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USER`S GUIDE - Sanpa Endüstriyel Otomasyon

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1. 24V Switching power 24v 24v 4 0_24V CN GUC IO 0V i Switching ov EtherCAT IO device power IO 5 IO device p IO device Fig 6 1 Schematic diagram of GUC EtherCAT controller power supply 43 2014 Googol Technology All rights reserved Chapter 6 Appendix 6 1 2 Control interface parameters 1 Description of driver control interface The interface of GUC EtherCAT driver control is EtherCAT fieldbus detailed specifications please refer to the relevant information 2 Electric parameters for pulse output signal consistent with RS 422 standard Tab 6 3 Electric parameters for pulse output signal Item Sign Nominal value AM26LS31 typ 2 6V typ 3 0V Max 0 4V Logic 0 voltage output V iic typ 0 2V 1MHz Maximum Frequency of output pulse Fp Notet Note1 Frequency of single output pulse Note2 There is no specified functions of pulse output interface yet if there is demand for the specific features please contact with Googol Technology 3 Encoder overview Tab 6 4 Encoder overview Item Description Tbe Incremental encoder whether support absolute encoder please contact i sales engineer square wave Wave form request whether support sine and cosine wave please query sales engineer It is strongly suggested to use differential encoder Single ended differential HY S49 whether support single ended p
2. Fig 3 1 Interface of GUC ECATcontroller Tab 3 4 Definition of special interface Label Port Description POWER AI AO Analog input output DADO General digital input output ENC 27 2014 Googol Technology All rights reserved Chapter 3 Hardware connection 1 POWER Fig 3 2 Pin description of power port Tab 3 5 Description of power port Description 24V power 24V reference ground 24V reference ground Digital ground Protection earth connect with earth 2 AI AO Analog input output 1 AI0 AIGNB 9 AI AIGND Al2 AIGND Al3 AIGND Al4 Ale 13 Al5 AI7 7 A00 AOGND 8 A01 AOGNB 16 Fig 3 3 Pin description of analog input output As shown in Fig 3 3 there are 8 analog input channels Al0 AI7 and 2 analog output channels AO0 AO1 The interface design is easy to use the recommended UTP connection which can reduce the interference For the definitions of analog input output port please refer to Tab 3 6 Tab 3 6 Definitions of analog input output port Signal Description fs AS waona 28 2014 Googol Technology All rights reserved Chapter 3 Hardware connection i Signal Description Analog output 15 16 AOGND Analog output reference groundnote Note AIGND AOGND are isolated from ench other and are isolated from other ground too 1 8 channels analog input can be used as single ended reference AIGND input either as differential i
3. 54 2014 Googol Technology All rights reserved Chapter 6 Appendix disk Then click Continue in Fig 6 8 extract USB disk USB boot disk make completed This operation is equivalent to format the U disk and then write data to it users need to ensure there is no important personal data in the U disk ymantec Ghost 6 3 Copyright OO 1998 2005 Symantec Corporation All rights reserved Local file C fldministrator xffie dos6222 gho 62 HB Local drive 2 3745 HB PEE Au erp touts fog oh ei C ees seri Cini die dn SUA T teste ARE EU A TES PRA ede Bah P Ps oe Soe ip n M see E VETE at EM ana Fig 6 7 Confirm write data to USB disk 55 2014 Googol Technology All rights reserved Chapter 6 Appendix porta deb a Beas ves i WM nh E my t Reset Computer y SRST TS EX VL ME et E Local file C Administrator xffie dos6222 gho 62 HB Local drive 2 3745 HB 1 1 Typei6 Fat16 Size 61 MB NO NAME E AN TNT vd D fd i Tu fu po A o Ii ID Fig 6 8 Clone completed 6 4 VC remote debug The GUC ECATseries motion controller resources such as CPU memory hard drive are designed according to the requirements of industry in Windows XP environment install VC 6 0 or Visual Studio 2005 programming tools for developing and debugging is inconvenient Therefore we recommend user use VC 6 0 or Visual Studio 2005 to remote debug 6 4 14 VC 6 0 remote debug
4. eu Hh Execute PE exe CtrltF5 Set Active Configuration fins header PTHARF DAS HFADFRfn nimaneRasel Remote Connection EN 2 xl Configurations Profile Platform OK DumpExportTable pimage_ do Win i DumpImportTable pimage do Cancel DumpResourceTable pimage Connection Settings UnmapUieu fFile pUiew CloseHandle hhappingFile return 6 Select Settings to configure the specified connection Fig 6 10 IP setting dialog box After connection setting open the project for test assume the name of executable program is RemotDebug exe copy the file to target machine assume the path is d Prj RemoteDebug exe Switch to the host in the Project Settings page as shown in Fig 6 11 input the path at the edit box at Debug Remote executable path and file name After completing above steps user can remote debug at the host machine 57 2014 Googol Technology All rights reserved Chapter 6 Appendix General Debug C C Link Resources Bi Category General Executable for debug session DADebugFasytRemoteDebug exe Working directory Program arguments Remote executable path and file name DAPrjRemoteDebug exe f E NEN Fig 6 11 Path setting on the host It is required that the executable program on the target machine and the host should be exactly same user should re copy the executable file to target machine once host compiler generate a
5. 00601 TECHNOLOGY 7 9 GUC ECAT Series 02NAS O2N3 ssn SW HM LONAS LON3 8 N NYT We BEPEREE 28888082 GUC ECAT SERIES USER S GUIDE Beta Version 2014 11 www googoltech com 2014 Googol Technology All rights reserved Copyright Statement Copyright Statement Googol Technology Ltd All rights reserved Googol Technology Ltd Googol Technology hereafter reserves the right to modify the products and product specifications described in this manual without advance notice Googol Technology will not take responsibility for any direct indirect consequential or liability caused damage by improperly using of this manual and the product Googol Technology owns the patent copyright or any other intellectual property rights of this product and the related software No one shall duplicate reproduce process or use this product and its parts unless authorized by Googol Technology Machinery in motion can be dangerous It is the user s responsibility to design effective error handling and safety protection methods as part of the machinery Googol Technology shall CAUTION not be liable or responsible for any incidental or consequential damages Contact Us Googol Technology Shenzhen Ltd Googol Technology HK Ltd Address 2nd Floor West Wing IER Building Address Unit 1008 09 10 F C Bons PKU HKUST Shenzhen Hong Kong International Center 108 Wai Yip Street Institution Hi
6. Remote debug is debugging between two machines connected through the network cable Program running on the target machine here we refer to GUC ECAT series motion controller and debugger running on the host PC installed VC 6 0 In general to facilitate communication user should copy MSVCMON EXE DM DLL TLNOT DLL and MSDIS110 DLL file in VC6 Common MSDEV98 Bin from the host to target machine Run MSVCMON exe it will prompt dialog box as shown in Fig 6 9 click Connect to complete the settings of target machine 56 2014 Googol Technology All rights reserved Chapter 6 Appendix Visual CH Debug Monit X Connection Connect Settings Fig 6 9 Connection setting of target machine Next we should set the host debugger the first step is set remote debug switch Start VC select Build gt Debugger Remote Connection it will prompt dialog box as shown in Fig 6 10 by default the item is Local and we select Network TCP IP instead click OK On the Win32 Network TCP IP Setting dialog box input Target machine name or address and click OK to complete connection setting t Build Tools Window Help v Compile PE cpp Ctrl T NAMES MENUII IIS ies e m Build PE exe FT 1 E Rebuild All Batch Build EE o x ile Target machine name or address OK Fd a Cancel Help Start Debug Debugger Remote Connection Debug monitor password
