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PCI-8132

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1. 1 For convenience sake the drawing shows connections for one axis only 2 Default pulse output mode is OUT DIR mode default input mode is 4X AB phase mode Anyway user can set to other mode by software function 3 Since most general purpose servomotor driver can operates in Torque Mode Velocity Mode Position mode For linking with PCI 8132 user should set the operating mode to Position Mode By setting servo driver to this mode user can use PCI 8132 to perform either Position Control or Velocity Control 4 The Deviation Counter Clearinput for Panasonic Driver is line drive type where ERC output of PCI 8132 is open collector type So a little circuit is required for interfacing Inside PCI 8132 EX 5V Inside Panasonic Driver 26LS32 Figure 7 4 Interface circuit between ERC and CL CL Connection Example e 113 Wiring of PCI 8132 with Panasonic MSD PCI_8132 Axis 1 Aela ELEN A J OUT orr GI DIR CDR DI EX 24V pd SONI mee H Di Mk KH t E H E EE gt 4 EZT bot EX GND Gi PELT MELT Ps PSD1 MSD a Servo Driver Panasonic MSC CNI F 50 200 W v vu alolgisla lSiglalgigie GERBECEECCEGECKEER meL ora mso Figure 7 3 Connection of PCI 8132 with Panasonic Driver 114 Connection Example Product Warranty Service Seller warrants that equipment furnished will be free form defects in material and workmanship for a period of one year
2. CN2 Pin No Signal Name Axis CN2 Pin No Signal Name _ Axis PELI PEL2 4 MEL1 MEL2 The signals connection and relative circuit diagram is shown in the following diagram The external limit switches featuring a contact capacity of 24V 6mA minimum You can use either A type normal open contact switch or B type normal closed contact switch by setting the DIP switch S1 The PCI 8132 is delivered with all bits of S1 set to OFF refer to section 2 10 For the details of the EL operation please refer to section 4 3 2 EE EE EE ete ere ee ee 1 EE EES inside PCI 8132 CNS L EX 24V gees 4 7K i VW i H t H ie A H EE popan Ee Ee i F E 1 To PCL5023 KZ CSC E i MEL GC H I Ts 6mA Max Vu EE A LE F Switch EXGND f 20 e Signal Connections 3 5 Ramping down Signals PSD and MSD There are two ramping down Slow Down signals PSD and MSD for one axis The relative signal name pin number and axis number are shown in the following table CN2 Pin No Signal Name PSI mS _ Ps2 ms _ The signals connection and relative circuit diagram is shown in the following diagram Usually limit switches are used to generate the slow down signals to make motor operating in a slower speed For more details of the SD operation please refer to section 4 3 1 1 Inside PCL8132 CNS erer eee EX 24V s n 4 7K 9 l k a a RER une i PSD To PCL5023 rth Se E
3. One thing needed to be noticed by users is to identify the card number of PCI 8132 when multiple cards are applied The card number of one PCI 8132 depends on the locations on the PCI slots They are numbered either from left to right or right to left on the PCI slots These card numbers will effect the corresponding axis number on the cards And the axis number is the first argument for most funcions called in the library So it is important to identify the axis number before writing application programs For example if 3 PCl 8132 cards are plugged in the PCI slots Then the corresponding axis number on each card will be Axis No Axis 1 Axis 2 Card No as S Oo f E i ee e ee 4 5 52 e Operation Theorem If we want to accelerate Axis 1 of Card2 from 0 to 10000pps in 0 5sec for Constant Velocity Mode operation The axis number should be 6 The code on the program will be _8132_v_move 2 0 10000 0 5 To determine the right card number Try and Error may be necessary before application Motion Creator can be utilized to minimize the search time For applications needed to move many axes simultaneously on multiple PCI_8132 cards users should follow the connection diagrams in Section 3 12 to make connections between their CN3 connectors Several functions illustrated in Section 6 8 may be useful when writing programs for such applications e Relative Function 8132_start_move_all _8132_move_all __8132_wait_for_all
4. To make use of position comparison function the following guidelines will be of much help 1 Decides the comparison mode Use_8132_Set_CompMode function and consider the counter source and the comparison conditions 2 Sets the counter initial value There are two ways to set the counter Directly use _8732_Set_CompCnt function to set its value Use _8132_Set_CompHome to set its value to 0 automatically after homing 3 Enables the interrupt function Use _8132_Set_Complnt function 4 Sets up the desired comparison data Use _8132_ Set_CompData function 5 Gets the status of the comparator Use _8132_Get_CompSts 6 Sending motion commands After setting up the comparator users can send other moiton control functions eg start_a_move or v_move etc The comparator will fulfill the comparison function without interfering the CPU Operation Theorem e 55 For user who want to compare multiple data continuously with the comparator The method of building comparison tables is also provided as shown in the following 1 U16 _8132_Build_Comp_Table U16 axis 132 table 116 Size 132 table an one dimension array pointer for compare positions 116 Size Total amount of position compare points Maximum 1024 2 U16 _8132_Set_Comp_Table U16 axis U16 logic U16 logic enable disable position compare table 0 for disable 1 for enable Here are two examples of using position comparison functions The first example is typic
5. F64 max_vel F64 Tacc F64 Tdec U16 _8132_t_move I16 axis F64 dist F64 str_vel F64 max_vel F64 Tacc F64 Tdec U16 _8132_start_ta_move 16 axis F64 pos F64 str_vel F64 max_vel F64 Tacc F64 Tdec U16 _8132_ta_move I16 axis F64 pos F64 str_vel F64 max_vel F64 Tacc F64 Tdec U16 _8132_wait_for_done 16 axis Visual Basic Windows 95 NT B_8132_start_a_move ByVal axis As Integer ByVal pos As Double ByVal str_vel As Double ByVal max_vel As Double ByVal Tacc As Double As Integer B_8132_a_move ByVal axis As Integer ByVal pos As Double ByVal str_vel As Double ByVal max_vel As Double ByVal Tacc As Double As Integer B_8132_start_r_move ByVal axis As Integer ByVal distance As Double ByVal str_vel As Double ByVal max_vel As Double ByVal Tacc As Double As Integer B_8132_r_move ByVal axis As Integer ByVal distance As Double ByVal str_vel As Double ByVal max_vel As Double ByVal Tacc As Double As Integer B_8132_start_t_move ByVal axis As Integer ByVal distance As Double ByVal str_vel As Double ByVal max_vel As Double ByVal Tacc As Double ByVal Tdec As Double As Integer B_8132_t_move ByVal axis As Integer ByVal distance As Double ByVal str_vel As Double ByVal max_vel As Double ByVal Tacc As Double ByVal Tdec As Double As Integer B_8132_start_ta_move ByVal axis As Integer ByVal pos As Double ByVal str_vel As Double ByVal max_vel As Double ByVal Tacc As Double ByVal Tdec As Double As Inter
6. Integer B_8132_Set_CompHome ByVal axis As Integer As Integer B_8132_Build_Comp_Table ByVal axis As Integer table As Long ByVal 108 e Function Library Size As Integer As Integer B_8132_Set_Comp_Table ByVal axis As Integer ByVal Control As Integer As Integer B_8132_Build_Comp_Table ByVal axis As Integer ByVal Start As Long ByVal End As Long ByVal Interval As Long AS Integer Argumen axis axis number 0 1 2 3 4 enable 1 means enable 0 means disable comp_data comparator value cnt_value counter value comp_mode comparator mode O increasing counter gt compare value 1 equal counter compare value 2 decreasing counter lt compare value table compare table pointer size compare table size control 0 means disable 1 means compare points is from compare table 2 means compare points is from linear function comp_sts the definition are as follows bit0 CMP1 Out Status Low 0 and high 1 biti CMP2 Out Status Low 0 and high 1 bit2 bit6 not use bit7 Interrupt happened 1 not happened 0 start compare function start point end compare function end point interval compare function incremental size Return Code ERR_NoError Function Library e 109 7 Connection Example This chapter shows some connection examples between PCI 8132 and servo drivers and stepping drivers 7 1 General Description of Wiring Figure 7 1 is a general description of all the connectors of PCI 8132 Only con
7. Pulse Output Signals OUT and DIR There are 2 axis pulse output signals on PCI 8132 For every axis two pairs of OUT and DIR signals are used to send the pulse train and to indicate the direction The OUT and DIR signals can also be programmed as CW and CCW signals pair refer to section 4 1 1 for details of the logical characteristics of the OUT and DIR signals In this section the electronic characteristics of the OUT and DIR signals are shown Each signal consists of a pair of differential signals For example the OUT2 is consisted of OUT2 and OUT2 signals The following table shows all the pulse output signals on CN2 D gt a 5 D __Direction signal _ _ OO CDCL Direction signal 21 out Pulse signals _ _ CT DU Pulse signals O C 23 DR Directonsigna C a oR Direction signal The output of the OUT or DIR signals can be configured by jumpers as either the differential line driver or open collector output You can select the output mode either by closing breaks between 1 and 2 or 2 and 3 of jumpers J1 J4 as follows OOO Output For differential line driver For open collector Signal output close a break output close a break between 1 and 2 of between 2 and 3 of OUTT DIRT OUT2 DRZ The default setting of OUT and DIR signals are the as differential line driver mode Signal Connections e 15 The following wiring diagram is for the
8. it s likely caused by an interrupt conflict perhaps because you incorrectly described the ISA setup In general the solution once you determine it is not a simple oversight is to consult the BIOS documentation that come with your system Installation e 9 2 4 Software Driver Installation Please refer to the PCI Software Installation Guide 2 5 CN1 Pin Assignments External Power Input CNT Pin No EXGND Grounds of the external power EX 24V External power supply of 24V DC 5 Notes 1 CN1 is a plug in terminal board with no screw 2 Be sure to use the external power supply The 24V DC is used by external input output signal circuit The power circuit is configured as follows 3 Wires for connection to CN1 Solid wire 0 32mm to 0 65mm AWG28 to AWG22 Twisted wire 0 08mm to 0 32mm AWG28 to AWG22 Naked wire length 10mm standard The following diagram shows the external power supply system of the PCI 8132 The external 24V power must be provided an on board regulator generates 5V for both internal and external usage External Power Bus Power 5V eo Ss a a m GND EX 24V Q o a5 a5 4 mg 0 od CO E E a Du 9 u o o oo g RS ESG EXGND oa TA A EX 5V OUTPUT I O SIGNALS 1 I 0 SIGNALS Isolation 10 Installation 2 6 CN2 Pin Assignments Main connector The CN2 is the major connector for the motion control I O signals Ne Name et Funstion axie r No Nam
9. lets the PCI 8132 starts to wait for EZ signal and then EZ signal stops OUT and DIR pins from outputting pulses to complete the home return Velocity RN accel i Writing home move mvel command to begin home return operation svel ORG Signal ON ORG EZ Signal ON EZ 4F 3 Home_mode 2 both ORG and index signal are useful The ORG signal lets the PCl 8132 decelerate to starting velocity and then EZ signal stops OUT and DIR pins from outputting pulses to complete the home return Velocity A kl e accel mvel 1 EE 1 Ne svel ese i Mewes lect io time ORG EE i I EZ SS Miss AE hile aan oe Note If the starting velocity is zero the axis will work properly in home mode 2 e Relative Function 8132_set_home_config _8132_home_move _8132_v_stop Refer to section 6 11 Operation Theorem e 45 4 1 7 Manual Pulser Mode For manual operation of a device you may use a manual pulser such as a rotary encoder The PCI 8132 can input signals from the pulser and output corresponding pulses from the OUT and DIR pins thereby allowing you to simplify the external circuit and control the present position of axis This mode is effective between a _8132_manu_move command is written and a_8132_v_stop command The PCI 8132 receives plus and minus pulses CW CCW or 90 degrees phase difference signals AB phase from the pulser at PA and PB pins The 90 phase difference signals can be input through multipl
10. 08V power Soppi Opa CS0 EXCND O Ext power ground 100 VPP 24V O 24V power supply ouiput w v v v NI Ol OF A Ga n fe 5 5 8 5 5 oO SE CO Di Installation e 11 2 7 CN3 Pin Assignments Simultaneous Start Stop The signals on CN3 is for simultaneously start stop signals for multiple axes and multiple cards Function Axis No Name GND Buspowerground STP 1 B 2 STP Simultaneous stop signal input output 3 Simultaneous start signal input output Simultaneous stop signal input output Simultaneous start signal input output 6 5V_ Bus power 5V Note 5V and GND pins are directly given by the PCI Bus power 12 Installation 2 8 Jumper Setting The J1 J4 is used to set the signal type of the pulse output signals DIR and OUT The output signal type could be differential line driver output or open collector output Please refer to section 3 1 for details of the jumper setting The default setting is the differential line driver mode Open Collector gt a Line Driver 1 Ji J2 J33 J4 2 9 Switch Setting The switch bits 1 2 of S1 are used to set the EL limit switch s type The default setting of EL switch type is normal open type limit switch or A contact type The switch on is to use the normal closed type limit switch or B contact type The default setting is set as normal open type The bits 3 4 of S1 are used t
11. OUT and DIR signals of the 2 axes Inside PCI 8132 OG VCC OUT DIR EXGND OUT DIR from PCL5023 NOTE If the pulse output is set to the open collector output mode the OUT and DIR are used to send out signals Please take care that the current sink to OUT and DIR pins must not exceed 20mA The current may provide by the EX 5V power source however please note that the maximum capacity of EX 5V power is 500mA 16 e Signal Connections 3 2 Encoder Feedback Signals EA EB and EZ The encoder feedback signals include the EA EB and EZ Every axis has six pins for three differential pairs of phase A EA phase B EB and index EZ input The EA and EB are used for position counting the EZ is used for zero position index The relative signal names pin numbers and the axis number are shown in the following tables ris a o a m LE a ENT m o e ests oo e o 34 e 2 CN2 Pin No Signal Name Axis CN2 Pin No Signal Name Axis oo em O 35 o C e enm o 3 ez o The input circuits of the EA EB EZ signals are shown as follows Inside PCI 8132 op PCL5023 EA EB EZ Please note that the voltage across every differential pair of encoder input signals EA EA EB EB and EZ EZ should be at least 3 5V or higher Therefore you have to take care of the driving capability when connecting with the encoder feedback or motor driver feedback Th
12. This function initializes a group of axes for coordinated motion map_axes must be called before any coordinated motion function is used For PCI 8132 coordinated motion is made only between two axes For example if the z and u coordinates correspond to axes 2 and 3 the following code would be used to define the coordinate system int ax 2 2 3 map_axes 2 ax set_move_speed 10000 0 Set vector velocity 10000pps set_move_accel 0 1 Set vector accel time 0 1 sec set_move_speed set_move_accel set_move_saccel The vector velocity and vector acceleration can be specified for coordinated motion by this three functions Codes at last samples demonstrates how to utilize this three functions associated with map_axes Function Library e 93 set_arc_division This function specifies the maximum angle in degrees between successive points along the arc The default is 5 degrees arc_optimization This function enables optimize TRUE or disable optimize FALSE the automatic calculation of the optimum acceleration for an arc The default state for arc optimization is enabled When arc_optimization is enabled circular intepolation is greatly improved by choosing the best acceleration for the motion The optimum acceleration is given by the following formula Aopt V d where Aopt is the best acceleration V is the set_move_speed velocity d is the segment length If the acceleration is higher th
13. cards for simultaneous start stop control on all concerned axes is possible In this case connect CN3 as follows PCI 8132 1 PCI8132 2 PCI8132 3 CND STA STP A STA 30 e Signal Connections To let an external signal to initiate simultaneous start stop connect the 7406 open collector or the equivalent circuit as follows PCE8132 1 PCL8132 2 PCL8132 3 CN4 CN4 CN4 7406 STOP 3 15 Daughter Board Connector The CN2 connector of PCI 8132 can be connected with DIN 100S including a cable ACL 102100 a 100 pin SCSI II cable DIN 100S is a general purpose DIN socket with 100 pin SCSI II connector It has easily wiring screw terimal and easily installation DIN socket that can be mounted on DIN rails Please check the NuDAQ catalog by ADLINK for further information of DIN 100S Signal Connections e 31 3 16 Comparison Output CMP1 and CMP2 The PCI 8132 provides two pins for position compare trigger output The pulse width of this trigger is 100 micro seconds for most industrial CCD camera The pin assignment and wiring are as follows CN2 Pin No SignalName_ Axis me MPT TO EX 5V VCC Shy tk Ng Ohm Pulse M al CMP Inside 8132 EX GND 32 Signal Connections Operation Theorem This chapter describes the detail operation of the PCI 8132 card Contents of the following sections are as following Section 4 1 The motion control modes Section 4 2 The motor driver
