MC8141P User`s manual 4-Axis Stepping/Pulse

MC8141P User's manual
4-Axis Stepping/Pulse-type
Servo Motor Control Card
2nd Edition
Aurotek Corporation
Copyright
This documentation and the software included with this product are copyrighted 2003 by Aurotek Corp. All
rights are reserved. Aurotek Corp. reserves the right to make improvements in the products described in
this manual at any time without notice.
No part of this manual may be reproduced, copied, translated or transmitted in any form or by any means
without the prior written permission of Aurotek Corp. Information provided in this manual is intended to be
accurate and reliable. However, Aurotek Corp. assumes no responsibility for its use, nor for any
infringements of the rights of third parties which may result from its use.
Acknowledgments
Aurotek is a trademark of Aurotek Corp. IBM and PC are trademarks of International Business Machines
®
®
®
Corporation. MS-DOS, Windows , Microsoft Visual C++ and Visual BASIC are trademarks of Microsoft
®
®
Corporation. Intel and Pentium are trademarks of Intel Corporation. Delphi and C++Builder are
trademarks of Inprise Corporation.
CE notification
The MC8141P, developed by AUROTEK CORP., has passed the CE test for environmental specifications
when shielded cables are used for external wiring. We recommend the use of shielded cables. This kind of
cable is available from Aurotek. Please contact your local supplier for ordering information.
Technical Support
For technical support and service, please contact us:
Fl. 2, No. 123, Wugung 1st Rd., Wugu Industrial District, Taipei 248, Taiwan
Tel: +886-2-2299-3955 (rep.)
Fax: +886-2-2218-1989
E-mail: info@robot.com.tw
nd
2 Edition
Printed in Taiwan March 2003
Aurotek MC8141P User Manual
Contents
1. Introduction................................................................................................................................................ 1
1.1
Features................................................................................................................................... 1
1.2 Applications..................................................................................................................................... 3
1.3 Installation Guide ............................................................................................................................ 3
1.4 Accessories..................................................................................................................................... 3
2. Installation ................................................................................................................................................. 4
2.1 Unpacking ....................................................................................................................................... 4
2.2 Driver Installation ............................................................................................................................ 4
2.3 Hardware Installation ...................................................................................................................... 5
3. Signal Connections.................................................................................................................................... 7
3.1 I/O Connector Pin Assignments...................................................................................................... 7
3.2 Location of Jumpers and DIP switch .............................................................................................. 7
3.4 Output Pulse Definition (nP+P, nP+N, nP-P, nP-N) ......................................................................11
3.5 General Purposed Output (nOUT7 ~ nOUT4) .............................................................................. 12
3.6 Over Traveling Limit Switch Input (nLMT+, nLMT-)...................................................................... 12
3.7 Deceleration/Instantaneous Stop Switch Input (nIN1~3).............................................................. 13
3.8 General Purposed Input for Servo Drives..................................................................................... 14
3.9 Encoder Input (nECAP, nECAN, nECBP, nECBN, nINOP, nINON) ............................................ 14
3.10 External Pulse Control Input (nEXOP+, nEXOP-) ...................................................................... 16
3.11 Emergency Stop Input (EMG)..................................................................................................... 16
3.12 External Power Input (VEX)........................................................................................................ 17
3.13 Interrupt Setting .......................................................................................................................... 17
3.14 Connection Examples for Motor Drivers..................................................................................... 18
3.14.1 Connection to Step Motor Drivers................................................................................... 18
3.14.2 Connection to Servo Motor Drivers................................................................................. 19
3.15 Field Wiring Considerations........................................................................................................ 20
3.16 I/O Signal Timing ........................................................................................................................ 20
3.16.1 Power On RESET ........................................................................................................... 20
3.16.2 Individual Axis Driving ..................................................................................................... 21
3.16.3 Interpolation Driving ........................................................................................................ 21
3.16.4 Input Pulse Timing .......................................................................................................... 21
3.16.5 Instantaneous Stop Timing ............................................................................................. 22
3.16.6 Deceleration Stop Timing................................................................................................ 22
Appendix A. Specification.............................................................................................................................. 1
Appendix B. Block Diagram........................................................................................................................... 4
Appendix C. Register Structure and Format ................................................................................................. 5
C.1 Overview ........................................................................................................................................ 5
C.2 I/O Port Address Map..................................................................................................................... 5
C.3 MCX314 WRITE Registers: WR0 ~ WR7 .................................................................................... 10
C.4 Clear Interrupt Register: CLRINT................................................................................................. 10
C.5 Pulse Generator Mode/Status Register: PGM / PGSTA.............................................................. 10
C.6 MCX314 READ Registers: RR0 ~ RR7 ........................................................................................11
C.7 Interrupt Status Register: INTSTA ................................................................................................11
C.8 Board ID Register: BDID .............................................................................................................. 12
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Aurotek MC8141P User Manual
1. Introduction
The MC8141P 4-Axis Stepping/Pulse-type Servo Motor Control Card is designed for general-purpose
extreme motion applications. The MC8141P is a high-speed 4-Axis motion control card for the PCI bus
that simplifies stepping and pulse-type servo motor control, giving you added performance from your
motors. The card’s intelligent NOVA® MCX314-motion ASIC builds in a variety of motion control
functions, such as 2/3-axis linear interpolation, 2-axis circular interpolation, T/S-curve
acceleration/deceleration rate and more. In addition, the MC8141P performs these motion control
functions without processor load during driving.
For advanced applications, we supply Windows DLL drivers and user friendly examples to decrease
your programming load. Moreover, through a free bundled MC8141P motion utility, you can complete
configuration and diagnosis easily.
1.1 Features
The Aurotek MC8141P provides users with the most requested motor control functions as seen below:
„ Independent 4-axis motion control
„ Support hand wheel and jog function
„ 2/3-axis linear interpolation function
„ 2-axis circular interpolation function
„ Continuous interpolation function
„ Programmable T/S-curve acceleration and deceleration
„ Up to 4MPPS pulse output for each axis
„ Two pulse output types: Up/Down or Pulse/Direction
„ Up to 1 MHz encoder input for each axis
„ Two encoder pulse input types: A/B phase or Up/Down
„ Position management and software limit switch function
„ Board ID
„ Free Motion Utility bundled for configuration and diagnosis
The Aurotek MC8141P offers the following main features:
Individual Control for 4 Axes
Each of the four axes has identical function capabilities, and is controlled by the same method of
operation with constant speed, trapezoidal or S curve driving.
Programmable T/S-curve Acceleration and Deceleration
Each of four axes can be preset individually with S-curve or trapezoidal acceleration/deceleration
rates. When using S-curve acceleration to control driving speed, output pulse is generated in
parabolic-shaped acceleration or deceleration curves, and the triangular curve phenomenon will not
occur through the NOVA® MCX314-motion ASIC design concept.
Linear and Circular Interpolation
Any two or three axes can be selected to execute linear interpolation driving and any two axes can be
selected to execute circular arc interpolation control. The interpolation speed range is from 1 PPS to 4
MPPS.
Powerful position management function
Each axis is equipped with a 32-bit logical position counter and a 32-bit real position counter. The
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Aurotek MC8141P User Manual
logical position counter counts the axis’ pulse output number and the real position counter is recorded
with the feedback pulse from the outside encoder or linear scale.
Speed Control
The speed range of the pulse output is from 1PPS to 4MPPS for constant speed, trapezoidal or
S-curve acceleration/deceleration driving. The accuracy of the frequency of the pulse output is less
than +/- 0.1% (at CLK=16 MHz). The speed of driving pulse output can be freely changed during the
driving.
Bit Pattern Interpolation
Any 2 or 3 axes can be selected to perform the bit pattern interpolation, and the interpolation data is
calculated by CPU; CPU writes the bit data into MCX314. Then, MCX314 outputs pulses continuously
at the preset driving speed. So, the user can process any interpolation curve by this mode.
Continuous Interpolation
Different interpolation methods can be used continuously, for example: Linear interpolation ÆCircular
interpolation ÆLinear interpolation The maximum driving speed of performing continuous interpolation
is 2MPPS.
