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PCI-8372+/8366+ cPCI

1. Pin No Name Description SP1 28 P GND Common ground of pulse interface 29 OUT1 Pulse signal 30 OUT1 Pulse signal 63 DIR1 Dir Signal 65 DIR1 Dir Signal 31 OUT2 Pulse signal 32 OUT2 Pulse signal 33 DIR2 Dir Signal 34 DIR2 Dir Signal Table 3 8 Pulse Output Pinout There are two axis pulse output signals on the cPCI 8312 H For each axis two pairs of OUT and DIR signals are used to transmit the pulse train and to indicate the direction The OUT and DIR sig nals can also be programmed as CW and CCW signal pairs In this section the electrical characteristics of the OUT and DIR sig nals are detailed Each signal consists of a pair of differential sig nals For example OUT2 consists of OUT2 and OUT2 signals Signal Connections 39 ADLINK TECHNOLOGY ING VDD CC OUT DIR OUT DIR OUT DIR Figure 3 14 Wiring Diagram for OUT and DIR Signals Warning The sink current must not exceed 20mA or the 2631 will be damaged Non differential type wiring example Choose either OUT DIR and OUT DIR to connect to driver s OUT DIR nide Figure 3 15 OUT DIR Signal Selection Notice that users can choose one pair of OUT DIR from SSCNET board to connect driver s OUT DIR For example Choose pair then OUT must be connected to driver s OUT pin and DIR must be connected to driver s DIR pin Of course OUT and DIR are use
2. 155 Figure 5 22 Motion I O Configration Window 157 Figure 5 23 Interrupt Configration Window 158 Figure 5 24 Driver Parameter Configuration Window 160 Figure 6 1 PCI 83724 Single Motion Command Timing Chart 172 List of Figures ix ADLINK TECHNOLOGY INC x List of Figures 1 ADLINK TECHNOLOGY ING Introduction PCI 8372 8366 is a PCI bus interface card designed for per sonal computer or industrial computer accompanied with a Mitsub ishi MR J2S B type or SSCNET type servo amplifier PCI 8372 can control up to 12 servo amplifiers where as PCI 8366 can control up to 6 servo amplifiers CPCI 8312H is a CompactPCI bus interface card in 6U size It con trols up to 12 SSCNET axes and two HSL network ports in one board The connection between the motion control board and the ampli fier is done via high speed serial communication of the SSCNet II protocol SSCNet II connections offer the following advantages over pulse train type connections Wiring is simplified because servo amplifiers are connected by multi drop method and the communication distance is up to 30 meters Parameter management and the construction of absolute positioning system ABS are greatly simplified Since commands are transmitted in serial data format noise reduction is better thus reliability is improved Also the control resol
3. 4 8 2 Mechanical resonance suppression filter The functions set_notch_filter and get_notch_filter are related to the mechanical resonance suppression filter function If a mechanical system has a natural resonance point increasing the servo system response may cause the mechanical system to produce resonance vibration at its resonance frequency Using the notch filter and adaptive vibration suppression control func tions can suppress the resonance of the mechanical system Mode Value Description RSP GD2 PG1 VG1 VIC PG2 VG2 FFC 1 Auto Tuning mode 1 M A A A A A A A 2 Manual mode 2 M M M IMIM M M 3 Auto Tuning mode 2 M M A A JAJA A A 4 Manual mode 1 M M A IMJA M A 0 Interpolation mode A M M ATA A A Table 4 11 Selectable Gains gt A automatically set gt M manually specify p gt Not used gt Interpolation mode is normally not used Operation Theory Note notch frequency is set at the point where vibration is minimal Notch filter The notch filter is a filter function which decreases the gain of the specific frequency notch frequency and gain decreasing depth Mechanical system response Notch Depth Mechanical resonance point T B Frequency Notch Frequency gt Frequency Figure 4 36 Notch Filter ADLINK TECHNOLOGY INC The machine resonance suppression filter is a dela
4. 20 Figure 3 1 Wiring for 6 Axes PCI 8372 8366 27 Figure 3 2 Wiring for 12 Axes PCI 8372 sssse 27 Figure 3 3 Wiring for cPCI 8312 H n se 28 Figure 3 4 SSONet Cable sss 28 Figure 3 5 Encoder Feedback Signals 30 Figure 3 6 Line Drive Output Connection 30 Figure 3 7 Open Collector Output Connection 31 Figure 3 8 Source Type ssssseeeeene 34 Figur 3 9 Skin Type cuenca atenta Feng 35 Figure 3 10 General Purpose DO se 36 Figure 3 11 TTL Output oct tr terere hehe 37 Figure 3 12 D A Output Signals sessesseeess 38 Figure 3 13 Analog Input serso renina 39 Figure 3 14 Wiring Diagram for OUT and DIR Signals 40 Figure 3 15 OUT DIR Signal Selection 40 Figure 4 1 Frame Flowchart sronnnnnonnrrnnnnnnnnrrrnnnnnnnnrrnnnrennnnnn 43 Figure 4 2 Constant Jerk Graph see 45 Figure 4 3 Single Axis Motion 46 Figure 4 4 Motion Function Graphs seeseeeese 47 Figure 4 5 2 Axis Linear Interpolation 49 Figure 4 6 2 Axis Linear Interpolation Example 50 Figure 4 7 3 Axis Linear Interpolation 51 Figure 4 8 3 Axis
5. EB EB and EZ EZ should be at least 3 5V or higher Therefore the output current must be observed when connecting to the encoder feedback or motor driver feedback as not to over drive the source Operation Theory 77 A ADLINK A TECHNOLOGY INC Below are examples of connecting the input signals with an external circuit The input circuit can be connected to an encoder or motor driver if it is equipped with 1 a differential line driver or 2 an open collector output Connection to Line Driver Output To drive the SSCNET board encoder input the driver output must provide at least 3 5V across the differential pairs with at least 6 mA driving capacity The ground level of the two sides must also be tied together Extemal Encoder Driver with line driver output Inside Board EA EB EZ A B phase signals EA EB EZ Index signal EXGND ae Figure 4 31 Line Driver Circuit Connection to Open Collector Output To connect with an open collector output an external power supply is necessary Some motor drivers can provide the power source The connection between the SSCNET board encoder and the power supply is shown in the diagram below Note that an external current limiting resistor R is necessary to protect the SSCNET board input circuit The following table lists the suggested resistor values according to the encoder power supply Encoder Power VDD External Resistor R 5V 0
6. 24 Alarm status AL 5 25 Alarm status AL 6 26 Alarm status AL 7 27 Alarm status AL 8 28 Alarm status AL 9 29 Alarm status AL E 2A Reserved 2B Reserved 2C Reserved 2D Reserved 2E Reserved 2F Reserved 30 Alarm history 1 2 31 Alarm history 3 4 32 Alarm history 45 46 33 Alarm history 47 48 34 Alarm history 9 10 35 Reserved 36 Reserved 37 Reserved 38 Parameter error NO Pr01 to Pr16 39 Parameter error NO Pr17 to Pr32 3A Parameter error NO Pr33 to Pr40 Table 4 7 Monitoring Targets Operation Theory 89 TECHNOLOGY ING A ADLINK A Value Description Unit 3B Reserved 3C Reserved 3D Reserved 3E Reserved 3F Reserved A5 INP in position Active 1 Inactive 0 BO Velocity Command Pulse sec B2 DA1 Value B3 DA2 Value B4 Speed Feedback B6 External Encoder Feedback B8 Command Pulse Table 4 7 Monitoring Targets 2 set monitor config This function is used to set the monitoring configuration such as sampling period trigger condition etc This function must be exe cuted before monitoring can start 90 Operation Theory ADLINK TECHNOLOGY ING The first parameter Axis specifies which axis Other parameters are listed below Parameter Name Description This variable is used to define the trigger source Trigger_Select Value 0 No trigger Value 1 CHO as trigger sourc
7. ADLINK TECHNOLOGY ING add dwell 0 5 add line sr move 60 80 0 150 0 0 5 0 5 O 0 add dwell 1 0 add line ta move 320 110 80 100 100 0 5 0 end motion list 320 110 Axis 0 Linear Velocity Axis 0 Velocity Axis 2 Velocity 0 ii i i 89 Figure 4 23 Velocity vs Time Smoothing trajectory When smooth_enable functions is executed the motion trajec tory thereafter will be rounded The following figures show the rounding cases 66 Operation Theory ADLINK TECHNOLOGY ING 4 R AR Smooth enable 1R Y Sv o gt Z N Figure 4 24 Line amp Line Smooth enable 1 R gt Figure 4 26 Arc amp Arc smooth enable function could be executed second or more rimes in order to disable smoothing or to change smoothing radius R as program s need For example Suppose both axes 0 amp 2 are at position 0 start_motion_list 2 0 2 add_line_tr_move 100 0 0 100 100 1 0 0 add_line_sr_move 60 80 100 100 100 0 0 O 0 smooth_enable 1 50 add_line_ta_move 320 110 100 100 100 0 0 smooth enable 1 20 add line sa move 320 160 100 100 0 0 1 0 0 0 5 Operation Theory 67 ADLINK TECHNOLOGY ING end motion list Axis 0 0 0 1000 Figure 4 27 Smoothing Example Linear Velocity Axis 0 Velocity Axis 2 Velocity d Figure 4 28 Velocity vs Time No
8. ADLINK PM PCI 8372 8366 cPCI 8312H SSCNET Motion Control Card User s Manual Manual Rev 2 04 Revision Date June 13 2008 Part No 50 1H001 1020 Recycled Paper Advance Technologies Automate the World A A ADLINK TECHNOLOGY INC Copyright 2008 ADLINK TECHNOLOGY INC All Rights Reserved 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 spe cial 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 copy right All rights are reserved No part of this manual may be repro duced by any mechanical electronic or other means in any form without prior written permission of the manufacturer Trademarks Product names mentioned herein are used for identification pur poses only and may be trademarks and or registered trademarks of their respective companies ADLINK TECHNOLOGY ING Getting Service from ADLINK Customer Satisfaction is top priority for ADLINK Technology Inc Please contact us should you require any service or assistance ADLINK TECHNOLOGY INC Web Site Sales amp Service TEL FAX Address
9. Axis 3 8 8 PELS MDI13 Positive End Limit Axis 4 9 9 MELS MDI14 Minus End Limit Axis 4 10 10 ORGS MDI15 Origin Signal Axis 4 43 43 PEL6 MDI16 Positive End Limit Axis 5 44 44 MEL6 MDI17 Minus End Limit Axis 5 45 45 ORG6 MDI18 Origin Signal Axis 5 18 18 PEL7 MDI19 Positive End Limit Axis 6 19 19 MEL7 MDI20 Minus End Limit Axis 6 20 20 ORG7 MDI21 Origin Signal Axis 6 52 52 PEL8 MDI22 Positive End Limit Axis 7 53 53 MEL8 MDI23 Minus End Limit Axis 7 54 54 ORG8 MDI24 Origin Signal Axis 7 21 21 PEL9 MDI25 Positive End Limit Axis 8 22 22 MEL9 MDI26 Minus End Limit Axis 8 23 23 ORG9 MDI27 Origin Signal Axis 8 55 55 PEL10 MDI28 Positive End Limit Axis 9 56 56 MEL10 MDI29 Minus End Limit Axis 9 32 Signal Connections Pin No Name Description 57 57 ORG10 MDI30 Origin Signal Axis 9 24 24 PEL11 MDI31 Positive End Limit Axis 10 25 25 MEL11 MDI32 Minus End Limit Axis 10 26 26 ORG11 MDI33 Origin Signal Axis 10 58 58 PEL12 MDI34 Positive End Limit Axis 11 59 59 MEL12 MDI35 Minus End Limit Axis 11 60 60 ORG12 MDI36 Origin Signal Axis 11 62 DI1 General Digital Input 63 DI2 General Digital Input 27 27 IPT COM Common for Digital Input 11 11 IPT COM Common for Digital Input 61 aa IPT_COM Common for Digital Input 64 61 EMG Emergency Stop Signal 65 11 27 EMG COM E
10. r Mode Mode Relative v Distance E Relative v Distance 2000000 Driver Status Driver Status zen dbo3 8 6 o 6 EO am bo X EE JE uuu RDY SVN INP EZ ALM PEL MEL ORG fese RDY SVN INP EZ ALM PEL MEL ORG r Operate RPM Axis 1 nt Axis Velocity Profile Axis 0 r Current Position m Ni m m Figure 5 20 Two Axes Operation Window Current Position 5 7 14 Component description Axis 0 Axis 1 frame These frames display the required parameters for motion the parameters are described below Start Velocity Set the start velocity of motion in unit of PRM In Absolute Mode or Relative Mode only the value is effective ie 100 0 is the same as 100 0 In Cont Move 152 Motion Creator ADLINK TECHNOLOGY INC both the value and sing is effective 100 0 means 100 0 in minus direction Maximum Velocity Set the maximum velocity of motion in unit of PRM In Absolute Mode or Relative Mode only the value is effective ie 5000 0 is the same as 5000 0 In Cont Move both the value and sing is effective 5000 0 means 5000 0 in minus direction Final Velocity Set the final velocity of motion in unit of PRM In Absolute Mode or Relative Mode only the value is effective ie 5000 0 is the same as 5000 0 In Cont Mov
11. y i LI 4 LI 4 M10 0ms 17 Mar 2004 10 00 19 25 50 Figure 4 42 Positive Move Picture two Negative Move CH1 in scope is DO Channel 0 CH2 in scope is DO Channel 1 Operation Theory 113 A ADLINK A TECHNOLOGY INC PreVu Y Trig N LI LI v y LI LI E E LI 4 Ch 10 0 V Ch 2I V M10 0ms 17 Mar 2004 10 00 9 19 24 14 Figure 4 43 Negative Move 4 14 Sequence Motion Control SSCNet has the property of the deterministic time which is 0 888 ms Theoretically the motion command will be passed down to DSP with hand shaking way It takes two or three cycle times to complete the delivery and execute the motion command Conse quently it is Sure to waste some time and has slower response In order to improve the response time the motion control board can let users have their own motion patterns downloaded into on board DSP and realize the precisely timing control All motion pat terns can be executed in the DSP layer with the on board RAM The delivering time of motion command from computer to SSCNet board can be eliminated It can increase the response time and get high performance control First users depend on the timing chart velocity profile of desired motion to segment them and get many frames Frame is the basic 114 Operation Theory ADLINK TECHNOLOGY INC unit in this sequence motion control Properly group some of those frames into one pattern Simply put a pattern contains m
12. 12 Installation ADLINK TECHNOLOGY INC 2 3 cPCI 8312 H Outline Drawing Figure 2 2 cPCI 8312 H Mechanical Drawing SC1 1 SSCNET connector for Axis 0 5 SC1 2 SSCNET connector for Axis 6 11 H1A H1B First HSL Set H2A H2B Second HSL Set SP1 Daughter Board connector L1 Board Status LED in Green L2 Board Status LED in Red vvvvvvy Installation 13 ADLINK RST Board Reset Button gt SW1 CardID gt JP5 JP7 H1A H1B Communication Mode Selection JP8 JP10 H2A H2B Communication Mode Selection 14 Installation ADLINK TECHNOLOGY INC 2 4 Hardware Installation 2 4 4 Installation Procedures 1 Turn off your computer and all accessories printer modem monitor etc connected to computer Remove the cover from your computer 2 Hardware installation gt For PCI board Select a 32 bit PCI expansion slot PCI slots are shorter than ISA or EISA slots and are usually white or ivory gt For CompactPCI board Carefully push the board into the cPCI system through the groove Be aware that the pin on the slot would be bent 3 Before handling the PCI 8372 8366 or cPCI 8312 H discharge any static electric charge on your body by touching the metal case of the computer Hold the edge and do not touch the components 4 Position the board into the PCI CompactPCI slot you selected 5 For PCl CompactPCl borad secure the card in place at the rear panel of the system unit using screws remo
13. 2 or 4 It means that the input voltage range could be 10V 5V and 2 5V for optimizing input res olution There is an internal analog input channel which is for dou ble checking It is called AD2 The source of this channel could be choosed from internal 5V ground DAO or DA1 It is very useful in debugging 4 6 5 Analog channel auto calibration In this section the following functions are discussed tune ref 5V CardID Value save auto k value CardID Channel Value get auto k value CardID Channel Value tune ad offset gain CardID Step Value tune da offset CardID Step Value reload auto k setting CardID In the past the calibration of analog I O needs many VRs to fin ished it Now SSCNET board has built in the electric VRs in PLD Users needn t use screw driver to tune the value of offset or gain anymore They need only set the values like tuning VR via those functions we provided Users needn to tune these value because Operation Theory ADLINK TECHNOLOGY INC we have done this when this board is produced The procedure of tuning these analog channels are as following 1 Tune the on board 5V generator to exactly 5 0000V by measuring it from JP1 connector on daughter board PCI 8372 8366 don t have this feature 2 Execute tune ad offset gain by Step 1 Value 128 PCI 8372 8366 don t have this feature 3 Execute tune_ad_offset_gain by Step 3 Value 128 PCI 8372 8366 don t have th
14. AY Y Axis X AXIS Figure 4 5 2 Axis Linear Interpolation The speed ratio along X axis and Y axis is AX AY respectively and the vector speed is AP AY AP ut a T When calling the 2 axes linear interpolation functions it is the vec tor speed to define the start velocity StrVel and maximum veloc ity MaxVel Both trapezoidal and S curve profile are available For example Axis 0 0 Axis 1 2 Dist 0 30 E Dist 1 40 Operation Theory 49 ADLINK TECHNOLOGY ING start line tr move 2 Axis Dist 10 0 50 0 15 0 0 3 0 2 This cause the two axes axes 0 amp 2 to perform a linear interpola tion movement in which AX 30 mm AY 40 mm Start vector speed 10mm sec X speed 6mm sec Y speed 8mm sec Max vector speed 50mm sec X speed 30mm sec Y speed 40mm sec Final vector speed 15mm sec X speed 9mm sec Y speed 12mm sec Acceleration time 0 3 sec Deceleration time 0 2 sec Linear Velocity Axis Velocity 40 mmisec Axis 2 Velocity Figure 4 6 2 Axis Linear Interpolation Example 3 Axis Linear Interpolation Any 3 of the 12 axes of SSCNET board may perform 3 axes linear interpolation As the figure below 3 axes linear interpolation means to move the XYZ if axes 0 1 2 are selected and assigned to be X Y Z respectively position from PO to P1 and start and stop simultaneously The path is a straight line in space 50 Operation Theory ADL
15. Figure 5 15 Display Frame Vertical Channel Select the channel you want to adjust Scale Adjust he current scale of selected channel Position Shift the data of selected channel gt Horizontal Zoom in Zoom out Position Motion Creator 147 A ADLINK A TECHNOLOGY INC Figure 5 16 Response Diagram This diagram displays the waveform from four channels in different colors Timing Line There are two timing lines in the response diagram and the time difference between two lines will shows in the left corner of response diagram Play Keys Figure 5 17 Play Button Click this button will cause SSCNET board start to move a Figure 5 18 Stop Button 148 Motion Creator ADLINK TECHNOLOGY INC Click Stop button will cause SSCNET board to decelerate to stop 5 5 2 Operation Steps The operation steps are description as follows gt gt v Click Channel tab to specify the signal data and sample interval Click Trigger tab to set trigger source trigger value slope Sample Number and pretrigger sample No Click Motion tab to set the motion parameter Click Play button to cause SSCNET board start to move If the signal is triggered and the data is shown on the response diagram then click the Display tab to adjust the data If you want to change the response of servomotor click Tuning tab to modify the servo parameter to change the response 5 5 3 Exampl
16. Isolated voltage 500Vrms 2 channel differential pulses OUT DIR CW CCW AB phase selectable Max Output Fre Pulse Output output Available for cPCI quence 4 16Mhz board Isolated voltage 500 Vrms Voltage output high Typical 5V Min 2 4v 6 TTL Level Digital Output 9 15mA Aux DIO at CN3 on Extension bracket of PCI board only gt Voltage output low Typical 0 3V 24mA Max 0 5V Table 1 1 Specifications 8 Introduction 1 2 v ADLINK TECHNOLOGY INC Environmental Conditions Ambient Temperature Operation 0 55 C Ambient Temperature Storage 20 75 C Ambient Humidity Operation 10 90 RH avoid condensa tion Ambient Humidity Storage 10 90 RH avoid condensa tion Vibration Resistance gt Confirms to JIS C 0911 Frequency Acceleration Amplitude of Vibration Sweep 10 55Hz 0 075mm 10 times 55 150Hz 1G 1 ctave minute gt gt gt gt Note Table 1 2 Vibration Resistance Shock resistance Confirms to JIS C 0912 10g 3 direc tions 3 times Noise resistance Noise voltage 1500V P P Noise frequency 25 60Hz using noise simulator Operating tmosphere Minimal corrosive gas dust Cooling method Self cooling One Octave from initial frequency to double initial frequen cy or half initial frequency For example 10Hz gt 20Hz 20Hz gt 40Hz gt 20Hz 20Hz gt 10Hz Each change is re
17. get di status CardID ChNo Sts set do value CardID ChNo Value Each PCI 8372 board has 2 isolated digital output and 2 isolated digital input channels Use the get di status function to retrieve the current DI status and set do value to set the DO value 4 6 3 DA In this section the following functions are discussed set da config CardID ChNo Cfg set da value CardID ChNo Value Each SSCNET board has 2 analog voltage output channels and can be independently configured using the set da config func tion to set the DA to either be a direct DA output or for a velocity profile output The default setting is DA direct output By using direct DA output users can control the DA value using the set da value function While using velocity profile output will cause the DA output value to be proportional to the current com mand velocity E g when a motor is rotating at 3000 rpm the DA output is 10V and the DA output would be 10V if the rotating speed is 3000 rpm DA output Voltage Volt Axis rotating speed rpm Figure 4 35 DA Output Operation Theory 81 ADLINK TECHNOLOGY ING 82 4 6 4 AD In this section the following functions are discussed set ad function CardID Enable AD gain AD Last AD2 src get da value CardID ChNo Value There are two analog input channels on the cPCI 8212H It is used for sensing anlog output device ranged from 10V to 10V Users can choose the gain by 1
18. sssssessssss 100 Table 4 14 Suppression Control Settings 100 Table 4 15 Axis Interrupts eene 104 Table 4 16 System Interrupts sssssssse 104 Table 4 17 GPIO Interrupts ssseemm 104 Table 4 18 Pattern Index mrmrnvvnnerrnnvvvevernrnnvneverennnvnerennnnnener 118 Table 4 19 Sequences urnrnnnnrnrvnnnnrnnnnnnrnnnnnrnnnnnnenerrrrnssnnneneenn 120 Table 6 1 MR J2S B Alarm List ernannrrnrnnrrnnnnnvnnrnnrrnnnnnnnnrenn 163 Table 6 2 MR J2S B Warning List sssssssssss 165 Table 6 3 Driver Parameter List rnnrnnnnnonnrrnnnnrnnnrnnnnrnnnnnn 166 Table 6 4 Card Initial Procedure sss 168 List of Tables V ADLINK TECHNOLOGY ING Table 6 5 Table 6 6 Table 6 7 Card Close Procedure eee 169 Card Soft Reset Procedure eessses 170 Motion Command Procedure 171 List of Tables ADLINK TECHNOLOGY INC List of Figures Figure 1 1 SSCNet II High Speed Connections 1 Figure 1 2 Block Diagram ee 2 Figure 1 3 Flowchart for Building an Application 3 Figure 2 1 PCI 8372 8366 Mechanical Drawing 12 Figure 2 2 cPCI 8312 H Mechanical Drawing 13 Figure 2 3 SSCNET Communication Test Utility
19. 0 0 10 0 0 1 0 1 set pattern 0 PatternNo FirstFrame LastFrame FirstFrame SynAxes PatternNo Pattern 2 FirstFrame LastFrame LastFrame add frame ta move AxisNo FirstFrame 05 5 OG 10 04 0T O21 3 LastFrame add frame ta move AxisNo LastFrame 5 OG OL LO 105 051 0 1 set pattern 0 PatternNo FirstFrame LastFrame FirstFrame SynAxes PatternNo ctt 3 Create Patterns for Sequence 0 AxisNo 0 SynAxes 0x01 Pattern 3 FirstFrame LastFrame LastFrame add frame ta move AxisNo FirstFrame OG Sy 0y 104 405 Ooty 021 Operation Theory 121 ADLINK TECHNOLOGY ING 122 LastFrame add frame ta move AxisNo LastFrame 5 10 UO l0 0 Ol 0 1 set pattern 0 PatternNo FirstFrame LastFrame FirstFrame SynAxes PatternNo ctt Pattern 4 FirstFrame LastFrame LastFrame add frame ta move AxisNo FirstFrame I10 15 0 10 0 051 041 4 LastFrame add frame ta move AxisNo LastFrame 15 0 Op 10 0 Q517 0 1 set pattern 0 PatternNo FirstFrame LastFrame FirstFrame SynAxes PatternNo Pattern 5 FirstFrame LastFrame LastFrame add frame ta move AxisNo FirstFrame OG De Og 430 0 OL 0 1 LastFrame add frame ta move AxisNo LastFrame 5 0 0 107 0 O l 0 1 set pattern 0 PatternNo FirstFrame LastFrame FirstFrame SynAxes PatternNo ctt Start Sequence 0 amp 1 at the same time reset seq buffer 0 1 First patter
