User`s Manual of ISaGRAF Embedded Controllers
Contents
1. 18st Reel ANE IA ZA ec Hee YER 1 I 8417 8817 8437 8837 ZX FA I 8091 E1 1 8090 jF ER Af ee FESR Motion fy ZN EVE HY EY Bi ASS Sz ef 1 8091 H 1 8090 AK aE DA PAHE T Ek http www icpdas com products PAC 1 8000 1sagraf link htm 2 amp 1 8437 8837 AEM SUR Motion hih M tE Ethernet MFA 1H Wincon 8xx7 74 Ais ERREI Wincon 8xx7 EHEAR CRA sz fF 1 8091 H 1 8090 fx F 3 HG I 8xx7 BK Wincon 8xx7 EKS I 8091 Hk AA 1 Hr 1 8091 Se X Y pE EEK I 8091 i KARE a ea Sh 8x7 ae FE 2 Fr I 8091 R Wincon wA nj Sz FF 4 Fr 18 1 Install motion driver Restriction of the motion driver of I 8417 8817 8437 8837 The motion driver for I 8417 8817 8437 8837 doesn t support the Ethernet communication however W 8337 8737 desen t have this limitation The ISaGRAF demo projects of motion for I 8417 8817 8437 8837 are demo_27 demo_28 amp demo_46 They are located in the I 8000 CD ROM napdos isagraf 8000 demo or at ftp icpdas com pub cd 8000cd napdos isagrat 8000 demo The ISaGRAF demo projects of motion for W 8337 8737 8347 8747 are wdemo_26 wdemo_27 wdemo_28 amp wdemo_29 They are located in the Wincon CD ROM napdos isagraf wincon demo or at tp ftp icpdas com pub cd wincon_isagraf napdos isagraf wincon demo ISaGRAF Wp HHFH May 2007 Ver 3 1 18 1 ICP DAS All functions that trigger I 8091 amp I 8090 are named as2. M_ Please refer to the On line help from the ISaGRAF Help Library C functions for names starting with M_ A TSaGR AF Project Management 3 3 E O x File Edit Project Tools Options Help Technical notes 4 3 x etaj Cy G2 ti eR U rs gvide E m ebus_s1 Language reference mm ebus sil m s256 test 5256 Reference t107 C functions Author function vie z OFVversion TUFICHIOrs Date of creation 2002 9 26 mere R ar ee Version number 1 ISaGRaAF 3 46 ake sure the motion driver is well installed Description Please refer to Napdos SaGRAPo0o0 Drivermotion pdt j i Demo please refer to demo_2 demo_2 High Peed mowe and stop when ORG1 0RG2 limit switch is tour call Beside please refer to I 8091 amp I 8090 User s Manual It can be found in the package box of the 1 8091 or I 8000 CD ROM napdos 8000 motion 1809 I manual ftp site ftp ftp icpdas com pub cd 8000cd napdos 8000 motion 809 1 manual ISaGRAF Wp HHFH May 2007 Ver 3 1 18 2 ICP DAS 18 2 Introduction 18 2 1 System Block Diagram The I 8091 stepping motor control card is a micro computer controlled 2 axis pulse generation card It includes a 2Kbytes FIFO to receive motion command from host a micro computer for profile generation and protection 2 axis DDA chip to execute DDA function when interpolation command is used 2500 Vrms optical isolation inserted for industri
3. M_stpall or M_slwstp Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 dir_ integer direction 0 CW 1 CCW axis_ integer 1 X axis 2 Y axis move_speed_ integer 0 lt move_speed_ lt 2040 Return Q_ boolean always return TRUE move speed Acc_Dec Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8337 8737 wdemo_26 wdemo_27 wdemo_28 wdemo_29 ISaGRAF pE FAFA May 2007 Ver 3 1 18 23 ICP DAS M_slwdn Slow down to low speed m_slwdn To decelerate to slow speed until M_stpx or M_stpy or M_stpall is executed aei AKIS Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 AXIS _ integer 1 X axis 2 Y axis Return Q_ boolean always return TRUE SLOW_DOWN Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8337 8737 wdemo_26 wdemo_27 wdemo_28 wdemo_29 M_slwstp Slow down to stop m_siwstp To decelerate to stop canz AXIS Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 AXIS_ integer 1 X axis 2 Y axis Return Q_ boolean always return TRUE SLOW_STOP Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8337 8737 wdemo_26 wdemo_27 wdemo_28 wdemo_29 ISaGRAF IE FA FH May 2007 Ver 3 1 18 24 ICP DAS Interpolation commands M_intp This command will move a short distance interpolation short line on X Y plane This command provided a method for user to gene