Constant Vector Speed Control
This function performs a constant vector speed. During the interpolation driving, MCX314 can set a
1.414 times pulse cycle for 2-axis simultaneous pulse output, and a 1.732-time pulse cycle for 3-axis
simultaneous pulse output that keep the constant speed during driving.
Position Control
Each axis has a 32-bit logic position counter and a 32-bits real position counter. The logic position
counter counts the output pulse numbers, and the real position counter counts the feedback pulse
numbers from the external encoder or linear scale.
Compare Register and Software Limit
Each axis has two 32-bit compare registers for logical position counter and real position counter. The
comparison result can be read from the status registers. The comparison result can be notified by an
interrupt signal. These registers can be also functioned as software limits.
Driving by External Signal
It is possible to control each axis by external signals. The +/- direction fixed pulse driving and
continuous driving can be also performed through the external signals. This function is used for JOG
or teaching modes, and will share the CPU load.
Input/ Output Signal
Each axis has 4 points of input signals to perform deceleration and stop in driving. These input signals
are for high-speed near-by home search, home search and z-phase search during the home returning.
Each axis is with 8 output points for general output.
Servo Motor Feedback Signals
Each axis includes input pins for servo feedback signals such as in-positioning, close loop positioning
control and servo alarm.
Interrupt Signals
Interrupt signals can be generated when: (1). The start / finish of a constant speed drive during the
trapezoidal driving, (2). The end of driving, and (3). The compare result once higher / lower the
border-lines of the position counter range. An interrupt signal can be also generated during the
interpolation driving.
Real Time Monitoring
During the driving, the present status such as logical position, real position, drive speed, acceleration /
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Aurotek MC8141P User Manual
deceleration, status of accelerating / decelerating and constant driving can be read.
1.2 Applications
„
„
„
„
„
„
Precise X-Y-Z position control
Precise rotation control
Packaging and assembly equipment
Machine control with up to 4 axes
Semiconductor pick and place and testing equipment
Other stepping/pulse-type servo motor applications
1.3 Installation Guide
Before you install your MC8141P card, please make sure you have the following necessary
components:
„ MC8141P DAS card
„ MC8141P’s User’s Manual
„ Driver Software Aurotek
MC8141P DLL drivers
(Included in the companion CD-ROM)
„ Motion Utility Aurotek
MC8141P Motion Utility
(Included in the companion CD-ROM)
„ Wiring cable
FX2B-100S -1.27R(1.2m)
„ Wiring board
PCN5050D (2pcs)
„ Computer
Personal computer or workstation with a PCI-bus slot
After you have got the necessary components and maybe some accessories for enhanced operation
of your Motion card, you can then begin the Installation procedures.
1.4 Accessories
Aurotek offers a complete set of accessory products to support the MC8141P card. These accessories
include:
Wiring Cable
„ FX2B-100S -1.27R(1.2m)
Wiring Boards
„ PCN5050D
The FX2B-100S -1.27R cable is specially designed for MC8141P
card.
The PCN5050D is a 50-pin wiring terminal module for DIN-rail
mounting. This terminal module can allow easy yet reliable access to
individual pin connections for the MC8141P card.
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Aurotek MC8141P User Manual
2. Installation
This chapter gives users a package item checklist, proper instructions about unpacking and
step-by-step procedures for both driver and card installation.
2.1 Unpacking
After receiving your MC8141P package, please inspect its contents first. The package should contain
the following items:
; MC8141P card
; Companion CD-ROM (DLL driver included)
; User’s Manual
The MC8141P card harbors certain electronic components vulnerable to electrostatic discharge (ESD).
ESD could easily damage the integrated circuits and certain components if preventive measures are
not carefully paid attention to. Before removing the card from the antistatic plastic bag, you
should take following precautions to ward off possible ESD damage:
z Touch the metal part of your computer chassis with your hand to discharge static electricity
accumulated on your body. Or one can also use a grounding strap.
z Touch the antistatic bag to a metal part of your computer chassis before opening the bag.
z Take hold of the card only by the metal bracket when removing it out of the bag.
After taking out the card, first you should:
z Inspect the card for any possible signs of external damage (loose or damaged components, etc.). If
the card is visibly damaged, please notify our service department or our local sales representative
immediately. Avoid installing a damaged card into your system.
Also pay extra caution to the following aspects to ensure proper installation:
a Avoid physical contact with materials that could hold static electricity such as plastic, vinyl and
Styrofoam.
a Whenever you handle the card, grasp it only by its edges. DO NOT TOUCH the exposed metal
pins of the connector or the electronic components.
Note:
Keep the antistatic bag for future use. You might need the original bag to store the card if you have
to remove the card from PC or transport it elsewhere.
2.2 Driver Installation
We recommend you to install the driver before you install the MC8141P card into your system,
since this will guarantee a smooth installation process.
The 32-bit DLL driver Setup program for the card is included on the companion CD-ROM that is
shipped with your DAS card package. Please follow the steps below to install the driver software:
Step 1: Insert the companion CD-ROM into your CD-ROM drive.
Step 2: The Setup program will be launched automatically if you have the autoplay function enabled
on your system. When the Setup Program is launched, you’ll see the following Setup Screen.
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Aurotek MC8141P User Manual
Note:
If the autoplay function is not enabled on your computer, use Windows Explorer or Windows Run
command to execute SETUP.EXE on the companion CD-ROM.
Figure 2-1: The Setup Screen of Aurotek Automation Software
Step 3: Just follow the installation instructions step by step to complete your DLL driver setup.
Step 4: Then setup the MC8141P Motion Utility automatically. For further information on driver-related
issues, an online version of Software Manual is available by accessing the following path:
Start/Programs/Aurotek MC8141P Driver
The example source codes could be found under the corresponding installation folder such as the
default installation path:
\Program Files\Aurotek\MC8141P\Examples
2.3 Hardware Installation
Note:
Make sure you have installed the driver first before you install the card (please refer to 2.2 Driver
Installation)
After the DLL driver installation is completed, you can now go on to install the MC8141P card in any
PCI slot on your computer. But it is suggested that you should refer to the computer user manual or
related documentations if you have any doubt. Please follow the steps below to install the card on your
system.
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Aurotek MC8141P User Manual
Step 1: Turn off your computer and unplug the power cord and cables.
a TURN OFF your computer before installing or removing any components on the computer.
Step 2: Remove the cover of your computer.
Step 3: Remove the slot cover on the back panel of your computer.
Step 4: Touch the metal part on the surface of your computer to neutralize the static electricity that
might be on your body.
Step 5: Insert the MC8141P card into a PCI slot. Hold the card only by its edges and carefully align it
with the slot. Insert the card firmly into place. Use of excessive force must be avoided,
otherwise the card might be damaged.
Step 6: Fasten the bracket of the PCI card on the back panel rail of the computer with screws.
Step 7: Connect appropriate accessories (68-pin cable, wiring terminals, etc. if necessary) to the PCI
card.
Step 8: Replace the cover of your computer chassis. Re-connect the cables you removed in step 2.
Step 9: Plug in the power cord and turn on the computer.
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Aurotek MC8141P User Manual
3. Signal Connections
Maintaining signal connections is one of the most important factors in ensuring that your application
system is sending and receiving data correctly.
A good signal connection can avoid unnecessary and costly damage to your PC and other hardware
devices. This chapter provides useful information about how to connect input and output signals to the
MC8141P via the I/O connector.
3.1 I/O Connector Pin Assignments
The I/O connector on the MC8141P is a 100-pin connector that enables you to connect to accessories
with the FX2B-100S-1.27R cable.
Figure 3-1 shows the pin assignments for the 100-pin I/O connector on the MC8141P, and Table 3-1
shows its I/O connector signal description.
