVal max_vel As Double ByVal Tlacc As Double,
ByVal Tsacc As Double, ByVal Tldec As Double, ByVal Tsdec As
Double) As Integer
@ Argument axis : axis number designated to move. pos : specified absolute position to move distance or dist : specified relative distance to move str_vel : starting velocity of a velocity profile in unit of pulse per second max_vel
: starting velocity of a velocity profile in unit of pulse per second
Tlacc : specified linear acceleration time in unit of second
Tsacc : specified S-curve acceleration time in unit of second
Tldec : specified linear deceleration time in unit of second
Tsdec : specified S-curve deceleration time in unit of second
@ Return Code
ERR_NoError
ERR_MoveError
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6.8 Multiple Axes Point to Point Motion
@ Name
_8132_start_move_all– Begin a multi-axis trapezoidal profile motion
_8132_move_all–Begin a multi-axis trapezoidal profile motion and wait for completion
_8132_wait_for_all–Wait for all axes to finish
@ Description
_8132_start_move_all() :
This function causes the specified axes to accelerate from a starting velocity, slew at constant velocity, and decelerate to stop at the specified absolute position, immediately returning control to the program. The move axes are specified by axes and the number of axes are defined by n_axes . The acceleration rate of all axes is equal to the deceleration rate.
_8132_ move_all() starts the motion and waits for completion. Both functions guarantee that motion begins on all axes at the same sample time.
Note
that it is necessary to make connections according to Section 3.12 on CN3 if these two functions are needed.
_8132_ wait_for_done() waits for the motion to complete for all of the specified axes.
The following code demos how to utilize these functions. This code moves axis 0 and axis 4 to position 8000.0 and 120000.0 respectively.
If we choose velocities and acelerations that are propotional to the ratio of distances, then the axes will arrive at their endpoints at the same time (simultaneous motion).
#include “pci_8132.h” int main()
{
I16 axes[2] = {0, 4};
F64
positions[2] = {8000.0, 12000.0},
_8132_move_all(2, axes, positions, str_vel, max_vel, Tacc); return ErrNoError;
}
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@ Syntax
C/C++ (DOS, Windows 95/NT)
U16 _8132_start_move_all(I16 len, I16 *axes, F64 *pos, F64 *str_vel, F64
*max_vel, F64 *Tacc)
U16 _8132_move_all(I16 len, I16 *axes, F64 *pos, F64 *str_vel, F64
*max_vel, F64 *Tacc)
U16 _8132_wait_for_all(I16 len, I16 *axes)
Visual Basic (Windows 95/NT)
B_8132_start_move_all(ByVal len As Integer, ByRef axis As Integer , ByRef pos As Double, ByRef str_vel As Double, ByRef max_vel As Double,
ByRef Tacc As Double) As Integer
B_8132_move_all(ByVal len As Integer, ByRef axis As Integer, ByRef pos
As Double, ByRef str_vel As Double, ByRef max_vel As Double,
ByRef Tacc As Double) As Integer
B_8132_wait_for_all(ByVal n_axes As Integer, ByRef axis As Integer) As
Integer
@ Argument n_axes : number of axes for simultaneous motion
*axes
: specified axes number array designated to move.
*pos : specified position array in unit of pulse
*str_vel : starting velocity array in unit of pulse per second
*max_vel : maximum velocity array in unit of pulse per second
*Tacc : acceleration time array in unit of second
@ Return Code
ERR_NoError
ERR_MoveError
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6.9 Linear and Circular Interpolated Motion
@ Name
_8132_start_move_xy – Perform a 2-axes linear interpolated motion between X & Y without waiting
_8132_move_xy – Perform a 2-axes linear interpolated motion between X & Y and wait for completion
_8132_recover_xy – return single axis motion mode
@ Description
_8132_move_xy, _8132_start_move_xy:
These two functions cause a linear interpolation motion between two axes and wait for completion. The moving speed should be set before performing these functions. Relations of speed between two axes are given in Chapter 4.1.4.
_8132_recover_xy:
After using _ start_move_xy, use must use this function for next single PTP axis motion
@ Syntax
C/C++ (DOS, Windows 95/NT)
U16 _8132_move_xy(I16 cardNo, F64 x, F64 y)
U16 _8132_start_move_xy(I16 cardNo, F64 x, F64 y)
U16 _8132_recover_xy(int cardNo)
Visual Basic (Windows 95/NT)
B_8132_move_xy (ByVal cardno As Long, ByVal x As Double, ByVal y As
Double) As Integer
B_8132_start_move_xy (ByVal cardno As Long, ByVal x As Double, ByVal y
As Double) As Integer
B_8132_recover_xy (ByVal cardno As Long) As Integer
@ Argument cardNo
: card number designated to perform interpolating function. x, y : absolute target position of linear interpolation motion
@ Return Code
ERR_NoError
6.10 Interpolation Parameters Configuring
@ Name
_8132_map_axes – Configure the axis map for coordinated motion
_8132_set_move_speed – Set the vector velocity
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_8132_set_move_accel – Set the vector linear acceleration time
_8132_set_move_ratios – Set the axis resolution ratios
@ Description map_axes:
This function initializes a group of axes for coordinated motion. map_axes() must be called before any coordinated motion function is used. For PCI-8132, coordinated motion is made only between two axes. For example, if the z and u coordinates correspond to axes 2 and 3, the following code would be used to define the coordinate system:
int ax[2] = {2, 3}; ax);
set_move_speed(10000.0); // Set vector velocity = 10000pps
set_move_accel(0.1); // Set vector accel. time = 0.1 sec set_move_speed, set_move_accel:
The vector velocity and vector acceleration can be specified for coordinated motion by this three functions. Codes at last samples demonstrates how to utilize this three functions associated with map_axes() . set_move_ratio:
This function configures scale factors for the specified axis. Usually, the axes only need scale factors if their mechanical resolutions are different. For example, if the resolution of feedback sensors is two times resolution of command pulse, then ratio = 2 .