14. control Users should refer to Section 6 17 for more details Here we use an example on Windows OS to demonstrate how to perform interrupt control with the function library we provided Use Thread to deal with Interrupt under Windows NT 95 In order to detect the interrupt signal from PCI 8132 under Windows NT 95 user must create a thread routine first Then use APIs provided by PCI 8132 to get the interrupt signal The sample program is as follows Situatuins Assume that we have one card 2 axes and want to receive Home Return and Preset Movement Finish interrupt signal from axis 1 Steps 1 Define a Global Value to deal with interrupt event HANDLE hEvent 2 volatile bool ThreadOn 2 In Initializing Section you must Initialize PCI 8132 properly first set interrupt types and enable an event for each axis set_int_factor 1 0x002040 _8132_Set_INT_Control 0 1 _8132_INT_Enable 0 amp hEvent 0 Note For each card you must assign 2 4 events array in _8132_INT_Enable function 3 Define a Global Function Thread Body Use WaitForSingleObject or WaitForMultipleObjects to wait events Remenber to reset this event after you get the event UINT IntThreadProc LPVOID pParam U32 IntSts while ThreadOn TRUE Operation Theorem e 59 WaitForSingleObject hEvent 1 INFINITE _8132_get_int_status 1 amp IlntSts ResetEvent hEvent 1 return 0 4 Start the thread Use a boolean value to control the th
15. decel represents the acceleration deceleration rate in unit of pps sec The area inside the trapezoidal profile represents the moving distance The unit of velocity setting is pulses per second pps Usually the unit of velocity in the manual of motor or driver is in rounds per minute rpm A simple conversion is necessary to match between these two units Here we use a example to illustrate the conversion Operation Theorem e 37 For example A servo motor with a AB phase encoder is used for a X Y table The resolution of encoder is 2000 counts per phase The maximum rotating speed of motor is designed to be 3600 rpm What is the maximum pulse command output frequency that you have to set on PCI 8132 Answer max_vel 3600 60 2000 4 48000pps The reason why 4 is because there are four states per AB phase See Figures in Section 4 4 max_vel sdd AO str_vel q gt ees gt Time second Tacc hb Tdec Usually the axes need to set the move ratio if their mechanical resolution is different from the resolution of command pulse For example if an incremental type encoder is mounted on the working table to measure the actual position of moving part A servomotor is used to drive the moving part through a gear mechanism The gear mechanism is used to convert the rotating motion of motor into linear motion see the following diagram If the resolution of motor is 8000 pulses round The resolution of gear mechan
16. from the confirmed date of purchase of the original buyer and that upon written notice of any such defect Seller will at its option repair or replace the defective item under the terms of this warranty subject to the provisions and specific exclusions listed herein This warranty shall not apply to equipment that has been previously repaired or altered outside our plant in any way as to in the judgment of the manufacturer affect its reliability Nor will it apply if the equipment has been used in a manner exceeding its specifications or if the serial number has been removed Seller does not assume any liability for consequential damages as a result from our products uses and in any event our liability shall not exceed the original selling price of the equipment The equipment warranty shall constitute the sole and exclusive remedy of any Buyer of Seller equipment and the sole and exclusive liability of the Seller its successors or assigns in connection with equipment purchased and in lieu of all other warranties expressed impliedor statutory including but not limited to any implied warranty of merchant ability or fitness and all other obligations or liabilities of seller its successors or assigns The equipment must be returned postage prepaid Package it securely and insure it You will be charged for parts and labor if you lack proof of date of purchase or if the warranty period is expired Connection Example e 115
17. how to modify various settings on the PCI 8132 card to meet your requirements It is divided into seven chapters e Chapter 1 Introduction gives an overview of the product features applications and specifications e Chapter 2 Installation describes how to install the PCI 8132 e Chapter 3 Signal Connection describes the connectors pin assignment and how to connect the outside signal and devices with the PCI 8132 e Chapter 4 Operation Theorem describes detail operations of the PCI 8132 e Chapter 5 Motion Creator describe how to utilize a Microsoft Windows based utility program to configure and test running the PCI 8132 e Chapter 6 Function Library describes high level programming interface in C C and VB language It helps programmer to control PCI 8132 in high level language style e Chapter 7 Connection Example shows some typical connection examples between PCI 8132 and servo driver and stepping driver Introduction The PCI 8132 is a 2 axes motion control card with PCI interface It can generate high frequency pulses to drive stepping motors and servo motors Multiple PCI 8132 cards can be used in one system Incremental encoder interface on all four axes provide the ability to correct for positioning errors generated by inaccurate mechanical transmissions In addition mechanical sensor interface servo motor interface and general purpose I O signals are provided for system integration Hardwar
18. interface INP ERC ALM SVON RDY Section 4 3 The limit switch interface and I O status SD EL ORG Section 4 4 The encoder feedback signals EA EB EZ Section 4 5 Multiple PCI 8132 cards operation Section 4 6 Change Speed on the Fly Section 4 7 Position Comparison Section 4 8 Interrupt Control 4 1 Motion Control Modes In this section the pulse output signals configurations and the following motion control modes are described e Constant velocity motion for one axis e Trapezoidal motion for one axis e S Curve profile motion for one axis e Linear Circular interpolation for two axes e Home return mode for one axis e Manual pulser mode for one axis Operation Theorem e 33 4 1 1 Pulse Command Output The PCI 8132 uses pulse command to control the servo stepper motors via the drivers The pulse command consists of two signals OUT and DIR There are two command types 1 single pulse output mode OUT DIR and 2 dual pulse output mode CW CCW type pulse output The software function set_pls_outm ode is used to program the pulse command type The modes vs signal type of OUT and DIR pins are as following table Output of OUT pin Output of DIR pin Pulse signal in plus or Pulse signal in minus or Dual pulse Output CW direction CCW direction Single pulse output Pulse signal Direction signal level The interface characteristics of these signals could be differential line driver or open collec
19. 1 6 9 Linear and Circular Interpolated Motion Name 8132_start_move_xy Perform a 2 axes linear interpolated motion between X amp Y without waiting _8132_move_xy Perform a 2 axes linear interpolated motion between X amp Y and wait for completion _8132_arc_xy Perform a 2 axes circular interpolated motion between X amp Y and wait for completion _8132_arc_xy Perform a 2 axes circular interpolated motion between Z amp U and wait for completion _8132_recover_xy return single axis motion mode Description 8132_move_xy __8132_start_move_xy These two functions cause a linear interpolation motion between two axes and wait for completion The moving speed should be set before performing these functions Relations of speed between two axes are given in Chapter 4 1 4 _8132_arc_xy These two functions cause the axes to move along a circular arc and wait for completion The arc starts from origin and continues through the specified angle A positive value for angle produces clockwise arcs and a negative value produces counter clockwise arcs The center of the arc is specified by the parameters x_center and y_center _8132_set_arc_division function specifies the maximum angle in degrees between successive points along the arc The default angle is 5 degrees The moving speed should be set before performing these functions _8132_recover_Xxy After using _ start_move_xy use must use this function for next
20. 6 DoData U16 _8132_DI U16 axis U16 DiData C C Windows 95 NT U16 _8132_DO U16 axis U16 DoData U16 _8132_DI U16 axis U16 DiData Visual Basic Windows 95 NT B_8132_DO ByVal axis As Integer ByVal DoData As Long As Integer B_8132_DI ByVal axis As Long DiData As Long As Integer Argumen axis axis number 0 1 2 3 4 DoData a 16 bits output value DiData a 16 bits input value Return Code ERR_NoError 106 e Function Library 6 19 Position Compare Control Name _8132_Get_CompCnt Get counter value from comparator _8132_Set_CompCnt Set counter value in comparator _8132_Set_CompMode Set compare mode _8132_Set_CompData Set comparator value _8132_Get_CompData Get current comparator value _8132_Set_ComplInt Enable comparator Interrupt _8132_Set_CompHome Set comparator origin _8132_Get_CompSis Get comparator status 8132_Build_Comp_Table Build compare table 8132_Set_Comp_Table Enable Disable compare table 8132_Build_Comp_Function Build a linear compare table by a function Description _8132_Get_CompCnt _8132_Set_CompCnt Read or write the counter value in FPGA comparator on PCI 8132 _8132_Set_CompData _8132_Get_CompData Read or write the current value for position compare _8132_Set_CompMode Set position compare rule for one axis User can choose the compare direction from this function _8132_Set_ComplInt Enable disable the comparator interrupt If user uses a compa
21. 8132_ta_move and _8132_start_a _move 8132_start_ta_move functions the absolute target position must be given in the unit of pulse The physical length or angle of one movement is dependent on the motor driver and the mechanism includes the motor Since absolute move mode needs the information of current actual position so External encoder feedback EA EB pins must be enabled in _8132_set_cnt_srce function And the ratio between command pulses and external feedback pulse input must be appropriately set by _8132_set_move_ratio function In the _8132_r_move 8132_t_move and _8132_start_r_move _8132_start_t_move functions the relative displacement must be given in the unit of pulse Unsymmetrical trapezoidal velocity profile Tacc is not equal Tdec can be specified in _8132_ta_move and _8132_t_move functions where symmetrical profile Tacc Tdec can be specified in_8132_a_move and _8132_r_move functions 36 e Operation Theorem The str_vel and max_vel parameters are given in the unit of pulse per second pps The Tacc and Tdec parameters are given in the unit of second represent accel decel time respectively You have to know the physical meaning of one movement to calculate the physical value of the relative velocity or acceleration parameters The following formula gives the basic relationship between these parameters max_vel str_vel accel Tacc str_vel max_vel decel Tdec where accel
22. Assignments Simultaneous Start Stop 12 2 8 Jumper Setting cccceeeeeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 13 2 9 Switch Setting cccccceeeeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeneeeeees 13 Chapter 3 Signal Connections cccceceeeeeeeeeeeeeeeeeeeeeeeeeeeeenees 14 3 1 Pulse Output Signals OUT and DIR een 15 3 2 Encoder Feedback Signals EA EB and EZ s 0000 17 3 3 Origin Signal ORG ees EEERRRR KEREN KEREN KEREN RRE 19 3 4 End Limit Signals PEL and MEL ccccceeeeeeeeeeeeeeeees 20 3 5 Ramping down Signals PSD and MSD c ccceeeeeeeees 21 3 6 In position Signal INP REENEN KEREN KEREN KEREN EE RRE 22 3 7 Alarm Signal ALM cccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeneeeees 23 3 8 Deviation Counter Clear Signal ERC secccseeeeeeees 24 3 9 General purpose Signal VON en 25 3 10 General purpose Signal RDY ccccseeeeeeeeeeeeeeeeeeeeeees 26 3 11 Isolated Digital Output DOX ERR EEE RRE EEE REENEN 27 3 12 Isolated Digital Input DIX ccececeeeeeeeeeeeeeeeeeeeeeeeeeeeees 28 3 13 Pulser Input Signals PA and PB ccssseceeeeeeeeeeeeeeeeeees 29 3 14 Simultaneously Start Stop Signals STA and STP 30 3 15 Daughter Board Connector cceececeeeeeeeeeeeeeeeeeeeeeeeeeees 31 3 16 Comparison Output CMP1 and CMP2 0 ceeeeee 32 Table of Contents e i Chapter 4 Operation TheOrem ccsecececseeeeeeesee
23. Figure 2 1 PCB Layout of the PCI 8132 CN1 External Power Input Connector CN2 Input Output Signal Connector CN3 Simultaneous Start Stop Front Panel GND Be Installation 2 3 Hardware Installation 2 3 1 Hardware configuration PCI 8132 has plug and play PCI controller on board The memory usage I O port locations of the PCI card is assigned by system BIOS The address assignment is done on a board by board basis for all PCI cards in the system 2 3 2 PCI slot selection Your computer will probably have both PCI and ISA slots Do not force the PCI card into a PC AT slot The PCl 8132 can be used in any PCI slot 2 3 3 Installation Procedures 1 Read through this manual and setup the jumper according to your application 2 Turn off your computer Turn off all accessories printer modem monitor etc connected to computer Remove the cover from your computer 3 Select a 32 bit PCI expansion slot PCI slots are short than ISA or EISA slots and are usually white or ivory 4 Before handling the PCI 8132 discharge any static buildup on your body by touching the metal case of the computer Hold the edge and do not touch the components 5 Position the board into the PCI slot you selected 6 Secure the card in place at the rear panel of the system unit using screw removed from the slot 2 3 4 Trouble shooting If your system won t boot or if you experience erratic operation with your PCI board in place
24. ORG P Position2 p Vel Profien fo GT Curve C S Curve KS E p Set Position z AM BR Position Motion Parameters svon E Start Velocity pps fo RDY P Set Position i i br Maximum Velocity pps 0 ERC fi e Linear Accel sec 0 S Accelfsec E mr 8 Axis Status Linear Decel sec 0 S Decelieeg J i oo ition ee Move Delay ms Doe Dos Enz fo Play key InMotion No Motion Done est SVON High C Low Status 2 ml Int Occur NO Move to Position Move to Position2 EE K H 2 D Motion Clear INT Data Function Library e 67 5 3 Axis Operation Windows Press the Operate Axis button on the Main Menu or Axis Configuration Menu will enter the Axis Configuration window Figure 5 3 shows the window User can use this window to command motion monitor all the I O status for the selected axis This window includes the following displays and controls e Motion Status Display e Axis Status Display e 1 O Status Display e Set Position Control e Operation Mode Control e Motion Parameter Control e Play Key Control e Velocity Profile Selection e Repeat Mode 5 3 1 Motion Status Display The Motion Status display provides a real time display of the axis s position in the Command Actual Error fields Motion Creator automatically updates these command actual and error displays whenever any of the values change When Pulse Input Active property is Axis Configuration Window i
25. PCI 8132 2 Axes Servo Stepper Motion Control Card User s Guide Copyright 2000 ADLINK Technology Inc All Rights Reserved Manual Rev 1 00 September 10 2000 The information in this document is subject to change without prior notice in order to improve reliability design and function and does not represent a commitment on the part of the manufacturer In no event will the manufacturer be liable for direct indirect special incidental or consequential damages arising out of the use or inability to use the product or documentation even if advised of the possibility of such damages This document contains proprietary information protected by copyright All rights are reserved No part of this manual may be reproduced by any mechanical electronic or other means in any form without prior written permission of the manufacturer Trademarks NuDAQ PCI 8132 are registered trademarks of ADLINK Technology Inc MS DOS Windows 95 98 Windows NT 2000 are registered trademarks of Microsoft Corporation Borland C is a registered trademark of Borland International Inc Other product names mentioned herein are used for identification purposes only and may be trademarks and or registered trademarks of their respective companies Getting service from ADLINK Customer Satisfaction is always the most important thing for ADLINK Tech Inc If you need any help or service please contact us and get it ADLINKTechnology Inc http w
26. Refer to section 6 8 4 6 Change Speed on the Fly You can change the velocity profile of command pulse ouput during operation by _8132_v_change function This function changes the maximum velocity setting during operation However if you operate under Preset Mode like start_a_move you are not allowed to change the acceleration parameter during operation because the deceleration point is pre determined But changing the acceleration parameter when operating under Constant Velocity Mode is valid Changing speed pattern on the fly is valid no matter what you choose Trapezoidal Velocity Profile or S curve Velocity Profile Here we use an example of Trapezoidal velocity profile to illustarte this function Example There are 3 speed change sensor during an absolute move for 200000 pulses Initial maximum speed is 10000pps Change to 25000pps if Sensor 1 is touched Change to 50000pps if Sensor 2 is touched Change to 100000pps if Sensor 3 is touched Then the code for this application and the resulting velocity profiles are shown below User must set _8132_fix_max_speed before any PTP motion in order to get the better performance of speed change The value in this function is the possible maximum speed during the PTP motion Operation Theorem e 53 Moving part eH z Sensor 1 Sensor2 Sensor 3 Pos 0 Pos 200000 include pci_8132 h _8132_fix_max_speed axis 100000 _8132_start_a