4. of Z axis CH1 to CH3 are signed 32 bit integer format ISaGRAF Wp HHFH May 2007 Ver 3 1 18 13 ICP DAS Setting commands M_regist Register one I 8091 m_regist In order to distinguish more than one I 8091 card in I 8417 8817 8437 8837 platform the I 8091 cards should be registrated before using it This command will assign a card number card _NO_ to I 8091 card at that address_ If there is no 8091 at the given address this command will return FALSE Note If using I_8091A rather than I_8091 on the I O connection window user don t need to call m_regist amp m_s_nc they are ignored The card_NO of I 8091A is equal to its slot No I 8xx7 0 7 W 8xx7 1 7 Parameters card NO integer valid is O 19 address_ integer the plugged slot address of the 18091 card slot 0 16 80 slot 1 16 A0 slot 2 16 C0 slot 3 16 E0 slot 4 16 140 slot 5 16 160 slot 6 16 180 slot 7 16 1A0 Return Q_ boolean TRUE Ok FALSE Fail Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8337 8737 wdemo_26 wdemo_27 wdemo_28 wdemo_29 declaration INIT as boolean lt internal gt and has initial value of TRUE TMP as boolean lt internal gt cardNO as integer lt internal gt and has intial value of 1 T Do some init setting at Ist scan cycle if INIT then INIT FALSE TMP M_regist cardNO 16 80 plug 18091 in slot O TMP M_r_sy
5. period 254 261 12ms 7839pps 3 83pps The DDA cycle can be set by 18091_SET_VAR Q command which decribed in charpter 3 The selection criterion of DDA cycle was described as following 1 The required max output pulse rate PRmax Vmax N 60 2047 PRmax DDAcycle 1 1 024ms PRmax max output pulse rate Vmax max speed rpm N the pulse number of stepping motor per revolution pulse rev 2 The required speed resolution The maximum output pulse number is Np 0 2047 therefore the speed resolution is Vmax max speed Np The DDA cycle can be obtained by following equation PRmax DDAcycle 1 1 024ms 3 When choose large DDA cycle DDA period it will occur vibration between different pulse input which generally can be observed during acceleration or deceleration So the small DDA cycle the smooth acceleration deceleration curve as long as the speed resolution is acceptable Example Stepping Motor The spec of stepping motor is 500 pulse rev max speed 500 rpm speed resolution 2 rpm The required max pulse rate PRmax 500 rpm 500 60 4166 67 pps The maximum output pulse Np 500rpm 2rpm 250 pulse number The DDA cycle can be calculated by follow equation es A PRmax DDAcycle 1 1 024ms ISaGRAF pE FAFA May 2007 Ver 3 1 18 4 ICP DAS 250 4166 67 DDAcycle 1 1 024ms DDA cycle 58 High Speed 247 pulse 4166 67 58 0 001024 The above results means that maximum speed
6. smaller delay time between ORG1 ON and X_STOP ON or ORG2 ON and Y_STOP ON when using M_hsporg amp M_lsporg command For ex DDA_cycle_ set to 4 the delay time is about 5 to 13 ms Restriction High_Speed Acc_Dec Acc_Dec Low_Speed Default value 1 lt DDA_ cycle lt 254 DDA_cycle 10 1 lt Acc _ Dec lt 200 Acc_Dec 1 Low_Speed 10 ie d lt 200 ow _ Spee High Speed 100 Low _ Speed lt High_ Speed lt 2047 Low_Speed gt Acc_Dec Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8337 8737 wdemo_26 wdemo_27 wdemo_28 wdemo_29 TMP M_s_var 1 5 2 10 150 DDA_cycle 5 gt DDA period 5 1 1 024ms 6 144ms Acc_Dec 2 gt Acc Dec speed 2 6 144ms 42 52981 p s 2 Low_Speed 10 gt low speed 10 6 144ms 1628pps High _Speed 150 gt high speed 150 6 144ms 24414pps ISaGRAF pE FAFA May 2007 Ver 3 1 18 16 ICP DAS M_ s dir Define output direction of axes Sometimes the output direction of X axis Y axis is undesired direction due to the motor s connection or gear train In order to unify the output direction as shown in Fig 5 and Fig 6 Where CW FW direction is defined as toward outside from motor CCW BW direction is defined as toward inside from motor This command provide parameters to define the rotating direction of motor Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 defdirX_ integer X axis direction defi
