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HPCI-CPD578 User`s Manual Hivertec Inc.

1. Board side HDRA E100W 11 XAP Encoder A phase input 61 ZAP Encoder A phase input 1LFDT1EC SL 12 XAN Encoder A phase input 62 ZAN Encoder A phase input HONDA TSUSHIN 13 XBP Encoder B phase input 63 ZBP Encoder B phase input 14 XBN Encoder B phase input 64 ZBN Encoder B phase input Cable side HDRA E100MA1 connector 15 XZP Encoder Z phase input 65 ZZP Encoder Z phase input HDRA E100LPWC case 16 XZN Encoder Z phase input 66 ZZN Encoder Z phase input 17 YAP Encoder A phase input 67 UAP Encoder A phase input 18 YAN Encoder A phase input 68 UAN Encoder A phase input 19 YBP Encoder B phase input 69 UBP Encoder B phase input 20 YBN Encoder B phase input 70 UBN Encoder B phase input 21 YZP Encoder Z phase input 71 UZP Encoder Z phase input 22 YZN Encoder Z phase input 72 UZN Encoder Z phase input 23 GND _ 73 COMMON Common GND for xSVCTRCL 24 GND 74 COMMON Common GND for xSVCTRCL 25 XSVCTRCL Error counter clear output 75 ZSVCTRCL Error counter clear output 26 YSVCTRCL Error counter clear output 76 USVCTRCL Error counter clear output 27 XSVALM Sarvo alarm input 77 ZSVALM Sarvo alarm input 28 XINPOS Positioning completion input 78 ZINPOS Positioning completion input 29 XSVON Sarvo ON output 79 ZSVON Sarvo ON output 30 XSVRST Sarvo reset output 80 ZSVRS
2. Connection to motor driver gt cain J i gt by differential input i an xCCWN D gt l CPD side 5V D f TGN MER receiver 2 Connection to motor driver enD d gt by coupler input xCCWP g J Sig MANICA oem 3 S i E Q CPD side For the motor drivers a ate oi xCWP ensuring diferenta Ten AOO SNO reene connection to the coupler input Only one side shown CPD side Connection to motor gt CWP i g s driver E E receiver by TTL input ar Only one side shown Note Caution is required for speeds and cable lengths when the motor driver does not use a differential input As guidelines use 500 Kpps with a cable length of 3 m for coupler connections and 250 Kpps with a cable length of 1 m for TTL connections Always check motor driver reception circuit specifications before application Table 3 4 1 Command Pulse Output Circuits 10 3 4 2 Axis Sensor and Servo Interface Input Circuits Table 3 4 2 shows the input circuits No Item Contents z EXTPOW1 terminal 4 7K Oh 1 5 Shared by BD 4 NN nS o 24 V 4 5V input a XELS xDLS and xOLS a EXTPOW1 standard 24 V input terminal 5 m Following Resistance Module needed to mount when using 12V E EXTPOW2 terminal O 2 Shared by 4 7K Ohm 24 V input 2 XINPOS xSVALM ie ama 5 Input terminal 5mA lt IS lt 10mA EXTPOW2 standard 24
3. Open Cicer Dros Denn Anumang Mode C Conine ad C Linwar merpalaiion M Cisis eaan Figure 5 6 2 The Sample Program s Select Operation Menu Select the desired operation to execute that operation example With the VC sample program the operations are selected with a single click With the VB sample program the operations are selected with a double click 1 Opening Closing Devices This sample program obtains device information and opens closes the devices In order to access a CPD Board it is necessary to first open the device and obtain the device handle that is required to access the device The Open Device function initializes each register and the option ports at the same time that it opens the device and obtains the device handle In this sample operation its Board ID selects the Board the device information is obtained for the selected Board and that Board s device is opened Also that Board s device is closed with the Close Device function For more details on device information and opening closing devices refer to the CPD Board Series User s Manual Common Information The following diagrams show how to perform the sample operations Device Opening Closing Dialog Box Dipen Tinas Merire Ge Badi Select Bowdp When you click Get Board ID in the dialog box the Select Board ID area will display the Board IDs of the Boards that are actually installed in the computer 3
4. 6 5 4 3 2 T o X U Select coincidental output signal with CMP3 5 COTSEL1 Z axis Y axis X axis 8ch 01 10 11 CMP3 CMP4 i CMP5 Output enabled V B Select coincidental output signal with CMP3 5 COTSEL2 A axis W axis V axis 8eh i 11 CMP3 CMP4 i CMP5 Output enabled J3COUT Selected signal 3 5 J3 output setting 8ah B axis A axis W axis V axis U axis Z axis Y axis X axis Select comparator coincidental signal output OTSEL1 COTSEL2 X B axis COM3 coincident signal output PCL comparator match signal output COM5 coincident signal output 10 CMP5 00 CMP3 Connector J1 X Y Z U J2 VW A B J3 X U V B COM4 coincident signal output 01 CMP4 Select J3 output O 11 XXXX 6 Sets or reads the Board interrupt enable 90h BINTM When the power is turned ON bit 0 is set to O interrupts masked Sets the interrupt mask from the Board to the PCI bus Interrupts masked when bit 0 is set to 0 interrupt disabled Interrupts unmasked when bit 0 is set to 1 interrupt enabled Bit Function 7 Indicates the Board interrupt status 92h BINTS When the power is turned ON bit 0 is set to 1 no interrupt Indicates the interrupt status from the Board to the PCI bus There is an interrupt when bit 0 is 0 There is no interrupt when bit 0 is 1 Bit Function 8 Board ID Reading board ID by addressing
5. Arpe Time AI Figure 5 7 3 Let s try to move Settings Window 1 Board Selection and Device Information When two or more Boards have been installed in the computer the Board used for the Let s try to move can be specified by selecting its device number or Board ID as shown below Boardil 1 Select by Board ID Device Mumbar Select by device number 2 Changeable Axis Operating Conditions The operating conditions can be set individually for each axis that can operate 1 Switches between constant speed and high speed operation The default setting is constant speed 2 The command pulse output format can be switched between discrete and shared pulse methods The default setting is the discrete pulse method Sets the travel distance 1 500 Sets the base speed 200 Sets the operation speed 2 000 Sets the acceleration deceleration time 500 Note The default settings are in parentheses Dilance Bana Sea et ReONS Ope prad AccDec ime Note 1 The setting range for the travel distance is 999 999 to 9 999 999 pulses Note 2 The setting ranges for both the base speed and operation speed are 1 to 65 535 pps although the full setting range may not be usable depending on the combination of settings being used For the same reason it may not be possible to use the full setting range of the acceleration deceleration time depending on the settings made for the operation speed and base speed Note 3
6. ELS is detected and end when ELS is exited Refer to the CPD Board Series User s Manual Software Information for more details on the origin returning operations After completing the Preparations for Operation and specifying one of the origin returning methods click the Origin Returning Button to execute the specified origin returning operation Clicking the Stop Button can stop the operation The current position display indicates the command pulse count The current speed display indicates the pulse speed pps currently being output Note The OLS signal detection is rising edge detection so the OLS signal will not be detected if the signal is already ON when operation starts In this case perform continuous feed operation until the OLS signal goes OFF and then execute the origin returning operation 34 3 Continuous Feed Operation This sample program demonstrates the high speed continuous feed and constant speed continuous feed operations Continuous Feed Operation Window oni ea deed tHigh epaesd E s nolmg Consiant speed E s E aam wo uc High speced Constanb spead Tir r IWON ON OFF Sening SeaediP PS Position 4000 Sieed Before starting operation perform the same preparatory checks such as checking sensor connections performed for the origin returning operation Click the High speed Constant speed High speed or Constant s
7. H gt svRsT XYZU M gt SVCTRCL X Y Z U COMMAND PULSE CW CCW gt gt VCWP VCWN BUFFER e VCCWPVCCWN LIMIT SENSOR FILTER le VELS od amp eon le lt VDLS VPCS gt BUFFER le VOLS ENCODER w lt lt VZVA VB A aay COMMAND PULSE gt gt BCWP BCWN B ee gt BCCWPRBCCWN LIMIT SENSOR FILTER PHOTO BELS lt amp l lt BDLS BPCS gt BUFFER gt soror KJ f BOLS ENCODER lt BZBABB FILTER PHOTO amp l SVALM V W A B Kr BUFFER Poles NPOS V W A B PHOTO gt SVON VWAB C BUFFER Y isoiror O DRIVER gt SVRST VWAB gt SVCTRCL V W A B OPTION 8 open collector gt a ses gt CMP X B J lie CMP X B lt 4 gt STA STP Note lt xDLS xPCS gt is selected by the OPTION port Figure 3 1 1 BLOCK DIAGRAM of CPD578 3 2 Port Addresses 3 2 1 Board Addresses 1 O maps are used for all ports Table 3 2 1 shows the ports Knowledge of the following table is not required to use the provided software library level 1 functions The following table is required when using the provided software driver functions Classification uD Read INP Write OUT Add Name Content Name Content PCL 0 MSTS Main status CMD Command X axis 2 SSTS Sub status OTP Not used reserved Axis 1 4 BUFO I O buf
8. I O port address IRQ IRQ number CTL Management number BID Board ID 0 to 15 set with the Board s jumper pins 42 3 Board Status Selected Board Only The following information is displayed for each axis CTR1 Current command pulse position CTR2 Current feedback position rSPD Operating speed 0 to 16 383 MssL Main status Lower 8 bits MssH Main status Higher 8 bits Sss Sub status Encoder phase Z RIST Event status interrupt source REST Error status interrupt source The status display is expressed in one character Bit 0 fAl ift U 3 CTR 0 CTR 0 0 0 0 rSPO 0 0 0 0 WesL F F F F E E E E A EE hss do azrs do azrs do azrs do azrs RIST Ox000000 Ox000000 Ox000000 Ox000000 REST Ox000000 Ox000000 Ox000000 Ox000000 Name Display 1 Display 0 Bit Name SCMP3 Display 1 3 Display 0 Bit RSTS b10 Name SEZ Display 1 Z Display 0 Z Note RSTS Expansion status register and b10 SEZ EZ input signal 4 Selecting Program Commands D End 1 BoardInit Cnd Exec 3 Register Input one of the following characters from the keyboard to select a command 0 End the program 1 Initialize the specified Board The Board is initialized when the program starts up 2 Send an operation command to the specified axes on the specified board 3 Set the register values for the
9. If the operation speed is set below the base speed the motor will accelerate when the speed drops to 400 pps even if it is supposed to decelerate because the Stop command is input the DLS is ON or the OLS signal is ON Note 4 Error Message i x The window shown on the right will be displayed if an invalid setting has Hegel Par arrester been input Click OK and enter a valid setting L w 40 5 8 Sample Programs for a DOS System Sample programs written in C language have been bundled with the DOS version software Use the sample programs for the following purposes 1 Checking the Installed Boards After installing the device driver turning OFF the computer s power supply installing the Boards and restarting the computer the sample program s executable file can be started to display the mounted Boards device information and confirming the Boards operation 2 Demonstrating the Functions in the Driver Interface Library The application program must perform various operations on the Board through the driver interface library and device driver The sample program provides examples of the operations 5 8 1 Configuration of the Sample Program The sample program and source files have the following configuration clk bat Batch file that creates executable files for MS C Ver 6 0 smp530 c Source program hicpd530 h Header file include by smp530 c hcpdtype h Header
10. See Hardware Wirardl res Filer Sack Aerst The maid had heed iiach for dean files bee our Pacha dhe The vazard Pound evdrever for the foiea cleric Gy these PPI Dida Devic Tinks frad p drie fa tes dek Tio arated thes chines windows boned okok Hest z A win2k hc530w2k inf F QO hepa To CAINNT ipeni PITT TTT ETT 23 Fingal Sw Hrane Wied Complehng ihe Found New Hivertec HPCI CPD530 Win2kK The hrania pu irae Syste Settings Change Ful rmp im Do you went bo restart your compuber rae v je Figure 5 3 2 Win2K Installations To abra fe ad Clem R 3 Windows NT 4 0 Installation Device Driver Installation 1 Insert the provided floppy disk into the computer s floppy disk drive Start Windows NT Explorer and select the file A WinNT c530inst inf In this case the floppy drive is drive A 2 Next click the right mouse button Select NTLP Install from the popup menu that is displayed The device driver installation will begin when NTLP nstall is selected Complete the installation by following the directions in the system dialog boxes It is also possible to start the device driver installation by executing the A WinNT c530inst bat batch file from the command prompt F E A A Fils Edt Yew Jone Help All Foters IKE MS DOS Esich Fie 1 EH Setup intorrestion 1 5 Hic sye TEE Spats He E Jobkotjs 72 608 Disk free ape 1A h