27. S 1 MSD Ss 1 I If 6mA Max Kee 3 NARE E E EE i HM Switch Ge l b Signal Connections e 21 3 6 In position Signal INP The in position signals INP from the servo motor driver indicate the deviation error is zero that is the servo position error is zero The relative signal name pin number and axis number are shown in the following table CN2 Pin No Signal Name We INP2 The input circuit of the INP signals are shown in the following diagram To PCL5023 The in position signals are usually from servomotor drivers which usually provide open collector output signals The external circuit must provide at least 5 mA current sink capability to drive the INP signal active For more details of the INP signal operating please refer to section 4 2 1 22 e Signal Connections 3 7 Alarm Signal ALM The alarm signal ALM is used to indicate the alarm status from the servo driver The relative signal name pin number and axis number are shown in the following table CN2 Pin No Signal Name H ALM ALM The input circuit of alarm circuit is shown in the following diagram The ALM signals are usually from servomotor drivers which usually provide open collector output signals The external circuit must provide at least 5 mA current sink capability to drive the ALM signal active For more details of the ALM operation please refer to section 4 2 2 To PCL5023 Signal Connections e 23 3 8 Devia
28. U16 axis U16 enable U16 _8132_Set_CompHome U16 axis U16 _8132_Get_CompSts U16 cardNo U16 Comp_Sts U16 _8132_Build_Comp_Table U16 axis I32 table 116 Size U16 _8132_Set_Comp_Table U16 axis U16 Control U16 _8132_Build_Comp_Function U16 axis I32 Start 1832 End 132 Interval C C Windows 95 NT U16 PASCAL _8132_Get_CompCnt U16 axis double act_pos U16 PASCAL _8132_Set_CompCnt U16 axis double cnt_value U16 PASCAL _8132_Set_CompMode U16 axis 116 comp_mode U16 PASCAL _8132_Set_CompData U16 axis double comp_data U16 PASCAL _8132_Get_CompData U16 axis double comp_data U16 PASCAL _8132_Set_Compint U16 axis U16 enable U16 PASCAL _8132_Set_CompHome U16 axis U16 PASCAL _8132_Get_CompSts U16 cardNo U16 Comp_Sts U16 PASCAL _8132_Build_Comp_Table U16 axis 132 table 116 Size U16 PASCAL _8132_Set_Comp_Table U16 axis U16 Control U16 PASCAL _8132_Build_Comp_Function U16 axis I32 Start I32 End 32 Interval Visual Basic Windows 95 NT B_8132_Set_Complnt ByVal axis As Integer ByVal enable As Integer As Integer B_8132_Get_CompData ByVal axis As Integer comp_data As Double As Integer B_8132_Set_CompData ByVal axis As Integer ByVal comp_data As Double As Integer B_8132_Set_CompMode ByVal axis As Integer ByVal comp_mode As Integer As Integer B_8132_Set_CompCnt ByVal axis As Integer ByVal cnt_value As Double As Integer B_8132_Get_CompCnt ByVal axis As Integer act_pos As Double As
29. _move axis 200000 0 1000 10000 0 02 while _8132_motion_done axis Get Sensor s information from other UO card if Sensor1 High amp amp Sensor2 Low amp amp Sensor3 Low _8132_v_change axis 25000 0 02 else if Sensor1 Low amp amp Sensor2 High amp amp Sensor3 Low _8132_v_change axis 50000 0 02 else if Sensor1 Low amp amp Sensor2 Low amp amp Sensor3 High _8132_v_change axis 100000 0 02 Where the informations of three sensors are acquired from other I O card And the resulting velocity profile from experiment is shown below Tek Run 50 0 S s Sample DERE E KLICK M 1 00s Chis 2 76 V 17 Aug 1999 17 35 29 54 e Operation Theorem e Relative Function _8132_v_change __8132_fix_max_speed Refer to section 6 5 4 7 Position Comparison The position comparison function is fulfilled by the FPGA comparator on board Please refer to the following figure The comparator is applied to compare the preset comparison data with the contents of its counter under different modes These comparison modes consist of different logical comparison gt lt of different counters 1 and or 2 Counter Source EA or EB Comparator Counter 1 2 _8132_Set_CompHome 2 _8132_Set_CompCnt _8132_Get_CompCnt _8132_Set_CompMode _8132_Set_Complnt 3 _8132_Set_CompData _8132_Get_CompData _8132_Get_CompSts 4 Motion Command of 5023
30. a card the axis number of first axis on n the card will be numbered as 4 n 1 Base address and IRQ level of the card are also shown on this window 64 e Function Library 5 2 Axis Configuration Window Press the Config Axis button on the Main Menu will enter the Axis Configuration window Figure 5 2 shows the window Figure 5 2 Axis Configuration Window the Axis Configuration window includes the following setting items which cover most I O signals of PCI 8132 cards and part of the interrupt factors Pulse I O Mode Related functions set_pls_outmode for Pulse Output Mode property set_cnt_src for Pulse Input Active property set_pls_iptmode for Pulse Input Mode property Function Library e 65 e Mechanical Signal Related functions e set_home_config for Home Signal and Index Signal property e set_sd_logic for Slow Down Point Signal property Servo Motor Signal Related functions e set_alm_logic for Alarm Signal property e set_inp_logic for INP property Manual Pulser Input Mode Related functions e set_manu_iptmode for Manual Pulser Input Mode property Interrupt Factor Related functions e set_int_factor for INT Factor property Home Mode Related functions e set_home_config for Home Mode property The details of each section are shown at its related functions After selecting all the items you
31. able 116 cardNo HANDLE phEvent U16 _8132_INT_Disable 116 cardNo U16 _8132_Set_INT_Control U16 cardNo U16 intFlag U16 _8132_set_int_factor U16 axis U32 int_factor U16 _8132_get_int_status I16 axis U32 int_status Visual Basic Windows 95 NT _8132_INT_Enable ByVal cardNo As Long phEvent As Long _8132_INT_Disable ByVal cardNo As Long As Integer _8132_Set_INT_Control ByVal cardno As Integer ByVal intFlag As Integer _8132_set_int_factor ByVal axis As Integer ByVal int_factor As Long As Integer _8132_get_int_status ByVal axis As Long mt status As Long As Integer Argument cardNo card number 0 1 2 3 axis axis number 0 1 2 3 4 intFlag int flag 0 or 1 phEvent event or event array for interrupt axis Windows int_factor interrupt factor refer to previous interrupt factor table int_axis interrupt axis number the return value int_status interrupt factor the return value refer to previous interrupt type table Return Code ERR_NoError Function Library e 105 6 18 Digital Input Output Control Name _8132_DO Set output value _8132_DI Get input value Description _8132_DO Set a 16 bits value to PCI 8132 s digital output channels Each bit of this value represents a high low value for one channel _8132_DI Get a 16 bits value from PCI 8132 s digital input channels Each bit of this value represents a high low value for one channel Syntax C C DOS U16 _8132_DO U16 axis U1
32. accelerate constantly while the _8732_sv_move function is to accelerate according to S curve constant jerk The pulse output rate will keep at maximum velocity until another velocity command is set or stop command is issued The _8132_v_change is used to change speed during moving The _8132_v_stop function is used to decelerate the motion to zero velocity stop The velocity profile is shown as following Note that v_stop function can be also be applied to stop outputting command pulses during Preset Mode both trapezoidal and Scurve Motion Home Mode or Manual Pulser Mode operations e Relative Functions _8132_v_move 8132_v_stop 8132_sv_move Refer to section 5 5 Operation Theorem e 35 sdd Aylo0 a A str_vel lt brayi gt lt MEEI dues gt Time second amp Tdec ey sont 4 1 3 Trapezoidal Motion This mode is used to move one axis motor to a specified position or distance with a trapezoidal velocity profile Single axis is controlled from point to point An absolute or relative motion can be performed In absolute mode the target position is assigned In relative mode the target displacement is assigned In both absolute and relative mode the acceleration and the deceleration can be different The _8132_motion_done function is used to check whether the movement is complete The following diagram shows the trapezoidal profile There are 9 relative functions In the _8132_a_move
33. actor axis1 factor1 set_int_factor axis5 factor2 Enable Interrupt for both PCI 8132 cards for i 0 i lt bn i _8132_Set_INT_Enable i 1 Main program for application End of Main Program for i 0 i lt bn i _8132_Close i Close all IRQ resources PEELE REET EE ENA ERE SEER OT SETAE REESE SERRE TERRE LEER EERE ETERS RE SE SA IN ISR begin here JEEN NEREP E AMA RES EE void interrupt _8132_isrO void U16 int_axis U16 irq_status disable disable all interrupt 8132_Get_IRQ_Status 0 amp irq_status if irq_status Judge if INT for card 0 _8132_get_int_axis amp int_axis int_flag 1 irq_axs int_axis _8132_get_int_status int_axis amp irq_sts else _chain_intr pcinfo old_isr 0 If not chain to other INT W Operation Theorem e 61 outportb 0x20 0x20 End of INT outportb OxA0 0x20 l enable enable interrupt request void interrupt _8132_isr1 void U16 int_axis U16 irq_status W disable disable all interrupt _8132_Get_IRQ_Status 1 amp irq_status if irq_status Judge if INT for card 1 _8132_get_int_axis amp int_axis int_flag 1 irq_axs int_axis _8132_get_int_status int_axis amp irq_sts else _chain_intr pcinfo old_isr 1 If not chain to other INT W outportb 0x20 0x20 End of INT outportb OxA0 0x20 e enable enable interrupt re
34. al in the moving direction lets the output control signals OUT and DIR ramp down to the pre setting starting velocity The ramping down function can be enable or disable by software function _8132_set_sd_logic The input logic polarity level operation mode or latched input mode can also be set by this function The signals status can be monitored by _8132_get_io_status 4 3 2 EL The end limit signals are used to stop the control output signals OUT and DIR when the end limit is active PEL signal indicates end limit in positive plus direction MEL signal indicates end imit in negative minus direction When the output pulse signals OUT and DIR are toward positive direction the pulse train will be immediately stopped when the PEL signal is inserted while the MEL signal is meaningless in this case and vise versa When the PEL is inserted and the output pulse is fully stop only the negative minus direction output pulse can be generated for moving the motor to negative minus direction Operation Theorem e 49 The end limit signals can be used to generate the IRQ by setting the bit 0 of INT factor in software function _8132_set_int_factor You can use either a contact switch or b contact switch by setting the dip switch S1 The PCl 8132 is delivered from the factory with all bits of S1 set to OFF The signal status can be monitored by software function _8132_get_ io_status 4 3 3 ORG When the motion controlle
35. al npu 24 DIR O 74 DIT solated digital inpu Di M O SVON2 O Multi purpose signal 75 Di2 I Isolated digital inpu GIE 26 ERC2 O Dev ctr or signal 76 D3 1 Isolated digital inpu 2r Am T Aam signal o 77 Da T isolated digital inpu 2e mP f T_in position signal 0 78 D T_ solated digital input 5 29 RDY2 1 Mut purpose signa 79 Dre T isolated digital inpu EES Encoder Aphase G 81 Die 1 isolated digital inpu ee fena j r fencoosr menace tee j r feos agar 33 EB2 T Encoder bast 83 DM0 1 isolated digital inpu CIE 1 Encoder Bphase J f 84 DM1 T isolated digital input 1 eege A E R A S E a 36 EZZ LI Encoder Zphase 86 DM3 T_ solated digital input t3 EAE EE mec LTC Enait signar O f 88 Dns 1 Isolated digital input 15 ae Psor j r Raman sorait eene Tree 20 MeD 1 Ramp down signal J 90 EXGND 1 Ext power ground a ORe UTC Dm signal O f 91 Pa f 1 Manual Pulser Input PHA 42 EXGND O Ext power ground f 92 P 1 Manual Pulser Input PHA CS PRS Tene it staal G 93 PBe f Manual Pulser Input PHB a mee 1 End tim sional 94 PBT Menua Pulser input PRB 25 PSD2 1 Ramp down signal 95 _ EXGND_ T_ Ext power ground Cales r faam dowr see aer O Postion compare Tager T EE ta Ee ae EA EE a ee Sa Te ES power ground f 98 EXGND O Ext power ground Clees aert
36. ally in the application of machine vision v 123 4 5 6 CCD E Camera Lin vvvvvy In this application the table is controlled by the motion command and the CCD Camera is controlled by the position comparison output of PCI 8132 The image of moving object can be get in this way easily 56 Operation Theorem The example code is shown in the following _8132_Set_CompHome 0 for i 0 i lt 6 i CompTable i 10000 10000 i Set Compare Data 8132_Build_Comp_Table 0 CompTable 6 _8132_Set_CompMode 0 0 _8132_Set_Complnt Axis0O 1 8132_Set_Comp_Table Axis0 1 _8132_start_r_move AxisO 80000 0 10000 0 5 The second example is a fly cut application In this application the cutter is moved forward and backward on the x axis and the knife is moved up and down by the y axis The comparator is used to compare the actual position in xaxis with the encoder feedback on y axis with the encoder mounted under the belt l e The comparator counter source in this case is the encoder under the belt but not the encoder on the back of the motor In this application the cutter will cut down when the motor reaches the same speed as the belt and the comparison condition is match The comparator in the PCI 8132 generates an interrupt to move the knife down to cut the belt The following graph shows the result of position compare trigger output A compare point table is triggered during a start_a_move function T
37. an Aopt the linear portions may be noticeable If the acceleration is lower than Ae the motion will be slowed during the arc and it will lose its roundness Both are_xy and arc_zu automatically change the acceleration to Aopt during the circular interpolated move set_move_ratio This function configures scale factors for the specified axis Usually the axes only need scale factors if their mechanical resolutions are different For example ifthe resolution of feedback sensors is two times resolution of command pulse then ratio 2 Syntax C C DOS Windows 95 NT U16 _8132_map_axes U16 n_axes U16 map_array U16 _8132_set_move_speed F64 str_vel F64 max_vel U16 _8132_set_move_accel F64 Tacc U16 _8132_set_move_saccel double tlacc double tsacc U16 _8132_set_arc_division F64 degrees U16 _8132_arc_optimization U16 optimize U16 _8132_set_move_ratio U16 axis F64 ratio Visual Basic Windows 95 NT B_8132_map_axes ByVal n_axes As Integer map_array As Integer As Integer B 8132 set move_speed ByVal str_vel As Double ByVal max_vel As Double As Integer B_8132_set_move_accel ByVal accel As Double As Integer B_8132_set_move_saccel ByVal Tlacc As Double ByVal Tsacc As Double As Integer B_8132_set_arc_division ByVal axis As Integer ByVal degrees As Double As Integer B_8132_arc_optimization ByVal optimize As Long As Integer B_8132_set_move_ratio ByVal axis As Integer ByVal ratio As Double As 94 e Function L
38. and Utility for DOS library and Windows 95 98 NT DLL 4 e Introduction 1 2 Specifications Applicable Motors Stepping motors AC or DC servomotors with pulse train input servodrivers Performance Number of controllable axes 2 axes Maximum pulse output frequency 2 4Mpps linear trapezoidal or S Curve velocity profile drive Internal reference clock 9 8304 MHz Position pulse setting range 0 268 435 455 pulses 28 bit Up down counter counting range 0 268 435 455 28 bit or 134 217 728 to 134 217 727 Pulse rate setting steps 0 to 2 4Mpps Position Comparison Range 8 388 608 8388607 24 bits I O Signales Input Output Signals for each axis All UO signal are optically isolated with 2500Vrms isolation voltage Command pulse output pins OUT and DIR Incremental encoder signals input pins EA and EB Encoder index signal input pin EZ Mechanical limit switch signal input pins EL SD and ORG Servomotor interface I O pins INP ALM and ERC General purpose digital output pin SVON General purpose digital input pin RDY Pulser signal input pin PA and PB Simultaneous Start Stop signal I O pins STA and STP 16 Channels Open collector digital output 16 Channels Isolated digital input Trigger Output Signals CMP1 CMP2 General Specifications Connectors 100 pin SCSI type connector Operating Temperature 0 C 50 C Storage Temperature 20 C 80 C Humidity 5 85 non co
39. ard s base address This function just suport Window 95 and Window NT platform only Syntax C C DOS U16 _8132_Initial U16 existCards PCI_INFO info U16 _8132_Close U16 cardNo U16 _8132_Set_Config char filename C C Windows 95 NT U16 _8132_Initial U16 existCards PCI_INFO pcilnfo Windows 95 Only U16 _8132_Initial U16 cardNo Windows NT Only U16 _8132_Close U16 cardNo Windows NT Only U16 _8132_Set_Config char fileName void _8132_Get_IRQ_Channel U16 cardNo U16 irq_no void _8132_Get_Base_Addr U16 cardNo U16 base_addr Function Library e 81 Visual Basic Windows 95 NT B_8132_Initial existCards As Integer pcilnfo As PCI_INFO As Integer Windows 95 Only B_8132_Initial ByVal cardNo As Long As Integer Windows NT Only B_8132_Close ByVal cardNo As Long As Integer Windows NT Only B_8132_Set_Config ByVal fileName As String As Integer B_8132_Get_IRQ_Channel ByVal cardno As Integer irq_no As Integer B_8132_Get_Base_Addr ByVal cardno As Integer base_addr As Integer Argument existCards numbers of existing PCI 8132 cards info relative information of the PCI 8132 cards cardNo The PCI 8132 card index number Return Code ERR_NoError ERR_BoardNolnit ERR_PCIBios NotExist 82 Function Library 6 4 Pulse Input Output Configuration Name _8132_set_pls_outmode Set the configuration for pulse command output _8132_set_pls_iptmode Set the configuration for feedback
