3.11 Open Loop and Closed Loop Connection

All axes in PCI-8136M are free to set as open loop pulse output control or closed loop voltage output control. Users must realize what is the different between these two settings.

There are 6 motion control sets for every axis in PCI-8136M card. Each set has its own pulse output, encoder input, analog output, analog input and dedicated I/O channels . The block diagram of these functions are shown below:

Open Loop Control Mode (axis independent)

User's

Command

DDA

Engine

Pulse

Generator to OUT/DIR pins

Driver and

Motor

Internal connected only for axis 0 to 2

Encoder

Read from EA/EB pins

Can be opened

(no connection)

1. AD/DA is free to use at this mode

3. Others ADPIO are free to use except this axis'

4. Encoder 0~2 are free to use if feedback loop is opened encoder feedback

Closed Loop Control Mode (axis independent)

Pulse Gen.

to Out/Dir pins

Pulse output (useless)

User's

Command

DDA

Engine

+

-

Gain D/A to DA pins

Driver and

Motor

Encoder

Read from EA/EB pins encoder feedback

1. AD is free to use at this mode

2. DIO is free to use at this mode if not set motion I/O active

3. Others ADPIO are free to use except this axis'

4. Out/Dir can't be used for other pupose

32

• Signal Connection

4

Operation Theorem

This chapter describes the detail operation theorem of the PCI-8136M card.

Contents of the following sections are shown as following.

Section 4.1

Section 4.2

Section 4.3

: AD conversion and preloaded Trigger

: DA Conversion

: Local DIO

Section 4.4

Section 4.5

Section 4.6

Section 4.7

: Pulse Input and position compare

: Pulse Output

: Remote serial IO

: Introduction to DDA

Section 4.8

Section 4.9

: Open loop and closed loop control

: Constant velocity motion

Section 4.10 : Trapezoidal Motion

Section 4.11 : S-Curve Motion

Section 4.12 : 2D Interpolation

Section 4.13 : 3D Interpolation

Section 4.14 : Home return mode

Section 4.15 : Motion Parameter Setting

Section 4.16 : Motion I/O

Section 4.17 : Interrupt Control

Operation Theorem

• 33

Please refer to the following architecture diagram of PCI-8136M

VB / VC

Programming

Function

Library

Motion

ASIC

DDA

PCL

I/O Map

Register

Device

Driver

Windows

OS

PCI Bus

PCI Bus

ASIC

PCI9050

DAC

ENC

LIO

ADC

RIO

ADC : Please refer to section 4.1: AD Conversion and Preloaded Trigger

DAC : Please refer to section 4.2: DA Conversion

LIO : Please refer to section 4.3: DIO

ENC : Please refer to section 4.4: Pulse Input and Position Compare

RIO : Please refer to section 4.6: Remote serial IO

DDA : Please refer to section 4.5 and 4.7

PCL : Please refer to section 4.8

34

• Operation Theorem