7. For ex DDA_cycle_ set to 4 the delay time is about 5 to 13 ms ISaGRAF pE FAFA May 2007 Ver 3 1 18 20 ICP DAS M_Isppmv Low speed pulse move Low speed move a specified pulse Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 AXIS _ integer 1 X axis 2 Y axis Pulse _ integer number of pulse to move if gt 0 move toward CW FW dir if lt 0 move toward CCW BW dir Return Q_ boolean always return TRUE pulseN OE CEN Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8337 8737 wdemo_26 wdemo_27 wdemo_28 wdemo_29 M_hsppmv High speed pulse move High speed move a specified pulse Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 AXIS_ integer 1 X axis 2 Y axis Pulse _ integer number of pulse to move if gt 0 move toward CW FW dir if lt 0 move toward CCW BW dir Return Q_ boolean always return TRUE high speed pulseN Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8337 8737 wdemo_26 wdemo_27 wdemo_28 wdemo_29 ISaGRAF IE FA FH May 2007 Ver 3 1 18 21 ICP DAS M_nsppmv Normal speed pulse move Normal speed move a specified pulse Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 AXIS _ integer 1 X axis 2 Y axis Pulse_ integer number of pulse to move if gt 0 move toward CW FW dir if lt 0 move toward CCW BW dir SPEED_ integer Speed
8. IRI HOLDI CW_PULSE2 CCW_DIR2 HOLD2 i8091 Fig 9 internal circuit of pulse output pin The internal circuit of limit switch input Initially the limit switch inputs of I 8091 board are normal open N O the I 8091 board will automatic protect when limit switch pin connect to EXT_GND The user can use the command M_s_ne card_NO_ 1 to let those limit switch input as normal close condition at the beginning of the user s program EXT_VCC 12V 24V ORG1 LS11 LS14 ORG2 LS21 LS24 18091 EMG Fig 10 internal circuit of limit switch input pin TISaGRAF Wp HHFH May 2007 Ver 3 1 18 10 ICP DAS Example of connection E em NS CW_PULSE ER mot t 5V Q pS HOLD1 tO GND V DGND CW 1 FAN OUT TYPE VEXTA DRIVER Fig 11 fan out type driver VEXTA s motor driver 5V E oe CW_PULSE1 CW PULSE on GND Fig 12 Sink type driver TISaGRAF Wp HHFH May 2007 Ver 3 1 COM SINK TYPE DRIVER 18 11 ICP DAS CN2 DB25M 90 CN2 DB25M 90 S5V 1 CW _ PULSE cow Sri 12V 24V PHOME1 gt PHOME2 gt 2 pLsi1 C PLs21 gt l PLs14 D gt PLS24 gt a Pema gt EXT GND S8091 card S8090 card Fig 13 The connection between I 8090 and I 8091 for function testing or pulse feedback by I 8090 encoder card ISaGRAF pE FAFA May 2007 Ver 3 1 18 12 ICP DAS 18 4
9. RG1 LS11 LS14 ORG2 LS21 LS24 EMG Fig 4 I 8091 LED indicator 18 3 3 Hardware Configuration Limit switch configuration Because the profile generation and protection is executed by the CPU on I 8091 card the limit switches must configure as following diagram The motion command just can work properly CCW BW CW FW lt ss Motor LITLE men TTT TL ccm LSL1 ORGI LS14 Fo LS11 ORGI LS14 EXT GND R EMG ma a TA X axis Emergency Fig 5 Limit switch configuration of X axis ISaGRAF Wp HHFH May 2007 Ver 3 1 18 6 ICP DAS CCW BW CW FW lt J__ a Motor d E LITA TTT TTT o ccm A E Zo Yo vo ILS21 ORG2 LS24 EXT GND Y axis Fig 6 Limit switch configuration of Y axis Output pulse mode configuration I 8091 card provide two kind output method a CW CCW mode b Pulse Direction mode The command M_s_mode card_NO_ modeX_ modeY_ provide parameters 0 CW_CCW and 1 PULSE_DIR to define output pulse mode CW Mode 0 CW_CCW CCW Pulse PEI LJ EJ LEI L Mode 1 PULSE_DIR Direction Fig 7 Output pulse mode Direction configuration Sometimes the output direction of X axis Y axis is not in the desired direction due to the motor s connection or gear train It is recommended to unify