40. asic Windows 95 NT B_8132_Set_SVON ByVal axis As Long ByVal on_off As Long As Integer B_8132_get_io_status ByVal axis As Integer io_sts As Integer As Integer Argument axis axis number for I O control and monitoring on_off setting for SVON pin digital output on_off 0 SVON is LOW Function Library e 101 on_off 1 SVON is HIGH jo_status I O status word Where 1 is ON and 0 is OFF ON OFF state is read based on the corresponding set logic Return Code ERR_NoError 6 16 Position Control Name _8132_set_position Set the actual position _8132_get_position Get the actual position _8132_set_command Set the current command position _8132_get_position Get the current command position Description _8132_set_position changes the current actual position to the specified position _8132_get_position reads the current actual position Note that when feedback signals is not available in the system thus external encoder feedback is Disabled in set_cnt_src function the value gotten from this function is command position _8132_set_command changes the command position to the specified command position _8132_get_command reads the current command position Syntax C C DOS Windows 95 NT U16 _8132_set_position l16 axis F64 pos U16 _8132_get_position l16 axis F64 pos U16 _8132_set_command 16 axis F64 pos U16 _8132_get_command 16 axis F64 pos Visual Basic Windo
41. axes x Vy Z Set the vector velocity Set the vector acceleration time Set s curve vector acceleration time Set the interpolation arc segment length Enable Disable optimum acceleration calculations for arce Set the axis resolution ratios Section 6 11 Set or get the home index logic configuration Begin a home return action Section 6 12 Set pulser input mode and operation mode Begin a manual pulser movement Select manual pulser axis Section 6 13 Returns TRUE if motion done Section 6 14 Set alarm logic and alarm mode Set In Position logic and enable disable Set slow down point logic and enable disable Set the ERC output enable disable Section 6 15 Set the state of general purpose output bit Get all the I O staus of PCI 8132 Section 6 16 _8132_set get_position axis pos _8132_set get_command axis pos Interrupt Control _8132_Set_INT_ENABLE axis intFlag _8132_set_int_factor axis int_factor 8132_get_int_axis int_axis _8132_get_int_status axis int_status Digital I O Control _8132_DO axis DoData _8132_Dl axis DiData Position Compare Control _8132_Get_CompCnt _8132_Set_CompCnt _8132_Set_CompMode _8132_Set_CompData _8132_Get_CompData _8132_Set_Complnt _8132_Set_CompHome _8132_Get_CompSts 8132_Build_Comp_Table _8132_Set_Comp_Table 8132_Build_Comp_Function Set or get current actual position Set or get current command position Section 6 17 Set Interrupt e
42. aximum velocity i e the moving distance is too small to reach max_vel the maximum velocity is automatically lowered and smooth accel decel is made see the following Figure This means that with moves that don t reach maximum velocity may cause longer than expected move times In such a case the smaller the moving distance the shorter the linear accel decel section becomes and the Scurve section is not reduced unless the linear section is decreased to 0 Velocity pps Time sec Operation Theorem e 41 The following two graphs show the results of experiments after executing the unsymmetrical absolute Scurve motion command Graph1 is the typical result of Scurve velocity profile Graph2 is obtained when the amount of command pulses is failed to let the velocity reach the designated maximum velocity The PCI 8132 automatically lower the maximum velocity thus provide a smooth velocity profile Command of Graph1 start_tas_move axis 500000 100 1000000 0 05 0 05 0 2 0 2 Tek 500 S s A n i JA E 1 2 i ich ooy M Toons Chi F 200V 31 Aug 1999 10 42 09 The total accelerating time 0 05 2 0 05 0 15 second Total decelerating time 0 2 2 0 2 0 6 second Command of Graph2 start_tas_move axis 200000 100 1000000 0 05 0 05 0 2 0 2 Tek MENE 500 S s 0 Acas fcr ooy WI CHT FTO 31 Aug 1999 Relative Functions 8132_s_move _8132_rs_move _8132_tas_mo
43. change function Tacc specified acceleration time in unit of second Tdec specified deceleration time in unit of second Return Code ERR_NoError 6 6 Trapezoidal Motion Mode Name _8132_start_a_move Begin an absolute trapezoidal profile motion _8132_start_r_move Begin a relative trapezoidal profile motion _8132_start_t_move Begin a non symmetrical relative trapezoidal profile motion _8132_start_ta_move Begin a non symmetrical absolute trapezoidal profile motion _8132_a_move Begin an absolute trapezoidal profile motion and wait for completion _8132_r_move Begin a relative trapezoidal profile motion and wait for completion _8132_t_move Begin a non symmetrical relative trapezoidal profile motion and wait for completion Function Library e 85 _8132_ta_move Begin a non symmetrical absolute trapezoidal profile motion and wait for completion Description _8132_start_a_move This function causes the axis to accelerate from a starting velocity slew at constant velocity and decelerate to stop at the specified absolute position immediately returning control to the program The acceleration rate is equal to the deceleration rate 8132_a_move starts an absolute coordinate move and waits for completion _8132_start_r_move This function causes the axis to accelerate from a starting velocity slew at constant velocity and decelerate to stop at the relative distance immediately returning control to the prog
44. control for ORG signal org_latch 0 don t latch input org_latch 1 latch input EZ _ logic Action logic configuration for EZ signal EZ_logic 0 active low EZ_logic 1 active high Return Code ERR_NoError 6 12 Manual Pulser Motion Name 8132_set_manu_iptmode Set pulser input mode and operation mode _8132_manu_move Begin a manual pulser movement 8132_set_manu_axis Select manual pulser axis Description 8132_set_manu_iptmode Four types of pulse input modes can be available for pulser or hand wheel User can also move two axes simultaneously with one pulser by selecting the operation mode to common mode Or move the axes independently by selecting the operation mode to independent mode _8132_manu_move 96 e Function Library Begin to move the axis according to manual pulser input as this command is written The maximum moving velocity is limited by mvel parameter Not until the v_stop command is written won system end the manual move mode 8132_set_manu_axis Choose the control axis for manual pulser User can set which axis will move by manual pulser or stop the manual pulser output Syntax C C DOS Windows 95 NT U16 _8132_set_manu_iptmode I16 axis 116 ipt_mode 116 op_mode U16 _8132_manu_move I16 axis F64 mvel U16 _8132_set_manu_axis l16 cardno 116 manu_axis Visual Basic Windows 95 NT B_8132_set_manu_iptmode ByVal axis As Long ByVal manu_iptmode As Long ByVal op_mode A
45. e The input logic polarity isalso programmable by software function _8132_set_inp_logic The signal status can be monitored by software function _8132_get_io_status 4 2 2 ALM The ALM pin receives the alarm signal output from the servo driver The signal immediately stops the PCI 8132 from generating pulses or stops it after deceleration If the ALM signal is in the ON status at the start the PCI 8132 outputs the INT signal without generating any command pulse The ALM signal may be a pulse signal of which the shortest width is a time length of 5 micro seconds Operation Theorem e 47 You can change the input logic by _8132_set_alm_logic function Whether or not the PCI 8132 is generating pulses the ALM signal lets it output the INT signal The ALM status can be monitored by software function _8132_get_io_status The ALM signal can generate IRQ by setting the bit 2 of INT factor in software function _8132_set_int_factor 4 2 3 ERC The deviation counter clear signal is inserted in the following 4 situations 1 home return is complete 2 the end limit switch is active 3 an alarm signal stops OUT and DIR signals 4 an emergency stop command is issued by software operator Since the servomotor operates with some delay from pulse generated from the PCI 8132 it keeps operating by responding to the position error remaining in the deviation counter of the driver if the EL signal or the completion of home return st
46. e VOT Functon axisav 1 VPP 5V O 5V power supply output DO COM 1 Ext power input for Dout 2 EXGND O Ext power ground EXGND e Ext power ground O Pulse signal 53 DOO O Isolated digital output 0 3 OUTT LR TC Pulse signal 9 064 DOT O solatod digital output 1 sp o prsima 85 po LH Isolated digital output 2 6 Dmr O Dr sina 00 56 Dos O Isolated digital output 3 7 SVONT O Wult purpose signa 0 57 D04 O isolated digital output 4 e ERC O Dev ctr ofr signal 58 DOs O isolated digital output 5 o Wu T Aarm signal Ueleg 0 isolated digital output 6 o NPr LTL imposton signal 0 60 D07 O Isolated digital output 7 CH Bt s signal e1 Dos Ce eet digital output 6 D O Ext power ground 62 DO9 O isolated digital output 9 e ten r leee Askas o S DOT o solated digital output 10 14 JEAI TT ncoder A phase Lee r solated digital output 11 15 EBi 1 Encoder Bphase DO solated digital output 12 eler TIET TEE seen 17 Ez l Encoder Z phase 67 DOT O Isolated digital output 14 1e Ez LL Encoder Z phase 68 _ DO1S O isolated digital output 15 19 VPP TO Tt power supply output 69 EXGND O Ext power ground EE E EA pore son er four O Pulse signal O 77 DCOM 1 Ext power input for Dm Clos j o Pise signal 0 2 72 Dr Come 1 Ext power mootor Dn a pma o Dr soa SCHEIER T_ solated digit
47. e differential signal pairs will be converted to digital signal EA EB and EZ to connect to PCL5023 ASIC Here are two examples of connecting the input signals with the external circuits The input circuits can connect to the encoder or motor driver which are equipped with 1 differential line driver or 2 open collector output Signal Connections e 17 Connection to Line Driver Output To drive the PCI 8132 encoder input the driver output must provide at least 3 5V across the differential pairs with at least 6 mA driving capability The ground level of the two sides must be tight together too External Encoder Driver PCI 8132 i i With line driver output H U H U EA EB EZ i ocr een ape sacseensesessanscasseeeesashsanessassy H D L w ne ne eens EA ER EZ EE aera EE A B phase signals EXGND Index signal EE EE Connection to Open Collector Output To connect with open collector output an external power supply is necessary Some motor drivers also provide the power source The connection between PCI 8132 encoder and the power supply is shown in the following diagram Please note that the external current limit resistor R is necessary to protect the PCI 8132 input circuit The following table lists the suggested resistor value according to the encoder power supply Encoder Power VDD External Resistor R 0 2 None L 13KO lf 6mA max r 4 H U bh LE VDD PCI 8132 i r 3 Exter
48. e Return Mode Press Home Move button will enable Home Return motion The home returning velocity is specified by settings in Motion Parameters Control The arriving condition for Home Return Mode is specified in Axis Configuration Window Press to begin returning home function Press STOP to stop moving Manual Pulser Mode Press Manual Pulser Move button will enable motion controlled by hand wheel pulser Using this function user can manually operate the axis thus verify operation The maximum moving velocity is limited as specified by Maximum Velocity Press STOP to end this mode Do remember to press STOP to end operation under this mode Otherwise operations under other modes will be inhibited 5 3 6 Motion Parameters Control Use the Motion Parameters with the Operation Mode Control to command motion e Starting Velocity Specify the starting moving speed in pulses per second e Maximum Velocity Specify the maximum moving speed in pulses per second e Acceleration Specify the acceleration in pulses per second square e Move delay Specify time in mini seconds between movement e S curve Acc dec Time Specify time in mini second for S_curve Movement 5 3 7 Play Key Control Use buttons in Play Key Control to begin or end operation NI click button under this symbol to begin moving to Positions 2 in Absolute Mode or moving forward in other modes K click button under this symbo
49. e for EA and EB pins Function Library e 83 pls_iptmode 0 1X AB phase type pulse input pls_iptmode 1 2X AB phase type pulse input pls_iptmode 2 4X AB phase type pulse input pls_iptmode 3 CW CCW type pulse input cnt_src Counter source cnt_src 0 counter source from command pulse cnt_src 1 counter source from external input EA EB Return Code ERR_NoError 6 5 Continuously Motion Move Name _8132_v_move Accelerate an axis to a constant velocity with trapezoidal profile _8132_sv_move Accelerate an axis to a constant velocity with S curve profile _8132_v_change Change speed on the fly _8132_v_stop Decelerate to stop _8132_fix_max_speed Set max speed when using v_change function Description _8132_v_move This function is used to accelerate an axis to the specified constant velocity The axis will continue to travel at a constant velocity until the velocity is changed or the axis is commanded to stop The direction is determined by the sign of velocity parameter _8132_sv_move This function is similar to v_stop but accelerating with S curve _8132_v_change You can change the velocity profile of command pulse ouput during operation by this function This function changes the maximum velocity setting during operation However if you operate under Preset Mode like start_a_move you are not allowed to change the acceleration parameter during operation because the deceleration
50. e position compare function and trigger signal output provide users a way of taking pictures while the motors are still in motion Figure 1 1 shows the function block diagram of PCl 8132 card PCI 8132 uses one ASIC PCL5023 to perform 2 axes motion control This ASIC is made of Nippon Pulse Motor incooperation The motion control functions include linear and S curve acceleration deceleration interpolation between two axes continuous motion in positioning and home return are done by the ASIC Since these functions needing complex computations are done internally on the ASIC the PC s CPU is free to supervise and perform other tasks Motion Creator a Mcrosoft Windows based software is equipped with the PCI 8132 card for supporting application development The Motion Creator is very helpful for debugging a motion control system during the design phase of a project The on screen monitor shows all installed axis information and I O signals status of PCI 8132 cards In addition to Motion Creator both DOS and Windows version function library are included for programmers using C and Visual Basic language Several sample programs are given to illustrate how to use the function library Figure 1 2 is a flowchart that shows a recommending process of using this manual to develop an application Please also refer the relative chapters for the detail of each step Introduction e 1 PCI Bus PCI Bus Controller FPGA f SC PCL 5023 ee Sim
51. eeeeeeeeeeeeeeeneneeees 33 4 1 Motion Control Modes 2 ceeeeceeeeeeeeeeeeeeeeeeeeeeeeeeeees 4 1 1 Pulse Command Output 4 1 2 Constant Velocity MOtiON scscsssecessesersseseressssessseresesess 35 4 1 3 Trapezoidal Motion sssssccsessceeesserseesssensessssensesnsesenssensausnensnsensess 36 4 1 4 S curve Profile MOtiON sccsecsserecsereersee 40 4 1 5 Linear and Circular Interpolated Motion wee 43 4 1 6 Home Return MOe ssccsersceesesssessenserssnen 1 44 4 1 7 Manual Pulser MOC 1 s scsecccsecscsecsecssecsnsscsnessssessseseesssnesnessees 46 4 2 Motor Driver Interface 2 cceeeceeeeeeeeeeeeeeeeeeeeeeeeeenees 47 421 EE 47 GD PEM E EE AEEA AAEE E 47 4 2 3 aA ORE AAE EAE AT AE A ET EN T 48 4 3 The Limit Switch Interface and I O Status 06 49 E E AN E D D 49 4 3 2 EL vg A8 4 3 3 C ae 50 434 SVON ANd BDV cvecsisssceiecsctcsciseitesssasleerstcsriseriederesnsesdtetececserstedsbesverses 50 4 4 The Encoder Feedback Signals EA EB EZ 50 4 5 Multiple PCI 8132 Cards Operation ccseeeeeeeeeeeeeees 52 4 6 Change Speed on the FIy ccccsseeceeeeeeeeeeeeeeeeeeeeeeeeeees 53 4 7 Position Comparison cccceeeeceeeeeeeeeeeeeeeeeeeeeeeeeeneeeeeeees 55 4 8 Interrupt Control ccceeeeeeee cece ee EEN REENEN 59 Chapter 5 Motion Creator ccsccccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeneeeeee
52. eeeees 85 6 7 S Curve Profile MOtion ccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 88 6 8 Multiple Axes Point to Point Moon keen 90 6 9 Linear and Circular Interpolated Motion ssssee 92 6 10 Interpolation Parameters Configuring sescceeeeerees 93 6 11 Home Returth cccecccccceeeeceeeeeeeeeeeeeeeeeseeeeeeeseeeeeeeeeeeeeeeees 95 6 12 Manual Pulser Motion ceccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 96 6 13 Motion Status cccceccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeeeeeeeeeeeeees 98 6 14 Servo Drive Interface ccsececeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 99 6 15 UO Control and Monitoring cccceeeeeeeeeeeeeeeeeeeeees 101 6 16 Position Control ccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeneeees 102 6 17 Interrupt Control cceeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeeeeeeeeeneeees 103 6 18 Digital Input Output Control ccececeeeeeeeeeeeeeeeeeeeeeees 106 6 19 Position Compare Control ccceeeeeeeeeeeeeeeeeeeeeeseeeeees 107 Chapter 7 Connection Example c ccccceeeeeeeeeeeeeeeeeeeeeeeeeeeees 110 7 1 General Description Of Wiritng ccceseeseeeeeeeeeeeeeeeees 110 7 2 Connection Example with Servo Driver ceeeee 113 Product Warranty Service ccceessececeeeeeeeeeeeeeeeeeeeseeeeeeeeeeeenees 115 Table of Contents e iii How to Use This Guide This manual is designed to help you use the PCI 8132 The manual describes
53. eir endpoints at the same time simultaneous motion include pci_8132 h int main 116 axes 2 0 4 F64 positions 2 8000 0 12000 0 str_vel 2 0 0 0 0 max_vel 2 4000 0 6000 0 Tacc 2 0 04 0 06 _8132_move_all 2 axes positions str_vel max_vel Tacc return ErrNoError 90 e Function Library Syntax C C DOS Windows 95 NT U16 _8132_start_move_all I16 len 116 axes F64 pos F64 str_vel F64 max_vel F64 Tacc U16 _8132_move_all l16 len 116 axes F64 pos F64 str_vel F64 max_vel F64 Tacc U16 _8132_wait_for_all l16 len 116 axes Visual Basic Windows 95 NT B_8132_start_move_all ByVal len As Integer ByRef axis As Integer ByRef pos As Double ByRef str_vel As Double ByRef max_vel As Double ByRef Tacc As Double As Integer B_8132_move_all ByVal len As Integer ByRef axis As Integer ByRef pos As Double ByRef str_vel As Double ByRef max_vel As Double ByRef Tacc As Double As Integer B_8132_wait_for_all ByVal n_axes As Integer ByRef axis As Integer As Integer Argument n_axes number of axes for simultaneous motion axes specified axes number array designated to move pos specified position array in unit of pulse str_vel starting velocity array in unit of pulse per second max_vel maximum velocity array in unit of pulse per second Tacc acceleration time array in unit of second Return Code ERR_NoError ERR_MoveError Function Library e 9
