PCI1040 User`s Manual
Contents
1. 1040 User s Manual Beijing Technologv Development Co Ltd PCI1040 Motion Control Card Contents UITAE E T 3 INL E TA 3 COLUM Se IER fa A i 3 Chapter 2 Component Layout and Pin 5 2 il Gomponent Lay OU TEE 5 2 1 1 Signal Input and Output Connectors 5 2 22 INTC AOE qus tem Dus ONU Oa NU DMUENE E E E 3 2 5 Physical DIP det 5 2 DIM A 7 Chapter 3 The Description of Functions ANE ETAIENT senes 12 2 1 Pulse O C o IN 12 Ball Fixed Pulse Drivine OUMU NR 12 3 1 2 Continuous Pulse Driving Output 14 3 2 Acceleration and D celeration uie eter err br Ferr a 15 QUA M MNT 15 3 2 2 Seshaped Acceleration D celeration Driving irre esie eee eve Ene 15 2 9 Mad MM IM RM o MM PM MSN 16 3 4 General Purpose Input Output 1 1 4 17 3 The IIS ON 17 17 De DEOBOUS i a a 18 3 8 External start up and origin search 18 Doel Awe Iu EUN MM E Ee EI ER RUE 182. a 18 18 Chaplet NIS d M 22 SN Pulse OS aion ea 22 SA TIM a E E 23 Ay Sensor VIC EU Pl seek a d 24 44 L omparator 25 Chapter 3 Hardware Limur 5 si aa 26 SAE TIR T 26 SAO E a a E E E 26 5 3 In position Signal for Servo 26 Sae ana T e E E E E E EE E 26 Deceleratiot IE d AER em er ee IE E 27 Chapter O 28 Chapter 7 Notes Warranty uius dieit RUPES ROUTE 29 FEL c 29 POLO RR 29 Appendix PCI1040 Brief Test Method sisien ini ee etes exea Ea Et 30 PCI1040 Motion Control Card Chapter 1 Overview 1 1 Introduction PCI1040 that generates a pulse for controlling the speed and positioning of pulse train input type servo motors and stepping motors PCI1040 enables 8 axis control This unit is comprised of an S shaped or linear acceleration deceleration pulse generator a line interpolation divider an automatic deceleration point calculator based on trapezoidal or triangular driver multi counter and encoder inputs that can be used as the current position counter or deviation counter a return to origin sensor interface a limit sensor i
3. 255 D o NE 5 255 D o E 255 D o EE NND 255 o 8 255 o
4. Long axis Fig 2 6 The Position Accuracy for Linear Interpolation 3 4 General Purpose Input Output Signal In PCI1040 there are 8 general purpose inputs and 8 general purpose outputs OUTO OUT7 are output pins INO IN7 are input pins INO LSB to form an 8 bit parallel input Interrupt is possible at the change of INO from High to Low OUTO LSB to OUT7 MSB form an 8 bit parallel general purpose output The 8 bits can be rewritten simultaneously while the bit operation of each bit 1s possible 3 5 The Output of Sensor Servo ON output for the servo driver Can be used as the general purpose output SONI to SONS are output pins 3 6 The Output of CLR l shot or general purpose output for clearing the deviation counter of the servo driver The l shot and general purpose output can be switched with the initial setting register of the output The pulse duration of shot is 32 times the reference clock period The output logic can be switched with the output logic register CLRI to CLR8 are CLR pins PCI1040 Motion Control Card 3 7 Svnchronous Action Sync start input When the sync start mode is activated the pulse starts to be output when SYNC changes from High to Low 3 8 External start up and origin search setting 3 8 1 Return to Origin Operation With the return to coordinate basic origin drive the return to origin operation is based on either the ORG input alone orthe ORG and EZ Encoder p
5. Table 3 8 Comparator Interrupt Flag Description P interrupt flag is ON P gt interrupt flag 15 ON tiv set to 0 y set to 0 dy set to 0 y set to 0 tiv set to 0 Undefined permanently set to 0 PCI1040 Motion Control Card Chapter 5 Hardware Limit Signals Hardware limit signals are used for stopping the pulse output if the limit sensors of and direction are triggered 5 1 Initial Setting for Filter The setting values of the input filter decides the sensitivity of EL EL ALM SLD and SLD The setting value range 15 from to 256 Set 0 for 256 Sensitivity 1s one cycle of 16 x reference clock 5 2 Over Limit Signal Over limit signal of direction over limit During the direction drive pulse outputting decelerating stop or sudden stop will be performed once this signal is active When the filter function is disabled the active pulse width must be 2CLK or more Over limit signal of direction over limit During the direction drive pulse outputting decelerating stop or sudden stop will be performed once this signal is active The active pulse width should be more than 2CLK Decelerating stop sudden stop and logical levels can be set during the mode selection 5 3 In position Signal for Servo Motor Positive logic from low to high the external in position light becomes red and continues to maintain the original movement it can decelerate movement or stop immediately