@ Syntax
C/C++ (DOS, Windows 95/NT)
U16 _8132_map_axes(U16 n_axes, U16 *map_array)
U16 _8132_set_move_speed(F64 str_vel, F64 max_vel)
U16 _8132_set_move_accel(F64 Tacc)
U16 _8132_set_move_ratio(U16 axis, F64 ratio)
Visual Basic (Windows 95/NT)
B_8132_map_axes (ByVal n_axes As Integer, map_array As Integer) As
Integer
B_8132_set_move_speed (ByVal str_vel As Double, ByVal max_vel As
Double) As Integer
B_8132_set_move_accel (ByVal accel As Double) As Integer
B_8132_set_move_ratio (ByVal axis As Integer, ByVal ratio As Double) As
Integer
@ Argument axis : axis number designated to configure n_axes
: number of axes for coordinated motion
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*map_array : specified axes number array designated to move. str_vel : starting velocity in unit of pulse per second max_vel : maximum velocity in unit of pulse per second
Tacc
: specified acceleration time in unit of second
Tlacc : specified linear acceleration section of s-curve in second ratio : ratio of (feedback resolution)/(command resolution)
@ Return Code
ERR_NoError
6.11 Home Return
@ Name
_8132_set_home_config – Set the configuration for home return.
_8132_home_move – Perform a home return move.
@ Description
_8132_set_home_config:
Configure the logic of origin switch and index signal needed for home_move() function. If you need to stop the axis after EZ signal is active(home_mode=1 or 2), you should keep placing ORG signal in the
ON status until the axis stop. If the pulse width of ORG signal is too short to keep it at ON status till EZ goes ON, you should select the org_latch as enable. The latched condition is cancelled by the next start or by disabling the org_latch. Three home return modes are available. Refer to
Chapter4.1.5 for the setting of home_mode control.
_8132_home_move:
This function will cause the axis to perform a home return move according to the setting of set_home_config()
function. The direction of moving is determined by the sign of velocity parameter(svel, mvel). Since the stopping condition of this function is determined by home_mode
setting, user should take care to select the initial moving direction. Or user should take care to handle the condition when limit switch is touched or other conditions that is possible causing the axis to stop. Executing v_ stop() function during home_move() can also cause the axis to stop.
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@ Syntax
C/C++ (DOS, Windows 95/NT)
U16 _8132_set_home_config(I16 axis, I16 home_mode, I16 org_logic, I16 org_latch, I16 EZ_logic)
U16 _8132_home_move(I16 axis, F64 svel, F64 mvel, F64 accel)
Visual Basic (Windows 95/NT)
B_8132_set_home_config (ByVal axis As Long, ByVal home_mode As Long,
ByVal org_logic As Long, ByVal org_latch As Long, ByVal EZ_logic
As Long) As Integer
B_8132_home_move (ByVal axis As Long, ByVal str_vel As Double, ByVal max_vel As Double, ByVal accel As Double) As Integer
@ Argument axis : axis number designated to configure and perform home returning home_mode : stopping modes for home return. home_mode=0, ORG active only. home_mode=1, ORG active and then EZ active to stop, high speed all the way. home_mode=2, ORG active and then EZ active to stop, high speed till ORG active then low speed till EZ active. org_logic
: Action logic configuration for ORG signal org_logic=0, active low; org_logic=1, active high org_latch : Latch state control for ORG signal org_latch=0, don’t latch input; org_latch=1, latch input.
EZ_logic : Action logic configuration for EZ signal
EZ_logic=0, active low; EZ_logic=1, active high.
@ Return Code
ERR_NoError
6.12 Manual Pulser Motion
@ Name
_8132_set_manu_iptmode – Set pulser input mode and operation mode
_8132_manu_move – Begin a manual pulser movement
_8132_set_manu_axis – Select manual pulser axis
_8132_set_step_unit – Set manual pulser ratio
@ Description
_8132_set_manu_iptmode:
Four types of pulse input modes can be available for pulser or hand wheel. User can also move two axes simultaneously with one pulser by selecting the operation mode to common mode
. Or move the axes independently by selecting the operation mode to independent mode
.
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_8132_manu_move:
Begin to move the axis according to manual pulser input as this command is written. The maximum moving velocity is limited by mvel parameter. Not until the v_stop() command is written won’t system end the manual move mode.
