USB1010 User`s Manual
Contents
1. 14 5 2 Acceleration and Deceleration 14 5 2 1 Constant Speed Driving 14 5 2 2 S curve Acceleration Deceleration Driving 15 5 3 Position Control 16 5 3 1 Logic Position Counter and Real position Counter 16 5 3 2 Compare Register and Software Limit 16 5 4 Interpolation 17 5 4 1 Linear Interpolation 17 5 4 2 Circular Interpolation2. 18 5 4 3 The Bit Pattern Interpolation 19 5 4 4 Constant Vector Speed 20 5 4 5 Continuous Interpolation 20 5 4 6 Hardware Limit Signals 21 5 4 7 Emergency Stop 21 Chapter 6 Notes Warranty Policy 22 6 1 Notes 22 6 2 Warranty Policy 22 USB1010 Motion Control Card BUY ONLINE at art control com englishs or CALL 64862359 CN 3
3. During the continuous interpolation the driving will not stop contrarily the pulses are output continuously When executing the continuous interpolation the host CPU has to write the next interpolation segment into MCX312 before the previous interpolation segment is finished BUY ONLINE at art control com englishs or CALL 64862359 CN 20 USB1010 Motion Control Card BUY ONLINE at art control com englishs or CALL 64862359 CN 21 Attentions for Continuous Interpolation a Before setting the interpolation segment the user should first set other data such as center point finish point for each segment b The maximum speed for the continuous interpolation is 2MHz c The following interpolation segment must be loaded before the previous interpolation segment is finished d The segment driving time should be longer than the time for error checking and the command setting of next segment during the interpolation e In continuous interpolation if one of 2 3 axes is 0 interpolation is performed correctly otherwise 0 cannot be set to the finish point of all axes in 2 3 axes linear interpolation or to the center point of both axes in circular interpolation any axis cannot set the data that drive pulse is not output If suchlike data it set interpolation cannot be performed correctly 5 4 6 Hardware Limit Signals Hardware limit signals nLMTP and nLMTM are used for stopping the pulse output if the limit sensors of and d
4. Chapter 1 Overview 1 1 Introduction USB1010 is a 2 axis motion control card which can control 2 axes of either stepper motor or pulse type servo drivers for position speed and interpolation controls 1 2 Features USB interface 2 axis servo stepper motor control each axis can work independently Pulse Output Frequency Error lt 0 1 Maximum Pulse Output Speed up to 4 MHz Pulse Output Mode CP DIR CW CCW Non symmetrical linear acceleration deceleration drive S shaped acceleration deceleration Constant Speed Driving 2 axis linear interpolation circular interpolation bit pattern interpolation and continuous interpolation Start stop multi axis simultaneously Control acceleration deceleration time through programmable Read logic position physic position drive speed acceleration and acceleration deceleration status in real time Isolation Voltage 2500Vrms 1 3 Specifications Control Axis 2 axes Data Bus 16 bits Interpolation Functions 2 axes Linear Interpolation Interpolation Range Each axis 8 388 607 8 388 607 Interpolation Speed 1 4 MPPS Interpolation Accuracy 0 5 LSB Within the range of whole interpolation Circular Interpolation Interpolation Range Each axis 8 388 607 8 388 607 Interpolation Speed 1 4 MPPS Interpolation Accuracy 1 LSB Within the range of whole interpolation 2 axes Bit Pattern Interpolation Interpolation Speed 1 4 MPPS Dependent on
5. In position input signal for servo driver in position Enable disable and logical levels can be set as commands When enable is set and after the driving is finished this signal is active and standby BUY ONLINE at art control com englishs or CALL 64862359 CN 7 USB1010 Motion Control Card BUY ONLINE at art control com englishs or CALL 64862359 CN 8 5 10 XALARM YALARM Servo Alarm input signal for servo driver alarm Enable disable and logical levels can be set as commands 25 30 XLMTP YLMTP OVER Limit signal of direction over limit During the direction drive pulse outputting decelerating stop or sudden stop will be performed once this signal is active 6 11 XLMTM YLMTM OVER Limit signal of direction over limit During the direction drive pulse outputting decelerating stop or sudden stop will be performed once this signal is active 7 12 XSTOP0 YSTOP0 input signal to perform decelerating sudden stop for each axis 26 31 XSTOP1 YSTOP1 input signal to perform decelerating sudden stop for each axis 14 35 XIN1 YIN1 General Input 1 general purpose input signals 33 16 XIN0 YIN0 General Input 0 general purpose input signals 32 34 XOUT1 YOUT1 General Output 1 general purpose output signals 13 15 XOUT0 YOUT0 General Output 0 general purpose output signals 36 37 XEXPP YEXPP External Operation direction drive st
