PCI-1243U User Manual
Contents
1. DO 1 Reset PCD4541 Chip 0 Active PCD4541 Chip Note For the Reset Process the time Interval must gt 100 us Outportb Base 0x1E 0x01 wait 100us Outportb Base 0x1E 0x00 PCTI 1243U User Manual 58 4 6 4 Base 20h X Axis Limit Switch Control Reg Status DO D4 1 Normal Close Input 0 Normal Open Input 4 6 5 Base 21h Y Axis Limit Switch Control Reg Status DO D4 1 Normal Close Input 0 Normal Open Input 4 6 6 Base 22h Z Axis Limit Switch Control Reg Status DO D4 1 Normal Close Input 0 Normal Open Input 59 Chapter 4 4 6 7 Base 23h U Axis Limit Switch Control Reg Status DO D4 1 Normal Close Input 0 Normal Open Input 4 6 8 Base 24h Limit Switch Status ZLMT DO D7 1 Limit Switch Active 0 Limit Switch In Active PCTI 1243U User Manual 60 4 6 9 Example of reading Status Register In this section we will demonstrate how to get the emergency stop limit switch status by reading the Status Register Stepl Setting the Output Mode Select Command and you can choose the Monitor mode as Standard monitor or Extension monitor In Standard monitor mode user can get StatusO 1 and in Extension monitor mode Status0 3 can be read Since the status of emergency stop limit2. scccccccssssssssccceecsssssees DZ Cl How to Read the Home Velocity Profile 82 C 2 Home ModeQ 2 2 2 2 2 2 ua 83 Figure C 1 Velocity Profile of Home Mode nnooonnnnnnnnnne000eae 83 Co ere NEE 84 Figure C 2 Velocity Profile of Home Model cesses 84 Ca Home ee 85 Figure C 3 Velocity Profile of Home Mode6 iiiiieeeeeeeeeeeeeee 85 Co Home MOE eege 86 Figure C 4 Velocity Profile of Home Moden iiiiiiiseeeeeeeeeeeeee 86 VII PCTI 1243U User Manual Vill CHAPTER General Information If you have just purchased the PCI 1243U or just need to brush up on its features or specifications you would want to read this chapter Sections include e Introduction e Features e Applications e Specifications e Block Diagram Chapter 1 General Information 1 1 Introduction PCI 1243U is a high speed four axis stepping motor control card that simplifies stepping motor control giving you added performance from your stepping motors Four Axis Control PCI 1243U has one single chip pulse generator on board which enables the simultaneous and independent control of three axes PCI 1243U pro vides digital pulse and directional control and for each stepping motor axis User Friendly Interface PCI 1243U has been designed to act as a user friendly solution for your stepping motor control applications Programming the PCI 1243U is very easy Windows DLL drivers and a utility ar
3. PCTI 1243U User Manual 36 Speed FH R5 setting value is FL too small A time Speed FH R5 setting value is optimal FL several pulses at FL time Speed FH R5 setting value is too large FL C time Figure 4 3 Setting the Ideal Ramping Down Point 37 Chapter 4 A ramping down point is set based on the number of pulses output during ramping down Therefore the area marked by oblique lines in the chart below is the number of pulses to be calculated FL and FH are the output pulse frequencies PPS FH FL B tes oy Figure 4 4 Pulse Calculation Tsp sec the time required for the deceleration is Tsp R2 R1 x R3 x Multiplier CLOCK 1 where CLOCK 4 9152 MHz Note Multiplier 1 while in Linear Accel Decel mode Multiplier 2 while in S curve Accel Decel mode The relationship between the set value on speed register Rf and output frequency F PPS is F Rf x CLOCKY 8192 x R4 2 Therefore FL output frequency FL PPS and FH output frequency FH PPS are FL R1 x CLOCK 8192 x R4 3 FH R2 x CLOCK 8192 x R4 4 PCTI 1243U User Manual 38 Psp the number of pulses during T sec is represented by the area of the trapezoid A B C F Psp 4 FL FH Ted 2 5 Substitute equations 1 3 and 4 into equation 5 Psp R2 2 R1 2 x R3 x Multiplier 2 x 8192 x R4 When output 5 pulses at FL speed after the completion of the ramp
4. button to create a virtual PCI 1243U and simulate the parameters The parameters can be saved into a file and loaded from a file This makes it possible to send the configuration file to a remote site by e mail so several sites can easily have the same configuration em Advantech Motion Manager File View Help i we D x Save Config Load Config New Remove Refresh Apply to xis Default Figure 3 7 Save and Load Configuration Files 3 3 Motion Operations 3 3 1 Testing Motion Movement The motion utility provides operational functions as well as configuration functions You can test motion movement without writing any software program However please do apply the parameters you set for the axes in the configuration pages Since the default parameters are all 0 if you did not press the Apply to Axis button operation of the axes is not pos sible and there will be a red cross on the tab as shown below D Ate P Ans 9 Axis U 25 Chapter 3 3 3 2 Point to Point Movement Acc Dec Mode PCI 1243U supports Trapezoid and S curve accelera tion deceleration modes The mode can be set in the column AccTime_L Acceleration time period allowed in Trapezoid acceleration mode DecTime_L Deceleration time period allowed in Trapezoid deceleration mode AccTime_S Acceleration time period allowed in S curve acceleration mode DecTime_S Deceleration time period allowed in S curve deceleration mode SV Star
5. 59 4 6 7 Base 23h U Axis Limit Switch Control Reg Status 60 4 6 8 Base 24h Limit Switch Status 0 ccccesccecssssseeeeeesseeees 60 4 6 9 Example of reading Status Register iiiieeeeeeeeeeneeeeeeeeeenenrereeeeese 61 4 7 Typical Operational Procedures cccccsessscccccececeeeeeeeeeeeeees 63 GE LEE 63 A Ds CUNO Speed Dalt Ze EE 64 4 7 3 Constant Speed Preset Model 65 4 74 Fheis peed Preset Model ee enter cea eae Mee 66 4 7 5 Constant Speed Continuous Mode iieeeeeeeeeeeeeeeeeeeneereeeeeeesa 67 4 7 6 High Speed Continuous Mode cccccccesseesssseceeeeeeeeseeeeeens 68 4 7 7 Constant Speed Origin Return Model ccccsscccccceeeeeeeeeeeees 69 4 7 8 High Speed Origin Return Model iieeeeeeeeeeeeererrerseeeeeeeeea 70 Appendix A Diagrams wesidscccccecscevecscededaccccsevacsreicuscecscozecesease 12 ATI Jumper and Switch LayOut eeeeeeeeeeeeeeeeeeeeeeereererreereeeeeeeeeeese 72 A 2 PCI 1243U Block Diastam eege 73 E RE ER Cir Cut Dia ST AIM EE 73 Appendix B Simple St Motor Driver ccsseeee 70 Figure B 1 Simple Stepping Motor Driver Block Diagram 76 Figure B 2 Pattern Encoder Connection eeereeeeeeeeeeeeeeeseeae 76 Figure B 3 JP 1 at Pull Step Control Seuren 17 Figure B 4 JP1 at Half Step Control eeeeeeeeeeeeeeeeeeeeeeeennee 78 Figure B 5 4 Phase Stepping Motor Power Control Circuit 79 Appendix C Home Function
6. Baset lOh Read Board ID eietisccnsesseniss i Ha A Ha Each Ce E 54 45 2 Baserlth Read Write IDO Port eege Geesen 54 45 3 Baseri2h Read Write IDI Port agi seh cdesteenewhichiesaaniiacidnesdees 54 4 5 4 Base 13h R W IDI Port Trigger Control Regester 55 4 5 5 Base 14h IRQ Control Enable Register Low Byte 55 4 5 6 Base 15h IRQ Control Enable Register High Byte 000000 55 4 5 7 Base 16h IRQ Status Low Byte oo ccccessscseeeeeeeeeseeeeeens 56 4 5 8 Base 17h IRQ Status High Byte iiieeeeeeeneeneeeeeeeeeeseerrrreeeeeeae 56 PCTI 1243U User Manual vi 4 5 9 Timer Function Specification cccccccccccccccessssssessssseeeeeeeeeeeeees 56 4 5 10 Base 18h Counter Data Register Low byte eeeeeeeeeeeeeeeeeee 57 4 5 11 Base 19h Counter Data Register High Byte eee 57 4 5 12 Base 1 Ah Counter Gate Control Register ieeeeeeereeneeeeeeeeea 57 4 5 13 Base 1Bh Counter Load Trngger cccccccesssceceeeeeeeeeeeeens 57 4 6 Motion Status REGISTER deed Eege 58 4 6 1 Base 1Ch STA Motion Start Trigger Source Control Register 58 4 6 2 Base 1Dh STA Software Source Trigger iieeeeeeeeeeeeeeeeeeeeeea 58 4 6 3 Base 1lEh Software Reset PCD4541 siar uneei 58 4 6 4 Base 20h X Axis Limit Switch Control Reg Status 59 4 6 5 Base 21h Y Axis Limit Switch Control Reg Status 59 4 6 6 Base 22h Z Axis Limit Switch Control Reg Status
7. STA_Mode Status SW STA Trigger NA Reset PCD4541 Command NA NA NA X Axis Limit Switch Control Register X Axis Limit Switch Control Status Y Axis Limit Switch Control Register Y Axis Limit Switch Control Status Z Axis Limit Switch Control Register Z Axis Limit Switch Control Status U Axis Limit Switch Control Register U Axis Limit Switch Control Status NA Limit switch status For each motion axis four register addresses are used One command buffer and three data buffers PCI 1243U User Manual 42 Command Buffers WR0 WR4 WR8 and WR12 Each of the three channels has a command buffer which enables individ ual programming Channel I s command buffer is BASE 0 Channel 2 s is BASE 4 Channel 3 s is BASE 8 and Channel 4 s is BASE 12 A command can be written to any of the three buffers and the appropriate channel will respond to the command Low Data Buffers WR1 WR5 WR9 and WR13 Low data buffer for each channel is found at BASE 1 BASE 5 BASE 9 and BASE 13 for channel 1 channel 2 channel 3 and chan nel 4 respectively During writing output these buffers contain data bits 0 7 of the respective channels Middle Data Buffers WR2 WR6 WR10 and WR14 Middle data buffer for each channel is found at BASE 2 BASE 6 BASE 10 and BASE 14 for channel 1 channel 2 channel 3 and chan nel 4 respectively When wr