54. enable Continuous Velocity motion as specified by values entered in Start Velocity and Maximum Velocity 2 fields of Motion Parameters Control The steady state moving velocity will be as specified by Maximum Velocity Press gt to move forward or lt to move backward Press STOP to stop moving Preset Mode Press Absolute Mode to enable absolute motion as specified by values entered in Position 1 and Position 2 2 fields When selected Distance field for Relative Mode is disabled Press to move to Position 2 or to move to Position 1 Press STOP to stop motion Also user can specify repetitive motion in Absolute Mode by setting Repeat Mode to ON state When Repeat Mode goes ON and either or lt is pressed axis starts repetitive motion between Position 1 and Position 2 until Repeat Mode goes OFF as STOP are clicked Press Relative Mode to enable relative motion as specified by values entered in Distance fields When selected Position 1 and Position 2 fields for Absolute Mode is disabled Press gt to move forward to a distance relative to present position as specified by Distance or lt to move backward Note that both Absolute Mode and Relative Mode are operated under a trapezoidal velocity profile as specified by Motion Parameters Control Function Library e 69 Hom
55. eration rate 8132_s_move starts an absolute coordinate move and waits for completion _8132_start_rs_move This function causes the axis to accelerate from a starting velocity slew at constant velocity and decelerate to stop at the relative distance immediately returning control to the program The acceleration rate is equal to the deceleration rate _8132_rs_move starts a relative move and waits for completion 8132_start_tas_move This function causes the axis to accelerate from a starting velocity slew at constant velocity and decelerate to stop at the specified absolute position immediately returning control to the program _8132_tas_move starts an absolute coordinate move and waits for completion Syntax C C DOS Windows 95 NT U16 _8132_start_s_move I16 axis F64 pos F64 str_vel F64 max_vel F64 Tlacc F64 Tsacc U16 _8132_s_move I16 axis F64 pos F64 str_vel F64 max_vel F64 Tlacc F64 Tsacc U16 _8132_start_rs_move I16 axis F64 distance F64 ep vel F64 max_vel F64 Tlacc F64 Tsacc U16 _8132_rs_move 16 axis F64 distance F64 str_vel F64 max_vel F64 88 e Function Library Tlacc F64 Tsacc U16 _8132_start_tas_move 16 axis F64 pos F64 str_vel F64 max_vel F64 Tlacc F64 Tsacc F64 Tldec F64 Tsdec U16 _8132_tas_move 16 axis F64 pos F64 str_vel F64 max_vel F64 Tlacc F64 Tsacc F64 Tidec F64 Tsdec Visual Basic Windows 95 NT B_8132_start_s_move ByVal axis As Integer ByVal po
56. ger B_8132_ta_move ByVal axis As Integer ByVal pos As Double ByVal str_vel As Double ByVal max_vel As Double ByVal TaccAs Double ByVal Tdec As Double As Integer B_8132_wait_for_done ByVal axis As Integer As Integer Argument axis axis number designated to move pos specified absolute position to move distance or dist specified relative distance to move str_vel starting velocity of a velocity profile in unit of pulse per second max_vel starting velocity of a velocity profile in unit of pulse per second Tacc specified acceleration time in unit of second Tdec specified deceleration time in unit of second Return Code ERR_NoError ERR_MoveError Function Library e 87 6 7 S Curve Profile Motion Name _8132_start_s_move Begin a S Curve profile motion _8132_s_move Begin a S Curve profile motion and wait for completion _8132_start_rs_move Begin a relative S Curve profile motion _8132_rs_move Begin a relative S Curve profile motion and wait for completion 8132_start_tas_move Begin a non symmetrical absolute S curve profile motion _8132_tas_move Begin a non symmetrical absolute S curve profile motion and wait for completion Description _8132_start_s_move This function causes the axis to accelerate from a starting velocity slew at constant velocity and decelerate to stop at the specified absolute position immediately returning control to the program The acceleration rate is equal to the decel
57. he compare table contents 1024 points from 10000 to 112300 with 100 pulses Operation Theorem e 57 interval It can be represented as follows For i 0 i lt 1024 i CMP_TBL i 10000 100 i Once the axis passes by these preset points during a moving function the corresponding compare output pin will send a pulse with 100 us width to trigger other device to work The moving command for this example is as follows start_a_move AXISO 150000 1000 160000 0 2 The maximum command for this function is 160k pps So the axis takes about 625us to travel 100 pulses long and the width of trigger pulse is about 100us The maximum frequency for trigger signal is about 10k Tek Run M 200ps A chi 1 80V 24 Aug 2000 ETEN 02 52 28 e Relative Function _8132_Set_CompHome 8132 Bud Comp Table 8132 Gei Comp Mode _8132_Set_Complnt 8132_Set_Comp_Table Refer to section 6 19 58 e Operation Theorem 4 8 Interrupt Control The PCI 8132 motion controller can generate INT signal to host PC according to 13 types of factors refer to _8132_set_int_factor function for more details The INT signal is output when one or more interrupt factors occur on either axis To judge on which axis the interrupt factors occur use _8132_get_int_axis function The interrupt status is not closed until _8132_get_int_status function is performed There is a little difference between using DOS or Windows 95 NT to perform interrupt
58. he phase of EA signal leads the phase of EB signal The following diagram shows the waveform Positive Direction Negative Direction Operation Theorem e 51 The encoder error interrupt is provided to detect abnormal situation Simultaneously changing of EA and EB signals will cause an encoder error If bit 14 of the interrupt factor register INT factor is set as 1 the IRQ will be generated when detect encoder error during operation The index inputs EZ signals of the encoders are used as the ZERO index This signal is common on most of the rotational motors EZ can be used to define the absolute position of the mechanism The input logic polarity of the EZ signals is programmable by software function _8132_set_home_config The EZ signals status of the four axis can be monitored by _8132_get_io_status e Relative Function 8132_set_cnt_src _8132_set_pls_iptmode Refer to section 6 4 4 5 Multiple PCI 8132 Cards Operation The software fuction library support maximum up to 12 PCI 8132 Cards that means maximum up to 24 axes of motors can be controlled Since PCI 8132 has the characteristic of Plug and Play users do not have to care about setting the Based address and IRQ level of cards They are automatically assigned by the BIOS of system when booting up Users can utilize Motion Creator to check if the plugged PCI 8132 cards are successfully installed and see the Baseaddress and IRQ level assigned by BIOS
59. ibrary Integer Argument axis axis number designated to configure n_axes number of axes for coordinated motion map_array specified axes number array designated to move str_vel starting velocity in unit of pulse per second max_vel maximum velocity in unit of pulse per second Tacc specified acceleration time in unit of second Tlacc specified linear acceleration section of s curve in second Tsacc specified curve acceleration section of s curve in second degrees maximum angle between successive points along the arc ratio ratio of feedback resolution command resolution Return Code ERR_NoError 6 11 Home Return Name 8132_set_home_config Set the configuration for home return _8132_home_move Perform a home return move Description 8132_set_home_config Configure the logic of origin switch and index signal needed for home_move function If you need to stop the axis after EZ signal is active home_mode 1 or 2 you should keep placing ORG signal in the ON status until the axis stop If the pulse width of ORG signal is too short to keep it at ON status till EZ goes ON you should select the org_latch as enable The latched condition is cancelled by the next start or by disabling the org_latch Three home return modes are available Refer to Chapter4 1 5 for the setting of home_mode control _8132_home_move This function will cause the axis to perform a home return move according to the setting of se
60. ication by 1 2 or 4 If the AB pahse input mode is selected the PA and PB signals should be with 90 phase shifted and the position counting is increasing when the PA signal is leasding the PB signal by 90 phase Also one pulser may be used for X and Y axes while internally distributing the signals appropriately to two axes To set the input signal modes of pulser use _8132_set_manu_iptmode function Then write _8132_manu_move to begin manual operation function User must write _8132_v_stop command in order to end this function and begins to operate at another mode User can choose pulse output axis by _8132_set_manu_axis The error input of PA and PB can be used to generate IRQ The following two situations will be considered as error input of PA and PB signals 1 The PA and PB signals are changing simultaneously 2 The input pulser frequency is higher than the maximum output frequency 2 4M pps Set bit 14 of INT factor will enable the IRQ when error happen Maximum moving velocity in this mode can be limited by setting max_vel parameter in_8132_manu_move function e Relative Function 8132_set_manu_iptmode 8132_manu_move _8132_manu_axis _8132_v_stop Refer to section 6 12 46 e Operation Theorem 4 2 Motor Driver Interface The PCI 8132 provides the INP ERC and ALM signals for servomotor driver s control interface The INP and ALM are used for feedback the servo drivers status The ERC
61. immediately Function Library e 73 5 4 4 Incremental Jog Step Size 5 Incremental jog means that when you click one directional button the axis will step a distance according to the Step Size s setting 5 4 5 Other Control Objects Jog gt gt Axis Name Axis 2 Axis 3 Close Seting Motion Graph m Current Axis X Y Pair Select Cadno r XYON KID Z U 2 3 Jog Command Node Linear E Circular X X C Jog Step Y Size 5 Interpolation Command i x T T T T T 1 0 E Run 30280 15140 9 15140 30280 Y 7 Graph Range Origin Position r Current Position Home XR 4 D X Org Shift 4 D xX Veit bleed a H Al a J 4 Forward YRange gt Yog shea of 0 H Lock V Lock Clear Pos Backward 74 Function Library The above figure shows the result of circular interpolation mode The graph screen is an Active X object from ADLINK Daqbench There are some relative control objects as follows 1 Zoom 2 Graph Range 3 Origin Position The Zoom In Out buttons are used for changing the display range according to a scale number beside the button The Graph Range Frame controls X or Y axis s display range The Origin Position Frame let user to pan the display location There are two home return buttons at the left down corner of this window It is useful when user need to return to the origin Function Lib
62. inary up down counter for managing the present position for each axis The counter counts signals input from EA and EB pins 50 e Operation Theorem It can accept 2 kinds of pulse input 1 plus and minus pulses input CW CCW mode 2 90 phase difference signals AB phase mode 90 phase difference signals may be selected to be multiplied by a factor of 1 2 or 4 4x AB phase mode is the most commonly used for incremental encoder input For example if a rotary encoder has 2000 pulses per phase A or B phase then the value read from the counter will be 8000 pulses per turn or 8000 pulses per turn depends on its turning direction These input modes can be selected by _8132_set_pls_iptmode function To enable the counters counting pulses input from EA EB pins set ent erc parameter of software function_8132_set_cnt_src to 1 e Plus and Minus Pulses Input Mode CW CCW Mode The pattern of pulses in this mode is the same as Dual Pulse Output Mode in Pulse Command Output section expect that the input pins are EA and EB In this mode pulse from EA causes the counter to count up whereas EB caused the counter to count down 90 phase difference signals Input Mode AB phase Mode In this mode the EA signal is 90 phase leading or lagging in comparison with EB signal Where lead or lag of phase difference between two signals is caused by the turning direction of motors The up down counter counts up when t
63. is used to reset the servo drivers deviation counter under special conditions 4 2 1 INP Usually servomotor driver with pulse train input has a deviation position error counter to detect the deviation between the input pulse command and feedback counter The driver controls the motion of servomotor to minimize the deviation until it becomes 0 Theoretically the servomotor operates with some time delay from command pulses Accordingly when the pulse generator stops outputting pulses the servomotor does not stop but keep running until the deviation counter become zero At this moment the servo driver sends out the in position signal INP to the pulse generator to indicate the motor stops running Usually the PCl8132 stops outputting pulses upon completion of outputting designated pulses But by setting inp_enable parameter in _8132_set_inp_logic function you can delay the completion of operation to the time when the INP signal is turned on Status of _8132_motion_done and INT signal are also delayed That is when performing under position control mode the completion of _8132_start_a_move _8132_start_r_move start Ss move functions are delayed until INP signal is turned ON However EL or ALM signal or the completion of home return does not cause the INP signal to delay the timing of completion The INP signal may be a pulse signal of which the shortest width is 5 micro seconds The in position function can be enable or disabl
64. ism is 100 mm round i e part moves 100 mm if motor turns one round Then the resolution of command pulse will be 80 pulses mm The resolution of encoder mounting on the table is 200 pulses mm Then users have to set the move ratio as 200 80 2 5 by the function 38 e Operation Theorem e _8132_set_move_ratio axis 2 5 Moving pay TOSI ULES LLL A Le Encoder 7 If this ratio is not set before issuing the start moving command it will cause problems when running in Absolute Mode Because the PCI 8132 can t recognize the actual absolute position during motion Relative Functions 8132_a_move _8132_r_move _8132_t_move 8132_ta_move _8132_start_a_move 8132_start_r_move _8132_start_t_move _8132_start_ta_move Refer to section 6 6 _8132_motion_done Refer to section 6 13 _8132_set_cnt_src Refer to section 6 4 8132_set_move_ratio Refer to section 6 10 Operation Theorem e 39 4 1 4 S curve Profile Motion This mode is used to move one axis motor to a specified position or distance with a S curve velocity profile S curve acceleration profiles are useful for both stepper and servo motors The smooth transitions between the start of the acceleration ramp and the transition to the constant velocity produce less wear and tear than a trapezoidal profile motion The smoother performance increases the life of the motors and mechanics of a system There are several parameters
65. l Name SE RDY2 RDY3 RDY4 To PCL5023 The input circuit of RDY signal is shown in the following diagram 26 e Signal Connections 3 11 Isolated Digital Output DOx The connection of isolated digital output is shown as following diagram When the isolated digital output goes to high the sink current will be from external Dout supplied voltage Each transistor on TD62083 is at OFF State when reset DO COM TD 62083 DOut DOX cf PhotoCouple Isolation DGND EXGND Spec of TD62083 e Output sustaning voltage 50V e Output Current 123 mA ch Duty 50 500 mA ch MAX e Clamp Diode Reverse Voltage 50V e Clamp Diode Forward Current 5 00mA e Power Dissipation 1 47W maximum Signal Connections e 27 3 12 Isolated Digital Input DIx The isolated digital input is open collector transistor structure The Input voltage range from 5V to 24V and input resister is 4 7K 1 2W The connection between outside signal is shown bellow Maximum forward current through the diode of photocoupler is 50mA Photocoupler Isolation 4 7K ohm 1 2W DI COM DI i pene Fy r oe a a eae aan DI Inside PCI 8132 Switch DGND KE L EXGND 28 e Signal Connections 3 13 Pulser Input Signals PA and PB The PCI 8132 can accept the input signals from pulser signals through the following pins of connector CN2 The pulser s behavior is as an encoder The signals are usually used as generate the
66. l to begin moving to Positions 1 in Absolute Mode or moving backward in other modes 70 e Function Library click button under this symbol to stop motion under any mode Note that this button is always in latch mode Click again to release STOP function 5 3 8 Velocity Profile Selection m Vel Profile T Curve 3 Curve Click T_Curve or S_curve to select preset movement velocity profile The relative parameter settings are in Motion Parameter Frame 5 3 9 Repeat Mode Repeat Mode CG OFF C ON Repeat mode is only for absolute and relative mode After choosing a operation mode and click repeat mode on you can press play key to make axis run between position 1 and 2 in absolute mode or run between a range relative mode It is useful on demonstrations Use Stop button to stop this operation Function Library e 71 5 4 2 D Motion Windows Press 2 D button in operating window will enter this window This is for 2 D motion test It includes the following topics e Linear Interpolation e Circular Interpolation e Incremental Jog e Continous Jog e Other Control Objects S Jog BEE gt gt Axis Name Axis 2 Axis 3 Close Setting Current Axis X Y Pair Select C xY 01 r Jog Type m Jog Setting Fayo Ad Z U 2 3 GG Increamental SE ES Jog Command is CM Max Speed 500 Linear C Continuous Acc Time DI Y C Circular Speed Limit 50000 x Xe deg Inter
