HIWIN PCI-4P Motion Library User`s Manual
Contents
1. Figure 7 Point to point motion II General Motion Linear Arc Circular motion General motion includes linear arc circular multi axis synchronized motion If the returned value of general motion function is smaller than 0 this means command was not accepted Regarding the reason of rejection of command please refer to PCI 4P motion library reference manual If the returned value is greater than or equal to 0 it means command code for this motion command Use MCC_ResetCommandIndex to reset command code value A Linear motion When using this users provide target position or displacement for each axis Regarding speed and acceleration they are set by MCC_SetFeedSpeed and MCC_SetAccStep The default acceleration deceleration time is 20 x W Obit 2003 23 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 interpolation time gt See Also MCC_SetFeedSpeed MCC_Line B Arc motion When using this users provide a reference point center and a target point Regarding speed and acceleration they are set by MCC_SetFeedSpeed and MCC_SetAccStep The default acceleration deceleration time is 20 x interpolation time MCCL also provides 3 D arc motion gt See Also MCC _SetFeedSpeed MCC_ArcXYZ MCC_ArcXY MCC_ArcYZ MCC_ArcZX C Circular motion When using this users provide a center point and motion direction clockwise or counterclock2. dfHighLimitOffsetlOffset value for dfHighLimit This value must be positive and can t be greater than dfHighLimit After setting in the designated axis its effective working interval in the positive direction dfHighLimit dfHighLimitOffset W Obit 2003 9 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 dfLowLimitOffsetlOffset value for dfLowLimit This value must be positive and can t be greater than absolute value of dfLowLimit After setting in the designated axis its effective working interval in the negative direction dfLowLimitOffset dfLowLimit wPulseModellPulse output mode 0 Pulse Direction 1 CW CCW 2 A B phase wPulseWidthlIOutput pulse width Set the width of output pulse to satisfy driver s specification The real output pulse width is the set value multiplied by system cycle width 25 ns Please follow the driver s specification to set the output pulse width wCommandModellMotion command output mode 0 pulse command wOverTravelUpSensorModell Type of positive limit switch 0 Normal Open NO 1 Normal Close NC gt No limit switch is installed wOverTravelDownSensorModell Type of negative limit switch 0 Normal Open NO 1 Normal Close NC 3 No limit switch is installed wPaddle Reserved data users don t need to set W Obit 2003 10 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48
3. gt See Also MCC_DisableBlend MCC_CheckBlend III Speed override In motion system there are situations where speed override becomes important Flying scissor mechanism is an example When speed override is executed MCCL behaves like a new command is received It accelerates from current speed V to the override speed V when V lt V or from current speed V decelerates to the override speed V when V gt V as in Figurel1 W Obit 2003 27 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 Velocity Velocity V2 Vi Vi V2 Time Time Vi lt V2 Vi gt V2 Figure 11 Speed override v For general motion Call MCC_SetOverSpeed to set the speed override ratio and enforce changing the tangent speed instantly The speed ratio is speed ratio new speed original speed 100 in which original speed means the speed set by MCC_SetFeedSpeed 2 See Also MCC_GetOverSpeed v For point to point motion Call MCC_SetPtPOverSpeed to set the speed override ratio and enforce changing every axis s speed Please refer to the last section for definition of speed ratio gt See Also MCC_GetPtPOverSpeed IV Motion dry run Use MCC_EnableDryRun to enable motion dry run When this is enabled pulses won t be sent out But the users can use MCC_GetCurPos and MCC_GetPulsePos to get the interal result of trajectory planning Together with proper graphic ro
4. 0 2 IX stGroupConfig stGroupInfo 1 nChannel 1 3 ITY stGroupConfig stGroupInfo 1 nChannel 2 1 Z is not used in example stGroupConfig stGroupInfo 1 nChannel 3 1 U is not used in example stGroupConfig stGroupInfo 1 nChannel 4 1 stGroupConfig stGroupInfo 1 nChannel 5 1 At last call this function to finish setting group parameter MCC_SetGroupConfig amp stGroupConfig Let s take the example of MCC_Line 20 20 0 0 0 0 1 in which the last argument means group number Thus channel 2 3 of PCI 4P card 0 will output phases for axis x y in group 1 Furthermorell MCC_Line 10 10 0 0 0 0 0 Il command 0 MCC_Line 15 34 0 0 0 0 0 command 1 MCC_Line 20 20 0 0 0 0 1 command 2 MCC_Line 73 54 0 0 0 0 1 command 3 These 4 lines will go into queue for motion executions The queue for group 0 and group 1 are separate This means command 0 and command 2 are first command in their queue and will start at the same time Command 0 and 1 are in queue of group 0 Command 2 and 3 are in queue of group 1 Without setting group parameters preset value use group O only and x y z u axis of group O corresponds to channel 0 3 of card 0 Set Hardware Parameter of Motion Control Card Hardware parameter of motion control card is used to set the type of PCI 4P card The hardware parameters have to be set before calling MCC_InitSystem They are defined as