6. When using PCT1040 in order to prevent the IC chip from electrostatic harm please do not touch IC chip in the front panel of PCI1040 module 7 2 Warranty Policy Thank you for choosing ART To understand your rights and enjoy all the after sales services we offer please read the following carefully 1 Before using products please read the user manual and follow the instructions exactly When sending in damaged products for repair please attach an RMA application form which can be downloaded from www art control com 2 All ART products come with a limited two year warranty gt The warranty period starts on the day the product is shipped from ART s factory For products containing storage devices hard drives flash cards etc please back up your data before sending them for repair ART is not responsible for any loss of data Please ensure the use of properly licensed software with our systems ART does not condone the use of pirated software and will not service systems using such software ART will not be held legally responsible for products shipped with unlicensed software installed by the user 3 Our repair service is not covered by ART s guarantee in the following situations Damage caused by not following instructions in the User s Manual Damage caused by carelessness on the user s part during product transportation Damage caused by unsuitable storage environments i e high temperatures h
7. position signal external start acceleration status constant speed status deceleration status termination status and interrupt status Through the indicator light changes we can determine the movement of servo motor ELP hardware limit status ELM hardware limit status ALM alarm status ORG origin flag status EZ encoder Z status SLDP subtract bit SLDM subtract bit INP external in position signal Extern external start acceleration status Const speed constant speed status Dec deceleration status Termination termination status Interrupt interrupt status Status display SpeediHz Counter Counter ELM ORC EZ 5 SLOR IMP Ester Acc 11 2550 D 0 2 255 0 0 3 255 D 0 4 255 0 5 255 D 0 255 0 0 255 0 0 8 255 D 0 Termi Inter nation B EB a m c PCI1040 Motion Control Card Chapter 7 Notes Warrantv Policv 7 1 Notes In our products packing user can find a user manual a PCI1040 module and a qualitv guarantee card Users must keep quality guarantee card carefully 1f the products have some problems and need repairing please send products together with quality guarantee card to ART we will provide good after sale service and solve the problem as quickly as we can
8. pulse output completion interrupt Normal pulse output completion interrupt disabled enabled Error stop interrupt disabled Error stop interrupt enabled Deceleration start point mterrupt disabled Deceleration start point interrupt enabled IS O speed interrupt disabled IS O speed interrupt enabled Not used permanently set to O Mlaximnum acceleration rate interrupt Maximum acceleration rate interrupt disabled enabled Not used permanently set to O Not used permanently set to 0 Table 3 2 Pulse Oscillation Interrupt Flag Description Pulse output completion interrupt flag 1s ON Error stop interrupt flag 1s Deceleration start point interrupt flag 1s ON ISO speed interrupt flag 1s ON Maximum acceleration rate 1nterrupt flag 15 ON PCI1040 Motion Control Card 4 2 Counter Interrupt In counter interrupt mode there are four interrupt modes Counter A carrv interrupt disabled Counter A borrow interrupt disabled Counter B carrv interrupt disable and Counter B borrow interrupt disabled Table3 3 Counter Interrupt Mask Register Table3 4 Counter Interrupt Flag Counter carry interrupt flag 1s OFF Counter A borrow interrupt flag 1s OFF Counter B carry interrupt flag is OFF Counter B borrow interrupt flag 5 OFF Unde fined permanently set to 0 Counter C borrow mterrupt flag is OFF Unde fined permanently set to 0 Unde fined permanently set to 0 Description Counter A carry mterrupt enable