20. 158 Operation Steps sse 159 5 9 Driver Parameter Configuration Window 160 Component description sssssssss 160 Operation Steps sssssssssenee 162 6 Appendb a esdiikern inci ide a kl COR ubOD RO EAE i ji 163 6 1 MR J2S B Alarm List sssssseeeeeee 163 6 2 MR J2S B Warning List ssssseene 165 6 3 Driver Parameter List rnrnnnnnnnnnrrnnnnnnnnrrnnnrnrnnrnnnnrrrnnnnne 166 6 4 Handshake Procedure rnrrrnnnnnnnrnnnnnnnnnrnnnnrnrnnnrnnnvrrnnnnn 168 Card Initial Procedure rnnnnnrrnnnnnvnnnnrrrnnnnnnnnrnrrennnnnnnnn 168 Card Close Procedure sse 169 Card Soft Reset Procedure sssssssss 170 Motion Command Procedure ossessi 170 Motion Command Timing ssssesese 172 6 5 cPCI 8312H High Speed Link Initial Guide 174 Warranty POllOy 54 esxexiininiuk xia dares i ER x mL xke maanani anann no ap as 175 iv Table of Contents ADLINK TECHNOLOGY INC List of Tables Table 1 1 Specifications esses 4 Table 1 2 Vibration Resistance rrnnrrnnnnnnnnvrnnnnrnnnrrnnnnnnnnrrnnnenn 9 Table 2 1 CN1 Pin Assignment sese 22 Table 2 2 CN5 Pin Assignment sees 23 Table 2 3 SP1 Pin Assignment sssssssesss 24 Table 2 4 CN3 Pin Assignment s
21. 17 GPIO Interrupts After setting the interrupt source and factors the interrupt signal can be detected by using either a call back routine or a event wait ing thread Note gt For the PCI 8372 the number of controllable axis is 12 Thus Source 0 11 is for axis 0 11 individually Source 12 for system Source 13 for GPIO For the PCI 8366 the number of controllable axes is 6 Source 0 5 is for axis 0 5 individually Source 6 for system Source 7 for GPIO By call back routine The link_interrupt function helps users to set up a call back rou tine Each SSCNET board has its own call back routine This rou tine will be executed once an interrupt occurs Note during routine execution the next interrupt is on hold until the routine has ended By thread The set_int_event function helps users to set up a event handle This event will be fired once an interrupt occurs Therefore users can create an independent thread to wait for the event handle 4 10 Position Compare Function In this section the following functions are discussed set_compare Axis CMP1Pos CMP1Dir CMP2Pos CMP2Dir set single compare Axis Channel CMP Pos check compare Axis status Operation Theory 105 ADLINK TECHNOLOGY INC Each axis of the SSCNET board has 2 position compare chan nels After setting the channels using set compare the DSP of the SSCNET board compares the feedback position on e
22. 888ms because of the SSCNET protocol Some procedure needs a series of handshaking and they will be introduced in the following sections 6 4 1 Card Initial Procedure The initial procedure is very complicated in SSCNET board Once the function MDSP initial is lauched the following flow char will be taken Step Action OK Reponse Error Response Error Reason ROM data corrupt Please 1 LED Flash one by one and off EDS Flashing or download ROM data again always ON Use Kernelupdate exe to do it Power ON 2 Initial Board 3 DSP_OK 1 LED turns off Table 6 4 Card Initial Procedure 168 Appendix ADLINK TECHNOLOGY INC A Step Action OK Reponse Error Response Error Reason 4 No Error Card ID Out Of Ran The CardNo parameter of this ge function invalid In the same program card 5 No Error Card Reinitialized dosen t close normally then want to initial again A Card_Not_Ready Tim Use KernelUpdate exe to 6 reck t Re eOut 200ms reset DSP and try again ui Card ReClose Fail Use KernelUpdate exe to Check DSP Initial Status TimeOut 10000ms reset DSP and try again 8 Tell DSP start searching axes DSP Initial Time Out Use KernelUpdate exe to MDSP initial The LED will flash TimeOut 10000ms reset DSP and try again 9 The servo drivers will display Maximun Number Of Close program and open pif Card Exceed again Check DSP ready
23. Axis Y and one specific area X1 X2 Y1 Y2 Once the axis position is inside this section it is said that it has entered into the interlock area The slow down and speed up algo rithm is done by the on board DSP The following graph explains this action 106 Operation Theory ADLINK TECHNOLOGY ING o Avis X Enter Inderlodk Area LAN Avis Y Enter Interlock Area Slow down Axis X EPIO j Axis Y Speed X gu Speed Y Ea M m Figure 4 38 DSP Action Graph Y2 Axis Y Figure 4 39 Interlock Area Interlock function is much like a crossroad semaphore In some applications two independent axes will work on the same region occasionally In the past users must take care these two axes movement to prevent collision Now SSCNET motion control card has this feature inside Users don t need to worried about this problem The axis will automatically slow down when the other axis is inside the predefined region and speed up again when the other axis leave from this region It is much useful in this situation The encoder update rate is one SSCNET cycle The slow down action will be token in the same cycle Coding Guide set interlock CardID Enable Axis X Axis Y X1 X2 Y1 Y2 Time Operation Theory 107 A ADLINK A TECHNOLOGY INC get interlock will retrieve above parameters for users to check Note 1 Enable 1 means enable this function and 0 means dis able 2 Time means slow d
24. LastFrame add frame dwell AxisNo FirstFrame 0 05 1 LastFrame add frame ta move AxisNo LastFrame 0 05 0 2 35 05 17050214 051 5 set pattern 0 PatternNo FirstFrame LastFrame FirstFrame SynAxes PatternNo Pattern 9 FirstFrame LastFrame LastFrame add frame ta move AxisNo LastFrame 0 23 0 0 pip 07041 041 set pattern 0 PatternNo FirstFrame LastFrame FirstFrame SynAxes PatternNo Pattern 10 FirstFrame LastFrame LastFrame add frame ta move AxisNo LastFrame 0 0 05 0 1 0 0 01 0 01 set pattern 0 PatternNo FirstFrame LastFrame FirstFrame SynAxes PatternNo 5 Insert pattern in sequences sequence 0 SynAxes 0x1 reset seq buffer 0 0 WaitAxis 0 StartCondition 0 insert pattern to seq buffer 0 0 0 SynAxes 0 Wai tAxis StartCondition 0 insert pattern to seq buffer 0 0 1 SynAxes 0 Wai tAxis StartCondition 0 insert pattern to seq buffer 0 0 2 SynAxes 0 Wai tAxis StartCondition 0 sequence 1 SynAxes 0x2 reset seq buffer 0 1 Operation Theory 127 128 ADLINK TECHNOLOGY ING WaitAxis StartCondi insert pat 0 tion 0 pattern no tern to seq buffer 0 1 4 SynAxes 0 Wai tAxis StartCondition 0 WaitAxis StartCondi insert pat 0 tion 2 tern to seq buffer 0 1 5 SynAxes 1 Wai tAxis StartCondition 1 WaitAxis StartCondi insert pat 0 tion 0 tern to seq buffer 0 1 6 SynA
25. Linear Interpolation Example 52 Figure 4 9 Circular interpolation eeeeseeeess 54 Figure 4 10 Stop a Moving Axis 55 Figure 4 11 Stop with Deceleration 55 Figure 4 12 Immediate Stop sssssseeee 55 Figure 4 13 Moving Change sssseeeeee 56 Figure 4 14 Change with S Curve Velocity 56 Figure 4 15 Position Compensation on the Fly 57 Figure 4 16 Mode 0 Home sessee as 59 Figure 4 17 Example 2 D Trajectory eese 63 List of Figures vii A A A DLINK TECHNOLOGY INC viii Figure 4 18 Figure 4 19 Figure 4 20 Figure 4 21 Figure 4 22 Figure 4 23 Figure 4 24 Figure 4 25 Figure 4 26 Figure 4 27 Figure 4 28 Figure 4 29 Figure 4 30 Figure 4 31 Figure 4 32 Figure 4 33 Figure 4 34 Figure 4 35 Figure 4 36 Figure 4 37 Figure 4 38 Figure 4 39 Figure 4 40 Figure 4 41 Figure 4 42 Figure 4 43 Figure 4 44 Figure 4 45 Figure 4 46 Figure 4 47 Figure 4 48 Figure 4 49 Figure 4 50 Figure 4 51 Figure 5 1 Figure 5 2 Figure 5 3 Figure 5 4 Figure 5 5 Figure 5 6 Example 1 Arc Trajectory ceecee 64 Velocity vs TliTig correre tear td 64 Example 2 Arc Trajectory c e 65 Velocity vs TIiTig eicere cte tete ence 65 Adding Dwell Example esee
26. Pr 26 0000H MO1 Monitor output 1 offset Pr 27 mv 999 999 Table 6 3 Driver Parameter List 166 Appendix ADLINK TECHNOLOGY ING MR J2SB Symbol Name ipis Unit Setting range parameter MO2 Monitor output 2 offset Pr 28 Mv 999 999 MOA For manufacturer s settings Pr 29 0001H ZSP Zero speed Pr 30 rpm 0 10000 ERZ Error excess alarm level Pr 31 kpulse 1 1000 OP5 Option function 5 Pr 32 0000H 0002H OP6 For manufacturer s settings Pr 33 0000H 0113H VPI PI PID change position droop Pr 34 0 50000 TTT For manufacturer s settings Pr 35 0000H VDC Speed integration compensation Pr 36 0 1000 OP7 For manufacturer s settings Pr 37 0010H ENR Encoder output pulse Pr 38 0 32768 For manufacturer s settings Pr 39 0000H BLK Parameter block Pr 40 0000H 000EH Table 6 3 Driver Parameter List Appendix 167 A A ADLINK TECHNOLOGY INC 6 4 Handshake Procedure SSCNET board is composed of a DSP and other control units on it The DSP is a microprocessor for managing all devices on the board Once the CPU on host PC needs to communicate with DSP it must use dual port RAM on SSCNET board to do it On the same way the DSP must communicate host CPU via dual port RAM The commander must check if he can send the command and the responser must give him some ready signal for this proce dure This is so called handshake It takes time in handshake The handshake latency is 0
27. Q None 12V 1 8kQ 24V 4 3KQ Table 4 5 Encoder Resistor gt lf 6mA max 78 Operation Theory ADLINK TECHNOLOGY INC Board Extemal Power foi Encoder em Motor Encoder Driver With Open Collector Output EA EB EZ EA EB EZ A B phase signals Index signal Figure 4 32 Open Collector Circuit Configuring encoder counter Each encoder counter can be configured to receive one of the following three types of signals using the function call set cnt iptmode 1 A B phase Quadrature pulse signal 2 CW CCW Dual pulses signal 3 OUT DIR Single Pulse signal Set counter channel as position feedback of certain axis The 3 general purposed counters may work as position feed back source for each axis The second parameter of the set cnt to axis function defines which counter is used the third parameter defines which axis and the last parameter declares the resolution of the counter in units of pulses Reso lution is defined as the number of pulses counted by a counter when the SSCNet motor rotates one revolution For example set cnt to axis 0 0 1 10000 0 this function will 1 Set counter 0 as position feedback source for axis 1 2 Command the PCI 8372 encoder to count 10000 0 pulses when motor goes one revolution A B phase In this mode the EA signal is 90 phase leading or lagging in comparison with the EB signal Where lead or
28. Tldec add_line_ta_move PosArray StrVel MaxVel FinVel acc dec add_line_sa_move PosArray StrVel MaxVel FinVel acc dec Tlacc Tldec add arc tr move CenterArray Angle StrVel MaxVel FinVel acc dec add arc sr move CenterArray Angle StrVel MaxVel FinVel acc dec Tlacc Tldec add arc ta move CenterArray Angle StrVel MaxVel FinVel acc dec add arc sa move CenterArray Angle StrVel MaxVel FinVel acc dec Tlacc Tldec Operation Theory 61 ADLINK TECHNOLOGY ING 62 add arc2 sa move AxisArray CenterPosArray Angle StrVel MaxVel FinVel Tacc Tlacc dec ldec add arc2 sr move AxisArray CenterDistArray Angle StrVel MaxVel FinVel Tacc Tlacc dec ldec add arc2 ta move AxisArray CenterPosArray Angle StrVel axVel FinVel acc dec add arc2 tr move AxisArray CenterDistArray Angle StrVel axVel FinVel acc dec add dwell Sec smooth enable Flag R These functions are used to construct a continuous motion trajec tory After declaration for the motion list user can call these func tions Each function represents a piece of motion trajectory The functions could be categorized into four types of trajectories and any combinations of added trajectory functions are possible Line add_line_XX_move Arc add_arc_XX_move add_arc2_XX_move Dwell add_dwell Smooth smooth_enable Adding a
29. acceleration The second parameter Speed Factor is used to define the new speed For example if the speci fied axis start its motion using tv_move function and the MaxVel is set to be 10 mm sec Then tv_change is applied with Speed Factor 1 5 The new speed is 1 5 10 15 mm sec As was shown below tv moved tv change 0 1 5 1 0 Time Figure 4 13 Moving Change The sv change function changes the moving speed of a speci fied Axis with acceleration time period Tacc with a S Curve velocity profile during acceleration sv change 0 2 0 1 0 tv moved Ve betty Time Figure 4 14 Change with S Curve Velocity If a second tv_change or sv_change function is applied then SpeedFactor will refer to the original MaxVel ie the original maximum velocity defined at the beginning of the motion function 56 Operation Theory ADLINK TECHNOLOGY ING Note 1 All change speed on the fly function calls can be applied any time when an axis is moving no matter which function started its motion 2 tv change sv change with SpeedFactor 0 doesn t have the same affect as tv stop sv stop For tv stop sv stop will complete its motion while tv change sv change will set speed to zero 4 3 8 Position Compensation on the Fly In this section the following function is discussed set position compensate I16 axis F64 Compen value This function
30. command 4 4 1 Declaration for Beginning of Motion List In this section the following function is discussed start_motion_list Length AxisArray This function is used to declare the variables for the motion list describing a continuous motion trajectory After the declaration for Operation Theory ADLINK TECHNOLOGY INC start_motion_list user can call the functions discussed in next section to piece wisely extend the trajectory start_motion_list automatically checks whether the previous motion list is finished or not If the previous list is not completed it will return an error The first parameter Length defines the total number of axes that will be involved in the continuous motion The second parameter AxisArray is an array and each array element stores the axis No For example If axis 0 and axis 5 are to perform a continuous motion then the command line would be start_motion_list 2 0 5 in the program If axis 0 axis 1 and axis 5 are to perform a continuous motion then the command line would be start_motion_list 3 0 1 5 in the program Note that all specified axis no must be of the same card And the Length must not exceed 4 4 4 2 Add Trajectory pieces In this section the following functions are introduced add_line_tr_move DistArray StrVel MaxVel FinVel acc dec add_line_sr_move DistArray StrVel MaxVel FinVel acc dec Tlacc
31. for FPGA BRENTE li Use KernelUpdate exe to 10 download me Ome reset DSP and try again Out 100ms 11 Load daughter board s FPGA ee Use KernelUpdate exe to code Out 5000ms reset DSP and try again If everything is okay it will return 12 CardID in lowbyte and total axes found in highbyte 6 4 2 Card Close Procedure Table 6 4 Card Initial Procedure Every time the program ends MDSP inital must be lauched to make sure that the PC resources will be released It is good for next program starts Step Action OK Reponse Error Response Error Reason LED is still flash ing or LED is Restart User s pro LED will turn always ON or OFF gram or use Kerne 1 MDSP_close off DSP Close Time IUpdate exe to reset Out Time DSP and try again Out 5000ms The servo 2 drivers will display AA Appendix Table 6 5 Card Close Procedure 169 A A ADLINK TECHNOLOGY INC 6 4 3 Card Soft Reset Procedure We strongly recommend you using kernelupdate exe utility to reset board The following table describe the procedure of MDSP reset Step Command OK Reponse Error Response Error Reason ROM data corrupt 1 LED Flash one No LED Flashing or Please download ROM by one and off LED always ON data again Use Kerne lupdate exe to do it 2 Initial Board 3 DSP OK 1 DSP Reset Time O LED turns off ut Car
32. function 5 Pr 32 0000H 0002H OP6 For manufacturer s settings Pr 33 0000H 0113H VPI PI PID change position Pr 34 0 50000 droop TTT For manufacturer s settings Pr 35 0000H VDC Speed integration compen Pr 36 0 1000 sation OP7 For manufacturer s settings Pr 37 0010H ENR Encoder output pulse Pr 38 0 32768 For manufacturer s settings Pr 39 0000H BLK Parameter block Pr 40 ee bin Table 4 6 MR J2SB Parameters 4 7 2 Data monitoring In this section the following functions are discussed set monitor channel Axis Channel 0 Channel 1 Channel 2 Channel 3 set monitor config Axis Trigger Select Trigger Level SamplePeriod PreTriggerSampleNo SampleNumber get instant monitor data Axis Data 0 Data 1 D ata 2 Data 3 start monitor Axis check monitor ready Axis status get monitor data Axis Data The firmware in the SSCNET board gives each axis 4 monitoring channels Users can use these monitoring channels to monitor a variety of I O data such as Speed feedback INP in position etc 86 Operation Theory ADLINK TECHNOLOGY INC To be able to use the monitoring function users must understand the configuring and operating procedures Configuring procedures Configuring procedure is necessary before a monitor function can be started There are two main instructions during configuration 1 set_monitor_channel This function is used to set the monitoring target This function must be executed before monitoring c
33. line trajectory When any of the following four functions are executed add line tr move add line sr move dd line ta move add line sa move A straight line will be added into the continuous motion trajectory The parameter definitions of this added line functions the same as those in a single motion linear interpolation The following is an example For example Suppose both axes 0 amp 2 are at position 0 start_motion_list 2 0 2 add_line_tr_move 100 0 0 100 100 1 0 0 add_line_sr_move 60 80 100 100 80 0 1 0 0 add line ta move 320 110j 80 100 100 0 5 0 add line sa move 320 160 100 100 0 0 1 0 0 0 5 Operation Theory ADLINK TECHNOLOGY ING end motion list The resulting 2 D trajectory is Axis 0 Figure 4 17 Example 2 D Trajectory Adding an arc trajectory When any of the following 8 functions are executed add arc tr move add arc sr move add arc ta move add arc sa move add arc2 tr move add arc2 sr move add arc2 ta move add arc2 sa move A 2 D arc will be added to the continuous motion trajectory The first 4 are used after the start motion list function with Length 2 and the parameter definitions of this added arc func tions the same as those of the single motion circular interpolation The last 4 are used after the start motion list function with Length gt 2 The additional parameter AxisArray defines the 2 axes t
34. no any other specific condition should be con sidered and no selectable patterns are in hand Operation Theory 119 ADLINK TECHNOLOGY INC In this case we let every axis to be as a sequence Group the pat terns and we can have the sequence as follows Sequence Contains Sequence 0 PO to P3 Sequence 1 P4 to P6 Sequence 2 P7 Sequence 3 P8 Table 4 19 Sequences Then you can use the API to link the synchronous relation gt P4 will start to move referring to point A of axis 0 gt P5 will start to move referring to point B of axis 0 The same rule is for pattern 6 and 7 4 14 2 Coding Example 1 Using C Language p 2 frame end Seq 0 AxisO Seq1 Axis1 Figure 4 49 Coding Example 1 1 Variables Setting I16 FirstFrame LastFrame I16 AxisNo I16 SynAxes I16 PatternNo I16 WaitAxis WaitCondition 2 Create Patterns for Sequence 1 120 Operation Theory ADLINK TECHNOLOGY ING AxisNo 1 SynAxes 0x02 PatternNo 0 Pattern 0 FirstFrame 0 LastFrame add frame ta move AxisNo FirstFrame 0 5 0 10 0 0 1 0 1 LastFrame add frame ta move AxisNo LastFrame 5 TO Oy 10 0p 0 1 0 1 set pattern 0 PatternNo FirstFrame LastFrame FirstFrame SynAxes PatternNo Pattern 1 FirstFrame LastFrame LastFrame add frame ta move AxisNo FirstFrame I0 15 105 105 05 041 0 1 LastFrame add frame ta move AxisNo LastFrame 15
35. notch filter automatically to suppress mechanical system vibration Note This adaptive filter has nothing to do with previous Notch fil ter setting Since the adaptive filter characteristics notch frequency and depth are set automatically user need not be conscious of the resonance frequency of a mechanical system Also while adap tive vibration suppression control is valid the servo driver always detects machine resonance and if the resonance frequency changes it changes the filter characteristics in response to that frequency The Adaptive vibration suppression control function can be set with the parameter Mode The setting value and suppression control function are listed in the table below Setting Control Selection Invalid The adaptive vibration suppres 0 sion control is not used Table 4 14 Suppression Control Settings 100 Operation Theory ADLINK TECHNOLOGY INC Seiting Control Selection Valid 0 The adaptive vibration sup pression control is enabled with normal sensitivity of detecting machine reso nance Valid 1 The adaptive vibration sup pression control is enabled with large sensitivity of detecting machine reso nance Hold filter characteristic generated so 3 far is held and detection of machine resonance is stopped Table 4 14 Suppression Control Settings Note 1 The mode setting does not affect the notch filter
36. parameter Read All read the current servo parameter Channel Selection Frame This frame is used to set the signal of each channel Sample interval the sample interval between signals The units of the X Axis is sample interval Motion Creator 145 ADLINK TECHNOLOGY ING Sample Interwal Ir x 0 88ms v Horizontal Grid v Vertical Grid Figure 5 13 Channel Selection Frame Motion Velocity Profile Tlacc sec i G S4 Trapezoidal S curve Tidec sec Start Velocit RPM DS Tacc sec Maximum Velocity RPM GGG Tdec sec Final Velacity RP M A Ratio Pulse mm Figure 5 14 Motion Frame 146 Motion Creator ADLINK TECHNOLOGY ING This frame is used to construct a motion Velocity profile Select the Trapezoidal or S Curve velocity profile Start Velocity Set the start velocity of motion in unit of PRM Maximum Velocity Set the maximum velocity of motion in unit of PRM gt Final Velocity Set the finvel velocity of motion in unit of PRM gt Tacc Set the total acceleration time in unit of second Tdec Set the total deceleration time in unit of second gt Tlacc Set the linear acceleration time in unit of second gt Tidec Set the linear deceleration time in unit of second Ratio Set the move ratio between pulse and displacement Display Vertical Horizontal mme rx Al amp DSPS j di j Position aaor e nl SS
37. parameter Pos F retrieves the current position feedback which is reported from the servo driver through SSCNet communi cation The parameter Pos C retrieves the current position command which is calculated on each SSCNet cycle 0 888 ms by the DSP The command position is sent to the servo driver on each SSCNet cycle and the servo drivers will guild its motor to this position Set position The set position function allows users to set a current position counter value for the servo driver Get target position information The target position is a software maintained variable which is updated each time a new motion command is executed This recorder value is the position where the servomotor will stop at when the motion completed 70 Operation Theory ADLINK TECHNOLOGY INC Since the target position is a software recorder for the motion end position it doesn t work under the following conditions Case 1 Velocity motion is applied because velocity motion have no end position information gt Case 2 emg_stop tv stop and sv stop are executed because motion stop before motion completed Once it is executed the get_target_position value is meaning less unless a position relatived motion function is executed Move ratio control Move ratio means How many command pulses will let the axes move 1 0 mm Refer to the figure below a servomotor is used to drive the moving part through a gea
38. 1 Triggering Frequency Under 500Hz Before using this feature users must map on board digital output channel to axis comparator The mapping could be one ouptput channel to one comparator or two output channels to one compar ator For example users can map Dout Channel 0 to axis comparator0 and Dout Channel 1 to axis3 comparator1 Or users can map Dout Channel 0 and Channel 1 to the same comparator for dual synchronous triggering pulse output After choosing the output channel and comparator users must build a compare point table for digital output channel Using the same table to map different digital output channel is allowable The first element in compare table must be the smallest The max imum number of point in the table is 100 This value is limited by DSP firmware The triggering pulse width is about 1ms and com pare accuracy is about 1ms Finally set the compare direction in the table Once users build a table the table will remain on SSCNET board The table can be compared either from upper side or lower side The same table can be reused in different direction by changing the parameter Dir For example Table contents 100 200 300 If they choose decreas ing direction the compare ordering will be 300 200 100 and vice versa The compare condition will be greater than or equal than depends on the compare direction The first elements in compare table must be smallest like this order 300 200 100 Opera