I/O Connector
A50
A49 z z z z z z z z z z z z z z A2 A1
B50
B49 z z z z z z z z z z z z z z B2 B1
1st Pin
A50 A49
A2 A1
B50 B49
B2 B1
Connector type: board side.. FX2B-100P -1.27DS(HIROSE)
cable side.. FX2B-100S -1.27R(HIROSE)
Figure 3-1: I/O connector pin for the MC8141P
Note:
See the figure above: when the first pin (▲) is found, the upper cable, from right (red wire) to left
are the pins A1, A2, A3, …, A49, A50, and lower cable from right (red wire) to left are the pins B2,
B3, …, B49, B50.
The FX2B-100S-1.27R cable is especially designed for the MC8141P to reduce noise in the
analog signal lines. Please refer to Section 1.4 Accessories.
3.2 Location of Jumpers and DIP switch
Figure 3-2 shows the names and locations of jumpers and DIP switch on the MC8141P. There are
nine jumpers, JP1 to JP9 on the MC8141P. Please refer to Section 3.4 Output Pulse Definition and
Section 3.11 Emergency Stop Input for more information about JP1~8 and JP9 configurations.
Board ID
The MC8141P has a built-in DIP switch (SW1), which is used to define each card’s board ID for
MC8141P Motion Utility. You can determine the board ID on the register as shown on Table 3-2.
When there are multiple cards on the same chassis, this board ID setting function is useful for
identifying each card’s device number through board ID. We set the MC8141P board ID as 0 at the
factory. If you need to adjust it to other board ID, set the SW1 by referring to the Table 3-3.
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Aurotek MC8141P User Manual
Table 3-1: MC8141P I/O Connector Signal Description (part 1)
Pin
A1
A2
A3
A4
A5
A6
A7
A8
A9
A10
A11
A12
A13
A14
A15
A16
A17
A18
A19
A20
A21
A22
A23
A24
A25
A26
A27
A28
A29
A30
A31
A32
A33
A34
A35
A36
A37
A38
A39
A40
A41
A42
A43
A44
A45
A46
A47
A48
A49
A50
8
Signal Name
VEX
EMG
XLMT+
XLMTXIN1
XIN2
XIN3
YLMT+
YLMTYIN1
YIN2
YIN3
XINPOS
XALARM
XECAP
XECAN
XECBP
XECBN
XIN0P
XIN0N
YINPOS
YALARM
YECAP
YECAN
YECBP
YECBN
YIN0P
YIN0N
XEXOP+
XEXOPYEXOP+
YEXOPGND
XOUT4
XOUT5
XOUT6
XOUT7
XP+P
XP+N
XP-P
XP-N
GND
YOUT4
YOUT5
YOUT6
YOUT7
YP+P
YP+N
YP-P
YP-N
I/O
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Contents
External Power(DC12~24V)
Emergency Stop (for all axes)
+ Direction Limit of X axis
- Direction Limit of X axis
Decelerating / Sudden Stop of X axis
Decelerating / Sudden Stop of X axis
Decelerating / Sudden Stop of X axis
+ Direction Limit of Y axis
- Direction Limit of Y axis
Decelerating / Sudden Stop of Y axis
Decelerating / Sudden Stop of Y axis
Decelerating / Sudden Stop of Y axis
Servo In-positioning of X axis
Servo Error of X axis
Encoder Phase A of X axis
Encoder Phase A of X axis
Encoder Phase B of X axis
Encoder Phase B of X axis
Encoder Phase Z of X axis
Encoder Phase Z of X axis
Servo In-positioning of Y axis
Servo Error of Y axis
Encoder Phase A of Y axis
Encoder Phase A of Y axis
Encoder Phase B of Y axis
Encoder Phase B of Y axis
Encoder Phase Z of Y axis
Encoder Phase Z of Y axis
+ Direction Drive Operation of X axis
– Direction Drive Operation of X axis
+ Direction Drive Operation of Y axis
– Direction Drive Operation of Y axis
Ground
General Purpose Output of X axis
General Purpose Output of X axis
General Purpose Output of X axis
General Purpose Output of X axis
+ Direction Drive Pulse of X axis
+ Direction Drive Pulse of X axis
- Direction Drive Pulse of X axis
- Direction Drive Pulse of X axis
Ground
General Purpose Output of Y axis
General Purpose Output of Y axis
General Purpose Output of Y axis
General Purpose Output of Y axis
+ Direction Drive Pulse of Y axis
+ Direction Drive Pulse of Y axis
- Direction Drive Pulse of Y axis
- Direction Drive Pulse of Y axis
Aurotek MC8141P User Manual
Table 3-1: MC8141P I/O Connector Signal Description (part 2)
Pin
B1
B2
B3
B4
B5
B6
B7
B8
B9
B10
B11
B12
B13
B14
B15
B16
B17
B18
B19
B20
B21
B22
B23
B24
B25
B26
B27
B28
B29
B30
B31
B32
B33
B34
B35
B36
B37
B38
B39
B40
B41
B42
B43
B44
B45
B46
B47
B48
B49
B50
Signal Name
VEX
I/O
Input
Contents
External Power (DC12~24V)
ZLMT+
ZLMTZIN1
ZIN2
ZIN3
ULMT+
ULMTUIN1
UIN2
UIN3
ZINPOS
ZALARM
ZECAP
ZECAN
ZECBP
ZECBN
ZIN0P
ZIN0N
UINPOS
UALARM
UECAP
UECAN
UECBP
UECBN
UIN0P
UIN0N
ZEXOP+
ZEXOPUEXOP+
UEXOPGND
ZOUT4
ZOUT5
ZOUT6
ZOUT7
ZP+P
ZP+N
ZP-P
ZP-N
GND
UOUT4
UOUT5
UOUT6
UOUT7
UP+P
UP+N
UP-P
UP-N
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
+ Direction Limit of Z axis
- Direction Limit of Z axis
Decelerating / Sudden Stop of Z axis
Decelerating / Sudden Stop of Z axis
Decelerating / Sudden Stop of Z axis
+ Direction Limit of U axis
- Direction Limit of U axis
Decelerating / Sudden Stop of U axis
Decelerating / Sudden Stop of U axis
Decelerating / Sudden Stop of U axis
Servo In-positioning of Z axis
Servo Error of Z axis
Encoder Phase A of Z axis
Encoder Phase A of Z axis
Encoder Phase B of Z axis
Encoder Phase B of Z axis
Encoder Phase Z of Z axis
Encoder Phase Z of Z axis
In-positioning of U axis
Servo Error of U axis
Encoder Phase A of U axis
Encoder Phase A of U axis
Encoder Phase B of U axis
Encoder Phase B of U axis
Encoder Phase Z of U axis
Encoder Phase Z of U axis
+ Direction Drive Operation of Z axis
– Direction Drive Operation of Z axis
+ Direction Drive Operation of U axis
– Direction Drive Operation of U axis
Ground
General Purpose Output of Z axis
General Purpose Output of Z axis
General Purpose Output of Z axis
General Purpose Output of Z axis
+ Direction Drive Pulse of Z axis
+ Direction Drive Pulse of Z axis
- Direction Drive Pulse of Z axis
- Direction Drive Pulse of Z axis
Ground
General Purpose Output of U axis
General Purpose Output of U axis
General Purpose Output of U axis
General Purpose Output of U axis
+ Direction Drive Pulse of U axis
+ Direction Drive Pulse of U axis
- Direction Drive Pulse of U axis
- Direction Drive Pulse of U axis
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
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Aurotek MC8141P User Manual
+5V
+5V
3
3
1
JP JP JP JP
1 2 3 4
1
JP JP JP JP
5 6 7 8
EMG
STOP
JP9
SW1
Figure 3-2: Location of Jumpers and DIP switch on MC8141P
Table 3-2: Board ID register
SW1
Base Add+12h
3
Abbreviation
BDID3
Board ID register
2
1
BDID2
BDID1
0
BDID0
ID0: the least significant bit (LSB) of Board ID
ID3: the most significant bit (MSB) of Board ID
Table 3-3: Board ID setting
Board ID setting (SW1)
Board ID
z= Off
10
Switch Position
ID3
ID2
ID1
ID0
*0
z
z
z
z
1
z
z
z
{
14
{
{
{
z
{
{
{
{
15
{= On
* = default
Aurotek MC8141P User Manual
3.4 Output Pulse Definition (nP+P, nP+N, nP-P, nP-N)
The output pulse command of MC8141P is from MCX314 chip. The pulse command has two types.