7. GHO file it will appear dialog box as shown in Fig 2 8 select DOM a disk GUC T provide a 1G or 4G DOM disk user should distinguish it by the size 16 2014 Googol Technology All rights reserved Chapter 2 Quick Start PDA I T E I UCET NS zu PITE oper dara vette ede ze pL LEE o A Symantec Ghost 8 3 Copyright o ooe 2005 EXE tae All TNT reserved _ 2 PTT Fig 2 8 Select local destination driver 9 Click OK the destination drive details dialog box appears as shown in Fig 2 9 t R SE d LU LI y TA Fig 2 9 Destination dive details 10 Click OK the question dialog box appears as shown in Fig 2 10 17 2014 Googol Technology All rights reserved Chapter 2 Quick Start i Fut ers 225 WU f E f 22 eg Pel x J i RUBRICA Pil e P a p ot ns Local file C fdministrator xffie dos6222 gho 62 HB Local drive 2 3745 HB Fig 2 10 Confirm install dialog box 1 Click Yes and enter the Installation process interface Bymantec Ghost 7 0 Copyright CC 1998 2001 Symantec Corporation O O OZ2O2O222222OOOOOO0O0O Type 6 Fat16 1200 Hb 67 Hb used No name from Local file E GHOST HINDOMS GHO 2047 HB Type 6 Fat161 1200 Hb from Local drive 1 2047 Hb Fig 2 11 System installation process interface 12 After installation it will appear dialog box as shown in Fig 2 12 18 2014 Googol Technology All rights reserved Chapter 2 Q
8. gt Remote command as W92 168 0 2 DebugWroject name exe set Debugging gt Working Directory as 192 168 0 2 debug set debug gt Remote Server Name as 192 168 0 2 set Connection as Remote with no authentication Native only the completed dialog box is shown as Fig 6 19 MFC Application Wizard Test Application Type e555 Overview Application type Project style Application Type O Single document indows c Multiple documents MFC standard Dialog based Use of MFC C use HTML dialog Use MFC in a shared DLL User Interface Features Multiple top level documents Use MFC in a static library Advanced Features D Generated Classes Resource language English United States Use Unicode libraries Fig 6 17 Create a new MFC project 61 2014 Googol Technology All rights reserved Chapter 6 Appendix Test Property Pages v Platform Active Win32 b Configuration Manager Configuration Active Debug E Common Properties El General References 192 168 0 2 Debug i E Configuration Properties Intermediate Directory ConfigurationName General Extensions to Delete on Clean obj ilk tlb tli tlh tmp rsp pgc pad TargetF Debugging Build Log File IntDir BuildLog htm E CIC Inherited Project Property Sheets Fig 6 18 Set path at configuration attribute common Test Property Pages Conf
9. General output connect a relay 5 2 Rotary encoder Peripheral Heidenhan rotary encoder Power supply 5V Signal mode Incremental TTL 41 2014 Googol Technology All rights reserved Chapter 5 Examples of common peripherals connection Auxiliary encoder Interface Rotary encoder ENCO ENC1 45V I Up AE Uat Av ES Uai B lt Ua2 B H Ua2 Qe Ua0 TRES Uad GND GND Fig 5 4 Wiring of Heidenhan rotary encoder 42 2014 Googol Technology All rights reserved Chapter 6 Appendix Chapter 6 Appendix 6 1 Technical Specification 6 1 1 Overview 1 System control refresh cycle please refer to GTS parameters Tab 6 1 Control cycle item GTS Interpolation cycle Encoder feedback sampling cycle Analog output refresh cycle NO 2 Power supply Tab 6 2 GUC EtherCAT controller power supply NO item Terminal board power supply voltage error band 24 10 V Note 1 Note1 As shown in Fig 6 1 GUC EtherCAT controller is supplied by a 24V switching power the general IO interface also supplies 24V power for external IO load the current list in Tab 6 2 only include controller working current but do not include general IO load current when choose switching power user has to calculate sum of controller working current and external load current
10. Installation Site 11 2 3 Preparation 11 2 4 Installation Procedures 12 2 4 4 Step 1 Connect GUC motion controller with standard input output device and 24V DC power Turn on the power 12 2 4 2 Step 2 Install operating system on the motion controller 13 2 4 3 Step3 Install Windows drivers of the motion controller only for Windows environment 19 2 4 4 Step4 Establish communication between the host and the motion controller only for Windows environment 23 2 4 5 Step 5 Connect the motor with driver 23 2 4 6 Step 6 Connect the controller with the servo drivers 24 Chapter 3 Hardware connection 25 3 1 Controller type description 25 3 2 Definition of special interface 26 Chapter 4 Test and Tune 35 5 2014 Googol Technology All rights reserved Contents 4 1 Introduction 35 4 2 Quick use 36 4 2 1 Ensure the communication between controller and slave 36 4 2 2 Homing and limit 37 4 2 3 Local lO 38 4 2 4 Analog input and output 38 4 2 5 Auxiliary encode 38 4 2 6 Motion mode 39 4 2 7 Extended module 39 Chapter 5 Examples of Common Peripherals Connection 40 5 1 Inverter 40 5 2 Rotary encoder 41 Chapter 6 Appendix 43 6 1 Technical Specification 43 6 1 1 Overview 43 6 1 2 Control interface parameters 44 6 2 Troubleshooting 48 6 3 Make a USB boot disk 51 6 4 VC remote debug 56 6 4 4 VC 6 0 remote debug 56 6 4 2 Visual Studio remote debug 58 6 5 Dimension 63 2014 Googol Technology All rights reserved Chapter 1 Overview C
11. prepared network cable GUC ECATXX M23 L2 F4G EHMI VGA KB amp MS USB LAN2 LAN1 EtherCMT EXTI O ENCO ENC1 RS232 DIO AIO POWE EtherCAT Drivers note Fig 2 19 Connection between GUC ECATXX M23 L2 F4G and EtherCATdrivers Note Currently supports driver of GTHD XXXXAEC2 series only Other driver device support EtherCAT standard will be increased later 24 2014 Googol Technology All rights reserved Chapter 3 Hardware connection Chapter 3 Hardware connection 3 1 Controller type description GUC ECATXX M23 L2 F4G series motion controllers are universal EhterCAT network based motion controllers for 8 axes and 64 axes Two types controllers are shown in Tab 3 1 and the controller ports are shown inTab 3 2 Tab 3 3 Tab 3 1 GUC ECATXX M23 L2 F4G controller type description Controller types Type description GUC ECAT function EtherCAT 8 axes 250us communication cycle function Kilomega network display Double Ethernet 8 channels digital input output 8 channels 12bit analog input 2 channels 12bit analog output 2 channels auxiliary encoder GUC ECATfunction EtherCAT 64axes 4mscommunication cycle function Kilomega network display Dou
12. provided by the product CD Power off Insert a cuspate tool such as toothpick into the reset hole to reset system Connect to VGA monitor Set appropriate resolution in BIOS Match to the resolution of LVDS Advanced Chipset Features gt Panel Type LVDS 1024 768 18bit Connect SG and PE with Short connector or heavy gage wire Use upper USB port to connect CD ROM 2014 Googol Technology All rights reserved Chapter 6 Appendix Trouble Cannot start with the USB boot disk Cannot start with the USB boot disk Communication between host and the motion controller fail Reset TPV card but DAC output is not 0 Encoder signals can t be read properly The motor is fly off for TPV card The motor shakes for TPV card Handle Only one can be worked correctly when using HMI and USB Use the upper USB port Cannot detect USB mouse after the system starts Reinsert or change to another USB port Set boot device to USB HDD in BIOS Change another USB disk Invalid BIOS setting The USB disk used cannot serve as a boot disk mainboard chipset compatibility problems Do not insert USB disk in the procedure of startup Chip on the motion Replace motion controller controller is damaged P Version of the motion controller is not correct Replace motion controller or change the software of motion controller Initialization output warped because of work environment and sy
13. to configure one IO as origin switch which shall not be conflicted with the limit and the specific operation is as follows 1 Click AxisOff in Fig 4 4 click Home and then switch to zero return mode to start zero return 2 HomeSts will be changed from 1 to 0 to trigger the origin switch When HomeSts is changed as 3 zero return is ended then the position control mode is automatically switched and accordingly the position control could be conducted In case of mode switch the driver must be under servo state and GUC ECAT temporarily only supports zero return mode and position control mode v When HomeSts is 0 it indicates that the zero return is being conducted v When HomeSts is 0 it indicates that zero return is interrupted or not started v When HomeSts is 2 it indicates that zero return signal has been triggered but the target position is not available v When HomeSts is 3 it indicates that zero return is successful For the meanings of other values please refer to driver user manual During zero return process the user could click Stop to suspend zero return and click Home to continue zero return but the trigger limit signal could not stop zero return except that Input7 and Input9 are configured as the positive and negative limit signals of the driver In ECatDemo once zero return is started the position control mode could not be switched except zero r
