Advantech PCI-1240 Manual de usuario

PCI-1240

4-Axis PCI Stepping/Pulse-type

Servo Motor Control Card

PCI-1240U

4-Axis Universal PCI Stepping/

Pulse-type Servo Motor Control

Card

User Manual

PCI-1240/PCI-1240U User Manual ii

This documentation and the software included with this product are

copyrighted 2005 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 infringements 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,

Windows®, Microsoft®Visual C++ and Visual BASIC are trademarks of

Microsoft® Corporation. Intel®and Pentium®are trademarks of Intel

Corporation. Delphi and C++Builder are trademarks of Inprise

Corporation.

CE notification

The PCI-1240/PCI-1240U, developed by ADVANTECH CO., LTD., has

passed the CE test for environmental specifications when shielded cables

are used for external wiring. We recommend the use of shielded cables.

This kind of cable is available from Advantech. Please contact your local

supplier for ordering information.

Part No. 2003124001 Edition 2.1

Printed in Taiwan October 2006

iii

Product Warranty (2 years)

Advantech warrants to you, the original purchaser, that each of its prod-

ucts will be free from defects in materials and workmanship for two years

from the date of purchase.

This warranty does not apply to any products which have been repaired or

altered by persons other than repair personnel authorized by Advantech,

or which have been subject to misuse, abuse, accident or improper instal-

lation. Advantech assumes no liability under the terms of this warranty as

a consequence of such events.

Because of Advantech’s high quality-control standards and rigorous test-

ing, most of our customers never need to use our repair service. If an

Advantech product is defective, it will be repaired or replaced at no

charge during the warranty period. For out-of-warranty repairs, you will

be billed according to the cost of replacement materials, service time and

freight. Please consult your dealer for more details.

If you think you have a defective product, follow these steps:

1. Collect all the information about the problem encountered. (For

example, CPU speed, Advantech products used, other hardware

and software used, etc.) Note anything abnormal and list any

onscreen messages you get when the problem occurs.

2. Call your dealer and describe the problem. Please have your man-

ual, product, and any helpful information readily available.

3. If your product is diagnosed as defective, obtain an RMA (return

merchandize authorization) number from your dealer. This allows

us to process your return more quickly.

4. Carefully pack the defective product, a fully-completed Repair and

Replacement Order Card and a photocopy proof of purchase date

(such as your sales receipt) in a shippable container. A product

returned without proof of the purchase date is not eligible for war-

ranty service.

5. Write the RMA number visibly on the outside of the package and

ship it prepaid to your dealer.

PCI-1240/PCI-1240U User Manual iv

Technical Support and Assistance

Step 1. Visit the Advantech web site at www.advantech.com/support

where you can find the latest information about the product.

Step 2. Contact your distributor, sales representative, or Advantech's cus-

tomer service center for technical support if you need additional

assistance. Please have the following information ready before

you call:

- Product name and serial number

- Description of your peripheral attachments

- Description of your software (operating system, version, appli-

cation software, etc.)

- A complete description of the problem

- The exact wording of any error messages

Packing List

Before setting up the system, check that the items listed below are

included and in good condition. If any item does not accord with the

table, please contact your dealer immediately.

• PCI-1240 or PCI-1240U card

• Companion CD-ROM (DLL driver included)

• User Manual

Safety Precaution - Static Electricity

Follow these simple precautions to protect yourself from harm and the

products from damage.

1. To avoid electrical shock, always disconnect the power from your

PC chassis before you work on it. Don't touch any components on

the CPU card or other cards while the PC is on.

2. Disconnect power before making any configuration changes. The

sudden rush of power as you connect a jumper or install a card may

damage sensitive electronic components.