6. 6 OFF 0 ON 1 ON 1 ON 1 7 7 ON 1 OFF 0 OFF 0 OFF 0 8 8 ON 1 OFF 0 OFF 0 ON 1 9 9 ON 1 OFF 0 ON 1 OFF 0 A 10 ON 1 OFF 0 ON 1 ON 1 B 11 ON 1 ON 1 OFF 0 OFF 0 C 12 ON 1 ON 1 OFF 0 ON 1 D 13 ON 1 ON 1 ON 1 OFF 0 E 14 ON 1 ON 1 ON 1 ON 1 F 15 BUY ONLINE at art control com englishs or CALL 64862359 CN 6 USB1010 Motion Control Card Chapter 3 Pin Layout Pin Definition of CN1 YEXPM XEXPM YIN1 YIN0 YOUT1 YOUT0 XIN0 XIN1 XOUT1 XOUT0 YSTOP1 YSTOP0 YLMTP YLMTM YINPOS YALARM 24V OGND VDD OGND XSTOP1 XSTOP0 XLMTP XLMTM XINPOS XALARM XECB YECB XECA YECA YPM XPM YPP XPP EMGN YEXPP XEXPP 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21 20 3 1 Analog Signal Pins Pin No Signal Name Description 1 20 XPP YPP Pulse Pulse direction dive pulse outputting 2 21 XPM YPM Pulse Pulse direction dive pulse outputting 22 3 XECA YECA Encoder A Pulse in signal for encoder phase A input 23 4 XECB YECB Encoder B Pulse in signal for encoder phase B input 24 29 XINPOS YINPOS
7. CPU data writing time Related Functions of Interpolation Constant vector speed Continuous interpolation Single step interpolation USB1010 Motion Control Card BUY ONLINE at art control com englishs or CALL 64862359 CN 4 Common Specifications of Each Axis Drive Pulses Output When CLK 16 MHz Pulse Output Speed Range 1 4MPPS Pulse Output Accuracy within 0 1 according to the setting speed S curve Jerk 954 62 5x106 PPS S2 Multiple 1 Accelerating Decelerating Speed 125 1 x 106 PPS S Multiple 1 Initial Speed 1 8 000PPS Multiple 1 500PPS 4 106 PPS Multiple 500 Drive Speed 1 8 000PPS Multiple 1 500PPS 4 106 PPS Multiple 500 Output pulse Number 0 268 435 455 fixed drive Speed Curve Constant speed linear acceleration parabola S curve acceleration deceleration drive Fixed Drive Deceleration Mode auto non symmetrical trapezoidal acceleration is also allowed manual Output pulse numbers and drive speeds changeable during the driving Independent 2 pulse system or 1 pulse 1 direction system selectable Encoder Input A B quadrature pulse style or Up Down pulse style selectable Position Counter Logic Position Counter for output pulse range 2 147 483 648 2 147 483 647 Real Position Counter for feedback pulse range 2 147 483 648 2 147 483 647 Data read and write possible Comparison Register COMP Register Position comparison rang
8. USB1010 User s Manual Beijing ART Technology Development Co Ltd USB1010 Motion Control Card BUY ONLINE at art control com englishs or CALL 64862359 CN 2 Contents Contents 2 Chapter 1 Overview 3 1 1 Introduction 3 1 2 Features 3 1 3 Specifications 3 Chapter2 Component Layout 5 2 1 Input Output Connector 5 2 2 Physical ID of DIP Sw
9. fixed driving automatic deceleration is available for symmetrical S curve only and triangle waveforms during S curve acceleration deceleration are prevented by a special method Linear Interpolation 2 axis linear interpolation can be performed The position boundary is between coordinates 8 388 607 and 8 388 607 and the positioning error is within 0 5 LSB Least Significant Bit The interpolation speed range is from 1 PPS to 4 MPPS BUY ONLINE at art control com englishs or CALL 64862359 CN 10 USB1010 Motion Control Card Circular Interpolation Circular interpolation can be performed The position boundary is between coordinates 8 388 608 and 8 388 607 and the positioning error is within 1 LSB The interpolation speed range is from 1 PPS to 4 MPPS The Bit Pattern Interpolation This interpolation driving receives for each axis in pulses interpolation data that was converted to packet a block of a predetermined amount of data through the operation by the upper level CPU and outputs interpolation pulses consecutively at the specified drive speed This function enables drawing of various loci created by the upper level CPU Continuous Interpolation Different interpolation methods can be used continuously linear interpolation circular interpolation linear interpolation The maximum drive speed of performing continuous interpolation is 2 MHz Constant Vector Speed Control This functio