9. D3 ID2 IDI IDO ON DIDI O B L U IS The above chart shows 1111 so it means that the physical ID is 15 The above chart shows O111 so it means that the physical ID is 7 The above chart shows 0101 so it means that the physical ID is 5 Cms m m Physical ID Dec OFF 0 OFF 0 OFF 0 OFF 0 0 0 Porro ona omo e Pony ora s ON OFF D OFF 9 OFF D B u Fo D 8B PCI1040 Motion Control Card 2 2 Pin Lavout 24V SONS SONO INP7 SONS ORG7 SLDM6 ELM7 ELM6 SLDM7 ELP6 SON7 INP6 NC SLDM5 OGND SLDP5 24V INP5 ALMI MARK4 INPI ORG4 ELPI ALMA ORGI ELM3 ELMI ELP3 SLDPI SONA MARKI CLR3 SLDMI SONI ALM2 ORG2 INP2 ELP2 78 11 76 75 74 73 I 71 70 69 68 67 60 65 64 63 62 61 60 59 58 57 56 55 54 53 32 51 50 49 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 32 31 30 29 28 21 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 OGND MARK7 SLDP7 ELP7 ALM7 CLR8 CLR7 CLR6 CLR5 SLDP6 ORG6 ALM6 NC MARKS ELM5 ORGS ELP5 ALM5 ELM4 SLDP4 ELP4 INP4 SLDM3 MARK3 SLDP3 ORG3 INP3 ALM3 CLR4 SON3 SON2 CL
10. Negative logic from high to low the external in position light becomes red and continues to maintain the original movement it can decelerate movement or stop immediately 5 4 Alarm Signal Positive logic from low to high the alarm status light becomes red and it immediately stops movement Negative logic from high to low the alarm light becomes red and it immediately stops movement PCI1040 Motion Control Card 5 5 Deceleration Stop Signal In this case three parameters must be set Parameter name Description Logical Direction Positive logic and negative logic Signal Mode Level signal and edge signal Movement Mode Immediate stop and deceleration stop In movement mode immediate stop occurs when this command is written during drive However the pulse duration of the last pulse 15 assured In interpolation mode onlv one axis stops Deceleration stop the drive deceleration and stops when this command is written during drive Immediate stop occurs if this command is written during constant speed drive However the pulse duration of the last pulse 1s assured In interpolation mode other axes also decelerate and stop PCI1040 Motion Control Card Chapter 6 Status Displav In this department we can see the value of speed logic counters and real bit counter and the graphics of motor movement According to the signal we also can see the following status hardware limit origin flag encoder Z subtract bit external in
11. R2 CLRI SLDM2 MARK2 ELM2 SLDP2 PCI1040 Motion Control Card ALMS ELPS SLDPS MARKS CLRA2 CLRA4 CLRAO CLRAS OUTI OUT3 OUTS OU17 INI IN3 INS IN7 INT NC T5VD EBS PI INPS ORGS ELMS SLDMS CLRAI CLRA3 CLRAS CLRA7 OUTO OUT2 OUT4 OUTO INO IN2 INA INO SYNC NC DGND EZS PCI1040 Motion Control Card EB7 EA7 5 5 EB4 EZ3 EA3 EB2 EZ EA POUTS POUTO POUTA POUTI T5VD WO HI IO ER 15 17 19 21 23 25 21 29 31 33 35 37 39 P2 EAS EZ EZ6 EAO EB3 EZA 4 EZ2 2 EBI PDIRS PDIR7 PDIRO PDIR5 PDIRA PDIR3 PDIR2 PDIRI DGND PCI1040 Motion Control Card Pin name ALMI ALMS ELPI ELP8 ELMI 8 SLD SLD P8 SLD SLD M8 ORGI ORGS EZI EZ8 INPI INP8 MARKI MARk8 INO IN7 CLRAS POUTI POUTS PDIRI PDIRS CLRI CLR8 SONI SONS OUTO EA8 EBI EBS SYNC INT 24V Description Driver alarm emergency stop unit direction immediate stop end limit input direction immediate stop end limit input direction slow down limit input direction slow down limit input Origin sensor input Encoder phase Z input Servo driver positioning completion input Sensor positioning start input General purpose input Clear Counter A Instruction pulse output Direction
12. c switching function Status functions Clock 20 0 MHz max 16 384 MHz or 19 6608 MHz recommended Technology CMOS Power source Internal voltage 3 3V voltage 5V or 3 3V Operating temperatures 40 to 85 C Others Multiplication 1 250 Actual initial speed drive speed acceleration and deceleration vary directly with multiplication lt If multiplication 1 then gt Acceleration 125 2047875 gt Deceleration 125 2047857 gt Initial Speed Linear movement l 16383 S shaped movement 1 10000 gt Drive Speed Linear movement 1 16383 S shaped movement 1 10000 If multiplication 250 then gt Acceleration 31250 511968750 gt Deceleration 31250 511968750 gt Initial Speed Linear movement 250 4095750 S shaped movement 250 2500000 gt Drive Speed Linear movement 250 4095750 S shaped movement 250 2500000 Pulse Output Mode CW CCW 2 pulse output and Pulse DIR single pulse output BUY ONLINE at art control com englishs or CALL 86 0 10 51289836 CN 4 PCI1040 Motion Control Card Chapter 2 Component Lavout and Pin Lavout 2 1 Component Lavout PCHO40 TEC 35 r 1 kul ee a E m EE 2 Phe dd di di DIDH 2 1 1 Signal Input and Output Connectors CNI analog signal input and output connectors 2 2 2 Status Indicator 5V 5V power supply in