_8132_set_manu_axis:
Choose the control axis for manual pulser. User can set which axis will move by manual pulser or stop the manual pulser output.
_8132_set_step_unit:
Set the unit number of output pulses to one manual input pulse.
@ Syntax
C/C++ (DOS, Windows 95/NT)
U16 _8132_set_manu_iptmode(I16 axis, I16 ipt_mode, I16 op_mode)
U16 _8132_manu_move(I16 axis, F64 mvel)
U16 _8132_set_manu_axis(I16 cardno, I16 manu_axis )
U16 _8132_set_step_unit(I16 axisno, I16 unit)
Visual Basic (Windows 95/NT)
B_8132_set_manu_iptmode (ByVal axis As Long, ByVal manu_iptmode As
Long, ByVal op_mode As Long) As Integer
B_8132_manu_move (ByVal axis As Long, ByVal max_vel As Double) As
Integer
B_8132_set_manu_axis (ByVal cardno as integer , byVal manu_axis as integer ) As Integer
B_8132_set_step_unit(ByVal axisno as integer, ByVal unit as integer) As
Integer
@ Argument axis : axis number designated to start manual move ipt_mode
: setting of manual pulser input mode from PA and PB pins ipt_mode=0, 1X AB phase type pulse input. ipt_mode=1, 2X AB phase type pulse input. ipt_mode=2, 4X AB phase type pulse input. ipt_mode=3, CW/CCW type pulse input. op_mode
: common or independent mode selection op_mode=0, Independent for each axis op_mode=1,PAX, PBX common for PAY, PBY or PAZ, PBZ common for PAU, PBU. mvel : limitation for maximum velocity manu_axis
: select manual pulser output axis: manu_axis=0, no axis output from manual pulser
manu_axis=1, axis0 as manual pulser output
manu_axis=2, axis1 as manual pulser output
manu_Axis=3, both axis0 and axis1 as manual pulser output unit : pulser ratio
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@ Example
_8132_set_manu_iptmode(0,2,0); // set 4X AB Phase signal
_8132_set_manu_Axis(0,0); // user axis 0 as output
_8132_manu_move(0,10000); // active pulser
.
.
.
_8132_v_stop(0,0.1); // stop pulser move
@ Return Code
ERR_NoError
6.13 Motion Status
@ Name
_8132_motion_done – Return the status when a motion is done
@ Description
_8132_motion_done:
Return the motion status of PCI-8132.
position.
Definition of return value is as following:
Return value =
0
: the axis is busying.
1 : a movement is finished
2
: the axis stops at positive limit switch
3
: the axis stops at negative limit switch
4
: the axis stops at origin switch
5
: the axis stops because the ALARM signal is active
The following code demonstrates how to utilize this function:
_8132_start_a_move(axis_x, pos1, svel, mvel, Tacc);
// Begin a trapezoidal velocity profile motion while(!motion_done(axis_x)) // Wait for completion of
{
// start_a_move() if(kbhit())
{
// Keyboard hit to escape the
getch();
// WHILE loop
exit(1);
}
}
@ Syntax
C/C++ (DOS, Windows 95/NT)
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U16 _8132_motion_done(I16 axis)
Visual Basic (Windows 95/NT)
B_8132_motion_done (ByVal axis As Integer) As Integer
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@ Argument axis : axis number of motion status
@ Return Code
ERR_NoError
6.14 Servo Drive Interface
@ Name
_8132_set_alm_logic – Set alarm logic and alarm mode
_8132_set_inp_logic – Set In-Position logic and enable/disable
_8132_set_sd_logic – Set slow down point logic and enable/disable
_8132_set_erc_enable – Set ERC pin output enable/disable
_8132_set_sd_stop_mode – Set slow down mode
@ Description
_8132_set_alm_logic:
Set the active logic of
ALARM
signal input from servo driver. Two reacting modes are available when ALARM signal is active.
_8132_set_inp_logic:
Set the active logic of In-Position signal input from servo driver.
Users can select whether they want to enable this function. Default state is disabled.
_8132_set_sd_logic:
Set the active logic and latch control of SD signal input from mechanical system. Users can select whether they want to enable this function. Default state is disabled.
_8132_set_erc_enable:
You can set ERC pin output enable/disable by this function. Default state is enabled.
_8132_set_sd_stop_mode:
There are two types in slow down action. One is slow down to starting velocity. The other is slow down to stop.