8. and RD13 There is a status buffer for each channel status 0 These buffers are found at BASE 0 BASE 4 BASE 8 and BASE 13 for channel 1 channel 2 channel 3 and channel 4 respectively These buffers enable you to read the internal status of each channel and also get certain infor mation on input signals or conditions 7 6 5 4 3 2 1 0 Monitor INT output when operation is stopped 0 INT is being output Monitor INT output at ramping down point 0 INT is being output Monitor INT output at external start 0 INT is being output Operation status 0 Stopped 1 Operating Pulse output zero status 0 Non zero 1 Zero Pulse counter and R5 comparison 0 Pulse counter gt R5 1 Pulse counter lt R5 Monitor acceleration status 0 Not accelerating 1 Accelerating Monitor deceleration status Status 0 bit configuration 0 Not decelerating 1 Decelerating 4 4 2 Extension Monitor When the Extension Monitor was selected you can check the value of each register RO R7 by assigning the register with register selection command and then read the specific address respectively Also Status Status2 and Status3 can be read in the extension monitor mode On the following page are the definitions of each status register PCTI 1243U User Manual 52 7 6 5 4 3 2 1 0 Status 1 bit configuration 7 6 5 4 3 2 1 0 Monitor EL terminal 0 Off 1 On Monitor EL terminal 0 Off 1 On Monitor ORG terminal 0 Off
9. Note This flag will be cleared while writing to the register 4 5 9 Timer Function Specification Clock Base 1 MHz On Board OSC Timer Tick Base 10 Clock Base 100 kHz Timer Tick Width 10 us PCTI 1243U User Manual 56 4 5 10 Base 18h Counter Data Register Low byte D7 D6 D5 D4 Counter DATA Low Byte D7 D6 D5 D4 Counter DATA Low Byte 4 5 11 Base 19h Counter Data Register High Byte D7 D6 D5 D4 Counter DATA High Byte D7 D6 D5 D4 Counter DATA High Byte 4 5 12 Base 1Ah Counter Gate Control Register CNT_EN Counter Gate Control status 0 Disable 1 Enable 4 5 13 Base 1Bh Counter Load Trigger Load counter setting value into chip D7 D6 D5 D4 D3 A 37 Chapter 4 4 6 Motion Status Register 4 6 1 Base 1Ch STA Motion Start Trigger Source Con trol Register Axes Dependant D2 D1 DO Z Axes Y Axes X Axes D2 D1 DO Z Axes Y Axes X Axes With the STA function you can start all axes synchronously The trigger source can be either external or from software D3 D0 X Y Z and U Axis STA Source 0 External Control 1 Software Control 4 6 2 Base 1Dh STA Software Source Trigger Writing to Base 1D to start the synchronous motion 4 6 3 Base 1Eh Software Reset PCD4541
10. R7 Output type register 0 to 1 Note RW Read Write register W R Write only register However it can be read using the extension monitor setting Note2 R7 is allowed to be 0 or 7 R7 0 CW CCW output type R7 1 Pulse Direction output type 49 Chapter 4 4 3 4 Output Mode Select Command Logic setting of PO output 0 Negative logic 1 Positive logic Pulse output 0 Output 1 No output Intermediate stop accel decel operation 0 Enable accel decel operation continuous 1 Disable accel decel operation change to constant speed Input signal sensitivity setting for ORG EL and EMG 0 High sensitivity 1 Low sensitivity Monitor mode selection 0 Standard monitor 1 Extension monitor If bit3 is set operations will not accel decal unless this bit was cleared Sensitivity setting Low the input signal will be ignored when pulse width lt 800 ns High the input signal will be recognized when pulse width lt 800 ns PULSE DIRECTION logic control PULSE dir and DIR dir output logic be changed as follows PCI 1243U User Manual 50 4 4 Status Registers You can set the standard monitor or extension monitor by Output mode select command Status does not have any restrictions on reading Since Status 1 Status2 and Status3 share their addresses with the lower data byte of the preset counter there is a restriction on reading from them To read Status1 Statu
11. assist you in program design This chapter is a good place to start getting to know and use the capabilities of the PCI 1243U to best suit your applica tion Sections include e PCI 1243U Registers e Programming PCI 1243U e Command Modes e Status Registers e General I O Registers e Motion Status Register Typical Operational Procedures Chapter 4 Register Programming 4 1 Motion Control Registers Several motion control registers are used to control PCI 1243U These registers are used to store commands speed mode number of pulses and more The following sections describe these registers in detail 4 1 1 RO Preset Pulse Counter 24 bits PCI 1243U has an internal preset countdown counter By entering a num ber of pulses this preset counter will begin counting down from that point The preset counter decrements by one for each pulse output in the contin uous zero return and preset operations However if the preset counter operation mode is inhibited by the output mode command the preset counter will not count down The counter value number of remaining pulses can be read while in operation or while stopped To read the value first select RO The register select timing latches the data into a 24 bit read buffer In preset operation PCI 1243U places a number of positioning pulses in this register and then starts the operation Once the operation has started the counter value is decremented with each pulse tha
12. some of the major functions of PCI 1243U Sections include e Jumper and Switch Layout e PCI 1243U Block Diagram e Output Circuit Diagram Appendix A Diagrams A 1 Jumper and Switch Layout 2 Lu DE a Fu st El Si L LA D JP12 JP11 Gen eg Hals Jumper Setting Molo ol Tri ATEU PCI 1243U User Manual 72 A 2 PCI 1243U Block Diagram Address Address Decoder DIR amp OUTPUT PULSE ISOLATOR OUTPUT S PCD 4541 2 phase stepping controller system ORG EL INPUT ISOLATOR EL A SD SD INPUTS DIGITAL OUTPUTS DIGITAL INPUTS A 3 Output Circuit Diagram gt gt EXT VCC 1K 5V gt gt PULSE dir PULSE gt gt DIR dir N DIR gt COM 73 Appendix A PCI 1243U User Manual 74 APPENDIX Simple Stepping Motor Driver This chapter provides extra diagrams related to the simple stepping motor driver Appendix B Simple St Motor Driver Full Halfstep select Power Control Circuit Pattern Encoder DC Power of Motor DC Power of Control Circuit Figure B 1 Simple Stepping Motor Driver Block Diagram Pulse Direction TO POWER CONTROL CIRCUIT Figure B 2 Pattern Encoder Connection PCTI 1243U User Manual 76 OutputPattern ODOC OBOA FH 1 inallstates Figure B 3 JPI at Full Step Control 77 Appendix B FB 1 FB 0 Ba FB 0 FB 0 FB 1 FB 1 OutputPattern ODOCOBOA FH 0 Inallst
13. 1 On NA NA Monitor SD terminal 0 Off 1 On Monitor SD terminal 0 Off 1 On NA NA NA NA NA Monitor PO terminal 0 Off 1 On Monitor PO terminal 0 Off 1 On NA Monitor interrupt each axis 0 No interrupt 1 Interrupt occurred For the value of Status3 it should be 0100 0000 It represents the PCD4541 chipset 53 Chapter 4 4 5 General I O Registers Register from Base 10h to Base 1Bh are for general I O following are the definitions of each register 4 5 1 Base 10h Read Board ID This Register Is Read Board ID D3 D0 The Operation Steps are as the following Step 1 outportb base 0x10 0x00 Step 2 BoardID inportb base 0x10 4 5 2 Base 11h Read Write IDO Port This Register Is Read Write IDO Output D7 D0 4 5 3 Base 12h Read Write IDI Port This Register Read IDI Port D7 D0 PCI 1243U User Manual 54 4 5 4 Base 13h R W IDI Port Trigger Control Register Write Dr D6 D5 D4 D3 D2 D1 DO IDI_Ctl7 IDI_Ctl6 IDIL_Ctl5 IDI_ Ctl4 IDI_Ctl3 IDI_Ctl2 IDI_Ctl1 IDI_Ctlo Read Di D6 D5 D4 D3 D2 D1 DO IDI_Ctl7 IDI_Ctl6 IDIL_Ctl5 IDI_ Ctl4 IDIL_Ctl3 IDI_Ctl2 IDI_Ctl1 IDI_Ctlo IDI_Ctl7 IDL Ctl0 Isolated Digital Input channel interrupt Edge Trig ger Control 0 IDIx x 7 0 Falling Edge Trigger 1
14. EE 16 Figure 2 10 EMG Tri STA Test Configuration iieeeeeeeeeee 16 2 5 Setting the BoardID Switch GWI 17 Table 2 2 BoardID Setting SW1 oo cece cccceeerssseeeeeeeeeeeees 17 2a B ardID RELIStET ees 17 Table 2 3 BoardID register of PCI 1243U eeeeeeee 17 2 6 Software Driver Installation iieeeeeeeeeeeeeeeenerneeeeeeeeeeeeeeeena 18 Chapter 3 Motion Utility eege eege eessen 20 Sol Jochen 20 E EE 20 Figure 3 1 Displaying Available PCI 1243U Cards on System 20 Figure 3 2 Accessing the PCI 1243U Card eeeeenneeeeee 21 Ent ENEE 21 32 MOOMMOUMAM oeenn a 22 3 2 1 Machine Configuration Page cccccssssssscceecceceeeeeeeeseessseaaees 22 Figure 3 4 Machine Configuration Page ccccccccceeessseeeeeeees 23 v 3 2 2 Motion I O Configuration Page cccccsssccccccccecceeseesseeessseeeees 23 Figure 3 5 Motion I O Configuration ieeeeeeeeeeeeeeeeennerrreeeeeae 23 323 Home COmmouranon Paten rr rm ir 24 Figure 3 6 Home Configuration REENEN 24 Figure 3 7 Save and Load Configuration Files cccceee 25 3 3 Motion Operations eege ege ee 25 3 3 1 Testing Motion Movement sosa ei aa NG Cia IONAD S ae GS HC Gas 23 332 P inttoP int kleed Age Age 26 Figure 3 8 Point to Point Movement 2 0 0 0 cceccceesesesessseeeeeees 2 JAS Oe PUM CUOM eee a a E A 28 Fizu o 9 Home FUNC OM aaae OE 28 Seck Terre O Operation sanda AE 29 Figure 3 10 Digital I O Ope