13. d Counter A borrow interrupt enabled Counter B carry interrupt enabled Counter B borrow interrupt enabled Counter C borrow interrupt enabled Description Counter A carry interrupt flag is ON Counter A borrow interrupt flag is ON Counter B carry interrupt flag is ON Counter B borrow mterrupt flag is ON Counter borrow mterrupt flag is ON PCI1040 Motion Control Card 4 3 Sensor Interrupt In sensor interrupt mode there are four interrupt modes interrupt disabled EZ interrupt disabled INO interrupt disabled and MARK interrupt disabled Table 3 5 Sensor Interrupt Mask Register ORG interrupt enabled EZ interrupt enabled INO interrupt enabled MARK interrupt enabled Table 3 6 Sensor Interrupt Flag Description ORG interrupt flag 15 ON EZ interrupt flag is ON INO interrupt flag 15 ON MARK interrupt flag is ON Undefined permanently set to 0 PCI1040 Motion Control Card 4 4 Comparator Interrupt In comparator interrupt mode there are two interrupt modes P Q interrupt disabled and PPQ interrupt disabled Table 3 7 Comparator Interrupt Mask Register Description P Q interrupt disabled P Q interrupt enabled P gt Q interrupt disabled gt mterrupt enabled Undefined permanently set to 0 Undefined permanently set to 0 Undefined permanently set to 0 Undefined permanently set to 0 Undefined permanently set to 0 Undefined permanently set to 0
14. dicator for normal 2 2 3 Physical ID of DIP Switch DIDI Set physical ID number When the PC is installed more than one PCI1040 you can use the DIP switch to set a physical ID number for each board which makes it very convenient for users to distinguish and visit each board in the progress of the hardware configuration and software programming The following four place numbers are expressed by the binary system When DIP switch points to ON that means 1 and when it points to the other side that means 0 As they are shown in the following diagrams place ID3 is the high bit IDO 15 the low bit and the black part in the diagram represents the location of the switch Test software of the company often uses the logic ID management equipments and at this moment the physical ID DIP switch 15 222220000000 BUY ONLINE at art control com englishs or CALL 86 0 10 51289836 CN 5 PCI1040 Motion Control Card invalid If you want to use more than one kind of equipments in one and the same system at the same time please use the physical ID as much as possible As for the differences between logic ID and physical ID please refer to the function explanations of CreateDevice and CreateDeviceEx of The Prototype Explanation of Device Object Management Function in PCI1040S software specification ID3 ID2 IDI IDO ON DIDI N Go ID3 102 IDI IDO ON DIDI O 5 L U IS I
15. e count management counter C becomes equal to or less the value of counter D the drive starts to decelerate Counter D need not be preset before the startup Offset Setting Deceleration for Acceleration Deceleration Driving The offset function can be used for compensating the pulses when the decelerating speed does not reach the setting initial speed during the S shaped fixed pulse driving The method is calculating the output acceleration pulses and comparing them with the remaining pulses When the remaining pulses are equal to or less the pulses in acceleration it starts the deceleration The setting value is between 8 388 608 and 8 388 607 The operations that occur are shown below PCI1040 Motion Control Card When a positive value is preset SPEED SPEED TIME When a negative value is preset SPEED MAX MUM SPEED STARTUP SPEED TIME Manual Setting Deceleration for Acceleration Deceleration Driving As shown in Fig 2 1 generally the deceleration of fixed pulse acceleration deceleration driving is controlled automatically However in the following situations it should be preset the deceleration point by the users e The change of speed is too often in the trapezoidal fixed pulse acceleration deceleration driving e Set an acceleration a deceleration an jerk acceleration increasing rate and deceleration increasing rate individually for S shaped deceleration fixed pulse drivin