@ Syntax
C/C++ (DOS, Windows 95/NT)
U16 _8132_set_alm_logic(I16 axis, I16 alm_logic, I16 alm_mode)
U16 _8132_set_inp_logic(I16 axis, I16 inp_logic, I16 inp_enable)
U16 _8132_set_sd_logic(I16 axis, I16 sd_logic, I16 sd_latch, I16 sd_enable)
U16 _8132_set_erc_enable(I16 axis, I16 erc_enable)
U16 _8132_set_sd_stop_mode(I16 axis, I16 sd_mode)
Visual Basic (Windows 95/NT)
B_8132_set_alm_logic (ByVal axis As Long, ByVal alm_logic As Long,
ByVal alm_mode As Long) As Integer
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B_8132_set_inp_logic (ByVal axis As Long, ByVal inp_logic As Long,
ByVal inp_enable As Long) As Integer
B_8132_set_sd_logic (ByVal axis As Long, ByVal sd_logic As Long, ,
ByVal sd_latch As Long, ByVal sd_enable As Long) As Integer
B_8132_set_erc_enable(ByVal axis As Integer, ByVal erc_enable As Long)
As Integer
B_8132_set_sd_stop_mode(ByVal axis As Integer, ByVal sd_mode As
Integer) As Integer
@ Argument axis
: axis number designated to configure alm_logic : setting of active logic for ALARM signal alm_logic=0, active LOW. alm_logic=1, active HIGH. inp_logic : setting of active logic for INP signal inp_logic=0, active LOW. inp_logic=1, active HIGH. sd_logic : setting of active logic for SD signal sd_logic=0, active LOW. sd_logic=1, active HIGH. sd_latch
: setting of latch control for SD signal sd_logic=0, do not latch. alm_mode : reacting modes when receiving ALARM signal. alm_mode=0, motor immediately stops. alm_mode=1, motor decelerates then stops. inp_enable : INP function enable/disable inp_enable=0, Disabled inp_enable=1, Enabled sd_enable : Slow down point function enable/disable sd_enable=0, Disabled sd_enable=1, Enabled erc_enable : ERC pin output enable/disable erc_enable=0, Disabled erc_enable=1, Enabled sd_mode: sd_move=0, slow down to starting velocity sd_mode=1, slow down to stop
@ Return Code
ERR_NoError
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6.15 I/O Control and Monitoring
@ Name
_8132_Set_SVON – Set state of general purpose output pin
_8132_get_io_status – Get all the I/O status of PCI-8132
@ Description
_8132_Set_SVON:
Set the High/Low output state of general purpose output pin SVON .
_8132_get_io_status:
Get all the I/O status for each axis. The definition for each bit is as following:
Bit Name Description
0
1
2
3
+EL
-EL
+SD
-SD
Positive Limit Switch
Negative Limit Switch
Positive Slow Down Point
Negative Slow Down Point
7
8
SVON SVON of PCL5023 pin output
RDY RDY pin input
10
11
ERC
INP
ERC pin output
In-Position signal input
@ Syntax
C/C++ (DOS)
U16 _8132_Set_SVON(I16 axis, I16 on_off)
U16 _8132_get_io_status(I16 axis, U16 *io_status)
C/C++ (Windows 95/NT)
U16 _8132_Set_SVON(I16 axis, I16 on_off)
U16 _8132_get_io_status(I16 axis, U16 *io_status)
Visual Basic (Windows 95/NT)
B_8132_Set_SVON (ByVal axis As Long, ByVal on_off As Long) As
Integer
B_8132_get_io_status (ByVal axis As Integer, io_sts As Integer) As
Integer
@ Argument axis : axis number for I/O control and monitoring on_off
: setting for SVON pin digital output on_off=0, SVON is LOW.
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on_off=1, SVON is HIGH.
*io_status : I/O status word. Where “1’ is ON and “0” is OFF. ON/OFF state is read based on the corresponding set logic.
@ Return Code
ERR_NoError
6.16 Position Control
@ Name
_8132_set_position – Set the actual position.
_8132_get_position – Get the actual position.
_8132_set_command – Set the current command position.
_8132_get_position – Get the current command position.
@ Description
_8132_set_position() changes the current actual position to the specified position.
_8132_get_position() reads the current actual position. Note that when feedback signals is not available in the system, thus external encoder feedback is
Disabled in set_cnt_src() function, the value gotten from this function is command position.
_8132_set_command() changes the command position to the specified command position.
_8132_get_command() reads the current command position.
@ Syntax
C/C++ (DOS, Windows 95/NT)
U16 _8132_set_position(I16 axis, F64 pos)
U16 _8132_get_position(I16 axis, F64 *pos)
U16 _8132_set_command(I16 axis, F64 pos)
U16 _8132_get_command(I16 axis, F64 *pos)
Visual Basic (Windows 95/NT)
B_8132_get_position (ByVal axis As Integer, pos As Double) As Integer
B_8132_set_position (ByVal axis As Integer, ByVal pos As Double) As
Integer
B_8132_get_command (ByVal axis As Integer, pos As Double) As Integer
B_8132_set_command (ByVal axis As Integer, ByVal pos As Double) As
Integer
@ Argument axis : axis number designated to set and get position. pos : actual position or command position
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@ Return Code
ERR_NoError
6.17 Interrupt Control
@ Name
_8132_Set_INT_ENABLE – Set interrupt enable
_8132_INT_Enable – Set interrupt enable
_8132_INT_Disable – Set interrupt disable
_8132_Set_INT_Control – Set interrupt event handle
_8132_set_int_factor – Set interrupt generating factors
_8132_get_int_axis – Get the axis which generates interrupt
_8132_get_int_status – Get the interrupting status of axis
@ Description
_8132_Set_INT_ENABLE:
This function is used to enable interrupt generating to host PC. .(This function just support DOS only.)
_8132_INT_Enable:
This function is used to enable interrupt generating to host PC.(This function just support Window 95 and Window NT only.)