15. Motion Manager gt Motion Manager Example source codes can be found under the corresponding instal lation folder such as the default installation path Program Files Advantech AMCL Examples PCI 1243 PCI 1243U User Manual 18 CHAPTER Motion Utility This chapter introduces the Advantech Motion Manager utility Sections include e Introduction e Configuration e Motion Operations Chapter 3 Motion Utility 3 1 Introduction The Advantech Motion Manager Utility is designed for easy installation configuration and diagnostics on PCI 1243U In this utility you can set mechanical parameters electrical parameters and home modes in the parameter table Some basic motion functions can also be operated in the utility such as point to point continuous movement and home You can also figure the digital input points status easily in the utility Fur thermore the motion speed profile display function is also implemented in this software package In the following section all the functions will be introduced one by one 3 1 1 Main Page You can launch the utility from Start gt Program Files gt Advan tech Automation gt Motion Manager gt Motion Manager Once the utility is initialed it will scan the system and list the existing PCI 1243U cards on the system with their BoardID number If there is no PCI 1243U card detected by the utility please double check if the card is prop
16. can choose the best fit mode to get the proper homing accuracy Please refer to Appendix C for the detail definition of each Home mode and 3 2 3 for parameter information Speed amp Positi Speed fo pulse s Position 0 pulse Home Status Home Mode HOME_MODEO orc e Direction bon pp POS HomeBusy E ORG Mode pomno i Reset Mode ADM_HOME_RST_NO SV i pulse s fo pulse s Axis X Axis Y AxisZ Axis U Figure 3 9 Home Function PCI 1243U User Manual 28 3 3 4 Digital I O Operation DO Mask State PCI 1243U provides a mask option for each digital out put bit If the mask bit is not set the output command will not affect the output status of the specific bit DO State Checking the box under the bit number can issue the status change command to the specific bit DI State In this column it shows the status of digital input bits and you can change the polling time interval Digital Output r DO Mask State Bit RON BERG SEAN RS SENS Ze Es Mask KM KM KM KM KM KM KM KR r DO State BESS ESS GS RGSS SSS E Se Sates ea ow D DD DD DD H PORT 0 P D Stato Ms seen SEES t s 100 S Bi e 4 3 2 0 Polling Interval ms a Input SB WW PORT 0 Figure 3 10 Digital LO Operation 29 Chapter 3 PCTI 1243U User Manual 30 CHAPTER Register Programming This chapter describes the PCI 1243U s hardware registers It also contains typ ical operational procedures that will
17. o Constant speed operation with the FL register Operates at the speed set for the FL register fo jo 4 a Constant speed operation with the FH register Operates at the speed set for the FH register o jo 1 o j1 jo j High speed mode operation with the FH register Frequency ramps up halfway from the rate of FL to that of FH During high speed start this command lets the frequency ramp up down to the rate of the FH speed 45 Chapter 4 LEIS EC E Dual rate operation ramping down Frequency ramps down to the level of the FL 0 no output of INT signal at stop 1 output of INT signal at stop SIE i ei Vs Decelerating stop reset command is required after stop Frequency ramps down to the rate of the FL then stops DEE Reset command This stops pulse generation under any condition If you start with the start command be sure to reset with the reset command before the next start This gives INT signal and the start command has to be reset Contents in registers RO through R7 are not changed 0 no output of INT signal at stop 1 output of INT signal at stop O10 TG Fe 10 ie te 1 The start command is set to standby It will wait for the external start trigger to start motion 0 Software start command will start motion immideately PCTI 1243U User Manual 46 4 3 2 Operation Mode Select Command Operation Mode Select Command 7 6 5 4 3 2 1 0 pots ii JJ 1 ORG signal enable 1 SD si
18. photocopy proof of purchase date such as your sales receipt in a shippable container A product returned without proof of the purchase date is not eligible for war ranty service 5 Write the RMA number visibly on the outside of the package and ship it prepaid to your dealer iii CE This product has passed the CE test for environmental specifications when shielded cables are used for external wiring We recommend the use of shielded cables This kind of cable is available from Advantech Please contact your local supplier for ordering information Technical Support and Assistance Step 1 Visit the Advantech web site at www advantech com support where you can find the latest information about the product Step 2 Contact your distributor sales representative or Advantech s cus tomer service center for technical support if you need additional assistance Please have the following information ready before you call Product name and serial number Description of your peripheral attachments Description of your software operating system version appli cation software etc A complete description of the problem The exact wording of any error messages Packing List Before setting up the system check that the items listed below are included and in good condition If any item does not accord with the table please contact your dealer immediately 1 PCI 1243U card 2 Companion CD ROM DLL driver included 3 Us
19. switch is defined in Status so both Standard and Extension monitor mode is workable In this case we set the monitor mode as Extension outportb base CH 4 CommandBufferIndex DATA CH Axes 0 2 CommandBufferIndex 0 DATA is just setting The Output Mode Command Monitor Mode Selection Bit5 DATA CurrentAxesOutputModeCommandvValue amp FORCE EXTENSION MODE FORCE EXTENSION MODE Step2 Select R7 Register If you want to read another status such as RO R1 or Current Speed then you must select another Register such as RO R1 and R6 Please refer to the Table in section 4 6 outportb base CH 4 CommandBufferIndex DATA DATA is just setting The Register Select Command As R7 DATA CurrentAxesRegisterSelectCommand Value amp 0x07 FORCE SELECT_R7 61 Chapter 4 Step3 Read the Status register For X Axes RDO RD1 RD2 RD3 Y Axes RD4 RD7 Z Axes RD8 RD11 Please refer to the Table in section 4 6 Status0 Of n Axes inportb base CH 4 0 Status Of n Axes inportb base CH 4 1 Status2 Of n Axes inportb base CH 4 2 Status3 Of n Axes inportb base CH 4 3 Step4 Get the EL EL status For EL Status 1 BITO EL Status 1 BIT1 EL Of n Axes Status1 Of n Axes amp 0x01 gt gt 0 EL Of n Axes Status1 Of n Axes amp 0x02 gt gt 1 PCI 1243U User Manual 62 4 7 Typical Operational Procedures 4 7 1 Initialization Note Be
20. Command Buffer lt 00010101 15H Command Buffer lt 00011100 1CH Waiting for deceleration stop PCI 1243U User Manual 68 4 7 7 Constant Speed Origin Return Model Stop by origin switch ON E te th t t xecute the rese Command buffer lt 00001000 08H EE angin ratur For direction command buffer lt 01000001 41H mode and select the For direction command buffer lt 01001001 49H direction Enter the start For FH Command Buffer lt 00010000 10H command For FL Command Buffer lt 00010001 11H I When the ORG signal is ON pulse output stops and bit 3 of status 0 becomes 0 H The status 0 is read YES Completion of operation 69 Chapter 4 4 7 8 High Speed Origin Return Model Ramp down by SD switch i ONj Stop by origin switch i ONj Execute the reset Command buffer lt 00001000 08H Effect the origin return For direction command buffer lt 0100001 1 43H mode and Si the For direction command buffer lt 01001011 4BH direction Enter the start For FH Command Buffer lt 00010101 15H i When the SD limit switch of the same direction as the preset direction in i ONj the frequency ramps down to the rate of FL 7 The status O is read YES When the ORG limit switch is ONj pulse output stops and bit 3 of status 0 becomes 0 Completion of operation PCI 1243U User Manual 70 APPENDIX Diagrams This chapter provides diagrams for
21. IDIx x 7 0 Rising Edge Trigger 4 5 5 Base 14h IRQ Control Enable Register Low Byte D7 D6 D5 D4 D3 D2 D1 DO INT_IDI7 INT_IDI6 INT_IDIS INT_IDI4 INT_IDI3 INT_IDI2 INT_IDI1 INT_IDIO D7 D6 D5 D4 D3 D2 D1 DO INT_IDI7 INT_IDI6 INT_IDIS INT_IDI4 INT_IDI3 INT_IDI2 INT_IDI1 INT_IDIO INT _IDI7 INT_IDIO 0 Disable IDIx INT x 7 0 1 Enable IDIx INT x 7 0 4 5 6 Base 15h IRQ Control Enable Register High Byte D7 D1 DO INT All INT Motion INT Timer D7 D1 DO INT All INT Motion INT Timer INT All 0 Disable INT of all channels 1 Enable INT of all channels INT Motion INT Timer 0 Disable INT for Motion or Timer functions 1 Enable INT for Motion or Timer functions 55 Chapter 4 4 5 7 Base 16h IRQ Status Low Byte Clear interrupt flag D7 D6 D5 IDI_Sta7 IDI_Sta6 IDI_Sta5 IDI_Sta4 IDI_Sta3 IDI Sta2 IDI_Sta1 IDI Sta0 IDL Sta7 IDI Sat IDIx x 7 0 INT Status 0 In Active 1 Active Note This flag will be cleared while writing to the register 4 5 8 Base 17h IRQ Status High Byte D7 D6 Clear interrupt D7 D6 D1 DO Sta_All Sta_Motion Sta_Timer Sta All INT Status 0 Inactive 1 Active Sta Motion Sta_Timer 0 INT is inactive for Motion or Timer functions 1 INT is active for Motion or Timer functions
