PCI1010 User`s Manual
Contents
1. 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 1s changed during continuous driving a b c cl E f Drive Speed km gt inb M LN Ayo eration Deceleration Jerk Slap Designation o EM ii X A2. 5 14 the host CPU must write a set of pattern into those 17 PCI1010 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 PCI1010 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 PCI 010 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 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 18 PCI1010 Motion Control Card Attentions for Continuous Interpolation a Before setting the in
3. O Acceleration Deceleration Tir Fig 5 7 S Curve Acceleration Deceleration Driving Tir 13 PCI1010 Motion Control Card 5 3 Position Control Fig 5 8 is l 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 PP direction PM direction Logical Position Counter 32bit DOWN gt e 4 ECA PPIN D U Real Position Counter 4 gt 32 bit m DOWN 34 Selector wR2 Register D5 YY Comp t Register 3 2bit Wy mmm Comp Register 32bit Fig 5 8 Position Control Block Diagram RAW Encoder input pulse 4 ECB PMIN RRI Register DO RR1 Register D1 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 1s between 2 147 483 648 2 147 483 647 The negative is in 2 s complement format The counter value is random while res
4. linear acceleration non symmetrical linear acceleration S curve acceleration deceleration according to the mode that 1s set or the operation parameter value 5 2 1 Constant Speed Driving When the drive speed set in PCI1010 is lower than the initial the acceleration deceleration will not be performed instead a constant speed driving starts If the user wants to perform the sudden stop when the home sensor or encoder Z phase signal is active it is better not to 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 BUY ONLINE at art control com englishs or CALL 64861583 CN 12 PCI1010 Motion Control Card Speed Initial Speed Drive speed time 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 forms an increase on a straight line section b
5. Fig 5 1 generallv the deceleration of fixed acceleration deceleration driving is controlled automaticallv bv PCI1010 However in the following situations it should be preset the deceleration point by the users e The change of speed is too often in the trapezoidal fixed acceleration deceleration driving When use circular interpolation bit pattern interpolation and continuous interpolation for acceleration and deceleration 5 1 2 Continuous Driving Output When the continuous driving is performed PCI1010 will drive pulse output in a specific speed until stop command or 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 Two stop commands are for stopping the continuous driving One is decelerating stop and the other is sudden stop Three input pins STOP1 STOPO of each axis can be connected for external decelerating and sudden stop signals Enable disable active levels and mode setting are possible Speed Drive Speed Stop Command or External Stop Signal Iintial speed f time Fig 5 5 Continuous Driving 5 2 Acceleration and Deceleration Basically driving pulses of each axis are output by a fixed driving command or a continuous driving command of the direction or direction These types of driving can be performed with a speed curve of constant speed
6. is selected this terminal is for UP pulses input Once the input pulse is up the real position counter is counting up Encoder B Pulse in signal for encoder phase B input This input signal together with phase A signal will make the Up Down pulse transformation to be the input count of real position counter When the Up Down pulse input mode is selected this terminal is for DOWN pulses input Once the input pulse is up the real position counter is counting down 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 1s finished this signal 1s active and standby Servo Alarm input signal for servo driver alarm Enable disable and logical levels can be set as commands 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 When the filter function 1s disabled the active pulse width must be 2CLK or more 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 The active pulse width should be more than 2CLK Decelerating stop sudden stop and logical levels can be set during the mode selection input signal to perform decelerating sudden stop for each axis These signals can be used for HOME searching The ac
