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PCI-1247 User Manual

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1. n b 2 00 Figure 5 15 P to P Motion Select P to P Motion as shown in figure 5 15 and the dialog window will pop up on as shown in figure 5 16 and 5 17 You can set relative or abso lute coordinates in the dialog After setting corresponding parameters in this menu you can test the motion card easily 7 Relative P to P Motion Operation lt Previous Card 0 gt Move distance pulse 0 0 0 0 Start Velocity pps 0 0 0 Maximum Velocity pps of of of a Accel Time sec 008 0 0 0 Decel Time sec 008 0 06 0 Swar ec a0 of of a Repeat Repeat Repeat Repeat All Go Go Go All Go All Stop Stop Stop Figure 5 16 P to P Motion Go Go Gof Gof i ree i Stop Stop 79 Chapter 5 TE Absolute P to P Motion Operation lt Previous Card 0 gt Posiioni pules of off of f a FPosition2 Pulsa oO off off 0 V elocitytpps 008 0 0 0 IIaximum Velocity pps 008 0 0 0 Accel Time sec o 0 0 0 Decel Time sec _ 0 0 0 0 271 0 UO svecpPS 3 Repeat Repeat Repeat Repeat AllGaP 1 la P1 la P1 la P1 la P1 Al GaP 2 lo P2 lo P2 lo P2 ho P2 didi didi All Stop Stop Stop Stop Stop Figure 5 17 Absolute Coordinate P to P motion MultiAxis Motion
2. soars eaters d 94 Figure 5 46 Version of EzLink 94 Chapter 6 Motion API 90 6 1 4 Axis ASIC Motion 96 6 11 System Initialization ierit ds etate 96 6 1 2 Card Configuration 96 6 1 3 Interrupt Handling 96 PCI 1247 User Manual viii 6 2 Appendix A CLE SOM aena 97 OLS JMOLUOB naan 97 6 1 6 Manual Operation 100 6 157 Continue Et RR 100 6 1 8 Multiple Axes Simultaneous Operation 101 6 1 9 Position Control and Counters 101 6 1 10 General purpose TTL output 101 6 111 Motion Monitoring 102 6 112 Interface VO 102 MotionNet Extension 103 6 2 1 System Initialization entente 103 6 2 2 Communication Operation 103 6 2 3 DIO Slave Module Operation 104 6 2 4 1 Motion Slave Operation 104 Position Mode Servo Driver Motor 110 A T OVER 110 Figure A 2 Function Block Diagram of
3. Position 2 Pulse 0 0 0 0 Start Velocity n Velocity pps n Accel Time sec n Decel Timersec p SVaedPPS n SVdec PPS n Repeat aa P1 2 Stop Figure 5 20 Linear Interpolation under absolute coordinate You can test 2 axis circular interpolation by setting parameters in the cor responding menus as shown in the following pictures Fig 5 21 gt Circular Motion Operation Hel Previous Card gt Help First axis axis Second axis axis 1 First axis center distance pulse D First axis center distance pulse 0 First axis end distance pulse 0 First axis end distance pulse 0 Direction fo V elocitytpps 0 Go Figure 5 21 2 axis Circular Interpolation 81 Chapter 5 5 1 6 Options PCI 1247 Motion AVI Configuration C Motion Option O Windows W Help MOF M Hel lt Previous Card 0 Next gt Heb Potion amp Velocity Axis 0 Axis 1 Anis 2 Axis 3 Command Position 0 0 0 FeedBack Position 0 0 0 0 Position Error 0 0 0 Target Position 0 0 0 0 n Figure 5 22 Option In the Option menu shown in figure 5 22 MOF Manual Operation Func tion 1s supported Unlike most PC based motion control cards PCI 1247 su
4. GND Figure 3 2 PEL MEL Wiring for PNP Source Mode Note Pulse command output will be stopped when PEL MEL 15 active 21 Chapter 3 ORG Origin Digital Input Signal The origin signals ORG1 ORG4 amp are necessary when the position feed back is of the incremental type or if no feedback encoders are used The origin signals are used to indicate the origin of the system Please refer to table 3 2 for detailed information Table 3 2 ORG Pins 1st 3rd Axis i 2nd 4th Axis Description Description 24 for NPN 24 for NPN GND for PNP GND for PNP ORG signal ORG signal 14 17 48 51 GND Figure 3 3 ORG Wiring for NPN Sink Mode 24V 2 4K 2 COM PNP Pin14 17 48 51 V GND Figure 3 4 ORG Wiring for PNP Source Mode PCI 1247 User Manual 22 SLD Slow Down Input Signal The SLD signals are used to help the axis decelerate to stop by hardware Please refer to table 3 3 for descriptions of the signal name pin number and axis number Table 3 3 SLD Pins 1st 3rd Axis i 2nd 4th Axis Description Description 24 V for NPN GND 24 V for NPN GND for for PNP PNP SLD Signal SLD Signal Pin14 17 48 51 IND GND Figure 3 5 SLD Wiring for NPN Sink Mode 24 2 4K PNP Pin14 17 48 51 ND V GND Figure 3 6 SLD Wiring for PNP Source Mode 25 Chapter 3 CMP Position Compare Output Signal CMP signals
5. mnet m1 set pls outmode Set pulse command output mode mnet m1 set feedback src Set the counters input source PCI 1247 User Manual 104 Motion Slave Velocity Mode Function Name Description mnet m1 set tmove speed Set a trapezoidal Velocity profile mnet m1 set smove speed Set a S curve Velocity profile move mnet m1 v change Speed change by comparator mnet m fix speed range immediately stop mnet m1 unfix speed range Release the speed range constrain Motion Slave Velocity Mode Function Name Description mnet m1 v move Accelerate an axis to a constant velocity with trapezoidal profile mnet m1 start rel move Begin an relative move mnet m1 start abs move Begin an absolute move mnet m1 sd stop slow down to stop mnet m1 stop immediately stop Motion Slave Velocity Mode Function Name Description mnet m1 set home config Set the home index logic configuration mnet m1 start home move Begin a home return action 105 Chapter 6 Motion Slave Velocity Mode Function Name Description mnet m1 motion done Return the motion status of Motiom NET Motion Slave mnet m1 set alm Set alarm logic and operating mode mnet m1 set erc Set ERC logic and timing mnet m1 set erc on Force ERC output mnet m1 set sd Set SD logic and operating mode mnet m1 set svon Set servo Driver ON mnet m1 set ralm Output servo