14. 000 XP 1 Prepare a USB CD ROM and an installation CD of authorized Windows operating system 2 Connect the USB CD ROM with the GUC motion controller Turn on the power 3 Press DEL when starting the GUC motion controller to enter BIOS setting Fig 2 2 Select Advanced BIOS Features and then press ENTER 13 2014 Googol Technology All rights reserved Chapter 2 Quick Start gt Standard CMOS Features gt POWER BIOS Features gt Advanced BIOS Features Load Fail Safe Defaults gt Advanced Chipset Features Load Optimized Defaults gt Integrated Peripherals Set Supervisor Password gt Power Management Setup Set User Password gt PNP PCI PCI E Configuration Save amp Exit Setup gt PC Health Status Exit Without Saving Fig 2 2 BIOS setting 1 4 In Fig 2 3 set First Boot Device to USB CDROM Phoenix AwardBIOS CMOS Setup Utility Advanced BIOS Features gt CPU Feature Press Enter Item Help gt Hard Disk Boot Priority Press Enter Init Display First PCI Slot Menu Level gt First Boot Device Hard Disk Second Boot Devic ect Your Boot Third Boot Device First Boot Device ice Priority Boot Other Device Boot Up Floppy Sej Hard Disk Boot Up NumLock S CDROM Security Option ZIP100 APIC Mode USB FDD HDD S M A R T Cal USB ZIP USB CDROM LAN Disabled Ti Move ENTER Accept ESC Abort Fig 2 3 BIOS setting 2 5 Save BIOS setting Restart the GUC motion controller and install operati
15. 8 0 2 subnet mask is 255 255 255 0 default gateway is 192 168 2 1 The settings dialog boxes is shown as Fig 6 12 the left one is local computer the right one is remote computer Internet Protocol TCP IP Properties x Internet Protocol TCP IP Properties General General You can get IP settings assigned automatically if your network supports You can get IP settings assigned automatically if your network supports this capability Otherwise you need to ask your network administrator for this capability Otherwise you need to ask your network administrator for the appropriate IP settings the appropriate IP settings Obtain an IP address automatically Obtain an IP address automatically Use the following IP address Use the following IP address IP address 192 168 0 1 IP address 192 168 0 2 Subnet mask 255 255 255 0 Subnet mask 255 255 255 0 Default gateway Default gateway E Obtain DNS server address automatically Obtain DNS server address automatically Use the following DNS server addresses Use the following DNS server addresses Preferred DNS server A Preferred DNS server Altemate DNS server Alternate DNS server l Fig 6 12 IP settings dialog boxes 3 Create a new shared folder on remote computer for example Debug check Allow the network computer to change my files Input 192 168 0 2 at begin gt run press enter to see the fo
16. COM High low active option i DI O0 7 1 General digital input output Please refer to 3 2 for the details of general digital output interface 9 Extend IO interface Dedicated interface if needed please contact with Googol technology 10 Operating Temperatur 0 55 C 32 F 131 F 11 Relative Humidity 596 9095 no dew 47 2014 Googol Technology All rights reserved Chapter 6 Appendix 6 2 Troubleshooting Trouble No display on VGA No display on LVDS There are snow on LVDS display USB device malfunction Tab 6 10 Summary of troubles Invalid setting of refresh rate The maximum refresh rate of some LCD displays is 60HZ Higher refresh rate may cause wrong display or no display Video driver malfunction The system starts and displays normally before entering the OS Wrong display arises only after entering the OS but display normally in safe mode This case is caused by incorrect display mode The signal output is switched to LVDS Information of BIOS setting lost Can t start the system and the keyboard has no responds This may be caused by problems of BIOS Invalid setting of refresh rate Unstable connection of USB CD ROM with lower USB port 48 Handle Connect to CRT monitor or LCD display that support higher refresh rate and set the refresh rate to adapt for the LCD display Press Ctrl Alt F1 after entering XP to switch to VGA display Use the video driver
17. Explain This Setting ej Network access Sharing and security model for local accounts Classic local users authenticate as themselves Fig 6 15 Remote computer settings 5 Run msvsmon exe in x86 folder at remote computer in tool gt options item change Authentication Mode as No authentication Allow any user to debug as shown in Fig 6 16 60 2014 Googol Technology All rights reserved Chapter 6 Appendix 6 gt Visual Studio Remote Debugging Monitor Ed Date and Time Description 11 30 2012 3 40 43 PM Msysmon started a new server named Administrator xX6X8 20121128TM Waiting For n Options Server name X6X8 20121128TM 4015 Authentication mode O Windows Authentication No Authentication native only TCP IP port number 4015 Allow any user to debug Maximum idle time seconds 900 No authentication mode should never be used on a network that might have hostile traffic and only supports debugging native code Fig 6 16 Set Authentication mode for remote computer Create a new MFC project suggest use MFC in a Static library at local computer as shown in Fig 6 17 Set Project gt Properties at project settings Set output path as 192 168 0 2 Debug at Configuration Properties gt general as shown in Fig 6 18 Set Debugging gt debugger to start as Windows debugger set Debugging
18. GUC ECAT series motion controllers please CAUTION use authorized operating system 7 2014 Googol Technology All rights reserved Chapter 1 Overview 1 2 Model description 1 2 1 GUC ECAT Series Motion Controllers UC ECATXX M23 L2 F4G Series symbol Structure GUC GUC Series L2 Double terminal board structure Number of axis ECAT8 8 axes ECAT64 64 axes CPU Type M23 CPU 1 66GHz Memory 2GB Electronic disk capacity F4G 4G DOM Note M23 1000M network Fig 1 1 Model description of GUC T series Motion Controllers Common product model is illustrated in Fig 1 1 please refer to 3 1 for detailed description Tab 1 1 Standard model of GUC ECAT Model Description GUC ECATe M23 L2 FAG GUC ECATG4 M2 L2 FAG 8 2014 Googol Technology All rights reserved Chapter 1 Overview 1 2 2 Appearance of GUC ECAT series motion controller 9 GUC ECAT Series IWHe NYT 4383 d as WW WW oo ML Ww Wu P m a 02NAS 02N3 VOA LINAS LINA ssn SIW HM LENYT WY BP SERRE 88888982 A4wv2349u13 Oo 1X3 Fig 1 2 GUC ECAT motion controller 1 3 Function description Tab 1 2 Function list of GUC ECAT 8 64 axes motion controller Y Included Excluded Optional ECAT8 ECAT64 Analog output Pulse output Differential output s d ox 3 4 channels 4 axes motion controllers or 8 channels 8 axes motion controllers of quadrupled frequency Encoder increment
19. Technology 5 eHMI Kilomega network display port Fig 3 8 eHMI interface figure Fig 3 8 shows eHIM interface on mainboard Tab 3 9 give definitions of its pins Tab 3 9 Pin definition of eHMI port Pin Signal Description i i Description 6 EtherCAT Standard EtherCAT port Fig 3 9 EtherCAT interface figure Fig 3 9 shows eHIM interface on mainboard For the interface definition please referece EtherCAT standard 33 2014 Googol Technology All rights reserved Chapter 3 Hardware connection 7 EXTI O High speed IO extension port Fig 3 10 EXT I O interface figure Fig 3 10 shows expanded IO interface on mainboard Tab 3 10 gives definitions of its pins Tab 3 10 Pin definition of EXT I O port Pin Signal Description Pin Signal Description GND Digital grounds 6 NC NC Extended IO transmit i Extended lO receive NC C N s HSio FX Extended 10 receives 8 4 wc w s sw wc Note Digital ground and SG are the same one 34 2014 Googol Technology All rights reserved Chapter 4 Test and Tune Chapter 4 Test and Tune 4 1 Introduction ECatDemo which is the function demonstration software of Googoltech motion controller GUC ECAT compiled on the basis of CPAC could be used to check and monitor the state of the controller and test different function modules of the controller Double click GRT in CPAC file to automatically run the software with t
20. al encoder Max Counting frequency 8 MHz After quadrupled frequency 9 2014 Googol Technology All rights reserved Chapter 1 Overview Features ECAT8 ECAT64 2 channels 4 axes motion controllers or 1 channel 8 axes motion controllers of quadrupled incremental Auxiliary encoder 1 p N y encoder Max Counting frequency 8 MHz After quadrupled uu Positive and negative limit switch of each axis with Limit switch TON Y optical coupling isolation 1 channel of home switch of each axis with optical Home switch ww i coupling isolation f 1 channel of driver alarm signal of each axis with Driver alarm signal D i optical coupling isolation 1 channel of driver enable signal of each axis with Driver enable signal MS optical coupling isolation 1 channel of driver reset signal of each axis with optical Driver reset signal M f coupling isolation ae 1 channel of arrival digital signal of each axis with Arrival digital signal input a optical coupling isolation General digital input 16 channels with optical coupling isolation ERN General digital output 16 channels with optical coupling isolation 2 channels 4 axes motion controllers or 1 channel 8 Position compare output axes motion controllers differential position compare output signal Note 1 S curve T curve jog motion and electronic gear Point to Point motion 109 g V motion mode Synchronic motion Electric cam motion mode gt PVT motion Position v