39. 4 Appendix ADLINK TECHNOLOGY INC 6 2 MR J2S B Warning List If E6 E7 E9 or EE occurs the servo off status is established If any other warning occurs operation can be continued but an alarm may take place or proper operation may not be performed Eliminate the cause of the warning according to this section Use the optional servo configuration software to refer to the cause or warning AL 92 Open battery cable Absolute position detection system bat warning tery voltage is low Home position setting Home position return could not be AL 96 warning made in the precise position AL 9F Battery warning Voltage of battery for absolute position detection system reduced There is a possibility that regenerative power may exceed permissible regen Excessive regenera m AL EO erative power of built in regenerative tive load warning B brake resistor or regenerative brake option ALE1 Overload warning There is a possibility that overload alarm 1 or 2 may occur AL E3 Absolute position Absolute position encoder pulses faulty counter warning AL E4 Parameter warning Parameter outside setting rang AL E6 Servo emergency stop EM1 SG are open ALE7 Controller emergency stop warning AL E9 Main circuit off warning Servo was switched on with main circuit power off The servo system controller connected ALEE SOGNET error waning is not SSCNET compatible A
40. 4 axes linear interpolation the speed ratio along X axis Y axis Z axis and U axis Is AX AY AZ AU respectively and the vector speed is 52 Operation Theory ADLINK TECHNOLOGY ING AX AV AZ AU Car ovr P Note 1 Each axis runs independently Thus a stop function for each axis must be issued separately 2 All axes must be of the same card 4 3 6 Circular Interpolation Any 2 of the 12 axes of SSCNET board can perform circular inter polation As the example below the circular interpolation means XY if axes 0 1 are selected and assigned to be X Y respectively axes simultaneously start from initial point 0 0 and stop at end point 1800 600 The path between them is an arc and the Max Vel is the tangential speed For example Axis 0 0 Axis 1 2 Dist 0 1000 Dist 1 0 start arc tr move 2 Axis Dist 143 1 10 0 50 0 15 0 0 1 0 2 This causes the two axes axes 0 amp 2 to perform a circular interpolation movement in which Center distance X 1000 mm Center distance Y 0 mm Moving angle 143 degr Start vector speed 10mm sec Max vector speed 50mm sec Final vector speed 15mm sec Acceleration time 0 1 sec Deceleration time 0 2 sec Operation Theory 53 ADLINK TECHNOLOGY ING AY 1800 600 0 0 Center 1000 0 gt X Figure 4 9 Circular interpolation To specify a circular interpolation path the following parameters mus
41. 66 Velocity vs TIME ensai 66 Line amp LING esac esce e tr teen pr ec rns 67 BIN Filet 67 ALCS AIO etie hardeste dene 67 Smoothing Example sss 68 Velocity vs Time 68 Move Ratio Control ssrrnrnnrrnnannvvnrnnrrnnnnnvvnnnnrrnnennnn 71 Pulse Input Encoder Counter Circuit 77 Line Driver Circuit enonnrnnnnnvnnnrvrrnnnnnrnnrnrrrnnnnnnnnennne 78 Open Collector Circuit uunrrnnnnnrrnnnnnrnnnnnrrvnnnnrnnnennn 79 A B Phase Timing ee 80 OUT DIR Pulses rrnnnnrnnnnnnvnnnnvrvnnnnrrnnennrnnrnnrrnssnnnnenn 80 DA OUTDUE 2 cacti alin aici md 81 Notch FINCK EE 99 Interrupt Control 103 DSP Action Graph eeenrrnnnnvrnnnonvnnrnnrrnnrnnrnnnnnrnnsennn 107 Interlock Area a Rep ee 107 Trigger Output ssssseseeees 110 Triggering Frequency Under 500Hz 111 Positive Move rrrnnnrnnnnnennnrnnnnnennnrnnnnnennnrnnnnrnnnnnnen 113 Negative Move essen 114 Conceptual Flow Chart Timing A 116 Conceptual Flow Chart Timing B 117 Conceptual Flow Chart Pattern 117 Conceptual Flow Chart Buffers A 119 Conceptual Flow Chart Buffers B 119 Coding Example 1 sse 120 Coding Example 2 sse 124 Test Results ee enis eine i eap 129 Motion Creator Mai
42. Board sss 41 SSCNet Communication sss 41 4 2 Frame Architecture sssseseee 42 Frame Introduction eorrnnnrrnnnnonnnrnnnnnonnrnnnnnnnnnrnnnennnnnnne 42 4 3 Single Motion sss eene 44 Single axis velocity motion sssssssssss 44 Single axis P to P motion rrrnannrnnrnrrnnnnnnvnnrrrrnnnnrnnnennr 45 Multi axes velocity motion seesseeeeeeeees 47 Multi axes P to P motion seeeeeeeeeeees 48 Linear Interpolation seen 48 Circular Interpolation sseeeee 53 Change Velocity on the Fly urnnrnnrnnrnnnnnnvnrrrrrvnnnnrnnrnnr 54 Position Compensation on the Fly 57 4 4 HOME move uui ee mine 59 Declaration for Beginning of Motion List 60 Add Trajectory pieces s 61 Declaration for End of Motion List 68 Start Stop command sssssssseeee 69 4 5 Motion Related lIO sssssssseseeene 69 Position control and feedback sssusess 70 Velocity Feedback eese 72 Motion DIO status ssssseeneen 72 Software limit sess 73 Motion Status 2 iet eire mette latins 74 Motion Input as General Input sesssssse 76 4 6 General Purpo
43. C Channel 1 A m Control Loo Perici E Pulse Per Close Revolution Generai Purpose DA C DAClose Open Kpp CH 1 CHO Mode Kff r Mode Mode 1 QUT DIR Max Velocity cS Direct DA Direct DA C cmecw Ner F B F B Voltage Limit 0 Monitor Monitor C 1XA B Phase Move Ratio EEE 3 C 2XA B Phase i s r Value r Value Sencoda Val C 4XA B Phase Jed Pl Current Write Write Fr 7 e Read Write Now MUS Write AD1 AD 0 0 00030 Volt 0 00030 Volt vxo d z Previous ew E Interrupt Motion O Card Next Card Main Figure 5 8 General Purpose IO Operation Window Component description The General Purpose IO Operation Window is divided into several frames Each frame is described as follows General Purpose DO There are two digital output channels in SSCNET board Click the rectangle button to write the digital output value for each digital output channel 140 Motion Creator General Purpose DA AD There are two analog output and input channels in SSCNET board The current value textboxes read back the current value of two analog output channels Enter the analog output value in the textbox then click the Set Value button to write the analog output value The ADO AD1 will read back the current analog input value of two channels External Encoder Setting SSCNET board includes three external encoder channels Value gt If the external encoder channels are used and the signals are co
44. EL signals can generate an IRQ if the interrupt ser vice routine is enabled Refer to section 4 9 The PEL MEL status can be monitored through the software function get_PEL_status and get MEL status ORG signal The ORG signal is used when the axis is operating under the home return mode There 1 home return mode refer to section 4 4 and only one can be selected by setting the HomeMode argument in the software function set home moder The logic polarity of the ORG signal is selectable using the parameter Logic of set ORG config The ORG status can be monitored using the software function get ORG status EMG signal Each SSCNET board has an EMG signal input Whenever this EMG signal becomes active all the axes control by in the card will stop moving immediately The EMG signal is capable of generating an IRQ if an interrupt service routine is enabled refer to section 4 9 The logic polarity of the EMG signal is selectable using the parameter Logic of set_EMG_config The EMG status can be monitored using the software function get EMG status 4 5 4 Software limit In this section the following functions are discussed set soft limit Axis PLimit Mlimit ON OFF get soft limit Axis PLimit Mlimit ON OFF The SSCNET board provides 2 software limits for each axis one for the positive and one for the negative direction Software limits Operation Theory 73 A A ADLINK TECHNOL
45. FirstFrame LastFrame LastFrame add frame dwell AxisNo FirstFrame 41 4 2 LastFrame add frame ta move AxisNo LastFrame 41 4 45 0 5 0 1 1 LastFrame add frame ta move AxisNo LastFrame 45 45 0 10 0 2 2 set pattern 0 PatternNo FirstFrame LastFrame FirstFrame SynAxes PatternNo 3 Create Patterns for Sequence 1 AxisNo 1 SynAxes 0x2 Pattern 4 FirstFrame LastFrame Operation Theory 125 ADLINK TECHNOLOGY ING 126 LastFrame add frame ta move AxisNo FirstFrame 0 15 0 15 0 1 1 set pattern 0 PatternNo FirstFrame LastFrame FirstFrame SynAxes PatternNo Pattern 5 FirstFrame LastFrame LastFrame add frame ta move AxisNo FirstFrame 15 45 0 30 0 1 1 set pattern 0 PatternNo FirstFrame LastFrame FirstFrame SynAxes PatternNo Pattern 6 FirstFrame LastFrame LastFrame add frame dwell AxisNo FirstFrame 45 1 LastFrame add frame ta move AxisNo LastFrame 45 0 0 1 0 0 1 1 3 set pattern 0 PatternNo FirstFrame LastFrame FirstFrame SynAxes PatternNo Create Patterns for Sequence 2 AxisNo 2 SynAxes 0x4 Pattern 7 FirstFrame LastFrame LastFrame add frame ta move AxisNo LastFrame 0 0 05 0 0 1 0 0 01 0 01 set pattern 0 PatternNo FirstFrame LastFrame FirstFrame SynAxes PatternNo Pattern 8 FirstFrame LastFrame Operation Theory ADLINK TECHNOLOGY ING
46. INK TECHNOLOGY ING P1 X1 1 21 X Axis Z Axis Figure 4 7 3 Axis Linear Interpolation The speed ratio along X axis Y axis and Z axis is AX AY AZ respectively and the vector speed is AX 1 AY By e GE When calling those 3 axes linear interpolation functions it is the vector speed which defines the start velocity StrVel maximum velocity MaxVel and final velocity FinVel Both trapezoidal and S curve profile are available For example Axis 0 0 Axis 1 1 Axis 2 2 Dist 0 10 Dist 0 20 Dist 1 30 start line tr move 3 Axis Dist 10 0 50 0 10 0 0 3 0 2 This causes the two axes axes 0 amp 2 to perform a linear interpo lation movement in which AX 10 mm Av 20 mm Operation Theory 51 ADLINK TECHNOLOGY ING AZ 30 mm Start vector speed 10mm sec X spped 10 2 67 mm sec Y spped 2 10 5 33 mm sec z spped 3 10 8 01 mm sec Max vector speed 50mm sec X spped 50 13 36 mm sec Y spped 2 50 26 72 mm sec z spped 3 50 40 08 mm sec Final speed 10mm sec X spped 10 2 67 mm sec Y spped 2 10 5 33 mm sec z spped 3 100 8 01 mm sec Acceleration time 0 3 sec Deceleration time 0 2 sec 50 mm sec Linear Velocity Axis 0 13 36 mm sec Velocity se Axis I Velocity Axis 2 E Velocity 40 08 mm sec Figure 4 8 3 Axis Linear Interpolation Example 4 Axis Linear Interpolation In
47. Monitor 1EDX2 UDO onc Servo NUS CB 09 Motor 7 12 Figure 1 2 Block Diagram 2 Introduction ADLINK TECHNOLOGY ING Hardware Installation Jumper Setting Wiring Chapter 2 amp 3 Run Motion Creator To Configure System Pepe Run Motion Creator To Verify Operation Chapter 4 amp 5 Use Function Library To develop Chapter 4 amp 6 Applications Figure 1 3 Flowchart for Building an Application Introduction 3 TECHNOLOGY ING A ADLINK A 1 1 Specifications Item Description Bus Type for PCI board PCI Rev 2 2 33MHz Bus width for PCI 32 bit System Bus Voltage 5V Memory usage 16KByte IRQ on PCI board Assigned by PCI controller Operating temperature 0 C 60 C Storage temperature 20 C 80 C General Specifications Humidity 5 95 non condensing Power Consumption PCI 8372 8366 5V 1A typical Type TI TMS320C6711 DSP Clock 200 MHz DSP performance 1200 MFLOPS Board Interface I O Connector 68 pin VHDIC SSCNet Connector 3M 10220 52A2JL Protocol SSCNET II Bit Rate 5 625Mhz Driver Communication Physical layer RS 485 Maximum working length 30m for each 6 axes Error detection CRC Max No of controllable axes 8372 12 8366 6 Servo update rate 0 888ms Current position Droop deviation Servo Loop ENE VEIDE Command Velocity feedback Torque comm
48. OGY INC are extremely useful in protecting a user s mechanical system as it can operate as a physical limit switch when configured correctly The software limit works because the DSP of the SSCNET board compares the current feedback position with the setting of the soft ware limit value every SSCNet cycle Once the feedback position is over the software limit it stops the axis just as the PEL MEL sig nals would set_soft_limit is used to configure the software limit gt PLimit is used for software limit values in the positive direction MLimit is used for software limit values in the negative or minus direction gt ON OFF is used to enable disable the software limit func tion Users can read back current software limit setting using the get soft limit function 4 5 5 Motion Status In this section the following functions are discussed axis status Axis AxisStatus motion status Axis MotionStatus Axis status The function call axis status is used to retrieve the servo driver s control status information The parameter Axis applies to the specified axis AxisStatus the control status of servo driver Bit Name Value amp Description 1 Axis not in control 0 Not_In_Control 0 Axis is in control 1 Axis is in servo alarm 0 Axis is not in servo alarm In Servo Alarm 1 Axis not Ready ON e Nat Ready ON 0 Axis is Ready ON Table 4 3 A
49. OGY ING A ADLINK A Command buttons The functionality of command buttons are described following gt l O Configure gt General purpose digital input and output General purpose Analog output External Encoder setting Tuning gt Trigger setting Basic servo driver parameter setting Multiple channel display and adjustment gt XY Interpolation gt Circular interpolation Linear interpolation gt 2 D graph of command and feedback trajectory gt 2 Axes Operate Two axes motion gt Driver status display gt Relative absolute and repeat motion mode gt Velocity profile display 1 Axes Operate Driver status display gt Support Trapezoidal S Curve Home return Continuous motion gt Relative absolute and repeat motion mode Velocity profile display On the fly change of Velocity and position gt Servo Parameter gt Servo driver parameter configuration Default setting Parameter description gt Servo Parameter 136 Motion Creator n 5 2 2 Operation Steps 1 Check if all the SSCNET cards which are plugged into the PCI Bus show on the Card List table then click each card in the card list table and check if all the axes are displayed If not all of the axes listed in the table please quit MotionCreator and restart again 2 Select the axis in the Axis List table 3 Clicks the command button to operate 5 3 General Purpose IO Operation Window PCI 8372 8366 General Purp
50. Output 34 DIR2 Oo Dir signal 68 A COM Analog Ground Table 2 3 SP1 Pin Assignment Note MDI is for general purpose input if it is not used for motion 2 9 CN3 Pin Assignment TTL output Connector on bracket No Name I O Function Axis No Name l O Function Axis 1 GND Signal Ground 2 GND Signal Ground 3 TDO1 O TTL Output 1 4 TDO2 O TTL Output 2 5 TDO3 O TTL Output 3 6 TDO4 O TTL Output 4 7 TDO5 O TTL Output 5 8 TDO6 O TTL Output 6 9 5V 5V Supply 10 NC Not connected pin Table 2 4 CN3 Pin Assignment Installation 25 A ADLINK A TECHNOLOGY INC 2 10 HS1A HS2B Pin Assignments HSL Communi cation Signal RJ 45 8 1 PIN Signal PIN1 NC PIN2 NC PIN3 TXD PIN 4 RXD PIN 5 RXD PIN6 TXD PIN7 NC PIN8 NC Table 2 5 HS1A HS2B Pin Assignment 26 Installation ADLINK TECHNOLOGY ING 3 Signal Connections Signal connections of all I O s are described in this chapter Refer to the contents of this chapter before wiring any cables between the 8372 8366 and any motor drivers 3 4 SSCNet Servo Driver Connection SSCNET Servo amp MR J2S B for 6 divers Max PCI 8372 PCI 8366 eeeee SSCNET Cable MR JZHBUS Figure 3 1 Wiring for 6 Axes PCI 8372 8366 SSCNET Seno amp MR J2S B for 6 drivers Max eetet oo SSCNET Cable MR JZHBUS PCI 8372 ln CN1 eeeee SSCNET Cabl
51. StrVel and FinVel is meaningless User must care fully define the direction of the home return motion so that the axis can find the ORG switch correctly Mode 0 ORG only Maxel Strvel 0 Finalvel Figure 4 16 Mode 0 Home Operation Theory 59 A A ADLINK TECHNOLOGY INC 1 Accelerate from StrVel to MaxVel 2 Travel with constant velocity MaxVel until ORG turns ON Slow done to stop Return and accelerate to FinVel Travel with constant velocity FinVel until ORG turn Off Slow done to stop N ODO Searching ORG rising edge with velocity 1 pulse per SSCNet cycle time until ORG turn ON then stop and fin Continuous Motion In this section the operation of continuous motion is introduced To apply continuous motion function user must first construct the trajectory The procedures of constructing a continuous motion trajectory includes Declaration for beginning of motion list Add Trajectory pieces Declare end of motion list Beside on line construction of the motion trajectory in the applica tion program an off line method using the Trajectory generator and then save it to file and using the load trajectory file func tion to load the motion trajectory will produce the same result Load Trajectory file After constructing the motion trajectory user should be able to apply it to the continuous motion operation gt Start Stop
52. The connection between the SSCNET board encoder and the power supply is shown in the diagram below Note that an external current limiting resistor R is necessary to protect the SSCNET board input circuit The following table lists the sug gested resistor values according to the encoder power supply Encoder Power VDD External Resistor R 5V 0 Ohms None 12V 1 8kQ 24V 4 3kQ Table 3 2 Encoder Power If 6mA max Inside Board External Power EAs EB EZ for Encoder i Motor Encoder Driver EA EB EZ i With Open Collector Output ji B phase signals Index signal Figure 3 7 Open Collector Output Connection Signal Connections 31 A A ADLINK TECHNOLOGY INC 3 3 PEL MEL ORG EMG and General Purpose DI Pin No Name Description CN5 SP1 2 2 PEL1 MDI1 Positive End Limit Axis 0 3 3 MEL1 MDI2 Minus End Limit Axis O 4 4 ORG1 MDI3 Origin Signal Axis 0 Table 343 PEL MEL ORG EMG and General Purpose DI 37 37 PEL2 MDI4 Positive End Limit Axis 1 38 38 MEL2 MDI5 Minus End Limit Axis 1 39 39 ORG2 MDI6 Origin Signal Axis 1 5 5 PEL3 MDI7 Positive End Limit Axis 2 6 6 MEL3 MDI8 Minus End Limit Axis 2 7 7 ORG3 MDI9 Origin Signal Axis 2 40 40 PEL4 MDI10 Positive End Limit Axis 3 41 41 MEL4 MDI 11 Minus End Limit Axis 3 42 42 ORG4 MDI12 Origin Signal
53. a move object is in ending process 6 start ta move function leaves Waiting mutex time is uncertain It takes 2 10ms in aver age C object dis constructing time Conclusion From Command Launched to Motor started takes about 3 5 SSCNET cycle Appendix 173 TECHNOLOGY ING A ADLINK A 6 5 cPCI 8312H High Speed Link Initial Guide cPCI 8312H has two master chips of High Speed Link on the board So it has all the features of HSL just like PCI 7852 In this chapter we will introduce how to to initial the HSL functions on this board 1 MDSP Initial This function is not only for SSCNET but also initializing the board on Windows system It will register the board s resources on sys tem The HSL functions are executable from this information only after the MDSP Initial is successfully issued 2 HSL Start or HSL Auto Start This function will start to search all the modules on HSL network 3 HSL Slave Live Use this function to check the status of searched HSL module After these procedures you can use all the functions of HSL Please refer to HSL user s manual or module user guide for details 174 Appendix ADLINK TECHNOLOGY INC Warranty Policy Thank you for choosing ADLINK To understand your rights and enjoy all the after sales services we offer please read the follow ing carefully 1 Before using ADLINK s products please read the user man ual and follow the instructions exactly W
54. a_move Axis Pos StrVel MaxVel FinVel acc dec start sa move Axis Pos StrVel MaxVel FinVel acc dec Tlacc Tldec Single axis P to P motion functions will allow the axis to move a specified distance or move to a specified position The first four functions are pretty straightforward t r s and a characterizes Operation Theory 45 ADLINK TECHNOLOGY ING the function and provides information about the velocity profile and position method to achieve the target position gt t The velocity profile is Trapezoidal That is the accelera tion and deceleration is a constant shown in left diagram gt s The velocity profile is S Curve This is a derivative of acceleration jerk and is a constant shown in right dia gram gt r The axis moves a distance Relative from a specified point Specified by parameter Dist gt a The axis moves to an Absolute position regardless of its current position It is specified by the parameter Pos Velocity Velocity Max Vel LU j 7 Strvel i Finv el Stryel i Tace Tgec ime i pe r 4Tdeci i Tacc i i i i Acceleration r Accelefatibn i i i mb Time iTlacc iTime i _ Jerk i Jerk H TM start tr moveg star sr moved Figure 4 3 Single Axis Motion The distance moved during acceleration and deceleration can be calculated using the
55. ach SSC NET cycle with CMP Pos for each channel The comparison includes the direction The user can specify the compare succeed condition to be any of the following Direction 0 whenever feedback across ComparePos Direction Direction Direction Direction feedback gt ComparePos feedback gt ComparePos feedback lt ComparePos feedback lt ComparePos RUNKE M SM oM In order to understand the compared status of each specified axis a second function check compare is helpful The compared sta tus will be reset to false each time set compare is executed If the comparison of channel1 comes into existence bitO of status will become 1 If the comparison of channel1 comes into exist ence bit1 of status will become 1 Other method to obtain comparison result is through an interrupt When a comparison comes into existence the SSCNET board will generate an interrupt signal Users need to set the interrupt to enabled and correct the interrupt factor so that the program can accept interrupt signals 4 11 Interlock Function In this section the following function is discussed set interlock CardID Flag Axis X Axis Y X1 X2 Yl Y2 Time get interlock CardID Enable Axis X Axis Y X1 X2 1 Y2 Time The SSCNET board provides one interlock function for each card This function is used for collision avoidance for 2 axis operation Axis X
56. an started Operation Theory 87 TECHNOLOGY ING A ADLINK A The first parameter Axis specifies the axis The remaining four parameters are used for the monitoring targets The relationship between set values and monitoring targets are list below Value Description Unit FF Not Used 00 Feedback pulse accumulation Pulse 01 Reserved 02 Motor revolution speed 0 1rpm 03 Reserved 04 Accumulated pulse Pulse 05 Reserved 06 Regenerative load factor 96 07 Execution load factor 96 08 Peak load factor 96 09 Bus voltage 0A Load inertia ratio 0B ABS counter Rev OG Position within one revolution Pulse oD Reserved 0E F B present value Pulse OF Reserved 10 Position droop Pulse 11 Reserved 12 Speed command 0 1rpm 13 Reserved 0 1rpm 14 Speed feedback 0 1rpm 15 Reserved 0 1rpm 16 Current command 0 196 17 Current feedback 0 196 18 ZCT Bottom Pulse 19 Reserved 1A Present revolution counts Rev Table 4 7 Monitoring Targets 88 Operation Theory ADLINK TECHNOLOGY ING Value Description Unit 1B Origin revolution counts Rev 1C Origin position within one revolution Pulse 1D Reserved 1E Reserved 1F Reserved 20 Alarm status AL 1 21 Alarm status AL 2 22 Alarm status AL 3 23 Alarm status AL 4
57. and Servo alarm number etc Servo parameter tuning Parameter read write Table 1 1 Specifications 4 Introduction Item ADLINK TECHNOLOGY ING Description Motion Function Motion Velocity Profile Trapezoidal amp S Curve Jog move Single axis P to P motion Single motion Change P V on the fly Linear interpolation up to 4 axes 2 axis Circular interpolation Home move 1 home mode Start End motion list Add linear trajectory Add arc trajectory 2 axes Add Dwell Continuous motion Smooth Trajectory Start Sop command Motion IO status read configure Motion status Application Functions Move Ratio In unit of Pulse per mm Software Limit Each axis has 2 soft limits Position Compare Each axis has 2 comparators Interlock 2 axes interlock system System error check Watchdog timer Interrupt During operation stop Possible to select conditions where interrupt occurs During alarms etc Yes Introduction Table 1 1 Specifications A A ADLINK TECHNOLOGY INC Item Description Optical Isolated Digital Input Limit Switch x 12 PEL Limit Switch x 12 MEL Proximity dog x 12 ORG General Purposed Input x 2 PCI board only Emergency Stop x 1 Sink or source type are selectable in all chan nels all channels must be