11. counter Command pulse count length 28 bit Machine position counter Encoder pulse count length 28 bit UP DOWN counters General purpose counter Pulse count length 28 bit Error counter for runaway detection Counter length 16 bit Difference between the values of the encoder and the command T CMP1 and CMP2 a Comparators Soft limit use comparing positive and negative limits Q CMP CMP3 4 and 5 General purpose used for changing speed or starting another axis on Y comparison of the coordinate oO A A A O Each axis has a common input terminal for the encoder pulsar input signal 3 Inputs tor Shcoder or pulsar Encoder output is differential or open collector output Backlash compensation Compensated every turn of the direction except the circular interpolation system 5 n ee Starts positioning by PCS signal during continuous feed Positioning control start function PCS Only for positioning system Idling pulse function E 7 7 f F ays Function of improving stepping motor acceleration characteristics Vibration suppress at a stop Function of vibration suppression when the stepping motor stops sis ELS OLS DLS and encoder A B and Z phase per axis Machine interface A All with photo coupler isolation Command pulse output differential output Servo interface Input Servo alarm and in position per axis all with photo coupler insulation Output Servo reset servo ON and servo error counter clear per axis all with ph
12. eee oiai Faa WsasH saaan Ape BSS nee t 2 0md Exec J Register 2 O End card ni a ees 1 6 selCmd 0 8 8 Nssl eae ee ane Lo iais c Origin returning operations H a There are three origin returning methods provided If the operation speed is set to high speed the Board will perform high speed origin returning with acceleration and deceleration 1 OLS Origin Returning After OLS is detected get out of and re enter the origin to complete operation Stops or decelerates to a stop when OLS is detected reverses and gets out of origin and ends operation when OLS is detected again The operation procedure is as follows set SelCmd 1 specify the desired axis number 0 X and specify the movement direction all keys besides the Key specify O End 1 Boardin N End ExepsNRegister selCmd 0 8 5 R IE Bisto D ir WEES OLS origin returning X axis direction 2 OLS Encoder Phase Z When OLS is detected starts decelerating and ends when phase Z is detected The operation procedure is as follows set SelCmd 2 specify the desired axis number 0 X and specify the movement direction all keys besides the Key specify O End 1 HET a Gad Execs Register SelCmdt O 8 8 R kis 0 3 capita EA S phase Z origin 2n ab axis directio 3 ELS Shared Origin Returning Stops or decelerates when ELS ON signal is detected reverses and gets out of origin a
13. work without removing the power supply cable may cause board failure Furthermore the device may exhibit unexpected operation A When wiring connectors to exterior lines check connector signal tables carefully and wire all lines correctly Incorrect wiring may cause board failure or burning Always keep external power supply within ratings Using a power supply that is not within ratings may cause board failure burning or operating errors Always keep circuits connected to the I O circuits within the rated currents and voltages Using circuits that are not within ratings may cause board failure burning or operating errors Use the recommended connectors for external lines Using any other connector may cause operating errors because of faulty contact Always lock connectors for external lines A connector that is not locked may come loose possibly causing operating errors because of faulty contact Do not pull on or place heavy objects on cables for external wiring The connector may come loose and faulty contact may cause operating errors Separate cables for external wiring as far as possible from AC power cables motor cables or other cables that generate excessive noise Noise may cause operating errors PPBPBBBPE 6 Trial Operation and Adjustment AN Warning A Always debug the program completely before using the board to drive a device Any error in the program may cause unexpected operation When u
14. 2 Select Board ID Dialog heen hee Deere Open Deane Select Bond o Omme Select Board ID Select the desired Board ID and click the Open Device Button to open the device Window after Open Device Button is clicked fhpen ine Device Smect Bowed p Chag Dewar Cena e noman Bus Mu rribear oO Didie Miria 1i BO Port Address Tho IRQ Munshi ce 5 Manag eee nl Hambar Device handle obtained by Open Device Device information for the device that was opened Click the Close Device Button to close the device and return to the Select Board ID Dialog Box 2 Origin Returning Operation This sample program makes the settings for the origin returning operation and performs the origin retuming operation Initial Window for the Origin Returning Operation Origin Helberg Made Polarity Select Origin Selection Returning Operation Svon On OFF Seng SeaedP PS a Position au Speed 33 Preparations for Operation 1 Polarity Selection The indicated color will change when there is an input from the senso The ELS ELS and SVALM indicators will be red when there is an input and the OLS indicator will be green If the SVON signal is being output the indicator will be green The input polarity can be switched by clicking the N O and N C Buttons The Servo can be turned ON and OFF by clicking the ON and eE OFF Butt
15. 9ch The illustrated figure shows resulted value for example The factory setting is all jumpered 0000 Reads setting status of board ID jumper on board There is an jumper when bit n is 0 There is no jumper when bit n is 1 Bt 7 6 5 4 p21 Function x x x jumper 0 no jumper 1 3 2 3 Board I O and Device Drivers The following table shows the correspondence between the device drivers and the I O to option ports and each axis PCL6045 on the Board Classification fees a ealicaton Read INP Write OUT Name Driver function Name Driver function MSTS cp530_rMstsW CMD cp530_wCmdVW PTUN SSTS cp530_rSstsW otr 7 Axis Axis 0 X to7 B cp530_rReg cp530_wReg Argument cp530_rBufDW cp530_wBufDW Port DLS PC 0x80 to Ox8e cp530_rPortB S cp530_wPortB Option port 0x9c 0xc8 Oxca 0x90 Device driver BINTM Device driver 0x92 BINTS process ff Table 3 2 2 Board I O and Driver Functions Note 1 There are device drivers provided for each type of OS that can be used to operate the application programs Note 2 The device driver s function names are the same for all of the OS versions Note 3 Refer to the CPD Board Series User s Manual Software Information for details on the driver functions functions are listed in this manual in 6 Driver Functions 3 2 4 PCI co
16. CEINFO far LPHPCDEVICEINFO 5 5 2 Board Access Preparatory Procedure and End Processing 1 Using Driver Functions When using the driver functions the preparatory procedure and end processing are almost the same for both the Windows and DOS versions Refer to the CPD Board Series User s Manual Software Information for details on the driver functions When using interrupt processing in a DOS system refer to the description of the DOS interrupt module registration function for details Preparatory Procedure 1 Obtain the device information for all of the Boards being used First obtain the device information for all of the CPD Boards in the Board recognition structure area array cp530_GetDeviceCount Confirms the number of Boards cp530_GetDevicelnfo Obtains the device information for all of the Boards 28 2 Open every Board Transfer the CPD Board s device information to the Open Device function The CPD Board is opened and the Open Device function returns the device handle value that is needed to access that Board When two or more Boards are being used in the computer the processing must be performed for each individual Board cp530_OpenDevice Opens the Board 3 Make the initial settings for the Board s signal processing From this point on use the Board s device handle to access that CPD Board Before initializing the Board use the following function to set the Board s device operating conditions Refer
17. CS 3 Mult Speed multiplier O OLS OLS input polarity invert 4 Mode Operation mode E ELS ELS input polarity invert 5 AuxS Travel distance A ALM ALM input polarity invert compensation speed 6 RENV1 Environment 1 7 RENV2 Environment 2 8 RENV3 Environment 3 The table above lists the 15 relevant items in the register Select 3 Register and then input the character corresponding to the item that you want to display change Input the desired value into this field to set the new value in all axes If you press just the Enter Key alone the operation will end without changing the setting for the axes When one of the 3 kinds of input sensors is selected the input polarity for all axes will be inverted immediately and the operation will end The results of this input polarity invert operation will be reflected in the display Hssl ae MssH uate The ELS of all axes detected in both directions ss 49 ae rs ioe ftr Prs rs O End i BoardInit 2 0md Exec 3 Register 3 Select Regi 0 8 1 0 P 0 E 4 E ELS N 0pen to N Close As the ELS input polarity is inverted for all axes ae ease ee so the ELS status changes to undetected nig De EE ars fo sdprs 0 4 ars g Prs 3 Initializing the Board This display initialized the 4 axis Board Sa lees volers E U 3 In the initialization operation the following i i l l commands are executed for the axes in the PD i specified Boar
18. OC output 100 CMPU output TTL OC output Figure 3 5 1 Front panel Table 3 5 1 CPD578 J1 CONNECTOR PIN OUT Xaxis Uaxis 15 PIN No Signal Name PIN No Signal Name 1 5V power out 51 GND 2 5V power out 52 GND 3 VCWP_ CW pulse out 53 ACWP_ CW pulse out 4 VCWN_ CW pulse out 54 ACWN CW pulse out 5 VCCWP CCW pulse out 55 ACCWP CCW pulse out 6 VCCWN CCW pulse out 56 ACCWN CCW pulse out 7 WCWP_ CW pulse out 57 BCWP CW pulse out 8 WCWN_ CW pulse out 58 BCWN CW pulse out 9 WCCWP CCW pulse out 59 BCCWP CCW pulse out 10 WCCWN CCW pulse out 60 BCCWN CCW pulse out 11 VAP Encoder A phase input 61 AAP Encoder A phase input 12 VAN Encoder A phase input 62 AAN Encoder A phase input 13 VBP Encoder B phase input 63 ABP Encoder B phase input 14 VBN Encoder B phase input 64 ABN Encoder B phase input 15 VZP Encoder Z phase input 65 AZP Encoder Z phase input 16 VZN Encoder Z phase input 66 AZN Encoder Z phase input 17 WAP Encoder A phase input 67 BAP Encoder A phase input 18 WAN Encoder A phase input 68 BAN Encoder A phase input 19 WBP Encoder B phase input 69 BBP Encoder B phase input 20 WBN Encoder B phase input 70 BBN Encoder B phase input 21 W2ZP Encoder Z phase input 71 BZP Encoder Z phase input 22 WZN Encoder Z p
19. PCI Bus CPD Board Series HPCI CPD578 User s Manual Individual Board Information Multifunctional High speed NC Boards with Circular Interpolation Linear Interpolation and Positioning Hivertec Inc http www hivertec co jp This manual applies to the following Boards in the CPD Series CPD570 Series PCI Bus HPCI CPD578 It is prohibited to reprint or copy all or any part of this manual or programs without prior written permission The contents of this manual are subject to change without notice to enable improvements to be made Please notify your sale representative for this product if you find any problems with the contents of this manual Windows 95 Windows 98 Windows NT 4 0 Windows 2000 WindowsXP Visual C Visual Basic and Microsoft C C are registered trademarks of the Microsoft Corporation in the USA and other countries Other company and product names are the trademarks or registered trademarks of the respective companies Hivertec Inc 4 8 1 Sumida Ku Ryogoku 130 0026 Tokyo Japan TEL 81 3 3846 3801 FAX 81 3 3846 3773 e mail sales hivertec co jp Revision 3 2e 04 04 22 released Copyright Hivertec Inc Extent of Warranty 1 The product warranty is valid for a period of one year from the date of purchase If a defect is acknowledged by Hivertec within the period of warranty Hivertec will repair or replace the product upon return of the product to Hivertec 2 Hivertec is not responsible beyond t