21. ark Nanshan Shenzhen PRC Postal Code 518057 Usage of this User s Guide This guide will help the user understand the basic architecture of GUC ECAT series of motion controllers and learn how to install the motion controller wire the controller with the motor control system and conduct the basic debugging of the motion control system Users of this User s Cuide This guide is suitable for the one who have engineering background basic hardware knowledge and good understanding of motion control Main Contents of this Programming Manual This guide consists of six chapters Introduce constitute installment link technical parameters tuning troubleshooting etc of GUC ECAT series Motion Controller in detail 3 2014 Googol Technology All rights reserved Foreword Related documents Programming with GUC ECAT series motion controller please refer Advanced Programming Manual of GUC ECAT Series Motion Controller and Programming Manual of GUC ECAT Series Motion Control Box provided together with our product 4 2014 Googol Technology All rights reserved Contents Contents Copyright Statement 1 Contact Us 1 Document Version 2 Foreword 3 Contents SS Chapter 1 Overview 00 1 14 Introduction 7 1 2 Model description 8 1 2 1 GUC ECAT Series Motion Controllers 8 1 2 2 Appearance of GUC ECAT series motion controller 9 1 3 Function description 9 Chapter 2 Quick Start 11 2 1 Open the Package and Check 11 2 2
22. ble Ethernet 8 channels digital input output 8 channels 12bit analog input 2 channels 12bit analog output 2 channels auxiliary encoder GUC ECAT8 M23 L2 F4G GUC ECAT64 M23 L2 F4G Y Y v Y v Y v v Y Y Y v Y v Y v Controller types description HD 1 Kilomega network display can connected to Googol Special display 2 Double Ethernet 100M 1000M adaptable ECAT comply with EtherCAT agreement Please use the cable which rating consistent with TLA EIA 568 standard STP CAT 5E UTP shielded wire or higher to connect to the fieldbus network The interface type is standard RJ45 GUC ECAT8 M23 L2 F4G Tab 3 2 GUC ECAT8 M23 L2 F4G motion controller ports Port Function Kilomega network display port VGA VGA KB MS Keyboard Mouse 25 2014 Googol Technology All rights reserved Chapter 3 Hardware connection USB Dual Ethernet 1000M GUC ECAT64 M23 L2 F4G Tab 3 3 GUC ECAT8 M23 L2 F4G motion controller ports Port Function VGA VGA USB Dual Ethernet 1000M 3 2 Definition of special interface GUC ECAT controller provides all types of general interface and Special interface general interface VGA KB amp MS USB LAN RS232 this user manual will not introduce these interface The special interface is shown in Fig 3 1 and the definition is shown in Tab 3 4 26 2014 Googol Technology All rights reserved Chapter 3 Hardware connection Q GUC ECAT Series ILDNAS FONA
23. e input through EcatDemo 39 2014 Googol Technology All rights reserved Chapter 5 Examples of common peripherals connection Chapter 5 Examples of Common Peripherals Connection 5 1 Inverter Peripheral Siemens MICROMASTER 410 inverter 1 Wiring of analog control Analog output interface Transducer AO0 AO1 8 C A o c3 DAC 7 O 10V B Oo 21 e AOGND 8 v GND Fig 5 1 Wiring of analog controlling inverter 2 Wiring of digital control Digitoutput interface DIO0 DIO7 Transducer 1024V 4 24V DIO0 1 DIN1 DIO1 2 DIN2 DIO2 3 DIN3 DIO3 7 DIN4 IOOV 5 ov Fig 5 2 Wiring of analog controlling inverter 40 2014 Googol Technology All rights reserved Chapter 5 Examples of common peripherals connection Note GUC EtherCATcan achieve sink output and sourcing output please refer to 3 2 for detail It is strongly suggested pay attention to energy release when general output IO controls an CATION inductive load please refer to Fig 5 3 General digital output DIOO DIO7 24N KA NO KA NC KA DIO1 ease take attention to energy DIOO release during general output drive a relay It is suggested to add a Fly wheel diode and a resistance Fig 5 3
24. e iofreq Section DW RD Ualue 1 S1aveIndex Param8 name slavenum Section DU RD Ualue 6 SlaveStart Param8 name position Section DUO RD Ualue 8 Param1 name active Section DWORD Value 6 Param2 name slaveflag Section DWORD Value 6 Fig 4 3 Method of Configuring Substations for Controller 36 2014 Googol Technology All rights reserved Chapter 4 Test and Tune After modifying the above configuration run GRT if the controller successfully establishes the communication with the substation CommSts in Fig 4 1 will display OK if the controller fails to establish communication with the substation CommSts in Fig 4 1 will display FAIL In case of communication failure after configuration modification please restart GUC ECAT controller and substation Once the controller establishes communication with the driver various functions of the controller could be used 4 2 2 Homing and limit GUC ECAT controller takes Input7 of servo drivers as the positive limit switch and Input 9 as the negative limit switch and the use method of the limit switch is in accordance with traditional GTS Input7 and Input9 could be configured or not configured as the positive and negative limit switches of the driver GUC ECAT adopts the zero return mode built in the driver For the specific definition of the zero return mode please refer to User s Guide of GTHD EtherCAT Servo Driver ECatDemo adopts method 3 to conduct zero return and needs
25. el as shown in Fig 2 14 Found New Hardware Wizard Please choose your search and installation options s Y Search for the best driver in these locations Use the check boxes below to limit or expand the default search which includes local paths and removable media The best driver found will be installed Search removable media floppy CD ROM Include this location in the search E GoogolT ech GT 400 Don t search will choose the driver to install Choose this option to select the device driver from a list Windows does not guarantee that the driver you choose will be the best match for your hardware Fig 2 14 Automatically or manually find drivers dialog box 3 After the previous step the dialog box is to select the hardware model as shown in Fig 2 15 20 2014 Googol Technology All rights reserved Chapter 2 Quick Start Hardware Update Wizard Select the device driver you want to install for this hardware ass Select the manufacturer and model of your hardware device and then click Next If you have a disk that contains the driver you want to install click Have Disk Show compatible hardware Model GoogolT ech GT 800 PCI Ver 1 0 A This driver is not digitally signed Tell me why driver signing is important Fig 2 15 Hardware model selection 4 As shown in Fig 2 16 click Have disk then click Browse and choose GT800 INF in the path of Window
26. elocity and time motion mode A A NEN Le eel ME a 2 a a Interpolate motion Linear interpolate motion y Analog input Range 10 10V a Motion program Directly run in motion controller PID Velocity feed forward Acceleration Filter V y feed forward Probe signalnog J 10 2014 Googol Technology All rights reserved Chapter 2 Quick Start Chapter 2 Quick Start 2 1 Open the Package and Check Please check and make sure the product on your hand is identical with the model you purchased before opening the packages which can be found on the package When the package is open please take on the antistatic gloves provided by Googol Technology to check the accessories and make sure they are complete and same with the packing list or order contract Check and make sure no mechanical damage on the motion controller If there is mechanical damage on the controller or any item missed in the package please do not use the product and contact with Googol Technology or our distributor immediately List of GUC ECAT series 8 64 axes motion controller 1 One GUC ECAT series motion controller 2 One product CD 3 One antistatic gloves 4 One Guarantee card b One Certification The list is for reference only the actual term please refer to packing list or order contract 2 2 Installation Site Motion controller should be far away from equipment and environment with high power and