67. n a relative trapezoidal Tacc profile move _8132_t_move axis dist svel mvel Tacc Perform a relative Tdec non symmetrical trapezoidal profile move _8132_start_t_move axis dist svel mvel Begin a relative non symmetrical Tacc Tdec trapezidal profile move _8132_start_ta_move axis pos svel mvel Begin an absolute Tacc Tdec non symmetrical trapezidal profile move _8132_ta_move axis pos svel mvel Tacc Perform an absolute Tdec non symmetrical trapezoidal profile move _8132_wait_for_done axis Wait for an axis to finish S Curve Profile Motion Section 6 7 _8132_s_move axis pos svel mvel Tlacc Perform an absolute S curve Tsacc profile move _8132_start_s_move axis pos svel mvel Begin an absolute S curve profile Tlacc Tsacc move _8132_rs_move axis dist svel mvel Perform a relative S curve profile Tlacc Tsacc move _8132_start_rs_move axis dist svel mvel Begin a relative S curve profile Tlacc Tsacc move _8132_tas_move axis pos svel mvel Perform an absolute Tlacc Tsacc Tldec Tsdec non symmetrical S curve profile move _8132_start_tas_move axis pos svel Begin an absolute mvel Tlacc Tsacc Tldec Tsdec non symmetrical S curve profile move Multiple Axes Point to Point Motion Section 6 8 8132_start_move_all n_axes axes pos Begin a multi axis trapezodial svel mvel Tacc profile move 8132_move_all n_axes axes pos Perform a multi axis trapezodial svel mvel Tacc pr
68. nable Set Interrupt generationg factors Get the axis which generates interrupt DOS Get the interrupting status of axis Section 6 18 Output digital channel Input digital channel Section 6 19 Get counter value from comparator Set counter value in comparator Set compare mode Set comparator value Get current comparator value Enable comparator Interrupt Set comparator origin Get comparator status Build compare table Enable Disable compare table Build a linear trigger table by a function Function Library e 79 6 2 C C Programming Library This section gives the details of all the functions The function prototypes and some common data types are decelerated in PCI 8132 H These data types are used by PCI 8132 library We suggest you to use these data types in your application programs The following table shows the data type names and their range 0 To 65535 32 bit unsigned long integer 0 to 4294967295 32 bit single precision floating point 3 402823E38 to 3 402823E38 F64 64 bit double precision 1 797683134862315E308 to floating point 1 797683134862315E309 Boolean logic value TRUE FALSE The functions of PCI 8132 s software drivers use full names to represent the functions real meaning The naming convention rules are In DOS Environment _ hardware_model _ action_name e g _8132_lnitial In order to recognize the difference between C and VB function A capital B is put on the head of each functi
69. nal Power for i H GND R Eesen d G 1 Encoder EA EB i SMA oi GE Fee et E i i Motor Encoder Driver i i i EA EB i i i With Open Collector Output ipa EAE EE E ee H H 1 i i i w KE K A B phase signals i bg i Index signal For more detail operation of the encoder feedback signals please refer to setcion 4 4 18 e Signal Connections 3 3 Origin Signal ORG The origin signals ORG1 ORG2 are used as input signals for origin of the mechanism The following table lists the relative signal name pin number and the axis number CN2 Pin No Signal Name a ORG ORG2 The input circuits of the ORG signals are shown as following Usually a limit switch is used to indicate the origin of one axis The specifications of the limit switches should with contact capacity of 24V 6mA minimum An internal filter circuit is used to filter out the high frequency spike which may Cause wrong operation When the motion controller is operated at the home return mode the ORG signal is used to stop the control output signals OUT and DIR For the detail operation of the ORG please refer to section 4 3 3 Signal Connections e 19 3 4 End Limit Signals PEL and MEL There are two end limit signals PEL and MEL for one axis PEL indicates end limit signal in plus direction and MEL indicates end limit signal in minus direction The relative signal name pin number and axis number are shown in the following table
70. ndensing Power Consumption lt Slot power supply input 5V DC 5 900mA max Introduction e 5 lt External power supply input 24V DC 5 500mA max lt External power supply output 5V DC 5 500mA max e Dimension 164mm L X 98 4mm H 1 3 Software Supporting For the customers who are writing their own programs we provide MS DOS Borland C C programming library and Windows 95 98 NT DLL for PCI 8132 These function libraries are shipped with the board 6 e Introduction 2 Installation This chapter describes how to install the PCl8132 Please follow the follow steps to install the PCI 8132 e Check what you have section 2 1 e Check the PCB section 2 2 e Install the hardware section 2 3 e Install the software driver section 2 4 e Understanding the I O signal connections chapter 3 and their operation chapter 4 e Understanding the connectors pin assignments the rest of the sections and wiring the connections 2 1 What You Have In addition to this User s Guide the package includes the following items e PCI 8132 2 axes Servo Stepper Motion Control Card e ADLINK CD e Users Manual e 24V power input cable for CN1 If any of these items are missing or damaged contact the dealer from whom you purchased the product Save the shipping materials and carton in case you want to ship or store the product in the future Installation e 7 2 2 PCI 8132 Outline Drawing Front Panel
71. nection of one of 2 axes is shown CN1 Receives 24V power from external power supply CN2 Main connection between PCI 8132 and pulse input servo driver or stepping driver CN3 Connector for simultaneously start or stop multiple PCI 8132 cards Figure 7 2 shows how to integrate PCI 8132 with a physical system 110 Connection Example Description of PCI 8132 Indexer Pinouts Terminal Block PCI_8132 CN 24 V From external POWER GND Power Supply Pulse Output Machine DI DO Pulse Input Driver DI DO Pulse Output Machine DI DO Pulse Input Driver DI DO Pulse Output Machine DI DO Only Axis 1 is indicated Pulse Input Driver DI DO Pulse Output Machine DI DO Pulse Input Driver DI DO STP STA To other STP PCI_8132 Cards STA Figure 7 1 General Description of Wiring Connection Example e 111 Wiring of PCI 8132 with Servo Driver 24 V GND Pulse Output Machine DI DO Pulse Input Driver DI DO Creator 8132 dll Win95 Win98 WinNT Driver with Pulse Input Linear Encoder with EA EB EZ Output O PCI_8132 to Driver Q Rotary Encoder 2X Encoder to PCI_ 8132 3 PCI_8132 to Machine UO Linear Encoder Figure 7 2 System Integration with PCI 8132 112 Connection Example 7 2 Connection Example with Servo Driver In this section we use Panasonic Servo Driver as an example to show how to connect it with PCI 8132 Figure 7 3 show the wiring Note that
72. needed to be set in order to make a S curve move They are pos target position in absolute mode dist moving distance in relative mode str_vel specify the start velocity max_vel specify the maximum velocity Tlacc specify the time for linear acceleration section constant acceleration Tsacc specify the time for S curve acceleration section constant jerk Tldec specify the time for linear deceleration section constant deceleration Tsdec specify the time for S curve deceleration section constant jerk max_vel Dine Accel Dece Section Velocity pps Linear Accel Decel Section S curve Accel Dece Section to a 4 E ERO str_vel Time sec Tlacc Tidec Tsacc Tsacc Tsdec Tsdec 40 e Operation Theorem Total time of acceleration is Tlacc 2Tsacc The following formula gives the basic relationship between these parameters max_vel str_vel accel Tlacc Tsacc str_vel max_vel decel Tldec Tsdec accel Tsacc jerk1 decel Tsdec jerk2 where accel decel represents the acceleration deceleration rate at linear accel decel section and are in unit of pps sec jerk1 jerk2 are in unit of pps sec 2 The minimum value for setting time of accel decel should be 0 The Scurve profile motion functions are designed to always produce smooth motion If the time for linear S Curve acceleration parameters combined with the final position don t allow an axis to reach the m
73. ntrol of SD signal input from mechanical system Users can select whether they want to enable this function Default state is disabled _8132_set_erc_enable You can set ERC pin output enable disable by this function Default state is enabled 8132_set_sd_stop_mode There are two types in slow down action One is slow down to starting velocity The other is slow down to stop Syntax C C DOS Windows 95 NT U16 _8132_set_alm_logic I16 axis 116 alm_logic 116 alm_mode U16 _8132_set_inp_logic l16 axis 116 inp_logic 116 inp_enable U16 _8132_set_sd_logic I16 axis 116 sd_logic 116 sd_latch 116 sd_enable U16 _8132_set_erc_enable l16 axis 116 erc_enable U16 _8132_set_sd_stop_mode I16 axis 116 sd_mode Visual Basic Windows 95 NT B_8132_set_alm_logic ByVal axis As Long ByVal alm_logic As Long ByVal alm_mode As Long As Integer Function Library e 99 B_8132_set_inp_logic ByVal axis As Long ByVal inp_logic As Long ByVal inp_enable As Long As Integer B_8132_set_sd_logic ByVal axis As Long ByVal sd_logic As Long ByVal sd_latch As Long ByVal sd_enable As Long As Integer B_8132_set_erc_enable ByVal axis As Integer ByVal erc_enable As Long As Integer B_8132_set_sd_stop_mode ByVal axis As Integer ByVal sd_mode As Integer As Integer Argument axis axis number designated to configure alm_logic setting of active logic for ALARM signal alm_logic 0 active LOW alm_logic 1 active HIGH inp_logic
74. o set the active logic of CMP1 CMP2 respectively Default setting is active low This means that when a positive comparison condition is met CMP will go high for 100 us automatically St Placement of S1 Switch on Board OFF t _ Bits 1 2 Select a Contact EL Switch Normal e HAAG _ gt Bits1 2 Select b Contact EL Switch Normal 4321 Bits3 4 Set CMP1 2 active High at ON position Bit Bits3 4 Set CMP1 2 active Low at OFF position Installation e 13 3 Signal Connections The signal connections of all the I O signals are described in this chapter Please refer the contents of this chapter before wiring the cable between the PCI 8132 and the motor drivers This chapter contains the following sections Section 3 1 Pulse output signals OUT and DIR Section 3 2 Encoder feedback signals EA EB and EZ Section 3 3 Origin signal ORG Section 3 4 End Limit signals PEL and MEL Section 3 5 Ramping down signals PSD and MSD Section 3 6 In position signal INP Section 3 7 Alarm signal ALM Section 3 8 Deviation counter clear signal ERC Section 3 9 General purpose signal SVON Section 3 10 General purpose signal RDY Section 3 11 General Purpose Digital Output Section 3 12 General Purpose Digital Input Section 3 13 Pulser input signals PA and PB Section 3 14 Simultaneous start stop signals STA and STP Section 3 15 Comparison Output CMP1 CMP2 Section 3 16 Daughter Board Connector 14 e Signal Connections Sal
75. ofile move 8132_wait_for_all n_axes axes Wait for all axes to finish Linear Circular Interpolated Motion Section 6 9 _8132_move_xy cardNo x y 2 axis linear interpolated move Tor XA AV _8132_arc_xy cardNo xv Center v Center 2 axis circular interpolated move angle Tor XA AV 8132_start_move_xy cardNo x y 2 axis linear interpolated move Tor XA AV Function Library e 77 _8132_recover_xy axisno Interpolation Parameters Configuring 8132_map_axes n_axes map_array _8132_set_move_speed svel mvel _8132_set_move_accel Tacc _8132_set_move_accel Tlacc Tsacc _8132_set_arc_division axis degrees _8132_arc_optimization optimize _8132_set_move_ratio axis ratio Home Return Mode _8132_set_home_config axis mode org_logic org_latch index_logic _8132_home_move axis svel mvel accel Manual Pulser Motion _8132_set_manu_iptmode axis ipt_mode op_mode _8132_manu_move axis mvel _8132_set_manu_axis cardno manu_axis Motion Status _8132_Motion_done axis Servo Drive Interface _8132_set_alm_logic axis alm_logic alm_mode _8132_set_inp_logic axis inp_logic inp_enable _8132_set_sd_logic axis sd_logic sd_latch sd_enable _8132_set_erc_enable axis erc_enable LO Control and Monitoring _8132_Set_SVON axis on_off _8132_get_io_status axis io_status Position Control 78 Function Library Return to single axis mode Section 6 10 Maps coordinated motion
76. on name of the Visual Basic e g B_8132_Initial 80 e Function Library 6 3 Initialization Name _8132_Initial Software Initialization for PCI 8132 _8132_Close Software release resources of PCI 8132 _8132_Set_Config Configure PCI 8132 according to Motion Creator _8132_Get_IRQ_Channel Get the PCI 8132 card s IRQ number 8132_Get_ Base Addr Get the PCI 8132 card s base address Description _8132_Initial This function is used to initialize PCI 8132 card Every PCI 8132 card has to be initialized by this function before calling other functions _8132_Close This function is used to close PCI 8132 card and release the PCI 8132 related resources which should be called at the end of an application _8132_Set_Config This function is used to configure PCI 8132 card All the I O configurations and some operating modes appeared on Axis Configuration Window of Motion Creator will be set to PCI 8132 Click Save Configuration button on the Axis Configuration Window if you want to use this function in the application program Click Save Configuration button will save all the configurations to a file call 8132 cfg This file will appear in the WINDOWS SYSTEM directory _8132_Get_IRQ_Channel This function is used to get the PCI 8132 card s IRQ number This function just suport Window 95 and Window NT platform only _8132_Get_Base_Addr This function is used to get the PCI 8132 c
77. ops the PCL5023 from outputting pulses The ERC signal allows you to immediately stop the servomotor by resetting the deviation counter to zero The ERC signal is output as an one shot signal The pulsewidth is a time length of 10ms The ERC signal will automatically output when EL signals ALM signal is turned on to immediately stop the servomotor User can set the ERC pin output enable disable by _8132_set_erc_enable function ERC pin output is set output enabled when initializing OFF ON ERC Output Approximate 10ms 48 e Operation Theorem 4 3 The Limit Switch Interface and I O Status In this section the following I O signals operations are described e SD Ramping Down sensor e EL End limit sensor e ORG Origin position e SVON and RDY UO status readback In any operation mode if an EL signal is active during moving condition it will cause PCI 8132 to stop output pulses automatically If an SD signal is active during moving condition it will cause PCI 8132 to decelerate 4 3 1 SD The ramping down signals are used to slow down the control output signals OUT and DIR when it is active The signals are very useful to protect the mechanism moving under high speed toward the mechanism limit PSD indicates ramping sown signal in plus direction and MSD indicates ramping down signal in minus direction During varied speed operation in the home return mode or continuous operation mode the ramping down sign
78. point is pre determined But changing the acceleration parameter when operating under Constant Velocity Mode is valid _8132_fix_max_speed In order to calculate better performance when using v_change function user must set this function before any PTP function _8132_v_stop This function is used to decelerate an axis to stop This function is also useful when preset move both trapezoidal and S curve motion 84 e Function Library manual move or home returnfunction is performed Syntax C C DOS Windows 95 NT U16 _8132_v_move I16 axis F64 str_vel F64 max_vel F64 Tacc U16 _8132_sv_move 16 axis F64 str_vel F64 max_vel F64 Tlacc F64 Tsacc U16 _8132_v_change I16 axis F64 max_vel F64 Tacc U16 _8132_fix_max_speed I16 axis F64 max_vel U16 _8132_v_stop I16 axis F64 Tdec Visual Basic Windows 95 NT B_8132_v_move ByVal axis As Integer ByVal str_vel As Double ByVal max_vel As Double ByVal Tacc As Double As Integer B_8132_sv_move I16 axis F64 str_vel F64 max_vel F64 Tlacc F64 Tsacc As Integer B_8132_v_change I16 axis F64 max_vel F64 Tacc As Integer B_8132_fix_max_speed ByVal axis As Integer ByVal max speed As Double As Integer B_8132_v_stop ByVal axis As Integer ByVal Tacc As Double As Integer Argument axis axis number designated to move or stop str_vel starting velocity in unit of pulse per second max_vel maximum velocity in unit of pulse per second max_speed maximum velocity during a v_
79. polation Parameters i y Se o ize Start Speed pps 100 5 ek Max Speed pps 5000 Interpolation Command Acc Time sec Di x Run Arc Division degree 5 Y Division Axis 7 WM Optimize a Degree 180 Stop Graph Range Origin Position Current Position Home XRange 4 gt XOrg Shit gt x 0 SE orwar YRange al Yog shie A Yp oo M Lock M Lock SE E Backward 72 e Function Library 5 4 1 Linear Interpolation Interpolation Command x 0 m Fan L 0 Degree 180 d Stop After setting motion parameters correctly in Interpolation Parameter Setting Frame you can enter the destination in this frame Then click Run button to start linear interpolation motion 5 4 2 Circular Interpolation The setting for circular interpolation mode has three additional parameters in Interpolation Parameter Setting Frame They are arc degree division axis and optimize option Please refer to section 6 9 to set them After setting these parameters you can enter the arc center and degree in Interpolation Command Frame Click Run button to start circular interpolation motion 5 4 3 Continuous Jog Jog Command gt Y Y Continuous Jog means that when you press one directional button the axis will continuously move with an increasing speed The longer you press the faster it runs When you un press the button the axis will stop