v Table of Contents

Contents

Chapter 1 Introduction ..................................................... 2

1.1 Features ............................................................................. 2

1.2 Applications ...................................................................... 5

1.3 Installation Guide .............................................................. 6

1.4 Accessories........................................................................ 6

Chapter 2 Installation ....................................................... 8

2.1 Unpacking ......................................................................... 8

2.2 Driver Installation ............................................................. 9

Figure 2.1:The Setup Screen of Advantech Automation

Software 10

Figure 2.2:Different options for Driver Setup ............. 11

2.3 Hardware Installation ..................................................... 12

Chapter 3 Signal Connections ........................................ 14

3.1 I/O Connector Pin Assignments...................................... 14

3.2 Location of Jumpers and DIP switch .............................. 14

Figure 3.1:I/O Connector Pin Assignments for PCI-1240

& PCI-1240U 15

Table 3.1:PCI-1240/PCI-1240U I/O Connector Signal

Description (part 1) 16

Table 3.1:PCI-1240/PCI-1240U I/O Connector Signal

Description (part 2) 17

Table 3.1:PCI-1240/PCI-1240U I/O Connector Signal

Description (part 3) 18

Figure 3.2:Location of Jumpers and DIP switch on PCI-

1240/PCI-1240U 19

Table 3.2:BoardID register .......................................... 19

Table 3.3:BoardID setting ............................................ 19

3.3 Output Pulse Definition (nP+P, nP+N, nP-P, nP-N)....... 20

Figure 3.3:Output Signal Loop for Drive Pulses ......... 20

Table 3.4:Jumper table of JP1~8 ................................. 20

Figure 3.4:Photo Coupler Input Interface .................... 21

Figure 3.5:Line Driver Input Interface ........................ 21

3.4 General Purposed Output (nOUT7 ~ nOUT4)................ 22

Figure 3.6:Circuit Diagram for General Purposed Output

3.5 Over Traveling Limit Switch Input (nLMT+, nLMT-)... 22

Figure 3.7:Circuit Diagram for Movement Limit Input

Signals 22

Figure 3.8:Example of photo sensor used in the limit input

signal 23

3.6 Deceleration/Instantaneous Stop Switch Input (nIN1 ~ 3) .

Figure 3.9:Circuit Diagram of Deceleration/Instanta-

neous Stop Input

PCI-1240/PCI-1240U User Manual vi

Signal 23

3.7 General Purposed Input for Servo Drives (nINPOS,

nALARM)24

Figure 3.10:Input Signal for Servo Motor ................... 24

3.8 Encoder Input (nECAP, nECAN, nECBP, nECBN, nINOP,

nINON)25

Figure 3.11:Circuit Diagram of Encoder Feedback ..... 25

Figure 3.12:Example of Connection Diagram for Differ-

ential-output Line Driver 26

Figure 3.13:Example of Connection for Open Collector

Output Encoder 26

3.9 External Pulse Control Input (nEXOP+, nEXOP-)......... 27

Figure 3.14:Circuit Diagram of the External Drive Oper-

ation Signals 27

Figure 3.15:Example of Connecting to Jog ................. 27

3.10 Emergency Stop Input (EMG) ........................................ 28

Figure 3.16:Circuit Diagram of Emergency Stop Input

Signal 28

Table 3.5:Jumper Settings of JP9 ................................ 28

3.11 External Power Input (VEX)........................................... 28

3.12 Interrupt Setting............................................................... 29

Figure 3.17:Circuit diagram of interrupt setting .......... 29

3.13 Connection Examples for Motor Drivers ........................ 30

3.13.1 Connection to Step Motor Drivers ............................... 30

Figure 3.18:Example of Connecting to KR515M Drive ..

Figure 3.19:Example of Connecting to UPK Step Drive .

3.13.2 Connection to Servo Motor Drivers ............................. 32

Figure 3.20:Example of MINAS X series AC servo Motor

Drive 32

3.14 Field Wiring Considerations ........................................... 33

3.15 I/O Signal Timing............................................................ 34

3.15.1 Power On RESET ........................................................ 34

Figure 3.21:Timing Diagram of Power On RESET .... 34

3.15.2 Individual Axis Driving ............................................... 34

Figure 3.22:Timing diagram of Individual Axis Driving

3.15.3 Interpolation Driving ................................................... 35

Figure 3.23:Timing diagram of Interpolation Driving . 35

3.15.4 Input Pulse Timing ....................................................... 35

Figure 3.24:Timing diagram of Quadrature Pulse of En-

coder Input 35

Figure 3.25:Timing diagram of UP/DOWN Pulse Input .