22. PCI 1243U 4 Axis Stepping Motor Control Card User Manual Copyright The documentation and the software included with this product are copy righted 2004 by Advantech Co Ltd All rights are reserved Advantech Co Ltd reserves the right to make improvements in the products described in this manual at any time without notice No part of this man ual may be reproduced copied translated or transmitted in any form or by any means without the prior written permission of Advantech Co Ltd Information provided in this manual is intended to be accurate and reli able However Advantech Co Ltd assumes no responsibility for its use nor for any infringements of the rights of third parties which may result from its use Acknowledgements PC LabCard is a trademark of Advantech Co Ltd IBM and PC are trademarks of International Business Machines Corpora tion MS DOS Microsoft C and Quick Basic are trademarks of Microsoft Cor poration BASIC is a trademark of Dartmouth College Intel is a trademark of Intel Corporation Turbo C is a trademark of Borland International All other product names or trademarks are properties of their respective owners Part No 2003124300 Ist Edition Printed in Taiwan January 2005 PCTI 1243U User Manual ii Product Warranty 2 years Advantech warrants to you the original purchaser that each of its prod ucts will be free from defects in materials and workmanship for two years from th
23. are the Slow Down signal inputs which are in operation in the SD enable mode refer to the control select modes If there is a signal in the same direction as the pulse output in direction or pulse mode that becomes active during high speed start the frequency ramps down When the signal becomes inactive the frequency ramps up again V 12 24VDC nLCOM 4 7k nSD nSD nLCOM ALCOM BLCOM CLCOM DLCOM Figure 2 8 SD Switch Test Configuration PCI 1243U User Manual 14 2 3 3 ORG This is the Origin point input If this signal becomes active during origin return refer to the control select modes pulse output stops immediately Although PCI 1243U caters for five limit switches on each axis not all of them have to be operated in one application Refer to following figure for an example of the usage of limit switches V 12 24VDC nLCOM nLCOM ALCOM BLCOM CLCOM DLCOM Figure 2 9 ORG Switch Test Configuration 15 Chapter2 2 4 Jumper Settings JP1 has a convenient design that enables storage of motion register configurations into CPLD so the configurations can be kept even when the PC power is off The factory default is in Normal position 1 2 pin shorted which means the register setting will disappear after a power reset You can move JP1 to the Keep position 2 3 pin shorted to store configurations Table 2 1 JPI Settings Normal reset register default Keep store confi
24. ates Figure B 4 JPI at Half Step Control PCTI 1243U User Manual 78 Motor s Power Qa Pd Gd Ge SHE Se I RL RL RL RL EE 5V 5V 5V 5V a a d AN I i i i Sc E E a E 8 i i OA OB OC OD a From Pattern Encoder Figure b 5 4 Phase Stepping Motor Power Control Circuit 79 Appendix B PCI 1243U User Manual 80 APPENDIX Home Function An accurate home position is funda mental for every precision machine In order to manage the various require ments for the home position PCI 1243U provides a total of 4 home modes This chapter gives users an overview of each home mode and its characteristics After reading this chapter it should be easier to choose the most suitable home mode for your application Appendix C Home Function C 1 How to Read the Home Velocity Profile Since the homing process is quite complex PCI 1243U provides a Home Pattern Graph for each mode to give users a clear concept about how the home function proceeds In the Home velocity profile there are three types of sensor inputs that can be found and they are all high active HOME represents the status of the home sensor and the raising edge means the home sensor was trig gered LMT means limit switch and the raising edge means the limit switch was activated ECZ represents the index signal of the encoder The pattern in each case shows the velocity profile of the motor It starts from a soli
25. ch Then it will keep moving until it crosses the home sensor and finally search the home signal again HOME BG e ee eee LMT BE BEE Case 1 Case 2 Case 3 Figure C 2 Velocity Profile of Home Model PCTI 1243U User Manual S4 C 4 Home Mode6 In Home mode6 the motor will start up at low speed FL and accelerate to high speed FH towards the limit switch Once the limit switch is reached the motor will stop immediately LMT mas Figure C 3 Velocity Profile of Home Mode 85 Appendix C C 5 Home Mode9 In Home mode the motor will start up at speed FL and accelerate to speed FH towards the home sensor Once the home sensor is reached the motor will decelerate and go backward at speed FL Once the motor leave the triggered area of home sensor it will stop immediately If the home sensor was active at start up or the limit switch was met first the motor will go in the opposite direction when reaching the limit switch Then it will keep moving until it crosses the home sensor and finally search the home signal again ome WE E BE LMT ee es ee Case 1 Case 2 Case 3 Figure C 4 Velocity Profile of Home Mode9 PCTI 1243U User Manual Kid
26. d dot and the arrow represents the direction of movement which then ends up at a hollow dot There are only two movement speeds that can be defined in the homing process One is the start up speed FL and the other is the maximum speed FH For velocity the slants means speed up or slow down PCTI 1243U User Manual 52 C 2 Home Mode In Home mode the motor will start up at low speed FL and accelerate to high speed FH towards the home sensor Once the home sensor is reached the motor will decelerate And then stop when the speed is down to FL If the home sensor was active at start up or the limit switch was met first the motor will go in the opposite direction when reaching the limit switch Then it will keep moving until it crosses the home sensor and finally search the home signal again wll Li LMT mm l Cas EE BE Case 2 Case 3 Figure C 1 Velocity Profile of Home Mode 8 amp 3 Appendix C GA Home Mode In Home Model the motor will start up at speed FL and accelerate to speed FH towards the home sensor Once the home sensor is reached the motor will decelerate The main difference with mode is that in this mode the motor will go back and approach the home again with low speed FL This makes the stop point even closer to the raising edge of the home sensor If the home sensor was active at start up or the limit switch was met first the motor will go in the opposite direction when reaching the limit swit
27. e Jumper Settings e BoardID Chapter 2 Installation 2 1 Hardware Installation After you have set the jumpers and BoardID switch you will be ready to install the card in your PC s chassis The following section will assist you in installing PCI 1243U Warning Disconnect power from your PC whenever you install or remove the PCI 1243U or its cables 2 1 1 Installing the Card in your Computer E 10 Turn off the computer and all peripheral devices such as printers and monitors Disconnect the power cord and any other cables from the back of the computer Turn the chassis so that the back of the unit faces you Remove the chassis cover see your computer users guide if neces sary Locate the expansion slots at the rear of the unit and choose an unused slot Remove the screw that secures the expansion slot cover to the chas sis Save the screw to secure PCI 1243U Carefully grasp the upper edge of the PCI 1243U card Align the hole in the retaining bracket with the hole on top of the expansion slot and align the gold striped edge connector with the expansion slot socket Press the board firmly into the socket Replace the screw in the expansion slot retaining bracket Replace the chassis cover Connect the D 62 male connector to the PCI 1243U s 62 pin female connector Connect the connector to your stepping motor driver according to the specifications outlined in Section 2 2 Connect the cables you removed in st
28. e date of purchase This warranty does not apply to any products which have been repaired or altered by persons other than repair personnel authorized by Advantech or which have been subject to misuse abuse accident or improper instal lation Advantech assumes no liability under the terms of this warranty as a consequence of such events Because of Advantech s high quality control standards and rigorous test ing most of our customers never need to use our repair service If an Advantech product is defective it will be repaired or replaced at no charge during the warranty period For out of warranty repairs you will be billed according to the cost of replacement materials service time and freight Please consult your dealer for more details If you think you have a defective product follow these steps 1 Collect all the information about the problem encountered For example CPU speed Advantech products used other hardware and software used etc Note anything abnormal and list any onscreen messages you get when the problem occurs 2 Call your dealer and describe the problem Please have your man ual product and any helpful information readily available 3 H your product is diagnosed as defective obtain an RMA return merchandize authorization number from your dealer This allows us to process your return more quickly 4 Carefully pack the defective product a fully completed Repair and Replacement Order Card and a