20. T Sarvo reset output 31 YSVALM Sarvo alarm input 81 USVALM Sarvo alarm input 32 YINPOS Positioning completion input 82 UINPOS Positioning completion input Xaxis Uaxis Vaxis Baxis 33 YSVON Sarvo ON output 83 USVON Sarvo ON output 34 YSVRST Sarvo reset output 84 USVRST Sarvo reset output 35 EXTPOW2 24V power input 85 COMMON2 Common GND for 24V 36 EXTPOW2 24V power input 86 COMMON2 Common GND for 24V 37 XELS Input for positive limit sensor 87 ZELS Input for positive limit sensor 38 XELS Input for negative limit sensor 88 ZELS Input for negative limit sensor 39 XDLS Input for decelerate limit sensor 89 ZDLS Input for decelerate limit sensor 40 XOLS Input for origin sensor 90 ZOLS Input for origin sensor 41 YELS Input for positive limit sensor 91 HUELS Input for positive limit sensor 42 YELS Input for negative limit sensor 92 UELS Input for negative limit sensor 43 YDLS Input for decelerate limit sensor 93 UDLS Input for decelerate limit sensor 44 YOLS Input for origin sensor 94 UOLS Input for origin sensor 45 EXTPOW1 24V power input 95 EXTPOW1 24V power input 46 EXTPOW1 24V power input 96 EXTPOW1 24V power input 47 5V power out 97 GND 48 5V power out 98 GND 49 CMPX output TTL TTL OC output 99 CMPZ output TTL OC output 50 CMPY output TTL
21. V input terminal Polarity settings N O Normal Open condition The signal is detected when current to the photo coupler is ON amp for xELS xDLS xOLS Pee eos f xINPOS and xSVALM N C Normal Close condition The signal is detected when current to the photo coupler is OFF 3 2 Pan 5 For ELS set the polarity with the option port See 3 2 2 Option Ports for details amp For DLS OLS INPOS and SVALM set the polarity with the RENV1 See CPD Board Series User s Manual Common Information for details CPD side A EXTPOW S Photoelectric sensor input Input terminal 2 4 S 24V Sensor g CPD side 24V W Limit switch input EXTPOow J Input terminal o Table 3 4 2 Axis Sensor and Servo Interface Input Circuits 11 3 4 3 Encoder Input Circuits Table 3 4 3 shows the input circuit conditions No Item Contents oh Termination jumper J1 J2 xAP xBP Encoder input circuit Compatible LSI jia P with 26LS32 format Jumper pins P1 and P2 Encoder circuit format setting Note As input circuit of A B phase Connect plus terminal Encoder to side of 26LS32 for reversing internal logic 1 Phase Aor When used differential driver connect to P to N as above Phase B Advancement of phase Set by means of software settings Differential connection Encoder input circuit format CPD side P3 encoder 5 En
22. aeeesaeeasaeeesaeeesaneeseeeesaneasateesaneeeaes Table 3 2 1 Board Addresses iiinis N nanan O arene nena Table 3 2 2 Board I O and Driver Functions o Table 3 2 3 PCI configuration register Su hanna Figure 3 3 1 Jumper Pin Locations on the CPD578 Board 0 Table 3 3 1 Board ID Setting eeeeseeseeeseeeseseeeeesseateteeeeseaeenees Figure 3 3 2 Termination setting of encoder A phase and B phase Figure 3 3 3 Encoder Z phase input Selection 0 0 cesses Figure 3 3 4 E101 jumper for setting of emergency stop Table 3 4 1 Command Pulse Output Circuits 00 eee eeeeeeeeeeeeeeeees Table 3 4 2 Axis Sensor and Servo Interface Input Circuits ae wes we 3S Table 3 4 3 Encoder Input Circuits n e ak Mee eevee el eee Table 3 4 4 Servo Interface Output Circuits ee eee eeeeseseseeeeeeseseeeeeeseseaeeeeneeescaseeenseeseaeeseneseseasseeneeseeasaeensesesataseneseeaeanenees Table 3 4 5 J1 J3 Match signal and J3 Simultance Start Stop Output Circuits a ty Figure 3 5 1 Front paneline n i AN a A SEa aaae daw gone e a Ea e A Table 3 5 41 CPD578 J1 CONNECTOR PIN OUT Xaxis Uaxis 0 eeseeseseeseseseseseeseseeeeeeeseaeeeeneeeseaseneeeesaeaeeasateneeeeaeates Table 3 5 2 CPD578 J2 CONNECTOR PIN OUT Vaxis Baxis a sua ag Ne Table 3 5 3 CPD578 J3 CONNECTOR PIN OUT scesessesessesesseseesesesseeeeseeueseeueneeueaeeeeseeeeaeeusaesusaeeusseeasseeaeeesaeeesaeeesaeeeeaeeeees Ta
23. an be made executable by opening the project file spc53002 vbp and creating spc53002 exe again Set one CPD Board s Board ID to 0 When two or more CPD Boards are being used set a unique Board ID on each Board If the same Board ID is set on more than one Board the first Board found with that Board ID will operate 6 The program will not run if one of the following error messages is displayed when you execute the program ask 2 Error Messages sprs 0M ee Unable To Locaste Component amp This application hes Failed bo shart because hed was met Found Rereata the applcstion may fie this problem The DLL file has not been installed Install the required file Can t device information A CPD530 Board is not installed or the Board is not recognized by the return value 0001h system The device driver is not installed rm i Can t open device return value 0020h It is the mismatching of a system Please ask a user support re x Not find BoardID 0 There isn t a Board installed with Board ID 0 Figure 5 6 1 Sample Program Error Messages 31 5 6 2 Sample Program Operations There is a source program in the sample program that initializes each axis Therefore this source program must be changed if you want to operate the Board with different initialization conditions The following selection menu will be displayed if the sample program starts properly Select Operation Menu Salact Operation biodis
24. axis LSI registers Shared by all axes Other If any other key is input all axes will be decelerated to a stop 5 Using Operation Commands and the Main Status The sample program does not confirm the startup conditions of commands to individual axes or the end of those operations The typical application program controls continuous independent operation to individual axes or interpolation operation to specified axes At that time it is necessary to confirm whether the operation is performed properly and the operation s end status The main status register MSTS is provided for this purpose 43 Refer to 6 2 Using the Main Status Register for details 5 8 3 Sample Program Operations Use the following procedure to perform various operations in the sample program 1 Register Contents Table This table contains the contents of registers that are J Register Disp amp Set shared by the axes and can be changed The set values O Bas tHovS race TeHult 4 Mode of individual registers can be displayed by selecting BrauxS B RENY T RENW G RENWS TINT 3 Register from the program commands The set C CHP45 P DLS PCS O 0LS E ELS 4Ly values can be changed and written to the axes with keyboard inputs 2 Displaying and Changing Registers Name Key input Contents Name Key input Contents 0 BasS 0 Base speed LINT Event mask 1 MovS Operation speed C CMP45 Comparators 4 and 5 2 Acc Acceleration rate P DLS PCS DLS P
25. ble 3 6 1 HPCI CPD578 Specifications a ccsscerecesscensseessnascensconscensconssenscenecenecapstenecenssenecenndepscunatensennedegeennedesseanesensecns 4 Functions Table 4 1 1 Figure 4 2 1 CPD578 Axis Operation COMbINALIONS eee eseeteteseseseeeseseeteeeseaeseseeseseaeaeeeeseseaseesesesseassnsasaeeneseeasatenseneeaeatenees Route of Interrupts in the CPD578 Board ccceeceseseseseseseseseseseaeacseseecseseseseseseseseeeeeeasaeeeseeeeeeneteeeeeeeteeaeaeass 5 DONWale Startup Giideon sade ma eere Seats ase Ea EEO ee Gora See Ee EGEE E Ea aE EE enan Figure 5 2 1 Figure 5 3 1 Figure 5 3 2 Figure 5 3 3 Figure 5 3 4 Figure 5 3 5 Figure 5 4 1 Figure 5 6 1 Figure 5 6 2 Figure 5 7 1 Figure 5 7 2 Figure 5 7 3 Figure 5 8 1 Software Configurations a i cece edie eceeecderetecdiecabeccibecesstecetbcatieshbecdnsctesatecsiveabiechnecdeesteosteceteeatbestnectt WinXP Installations Win2K Installations WinNT Installations Win98 Installations Uninstalling the Device Drivers oe eseesesseseseessseeeseseeseaeeesesneseaeeneesneacateneeeeeaeaseneaseneeseeasaeeneeaseaseteneseeasaneneetees Using Multiple Boards eee Sample Program Error Messages The Sample Program s Select Operation MENU eessssessseseseeeseeesesesseseeesesseseasenseeesacasenseseeeeseeasatenseeeeaeatenees Let s try to move Error Messages a i Ae if Let s try to move Operation Confirmation Window ccc
26. ccececeseeeseeeeeeseeeeeeeeeeeeteeseeeeeeeseeeeeteneteteteseeseaeaeaes Let s try to move Settings WINKOW ee eeecesseseseseeeeseseseseeseseateeeesseseaseeseeneaeasenssneasaeenseeesacateneeesasaeeneeeeaseeeneeeees Startup Screens for the DOS Version of the Sample Prograrm eessseeseseeseseseeeeteeeeeeeeeteaeeeeneeeneeeeaeeteeeeees 1 Introduction This user s manual provides information for the HPCI CPD578 CPD Board that provides 8 axis interpolation and positioning This board is in the CPD570 series PCl bus Motion Control Boards Use this manual together with the CPD Board Series User s Manual Common Information which contains information common to all of the Boards in the CPD Board Series In the remainder of this manual the HPCI CPD578 is referred to as the CPD578 And the PCL6045 series are referred to as the PCL 1 1 About This Manual This manual provides the following information E Software Startup Guide for Windows and DOS 1 Installation of the provided software 2 Explanation of the sample programs 3 Testing operation Trial Tour E Hardware Information 1 Port address 2 Board settings 3 Connector allocation 4 Servomotor interface and stepping motor interface 5 Machine interface E Information on Functions Specific to the CPD578 1 Axis combinations 2 Interrupts 1 2 Provided Software The following software is provided with this Board Refer to this software when reading this manual to facilitat
27. coder Differential connection Phase Z Open collector CRD P 3 connection 5V Supply 5V from an C Ge 150 220 encoder external power source E i lt and leave the jumper off l Table 3 4 3 12 Encoder Input Circuit 3 4 4 Servo Interface Output Circuits Table 3 4 4 shows the output circuit conditions No Item Contents EXTPOW2 XSVON xSVRST Driver circuit format _ COMMON2 Rating load voltage DC12 DC24V xSVON Allowable load current Less than 80mA terminal DC12V DC24V servo ON Output logic level 1 The polarity cannot be The xSVON xSVRST is ON when the port output is 1 xSVRST changed servo reset CPD side Servo Amp EXTPOW2 External connections xSVCTRCL Driver circuit format COMMON Rating load voltage DC5 DC24V Allowable load current Less than 16mA terminal xSVCTRCL Output logic level error The polarity cannot be The xSVCTRCL is ON when the port output is 1 2 counter changed clear CPD side Servo Amp External connections XSVCTRCL COMMON ee Did Connecting with TTL is disabled Table 3 4 4 Servo Interface Output Circuits 13 3 4 5 Simultaneous Start Stop and Match Signal Output No Item Contents J1 J2 Match signal output J1 Circuit format Do CMPx Compatible LSI with 74LS07 Rating load voltage TypDC5V Rating load current Less than 30mA Outpu
28. command range 134 217 728 to 134 217 727 pulses Command coordinate Relative coordinate command Reference range Unlimited but not applicable to the position Avallable of thg cyolic counting for y fj the position 2 at continuous feed range of the counter S every 360deg g Position override Possible only in positioning system Q Speed range 0 1pps to 6 5Mpps Multiplication 0 1 to 100 Speed Control a pe pps HP g Constant control of linear speed 2 axes circular linear interpolation square root method Q 3 axes linear interpolation cubic root method e 4 axes linear interpolation cubic root method Speed override 1 Constant feed without acc dec available in all cases 2 Limited to the positioning linear interpolation and continuous feed allowing it during acc dec duration Acceleration Automatic Acc Dec system 1 Positioning and linear interpolation Linear acc dec system S curve deceleration acc dec system and the partial S curve acc dec system are available control Triangular drive peak prevention function available Acc Dec Asymmetrically sloped acc dec possible control 2 For circular interpolation Automatic acc dec possible except S curve ae Orain returnind method 13 retuning methods for the sensor s origin Z phase origin ELS shared origin Origin returnin 9 9 Each returning is done in a single process by the single command g Origin search Available control Getting out of origin area Available Command position
29. cp SL Ta CAWI TS prenit RRR Setlem Setlngs Change fou must estat pour onpas before the nev settings wl ise efani 4 Oo poy erent bo cist pour compis noe ro Ea _t Figure 5 3 3 WinNT Installations Starting and Stopping the Device After installing the device drivers set the device driver to automatic startup so that the service for the CPD Board will be started when Windows NT starts up If the device must be stopped for some reason use the following procedure to stop it 1 Open the Control Panel and double click the Devices icon Select Hivertec HPCI CPD530 from the list of devices 2 Click the Startup Button to display the Startup Type Button Box Select Disabled for the Startup Type The device status will be Stopped To restart the CPD open the Control Panel again and double click the Devices icon Select Hivertec HPCI CPD530 and select Automatic for the Startup Type The device status will be Started 4 Windows 98 Installation 1 Verify that the computer s power supply is OFF and install the CPD Board in an available PCI slot in the computer Tum ON the computer s power supply and start Windows 24 2 When Win98 starts up the CPD Board will be detected by the system and a window will be displayed automatically to guide you in the installation of the required device driver 3 A dialog box will be displayed requesting the installation source directory Insert the provided flo
