ADLINK Technology PCI-8154 Manual de usuario

Advance Technologies; Automate the World.

Manual Rev. 2.00

Revision Date: February 22, 2006

Part No: 50-11146-1000

PCI-8154

Advanced & Modulized

4-Axis Servo / Stepper

Motion Control Card

User’s Manual

The information in this document is subject to change without prior

notice in order to improve reliability, design, and function and does

not represent a commitment on the part of the manufacturer.

In no event will the manufacturer be liable for direct, indirect, spe-

cial, incidental, or consequential damages arising out of the use or

inability to use the product or documentation, even if advised of

the possibility of such damages.

This document contains proprietary information protected by copy-

right. All rights are reserved. No part of this manual may be repro-

duced by any mechanical, electronic, or other means in any form

without prior written permission of the manufacturer.

Trademarks

NuDAQ, NuIPC, DAQBench are registered trademarks of ADLINK

TECHNOLOGY INC.

Product names mentioned herein are used for identification pur-

poses only and may be trademarks and/or registered trademarks

of their respective companies.

Getting Service from ADLINK

Customer Satisfaction is top priority for ADLINK Technology Inc.

Please contact us should you require any service or assistance.

ADLINK TECHNOLOGY INC.

Web Site: http://www.adlinktech.com

Sales & Service: [email protected]

TEL: +886-2-82265877

FAX: +886-2-82265717

Address: 9F, No. 166, Jian Yi Road, Chungho City,

Taipei, 235 Taiwan

Please email or FAX this completed service form for prompt and

satisfactory service.

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Table of Contents i

Table of Contents

Table of Contents..................................................................... i

List of Tables........................................................................... v

List of Figures........................................................................ vi