5. 61 8350 704 804 Users should call MCC_EnableLimitSwitchCheck to enable checking limit switch 7 but when wOverTravelUpSensorMode and wOverTravelDownSensorMode are set to 2 then calling MCC_EnableLimitSwitchCheck will have no meaning There are two modes to call MCC_EnableLimitSwitchCheck Mode0 direction sensitive limit switches For example move in the positive direction and touch the positive limit switch or move in the negative direction and touch the negative limit switch it will stop outputting pulses but that command is still in calculation Model Not direction sensitive limit switches As long as the limit switch is engaged it will stop outputting pulses In general MCC_EnableLimitSwitchCheck and MCC_GetLimitSwitchStatus are used together If limit switch was engaged users should call MCC_AbortMotion to abort the motion command in execution Homing Parameters HOME_CONFIG This defines necessary homing parameters Format and explanation are as follows Regarding homing related detailed explanation please refer to later sections typedef struct HOME_CONFIG WORD wType WORD wPhaseODir WORD wPhaselDir WORD wSensorMode double dfOffset HOME_CONFIG wType Homing mode 0 NORMAL_MODE Use the encoder index closest to the home sensor as the mechanism origin Mechanism origin is also called W Obit 2003 11 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800
6. the acceleration is in m s Use F m x a to calculate the thrust force 2 6 5 System Status Use MCC_GetCurPos to get current command position in mm or inch unit Users can also use MCC_GetPulsePos to get current command position in pulse unit If the system includes an encoder use MCC_GetENCValue to get feedback position unit pulse Users can use MCC_GetPtPSpeed to get the feeding speed ratio of point to point motion For general motion use MCC_GetCurFeedSpeed to get current feeding speed use MCC_GetSpeed to get speed component of each axis in a group use MCC_GetFeedSpeed to get feeding speed Use the return value of MCC_GetMotionStatus to get current motion status If the return value is 0 system is normal if the return value is 1 motion is stopped and if the return value is 2 motion is hold by MCC_HoldMotion Use MCC_ GetCurCommand to get information of the motion command in execution The prototype of MCC_GetCurCommand function is as follows MCC_GetCurCommand COMMAND_INFO pstCurCommand WORD wGrouplndex W Obit 2003 32 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 COMMAND INFO saves information of the motion command in execution It is defined as follows Typedef struct COMMAND INFO int nType int nCommandlndex double dfFeedSpeed double dfPos 6 COMMAND_INFO nType Motion command type 0 point to point motion
7. 1 linear motion 2 clockwise arc or circular motion 3 counterclockwise arc or circular motion nCommandIndex motion command index dfFeedSpeed feeding speed for general motion speed ratio for point to point motion dfPos target position dfPos 4 and dfPos 5 are not used Use MCC_GetCommandCount to get the number of motion commands which have not been executed The motion command in execution is not counted If the return value of MCC_GetMotionStatus were 1 the number of motion commands in stock would be 0 2 7 Homing Users can set the order speed direction and mode of homing for each axis The order of homing for each axis is defined by parameters nXOrder nUOrder W Obit 2003 33 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 in MCC_GoHome Homing process of PCI 4P motion card is divided into phase 0 phase 3 and explained as follows Phase 0 search and enter into home sensor area In this phase it searches home sensor HOMO HOM3 with the speed dfXSpeed dfUSpeed in MCC_GoHome and the direction wPhaseODir in mechanism parameter When home sensor is ON then it starts to decelerate and stop At the position where it stops home sensor must be ON otherwise users should lower homing speed and call MCC_GoHome again Call MCC_SetGoHomeDecStep and MCC_SetGoHomeAccStep to set acceleration deceleration steps Phase 1 leave home sensor
8. 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 nGroupUsedf 0 0 nGroupUsed 1 0 nGroupUsed 2 1 nGroupUsed 71 1 Group 0 Group 1 Group 2 Group 71 1 1 l 1 1 NA I I NA S I I NA I I NA I I NA I I NA lt lt YY Pd del Card 0 Figure 6 Example of group parameter setting An example is shown in Figure 6 Two groups are used and one PCI 4P card is inserted The x y axis of group O are dispatched to channel 0 1 of card 0 and z u axis in group O are not used The x y axis of group 1 will be dispatched to channel 3 4 of PCI 4P card O and z u axis in group 1 are not used Group parameters are set as follows SYS_GROUP_CONFIG stGroupConfig for WORD nlndex 0 nIndex lt 72 nIndex stGroupConfig nGroup Used nIndex 1 stGroupConfig nGroupUsed 0 0 stGroupConfig stGrouplnfo 0 nCardlndex Q stGroupConfig stGroupInfo 0 nChannel 0 0 1X stGroupConfig stGroupInfo 0 nChannel 1 1 ITY stGroupConfig stGroupInfo 0 nChannel 2 1 Z is not used in example stGroupConfig stGroupInfo 0 nChannel 3 1 U is not used in example stGroupConfig stGroupInfo 0 nChannel 4 1 stGroupConfig stGroupInfo 0 nChannel 5 l W Obit 2003 18 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 stGroupConfig nGroup Used 1 0 stGroupConfig stGrouplnfo 1 nCardlndex Q stGroupConfig stGroupInfo 1 nChannel
