Addi-Data APCI-8001 Manual de usuario

Rev. 12/112018

www.addi-data.com

POSITIONING AND CONTOURING

CONTROL SYSTEM

APCI-8001 AND APCI-8008

OPTIONS MANUAL

CONTENTS 3

1OPMF options print......................................................................................................................................6

1.1Brief description .............................................................................................................................6

1.2Software.........................................................................................................................................6

1.2.1Modified rwmos.elf operating system software.................................................................6

1.2.2PCAP programming ..........................................................................................................7

1.2.2.1rdAin, read analog inputs .................................................................................7

1.2.2.2rddigi, read digital inputs ..................................................................................8

1.2.2.2.1Digi axis qualifier for axis channels 4, 5 and 6 ...................................8

1.2.2.2.2Digi axis qualifier for axis channels 7 and 8 .......................................9

1.2.2.3rddigib, read digital input bit .............................................................................9

1.2.2.4rddigo, read digital outputs...............................................................................9

1.2.2.5rddigob, read digital output bit........................................................................10

1.2.2.6wrdigo, write digital outputs............................................................................10

1.2.2.7wrdigob, write digital output bit.......................................................................10

1.2.3SAP programming...........................................................................................................11

1.2.3.1digi and digo axis qualifiers............................................................................11

1.2.3.2Axis qualifiers ain0 .. ain3...............................................................................11

1.3Hardware......................................................................................................................................11

1.3.1Options print OPMF connection assignments.................................................................12

1.3.1.1Connector X1: 50-pin SUB-D pin connector..................................................12

1.3.1.2Connector X2 FB connector X2 and transformation to SUB-D connector (pin /

socket)............................................................................................................13

1.3.1.3Setpoint value channels.................................................................................14

1.3.1.3.1Setpoint value channel for servo motor axes ...................................14

1.3.1.3.1.1Pin assignment for connector X1, axis channel 4 .....................14

1.3.1.3.1.2Pin assignment for connector X1, axis channel 5 .....................16

1.3.1.3.1.3Pin assignment for connector X1, axis channel 6 .....................16

1.3.1.3.1.4Pin assignment for connector X2, axis channel 7 .....................16

1.3.1.3.1.5Pin assignment for connector X2, axis channel 8 .....................16

1.3.1.3.2Setpoint value channel for stepper motor axes ................................17

1.3.1.3.2.1Pin assignment for connector X1, axis channel 4 .....................17

1.3.1.3.2.2Pin assignment for connector X1, axis channel 5 .....................17

1.3.1.3.2.3Pin assignment for connector X1, axis channel 6 .....................17

1.3.1.3.2.4Pin assignment for connector X2, axis channel 7 .....................17

1.3.1.3.2.5Pin assignment for connector X2, axis channel 8 .....................18

1.3.1.4Pin assignment connector X1, digital inputs..................................................18

1.3.1.5Pin assignment connector X2, digital inputs..................................................18

1.3.1.6Pin assignment connector X1, digital outputs................................................19

1.3.1.7Pin assignment connector X2, digital outputs................................................19

1.3.1.8Pin assignment connector X2, release relay..................................................19

1.3.1.9Pulse acquisition channels.............................................................................20

1.3.1.9.1Incremental encoders with inverted signals (symmetrical circuitry) .20

1.3.1.9.2Incremental encoders without inverted signals (asymmetrical

circuitry).............................................................................................20

1.3.1.9.3Optical decoupling of the pulse acquisition channels.......................21

1.3.1.9.4Pin assignment for the pulse acquisition channels with incremental

encoders ...........................................................................................21

1.3.1.9.4.1Pin assignment X1, channel 4...................................................21

1.3.1.9.4.2Pin assignment X1, channel 5...................................................21

1.3.1.9.4.3Pin assignment X1, channel 6...................................................21

1.3.1.9.4.4Pin assignment X2, channel 7...................................................22

1.3.1.9.4.5Pin assignment X2, channel 8...................................................22

1.3.1.10Pin assignment X2 for the analog input channels..........................................22

1.3.1.10.1Pin assignment for reference voltage outputs ..................................23

4 CONTENTS

1.3.2Connection of the OPMF options (APCI-8008)...............................................................24

1.3.3Component mounting diagram of the OPMF of the APCI-8001, top layer .....................29

1.3.4Component mounting diagram of the OPMF of the APCI-8001, bottom layer ...............30

1.3.5Component mounting diagram of the OPMF of the APCI-8008, top layer .....................31

1.3.6Component mounting diagram of the OPMF of the APCI-8008, bottom layer ...............32

1.3.7OPMF technical data.......................................................................................................33