30. d CPD Board Compatible Pins Connector Board Remarks Cable Connector ACB HU1004 The asterisk at the end of style the model number represents one of the HPCI CPD578 HCL 051W 100 Kaona iaaa Terminal bl ock DR Right angle connector o is ACB DX100 DS Straight connector style DS D Half pitch DIN Track mounting connector Table 2 1 Accessories Connector Boards and Cables Servomotor or stepping motor mm C I Encoder HSEEE 0 E Driver ii ol E Aji 2 ii Connector board ACB HU1004 CABLE HCL 051W m Error counter K clear wo Servo alarm Terminal Block style Connector board ACB DX100 Figure2 1 Accessories ConnectorBoard and Cables 3 Hardware 3 1 Block diagram COMMAND PULSE Cwiccw gt Lp xcwe XCWN lt BUFFER y o cewPpxcew LIMIT SENSOR PIETER PHOTO XELS a ISOLTOR S_ lt XDLS XPCS gt BUFFER It ors ENCODER Y XxZ XAXB I Z PCI OEA COMMAND PULSE LOCALI gt H UCWP UCWN Bus U BUFFER gt gt CWP UCCWN F LIMIT SENSOR FILTER PHOTO le UELS Ki l lt UDLS UPCS gt PCI BUFFER SOLIOR K uos Bus ENCODER UZ UAUB FILTER PHOTO 1 eae qj ISOLTOR Ka SVALMOCYZ U INPOS X Y Z U BUFFER 2 PHOTO gt SVON XY Z U L BUFFER Y soror O DRIVERID
31. d operation is decelerated to a stop When operating at base speed operation is stopped immediately Acceleration deceleration operations use linear acceleration deceleration The DLS signal is enabled If this signal is not being used set it as an N O condition and set it so that it is not input The INPOS signal is enabled If this signal is not being used set it as an N C condition and set it so that it is not normally input The OLS signal detection is rising edge detection so the OLS signal will not be detected if the signal is already ON when operation starts In this case perform continuous feed operation until the OLS signal goes OFF and then execute the origin returning operation During operation if EA EB error or PA PB error occur the POSIT Button the CONTINS Button and the ORG Button is enabled 39 5 7 2 Let s try to move Settings Window The following settings window will be displayed when all axes were stopped in the Let s try to move Operation Confirmation Window and the X U Setting tab was clicked at the top of that Window jii Gaeron IU Seater Bowdil J Das Huriet Dra Minber ti Dete hima FO Port dehesa TOR IRO Prisi 5 Hirap mamin Bismi Xamit Cistonce an vuam Dimar Lie a pi BaisSpiit i Basel peed a0 Cpe Sped 2 Ope Sneed m Atoa ii a AcciDed Tie 500 oa oppe RI Chita oo I Uinti Citante aipe Sasa peed Ope B peal SO mr Ope Saeaal 12000 Soc ime
32. d and then all registers are reset E EEA tut PBS E to their initial values NSSH wivvocey Giatiad wei tale uita dana bes do tazrs do tazrs do tazrs do tazrs a Perform Software Reset on each axis Bee b Set data in registers Write AMA in the register contents EEr 2 Execute Conmand ist EEE 9 Re table Write fixed values 0 to the O CNST 1 Get OLS 2 QLetZ 3 Get_ELs Q Base 1 Mow registers that are not in the table 4 Post 5 DIR 6 DIR Auxe B REN TiLine Cire Siberv n R Rest n CrCHP45 FP DL O End 1 Boardlnit Z Cmd Exec 3 Register L 44 4 Sending Operation Commands to Each Axis There are 11 kinds of operation commands as shown in the table on the right but these commands can be divided into 3 categories Change operation speed 0 Constant speed Servo signal output to all axes S Servo ON R Reset ON Operation Command to individual axis All inputs other than 0 S and R I Get OLS f QLg 2 3 Get EL p DIR 6 DIR Line giGire amp Sery0n RisRestOn a Change operation speed Switches the speed used for operation commands to individual axes CNST displayed Base speed FL constant speed start 0 Execute Command ist XEKE 222 J e Get OLS OLS Z 3 Get_ELs O Bass 1 Mov er roa ABest Suet DIR B DIR BrfuxS BREN ak E cons TiLine 8 0 S ServOn R SRest n C OMP45 P DL b Servo signal output to all axes eae a Cnd Exec 3 Register Hes recet
33. e less than 64 KB Data less than 64 KB cicpd530 lib compact model Code less than 64 KB Data 64 KB or more micpd530 lib medium model Code 64 KB or more Data less than 64 KB licpd530 lib large model Code 64 KB or more Data 64 KB or more 3 Library Functions Level 1 Agroup of library functions that perform special processing using driver functions for application programs has been provided in a source program The contents of these library functions can be changed freely These functions are known as library functions in contrast to the driver functions Library Functions for Windows cp530 1a c cp530I1a h For Microsoft Visual C Version 5 O or higher cp530l1a bas For Microsoft Visual Basic Version 5 0 6 0 Library Functions for DOS cp530 1a c cp530I1a h For MS C 6 0 MS C 7 0 TC 4 OJ etc 20 WinXP Win2K WinNT or Win98 DOS MS DOS or PC DOS Library Functions for DOS Library Functions for Windows cp530I1a c cp530l1a c for VC cp530l1a h cp530l1a h for VC cp530I1a bas for VB Driver Functions for DOS Driver Functions for Windows sicpd530 lib small model hicpd530 dll cicpd530 lib compact model micpd530 lib medium model licod530 lib large model Device Drivers WinXP hc530wxp sys Win2K hc530w2k sys WinNT _ hicpd530 sys Win98 _ hicpd530 vxd Device Driver hicpd530 drv Figure 5 2 1 Software Configurations 21 5 3 Installing and Unin
34. e source program Therefore this source program must be changed if you want to operate the Board with different initialization conditions as 1 Axis Status and Changes in Axis Operating Conditions E s RET CTR Resets the counter to 0 Changes input polarity Turns Servo ON Turns SVRST ON E r Zz EVON E INPOE m m SWALM 2 Axis Current Position and Operation Speed Each axis current position and NTLP operation speed is refreshed approximately every 0 1 s The current position display can be switched between the command output pulse and the encoder feedback The position is displayed in pulses and the speed is displayed in pps Command pulse lt Switch gt Encoder feedback CMD Position Position Speed Speed 38 3 Sending Start and Stop Commands to an Axis Each axis operation can be set to constant high speed positioning operation constant high speed continuous feed operation constant high speed origin returning operation or Stop Refer to 5 7 2 Let s try to move Settings Window for details on the axis operating conditions that can be changed CNST POSIT Note 1 Note 2 Note 3 Note 4 Note 5 Setting Constant speed Operation Positioning in direction at base speed Set positioning amount in Settings Window Positioning in direction at base speed Set positioning amount in Settings Window Constant speed operation in directi
35. e understanding Device Drivers for Windows There are three kinds for Windows 98 Windows NT and Windows 2000 Library Functions for Windows Level 1 Provides functions necessary for basic operations Refer to the CPD Board Series Users Manual Software Information for descriptions of the functions Windows Sample Programs Sample software showing usage of library functions Trial Tour for Windows Enables minimal operations by simply connecting Board to computer Can also be used to check connections Device Drivers for DOS Request these drivers when required Note In the remainder of this manual both Windows XP Home Edition and Windows XP Professional are referred to as Windows XP 1 3 Axis Names When using the 8 axis CPD578 the four axes are known as the X Y Z U and V W A B axes 2 Accessories Sold Separately The following Connector Boards and Cables are available as accessories to simplify connections between the CPD Board and the motor driver or machine sensors E Connector Boards The ACB HU1004 Boards allow each axis to be connected to motor drivers and sensors very easily through an MIL header connector The ACB DX100 Boards connect through a terminal block These are ideal for testing E Cables There are two kinds of Cable available the HCL 051W Connector Board Cable standard length 2 m other lengths available by special order and the HCL 051 Cable laminate
36. ed by the Windows or DOS system 5 5 1 Data Structure for Board Device Recognition 1 Windows Version of the Data Structure for Board Device Recognition The following HPCDEVICEINFO structure is provided to recognize Boards Use the number of structures required for the number of Boards being used up to 16 Boards C language Visual C typedef struct_HPCDEVICEINFO DWORD dwBusNumber Bus number DWORD dwDeviceNumber Device number DWORD dwloPortAddress VO port address DWORD dwirqNo IRQ number DWORD dwNumber Management number DWORD dwBoardlD Board ID 0 to 15 HPCDEVICEINFO PHPCDEVICEINFO Visual Basic Public Type HPCDEVICEINFO dwBusNumber As Long Bus number dwDeviceNumber As Long Device number dwloPortAddress As Long I O port address dwirqNo As Long IRQ number dwNumber As Long Management number dwBoard ID As Long Board ID 0 to 15 End Type Note The Management number is not used in Windows 98 An INVALID_HPC_NUMBER 1 will be stored 2 DOS Version of the Data Structure for Board Device Recognition The following HPCDEVICEINFO structure is provided to recognize Boards This structure is stored in the hcpdtype h header file typedef struct WORD nBusNumber Bus number WORD dwloPortAddress VO port address WORD dwirqNo IRQ number WORD dwNumber Management number WORD dwBoardlD Board ID HPCDEVICEINFO PHPCDEVI
37. eeees 5 6 1 Executing the Sample Program a ae as He nee 5 0 2 Sample Program Operations as 32cc etssAcszesbcapsderdccasdeyicapodenicage a Anatanddapadiniceedeniceiatinaeds 5 7 Le s try to move Program for Windows Systems ec sesseeseseseeeseseseeeeseaeeeenseseaeseeesseseaseeeneeeseaseeeateteneeeseateteneeeseateteneeeees 5 7 1 Let s try to move Operation Window ae ae P aai 5 7 2 Lets try to move Settings WINKOW eesessseseseseeeseseseeeeseatseseeeseaeaeeeseseasaeeeseeseaseeenseeasaseeeneesasacaeeneeeaeaseteeeeeeeateneneeeees 5 8 Sample Programs for a DOS System uu ceesessesesesesesseseseseseseseaeseseseeseaeensesaeaeasensseeseasenseecaeaceneeeeseaseneeeasaeaseneneeeaeateneeeeeaeaees 5 8 1 Configuration of the Sample Program 5 8 2 Starting the Sample Program 5 8 3 Sample Program Operations Contents of Tables and Figures Te AMPA GON iiie saaan east ob eaaa chon nts edule anceps 1 2 ACCeSSonies Sold Separately css c esee sis bdee seed ance dae iiinis ionii pinika noncer iioi dienian 2 Table 2 1 Accessories Connector Boards and Cables 0 eesssesessssessesesestessseseseeseseeeeneesseaeeeensesseaseeeneeessaseeeeeeeseateneneeeaeaes 2 Figure2 1 Accessories ConnectorBoard and Cables a ae De FO WARS 25 sees cose E tires sande nst ha chdvace stents Soa A E E weet eee doe eee ee Figure 3 1 1 BLOCK DIAGRAM of CPD578 c sessssessesessesesseseesesscsessesesseseeueaesecaeeucaesecsesecaeeas
38. eous start command exceptionally It can be used under constant speed operation without acceleration deceleration No Axis operation combination X U axis V B axis Use simultaneous start command All axes independent Simultaneous operation is possible All axes in linear interpolation Two four axis linear interpolation is possible Liner interpolation axes amp independent axes Simultaneous operation is possible Circle interpolation axes amp the rest axes Simultaneous operation of circle interpolation axes amp the rest axes Liner interpolation axes or independent axes is possible Regardless of X U axes operation V B axes operation No 1 4combination is possible 5 8 axes liner interpolation is possible on condition of constant speed operation Table 4 1 1 CPD578 Axis Operation Combinations 18 4 2 Interrupt Mechanisms MSTS bit 4 SERR When an error bit has been set in the error status register REST the SERR bit will be set and this is one source of an interrupt output for the affected axis MSTS bit 5 SINT When a bit has been set in the event status register RIST and the bit is not masked the SINT bit will be set and this is the other source of an interrupt output for the affected axis These two interrupt sources from each axis MSTS register are logically ORed and t