10. Output Pulse to Motor Driver External Encoder Input Pulse Digital Input Internal Digital Input Digital Output Encoder Input Pulse Motor Control Output Wiring Specifications Encoder Input Pulse BUY ONLINE at art control com englishs or CALL 64862359 CN 9 USB1010 Motion Control Card Chapter 4 Brief Introduction 2 axis drive independently USB1010 can control four motors movement Each axis can do fixed speed drive linear acceleration deceleration driving and S shaped acceleration deceleration drive 2 axis performance is the same Speed Control The speed range of the pulse output is from 1PPS to 4MPPS for constant speed trapezoidal or S curve acceleration deceleration driving Speed accuracy of the pulse output is less than 0 1 at CLK 16MHz The speed of driving pulse output can be freely changed during the driving Acceleration deceleration driving The USB1010 can control each axis for acceleration deceleration of constant speed driving trapezoidal acceleration deceleration driving symmetry non symmetry and S curve acceleration deceleration Automatic acceleration deceleration of linear acceleration fixed speed pulse driving is available and no need to set deceleration starting point by manual Since a primary linear increase decrease method is applied for S curve acceleration deceleration the speed curve forms a secondary parabola acceleration deceleration curve In S curve acceleration and deceleration
11. accelerating decelerating and constant driving can be read USB1010 Motion Control Card Chapter 5 The Description of Functions 5 1 Pulse Output Command There are two kinds of pulse output commands fixed driving output and continuous driving output 5 1 1 Fixed Driving Output When host CPU writes a pulse numbers into USB1010for fixed driving and configures the performance such as acceleration deceleration and speed USB1010 will generate the pulses and output them automatically Fixed driving operation is performed at acceleration deceleration as shown in Fig 5 1 automatic deceleration starts when the number of pulses becomes less than BUY ONLINE at art control com englishs or CALL 64862359 CN 13 Fig 5 1 Fixed Driving lse Fig 5 2 Change of Output Pulse Number in Driving ation F ber the number of pulses that were utilized at acceleration and driving terminates at completion of the output of the specified output pulses Changing the Number of Output Pulse in Driving The number of output pulse can be changed in the fixed driving If the command is for increasing the output pulse the pulse output profile is shown as Fig 5 2 or 5 3 If the command is for decreasing the output pulses the output pulse will be stopped immediately as shown in Fig 5 4 Furthermore when in the S curve acceleration deceleration driving mode the output pu number change will occur to an incomplete deceleration S curve Fig 5 3 Change
12. arting signal from external source When the fixed driving is commanded from an external source direction driving will start if this signal is down Otherwise when the continuous driving is commanded from an external source driving will start if this signal is on the Low level 17 18 XEXPM YEXPM External Operation direction drive starting signal from external source When the fixed driving is commanded from an external source direction driving will start if this signal is down Otherwise when the continuous driving is commanded from an external source driving will start if this signal is on the Low level 19 EMGN Emergency Stop input signal to perform the emergency stop for all axes When this signal in on the low level including the interpolation driving every axis will stop the operation immediately The low level pulse width should be more than 2CLK Note For this signal its logical levels cannot be selected 27 VDD 5V Power Terminal 28 24V 24V Power Terminal 9 8 OGND Ground 0V Terminal USB1010 Motion Control Card 3 2 General purpose Signal Wiring In USB1010 there are 2 general purpose input pins nIN1 0 and 2 general output pins nOUT1 0 for each axis 24V 5V 5V 24V 2 2K 1K 470 4 7K VDD 5V VDD 5V VCC 5V 470 1K 470 1K External Digital Input Contact type Digital input USB1010Digital Output 5V Output Motor Drive Pulse
13. control com englishs or CALL 64862359 CN 15 USB1010 Motion Control Card 5 3 Position Control Fig 5 8 is 1 axis position control block diagram For each axis there are two 32 bit up and down counters for counting present positions and two comparison registers for comparing the present positions Fig 5 8 Position Control Block Diagram 5 3 1 Logic Position Counter and Real position Counter As shown above in Fig 5 8 the logic position counter is counting the driving pulses in MCX312 When one direction plus is outputting the counter will count up 1 when one direction pulse is outputting the counter will count down 1 The real position counter will count input pulse numbers from external encoder The type of input pulse can be either A B quadrature pulse type or Up Down pulse CW CCW type Host CPU can read or write these two counters any time The counters are signed 32 bits and the counting range is between 2 147 483 648 2 147 483 647 The negative is in 2 s complement format The counter value is random while resetting 5 3 2 Compare Register and Software Limit Each axis has as shown in Fig 5 8 two 32 bit registers which can compare the logical positions with the real positions The logical position and real position counters are selected by bit D5 CMPSL of WR2 register The main function of COMP Register is to check out the upper limit of logical real position counter When the value in the logical real position coun