6. ADAM 3211 PMA LLL Lum FINES _ ADAM 3212 2S 3213 52 General Description DC 24V Power Output Ground Simultaneous Start Input Simultaneous Stop Input Position Compare Output Motion Busy Signal Output Machinery Break Signal Input 106 M131 J2S Machinery Break Signal Input Mechanical Brake Release Signal Input Digital Input Signal 1 Digital Input Signal 2 Digital Output Signal 1 Digital Output Signal 2 ADAM 3210 Description Servo Ready Signal input Servo On Signal Output Servo Alarm Signal Input In Position Signal Input Clear Servo Error Counter Signal Output Servo Alarm Clear Signal Output PCI 1247 User Manual 66 4 3 5 1 to 1 Cable Information ADAM 3211 PMA 321 1 PMA ADAM 3211 PMA A Serie CN 6 ADAM 3212 J2S ADAM 3212 J2S ADAM 2212 J25 Mitsubishi MR J2 Series ADAM 3213 YS2 TEET ADAM 3213 YS2 CN 1 ADAM 3213 Y 2 Yaskawa Sigma Il Series 67 Chapter 4 PCI 1247 User Manual 68 Chapter 5 Utility Software 5 1 MotionNAVI MotionNAVI is a user friendly utility for basic motion control of PCI 1247 It is designed to help in the testing of the different functions of the motion card that may be used to control a machine without any complex pr
7. Interface I O signals 37 Figure 3 20 HX HY HZ HU H1 H10 H100 38 D AGE PDD iua niece eterni 39 Figure 3 22 HJOGP HJOGN HEN 40 3 29 40 3 1 5 MotionNet Extension Interface 4 Figure 3 24 RS485 Extension Port 41 3 2 Servo Driver Motor Connection Interface 42 3 2 1 General Servo Stepping Driver 42 3 2 2 Panasonic Minas A Series 44 53 23 M tsubishi J2 Super Sefles 46 3 2 4 Yaskawa Sigma II Series nne 48 Chapter 4 MotionNet Extension Modules 52 4 1 Installation and Removal of Extension Modules 52 ZI 252 050 52 PCI 1247 User Manual vi Chapter 4 2 4 3 5 5 1 4 1 2 52 Figure 4 1 Inst and Removal of Extension Modules 52 DIO Slave Modules e 53 4 24 oo aede ats Ged deel duse 53 4227 S 53 4 2 3 Products Introduction 53 Figure 4 2
8. Option Windows W Help H Configurations Load Configuration E m m Load Default Configuration D I Potion amp Yelociy Avis 0 Asis Asis 3 Axis 0 Ais Ass 2 Command Position 0 8 FeedBack Position fo jo fo Position Error 0 jo jo C Target Position 0 jo fo Velocity RN Motion Status 0 a0 do Figure 5 2 File Management 71 Chapter 5 A dialog window will appear when you select this function and configuration data can be saved into the selected directory with your specified file name You can load an assigned configuration file by clicking on the Load Con figuration button as shown in figure 5 3 PCI 1247 Motion Nevigator File F Configuration Motion Option 2 Wiandews W HelpfH save Configurations Load Configuration L E Help Load Default Configuration D E ExitiE Potion amp Velocity Axis 0 Axis 1 Anis 2 Axis 3 Command Position fo fo jo jo FeedBack Position jo fo fo Position Error fo jo fo jo Target Position jo jo jo Velocity 5 B 85 Motion Status fo fo jo fo Position Position Position Set Set Set Set Figure 5 3 Load Configuration Asis Axis Axis AR roy am ec Interrupt Status You can also recover the setting by selecting Load Default Configura tion as shown in figure 5 4 8
9. 24 Figure 3 7 CMP Signal Output 24 Tables Pins doe RE ER n 25 Figure 3 8 L TC Wiring for NPN Mode 25 Table 26 Figure 3 9 DI Wiring for NPN Mode 26 Table 27 Figure 3 10 DO Wiring Diagram 27 3 1 2 Driver I O Interface Signals 28 Table S SALM PINS 28 Figure 3 11 ALM Wiring for NPN Mode 28 Table 9 RAIN Pins 29 Figure 3 12 RALM Output Wiring Diagram 29 Fable ON PINS euet dt mom don edes ue 30 Figure 3 13 SVON Output Wiring Diagram 30 31 Figure 3 14 RDY Wiring for NPN Mode 31 Table 5 32 Figure 3 15 NP Wiring for NPN Mode 32 Table 3 IS ERC oec rS 33 Figure 3 16 ERC Output Wiring Diagram 33 3 1 3 Driver Pulse I O Interface Signals 34 Table 3 14 OUT and DIR Pins 34 Figure 3 17 Differential Line Driver Output 34 Figure 3 18 Open Collector Output 35 Table 3 15 EA EB and EZ Pins 36 Figure 3 19 Differential Line Driver Encoder Input 36 3 1 4
10. OUT Digital YO Interface Driver Driver Position Position Digital 1 0 Digital 1 0 Pulse I O Latch Comp are Interface Interface Interface Input Output Figure 1 1 Functional Block Diagram of PCI 1247 1 1 1 Features Max 6 5 MHz 4 Axis pulse output Linear circular and continuous interpolation High speed position latch function Manual pulse generator input interface Simultaneous start stop on multiple axes Programmable acceleration and deceleration time Programmable pulse output and interrupt Position compare and trigger output Ring of MotionNet master Programmable baud rate up to 20 Mbps transfer rate Max 64 MotionNet digital slave module support Easy installation with RJ45 phone jack and LED diagnostic PCI 1247 User Manual 4 1 1 2 Specifications Motion Control Pulse Output Mode OUT DIR XCW CCW Pulse Output Rate Max 6 5Mpps Min 0 05pps Position Range 28bits 134 217 728 pulses Home Return Modes 13 types Velocity Profiles T curve S curve Interpolation Mode linear circular and continuous Counter for Encoder Feedback Signals 28 bits up down x 4 Position Latch Input LTC x 4 Position Compare Output CMP x4 Incremental Encoder Input EA x 4 EB x 4 Encoder Index Signal Input EZ x 4 Machine Interface PEL x 4 MEL x 4 ORG x 4 SLD x 4 Servo Driver Interface ALM x 4 RDY x 4 SVON x 4 INP x 4 ERC x A Simultaneous Start Stop Motion Input STA ST
11. Copyright and Version will be shown when choosing About in Fig 5 28 in the following LO A bout Figure 5 28 Product Version 85 Chapter 5 9 2 EzLink EzLink is a user friendly utility for the purpose of testing and debugging MotionNet EzLink supports two types of remote slaves DIO slave mod ules and 1 axis motion slave modules There are three main steps to make use of EzLink First you scan how many master cards are installed in the system Then you can connect the master and slave devices After that you can scan how many slave mod ules are installed in each ring of the master EzLink can identify the type of slaves as being DIO or Motion slave automatically and can test their functions EzLink is designed to assist in testing system configurations This can reduce the communication effort between software programming engi neers and hardware engineers You do not have to do any coding during the system configuration testing with EzLink It is a really helpful tool to both hardware and software engineers 5 2 1 Minimum System Requirements PC IBM PC Compatible with at least x586 CPU Memory 125 MB RAM OS Windows 2000 XP 5 2 2 Description Start up of EzLink The menu shown in figure 5 29 will be displayed when you start up EzLink The menu selection is on top of the display In the middle is an SDI operation menu Multiple dialog boxes can be shown in this display On the top is the tool bar which can b