_8132_INT_Disable:
This function is used to disable interrupt generating to host PC.(This function just support Window 95 and Window NT only.)
_8132_Set_INT_Control :
This function is used to assign the window INT event.(This function just support Window 95 and Window NT only.)
_8132_set_int_factor:
This function allows users to select factors to initiate the INT signal.
PCI-8132 can generate INT signal to host PC by setting the relative bit as 1. The definition for each bit is as following:
0
1
2
3
4
Stop with the EL signal
Stop with the SD signal
Stop with the ALM signal
Stop with the STP signal
Should be set to 0
5
6
7
Completion of home return
Completion of preset movement
Completion of interpolating motion for two axes:
(X & Y) or (Z & U)
8~12 X(should be set to 0)
13
v_stop() function stop the axis
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14 EA/EB, PA/PB encoder input error
15 start with STA signal
16 Completion of acceleration
17 Start of deceleration
18~22 Should be Set to 0
23 RDY active (AP3 of PCL5023 change from 1 to 0)
24~31 Should be set to 0
Note: Bit 14: The interrupt is generated when pins EA and EB, or PA and PB change simultaneously. It means there has an encoder input error. get_int_axis:
This function allows user to identify which axis generates the INT signal to host PC. ( This function is for DOS only ) get_int_status:
This function allows user to identify what kinds of interrupt is generated.
After user gets this value, the status register will be cleared to 0. The return value is a 32 bits unsigned integer and the definition for each bit is as following:
0
1
2
3
4
5
Stop with the +EL signal
Stop with the –EL signal
Stop with the +SD signal
Stop with the –SD signal
Stop with the ALM signal
Stop with the STP signal
8
9
Stop with v_stop() command
Stop with home return completed
11 Stop with preset movement completed
12 Stop with EA/EB input error
14 Stop with PA/PB input error
15 Start with STA signal
23 RDY active(AP3 of PCL5023 change from 1 to 0)
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@ Syntax
C/C++ (DOS)
U16 _8132_Set_INT_ENABLE(U16 cardNo, U16 intFlag)
U16 _8132_set_int_factor(U16 axis, U32 int_factor)
U16 _8132_get_int_axis(U16 *int_axis)
U16 _8132_get_int_status(U16 axis, U32 *int_status)
C/C++ (Windows 95/NT)
U16 _8132_INT_Enable (I16 cardNo, HANDLE *phEvent)
U16 _8132_INT_Disable (I16 cardNo)
U16 _8132_Set_INT_Control(U16 cardNo, U16 int1Flag, U16 int2Flag)
U16 _8132_set_int_factor(U16 axis, U32 int_factor)
U16 _8132_get_int_status(I16 axis, U32 *int_status)
Visual Basic (Windows 95/NT)
_8132_INT_Enable (ByVal cardNo As Long, phEvent As Long)
_8132_INT_Disable (ByVal cardNo As Long) As Integer
_8132_Set_INT_Control (ByVal cardno As Integer, ByVal int1Flag As
Integer, ByVal int2Flag As Integer)
_8132_set_int_factor (ByVal axis As Integer, ByVal int_factor As Long) As
Integer
_8132_get_int_status (ByVal axis As Long, int_status As Long) As Integer
@ Argument cardNo : card number 0,1,2,3… axis : axis number 0,1,2,3,4… intFlag : int flag, 0 or 1 phEvent : event or event array for interrupt axis (Windows) int_factor
: interrupt factor, refer to previous interrupt factor table int_axis : interrupt axis number (the return value) int_status : interrupt factor (the return value), refer to previous interrupt type table int1Flag : INT flag for interrupt mentioned in manual, 0: disable or 1: enable int2Flag
: INT flag for compare interrupt, 0: disable or 1: enable
@ Return Code
ERR_NoError
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6.18 Digital Input/Output Control
@ Name
_8132_DO – Set output value
_8132_DI – Get input value
@ Description
_8132_DO:
Set a 16-bits value to PCI-8132’s digital output channels. Each bit of this value represents a high/low value for one channel.
_8132_DI:
Get a 16-bits value from PCI-8132’s digital input channels. Each bit of this value represents a high/low value for one channel.
@ Syntax
C/C++ (DOS)
U16 _8132_DO(U16 axis, U16 DoData)
U16 _8132_DI(U16 axis, U16 *DiData)
C/C++ (Windows 95/NT)
U16 _8132_DO(U16 axis, U16 DoData)
U16 _8132_DI(U16 axis, U16 *DiData)
Visual Basic (Windows 95/NT)
B_8132_DO(ByVal axis As Integer, ByVal DoData As Long) As Integer
B_8132_DI(ByVal axis As Long, DiData As Long) As Integer
@ Argumen axis
: axis number 0,1,2,3,4…
DoData : a 16-bits output value
DiData : a 16-bits input value
@ Return Code
ERR_NoError
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6.19 Position Compare Control
@ Name
_8132_Get_CompCnt – Get counter value from comparator
_8132_Set_CompCnt – Set counter value in comparator
_8132_Set_CompMode – Set compare mode
_8132_Set_CompData – Set comparator value
_8132_Get_CompData – Get current comparator value
_8132_Set_CompInt – Enable comparator Interrupt
_8132_Set_CompHome – Set comparator origin
_8132_Get_CompSts – Get comparator status
_8132_Build_Comp_Table – Build compare table
_8132_Set_Comp_Table – Enable/Disable compare table
_8132_Build_Comp_Function – Build a linear compare table by a function
@ Description
_8132_Get_CompCnt /_8132_Set_CompCnt:
Read or write the counter value in FPGA comparator on PCI-8132.