One is in Up/Down mode and another is in Pulse/Direction mode. While nP+P is differential from
nP+N and nP-P is differential from nP-N. After system reset, the nP+P and nP-P is low level, and this
invert output (nP+N, nP-N) is high level, and the default setting of pulse output mode is Up/Down.
User can change the output mode into Pulse/Direction mode by writing specified command system
register.
+5V
MCX314
1
nP+P
2
3
nPP/PLS
nP+N
JP<1,3,5,7>
+5V
1
nP-P
2
3
nPM/DIR
nP-N
JP<2,4,6,8>
Figure 3-3: Output Signal Loop for Drive Pulses
From the circuit shown above (Figure 3-3), the default output mode is differential output. For single
ended output use, user can change jumpers JP1~8 to +5V. Note that you should prevent from the
noise interference when using jumpers JP1~8 to output internal +5V to external device.
Table 3-4: Jumper table of JP1~8
Jumper
JP1
JP2
Output Signal
XP+P XP-P
IC output
(Line Driver Output)
+5V output
JP3
JP4
JP5
JP6
YP+P YP-P
ZP+P ZP-P
Pin 2 and Pin 3 short (Default)
JP7
UP+P
JP8
UP-P
Pin 1 and Pin 2 short
The following figure 3-4 and 3-5 show the examples of input circuitry connection for both photo coupler
and motor driver respectively.
+5V or
XP+P
CW+
XP+N
CW-
+5V or
XP-P
CCW+
XP-N
CCWMotor Driver Side
Figure 3-4: Photo coupler input interface
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Aurotek MC8141P User Manual
CW+
XP+P
+
CW-
XP+N
Am26LS32
CCW+
XP-P
CCW-
XP-N
Twist pair with shield
GND
GND
+
Am26LS32
Motor Driver side
Figure 3-5: Line driver input interface
3.5 General Purposed Output (nOUT7 ~ nOUT4)
The general purposed output nOUT7/DSND, nOUT6/ASND, nOUT5/CMPM, and nOUT4/CMPP are
from MCX314, and each output signal is OFF status after system reset.
MCX314
nOUT7/DSND
Internal
Circuit
nOUT7
nOUT6/ASND
Internal
Circuit
nOUT6
nOUT5/CMPM
Internal
Circuit
nOUT5
nOUT4/CMPP
Internal
Circuit
nOUT4
GND
Figure 3-6: Circuit Diagram for General Purposed Output
General purposed output signals used in motor drives can clear error counter, alarm reset, stimulus off,
etc., or select acceleration/deceleration for driving, position counter, and the status of comparison
register as your output during driving.
Note:
The sink current of each input is 200mA max. Please do not apply larger voltage or current
exceeding these limits.
3.6 Over Traveling Limit Switch Input (nLMT+, nLMT-)
Over traveling limit switches are used for system protection. This input signal is connected to the limit
input of MCX314 through the connection of photo coupler and RC filter. When the limit switch is
applied, the external power VEX DC12~24V will source the photo coupler, and then the nLMTP in
MCX314 will be low level. This enables the over traveling function if the desired level of nLMTP is set
to low.
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Aurotek MC8141P User Manual
+5V
MCX314
VEX(12~24V)
10K
nLMTP
3.3K
3.3K
0.01µ
nLMT+
+5V
10K
nLMTM
3.3K
3.3K
0.01µ
nLMT-
Figure 3-7: Circuit Diagram for Movement Limit Input Signals
The response time of this circuit should take about 0.2 ~ 0.4 msec because of the delay of photo
coupled and RC filter. The following figure 3-8 is an example of photo sensor used in the case of over
traveling limit switch input. When writing D3 bit of register2 (XWR2) into 0
to set the limit switch is low active in X-axis, the following figure can work normally.
MC8141P
VEX
͠ DC12~24
͡V
EE-SX670
(OMRON)
XLMT
+
Limit is active when sensor is sheltered.
Figure 3-8: Example of photo sensor used in the limit input signal
3.7 Deceleration/Instantaneous Stop Switch Input (nIN1~3)
There are three input signals (nIN1, nIN2, nIN3) can make the motor drives deceleration or stop. Each
axis has four inputs IN3 ~ IN0, wherein IN0 is used in phase Z interface of encoder feedback, and
nIN1, nIN2, and nIN3 are use as input signals near the original point. If run mode is active, the output
of driving pulse is terminated after those signals are enabled; The deceleration occurs during
acceleration/deceleration, and it will be stopped immediately during constant drive. All the signals
become invalid after reset. For example, when setting the D7 and D6 of XWR1 register to 1 and 0 (IN3
is low active), the drive will be terminated in the case of the limit switch is on and xIN3 is low.
Furthermore, these input signals can be used as general purposed input because user can get the
level by reading the input register status (RR4, RR5)
+5V
MCX314
VEX(12~24V)
10K
nIN3~1
3.3K
0.01µ
3.3K
nIN3~1
Figure 3-9: Circuit Diagram of Deceleration / Instantaneous Stop Input Signal
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Aurotek MC8141P User Manual
The response time of this circuit should take about 0.25 msec because of the delay of photo coupled
and RC filter.
3.8 General Purposed Input for Servo Drives
nINPOS is an input signal from servo drives for in-position check, it is active after the servo drives
finish a position command. Users can enable/disable this pin. When enable this function, the n-DRV
bit in RR0 will change to 0 after servo drives finish the in-position check and nINPOS pin active.
nALARM is an input signal from servo drives for drives alarm output. When servo drives have an
abnormal condition, they active this signal to note MC8141P to stop output pulses. When enable the
nALARM function of MC8141P, the D14 bit of RR2 will set to 1 after nALARM active. If MC8141P is
driving pulses output, the output pulses will stop immediately when nALARM active.
+5V
10K
MCX314
VEX(12~24V
)
nINPOS
3.3K
3.3K
0.01µ
nINPO
S
+5V
10K
nALARM
3.3K
3.3K
0.01µ
nALARM
Figure 3-10: Input Signal for Servo Motor
This signal must be supplied from the external source DC12 ~ 24V, and the response time of this
circuit should take about 0.25 msec because of the delay of photo coupled and RC filter.
Furthermore, this two signals can be used as general purposed input while user could read the input
register 1 and 2 (RR4, RR5) to get the status of this two signal.
3.9 Encoder Input (nECAP, nECAN, nECBP, nECBN, nINOP, nINON)
When feedback the encoder signals, connect nECAP to phase A of encoder output. And nECAN to
phase A, nECBP to phase B, nECBN to phase B. nIN0P to phase Z and nIN0N to phase Z. The
default setting of position feedback of MC8141P is quadrature input. Up/Down pulses feedback is
available after setting the input pule mode.
nIN0P/N is used for encoder phase Z signal feedback and also can be used as general purposed input
or instantaneous stop input.
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Aurotek MC8141P User Manual
+5V
MCX314
470
nECA/PPIN
1K
220
nECAP
nECAN
+5V
470
nECB/PPIM
1K
220
nECBP
nECBN
+5V
470
nIN0
1K
220
NIN0P
NIN0N
Figure 3-11: Circuit diagram of encoder feedback
From the circuit diagram above, MC8141P use high speed photo coupler for isolation. The encoder
output can be differential mode or open-collector mode. When n***P is high and n***N is low, the real
feedback signal (n***) to MCX314 is low. The maximum possible A/B phase feedback frequency is
about 1 MHz.
The following diagram is an example of the connection for encoder with differential-output linear
driver.
XECA
EC-A
XECA
XECB
EC-B
XECB
XINOP
EC-Z
XINO
Encoder Side
Figure 3-12: Example of the connection diagram of differential-output line driver
The following figure is an example of connection for the encoder with open-collector output.