29. e provided and they contain all the command functions needed for total control of your stepping motors Digital I O PCI 1243U features 8 isolated digital inputs and 8 isolated digital outputs for general I O use on off control etc Isolation Protection The PCI 1243U s PULSE and DIRECTION outputs and five limits input switches are isolated from the PC side PCI 1243U User Manual 2 1 2 Features One on board pulse generator that enables simultaneous independent control of four stepping motors e Two operating modes two pulse and direction pulse or one pulse pulse direction mode e Programmable step rate from 1 to 400k pps pulses per second Programmable initial speed final speed and time duration Automatic trapezoidal acceleration deceleration tamping is performed 16 I O TTL Compatible Channels e All inputs outputs are optically isolated providing 5000Vrms isolation protection e Command Interpreter provided that eases learning the PCI 1243U com mand set 1 3 Applications e Precise X Y Z position control e Precise rotation control e Robotics and assembly equipment Other stepping motor applications 3 Chapter I 1 4 Specifications Number of axes Three independent axes individually programmable Operating modes Two pulse mode or direction or one pulse pulse direction mode Steps per command 16777215 steps Step Rate 1 400 kpps Acceleration deceleration ramping Use
30. ep 2 Turn on the computer Hardware installation is now complete PCTI 1243U User Manual 2 2 Pin Assignments This section assists with connecting the PCI 1243U s 62 pin connector to a variety of stepping motor drivers The following diagrams shows PCI 1243U s pin connector assignments and offer some examples of input output circuit connections from the card to the driver You should select the example that best supports your application needs and the capabilities of your stepping motor driver Note Output circuit diagrams of the stepping motor can be found in Appendix B EXT_COM 22 sn NC EMG 7 23 43 Tri STA reversed EXT GND ADIR 2 24 44 APulse AORG ALIM 3 25 45 ALIM ALCOM ASD 4 26 46 ASD EXT_GND BDIR 5 27 47 BPulse BORG BLIM 6 28 48 BLIM BLCOM BSD 7 29 49 BSD EXT_GND CDIR 30 50 CPulse CORG CLIM 9 31 51 CLIM CLCOM CSD 10 32 52 CSD EXT GND DDIR 11 33 53 DPulse DORG DLIM 12 34 54 DLIM DLCOM DSD 13 35 55 DSD IDO2 IDOO 14 36 56 IDO IDOS IDO3 15 37 57 IDO4 IDO COM IDO6 16 38 58 IDO7 NC EXT_GND 17 39 59 EXT_GND IDI2 IDIO 18 40 60 IDN IDIS IDI 19 41 61 Did IDI COM IDI6 20 42 62 Dis NC 21 Figure 2 1 PCI 1243U Pin Assignment 9 Chapter 2 Driving Pins for Each Axis DIR dir Direction signal output in direction mode or direction pulse output in pulse mode Pulse dir Pulse signal output in direction mode or direction pulse output
31. er Manual PCTI 1243U User Manual iv Contents Chapter 1 General nformation cccccccsssssssssccsssssses 2 Pel oer geed 2 EZ SS EE EH 3 e ere ege EE 3 LA EENEG 4 ber Deitel eegene 4 Tae CCE AM ee 4 b3 lee ENN 5 Figure 1 1 PCI 1243U 4 Axis Stepping Motor Control Card 5 Chapter 2 Installation ssssssssssccccccccesssssssscccesssseeees 2 1 Hardware Installation sxc sccsccconssdecscedesd terse sinsdaduahebbendsresdbavededets 8 2 1 1 Installing the Card in your Computer iiieeeeereeeeeenrrreeeeenerrreeeaa 8 22 PAnp ASSIS NIMES ed 9 Figure 2 1 PCI 1243U Pin Assignment iiiieeeeeeeeeeeeeeeeeeerrrreeeeae 9 2 2 1 Input Output Circuit Connections iiieeeeeeeeeeeeeeeeeereenereaeeeeeeeea 11 Figure 2 2 Output Connections Example eeeeeeeeneeeeeeneeeeeae 11 Figure 2 3 Pulse Output Test Conf Open Collector Type 11 Figure 2 4 Isolated Digital Input Wiring Configuration 12 Figure 2 5 Isolated Digital Output Wiring Configuration 12 2 5 Limit Switch Confisuration ege dee 13 Figure 2 6 Limit S WiatChes E 13 E E WE e Er EE 14 Figure 2 7 Lim Switch Test Configuration iieeeeereeeeeennnreeesa 14 GE D EE 14 Figure 2 8 SD Switch Test Configuration ccccssssccceeeeeeeees 14 See MONK Clases era ea essa Ee 15 Figure 2 9 ORG Switch Test Configuration cccccccscceeeeees 15 DA eege eege 16 Table E aiMhe
32. erly plugged into the system File View Help 7 D x E Hew Remove Refresh System PTR OTTO Figure 3 1 Displaying Available PCI 1243U Cards on the System For each PCI 1243U card in the system there are three main software pages e Inspection Information e Configuration Config e Operation Run PCI 1243U User Manual 20 B Infomation s D Contig ze In Bun Figure 3 2 Accessing the PCI 1243U Card In the Information page all DLL driver versions are listed so that you can easily check if the current driver in the system is up to date BR System ER lt 01 4PC 243 Library Name Nam Vema Sh SS AMEL d 1 00 2 Il Run ADS1243 dll 1 1 0 3 ADS12435 sys 1 0 0 2 Device Features Driver Wersion Figure 3 3 Information Page Note You may download the driver from Advantech s web site if necessary http www advantech com tw support 21 Chapter 3 3 2 Configuration In the Configuration page you can set all the parameters used by PCI 1243U including mechanical motion I O and home parameters You input the basic mechanical parameters in the first page This includes parameters such as maximum RPM of motor number of pulses per revo lution and the gear ratio of the gear box if there is one Then based on this mechanical information the software driver can automatically calcu late the unit transformation so that the user can enjoy the convenience of inputti
33. fer lt 01000100 44H For direction command buffer lt 01001100 4CH Command Buffer lt 10000000 80H Register bits 23 16 lt data high order 8 bits Register bits 15 8 lt data mid order 8 bits Register bits 7 0 lt data low order 8 bits Wait for 400ns The order is important Command Buffer lt 00010101 15H The status O is read YES Completion of operation Waiting for completion of operation PCTI 1243U User Manual 66 4 7 5 Constant Speed Continuous Mode Immediate stop command t Execute the reset Command buffer lt 00001000 08H Effect the manual mode For direction command buffer lt 01000000 40H and set the direction For direction command buffer lt 01001000 48H Enter the start For FL Command Buffer lt 00010000 10H command For FH Command Buffer lt 00010001 11H Enter the immediate Command buffer lt 00001000 08H reset command stop command Completion of operation 67 Chapter 4 4 7 6 High Speed Continuous Mode Deceleration stop command Stop after deceleration Command buffer lt 00001000 08H Execute the reset command Effect the manual mode and select the direction Enter the start command Enter the deceleration stop command The status 0 is read YES Completion of operation For direction command buffer lt 01000000 40H For direction command buffer lt 01001000 48H For FH
34. fore following the flow chart user need to define the output mode first by setting R7 If user set R7 as 0 then the output will be CW CCW mode Or user can choose Pulse Direction Mode by setting R7 as 1 Negative Logic Pulse output Logic Positive Logic Counter Count stop operation mode Output pulse 4 Clocks 4 Clocks EL ORG EL ORG sensitivity sensitivity Immediate Immediate stop stop Command buffer 11010010 D2H Command buffer 11000010 C2H Command buffer 11010000 DOH Command buffer 11000000 COH 63 Counter operation mode Count stop Output pulse 4 Clocks 4 Clocks EL ORG sensitivity Immediate stop Immediate stop Command buffer 11010011 D3H Command buffer 11000011 C3H Command buffer 11010001 D1H Command buffer 11000001 C1H Chapter 4 4 7 2 Setting Speed Data Select the FL Register Command buffer lt 10000001 81H Set middle byte 8 15 Set lower byte 0 7 Wait 400 ns The order is important Set FL data Set middle byte 8 15 Set lower byte 0 7 Wait 400 ns The order is important Set FH data Select the acceleration rate register Command Buffer lt 1000001 1 83H Set middle byte 8 15 Set lower byte 0 7 Wait 400 ns The order is important Set acceleration rate data Select the ramping down Command Buffer lt 10000101 85H