9. AX 48 61 8350 704 804 2 2 Hardware Specification UserApplcatbon PC HP M otor Drwer Motor ff Motbn Lbrary PC HP M otor Drwer Motor E PC HP M otor Drver Motor ff Motor Drver Motor E PC HP M otor Drver Motor E Figure 1 MCCL supports up to 12 PCI 4P cards MCCL is used with HIWIN PCI 4P card every HIWIN PCI 4P card controls 4 axes at most HIWIN PCI 4P card sends out pulses as position command The basic structure is shown in Figure 1 2 3 Definition of Control Axes MCCL is designed for 3 rectangular axes X Y Z plus one extra axis for motion control applications gt lt X Figure 2 3 Rectangular axes X Y Z plus auxiliary axis U MCCL provides axes synchronized or unsynchronized control Motion W Obit 2003 6 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 commands may be given as absolute or relative coordinate values MCCL internally records positions in absolute coordinates relative to the origin 2 4 Mechanism Parameter Setting MCCL provides the following mechanism parameters to match user s actual mechanism configuration Each parameter corresponds to origin coordinate boundary and so on for each axis Origin dfPitch Ball Screw Gear Box Ni N dfGearRa
10. Add File Ctrl D Remove Forml FA References Components Ctrl T Projectl Properties Step 2 Select MCCLPCI_45 bas and add into module Add Module New Existing WE VE 0am i MCCLPCI_45 bas AWA MCCLPCI 45 bas HARHA Basic Files bas HRA BA Dont show this dialog m the future WObit 2003 UD 40 ig P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 M My add It shows that MCCLPCI 45 bas has been added into project 538 Project Project w Forms f Form Form 9 Modules P A MCCLPCI 45 MCCLPCI_45 bas WObit 2003 41
11. EL 48 61 8350 620 800 FAX 48 61 8350 704 804 stAxisParam stEncoder wBInverse NO stAxisParam stEncoder wCInverse NO stAxisParam stEncoder wABSwap NO MCC_SetMachParam amp stAxisParam 0 0 set parameters for axis 0 of Oth card The mechanism parameters have to be set individually for every axis Once MCC_lInitSystem is called to initialize MCCL and you use MCC_SetMachParam to change mechanism parameters again it is necessary to call MCC_UpdateMachParam to update them gt See Also MCC_GetMachParam WObit 2003 15 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 2 5 Initialize and Close MCCL 2 5 1 Initialize MCCL Two steps have to finish before using motion library MCCL the first is mechanism parameter setting and the second is to initialize MCCL This is shown as Figure 5 Set Mechanism Parameter MCC_SetMachParam Initialize MCCL MCC_InitSystem Figure 5 Steps before using MCCL It is not possible to use other functions in MCCL unless the steps are done and no error code is returned Regarding mechanism parameter please refer to the previous section and PCI 4P motion library example manual the procedure of initializing MCCL is explained as follows Set Group Parameter Before using MCCL it is necessary to set groups MCCL uses group operation concept Most of the functions provided by MCCL use group as Operation object
12. Every group includes x y z u four axes Groups are dispatched to channels on PCI 4P card MCCL supports up to 12 PCI 4P cards and every card can define up to 4 groups MCCL supports 72 groups Every group is independent of each other and won t affect each other s operation But to guarantee system s execution efficiency the less group used the better Group related parameters are defined as follows typedef struct SYS_GROUP_CONFIG int nGroupUsed 72 W Obit 2003 16 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 SYS_GROUP_INFO stGroupInfo 72 SYS_GROUP_CONFIG nGroupUsed 0 Use this group 1 Not use this group stGroupInfo Use this to dispatch which channels on which card to a group please refer to the explanation as below typedef struct S SYS GROUP INFO int nCardIndex int nChannel 6 SYS_GROUP_INFO nCardIndex Set card number 0 11 used by group nChannelf This dispatches channel on the PCI 4P with nCardlndex to x y z u axes of a group nChannel 0 nChannel 1 nChannel 2 nChannel 3 nChannel 4 nChannel 5 X Y Z U not used not used Set each according variable in the array to the channel number to dispatch Setting a value of 1 means that axis is not dispatched and thus no use of that axis Please set nChannel 4 and nChannel 5 to 1 WObit 2003 17 P P H WOBIT WITOLD OBER