+
DC Power
VCC
R
XECAP
Encoder
EC-A
XECAN
R
XECBP
EC-B
XECBN
R
XINOP
EC-Z
XINON
END
Power Voltage
5
R(W)
0
12
820 1/4W
24
2K 1W
Figure 3-13: Example of the connection for open collector output encoder
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Aurotek MC8141P User Manual
3.10 External Pulse Control Input (nEXOP+, nEXOP-)
The pulses output function of MCX314 chip is controlled by register setting or by external pulse
command input (nEXOP+, nEXOP-). There are two output pulse mode for the external control pin.
One is fixed pulse output mode, and the other is continuous output mode. In MC8141P, it provides Jog
and Hand wheel functions that allow you driving motors through external Hand wheel or Jog
equipment. In Jog mode, it is corresponding to the “Continuous Output Mode,” and in Hand wheel
mode, it is corresponding to the “Fixed Pulse Output Mode.” These functions are progressed without
CPU involved on host PC. When the input signal is enabled during fixed pulse drive, the pulse
specified will be output. When continuous output drive is enabled, the drive pulse will be continually
output at the period of signal Low. This signal should be used in combination with external power
DC12 ~ 24V. The response time of circuitry should take about 10 msec because of the delay of photo
coupled and RC filter.
+5V
MCX314
VEX(12~24V)
10K
nEXPP
74HC1
4
Control
Logic
3.3K
100K
0.01
nEXOP+
+5V
10K
nEXPM
3.3K
100K
74HC14
0.01
nEXOP-
Figure 3-14: Circuit diagram of the external drive operation signals
MC8141P
VEX
͠
DC12~24V
͡
XEXOP+
XEXOPJOG SWITCH
Figure 3-15: Example of connecting to Jog
3.11 Emergency Stop Input (EMG)
When emergency stop input signal is enabled, the output of the drive pulse for all axes will be stopped,
and error bit of main status register will be set to 1. The operation of emergency stop input is positive
or negative triggered can be determined by JP9 on the board.
MCX314
+5V
JP9
VEX(12~24V)
10K
EMGN
100K
0.01
3.3K
EMG
Figure 3-16: Circuit diagram of emergency stop input signal
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Aurotek MC8141P User Manual
This signal should be used in combination with external power DC12 ~ 24V. The response time of
circuitry should take about 0.25 msec because of the delay of photo coupled and RC filter.
Table 3-5: Jumper table of JP9
Jumper
Emergency stop function enabled when emergency stop
signal (EMG) and external GND short
Emergency stop function enabled when emergency stop
signal (EMG) and external GND open
JP9
Pin 1 and Pin 2 short
(Default)
Pin 2 and Pin 3 short
Note:
Please check if EMG and GND are short or not when the card could not work properly.
3.12 External Power Input (VEX)
External power is necessary for all input signals of each axis. Please apply DC12~24V voltage as your
need. Current consumption of each point for input signal is DC12V = 3.3 mA, DC24V = 7 mA.
3.13 Interrupt Setting
When the interrupt occurs from MCX314, the interrupt signal of MCX314 will be changed from high to
low. Because the PCI bus interrupt is high level sensitive, the MC8141P inverse the signal and latch
the signal to adapt the PCI bus INTA. The Fig- 3.17 shows the interrupt structure of the MC8141P. We
suggest users who want to program their own interrupt service routine (ISR) should follow the
procedures:
Step 1: When interrupt occurs. (Hardware)
Step 2: Program will jump to ISR. (Software)
Step 3: In ISR program the first thing have to do is clear interrupt for preventing hanging up the PCI
bus.
Step 4: In ISR program the last thing have to do is read nRR3 of MCX314 for accepting next
interrupt occurs.
+5V
MCX314
D
INTN
Q
PCI BUS
INTA
CLR
CLEAR INT
Figure 3-17: Circuit diagram of interrupt setting
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Aurotek MC8141P User Manual
3.14 Connection Examples for Motor Drivers
3.14.1 Connection to Step Motor Drivers
The following figure is an example of MC8141P connected to 5-phase micro-step motor drives,
KR515M manufactured by TECHNO company.
MC8141P
KR515M
XP+P
F+
CW Pulse
XP+N
XP-P
FR+
CCW Pulse
XP-N
RHO+
HO-
Hold off
XOUT4
DS
+
DS-
M1/M2 select
XOUT5
XINOP
XINON
GND
ZP+
ZP
-
Timing Output
Figure 3-18: Example of connecting to KR515M drive
Note:
JP1~8 of MC8141P are set to +5V output side, +5V output for output terminals XP+P and XP-P.
Setting JP1~8 as single-ended output will output +5V of MC8141P to external devices, this will
induce noise back to MC8141P. So, be careful when connection.
Connect XOUT4 to H. O. (Hold off) can control the drive to hold.Connect XOUT5 to D.S. can
control the resolution of micro-step drive. Which will be controlled by setting D8, D9 of WR3 in
MCX314. And, read the RR4,5 to know the status of XIN0P/N.
The following figure is an example of MC8141P connected to UPK stepdrive manufactured by
ORIENTAL company.
MC8141P
UPK series
XP+
P
XP+N
CW Pulse
XP-P
XP-N
CCW Pulse
CW+
2KΩ / 1W
Hold Off
XOUT4
CWCCW+
CCWH.OFF+
H.OFF-
+
DC24V
GND
-
VEX
XIN1
XALARM
Timing Output
Over Heat
TIMMING
O. HEAT
COM
Figure 3-19: Example of connecting to UPK step drive
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Aurotek MC8141P User Manual
Note:
The differential pulse output of MC8141P is connected to CW/CCW input of UPK drive. XOUT4
can control UPK drive to hold by setting D8 of WR3. TIMING and Over HEAT signals can be read
back by reading RR4,5.
It is better to use twist pair cable for long connection.
3.14.2 Connection to Servo Motor Drivers
The figure shown below is an example of MC8141P connected to MINAS A series AC servo motor
drive.
MC8141P
I/O Connector
MINAS A series CNI/F
XP+P
CW Pulse
XP+N
XP-P
CCW Pulse
XP-N
XECAP
Encoder Phase A
XECAN
XECBP
Encoder Phase B
XECBN
XINOP
XINON
Encoder Phase Z
GND
Servo On
Error Counter Clear
XOUT4
XOUT5
XOUT6
GND
Alarm Clear
PULS1
PULS2
SIGN1
SIGN2
OA+
OAOB+
OBOZ+
OZGND
COM+
SRV-ON
CL
A-CLR
COM-
+
DC24V
VEX
XIN3
XALARM
XINPOS
Servo Ready
Servo Alarm
Completing Position
S-RDY-, ALM-, COIN-
S-RDY+
ALM+
COIN+
XLMT+
CW DIR. LIMIT
XLMT-
CCW DIR. LIMIT
XIN1
HOME
XIN2
Near by HOME
Figure 3-20: Example of connecting to MINAS A series AC servo motor drive
Note:
The servo drive must be set in pulse-control drive mode and the type of pulse input is CW/CCW
mode. This connection is not well for pulse/direction mode because the timing is not match.
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Aurotek MC8141P User Manual
It is optional to connect encoder A/B phase feedback signal. If connect to encoder signal, user can
read the real position from MC8141P.
If the environment has high noise or the connection is long, we recommend you to use twist pair
cable for servo drives.
3.15 Field Wiring Considerations
When you use the MC8141P to acquire data from outside, noises in the environment might
significantly affect the accuracy of your measurements if due cautions are not taken. The following
measures will be helpful to reduce possible interference running signal wires between signal sources
and the MC8141P.
z The signal cables must be kept away from strong electromagnetic sources such as power lines,
large electric motors, circuit breakers or welding machines, since they may cause strong
electromagnetic interference. Keep the analog signal cables away from any video monitor, since it
can significantly affect a data acquisition system.
z If the cable travels through an area with significant electromagnetic interference, you should adopt
individually shielded, twisted-pair wires as the analog input cable. This type of cable has its signal
wires twisted together and shielded with a metal mesh. The metal mesh should only be connected
to one point at the signal source ground.
z Avoid running the signal cables through any conduit that might have power lines in it.
z If you have to place your signal cable parallel to a power line that has a high voltage or high current
running through it, try to keep a safe distance between them. Or you should place the signal cable
at a right angle to the power line to minimize the undesirable effect.
z The signals transmitted on the cable will be directly affected by the quality of the cable. In order to
ensure better signal quality, we recommend that you use the FX2B-100S-1.27R cable.