39. fer IN 15 to 0 BUFO I O buffer OUT 15 to 0 6 BUF1 I O buffer IN 31 to 16 BUF1 1 O buffer OUT 31 to 16 8 MSTS Main status CMD Command Ve ta SSTS Sub status OTP Not used reserved Axis 2 c BUFO I O buffer IN 15 to 0 BUFO I O buffer OUT 15 to 0 e BUF1 I O buffer IN 31 to 16 BUF1 I O buffer OUT 31 to 16 10 MSTS Main status CMD Command Se 12 SSTS Sub status OTP Not used reserved Axis 3 14 BUFO I O buffer IN 15 to 0 BUFO I O buffer OUT 15 to 0 16 BUF1 I O buffer IN 31 to 16 BUF1 1 O buffer OUT 31 to 16 18 MSTS Main status CMD Command ee la SSTS Sub status OTP Not used reserved Axis 4 1c BUFO I O buffer IN 15 to 0 BUFO I O buffer OUT 15 to 0 le BUF1 I O buffer IN 31 to 16 BUF1 I O buffer OUT 31 to 16 PCL 20 MSTS Main status CMD Command V axis 22 SSTS Sub status OTP Not used reserved Axis 5 24 BUFO I O buffer IN 15 to 0 BUFO I O buffer OUT 15 to 0 26 BUF1 I O buffer IN 31 to 16 BUF1 I O buffer OUT 31 to 16 28 MSTS Main status CMD Command a ey 2a SSTS Sub status OTP Not used reserved Axis 6 2c BUFO I O buffer IN 15 to 0 BUFO I O buffer OUT 15 to 0 2e BUF 1 I O buffer IN 31 to 16 BUF1 I O buffer OUT 31 to 16 30 MSTS Main status CMD Command rien 32 SSTS Sub status OTP Not used reserved Axis 7 34 BUFO I O buffer IN 15 to 0 BUFO I O buffer OUT 15 to 0 36 BUF1 I O buffer IN 31 to 16 BUF1 I O buffer OUT 31 to 16 38 MSTS Main status CMD Command oes 3a SSTS Sub s
40. file include by hicpd530 h licpd530 lib Library file the initial I indicates large model 5 8 2 Starting the Sample Program The following displays will appear when the executable smp530 exe file is started 1 Sample Program Terminated by Error The following error message will be displayed if the device driver has not been installed in the system or the Board has not been installed in the computer eee HPCT CPD59 594 508 5794 Device Driver Sample Board 0 ae hicpd530 lib YerO 00 amp hicpd530 drv YerO 00 non board eee End of Sample Program C cpd530 SHP gt If this message is displayed check whether the device driver and Board have been installed properly 2 Sample Program Started Normally The following message will be displayed if the program started normally HPCT CPOSS 694 509 5784 Device Driver Sample Board 1 Feie hicedS30 lib Yerl 10 amp hicedb l dry Yeri 10 Bus 0 Dew 12 I 0 0x7000 IRQ 11 CTL 1 BID 0 Open _ The Board displayed here can be selected by pressing one key To select operation with the interrupt function input I or i To select operation without the interrupt function input Y or y If any other key is pressed the displayed Board will not be selected when 2 or more Boards are installed The following diagrams show the different screens displayed when y and I are input In the screen d
41. g from the application of information provided in this manual II Important Safety Instructions Thank you for choosing a Hivertec NC Board This manual contains information that is important for the safe and reliable operation of the NC Board Read this section and understand the information contained before attempting to use the NC Board Furthermore save this manual and store it in an easily accessible location near the installed NC Board so that it can be referenced when necessary Safety Precautions Always read this manual and any attached documents completely before attempting to use the product Be sure that you understand the information provided and are using the product correctly Do not use the product before having a complete understand of the product product safety information and precautions In this manual safety precautions are classified as either Warnings or Cautions Ww Indicates a potentially hazardous situation which if not avoided could result in death or arning serious injury Cauti Indicates a potentially hazardous situation which if not avoided may result in minor or auton noderate injury or property damage 1 Authorized For AN Caution The product and this manual are designed for those with the following knowledge A A basic knowledge of installing and wiring expansion boards A basic knowledge of electronic control devices and personal comp
42. g points must be checked if the command pulse output to the motor is not operating properly Check that the command pulse output setting matches the servo driver input 2 Check whether there is something in the servo driver input signal causing the motor to be stopped 30 5 6 Sample Programs for Windows Systems Sample programs have been provided to help explain how to use the library level 1 functions The following two kinds of programs have been provided and have almost identical displays and operations The explanation in this section is based on the Visual C 5 0 C coding sample program 1 Visual C 5 0 C coding spc53000 exe 2 Visual Basic 5 0 spc53002 exe 5 6 1 Executing the Sample Program When using the sample program copy the program to your hard disk The sample program can be executed by double clicking the corresponding executable file spc53000 exe or spc53002 exe 1 Precautions when Executing the Sample Program _ When using the sample program for Visual C version 5 O or higher of Visual C must be installed already as the development tool 2 When using the sample program for Visual Basic version 5 0 or higher of Visual Basic must be installed already as the development tool 3 Ifthe computer s OS is Windows 95 or Windows NT 4 0 and Visual Basic 6 0 is being used as the development tool it may not be possible to execute spc53002 exe In this case spc53002 exe c
43. h a different Board select the Setting Window by clicking the X U Setting tab at the top of the Window Refer to 5 7 2 Let s try to move Settings Window for details on selecting another Board 0 HCE OL ree Lee he Lt Heid Lii Heng Eas Mirae Drac Heriar 1 HD P Backer Mii AI rare 5 Manyen Hariar Posni TT Deine on REST ia Yani Dries HO FESH RaT a 1 Chip Pawten or Cii Praa HETESI x Epai Sonar ee E CHET POST i RTT CTA n E HST ONTING E cu Boo RET COMENE E as E as i _ Eas nm E AGILE p E ero cj DROLET esr seam e a E T ame RST CTA Dras Daliri 1S RESTR i Laai irtiri H REST ben Raith ih RET fer CHT Puma Oo Z a a Paman i th _ Fipeel HARET SIT is a er CHST PIET sas CHST POST miair ii PL3 l rar cm Bo CHET COHTIME oe 1 Device Information Display The device information for the Board that is currently selected is displayed near the top of the window as shown below Bus Number 0 Device Number 11 VO Port Address 7000h IRQ Number 5 Management Number 1 BoardlD 0 Note 1 The NTLP Management Number will be 1 in a Win9x or WinMe system Note 2 The Board ID is the value set with the Board s Board ID jumper pins Note 3 The Device number The slot number 2 Individual Axis Displays and Operation Commands The operations are the same for each axis on the Board Each axis is initialized by a part of th
44. hase input 72 BZN Encoder Z phase input 23 GND 73 COMMON Common GND for xSVCTRCL 24 GND 74 COMMON Common GND for xSVCTRCL 25 VSVCTRCL Error counter clear output 75 ASVCTRCL Error counter clear output 26 WSVCTRCL Error counter clear output 76 BSVCTRCL Error counter clear output 27 VSVALM Sarvo alarm input 77 ASVALM Sarvo alarm input 28 VINPOS Positioning completion input 78 AINPOS Positioning completion input 29 VSVON Sarvo ON output 79 ASVON Sarvo ON output 30 VSVRST Sarvo reset output 80 ASVRST Sarvo reset output 31 WSVALM Sarvo alarm input 81 BSVALM Sarvo alarm input 32 WINPOS Positioning completion input 82 BINPOS Positioning completion input 33 WSVON Sarvo ON output 83 BSVON Sarvo ON output 34 WSVRST Sarvo reset output 84 BSVRST Sarvo reset output 35 EXTPOW2 24V power input 85 COMMON2 Common GND for 24V 36 EXTPOW2 24V power input 86 COMMON2 Common GND for 24V 37 VELS Input for positive limit sensor 87 AELS Input for positive limit sensor 38 VELS Input for negative limit sensor 88 AELS Input for negative limit sensor 39 VDLS Input for decelerate limit sensor 89 ADLS Input for decelerate limit sensor 40 VOLS Input for origin sensor 90 AOLS Input for origin sensor 41 WELS Input for positive limit sensor 91 BELS Input for positive limit sensor 42 WELS Input for negative limit sensor 92 BELS Input for negative limit sensor 43 WDLS Input for decelerate limit sen
45. he purchase price of the product for any damages or loss of profit direct indirect or secondary caused by application delivery or failure of a Hivertec product either within or outside of the period of warranty Limitations to Liability 1 Hivertec is not responsible for any damages resulting from product installation connections settings or operation that do not follow the contents of this manual 2 This product uses semiconductor devices manufactured for general electronics equipment such as machine tools instrumentation FA devices OA devices and communications equipment They are not designed conceived approved for or warranted for application in devices for which faulty operation or failure will have a direct affect on human life or result in personal injury or damage to property The safety quality and performance of the product are not guaranteed explicitly or implicitly beyond those given in this manual or related catalogs 3 Hivertec is not responsible for any damages resulting from modifications or repairs made to the product without the approval of Hivertec either within or outside of the period of warranty 4 The contents of this manual do not guarantee or grant rights to patents copyright trademark rights or any other rights to the intellectual property of Hivertec or any third party Hivertec is not responsible for any problems that may occur concerning the rights to intellectual property of third parties resultin
46. he result is output as an interrupt from the PCL6045 The interrupt outputs from a CPD578 Board to the PCI bus must pass through the Board s interrupt mask option port BINTM bit and then are transmitted to the CPU The processing of interrupt signals to the CPU are supported by the DOS device driver but it is also possible to read the source of the interrupt with MSTS polling and mask Board interrupts E Each axis interrupts can be enabled or disabled with bit 29 of the axis environment register 1 RENV1 Legend PCI bus interrupt signal INT mask bit Board BINTM C fosca OR ogical AND Board section gt i END is not an interrupt X MSTS lt Error status register gt lt ISER lt Fach bit causes an error None are masked Each bit s interrupt status 1 gt lt Mask for each bit X INTmask lt Main Status gt Y INT U axis RENV1 lt Event status reg gt lt Event mask reg gt Z INT l Y l z Z U RENV1 END is not an interrupt z o lt Error status register gt Each bit causes an error U INTmask None are masked U REST Each bit s interrupt status V INT l W INT A INT I B INT I Interrupts of V axis B axis Mask for each bit lt Main Status gt I lt Event status reg gt lt Event mask reg gt Processing added when interrupt goes to the bus 1 Range adopting by the event notificat
47. ion method s status applications PCL section Figure 4 2 41 Route of Interrupts in the CPD578 Board 19 5 Software Startup Guide 5 1 Overview This section explains the following operations 1 Windows Version 1 2 Accessing the Board and the Board ID 3 Using the sample programs 4 Executing and navigating the Let s try to move an executable file Installing and uninstalling drivers 2 DOS Version MS DOS or PC DOS 1 2 Accessing the Board and the Board ID 3 In the software related manuals the CPD578 Boards are known as CPD Boards Installing and uninstalling drivers 5 2 Software Configuration 1 Device Drivers 1 There are 3 different device driver files for Windows depending on the version of Windows being used For Windows XP abbreviated as WinXP hc530wxp sys For Windows 2000 abbreviated as Win2K hc530w2k sys For Windows NT abbreviated as WinNT hicpd530 sys For Windows 98 abbreviated as Win98 hicpd530 vxd There is just one device driver file for DOS DOS MS DOS or PC DOS hicpd530 drv 2 Device Driver Functions 1 The various functions included in the device driver interface library are referred to as driver functions Driver Functions for Windows hicpd530 dll The same file is used for all of the Windows operating systems Driver Functions for DOS Use the same memory model used in the application being created sicpd530 lib small model Cod
48. isplayed after y is pressed the Board s interrupt function is not used In the screen displayed after I is pressed the Board s interrupt function is used 41 HPCI CP05S 534 508 5 84 Device Driver Sample Board Rens hicpd530 lib ertl 10 amp hicedo30 drv Yerl 10 1 10 000001 4 Bus 0 Dev l2 T O50x7000 RQ 11 CTL 1 BID 0 Open Pj K 0 VAS ae 3 After y input CTR 0 I i 3 a TRZ 0 0 i a e interrupt function is not used roPD 0 0 0 0 MssL F F F F WSSH E E EEEE A eh a sss do azrs do azrs do azrs do azrs il eee ttx Execute Command list e dsRegister Disp amp Set wax HPCI CPD532 54 508 5 08 Device Driver Sample Board D Tase See Lae Tens hicpd530 lib Yerl 10 amp hiced530 dry Yerl 10 B E ELS A A W 1 ID 000001 4 Bus 0 Dev 12 1 0 0x7000 IRG 11 CTL 1 BID 0 Open 4 0 Y l Bf 2 U 3 CTR a CTR 0 0 0 0 rSPO i i i 0 Hasli asin Fegs ttn Pac ta Eee te Face lec atest ok oak fee bss do azrs do azrs do azrs do azrs RIST Ox000000 Ox000000 Ox000000 Ox000000 REST OxQ00000 Ox000000 Ox000000 Ox000000 E f Execute Command list 9 Register Disp amp Set O ONST Get_OL 0L8 7 3 Get_ELS O BasS t MowS zicc 3 Mult 4 Mode 4 Post DIR 6 DIR Brauxs BREN T RENY S RENWS IT INT TiLine Cire Sierv n R SRestOn CrCHP45 P DLS PCS O 0L8 E ELS a ALi O End i BoardI nit 2 Cwd E