35. gnal enable 1 Preset enable 0 direction 1 direction Accel decal characteristic 0 Linear 1 S curve Pee Te 2 Manual mode Operation initiated in the start mode continues until the stop command is transferred I FF fe ee Origin return mode Operation initiated in the start mode continues until the mechanical origin signal or stop command comes ae ee Preset mode Operation initiated in the start mode stops when the quan tity set for register RO 1s reached Operation in the high speed start mode ramps down when the remaining quantity of the counter is less than the quantity set for register R5 0 direction 1 direction OT a Pe O PCI 1243U supports two acceleration deceleration modes You can choose linear accel decal mode by setting bit5 as 0 On the other hand if bit6 is set to 1 then the acdel decal profile will be S curve 47 Chapter 4 4 3 3 Register Select Command 7 6 5 4 3 2 1 0 iol tT TL Register Selection R0 Preset Counter Data R1 FL register R2 FH register R3 Acceleration deceleration rate register R4 Multiplier register R5 Ramping down point register R6 Set idling pulse R7 Output type register ch OO ch OO ch O O Preset counter operation control 0 Counts output pulse 1 Do not count Ramping down point interrupt control 0 Ramping down reset 1 Ramping down interrupt enable Interrupt output when external start is enabled 0 Interrupt is no
36. gurations JP11 and JP12 set the polarity for Emergency stop and Tri_ STA pin respectively When the jumper is set to pin 2 and 3 factory default the input channel is in normally open When the jumper is set to pin 1 and 2 the input channel is normally closed Normally SR V 12 24VDC A EMG Tri STA o Imax 10 mA o Oo R 4 7k 1 W Normally Open Figure 2 10 EMG Tri_STA Test Configuration Note The factory default is Normally Open PCI 1243U User Manual 16 2 5 Setting the BoardID Switch SW1 You can use the BoardID command 0x10 to get the board s unique identifier PCI 1243U has a built in BoardID DIP switch SW1 which is used to define each card s unique identifier You can determine the identifier in the register as shown in Table 2 2 When there are multiple cards on the same chassis this BoardID setting is useful for identifying each card s device number We set the PCI 1243U s BoardID switch to 0 at the factory If you need to adjust this setting please see below Table 2 2 BoardID Setting SWI BoardID DEC Switch Position CH O WDINIDOI aA RI WIND Default 2 5 1 BoardID Register You can determine the BoardID setting in the register as shown below Table 2 3 BoardID register of PCI 1243U Base 0x10 Abbreviation Note IDO The least significant bit LSB of Board ID ID3 The most sign
37. he homing movement starts As long as the direction is defined the motor will move in the spe cific direction It will stop when it reaches the ORG sensor or return if the limit switch was reached first ORG Mode The hardware ORG sensor switch mode in original point It can be Normal Open or Normal Close Reset Mode While the setting is Reset Counter the counter value will be reset after homing is accomplished If the Do not reset counter mode was chosen the counter value will stay as it was even when the homing process is finished SV The start up speed while homing DV The final drive speed while homing Acc Time The time period for acceleration from SV to DV Offset The additional offset distance after reaching the original point Unit The unit of above commands can be pulse mm or inch Aus A Machine Contig Motion L Config Home onfig key Parameter Unit Parameter LU rit Ge pulse mm inch Home Mode HOME_MODEO GM 500 pulse s Direction amp DM_DIR_POS DV 1000 pulse s ORG Mode ADM_NO Acc Time H ms Reset Mode ADM_HOM E_RAST_LF Offset fo pulse Figure 3 6 Home Configuration Apply Save and Load the parameters PCI 1243U User Manual 24 After finishing the configuration for each axis the parameters can be applied to the PCI 1243U card by using Apply to Axis as shown in the following diagram You can also press the New
38. ificant bit MSB of Board D 17 Chapter 2 2 6 Software Driver Installation We recommend installing the driver before you install the PCI 1243U card into your system This will guarantee a smooth installation process The 32 bit DLL driver Setup program for the card is included on the com panion CD ROM that is shipped with your DAS card package Please fol low the steps below to install the driver software 1 Insert the companion CD ROM into your CD ROM drive 2 The setup program will be launched automatically if you have the autoplay function enabled on your system Note Ifthe autoplay function is not enabled on your computer use Windows Explorer or Windows Run command to execute SETUP EXE on the companion CD ROM 3 Start the PCI 1243U DLL drivers installation by selecting Installation gt Individual Driver gt PCI Series gt PCI 1243U When the Setup Program is launched you will see the following Setup Screen Webin fo lhe IncclalfSlhoeld Whore len PO 14a Tihs neta Fest Wiad vrai P1243 on pow Empu Ta contra ikk Heu 4 Follow the installation instructions step by step to complete your DLL driver setup 5 Set up the PCI 1243U Motion Utility by referring to chapter 3 For further information on driver related issues an online version of Software Manual is available by accessing the following path Start gt Program Files gt Advantech Automation gt
39. in pulse mode Emergency Stop Pins EMG Emergency Stop input Tri_STA Input channel for motion start external trigger signal The hardware trigger start function is reserved for future usage EXT COM Isolated inputs common point for EMG and Tri STA channel Limit Switch Pins Lim Direction limit switch input Lim Direction limit switch input SD Direction slowdown limit switch input SD Direction slowdown limit switch input ORG Original home point limit switch input LCOM Limit switch common point for each channel Isolated Digital Input Pins IDIx Isolated Digital Input channels x 0 7 IDI COM Common ground for IDI channels Isolated Digital Output Pins IDOx Isolated Digital Output channels x 0 7 IDO COM Common point for IDO channels EXT GND Ground pin for IDO channels PCI 1243U User Manual 10 2 2 1 Input Output Circuit Connections The figure below illustrates an example of PCI 1243U output connec tions to the stepping motor driver PCI 1243 KR 5MC 5M Motor Driver 5V CW 390 Ohm CW as CW PULSE bo mh 390 Ohm CCW CCW DIR EXT_GND GND Figure 2 2 Output Connections Example The following figure illustrates the connection of the pulse output pin to the external device IVCC 5V Vmax 30V DC ve l samail V Assesse am i we i RS OUTx DIRx E Load Ima
40. ing down the set value of the ramping down point register R5 is R5 R2 2 R1 2 x R3 x Multiplier 16384 x R4 5 Note Multiplier 1 while in Linear Accel Decel mode Multiplier 2 while in S curve Accel Decel mode 4 1 7 R6 Idling Pulse Register 3 bit To operate in high speed mode the motor is accelerated quickly after starting Therefore the speed calculated from the output pulse frequency will be higher than the FL speed that is set If FL is set to a value lower than the self start frequency the motor will not start Therefore in order to be able to start from near the self start frequency the acceleration using the FL speed can be started from 1 to 7 pulses after the start command The pulses that the start is delayed by are referred to as idling pulses The allowable range is 0 to 7 This is effective in high speed operation Setting this register to 0 will provide a normal start 4 1 8 R7 Environmental Data Register 1 bit The allowable range is 0 or 1 OCW CCW pulse type 1Pulse DIR type 39 Chapter 4 4 2 Programming PCI 1243U PCI 1243U stores a selected command in a buffer This command remains there until a new command is received The only command that can be RESET is the starting mode command 4 2 1 I O Control Register Map The following table depicts the PCI 1243U s register I O address map Offset Definition Address 0x00 Command Buffer StatusO Data Register LowerBi
41. is register R5 to the value in the preset counter When the value in R5 is larger than the preset counter value the PCI 1243U will start to decel erate If the value placed in R5 is smaller than the preset counter value and the PCI 1243U is programmed for preset high speed operation the motor will operate at FL speed and not accelerate The FL speed FH speed and the accel decel rate determine the ramping down point Please note that in PCI 1243U the R5 value is calculated by the user The system will not define the R5 value automatically Entering inappropriate values may stop the output of pulses during decel eration or cause PCI 1243U to operate longer at the FL speed after decel eration The allowable range is 0 to 65 535 FFFF HEX of pulses remaining at which to start deceleration Calculating the Ramping Down Point R5 set value pulses R2 set value 2 R1 set value 2 x R3 set value x Multiplier R4 set value x 8192 The value for R5 has to be calculated and written in the register Note Multiplier 1 while in Linear Accel Decel mode Multiplier 2 while in S curve Accel Decel mode When determining the ramping down point the FL frequency the FH frequency and the deceleration rate have to be taken into account If an improper value is set pulse output may be terminated halfway during ramping down Figure 4 3 A or may continue after ramping down causing longer FL speed operation Figure 4 3 C