_8132_Set_CompData / _8132_Get_CompData:
Read or write the current value for position compare
_8132_Set_CompMode:
Set position compare rule for one axis. User can choose the compare direction from this function
_8132_Set_CompInt:
Enable/disable the comparator interrupt. If user uses a compare table for “on the fly compare”, the comparator interrupt must be enabled.
Interrupt will trigger kernel driver to load next compare point and send a Windows Event to notify user’s AP. If the frequency of comparator output is too high, the Windows Event won’t be received by AP without lost but the hardware trigger will be send correctly without delay.
_8132_Set_CompHome:
Reset the comparator’s counter to zero. This function usually follows by home_move() to make sure that two counter are the same before any motion.
_8132_Get_CompSts:
Get current status of comparator
_8132_Build_Comp_Table:
PCI-8132 provides a convenient interface for user to input their compare points. User can pass an array pointer to this function to notify PCI-8132. The maximum points of this table are 1024 long integer value.
_8132_Set_Comp_Table:
Once user builds a compare table by _ 8132 _Build_Comp_Table(), he
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105
can use this function to control the table active or not.
_8132_Set_Comp_Function:
This is an alternative way to set up compare data if user’s compare points are equal interval. It is no size limit if user uses this method.
@ Syntax
C/C++ (DOS)
U16 _8132_Get_CompCnt(U16 axis, double *act_pos);
U16 _8132_Set_CompCnt(U16 axis, double cnt_value);
U16 _8132_Set_CompMode(U16 axis, I16 comp_mode);
U16 _8132_Set_CompData(U16 axis, double comp_data);
U16 _8132_Get_CompData(U16 axis, double *comp_data);
U16 _8132_Set_CompInt(U16 axis, U16 enable);
U16 _8132_Set_CompHome(U16 axis);
U16 _8132_Get_CompSts(U16 cardNo, U16 *Comp_Sts);
U16 _8132_Build_Comp_Table(U16 axis, I32 *table, I16 Size);
U16 _8132_Set_Comp_Table(U16 axis, U16 Control);
U16 _8132_Build_Comp_Function(U16 axis,I32 Start,I32 End,I32 Interval);
C/C++ (Windows 95/NT)
U16 PASCAL _8132_Get_CompCnt(U16 axis, double *act_pos);
U16 PASCAL _8132_Set_CompCnt(U16 axis, double cnt_value);
U16 PASCAL _8132_Set_CompMode(U16 axis, I16 comp_mode);
U16 PASCAL _8132_Set_CompData(U16 axis, double comp_data);
U16 PASCAL _8132_Get_CompData(U16 axis, double *comp_data);
U16 PASCAL _8132_Set_CompInt(U16 axis, U16 enable);
U16 PASCAL _8132_Set_CompHome(U16 axis);
U16 PASCAL _8132_Get_CompSts(U16 cardNo, U16 *Comp_Sts);
U16 PASCAL _8132_Build_Comp_Table(U16 axis, I32 *table, I16 Size);
U16 PASCAL _8132_Set_Comp_Table(U16 axis, U16 Control);
U16 PASCAL _8132_Build_Comp_Function(U16 axis,I32 Start,I32
End,I32 Interval);
Visual Basic (Windows 95/NT)
B_8132_Set_CompInt(ByVal axis As Integer, ByVal enable As Integer) As
Integer
B_8132_Get_CompData ByVal axis As Integer, comp_data As Double) As
Integer
B_8132_Set_CompData (ByVal axis As Integer, ByVal comp_data As
Double) As Integer
B_8132_Set_CompMode (ByVal axis As Integer, ByVal comp_mode As
Integer) As Integer
B_8132_Set_CompCnt (ByVal axis As Integer, ByVal cnt_value As Double)
As Integer
B_8132_Get_CompCnt (ByVal axis As Integer, act_pos As Double) As
Integer
B_8132_Set_CompHome (ByVal axis As Integer) As Integer
B_8132_Build_Comp_Table (ByVal axis As Integer, table As Long, ByVal
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Function Library
Size As Integer) As Integer
B_8132_Set_Comp_Table (ByVal axis As Integer, ByVal Control As Integer)
As Integer
B_8132_Build_Comp_Table(ByVal axis As Integer, ByVal Start As Long,
ByVal End As Long, ByVal Interval As Long) AS Integer
@ Argumen axis : axis number 0,1,2,3,4… enable : 1 means enable, 0 means disable comp_data : comparator value cnt_value
: counter value comp_mode : comparator mode
0=increasing ( counter > compare value )
1=equal ( counter = compare value )
2=decreasing ( counter < compare value)
*table: compare table pointer size: compare table size control: 0 means disable
1 means compare points is from compare table
2 means compare points is from linear function comp_sts: the definition are as follows: bit0: CMP1 Out Status , Low=0 and high=1 bit1: CMP2 Out Status , Low=0 and high=1 bit2~bit6 not use bit7: Interrupt happened=1, not happened=0 start: compare function start point end: compare function end point interval: compare function incremental size
@ Return Code
ERR_NoError
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7
Connection Example
This chapter shows some connection examples between PCI-8132 and servo drivers and stepping drivers.