7. PCI1010 User s Manual Ce Beijing ART Technology Development Co Ltd PCI1010 Motion Control Card Contents SUD COPEC PO UU N no e S 2 Ara EE 3 A Ie 3 IN e 3 TDs SG CNC IB e UT eebe 3 Ciopier 2 Component OV RR ERR 5 2 T Input EE EE 5 PR jiret o B o o nn PA A 5 A EE T 6 SN rie beri Malt MR cn 6 3 2 General purpose Signal Wiring 2 000000eeeeeeeseceeeeeeeeeeccceccceccccccccccccccesenecscsecssssesaseasacaeanaceaaccccenececescssssesessesss 7 Bri biie TOCAN EE 8 Chapter 5 The Description Of Fungctions nn nn A AAA NA AAAAEEZI BBB MMEEENZKNNNENEEEEEEZZZZZZZZ DE EEEEEEAAtA 11 oO iO net E 11 5 1 1 Ra RR eene Ee EE 11 9 1 2 Om OMS DVI COUTE Louie dicoda 12 wA Aelian and ICC Cl FA ON ai i e a E EA AEA A 12 5 2 1 Constant Speed Driving oooocccocccoooooonanononononononon nono nono nono ono n nono non nn nono nro non nn nn ii ia nn nn i aiii nnnn nn nn nn nn n nro n nro nn n cnn nnnnnos 12 5 2 2 S curve Acceleration Deceleration Driving sencillo catarata 13 SO OSO CONT Oi rq Riu abe RUE 14 5 3 1 Logic Position Counter and Real position Coumnter nanna nanna nanna 14 5 3 2 Compare Register and Software L A 14 EEN 15 Sd DICAT Mile polo uo docto caca 15 5 4 2 Circular Interpolation EEA EEA EEA nono aii iii non non i nn nn nn nn nn nn TE nro assa nanna 16 DA The Bil Patern Interno la OA e a e at eta d ee 17 A 18 KE Bo A e or o E ES e 18 5 46 Hardy ato Limit Sign
8. als eeben 19 o Ao PAP e b 19 CHODIEFOSNDIES WATTS IO ads 20 SA a 20 6 2 Watt Polo Va G e a 20 PCI1010 Motion Control Card Chapter 1 Overview 1 1 Introduction PCI1010 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 PCI interface plug and play 2 axis servo stepper motor control each axis can work independently Pulse Output Frequency Error lt 0 1 Maximum Pulse Output Speed 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 4999992999954 1 3 Specifications lt gt Control Axis axes lt gt Data Bus 16 bits Interpolation Functions lt gt 2 axes Linear Interpolation Interpolation Range Each axis 8 388 607 8 388 607 Interpolation Speed l 4 MPPS d Interpolation Accuracy 0 5 LSB Within the range of whole interpolation lt gt Circular Interpolation Interpolation Range Each axis 8 388 607 8 388 607 d Interpolati
9. ble 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 gt Damage caused by not following instructions in the User s Manual gt Damage caused by carelessness on the user s part during product transportation gt Damage caused by unsuitable storage environments i e high temperatures high humidity or volatile chemicals gt Damage from improper repair by unauthorized ART technicians gt 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 BUY ONLINE at art control com englishs or CALL 64861583 CN 20
10. etting 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 counters 1s larger than that of COMP Register bit DO 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 DI CMP of register RRI will become 1 BUY ONLINE at art control com englishs or CALL 64861583 CN 14 PCI1010 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 WRO the user can start the interpolation driving During the interpolation driving D8 I DRV of main status register RRO will become 1 during the interpo
11. 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 1s available and no need to set deceleration starting point bv manual Since a primarv linear increase decrease method is applied for S curve acceleration deceleration the speed curve forms a secondarv parabola acceleration deceleration curve In S curve acceleration and deceleration 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 Trapezoidal Acceleration Deceleration Driving Trapezoidal Acceleration Deceleration Driving Symmetry Non Symmetry M M Sudden Deceleration Time Time Parabola s curve Acceleration Deceleration Driving Symmet e Symmetry Automatic Deceleration P 100000 P 200000 P 400000 P 50000 Time 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 PCI1010 Motion Control Card 2 ais Linear Interpaolation 0 0 5000 X Circular Interpolation Circular interpolation can be performed The position boundar
12. ght Power LED Power indicator Pra A 4 l LI E o La en CH L1 1 Ven peat usu d Pun Eu CHA i ma TAT TE E Y E 1 d d d LA me Ei EMA EA Brel Ai Wm ier tir i P Dei Power LED PCI1010 Motion Control Card Chapter 3 Pin Lavout 3 1 Analog Signal Pins Pin No Signal Name 24 29 10 25 30 11 26 31 14 35 33 16 XPP PLS YPP PLS XPM DIR YPM DIR XECA PPIN YECA PPIN XECB PMIN YECB PMIN XINPOS YINPOS XALARM YALARM XLMTP YLMTP XLMTM YLMTM XSTOPO YSTOPO XSTOPI YSTOPI XINI YINI XINO YINO Description Pulse Pulse direction dive pulse outputting When the reset is on the Low level and while the driving is starting DUTY 50 at constant speed of the plus drive pulses are outputting or pulse mode is selectable When the 1 pulse l direction mode is selected this terminal is for drive output Pulse Pulse direction dive pulse outputting When the reset is on the Low level and while the driving is starting DUTY 50 at constant speed of the plus drive pulses are outputting or pulse mode is selectable When the 1 pulse l direction mode is selected this terminal is direction signal Encoder A Pulse Hin signal for encoder phase A input This input signal together with phase B signal will make the Up Down pulse transformation to be the input count of real position counter When the Up Down pulse input mode