16. fixed pulses when fixed pulse in the choice gt When select S shaped movement need to select the deceleration mode if you want acceleration and deceleration curves are the same select auto deceleration If you want acceleration and deceleration curves are different then select Manual deceleration or offset deceleration Interpolation Movement Set the public parameters of interpolation movement in the upper left corner of the box Axes 1 to 4 of the 8 axes can be set for linear interpolation If choose axes 1 as main axis we should set initial speed drive speed acceleration and deceleration for axes 1 To execute the linear interpolation the user can according to the present point coordinates set the finish point coordinates For example set axes 1 finish point coordinates 10000 speed 1000 axes 2 finish point coordinates 5000 If the motor drive objects in the two dimensional coordinates then the object s initial coordinates is the origin of coordinates 0 0 and makes a linear motion Object will movement 10000 steps in fil axis 5000 steps 2 axis and the speed of 2 15 500 they are proportionable bloemen Two axes linear interpolation nun Asis H1 hM ain xis H1 xis Main asis terminal Mon Pulse counts 10000 ais terminal Pulse counts 1 0000 Iw S shaped Iw Fixed speed Device starb stop D eceleration stop PCI1040 Mo
17. from high level to low level INO interrupt generate interrupt when INO from high level to low level MARK interrupt generate interrupt when MARK from high level to low level P Q interrupt can choose Counter A Counter B Comparator register can choose Counter A Counter B Comparator register P and Q can not both select the same register if you choose Comparator register comparator values need to be set when meet conditions generate interrupt P gt Q is similar with the P Q 9 Status Display Through status lights can judge the status of movement ELP hardware limit status ELM hardware limit status ALM alarm status ORG origin flag status EZ encoder Z status SLDP subtract bit SLDM subtract bit INP external in position signal Extern external start Acc acceleration status Const speed constant speed status Dec deceleration status Termination termination status Interrupt interrupt status Status display SpeedH2 CounterA Counter ELM ORE EZ SLDM INP Extem Acc De 1 2550 D 1 2 255 0 o 3 255 0 o EE NND ee 4
18. g S shaped acceleration deceleration In the S shaped acceleration deceleration mode two kinds of acceleration deceleration shapes can be used Namely the parabolic curve and sine functional curve 3 1 2 Continuous Pulse Driving Output When the Continuous Pulse Driving 15 performed PCI1040 will drive pulse output in a specific speed until stop command or external stop signal is happened The main application of continuous pulse driving is home searching teaching or speed control The drive speed can be changed freely during continuous pulse driving PCI1040 Motion Control Card 3 2 Acceleration and Deceleration Basicallv driving pulses of each axis are output bv a fixed driving command or a continuous pulse driving command of the direction or direction These types of driving can be performed with a speed curve constant speed linear acceleration non symmetrical linear acceleration S shaped acceleration deceleration or non symmetrical S shaped acceleration deceleration according to the mode that is set or operation parameter value 3 2 1 Constant Speed Driving When the drive speed set in 040 is lower than the initial speed or a speed higher than the drive speed is set as the initial speed the acceleration decoration will not be performed instead a constant speed driving starts If the user wants to perform the sudden stop when the home sensor or encoder Z phase signal 15 active it 15 better not to perfor
19. hase Z inputs The input sensitivity is 1 or 16 times the reference clock period 3 8 2 External Start up When the sensor positioning drive is used the set number of pulses are output when the MARK input becomes active The input sensitivity is or 16 times the reference clock period 3 8 3 External Drive Mode Sensor positioning drive I Positioning drive from the position where MARK input terminal goes active Acceleration starts from the beginning of the drive SPEED MAX MUM SPEED STARTUP SPEED DECELERATION MARK N_ 2 Sensor positioning drive Il Positioning drive from the position where the MARK input terminal goes BUY ONLINE at art control com englishs or CALL 86 0 10 51289836 CN 18 PCI1040 Motion Control Card active Acceleration starts when the MARK input goes active oP EED SPEED STARTUP SPEED TIME DECELERAT ON POINT MARK 3 Sensor positioning drive Positioning drive from the position where the MARK input terminal goes active Acceleration and deceleration are not performed SPEED STARTUP SPEED l 4 Return to origin Return to origin accompanied with acceleration and deceleration The drive decelerates and stops when ORG goes active SPEED MUM SPEED STARTUP ORG PCI1040 Motion Control Card 5 Return to origin Il Return to origin acco