7.1 General Description of Wiring
Figure 7.1 is a general description of all the connectors of PCI-8132. Only connection of one of 2 axes is shown.
CN1
: Receives +24V power from external power supply.
CN2
:Main connection between PCI-8132 and pulse input servo driver or stepping driver.
CN3
: Connector for simultaneously start or stop multiple PCI-8132 cards.
Figure 7.2 shows how to integrate PCI-8132 with a physical system.
108
•
Connection Example
Description of PCI-8132 Indexer Pinouts
CN 1
POWER
CN 2
AXIS
PCI_8132
CN 3
START
1
2
3
4
24 V
GND
Machine
DI / DO
Pulse
Input
Driver
DI / DO
Pulse
Output
Machine
DI / DO
Pulse
Input
Driver
DI / DO
Pulse
Output
Machine
DI / DO
Pulse
Input
Driver
DI / DO
Pulse
Output
Machine
DI / DO
Pulse
Input
Driver
DI / DO
Pulse
Output
STP
STA
STP
STA
From external
Power Supply
To Axis
1 ~ 2
Only Axis 1 is indicated.
To other
PCI_8132 Cards
Terminal Block
3 OUT1 +
4
5
6
98
99
7
8
9
10
11
12
13
14
15
16
17
18
19
20
37
38
39
40
41
OUT1 -
DIR +
DIR -
EX GND
EX +24V
SVON 1
ERC 1
ALM 1
INP 1
RDY 1
EX GND
EA1 +
EA1 -
EB1 +
EB1 -
EZ1 +
EZ1 -
EX +5V
EX GND
PEL1
MEL1
PSD1
MSD1
ORG1
Figure 7.1 General Description of Wiring
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109
Wiring of PCI-8132 with Servo Driver
1
2
14
15
16
17
18
19
20
37
38
39
40
41
98
99
7
8
5
6
3
4
9
10
11
12
13
OUT1 +
OUT1 -
DIR +
DIR -
EX GND
EX +24V
SVON 1
ERC 1
ALM 1
INP 1
RDY 1
EX GND
EA1 +
EA1 -
EB1 +
EB1 -
EZ1 +
EZ1 -
EX +5V
EX GND
PEL1
MEL1
PSD1
MSD1
ORG1
3
1
24 V
GND
Pulse
Output
Machine
DI / DO
Pulse
Input
Driver
DI / DO
2
3
4
Motion
Creator
CN 1
POWER
CN 2
AXIS
8132.dll
Win95/Win98/WinNT
Driver with
Pulse Input
A
1
2
3
E M
PCI_8132 to Driver
Encoder to PCI_8132
PCI_8132 to Machine I/O
B
A
Linear Encoder with EA/EB/EZ Output
Rotary Encoder
B
Linear Encoder
Figure 7.2 System Integration with PCI-8132
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Connection Example
7.2 Connection Example with Servo Driver
In this section, we use Panasonic Servo Driver as an example to show how to connect it with PCI-8132 . Figure 7.3 show the wiring.
Note that:
1. For convenience’ sake , the drawing shows connections for one axis only.
2. Default pulse output mode is OUT/DIR mode; default input mode is
4X
AB phase mode. Anyway, user can set to other mode by software function.
3. Since most general purpose servomotor driver can operates in
Torque Mode; Velocity Mode; Position mode.
For linking with
PCI-8132, user should set the operating mode to Position Mode. By setting servo driver to this mode, user can use PCI-8132 to perform either
Position Control
or
Velocity Control
.
4. The Deviation Counter Clear input for Panasonic Driver is line drive type where
ERC output of PCI-8132 is open collector type. So a little circuit is required for interfacing.
Inside PCI-8132
ERC
EX+5V
390
EXGND
2.2K
CL+
CL-
2.2K
Inside Panasonic Driver
26LS32
Figure 7.4 Interface circuit between ERC and (CL+, CL-)
Connection Example
•
111
Wiring of PCI-8132 with Panasonic MSD
PCI_8132 Axis 1 Servo Driver
20
37
38
39
40
41
13
14
15
16
17
18
19
98
99
7
8
5
6
3
4
9
10
11
12
OUT1 +
OUT1 -
DIR +
DIR -
EX GND
EX +24V
SVON 1
ERC 1
ALM 1
INP 1
RDY 1
EX GND
EA1 +
EA1 -
EB1 +
EB1 -
EZ1 +
EZ1 -
EX +5V
EX GND
PEL1
MEL1
PSD1
MSD1
ORG1
PULS +
PULS -
SIGN +
SIGN -
COM -
COM +
SRV-ON
CL
ALM
COIN
SRDY
GND
OA +
OA -
OB +
OB -
OZ +
OZ -
19
20
21
22
26
25
27
3
1
2
28
11
12
13
8
7
6
5
Panasonic
MSC CNI/F
(50-200 W)
E
M
Table
MEL ORG MSD PSD PEL
Figure 7.3 Connection of PCI-8132 with Panasonic Driver
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•
Connection Example
Warranty Policy
Thank you for choosing ADLINK. To understand your rights and enjoy all the after-sales services we offer, please read the following carefully:
1. Before using ADLINK’s products please read the user manual and follow the instructions exactly.
2. When sending in damaged products for repair, please attach an RMA application form.
3. All ADLINK products come with a two-year guarantee, repaired free of charge.
• The warranty period starts from the product’s shipment date from
ADLINK’s factory.