13. FAX 48 61 8350 704 804 UJ electrical origin Mechanism origin and logical origin will be explained later 1 HOME_ONLY_MODE Home sensor as mechanism origin 2 INDEX_ONLY_MODE Use the first encoder index as mechanism origin wPhase0Dir Motion direction for homing phase 0 0 positive direction 1 negative direction wPhaselDir Motion direction for homing phase 1 0 positive direction 1 negative direction wSensorMode Type of home sensor 0 Normal Open NO 1 Normal Close NC COM 24V Home Sensor PCI 4P Motion Card HOM D O 24V GND NO COM 24V PCI 4P Motion Card Home Sensor HOM a 24V_GND NC Figure 4 Type of home sensor dfOffset Position offset of logical origin During homing process and after mechanism origin was found PCI 4P would move a distance of dfOffset and stops The point of stop is called logical home Notice that dfOffset could be positive or negative value If it is set to 0 W Obit 2003 12 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 mechanism origin is equal to logical home Set Encoder Format ENCODER_CONFIG I typedef struct ENCODER_CONFIG WORD wType WORD wAlnverse WORD wBlnverse WORD wClnverse WORD wABSwap WORD wPaddlel3l ENCODER CONFIG w TypellEncoder type 0 A B Phase 1 CW CCW 2 Pulse Direction wAlInverselWhether to inve
14. P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 HIWIN PCI 4P Motion Library Users Manual PPH WObit mgr in Witold Ober 61 474 Pozna ul Gruszkowa 4 tel 061 8350 620 621 fax 061 8350704 e mail wobit wobit com pl http www wobit com pl Ver 1 0 2003 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 Hl a Contents 1 INTRODUCTION TO MCCL MOTION LIBRARY 2 MCCL FEATURES 2 1 SOFTWARE SPECIFICATION sesse oe Ee Gee OE Se orton Bee GESE GR Se WSA pe Kees i bek ee ee Ek 2 2 HARDWARE SPECIFICATION sesse esse sedes ses Sek vend Ee dee ve ee Wee Se ee veeg Se ge vented 2 5 DEFINITION OF CONTROL AXES ea ES EER De A oe GE oes doce GER SERE EER BE Ee RRS 2 4 MECHANISM PARAMETER SETTING ee see ee ss ee ee ss ee ee se ee ee se ee ee ss ee ee ss ee ee es 275 INITIALIZE ANT CLOSE MCCL oe nina EE R EDE EAEE Ee De Gee N wie we 2 5 1 Initialize MCCL 2 5 2 Close MCCL 2 0 MOTION CONTROL Gaw SE NG ED EG De Oe EG ON EG EG GE GE Ge Ge 2 6 1 Coordinate System 2 6 2 Basic Trajectory Planning 2 6 3 Advanced Trajectory Planning 2 6 4 Interpolation Time and Acceleration Deceleration Step Setting 2 6 5 System Status at HONING RZE 2 8 LOCAL INPUT OUTPUT UOJ CONTROL se nes Ee See ge E sd gees Ge EE GES sds 2 8 1 Input 2 8 2 Output 2 9 ENCODER CONTROL 2 0 0 ee cee cece ce
15. POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 2 8 2 Output The local output on PCI 4P a There are 4 servo on off control pins SVNO SVNI SVN2 SVN3 and users can use MCC_SetServoOn and MCC_SetServoOff to output servo on off signals b There is 1 position ready signal PRDY for one PCI 4P card and users can use MCC_EnablePosReady and MCC_DisablePosReady to set or clear the signal 2 9 Encoder Control Users have to set correctly the according parameters for encoder in mechanism parameters If stEncoder wType in mechanism parameters is set to 0 i e the input mode of encoder is set to A B phase users can use MCC_SetENCInputRate to set the encoder mode This value can be set to 1 2 and 4 i e x1 x2 and x4 The default encoder mode is x4 Use MCC_GetENCValue to get the encoder count value NOTICE Please confirm that motion command and Encoder feedback value has the same direction If not set Encoder mechanism parameter AB_swap YES so that motion command and Encoder feedback have the same direction definition W Obit 2003 37 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 44 UML dd P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 I 4 1 ve 3 Compiler Environment 3 1 Using Visual C Including Files MCCL h MCCL_Fun h Import Library users have to add this file into project MCCLPCI_45 lib Dynamic Library dyn
16. amic link file for run time MCCLPCI_45 dll ACTADrv dll It is shown below how to import Library i e the process of adding MCCLPCI_45 1lib into project Step 1 Use Add To Project under Project Project Build Tools Window Help Add To Project p Cy New Folder Source Control Dependencies Files Settings AlttF Export Makefile Components and Controls Insert Project into Workspace Step 2 Select MCCLPCI 45 lib add into Project W Obit 2003 38 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 ar Insert Files into Project SEED Release MCCLPCL 45 lib BEROU MCCLPCI_45 ib 16 TERT Library Files lib Had Insert MCCL v It shows that the MCCLPCI_45 lib has been added into project E StdAfx h E SYS_Util h Ver Def h lt q Library Files MCCLPCI_45 lib External Dependencies 3 2 Using Visual Basic Including Files MCCLPCI_45 bas Dynamic Library dynamic link file for run time MCCLPCI_45 dll ACTADrv dll It is shown below how to add the required module i e the process of adding MCCLPCI_45 bas into project W Obit 2003 39 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 Stepl Use Add gt Module under Project Project Format Debug Run Bf Add User Control 16 Add Property Page