14. control com englishs or CALL 64862359 CN 18 USB1010 Motion Control Card In Fig 5 12 it explains the long axis and the short axis First we define 8 quadrants in the X Y plane and put the numbers 0 7 to each quadrant We find the absolute value of X is always larger than that of Y in quadrants 0 3 4 and 7 so we call X is the long axis Y is the short axis in these quadrants in quadrants 1 2 5 and 6 Y is the long axis X is the short axis The short axis will output pulses regularly and the long axis will output pulses depending on the interpolation calculation In Fig 5 13 it is an example to generate a circle with the center point 11 0 and the finish point 0 0 Fig 5 12 The 0 7Quadrants And Short Fig 5 13 The Example of Circular Interpolation The Example for CW Circular Interpolation This CW circular interpolation starts from the current point start point 0 0 to the finish point X 5000 Y 5000 the center point is X 5000 Y 0 The interpolating speed is constant at 1000PPS in a constant vector speed driving 5 4 3 The Bit Pattern Interpolation This interpolation driving receives interpolation data that is created by upper level CPU and transformed to bit patterns in a block of a predetermined size and outputs interpolation pulses consecutively at the specified drive speed Every axis has 2 bit data buffers for host CPU one for direction and the other for direction When performing the bit pattern inte
15. define the longest distance BUY ONLINE at art control com englishs or CALL 64862359 CN 17 USB1010 Motion Control Card movement in interpolation is the long axis And the other is short axis The long axis outputs an average pulse train The driving pulse of the short axis depends on the long axis and the relationship of the two axes Fig 5 10 The Example for Pulse Output at Finish Point X 20 Y 9 The example of linear interpolation for 2 axes Executing linear interpolation drives in X and Y axes from the current position to the finish position X 30 000 Y 20 000 The initial speed 500PPS acceleration deceleration 40 000PPS SEC drive speed 5 000PPS 5 4 2 Circular Interpolation 2 axes X and Y are for circular interpolation The circular interpolation is starting from the current position start point After setting the center point of circular the finish position and the CW or CCW direction the user can start the circular interpolation Note The coordinates setting value is the relative value of the start point coordinates In Fig 5 11 it explains the definition of CW and CCW circular interpolations The CW circular interpolation is starting from the start point to the finish position with a clockwise direction the CCW circular interpolation is with a counter clockwise direction When the finish point is set to 0 0 a circle will come out Fig 5 11 CW CCW Circular Interpolation BUY ONLINE at art
16. driving the interpolation will stop The stop is occurred by errors RR0 main status register will confirm the error bit in D5 Y ERR and D4 X EWW RR0 will become 1 and RR2 error register of this axis will be read out Note In case of circular or bit patter interpolation the active of hardware or software limit in either or direction will stop the interpolation driving In position Signal for Servo Motor During the interpolation driving when the in position signal nINP0S of each X and Y axis is active and also when the interpolation is finished the INP0S signal of the axis is stand by at its active level and D8 I DRV of RR0 register returns to 0 5 4 1 Linear Interpolation To execute the linear interpolation the user can according to the present point coordinates set the finish point coordinates and the interpolation segment s for 2 axes Fig 5 9 shows an example of axis interpolation where linear interpolation is performed from the current coordinates to the finish point coordinates For individual axis control the command pulse number is unsigned and it is controlled by direction command or direction command For interpolation control the command pulse number is signed The resolution of linear interpolation is within 0 5 LSB as shown in Fig 5 10 Fig 5 9 The Position Accuracy for Linear Interpolation As shown in Fig 2 10 it is an example for pulse output of the linear interpolation driving We