12. In addition the mechanical sensor interface servo motor interface and general pur pose I O signals are provided for easy system integration Figure 1 shows the functional block diagram of the PCI 1247 card The PCI 1247 uses two ASICs to perform motion control on all 4 axes and MotionNet slave module controls The motion control functions include linear and S curve acceleration deceleration circular interpolation between two axes linear interpolation between 2 4 axes continuous motion in positioning and 13 home return modes that are done by the ASIC Since these functions need complex computations and are done internally by the ASIC the PC s CPU is free to supervise and perform other tasks MotionNAVI is a Windows based software package that comes along with the PCI 1247 card to support application development Motion NAVI is handy for debugging a motion control system during the design phase of a project The on screen display lists all installed axis informa tion and signal status of the PCI 1247 cards In addition to Motion NAVI both DOS and Windows programming libraries are included for C and Visual Basic Sample programs are provided to illustrate the operations of the functions 3 Chapter I PCI Bus 32 bits 33 MHz oo Ring Master Ring Master Controller Motion NET Motion NET PLX 9030 guon otion Ext 24 IN MPG JOG 4 Axes ASIC Interface PCL 60454 STA STP Interface 7 uS Optional Ext
13. Pulse 76 Figure 5 10 Pulse I O Setting 76 SLES porte TI Figure 5 11 Motion Menu 77 Figure 5 12 Dialog of HOME Move Menu 77 Figure 5 13 Continuous Move Menu 78 Figure 5 14 Continuous Move Dialog 78 5 15 P to P Motion nee ette 79 Figure 5 16 P 79 Figure 5 17 Absolute Coordinate P to P motion 80 Figure 5 18 Multi Axis Motion Select 80 Figure 5 19 Linear Interpolation under Relative Coordi e C PA 8l Figure 5 20 Linear Interpolation under absolute coordi Vii Table of Contents Figure 5 21 2 axis Circular Interpolation 8l 92180 OPH 82 222 82 Figure 5 23 Handy Pendant 82 Figure 5 24 scr tete De aie 83 2 1 7 Windows Display it ob eite 84 Figure 5 25 Window Display Switch 84 MEE circ 85 5 26 HELP Men aii oae tns 85 Figure 5 27 Product Information 85 Figure 5 25 Product Version 95 32 uoi 96 5 2 1 Minimum System
14. Select MultiAxis from the Motion menu to do multiaxis motion Multiaxis motion is divided into 2 types one is linear interpolation and the other is circular interpolation 49 PCI 1247 Motion Mevigator Fie F GConfiguration Motion WindowsiW Home Move rH Continuous Mover Previous Card P to P Motion P k M o rr Linear L Relative CEN ngu Axis2 Axis 3 Command Position jo jo jo FeedBack Position fo jo jo fo Position Error jo fo fo Target Position jo fo jo fo weds us T W Figure 5 18 Multi Axis Motion Select 120 Status Axis Aged Ax AR In the linear Interpolation menu you can test under relative or absolute coordinate motion Please refer to figure 5 19 and 5 20 All you have to do is set corresponding parameters in the related menus PCI 1247 User Manual 80 Relative xis Linear Motion Operation Card 0 Next gt Select Select Select Select Move distance pulse 0 0 0 0 Start V elocity pps 0 Maximum Velocitytpps 0 Accel Time sec 0 Decel Time sec 0 SVacc PPS o SVdec PPS o Repeat Go Gao Stop Figure 5 19 Linear Interpolation under Relative Coordinate Absolute Linear Motion Operation Help Select Select Select Select Position 1 pulse n
15. Xfd CN pin21 22 48 49 23 24 CN pin33 34 35 36 19 20 Table A 1 113 CN1A pin6 16 7 17 5 15 Appendix A A 1 Micro Stepping Step Driver Motor The wiring is simplified in the following diagram HOM SLD MEL There are 3 groups of wirings between PCI 1247 and step driver motor machine Type A Pulse output from PCI 1247 to Step driver motor Named as CW CW CCW CCW respectively Type B Digital outputs from PCI 1247 to machine Named as CMP and DO Digital inputs from machine to PCI 1247 Named as PEL MEL ORG SLD LTC Type C Pulse inputs from external encoder to PCI 1247 Named as EA EA EB EB EZ EZ respectively PCI 1247 User Manual 114
16. o c A oA a Velocity 0 0 0 0 Figure 5 13 Continuous Move Menu Select Continuous Move as shown in figure 5 13 In the Continuous Move Dialog box displayed in figure 5 14 you can set start velocity maximum velocity acceleration time and more Click on the GO or GO button to make the motion control card send pulse commands to the driver motor Click on the STOP button to stop the pulse command output of the motion card Lontinunus Motion Operation Card 0 Next gt start V elacitytpps 0 0 0 0 Maximum Velocity ipps op of of a Accel Time sec 0 06 06 08 SVacc PPS ori or o Fix Speed Range PPS rf o o rfl o All Go Go Go Go Go All Go All Stop Stop Stop Stop Stop Figure 5 14 Continuous Move Dialog PCI 1247 User Manual 78 Point to Point Move 49 1247 Motion Nevigator Fie F GConfiguration y Option WindowsiW Display Home Move H Continuous Help lt Previous Card 0 P to EelativetR Mult xisMotion M Absolutie s e me Axis Asis 1 Axis 2 Axis 3 Command Position fo fo jo 0 FeedBack Position fo fo fo fo ALM Position Error jo jo jo jo EL Target Position fo jo jo