20. igh humidity or volatile chemicals Damage from improper repair by unauthorized ART technicians Products with altered and or damaged serial numbers are not entitled to our service 4 Customers are responsible for shipping costs to transport damaged products to our company or sales office 5 To ensure the speed and quality of product repair please download an RMA application form from our company website 1040 Motion Control Card Appendix PCI1040 Brief Test Method Configuration of public parameters Linear Movement Set the public parameters of linear movement in the upper left corner of the box we can configure multiplication pulse output mode pulse out direction logic level of direction signal initial speed acceleration drive speed deceleration The parameters for each axis independent not affect each other Axis 1 Axis 2 Anis 83 Avis 4 Axis 5 HE Axis H7 Avis 8 10 m Initial 1 250 ka Cow we Acc su Negative pulse signal logic level ratio mode rive speed dir L level dir Estermal start and SYTNE setting 174095750 100 1250 3000 1 28 Interrupt Ley Er 1457 511968750 a 910 111213 14 1 408575 Em E EL ttl 1257 Interrupt 61196950 setting Interrupt description i In the right box we can set movement mode deceleration mode ma
21. in linear acceleration the following parameters must be set Fig 2 1 Fixed Pulse Driving Parameter name Comment Acceleration Deceleration When acceleration and deceleration are equal the setting of deceleration 15 not required Initial Speed Drive Speed Number of Output Pulse m Changing the Number of Output Pulse in Driving The number of output pulse can be changed in the fixed pulse driving If the command 15 for increasing the output Sp pulse the pulse output profile 1s shown as Fig 2 2 or 2 3 If the command is for decreasing the output pulses the EN Change of Output output pulse will be stopped immediatelv as shown in Fig 2 4 Furthermore when in the S shaped acceleration deceleration driving mode the output pulse number change will occur to an incomplete deceleration S shaped time Fig 2 2 Change of Output Pulse Number in Driving PCI1040 Motion Control Card speed Change of Output Pulse Change of Output Pulse 1 time time Fig 2 3 Changing The Number of Fig 2 4 Changing The Pulse Number Output Pulse During Deceleration Less Than Output Pulse Number Automatic Setting Deceleration for Acceleration Deceleration Driving This mode can be used when the acceleration rate and deceleration rate are identical Counter D is cleared to O at the start of drive and counting is performed during drive When the value of remaining puls
22. m the acceleration deceleration driving but the low speed constant driving from the beginning 3 2 2 S shaped Acceleration Deceleration Driving PCI1040 creates an S curve by increasing reducing acceleration deceleration in a primary line at acceleration and deceleration of drive speed Fig 2 5 shows the operation of S shaped acceleration deceleration driving where the acceleration and the deceleration are symmetrical When driving starts the acceleration increases on a straight line at the specified Jerk K In this case the speed data forms a secondary parabolic curve section a If the difference between the specified drive speed V and the current speed becomes less than the speed that was utilized at the increase of acceleration the acceleration starts to decrease towards 0 The decrease ratio is the same as the increase ratio and the acceleration decreases in a linear form of the specified jerk K In this case the rate curve forms a parabola of reverse direction section b The speed reaches the specified drive speed V or the acceleration reaches 0 the speed is maintained section c In fixed pulse driving of S shaped acceleration deceleration where acceleration and deceleration are symmetrical deceleration starts when the number of remaining output pulses becomes less than the number of pulses that were utilized At the deceleration also the speed forms an S curve by increasing decreasing the deceleration in a primary linear form