2OPIBS option..............................................................................................................................................34

2.1Brief description of the INTERBUS master interface...................................................................34

2.2Software.......................................................................................................................................34

2.2.1Modified rwmos.elf operating system software...............................................................34

2.2.2Introduction......................................................................................................................34

2.2.3fwsetup.exe help programme..........................................................................................35

2.2.3.1Interbus page: Configuration..........................................................................35

2.2.3.2Interbus page: SAP........................................................................................36

2.2.3.2.1Explanation of the graphical operating symbols...............................37

2.2.3.2.2Explanation of the SAP Interbus screen text output.........................37

2.2.3.3Interbus page: Diagnostics.............................................................................38

2.2.4Interbus SAP programming.............................................................................................39

2.2.4.1Interbus status information and commands...................................................39

2.2.4.2Proceeding to use the Interbus......................................................................40

2.2.4.3Interbus configuration parameters .................................................................40

2.2.4.4Interbus error handling...................................................................................41

2.2.5Interbus PCAP programming..........................................................................................41

2.2.6Interbus error messages (error codes) ...........................................................................41

2.2.6.1General...........................................................................................................41

2.2.6.2Logical errors (F0XXhex)...............................................................................41

2.2.6.3Port errors (F1XX hex)...................................................................................42

2.2.6.4Logical errors in serial communication (F2XX hex) .......................................43

2.2.6.5INTERBUS errors (F3XX hex , F4XX hex).....................................................44

2.2.6.6General error..................................................................................................46

2.3Interbus hardware........................................................................................................................46

2.3.1Connector P1 (Interbus): 9-pin SUB-D connector ..........................................................46

2.3.2OPIBS option technical data...........................................................................................46

3SUB-D connector for release relay, CNC ready relay.............................................................................47

3.1SUB-D adapter from 10-pin FB connector X5 to 9-pin SUB-D connector..................................47

3.2SUB-D adapter from 10-pin FB connector X5 or X2 to 25-pin SUB-D connector (male)...........47

4SUB-D connector for CAN bus.................................................................................................................49

4.1SUB-D adapter from 10-pin FB connector P3 to 9-pin SUB-D connector..................................49

CONTENTS 5

Figures

Figure 2-1: Interbus configuration ................................................................................................................... 35

Figure 2-2: Interbus SAP................................................................................................................................. 36

Figure 2-3: Diagnostics Interbus ..................................................................................................................... 38

Tables

Table 1-1: Bit-coded structure of the digi word for axis channels 4, 5 and 6.................................................... 8

Table 1-2: Bit-coded structure of the digi word for axis channels 7 and 8........................................................ 9

Table 1-3: Pin assignment X1, (SUB-D connector)......................................................................................... 12

Table 1-4: Pin assignment X2, (SUB-D connector)......................................................................................... 13

Table 1-5: Configuration of the incremental encoders for symmetrical and asymmetrical operating modes.20

Table 2-1: Meaning of the symbols on the [Interbus][Configuration] page ..................................................... 36

Table 2-2: Meaning of the symbols on the [Interbus][SAP] page.................................................................... 37

Table 2-3: SAP Interbus screen output........................................................................................................... 37

Table 2-4: Meaning of the symbols on the [Interbus][Diagnostics] page........................................................ 39

Table 2-5: Interbus status information and commands................................................................................... 39

Table 2-6: Interbus features ............................................................................................................................ 40

Table 2-7: Logical errors.................................................................................................................................. 41

Table 2-8: Port errors ...................................................................................................................................... 42

Table 2-9: Logical errors in serial communication........................................................................................... 43

Table 2-10: INTERBUS errors......................................................................................................................... 44

Table 2-11: Result byte ................................................................................................................................... 45

Table 2-12: Pin assignment of the remote bus interface (SUB-D).................................................................. 46

Table 3-1: Pin assignment for relay adapter (SUB-D-09) ............................................................................... 47

Table 3-2: Pin assignment for relay adapter (SUB-D-25) ............................................................................... 48

Table 4-1: CAN bus pin assignment (SUB-D-09)............................................................................................ 49

6 OPTIONS MANUAL

1 OPMF options print

1.1 Brief description

The OPMF options print is used to extend the APCI-8001 / APCI-8008 positioning and contouring control

system. Essentially, it comprises the additional logic for controlling up to five further servo or stepper motor

axes. The device electronics are fully compatible with those of the APCI-8001 / APCI-8008 motherboard.

In addition, the OPMF can also process up to 8 analog input signals with a 12-bit (APCI-8001) or 16-bit

(APCI-8008) resolution. This section describes the technical software and hardware characteristics of the

OPMF.