80. position information which guide the motor to follow CN2 Signal Pin No Name Cor PR PA and PB pins of connector CN2 are directly connected to PA and PB pins of PCL5023 The interfac circuits are shown as follows Inside PCI 8132 o PCL5023 PA PB If the signal voltage of pulser is not 5V or if the pulser is distantly placed it is recommended to put a photo coupler or line driver in between Signal Connections e 29 3 14 Simultaneously Start Stop Signals STA and STP The PCI 8132 provides the STA and STP signals which enable simultaneous start stop of motions on multiple axes The STA and STP signals are on the CN3 On one card two PCL5023 chips provide two sets of STA and STP signals The following diagram shows the on board circuits The STA and STP signals of the two axes are tight together respectively VCC VCC Inside PCI 8132 STP PCL5023 STP AXIS 1 amp 2 STA AXIS 1 amp 2 STA The STP and STA signals are both input and output signal To operate the simultaneously start and stop action both software control and external control are possible By the software control the signals can be generated from any one of the PCL5023 and other chip will start and stop simultaneously if proper programmed You can also use an external open collector or switch to drive the STA STP signals for simultaneous start stop If there are two or more PCI 8132 cards cascade CN3 connectors of all
81. pulse input _8132_set_cnt_src Enable Disable the external feedback pulse input Description _8132_set_pls_outmode Configure the output modes of command pulse There are two modes for command pulse output _8132_set_pls_iptmode Configure the input modes of external feedback pulse There are four types for feedback pulse input Note that this function makes sense only when cnt erc parameter in set_cnt_src function is enabled _8132_set_cnt_src If external encoder feedback is available in the system set the cnt_src parameter in this function to Enabled state Then internal 28 bit up down counter will count according configuration of set_pls_iptmode function Or the counter will count the command pulse output Syntax C C DOS Windows 95 NT U16 _8132_set_pls_outmode I16 axis 116 pls_outmode U16 _8132_set_pls_iptmode I16 axis 116 pls_iptmode U16 _8132_set_cnt_src I16 axis 116 cnt_src Visual Basic Windows 95 NT B_8132_set_pls_outmode ByVal axis As Long ByVal pls_outmode As Long As Integer B_8132_set_pls_iptmode ByVal axis As Long ByVal pls_iptmode As Long As Integer B_8132_set_cnt_src ByVal axis As Long ByVal cnt_src As Long As Integer Argument axis axis number designated to configure pulse Input Output pls_outmode setting of command pulse output mode for OUT and DIR ins Dee OUT DIR type pulse output pls_outmode 1 CW CCW type pulse output pls_iptmode setting of encoder feedback pulse input mod
82. quest So with the sample user can get the interrupt signal about each axis in the motion control system 62 Operation Theorem 5 Motion Creator After installing all the hardware properly according to Chapter 2 3 configuring cards and checkout are required before running This chapter gives guidelines for establishing a control system and manually exercising the PCI 8132 cards to verify correct operation Motion Creator provides a simple yet powerful means to setup configure test and debug motion control system that uses PCI 8132 cards Note that Motion Creator is available only for Windows 95 98 or Windows NT with the screen resolution higher than 800x600 environment and can not run on DOS Function Library e 63 5 1 Main Menu Main Menu will appear when executing Motion Creator Figure 5 1 shows the Main Menu is Motion Creator Main Dis lt lt Motion Creater gt gt Select Card Select Axis Eeer Config Axis C Asis 1 C Aas 2 S Operate Axis C Axis 3 Card Information Close Base Address HEX B8300 IRO Level 11 Figure 5 1 Main Menu of Motion Creator From main menu window all PCI 8132 cards and their axes and the corresponding status can be viewed First of all check if all the PCI 8132 cards which are plugged in the PCl Bus can be viewed on Select Card column Next select the card and axis you want to configure and operate Since there are totally four axes on
83. r is operated at the home return mode the ORG signal is used to stop the control output signals OUT and DIR There are three home return modes you can select one of them by setting home mode argument in software function set_home_config Note that if home_mode 1 or 2 the ORG signal must be ON or latched during the EZ signal is inserted EZ 0 The logic polarity of the ORG signal level input or latched input mode are selectable by software function _8132_set_ home_config After setting the configuration of home return mode by _8132_set _home_config a home_move command can perform the home return function The ORG signal can also generate IRQ signal by setting the bit 5 of interrupt reason register or INT factor in software function _8132_set_int_factor 4 3 4 SVON and RDY The SVON signals are controlled by software ee _8132_Set_SVON The function set the logic of APO SVON o PCL5023 The signal status of SVON pins can be monitored by E function _8132_get_io_status RDY pins are dedicated for digital input use The status of this signal can be monitored by software function get_io_status RDY pin is interfaced with AP3 pin of PCL5023 through a photocoulpe The RDY signal can also generate IRQ signal by setting the bit 23 of INT factor in software function set_int_factor Note that interrupt is generated when AP3 from high to low 4 4 The Encoder Feedback Signals EA EB EZ The PCI 8132 has a 28 bits b
84. ram The acceleration rate is equal to the deceleration rate 8132_r_move starts a relative move and waits for completion _8132_start_ta_move This function causes the axis to accelerate from a starting velocity slew at constant velocity and decelerate to stop at the specified absolute position immediately returning control to the program _8132_ta_move starts an absolute coordinate move and waits for completion _8132_start_t_move This function causes the axis to accelerate from a starting velocity slew at constant velocity and decelerate to stop at the relative distance immediately returning control to the program _8132_t_move starts a relative coordinate move and waits for completion The moving direction is determined by the sign of pos or dist parameter If the moving distance is too short to reach the specified velocity the controller will accelerate for the first half of the distance and decelerate for the second half triangular profile wait_for_done waits for the motion to complete Syntax C C DOS Windows 95 NT U16 _8132_start_a_move 16 axis F64 pos F64 str_vel F64 max_vel F64 Tacc U16 _8132_a_move 16 axis F64 pos F64 str_vel F64 max_vel F64 Tacc U16 _8132_start_r_move l16 axis F64 distance F64 str_vel F64 max_vel F64 Tacc U16 _8132_r_move I16 axis F64 distance F64 str_vel F64 max_vel F64 Tacc 86 e Function Library U16 _8132_start_t_move I16 axis F64 dist F64 str_vel
85. rary e 75 Function Library This chapter describes the supporting software for PCI 8132 cards User can use these functions to develop application program in C or Visual Basic or C language 6 1 List of Functions Initialization Section 6 3 _8132_Initial card_no Software initialization _8132_Close card_no Software Close _8132_Set_Config void Configure PCI 8132 according to Motion Creator Pulse Input Output Configuration Section 6 4 _8132_set_pls_outmode axis Set pulse command output mode pls_outmode _8132_set_pls_iptmode axis pls_iptmode Set encoder input mode _8132_set_cnt_src axis cnt_src Set counter input source Continuously Motion Mode Section 6 5 _8132_v_move axis svel mvel Tacc Accelerate an axis to a constant velocity with trapezoidal profile _8132_sv_move axis svel mvel Tlacc Accelerate an axis to a constant Tsacc velocity with S curve profile _8132_v_change axis mvel Tacc Change speed on the fly _8132_v_stop axis Tdec Decelerate to stop _8132_fix_max_speed axis max_speed Fix max speed for v_change Trapezoidal Motion Mode Section6 6 _8132_a_move axis pos svel mvel Tacc Perform an absolute trapezoidal profile move 76 Function Library _8132_start_a_move axis pos svel mvel Begin an absolute trapezidal Tacc profile move _8132_r_move axis dist svel mvel Tacc Perform a relative trapezoidal profile move _8132_start_r_move axis dist svel mvel Begi
86. re table for on the fly compare the comparator interrupt must be enabled Interrupt will trigger kernel driver to load next compare point and send a Windows Event to notify user s AP If the frequency of comparator output is too high the Windows Event won t be received by AP without lost but the hardware trigger will be send correctly without delay _8132_Set_CompHome Reset the comparator s counter to zero This function usually follows by home_move to make sure that two counter are the same before any motion _8132_Get_CompSts Get current status of comparator 8132_Build_Comp_Table PCI 8132 provides a convenient interface for user to input their compare points User can pass an array pointer to this function to notify PCl 8132 The maximum points of this table are 1024 long integer value 8132_Set_Comp_Table Once user builds a compare table by _ 8732 Build Comp Table he Function Library e 107 can use this function to control the table active or not 8132_Set_Comp_ Function This is an alternative way to set up compare data if user s compare points are equal interval It is no size limit if user uses this method Syntax C C DOS U16 _8132_Get_CompCnt U16 axis double act_pos U16 _8132_Set_CompCnt U16 axis double cnt_value U16 _8132_Set_CompMode U16 axis 116 comp_mode U16 _8132_Set_CompData U16 axis double comp_data U16 _8132_Get_CompData U16 axis double comp_data U16 _8132_Set_Complnt
87. read s life ThreadOn TRUE AfxBeginThread IntThreadProc GetSafeHwnd THREAD_PRIORITY_ HIGHEST 5 Before exit the program remember to let the thread go to end naturally ThreadOn FALSE For each time when a preset movement or homing of axis 2 is completed this program will receive a interrupt signal from PCI 8132 PCI 8132 Interrupt Service Routine ISR with DOS A DOS function library is equipped with PCI 8132 for users to develop applications under DOS environment This library also provide some functions for users to work with ISR It is highly recommended to write programs according to the following example for applications should work with ISR Since PCl bus has the ability to do IRQ sharing when multiple PCI 8132 are applied each PCI 8132 should have a corresponding ISR For users who use the library we provide the names of ISR are fixed such as _8132_isr0 void _8132_isr1 void etc The sample program are described as below It assume two PCI 8132 are plugged on the slot axis 1 and axis5 are asked to work with ISR header file declare include pci_8132 h PCI_INFO info define axis1 1 define axis5 5 U16 int_flag 0 irq_axs U32 irq_sts 60 e Operation Theorem Ki EE EE EE EES L MAIN Program EE void maint void U16 i bn 0 status _8132_Initial amp bn amp info 1 A Do System configuration for all I O signals Set Interrupt factors for axis1 axis5 set_int_f
88. s 63 54A Main Menu egeeegegugide dee ENEE anevtndecedseewecudents 5 2 Axis Configuration Window ccccccseeeeeeeeeeeeeeneeeeeeees 5 3 Axis Operation WiINGOWS cccceeeeceeeeeeeeeeeeeeeeeeeeeeeeeees 5 3 1 Motion Status Display 5 3 2 Axis Status Display Vie 5 3 3 WO Status DIS Play geed EEeeE 5 3 4 Set Position Control sscsesecesessesseeresenssssssnsesersessessersnssnessnsesaeess 5 3 5 Operation Mode Control 5 3 6 Motion Parameters Control 5 3 7 Play Key Cont rl sssssssssssesseeees 5 3 8 Velocity Profile Selection 5 3 9 Repeat MOC 5 4 2 D Motion Windows 5 4 1 Linear Interpolation sssscsesscsesesseersesersesssssenseenseseessensnseensnsesseess 5 4 2 Circular Interpolation sssscssssceserecssesssecessseseessesssesssnsesesessess 5 4 3 Continuous Jog 5 4 4 Incremental Jog dubs 5 4 5 Other Control ODjeCHS scscscscscscersrececsssrecsssssrecssssssecsssseresessens ii e Table of Contents Chapter 6 Function Library cccceeeeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 76 6 1 List of FUNMCtIONS cceceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 76 6 2 C C Programming Library ccccccseeeeeeeeeeeeeeeeeeeeeees 80 6 3 Initialization ge Gees EEN ene ent 81 6 4 Pulse Input Output Configuration been 83 6 5 Continuously Motion Move ccceeeeeeeeeeeeeeeeeeeeeeeeeees 84 6 6 Trapezoidal Motion Mode ccccsseececseeeeeeeeeeeeeeeneee
89. s As Double ByVal str_vel As Double ByVal max_vel As Double ByVal Tlacc As Double ByVal Tsacc As Double As Integer B_8132_s_move ByVal axis As Integer ByVal pos As Double ByVal str_vel As Double ByVal max_vel As Double ByVal Tlacc As Double ByVal Tsacc As Double As Integer B_8132_start_rs_move ByVal axis As Integer ByVal distance As Double ByVal str_vel As Double ByVal max_vel As Double ByVal Tlacc As Double ByVal Tsacc As Double As Integer B_8132_rs_move ByVal axis As Integer ByVal distance As Double ByVal str_vel As Double ByVal max_vel As Double ByVal Tlacc As Double ByVal Tsacc As Double As Integer B_8132_start_tas_move ByVal axis As Integer ByVal pos As Double ByVal str_vel As Double ByVal max_vel As Double ByVal Tlacc As Double ByVal Tsacc As Double ByVal Tidec As Double ByVal Tsdec As Double As Integer B_8132_tas_move ByVal axis As Integer ByVal pos As Double ByVal str_vel As Double ByVal max_vel As Double ByVal Tlacc As Double ByVal Tsacc As Double ByVal Tidec As Double ByVal Tsdec As Double As Integer Argument axis axis number designated to move pos specified absolute position to move distance or dist specified relative distance to move str_vel starting velocity of a velocity profile in unit of pulse per second max_vel starting velocity of a velocity profile in unit of pulse per second Tlacc specified linear acceleration time in unit of second Tsacc specified S curve acceleration time in
90. s Long As Integer B_8132_manu_move ByVal axis As Long ByVal max_vel As Double As Integer Bias ser meng avis ByVal cardno as integer byVal manu_axis as integer As Integer Argument axis axis number designated to start manual move ipt_mode setting of manual pulser input mode from PA and PB pins ipt_mode 0 1X AB phase type pulse input ipt_mode 1 2X AB phase type pulse input ipt_mode 2 4X AB phase type pulse input ipt_mode 3 CW CCW type pulse input op mode common or independent mode selection op_mode 0 Independent for each axis op_mode 1 PAX PBX common for PAY PBY or PAZ PBZ common for PAU PBU mvel limitation for maximum velocity manu_axis select manual pulser output axis manu_axis 0 no axis output from manual pulser manu_axis 1 axisO as manual pulser output manu_axis 2 axis1 as manual pulser output manu_Axis 3 both axisO and axis1 as manual pulser output Example _8132_set_manu_iptmode 0 2 0 set 4X AB Phase signal _8132_set_manu_Axis 0 0 user axis 0 as output _8132_manu_move 0 10000 active pulser Function Library e 97 _8132_v_stop 0 0 1 stop pulser move Return Code ERR_NoError 6 13 Motion Status Name _8132_motion_done Return the status when a motion is done Description _8132_motion_done Return the motion status of PCI 8132 position Definition of return value is as following Return value 0 the axis is busying 1 a movement is finished 2 the axis
91. s set to Enable the Actual Position read will be from the external encoder inputs EA EB Else it will display the command pulse output when set to Disable 5 3 2 Axis Status Display The Axis Status display provides a real time display of the axis s status It displays the status Yes for logical True or No for logical False for In Position or In Motion or displays there is Interrupt Events Occurs When In motion you can check the motion done status in the next column In Position range can be specified in the Pos_Err column 68 e Function Library 5 3 3 I O Status Display Use UO Status display to monitor the all the I O status of PCl8132 The Green Light represents ON status Red Light represents OFF status and BLACK LIGHT represents that I O function is disabled The ON OFF status is read based on the setting logic in Axis Configuration window 5 3 4 Set Position Control Use the Set Position Control to arbitrarily change the actual position of axis Write the position wanting to specify into the column and click the Set Position button will set the actual position to the specified position 5 3 5 Operation Mode Control There are four Operation Modes mentioned in Chapter 4 can be tested in the Axis Operation window They are Continuous Move Mode Preset nm om om Mode Operation Home Mode Operation Manual Mode Operation Continuous Move Mode Press Continuous Move button will
92. set_move_speed _8132_set_move_accel 8132_set_arc division _8132_arc_optimization 8132_set_move_ratio Refer to section 6 10 Operation Theorem e 43 4 1 6 Home Return Mode In this mode you can let the PCI 8132 output pulses until the conditions to complete the home return is satisfied after writing the _8132_home_move command Finish of home return can be checked by _8132_motion_done function Or you can check finish of home return accompanied with the interrupt function by setting bit 5 of int_factor to 1 in __8132_set_int_factor function Moving direction of motors in this mode is determined by the sign of velocity parameter in _8132_home_move function A _8132_v_stop command during returning home can stop OUT and DIR from outputting pulses Before writing _8132_home_move command configuration must be set by _8132_set_home_config function See also Section 4 3 3 for further description There are total three home return modes can be selected by setting home_mode parameter in_8132_set_home_config function The meaning of Home_mode will be described as the following 1 Home_mode 0 ORG only no index signal The ORG signal immediately stops OUT and DIR pins from outputting pulses to complete the origin return Velocity Writing home move command to begin home return operation ORG Signal ON 44 e Operation Theorem 2 Home_mode 1 both ORG and index signal are useful The ORG signal