17. area Leave home sensor area in the direction of wPhaselDir set by mechanism parameter When home sensor is OFF phase 1 is finished Phase 2 search encoder index It moves in the direction of wPhaselDir and finds the nearest index signal and stops Phase 3 move to logical home It moves a distance defined by stHome dfOffset in mechanism parameter and stops The position of stop is the logical home The speed for phase 1 2 3 is about 1 10 of that for phase 0 The mode of homing is set by stHome dfType in mechanism parameter 1 stHome dflype 0 NORMAL MODE It will execute phase 0 phase 3 2 stHome dflype 1 HOME ONLY MODE It will execute phase 0 I and 3 Phase 2 is not executed 3 stHome dfType 2 INDEX ONLY MODE It will execute phase 2 and 3 W Obit 2003 34 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 Function call procedure 1 Set stHome in mechanism parameter please refer to previous section 2 Call MCC_GoHome double dfXSpeed double dfYSpeed double dfZSpeed double dfUSpeed double dfVSpeed double dfWSpeed int nXOrder int nYOrder int nZOrder int nUOrder int nVOrder int nWOrder WORD wCardIndex Where dfXSpeed dfUSpeed Speed of homing for each axis mm sec dfVSpeed dfWSpeed not used nXOrder nUOrder Order of homing nVOrder nWOrder not used wCardIndex Motion control card index During homing process users ca
18. ation Step Setting I Interpolation time Speed 1 l Interpolation Time Max Pulse Speed 4 gt mi Max Pulse Acc Time I Dec Step E Acc Step I I Figure 12 Interpolation time and related parameters Interpolation time means the time between two interpolation points as in Figure 12 This is important for MCCL internal calculation Minimum value is 1 ms maximum value is 1000 ms Users can call MCC_InitSystem to set interpolation time or also use MCC_SetlnterpolationTime to set it later any time Interpolation time will affect acceleration deceleration time interpolation accuracy maximum speed and maximum acceleration deceleration The maximum speed in pulse sec is calculated by Max Pulse Speed 32768 interpolation time pulse sec gt See Also MCC_SetMaxPulseSpeed MCC_SetMaxPulseAcc II Set maximum pulse speed Maximum pulse speed is used to restrict maximum pulse numbers that can be sent out in every interpolation time and thus restrict feed speed of axis Use MCC_SetMaxPulseSpeed to set it The valid value can be set among 1 32768 W Obit 2003 30 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 and its default value is 30000 pulses gt See Also MCC_GetMaxPulseSpeed III Set maximum pulse acceleration deceleration Maximum pulse acceleration deceleration is used to rest
19. e per revolution of rotary encoder W Obit 2003 8 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 For rotary servomotor it is set to pulse number of encoder per revolution after considering 1x 2x and 4x encoder mode The 1x 2x and 4x encoder mode is set by MCC_SetENCInputRate For open loop stepping motor there is no encoder it is set to the number of pulses with which motor would turn one revolution For linear motor this parameter could be set to any value However notice that moving distance is calculated with the following formula Pulse x dfPitch dwPPR x dfGearRatio For MCCL function call the unit is always mm or inch except MCC_JogPulse dfPitchll Ball screw pitch value lead This parameter is the table displacement for one revolution of the ball screw its unit is mm For linear motors this value should be set 1 dfGearRatioll Gear ratio This is the number of revolutions of rotary motor when ball screw makes one revolution dfHighLimitl Set value for positive software limit This value is the maximum allowable displacement in the positive direction relative to the logical home its unit is mm 2 See Also MMC_SetOverTravelCheck dfLowLimitlSet value for negative software limit This value is the maximum allowable displacement in the negative direction relative to the logical home its unit is mm This value must be negative
20. eously with its own acceleration deceleration time and speed but doesn t have to arrive at the same time see Figure 7 This is different from general motion In case of multi axis point to point motion MCCL waits till all the axes have stopped then it proceeds to next motion command Call MCC_PtP to do point to point motion It takes target position or displacement of each axis as arguments Each axis will move in the given feed speed If the returned value of MCC_PtP is smaller than 0 this means command was not accepted Regarding the reason of rejection of command please refer to PCI 4P motion library reference manual If the returned value is greater than or equal to 0 it means command code for this motion command Use MCC_ResetCommandlndex to reset command code value Use MCC_SetPtPSpeed to set the feeding speed of point to point motion for axes in a group one argument needed is speed ratio i e feeding speed for axes maximum safe speed of each axis x speed ratio 100 Unit In which the maximum safe speed mm sec wRPM x dfPitch dfGearRatio For example for a speed ratio of 30 the feeding speed for axes is wRPM x dfPitch dfGearRatio x 30 100 The default feeding speed ratio is 10 And the default acceleration deceleration time is 20 x Interpolation Time WObit 2003 22 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 Time Time Time