27. erface as shown in Fig 2 4 enter ghost press enter to enter GHOST installation interface Fig 2 5 x co Base Sys Peripherals Base Sys Peripherals Display Cntrlr USB 1 0 1 1 UHCI Cntrlr USB 1 0 1 1 UHCI Cntrlr USB 2 0 EHCI Cntrir IDE Cntrlr SMBus Cotrir Unknown PCI Device Network Cntrlr ACPI Controller e OOOO E E SOwre NY OTDwWwWe Driver for CH375A USB Disk V1 6 opyright C H ch 1998 2885 1 0 address 5D88H interrupt 88 add disk D H375 1 0 data error A a Fig 2 4 Enter ghost in dos interface Ghost 11 071 Copyright GO 1996 2007 Symantec Corporation All rights reserved R t Symantec Ghost Symantec Ghost 11 0 1 Corporate Edition Symantec Corporation Copyright C 1998 2007 Symantec Corporation fill rights reserved Symantec the Symantec Logo are trademarks or registered trademarks of Symantec Corporation or its affiliates in the US and other countries Other names may be trademarks of 6 Click ok and enter Fig 2 6 15 2014 Googol Technology All rights reserved Chapter 2 Quick Start symantec Ghost 7 0 Copyright co JXUSS 2UUT Symantec Corpor ation X Erom Image Fig 2 6 Installation interface of GHOST 7 Select Local gt Disk gt Form Image press enter select gho as shown in Fig 2 7 Symantec Ghost 4 0 Copyright GD 1998 2001 Symantec Corporahon Fig 2 7 Select gho file 8 After loading
28. eserved Chapter 3 Hardware connection closes the down tube and EXO H controls the effectiveness of the output In case of drain output the low level output state namely OV and high resistance is effective EXO H closes the upper tube and EXO L controls the effectiveness of the output As the universal digital input EXO L and EXO H close the upper and down tubes at the same time and the output is high resistance state or else the result of the universal digital input is the value of the universal digital output and meanwhile COM terminal is used to select the setting as drain input or source input At this moment DI DO terminal is the input terminal but as the universal digital input the external COM terminal must be connected to 24V terminal according to the drain input or connected to OV terminal according to the source input If COM terminal is connected to 24V terminal drain input the optocoupler is switched on and EXI is effective when the external input is OV if COM terminal is connected to OV source input the optocoupler is switched on and EXI is effective when the external input is 24V LED indicator light is theoretically similar to optocoupler LED of universal digital input and COM terminal is connected to 24V terminal according to the drain input or connected to OV terminal according to the source input thus not only functioning as the indicator light of the universal digital output but also functioning as the indicator l
29. eturn completion HomeSts 3 37 2014 Googol Technology All rights reserved Chapter 4 Test and Tune Commsts E sane Axis On PrfPos 0 EncPos 0 IO effecLev direc I PrfVel 0 00 3 EncVel 0 00 Axis Off PrfAce 0 0000 Jog EncAce 0 0000 Axissts 0 Homests 1 Jog Mode 0 Instruc Return ZeroPos oe Master Stop MEven Mslope a E EN O Ls Mle EE Home AInPort AIn AOutPort Aout Fig 4 4 Homing panel 4 2 3 Local lO GUC ECAT provides 8 channels IO which could be configured as input output or one part as input and the other part as output as shown in Fig 4 1 1 lO gt direc set DI or DO by bit wherein 1 stands for taking this bit as DI and O stands for taking this bit as DO 2 IO effecLev set effective level for IO wherein O stands for effective low level and 1 stands for effective high level Meanwhile the hardware wiring shall match with such configuration For the details please refer to Chapter 3 3 lO gt Input read input IO lO gt Output set output IO 4 2 4 Analog input and output For the details of analog input and output function provided by GUC ECAT please refer to Chapter 3 In Fig 4 1 Al AO gt AlnPort set analog input port Al AO AOutPort set analog output port Al AQ gt Aln read analog input Aln 2 AOut set anal
30. gh tech Industrial Park Kwun Tong Kowloon Hong Kong Nanshan Shenzhen PRC Postal Code 518057 Tel 86 755 26970817 755 26970824 Tel 852 2358 1033 755 26737236 Fax 852 2719 8399 Fax 86 755 26970821 E mail info googoltech com E mail support googoltech com URL http www googoltech com URL http www googoltech com cn 1 2014 Googol Technology All rights reserved Document Version Document Version Version Date 2 2014 Googol Technology All rights reserved Foreword Foreword Thank you for selecting Googol Technology motion controller To repay user we will help you establish your own control system by providing our first class motion controller perfect after sale services and high efficiency technical support More information about products of Googol Technology Googol Technology s web site is http www googoltech com You can get more information about the company and products on our website including company profile product introduction technical support product recently released You can also get more information about the company and products through the phone 86 755 26970817 Technical support and after sale services To get our technical support and after sale services E mail support googoltech com Tel 86 755 2697 0843 Addr Googol Technology SZ Ltd 2nd Floor West Wing IER Building PKU HKUST Shenzhen Hong Kong Institution High tech Industrial P
31. hapter 1 Overview 1 1 Introduction GUC ECAT series motion controller is a combination of PC technology and motion control technology which is developed based on CPU and chipset in Intel X86 architecture as the system processor and use high performance DSP and FPGA as the motion control coprocessor A GUC ECAT series motion controller has full functions of a PC and Googol motion controllers it not only widely applied in high speed point to point motion area and high performance multi axis synchronization motion areas but also widely applied in common PC which makes it an ideal embedded development platform and can be applied to robotics CNC machinery carpentry machinery printing machinery assembly lines laser processing and PCB milling machinery GUC ECAT series motion controllers provided general ports such as PS2 USB VGA and LAN and dedicated ports for motion control The definitions of ports are given in Chapter 3 The C function library and Windows DLL are also provided to accomplish more complicated control functions User may combine these control functions with the data processing display interface user interface and other application modules as required by some specific control system to implement a control system of specific application requirements To operate the motion controller user is required to have the programming experience with C language or DLL in Windows environment A No operating system is provided along with
32. he software interface shown in Fig 4 1 and Fig 4 2 click Next to switch to interface 2 and click Back to switch to interface 1 ECatDemo checks the return value of each run control instruction and display error in Instruc Return Attention for writing new program to CPAC please firstly back up original CPAC file folder wherein decimal system is adopted for all inputs and outputs in ECatDemo Commsts ey sa Axis On PrfPos 0 IO effecLev direc EncPos 0 PrfVel 0 00 j EncVel 0 00 Axis Off PrfAcc 0 0000 ZeroPos TEE TE Master o EncAcc 0 0000 MEven AxisSts 0 Clr MsSlope o Homests 1 Jog Home MType o Mode 0 AIAO Instruc Return AlnPort 1 0 z Next 1 oo Clear 3 Y Fig 4 1 ECatDemo panel1 35 2014 Googol Technology All rights reserved Chapter 4 Test and Tune Fig 4 2 ECatDemo panel 2 4 2 Quick use 4 2 4 Ensure the communication between controller and slave In order to establish the communication with the substation the controller must ensure that the quantity of hung substations must be more than or equal to the quantity of substations configured for the controller The method of configuring substations for the controller is as follows modify file Gecat gt Slavelndex gt Value please refer to Fig 4 3 for details Master Info Param8 name nindex Section DWO RD Ualue 8 Parami name dleuel Section DW RD Ualue 8 Param2 nam
33. ight of the universal digital input If general digital output is connected with an inductive load the effect on digital output should be considered Make sure the inductive load won t release energy through digital output If capacitive load is larger than 1uF to avoid false self protection of output component it is suggested to add a current limiting resistance Although the eight universal digital inputs outputs could be freely configured it is still necessary to ensure that the drain input or source input set and selected through COM terminal must be consistent with the drain output or source output set by software the drain type and the source type shall not be mixed for use only the following combinations are available drain input drain output or source input Source output in order to ensure the normal operation Because there is no filter circuit more than KHz in digital input interface it is suggested to apply software filter if user still unsure about this please contact with Googol Technology IO24V which is 24V power supply of IO module and is completely isolated with 24V power interface needs external power supply such as 24V power interface but it is recommended to use the power module different from 24V power interface in order to reduce interference 31 2014 Googol Technology All rights reserved Chapter 3 Hardware connection 4 ENC Auxiliary encoder input signals interface Fig 3 6 Pins descri