49. l et vecerhh aril peo Far compain Select Continue An Dich Frrbh ip chess thes raid feo Settee Chore J Weloome to the Found Maw Handaare Wizard Thor edad helen psy prid ndeas bee Dhe FO hika Dwie IF pa hie cara wih an miialalian CI S a y ak a A a Tates cho ya ard Bee iad ini FF arial Ha trea rimara Pecommarieij T issial bom abri on ppeniic incetes picked Dish Hite ki biia Hardeare lnetalabon A The pirsa ow sss inetsling for thes hudas Herstes HAC DPD TAIF had Rol pa W a Loge leatig be wdy ia a N vR ari AP al esto ihi tina a ionic Liar Conliqang pui matallalion of hia bidian may gaii er declabive thee comet opaalion of peu epciem either mmedistely m in the fahe Hicmaost renammends the pow plop this installation rey contact the hademe verted lor polaarne thet hari Piiiid Windows Lage birli Continue Anyway lates bese Finected mehara ress aes The sohase Pah sate year vind HEE aE lie Petar Mar Comp ine ee eo rf bomgulei balore ha heer hiep l i ia Th pa Rare D At aur anA nea Figure 5 3 1 WinXP Installations 22 2 Windows 2000 Installation Verify that the computer s power supply is OFF and install the CPD Board in an available PCI slot in the computer Turn ON the computer s power supply and start Windows 2 When Win2K starts up the CPD Board will be detected by the system and a window will be displayed automatically to guide you in the installation of the re
50. le to access that CPD Board This step makes it possible to operate the axes normally such as outputting pulses to each axis When two or more Boards are being used in the computer the processing must be performed for each individual Board hcp530_DevOpen Opens the Board makes the settings for the Board s signal processing and sets each axis operating conditions This library function combines the driver functions in steps 2 3 and 4 of the Using Driver Functions procedure The initialization conditions are performed directly within the function Refer to the CPD Board Series User s Manual Software Information for more details on this function End Processing 3 Close the devices that were opened When all of the required processing has been completed and the application has ended close all of the devices that were opened hcp530_DevClose Closes the specified Board 1 Board 29 5 5 3 Verifying Each Axis is Ready for Operation Verify the following points when each axis is connected to a motor and ready for operation Operational test of the ELS signals The sensors are operated alone with the motor stopped Status of signal inputs when the servo alarm signals have been connected Input status of the origin signal OLS or Phase Z Input status of the In Position signal Positioning completed INPOS BONS Proper operation may not be possible if the signals listed above are not being input properly The followin
51. ler is OFF Bt 7 6 5 i 4 3 gt 2 141 i 0 Function BELS AELS WELS _ VELS UELS ZELS YELS XELS 2 Sets or reads the DLS PCS input selection 82h DLS PCS When the power is turned ON the bits are set to 0 DLS Selects the DLS signal input as PCS signal input for connector J1 X to B axes DLS input port selected when bit n is set to 0 PCS input port selected when bit n is set to 1 Bt 7 i 6 5 i 3 i 2 1 j 0 Function BPCS APCS WPCS UPCS ZPCS YPCS XPCS 3 Sets or reads the simultaneous start signal STA when the Comparator 4 CMP4 comparison condition is established 84h C4STA When the power is turned ON the bits are set to 0 output disabled STA output disabled when bit n is set to 0 STA output enabled when bit n is se to 1 Bt 7 6 5 3 2 1 0 Function B axis A axis W axis U axis Z axis Y axis X axis 4 Sets or reads the simultaneous stop signal STP when the Comparator 5 CMP5 comparison condition is established 86h COSTP When the power is turned ON the bits are set to 0 output disabled STP output disabled when bit n is set to 0 STP output enabled when bit n is se to 1 Bt 7 6 5 4 3 2 1 0 Function B axis A axis W axis V axis U axis Z axis Y axis X axis 5 Sets and reads selection of coincidental output signal with Comparator 3 5 Bt 7
52. m the linear interpolation operation Clicking the Stop Button can stop the operation 6 Circular Interpolation Operation This sample program performs circular interpolation operation at the base speed Constant surface speed control with a base speed of 500 pps Circular Interpolation Operation Window Sean cv a E z i ELS E aak a H f Sear Cy Enap TAON on OFF EWON OW OFF center Y canbe Poiiion O Poation ape Before starting operation perform the same preparatory checks such as checking sensor connections performed for the origin returning operation Set the end position and center position for the X axis and Y axis Note The current point is the starting point and the end position is at the end coordinate values relative to that starting point When the end point value is set to 0 0 a complete circle will be formed If the end point coordinates are not on the circle end point withdrawal will start when the operation reaches either the specified X axis or Y axis end position If the end position has been set in one of the yellow regions shown in the diagram on the right the operation will never reach the X axis or Y axis end position so operation will not stop Click the Start CW or Start CCW Button to perform the circular Interpolation operation Setting example Clicking the Stop Button can stop the operation 36 5 7 Let s try to move Program for Wind
53. nal cut the cut pattern E101 This cut pattern is displayed on the Board When this pattern is cut the XSVALM function and YSVALM function will be disabled The EMG signal is a N C normally closed condition so the EMG signal is detected when the photo coupler current is OFF e Status When an EMG signal occurs MSTS bit 4 SERR will be 1 and ERST bit 9 will be 1 The input status can be confirmed by verifying that RSTS extension status register bit 7 is 1 133b ret LAL 2 a EITT a Expansion of E101 Figure 3 3 4 E101 jumper for setting of emergency stop 3 4 Servo and Machine Interfaces 3 4 1 Command Pulse Output and Driver Connections Table 3 4 1 shows the output circuit conditions Ne Item Contents Differential driver 26LS31 Command pulse frequency 50 duty width or a pulse width of 200 microsecond when the frequency is less than 2 4 Kpps Output pulse driver pulse width Electrical conditions xCWP terminal ome gy HE ee L Individual pulse output ov method RNG bear Lad a ri Set in Environment xCCWP terminal ov Setting Register 1 XCOWN terminal ssf oy N Signal format Direction and pulse train ERE Pulse train output x emni JTL TL ov method xCWN terminal E A a S a Set the direction by n ian as oo Direction output xCCWP terminal ov output logic in xCCWN terminal Environment Setting o ov Register 1 CPD side xCWP
54. nfiguration registers The table 3 2 3 sows the PCI configuration register values for CPD578 31 24 23 16 15 8 7 0 Address Device ID Vendor ID 00h 1014h 14a9h Device status Device control 04h Cl d oes Revision ID Base class Sub class Program 02h 08h 06h 80h interface Self test Header type Master ateniey Cash line Och timer 5 000000 00h Reserved 10h f XX XxX XX xx h Reserved for the board 14h 2 000000 00h Reserved 18h 3 I O address in the CPD578board 1ch 2 000000 00h Reserved 20h 000000 00h Reserved 24h Card bus CIS pointer 28h Sub system ID Sub system vender ID 2ch 1014h 14a9h 30h Reserved l fch Table 3 2 3 PCI configuration register The various 3 3 Board Settings 3 3 1 CPD578 Board There are two kind of jumper settings on the CPD578 Board a set of jumper pins for the Board ID setting and three sets of jumper pins for the Encoder circuit format The Board ID setting is used to distinguish between Boards when 2 or more Boards are being used in an application program m L iH Board ID ie Jumper T aml i 3J PCL6045 A i Pic mim Fit mia Lf i Figure 3 3 1 Jumper Pin Locations on the CPD578 Board 1 Board ID Setting Jumper Pins The Board ID jumper pins can be used to set the CPD Board s Board ID 0 to 15 The following table shows 4 example settings The factory setting is O B
55. o dae dans ew cha enn ols Be annexed aaae IEEE te 4 1 Combining Operations Between AXES oo esessesesesessesesesesessesesesesssseaeaeenensseacaeeeeesasaeeeeeeesseasenesesseaseneseeasateneeeesaeaseneeeeaeaseeees 4 1 1 CPD578 Axis Operation Combinations exe we eee ste or 4 2 Intermmupt Mechanisms a hes e a r E raa E aE ceeded andi deat aiecine E edte eer R E E E E EE EEEE 5 Software Startup Guide ccccccccseecececeseseceseceseeseeceeecaeeceeeseeseeeeeseeesaeeeeseseseseesaeseeeseeeenees RD EAn E E 5 2 Software Configuration 5 3 Installing and Uninstalling the Device Drivers ae es tes a 5 3 1 Installing Uninstalling Device Drivers in a Windows SYyStOMS cceesessessseseseeseseeeeeseseaeeeeeeseseaeeneeeseeeeeaeateneeeeeaeatenees 22 5 3 2 Installing Uninstalling Device Drivers in a DOS System 5 4 Using Two or More CPD Boards aids Je P eat 5 5 Accessing the BOaI 22sec aceencatimastinennaekinee wine aI NEE EUN A OENE 5 5 1 Data Structure for Board Device Recognition 0 eseseeteseseseetsseseeeseseseaeeeeeseeseasetseseeasateneeeesseensaeateneeeesaeateneeeeeatanenees 5 5 2 Board Access Preparatory Procedure and End Processing a se si iat 5 5 3 Verifying Each Axis is Ready for Operation eseesesssesessesssssesesesseaeseseseseaeeeseseseaeeeseseessaeeneesneeeesasaeeneeeesasateneeseeasanenees 5 6 Sample Programs for Windows Systems csseesesseeseseseeeseseseeeeseaeseeeeeeseaeeeeeeesseaseeeneseseasaeeneeeasaeeasataeeneeseaseteneeeeeatenene
56. oader range of application 3 Descriptions of registers based on the PCL6045 4 Other information Contents Te MPMI LUN CON asec leek ac a tape tl ule a tad cela dau atte aa eutin A 1 1 About This Manual 1 2 Provided Software as ae ss te TSAS Names isa ann ioe ee ee Be ee ie es dad 2 Accessories Sold Separately Sic FeV eA IVAN dees a ez cite ree i ca esau T a a maar oe emenceteas 3 1 Block diagrami iainih aaaea ance EErEE Ea aA EE ESEE EAA AAEE EAEE ERE S2 POM AGAIESSES n Tar N R eee A A AARNE 3 21 Board AddrESSESidnn arep E I ETET E E E EE N 3 2 2 Option Ports 3 2 3 Board I O and Device Drivers 3 2 4 PCI configuration registers 3 3 Board Settings 3 3 1 CPD578 Board ceceeeeeeeee ae 3 4 Servo and Machine Interfaces 0 0 eeeseeseeeeeeeeeeeeeeees s 3 4 1 Command Pulse Output and Driver Connections 10 3 4 2 Axis Sensor and Servo Interface Input Circuits 14 3 4 3 Encoder Input Circuits oe ceeeeeseseeseeseeeeeeteneeeeeees hi wis we 12 3 44 Servo Intertace Output Circuits a 2 3 bien wd a N an aaa ned canine 13 3 4 5 Simultaneous Start Stop and Match Signal Output oe ce eeeeseseseeeeeesesseeeesseseateeeessessateneeeseasateneaseneeeesasateneneeeaeatenees 14 3 5 Connector PIN out nA o a i 3 5 CPD578 connector PIN OUb iio is cerita nike ileal aa e nok eee e a Era ON 3 0 HPCI CPD5 8 Spechication 2 04 5 0ce A ees anv ee ee eee 4 FUNCIONS cst capes i daa ata Sasa dc
57. oard ID setting 0 7 10 niai FELE EEA BRER 8 ID 1 8 D 1 8 ID 1 Binary equivalent 0000 0101 0111 1010 1111 Table 3 3 1 Board ID Setting 2 Encoder Circuit Format Refer to 3 4 3 Encoder Input Circuits for details Encoder A phase and B phase are input in differential format Select the termination setting by Jumper P1 and P2 Select the appropriate input circuit for the encoder output circuit being used differential or open collector output Refer to 3 4 3 Encoder Input Circuits for details P1 P2 BB BA AB Note Termination is set AA when there is the jumper pin wB The factory setting WA VB VA differentia input when there is the jumper pin The factory setting open collector input when there is no jumper pin Note When select open collector input external power 5V are supplied x lt NC lt s gt o0 Figure 3 3 2 Termination setting of encoder A phase and B phase Figure 3 3 3 Encoder Z phase input selection 3 Emergency Stop Function Can select the following function by cut pattern E101 on the solder side of the board e Function All axes will stop when the EMG signal is input under operation None of the axes will operate while the EMG signal is being input e Settings The J1 connector s XSVALM terminal or J2 connectors YSVALM terminal is used as the EMG signal input e Logic terminal To connect this terminal to the EMG sig