93. setting of active logic for INP signal inp_logic 0 active LOW inp_logic 1 active HIGH sd_logic setting of active logic for SD signal sd_logic 0 active LOW sd_logic 1 active HIGH sd_latch setting of latch control for SD signal sd_logic 0 do not latch sd_logic 1 latch alm_mode reacting modes when receiving ALARM signal alm_mode 0 motor immediately stops alm_mode 1 motor decelerates then stops inp_enable INP function enable disable inp_enable 0 Disabled inp_enable 1 Enabled sd_enable Slow down point function enable disable sd_enable 0 Disabled sd_enable 1 Enabled erc_enable ERC pin output enable disable erc_enable 0 Disabled erc_enable 1 Enabled sd_mode sd_move 0 slow down to starting velocity sd_mode 1 slow down to stop Return Code ERR_NoError 100 e Function Library 6 15 1 O Control and Monitoring Name _8132_Set_SVON Set state of general purpose output pin _8132_get_io_status Get all the I O status of PCF8132 Description _8132_Set_SVON Set the High Low output state of general purpose output pin SVON _8132_get_io_status Get all the I O status for each axis The definition for each bit is as following CRL AM L b Signal 7 10 Syntax C C DOS U16 _8132_Set_SVON I16 axis 116 on_off U16 _8132_get_io_status 116 axis U16 io_status C C Windows 95 NT U16 _8132_Set_SVON I16 axis 116 on_off U16 _8132_get_io_status 116 axis U16 io_status Visual B
94. single PTP axis motion Syntax C C DOS Windows 95 NT U16 _8132_move_xy l16 cardNo F64 x F64 y U16 _8132_start_move_xy l16 cardNo F64 x F64 y U16 _8132_arc_xy I16 cardNo F64 x_center F64 y_center F64 angle U16 _8132_recover_xy int cardNo Visual Basic Windows 95 NT B_8132_move_xy ByVal cardno As Long ByVal x As Double ByVal y As Double As Integer B_8132_start_move_xy ByVal cardno As Long ByVal x As Double ByVal y As Double As Integer 92 Function Library B_8132_arc_xy ByVal cardno As Long ByVal x_center As Double ByVal y_center As Double ByVal angle As Double As Integer B_8132_recover_xy ByVal cardno As Long As Integer Argument cardNo card number designated to perform interpolating function x y absolute target position of linear interpolation motion x_center y_center center position of an arc angle specified angle for an arc Return Code ERR_NoError 6 10 Interpolation Parameters Configuring Name _8132_map_axes Configure the axis map for coordinated motion 8132_set_move_speed Set the vector velocity 8132_set_move_accel Set the vector linear acceleration time 8132_set_move_saccel Set the vector s curve acceleration time _8132_set_arc_division Set the interpolation arc segment length _8132_arc_optimization Enable Disable optimum acceleration calculations for arcs 8132_set_move_ratios Set the axis resolution ratios Description map_axes
95. stops at positive limit switch 3 the axis stops at negative limit switch 4 the axis stops at origin switch 5 the axis stops because the ALARM signal is active The following code demonstrates how to utilize this function _8132_start_a_move axis_x pos1 svel mvel Tacc Begin a trapezoidal velocity profile motion while motion_done axis_x Wait for completion of if kbhit start_a_move Keyboard hit to escape the getch WHILE loop exit 1 Syntax C C DOS Windows 95 NT U16 _8132_motion_done I16 axis Visual Basic Windows 95 NT B_8132_motion_done ByVal axis As Integer As Integer 98 e Function Library Argument axis axis number of motion status Return Code ERR_NoError 6 14 Servo Drive Interface Name _8132_set_alm_logic Set alarm logic and alarm mode _8132_set_inp_logic Set In Position logic and enable disable _8132_set_sd_logic Set slow down point logic and enable disable _8132_set_erc_enable Set ERC pin output enable disable 8132_set_sd_stop_mode Set slow down mode Description _8132_set_alm_logic Set the active logic of ALARM signal input from servo driver Two reacting modes are available when ALARM signal is active _8132_set_inp_logic Set the active logic of In Position signal input from servo driver Users can select whether they want to enable this function Default state is disabled _8132_set_sd_logic Set the active logic and latch co
96. t_home_config function The direction of moving is determined by the sign of velocity parameter svel mvel Since the stopping condition of this function is determined by home_mode setting user should take care to select the initial moving direction Or user should take care to handle the condition when limit switch is touched or other conditions that is possible causing the axis to stop Executing v_stop function during home_move can also cause the axis to stop Function Library e 95 Syntax C C DOS Windows 95 NT U16 _8132_set_home_config 16 axis 116 home_mode 116 org_logic 116 org_latch 116 EZ_logic U16 _8132_home_move I16 axis F64 svel F64 mvel F64 accel Visual Basic Windows 95 NT B_8132_set_home_config ByVal axis As Long ByVal home_mode As Long ByVal org_logic As Long ByVal org_latch As Long ByVal EZ_logic As Long As Integer B_8132_home_move ByVal axis As Long ByVal str_vel As Double ByVal max_vel As Double ByVal accel As Double As Integer Argument axis axis number designated to configure and perform home returning home_mode stopping modes for home return home_mode 0 ORG active only home_mode 1 ORG active and then EZ active to stop high speed all the way home_mode 2 ORG active and then EZ active to stop high speed till ORG active then low speed till EZ active org_logic Action logic configuration for ORG signal org_logic 0 active low org_logic 1 active high org_latch Latch state
97. tion Counter Clear Signal ERC The deviation counter clear signal ERC is active in the following 4 situations 1 home return is complete 2 the end limit switch is active 3 an alarm signal stops OUT and DIR signals 4 an emergency stop command is issued by software operator The relative signal name pin number and axis number are shown in the following table CN2 Pin No Signal Name Axis ERCH o 26 ERC2 The ERC signal is used to clear the deviation counter of servomotor driver The ERC output circuit is in the open collector with maximum 35 V external power at 50mA driving capability For more details of the ERC operation please refer to section 4 2 3 From PCL5023 z Inside PCI 8132 CNS 35V 50mA Maximum ERC EXGND 24 e Signal Connections 3 9 General purpose Signal SVON The SVON signals can be used as _ servomotor on control or general purpose output signals The relative signal name pin number and axis number are shown in the following table CN2 PinNo Signal Name SVONT SVON2 The output circuit of SVON signal is shown in the following diagram Inside PCI 8132 CNS 35V 50mA Maximum SVON From PCL5023 EXGND Signal Connections e 25 3 10 General purpose Signal RDY The RDY signals can be used as motor driver ready input or general purpose input signals The relative signal name pin number and axis number are shown in the following table CN2 Pin No Signa
98. tor output Please refer to section 3 1 for the jumper setting of signal types Single Pulse Output Mode OUT DIR Mode In this mode the OUT signal is represent the pulse position or velocity command The numbers of OUT pulse represent the motion command for relative distance or position the frequency of the OUT pulse represents the command for speed or velocity The DIR signal represents direction command of the positive or negative This mode is the most common used mode The following diagram shows the output waveform OUT DIR Positive Command Negative Command Dual Pulse Output Mode CW CCW Mode In this mode the waveform of the OUT and DIR pins represents CW clockwise and CCW counter clockwise pulse output respectively Pulses output from CW pin makes motor move in positive direction whereas pulse output from CCW pin makes motor move in negative direction The following diagram shows the output waveform of positive plus command and negative minus command 34 e Operation Theorem or JL DIR Positive Command OUT ___ a m U DIR Negative Command Relative Function _8132_set_pls_optmode Refer to section 6 4 4 1 2 Constant Velocity Motion This mode is used to operate one axis motor at constant velocity motion The output pulse accelerates from a starting velocity str_vel to the specified constant velocity max_vel The _8732_v_move function is used to
99. ultaneous for axes Position X amp Y Comparison x Ext 24V Input Mechanic Servo General Pulse I O al Driver Purpose Interface Interface O 1 1 OUT EL EL NP ALM SVON RDY Papp CM DIR EA EB et ERC DIDO 0 15 CMP2 EZ Figure 1 1 Block Diagram of PCI 8132 2 e Introduction Hardware Installation Jumper Setting Chapter 2 amp 3 Wiring Run Motion Creator To Configure System Run Motion Creator To Verify Operation Use Function Library To develop Applications Chapter 4 amp 6 Figure 1 2 Flowchart of building an application Chapter 5 Chapter 4 amp 5 Introduction e 3 1 1 Features The following lists summarize the main features of the PCI 8132 motion control system 32 bit PCl Bus plug and play 2 axes of step and direction pulse output for controlling stepping or servomotor Maximum output frequency of 2 4 Mpps 2 axis circular and linear interpolation 28 bit up down counter for incremental encoder feedback Home switch index signal positive and negative limit switches interface provided for all axes Programmable interrupt sources Change Speed on the Fly Positiion Compare and Trigger Signal output Simultaneous start stop motion on multiple axes Manual pulser input interface Software supports maximum up to 12 PCI 8132 cards 24 axes operation Compact half size PCB Motion Creator Microsoft Windows based application development software PCI 8132 Library
100. unit of second Tldec specified linear deceleration time in unit of second Tsdec specified S curve deceleration time in unit of second Return Code ERR_NoError ERR_MoveError Function Library e 89 6 8 Multiple Axes Point to Point Motion Name 8132_start_move_all Begin a multi axis trapezoidal profile motion _8132_move_all Begin a multi axis trapezoidal profile motion and wait for completion 8132_wait_for_all Wait for all axes to finish Description 8132_start_move_all This function causes the specified axes to accelerate from a starting velocity slew at constant velocity and decelerate to stop at the specified absolute position immediately returning control to the program The move axes are specified by axes and the number of axes are defined by n_axes The acceleration rate of all axes is equal to the deceleration rate _8132_move_all starts the motion and waits for completion Both functions guarantee that motion begins on all axes at the same sample time Note that it is necessary to make connections according to Section 3 12 on CN3 if these two functions are needed _8132_wait_for_done waits for the motion to complete for all of the specified axes The following code demos how to utilize these functions This code moves axis 0 and axis 4 to position 8000 0 and 120000 0 respectively If we choose velocities and acelerations that are propotional to the ratio of distances then the axes will arrive at th
101. ve 8132_start_s_move _8132_start_rs_move 8132_start_tas_mo ve Refer to section 6 7 _8132_motion_done Refer to section 6 13 42 e Operation Theorem 4 1 5 Linear and Circular Interpolated Motion In this mode two axes X and Y or Z and U axes is controlled by linear interpolation or circular interpolation by designating the number of pulses respectively Interpolation between two axes means the two axes start simultaneously and reach their ending points at the same time For example in the Figure below we want to move the axes from PO to P1 and hope the two axes start and stop simultaneously at a period of time t Then the moving speed along X axis and Y axis will be X t Y t respectively P1 eae I PO X Y Axis X Axis The axis with larger numbers of moving pulses is the main axis and the other axis is the secondary axis When both axes are set at the same amount of pulses the X or Z is the main axis The speed relation between main and secondary axes is as follows Composite Speed Speed of main axis x v Set number of pulses for main axis Set number of pulses for slave axis Set number of pulses for main axis E Set number of pulses for slave axis 2 or Speed of main axis x 1 g _ _ _ _____________ Set number of pulses for main axis Relative Functions 8132_move_xy _8132_start_move_xy _8132_arc_xy Refer to section 6 9 8132_
102. want to configure user can choose to push the Save Configurations button on the right bottom side If you push this button all the configurations you select for system integration will be saved to a file called 8132 cfg This file is very helpful when user is developing their own application programs The following example illustrate how to make use of this function This example program is shown in C language form Main _8132_initial Initialize the PCI 8132 cards _8132_Set_Config Configure PCI 8132 cards according to 8132 cfg 66 e Function Library Where _8132_initial and _8132_Set_Config can be called from the function library we provide _8132_initial should be the first function called within main function It will check all the PCI 8132 existed and give the card a base address and IRQ level _8732_Set_Config will configure the PCI 8132 cards according to 8132 cfg That is the contents of Axis Configuration Window can be transferred to the application program by this function called w Motion Creator Operation Display gt gt Axis Name Axis 0 r Operation Mode Position Status Absolute Relative Cont Manul Home TO Status Mode Mode Move PulserMove Move EL BR Command emmmer Position TD l EL E Actual E 5D Position TH Position Distance p Repeat Mode SR S fo fo Ze OFF ON i Eror fo e Le
103. ws 95 NT B_8132_get_position ByVal axis As Integer pos As Double As Integer B_8132_set_position ByVal axis As Integer ByVal pos As Double As Integer B_8132_get_command ByVal axis As Integer pos As Double As Integer B_8132_set_command ByVal axis As Integer ByVal pos As Double As Integer Argument axis axis number designated to set and get position pos actual position or command position 102 Function Library Return Code ERR_NoError 6 17 Interrupt Control Name _8132_Set_INT_ENABLE Set interrupt enable _8132_INT_Enable Set interrupt enable _8132_INT_Disable Set interrupt disable _8132_Set_INT_Control Set interrupt event handle _8132_set_int_factor Set interrupt generating factors _8132_get_int_axis Get the axis which generates interrupt _8132_get_int_status Get the interrupting status of axis Description _8132_Set_INT_ENABLE This function is used to enable interrupt generating to host PC This function just support DOS only _8132_INT_Enable This function is used to enable interrupt generating to host PC This function just support Window 95 and Window NT only _8132_INT_Disable This function is used to disable interrupt generating to host PC This function just support Window 95 and Window NT only _8132_Set_INT_Control This function is used to assign the window INT event This function just support Window 95 and Window NT only _8132_set_int_factor This function allo
104. ws users to select factors to initiate the INT signal PCI 8132 can generate INT signal to host PC by setting the relative bit as 1 The definition for each bit is as following Interrupt Factor CH Stop withthe EL signal SSCS 6 Completion of preset movement 7 Completion of interpolating motion for two axes X amp Y or Z amp U X should be set to 0 when v_stop function stop the axis Function Library e 103 18 22 Should be Set to 0 RDY active AP3 of PCL5023 change from 1 to 0 Note Bit 14 The interrupt is generated when pins EA and EB or PA and PB change simultaneously It means there has an encoder input error get_int_axis This function allows user to identify which axis generates the INT signal to host PC This function is for DOS only get_int_status This function allows user to identify what kinds of interrupt is generated After user gets this value the status register will be cleared to 0 The return value is a 32 bits unsigned integer and the definition for each bit is as following o Stopwiththe EL signal 6 ComparatorAcve SSCS 8 Stop with v_stop0 command o Siop with home return compleied 104 e Function Library Syntax C C DOS U16 _8132_Set_INT_ENABLE U16 cardNo U16 intFlag U16 _8132_set_int_factor U16 axis U32 int_factor U16 _8132_get_int_axis U16 int_axis U16 _8132_get_int_status U16 axis U32 int_status C C Windows 95 NT U16 _8132_INT_En
105. ww adlinktechnology com sw adlink com tw Please inform or FAX us of your detailed information for a prompt satisfactory and constant service Environment to Use O Computer Brand O MB CPU O Chipset BIOS O Video Card O Network Interface Card O Other Table of Contents Chapter 1 Introduction cccceeeeeceeeeeeeeeeeeeeeeeeeeeeeeeeeeneeeeeeeneeeeeees 1 Ci Features aeaa deat cee e cedeed ee eteweiey 4 1 2 Specifications gett ge EEN EEN 5 1 3 Software SUPPOFting eeececeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeneeeeees 6 Chapter 2 Installation ccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeseeeeeeeseeeeeees 7 2 1 What G IN UC TTT H 2 2 PCI 8132 Outline Drawing ccccssseceeeeeeeeeeeeeeeeeeeeeeeeeeeees 8 2 3 Hardware Installation cccsceccceeseeeeeeeeeeeeeeeeeeeeeeeeeeeneeees 9 2 3 1 Hardware CONPFIQUrAatiON 1 cscesessesseesessssseserseseenssssesensenenenensenees 9 2 3 2 PCL SIOt SCIOCHON srscciececntsrecesiveconnenrsearaeseutaquetencneusersccuesentsbseiedeatecntat 9 2 3 3 Installation Procedures 1ecssecsesseseesesseeserserseseensessnenensenenseenseneees 9 2 3 4 Trouble SHOOTING sssssessseeerserseseenseuseeneeseussssensessesecssessnenensonenseonsanaees 9 2 4 Software Driver Installation ccccceseeeeeeeeeeeeeeeeeeeeeees 10 2 5 CN Pin Assignments External Power Input 10 2 6 CN2 Pin Assignments Main Connector seccceeeeeeeees 11 2 7 CN3 Pin

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