10. Software I O connection The I 8091A connectted on the I O connection window contains 11 digital input channels an SaGRAF WDEMO_26 1 0 connection o ioj x File Edit Tools Options Help B PBPrn ELFA se Input Channel al tmj ref 8091A CH1 EMG emergency stop E i_8091A ne mg NO OR NC CH2 FFEF FIFO is empty or not TRUE empty A so EMGCEmd CH3 FFFF FIFO is full or not TRUE full ea p The NO_OR_NC 7 CH4 LS11 Left limit swtch of X axis parameter can beset as S Ls11 6e CH5 LS14 Right limit swtch of X axis 0 Normal Open a s140 ma CH6 ORG1 Original position swtch of X axis 1 Normal close sets CH7 XSTOP Stop or not of X axis TRUE stop L S Ezero CH8 LS21 Left limit swtch of Y axis ol ORG2 0 CH9 LS24 Right limit swtch of Y axis el o YsTope CH10 ORG2 Original position swtch of Y axis CH11 YSTOP Stop or not of Y axis TRUE stop I 8090 contains 3 analog input channels ow IsaGRAF TESTOL IO connection e 3 Oo E File Edit Tools Options Help Parameter a2 peso TI FAE X_mode integer counting mode of X axis o m i 8031 na a j ref 8030 y_mode integer counting mode of Y axis ED i_8030 a ee z_mode integer counting mode of Z axis zuj y_mode 10 00 quadrant counting mode me moce 10 10 CW CCW counting mode 20 pulse direction counting mode 5 Input Channel CH1 encorder value of X axis a CH2 encorder value of Y axis CH3 encorder value
11. X axis and Y axis and execute interpolation by way of DDA chip Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 Xpulse_ integer 524287 lt Xpulse_ lt 524287 Ypulse_ integer 524287 lt Xpulse_ lt 524287 Return Q_ boolean always return TRUE Xpulse Ypulse ka 4 Ye Pi 20 0 Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8337 8737 wdemo_26 wdemo_27 wdemo_28 wdemo_29 ISaGRAF pE FAFA May 2007 Ver 3 1 18 26 ICP DAS M_intIn2 Move a long distance on X Y plane m_intin2 card This command will move a long interpolation line on X Y plane It will automatically generate a trapezoidal speed profile of X axis and Y axis by state machine type calculation method Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 X Y_ integer end point relate to present position speed_ integer 0 2040 acc_mode_ integer 0 enable acceleration deceleration profile 1 disable acceleration deceleration profile Return Q_ boolean always return TRUE XY 3 a y NOTE 1 Only one of M_intln2 M_intcl2 amp M_intar2 command can be called at one time the other motion moving commands related to the same I 8091 card should not be called unless it is completed Please use M_intstp to test command of M_intIn2 M_intcl2 amp M_intar2 completed or not 2 One controller can only drive one I 8091 to move by M_intIn2 M_intcL2 M_intar2 co
12. al application 2K FIFO CPU DDA Chip o Profile Generation r 7 Mm X axis Interface Protection BE DDA Chi p Optical Isolation Y axis c Limit Switch Input Port ee Connector Limit Switch IT Limit Switch Signal Input Port Fig 1 block diagram of I 8091 card 18 2 2 DDA Technology The DDA chip is the heart of 1 8091 card it will generate equal space pulse train corresponding to specific pulse number during a DDA period This mechanism is very useful to execute pulse generation and interpolation function The DDA period can be determined by DDA cycle Table 1 shows the relation among DDA cycle DDA period and output pulse rate When DDA cycle set to 1 the DDA period is equal to 1 1 x1 024ms 2 048ms The output pulse number can be set to 0 2047 therefore the maximum output pulse rate will be 1Mpps The minimum output pulse rate is 3 83pps when set DDA cycle 254 DDA period 254 1 x1 024ms 261 12ms DDA DDA cycle LI LI Xpuse LJ L M L _3 Ypuse 6 LI LJ LI LI LI L Z pulse 4 Fig 2 DDA mechanism Table 1 The Relation among DDA cycle DDA period and output pulse rate TSaGRAF Wp HHFH May 2007 Ver 3 1 18 3 ICP DAS TL posms osiips 188pps 2 3 072ms_ 66634lpps B25ps a e M oo es es N 1 1 024ms 2047 DDA period 1 DDA