21. etPtPAccType MCC_ SetPtPDecType MCC_ GetPtPDecType II Velocity blending Use MCC_EnableBlend to enable velocity blending function this function provides smooth transition in velocity between different motion commands There are v Line line line arc arc arc motions It makes tangent speed and trajectory continuous v Continuous trajectory of point to point motion It makes each axis s speed and trajectory continuous In set continuous trajectory motion let constant speeds in different part motion commands to become a continuous speed from one region to the second region as in Figure 9 after the first constant speed region directly use S curve to W Obit 2003 26 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 accelerate continuously to the second constant speed region of motion command thus the execution time of all the trajectory is faster but in the connection of commands there is some distortion exist The diagram is shown in Figure 10 As shown in Figure 9 the velocity transition between two motion commands is smooth The deceleration of first command and acceleration of second command is no more there This shortens the time to target However the path deviates from their original path Velocity time Figure 9 Speed graph of velocity blending PRZE 40 A line line line arc arc arc Figure 10 line line line arc arc arc motion
22. follows W Obit 2003 19 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 typedef struct SYS_CARD_CONFIG WORD wCardType WORD wCardAddress not used WORD wIRQ_No not used WORD wPaddle reserved SYS_CARD_CONFIG wCardType For PCI 4P motion control card it is always 2 wCardAdress Not used This parameter can be any value wIRQ_No Not used This parameter can be any value wPaddle Reserve data users don t need to set Initialize MCCL Use MCC_InitSystem to initialize MCCLIit is declared as follows int MCC_InitSystem int nInterpolateTime SYS_CARD_CONFIG psCardConfig WORD wCardNo nInterpolateTime is interpolation time please refer to explanation in later section the unit is ms range is between ms 100 ms in general set to 5ms PsCardConfig is the hardware parameter of PCI 4P motion control card explained earlier wCardNo is the number of totally installed PCI 4P motion control card The following is an example of using two PCI 4P motion control cards SYS_CARD_CONFIG stCardConfig 2 0x200 5 0 2 0x240 7 0 W Obit 2003 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 MCC_InitSystem 5 stCardConfig 2 2 5 2 Close MCCL Call MCC_CloseSystem to close MCCL 2 6 Motion Control 2 6 1 Coordinate System This category includes the f
23. n use MCC_AbortGoHome to stop homing and also can use the return value of MCC_GetGoHomeStatus to check if home is finished If the return value is 1 homing is finished If the return value is 1 homing is in process lt M pulse dir stHome wPhase0Dir 1 pulse dir b gt stHome wPhaselDir 0 Home Sensor Start position Phase 0 Phase 1 Phase 2 Phase 3 Encoder Index stHome dfOffset Mechanism origin Logical home WObit 2003 35 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 Figure 14 Homing example 1 stHome wPhase0Dir 0 pulse dir stHome wPhaselDir 0 pulsedir Start position Home Sensor Phase 0 Phasel Phase2 Phase 3 gt gt Encoder Index 4 stHome dfO Mechanism origin Logica Figure 15 Homing example 2 2 8 Local Input Output I O Control Local input and output include limit switch home sensor servo on and PRDY signals 2 8 1 Input The local input on PCI 4P a There are 4 home sensor input pins HOMO HOMI HOM2 HOM3 and users can use MCC_GetHomeSensorStatus to read the signals b There are 4 positive limit switch input OT0 OT1 OT2 OT3 and 4 negative limit switch input OTO OTI OT2 OT3 Users can use MCC_GetLimitSwitchStatus to read the signals W Obit 2003 36 P P H WOBIT WITOLD OBER 61 474
24. nce cece ene cucceuccencceuceenceeneeeneeeneeeneceneeenecs 3 COMPILER ENVIRONMENT ER USING di de URL AC RZEPA 32 USING VEL BA OE GE EG ES OD N EE GE OE GE GE De Ge WObit 2003 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 1 Introduction to MCCL Motion Library HIWIN PCI 4P provides Motion Control C Library MCCL and supports Windows 95 98 NT 2000 XP operating system It is to notice that for normal operation of motion library we fixed some hardware configuration The relationship of application program with motion library and hardware is shown below Application Motion Library PCI 4P Motion Card MCCL provides point to point linear arc and circular trajectory position control and there are furthermore motion delay motion dry run homing short stroke pulse continuous JOG motion halt and motion abort operations Position control provides different acceleration deceleration feeding speed maximum speed and maximum acceleration besides there are software hardware limit protection velocity blending speed override and error message process to user s requirement Regarding I O signals users make use of MCCL to read in the home and limit switch signals and also output servo on off signal To use this motion library users don t need to understand in depth complicated trajectory planning position control and