58. oards to external devices PC 1 2 Motor drivers This example shows how to connect each Board to a separate driver CPD Board First Board ID 0 evice number slot number 1 CPD Board Second Board ID 1 Figure 5 4 1 Using Multiple Boards Board Slot Number and Board ID The computer s BIOS manage board addresses in the PCI bus system The BIOS determines the slot number allocated to the slot in which the Board is mounted The slot number is also known as the device number The slot numbers are dynamically allocated by the BIOS so the relationship between the Boards and slot numbers cannot be tracked externally Therefore the CPD Boards are equipped with Board ID Jumper Pins to distinguish the Boards and coordinate the Board and software processing Using Board IDs The Board IDs can be set between 0 and 15 Up to sixteen CPD Boards including CPD534 CPD532 CPD578 CPD508 Boards can be controlled Refer to 3 3 Board Settings for details on setting the Board ID 27 5 5 Accessing the Board It is possible to control more than one CPD Board with this function group In order to access a particular CPD Board it is necessary to open the device first and obtain the device handle value used to access the Board To open a device it is necessary to know the hardware resources allocated to the device being opened Hardware resources are resources such as the I O port address and IRQ number which are defin
59. on at base speed Constant speed operation in direction at base speed Origin returning operation in direction at base speed When the OLS signal goes ON operation stops immediately and the origin returning operation is completed 6 High speed origin returning operation in direction at operation speed When the OLS signal goes ON operation decelerates to base speed When the first Z phase input is received operation stops immediately and the origin returning operation is completed 7 When operating at operation speed operation is decelerated to a stop When operating at base speed operation is stopped immediately IRUN High speed positioning in direction at operation speed Set positioning amount in Settings Window High speed positioning in direction at operation speed Set positioning amount in Settings Window High speed operation in direction at operation speed High speed operation in direction at operation speed Origin returning operation in direction at base speed When the OLS signal goes ON operation stops immediately and the origin returning operation is completed High speed origin returning operation in direction at operation speed When the OLS signal goes ON operation decelerates to base speed When the first Z phase input is received operation stops immediately and the origin returning operation is completed When operating at operation spee
60. ons SWON ON OFF When a stepping motor driver is being used the OFF Button turns the excitation ON and the ON Button turns the excitation OFF Note 1 Operation is disabled while ELS ELS or SVALM is being input Start operation after checking the status of each sensor It is assumed that SVON is connected as specified Note 2 With a normally open N O terminal the signal is ON detected when there is a current With a normally closed N C terminal there is normally a current flowing and the signal is ON detected when there is no current 2 Setting the Operation Speed petting Specks The operation speed can be set in the range of 1 to 65 535 pps The initial 4000 value is 4 000 pps so change this initial value to the desired speed when necessary Also the base speed is set to 400 pps If the operation speed is set below 400 pps the motor will accelerate when the speed drops to 400 pps even if it is supposed to decelerate because the DLS or OLS signal is ON In this case change the sample program and set the base speed to the appropriate value Executing the Origin Returning Operation Any one of the following origin returning methods can be selected OLS Origin returning operation 1 After OLS is detected Get out of origin re enter and end OLS EZ Origin returning operation 2 OLS ON is detected and encoder phase Z is detected ELS Origin returning operation 6 Reverse when
61. oto coupler insulation 9 Ambient temperature 0 to 50 centigrade no condensation i Current consumption 5V 2A j Dimensions 175mm x 107mm Short size Table 3 6 1 HPCI CPD578 Specifications 17 4 Functions 4 1 Combining Operations Between Axes One set of the 4 axis PCL6045 LSI has three kinds of the axis operation functions independent axis operation linear interpolation of a group of 2 to 4 axes and circular interpolation of 2 axes The independent axis operations include the following functions for each axis Positioning PTP continuous feed terminate with a stop command origin returning pulsar feed handle feed and timer operation In the descriptions about Axis Operation Combinations the followings are the meaning of simultaneous operations 1 Operating multiple independent axes at the same time Example performing X axis operation continuing with Y axis operation 2 Operating two pairs of interpolating axes at the same time Example performing XY circular interpolation and continuing with ZU linear interpolation 3 Operating independent axis and interpolating axes at the same time Example performing XYZ axis linear interpolation and independent U axis operation 4 1 1 CPD578 Axis Operation Combinations There are two 4 axis LSI on this board X U axis and V B axis Each LSI is detached Linear interpolation of five to eight axes is possible by using simultan
62. ows Systems The Let s try to move program software allows you to check minimal operations on the display by simply connecting Board to computer Execute the A test Release tpc53000 exe file on the provided floppy disk In this case the floppy disk drive is drive A lt Caution gt When two or more CPD Boards are being used set a unique Board ID on each Board If the same Board ID is set on more than one Board the first Board found with that Board ID will operate For safety reasons the display will not change with this application while the axis is operating The program will not run if one of the following error messages is displayed when you execute the program Error Messages SSS E The ecin ha ae to ert bec Gece ll see od oan Perea the mnisi res fhe da oobi The DLL file has not been installed The installation is incomplete zi Cant gak the device Information A CPD530 Board is not installed or the Board is not recognized by the system Return aiei The device driver is not installed oo x Cant open the dawa A x Ft Vaka zi It is the mismatching of a system Please ask a user support Figure 5 7 4 Let s try to move Error Messages 37 5 7 1 Let s try to move Operation Window The following window will be shown when the Let s try to move program is executed When the program starts it will operate with the first Board that is found To operate the Let s try to move program wit
63. peed Button to perform the corresponding continuous feed operation Clicking the Stop Button can stop the operation 4 Positioning Operation This sample program demonstrates the high speed positioning and constant speed positioning operations Positioning Operation Window na inmirey High Speed a Aud C omstari opa od E E5 ai Facet Counbar E evem LENIG 2 Slop Chess ares pred os BVOM ON OFF 10000 Salling Spead Prs 2000 Before starting operation perform the same preparatory checks such as checking sensor connections performed for the origin returning operation Click the High speed or Constant speed Button to perform the corresponding continuous feed operation Set the distance in pulse units The current position can be reset to 0 by clicking the Reset Counter Button Clicking the Stop Button can stop the operation 35 5 Linear Interpolation Operation This sample program performs linear interpolation operation at high speed The combined speed is fixed Linear Interpolation Operation Window El ELS H E an a H E S4L6 nug Ig i TON p EWON ON OFF Salting SaeediPP Sy B i Foitiin O Powitien Speed Before starting operation perform the same preparatory checks such as checking sensor connections performed for the origin returning operation Set the end positions for the X axis and Y axis Click the Start Button to perfor
64. ppy disk into the computer s floppy disk drive 4 Check the appropriate boxes to select the floppy disk drive as the search location 5 Specify the directory A Win9x In this case the floppy drive is drive A Complete the installation by following the directions in the system dialog boxes Thir wead machas bor r na dren bor Hanae Wired PE Bridge Wiha dona m Winks ip oT pias ee jl W Display a fied of al tha divara in a spacie keamen m pou can sakri the dra you ward devoa dem ir a mara pogen tha maha a Haiharan dirani cde kindoa e mach ho new dran in tc deve databace aua had der amin ary of ba lokrarng mheid Hahaaa i kabsa hoki Mest bo shat the teach PO Tio d d Windowsa drer file caaech pa the da Hivertec HPCI CPD530 Win9X kemia n now read b milal ha tari hee la e deee Chek Bach k eked a dhear dremi chek Hed to conn am Now ee Ade Wes Mancha wine i E aes aa a Hivertec HPCI CPD530 Win9X Tofnith cating up your rar hadaa you mani aiat pour computer Dh pou veal e E T rove lt Finish Cenc Figure 5 3 4 Win98 Installations ius ien ewes eetteng 6 harp 25 5 Uninstalling the Device Driver for Windows 1 2 Insert the provided floppy disk into the computer s floppy disk drive Start Windows Explorer and execute the program A cp530uin exe In this case the flo
65. ppy drive is drive A It is also possible to start the device driver uninstallation program by executing A cp530uin exe from the command prompt HPIAP IT POSTI Ur rstmker a Ge pou went fo unreal the dren ara for HEC OPS yO HPO CPR 26 POS Te Linnea ead Lindahl completers J d fou fet rilar your conputer baiona the fees eetlirep vel taha affect Go pn ant bo restart pour pagia ret Figure 5 3 5 Uninstalling the Device Drivers 5 3 2 Installing Uninstalling Device Drivers ina DOS System 1 2 DOS Installation To register the HICPD530 drivers for the first time copy the HICPD530 DRV file to the prescribed directory on the computer s hard disk and add the following line to the CONFIG SYS file in the DOS startup drive Specify the entire path in the DEVICE command In this case the file has been copied to the directory C HICPD DEVICE C HICPD HICPD530 DRV Restart the computer after adding this line to the CONFIG SYS file Uninstalling the Driver Locate the line that registers the HICPD530 drivers and delete this line from the CONFIG SYS file It is also possible to delete the driver file itself from the computer s hard disk Restart the computer after deleting the appropriate line from the CONFIG SYS file or deleting the HICPD530 DRV file itself 26 5 4 Using Two or More CPD Boards This section explains how to install more than one CPD Board in a computer and connect the B
66. quired device driver 3 Adialog box will be displayed requesting the installation source directory Insert the provided floppy disk into the computer s floppy disk drive Check Specify a location Specify the directory A WIN2K In this case the floppy drive is drive A Complete the installation by following the directions in the system dialog boxes as Trand See Hardware Wirard Trond ee Hardware Wirardl j E ieatall Herdeare Davin Drovers dives dhe a bolbano boogie that aibi a hoiii dioa ba ah veh aa Seating Hele Welcome to the Found Hew Hardware Wizard Tha rasaj helps you maiad s dracs deve be a hadra craca Tha Razed pall ooanpdete the iahallsion fo ha ekr Gp iver PC Bindga eric A drene driver ha erimas progah ihai makeh 2 haie dene veode winds resede dree hier fra pour nase cence T pbocais dem fiar ard conpise tha miaon chch Ho Wha dop ssr He erd io o Geohiu bhabe diver fol ney devit O iplay a fot of tha krean demr for Eh device oo tha can choom a parie dan Ten piiras bok pisni Trond ee ardeare me E Locsin Orever Fier where dou rear Worden be hearth fol die fea qin Cancel Teek jo chinese Whee Bor thd Andorran haye dempe Gy lites PI Didge Dios ihe wizard yoh foe stable cisza in ip ghas dikatens on pour ooonpeder enw im are of tha bollesang andor mach bocsio thal pou cpp i z i sees lees a erika a in Trond