1.2 Software

The OPMF can be planned and programmed using the standard TOOLSET software for the

APCI-8001 / APCI-8008 (as of software revision V2.5.0). The corresponding additional functions are

described in the following sections, in addition to the description in the programming and referencing manual

[PM] for the APCI-8001 / APCI-8008.

1.2.1 Modified rwmos.elf operating system software

Specific rwmos.elf operating system software is required in some cases so that the additional functions of

the OPMF can be used. The information in the following section must be noted when rigging to a four (five,

six, seven or eight) axis system. In this case, the additional functions for axis channels 4 – 8 are used in the

same manner as for the standard three-axis system.

However, if only individual function modules are available on the OPMF (partial component mounting), these

function modules are accessed with the help of the SAP programming method. A series of new system

parameters are defined for this in rw_SymPas. The example programmes included in the scope of delivery

represent the simple access to this access method.

OPTIONS MANUAL 7

1.2.2 PCAP programming

The next sections describe the individual signals and their connection pins. The corresponding pin

assignments are listed in section 1.3.1.

1.2.2.1 rdAin, read analog inputs

DESCRIPTION: This function provides the current analog value of the channel channel of the an

axis. A maximum of 4 analog input channels are assigned to each axis.

As up to eight channels can be processed, the analog input channels 1 – 4 are

assigned to axis channel 1 and analog input channels 5-8 are assigned to axis

channel 2.

BORLAND DELPHI: function rdAin(an: integer; channel: integer): integer;

C: int rdAin(int an, int channel);

VISUAL BASIC: Function rdAin(ByVal an As Long, ByVal channel As Long) As Long

RETURN VALUE: Analog value as integer.

NOTE: Up to 8 analog values can be processed. There are slight differences in handling

the analog inputs of the different control systems, which has to be considered by

the user where required, especially in case of a system changeover.

APCI-8001: One value (one channel) is refreshed per scan cycle, i.e. with eight

channels, each channel is refreshed every 8 ms, with a pre-defined cycle of 1 ms.

Each channel can be set individually to the following measurement ranges:

0 .. +5 V, 0 .. 10 V, -5 V .. +5 V und –10 V .. 10 V.

Valid indices for an are 0 and 1, and for channel the values 0..3 are valid. If due to

the equipment version, only 4 analog input channels are available, these are the

first 4 channels. The analog channels have a 12-bit resolution.

APCI-8008: In every scan cycle, all values are refreshed. All channels can be set

only together to the following measurement ranges: 0 .. +5 V, 0 .. 10 V, -5 V .. +5 V

und –10 V .. 10 V.

Valid indices for an are 0 and 1, and for channel the values 0..3 are valid. If due to

the equipment version, only 4 analog input channels are available, these are the

first 2 channels with the first axis and the first 2 channels with the second axis. The

analog channels have a 16-bit resolution.

8 OPTIONS MANUAL

1.2.2.2 rddigi, read digital inputs

DESCRIPTION:This function is used to request the following signal statuses:

yThe current status of the 24 OPMF digital inputs

yThe current status of the zero track (index) signal from the incremental

encoder

yA temporarily stored error in the measurement value acquisition system

yA temporarily stored edge of the zero track (index) signal from the

incremental encoder

yA temporarily stored edge of the hardware latch signal (strobe). If an input

is active, this is indicated with the value 1 for the respective bit. As an

option, all digital inputs can be planned with inversion in the mcfg.exe

TOOLSET programme. It is also possible to plan the required polarity

when using an incremental encoder with an index signal.

You must ensure that the digital inputs are grouped axis-specifically on the OPMF.

BORLAND DELPHI: procedure rddigi(var tsrp:TSRP);

C: void rddigi(struct TSRP far *tsrp);

VISUAL BASIC: Sub rddigi(DTSRP As TSRP)

TSRP COMPONENTS: TSRP[n].digi

n = 3 .. Number of axes-1

RETURN VALUE: The bit-coded return value is in the digi structure or record component and is

constructed as described in the table below.

NOTE: See note PM rddigi()

Digital inputs 17 - 32 (connector X1) are assigned to axis channels 4, 5 and 6.

Digital inputs 33 - 40 (connector X2) are assigned to axis channels 7 and 8.

1.2.2.2.1 Digi axis qualifier for axis channels 4, 5 and 6

The digi register is used to check the status of the digital inputs in the APCI-8001. If the respective inputs are

active, this is displayed with the value 1 at the respective bit position.