25. ollowing functions I To choose between absolute command relative coordinate system gt See Also MCC_SetAbsolute MCC_Setlncrease MCC_GetCoordType II To set the unit inch or mm gt See Also MCC_SetUnit MCC_GetUnit III To get current coordinates gt See Also MCC_GetCurPos MCC_GetPulsePos No matter which coordinate system is selected MCCL internally use absolute coordinate relative to logical home IV To enable disable software limit check When software limit check is enabled MCCL will check if the coordinate exceeds limit at each interpolation time If limit is exceeded the card will stop Users can refer to error code by calling MCC_GetErrorCode gt See Also MCC_GetOverTravelCheck MCC_ClearError V To enable disable limit switch check gt See Also MCC_EnableLimitSwitchCheck MCC_ DisableLimitSwitchCheck MCC_GetLimitSwitchStatus W Obit 2003 21 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 2 6 2 Basic Trajectory Planning MCCL provides point to point motion and general motion including linear arc and circular motion Users should set feeding speed acceleration deceleration type S curve or T curve and acceleration deceleration time according to the mechanism inertia and special demand See also 2 6 3 for setting I Point to point motion Point to point motion applies to multi axis Each axis starts simultan
26. real time multiplex environment through this function library users call functions directly to develop an integrated system in a very short time In all documentation of PCI 4P there are two major categories of position control 1 Point to point motion which characterize that axes start their motions at the same time however they do not necessarily stop at the same time 2 General motion includes linear arc and circular trajectory position W Obit 2003 3 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 control In this case motions of axes are related and start and stop at the same time RELATED MANUALS HARDWARE RELATED HIWIN PCI 4P hardware user s manual MOTION LIBRARY HIWIN PCI 4P motion library reference manual HIWIN PCI 4P motion library example manual HIWIN PCI 4P motion library user s manual W Obit 2003 4 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 2 MCCL Features 2 1 Software Specification M Operation System Environment v WINDOWS 95 v WINDOWS 98 v WINDOWS NT v WINDOWS 2000 XP E Development Environment v Visual C VC v Visual Basic M Library Name MCCL h MCCL_Fun h for VC MCCLPCI_45 bas for VB MCCLPCI_45 lib for VC MCCLPCI_45 dll ACTADrv dll W Obit 2003 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 F
27. rict the difference of sent pulses between two neighbored interpolation times thus the tracking error will be reduced If acceleration deceleration time is set too small acceleration deceleration will become too big for mass of the mechanism Users can use MCC_GetErrorCode to diagnose if the acceleration deceleration is too large in motion Users can set maximum pulse acceleration deceleration by MCC_SetMaxPulseAcc the value range is 1 32768 and its default value is 30000 pulses gt See Also MCC_GetMaxPulseAcc IV Acceleration Deceleration step The acceleration deceleration time is calculated as follows Acceleration time acceleration step x interpolation time Deceleration time deceleration step x interpolation time Use MCC_SetAccStep and MCC_SetDecStep for general motion Use MCC_SetPtPAccStep and MCC_SetPtPDecStep for point to point motion Normally for higher feeding speed users should set bigger acceleration time Therefore MCC_SetAccStep and MCC_SetDecStep are usually used with MCC_SetFeedSpeed so are MCC_SetPtPAccStep MCC_SetPtPDecStep and MCC_SetPtPSpeed W Obit 2003 31 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 V feeding speed e t Acc time Figure 13 Acceleration To calculate the acceleration use the formula a feeding speed Acc Time in which feeding speed is in m s and Acc Time is in second thus
28. rse phase A of encoder 1 Inverse 0 Not Inverse wBlnversellWhether to inverse phase B of encoder 1 Inverse 0 Not Inverse wClInversellWhether to inverse phase Z of encoder 1 Inverse 0 Not Inverse wABSwapllWhether to swap phase A and B of encoder W Obit 2003 M 13 P P H WOBIT WITOLD OBER 6 1 474 POZNAN TEL 48 61 8350 620 800 UL GRUSZKOWA 4 FAX 48 61 8350 704 804 W 0 1 Swap Not Swap wPaddlellReserve data users don t need to set After collecting all the mechanism parameters use MCC_SetMachParam to set them an example is shown as follows SYS MACH PARAM stAxisParam stAxisParam wPosToEncoderDir 0 stAxisParam dwPPR 500 stAxisParam wRPM 3000 stAxisParam dfPitch 1 0 stAxisParam dfGearRatio 1 0 stAxisParam dfHighLimit 50000 0 stAxisParam dfLowLimit 50000 0 stAxisParam dfHighLimitOffset 5 0 stAxisParam dfLowLimitOffset 5 0 stAxisParam wPulseMode 0 stAxisParam wPulseWidth 100 stAxisParam wCommandMode 0 stAxisParam wOverTravelUpSensorMode 2 Not Check stAxisParam wOverTravelDownSensorMode 2 stAxisParam stHome wType NORMAL_MODE stAxisParam stHome wSensorMode 0 stAxisParam stHome wPhaseODir sl stAxisParam stHome wPhaselDir 0 stAxisParam stAxisParam stAxisParam stHome dfOffset ENC_TYPE_AB NO stEncoder wType stEncoder wAlnverse W Obit 2003 14 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 T