67. sing sample programs provided with the product to operate a device always A start at low speed and be sure that settings match the mechanical system before attempting operation Operating with settings that do not match the mechanical system may result in unexpected operation 7 Disposal Ay Warning t Abide by all applicable laws and ordinances when disposing of a board VI Manual Configuration The following manuals are provided with CPD series Boards 1 User s Manual Individual Board Information this manual This manual provides the following information for individual CPD Boards 1 Hardware information 2 Installation procedures for accessory software 3 Operating procedures for sample software 4 Operating procedures for the Trial Tour 5 Other specific information for individual Board 2 CPD Board Series User s Manual Software This manual describes the following software information for the CPD Board Series 1 Library functions library function level 1 VC VB and DOS 2 Driver functions device driver interface library VC VB and DOS 3 CPD Board Series User s Manual Common Information This manual provides information common to all of the CPD Board Series in tutorial style 1 Basic operating methods for CPD Boards including samples using library functions 2 Descriptions of CPD Board applications samples of using library functions as reference required for a br
68. sor 93 BDLS Input for decelerate limit sensor 44 WOLS Input for origin sensor 94 BOLS Input for origin sensor 45 EXTPOW1 24V power input 95 EXTPOW1 24V power input 46 EXTPOW1 24V power input 96 EXTPOW1 24V power input 47 5V power out 97 GND 48 5V power out 98 GND 49 CMPV output TTL OC output 99 CMPA output TTL OC output 50 CMPW output TTL OC output 100 CMPB output TTL OC output Table 3 5 2 CPD578 J2 CONNECTOR PIN OUT Vaxis Baxis PIN No Signal Name PIN No Signal Name 1 GND 2 GND 3 STA Simultaneous Start 4 STP Simultaneous Stop 5 GND 6 GND 7 CMP X X axis comparator match signal 8 CMP Y Y axis comparator match signal 9 CMP Z X axis comparator match signal 10 CMP U U axis comparator match signal 11 GND 12 GND 13 CMP V V axis comparator match signal 14 CMP W W axis comparator match signal 15 CMP A A axis comparator match signal 16 CMP B B axis comparator match signal Table 3 5 3 16 CPD578 J3 CONNECTOR PIN OUT 3 6 HPCI CPD578 Specification Item Specification Notes Axis control 1 Positioning system 1 to 8 axes 2 Linear interpolation system 2to4 axes simultaneously x2 Control LSI 3 Circular interpolation system 2 axes simultaneously x2 PCL6045 series 4 Pulsar feed system 1 to 8 axes Command Command pulses Pulse train output by differential driver system Position
69. stalling the Device Drivers 5 3 1 Installing Uninstalling Device Drivers in a Windows Systems 1 Windows XP Installation 1 Verify that the computer s power supply is OFF and install the CPD Board in an available PCI slot in the computer Turn ON the computer s power supply and start Windows 2 When WinXP starts up the CPD Board will be detected by the system and a window will be displayed automatically to guide you in the installation of the required device driver Adialog box will be displayed requesting the installation source directory Insert the provided floppy disk into the computer s floppy disk drive Select Hivertec HPCI CPD530 WinXP ako Check Install the software automatically Recommended The warning has not passed Windows Logo testing to verify its compatibility with Windows XP is displayed but continue anyway We have checked that this software operates on WindowsXP Complete the installation by following the directions in the system dialog boxes ves well Sees Hise ae uuml Pani gt ra fertkaarr Mial Pinare meci fhe beri maich bu pou harmaa hem the bal bes Gal Himier HPACHOPLA ei Teil Yeap Hesutaokes Lamon Hrt HPDE S00 Hra ig teenie hcp nl baee POD 2000 Hie E EEE E E Tiii dived ne gilaa mji Leire in daa an A a Taui Sars larbaart Miil Completing the Found Mea Hardware izard The panid bate reiva milh et rotear lie m Hivete HPL EEE i pce irredinliened ia
70. t logic levels HIGH when port output is active Active high CMP X CMP U J2 CMP V CMP B External gt F D connections Len Tee 5V ere a STA STP CMP x eae ompatible ja Circuit format With 74HCO4 Match signal output CMP X CMP B Rating load voltage DC5V Simultaneous Start STA Simultaneous Stop STP Rating load current Less than 6mA Output logic levels LOW when port output is active Active low External Moo o A gt l connections enD receiver Table 3 4 5 J1 J3 Match signal and J3 Simultance Start Stop Output Circuits 14 3 5 Connector PIN out 3 5 1 CPD578 connector PIN out Connector J1 and J2 are placed as following figure J1 is allotted to signal of X U axes and J2 is allotted to signal of V B axes PIN PIN No Signal Name No Signal Name 1__ 5V power out 51 GND 2 5V power out 52 GND 3 XCWP CW pulse out 53_ ZCWP CW pulse out 4 XCWN CW pulse out 54 ZCWN CW pulse out 5 XCCWP CCW pulse out 55 _ ZCCWP CCW pulse out 6 XCCWN CCW pulse out 56 ZCCWN CCW pulse out 7 YCWP CW pulse out 57 UCWP CW pulse out 8 YCWN CW pulse out 58 UCWN CW pulse out 9 YCCWP CCW pulse out 59 UCCWP CCW pulse out Connector type 10 YCCWN CCW pulse out 60 UCCWN CCW pulse out
71. t low speed and ends operation when ELS OFF signal is detected The operation procedure is as follows set SelCmd 3 specify the desired axis number 0 X and specify the movement direction all keys besides the Key specify O End 1 BoardInix7AXCmnd Exe Register telCmdi 0 8 8 R 13 bis 0 3 ir Aces ELS dual use origin returning Z axis direction Press Enter 45 d Positioning Operation Performs 1 axis positioning for the specified axis 2 Xe X axis travel distance Ye Y axis travel distance Ze Z axis travel distance Ue U axis travel distance seltad D805 Rp ise 2 2 Sign shows direction e Continuous Operation Performs 1 axis continuous operation for the specified axis 5 direction 6 direction f Linear Interpolation Performs linear interpolation operation for the two specified consecutive axes Axis combination 0 Xe Ye 1 Ye Ze 2 Ze Ue 3 Ze Ue End Position g Circular Interpolation Performs circular interpolation operation for the two specified consecutive axes See Linear Interpolation above for details on specifying the two axes controlled in the operation When the travel distance end position for both axes is set to 0 0 the Board will make a complete circle c 5000 Uc 5000 46
72. tatus OTP Not used reserved Axis 8 3c BUFO O buffer IN 15 to 0 BUFO I O buffer OUT 15 to 0 3e BUF1 I O buffer IN 31 to 16 BUF1 I O buffer OUT 31 to 16 80 ELPOL Status of ELS polarity for each axis ELPOL ELS polarity setting for each axis 82 DLS PCS _ Status of DLS PCS input selection DLS PCS_ DLS PCS input selection 84 CASTA saree ia when CMP4 condition is CASTA ee when CMP4 condition is 486 C5STP HEN a when CMP5 condition is C5STP ee when CMP5 condition is Option 8a J3COUT Selected signal 3 5 J3 output setting status J3COUT Selected signal 3 5 J3 setting status ports 8c COTSEL1 X Z CMP3 5 output selection status COTSEL1 X Z CMP3 5 output selection status 8e COTSEL2 V B CMP3 5 output selection status COTSEL2 V B CMP3 5 output selection status 90 BINTM Board interrupt output mask setting status BINTM Board interrupt output mask setting 92 BINTS Board interrupt status BINTR _ Not used reserved 9c BID Board ID setting by DIP SW 0 15 _ Not used c8 ca BCOD Board code 57h 8ah _ Not used Table 3 2 1 Board Addresses 3 2 2 Option Ports Option ports are provided with each Board The port functions are described below 1 Sets or reads the ELS polarity setting for each axis 80h ELPOL N C condition selected when bit nis setto 0 N O condition selected when bit n is set to 1 N O ELS detected when current to coupler is ON N C ELS detected when current to coup
73. the computer If the jumpers are set with the power supply turned ON the settings may not be recognized correctly possibly causing operating errors Set the board jumpers correctly Incorrect settings may cause operating errors Always turn OFF the power supply to the computer and disconnect the power supply cable before installing the board Installing the board without removing the power supply cable may cause board failure Furthermore the device may exhibit unexpected operation When installing the board in the computer be sure the board is straight to the connector in the computer and press in the board so that the gold plated edge connector is deeply inserted into the PCI connector If the board is inserted at an angle or not inserted deeply enough poor contact may cause operating error or board failure When installing the board in the computer use mounting brackets and mounting screws to secure it firmly Improper securing of the board may cause operating errors AN Caution Do not drop the board or handle it roughly Vibration or shock may cause board i i failure Do not touch the solder surface of the board with your hands Sharp points on the components may cause injury 5 Wiring A Warning Always turn OFF the power supply to the computer and disconnect the power supply cable before wiring connectors to exterior lines or before connecting or disconnecting such connectors Performing this
74. to the CPD Board Series User s Manual Software Information for details on these settings cp530_wPortB Sets each device s operating conditions 4 Initialize each Board and each axis After making the settings above initialize each axis in all of the Boards being used Refer to the User s Manuals and make the appropriate settings in each register It will be possible to operate the axes normally once the settings have been made properly End Processing 5 Close the devices that were opened When all of the required processing has been completed and the application has ended close all of the devices that were opened cp530_CloseDevice Closes the specified Board 1 Board 2 Using Library Functions Refer to the CPD Board Series User s Manual Software Information for details on the library functions Preparatory Procedure 1 Obtain the device information for all of the Boards being used First obtain the device information for all of the CPD Boards in the Board recognition structure area array hcp530_GetDevinfo Confirms the number of Boards and obtains the device information for all of the boards This library function combines two driver functions 2 Open every Board Transfer the CPD578 Board s device information to the Open Device function The CPD Board is opened and the Open Device function returns the device handle value that is needed to access that Board From this point on use the Board s device hand
75. uters 2 Applicable Bus AN Warning Specification Rev 2 1 5 V specifications Do not use them in any environment The boards products described in this manual are applicable to PCI Local Bus where this bus is not operating Ill 3 Environmental Conditions A Warning A Store and use the board only under the following environmental conditions e Ambient operating temperature 0 to 50 C e Ambient operating humidity 20 to 85 with no condensation e Ambient storage temperature 15 to 75 C e Ambient storage humidity 10 to 90 with no condensation e Atmosphere No corrosive gas inflammable gas oil mist or dust e Altitude 3 000 m above sea level max Lower upper level of temperature ranges by 2 C for every 300 m 4 Transportation and Installation A Warning abeeP Ob PB gt Bb Touch a metal object to discharge static electricity from your body before touching the board Static electricity may cause board failure Do not wrap the board in any wrapping material that easily carries a static charge such as bubble wrap Static electricity may cause board failure Do not touch the edge connector on the board Contamination on the edge connector may cause operating errors Do not place any heavy object on the board Heavy object may damage components on the boards possibly causing board failure Set the jumpers on the board before mounting it to
76. xec 3 Register _ Figure 5 8 1 Startup Screens for the DOS Version of the Sample Program The differences in the interrupt display for these two screens are as follows The relevant interrupt displays are in the Event Status RIST and Error Status REST fields Interrupts not used Interrupt sources are polled When an interrupt occurs the source is displayed in hexadecimal for a fixed time Interrupts used When interrupts have occurred the interrupt sources are displayed in hexadecimal as OR s The display is cleared at the start of operation 1 Title Number of Boards Recognized and Software Version Number of Boards recognized 2 Boards max due to screen festrictions eee HPCT CPD53S 594 508 5784 Device Driver Sample Board 1 4 aes hicedS30 lib Yerl 10 amp hicpd53s0 dry Yer 10 LS Version of drivet functions Version of device driver 2 Board Information 1 ID 000001 4 Bus 0 Dew 12 1 0 0x7000 IRG 11 CTL 1 BID 0 a Display of Selected Boards Operable Boards ID This hexadecimal ID is the device handle returned to the Device Open function The Board ID BID is added to the higher word of the device ID in the Device Open function N Displays the number of enabled axes N that were recognized in the sample program b Board Display Indicates the following device information that was obtained for the selected Board Bus Bus number Dev Device number PCI slot number VO

HPCI-CPD578 User`s Manual Hivertec Inc.

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