17. 1 1247 Motion Nevigator F e F Configuration Wmdows W Help H save Configurations Load ConfigurationiL Exit E Potion amp Velocity Axis Asis Axis roy am ec Command FeedBack Pasition Error Target Position Velocity 0 Motion Status Interrupt Status Figure 5 4 Load Default Configuration You can leave MotionNAVI by clicking on the EXIT button Motion NAVI will be terminated automatically afterwards PCI 1247 User Manual 72 5 1 4 Configuration Setting There are three groups of settings in the configuration menu They are Interface Interrupt and Pulse I O Please refer to figure 5 5 for how to select Interface 48 1247 Motion Nevigator File F Configuration c Windowst Interface InterruptiW lt Pulse P Next gt 120 Status Potion amp ve antes Axis 0 AE As ee Command Position jo jo fo jo i FeedBack Position jo jo jo jo ALM Position Error jo jo jo EL Target Position jo jo jo jo _ o W hmh Figure 5 5 Interface setting Setting of Interface I O There two main categories of parameter settings in this menu One 15 for the
18. 3 14 OUT and DIR Pins 1st 3rd Axis i 2nd 4th Axis Description Description OUT OUT OUT OUT DIR DIR DIR DIR DIR etc GND GND Figure 3 17 Differential Line Driver Output PCI 1247 User Manual 34 DIR etc DIE etc mjm up co 4 GND F GHD Figure 3 18 Open Collector Output The Max output current for OUT and DIR is limited by 20 mA Note 35 Chapter 3 EA EB and EZ Encoder A B and Z Phase Please refer to table 3 15 for the encoder input signal descriptions Table 3 15 EA EB and EZ Pins 1st 3rd Axis Description 2nd 4th Axis Description Encoder A Encoder A Encoder Encoder Encoder B Encoder B Encoder B Encoder Encoder 2 Encoder Z The signal connection is shown in fig 3 19 J 8 E y Encoder 2 Encoder Z Figure 3 19 Differential Line Driver Encoder Input PCI 1247 User Manual 36 3 1 4 MOF Interface I O signals MOF Manual Operation Function interface signals are shown in the fol lowing table 3 16 MOF is designed to support 3 modes of manual func tion including MPG JOG and STEP Pin Label Description Pin Label Description 1 24 24 200 mA 11 GND Ground Power Output 2 HX X axis input 12 HY Y axis inpu
19. Position Mode Servo Driver Motor 112 Table A 1 Variable Mapping Table to Three Types of Motor Drivers 2 2 113 Micro Stepping Step Driver Motor 114 ix Table of Contents PCI 1247 User Manual Chapter 1 Introduction The Advantech PCI 1247 motion controller is designed for users who need to develop powerful applications quickly and easily The PCI 1247 is an advanced motion controller consisting of 2 main parts one 15 4 15 motion ASIC and the other is high speed real time network extension called MotionNet Advantech has optimized the configuration software to help you get your advanced motion profiles up and running as quickly as possible With PCI 1247 s 4 axis motion control functions 4 axes of linear interpola tion 2 axes of circular interpolation and also continuous interpolation with velocity continuity are provided You also have a selection of 13 homing modes to fit different machine designs And there are position compare and trigger output functions to interface with other applications For example On the fly image acquisi tion Position latch and interrupt functions are provided to interface with other applications such as tool length measurements PCI 1247 provides a servo driver motor that is dedicated to digital I O interfaces For example ALM INP ERC and also dedicated digital I O interfaces for machines such as ORG PEL and EMG Thes
20. Requirements 86 35 2 4 Description ore iube d 86 Figure 5 29 Start up of EzLink 87 52 5 Master Cards aae i 87 Figure 5 30 Scan Master Cards 87 Figure 5 31 Scanning Master 88 Figure 5 32 Scan is Completed 88 Fiete Scam RESUS 98 5 2 4 Remote Slave Module 89 Figure 5 34 Remote Slave Module 89 Figure 5 35 Status for the Slave Connection 89 5 2 5 Scan Remote Slave Modules 90 Figure 5 36 Scan Slave Modules 90 Figure 2 2 7 Scan esc ee oco e 90 Figure 5 38 Successful Scan Result 90 5 2 6 Slave Module Status Display 9 Fieure 5 39 5can Results 9 Figure 5 40 Message about the slave module 9 5 2 DIO Type Slave Mod le 92 Piste 5 41 92 Fieure 42 DITODOTO bett 92 Toute 5 45 92 52 9 Motion SIA VE 93 Figure 5 44 Operation of 1 axis Motion Slave 93 Figure 5 45 Configuration of 1 Motion Slave 93
21. Servo Driver Motor Interface signal The other is for Mechanical I O Interface Signals Please refer to figure 5 6 pz Interface Configuration Hel 0 Next gt Apply to all 2 Apply to other axes Apply to Next gt of this card axis Servo Motor Signal ALM INP Response Mode Logic Enable Disable Seven gic 3 Active Low Disable INP lt Previous Active Low Stop immediately C Active High C Enable INP C Active High Active Timi ogic ctive Timing AutoE Active Low 12us C 409us C 102us 1 6ms C ActiveHigh 13ms 52ms C 104ms Level ERC Dut Signal EL ORG EZ LEID Response Mode gt Logic Logic Loaic Stop immediately Active Low Active Low Active Low C Dec to Stop Active High Active High Active High SD Enable Disable Logic Response Mode SD Latch Disable 5D Active Low Slow Down Only Disable LTC C Enable SD C Active High C Slow Down Then Stop Enable LTC ELL Logic Active Low Active High Figure 5 6 Interface I O Setting 73 Chapter 5 Servo Driver Motor Settings ALM Alarm From Driver to Control card Logic Level Setting Active High or Active Low Action Type Stop Immedia
22. Wheel Enable Signal JOG Positive Input signal JOG Negative Input signal Emergent contact A Emergent contact K 2 5 3 MotionNet Extension 1 8 Figure 2 4 MotionNet extension CN2 for PCI 1247 Description FG FG RS485 FG FG FG 1 2 3 4 5 6 T 8 FG 15 Chapter 2 2 5 4 STA STP 1 4 e ee Figure 2 5 STA STP pin definition CN7 amp for PCI 1247 Description Ground Simultaneous Start Simultaneous Stop Ground 2 5 5 TTL Input Output 9 10 Figure 2 6 TTL Input Output CNS for PCI 1247 Pin Label Description Pin Label Description 1 DI 0 TTL Digital InputO 2 DI 1 TTL Digital Input 1 PCI 1247 User Manual 16 3 DI 2 TTL Digital Input2 4 DI 3 TTL Digital Input 5 GND Ground 6 DO 1 TTL Digital Output 1 7 DO 0 TTL Digital Output O 8 DO 3 TTL Digital Output 3 9 DO 2 TTL Digital Output 2 10 5V Power 5V 200mA Output 2 5 6 DIP Switches 1 8 Figure 2 7 DIP Switch for Pulse Output type SWI for PCI 1247 ON OFF output Open collector 1 Differential line driver output Default Figure 2 8 DIP Switch for EMG SW2 for PCI 1247 Label ON OFF Connect EMG source to MPG Disable default Enable Note If the MPG Manual Pul