58. and Procedure Appendix 171 ADLINK TECHNOLOGY ING 6 4 5 Motion Command Timing M2 00ms A Ch3 I 3 60 V 12 Mar 2003 MW 14 20 19 59 25 Figure 6 1 PCI 8372 Single Motion Command Timing Chart Signal Channel 1 DSP processing time synchronized with SSCNET cycle low voltage level duration DSP codes has two process Synchronized and Non Syn chronized process this channel displays the processing time of synchronized process 2 start tr move command processing time at host side low voltage level duration 3 DSP response time for Host motion command high volt age level duration 172 Appendix ADLINK TECHNOLOGY INC Label number gt gt gt v v www Note 1 start tr move command starts 172 Trajectory calculation time on host 2 Send motion download command to DSP DSP will take some time the Peak to transfer the trajectory data and set a transferring done flag for host 2 3 Host waits the transferring done flag and get a mutex from system for continue 3 Send motion go command to DSP and DSP will take some time the Peak to set a motion go flag for DSP syn chronized process 3 4 DSP enter the synchronized process 4 DSP starts calculating first position for servo driver and put it on SSCNET data stream 4 5 The position data is sent to servo driver through cable 5 Servo motor runs according to the position data 5 6 Host start t
59. any frames inside The motion pattern can be reused and in the form of T curve S curve combined T curve and S curve or arbitrary velocity profile Consequently you can plan it at your will Next you have to consider the synchronism In fact some con trolled axes may have the synchronous relation with each other In a word they are time dependent Consequently you can group them as one sequence DSP will execute the sequence based on the time relation to realize the synchronous motion The sequence may conatins the pattern information of multi axes In other case certain axis may refer to the other axis condition and start to move For example axis 0 is planed to move while the maximum velocity of axis 1 is achieved At this moment you can use API to completely describe the motion patterns and achieve the time dependent motion The sequence contains the pattern information of one axis Sequence is the container of patterns Pattern is the container of frames Sequence also has the time dependent description to complete the motion behavior that users want to realize Finally every sequence designs triple pattern buffers to meet the motion continuity While the patterns are executed continuously the first pattern buffer will be passed down to DSP and the remain ing two buffers would wait to be executed as the concept of queue This design can make sure the continuity of motion Users also can judge the motion status If certain s
60. ase 14 EB1 l Encoder B Phase 48 EB2 l Encoder B Phase 15 EB1 l Encoder B Phase 49 EB2 l Encoder B Phase 16 EZ1 l Encoder Z Phase 50 EZ2 l Encoder Z Phase 17 EZ1 l Encoder Z Phase 51 EZ2 l Encoder Z Phase 18 PEL7 MDI19 l Positive End Limit 52 PEL8 MDI22 l Positive End Limit 19 MEL7 MDI20 l Minus End Limit 53 MEL8 MDI23 l Minus End Limit 20 ORG7 MDI21 l Origin Signal 54 ORG8 MDI24 l Origin Signal 21 PEL9 MDI25 l Positive End Limit 55 PEL10 MDI28 l Positive End Limit 22 MEL9 MDI26 l Minus End Limit 56 MEL10 MDI29 l Minus End Limit 23 ORG9 MDI27 l Origin Signal 57 ORG10 MDI30 l Origin Signal 24 PEL11 MDI31 l Positive End Limit 58 PEL12 MDI34 l Positive End Limit 25 MEL11 MDI32 l Minus End Limit 59 MEL12 MDI35 l Minus End Limit 26 ORG11 MDI33 l Origin Signal 60 ORG12 MDI36 l Origin Signal 27 IPT_COM Sommo Emergency EMG_COM Digital 61 EMG l Stop Input Signal 28 P_GND Ke SUA 62 AD1 I Analog Input 29 OUT1 Oo Pulse signal 63 DIR1 o Dir signal 30 OUT1 Oo Pulse signal 64 AD2 l Analog Input 24 Table 2 3 SP1 Pin Assignment Installation ADLINK TECHNOLOGY ING No Name I O Function Axis No Name I O Function Axis 31 OUT2 o Pulse signal 65 DIR1 O Dir signal 32 OUT2 Oo Pulse signal 66 DA1 o Analog Output 33 DIR2 o Dir signal 67 DA2 o Analog
61. ase restart program ol o Check Axis Axis Not In Control Axis is out of control Check con nection and restart program Axis Servo Alarm Axis is in servo alarm Use alarm reset to remove this status Axis Is Not Ready ON Axis is not ready use servo on command or check connection Axis Is Not Servo ON Axis is not servo on use servo on command or check connection Check Motion Status Axis Prepare For Motion Axis is prepare frames for motion if you are very sure the motion is ended use stop command to can cel it Axis Busy For Motion Axis is busy for motion if you are very sure the motion is ended use stop command to cancel it 10 Axis In EMG ON The EMG signal is ON Check EMG logic and switch 11 Axis In PEL ON The axis is going to a direction which PEL ON Check PEL logic and switch 12 Axis In MEL ON The axis is going to a direction which MEL ON Check MEL logic and switch 13 Frame download command Axis Hand Shake Failed Frame download failed Please use stop command to cancel this motion 15 Motion Go command Axis Not Response Motion Command Go is set to DSP but can t see In Motion sta tus ON Please use stop command to cancel this motion 16 Finish No Error The function will response a posi tive value represents the total frames need to be run Table 6 7 Motion Comm
62. ast transmission is conducted from the SSCNET board to the servo amplifier Transmission from the servo driver to the SSCNET board is conducted through a time division system and SSCNET board reads data in a batch format Operation Theory 41 TECHNOLOGY ING A ADLINK A 4 2 Frame Architecture In this section the frame architecture which is the basis of all motion functions is described 4 2 1 Frame introduction A frame is a mathematical description of a piece of motion trajec tory When user gives a motion command for example start_sr_move the motion command will be translated into sev eral frames Each frame represents some pieces of the whole motion trajectory Then the frame data is downloaded to the SSC NET board As mentioned in previous sections the SSCNET board is equipped with a DSP It is in charge of calculating the frame data so that the original motion trajectory information can be retrieved This is an example to illustrate how a frame works Suppose a user want an axis to move 10mm in distance The acceleration time is 0 5 sec deceleration time is 0 2 sec and max imum velocity is 5mm sec So he would call the function start tr move function and provide the correct parameters in his application program The library then splits the motion command into several frames and downloads these frames to the SSCNET board See flow chart below 42 Operation Theory ADLINK TECHNOLOGY ING Use
63. atta metit iniri nnn 131 JnMEE CINE n 131 5 2 Main Window sseeeeeennm nennen 131 Component description esesssesssss 132 Operation Steps ssssssssseeee 137 5 3 General Purpose IO Operation Window PCI 8372 8366 137 Component description sesssssessss 138 Operation Steps ssssssssssseeee 139 5 4 General Purpose IO Operation Window cPCI 8312H 140 Operation Steps ssssssssssseeee 141 Pulse Output Page sene 142 Component description essessss 143 5 5 Tuning WindOow iei ne dcin eee terne tenes 143 Component Description sseses 144 Operation Steps sesssseeeeen 149 34 e C 149 5 6 XY Interpolation Window eee 150 Component description sesssssessse 151 Operation steps sesssssseneeeeenn 151 5 7 Two Axes Operation Window sess 152 Component description essssssssss 152 Operation Steps ssssssssseeee 154 5 8 Single Axis Operation Window sssessessss 155 Table of Contents iii TECHNOLOGY ING A ADLINK A Component description sssssssess 155 Motion I O Configration Window 157 Interrupt Configration Window sees
64. bout 2 sec Step3 Flash DL Step 4 ROM Boot OK if Two LEDs OFF 1 Select a card and initial it 16 Installation ADLINK TECHNOLOGY ING Kemel Update V1 4 Card Type cPCI 8312H v Card No Cadi vw Step 1 Initial Card Initial Card Stepl 1 Rest DSP About 5 sec OK if One LED Flashing About 2 sec Step 3 Flash DL Waiting Download Step4 ROM Boot OK if Two LEDs OFF Exit 2 Press HPI boot Installation 17 ADLINK TECHNOLOGY INC Kemel Update V1 4 Card Type cPCI 8312H v Card No Card 0 vw Step 1 Initial Card Initial Card Stepl 1 Rest DSP About 5 sec Step 2 HPI Boot OK if One LED Flashing About 2 sec Step 4 ROM Boot OK if Two LEDs OFF Step 3 3 Press Flash DL button and select a kernel4 hex 18 Installation ADLINK TECHNOLOGY INC Xemel Update V1 4 Card Type cPCI 8312H v Card No Card Step 1 Initial Card Initial Card Stepl 1 Rest DSP About 5 sec Step 2 HPI Boot OK if One LED Flashing About 2 sec er Download Finished Step 4 ROM Boot OK if Two LEDs OFF 4 Wait the value become 0 and displays Download Fin ished 5 Press ROM Boot and wait about 5 sec and done 2 4 SSCNET Communication Test Utility We provide a test utility for SSCNET communication After initial ized you can check the communication error counts from the dia log Once it has communication errors please disconn
65. can be used to change the target position when an axis is commanded by the following single axis P to P motion functions start tr move start ta move start sr move start sa move Compensate New Original tart t start fa move End Point End Point Figure 4 15 Position Compensation on the Fly Operation Theory 57 A ADLINK A TECHNOLOGY INC Theory of position compensation This function is to change the target position defined originally by the previous motion functions After changing position the axis will move to the new target position and totally forget the original posi tion This operation can only be applied on the constant velocity section Acceleration and deceleration section is not allowed for this function The acceleration and deceleration rate and StrVel and MaxVel are kept the same as the original setting Constrains of position compensation 1 It is applicable only after start tr move start ta move start sr move and start sa move functions The moving distance must be long enough so that MaxVel can be achieved 2 It will not work if it is applied after the axis has entered the deceleration region 3 The rest distance must be long enough for minus posi tion compensation The reset distance must be larger than deceleration section For example A trapezoidal absolute motion is applied start ta move 0 100 0 10 0 0 5 1 This causes axis 0 to move t
66. cking Tuning button in the Main window The following figure shows the Tuning Window This win dow displays the response diagrams of selected channels by set ting the motion parameter in Single Axis Operation Window and trigger setting in this window Motion Creator 143 TECHNOLOGY ING A ADLINK A Operate r Mode Absolute Relative Position Ch 1 DSPSpeedcommandim 7 2 2 A 7 Ch2 Ch3 IV Horizontal Grid m Current Position g Figure 5 10 Tuning Window Channel H Trigger Y Tuning Y Motion Display 5 5 1 Component Description Trigger Trigger Source Ch3 Trigger Value i Pretrigger Sample No 100 Figure 5 11 Trigger Setting Frame 144 Motion Creator ADLINK TECHNOLOGY ING This frame provides a flexible choice to configure the trigger Once the signal is triggered the data from the four channels will be plot ted on the response diagram gt v v v v Source select one of the channel signal to be the trigger source Value trigger value Slope specify the rising edge or falling edge trigger Sample Number total amount of the gathering data Pretrigger sample No amount of the pretrigger data Display r Close Loop Kor a 0000 0004h 0001 000Fh mm 0 0 300 0 4 2000 20 8000 Read All 1 10nnn p Figure 5 12 Parameter Tuning Frame This frame affords an easy way to access a set of fundamental servo
67. ctive For example If users want to make Axis3 s PEL MEL no effect in motion they can use set mio mode CARDO 9 1 PEL set mio mode CARDO 10 1 MEL and the ORG remains its function in motion Operation Theory ADLINK TECHNOLOGY INC You can get the return code from get_MDI_status CARDO 9 and get_MDI_status CARDO 10 to read input status If you don t set the mode to 1 you still can read the MDI status by this function 4 6 General Purpose IO General purpose I Os are input and output signals that user can freely use For example encode counters isolated DIO etc In this section all general purposed I Os and their function calls are discussed 4 6 1 Encoder Counter In this section the following functions are discussed set cnt iptmode CardID EncNo IptMode set cnt to axis CardID EncNo Axis Resolution set cnt value CardID EncNo Value get cnt value CardID EncNo Value Each PCI 8372 8366 has 3 encoder counters and can be use to receive A B phase signals from a linear encoder Also these counters can be programmed to receive CW CCW OUT DIR type signals Input circuit The input circuits for EA EB and EZ signals are shown below Inside Board Board 0 MN e F f Figure 5 Pulse input encoder counter circuit Figure 4 30 Pulse Input Encoder Counter Circuit Note The voltage across each differential pair of encoder input signals EA EA
68. cturer s settings Pr 05 1 FBP Feedback pulse number Pr 06 0 1 6 7 225 POL Direction of motor rotation Pr 07 0 1 ATU Auto tuning Pr 08 0000H 0004H RSP Servo response setting Pr 09 0001H 000FH TLP Forward rotation torque lim Pr 10 0 Maximum its torque TLN Reverse rotation torque Pri 0 Maximum limits torque DG2 Moment of inertia ratio of Pr 12 0 1 0 3000 load PG1 Position control gain 1 Pr 13 rad sec 4 2000 VG1 Speed control gain 1 Pr 14 rad sec 20 8000 PG2 Position control gain 2 Pr 15 rad sec 1 1000 VG2 Speed control gain 2 Pr 16 rad sec 20 20000 VIC Speed imegraton compen Pr 17 msec 1 1000 sation NCH Mechanical resonance con Pr 18 0 031FH trol filter FFC Feed forward gain Pr 19 96 0 100 INP In position range Pr 20 pulse 0 50000 MBR Electromagnetic brake Pr 21 mss 0 1000 sequence output MOD Monitor output mode Pr 22 M S OP1 Optional function 1 Pr 23 0000H 0001H OP2 Optional function 2 Pr 24 0000H 0110H LPF Low pass filter Pr 25 0000H 1210H OP4 For manufacturer s settings Pr 26 0000H MO1 Monitor output 1 offset Pr 27 mv 999 999 MO2 Monitor output 2 offset Pr 28 Mv 999 999 Table 4 6 MR J2SB Parameters Operation Theory 85 A FA ADLINK TECHNOLOGY INC MR J2SB Instruction Setting Symbol Name Manual Parameter Beit Range MOA For manufacturer s settings Pr 29 0001H ZSP Zero speed Pr 30 rpm 0 10000 ERZ Error excess alarm level Pr 31 kpulse 1 1000 OP5 Option
69. d ID Out Of Ra The CardNo parameter 4 No Error nge of this function invalid In the same program ferr card dosen t close nor 5 MDSP reset No Error Card Reinitialized fally then want to initial again 6 Check Card Not Ready Use KernelUpdate exe to DSP OK 1 TimeOut 200ms reset DSP and try again 7 Check DSP Initial Card ReClose Fail Use KernelUpdate exe to Status TimeOut 10000ms reset DSP and try again Tell DSP start 8 searching axes DSP Initial Time Ou Use KernelUpdate exe to The LED will t TimeOut 10000ms reset DSP and try again flash 9 The servo drivers Maximun Number O Close program and open will display b f Card Exceed again Table 6 6 Card Soft Reset Procedure 6 4 4 Motion Command Procedure After the motion command is issued by uses with parameters the DLL will calcaulte the frames and transfer them to DSP When all the frames are transferred the DLL will set a motion go com mand and the motor will be started frame by frame It takes some handshake time during this procedure The following table shows the running steps of a motion command start ta move 170 Appendix ADLINK TECHNOLOGY INC Step Action Item Error Response Error Reason Check Card Card Not Ready DSP OK is 0 please reset the card Card Not Initial MDSP Initial failed please restart program Check DSP DSP Not Ready Initial Status is not at finished state Ple
70. d the Address column displays the PCI Bus base address of the card The ID number column displays the card ID of the card If the ID is a minus value It means card initial fail If you double click the card in the card list it will displays the on board DSP firmware version as bellow wee Card Description Type Card No Firmware Version Built Date Figure 5 4 Card List Table Motion Creator 133 ADLINK TECHNOLOGY ING Axis list table If you click one of the cards in the card list table the axis list table lists all the axes connected to this card The Station No column display the ID of each axis the Axis No column display the index of the axis the Motor Type display the motor type of the axis the Pulse Rev indicate the pulse per revolution of the axis The default value is 131072 Axis information If you double click the axis in the axis list table the axis informa tion window will appear and display the information of the axis Axis Description E Axis No Capacity 22 Motor Type Rated Current E Driver Type Rated Max RPM RPM 4500 Max Torque 200 3030 42041 Figure 5 5 Axis Information Software version Information Check the software version from the help menu bar It looks like below 134 Motion Creator we About MotionCreator Figure 5 6 Software Version Information Motion Creator 135 TECHNOL
71. e Click Channel tab select F B present value for channel 1 INP In Position for channel 2 Speed Command for channel 3 Speed Feedback for channel 4 and set Sam ple Interval 2 1x0 88 ms Click Trigger tab select Ch 2 to be the trigger source trigger value 1 down slope 1 x0 88 ms sample interval Click Motion tab select relative motion mode Distance 20000 Trapezoidal velocity profile Start Velocity 1000 Maximum Velocity 3000 Final Velocity 1000 Tacc 0 1 Tdec 0 1 Click the Play button to start motion When the INP signal is changing from 1 to 0 the signal is triggered and system starts to record the data for four chan nels by the 0 88ms time interval and the data is adjusted and shown in the response diagram If the data is shown on the response diagram correctly you can click Display tab to scale or shift the data Motion Creator 149 A A DLINI TECHNOLOGY INC Timing gt Move the cursor to the timing line Drag the timing line to any position The textbox in left corner in Response Diagram will indi cate the time difference between two lines Note The range of Y Axis in the response diagram is 1000 to 1000 if the scaled data exceeds this range it will not display on the diagram 5 6 XY Interpolation Window XY Interpolation Window appears when clicking XY Interpolation button in the Main wi
72. e both the value and sing is effective 5000 0 means 5000 0 in minus direction Tacc Set the total acceleration time in unit of seconds Tdec Set the total deceleration time in unit of seconds Ratio Pulse mm set the move ratio between pulse and displacement Relative or absolute mode for each axis Absolute Mode Position will be used as absolution target position for motion Relative Mode Distance will be used as relative displace ment for motion Repeat mode When On is selected the motion will go in repeat mode Positive distance lt gt Negative distance or Positive position lt gt Negative position Driver Status frame This frame monitors the driver status in the update rate of 50ms Velocity Chart This chart displays the velocity profile of each axis Motion Creator 153 A A ADLINK TECHNOLOGY INC Play keys gt v Right play button Click this button will cause SSCNET board start to outlet pulses according to previous setting In Relative Mode it cause axis move Positive Distance In Absolute Mode it cause axis move to Positive Position Left play button Click this button will cause SSCNET board start to outlet pulses according to previous setting In Relative Mode it cause axis move Negative Distance In Absolute Mode it cause axis move to Negative Posi tion Stop button Click Stop button will cause SSCNET board to decelerate to
73. e MR J2HBUS Figure 3 2 Wiring for 12 Axes PCI 8372 Signal Connections 27 A ADLINK A TECHNOLOGY INC SSCNET Servo amp MR J2S B for 6 drivers Max PPP SSCNET Cable cPCI 8312 H EE 00000 SSCNET Cable MR J2HBUS Figure 3 3 Wiring for cPCI 8312 H I Figure 3 4 SSCNet Cable 28 Signal Connections 3 2 Encoder Feedback Signals EA EB and EZ Pin No Name Description CN5 SP1 12 12 EA1 Encoder A Phase 13 13 EA1 Encoder A Phase 14 14 EB1 Encoder B Phase 15 15 EB1 Encoder B Phase 16 16 EZ1 Encoder Z Phase 17 17 EZ1 Encoder Z Phase 46 46 EA2 Encoder A Phase 47 47 EA2 Encoder A Phase 48 48 EB2 Encoder B Phase 49 49 EB2 Encoder B Phase 50 50 EZ2 Encoder Z Phase 51 51 EZ2 Encoder Z Phase 29 EA3 Encoder A Phase 30 EA3 Encoder A Phase 31 EB3 Encoder B Phase 32 EB3 Encoder B Phase 33 EZ3 Encoder Z Phase 34 EZ3 Encoder Z Phase Table 3 1 Encoder Feedback Signals EA EB and EZ ADLINK TECHNOLOGY INC The encoder feedback signals include EA EB and EZ signals EA and EB are used for position counting and EZ is used for zero position indexing The input circuit of the EA EB and EZ signals is show
74. e going high Value 2 CH1 as trigger source going high Trigger_Select Value 3 CH2 as trigger source going high Value 4 CH3 as trigger source going high Value 1 CHO as trigger source going low Value 2 CH1 as trigger source going low Value 3 CH2 as trigger source going low Value 4 CH3 as trigger source going low TriggerLevel Define the trigger level This variable is used to define the sample period Value 1 0 888 ms SamplePeriod Value 2 2 0 888 ms Value 3 3 0 888 ms Value 4 4 0 888 ms Define the Number of samples before Trigger Value 1 1023 Define the Total Number of samples Value 1 1023 Table 4 8 Axis Parameters Operating procedures PreTriggerSampleNo SampleNumber There are 2 operation modes real time data reading and normal monitoring 1 get instant monitor data After the monitoring channels have been set by set monitor channel the get instant monitor data function can be used to retrieve monitoring data Operation Theory 91 TECHNOLOGY ING ADLINK F The first parameter Axis specifies which axis The remaining four parameters are used to retrieve monitoring data from the monitor ing channels This function returns a value immediately and carries out real time monitoring of specified monitoring targets 2 Normal monitoring Normal monitoring is data sampling with th
75. e ie 5000 0 is the same as 5000 0 In Cont Move both the value and sing is effective 5000 0 means 5000 0 in minus direction Ratio Pulse mm set the move ratio between pulse and displacement Tacc Set the total acceleration time in unit of seconds Tdec Set the total deceleration time in unit of seconds Tlacc Set the linear acceleration time in unit of seconds Tidec Set the linear deceleration time in unit of seconds Driver Status frame This frame monitors the driver status in the update rate of 50ms Motion Status frame Left part is the motion done status and the right part is the motion status in heximal Velocity Chart This chart displays the velocity profile of each axis Play keys Right play button Clicking this button will cause the SSCNET board to start outputting pulses according to a previous setting In Relative Mode it cause axis move Positive Distance In Absolute Mode it cause axis move to Positive Position gt In Continuous Mode it cause axis start to move according 156 to the velocity setting Motion Creator ADLINK TECHNOLOGY ING Left play button Clicking this button will cause the SSCNET board to start outputting pulses according to a previous setting In Relative Mode it cause axis move Negative Distance gt In Absolute Mode it cause axis move to Negative Position In Continuous Mode it cause axis start to move according