• Peripherals and third-party products not manufactured by ADLINK will be covered by the original manufacturers’ warranty.
• End users requiring maintenance services should contact their local dealers. Local warranty conditions will depend on local dealers.
4. This warranty will not cover repair costs due to: a. Damage caused by not following instructions. b. Damage caused by carelessness on the users’ part during product transportation. c. Damage caused by fire, earthquakes, floods, lightening, pollution, other acts of God, and/or incorrect usage of voltage transformers. d. Damage caused by unsuitable storage environments (i.e. high temperatures, high humidity, or volatile chemicals. e. Damage caused by leakage of battery fluid. f. Damage from improper repair by unauthorized technicians. g. Products with altered and/or damaged serial numbers. h. Other categories not protected under our guarantees.
5. Customers are responsible for shipping costs to transport damaged products to our company or sales office.
6. To ensure the speed and quality of product repair, please download a
RMA application form from our company website: www.adlinktech.com. Damaged products with attached RMA forms receive priority.
For further questions, please contact our FAE staff.
ADLINK: [email protected]
Warranty Policy • 113
114 • Warranty Policy
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Table of contents
- 9 Chapter 1 Introduction
- 12 Features
- 13 Specifications
- 14 Software Supporting
- 15 Chapter 2 Installation
- 15 What You Have
- 16 PCI-8132 Outline Drawing
- 17 Hardware Installation
- 17 Hardware configuration
- 17 PCI slot selection
- 17 Installation Procedures
- 17 Trouble shooting
- 18 Software Driver Installation
- 18 CN1 Pin Assignments: External Power Input
- 19 CN2 Pin Assignments: Main connector
- 20 CN3 Pin Assignments: Simultaneous Start/Stop
- 21 Jumper Setting
- 21 Switch Setting
- 22 Chapter 3 Signal Connections
- 23 Pulse Output Signals OUT and DIR
- 25 Encoder Feedback Signals EA, EB and EZ
- 27 Origin Signal ORG
- 28 End-Limit Signals PEL and MEL
- 29 Ramping-down Signals PSD and MSD
- 30 In-position Signal INP
- 31 Alarm Signal ALM
- 32 Deviation Counter Clear Signal ERC
- 33 General-purpose Signal SVON
- 34 General-purpose Signal RDY
- 35 Isolated Digital Output DOx
- 36 Isolated Digital Input DIx
- 37 Pulser Input Signals PA and PB
- 38 Simultaneously Start/Stop Signals STA and STP
- 39 Daughter Board Connector
- 40 Comparison Output CMP1 and CMP
- 41 Chapter 4 Operation Theorem
- 41 Motion Control Modes
- 42 Pulse Command Output
- 43 Constant Velocity Motion
- 44 Trapezoidal Motion
- 48 S-curve Profile Motion
- 51 Linear and Circular Interpolated Motion
- 52 Home Return Mode
- 54 Manual Pulser Mode
- 55 Motor Driver Interface
- 57 The Limit Switch Interface and I/O Status
- 58 SVON and RDY
- 58 The Encoder Feedback Signals (EA, EB, EZ)
- 60 Multiple PCI-8132 Cards Operation
- 61 Change Speed on the Fly
- 63 Position Comparison
- 67 Interrupt Control
- 71 Chapter 5 Motion Creator
- 72 Main Menu
- 73 Axis Configuration Window
- 76 Axis Operation Windows
- 76 Motion Status Display
- 76 Axis Status Display
- 77 I/O Status Display
- 77 Set Position Control
- 77 Operation Mode Control
- 78 Motion Parameters Control
- 78 Play Key Control
- 79 Velocity Profile Selection
- 79 Repeat Mode
- 81 Chapter 6 Function Library
- 81 List of Functions
- 85 C/C++ Programming Library
- 86 Initialization
- 89 Pulse Input / Output Configuration
- 90 Continuously Motion Move
- 91 Trapezoidal Motion Mode
- 94 S-Curve Profile Motion
- 96 Multiple Axes Point to Point Motion
- 98 Linear and Circular Interpolated Motion
- 98 Interpolation Parameters Configuring
- 100 Home Return
- 101 Manual Pulser Motion
- 103 Motion Status
- 105 Servo Drive Interface
- 107 I/O Control and Monitoring
- 108 Position Control
- 109 Interrupt Control
- 112 Digital Input/Output Control
- 113 Position Compare Control
- 116 Chapter 7 Connection Example
- 116 General Description of Wiring
- 119 Connection Example with Servo Driver