23. comparator mode Set general purposed com parator mnet m1 set comparator value Check current comparator data mnet m1 get comparator value Set Trigger comparator Value mnet m1 set trigger comparator Set Trigger comparator mnet m1 set trigger comparator value Set Trigger comparator Value 107 Chapter 6 Motion Slave Velocity Mode Function Name Description mnet m1 dio output Set TTL output status mnet m1 dio output Set TTL output status mnet m1 get io status Get the motion I O status of MNET AXIS Con troller PCI 1247 User Manual 108 APPENDIX Position Mode Servo Driver Motor Appendix A Position Mode Servo Driver Motor Figure A 1 Overview There are three types of wiring between PCI 1247 and the Driver Motor Machines Type A Pulse I O between PCI 1247 and Servo Driver Type B Digital I O between PCI 1247 and Servo Driver Type C Digital I O between PCI 1247 and Machines Type A Pulse output from PCI 1247 to Servo Driver named as CW CW CCW CCW respectively Pulse Input from Servo Driver to PCI 1247 Named as EA EA EB EB EZ EZ respectively PCI 1247 User Manual 110 Type B Digital output from PCI 1247 to Servo Driver Named as SVON RES ERC Digital input from Servo Driver to PCI 1247 Named as ALM RDY INP Type C Digital output from PCI 1247 to Machine Named as CMP Digital inputs from Machine to PCI 1247 Named as PEL MEL SL
24. in a shippable container A product returned without proof of the purchase date 1s 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 iii CE This product 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 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 In addition to this User Manual the package should also include the fol lowing items PCI 1247 Advanced MotionNet M PCI
25. 10 Pulse Output Mode You can set DIR STP or CW CCW pulse output type Pulse Input Feedback Counter e Source External or Internal command pulse Logic Inverse the Direction or Do Not Inverse Direction Mode 4 modes x1 x2 x4 A B Phase CW CW pz Pulse Configuration Hel Previous Card 0 gt Apply ta E Previous gt Pulse Output Mode OUT DIR QUT is falling edge OUT is rising edge DIR is high level high level OUT is falling edge OUT is rising edge is low level DIR low level C Ow CEW Falling edge C Dw CCw Rising edge Pulse Input Feedback Counter 5ource Logic Encoder External Pulse Output Interal Inverse the Direction Move Feedback Command 1 Do Not Inverse Direction Mode 1XA BPhase Zx 4 6 Phase Phase C Cw Figure 5 10 Pulse Setting PCI 1247 User Manual 76 5 1 5 Motion Menu There are four groups of functions in the Motion menu The first is Home Move the second is Continuous Move the third 1s P to P Move and the last is MultiAxis Motion Please refer to figure 5 11 Motion Menu 8 PCI 1247 Motion Mevigator Fie F GConfiguration Motion Option WindowsiW Display Home Contmnunaus P to P M
26. 2 LLL _ s Digital I O Module C Eum Analog I O Module jeuuonoly Motion API E Figure 1 2 Application Development Figure 1 3 is a flow chart that illustrates the recommended process when using this manual to develop an application Refer to the related chapters for details on each step 7 Chapter 1 1 Hardware Installation 2 Jumper Setting 3 Wiring Link Chapter 2 3 amp 4 Run MotionNAVI EzLink Chanter 6 To Configure System P Run MotionNAVI EzLink To Verify Operation Chapter 5 amp 6 NO Use Function Library Chapter 5 amp 7 To Develop Applications YES Figure 1 3 Flow Chart for Building an Application PCI 1247 User Manual 8 CHAPTER Installation This chapter describes how to install the PCI 1247 Sections include Check What You Have PCB Board Layout Hardware Installation Driver Installation Connector Descriptions Chapter 2 Installation This chapter describes how to install the PCI 1247 Please follow these steps below to install the PCI 1247 Check what you have section 2 1 Check PCB Board section 2 2 Install hardware section 2 3 Install software driver section 2 4 Understanding the I O signal connections and their operation chapter 3 4 Understanding the connectors pin assignments the rest of the sections and wiring the connections 2 1 Check What You Have In addition to this User Manua
27. 2 2 3 Hardware Installation 2 3 1 Hardware Configuration The PCI 1247 is fully Plug and Play compliant Hence memory alloca tion port locations of the PCI card is assigned by the system BIOS The address assignment is done on a board by board basis for all PCI cards in the system 2 3 2 PCI slot selection Your computer will probably have both PCI and ISA slots Do not force the PCI card into an ISA slot The PCI 1247 can be used in any PCI slot 2 3 3 Installation Procedures Read through this manual and arrange the jumpers to fit your application Turn off your computer Turn off all accessories printer modem moni tor etc connected to the computer Remove the cover from your com puter Select a 32 bit PCI expansion slot PCI slots are shorter than ISA or EISA slots and are usually colored white or ivory Before handling the PCI 1247 discharge any static buildup on your body by touching the metal case of the computer Hold the edge and do not touch the components Position the board into the PCI slot you have selected Secure the card in place at the rear panel of the system unit using screws removed from the slot 2 3 4 Troubleshooting If your system doesn t boot or if you experience erratic operation with your PCI board in place it s most likely caused by an interrupt conflict This could be caused by an incorrect ISA setup But in general the solu tion once you determine it 15 not a simple oversigh