13. demo_46 demo_27 demo_28 W 8337 8737 wdemo_26 wdemo_27 wdemo_28 wdemo_29 m_stpall M_stpall Stop X amp Y axes e card E This command will stop X amp Y axes and clear all of commands pending in the FIFO Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 Return Q_ boolean always return TRUE Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8337 8737 wdemo_26 wdemo_27 wdemo_28 wdemo_29 ISaGRAF pE FAFA May 2007 Ver 3 1 18 19 ICP DAS Simple motion commands m_Isporg M_Isporg Low speed move to ORG Pi Low speed move and stop when ORG1 ORG2 limit switch is touched DIR ARIS Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 DIR_ integer 0 CW 1 CCW AXIS _ integer 1 X axis 2 Y axis Return Q_ boolean always return TRUE ORG Low speed M_hsporg High speed move to ORG High speed move and stop when ORG1 ORG2 limit switch is touched Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 DIR_ integer 0 CW 1 CCW AXIS _ integer 1 X axis 2 Y axis Return Q_ boolean always return TRUE ORG high speed Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8337 8737 wdemo_26 wdemo_27 wdemo_28 wdemo_29 Note The lower DDA_cycle_ is given the smaller delay time between ORGI ON and X_STOP ON or ORG2 ON and Y_STOP ON when using M_hsporg amp M_Isporg command
14. e active high The auto protection will automatically change the judgement whatever it is N O or N C Limit switches ORGI LSI1 LS14 ORG2 LS21 LS24 EMG Note If using I_8091A rather than I_8091 on the I O connection window user don t need to call m_regist amp m_s_nc they are ignored The card_NO of I 8091A is equal to its slot No I 8xx7 0 7 W 8xx7 1 7 Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 SW_ integer 0 N O default 1 N C Return Q_ boolean always return TRUE Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8337 8737 wdemo_26 wdemo_27 wdemo_28 wdemo_29 Note If using I_8091A in the ISaGRAF IO connection window there is a NO_OR_NC parameter can be set to define as 0 Normal Open 1 Normal Close So user no more need to call this m_s_nc function if using I_8091A ISaGRAF pE FAFA May 2007 Ver 3 1 18 18 ICP DAS Stop commands M_stpx Stop X axis m_ sipx card E Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 Return Q_ boolean always return TRUE Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8337 8737 wdemo_26 wdemo_27 wdemo_28 wdemo_29 M_stpy Stop Y axis m_stpy Parameters ead card_NO_ integer the card No has been set by M_regist valid is 0 19 Return Q_ boolean always return TRUE Example I 8417 8817 8437 8837
15. he emergency limit switch EMG was found in CPU firmware all motion will be terminated and stop Set limit switch as normal close condition The limit switches EMG LS11 LS14 LS21 LS24 ORG1 ORG2 is initially normal open condition that is these signal is active when connect it to ground In industrial application it might be recommended normal close condition that is these signal 1s active when open from ground The M_s_ne card_NO_ sw_ command can be set sw 0 default for normal open condition When set sw 1 for normal close condition ISaGRAF pE FAFA May 2007 Ver 3 1 18 8 ICP DAS 18 3 4 Pin assignment of connector CN2 CN2 DB25M 90 5V CW_PULSE1 gt CW_PULSE2 gt CCW_DIRI gt CCW_DIR2 gt HOLDI gt HOLD2 gt GND EXT VCC 12 24V ORGi gt ORG2 gt LS11 gt LS21 gt LS14 gt LS24 gt EMG gt EXT_GND Fig 8 CN2 connector of I 8091 Table of CN2 connector s pin assignment pin name pin Description number SV I Internal 5V power Max output current 50mA CW EUSE 2 fecaxis CW Pulse oupa pin o o EXT VCC 6 External power 12 24V for limit switches LS 8 X axis limitswith S po DIO Nowe S po f22 23 Noused S O The internal circuit of CW_PULSE CCW_DIR HOLD ISaGRAF Wp HHFH May 2007 Ver 3 1 18 9 ICP DAS When output these signal as 1 it can source 15mA max When output these signal as 0 it can sink 50mA max 5V CW_PULSE1 CCW D