3.15.5 Instantaneous Stop Timing .......................................... 36

Figure 3.26:Timing diagram of External Instantaneous

vii Table of Contents

Stop Signal 36

Figure 3.27:Timing diagram of Instantaneous Stop In-

struction 36

3.15.6 Deceleration Stop Timing ............................................ 36

Figure 3.28:Timing diagram of External Deceleration/

Stop Signal 36

Figure 3.29:Timing diagram of Deceleration/Stop In-

struction 36

3.16 TTL Level Position Compare Output

(PCI-1240U only)37

Table 3.6:Jumper Settings of JP10 .............................. 37

Appendix A Specifications ................................................. 40

A.1 Axes................................................................................. 40

A.2 Digital Input/Output ........................................................ 41

A.3 Input Pulse for Encoder Interface.................................... 42

A.4 External Signals Driving ................................................. 42

A.5 Other Functions ............................................................... 43

A.6 General ............................................................................ 43

Appendix B Block Diagram ............................................... 46

Appendix C Register Structure and

Format 48

C.1 Overview ......................................................................... 48

C.2 I/O Port Address Map ..................................................... 48

Table C.1:PCI-1240/PCI-1240U WRITE register func-

tion 49

Table C.2:PCI-1240/PCI-1240U WRITE register format

Table C.3:PCI-1240/PCI-1240U READ register function

Table C.4:PCI-1240/PCI-1240U READ register format .

C.3 MCX314/MCX314AS WRITE Registers: WR0 ~ WR7 53

C.4 Clear Interrupt Register: CLRINT .................................. 53

Table C.5:Clear Interrupt Register: CLRINT - Write

BASE +10 53

C.5 Pulse Generator Mode/Status Register: PGM/PGSTA ... 53

Table C.6:Pulse Generator Mode/Status Register: PGM/

PGMSTA - Write/Read BASE +14 54

Table C.7:Pulse Generator Mode - PGMn3 ................. 54

Table C.8:Pulse Generator Signal Connection Mode .. 55

Table C.9:Driving Axis for Software Programmable

Mode 55

C.6 MCX314/MCX314AS READ Registers: RR0 ~ RR7.... 55

C.7 Interrupt Status Register: INTSTA ................................. 56

Table C.10:Interrupt Status Register: INTSTA - Read

BASE +10 56

C.8 Board ID Register: BDID................................................ 56

Table C.11:Board ID Register: BDID - Read BASE +12

PCI-1240/PCI-1240U User Manual viii

Appendix D Cable Pin Assignments ................................. 58

Appendix E Wiring with Third-Party Motor Drivers .... 60

Figure E.1:Wiring Diagram with Mitsubishi MR-J2S Se-

ries Motor Driver 60

Figure E.2:Wiring Diagram with Oriental LIMO EZMC

Series Motor Driver 61

Figure E.3:Wiring Diagram with Panasonic MINAS-A

Series Motor Driver 62

Figure E.4:Wiring Diagram with Yaskawa SGDM Series

Motor Driver 63

CHAPTER

Introduction

This chapter introduces PCI-1240 and

PCI-1240U and lists their features and

detailed specifications.

PCI-1240/PCI-1240U User Manual 2

Chapter 1 Introduction

PCI-1240 and PCI-1240U 4-Axis Stepping/Pulse-type Servo Motor Con-

trol Cards are designed for general-purpose extreme motion applications.

The cards are high-speed 4-Axis motion control cards for the PCI (1240)/

Universal PCI (1240U) bus that simplifies stepping and pulse-type servo

motor control, giving you added performance from your motors.

The cards’ intelligent NOVA MCX314/MCX314AS motion ASIC builds

in a variety of motion control functions, such as 2/3-axis linear interpola-

tion, 2-axis circular interpolation, T/S-curve acceleration/deceleration

rate and more. In addition, the next generation chip, MCX314AS is lead-

free and not only increases the 2/3-axis linear interpolation range and the

number of output pulses, but also provides the “Go Home” function.

PCI-1240 and PCI-1240U performs these motion control functions with-

out processor load during driving. For advanced applications, we supply

Windows DLL drivers and user-friendly examples to decrease your pro-

gramming load. Moreover, through a free bundled PCI-1240 motion util-

ity, you can complete configuration and diagnosis easily.

1.1 Features

PCI-1240/PCI-1240U provides users with the most requested motor con-

trol functions as seen below:

• Independent 4-axis motion control

• Support hand wheel and jog function

• 2/3-axis linear interpolation function

• 2-axis circular interpolation function

• Continuous interpolation function

• Programmable T/S-curve acceleration and deceleration

• Up to 4MPPS pulse output for each axis

• Two pulse output types: Up/Down or Pulse/Direction

• Up to 1 MHz encoder input for each axis

• Two encoder pulse input types: A/B phase or Up/Down

• Position management and software limit switch function

• BoardID Switch

• Free Motion Utility bundled for configuration and diagnosis

Este manual sirve para los siguientes modelos

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