28. ADAM 3368 J25 CSI 68 Connector PCI 1247 User Manual 46 CN4 External Power Input Connector LED Status Display Pin Ook Labe SVON 24VON PEL MEL ORG SLD 47 Label 24V GND FG 24V GND FG Description DC 24V DC 24V Ground Field Ground DC 24V DC 24V Ground Field Ground General Description DC 5V Power Input Ready DC 24V Power Input Ready End Limit Signal End Limit Signal Home Signal Input Ramp Down Signal Input Chapter 3 3 2 4 Yaskawa Sigma Il Series CNIA CN2A Connec tor to Servo Driver _ ADAM 3968M YS2 CN 2A ADAM 336EM TS2 Yaskawa Sigma Il Series CN2B CN2B Pin Label General Description Descriptions 24V DC 24V Power Output GND Ground EMG Emergency Stop Input CMP Position Compare signal Output DI Digital Input Signal DO Digital Output Signal BRK Machinery Break Signal Input Mechanical Brake Release 4 ae EI TE Signal Input ADAM 3968M YS2 CN1C CN2C Pin Label General Description Descriptions 24V DC 24V Power Output GND Ground PEL End Limit Signal MEL End Limit Signal ORG Home Signal Input SLD Ramp Down Signal Input LTC Latch Signal Input LTC Latch Signal Input _ ADAM 3968M YS2 PCI 1247 User Manual 48 CN3 connector to PCI 1247 ADAM 3968M YS2 Cee O CN3 PCI 1247 ADAM 3968M YS2 SCSI 68 Connector CN4 External Power Pin Label Descrip
29. ADAM 375XX Products Series and ADAM 3030 53 4 2 4 Common Connector Pin Definitions 54 4 2 5 Specific Connector Pin Definitions 56 Motion Slave Modules 58 94 E 58 4 3 7 SDeCITICAHODS 58 4 3 3 Product Litt OCUCHONS cor m irpo eere meten 59 Figure 4 3 ADAM 32xx Products Series 59 434 Common Connector Pin Definitions 61 4 3 5 to 1 Cable Information 67 Utility SOIUWAEG 70 70 5 1 1 Minimum System Requirements 70 92152 IDSSCHIDHOD eade ete aie e bL 70 Figure 5 1 Start up of MotionNAVI 71 5 71 Figure 5 2 File Management 71 Figure 5 3 Load Configuration 72 Figure 5 4 Load Default Configuration 72 5 54 oio ih 73 Figure 5 5 Interface I O setting 73 Figure 5 6 Interface I O Setting 73 Pioure 5 7 Intermpt neti e 49 Figure 5 8 Dialog for Interrupt I O Setting 75 Figure 5 9
30. AM 3758 Pin Label Pin Label Pin Label Pin Label IN 00 19 20 1 IN 00 19 IN 20 2 IN 01 20 21 2 IN 01 20 21 3 IN 02 21 22 3 IN 02 21 22 4 IN 03 22 23 4 IN 03 22 23 5 IN 04 23 24 5 IN 04 23 24 6 IN 05 24 25 6 IN 05 24 25 7 IN 06 25 26 7 IN 06 25 26 8 IN 07 26 27 8 IN 07 26 27 9 GND 27 GND 9 GND 27 GND 10 GND 28 GND 10 GND 28 GND 11 IN 10 29 30 11 IN 10 29 OUT 30 12 IN 11 30 IN 31 12 11 30 OUT 31 13 IN 12 31 32 13 12 31 OUT 32 14 IN 13 32 33 14 13 32 OUT 33 15 IN 14 33 34 15 IN 14 33 OUT 34 16 IN 15 34 35 16 15 34 OUT 35 17 16 35 36 17 16 35 OUT 36 18 IN 17 36 37 18 IN 17 36 OUT 37 ADAM 3756 ADAM 3754 Pin Label Pin Label Pin Label Pin Label IN 00 19 OUT 20 1 OUT 00 19 OUT 20 2 IN 01 20 OUT 21 2 OUT 01 20 OUT 21 3 IN_02 21 OUT 22 3 OUT_02 21 OUT 22 4 IN 03 22 OUT 23 4 OUT 03 22 OUT 23 5 IN 04 23 OUT 24 5 OUT 04 23 OUT 24 6 IN 05 24 OUT 25 6 OUT 05 24 OUT 25 7 IN_06 25 OUT 26 7 OUT_06 25 OUT_26 8 IN 07 26 OUT 27 8 OUT 07 26 OUT 27 9 GND 27 GND 9 GND 27 GND 10 GND 28 GND 10 GND 28 GND 11 IN 10 29 OUT 30 11 OUT 10 29 OUT 30 12 IN 11 30 OUT 31 12 OUT 11 30 OUT 31 13 IN 12 31 OUT 32 13 OUT 12 31 OUT 32 14 IN 13 32 OUT 33 14 OUT 13 32 OUT 33 15 IN 14 33 OUT 34 15 OUT 14 33 OUT 34 16 IN 15 34 OUT 35 16 OUT 15 34 OUT 35 17 IN 16 35 OUT 36 17 OUT 16 35 OUT 36 18 IN 17 36 OUT 37 18 OUT 17 36
31. D ORG LTC 111 Appendix A The following picture and table is a summary of three Servo Driver Motor makers including Panasonic Minas A Mitsubishi J2 Super and Yaskawa Sigma Settling Time gt O D O ze 2 2 Q Differentation lt 2 2 ES x _ O dJ s Bl o O lel gt 8 Figure A 2 Function Block Diagram of Position Mode Servo Driver Motor PCI 1247 User Manual 112 Table Variable Mapping Table to Three Types of Motor Drivers Panasonic Minas A Yaskawa Sigma Il Mitsubishi J2 Super P type PrNo 42 Pn200 0 P021 Xpd CN pin3 4 5 6 CN1 pin7 8 11 12 pin3 13 2 12 Gear Ratio PrNo 46 4B Pn202 Pn203 4 ALMd CN_I F pin36 37 CN_I F pin31 32 CN1B pin18 SVONd CN_I F pin29 CN_I F 40 CN1B pind RDYd CN_I F pin34 35 pin29 30 pin19 RSDd CN_I F pin31 CN_I F pin44 CN1B pin14 ERCd CN_I F pin30 CN_I F pin14 IPNd CN_I F pin38 39 CN_I F pin25 26 CN1A pin18 INP Rng PrNo 60 Pn500 5 PrNo 10 PrNo 18 Pn102 106 P006 P035 Encoder Ratio PrNo 40 44 Pn201 P027 E type Only AB phase Only AB phase Only AB phase
32. Driver Alarm Reset mnet m1 set pcs Set PCS logic Motion Slave Velocity Mode Function Name Description mnet m1 motion done Return the motion status of Motiom NET Motion Slave mnet m1 set alm Set alarm logic and operating mode mnet m1 set inp Set INP logic and operating mode mnet m1 set erc Set ERC logic and timing mnet m1 set erc on Force ERC output mnet m1 set sd Set SD logic and operating mode mnet m1 set svon Set servo Driver ON mnet m1 set ralm Output servo Driver Alarm Reset mnet m1 set pcs Set PCS logic PCI 1247 User Manual 106 Motion Slave Velocity Mode Function Name Description mnet m1 get command Get the Command Value mnet m1 set command Set the Command Value mnet m1 reset command Reset the Command Value to zero mnet m1 get position Get the Command Value mnet m1 set position Set the Command Value mnet m1 reset position Reset the position Value to zero mnet m1 get error counter Get the Command Value mnet m1 reset error counter Reset the Error Counter to zero mnet m1 get current speed Get current speed Motion Slave Position Compare and Latch Function Name Description 12474 set logic Set Latch Logic mnet m1 get latch data Get Latch data mnet m1 set soft limit Set Soft limit mnet m1 enable soft limit Enable limit mnet m1 disable soft limit Disable Limit mnet m1 set