13. inish point 0 0 Y l 4 BS Si 277a Tl E x e m a a A DN 4 f d y Cow Y3 l i Y A T Y 1 4 P 5 8 i d f I 6 i AGE x A A I x 8 start point finish point l NT JS e LL an w track of interpolation Fr ae gtt solid line circle with radium 11 dash line circle with radium 1141 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 Finish point 5000 5000 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 interpolation the host CPU will write the designated interpolation data for each axis X and Y into PCI1010 If a bit in the bit pattern data from CPU is 1 PCI1010 will output a pulse at the time unit 1f it is 0 PCI1010 will not output any pulse at the time unit For example if the user wants to generate the X Y profile see Fig
14. iving and configures the performance such as acceleration deceleration and speed PCI1010 will generate the pulses and output them automatically Fixed driving operation 1s performed at acceleration deceleration as shown in Fig 5 1 automatic deceleration starts when the number of pulses becomes less than 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 pulse number change will occur to an incomplete deceleration S curve Speed Fig 5 3 Change the Number of Output Pulse During Deceleration Change of Output Pulse V time Initial Speed f Fig 5 1 Fixed Driving time Fig 5 2 Change of Output Pulse Number in Driving Output Pulse time Fig 5 4 Change the Pulse Number Less Than Output Pulse Number BUY ONLINE at art control com englishs or CALL 64861583 CN 11 PCI1010 Motion Control Card Manual Setting Deceleration for fixed Acceleration Deceleration Driving As shown in
15. lation and it will become 0 when the interpolation is finished Also during the interpolation driving the bit DI Y DRV and DO 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 1s active during the interpolation driving the interpolation will stop The stop is occurred by errors RRO main status register will confirm the error bit in D5 Y ERR and D4 X EWW RRO 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 nINPOS of each X and Y axis is active and also when the interpolation 1s finished the INPOS signal of the axis is stand by at its active level and D8 I DRV of RRO 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 1s performed from the current coordinates to the finish point coordinates Fo
16. on Speed 1 4 MPPS Interpolation Accuracy 1 LSB Within the range of whole interpolation lt gt 2 axes Bit Pattern Interpolation d Interpolation Speed l 4 MPPS Dependent on CPU data writing time lt gt Related Functions of Interpolation d Constant vector speed d Continuous interpolation d Single step interpolation BUY ONLINE at art control com englishs or CALL 64861583 CN 3 PCI1010 Motion Control Card Common Specifications of Each Axis Drive Pulses Output When CLK 16 MHz Pulse Output Speed Range Pulse Output Accuracy within S curve Jerk Accelerating Decelerating Speed Initial Speed E PEPPE Drive Speed Output pulse Number Speed Curve Fixed Drive Deceleration Mode FER FF lt gt Encoder Input 1 4MPPS 0 1 according to the setting speed 954 62 5x10 PPS S2 Multiple 1 125 1 x 106 PPS S Multiple 1 1 8 000PPS Multiple 1 SOOPPS 4x106 PPS Multiple 500 1 8 000PPS Multiple 1 SOOPPS 4x106 PPS Multiple 500 0 268 435 455 fixed drive Constant speed linear acceleration parabola S curve acceleration deceleration drive auto non symmetrical trapezoidal acceleration is also allowed manual Output pulse numbers and drive speeds changeable during the driving Independent 2 pulse system or l pulse l direction system selectable d A B quadrature pulse style or Up Down pulse style selectable Position Counter ak Logic Position Counter for outpu
17. r 6 Notes Warrantv Policv 6 1 Notes In our products packing user can find a user manual a PCI1010 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 PCI1010 in order to prevent the IC chip from electrostatic harm please do not touch IC chip in the front panel of PCI1010 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 products come with a limited two year warranty gt The warranty period starts on the day the product is shipped from ART s factory gt 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 responsi
18. r 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 Y 20 9 setas PP l SEZ Hire HEHHE AALi PA O 20 Xx Long axis 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 define the longest distance 15 PCI1010 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 xe JU UU UU UU UU U UU UU UU UU L rong asis XPM OO 0 2 2 2 2 YPP 7 NI JL ICT TL TL short axis YPM 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 E 10000 20000 30000 X 20000 i 30000 20000 5 4 2 Circular Interpolation 2 axes X and Y are for circular interpolation The circular interpolation is starting from the cu
19. r of pulse from the external encoder or linear scale BUY ONLINE at art control com englishs or CALL 64861583 CN 9 PCI1010 Motion Control Card 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 4 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 accelerating decelerating and constant driving can be read BUY ONLINE at art control com englishs or CALL 64861583 CN 10 PCI1010 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 PCI1010for fixed dr