34. iguration Active Debug vi Platform Active Win32 v Configuration Manager Common Properties Debugger to launch References Remote Windows Debugger M Configuration Properties General Remote Command 11192 168 0 21DebuglTest exe Debugging Command Arguments c Cice Working Directory 11192 168 0 21Debug B Linker Remote Server Name 192 168 0 2 x G Manifest Tool Connection Remote with no authentication Native only a Resources Debugger Type Native Only XML Document Generator Browse Information Attach HE Build Events SQL Debugging No Fig 6 19 Set configuration attribute gt debug After above steps user can start a debugging even codes be modified its unnecessary to copy debug to remote computer 62 2014 Googol Technology All rights reserved Chapter 12 Encryption Mechanism 6 5 Dimension 02NAS 02N3 m z o E x z q 296 Fig 6 20 Dimension figure of GUC ECAT motion controller unit mm 63 2014 Googol Technology All rights reserved
35. l I O devices such as monitor keyboard mouse etc A DC power 24V 3A output at least is necessary for the PC system thus the POWER port is used to connect the DC power supply Two LED lights are on after power on indicating that the GUC motion controller is in operation A PE protect earth port that connects with the shell of motion controller is also provided on the power port with which users could connect external ground shell earth etc and or internal ground digital ground 24V reference ground Wiring of power is shown in Fig 2 1 12 2014 Googol Technology All rights reserved Chapter 2 Quick Start GUC ECAT Internal circuit x9M Le OGND DGND OVCC DC DC 24V R OV DC 24V OV User power SG supply PE MZ Shell earth Earth Fig 2 1 Wiring of GUC ECAT power supply To prevent electric shock and ensure normal operation of electric devices please be sure CAUTION to connect PE and earth 2 4 2 Step 2 Install operating system on the motion controller After turning on the power of GUC motion controller according step1 please check if the operating system is installed If no user has to install the operating system as described as follows otherwise please go to step 4 directly Attention Please make sure backup the important data and files in the GUC motion FADTIGK controller before installing the operating system 1 Installation of Windows98 2
36. lder named Debug Setup procedure of shared fold is shown as Fig 6 13 and Fig 6 14 Debug Properties General Sharing Customize You can share this folder with other users on your network To enable sharing for this folder click Share this folder Do not share this folder Share this folder Share name Debug Comment User limit Maximum allowed Allow this number of users To set permissions for users who access this FERE folder over the network click Permissions To configure settings for offline access click Caching Caching Windows Firewall will be configured to allow this folder to be shared with other computers on the network View pour Windows Firewall settings Fig 6 13 Set properties of shared folder 59 2014 Googol Technology All rights reserved Chapter 6 Appendix P 192 168 0 2 File Edit view Favorites Tools Help e Back P wi y Search lg Folders E W 192 168 0 2 Address Network Tasks gg Add a network place e View network connections Fig 6 14 Completed sharing folder 4 On remote computer set control panel gt management tool gt local security policy gt safe options gt network access Sharing and security model for local accounts as Classic local users authenticate as themselves The process is shown as Fig 6 15 Network access Sharing and security model for local ac PR Local Security Setting
37. lease contact sales engineer Supply 5V voltage output to encoder 7th pin ower suppl P iui Maximum current for one encoder 200mA 4 Electric standard for encoder input signal Tab 6 5 Electric parameters of encoder input signal Item Sign Nominal value AM26LS32 2MHz Maximum Frequency of input pulse F Note V Logic 1 differential voltage input T gt 0 2V VID 44 2014 Googol Technology All rights reserved Chapter 6 Appendix Item Sign k Nominal value AM26LS32 R f d It of differential fe of common mode voltage i l uu ix 7V 47V Note frequency of A phase and B phase quadrature encoder pulses before quadrupled 5 Electric standard of analog output signal Tab 6 6 Electric parameters of analog output signal Item Sign Nominal value SE single ended output Voltage output type Single ended output EMT DIFF differential output Refresh cycle GUC ECAT Note Analog output is designed for 12bit accuracy currently for more precision please contact with Googol Technology 6 Electric standard of analog input signal Tab 6 7 Electric parameters of input signal Item Sign Nominal value SE single ended input Volt tt Single ended input otage inpuriype DIFF differential input ud EM 2b Zero Offset Min 30mV typ 48mV max 36mV 7 General digit input interface general input adopt Optical Isolated 45 2014 Googol Technology All rights reserved Chapter 6 Appendix Tab 6 8 E
38. lectric parameter of general digit input Item Sign Nominal value eu On vonage gt 15V Explanation 5 15V is the uncertain status the motion controller can not distinguish its level state accurately me off voltage lt 5V Explanation 5 15V is the uncertain status the motion input invalid controller can not distinguish its level state accurately Turn On current gt 8mA input valid Ti ff urn off current SMA input invalid isolation voltage 3750 Vrms AC 1min min 1 E6MOhm yp 1E8MOhm VS 500V maximum sampling cycle 250us Inside GUC 1024v Outside GUC m IO 24V EXO H i equivalent principle fe i 1OGND O_ 0V diagram com High low active option i DI O0 7 mM f General digital input output Please refer to 3 2 for the details of general digital input interface 8 General digit output interface general output adopt Optical lsolated Tab 6 9 Electric parameter of general digit output Item Sign Nominal value Maximum output sink current Io 0 5A channels Logic 0 output voltage Maxi leak t when aximum leakage current w I lt 0 5uA Vds 24V turn off Isolation voltage 3750 Vrms AC 1minute Isolation resistance min 1E6MOhm typ 1 E8MOhm VS 500V 46 2014 Googol Technology All rights reserved Chapter 6 Appendix Item Sign Nominal value Maximum switching frequency 10KHZ Inside GUC IQg4V Outside GUC 10_24V equivalent principle diagram i Gann O 0V
39. ll prompt Fig 6 3 select Local gt Disk gt Form Image there prompt a dialog box as Fig 6 4 select dos622 gho as image file enter 51 2014 Googol Technology All rights reserved Chapter 6 Appendix The number in dos622 gho is just a version number not the unique file number E Gho From Image Fig 6 3 Load image file 52 2014 Googol Technology All rights reserved Chapter 6 Appendix Symantec Ghost 6 3 Copyright O 1998 2005 Symantec Corporation All rights reserved Image file name to restore from C C 1 1 DHMINHPI FAT drive B3 picture dos 10 2 8 26 2012 09 04 09 36 22 Fig 6 4 Select the USB boot disk image file 3 Press enter after load the image file enter interface as Fig 6 5 and select the USB disk as destination drive press enter to destination drive details as shown in Fig 6 6 USB HDD boot mode has no limit to the size of the USB disk the DEMO here is with 4G U disk the user in selecting the local destination drive should clear the details of the USB disk to select a correct disk 53 2014 Googol Technology All rights reserved Chapter 6 Appendix Select local destination drive by clicking on the drive number MES 2 TM E T s ie DS VEU TU HOS tae s Ps VERON ST PCRS IEA ck pART PACT Fig 6 6 Destination drive details 4 After the above steps it will prompt dialog box as Fig 6 7 click Yes to write data in the USB