33. EVICE IP ab DEVICE TYPE ab DEVICE STATUS BAUDRATE jab OPERATING STATUS Figure 5 34 Remote Slave Module Bnew date reset empty busy ddog guard busy te Grew data Biobusy reset Deo ine Figure 5 35 Status for the Slave Connection 89 Chapter 5 5 2 5 Scan Remote Slave Modules After the connection between the master and slave has been set up suc cessfully you can scan the slave modules that are installed in this ring of the master card Both the number and types of slave modules will be dis played on the left The slave modules can be either DIO slave or 1 axis motion slave as shown in figure 5 36 to 5 38 8 7 Master Device ab DEVICE IP ab DEVICE ab DEVICE STATUS ab BAUDRATE ab OPERATING STATUS Figure 5 36 Scan Slave Modules NO DEVICE CHECE CONNECT CONDITION Figure 5 37 Scan Error Figure 5 38 Successful Scan Result PCI 1247 User Manual 90 5 2 6 Slave Module Status Display All master cards and slave modules will be displayed on the left menu after you have successfully scanned the master connected the master and slave and scanned all slaves Please refer to figure 5 39 Bi xj MOTION NET ENV 2 5 Master Device 2 8 10 8810 15 5 49 AXIS i Motion 63 Figure 5 39 Scan Results You ca
34. Encoder A Phase Encoder B Phase Encoder B Phase Encoder Z Phase Encoder Z Phase Pulse Signal Output Pulse Signal Output Direction Signal Output Direction Signal Output 42 Label General Description 24V DC 24V Power Output GND Ground PEL End Limit Signal MEL End Limit Signal ORG Home Signal Input SLD Ramp Down Signal Input LTC Latch Signal Input ADAM 3968M LTC Latch Signal Input EMG Emergency Stop Input CMP Position Compare signal Output DI Digital Input Signal DO Digital Output Signal o CN3 PCI 1247 ADAM 3968M SCSI 68 Connector Pin Label Description 1 24V DC 24V 2 ND DC 24V Ground 3 FG Field Ground 4 24V DC 24V 5 GND DC 24V Ground 6 FG Field Ground Label General Description 5 DC 5V Power Input Ready 24VON DC 24V Power Input Ready PEL End Limit Signal MEL Limit Signal ORG Home Signal Input SLD Ramp Down Signal Input 43 Chapter 3 3 2 2 Panasonic Minas A Series CN1A CN2A Connector to Servo Driver 29 CH 1A CN 2A VF ADAM 3968 M PMA ADAM 1568M PMA Panasonic Minas A Series CN2B CN2B Pin Descrip Label General Description tion 24V DC 24V Power Output GND Ground EMG Emergency Stop Input CMP Position Compare signal Output DI Digital Input Signal DO Digital Output Signal BRK Machinery Break Signal Input Mechanical Brake Release ADAM 3968M PMA Sign
35. Master card with 4 Axis Motion Control 2 Advantech Driver Disc PCI 1247 User Manual iv Chapter Chapter Chapter 1 1 2 3 3 Contents 52 2 sD SS CPAP CLO Mh sa 3 Figure 1 1 Functional Block Diagram of PCI 1247 4 ILL JBOabules alle iss iot 4 LEZ eoe reu fas 5 LLS Supported SOWA aie eto eb epe 6 Application Development 4 Figure 1 2 Application Development 7 Figure 1 3 Flow Chart for Building an Application 8 TU Check What Y oil Haye siet orta didi 10 PCB Board DS etis 11 Figure 2 1 PCB Layout of the PCI 1247 11 Hardware n en hh 12 2 3 1 Hardware Configuration 12 22222 12 253 Installation Procedures RR er ds 12 254 Troubleshooting 12 Driver Installation uod 13 Connector 4 220 02 000 13 AAS ient teen 13 Figure 2 2 SCSI 68pin define CN1
36. OUT 37 PCI 1247 User Manual 56 ADAM 375xF Pin Definitions ADAM 3754F CN1 Pin Label OUT 00 OUT 01 OUT 02 OUT 03 OUT 04 OUT 05 OUT 06 OUT 07 OUT 10 OUT 11 OUT 12 OUT 13 OUT 14 OUT 15 OUT 16 OUT 17 FG ADAM 3754F CN2 Label OUT 20 OUT 21 OUT 22 OUT 23 OUT 24 OUT 25 OUT 26 OUT 27 OUT 30 OUT 31 OUT 32 OUT 33 OUT 34 OUT 35 OUT 36 OUT 37 FG ADAM 3752F CN1 Pin Label IN 00 IN 01 IN 02 IN 03 IN 04 IN 05 IN 06 IN 07 IN 10 IN 11 IN 12 IN 13 IN 14 IN 15 IN 16 IN 17 FG CN2 Pin ADAM 3752F Label IN 20 IN 21 IN 22 IN 23 IN 24 IN 25 IN 26 IN 27 IN 30 IN 31 IN 32 IN 33 IN 34 IN 35 IN 36 IN 37 FG Chapter 4 ADAM 3756F ADAM 3756F CN1 CN2 Pin Label Pin Label Pin Label Pin Label 1 IN 00 2 24V 1 OUT 00 2 24V 3 IN 01 4 GND 3 OUT 01 4 GND 5 IN 02 6 24V 5 OUT_02 6 24 7 IN 03 8 GND 7 OUT_03 8 GND 9 IN 04 10 24V 9 OUT_04 10 24V 11 IN 05 12 GND 11 OUT 05 12 GND 13 IN 06 14 24V 13 OUT_06 14 24V 15 IN 07 16 GND 15 OUT 07 16 GND 17 IN 10 18 24V 17 OUT 10 18 24V 19 IN 11 20 GND 19 OUT 11 20 GND 21 IN 12 22 24V 21 OUT 12 22 24V 23 IN 13 24 GND 23 OUT 13 24 GND 25 IN 14 26 24V 25 OUT 14 26 24V 27 IN 15 28 GND 27 OUT 15 28 GND 29 IN 16 30 24V 29 OUT 16 30 24V 31 IN 17 32 GND 31 OUT 17 32 GND 33 FG 34 FG 33 FG 34 FG 4 3 Motion Slave Modules 4 3 1 Features DIN rail mounting L x W x H 124 x 72 x 53 mm Max 20 Mbps transfe
37. P General Input IN x 3 General Output OUT x 4 Pin Type Optically isolated with 2 5 kVrms on all SCSI 68 pins MotionNet Number of Rings 1 Serial interface half duplex RS 485 with transformer isolation Cable type CATS UTP STP Ethernet cable Surge protection 10 kV Transmission speed 2 5 Mbps 5 Mbps 10 Mbps and 20 Mbps Data flow control automatic Communication distance Max 100m 20 Mbps 32 slave module Slave module function digital I O slave module 5 Chapter 1 General PCI Spec 2 2 supports 32 bit 3 3V 5V DC operation Power Consumption 5V DC at 0 5A typical Operating Temperature 0 60 C 1 1 3 Supported Software Programming Library For those who wish to write their own programs PCI 1247 comes with MS DOS Borland C C Version 3 1 programming libraries Windows 2000 XP DLL These function libraries are shipped with the board There is also support for DOS Windows 2000 XP Embedded XP and Windows CE MotionNAVI MotionNAVI is a Windows based utility to setup cards motors and sys tem It can also aid with debugging hardware and software problems as well as set the logic I O parameters which can be loaded in their own program This product is bundled with this card Refer to Chapter 5 for details EzLink EzLink is a user friendly utility for the purpose of testing and debugging MotionNet PCI 1247 User Manual 6 1 2 Application Development Windows XP 2000 Windows