42. iting output these buffers contain data bits 8 15 of the respective channels High Data Buffers WR3 WR4 WR11 and WRI5 High data buffer for each channel is found at BASE 3 BASE 7 BASE 11 and BASE 15 for channel 1 channel 2 channel 3 and channel 4 respectively When writing output these buffers contain data bits 16 23 of the respective channels 43 Chapter 4 4 2 2 Command Buffer Register Format The command buffer register format is as follows Register format D7 D6 D5 D4 D3 D2 D1 DO C1 CO Mode Command Selection Modes The two high order bits of the command buffer specifies the command that will be executed The remaining six bits contain command parame ters The command modes available are as follows Selection modes Start Stop Command selection Operation Mode Select command Register Select command Output Mode select command Please refer to section 4 3 for details on each command mode PCTI 1243U User Manual 44 4 3 Command Modes The following sections describe all the available commands and their parameters in detail 4 3 1 Start Stop Commands 7 6 5 4 3 2 1 0 Frequency Selection 0 Use FL frequency 1 Use FH frequency External start control 0 Do not inhibit a start 1 Inhibit the start command till trigger 0 Constant speed mode 1 High Speed mode 1 Start stop control 0 Stop interrupt reset 1 Stop interrupt enable o jo 4 jo o jo
43. ng commands with Pulse mm or inch PCI 1243U also supports four different types of Home functions with related settings that are configurable from this page 3 2 1 Machine Configuration Page POLogic There are two possible logic modes for the pulse output of PCI 1243U Setting Positive Logic means the pulse output channel will normally be in low status and the output pulse will start from a rising edge While the logic mode is set to Negative Logic the pulse output channels will nor mally be high The choice depends on the type of motor driver Pulse Mode The output of PCI 1243U can be set as CW CCW mode or Pulse Direction mode in this column Max Speed rpm You need to input the maximum rotation speed of the motor here The unit is rpm revolutions per minute PPR pulse rev Property of stepping motor PPR pulses per revolu tion means the number of pulses that are required to turn the motor one revolution With the parameters of maximum speed and PPR the soft ware driver can calculate the maximum pulse output rate Pitch mm rev The property of ball screws If ball screws were used in the moving table it is necessary to input the parameter here to use physi cal units like mm and inch in the command set Gear Ratio The property of the gear box If a gear box was used in the moving table then it is necessary to input a parameter here to use physi cal units like mm and inch in the command set PCI 1243U User Man
44. onship between the value entered and the output pulse speed varies with the value placed in R4 Please refer to 4 1 5 4 1 3 R2 FH Speed Register 13 bits This register is used to set the FH final high speed The allowable range is 1 to 8 191 1FFF HEX The relationship between the value entered and the output pulse speed varies with the value placed in R4 Please refer to 4 1 5 A time time High Speed Deceleration Start stop input Figure 4 1 R4 s Effect on Output Pulse Speed 33 Chapter 4 4 1 4 R3 Accel decel Rate Register 10 bits This register is used to select the acceleration ramping up and decelera tion ramping down characteristics If PCI 1243U executes a high speed mode start the motor starts at the FL speed entered in R1 and accelerates to the FH speed entered in R2 The motor decelerates to FL speed when a SD slow down signal is received the ramping down point is reached or a deceleration command is received Specify the acceleration and deceleration characteristics for these operating patterns using the accel decel rate setting register The acceleration rate of the linear accel decel is equal to the maximum accel eration rate of the S curve acceleration deceleration pattern If the reference clock period is TCLK sec Tsup the time required for the ramping up ramping down is Tsup R2 R1 x R3 x TCLK x Multiplier sec Alternatively if the ramping up ramping down
45. point register Set middle byte 8 15 Set lower byte 0 7 Set ramping down point data Wait 400 ns setting is not required if automatic ramping down setting mode is selected Select the multiplier register Command Buffer lt 10000100 84H Set middle byte 8 15 Set lower byte 0 7 Set multiplier data Wait 400 ns The order is important PCTI 1243U User Manual 64 4 7 3 Constant Speed Preset Model Ramp down at set point Stop at pre set count Command buffer lt 00001000 08H Execute the reset command Effect the ramping mode and select the direction Select the counter Set the number of output pulse For direction command buffer lt 01000100 44H For direction command buffer lt 01001 100 4CH Command Buffer lt 10000000 80H Register bits 23 16 lt data high order 8 bits Register bits 15 8 lt data mid order 8 bits Register bits 7 0 lt data low order 8 bits Wait for 400ns The order is important Command Buffer lt 00010101 15H The status O is read YES Completion of operation Waiting for completion of operation 65 Chapter 4 4 7 4 High Speed Preset Model Ramp down at set point Stop at pre set count Command buffer lt 00001000 08H Execute the reset command Effect the ramping mode and select the direction Select the counter Set the number of output pulse For direction command buf
46. r programmable start run and ramping rates Output polarity Positive negative going pulse programmable Output Sink Protection 1 1 A all channels Output Type Open Collector 150 mA ch Vmax 30 V DC Limit 5 EMG 1 All Isolated Ref DOC Limit switch input voltage external 12V to 24V Limit ORG SD EL NC NO Control By Register EMG Tri Start Isolated NC NO Control By Jumper 1 4 1 Digital Input Output Input channels 8 Isolated DI Output channels 8 Isolated open collector DO Input voltage range DC 12V 24V Output capability Open Collector 150 mA ch Vmax 30 V DC 1 4 2 General Power Consumption Normal 340 mA 5 V Max 500 mA 5 V Connector 62 pin D type connector Board Dimensions 183 5 x 99 06 mm Operating Temperature 0 70 C PCTI 1243U User Manual 4 1 5 Block Diagram Address Address Decoder DIR amp OUTPUT PULSE ISOLATOR OUTPUT S PCD 4541 2 Phase Stepping Motor Controller ORG EL INPUT ISOLATOR TE EL amp SD SD INPUTS _ A OUTPUTS DIGITAL INPUTS Figure 1 1 PCI 1243U 4 Axis Stepping Motor Control Card J Chapter 1 PCI 1243U User Manual CHAPTER Installation If you have not yet configured and or installed your PCI 1243U or need to change the configuration this chapter will give you the information you require Sections include e Hardware Installation e Pin Assignments e Limit Switch Configuration
47. ration cccccccccccccccceesssseseeessteeeeees 29 Chapter 4 Register Programming scccssssssccccesssees OD 4 1 Motion Control Registers cccccccccccsessssssscteeeeeeeeeeeeeeeeeeees 32 4 1 1 RO Preset Pulse Counter 24 bits cc vicnidinnccweedidwiecinnicn 32 412 REFL Speed Register 13 DITS E 33 4 1 3 R2 FH Speed Register 13 BINS varaire ea 33 Figure 4 1 R4 s Effect on Output Pulse Speed eee 33 4 1 4 R3 Accel decel Rate Register 10 bits uuueeeeeeeeeennerreeeeeeee 34 Prope ARS E 34 4 1 5 RA Multiplier Register 10 bits miinan a 35 4 1 6 R5 Ramping Down Point Register 16 bits oo eee 36 Figure 4 3 Setting the Ideal Ramping Down Point iiieeeeeeeee 37 Figure 4 4 Pulse Calculation EE 38 4 1 7 R6 Idling Pulse Register 3 bit oo cceeesssseeceeeeeeeeeeeeeeeens 39 4 1 8 R7 Environmental Data Register 1 bit eeeeeeeeeenereeeeeeeeea 39 42 Propramming PCI 2430 cx ccc hiss E E Ea 40 42 1 TO Control Register Map snin E EE 40 4 2 2 Command Buffer Register Format ccccssscccececeeeeeeeeeeeeees 44 AD COMMA MT 45 il SS tarts Stops Com mands eegene 45 4 3 2 Operation Mode Select Commande 47 4 3 3 Register Select Command gg sieht ees 48 4 3 4 Output Mode Select Commande 50 AA Status EE eene eege 51 4 4 1 Status0 Channel Status Buffers RDO RD4 RD8 and RD13 52 4 4 2 Extension Montor ee EE EE 52 AS General RE RE E 54 4 5 1
48. s2 or Status3 first select the R7 register or a regis ter other than RO in the normal monitor mode Then you can read Status 1 from the lower data byte Status2 from the middle data byte and Status3 from the upper data byte Status0 to 3 are latched while reading The data bus will not change while in the read cycle After operation has stopped if the start mode command is read with the extension monitor the start control mode bit will be 0 When reading using the register select command the register selection is limited to R3 only RDO RD4 RD8 RD12 RD1 RDS RD9 RD13 RD2 RD6 RD10 RD14 RD3 RD7 RD11 RD15 Standard Monitor StatusO RO lower byte RO middle byte RO upper byte StatusO Status 0 0 Extension Monitor StatusO RO lower byte RO middle byte RO upper byte StatusO R1 lower byte R1 upper byte Start mode command StatusO R2 lower byte R2 upper byte Control mode command StatusO R3 lower byte R3 upper byte Register select command StatusO R4 lower byte R4 upper byte Output mode command StatusO R5 lower byte R5 upper byte R7 data StatusO R6 data Speed lower byte Speed upper byte StatusO Status1 51 Status2 Status3 Chapter4 The definitions of Status registers are as following 4 4 1 Status0 Channel Status Buffers RDO RD4 RD8 amp