1 Introduction ........................................................................ 1

1.1 Features............................................................................... 4

1.2 Specifications....................................................................... 6

1.3 Supported Software............................................................. 8

Programming Library ......................................................8

MotionCreatorPro ...........................................................8

1.4 Available Terminal Board..................................................... 8

2 Installation .......................................................................... 9

2.1 Package Contents ............................................................... 9

2.2 PCI-8154 Outline Drawing................................................. 10

2.3 PCI-8154 Hardware Installation......................................... 11

Hardware configuration .................................................11

PCI slot selection ..........................................................11

Installation Procedures .................................................11

Troubleshooting4: .........................................................11

2.4 Software Driver Installation................................................ 13

2.5 CN3 Pin Assignments: Main Connector ............................ 13

2.6 K1/K2 Pin Assignments: Simultaneous Start/Stop ............ 15

2.7 JP2 to JP9 Jumper Setting for Pulse Output ..................... 15

2.8 SW1 Card Index Selection................................................. 16

2.9 CN4 Manual Pulsar............................................................ 17

3 Signal Connections.......................................................... 19

3.1 Pulse Output Signals OUT and DIR .................................. 20

3.2 Encoder Feedback Signals EA, EB and EZ....................... 23

3.3 Origin Signal ORG............................................................. 26

3.4 End-Limit Signals PEL and MEL........................................ 27

3.5 In-position Signal INP ........................................................ 28

3.6 Alarm Signal ALM.............................................................. 29

3.7 Deviation Counter Clear Signal ERC................................. 30

3.8 General-purpose Signal SVON.......................................... 31

ii Table of Contents

3.9 General-purpose Signal RDY ............................................ 32

3.10 Multi-Functional output pin: DO/CMP ................................ 33

3.11 Multi-Functional input pin: DI/LTC/SD/PCS/CLR/EMG...... 34

3.12 Pulser Input Signals PA and PB (PCI-8154)...................... 35

3.13 Simultaneously Start/Stop Signals STA and STP.............. 36

4 Operation Theory.............................................................. 39

4.1 Classifications of Motion Controller.................................... 39

Voltage motion control interface ...................................39

Pulse motion control interface ......................................40

Network motion control interface ..................................40

Software real-time motion control kernel ......................41

DSP motion control kernel ............................................41

ASIC motion control kernel ...........................................41

Compare Table of all motion control types ...................42

PCI-8154 motion controller type ...................................42

4.2 Motion Control Modes........................................................ 43

Coordinate system ........................................................43

Absolute and relative position move .............................44

Trapezoidal speed profile .............................................45

S-curve and Bell-curve speed profile ............................46

Velocity mode ...............................................................48

One axis position mode ................................................49

Two axes linear interpolation position mode .................50

Two axes circular interpolation mode ...........................51

Continuous motion ........................................................52

Home Return Mode ......................................................55

Home Search Function .................................................62

Manual Pulser Function ................................................63

Simultaneous Start Function .........................................63

Speed Override Function ..............................................64

Position Override Function ...........................................65

4.3 The motor driver interface.................................................. 66

Pulse Command Output Interface ................................66

Pulse feedback input interface ......................................69

In position signal ...........................................................71

Servo alarm signal ........................................................71

Error clear signal ...........................................................72

Servo ON/OFF switch ...................................................72

Servo Ready Signal ......................................................73

Table of Contents iii

Servo alarm reset switch ..............................................73

4.4 Mechanical switch interface............................................... 74

Original or home signal .................................................74

End-Limit switch signal .................................................74

Slow down switch .........................................................74

Positioning Start switch .................................................75

Counter Clear switch ....................................................75

Counter Latch switch ....................................................75

Emergency stop input ...................................................75

4.5 The Counters..................................................................... 76

Command position counter ...........................................76

Feedback position counter ............................................77

Command and Feedback error counter ........................77

General purpose counter ..............................................78

Target position recorder ................................................78

4.6 The Comparators............................................................... 79

Soft end-limit comparators ............................................79

Command and feedback error counter comparators ....79

General comparator ......................................................79

Trigger comparator .......................................................80

4.7 Other Motion Functions ..................................................... 81

Backlash compensation and slip corrections ................81

Vibration restriction function .........................................81

Speed profile calculation function .................................82

4.8 Interrupt Control................................................................. 83

4.9 Multiple Card Operation..................................................... 87

5 MotionCreatorPro............................................................. 89

5.1 Execute MotionCreatorPro ................................................ 89

5.2 About MotionCreatorPro.................................................... 90

5.3 MotionCreatorPro Introduction........................................... 91

Main Menu ....................................................................91

Select Menu ..................................................................92

Card Information Menu .................................................93

Configuration Menu ......................................................94

Single Axis Operation Menu .......................................100

Two-Axis and Four-Axis Operation Menu ...................108

2D_Motion Menu ........................................................112

Help Menu ..................................................................119

iv Table of Contents

6 Function Library.............................................................. 121

6.1 List of Functions............................................................... 122

6.2 C/C++ Programming Library............................................ 131

6.3 System and Initialization.................................................. 132

6.4 Pulse Input/Output Configuration..................................... 136

6.5 Velocity mode motion....................................................... 139

6.6 Single Axis Position Mode ............................................... 142

6.7 Linear Interpolated Motion............................................... 146

6.8 Circular Interpolation Motion............................................ 155

6.9 Helical Interpolation Motion.............................................. 162

6.10 Home Return Mode.......................................................... 166

6.11 Manual Pulser Motion...................................................... 169

6.12 Motion Status................................................................... 172

6.13 Motion Interface I/O ......................................................... 174

6.14 Interrupt Control............................................................... 182

6.15 Position Control and Counters......................................... 186

6.16 Position Compare and Latch............................................ 191

6.17 Continuous motion........................................................... 196

6.18 Multiple Axes Simultaneous Operation............................ 198

6.19 General-Purpose DIO...................................................... 201

6.20 Soft Limit.......................................................................... 203

6.21 Backlash Compensation / Vibration Suppression............ 205

6.22 Speed Profile Calculation................................................. 207

6.23 Return Code..................................................................... 211

7 Connection Example ...................................................... 213

7.1 General Description of Wiring.......................................... 213

7.2 Terminal Board User Guide............................................. 213

Warranty Policy ................................................................... 215

List of Tables v

List of Tables

Table 2-1: CN3 Pin Assignments: Main Connector ................. 13

Table 2-2: K1/K2 Pin Assignments: Simultaneous Start/Stop . 15

Table 2-3: SW1 Card Index ..................................................... 16

Table 2-4: CN4 Manual Pulsar ................................................ 17

Table 4-1: Motion Interrupt Source Bit Settings ....................... 84

Table 4-2: Error Interrupt return codes .................................... 85

Table 6-1: Data type definitions ............................................. 131

vi List of Figures

List of Figures

Figure 1-1: PCI-8154 Block Diagram........................................... 2

Figure 1-2: Flow chart for building an application ........................ 3

Figure 2-1: PCB Layout of the PCI-8154 ................................... 10

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