20. rrent 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 ax CCW circular interpolation Finish point start point Center poin axi Finish point Start point CVV circular interpolation Fig 5 11 CW CCW Circular Interpolation BUY ONLINE at art control com englishs or CALL 64861583 CN 16 PCI1010 Motion Control Card In Fig 5 12 it explains the long axis and the short axis First we define 8 quadrants in the X X 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 1s 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 f
21. t 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 lt gt Comparison Register Data read and write possible 4 COMP Register Position comparison range 2 147 483 648 2 147 483 647 COMP Register Position comparison range 2 147 483 648 2 147 483 647 d Status and signal outputs for the comparisons of position counters Software limit functioned lt gt External Signal for Driving 4 EXPP and EXPM signals for fixed pulse continuous drive External Deceleration Sudden Stop Signal a STOPO 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 d IN0 1 two for each axis d OUTO 1 two for each axis Limit Signals Input d 1 point for each and side Logical levels and decelerating sudden stop selectable Emergency Stop Signal Input ak EMG 1 point in all axes Sudden stop the drive pulse of all axes when on Low level Electrical Characters 4 Operation Temperature 0 50 C Power Supply 24V External d Input Clock Pulse 16 000 MHz Standard 4 PCI1010 Motion Control Card Chapter2 Component Lavout hr is ae RA me 2 i GN Keis Ku bn hen ds d ae Es 2 Ei 2 rei UNI 2 1 Input Output Connector CNI signal input output connector 2 2 Status Li
22. terpolation 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 1s 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 1s 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 directions 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 BUY ONLINE at art control com englishs or CALL 64861583 CN 19 PCI1010 Motion Control Card Chapte
23. tive pulse width should be more than 2CLK Enable disable and logical levels can be set for STOPO input signal to perform decelerating sudden stop for each axis These signals can be used for HOME searching The active pulse width should be more than 2CLK Enable disable and logical levels can be set for STOPI General Input 1 general purpose input signals General Input 0 general purpose input signals PCI1010 Motion Control Card 32 General Output 1 general purpose output signals 34 VOUTI 13 General Output 0 general purpose output signals 15 VOUTO 36 XEXPP External Operation direction drive starting signal from external source 37 VEXPP When the fixed driving is commanded from an external source direction driving will start if this signal is down Otherwise when the continuous driving 1s commanded from an external source driving will start if this signal 1s on the Low level 17 XEXPM External Operation direction drive starting signal from external source 18 VEXPM When the fixed driving is commanded from an external source direction driving will start if this signal is down Otherwise when the continuous driving 1s commanded from an external source driving will start if this signal is on the Low level 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 immediatel
24. y The low level pulse width should be more than 2CLK Note For this signal its logical levels cannot be selected 27 5V Power Terminal 28 24V Power Terminal 24 OGND Ground 0V Terminal 19 3 2 General purpose Signal Wiring In PCI1 010 there are 2 general purpose input pins nIN1 0 and 2 general output pins nOUT l 0 for each axis 24V 45 5V 24V 2 2K qu Ka o 470 o Digital Input Digital Output da Tac External Digital Input Internal Digital Input PCI1010Card Contact type Digital input PCI1010Digital Output Motor Control Output Wiring Specifications VDD 5V VDD 5V VCC 5V l T mali Output Pulse to Motor Driver 4700 1K Encoder Input Pulse l A External Encoder Input Pulse Output Motor Drive HEN PCI1010 Card Encoder Input Pulse PCI1010 Motion Control Card Chapter 4 Brief Introduction 2 axis drive independently PCI1010 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 IPPS 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 PCI1010 can control each axis
25. y is between coordinates 8 388 608 and 78 388 607 and the positioning error is within 1 LSB The interpolation speed range is from 1 PPS to 4 MPPS COVV Circular Interpolation Any circle CVV Circular Interpolation Full circle Wi t Start Point 0 0 Center Point 5000 0 Center Point C 1000 1000 X O 0 4 o Start Paint Finish Point 0 2000 Finish Point 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 function performs a constant vector speed During the interpolation driving PCI1010 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 numbe
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