3.16 I/O Signal Timing
3.16.1 Power On RESET
+5V
RESDRV
nP±P
Low
nP±N
Hi
nOUT4~7
Read/Write
c OFF
Invalid
Valid
d
Figure 3-21: Timing diagram of Power On RESET
c Output pulses (nP ± P, nP ± N) for drive control and general purpose output signals (nOUT4 ~ 7)
for I/O control will be determined after 250 nsec from power on reset.
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Aurotek MC8141P User Manual
d User can access MC8141P only after 500 nsec from power-on reset.
3.16.2 Individual Axis Driving
BUSYN
←Interpolation drive command write in
c
nPP±P
d
1st pulse
Pre state
nPP-P
direction signal
2nd pulse
e
Valid level
Figure 3-22: Timing diagram of Individual Axis Driving
c The maximum time to output command pulse after first pulse command is about 650nsec.
d When pulse/direction mode, the direction signal will valid after 275 nsec and pulse output will vaild
after 375 nsec after direction signal.
3.16.3 Interpolation Driving
BUSYN
←Interpolation drive command write in
c
nPP±P
1st pulse
d
nPP-P
direction signal
d
Valid level
Not stable
2nd pulse
d
d
Valid level
Not stable
Not stable
Figure 3-23: Timing diagram of Interpolation Driving
c After interpolation command is enable, the first pulse will be outputted in 775 nsec.
d If using pulse/direction mode, direction signal (nP-P) is valid in ± 125 nsec of high-level pulse
signal.
3.16.4 Input Pulse Timing
„ Quadrature Pulse of Encoder Input
Counting up
Counting down
nECAP
nECAN
nECBP
nECBN
c
c
c
c
c
c
c
c
Figure 3-24: Timing diagram of Quadrature Pulse of Encoder Input
c The minimum difference time between A/B phases is 200 nsec.
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Aurotek MC8141P User Manual
„ UP/DOWN Pulse Input
nECAP
nECAN
nECBP
nECBN
c
c
e
c
c
e
d
Figure 3-25: Timing diagram of UP/DOWN Pulse Input
c Minimum UP/DOWN pulse width: 130 nsec.
d Minimum Increased/Decreased Pulse Interval: 130 nsec .
e Minimum UP/DOWN pulse period: 260 nsec.
3.16.5 Instantaneous Stop Timing
„ External Instantaneous Stop Signal
EMG, nLMT±
nIN3,2,1,0
nP±P
Valid level
c
Figure 3-26: Timing diagram of External Instantaneous Stop Signal
c When external stop signal is enabled during driving, up to 400 m SEC
+ 1 pules will be outputted, and then stopped.
„ Instantaneous Stop Instruction
IOW*
←Stop command write in
nP±P
d
Figure 3-27: Timing diagram of Instantaneous Stop Instruction
c When the Stop instruction is issued during driving, at most one pulse will be outputted, and then
stopped.
3.16.6 Deceleration Stop Timing
„ External Deceleration/Stop Signal
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Aurotek MC8141P User Manual
Valid level
nLMT±
nIN3,2,1,0
nP±P
c
Figure 3-28: Timing diagram of External Deceleration/Stop Signal
c When external deceleration signal is enabled during driving, up to 400 m SEC + 2 pules will be
outputted, and then stopped.
„ Deceleration/Stop Instruction
IOW*
nP±P
active
←Decelerating command write in
d
Figure 3-29: Timing diagram of Deceleration/Stop Instruction
d When the Deceleration/Stop instruction is issued during driving, at most two pulses will be
outputted, and then stopped.
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Aurotek MC8141P User Manual
Appendix A. Specification
Axis:
Number of Axis
2/3-Axis Linear
Interpolation
2-Axis Circular
Interpolation
Continuous Interpolation
Drive Output Pulses
4 Axis
Range
Speed
Precision
Range
Speed
Precision
Speed
Output Signal*
Range
Precision
Jerk for S Curve
Acceleration/Deceleration
Initial Velocity
Drive Speed
Number of Output Pulses
Pulse Output type
Output Signal Modes
Speed Curve
-8,388,608~+8,388,607 for each
axis
1PPS~4MPPS
±0.5LSB
-8,388,608~+8,388,607 for each
axis
1PPS~4MPPS
±1LSB
1PPS~2MPPS
nP+P/N, nP-P/N
1PPS~4MPPS
±0.1%
954~31.25 x 109 PPS/sec2
125~500 x 106 PPS/sec
1PPS~4MPPS
1PPS~4MPPS
0~268,435455 (fixed pulse
driving mode)
Pulse/Direction(1-pulse,
1-direction type) or
CW/CCW(2-pulse type)
Differential line driving output/
Single-ended output
T/S-curve
Acceleration/Deceleration
Encoder Input:
Input Signal*
Encoder Pulse Input Type
Encoder Interface
Counts per Encoder Cycle
Max. Input Frequency
Input Voltage
Protection
nECAP/N, nECBP/N, nIN0P/N
Quadrature (A/B phase) or
Up/Down
x1, x2, x4 (A/B phase only)
1 MHz
Low
Low 3 VDC max.
10 VDC min.
High
30 VDC max.
2,500 VDC isolation
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Aurotek MC8141P User Manual
Digital Input/Output:
Over Traveling Limit Switch Input*
External deceleration/instantaneous
Stop Signal*
Input Signal for Servo Motor Drives*
Emergency Stop
Max. Input Frequency
Input Signal
Input Voltage
Input Current
Protection
General Purposed
Output Signal
Output Signal*
Output Voltage
Sink Current
Protection
nLMT+ and nLMTnIN1 ~ 3
nALARM (servo alarm); INPOS
(position command completed)
EMG - one emergency stop input
4 kHz
Low
3 VDC max.
10 VDC min.
High
50 VDC max.
10 VDC
1.70 mA (typical)
12 VDC
2.10 mA (typical)
24 VDC
4.40 mA (typical)
48 VDC
9.00 mA (typical)
50 VDC
9.40 mA (typical)
2,500 VDC photo coupler
isolation and RC filtering
nOUT4 ~ 7
Open Collector 5 ~ 40 VDC
200 mA max./channel
2,500 VDC photo coupler
isolation
External Driving:
Input Signal*
Max. Input Frequency
Input Voltage
External Signals Driving
Driving Mode
Protection
2
nEXOP+, nEXOP Max.
100 Hz
Low
3VDC max.
10 VDC min.
High
30 VDC max.
Fixed pulse driving or continuous
Driving Supports Hand Wheel /
Jog
2,500 VDC photo coupler
isolation
Aurotek MC8141P User Manual
Other Functions:
Position Counter
(read/write at any time)
Comparison Register
Interrupt Functions
(Excluding Interpolation)
Board ID
Range of Command Position Counter
-2,147,483,648 ~ +2,147,483,647
(for output pulse)
Range of Actual Position Counter (for
-2,147,483,648 ~ +2,147,483,647
input pulse)
COMP+ Register Range
-2,147,483,648 ~ +2,147,483,647
COMP- Register Range
-2,147,483,648 ~ +2,147,483,647
Can be used for software over traveling limit
Counter ≥ COMPCounter < COMPInterrupt Condition
Counter < COMP+
(All conditions could be enable/disable
Counter ≥ COMP+
individually)
Constant speed begin or end
during acceleration/deceleration
driving, pulse finished
4-bit DIP switch, ID: 0 ~ 15
General:
I/O Connector Type
Dimensions
Power Consumption
External Power Voltage
Temperature
Relative Humidity
Certification
100-pin SCSI-II female
175 mm x 100 mm (6.9" x 3.9")
Typical
+5V @ 850mA ; +12V @ 600mA
Max.