40. new version of the program Be sure to input path of the target machine to see rather than the host machine to see At the beginning some symbol information may prompts just click OK Remote debug settings are global have nothing to do with the project In fact the CAUTION above mentioned settings of local debugger did not open any project So if users do not need remote debug set build gt debugger remote connection as Local Otherwise it Will ask for remote information every time If the target machine does not install Visual Studio 6 0 debugging may occur tips not found MFC42D dll find the specified file on the development machine with the hints and copy to the target machine C Windows System32 directory 6 4 2 Visual Studio remote debug We call the PC used for programing programs as local computer and call GUC as remote computer 1 Copy the file fold in Microsoft Visual Studio 8 Common7 IDE Remote Debugger x86 from local computer to remote computer 2 Connect the local computer and remote computer with a network cable and set the IP address for the two computers to make sure they can ping each other If fail to ping check the IP address and close the firewall For the local computer IP address is192 168 0 1 subnet mask 58 2014 Googol Technology All rights reserved Chapter 6 Appendix is 255 255 255 0 default gateway is 192 168 2 1 for the remote computer IP address is 192 16
41. ng system with the CD 6 After the installation of operating system please install drivers for Intel 852 chip and video card with the product CD Some operating system has already install the driver for video cared to make sure display can startup normal after Illegal shutdown it is suggested to install the driver as above 7 Restart the GUC motion controller after the installation of driver is finished By far the installation of operating system is finished Users should use authorized software of operating system Googol Technology is not liable CAVON for the legal issues that results from using pirate software 2 Recovery of customized Windows C Only if users require customized WINCE the product CD provides GHOST exe and WINCE gho No such files are provided in standard products If users need customized CAUTION WINCE please contact with Googol Tech 1 Prepare a USB disk can be used as startup disk on how to make a startup disk please refer to 6 3 and copy GHOST exe and WINCE gho in the CD provided by Googol Tech to it 2 Connect the USB disk with the GUC motion controller and turn on the power 14 2014 Googol Technology All rights reserved Chapter 2 Quick Start 3 Press DEL when starting GUC motion controller to enter BIOS setting Set First Boot Device to USB HDD please refer to BIOS setting 4 Save BIOS setting and restart GUC motion controller 5 When GUC motion controller enter DOS int
42. nput reference AIGND the same When be use as differential input gt Al0 and Al1 as one pair of differential input gt Al2and Al3 as one pair of differential input gt Al4and Al6 as one pair of differential input gt Al5 and Al as one pair of differential input 2 The analog output value of AO0 AO1 is ranging in 10V 10V reference to AOGND Analog input value ranging in 10V 10V please keep the value in the range otherwise may destory the chip of the board The load impedance of analog output must be greater than 1000 ohm otherwise may lead to abnormal working The differenctial input must reference to AIGND User must confirm the correct corresponding channel The SG GND OV IOGND PE AIGND AOGND of above interface is isolated from each other completely Users can connect externally according to the actual nedds 3 DADO General digital input output 1 DIO 1024 _ 9 DIO1O COM 10 DIO20 IOGNB 11 DIO3O IOGND DIO40 IOGND DIO5O IOGND DIO6O IOGND 8 DI07O 1024V 16 Fig 3 4 Pin description of general digital input output As shown in Fig 3 4 there are 8 channels general digital input output interfaces in GUC front panel The definition is shown in Tab 3 7 and the Internal circle in Fig 3 5 Tab 3 7 Definitions of general digital input output port Pin Signal Description 1 DIO0 General digital inputioutput DIO1 General digital input output DIO2 General digital input o
43. og output 4 2 5 Auxiliary encode GUC ECAT provides 2 channels auxiliary encoder and after AxisNum in Fig 4 1 is set as 9 or 10 the 38 2014 Googol Technology All rights reserved Chapter 4 Test and Tune input value of the auxiliary encoder could be read in EncPos 4 2 6 Motion mode GUC ECAT supports Point to Point motion mode Jog motion mode PT motion mode Gear motion mode Follow motion mode interpolation motion mode and PVT motion mode EcatDemo provides the demonstration function for the above motion modes but it is necessary to ensure the right state of AxisSts in Fig 4 1 before motion Trap Jog and Gear have complete parameter settings and please refer to Programming Manual for the specific settings In Follow motion mode master shaft Master slave shaft Slave main shaft segment MSeg and slave shaft segment SSeg loop times Loop could be set and other parameters are constant values In PT and PVT motion modes Ln is unavailable for parameter setting and is a preset value and Ln is set as axis 4 shaft linear interpolation In Trap Jog PT and PVT motion modes the present value of AxisNum is taken as the motion shaft 4 2 7 Extended module Connect one DI16xDO16 digital quantity module to GUC ECAT and set the address as 0 In Fig 4 2 ElO0 gt Output set the output under through EcatDemo ElO0 gt Input read th
44. ot etc We had introduced Ghost before so similarly take Ghost software to make a USB boot disk Make with Ghost tool the default startup mode is USB HDD user should select a mode supported by the mainboard on BIOS setting User should prepare a PC with Windows OS a USB disk with the experience that some USB disk can t be a boot disk it is suggested to use Kingston USB disk ghost software and USB boot disk image file we use dos6222 gho in the DEMO Steps of make a USB boot disk are as follows 1 Insert USB disk run Ghost32 exe it will prompt dialog box as shown in Fig 6 2 Pe Vang es para eT Po Url V oen boe Sa e er nre e 5 P eee oe ree Aso up zn symantec Ghost 6 3 Copyright OC 1996 2005 Symantec Corporation All rights reserved Symantec Ghost 8 3 Corporate Edition Symantec Corporation Copyright CC 1998 2005 Symantec Corporation All rights reserved Symantec the Symantec Logo are trademarks or registered trademarks of Symantec Corporation or its affiliates in the U S and other countries Other names may be trademarks of their respective owners The Licensed Software and Documentation are deemed to be commercial computer software and commercial computer software documentation as defined in FAR Sections 12 212 and DFARS Section 227 7202 CD DVD writing functionality is currently unavailable Please see the Symantec Ghost Reference Guide to enable it Fig 6 2 Run ghost 2 Click OK it wi
45. ption of ENCO SYNCO ENC1 SYNC1 ENCO SYNCO and ENC1 SYNC1 are auxiliary encoder input ports The auxiliary encoder input ports could receive Phase A Phase B and C INDEX signals For the 9pin definition of ENCO SYNCO and ENC1 SYNC1 please refer to Tab 3 8 and for the internal circuit please refer to Fig 3 7 Tab 3 8 Pin definition of ENCO SYNCO and ENC1 SYNC1 LI Signal Description Pin Signal Description Phase A signal of auxiliary R Phase A signal of DEM auxiliary encoder encoder Phase B signal of B Phase B signal of auxiliary auxiliary encode encoder Index signal of auxiliary encoder Digital groundwote T 3 Ic Index signal of auxiliary encoder 4 Reserve reserve fo s sv Power O CSCS Note Digital ground and SG are the same one Inside controller Outside controller Schema A uU A 6 x A phase input Tr Twisted pair B B phase input GND es B 7 L x L C 2 S C 8 Ed C phase input GND The two GND should be connected Fig 3 7 Internal circuit of auxiliary encoder ports ENCO SYNCO ENC1 SYNC1 32 2014 Googol Technology All rights reserved Chapter 3 Hardware connection ENCO SYNCO ENC1 SYNC1 are differential interface it is suggested wiring with differential mode and the two GND should be connected If user wants to use single ended wiring please contact with Googol
46. r DOS operating system please go to step5 directly For user who use GUC ECATXX M23 L2 F4G series motion controller please use the included software to test the communication of host and motion controller Normal run of the testing software proves that the communication between the host and the motion controller is established successfully otherwise it will pop up the message box Connect to controller failed please refer to Troubleshooting confirm what the trouble is try again after trouble handled If needed please contact us 2 4 5 Step 5 Connect the motor with driver For safety we strongly suggest that user do not connect the motor with any mechanical device before installing and debugging the whole control system Please check that there is no load with the motor After setting proper parameters of driver and card and motor is CAUTION under control mechanical device could be connected otherwise it may cause serious consequential damages Before connecting with the motor please make sure the driver is not connected with the motion controller Users must read the detailed instructions of driver and ensure proper connection Test driver 23 2014 Googol Technology All rights reserved Chapter 2 Quick Start and motor according to the manual to ensure that they work properly 2 4 6 Step 6 Connect the controller with the servo drivers Turn off the power Connect the GUC ECAT controller with the servo drivers using the