Table 1-1: Bit-coded structure of the digi word for axis channels 4, 5 and 6

Bit

No. Function X1/Pin

0 Input 17 9

1 Input 18 10

2 Input 19 11

3 Input 20 12

4 Input 21 13

5 Input 22 14

6 Input 23 15

7 Input 24 16

8 Input 25 42

9 Input 26 43

10 Input 27 44

11 Input 28 45

12 Input 29 46

13 Input 30 and hardware strobe signal for latching the actual position of axis channel 4 47

14 Input 31 and hardware strobe signal for latching the actual position of axis channel 5 48

15 Input 32 and hardware strobe signal for latching the actual position of axis channel 6 49

16 Zero track of the incremental encoder, axis-specific --

OPTIONS MANUAL 9

Bit

No. Function X1/Pin

17 Error of the measurement value acquisition system, axis-specific --

18 Temporarily stored value for the zero track signal of the incremental encoder, axis-

specific --

19 Temporarily stored value of the latch signal (hardware strobe), axis-specific --

20..31 Not assigned, these flags always have the value 0 --

1.2.2.2.2 Digi axis qualifier for axis channels 7 and 8

The digi register is used to check the status of the digital inputs in the APCI-8001. If the respective inputs are

active, this is displayed with the value 1 at the respective bit position.

Table 1-2: Bit-coded structure of the digi word for axis channels 7 and 8

Bit

No. Function X2 / Pin

(SUB-D)

0 Input 33 9

1 Input 34 10

2 Input 35 11

3 Input 36 12

4 Input 37 13

5 Input 38 14

6 Input 39 and hardware strobe signal for latching the actual position of axis channel 7 15

7 Input 40 and hardware strobe signal for latching the actual position of axis channel 8 16

8..15 Not connected

16 Zero track of the incremental encoder, axis-specific --

17 Error of the measurement value acquisition system, axis-specific --

18 Temporarily stored value for the zero track signal of the incremental encoder, axis-

specific --

19 Temporarily stored value of the latch signal (hardware strobe), axis-specific --

20..31 Not assigned, these flags always have the value 0 --

1.2.2.3 rddigib, read digital input bit

DESCRIPTION: This function is used to request the current status of one OPMF digital input and

various other logic signals. The axis number must be specified in the an parameter

(0, 1, … MAXAXIS-1)

Note: Counting for the bit no. starts at 1.

BORLAND DELPHI: function rddigib(an:integer; bitnr:integer):boolean;

C: int rddigib(int an, int bitnr);

VISUAL BASIC: Function rddigib(ByVal an As Long, ByVal bitnr As Long) As Long

RETURN VALUE: The function returns the value 1 or TRUE, provided the corresponding bit no. input

is active.

NOTE: See rddigi() section [1.2.2.2] and Note PHB rddigib() section [1.2.2.3]

1.2.2.4 rddigo, read digital outputs

See wrdigo in section [1.22.6]

10 OPTIONS MANUAL

1.2.2.5 rddigob, read digital output bit

See wrdigob in section [1.2.2.7]

1.2.2.6 wrdigo, write digital outputs

DESCRIPTION: This register can be used to set the digital outputs of the OPMF. You must ensure

that the digital outputs are grouped axis-specifically on the OPMF. If you wish to

set an output, set the respective bit. The bit-coded structure of the digo status word

can be taken from the following table:

Table: Bit-coded structure of the digo word for axis channels 4, 5 and 6

Bit No. Function Connector X1 / PIN

0 Output 9 26

1 Output 10 27

2 Output 11 28

3 Output 12 29

4 Output 13 30

5 Output 14 31

6 Output 15 32

7 Output 16 33

8..31 Not assigned --

Table: Bit-coded structure of the digo word for axis channels 7 and 8

Bit No. Function Connector X2 / PIN (SUB-D)

0 Output 17 26

1 Output 18 27

2 Output 19 28

3 Output 20 29

4..31 Not assigned --

BORLAND DELPHI: procedure wrdigo(var tsrp:TSRP);

C: void wrdigo(struct TSRP far *tsrp);

VISUAL BASIC: Sub wrdigo(DTSRP As TSRP)

TSRP COMPONENTS: TSRP[n].digo

1.2.2.7 wrdigob, write digital output bit

DESCRIPTION: This function is used to set or reset one OPMF digital output. The axis number

must be specified in the an parameter (3, … MAXAXIS-1) The output is reset with

the value 0 or FALSE.

Note: Counting for the bit no. starts at 1.

BORLAND DELPHI: procedure wrdigob(an:integer; bitnr:integer; value: boolean);

C: wrdigob(int an, int bitnr, int value);

VISUAL BASIC: Sub wrdigob(ByVal an As Long, ByVal bitnr As Long, ByVal value As Long)

NOTE PCAP command wrdigo()

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