76. e E eevevumamemsersmenssrna 4PreTriggerSampleNo 1 reTriggerSampleNo 1 reTriggerSampleNo 0 reTriggerSampleNo 1 DUD Table 4 9 Data Array Offset 4 7 3 Servo Information In this section the following function is discussed get servo info Axis ServoInfo This function is used to retrieve the servo driver s status informa tion The parameter Servolnfo carries the information about servo driver s status in individual bit s Bit 0 In Ready ON Bit 1 In Servo ON Bit 2 In course of in Position Table 4 10 Servo Bit Information Operation Theory 93 A A ARLEN Bit 3 In course of zero speed Bit 4 Pass through Z phase of servo motor Bit 5 In Torque limit Bit 6 In Alarm Bit 7 In warning Bit 8 Reserve Bit 9 Reserve Bit 10 14 Reserved Bit 15 In course of Speed limit Bit 16 31 Reserved Table 4 10 Servo Bit Information 4 7 4 Servo On In this section the following function is discussed set servo on Axis ON OFF After this function is execute with ON OFF 1 the servo driver of specified axis starts to control its servomotor Motion functions can now be applied to the axis In most cases Servo driver should be at servo ON status except that Before set position function the servo driver must be at Servo OFF status 4 7 5 Driver information In this section the following functions are discussed
77. e help of the on board DSP The DSP take charge of storing all sampled data according to configuration set by set monitor config The following steps are necessary to operate in normal monitoring Step 0 Set monitor channel and configuration using function call set monitor channel set monitor config Step 1 Start normal monitoring using the function call start monitor This will start the DSP Step 2 Check if the monitoring has completed by calling the func tion check monitor ready The parameter status returns a value if the monitoring process has completed Step 3 If monitoring has completed then call get monitor data to retrieve the monitored data The size of the data array of the function get monitor data which is used to read the monitored data must be 4 times the value of PreTriggerSampleNo in set monitor config and when the function get monitor data returns a value the data is stored in the following format 92 Operation Theory ADLINK TECHNOLOGY INC Data array Offset Channel 0 data 0 0 Channel D data 1 1 Channel 0 data 2 2 Per ee Channel 1 data 1 Channel 1 data 2 PP PN 2 PreTriggerSampleNo 1 Channel 2 data 0 2 PreTriggerSampleNo 0 Channel 2 data 1 2 PreTriggerSampleNo 1 Channel 2 data 2 2 PreTriggerSampleNo 2 arverumememssrsmenssna 2 Pre TriggersampleNo 1 3 PreTriggerSampleNo 0 3 PreTriggerSampleNo 1 2 PreTriggerSampleNo 2 Pe
78. e option is exceeded Regener ative transistor fault Speed has exceeded the instanta neous permissible speed Table 6 1 MR J2S B Alarm List AL 31 Overspeed Appendix 163 ADLINK TECHNOLOGY INC Current that flew is higher than the AL 32 Overcurrent permissible current of the servo amplifier Converter bus voltage input value AL 33 Overvoltage exceeded 400V AL 34 CRC error Bus cable is faulty Command pulse fre The pulse frequency of the input AL 35 quency alarm command pulses is too high AL 36 Transfer error Bus cable or printed board is faulty AL 37 Parameter alarm Parameter setting is wrong AL 45 Main GRU LENER Main circuit overheated abnormally overheat AL 46 Wotoroverhe t Servo motor temperature rise actu ated the thermal protector Load exceeded overload protection characteristic of servo ampli ATSO Overload fier Load ratio 300 2 5s or more Load ratio 200 100s or more Machine collision etc caused max AL 51 Overload 2 output current to flow successively for several seconds Servo motor locked 1s or more Droop pulse value of the deviation AL 52 Error excessive counter exceeded the parameter No 31 setting value Serial communication fault Serial communication occurred between servo amplifier AL 8E nee alarm and communication device e g personal computer 88 Watchdog CPU parts faulty Table 6 1 MR J2S B Alarm List 16
79. e rotation torque limit 300 300 E 0 500 12 GD2 Ratio of load inertia to servo motor 7 0 5 9 times 0 0 300 0 13 PG1 Position control gain 1 35 36 rad s 4 2000 14 VGI Speed control gain 1 177 183 rad s 20 8000 15 PG2 Position control gain 2 35 36 rad s 1 1000 16 VG2 Speed control aain 2 817 732 rad s 20 20000 zl r Operate Parameter Description Value Used to select the absolute position detection 5 Incremental System Decimal 1 Absolute position detection system Read All Modify Apply Next Apply All Default z E Figure 5 24 Driver Parameter Configuration Window Save to file Load form file Alarm Reset J Set 5 9 1 Component description Servo Driver Parameter Table This table lists all the accessible servo driver parameters and the attribute of the parameter Each column in this table is described as following Name the short name of the parameter For any parameter whose symbol is preceded by set the parameter value 160 Motion Creator ADLINK TECHNOLOGY INC and switch power off once then switch it on again to make that parameter setting valid Description explains the meaning of the parameter briefly Default Value the default setting of the parameter Current Value the current value of the parameter Unit the unit of the parameter Setting Range the range of the parameter Parameter Description Frame www ww This frame explains the parame
80. e s difficult to occur setting the low pass filter to be Disabled may increase the servo system response to short en the settling time 4 9 Interrupt control In this section the following functions are discussed int control CardID Flag set int factor CardID Source IntFactor get int status CardID Source IntStatus set int event CardID HEvent link interrupt CardID callbackAddr The SSCNET board can generate an interrupt for certain condi tions Refer to the figure below 102 Operation Theory ADLINK TECHNOLOGY ING Call Thread waiting routine for event DLL amp Driver SSCNET board Figure 4 37 Interrupt Control Users can either set a call back routine that will be executed when an interrupt occurs or create a thread to wait for an event that will be triggered when an interrupt occurs To enable or disable the interrupt generated from the SSCNET board use the int control function It acts as an ON OFF switch Once disabled the SSCNET board will cease to generate any interrupt signals to the host system In addition to int control users need to define the conditions under which an interrupt signal should occurs by using the set int factor function in order to successfully introduce an inter rupt signal to the host system The SSCNET board has 3 possible sources of interrupts it includes the motion axes general pur posed l O and the DSP or system The second parameter S
81. ect the driver one by one and use a new cable to verify it Installation 19 ADLINK TECHNOLOGY INC Se SSCNET Communication Test Card Type PCI 8366 v Card No Card0 vw EMG Logic 1 v Initial Card DSP Firmware Build Date fa100601 570 DSP Firmware Version fa0002000 Windows Driver Version 09 Windows DLL Version qme 7 Hardware Version Do Axes Found or Error Code 3 Communication Error Counts fa Exit Figure 2 3 SSCNET Communication Test Utility 20 Installation ADLINK TECHNOLOGY INC 2 5 Software Driver Installation 1 Auto Run from the ADLINK ALL In One CD choose Motion Control and then SSCNET series baord Follow the installation wizard m 3 Shut down your computer and insert the SSCNET series board into a slot and then power up the computer 4 When the installation is completed the following folder will be created in the directory specified during installa tion default directory C Program Files ADLINK SSC NET gt Library this folder contains files required for a project when programming an application gt DSPKernel this folder contents a DSP kernel program with default settings If a recovery of your system is required use the Motion Creator utility to download the DSP kernel firmware gt Utility Some utility for the board gt Manual An user s manual for a product gt Driver pci8372 sys and pci8366 sys 5 Execute Motion Creator in the Start
82. ength Axis StrVel MaxVel Tacc Tlacc Multi axes velocity motion has exactly the same functionality as a single axis velocity motion except that multi axes velocity motion can be applied to 2 or more axes simultaneously with all applied axes beginning to move at the same time and according to each axis s setting each axis will move to its constant velocity as speci fied The parameter Length is used to indicate how many axes will be involved The axes numbers are stored in Axis start velocity in StrVel maximum velocity in MaxVel Tacc in Tacc Operation Theory 47 ADLINK TECHNOLOGY ING Note 1 Each axis runs independently Thus a stop function for each axis must be issued separately 2 All axes must be on the same card 4 3 4 Multi axes P to P motion In this section the following functions are discussed start tr move all Length Axis Dist StrVel MaxVel FinVel Tacc Tdec start sr move all Length Axis Dist StrVel MaxVel FinVel Tacc Tdec Tlacc Tldec start ta move all Length Axis Pos StrVel MaxVel FinVel Tacc Tdec start sa move all Length Axis Pos StrVel MaxVel FinVel Tacc Tdec Tlacc Tldec Multi axes P to P motion has exactly the same functionality as sin gle axis P to P motion except that multi axes P to P motion can be applied to 2 or more axes simultaneously with all appl
83. esponse level but is likely to generate vibration and or noise VG2 Velocity loop gain 2 Set this gain when vibration occurs to machines with low rigidity or with large backlash A higher set value increases the response level but is likely to generate vibration and or noise FFC Feed foreword gain Used to set the velocity feed foreword gain When it is set to 10096 drop pulses will be almost zero at constant speed opera tion Note that higher set values will increase response but will enlarge the overshoot during sudden acceleration deceleration 96 Operation Theory ADLINK TECHNOLOGY INC Auto Tuning mode The MR J2S B servo driver has as read time auto tuning function which can automatically estimate the machines characteristic and set the optimum control gain values in real time There are two Auto Tuning modes Auto Tuning mode 1 In this mode the load inertia moment of a machine is estimated and all control gains are set automatically creating a machine response frequency that matches the user s requirements RSP The servo driver is factory set to this mode Under this mode set_control_gain does not work and will return errors Auto Tuning mode 2 Under this mode the user must specify the load inertia moment for the machine GD2 with all other control gains set automatically creating a machine response frequency that matches the user s requirements RSP Under this mode set_control_gain d
84. ferred to as an octave Introduction 9 TECHNOLOGY ING A ADLINK A 1 3 Software Support 1 3 1 Programming Library For customers who are programming their own applications we provide Windows 95 98 NT 2000 XP DLLs for the PCI 8372 8366 and cPCI 8312 H It is shipped with these boards 1 3 2 Motion Creator Motion Creator is a Windows based utility to setup cards motors and system It can also help users debug hardware and software problems It also can let users set I O logic parameters which can be loaded in their own program This product is bundled with this card Refer to Chapter 5 for details 10 Introduction ADLINK TECHNOLOGY INC 2 Installation This chapter describes how to install the PCI 8372 8366 or cPCI 8312 H Please follow these steps below to install the board 2 1 What You Have In addition to this User s Guide the package should also include the following items gt SSCNET Motion Control Card gt ADLINK All in one Compact Disc for driver installation User s Manual and Function Library You can find the PDF files in the installed directory If any of these items are missing or damaged contact the dealer from whom you purchased the product from Save the shipping materials and carton in case you want to ship or store the product in the future Installation 11 ADLINK TECHNOLOGY INC 2 2 PCI 8372 8366 Outline Drawing Figure 2 1 PCI 8372 8366 Mechanical Drawing
85. following formula For both trapezoidal and S curve profiles Dist acc 0 5 Dist dec 0 5 StrVel MaxVel Tacc FinVel MaxVel Tdec In some cases the distance moved may not be long enough For example the Dist in start tr move is too small or Pos in start sa move is too close to the current position These 4 func tion calls mentioned above automatically slows down the velocity The change in the velocity profile is illustrated in the diagram below 46 Operation Theory ae Stvel Tacc Tdec i Caset Case 2 Case 3 The distance is longer The distance is equal The distance is smaller then acceleration and to acceleration and than acceleration and deceleration needed deceleration needed deceleration needed Figure 4 4 Motion Function Graphs Case 1 to case 2 The constant velocity period is reduced while the Tacc Tdec StrVel MaxVel and FinVel remain unchanged Case 2 to case 3 The constant velocity period vanished and StrVel MaxVel and FinVel become smaller according to the ratio described below While the Tacc and Tdec remain unchanged New StrVel K Original StrVel New MaxVel K Original MaxVel New FinVel K Original FinVel Where K Dist Distacc needed Distdec needed Dist Distjust case 4 3 3 Multi axes velocity motion In this section the following functions are discussed tv move all Length Axis StrVel MaxVel Tacc sv move all L
86. gital ground TDO1 Digital Output 1 TDO2 Digital Output 2 TDO3 Digital Output 3 TDO4 Digital Output 4 TDO5 Digital Output 5 o ojoc B OJN TDO6 Digital Output 6 o VCC VCC 5V Table 3 5 TTL Output Pinout PCI 8372 PCI 8366 i TDO1 TDO8 4L5573 GND DO2 DO4 DO6 DIP 9 Bracket Figure 3 11 TTL Output Signal Connections A ADLINK A TECHNOLOGY INC 3 6 Analog Output Pin No Name Description CN5 SP1 1 68 A COM Common for Digital Output 35 66 DA1 Analog Output 1 36 67 DA2 Analog Output 2 Table 3 6 Analog Output Pinout The SSCNET board has two bipolar analog output channels E D A Converter pa Figure 3 12 D A Output Signals Ref In To D A Output AGND 3 7 Analog Input cPCI 8312 H Only Pin No Name Description SP1 68 A COM Common for Digital Output 62 AD1 Analog Input 1 64 AD2 Analog Input 2 Table 3 7 Analog Input Pinout The cPCI 8312 H provides two single ended analog input chan nels The analog signal input range can be set as 10V 5V or 2 5V by software 38 Signal Connections ADLINK TECHNOLOGY INC SP1 Input Multiplexer Instrum entation Amplifier sx OG source To A D V1 Converter Figure 3 13 Analog Input 3 8 Pulse Output cPCI 8312 H Only
87. hat this arc belongs to The following are 2 examples Example 1 Suppose both axes 0 amp 2 are at position 0 start motion list 2 0 2 add line ta move 100 0 0 100 100 1 0 0 add arc ta move 100 50 180 100 100 100 0 0 add line tr move 100 0j 100 100 100 O 0 add arc sr move 0 50 180 100 100 0 0 Lad 4 O 70 end motion list Operation Theory 63 ADLINK TECHNOLOGY ING p 100 Q 100 100 Linear Velocity Axis 0 Velocity Axis 2 Velocity Figure 4 19 Velocity vs Time Example 2 Suppose both axes 0 1 amp 2 are at position 0 start motion list 3 0 1 2 add line ta move 100 0 0 0 100 100 1 0 0 add arc2 tr move 1 2 0 50 180 100 100 100 0 0 add line ta move 0 0 0 100 100 0 0 1 end motion list 64 Operation Theory ADLINK TECHNOLOGY ING Axis2 Figure 4 20 Example 2 Arc Trajectory Linear Velocity ian LL EE DE Velocity T P um ES Velocity E ib Qu un GE Velocity Figure 4 21 Velocity vs Time Add dwell When add dwell function is executed the motion will be freezed for a specified period of time definied by parameter Sec in unit of second The following is an example Example Suppose both axes 0 amp 2 are at position 0 start motion list 2 0 2 add line tr move 100 0 O 100 0 1 0 1 0 Operation Theory 65
88. hen sending in damaged products for repair please attach an RMA appli cation form which can be downloaded from http rma adlinktech com policy 2 All ADLINK products come with a limited two year war ranty one year for products bought in China The warranty period starts on the day the product is shipped from ADLINK s factory gt Peripherals and third party products not manufactured by ADLINK will be covered by the original manufactur ers warranty For products containing storage devices hard drives flash cards etc please back up your data before send ing them for repair ADLINK is not responsible for any loss of data gt Please ensure the use of properly licensed software with our systems ADLINK does not condone the use of pirated software and will not service systems using such software ADLINK will not be held legally responsible for products shipped with unlicensed software installed by the user gt For general repairs please do not include peripheral accessories If peripherals need to be included be cer tain to specify which items you sent on the RMA Request amp Confirmation Form ADLINK is not responsible for items not listed on the RMA Request amp Confirmation Form Warranty Policy 175 A A ADLINK TECHNOLOGY INC 3 Our repair service is not covered by ADLINK s guarantee in the following situations gt gt gt gt Damage caused by not following instructions
89. his example 2 Create Pattern In this step we can group several frames into one pattern For example we can have the patterns as follows Axis 2 Axis 11 I Stop Figure 4 46 Conceptual Flow Chart Pattern The dash block represents the pattern We mainly divide the tim ing chart of axis O into 4 patterns Pattern 4 to 6 will activate Operation Theory 117 A ADLINK A TECHNOLOGY INC depending on the axis 0 Pattern 7 will activate depending on axis 1 Here users can have three selections to meet the requirement Position compare While the axis moves through certain position it can let the other axis start to move Like pattern 5 it will start to move while the axis 0 passes through point B Velocity transition The pattern can activate while the veloc ity of the other axis is at the end of the acceleration or the beginning of the deceleration Like pattern 4 it will start to move while the velocity of axis 0 passes through point A gt External I O signal You can also use the I O signal as trig ger to let the pattern start to move Then Pattern 8 is an independent one The following table is the summary Pattern Index Content Pattern 0 FO to F2 Pattern 1 F3 to F7 Pattern 2 F8 to F13 Pattern 3 F14 to F17 Pattern 4 F18 F19 Pattern 5 F20 F21 F22 Pattern 6 F23 F24 F25 Pattern 7 F26 F27 F28 Pattern 8 F29 to F39 Table 4 18 Pattern Index 3 Seque
90. http www adlinktech com Service adlinktech com 886 2 82265877 886 2 82265717 9F No 166 Jian Yi Road Chungho City Taipei 235 Taiwan Please email or FAX this completed service form for prompt and satisfactory service Company Information Company Organization Contact Person E mail Address Address Country TEL FAX Web Site Product Information Product Model Environment OS M B CPU Chipset Bios Please give a detailed description of the problem s ADLINK TECHNOLOGY ING ADLINK TECHNOLOGY INC Table of Contents Table of Conients Luav4vv4 v4qcec14wvammsesaksnidninmna i AE KLE rore ret tree inne innate e aana V List of FIQUEGS iiiosirnckirx ena E Rok E OR RODEO ER EMG UR ER RR IR vii 1 IntrodUctlon rrr erp rn nena eR x nur Ron anri nana 1 1 1 Specifications imienin ee tede recte tr ceto be 4 1 2 Environmental Conditions essen 9 1 3 Software Support sssssssssssseeeenenee 10 Programming Library eeeeeeeneee 10 Motion Creator srrrrrrnrnnvvrrrnrrnnrvrrrrrrnnrnnrrrrrnnrnnrssrrnnnnne 10 2 lnstallatiOn cccecr eec eerie ente 11 2 1 What You Have ssssssssssesseeeeeeneeeen eene 11 2 2 PCI 8372 8366 Outline Drawing 12 2 3 cPCI 8312 H Outline Drawing seeeeesess
91. ied axes beginning to move at the same time and according to each axis s setting each axis will move to its position or distance as specified The parameter Length is used to indicate how many axes will be involved All motion parameters are passed to its function array just as single axis P to P motion Note 1 Each axis runs independently Thus a stop function for each axis must be issued separately 2 All axes must be on the same card 4 3 5 Linear Interpolation In this section the following functions are discussed Start line tr move Length AxisArray DistArray StrVel MaxVel FinVel Tacc Tdec start line sr move Length AxisArray DistArray StrVel MaxVel FinVel Tacc dec Tlacc Tldec start line ta move Length AxisArray PosArray StrVel MaxVel FinVel Tacc Tdec 48 Operation Theory ADLINK TECHNOLOGY ING start line sa move Length AxisArray PosArray StrVel MaxVel FinVel Tacc Tdec Tlacc Tldec These four functions applies to any 2 any 3 or any 4 of the 12 axes in one card so that these axes can start simultaneously and reach their ending points at the same time and the ratio of speed between these axes is a constant value 2 Axis Linear Interpolation As in the diagram below 2 axes linear interpolation means to move the XY or any 2 of the 4 axis position from PO to P1 The 2 axes start and stop simultaneously and the path is a straight line P1 X1 Y1
92. in the User s Manual Damage caused by carelessness on the user s part dur ing product transportation Damage caused by fire earthquakes floods lightening pollution other acts of God and or incorrect usage of voltage transformers Damage caused by unsuitable storage environments i e high temperatures high humidity or volatile chemi cals Damage caused by leakage of battery fluid during or after change of batteries by customer user Damage from improper repair by unauthorized ADLINK technicians Products with altered and or damaged serial numbers are not entitled to our service This warranty is not transferable or extendible Other categories not protected under our warranty 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 web site http rma adlinktech com policy Damaged products with attached RMA forms receive priority If you have any further questions please email our FAE staff service adlinktech com 176 Warranty Policy
93. ing on the fly they have to con Operation Theory 109 ADLINK TECHNOLOGY ING sider the continuous compared with triggering pulse output feature Trigger Output fl Figure 4 40 Trigger Output SSCNET motion board has a compare mechanism of each axis that is operated by DSP DSP will compare the receiving counter with users desired value and do the actions in one SSCNET cycle if the position is achieved Besides we provide triggering pulse output when the compare condition happens The triggering pulse is performed by DO channel It will output a specific pulse width when compare condition happens First users must set one of the digital output channels as one comparator s triggering output Map more than one comparators to single digital output channel is not allowed but reverse case is allowed Second users must build up an array that contains the table of compare points You can assign a region by giving start and end index of this array for the table of compare points Third users must assign the compare direction of the table It is useful because users needn t rebuild the table reversely again if they want to do a reverse comparasion The triggering pulse is as below The pulse width is about 1ms which is decided by SSCNET cycle time Our suggestion trigger ing frequency is less than 500Hz 110 Operation Theory ADLINK TECHNOLOGY INC More than 2ms l Pulse Width 1ms Figure 4 4
94. is feature 4 Calibrate AD offset using tune_ad_offset_gain for Step 0 Check AD2 s value as 0 0 PCI 8372 8366 does not have this feature 5 Calibrate AD offset using tune_ad_offset_gain for Step 1 Check AD2 s value as 0 0 PCI 8372 8366 does not have this feature 6 Calibrate AD gain using tune_ad_offset_gain for Step 2 Check AD2 s value as 5 0 PCI 8372 8366 does not have this feature 7 Execute tune_da_offset by Step 1 Value 128 8 Execute tune da offset by Step 3 Value 128 9 Calibrate DA offset using tune da offset for Step 0 Check AD2 s value as 0 0 10 Calibrate DA offset using tune da offset for Step 1 Check AD2 s value as 0 0 11 Calibrate DA offset using tune_da_offset for Step 2 Check AD2 s value as 0 0 12 Calibrate DA offset using tune_da_offset for Step 3 Check AD2 s value as 0 0 13 Execute save auto k value and the tuning value above will be saved in EEPROM on the board These values will be restored by reload auto k value when board is initialized Operation Theory 83 TECHNOLOGY ING A ADLINK A 4 7 Driver Management 4 7 1 Driver parameter In this section the following functions are discussed get servo para Axis ParaNo Value set servo para Axis ParaNo Value get servo para all Axis Value set servo para all Axis Value save servo para I16 Axis set servo para default I16 Axis With the SSCNET board servo parameters read wr