49. t is output When the number of pulses that have been output is equal to the value originally entered in the preset counter the value in the counter will be zero and PCI 1243U will stop operation The allowable range is 0 to 16 777 215 FFFFFF HEX If you enter 0 in the preset counter and write the start command PCI 1243U will not use the preset operation When INT output is enabled PCI 1243U will output an INT signal If you stop the preset operation using the stop command or an external signal the number of remaining pulses will be saved in the preset counter By entering a new start command PCI 1243U will continue to output all of the remaining pulses After the preset number of pulses has been output the value in the preset counter will be 0 If you want to restart the operation using the same number of pulses you will have to put the value in RO again PCTI 1243U User Manual 32 4 1 2 R1 FL Speed Register 13 bits This register is used to set the FL initial low speed To operate in high speed mode PCI 1243U will start with the FL speed and then accelerate to the FH final high speed If a deceleration stop command is entered during high speed operation PCI 1243U will decelerate When the speed drops to FL speed the operation will stop If the FL speed is set to 0 the motor may not actually stop Make sure to set the FL speed to a number greater than 1 The allowable range is 1 to 8 191 1FFF HEX The relati
50. t output reset 1 Interrupt is enabled Register select code Selecting an access register with last 3 bits Preset Counter Operation Control When this bit is 1 the preset counter will stop counting When this bit is 0 the preset counter will decrement by one for each pulse output Ramping down Point Interrupt Control This bit controls whether or not the INT signal is output when the ramp ing down point is reached When this bit is 1 and the preset counter value becomes smaller than the ramping down point setting in R5 it will output an INT signal To reset the INT signal set this bit to 0 If you want to mask this operation leave this bit set to 0 The INT terminal output is the result of an logical OR of this signal with the interrupt signal when stopped To determine which source has caused the INT signal to be out put check Status0 PCTI 1243U User Manual 48 Interrupt Control Enable the interrupt by setting bi as 1 When interrupt is activated it is necessary to read this specified bit0 to reset the interrupt Kinds of registers and data bits Description Setting Range RO Preset counter data O to 16 777 215 FFFFFF R1 FL register 1 to 8 191 1FFF R2 FH register 1 to 8 191 1FFF R3 Acceleration deceleration 2 to 1 023 3FF rate register R4 Multiplier register 2 to 1 023 3FF R5 Set ramping down point 0 to 65 535 FFFF R6 Set idling pulse 0 to 7
51. t up velocity of the movement DV Final driving velocity of the movement Unit The unit of above commands can be pulse mm or inch Distance The distance you want to move in the point to point movement PtP ABS In a Point to Point movement the Distance mentioned above is calculated on the basis of an absolute coordinate system That means the distance is from the original starting point PtP INC In Point to Point movement the Distance mentioned above is calculated on the basis of a relative coordinate system That means the distance is from the current location CW In continuous movement press the CW button to make the motor turn clockwise CCW In continuous movement press the CCW button to make the motor turn counterclockwise Stop S Once this button is pressed the motor will decelerate to SV then Stop Stop M When the button is pressed the motor will stop immediately Change DV This is an advanced function of PCI 1243U that can change speed on the fly DV can be changed directly without decelerating to ini tial speed Hold The movement can be paused by pressing the Hold button Conti When movement is paused by the Hold command you can resume movement by pressing the Conti button PCI 1243U User Manual 26 Figure 3 8 Point to Point Movement 27 Chapter 3 3 3 3 Home Function Home Mode PCI 1243U supports four different Home modes they are mode 1 6 and 9 Users
52. t7 To BO Internal Data Lower Data Register MiddleBit15 To Bit8 Internal Data Middle Data Register UpperBit23 To Bit16 Internal Data Upper Command Buffer Status0 Data Register LowerBit7 To Bit0 Internal Data Lower Data Register MiddleBit15 To Bit8 Internal Data Middle Data Register UpperBit23 To Bit16 Internal Data Upper PCTI 1243U User Manual 40 Command Buffer StatusO Data Register LowerBit7 To BO Internal Data Lower Data Register MiddleBit15 To Bit8 Internal Data Middle Data Register UpperBit23 To Bit16 Internal Data Upper Command Buffer StatusO Data Register LowerBit7 To BO Internal Data Lower Data Register MiddleBit15 To Bit8 Internal Data Middle Data Register UpperBit23 To Bit16 Internal Data Upper NA Board ID Version Code IDO Port D7 DO Read Back IDO Setting NA IDI Port D7 DO IDI Control REG IDI Control REG IRQ Control REG_L IRQ Status _L Reset Status IRQ Control REG H IRQ Status_H Reset Status X IRQ Status_L X 41 IRO Status H Chapter4 Counter Data REG_L Counter Data REG_L Counter Data REG_H Counter Data REG_H Counter Control REG Counter Control REG Load Counter Data X STA_Mode
53. time is known R3 can be calculated as R3 Tsp R2 R1 x TCLK x Multiplier Note Multiplier 1 while in Linear Accel Decel mode Multiplier 2 while in S curve Accel Decel mode The range for R3 is 002 hex to 3FF hex 2 to 1023 in decimal Note For PCI 1243U TCLK 233 ns The allowable range is 2 to 1 023 3FF HEX Speed Tsup I Tsun l time Figure 4 2 R3 s Effect PCTI 1243U User Manual 34 4 1 5 R4 Multiplier Register 10 bits The speed setting registers R1 and R2 can have values from 1 to 8 191 The relationship between the values entered and the output pulse speed can be set using this multiplier register When a set value on the speed register is Rf where Rf is a value set at R1 and R2 the frequency outputted at the PULSE OUTPUT terminal FPOUT is Fpout Reference clock freq Hz x Rf 8192 x R4 Rf x Reference clock freq 8192 x R4 When reference clock 8192 x R4 1 1x mode When reference clock 8192 x R4 2 2x mode For PCI 1243U the reference clock frequency is 4 9152 MHz There fore R4 600 258 hex 1x mode R4 300 12C hex 2x mode The setting range is 002 hex to 3FF hex which corresponds to 2 to 1023 in decimal notation The smaller the setting value the higher the output frequency 35 Chapter 4 4 1 6 R5 Ramping Down Point Register 16 bits While in preset high speed operation PCI 1243U compares the value in th
54. ual 22 As Machine Config Motion 1 0 Config HomeContig Pulse Output Engineering Unit POLogic AD M_PO_NORMAL PPR fi 000 pulse rev Pulse Mode AD M Cw CCW v Pitch h 0 mm reyv Gear Ratio i Max Speed 2000 rpm Figure 3 4 Machine Configuration Page 3 2 2 Motion I O Configuration Page HW LimtMode_P The hardware limitation switch mode in positive direction It can be Normal Open or Normal Close HWLimtMode_N The hardware limitation switch mode in negative direction It can be Normal Open or Normal Close SD_P The Slow Down switch can be enabled by checking the dialog box above And Users can set the hardware slow down switch mode in positive direction as Normal Open or Normal Close in this column SD_N The hardware slow down switch mode in negative direction It can be Normal Open or Normal Close Machine Config Motion 1 0 Config HomeContig Hardware og S viket SD Slow D ovan S witeh Enable ej Enable C H w Limithode_F JAD M MI 5D P AD M NO e H w Limith ode H De M NO SD N AD M NU Figure 3 5 Motion I O Configuration 23 Chapter 3 3 2 3 Home Configuration Page Home Mode PCI 1243U supports four different Home modes they are mode 1 6 and 9 Choose the most suitable mode to get better homing accuracy Please refer to Appendix C for detailed information on each Home mode Direction This defines the initial direction when t
55. x 100mA EXT_GND Figure 2 3 Pulse Output Test Configuration Open Collector Type 1 Chapter2 PCI 1243U provides 8 isolated DI channels and 8 isolated DO channels With general purpose I O points users can control and monitor peripheral sensors In their applications The following figures illustrate how the I O points are connected V 12 24 Vdc IDI COM v ral N 4 7k IDIO 7 Figure 2 4 Isolated Digital Input Wiring Configuration IVCC 5V Vmax 30 V DC IDO_COM n ui i EXT GND Imax 200 mA CH 1 1A all Figure 2 5 Isolated Digital Output Wiring Configuration PCI 1243U User Manual 12 2 3 Limit Switch Configuration PCI 1243U features 5 limit switches for additional control of output DIRECTION DIRECTION lt p gt TABLE DRIVER A A Lim Lal a SD a a Lim INPUT w ISOLATOR SD lt lt N L ORG O Ae A DIR OUTPUT ISOLATOR PULSE Figure 2 6 Limit Switches 13 Chapter 2 2 3 1 Lim Lim These are the End Limit signal inputs If there is a signal in the same direction as the pulse output in direction or pulse mode that becomes active the pulse output stops immediately V 12 24VDC nLCOM nLCOM ALCOM BLCOM CLCOM DLCOM Figure 2 7 Lim Switch Test Configuration 2 3 2 SD SD These
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