ADLINK Technology PCIe-8154 Manual de usuario

Advance Technologies; Automate the World.

PCIe-8154

4-Axis Servo/Stepper

Motion Control Card

User’s Manual

Manual Rev.: 2.00

Revision Date: Oct. 7, 2015

Part No: 50-11258-1000

Revision History

Revision Release Date Description of Change(s)

2.00 Oct. 7, 2015 Initial Release

Preface iii

PCIe-8154

Preface

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.

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, 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.

Environmental Responsibility

ADLINK is committed to fulfill its social responsibility to global

environmental preservation through compliance with the Euro-

pean Union's Restriction of Hazardous Substances (RoHS) direc-

tive 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, manu-

facturing 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.

Trademarks

Product names mentioned herein are used for identification pur-

poses 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

manual 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 dam-

age, data loss, and/or program corruption when trying to com-

plete 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

PCIe-8154

Table of Contents

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

List of Tables.......................................................................... ix

List of Figures........................................................................ xi

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

1.1 Features............................................................................... 3

1.2 Specifications....................................................................... 4

1.3 Supported Software ............................................................. 5

Programming Library ...................................................... 6

MotionCreatorPro ........................................................... 6

1.4 Available Terminal Board..................................................... 6

1.5 PCB Layout......................................................................... 7

1.6 CN2 Pin Assignments: Main Connector .............................. 7

1.7 K1/K2 Pin Assignments: Simultaneous Start/Stop ............ 10

1.8 P1 Manual Pulse Generator .............................................. 10

1.9 CN5 Pin Assignments: TTL I/O.......................................... 11

2 Getting Started ................................................................. 13

2.1 Package Contents ............................................................. 13

2.2 PCIe-8154 Hardware Installation....................................... 13

Hardware Configuration ................................................ 13

PCIe Slot Selection ....................................................... 13

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

Troubleshooting: ........................................................... 14

2.3 Software Driver Installation................................................ 14

2.4 JP2 to JP8 Jumper Setting for Pulse Output ..................... 15

2.5 SW1 Card Index Selection................................................. 15

2.6 Signal Connections............................................................ 16

2.6.1 Pulse Output Signals OUT and DIR on CN2 ............ 16

vi Table of Contents

2.6.2 Encoder Feedback Signals EA, EB and EZ.............. 18

2.6.3 Origin Signal ORG .................................................... 21

2.6.4 End-Limit Signals PEL and MEL............................... 22

2.6.5 In-Position Signal INP............................................... 23

2.6.6 Alarm Signal ALM ..................................................... 24

2.6.7 Deviation Counter Clear Signal ERC........................ 25

2.6.8 General-purpose Signal SVON................................. 26

2.6.9 General-purpose Signal RDY ................................... 27

2.6.10 Multi-Functional Output Pin: DO/CMP ...................... 28

2.6.11 Multi-Functional Input Pin:

DI/LTC/SD/PCS/CLR/EMG....................................... 29

2.6.12 Manual Pulse Generator Input Signals PA and PB .. 30

2.6.13 Simultaneous Start/Stop Signals STA and STP ....... 31

2.6.14 General Purpose TTL I/O EDI And EDO .................. 33

A Appendix: MotionCreatorPro............................................35

A.1 About MotionCreatorPro .................................................... 35

A.2 Initiating MotionCreatorPro ................................................ 35

A.3 MotionCreatorPro Introduction........................................... 36

Main Menu .................................................................... 36

Select Menu .................................................................. 37

Card Information Menu ................................................. 38

Configuration Menu ...................................................... 39

Single Axis Operation Menu ......................................... 43

Two-Axis and Four-Axis Operation Menu ..................... 51

2D_Motion Menu .......................................................... 56

Help Menu .................................................................... 61

B Appendix: Function Library Reference............................63

B.1 Data Types......................................................................... 63

Function Naming ........................................................... 63

B.2 List of Functions................................................................. 64

Table of Contents vii

PCIe-8154

B.3 System and Initialization .................................................... 68

B.4 Pulse Input/Output Configuration....................................... 72

B.5 Velocity mode motion ........................................................ 74

B.6 Single Axis Position Mode ................................................. 77

B.7 Linear Interpolated Motion ................................................. 81

B.8 Circular Interpolation Motion.............................................. 89

B.9 Helical Interpolation Motion ............................................... 95

B.10 Home Return Mode ........................................................... 99

B.11 Manual Pulse Generator Motion ...................................... 102

B.12 Motion Status................................................................... 105

B.13 Motion Interface I/O ......................................................... 106

B.14 Interrupt Control............................................................... 114

B.15 Position Control and Counters......................................... 117

B.16 Position Compare and Latch ........................................... 123

B.17 Continuous motion........................................................... 127

B.18 Multiple Axes Simultaneous Operation............................ 129

B.19 General-Purpose DIO ...................................................... 132

B.20 Soft Limit.......................................................................... 134

B.21 Backlash Compensation / Vibration Suppression............ 136

B.22 Speed Profile Calculation ................................................ 138

B.23 Extended General Purpose TTL Input/Output ................. 141

B.24 Return Code .................................................................... 143

C Appendix: Connection Example....................................145

C.1 General Description of Wiring.......................................... 145

C.2 Terminal Board User Guide ............................................. 145

Important Safety Instructions............................................ 147

Getting Service.................................................................... 149

viii Table of Contents

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List of Tables ix

PCIe-8154

List of Tables

Table 1-1: P1 Manual Pulse Generator ................................... 11

Table 2-1: SW1 Card Index ..................................................... 16

Table 2-2: Pulse Output Signals on CN3 ................................. 17

Table 2-3: OUT or DIR Output by Jumper ............................... 17

Table 2-4: EA, EB, and EZ Pin Assignments ........................... 19

Table 2-5: Device/Encoder/Power Connection ........................ 20

Table 2-6: ORG0-ORG3 Pin Assignments .............................. 21

Table 2-7: End-Limit Signal Pin Assignment ........................... 22

Table 2-8: INP Signal Connection ........................................... 23

Table 2-9: Alarm Signal Connection ........................................ 24

Table 2-10: ERC Connection ..................................................... 25

Table 2-11: SVON Connection .................................................. 26

Table 2-12: RDY Signal Connection .......................................... 27

Table 2-13: DO/CMP Connection .............................................. 28

Table 2-14: DI/LTC/SD/PCS/CLR/EMG Connection ................. 29

Table 2-15: Manual Pulse Generator Input Signal Connection . 30

xListofTables

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