23. mpanied with acceleration and deceleration The drive decelerates when ORG goes active and stops when EZ goes active after reaching startup speed oP FED MAX MUM SPEED STARTUP SPEED r 6 Return to origin Return to origin at the startup speed Immediate stop occurs when ORG goes active SPEED STARTUP TIME 7 Return to origin IV Return to origin at the startup speed Immediate stop occurs when EZ goes active after ORG has been activated PCI1040 Motion Control Card SPEED STARTUP SPEED TIME 1 PCI1040 Motion Control Card Chapter 4 Interrupt Function The PCI1040 has an interrupt function based on the pulse output counter and sensor factors It 1s also possible to mask the interrupt due to each factor Interrupt signals can be generated when 1 the start finish of a constant speed drive during the acceleration deceleration driving 2 the end of driving and 3 the compare result once higher lower border lines of the position counter range An interrupt signal can be also generated during the interpolation driving 4 1 Pulse Oscillation Interrupt In pulse oscillation interrupt mode there are four modes normal pulse output completion interrupt disabled Error stop interrupt disabled deceleration start point interrupt disabled and maximum acceleration rate interrupt disabled Table 3 1 Pulse Oscillation Interrupt Mask Register 9 LOU Normal
24. nterface a servo drive interface a limit sensor interface a servo drive interface an 8 bit general purpose input and an 8 bit general purpose output 1 2 Features CPU interface Applicable microcomputers 80 series 68 series etc d Address occupancy 6 bits 64 bytes for X7083 Data bit width 8 bits Drive commands Index drive Continuous pulse drive 4 Return to origin drive 4 Sensor positioning drive Drive modes Acceleration deceleration mode S shaped sine parabolic linear Deceleration start point Automatic calculation manual setting offset setting Synchronization mode Multi axis linear interpolation sync start lt gt Encoder counter Number of counters 2 Bit length 32 bits 4 Count inputs Internal pulse only external input pulses only Internal pulse and external input pulses Encoder converter inputs Number of channels 1 channel Input format 2 clock 2 phase clock 90 phase error Multiplication 1 2 4 multiplication lt Comparator Bit length 24 bits Comparison targets Register and counter counter and counter BUY ONLINE at art control com englishs or CALL 86 0 10 51289836 CN 3 1040 Motion Control Card Comparison methods 24 o 4 Inputs 8 Outputs 8 Other functions Independent setting functions for accelerator and decelerator Timer function Input filtering function Interrupt function logi
25. nual deceleration points movement direction drive mode fixed pulse and S shaped acceleration deceleration External start axis H2 External start axis 3 segment Device start stop linea v ZUEN EHI External start axis 1 mode HI made Auka IT Manual dec points Start arig Movement H3 dr dir dir Start axis 4 Live mode Fixed pulse Start axis Fixed pulse counts Stark axis 07268435455 0000 Hb Stark axis 178131 EREEEMEBE B start axis E ternal start axis HB Start all termabstart all axis aues External start axis 84 External start axis H5 External start axis HB External start axis 7 PCI1040 Motion Control Card Device start stap shark axis Movement linear mode Dec mode uta Stark axis Manual dec points Shark axis Movement Je ui Live mode dir Stark axis 0258435455 Hb Gtart axis Hi 178131 npe External start axis 1 External start axis HZ External start axis H3 Start axis External start axis H4 Shark axis start External start axis H8 aM ases External start axis H5 External start axis External start axis H7 gt When select linear movement only need to select the movement direction and drive mode it is necessary to set
26. output or instruction pulse output l short or general purpose output for clearing the deviation counter of the servo driver Servo ON output for the servo driver General purpose output Phase A input of encoder input Phase B input of encoder input Sync start input Interrupt request signal 24V Power Supply 222200000000 BUY ONLINE at art control com englishs or CALL 86 0 10 51289836 CN 10 PCI1040 Motion Control Card OGND Ground 5 5V Power Supplv DGND Ground NC No Connection PCI1040 Motion Control Card Chapter 3 The Description of Functions 3 1 Pulse Output Command There are two kinds of pulse output command fixed pulse driving output and continuous pulse driving output 3 1 1 Fixed Pulse Driving Output When host CPU writes a pulse numbers into PCI1040 for fixed pulse driving and configures the performance such as acceleration Speed Driving Speed deceleration and speed PCI1040 will generate the pulses and output them automatically Fixed pulse driving operation is performed at acceleration deceleration where the acceleration and deceleration are equal As shown in Fig 2 1 automatic deceleration starts when the Auto Deceleration number of pulses becomes less than the number of pulses that were Stop Specific utilized at acceleration and driving terminates at completion of the Initial Speed Output Pulse output of the specified output pulses For fixed pulse driving