16. is 500rpm when send command 18091_SET_VAR O 58 2 2 247 to I 8091 card Example Pulse type input Servo Motor The spec of servo motor is 8000 pulse rev max speed 3000 rpm speed resolution 2 rpm The required max pulse rate PRmax 3000 rpm 8000 60 400 000 pps The maximum output pulse Np 3000rpm 2rpm 1500 pulse number The DDA cycle can be calculated by follow equation Np PRmax DDAcycle 1 1 024ms O w 400 000 DDAcycle 1 1 024ms DDA cycle 3 High Speed 1638 pulse 400 000 4 0 001024 The above results means that maximum speed is 3000rpm when send command 18091_SET_VAR 3 2 2 1638 to I 8091 card 18 3 Hardware 18 3 1 I 8000 hardware address The hardware address of I 8000 main system is fixed as following table There are 4 slots I 8000 and 8 slots I 8000 Slot 0 Slot 1_ Slot 2 Slot 3 Slot 4 Slot S Slot 6 Slot7 I 8000 4 slot 0x080 OxOA0O OxOCO OxOEO address I 8000 8 slot 0x080 OxOA0O OxOCO OxOEO Ox140 Ox160 Ox180 Ox1AO0O address Fig 3 I 8000 hardware address ISaGRAF pE FAFA May 2007 Ver 3 1 18 5 ICP DAS 18 3 2 LED Indicator power ORGI X axis s original limit switch for machine home position LS11 LS14 X axis s negative and positive limit switches ORG2 Y axis s original limit switch for machine home position LS21 LS24 Y axis s negative and positive limit switches EMG system s emergency signal input O
17. ll return FALSE for interpolation command completed while return TRUE for busy not completed yet Return Q_ boolean TRUE busy FALSE completed NOTE 1 Only one of M_intln2 M_intcl2 amp M_intar2 command can be called at one time the other motion moving commands related to the same I 8091 card should not be called unless it is completed Please use M_intstp to test command of M_intIn2 M_intcl2 amp M_intar2 completed or not 2 One controller can only drive one I 8091 to move by M_intIn2 M_intcL2 M_intar2 command Two or more I 8091 cards in the same controller to use M_ intIn2 M_intcL2 M_intar2 at the same time is not possible ISaGRAF pE FAFA May 2007 Ver 3 1 18 30 ICP DAS I 8090 encorder commands M _ r_ enco Reset I 8090 s encorder value to 0 Parameters slot_ integer the slot No where the 18090 is plugged O 7 axis_ integer l x axis 2 y axis 3 Z axis Return Q_ boolean always return TRUE Example demo_27 demo_28 demo_46 ISaGRAF pE HFHH May 2007 Ver 3 1 18 31 ICP DAS
18. low speed lt SPEED_ lt high speed Return Q_ boolean always return TRUE Normal speed HpnaleelT Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8337 8737 wdemo_26 wdemo_27 wdemo_28 wdemo_29 M_Ispmv Low speed move Low speed move toward the direction specified It can be stop by M_stpx or M_stpy or M_stpall command Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 DIR_ integer direction 0 CW 1 CCW AXIS _ integer 1 X axis 2 Y axis Return Q_ boolean always return TRUE Low speed a Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8337 8737 wdemo_26 wdemo_27 wdemo_28 wdemo_29 ISaGRAF IE FA FH May 2007 Ver 3 1 18 22 ICP DAS M_hspmv High speed move High speed move toward the direction specified It can be stop by M_stpx or M_stpy or M_stpall command Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 DIR _ integer direction 0 CW 1 CCW AXIS _ integer 1 X axis 2 Y axis Return Q_ boolean always return TRUE high speed ja Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8337 8737 wdemo_26 wdemo_27 wdemo_28 wdemo_29 M_cspmv Change speed move This command will accelerate decelerate the selected axis s motor to the move_speed This command can be continuously send to I 8091 to dynamicly change speed The rotating motor can be stop by the command M_stpx M_stpy