95. it 7 ORG3 MDI9 Origin Signal 41 MEL4 MDI11 l Minus End Limit 8 PEL5 MDI13 Positive End Limit 42 ORG4 MDI12 Origin Signal 9 MEL5 MDI14 l Minus End Limit 43 PEL6 MDI16 Positive End Limit 10 ORG5 MDI15 Origin Signa 44 MEL6 MDI17 l Minus End Limit 11 IPT_COM Common for Digital Input 45 ORG6 MDI18 Origin Signal 12 EA1 Encoder A Phase 46 EA2 Encoder A Phase 13 EA1 Encoder A Phase 47 EA2 l Encoder A Phase 14 EB1 Encoder B Phase 48 EB2 Encoder B Phase 15 EB1 Encoder B Phase 49 EB2 l Encoder B Phase 16 EZ1 Encoder Z Phase 50 EZ2 Encoder Z Phase 17 EZ1 Encoder Z Phase 51 EZ2 Encoder Z Phase 18 PEL7 MDI19 Positive End Limit 52 PEL8 MDI22 Positive End Limit 19 MEL7 MDI20 Minus End Limit 53 MEL8 MDI23 Minus End Limit 20 ORG7 MDI21 Origin Signa 54 ORG8 MDI24 l Origin Signal 21 PEL9 MDI25 Positive End Limit 55 PEL10 MDI28 Positive End Limit 22 MEL9 MDI26 Minus End Limit 56 MEL10 MDI29 l Minus End Limit 23 ORG9 MDI27 Origin Signa 57 ORG10 MDI30 Origin Signal 24 PEL11 MDI31 Positive End Limit 58 PEL12 MDI34 Positive End Limit 25 MEL11 MDI32 Minus End Limit 59 MEL12 MDI35 l Minus End Limit 26 ORG11 MDI33 Origin Signa 60 ORG12 MDI36 Origin Signal 27 IPT COM Common for Digital Input 61 IPT COM Common for Digital Input 28 DO COM Common for Digital Output 62 DI1 General Digital Input 29 EA3 Encoder A Phase 63 DI2 General Digital Input 30 EA3 E
96. ite becomes very easy using function calls listed above To read a current parameter setting user can call get servo para or get servo para all get servo para retrieves certain parameter values while get servo para all will retrieve all parameter settings To set a new value for the servo parameters user can call Set servo para or set servo para all set servo para will set new values for specified parameters only while set servo para all will set all parameters value After a servo parameter tuning process user may use save servo para to store current parameter setting These val ues are stored in a Flash ROM of the SSCNET board Whenever the user wants to restore default parameter setting the function set servo para default can be used This will reset all parameters to the factory setting The following table is a simplified list of parameters For more information refer to the MR J2SB Instruction Manual symbol Name Er us E AMS Amp setting Pr 01 0000H 0001H REG Regenerative resistor Pr 02 0000H 0011H MTY For manufacturer s settings Pr 03 0080H Table 4 6 MR J2SB Parameters 84 Operation Theory ADLINK TECHNOLOGY ING MR J2SB Instruction Setting Symbol JETS Manual Parameter mii Range MCA For manufacturer s settings Pr 04 0000H MTR For manufa
97. lag is the phase difference between the two signals and is caused by the turning direction of the motor The up down counter counts up Operation Theory 79 ADLINK TECHNOLOGY ING 80 when the phase of the EA signal leads the phase of the EB sig nal A timing waveform is illustrated below m 7 EB EB fF LJ I EE L L L I l Negative Direction Figure 4 33 A B Phase Timing CW CCW Mode In this mode the pulse from EA causes the counter to count up while EB will cause the counter to count down OUT DIR Mode gt In this mode the pulse from EB decides on whether the counter should increase or decrease whereas EA count the number of pulses EA LT 13 Positive Direction EB Figure 4 34 OUT DIR Pulses The index input EZ signal of the encoder is used as the ZERO index This signal is common to most rotational motors EZ can be used to define the absolute position of the mechanism When a rising edge of EZ signal is received it will clear the encoder counter value to 0 Counter value read write To read the encoder counter value use the get_cnt_value function The parameter Value returns the counter value To set the encoder counter value use set cnt value The counter value will be set as the parameter Value Operation Theory ADLINK TECHNOLOGY INC 4 6 2 DIO In this section the following functions are discussed
98. lation Window are described as following gt Click Tab 0 to select the circular or liner mode of Interpola tion Select the relative or absolute interpolation mode Inputthe require parameters the require parameters are in the green background color Select the axes for horizontal and vertical direction gt Press the Go button to start motion gt Click Display tab to scale or shift the data Note 1 The XY Interpolation is available when more than two axes exist in your system 2 If alarm happens for example accelerate too fast the motion will be interrupted you must click the alarm reset button to reset the alarm status Motion Creator 151 TECHNOLOGY ING A ADLINK A 5 7 Two Axes Operation Window Two Axes Operation Window appears when clicking 2 Axis Oper ate button in the Main window The following figure shows the Two Axes Operation Window This window affords the simple con trol of motion relative or absolute trapezoidal mode and displays the velocity profile driver status for the users Mo tes Operation loj x Axis 0 Axis 1 Start Veloctiy RPM Start Veloctiy RPM zz Maximum Veloctiy RPM Maximum Velocti RPM ESSI rinalveloctyrRPW mi amp Final Velactiv RPM Tacc sec DA Repeat Mode Tacc sec MD Repeat Mode Tdecsec om oF ON Tdecisec a CO FON Ratio Pulse mm zz Ratio Pulse mm kz
99. less You can ignore it 40 Signal Connections ADLINK TECHNOLOGY INC 4 Operation Theory This chapter describes the detail operation of the SSCNET board card 4 1 Architecture 4 1 1 HOST PC and SSCNET Board The communication between the host PC and the SSCNET board is through a 16Kbyte Dual Port RAM that is integrated inside the SSCNET board Both the Host CPU and DSP can read write on it For the hardware level the SSCNET board is a small microcom puter It has its own processor the DSP address and data bus its data memory and peripherals use for SSCNet communication protocol Thus the host CPU does not pay any attention on the DSP Only when the application program requests information or sends command motions to the SSCNet control board the host PC needs to perform the read write functions to the DPRAM 4 1 2 SSCNet Communication The SSCNET board controls servomotors through the SSCNet communication The communication is a master slave architec ture Every 0 888 ms the SSCNET board master sends a com mand in which the position command is involved to each servo driver the slave and in return the servo drivers report back to the SSCNET board providing the SSCNET board with information about its position velocity and other specified servo data Communication is synchronous within the control cycle of the controller and the sending receiving is executed every control cycle with CRC check Broadc
100. line_tr_move 100 0 O 100 0 1 0 1 0 add dwell 0 5 add line sr move 160 80 0 150 0 0 5 0 5 0 O add dwell 1 0 add line ta move 320 110 80 100 100 0 5 0 end motion list start cont motion motor start moving after this command 4 5 Motion Related IO In addition to the SSCNet servo motor control capabilities the SSCNET board has other I O functions and can roughly be divided into 2 categories They are the motion related l O s and the gen eral purposed l O s Motion related l O s are input and output sig nals dedicated to motion For example PEL MEL position velocity Operation Theory 69 A ADLINK A TECHNOLOGY INC feedback etc This section will concentrate on the motion related I O and their function calls 4 5 1 Position control and feedback In this section the following functions are discussed get position Axis Pos F Pos C set position Axis Pos get target pos Axis TargetPos get move ratio Axis PulsePerMM set move ratio Axis PulsePerMM Get position information The SSCNET board controls servo drivers amp motors via an SSC Net protocol For each SSCNet cycle 0 888ms the SSCNET board sends a command to and receives a response from the servo driver Through command and response an abundant amount of information is carried in and out including position com mand and position feedback The function call get position will retrieve such information The
101. mergency Stop Common Table 3 3 PEL MEL ORG EMG and General Purpose DI MDI is for general purpose input if it is not used for motion Note Signal Connections ADLINK TECHNOLOGY INC 33 TECHNOLOGY ING A ADLINK A SSCNET Board l C 3 A 65 O 12 24 V 3 O GND C 3 ans 5 2l ORGI lt l Control Circuit C18 o er COM G C 3 gt 5 e Je x COM Figure 3 8 Source Type 34 Signal Connections TECHNOLOGY INC ADLINK SSCNET Board LIE IE L5 i 3 pot et F i j Figure 3 9 Skin Type 35 Signal Connections ADLINK TECHNOLOGY ING 3 4 General Purpose DO Pin No Name Description CN5 SP1 28 1 DO COM Common for Digital Output 66 35 DO1 General Digital Output 67 36 DO2 General Digital Output 68 DO COM Common for Digital Output Table 3 4 General Purpose DO Pinout PWR SSCNET Board Figure 3 10 General Purpose DO Note For Example R 4 7K and PWR 24V 36 Signal Connections 3 5 TTL Output The PCI 8372 8366 provides 6 general purposed TTL digital outputs The TTL output is available via CN3 of the bracket Pin ADLINK TECHNOLOGY INC definition is defined in the below Pin No Name Function DGND Digital ground DGND Di
102. n Window ssssse 132 Load Servo Parameter From File 132 Save Servo Parameter to File 133 Card List Table sesssseeeeee 133 Axis Information see 134 Software Version Information 135 List of Figures ADLINK TECHNOLOGY ING Figure 5 7 General Purpose IO Operation Window 137 Figure 5 8 General Purpose IO Operation Window 140 Figure 5 9 Pulse Output rrnnnonvrnnnnrnnnonvvnnnnrrnnrnnvnnnrrrnnennrnernn 143 Figure 5 10 Tuning Window seem 144 Figure 5 11 Trigger Setting Frame rrrnnnrrrnnnrnnvrrernrrnnrrrrrrrnnnn 144 Figure 5 12 Parameter Tuning Frame 145 Figure 5 13 Channel Selection Frame esssss 146 Figure 5 14 Motion Frame revannvennnvvrnnnnnvnnnvvrrnnnarnnnnvrrnensvrnerner 146 Figure 5 15 Display Frame rnnnnnnrrnnnnnonnnvrnnnnnrnnrrnnnnnannrrennrsennnn 147 Figure 5 16 Response Diagram esee 148 Figure 5 17 Play B tlon ri reet 148 Figure 5 18 Stop Button wsvarevervvvrvnvvrnvvrvnvrrnvarevrrvvrrnrnreevnnn 148 Figure 5 19 XY Interpolation Window sssse 150 Figure 5 20 Two Axes Operation Window 152 Figure 5 21 Single Axis Operation Window
103. n in the diagram below Signal Connections 29 ADLINK TECHNOLOGY ING E EB EZ Inside Board 470R EA EB EZ EA EB EZ Figure 3 5 Encoder Feedback Signals Please note that the voltage across each differential pair of encoder input signals EA EA EB EB and EZ EZ should be at least 3 5V or higher Therefore the output current must be observed when connecting to the encoder feedback or motor driver feedback as not to over drive the source The differ ential signal pairs are converted to digital signals EA EB and EZ and then fed to the FPGA Below are examples of connecting the input signals with an exter nal circuit The input circuit can be connected to an encoder or motor driver if it is equipped with 1 a differential line driver or 2 an open collector output Connection to Line Driver Output To drive the SSCNET board encoder input the driver output must provide at least 3 5V across the differential pairs with at least 6 mA driving capacity The ground level of the two sides must also be tied together External Encoder Driver PUI 8372 8266 With line driver output B phase signals Index signal Figure 3 6 Line Drive Output Connection 30 Signal Connections ADLINK TECHNOLOGY INC Connection to Open Collector Output To connect with an open collector output an external power sup ply is necessary Some motor drivers can provide the power source
104. n of this sequence will wait pattern3 s frame 2 of axis0 to start WaitAxis 0 WaitCondition 3 Pattern 3 P3 SynAxes 0x02 insert pattern to seq buffer 0 1 0 SyncAxes 1 WaitAxis WaitCondition 2 insert pattern to seq buffer 0 1 1 SynAxes 0 0 0 0 insert pattern to seq buffer 0 1 2 SynAxes 0 0 0 0 reset seq buffer 0 0 SynAxes 0x01 Operation Theory ADLINK TECHNOLOGY INC insert_pattern_to_seq_buffer 0 0 3 SynAxes 0 0 0 0 insert_pattern_to_seq_buffer 0 0 4 SynAxes 0 0 0 0 insert pattern to seq buffer 0 0 5 SynAxes 0 0 0 0 start seq move 0 0x3 Working with more than 3 patterns in one sequence If the patterns are morer than three users must know how to use the sequecen command buffers There are three command buffers in each sequence Users can use the command buffer to fulfill the continuous sequence motion Before inserting a new pattern into sequence command buffer users must use the following function to check if the buffer is full 116 check seq buffer I16 CardID I16 SeqNo If the function returns 1 it means the sequence buffer is ready for next command If the function returns 0 It means all sequence command buffers are full whil check seq buffer CardID SeqNo 0 wait buffer empty Pause and resume a sequence Sometimes users need to pause sequences and resume them They will affect all the axes in the sequence and if the SeqNoBit value co
105. nce with Three Pattern Buffers The sequence conatins three pattern buffers and realizes the desired motion Every sequence has three pattern buffers in order to execute the pattern smoothly Users have to input the patterns into the command buffers The concept can be shown as the fol lowing diagram 118 Operation Theory ADLINK TECHNOLOGY ING DSP Process Check and fill the pattern Figure 4 47 Conceptual Flow Chart Buffers A The sequence is an abstract object It collects several patterns as a group The pattern is a substantial object It contains the infor mation of frames Inside the board the first three patterns can be stored in those three pattern buffers in advance While the pattern Pn is executed by DSP the remaining two patterns Pn 1 and Pn 2 will be pushed forward and wait to be executed If you have more than three patterns you can use API function to check that the buffer status is full or not It not the next pattern can be put into the buffer It is shown as follows Buffer 2 Buffer 1 Buffer 0 eli Check and fill the pattern Figure 4 48 Conceptual Flow Chart Buffers B In some cases users may have multiple selectable patterns based on specific situation For example they are Pm and Pk Currently you can depend on your condition to put Pm or Pk into the empty buffer As for simple case you can just throw the next pattern into the empty buffer if
106. ncoder A Phase 64 EMG Emergency Stop Signal 31 EB3 Encoder B Phase 65 EMG_COM Emergency Stop Common 32 EB3 Encoder B Phase 66 DO1 Oo General Digital Output 33 EZ34 Encoder Z Phase 67 DO2 O General Digital Output 34 EZ3 Encoder Z Phase 68 DO COM Common for Digital Output Table 2 2 CN5 Pin Assignment Note MDI is for general purpose input if it is not used for motion Installation 23 A A A DLINI TECHNOLOGY INC 2 8 SP1 Pin Assignment cPCI 8312 H I O Connec tor No Name I O Function Axis No Name I O Function Axis 1 DO COM Etat sd 35 DO1 o General Digital Output 2 PEL1 MDI1 l Positive End Limit 36 DO2 Oo General Digital Output 3 MEL1 MDI2 l Minus End Limit 37 PEL2 MDI4 l Positive End Limit 4 ORG1 MDI3 l Origin Signal 38 MEL2 MDI5 l Minus End Limi 5 PEL3 MDI7 l Positive End Limit 39 ORG2 MDI6 l Origin Signal 6 MEL3 MDI8 l Minus End Limit 40 PEL4 MDI10 l Positive End Limit 7 ORG3 MDI9 Origin Signal 41 MEL4 MDI11 l Minus End Limi 8 PEL5 MDI13 l Positive End Limit 42 ORG4 MDI12 l Origin Signal 9 MEL5 MDI14 Minus End Limit 43 PEL6 MDI16 l Positive End Limit 10 ORG5 MDI15 l Origin Signal 44 MEL6 MDI17 Minus End Limi 11 IPT COM Common EMG COM SUN 45 ORG6 MDI18 ae Input 12 EA1 l Encoder A Phase 46 EA2 l Encoder A Phase 13 EA1 l Encoder A Phase 47 EA2 l Encoder A Ph
107. ndow The following figure shows the XY Interpolation Window 150 Ez X Y Interpolation m TETTE Am june Save toad 120717 3 Mode Relative p 92 426 PosDist Delat X 50000 Delat Y 50000 380 64 142 m Angle deg 35 858 Velocity RPM 7 574 Maximum 1000 Final 10 UE Time sec 20 71 7 574 35 858 64 142 92426 120 71 ERES O71 reel NEM Operate Display Tdec sec B Horizontal fasiso Ratio Pulse mm 1 Current Position Vertical i conu Axis 1 vw Ratio Pulse mm 1 SNE e Alarm Reset a ip Position Y Figure 5 19 XY Interpolation Window Motion Creator ADLINK TECHNOLOGY INC 5 6 1 Component description Position Graph This graph shows the feedback and command position of the interpolation dynamically Parameter Page The parameter page affords a friendly and intelligent interface to configure the interpolation motion Control Panel The control panel starts or stops the interpolation motion set the horizontal vertical axis for the interpolation and scale or shift the data Position Display The position display shows the current position of the horizontal and vertical axis in the unit of pulse Velocity Display The Velocity display shows the current speed ratio current speed motor maximum speed of the horizontal and vertical axis 5 6 2 Operation steps The operation steps of XY Interpo
108. ng In this section the following functions are discussed set auto tune Axis Mode RSP GD2 get auto tune Axis Mode RSP GD2 set control gain Axis PGl VG1 VIC PG2 VG2 FFC get control gain Axis PGl VG1 VIC PG2 VG2 FFC set notch filter Axis Mode NotchFrequency NotchDepth get notch filter Axis Mode NotchFrequency NotchDepth set LP filter Axis ON OFF Operation Theory 95 TECHNOLOGY ING A ADLINK A get LP filter Axis ON OFF 4 8 1 Control Gains The first 4 functions are used to set read the gain controls of the servomotor control system There are 6 control gains and they are PG1 VG1 VIC PG2 VG2 and FFC The following are some simple description of the control gains for more information refers to the Instruction Manual of the MR J2S B servo driver PG1 Position loop gain 1 Increase this value to improve tractability in response to the posi tion command VG1 Velocity loop gain 1 Normally this gain value does not need to be changed A higher set value increases the response level but is likely to generate vibration and or noise VIC Velocity integral compensation Used to set the integral time constant of a speed loop A higher set value increases the response level but is likely to generate vibra tion and or noise PG2 Position loop gain 2 This gain is used to increase the response due to level load distur bance A higher set value increases the r
109. ng all the hardware according to Chapters 2 and 3 it is necessary to correctly configure all cards and double check before running This chapter gives guidelines for establishing a control system and manually testing the SSCNET board cards to verify correct operation Motion Creator provides a simple yet powerful means to setup configure test and debugging a motion control system with the SSCNET board cards installed Note Motion Creator is only available for Windows NT 2000 XP with a screen resolution higher than 800x600 and does not run under a DOS environment 5 1 Overview Motion Creator offers the following features and functionality Language support for English Chinese Traditional and Jap anese 32 bit operation under Windows95 98 2000 and Windows NT Access and configuration of Multi Axes control system Ability to access all of the servo driver parameter Direct access to the general purpose I O Full tuning capability for all servo driver and motion parame ter XY Interpolation Support for absolute and relative trapezoidal and S Curve home return and Continuous motion vv v y v v Note Motion Creator is available for Windows 2000 or Windows NT with the screen resolution higher than 800x600 environ ment and cannot run under a DOS environment 5 2 Main Window The diagram below is the Main window of Motion Creator when the program is executed From the main window all SSCNET board cards inserted in the
110. nnected you can read the encoder value for each channel gt Enter the new value of encoder in the textbox then click the Set button to write the value Apply To gt Specify the axis that uses the external encoder signal Mode Select the attribute of each external encoder signal if the external encoder signals are connected Control Loop gt The attribute of the control loop for the external encoder Parameter The corresponding parameter for the external encoder 5 4 1 Operation Steps The General Purpose IO Operation Window accesses the digital input output and analog output value of the SSCNET board The operation steps are described as follows Motion Creator 141 TECHNOLOGY ING A ADLINK A General Purpose DI O gt Digital output click the rectangle button to write the digital output value for each digital output channel General Purpose AD DA gt Analog output enter the analog output value in the textbox then click the Set Value button to write the analog output value The current value textboxes read back the current value of two analog output channels automatically The ADO AD1 will read back the current analog input value of two channels External Encoder Setting Mode Select the attribute of each external encoder signal if the external encoder signals are connected Apply To select the axis that uses the external encoder Control Loop select open or close lo
111. ntents more than one sequence All the sequences will have the same results after the command is issued 116 pause seq move I16 CardID I16 SeqNoBit F64 Dec Time I16 resume seq move I16 CardID I16 SeqNoBit F64 Acc Time Operation Theory 123 ADLINK TECHNOLOGY ING 4 14 3 Coding Example 2 Compare Start Condition Figure 4 50 Coding Example 2 1 Variables Setting I16 FirstFrame LastFrame I16 AxisNo I16 SynAxes I16 PatternNo I16 WaitAxis StartCondition 2 Create Patterns for Sequence 0 AxisNo 0 SynAxes Oxl PatternNo 0 Pattern 0 FirstFrame 0 LastFrame add frame ta move AxisNo FirstFrame 0 45 0 30 0 2 1 set pattern 0 PatternNo FirstFrame LastFrame FirstFrame SynAxes PatternNo Pattern 1 FirstFrame LastFrame 124 Operation Theory ADLINK TECHNOLOGY ING LastFrame add frame dwell AxisNo FirstFrame 45 1 LastFrame add frame ta move AxisNo LastFrame 45 44 8 0 1 0 0 1 0 1 set pattern 0 PatternNo FirstFrame LastFrame FirstFrame SynAxes PatternNo Pattern 2 FirstFrame LastFrame LastFrame add frame ta move AxisNo FirstFrame 44 8 45 0 20 0 1 1 LastFrame add frame ta move AxisNo LastFrame 45 41 5 0 2 0 2 2 LastFrame add frame ta move AxisNo LastFrame 41 5 41 4 0 0 1 0 0 01 0 01 set pattern 0 PatternNo FirstFrame LastFrame FirstFrame SynAxes PatternNo Pattern 3
112. o position 100mm and the maximum velocity is 10 mm sec The necessary number of pulses to accel erate is 0 5 10 0 5 2 5mm The necessary number of pulses to decelerate is 0 5 10 1 5 mm Total distance is 100mm and it is larger than the summation of acceleration and deceleration dis tance That means it can reach the maximum velocity As for the deceleration distance is 5mm the minus compensative command must be issued 5mm in advanced before end Refer to the following table At position AppliedPos the set_position_compensate 0 Compen Value is applied Compen_Value AppliedPos Final Position Note 5 10 105 OK Table 4 2 set_position_compensate Values 58 Operation Theory ADLINK TECHNOLOGY INC Compen_Value AppliedPos Final Position Note 15 90 115 OK 5 95 95 OK 5 96 100 Not allowed Table 4 2 set position compensate Values 4 4 Home move In this section the following functions are discussed set home mode Axis HomeMode home move Axis StartVel MaxVel FinVel Tacc After configuring set home mode user may use the home move function to command the axis to start returning home The StrVel defines the starting velocity the Tacc define the acceleration time and the axis continues traveling at the con stant velocity until it reaches the ORG switch Note The sign of MaxVel defines the moving direction while the sign of