27. section d and e The same operation is performed in acceleration deceleration where the drive speed 15 changed during continuous pulse driving PCI1040 Motion Control Card Initial Speed time Acceleration Deceleration Deceleration time Fig 2 5 Svmmetrical S shaped Acceleration Deceleration Driving 3 3 Interpolation This 8 axis motion control card can perform anv 2 3 4 axes linear interpolation In the process of interpolation driving all the calculations will follow the main axis ax1 So the user has to set parameters such as initial speed and drive speed of the main axis before performing the interpolation During the linear interpolation it 1s not necessary to set the main axis as long axis Axes fil to 4 of the 8 axes can be set for linear interpolation To execute the linear interpolation the user can according to the present point coordinates set the finish point coordinates Fig 2 6 shows an example of axis interpolation where linear interpolation is performed from the current coordinates to the finish point coordinates For individual axis control the command pulse number is unsigned and it is controlled by direction command or direction command For interpolation control the command pulse number is signed The resolution of linear interpolation is within 40 5 LSB as shown in Fig 2 6 PCI1040 Motion Control Card M HHP LLL LAT 305098 ms
28. the hardware limit light becomes red and stops immediately Negative logic direction of movement is positive rotation starts when ELP is high level ELP from high level to low level the hardware limit light becomes red and stops immediately Reverse Rotation Positive logic direction of movement is reverse rotation starts when ELM is low level ELM from low level to high level the hardware limit light becomes red and stops immediately Negative logic direction of movement is reverse rotation starts when ELM is high level ELM from high level to low level the hardware limit light becomes red and stops immediately SYNC Output pulse synchronously Deceleration Stop When set to positive rotation it should be controlled by the SLDP When set to reverse rotation it should be controlled by the SLDM Interrupt Counter 15 logic pulse counter Counter B 15 real bit pulse counter Counter carry interrupt counter range 2147483648 2147483647 when the logic pulse number is greater than 2147483647 generate carry interrupt Counter A borrow interrupt counter range 2147483648 2147483647 when the logic pulse number is greater than 2147483647 generate borrow interrupt BUY ONLINE at art control com englishs or CALL 86 0 10 51289836 CN 32 PCI1040 Motion Control Card Counter B is similar with the Counter A ORG interrupt generate interrupt when ORG from high level to low level EZ interrupt generate interrupt when EZ
29. tion Control Card Make a brief description of the various functions l 2 Pulse Output Mode First select the CW CCW 2 pulse mode Logic level test of direction signal must select the Pulse DIR single pulse mode pulse output mode Low level is direction high level is direction That is when movement is direction PDIR negative pulse output pins will output low level on the contrary movement is direction PDIR will output high level High level 15 direction low level is direction That is when movement is direction PDIR will output high level on the contrary movement 1s direction PDIR will output low level Alarm Signal ALM Positive logic when it is set to valid the signal of specified axis is from low to high and alarm light becomes red Negative logic when it is set to valid the signal of specified axis is from high to low and alarm light becomes red In position Signal for Servo Motor INP Positive logic from low to high the external in position light becomes red and continues to maintain the original movement it can decelerate movement or stop immediately Negative logic from high to low the external in position light becomes red and continues to maintain the original movement it can decelerate movement or stop immediately Over Limit Signal ELM ELP Positive Rotation Positive logic direction of movement is positive rotation starts when ELP is low level ELP from low level to high level
Download Pdf Manuals
Related Search