Advantech PCL-832 Manual de usuario

PCL-832

3-axis servo motor

control card

This documentation and the software routines contained on the PCL-

832 software disk are copyrighted 1994 by Advantech Co., Ltd. All

rights are reserved.Advantech Co., Ltd. reserves the right to make

improvements in the products described in this manual at any time

without notice.

No part of this manual may be reproduced, copied, translated or

transmitted in any form or by any means without the prior written

permission of Advantech Co., Ltd. Information provided in this

manual is intended to be accurate and reliable. However, Advantech

Co., Ltd. assumes no responsibility for its use, nor for any infringe-

ments of the rights of third parties which may result from its use.

Acknowledgments

PC-LabCard is a trademark of Advantech Co., Ltd. IBM and PC are

trademarks of International Business Machines Corporation. MS-

DOS, Microsoft C and Quick Basic are trademarks of Microsoft

Corporation. BASIC is a trademark of Dartmouth College. Intel is a

trademark of Intel Corporation. Turbo C is a trademark of Borland

International.

Part No. 2005832000 1st Edition

Printed in Taiwan December 1994

Contents

Chapter 1 General information....................................... 1

Introduction........................................................................... 2

Features.................................................................................. 3

Applications ........................................................................... 3

Specifications......................................................................... 4

General................................................................................... 4

Board layout .......................................................................... 5

Chapter 2 Installation....................................................... 7

Initial inspection.................................................................... 8

Switch and jumper settings.................................................. 8

Base I/O address (SW1).................................................................8

Quadrature input multiplier (JP1, JP2, JP3) ................................10

DDA time and Error counter overflow interrupt levels (JP4) ......10

I/O Wait state level (JP5) .............................................................10

Connector pin assignments ................................................ 11

Hardware installation......................................................... 13

Chapter 3 Operation ....................................................... 1 5

PCL-832 Operating Principles .......................................... 16

Digital Differential Analysis ........................................................16

Closed-loop position control........................................................17

Chapter 3 Operation (ctd.)

Operation............................................................................. 18

The DDA cycle time ....................................................................19

The DDA pulse buffer..................................................................20

The scaling gain ...........................................................................21

The Error counter.........................................................................21

The Status register .......................................................................23

The frequency-to-voltage (F/V) converter ...................................23

Using multiple PCL-832s in one system .....................................24

Chapter 4 Programming ................................................ 2 5

Software installation ........................................................... 26

Microsoft C drivers and Turbo C drivers......................... 27

Special Procedures .......................................................................27

The Microsoft C Driver Parameter Files .......................... 28

PCLB.PAR ...................................................................................28

HOME.PAR .................................................................................29

MACHINE.PAR...........................................................................30

Microsoft C driver functions.............................................. 32

System functions..........................................................................32

Preparatory functions...................................................................32

Motion functions..........................................................................35

Motion function return codes.......................................................42

Utility functions ...........................................................................42

Turbo C low-level driver functions.................................... 45

Chapter 5 Register structure and format................... 4 9

I/O Address space................................................................ 50

I/O address Map.................................................................. 50

Appendix A Calibration .................................................. 5 7

VR Assignments ..........................................................................58

Test-Points....................................................................................59

Chapter 1 General information 1

CHAPTER

General information

2PCL-832 User's Manual

Introduction

3-axis control

The PCL-832 3-axis Servo-motor Control Card turns your IBM PC or

compatible computer into a sophisticated position controller. The

card's custom ASIC implementation provides high performance at an

affordable price.

The PCL-832 uses digital differential analysis techniques to imple-

ment position control. Each axis has its own position control chip,

allowing completely independent control of up to three servo motors.

A special synchronization circuit synchronizes all three axes. The card

can supply a simulated tachometer output to the servo motor driver.

This signal makes a tachometer unnecessary in some applications,

reducing overall system costs.

Software Drivers

The PCL-832's programming library (accessible from Microsoft C)

supports high-level commands and functions, making control easy.

The library includes commands to set the DDA cycle time and

acceleration/deceleration curve as well as functions for linear interpo-

lation, circular interpolation, return home and jog. Numerous exam-

ples of driving programs have also been included on the utility/

software disk.

Chapter 1 General information 3

Features

• Independent 3-axis servo control

• Fully continuous closed-loop P+offset controller

• Industry-standard two-phase index position encoder interface

• Single-ended or differential encoder interface inputs

• x1, x2, x4 quadrature feedback input

• 12-bit analog output with ±10 V range

• Built-in F/V converter

• Easy programming from C and other high-level languages

• 3-axis linear interpolation

• 2-axis circular interpolation

• Half-size AT (ISA bus) add-on card

Applications

• Precise position control

• Robotics control

• Machine control with up to three axes

• PC-based NC controller

4PCL-832 User's Manual

Specifications

• No. axes: 3 independent

• Control algorithm: Proportional control

• Positional accuracy: ±1 quadrature count

• Effective travel length: No limit

• Output type: 12-bit D/A, ±10 V full scale

• DDA cycle time: 1 msec. to 2 sec. (programmable)

• Error counter: ±12 bit

• Tachometer simulation output (F/V converter): ±10 V at 250 KHz

(default),VR adjustable

• Home sensor input: 1 channel per axis

• Encoder input: Single-ended or differential

• Counts per encoder cycle: x1, x2, x4 (jumper selectable)

• Max. quadrature input freq.: 250 KHz

General

• Bus: 16-bit AT (ISA bus)

• IRQ: 2, 3, 5, 7, 10, 11, 12 or 15

• I/O addresses: 32 I/O ports

• Connector:DB-9 for servo control

DB-25 for encoder and home signals

• Power consumption: 5 V @ 500 mA max.

12 V @ 200 mA max.

• Dimensions: 7.3" x 4" (185 mm x 100 mm)

Chapter 1 General information 5

Board layout

6PCL-832 User's Manual

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