+5V @ 1A ; +12V @ 700mA
DC +12 ~ 24 V
Operation
0 ~ +60º C (32 ~ 140º F) (refer to IEC 68-2-1,2)
Storage
-20 ~ +85º C (-4~ 185º F)
5 ~ 95% RH non-condensing (refer to IEC 68-2-3)
CE certified
Note:
*: “n” represents the axis (X, Y, Z or U) that is concerned
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Aurotek MC8141P User Manual
Appendix B. Block Diagram
PCI9052
Crystal oscillator
16MHz
RESET#
CLK
XP+P/N
XP-P/N
Line driver
26LS31
XOUT7~4
Output buffer
ULN2803A
RESETN
LA4
C50
Address
decoder
LA3~0
CSN
A2~0
XLMTP
XLMTM
XIN3~1
XINPOS
XALARM
XECA
XECB
XINPO
MCX314
XEXOP+
XEXOP-
WR#
WRN
RD#
RDN
Photo coupler &
RC filter
High-speed photo
coupler
Photo coupler
&
RC filter
XP+P/N
XP-P/N
Pulse output
XOUT7~4
General output
VEX External power(DC12~24V)
XLMT+ +Limit input
XLMT-Limit input
XIN3~1 Deceleration input
XINPOS Servo motor signal
XALARM Servo alarm
XECAP/N
XECBP/N
XINPO/N
XEXOP+
XEXOP-
Encoder signal input
+ Dir. jog
-Dir. jog
Y Axis Interface
identical to the Input / Output interface of X-axis
LD15~0
Z Axis Interface
identical to the Input / Output interface of X-axis
LINTI1
Q
U Axis Interface
identical to the Input / Output interface of X-axis
D
CL
INTN
A
EMGN
CLR_INT
APPENDIXC
4
Photo coupler
&
RC filter
EMG Emergency stop
Aurotek MC8141P User Manual
Appendix C. Register Structure and Format
C.1 Overview
The MC8141P is delivered with an easy-to-use 32-bit DLL driver for user programming under
Windows operating system. We advise users to program the MC8141P using 32-bit DLL driver
provided by Aurotek to avoid the complexity of low-level programming by register.
The most important consideration in programming the MC8141P at the register level is to understand
the function of the card’s registers. The information in the following sections is provided for users who
would like to do their own register-level programming.
C.2 I/O Port Address Map
The MC8141P requires 20 consecutive addresses in the PC’s I/O space. The address of each register
is specified as an offset from the card’s base address. For example, BASE+0 is the card’s base
address and BASE+8 is the base address plus eight bytes. The following sections give the detailed
information about register layout, and also the detailed information about each register or driver and its
address relative to the card’s base address.
Table C-1 and C-2 show the function and format of each WRITE register or driver and its address
relative to the card’s base address; Table C-3 and C-4 show the function and format of each READ
register or driver and its address relative to the card’s base address
Note
All base address is in hexadecimal in Appendix C.
Users have to use a 16-bit (word) I/O command to read/write each
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Aurotek MC8141P User Manual
Table C-1: MC8141P WRITE register function
Address
(HEX.)
0
Write
Symbol
WR0
XWR1
YWR1
ZWR1
UWR1
XWR2
YWR2
ZWR2
UWR2
Register Name
Command Register
X Axis Mode Register 1
Y Axis Mode Register 1
Z Axis Mode Register 1
U Axis Mode Register 1
X Axis Mode Register 2
Y Axis Mode Register 2
Z Axis Mode Register 2
U Axis Mode Register 2
BP1P
BP1P Register
XWR3
YWR3
ZWR3
UWR3
X Axis Mode Register 3
Y Axis Mode Register 3
Z Axis Mode Register 3
U Axis Mode Register 3
BP1M
BP1M Register
WR4
Output Register
BP2P
BP2P Register
WR5
Interpolation Mode
Register
BP2M
BP2M Register
WR6
Data Writing Register 1
BP3P
BP3P Register
WR7
Data Writing Register 2
BP3M
BP3M Register
10
12
CLRINT
N/A
14
PGM
Clear Interrupt Register
N/A
Pulse Generator Mode
Register
2
4
6
8
A
C
E
6
Content
Settings for axis assignment and command
Enable/disable deceleration and set
deceleration level.
Enable/disable interrupt for each axis.
Set the external limit signal of each axis.
Set the type of output pulse
Set the type of encoder input
Enable/disable the signal from servo drives
Setting for the + direction bit data of the first
axis for bit pattern interpolation.
Settings for manual deceleration, individually
decelerating, and S-curve acceleration/
deceleration mode of each axis.
Setting for external operation mode.
Setting for general output OUT7 ~ 4.
Setting for the - direction bit data of the
first axis for bit pattern interpolation.
Setting for general output OUT3 ~ 0
Setting for the + direction bit data of th
second axis for bit pattern interpolation
Axis assignment. Settings of constant linear
speed, step output mode, and interrupt
Setting for the - direction bit data of the second
axis for bit pattern interpolation
Setting of the least significant 16-bit (D15-D0)
for data writing
Setting for the + direction bit data of the third
axis for bit pattern interpolation
Setting of the most significant 16-bit
(D31-D16) for data writing.
Setting for the - direction bit data of the
third axis for bit pattern interpolation.
Clearing the interrupt register
Setting for Jog/Hand wheel mode funtion
Aurotek MC8141P User Manual
Table C-2: MC8141P WRITE register format
Base Add.
0
D15
D14
D13
D12
D11
D10
D9
D8
D7
D6
D5
D4
U
Z
Y
IN0-E
IN0-L
Command Code
P≥c+
P<C+
P<C-
P≥c-
PULSE
IN3-E
IN3-L
IN2-E
IN2-L
IN1-E
IN1-L
Interrupt Enable / Disable
Interrupt Enable / Disable
Mode Register 2 : WR 2
W
INP-E
INP-L
ALM-E
ALM-L
PIND1
PIND0 PINMD
DIR-L
PLS-L
HLMT- HLMT+ LMTMD SLMT- SLMT+
PLSMD CMPSL
Mode Register 3 : WR 3
W
OUT7
8
D0
Mode Register 1 : WR 1
W
D-END C-STA C-END
6
D1
X
Axis Assignments
4
D2
Command Register : WR0
W
RESET
2
D3
OUT6
OUT5
PUT4
OUTSL
EXOP1 EXOP0
SACC
DSNDE MANLD
Output Register : WR4
W
UOUT3 UOUT2 UOUT1 UOUT0 ZOUT3 ZOUT2 ZOUT1 ZOUT0 YOUT3 YOUT2 YOUT1 YOUT0 XOUT3 XOUT2 XOUT1 XOUT0
A
Interpolation Mode Register : WR5
W
BPINT
CINT
Interrupt
C
W
E
W
10
W
14
W
CMPLS EXPLS
LSPD1 LSPD0
Step Output
Constant Vector Speed
AX31
AX30
AX21
AX20
AX10
Ax1
Ax2
Ax3
AX11
Data Writing Register 1 : WR6
WD15 WD14 WD13 WD12 WD11 WD10
WD9
WD8
WD7
WD6
WD5
WD4
WD3
WD2
WD1
WD0
Data Writing Register 2 : WR7
WD31 WD30 WD29 WD28 WD27 WD26 WD25 WD24 WD23 WD22 WD21 WD20 WD19 WD18 WD17 WD16
Clear Interrupt Register : CLRINT
Clear Interrupt Register
Pulse Generator Mode Register : PGM
PGMU3 PGMU2 PGMU1 PGMU0 PGMZ3 PGMU2 PGMZ1 PGMZ0 PGMY3 PGMY2 PGMY1 PGMY0 PGMX3 PGMX2 PGMX1 PGMX0
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Aurotek MC8141P User Manual
Table C-3: MC8141P READ register function
Address
(HEX.)