47. s Driver Hardware Update Wizard Insert the manufacturer s installation disk and then make sure that the correct drive is selected below Cancel Copy manufacturer s files from n eise eive m sak Fig 2 16 Find drivers path dialog box 21 2014 Googol Technology All rights reserved Chapter 2 Quick Start Hardware Update Wizard Select the device driver you want to install for this hardware Insert the manufacturer s installation disk and then make sure that the correct drive is selected below Locate File Look in Driver 3 L4GT800 INF My Recent Documents File name GT800 INF v My Network Files of type Setup Information int Fig 2 17 Select the driver dialog box 5 Select GT800 INF click Open as shown in Fig 2 17 it will turn to new dialog box as shown in Fig 2 16 Click OK the wizard will automatically install the driver Click Finish to complete the driver installation as shown in Fig 2 18 22 2014 Googol Technology All rights reserved Chapter 2 Quick Start Hardware Update Wizard Completing the Hardware Update Wizard The wizard has finished installing the software for D GoogolT ech GT 800 PCI Ver 1 0 Click Finish to close the wizard Fig 2 18 Driver installation completes dialog box 2 4 4 Step4 Establish communication between the host and the motion controller only for Windows environment Fo
48. stem Adjust the zero drift parameter of driver or use motion controller to compensation the drift Wrong wiring of encoder Check the wiring of the encoder Shield the connection wire of the encoder Transfer the signal with differential mode Electric noise Shorten the wire length of the encoder wire The frequency of the encoder signal is above 8MHz change another encoder with lower frequency Too high frequency of the encoder Check the signals that encoder output or change motion controller Replace the motion controller Reconnect A B signal interface or reverse A B phase in system configuration Encoder does not work Motion controller error Encode A B phase is in reverse The parameter of PID is set f Adjust the parameter of PID abnormality 49 2014 Googol Technology All rights reserved Chapter 6 Appendix Trouble The motor is out of control Motor position drift for T PV card When motor driver without servo on signal powered on power on host PC will cause motor to move suddenly Input or output signals of the motion controller are abnormal The effective level of the limit switch is not correct The axis is not enabled Control mode of the motion controller and the driver are not matched Motor driver alarm signal triggered Motor controller has abnormal work status Wiring of motor is wrong Connect to incorrectly the ground The torque of the motor is
49. strong electromagnetic interference 2 3 Preparation Before installment user has to prepare the following items 1 24V DC power can t be replaced by 12V direct supply 2 Servo motor 3 Driver and Power of GTHD XXXXAEC2 series Currently supports driver of GTHD XXXXAEC2 series only 4 The quantity of network cable between GUC ECAT controller and driver is the driver quantity 1 user supplied Please use the cable which rating consistent with TLA EIA 568 standard STP 11 2014 Googol Technology All rights reserved Chapter 2 Quick Start CAT 5E UTP shielded wire or higher 5 Home switch positive negative limit switches optional as needed 6 Multimeter 2 4 Installation Procedures Step 1 Connect GUC motion controller with standard input output device and 24V DC power Turn on the power Step 2 Install operating system on the motion controller Step3 Install Windows drivers of the motion controller only for Windows environment Step4 Establish communication between the host and the motion controller only for Windows environment Step 5 Connect the motor with driver Step 6 Connect the controller with the servo drivers 2 4 1 Step 1 Connect GUC motion controller with standard input output device and 24V DC power Turn on the power GUC ECAT series motion controllers provide standard I O ports VGA PS2 and USB that used to set up a PC system Users could use these ports to connect genera
50. too small Motion card on open loop status Parameter PID is not set properly usually the P is not larger enough Motion controller is in uncertain status at the time power on while the motor is in working status Incorrect wiring No external supplied power is Wrong connection to the ground 50 Handle Set the correct effective level of limit Switch by corresponding command Call the command GT AxisOn to enable the axis Check the control mode of the motion controller and driver and correct them Check the reason of alarm and reset the driver If the driver does not offer the alarm signal user should connect pin 1 and pin 2 on port CN6 to CN13 or disable monitoring alarm signal on system configuration Check status and solve it Check the electric wiring of motor Check the connection to the ground and correct Check the motor driver Set as close loop status Adjust PID parameter especially the parameter P should be increased Before power on host PC make sure motor driver has been powered off or disabled Check the electric connection Check external power supply Reconnect the ground 2014 Googol Technology All rights reserved Chapter 6 Appendix Trouble a e Replace motion controller damaged p Unstable Power consumption is low Change power supply 6 3 Make a USB boot disk There are many ways of make a USB boot disk the common tools are USBoot Ghost and FlashBo
51. uick Start lI Ghosts Symantec Ghost 6 3 Copyright OC 1996 2005 Symantec Corporation All rights reserved Reset Computer Local file C Administrator xffie dos6222 gho 62 HB Local drive 2 3745 HB 1 1 Typei6 Fat151 Size 61 MB NO NAME Fig 2 12 Completed installation dialog box 13 Extract USB disk click Reset Computer to restart the computer and enter the WINCE interface 2 4 3 Step3 Install Windows drivers of the motion controller only for Windows environment For DOS or WINCE operating system please go to step4 directly Install Windows drivers of the motion controller only for Windows environment 1 After installing hardware and starting computer Windows will automatically detect the motion controller select Install from a list or specific location Advanced click Next As shown below 19 2014 Googol Technology All rights reserved Chapter 2 Quick Start Found New Hardware Wizard Welcome to the Found New Hardware Wizard This wizard helps you install software for PCI Device If your hardware came with an installation CD lt lt or floppy disk insert it now What do you want the wizard to do O Install the software automatically Recommended Install from a list or specific location Advanced Click Next to continue Fig 2 13 Found new hardware wizard dialog box 2 A Select Don t search will choose the driver to install Click Next The pan
52. utput DIO3 General digital input output 29 2014 Googol Technology All rights reserved Chapter 3 Hardware connection Pin Signal Description DIO4 General digital input output DIO5 General digital input output General digital input output 5 7 16 1024V 24V IO power Note 10 High low active option Notez 11715 IOGND 24V IO reference ground Note 1 IO24V which is 24V power supply of IO module and is completely isolated with 24V power interface needs external power supply such as 24V power interface but it is recommended to use the power module different from 24V power interface in order to reduce interference 8 DIO7 General digital input output Note 2 connect COM and 24V in short circuit at the terminal through short and thick wire to set the universal digital IO input as low level drain input connect COM and OV in short circuit at the terminal through short and thick wire to set the universal digital IO input as high level source input Inside GUC l Outside GUC 1Q24V 24V lIOpower EXO_H EXO_L i T OV IO power IOGND COM High low active option General digital input output DI O0 7 GND Fig 3 5 Internal circle of digital input output As the universal output DI DO terminal is set as source output or drain output through software In case of source output the high level output state namely 24V and high resistance is effective EXO_L 30 2014 Googol Technology All rights r

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