29. tio N A ANANA VAAL SSE A AA AA N A dwPPR wRPM N N dfLowLimi dfHighLimit dfHighLimitOffset dfLowLimitOffset Encoder Logical Home dfOffset Index Home Figure 3 Mechanism parameter setting Contents of mechanism parameters are explained as follows typedef struct SYS MACH PARA WORD wPosToEncoderDir WORD wRPM W Obit 2003 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 DWORD dwPPR double dfPitch double dfGearRatio double dfHighLimit double dfLowLimit double dfHighLimitOffset double dfLowLimit Offset WORD wPulseMode WORD wPulseWidth WORD wCommandMode WORD wPaddle HOME_CONFIG stHome ENCODER_CONFIG stEncoder WORD wOverTravelUpSensorMode WORD wOverTravelDownSensorMode SYS_MACH_PARAM wPosToEncoderDirlDirection adjustment parameter 0 not reverse direction of output command 1 reverse direction of output command This parameter is used when motion command direction is different from the expected mechanism motion direction For example if positive motion command was sent but the motor moves in negative direction Then setting this parameter to 1 will make motion command direction consistent with the direction of mechanism wRPMII Maximum safe speed of motor Maximum safe speed For point to point motion wRPM parameter is used as reference speed gt See Also MCC_SetPtPSpeed dwPPRI Puls
30. top use MCC_AbortMotion to stop For example MCC_JogConti 0 20 0 0 Direction feed speed ratio axis number group index 0 positive 1 negative IV Hold continue and abort motion Use MCC_HoldMotion to halt current command in execution it slows with constant deceleration and then stop motion Then use MCC_ContiMotion to resume and finish executing the undone motion Use MCC_AbortMotion to abort a motion in execution or to discard a hold motion gt See Also MCC_GetMotionStatus 2 6 3 Advanced Trajectory Planning For more flexible more efficient position control MCCL provides advanced trajectory planning There are two types of velocity profile namely T curve and S curve There is also velocity blending between different motion command and reach the designated position quicker There is also speed override to adjust feeding speed W Obit 2003 25 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 I Acceleration deceleration type V Vv T curve S curve Figure 8 Acceleration deceleration type There are trapezoidal curve or S curve velocity profile For general motion the acceleration deceleration type is the same for each axis in a group However for point to point motion it is possible to set different type for different axis gt See Also MCC_SetAccType MCC_GetAccType MCC_SetDecType MCC_GetDecType MCC_SetPtPAccType MCC_G
31. utines the function can help users to get motion trajectory to simulate on the screen 2 See Also MCC_DisableDryRun MCC_CheckDryRun W Obit 2003 28 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 V Motion delay Use MCC_DelayMotion to get delay between motion commands The unit of delay time is the interpolation time interpolation time is explained in coming section an example is shown as follows MCC_Line 10 10 10 0 0 0 A MCC_DelayMotion 200 MCC_Line 15 15 15 0 0 0 B After finishing the motion command A it will delay 200 x interpolation time then the motion command B will be executed 2 See Also MCC_CheckDelay VI Error code There are errors like over travel exceeding the maximum set speed acceleration arc command error and error during arc command execution etc Users can use MCC_GetErrorCode to get the error codes Please refer to HIWIN PCI 4P motion library reference manual about error codes When errors occur MCCL stops execution of all motion commands Therefore users have to call MCC_GetErrorCode to identify the error reason and use MCC_ClearError to clear errors after which system will return to its normal state W Obit 2003 29 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 2 6 4 Interpolation Time and Acceleration Deceler
32. wise Regarding speed and acceleration they are set by MCC_SetFeedSpeed and MCC SetAccStep The default acceleration deceleration time is 20 x interpolation time gt See Also MCC_CircleXY MCC_CircleYZ MCC _CircleZX D Set feeding speed for General motion The feeding speed for general motion is set by MCC_SetFeedSpeed The value should not exceed the value for MCC_SetSysMaxSpeed The speed is in target direction of motion gt See Also MCC_GetFeedSpeed MCC_GetCurFeedSpeed MCC_GetSpeed III Jog There are 3 types of jog A Pulse Jog Jog with a distance designated in pulses maximum pulse number 2048 this command can only be used when there is no motion For example MCC_JogPulse 10 0 0 Displacement pulse axis number group index WObit 2003 24 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 B Short stroke Jog Jog with a distance designated in mm or inch Its speed is set as speed ratio similar to point to point motion use MCC_AbortMotion to stop For example MCC_JogSpace 1l 20 0 0 Displacement mm feed speed ratio axis number group index C Continuous Jog Jog continuously Its speed is set as speed ratio similar to point to point motion When it moves to the border which is set by mechanism parameter it will stop When software limit or limit switch are reached and their checks are enabled it will also s
Download Pdf Manuals
Related Search