0
Register Name
Content
Limit switch status, driving status, ready for
interpolation, quadrant for circle interpolation,
and the stack of BP
RR0
Main status Register
XRR1
X Axis Status Register 1
YRR1
Y Axis Status Register 1
ZRR1
Z Axis Status Register 1
URR1
U Axis Status Register 1
XRR2
X Axis Status Register 2
YRR2
Y Axis Status Register 2
ZRR2
Z Axis Status Register 2
URR2
U Axis Status Register 2
XRR3
X Axis Status Register 3
YRR3
Y Axis Status Register 3
ZRR3
Z Axis Status Register 3
URR3
U Axis Status Register 3
8
RR4
Input Register 1
I/O input for X- and Y-axis
A
RR5
Input Register 2
input for Z- and U-axis
C
RR6
Data Reading Register 1
Low word of Data Register (D15 ~ D0)
E
RR7
Data Reading Register 2
High word of Data Register (D31 ~ D16)
10
INTSTA
Interrupt Status
Register
The Status of Interrupt Register
12
BDID
Board ID Register
The card's Board ID
14
PGSTA
Pulse Generator Status
Register
Jog/Hand wheel mode function status
2
4
6
8
Read
Symbol
The result of compare, status of acceleration,
and ending status.
Error message
Interrupt message
Aurotek MC8141P User Manual
Table C-4: MC8141P READ register format
Base Add.
1
D15
D14
D13
D12
D11
D10
D9
D8
D7
D6
D5
D4
D2
D1
D0
Main Status Register : RR0
R
BPSC1 BPSC0 ZONE2 ZONE1 ZONE0 CNEXT
I-DRV
U-ERR Z-ERR Y-ERR X-ERR U-DRV Z-DRV Y-DRV Z-DRV
Driving Status of Each Axis
Error Status of Each Axis
2
D3
Status Register 1: RR1
R
EMG
ALARM
LMT-
LMT+
IN3
IN2
IN1
IN0
DSND
CNST
ALARM
HLMT- HLMT+ SLMT- SLMT+
P≥C+
P<C+
P<C-
P≥C-
PULSE
X-EX-
X-EX+
X-IN3
X-IN2
X-IN1
X-IN0
Z-EX-
Z-EX+
Z-IN3
Z-IN2
Z-IN1
Z-IN0
RD5
RD4
RD3
RD2
RD1
RD0
RD21
RD20
RD19
RD18
RD17
RD16
ADSND ACNST AASND
ASND
CMP-
CMP+
Stop Status
4
Status Register 2: RR2
R
EMG
6
Status Register 3: RR3
R
D-END C-STA C-END
8
Input Register 1: RR4
R
Y-ALM
A
Y-IN3
Y-IN2
U-INP
U-EX-
U-EX+
U-IN3
U-IN2
RD14
RD13
RD12
RD11
RD10
Y-IN0
X-ALM
X-INP
U-IN1
U-IN0
Z-ALM
Z-INP
RD9
RD8
RD7
RD6
Data Reading Register 2: RR7
R
R
Y-IN1
Data Reading Register 1: RR6
R
RD31
10
Y-EX+
Input Register 2: RR5
RD15
E
Y-EX-
R
U-ALM
C
Y-INP
RD30
RD29
RD28
RD27
RD26
RD25
RD24
RD23
RD22
Interrupt Status Register: INTSTA
INTF
12
R
Board ID Register: BDID
BDID3
14
R
BDID2
BDID1
BDID0
Pulse Generator Status Register: PGSTA
PGMU3 PGMU2 PGMU1 PGMU0 PGMZ3 PGMZ2 PGMZ1 PGMZ0 PGMY3 PGMY2 PGMY1 PGMY0 PGMX3 PGMX2 PGMX1 PCMX0
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Aurotek MC8141P User Manual
C.3 MCX314 WRITE Registers: WR0 ~ WR7
The MC8141P registers from WR0 (Base Add. + 0) to WR7 (Base Add. + E) are the same as mapping
registers on MCX314 chip, and please refer to MCX314 user’s manual Section 4.3 ~ Section 4.9 for
detailed information.
C.4 Clear Interrupt Register: CLRINT
Write any value to this address to clear the interrupt register.
Table C-5: Clear Interrupt Register: CLRINT - Write BASE +10
Base Add.
10
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Clear Interrupt Register: CLRINT
W
Clear Interrupt Register
C.5 Pulse Generator Mode/Status Register: PGM / PGSTA
The pulse generator function is powerful for users to drive specific axis by Jog or Hand wheel. There
are two operation modes - Jog mode and Hand wheel mode.
In Jog mode, it is corresponding to the “Continuous Pulse Driving Mode”, and in Hand wheel mode, it
is corresponding to the “Fixed Pulse Driving Mode”.
Please refer to MCX314 user’s manual Section 2.6.1 for detailed information.
Table C-6: Pulse Generator Mode/Status Register: PGM/PGMSTA -Write/Read BASE +14
Base Add.
W
14
R
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Pulse Generator Mode Register : PGM
PGMU3 PGMU2 PGMU1 PGMU0 PGMZ3 PGMZ2 PGMZ1 PGMZ0 PGMY3 PGMY2 PGMY1 PGMY0 PGMX3 PGMX2 PGMX1 PCMX0
Pulse Generator Status Register : PGSTA
PGMU3 PGMU2 PGMU1 PGMU0 PGMZ3 PGMZ2 PGMZ1 PGMZ0 PGMY3 PGMY2 PGMY1 PGMY0 PGMX3 PGMX2 PGMX1 PCMX0
D3 ~ 0 X-axis
D7 ~ 4 Y-axis
D11 ~ 8 Z-axis
D15 ~ 12 U-axis
Pules Generator Mode Control
Pules Generator Mode Control
Pules Generator Mode Control
Pules Generator Mode Control
.
Table C-7: Pulse Generator Mode - PGMn3
PGMn3, n=X, Y, Z or U
Meaning
Signal Type
0
Jog mode
Isolated digital input
1
Hand wheel mode
A/B phase pulse input
The following table indicates the external signal routing path. The external signals generate the pulses to
drive the motor are connected to the pins nEXOP+ and nEXOP- (Please refer to the pin assignment).
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Aurotek MC8141P User Manual
Table C-8: Pulse Generator Signal Connection Mode
PGMn2
PGMn1
PGMn0
Meaning
0
0
0
Function disabled
0
0
1
Signal from pins nEXOP+/- for driving n-axis
0
1
0
Software programmable mode - Signal from pins XEXOP+/- for
driving Axis selected by pins U_IN2 and U_IN1
0
1
1
Software programmable mode - Signal from pins YEXOP+/- for
driving Axis selected by pins U_IN2 and U_IN1
1
0
0
Signal from pins XEXOP+/- for driving n-axis
1
0
1
Signal from pins YEXOP+/- for driving n-axis
1
1
0
Signal from pins ZEXOP+/- for driving n-axis
1
1
1
Signal from pins UEXOP+/- for driving n-axis
Note: n= X, Y, Z or U
Table C-9: Driving Axis for Software Programmable Mode
U_IN2
U_IN1
Driving Axis
0
0
X-axis
0
1
Y-axis
1
0
Z-axis
1
1
U-axis
C.6 MCX314 READ Registers: RR0 ~ RR7
The MC8141P registers from RR0 (Base Add. + 0) to RR7 (Base Add. +E) are the same as mapping
registers on MCX314 chip, and please refer to MCX314 user’s manual Section 4.10 ~ Section 4.15 for
detailed information.
C.7 Interrupt Status Register: INTSTA
Table C-10: Interrupt Status Register: INTSTA - Read BASE +10
Base Add.
10
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Interrupt Status Register: INTSTA
R
INTF
D0
Interrupt flag
This bit indicates whether interrupt occurred or not.
1 means that an interrupt has occurred.
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Aurotek MC8141P User Manual
C.8 Board ID Register: BDID
BDID shows the Board ID of the MC8141P.
Table C-11: Board ID Register: BDID - Read BASE +12
Base Add.
12
12
R
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Board ID Register: BDID
BDID3 BDID2 BDID1 BDID0
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