19. mmand Two or more I 8091 cards in the same controller to use M_ intIn2 M_intcL2 M_intar2 at the same time is not possible ISaGRAF pE FAFA May 2007 Ver 3 1 18 27 ICP DAS M_intcl2 Move a circle on X Y plane m_intel2 card This command will generate an interpolation circle on X Y plane It will automatically generate a trapezoidal speed profile of X axis and Y axis by state machine type calculation method Parameters card NO_ integer the card No has been set by M_regist valid is 0 19 X y integer center point of circle relate to present position dir_ integer moving direction 0 CW 1 CCW speed_ integer 0 2040 acc_mode_ integer 0 enable acceleration deceleration profile 1 disable acceleration deceleration profile Return Q_ boolean always return TRUE j X Y P CCW where radius sqrt X42 Y42 NOTE 1 Only one of M_intIn2 M_intcl2 amp M_intar2 command can be called at one time the other motion moving commands related to the same I 8091 card should not be called unless it is completed Please use M_intstp to test command of M_intIn2 M_intcl2 amp M_intar2 completed or not 2 One controller can only drive one I 8091 to move by M_intIn2 M_intcL2 M_intar2 command Two or more I 8091 cards in the same controller to use M_intIn2 M_intcL2 M_intar2 at the same time is not possible ISaGRAF pE FAFA May 2007 Ver 3 1 18 28 ICP DAS M_intar2 Move a arc on X Y plane m_intar2 card This c
20. nition valid is O 1 defdirY_ integer Y axis direction definition valid is O 1 0 normal direction 1 reverse direction Return Q_ boolean always return TRUE Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8337 8737 wdemo_26 wdemo_27 wdemo_28 wdemo_29 M_s_mode Set output mode Parameters card NO integer the card No has been set by M_regist valid is 0 19 modeX _ integer X axis mode valid is 0 1 modeyY _ integer Y axis mode valid is 0 1 0 CW_CCW 1 PULSE DIR Return Q_ boolean always return TRUE CW aa sl ill 4 Mode 0 CW_CCW CCW Pulse eS tel Ly hal Mode 1 PULSE_DIR Direction Example 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8337 8737 wdemo_26 wdemo_27 wdemo_28 wdemo_29 ISaGRAF pE FAFA May 2007 Ver 3 1 18 17 ICP DAS M s serv Set servo ON OFF Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 sonX_ integer X axis servo hold on switch valid is 0 1 sony _ integer Y axis servo hold on switch valid is 0 1 0 OFF 1 ON Return Q_ boolean always return TRUE Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8337 8737 wdemo_26 wdemo_27 wdemo_28 wdemo_29 M s ne Set N O N C To set all of the following limit switches as N C normal close or N O normall open If set as N O those limit switches are active low If set as N C those limit switches ar
21. ommand will generate an interpolation arc on X Y plane It will automatically generate a trapezoidal speed profile of X axis and Y axis by state machine type calculation method Parameters card NO_ integer the card No has been set by M_regist valid is 0 19 X_ Y_ integer end point of arc relate to present position R_ integer radius of arc if gt Q the arc lt 180 degree if lt 0 the arc gt 180 degree R_ must gt square root of X_ X_ Y_ Y_ 2 dir_ integer moving direction 0 CW 1 CCW speed_ integer 0 2040 acc_mode_ integer 0 enable acceleration deceleration profile 1 disable acceleration deceleration profile Return Q_ boolean always return TRUE A a ye b E Y i OGY BT Ro dir path of curve fo e R gt 0 ba ye D o a NOTE 1 Only one of M_intln2 M_intcl2 amp M_intar2 command can be called at one time the other motion moving commands related to the same I 8091 card should not be called unless it is completed Please use M_intstp to test command of M_intIn2 M_intcl2 amp M_intar2 completed or not 2 One controller can only drive one I 8091 to move by M_intIn2 M_intcL2 M_intar2 command Two or more I 8091 cards in the same controller to use M_ intIn2 M_intcL2 M_intar2 at the same time is not possible ISaGRAF pE FAFA May 2007 Ver 3 1 18 29 ICP DAS M_intstp Test X Y plane moving command To test the below 3 commands completed or not M_intln2 M_intcL2 M_intar2 It wi
