ADLINK Technology PCI-8254 Manual de usuario

Advance Technologies; Automate the World.

Version: 2.00

Updated: August 13, 2014

P/N: 50-15085-1000

PCI-8254 / PCI-8258

DSP-Based 4/8

Advanced Motion Control Card

User manual

Revision History

Revision Date Description

2.00 2014-08-13 First release

Preface iii

PCI-8254 / PCI-8258

Preface

This document contains proprietary information protected by

reproduced by any mechanical, electronic, or other means in any

form without prior written permission of the manufacturer.

Disclaimer

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,

special, 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.

Environmental responsibility

ADLINK is committed to fulfill its social responsibility to global

environmental preservation through compliance with the

European Union's Restriction of Hazardous Substances (RoHS)

directive and Waste Electrical and Electronic Equipment (WEEE)

directive. Environmental protection is a top priority for ADLINK.We

have enforced measures to ensure that our products,

manufacturing processes, components, and raw materials have as

little impact on the environment as possible. When products are at

their end of life, our customers are encouraged to dispose of them

in accordance with the product disposal and/or recovery programs

prescribed by their nation or company.

Trademark

Product names mentioned herein are used for identification

purposes only and may be trademarks and/or registered

trademarks of their respective companies.

iv Preface

Conventions

Take note of the following conventions used throughout this

reference to make sure that users perform certain tasks and

instructions properly.

NOTE

Additional information, aids, and tips that help users perform

tasks.

CAUTION

Information to prevent minor physical injury, component

damage, data loss, and/or program corruption when trying to

complete a task.

WARNING

Information to prevent serious physical injury, component

damage, data loss, and/or program corruption when trying to

complete a specific task.

Table of Contents v

PCI-8254 / PCI-8258

Table of Contents

Revision History...................................................................... ii

Preface .................................................................................... iii

List of Figures ........................................................................ ix

List of Tables........................................................................ xiii

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

1.1 Product Specifications ......................................................... 4

1.2 Software Support ................................................................. 8

Software Support Library ................................................ 8

MotionCreatorPro 2 ........................................................ 8

1.3 Terminal Board .................................................................... 8

2 Getting Start with The Installation.................................. 11

2.1 Package Contents ............................................................. 11

2.2 PCI-8254/PCI-8258 Exterior Profile Diagram .................... 12

2.3 Hardware Installation ......................................................... 14

Hardware Configuration ................................................ 14

Installation Procedures ................................................. 14

Troubleshooting ............................................................ 15

2.4 Software Installation Procedure......................................... 16

2.5 Definitions to Key Connector Signal .................................. 18

PCI-8254:

Connector ..................................................................... 18

PCI-8258: P1-A/B Connector ........................................ 20

PCI-8254/58:

P2 Connector ................................................................ 23

2.6 DIP Switch ......................................................................... 24

S1: Analog Output Mode Settings ................................ 24

SW2: Card ID Switch .................................................... 25

vi Table of Contents

2.7 IDE 44p – DSUB 37p Bus.................................................. 26

2.8 Exclusive Board - DIN-825-GP4 ........................................ 27

Definitions to Connector ............................................... 28

Connector: For Connecting to

PCI-8254/PCI-8258/AMP-204C/AMP-208C ................. 30

S1, S2: EDO/ALM_RST Selection Switch .................... 39

3 Signal Connection ............................................................ 41

3.1 Analog Control Command Signal....................................... 42

3.1.1 Single-ended Type Signal: AOUT+ .......................... 42

3.1.2 Single-ended Type Signal: AOUT+, AOUT- ............. 42

3.2 Pulse Command ................................................................ 44

3.3 Encoder Input, EA & EB & EZ............................................ 47

3.4 Emergency Stop Input ....................................................... 49

3.5 PEL/MEL Input................................................................... 50

3.6 ORG Input.......................................................................... 52

3.7 INP / ZSP Input .................................................................. 53

3.8 ALM Input .......................................................................... 54

3.9 SVON Output ..................................................................... 55

3.10 Analog Input Signals .......................................................... 56

3.11 Compare & Trigger Output................................................. 57

3.12 Digital Output/Input ............................................................ 59

4 Motion Control Theory ..................................................... 65

4.1 Motion Control Mode and Interface Overview.................... 66

4.1.1 Motion Control Interface ........................................... 66

4.1.2 Control Cycle ............................................................ 73

4.2 Closed-loop Control ........................................................... 75

4.2.1 Close-loop Control Overview .................................... 75

4.2.2 Auto Servo Tuning .................................................... 80

4.2.3 Manual Servo Tuning................................................ 84

4.2.4 Filter.......................................................................... 85

4.2.5 Bode Plot .................................................................. 93

Table of Contents vii

PCI-8254 / PCI-8258

4.3 Motion Control Operations................................................. 98

4.3.1 Coordinated System ................................................. 98

4.3.2 Unit Factor ................................................................ 99

4.3.3 Acc/Deceleration Profile ......................................... 102

4.4 Home Move ..................................................................... 108

4.4.1 OGR Signal Homing - Home Mode = 0 .................. 111

4.4.2 EL Signal Homing - Home Mode 1 ......................... 118

4.4.3 Single EZ Signal Homing........................................ 121

4.5 Velocity Move .................................................................. 124

4.6 Jog Move ......................................................................... 127

4.7 Point-to-Point Move ......................................................... 131

4.7.1 Point-to-Point Move ................................................ 131

4.7.2 Synchronous Start .................................................. 132

4.7.3 On The Fly Change ................................................ 133

4.7.4 Continuous PTP Move............................................ 133

4.8 Interpolation ..................................................................... 136

4.8.1 Linear Interpolation................................................. 136

4.8.2 Arc Interpolation ..................................................... 138

4.8.3 Continuous Interpolation......................................... 146

4.9 Motion Status Monitoring ................................................. 152

4.9.1 Motion Status.......................................................... 153

4.10 Application Functions....................................................... 162

4.10.1 Electronic Gearing .................................................. 162

4.10.2 High Speed Position Compare Trigger................... 164

4.10.3 PWM Control (Laser Control) (VAO Table Control)170

4.10.4 Motion Control and I/O Sampling Function............. 178

4.10.5 Simultaneous Move ................................................ 184

4.10.6 Point Table Movement............................................ 187

4.11 Safety Protection ............................................................. 192

4.11.1 Hardware Protection............................................... 192

4.11.2 Software Protection ................................................ 195

4.12 Host Interrupt ................................................................... 199

viii Table of Contents

Important Safety Instructions............................................. 209

Getting Service .................................................................... 211

List of Figures ix

PCI-8254 / PCI-8258

List of Figures

Figure 1-1: PCI-8254/58 system block diagram............................ 2

Figure 1-2: System installation flow chart ..................................... 3

Figure 2-1: Exterior of your PCI-8254 ......................................... 12

Figure 2-2: Exterior of your PCI-8258 ......................................... 13

Figure 2-3: Exterior of DIN-825-GP4 .......................................... 27

Figure 2-4: Exterior of DIN-825-GP4 .......................................... 28

Figure 3-1: Connection example of differential analog output signal

Figure 3-2: Line Driver type pulse control command signal connec-

tion example45

Figure 3-3: Open-Collector type pulse control command signal con-

nection example46

Figure 3-4: Line driver type encoder input signal connection example

Figure 3-5: Emergency stop signal connection example ............ 49

Figure 3-6: Mechanical limit switch signal connection example.. 51

Figure 3-7: Original position switch signal connection example . 52

Figure 3-8: Place / zero speed detection signal connection example

Figure 3-9: Servo alarm signal connection example................... 54

Figure 3-10: Servo-on signal connection example........................ 55

Figure 3-11: Analog input signal connection example .................. 56

Figure 3-12: Line Driver type compare trigger signal connection exam-

ple57

Figure 3-13: Open-Collector type compare trigger signal connection

example58

Figure 3-14: General purpose digital I/O signal connection example

Figure 3-15: General purpose digital I/O signal connection example

Figure 4-1: Format of pulse signal .............................................. 67

Figure 4-2: Illustration of analog command output...................... 68

Figure 4-3: Control cycle............................................................. 74

Figure 4-4: PCI-8254/PCI-8258 close loop control structure diagram

Figure 4-5: Gain and Gain shiftrelationship diagram .................. 78

Figure 4-6: The auto fine tuning setup page in MCP2 ................ 83

Figure 4-7: Structure of PCI-8254/8 biquad filters in serial connection

xListofFigures

Figure 4-8: Ideal low pass filter ................................................... 87

Figure 4-9: Simulation results of low pass filter with 1000Hz cutoff

frequency88

Figure 4-10: MCP2 low pass filter setup page .............................. 89

Figure 4-11: MCP2 notch filter setup page ................................... 89

Figure 4-12: An ideal notch filter (a) 50 Hz ................................... 90

Figure 4-13: Simulation results of notch filter with 100Hz cutoff fre-

quency92

Figure 4-14: MCP2 low pass filter setup page .............................. 92

Figure 4-15: MCP2 notch filter setup page ................................... 92

Figure 4-16: Controller coordinates system block......................... 98

Figure 4-17: Relation of trapezoidal speed profile's speed/accelera-

tion/jerk VS time102

Figure 4-18: Maximum speed by auto-planning.......................... 103

Figure 4-19: S-curve's velocity, acceleration, and jerk versus time104

Figure 4-20: Maximum speed by auto-velocity ........................... 106

Figure 4-21: Home mode 0 (Case: ORG) .................................. 112

Figure 4-22: Home mode 0 (Case: ORG) .................................. 114

Figure 4-23: Home mode 0 (Case: ORG+EZ) ............................ 115

Figure 4-24: Home mode 0 adverse (Case: ORG+EZ).............. 116

Figure 4-25: Home mode 0 decelerate to stop (Case: ORG)..... 117

Figure 4-26: Home mode 1 (Case: EL) ...................................... 118

Figure 4-27: Home mode 1 (Case: EL+EZ) ............................... 120

Figure 4-28: Home mode 2 (Case: EZ)...................................... 122

Figure 4-29: Home mode 2 adverse (Case: EZ) ........................ 123

Figure 4-30: Relation between V-T chart of JOG movement and

JOG-ON signal127

Figure 4-31: Jog step mode ........................................................ 128

Figure 4-32: T-curve V-T chart.................................................... 131

Figure 4-33: Dynamically change position and velocity .............. 133

Figure 4-34: Continuous three position V-T chart ....................... 134

Figure 4-35: Continuous three position V-T chart

(auto speed connection (1)134

Figure 4-36: Continuous three position V-T chart

(auto speed connection (2)134

Figure 4-37: Continuous three position V-T chart

(auto speed connection (3)135

Figure 4-38: Continuous three position V-T chart

(auto speed connection (4)135

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