17. e 2 147 483 648 2 147 483 647 COMP Register Position comparison range 2 147 483 648 2 147 483 647 Status and signal outputs for the comparisons of position counters Software limit functioned External Signal for Driving EXPP and EXPM signals for fixed pulse continuous drive External Deceleration Sudden Stop Signal STOP0 2 3 points for each axis Enable disable and logical levels selectable Servo Motor Input Signal ALARM Alarm INPOS In Position Check Enable disable and logical levels selectable General Input Output Signal IN0 1 two for each axis OUT0 1 two for each axis Limit Signals Input 1 point for each and side Emergency Stop Signal Input EMG 1 point in all axes Sudden stop the drive pulse of all axes when on Low level Electrical Characters Operation Temperature 0 50 Power Supply 24V External Input Clock Pulse 16 000 MHz Standard USB1010 Motion Control Card Chapter2 Component Layout 2 1 Input Output Connector CN1 signal input output connector 2 2 Physical ID of DIP Switch DID1 Set physical ID number When the PC is installed more than one USB1010 you can use the DIP switch to set a physical ID number for each board which makes it very convenient for users to distinguish and visit each board in the progress of the hardware configuration and software programming The following four place numbers are expressed by the binary system W
18. hen DIP switch points to ON that means 1 and when it points to the other side that means 0 As they are shown in the following diagrams place ID3 is the high bit ID0 is the low bit and the black part in the diagram represents the location of the switch Test software of the company often uses the logic ID management equipments and at this moment the physical ID DIP switch is invalid If you want to use more than one kind of the equipments in one and the same system at the same time please use the physical ID as much as possible BUY ONLINE at art control com englishs or CALL 64862359 CN 5 USB1010 Motion Control Card ON 1 ID0 ID1 ID2 ID3 2 3 4 ON DID1 The above chart shows 1111 so it means that the physical ID is 15 ON 1 ID0 ID1 ID2 ID3 2 3 4 ON DID1 The above chart shows 0111 so it means that the physical ID is 7 ON 1 ID0 ID1 ID2 ID3 2 3 4 ON DID1 The above chart shows 0101 so it means that the physical ID is 5 ID3 ID2 ID1 ID0 Physical ID Hex Physical ID Dec OFF 0 OFF 0 OFF 0 OFF 0 0 0 OFF 0 OFF 0 OFF 0 ON 1 1 1 OFF 0 OFF 0 ON 1 OFF 0 2 2 OFF 0 OFF 0 ON 1 ON 1 3 3 OFF 0 ON 1 OFF 0 OFF 0 4 4 OFF 0 ON 1 OFF 0 ON 1 5 5 OFF 0 ON 1 ON 1 OFF 0 6
19. ing command or a continuous driving command of the ion When the drive speed set in USB1010 is lower than the initial the acceleration deceleration will not be performed instead a the user wants to perform the sudden stop when the home sensor or encoder Z phase signal is active it is better not to 5 2 Acceleration and Deceleration direction or direction These types of driving can be performed with a speed curve of constant speed linear accelerat non symmetrical linear acceleration S curve acceleration deceleration according to the mode that is set or the operation parameter value 5 2 1 Constant Speed Driving constant speed driving starts If perform the acceleration deceleration driving but the low speed constant driving from the beginning For processing constant speed driving the following parameters will be preset accordingly USB1010 Motion Control Card Fig 5 6 Constant Speed Driving 5 2 2 S curve Acceleration Deceleration Driving This card creates an S curve by increasing reducing acceleration decelerations in a primary line at acceleration and deceleration of drive speed Figure 5 7 shows the operation of S curve acceleration deceleration When driving starts the acceleration increases on a straight line at the specified jerk K In this case the speed data forms a secondary parabolic curve section a When acceleration reaches designation value A acceleration is maintained In this case the speed data f
20. irections are triggered 5 4 7 Emergency Stop Signal EMGN is able to perform the emergency stop function for both X and Y axes during the driving Normally this signal is kept on the Hi level When it is falling to the Low level all axes will stop immediately and the D5 EMG bit of register RR2 each axis becomes 1 Please be noted that there is no way to select the logical level of EMGN signal USB1010 Motion Control Card BUY ONLINE at art control com englishs or CALL 64862359 CN 22 Chapter 6 Notes Warranty Policy 6 1 Notes In our products packing user can find a user manual a USB1010 module and a quality guarantee card Users must keep quality guarantee card carefully if the products have some problems and need repairing please send products together with quality guarantee card to ART we will provide good after sale service and solve the problem as quickly as we can When using USB1010 in order to prevent the IC chip from electrostatic harm please do not touch IC chip in the front panel of USB1010 module 6 2 Warranty Policy Thank you for choosing ART To understand your rights and enjoy all the after sales services we offer please read the following carefully 1 Before using ART s products please read the user manual and follow the instructions exactly When sending in damaged products for repair please attach an RMA application form which can be downloaded from www art control com 2 All ART produc