22. rate an arbitrary curve on X Y plane Parameters Return Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 NOTE card NO_ integer Xpulse_ integer 2047 lt Xpulse_ lt 2047 Ypulse_ integer 2047 lt Ypulse_ lt 2047 Q_ boolean always return TRUE Y Y Xpulse Ypulse Pe J Move a short distance on X Y plane 4 va 3 F is eA TX Pa ETN FEN the card No has been set by M_regist valid is 0 19 W 8337 8737 wdemo_26 wdemo_27 wdemo_28 wdemo_29 For a lot of M_intp call set at the same time please check if the FIFO is not full Call it if FIFO is not full FIFO indicator is a Digital Input resides at CH3 of 1 8091 1 8091 D I channel on ISaGRAF I O connection window CH1 CH3 CH4 CH5 CH7 CH8 CH9 EMG emergency stop CH2 FFEF FIFO is empty or not TRUE empty FFFF FIFO is full or not TRUE full LS11 Left limit swtch of X axis LS14 Right limit swtch of X axis CH6 ORGI Original position swtch of X axis XSTOP Stop or not of X axis TRUE stop LS21 Left limit swtch of Y axis LS24 Right limit swtch of Y axis CH10 ORG2 Original position swtch of Y axis CH11 YSTOP Stop or not of Y axis TRUE stop ISaGRAF pE FAFA May 2007 Ver 3 1 18 25 ICP DAS Mintin Move a long distance on X Y plane This command will move a long distance interpolation line on X Y plane The CPU on I 8091 card will generate a trapezoidal speed profile of
23. s cardNO reset 1809 1 s setting TMP M_s_var cardNO 4 2 5 100 TMP M_s_dir cardNO 0 0 Normal direction TMP M_s_mode cardNO 1 1 pulse_dir mode TMP M_s_serv cardNO 1 1 X amp Y server ON TMP M_s_nc cardNO 0O Normal open end_if ISaGRAF IE FA FH May 2007 Ver 3 1 18 14 ICP DAS M_r_sys Reset all setting To reset I 8091 card this command will terminate the running command in J 8091 m Ff sys card User can use this command as software emergency stop This command also will clear all of setting so all I 8091 card s parameter should be set again cal Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 Return Q_ boolean always return TRUE Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8337 8737 wdemo_26 wdemo_27 wdemo_28 wdemo_29 ISaGRAF pE FAFA May 2007 Ver 3 1 18 15 ICP DAS M s var To set DDA cycle accelerating decelerating speed low speed and high speed value Set motion system parameters Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 DDA_cycle_ integer DDA cycle valid is 1 254 Acc_Dec_ integer Acc Dec speed valid is 1 200 Low_Speed_ integer low speed valid is 1 200 Low_Speed_ gt Acc_Dec_ High_Speed_ integer high speed Low_Speed_ lt High_Speed lt 2047 Return Q_ boolean always return TRUE Note The lower DDA_cycle_ is given the
24. the output direction as shown in Figure 5 6 The CW FW direction is defined as toward outside from motor and the CCW BW direction is defined as toward inside to motor The M_s_dir card_NO_ defdirX_ defdirY_ command provides parameters 0 NORMAL_DIR and 1 REVERSE_DIR to define the rotating direction of motor Turn Servo ON OFF Hold ON OFF ISaGRAF WE HHFH May 2007 Ver 3 1 18 7 ICP DAS To turn servo motor into servo ON OFF state or turn stepping motor into hold ON OFF state the command M_s_serv card_NO_ sonX_ sonY_ provide parameters 1 ON and 0 OFF to turn ON or OFF Automatic protection The I 8091 card has a automatic protected system a If X aixs command is executing and moving toward CW FW direction X axis will immediately stop when LS14 is touched To release this protection as long as X axis move toward CCW BW direction b If X aixs command is executing and moving toward CCW BW direction X axis will immediately stop when LS11 is touched To release this protection as long as X axis move toward CW FW direction c If Y aixs command is executing and moving toward CW FW direction Y axis will immediately stop when LS24 is touched To release this protection as long as Y axis move toward CCW BW direction d If Y aixs command is executing and moving toward CCW BW direction Y axis will immediately stop when LS21 is touched To release this protection as long as Y axis move toward CW FW direction e If the signal of t
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