113. oes not work and will return errors Manual setting mode If the user is not satisfied with the adjustment of auto tuning he she can make manual adjustments Manual mode 1 Under this mode the user can specify the following control gains including GD2 PG1 VG2 and VIC while PG2 VG1 and FFC are set automatically Under this mode set_control_gain can be used to set PG1 VG2 and VIC Setting for PG2 VG1 and FFC is automatically ignored Manual mode 2 Under this mode the user can specify all control gains The func tion call set control gain can be used to set PG1 VG2 VIG PG2 VG2 and FFC Operation Theory 97 A A ADLINK TECHNOLOGY INC The function call set_auto_tune is used to select the auto tuning or manual tuning mode with the parameter Mode specifying the operation mode If Auto tuning mode is selected RSP specifies the user s machine response frequency requirements while in manual mode it s not applicable GD2 specifies the load inertia moment of a machine The function call get_auto_tune can be used to read set tings from the servo driver The function call set_control_gain is used to set the con trol gains when manual mode operation is selected The function call get_auto_tune can be used to read set tings from the servo driver The following table is a list of selectable gains under differ ent operation modes
114. op control Parameter enter the corresponding parameter for control loop Read and write encoder value gt If the external encoder channels are used and the signals are connected you can read the encoder value for each channel Enter the new value of encoder in the textbox then click the Set button to write the value 5 4 2 Pulse Output Page This SSCNET board provide two channels of pulse output func tion Users can use these two channel to control stepper or any other pulse input command motor 142 Motion Creator mE inl x Card ID O0 External Encoder Setting Generai Purpose D O Enc Channel 0 Enc Channel 1 Pulse Output Dovan FN OUT DIR 1 OUT DIR 2 A Apply To Apply To Generali Purpose DA Mode r Mode CH1 CHO OUT DIR OUT DIR r Mode r Mode 1 C cweew C cwrcew Direct DA Direct D C 1XAIB Phase C 4X A B Phase F B F B Monitor Monitor C 2XAlB Phase C 2X A B Phase EA T dE C 4XA B Phase C 4X A B Phase Write Write ADI AD 0 0 00030 Volt 0 00030 Volt E in A Figure 5 9 Pulse Output 5 4 3 Component description Apply To gt Specify the axis that uses pulse output function Notice that the axis number can t be overlapped by SSCNET axis Mode Select the attribute of pulse output signal 5 5 Tuning Window Tuning Window appears when cli
115. ose IO Operation Window appears when clicking l O Configure button in the Main window Figure I O Configure shows the General Purpose IO Operation Window General Purpose IO Operation ini B xj Card ID 0 External Encoder Setting General Purpose DIO Channel 0 Channel 1 Divas Ch0 Apply To DA Channel e None Channel0 Channel 1 Parameter gt DO Vake E Control Loop Pulse Per z C Close Revolution A A C DAClose Open Kpp Mode Kff OUT DIR n General Purpose DA Max Velocity o C cweew r Channel 1 Channel 0 CORR Voltage Limit o Mode Mode desk Move Ratio Direct DA Direct DA C 2XA B Phase F B F B Encoder Value Monitor C Monitor j fue eee Current Value Value Read Write New Value Write Write Write 3 Z Interrupt Motion VO i Next Card Main Figure 5 7 General Purpose IO Operation Window Motion Creator 137 A A ADLINK TECHNOLOGY INC 5 3 1 Component description The General Purpose IO Operation Window is divided into several frames Each frame is described as follows General Purpose DI O There are two digital input and 2 digital output channels in SSC NET board 1 The circular buttons show the status of two digital input channels 2 Click the rectangle button to
116. osition is correct gt Launch save_abs_position to store the ABS position as an origin position reference gt Next time when SSCNET motion control card starts users don t need to launch home_move anymore They can only launch get_position function to get an absolute position If the servo parameter07 is set to 1 remember to set this ABS position to operating position counter via the get_abs_position and set_position functions Don t use the get_abs_position in polling cycle because it is much slower than the get_position function The Coding Guides are as followings Physical homing Axis doesn t know its origin position or program needs home move AxisO WaitforSingleObject AxisOEvent TimeOut or Polling motion_done save abs position AxisO Non Physical homing Axis already knew its Origin Position set position AxisNo 4 13 Compared Trigger Output In this section the following function is discussed map dout and comparator CardID Dout CH AxisNo CompNo Dout mode set compare table dir CardID Table ChNo Dir link dout and compare table CardID DO ChNo StartI EndI Table Data For some applications motion control must work with vision sys tem The vision system includes a CCD camera that needs to cap ture images at a specific location These locations are discontinuous but very closed at most cases If users need to per form a high speed picture captur
117. ource of set int factor is use to specify the source with IntFactor specifying the interrupt conditions for this specified source Refer to the tables below Operation Theory 103 TECHNOLOGY ING A ADLINK A Source 0 11 for Axis 0 Axis 11 respectively Bit of IntFactor Name Description 0 PEL Positive Limit Switch 1 MEL Negative Limit Switch 2 ORG Home Switch 3 RDY Servo Ready 4 INP In Position 5 EZ Index signal passed 6 ZSPD Zero Speed 7 TLC Torque Limit reached 8 ALM Alarm signal on 9 WRN Servo Warning on 10 HOME Home Move completed 11 MTC Motion Completed 12 CPBF Curve Parameter Buffer Full 13 EPD Position deviation is too large 14 CMP1 Position compared is true 15 CMP2 Position compare2 is true Table 4 15 Axis Interrupts Source 12 for system interrupt Bit of IntFactor Bit of IntFactor Description 0 System Error 1 Emergency Stop 2 Cyclic Timer Interrupt Table 4 16 System Interrupts Source 13 for GPIO interrupt Description 0 General purposed DI Channel 0 1 General purposed DI Channel 1 8 Compare Counter CHO 104 Table 4 17 GPIO Interrupts Operation Theory ADLINK TECHNOLOGY INC Bit of IntFactor Description 9 Compare_Counter_CH1 10 Compare_Counter_CH2 Table 4
118. own time when interlock happens 3 X1 X2 Y1 Y2 form a interlock region 4 12 Absolute Position System In this section the following function is discussed get abs position Axis ABS Pos save abs position Axis clear abs data on flash I16 CardID SSCNET board provide absolute position system for SSCNET motor driver Users need only execute homing procedure once then the board can keep the absolute position in the ROM When the machine restart next time it will restore the absolute position of each axis from the ROM The machine needn t to doing the home procedure again Mitsubishi servo drivers use a battery to keep its encoder s value inside at absolute position mode The position value is on servo driver and users must turn on absolute position mode in parameter AMS before using this feature Of course users need to install a battery to keep the position value on driver s side permanently In order to have absolute position feature on SSCNET motion con trol card we must read the absolute position value from servo driver and retrieve the origin position information from FLASH ROM of SSCNET motion control card when card is initialized After that we will calculate an absolute position of users machine according to these two information 108 Operation Theory ADLINK TECHNOLOGY INC The formal procedure to use this features are as followings Launch home_move function to complete homing Check if the home p
119. ppendix Table 6 2 MR J2S B Warning List 165 A A A DLINI TECHNOLOGY INC 6 3 Driver Parameter List MR J2SB Symbol Name ids Unit Setting range parameter AMS Amp setting Pr 01 0000H 0001H REG Regenerative resistor Pr 02 0000H 0011H MTY For manufacturer s settings Pr 03 0080H MCA For manufacturer s settings Pr 04 0000H MTR For manufacturer s settings Pr 05 1 FBP Feedback pulse number Pr 06 0 1 6 7 225 POL Direction of motor rotation Pr 07 0 1 ATU Auto tuning Pr 08 0000H 0004H RSP Servo response setting Pr 09 0001H 000FH TLP Forward rotation torque limits Pr 10 0 Maximum torque TLN Reverse rotation torque limits Pr 11 0 Maximum torque DG2 Moment of inertia ratio of load Pr 12 0 1 0 3000 PG1 Position control gain 1 Pr 13 rad sec 4 2000 VG1 Speed control gain 1 Pr 14 rad sec 20 8000 PG2 Position control gain 2 Pr 15 rad sec 1 1000 VG2 Speed control gain 2 Pr 16 rad sec 20 20000 VIC Speed integration compensation Pr 17 msec 1 1000 NCH Mechanical resonance control filter Pr 18 0 031FH FFC Feed forward gain Pr 19 0 100 INP In position range Pr 20 pulse 0 50000 MBR Electromagnetic brake sequence Pr 21 mseg 0 1000 output MOD Monitor output mode Pr 22 0000H 0BOBH OP1 Optional function 1 Pr 23 0000H 0001H OP2 Optional function 2 Pr 24 0000H 0110H LPF Low pass filter Pr 25 0000H 1210H OP4 For manufacturer s settings
120. ps 4 5 3 Motion DIO status In this section the following functions are discussed av EL config Axis Logic mode EL config Axis Logic mode se se set_ORG_config Axis Logic set_EMG_config CardID Logic get_PEL_status Axis status get MEL status Axis status get ORG status Axis status get EMG status CardID status The motion DIO mentioned here refers to the motions dedicated to the digital I O signals including PEL MEL ORG and EMG Each axis has its own motion DIO signal except EMG All axes from a single card shares the same EMG signal End limit signals The end limit signals are used to stop the axis when they are active There are two possible stop modes one is stop imme diately and the other is decelerate to StrVel then stop The parameter mode in set PEL config set MEL config are used to select the mode You can use either an a contact switch or a b contact switch by setting the parameter Logic 72 Operation Theory ADLINK TECHNOLOGY INC PEL signal indicates the end limit in the positive plus direc tion The MEL signal indicates the end limit in the negative minus direction When the axis is moving towards the positive direction the axis will be stopped when the PEL signal becomes active while the MEL signal is no affect in this case and vise versa When the PEL is active only the negative minus direction motion is allowed The PEL M
121. pt another move command In Home Move E another move command Axis is in moving in home procedure and can t accept Table 4 4 Motion Status Operation Theory 75 TECHNOLOGY ING A ADLINK A Bit Name Description After lauching velocity change command this bit will be 2 In_V_Change j ON til the te is done After lauching position change command this bit will be In P ehange ON till the en is done 5 MEL ON Axis touches the positive limit switch 6 PEL ON Axis touches the negative limit switch 7 ORG ON Axis touched the origin switch 8 EMG ON Emergency input pin is ON 9 P Soft ON Axis is reached the positive software limit 10 M Soft ON Axis is reached the negative software limit 11 EZ ON Axis touched the external Index switch 12 Stop cmd end After v stop command ends this bit will be ON 13 Stop cmd running This bit will be ON if users lauched a v stop command 14 Interlock Pause Once the axis is paused be interlock procedure this bit will be ON 76 Table 4 4 Motion Status 4 5 6 Motion Input as General Input In this section the following functions are discussed set mio mode CardID DI Channel Mode get MDI status I16 CardID I16 MDI Channel MDI Channel The range is from 0 to 35 The corresponding pin on SP1 is MDI minus one Mode Mode 0 makes the motion input function EL ORG active Mode 1 makes motion input function ina
122. r call start tr move in his program The motion is split into several frames Each frame contains information of a piece of trajectory Frame data was downloaded into SSCNET board DSP calculate frame data to retrieve trajectory information and realize the motion Figure 4 1 Frame Flowchart Example of start_tr_move Step 1 User calls start_tr_move 0 10 0 0 5 0 0 0 5 0 3 in his program The meaning of each parameter Axis No 0 Dist 10 0 mm Stat velocity 0 Maximum velocity 5 0 mm sec Final velocity 0 Tacc 0 5 Tdec 0 3 Step 2 DLL function start_tr_move is invoked to solve the frames of this motion command Assumes that the absolution position before Operation Theory 43 TECHNOLOGY ING A ADLINK A start tr move is 0 Start tr move will be disassembled into 3 frames gt 1X 210 t 2 t20 0 5 gt 2 X t 1 254 5 t t 0 1 6 gt 3 X t 9 25 5 t 16 666667 t 2 t 0 0 3 Step 3 Download frame data to the SSCNET board t0 t1 t2 t3 Period 1 0 10 10 0 0 5 2 1 25 5 0 0 1 6 3 9 25 5 16 667 0 0 3 Table 4 1 start tr move Data Table Step 4 The DSP of the SSCNET board calculates the frame data to obtain the trajectory information 4 3 Single Motion In this section single motion functions are discussed Single motion means the motion is commanded by one function call only For example start s
123. r move this function will allow an axis to move a certain distance with a specified speed and accel decel time Single motion functions can be categorized into the following types according to their functionality 4 3 1 Single axis velocity motion In this section the following functions are discussed tv move Axis StrVel MaxVel Tacc sv move Axis StrVel MaxVel Tacc Tlacc The single axis velocity motion function will allow the axis to accel erate from a starting velocity StrVel to a specified constant velocity MaxVel The axis will continue to travel at this constant velocity until the velocity is changed by inserting the function 44 Operation Theory ADLINK TECHNOLOGY ING tv change sv change or stopped by the functions tv stop sv stop emg_stop Two kinds of acceleration method are available By using tv_move the acceleration is constant as shown in the in left dia gram below By using sv_move the derivative of acceleration the jerk is aconstant as Illustrated in the right diagram below Velocity Velocity MaxVel Strel Strvel Accelefation Accele ation Jerk Jerk Time Time tv move sv move Figure 4 2 Constant Jerk Graph 4 3 2 Single axis P to P motion In this section the following functions are discussed start tr move Axis Dist StrVel MaxVel FinVel acc dec start_sr_move Axis Dist StrVel MaxVel FinVel acc dec Tlacc Tldec start_t
124. red mechanism 1 If the resolution of the motor is 8000 pulses round and 2 The resolution of the gear mechanism is 10 mm round i e part moves 100 mm if motor turns one round Then the move ratio will be 8000 10 800 pulses mm Moving part ER Figure 4 29 Move Ratio Control All motion commands issued by the SSCNET board are in units of mm or mm sec Users need to set the move ratio value using set move ratio according to the mechanical design If user want to check current move ratio value get move ratio function is helpful Note Ifthe set cnt to axis function is called to allow an encoder counter to work as a position feedback source then the move ratio will refer to the pulses from the encoder counter rather than from the SSCNET motor driver Operation Theory 71 ADLINK 4 5 2 Velocity Feedback In this section the following function is discussed get velocity Axis Vel F Vel C This function is used to retrieve the velocity information Two velocity values can be retrieved gt Vel F Feedback velocity just as for position feedback the SSCNET board receives the velocity feedback via SSC Net communication and is refreshes on each SSCNet cycle and is measured by the servo driver Vel C Command velocity is calculated by the DSP of the SSCNET board For each SSCNet cycle it is calculated again Notice that the speed resolution is one pulse per 0 888ms It is about 1126p
125. s 13 2 4 Hardware Installation cceceeeeeeecceeceeeeeeeeeeeeeeeeeeseaaees 15 Installation Procedures eeceeceeceeeeeeeeeteeeeeeeees 15 BIBUNT 15 KernelUpdate Utility of SSCNET card 16 SSCNET Communication Test Utility 19 2 5 Software Driver Installation rrrrrrronnrrrrrrrrnnrrnrrrrrnnnrnnrr 21 2 6 CN1 Pin Assignment SSCNet Connector on PCB 22 2 7 CN5Pin Assignment PCI 8372 8366 I O Connector 23 2 8 SP1 Pin Assignment cPCI 8312 H I O Connector 24 2 9 CNS3 Pin Assignment TTL output Connector on bracket 25 2 10 HS1A HS2B Pin Assignments HSL Communication Signal GL ES 26 3 Signal Connections eene 27 3 1 SSCNet Servo Driver Connection uuss 27 3 2 Encoder Feedback Signals EA EB and EZ 29 3 3 PEL MEL ORG EMG and General Purpose DI 32 3 4 General Purpose DO sse 36 9 b TTL Qutputu esuugnsuummmdlean Leite nee sn 37 3 6 Analog Output 38 3 7 Analog Input CPCI 8312 H Only ssss 38 Table of Contents i TECHNOLOGY ING A ADLINK A 3 8 Pulse Output cPCI 8312 H Only sssss 39 Operation Theory maesssmmmssssemanmensenuisarmaknnnenaandameden 41 41 Architedture n u umn iv roten tette rele ponite te ia 41 HOST PC and SSCNET
126. s function ality set by NotchFrequency and NotchDepth 2 Adaptive vibration control is factory set to be invalid 3 Adaptive vibration control is useful only when machine resonance is between 150 500 Hz It has no effect on the resonance frequency outside this range 4 Under operating conditions in which sudden disturbance is imposed during operation the detection of the resonance frequency may malfunction temporarily causing machine vi bration In such a case set the adaptive vibration suppres sion control mode to be 3 Hold to fix the characteristics of the adaptive vibration suppression control filter 4 8 3 Low pass filter The functions set LP filter and get LP filter are related to low pass filter functions When a ball screw or the like is used resonance of high frequency may occur as the response of the servo system is increased To prevent this the low pass filer is factory set to be valid with a torque command The filtering frequency of this low pass filter is automatically adjusted to the value according to the expression below Operation Theory 101 ADLINK TECHNOLOGY ING VG2 setting 10 Filter Frequency Hz 2 1r 1 GD2 setting 0 1 The low pass filter can be enabled or disabled using the parameter ON OFF gt ON OFF 0 Disabled gt ON OFF 1 Enabled Note In a mechanical system where rigidity is extremely high and resonanc
127. se 25 Table 2 5 HS1A HS2B Pin Assignment 26 Table 3 1 Encoder Feedback Signals EA EB and EZ 29 Table 3 2 Encoder Power eese 31 Table 3 3 PEL MEL ORG EMG and General Purpose DI 32 Table 3 4 General Purpose DO Pinout ssss 36 Table 3 5 TTL Output Pinout ernrreerrrrrnennrvnrnnrrrnrnnrenrnnrrnnnnnnn 37 Table 3 6 Analog Output Pinout sss 38 Table 3 7 Analog Input Pinout eernnnrrrnnronnnrrnvnnrnnnrrnrnrnrnnrnnen 38 Table 3 8 Pulse Output Pinout sees 39 Table 4 1 start tr move Data Table 44 Table 4 2 set position compensate Values 58 Table 4 3 Axis Status ssssssssssseeeeenens 74 Table 4 4 Motion Status sssssssssseeeeeeees 75 Table 4 5 Encoder Resistor srrnnnnonnnvrnnnnnrnnrrnnnnnnnnvrnrnnrrnnnnnen 78 Table 4 6 MR J2SB Parameters sss 84 Table 4 7 Monitoring Targets se 88 Table 4 8 Axis Parameters sse 91 Table 4 9 Data Array Offset sse 93 Table 4 10 Servo Bit Information ssesssssssss 93 Table 4 11 Selectable Gains sess 98 Table 4 12 Notch Frequency Settings ssssssss 99 Table 4 13 Notch Gain Settings
128. se lO sessssseeeeens 77 Encoder Counter marnnvnnnnnvnnannnvnnvrrrenannvnennnrrennnnvnnnennn 77 DIO EE EE EEE eatin 81 DA o 81 AD maten ito E es 82 Analog channel auto calibration 82 4 7 Driver Management ssseenm n 84 Driver parameter rrnnnnonnnvnnnnnonnvnnnnnnnnnrnnnnnnrnnnrnnsnnennnnne 84 Data monitoring suitene ie etre eee crine 86 Servo Information sse 93 SEO ON niini ra ian aiaia n 94 Table of Contents ADLINK TECHNOLOGY INC Driver information oo cece eeeeeeeeeeeeeeeaeeeeeeeeaaeeeeeeenaas 94 Servo Alarm wicca aii eee a eset 95 4 8 Control Gain TUNING ceceeeeeeeeeeeeeeeeseeeeseeeeeeeeaeeeeaees 95 Control GaS TD 96 Mechanical resonance suppression filter 98 Low pass filter teet entere cen 101 4 9 Interrupt contiol esris 102 4 10 Position Compare Function ssseeeeee 105 4 11 Interlock Function eeornnnvnonnrnnnnvnnnnnnnnnvnnnennnnvnnevennnnennn 106 4 12 Absolute Position System ssssssssssssss 108 4 13 Compared Trigger Output 109 4 14 Sequence Motion Control sess 114 Conceptual Flow Chart rrrrnnennrnnrnnrrnnnnnvnnrrrrrnnnnnnnnnn 115 Coding Example 1 Using C Language 120 Coding Example 2 Compare Start Condition 124 Motion Creato
129. stop The deceleration time is defined in parameter Tdec 5 7 2 Operation Steps Select the motion mode and input the require parameters for each axis the require parameters are in the green back ground color Click the Servo button to keep the Servo On state Click right play and left play button to start the motion Click Stop to stop the motion When the motion starts the feedback velocity profile will display in the velocity chart and the driver status is also display in this win dow Note 154 If alarm happens the motion will be interrupted you must click the alarm reset button to reset the alarm status Motion Creator ADLINK TECHNOLOGY ING 5 8 Single Axis Operation Window Single Axis Window appears when clicking 1 Axis Operate but ton in the Main window The following figure shows the Single Axis Window This window supports the full control of a single axis motion and displays the velocity profile and driver status Axis 0 Velocity Profile Parameter Apply Next Motion Mode Start Velocity RPM Absolute Relative Home Continuous Maximum Velocit RPM RE gl L gl Final Velocity RPM Tacc sec EI Tlacc sec r Repeat Mode Position Distance jc ae POE Tdec sec Ga Tidec sec Apply All mm Delay sec TT Stop Time sec i Position2 Velocity Profile 10 Trapezoidal C S curve Alarm status In
130. system and all axes connect are listed Motion Creator 131 ADLINK TECHNOLOGY INC ini xl File Operate Configuration Tool Language Help Card List Card No Type IRQNo Address i oeo pro Pcissss 9 ceo00 o e VO Configure Axis List Axis No Station No Motor Type Pulse Bev 12 131072 eni 1 13 131072 Aai 2 43 131072 2 Axes Operate 1 Axis Operate Motion Creator L Total Cards 1 e Total Axes 3 ie OnLine Figure 5 1 Motion Creator Main Window 5 2 1 Component description Toolbar Use Motion Creator s toolbar to access the following functions Figure 5 2 Load Servo Parameter From File Load the servo parameter file from saved file This file records the servo parameters of all axes in all cards 132 Motion Creator ADLINK TECHNOLOGY ING Figure 5 3 Save Servo Parameter to File Save the servo parameters to file with a file extension par Language Support Click the Language item in the menu bar and select the lan guage you want to display The language you select must be available in your operation system for example only Chinese Tra ditional and English are available in Windows NT Chinese Tradi tional Version Card list table This table lists all SSCNET board cards plugged in the PCI Bus The Card No column displays the card index the Type column display the card type the IRQ column displays the IRQ number of the card an
131. t be clearly defined Center point The coordinate of the center of arc In absolute mode or the off set distance to the center of arc In relative mode Angle The moving angle either clockwise or counter clock wise 4 3 7 Change Velocity on the Fly In this section the following functions are discussed tv stop Axis Tdec sv stop Axis Tdec emg_stop Axis tv_change Axis SpeedFactor sv_change Axis SpeedFactor Tacc Tacc The first three functions are used to stop a moving axis The last two are used to adjust the moving speed of an axis tv_stop function stops the specified Axis with a deceleration time period Tdec and a Trapezoidal velocity profile during deceleration See diagram below 54 Operation Theory ADLINK TECHNOLOGY ING Time Figure 4 10 Stop a Moving Axis The sv stop function stops a specified Axis with deceleration time period Tdec and a S Curve velocity profile during deceler ation See diagram below sv stop Figure 4 11 Stop with Deceleration The emg stop function stops the a specified Axis immediately without deceleration See diagram below emg stop Time Figure 4 12 Immediate Stop Operation Theory 55 ADLINK TECHNOLOGY ING The tv change function changes the moving speed of a specified Axis with acceleration time period Tacc and a Trapezoidal velocity profile during