21. itch 5 Chapter 3 Pin Layout 7 3 1 Analog Signal Pins 7 3 2 General purpose Signal Wiring 9 Chapter 4 Brief Introduction 10 Chapter 5 The Description of Functions 13 5 1 Pulse Output Command 13 5 1 1 Fixed Driving Output 13 5 1 2 Continuous Driving Output
22. n performs a constant vector speed During the interpolation driving USB1010 can set a 1 414 times pulse cycle for 2 axis simultaneous pulse output Position Control Each axis has a 32 bit logic position counter and a 32 bits real position counter The logic position counter counts the number of output pulse and the real position counter counts the feedback number of pulse from the external encoder or linear scale BUY ONLINE at art control com englishs or CALL 64862359 CN 11 USB1010 Motion Control Card BUY ONLINE at art control com englishs or CALL 64862359 CN 12 Compare Register and Software Limit Each axis has two 32 bit compare registers for logical position counter and real position counter The comparison result can be read from the status registers The comparison result can be notified by an interrupt signal These registers can be also functioned as software limits Driving By External Pulses It is possible to control each axis by external signals The direction fixed driving continuous driving or in manual pulsar mode can be also performed through the external signals This function is used for JOG or teaching modes and will share the CPU load Servo Motor Feedback Signals Each axis includes input pins for servo feedback signals such as in positioning Real Time Monitoring During the driving the present status such as logical position real position drive speed acceleration deceleration status of
23. orms an increase on a straight line section b If the difference between the specified drive speed V and the current speed becomes less than the speed that was utilized at the increase of acceleration the acceleration starts to decrease towards 0 The decrease ratio is the same as the increase ratio and the acceleration decreases in a linear form of the specified jerk K In this case the speed data forms a secondary parabolic curve section c Thus the case that acceleration has a constant part in its acceleration this book calls it The Partial S curve Acceleration On the other hand if the difference between the specified drive speed V and the current speed becomes less than the speed that was utilized at the increase of acceleration before acceleration reaches designation value A section shifts from a to c without b section Thus the case that acceleration does not have a constant part in its acceleration it calls The Perfect S curve Acceleration Please refer to example of parameter settings described later and appendix regarding cases of the partial S curve acceleration and the perfect S curve acceleration Also at the deceleration the speed forms an S curve by increasing decreasing the deceleration in a primary linear form sections d e and f The same operation is performed in acceleration deceleration where the drive speed is changed during continuous driving Fig 5 7 S Curve Acceleration Deceleration Driving BUY ONLINE at art
24. rpolation the host CPU will write the designated interpolation data for each axis X and Y into USB1010 If a bit in the bit pattern data from CPU is 1 USB1010 will output a pulse at the time unit if it is 0 USB1010 will not output any pulse at the time unit BUY ONLINE at art control com englishs or CALL 64862359 CN 19 For example if the user wants to generate the X Y profile see Fig 5 14 the host CPU must write a set of pattern into those USB1010 Motion Control Card specific registers XPP the direction register for X axis XPM the direction register for X axis YPP and YPM the and directions registers With in the time unit USB1010 will check the registers once and decide to output a pulse or not depending on the bit pattern Fig 5 14 Example for Bit Pattern Interpolation 5 4 4 Constant Vector Speed USB1010 is with the constant vector speed control function which can control the resultant speed of two axes to keep the speed in constant Fig 5 15 shows the profile of 2 axes interpolation driving The vector speed reflects 1 414 times of the individual axis drive speed So we have to set the speed of 1 414 times to keep the vector speed for 2 axis driving Fig 5 15 Example of 2 Axis Interpolation 5 4 5 Continuous Interpolation The continuous interpolation is executing a series of interpolation processes such as linear interpolation circular interpolation linear interpolation
25. ters is larger than that of COMP Register bit D0 CMP of register RR1 will become 1 On the other hand COMP Register is used for the lower limit of logical real position counter When the value of logical real position counter becomes smaller than hat of COMP Register bit D1 CMP of register RR1 will become 1 BUY ONLINE at art control com englishs or CALL 64862359 CN 16 USB1010 Motion Control Card 5 4 Interpolation This 2 axis motion control card can perform linear interpolation circular interpolation and bit pattern interpolation In the process of interpolation driving all the calculations will follow the X axis So the user has to set the parameters such as initial speed and drive speed of the X axis before performing the interpolation After setting all of the parameters for interpolations and writing the interpolation driving commands to command register WR0 the user can start the interpolation driving During the interpolation driving D8 I DRV of main status register RR0 will become 1 during the interpolation and it will become 0 when the interpolation is finished Also during the interpolation driving the bit D1 Y DRV and D0 X DRV will become 1 The maximum drive speed is 4MPPS for linear circular or bit pattern interpolation For continuous interpolation the maximum drive speed is 2MPPS Over Limit Error of Interpolation When the hardware limit or the software limit of each axis is active during the interpolation
26. the Number of Output Pulse during Deceler ig 5 4 Change the Pulse Number Less Than Output Pulse Num USB1010 Motion Control Card BUY ONLINE at art control com englishs or CALL 64862359 CN 14 Manual Setting Deceleration for fixed Acceleration Deceleration Driving is controlled automatically by The change of speed is too often in the trapezoidal fixed acceleration deceleration driving celeration and deceleration 5 1 2 Continuous Driving Output When the continuous driving is performed USB1010 will drive pulse output in a specific speed until stop command or wo stop commands are for stopping the continuous driving One is decelerating stop and the other is sudden stop As shown in Fig 5 1 generally the deceleration of fixed acceleration deceleration driving USB1010 However in the following situations it should be preset the deceleration point by the users When use circular interpolation bit pattern interpolation and continuous interpolation for ac external stop signal is happened The main application of continuous pulse driving is home searching teaching or speed control The drive speed can be changed freely during continuous driving T Three input pins STOP1 STOP0 of each axis can be connected for external decelerating and sudden stop signals Enable disable active levels and mode setting are possible Fig 5 5 Continuous Driving Basically driving pulses of each axis are output by a fixed driv
27. ts come with a limited two year warranty The warranty period starts on the day the product is shipped from ART s factory For products containing storage devices hard drives flash cards etc please back up your data before sending them for repair ART is not responsible for any loss of data Please ensure the use of properly licensed software with our systems ART does not condone the use of pirated software and will not service systems using such software ART will not be held legally responsible for products shipped with unlicensed software installed by the user 3 Our repair service is not covered by ART s guarantee in the following situations Damage caused by not following instructions in the User s Manual Damage caused by carelessness on the user s part during product transportation Damage caused by unsuitable storage environments i e high temperatures high humidity or volatile chemicals Damage from improper repair by unauthorized ART technicians Products with altered and or damaged serial numbers are not entitled to our service 4 Customers are responsible for shipping costs to transport damaged products to our company or sales office 5 To ensure the speed and quality of product repair please download an RMA application form from our company website
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