132. tatus comes into existence you can replace the patterns in the sequence at your will 4 14 1 Conceptual Flow Chart 1 Create Frames The trapezoidal velocity profile has three frames and S curve has seven frames If you are not familiar with it please refer to 4 2 First of all users have to prepare the timing chart velocity profile of all controlled axes The following is the demonstrated timing chart for handler control Operation Theory 115 ADLINK TECHNOLOGY ING Velocity Axis 0 Axis 1 Figure 4 44 Conceptual Flow Chart Timing A As the diagram you can see the timing chart of the 4 axes In this case we only control 4 axes axis 0 1 2 and 11 As soon as hav ing the complete timing chart you can segment the velocity profile and obtain the frames that are based on the rule introduced ear lier The spot in the figure is the starting condition Some axes will start to move based on the other axes condition Here we have to be aware of one thing The synchronous relation should be noted In this example we have three dependent axes which are axis 0 1 2 Axis 11 is independent of these three axes In a word those three axes have the synchronous relation Right now we have to label the frame index The following dia gram shows that 116 Operation Theory ADLINK TECHNOLOGY INC Velocity Timing Chat Figure 4 45 Conceptual Flow Chart Timing B There are totally 40 frames in t
133. te 1 Smoothing is also applicable for 3D and 4D 2 The smoothing trajectory guarantees continuous velocity and acceleration at the smoothing point 4 4 3 Declaration for End of Motion List In this section the following function is discussed end motion list This function is used to declare the variables for the end of motion list describing a continuous motion trajectory After adding trajec tories piece wisely using the function calls discussed above end motion list must be called so that the motion trajectory can 68 Operation Theory ADLINK TECHNOLOGY INC be translated into frame data such that the SSCNET board can understand This function takes no parameters 4 4 4 Start Stop command In this section the following functions are discussed start_cont_move Void stop_cont_move Void After building a trajectory by either on line start end motion list or off line load trajectory file method user can call the start_cont_move function to perform the continuous motion tra jectory If the user has program a second trajectory by either on line start end motion list or off line load trajectory file method the previ ous trajectory will be erased and cannot be retrieved except to reconstruct it again The user must be careful with this especially when multiple threading programs are implemented For example Suppose both axes 0 amp 2 are at position 0 start_motion_list 2 0 2 add_
134. te Parameter button to adjust all the parameters to default value Note For any parameter whose symbol is preceded by set the parameter value and switch power off once then switch it on again to make that parameters setting valid 162 Motion Creator ADLINK TECHNOLOGY INC 6 Appendix 6 1 MR J2S B Alarm List When any alarm has occurred eliminate its cause ensure safety then deactivate the alarm and restart operation Not doing so can cause injury Power supply voltage dropped AL 10 Undervoltage MR J2S B 160V or lessMR J2S 0B1 83V or less AL 12 Memory alarm 1 RAM memory fault AL 13 Clock alarm Printed board fault AL 15 Memory alarm 2 EEPROM fault Communication error occurred AL 16 Encoder alarm 1 between encoder and servo ampli fier AL 17 Board alarm CPU parts fault AL 19 Memory alarm 3 ROM memory fault ALA Motor combination Combination of servo amplifier and alarm servo motor is wrong Communication error occurred AL 20 Encoder alarm 2 between encoder and servo ampli fier Ground fault occurred at the servo AL 24 Main circuit error motor outputs U V W phases of the servo amplifier Absolute position data in error Power was switched on for the first time in the absolute position detec tion system AL 25 Absolute position erase The permissible regenerative power of the built in regenerative AL 30 Regenerative alarm brake resistor or regenerative brak
135. ter more completely and illustrates the meaning of each setting value of the parameter Operate Frame This frame includes several command buttons and are described as following Read All reads all of the servo driver parameter from servo driver and displays the value in the Current Value column of Servo Driver Parameter Table Default modify the setting value of all servo driver parame ters to default value Save to File save the current setting of all servo driver parameters into a file gt Load from File modify the setting value of all servo driver parameters from a existing file Apply Next apply the current parameter setting to next axis gt Apply All apply the current parameter setting to all axes in your system Value Frame This frame shows the current setting of the parameter in decimal or hexadecimal format Modify button modify the current setting of the parameter Motion Creator 161 TECHNOLOGY ING A ADLINK A 5 9 2 Operation Steps gt Click Read Parameter button to read current value of all parameters from servo driver Click the parameter you want to adjust in the parameter list table Inputthe value and click the modify button to modify the setting value of the parameter Click Write Parameter button to adjust the parameters that you have modified gt You can also click the default button to modify all the parameters to default setting then click Wri
136. terrupt Axis 0 Bit 4 INP Bit9 I WRN Bit 01 PEL Bits Ez Bit 10 HOME Bit 11 MEL Bit 6 ZSPD Bit 11 I MTC Bit 2 ORG Bitz TLC Bit 12 I CPBF Bit3l RDY Bit 8 ALM Bit 13 EPD p amp e l Sound Previous Next Op rate Figure 5 23 Interrupt Configration Window 158 Motion Creator ADLINK TECHNOLOGY INC 5 8 4 Operation Steps gt gt Selecting a motion mode Absolute Mode Position1 and position2 will be used as absolute target position for motion Relative Mode Distance will be used as relative dis placement for motion nal is active Continuous Mode The Motion keeps going until the stop button is clicked in repeat mode forward backward or position position2 It is only effective when Relative Mode or Absolute Mode is selected D Velocity Profile Select the velocity profile Both Trape zoidal and S Curve are available for Absolute Mode Relative Mode and Continuous Mode Input the require parameters the require parameters are in the green background color Click the Servo button to keep the Servo On state Click right play and left play button to start the motion Change Position On The Fly Button When this button is enabled users can change the target position of current motion The new position must be defined in Position2 Change Velocity On The Fly Button When this button is enabled users can change
137. terrupt 110 Clear Int Count 0 p Driver Status Motion St5 Int Status amp o o9 9 9 9 9 9 99 RDY SVN INP ZSD EZ TLM ALM WRN PEL MEL ORG Operate BE je Servo On the Fly Change g E eee me ut vo Set e Position x L ee uning 4 Velocity Profile Feedback METTE Command EES Ratio Pulse mm EA he Ki Figure 5 21 Single Axis Operation Window 5 8 1 Component description Motion Mode Frame This frame provides selection of all modes for single axis motion each mode is described below Motion Parameters Frame This frame displays the require parameters for motion the param eters are described below Start Velocity Set the start velocity of motion in unit of PRM In Absolute Mode or Relative Mode only the value is effective ie 100 0 is the same as 100 0 In Cont Move Motion Creator 155 A A ADLINK TECHNOLOGY INC vvv v both the value and sing is effective 100 0 means 100 0 in minus direction Maximum Velocity Set the maximum velocity of motion in unit of PRM In Absolute Mode or Relative Mode only the value is effective ie 5000 0 is the same as 5000 0 In Cont Move both the value and sing is effective 5000 0 means 5000 0 in minus direction Final Velocity Set the final velocity of motion in unit of PRM In Absolute Mode or Relative Mode only the value is effectiv
138. the digital output value for each digital output channel General Purpose DA Analog output enter the analog output value in the textbox then click the Set Value button to write the analog output value The current value textboxes read back the current value of two analog output channels automatically External Encoder Setting Mode Select the attribute of each external encoder signal if the external encoder signals are connected Apply To select the axis that uses the external encoder gt Control Loop select open or close loop control Parameter enter the corresponding parameter for control loop Read and write encoder value If the external encoder channels are used and the signals are connected you can read the encoder value for each channel gt Enter the new value of encoder in the textbox then click the Set button to write the value Motion Creator 139 ADLINK TECHNOLOGY ING 5 4 General Purpose IO Operation Window cPCI 8312H General Purpose IO Operation Window appears when clicking I O Configure button in the Main window Figure I O Configure shows the General Purpose IO Operation Window lol xj Card ID 0 Externai Encoder Setting General Purpose Di O i 1 i 1 Apply To DA Channel Gha Ch 0 None Channelo
139. the same b Input voltage range 0 24V bLogic H 14 4 24V gt Logic L 0 5V gt Input resistor 4 7kOhm 0 5W DI change of state detection Isolated voltage 500Vrms Bandwidth 10kHz 0 1ms Digital Output DOx2 Output type gt Open collec tor PC3H7 gt Sink Current 6 5mA Min Isolated voltage 500 VDC Bandwidth 10kHz 0 1 ms Table 1 1 Specifications Introduction ADLINK TECHNOLOGY ING Item Description Resolution 16 bits Settling Time 10mS Max Output Range 10V Output Coupling DC Output Impedance 30W Max gt Output Driving 5mA Analog Out DA x2 max Power On State Float ing Calibration Self Cali bration Gain Error 13 Max p Offset Error gt 1mV Max for PCI board Resolution 16 bits no missing code Sampling Rate 250kS S Programmable Input Range 10V 5V AD x 2 Avaialble for cPCI 2 5V Analog In board Calibration Self Cali bration Gain Error 0 03 Max Offset Error 0 2mV Max Table 1 1 Specifications Introduction 7 TECHNOLOGY ING A ADLINK A Item Description Encoder Interface 32 bit Encoder input A B Z x 3 channel PCI Incremental Encoder Input Max Speed 5Mhz Input Voltage 0 5Vdc bLogic H 3 5V pbLogic L 0 2 4V Input resistor 2209 0 125W
140. the velocity of current motion The new velocity must be defined in Maximum Velocity Stop Motion Click Stop will cause SSCNET board to decelerate to stop Repeat Mode When On is selected the motion will go Home Mode The Motion keeps going until the ORG sig When the motion starts the command and feedback velocity pro file will display in the velocity chart and the driver status is also displayed in this window Note If alarm happens the motion will be interrupted you must click the alarm reset button to reset the alarm status Motion Creator 159 ADLINK TECHNOLOGY ING 5 9 Driver Parameter Configuration Window Driver Parameter Configuration Window appears when clicking Servo Parameter button from the Main window The following fig ure shows the Driver Parameter Configuration Window This win dow supports full access to all servo driver parameters m Driver Parameter Configuration Servo Driver Parameter Setting ET ES TG BES Ini x i Amplifier setting o TETEN 2 Regenerative brake resistor 0 0000 0011h 3 For manufacturer setting 80 80 Fixed 4 For manufacturer setting 0 0 Fixed 5 For manufacturer setting 1 1 Fixed 6 FBP Feedback pulse number 0 7 0 1 6 7 255 7 POL Rotation direction selection Oo 01 8 ATU Auto tuning 1 1 0000 0004h 3 RSP Servo response 5 5 0001 000Fh 10 TLP Forward rotation torque limit 300 300 0 500 11 TLN Revers
141. tion Theory 111 ADLINK TECHNOLOGY ING lt Example Dual trigger pulses output by comparing two Table in one axis gt F32 Table Datal 10 1500 2000 2500 3000 3500 4 000 4500 5000 5500 6000 F32 Table Data2 10 1800 2300 2800 3300 3800 4 300 4800 5300 5800 6300 I16 AxisNo 1 Normal high setting map dout and comparator 0 0 AxisNo 0 1 map dout and comparator 0 1 AxisNo 1 1 Build Compare Table1 2 from index 0 to 9 totally 10 points link dout and compare table 0 0 0 9 Table Datal link dout and compare table 0 1 0 9 Table Data2 Set Compare direction increaing set compare table dir 0 0 0 set compare table dir 0 1 0 Start Move from 0 to 8000 See results Picture 1 start tr move AxisNo 8000 0 60000 0 0 0 Wait for last move finished Users must handle this by any method Set Compare direction decreasing set compare table dir 0 0 1 set compare table dir 0 1 1 Start Move from 8000 to 0 See results Picture 2 start tr move AxisNo 8000 0 60000 0 0 0 Results Analyzing Trigger pulse rate 500 60000 8 33ms period time lms tolerance is acceptable Real Output in Picture 1 amp 2 is about this value Results Pictures r Picture one Positive Move CH1 in scope is DO Channel 0 CH2 in scope is DO Channel 1 112 Operation Theory A ADLINK F TECHNOLOGY INC Run a rrig t
142. to the velocity setting Stop button Clicking the Stop button will cause the SSCNET board to decelerate to stop The deceleration time for a Trapezoi dal Velocity Profile is defined in parameter Tdec and for S Curve Velocity Profile is defined in parameter Tdec Tldec Change Velocity On The Fly Button click this button to change the velocity of current motion The new velocity must be defined in Maximum Velocity 5 8 2 Motion I O Configration Window If you press the Motion I O button you will see a window below It is for users to set their dedicated I O of the axis The setting will be automatically saved by MotionCreator o 1 0 Configuration E uc Oj xj Axis No 0 Motion VO PEL MEL ORG ep r Logical 3 Fa C Active Low Previous C Active Low C Active Low ni p Active High Active High Mode Mode EMG EMG Stop EMG Stop C Active Low Onerite Deceleration Deceleration Farten tol s then stop then stop Active High tgl Figure 5 22 Motion I O Configration Window Motion Creator 157 ADLINK TECHNOLOGY INC 5 8 3 Interrupt Configration Window If you press the Interrupt button you will see a window below It is for users to set interrupt factor the axis The setting will be automatically saved by MotionCreator It is userful to users to test the interrupt functions AT oxi Axis In
143. understand driver Axis Class Code understand motor Axis MotorType Capacity RateRP PPR RateCurrent MaxRPM MaxTorq ENCInfo OptionalInfor When booting the SSCNET board will gather some static informa tion about the servo 94 driver and servomotor This information is Operation Theory ADLINK TECHNOLOGY INC kept by the SSCNET board and users can retrieve the info using the following two functions To read the servo driver s static info use understand driver gt To read servo motor s static info use understand motor 4 7 6 Servo Alarm In this section the following functions are discussed get_alarm_no Axis AlarmNo alarm_reset Axis When a fault occurs the servo driver will stop the motor and report an alarm number on the LED display of the servo driver The SSCNET board will also be acknowledged because the servo driver also reports the alarm condition through SSCNet communi cation If this is the case users can exam the fault condition by 1 Examining the return code from the function call 2 Set an IRQ Allow a IRQ to be generated if an alarm Occurs Refer to section 4 9 After noticing the occurrence of the alarm users can use get alarm no to retrieve the alarm code which is displayed on the LED of the servo driver After removing the alarm condition users can use the alarm reset function to recover the driver from the alarm state 4 8 Control Gain Tuni
144. up menu to confirm your hardware version by clicking the card list Installation 21 TECHNOLOGY ING A ADLINK A 2 6 CN1 Pin Assignment SSCNet Connector on PCB Receptacle 10220 52A2JL Manufacturer 3M No Name l O Function No Name l O Function 1 GND Signal Ground 11 GND Signal Ground 2 TXD1 O Transmit 12 TXD1 O Transmit 3 TXD2 O Transmit 13 TXD2 O Transmit 4 RXD1 Receive 14 RXD1 Receive 5 GND Signal Ground 15 GND Signal Ground 6 RXD2 I Receive 16 RXD2 Receive 7 EMG1 O Emergency1 17 EMG1 O Emergency1 8 EMG2 O Emergency2 18 EMG2 O Emergency2 9 NC 19 NC 10 NC 20 NC Table 2 1 CN1 Pin Assignment 22 Installation ADLINK TECHNOLOGY ING 2 7 CN5 Pin Assignment PCI 8372 8366 I O Connector No Name I O Function Axis No Name I O Function Axis 1 A COM Analog Ground 35 DA1 l Analog Output 2 PEL1 MDI1 Positive End Limit 36 DA2 Analog Output 3 MEL1 MDI2 Minus End Limit 37 PEL2 MDI4 Positive End Limit 4 ORG1 MDI3 Origin Signal 38 MEL2 MDI5 l Minus End Limit 5 PEL3 MDI7 Positive End Limit 39 ORG2 MDI6 Origin Signal 6 MEL3 MDI8 Minus End Limit 40 PEL4 MDI10 Positive End Lim
145. ution is increased Users can retrieve abundant information from the servo sys tem through SSCNet II No longer are you restricted to com mands and feedback You can now also monitor servo status alarm status and tuning servo parameters Positioning Board Figure 1 1 SSCNet II High Speed Connections Introduction A ADLINK A TECHNOLOGY INC gt Since all axes are synchronized within the SSCNet cycle multi axis interpolation has better synchronicity than tradi tional pulse train control The on board DSP controls all calculations necessary for perform ing various motion functions thus the host CPU loading is greatly reduced These motion functions include single axis jog P to P move change velocity position on the fly etc multi axes circu lar linear interpolation etc and continuous motion Motion Creator a Microsoft Windows based software is provided with the SSCNET board card to support in application develop ments Motion Creator will be helpful in debugging a motion con trol system during the design phase of a project DPRAM C gt SDRAM Q E gt DSP FPGA Bus zi Controller amp Flash ROM A I vo 7 Servo ii gt Motor 1 6 LX SSCNET Servo p Controller gt Motor 7 12
146. ved from the slot 2 4 2 LED Status Please carefully read the following There are two LEDs present on the card s bracket Red and Green These LEDs indicate the operation status of the card If the system is turned on these LEDs will blink together This means it finishes the self testing mode This sequence of self testing is executed automatically when the System is reset or powered up The procedure takes about two seconds Over two seconds the LEDs will be turned off If not there is something wrong with this board This abnormality means that the card fails or the system s power supply may be unstable Users have to try downloading the DSP kernel again by KernelUp Installation 15 ADLINK TECHNOLOGY ING date EXE utility or change the power supply If this board still in the faulty situation please try to test it in another platform or replace a new board for testing again If the application runs the MDSP initial function and it is suc cessfully executed the LEDs will turn on and off about every 1 second If the application program calls the MDSP close func tion the two LEDs will be turn off 2 4 3 KernelUpdate Utility of SSCNET card To Reset DSP Press Step 1 then Step 1 1 To Update Kernel Press Step 1 Step 4 Ignore Step 1 1 Kemel Update 1 4 Card Type cPCI 8312H v Card No Card0 vw Initial Card Step 1 1 Rest DSP About 5 sec Step 1 Step 2 HPI Boot OR if One LED Flashing A
147. write the digital output value for each digital output channel General Purpose DA There are two analog output channels in SSCNET board The current value textboxes read back the current value of two analog output channels Enter the analog output value in the textbox then click the Set Value button to write the analog output value External Encoder Setting gt SSCNET board includes three external encoder channels Value gt If the external encoder channels are used and the signals are connected you can read the encoder value for each channel Enter the new value of encoder in the textbox then click the Set button to write the value Apply To gt Specify the axis that uses the external encoder signal Mode gt Select the attribute of each external encoder signal if the external encoder signals are connected Control Loop gt The attribute of the control loop for the external encoder 138 Motion Creator ADLINK TECHNOLOGY INC Parameter The corresponding parameter for the external encoder 5 3 2 Operation Steps The General Purpose IO Operation Window accesses the digital input output and analog output value of the SSCNET board The operation steps are described as follows General Purpose DI O gt Digital input the circular buttons display and update the cur rent status of two digital input channels in the scan rate of 100 ms Digital output click the rectangle button to write
148. xes 0 Wai tAxis StartCondition 0 sequence 2 SynAxes 0x4 reset_seq_buffer 0 2 WaitAxis 0 StartCondition 200 insert_pat tern to seq buffer 0 2 7 SynAxes 1 Wai tAxis StartCondition 40 WaitAxis StartCondi insert pat 0 tion 0 tern to seq buffer 0 2 8 SynAxes 0 Wai tAxis StartCondition 0 WaitAxis StartCondi insert pat tAxis 0 tion 102 tern to seq buffer 0 2 9 SynAxes 1 Wai StartCondition 0 Start sequence move and wait for buffer being empty start seq move 0 7 while check seq buffer 0 0 0 SynAxes 0x1 WaitAxis 0 StartCondition 0 insert pattern to seq buffer 0 0 3 SynAxes 0 Wai tAxis StartCondition 0 while check seq buffer 0 2 0 SynAxes 0x4 WaitAxis 0 StartCondition 203 Operation Theory ADLINK TECHNOLOGY ING insert pattern to seq buffer 0 2 10 SynAxes 1 Wa itAxis StartCondition 40 7 Test Results Seq 0 Axis 0 T v T M T v T 00 1000 1500 2000 2500 0 30 20 3 10 0 g 10 amp 20 d M n r 4 500 1000 1500 2000 2500 3000 3500 a 10 v 05 o a a OS I go 40 NT ge base p 0 500 1000 1500 2000 2500 3000 3500 Operation Theory Figure 4 51 Test Results 129 ADLINK TECHNOLOGY INC 130 Operation Theory ADLINK TECHNOLOGY INC 5 Motion Creator After installi
149. xis Status 74 Operation Theory ADLINK TECHNOLOGY INC Bit Name Value amp Description 1 Axis not Servo ON 3 Not Servo ON 0 Axis is Servo ON Table 4 3 Axis Status Not In Control Bit 0 When initializing the SSCNET board card the on board DSP com mands the SSCNet controller IC to search all axes for SSCNet servo drivers If successful this bit will be set to 0 which means this axis has an SSCNet servo driver to control Otherwise this bit will be set to 1 And no motion function could be executed on this axis In Servo Alarm Bit 1 If the servo driver is in servo alarm state this bit will be set to 1 and no motion function could be executed on this axis Not Ready ON Bit 2 Not Servo ON Bit 3 The servo on and ready on status is controllable using the set servo on function refer to section 4 8 4 Motion status The function call motion status is used to retrieve the motion sta tus information It is successful only when the AxisStatus in axis status is 0 That is this axis must be in control no alarm and ready servo on Check if the return code of motion status is equals to 0 The parameter Axis applies to the specified axis only gt MotionStatus the motion status Bit Name Description 0 Ready for Motion Axis is not moving and it is available for another move command 1 In Motion Axis is moving and can t acce
150. y factor for the servo system Hence vibration may increase if you set a wrong resonance frequency or a too deep notch If the resonance frequency of the machine is unknown decrease the notch frequency from a higher to lower order The optimum The notch frequency is set with the parameter NotchFrequency The setting values and corresponding notch frequency are listed in the table below Setting Frequency Setting Frequency Setting Frequency Setting Frequency 0 Invalid 8 562 5 16 281 3 24 187 5 1 4500 9 500 17 264 7 25 180 2 2250 10 450 18 250 26 173 1 3 1500 11 409 1 19 236 8 27 166 7 4 1125 12 375 20 225 28 160 1 5 900 13 346 2 21 214 3 29 155 2 6 750 14 321 4 22 204 5 30 150 7 642 9 15 300 23 195 7 31 145 2 Table 4 12 Notch Frequency Settings Operation Theory 99 A A ADLINK TECHNOLOGY INC A deeper notch provides better resonance suppression but increases the phase delay and may increase vibration The notch frequency can be set with the parameter NotchDepth The setting values and corresponding notch gain are listed in the table below Setting Depth Gain 0 40db 1 14db 2 8db 3 4db Table 4 13 Notch Gain Settings Adaptive vibration suppression control Adaptive vibration suppression control is a function in which the servo driver detects machine s resonance and set a adaptive filter also a

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