38. PCI 1247 Advanced MotionNet PCI Mas ter card with 4 Axis Motion Con trol User Manual Copyright The documentation and the software included with this product are copy righted 2004 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 man ual 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 reli able 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 Acknowledgements MotionNet and PCI 1247 are trademarks of Advantech Inc Intel and Pentium are trademarks of Intel Corporation Microsoft Windows and MS DOS are registered trademarks of Microsoft Corp C amp T 15 a trademark of Chips and Technologies Inc All other product names or trademarks are properties of their respective owners Part No 2003124700 Ist Edition Printed in Taiwan July 2004 PCI 1247 User Manual il 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 w
39. al Input CNIC CN2C Pin Descrip Label General Description tion 24V DC 24V Power Output GND Ground PEL End Limit Signal MEL End Limit Signal ORG Home Signal Input SLD Ramp Down Signal Input LTC Latch Signal Input LTC Latch Signal Input PCI 1247 User Manual 44 CN3 connector to PCI 1247 ADAM 3968M PMA PCI 1247 ADAM 3362M PMA SCSI1 68 Connector CN4 External Power Pin Label Description Input Connector 1 24V DC 24V 2 GND DC 24V Ground FG Field Ground 4 24V DC 24V 5 GND DC 24V Ground 6 FG Field Ground ADAM 3968M PMA LED Status Display Label General Description SVON DC 5V Power Input Ready 24VON DC 24V Power Input Ready PEL End Limit Signal MEL End Limit Signal ORG Home Signal Input SLD Ramp Down Signal Input 45 Chapter 3 3 2 3 Mitsubishi J2 Super Series CN1A CNIB and CN2A CN2B Connector to Servo Driver 0 CH 1 2 1A ADAM 3968M J2S CN 1B GH2E CN 1E ADAM 3268 J425 Mitsubishi MR J2 Series CNIC Pin Description Label General Description 24V DC 24V Power Output GND Ground PEL End Limit Signal MEL End Limit Signal ORG Home Signal Input SLD Ramp Down Signal Input LTC Latch Signal Input Emergency Stop Input ADAM 3968M J2S BRK oa Break Signal CMP Position Compare signal Output DI Digital Input Signal DO Digital Output Signal CN3 Connector to PCI 1247 2 ADAM 3968M J2S e 1241
40. al counter 1247 set general counter Set the general counter 1247 get target pos Get the value of target position recorder 1247 reset target pos Reset target position recorder 1247 get rest command Get remain pulse till end of motion 1247 check rdp Check the ramping down point data 6 1 6 Manual Operation Function Name Description 1247 set pulser iptmode Set pulser input mode 1247 pulser pmove Start pulser p move 1247 pulser vmove Start pulser v move 1247 pulser home move Start pulser home move 6 1 7 Continue Motion Function Name Description 1247 set continuous move Enable continuous motion for absolute motion 1247 check continuous buffer Check if the buffer is empty PCI 1247 User Manual 100 6 1 8 Multiple Axes Simultaneous Operation Function Name Description 1247 set tr move all Multi axis simultaneous operation setup 1247 start move all Begin a multi axis trapezoidal profile motion 1247 stop move all Simultaneously stop Multi axis motion 6 1 9 Position Control and Counters Function Name Description 1247 get position Get the value of feedback position counter 1247 set position Set the feedback position counter 1247 get command Get the value of command position counter 1247 set command Set the command position counter 1247 get error counter Get the value of
41. are used to make a comparison between target value and actual value and generate a trigger signal output Please refer to table 3 4 for the signal name pin number and axis number Table 3 4 CMP Pins 1st 3rd Axis i 2nd 4th Axis Description Description CMP Output CMP Output External Ground External Ground The signals connections are shown in figure 3 7 Figure 3 7 CMP Signal Output Warning The sink current limit is 20 mA PCI 1247 User Manual 24 LTC Counter Latch LTC is used to latch the value in the counter when the LTC input is active Table 3 5 lists the signal name pin number and axis number Table 3 5 LTC Pins Pin Label 1st 3rd Axis Pin Label 2nd 4th Axis Description Description 28 LTC input 62 LTCY LTC input The signal connections are shown in figure 3 8 5V GND GND Figure 3 8 LTC Wiring for NPN Mode 25 Chapter 3 DI Axis Digital Input Digital Input Signal Digital input for each axis is shown in Table 3 6 The DI for the 1st input is designed for EMG connection The other inputs are for general purpose of each axis Table 3 6 DI Pins Pin Label 1st 3rd Axis Pin Label 2nd 4th Axis Description Description 31 EMG EMG 1st DI 3rd 65 DIY General DI DIX The signal connection is shown in fig 3 9 5V GND Figure 3 9 DI Wiring for NPN Mode PCI 1247 User Manua
42. e dedicated I O signals guarantees functionality via hardware and therefore reduces the software requirements MotionNet is a series of products designed for versatile automation appli cations that have demanding motion control requirements PCI 1247 is equipped with 1 master that can connect and control up to 64 slave mod ules There are 3 categories of slave modules one is for motion control the second is for digital I O and the last is for miscellaneous functions For motion control slave modules there are three types 1 axis 2 axis and 4 axis For digital I O slave modules there are four types 32 IN 32 OUT 16 IN amp 16 0UT and 24 IN amp 8 OUT PCI 1247 User Manual 2 1 1 Card Description PCI 1247 is an Advanced MotionNet PCI Interface Master card with 4 Axis Motion Control It can generate high frequency pulses 6 4 MHz to drive stepper or servomotors and as a motion controller it can provide 2 axis circular interpolation 4 axis linear interpolation or continuous inter polation for velocity continuity Also changing position speed on the fly is available in single axis operation Multiple PCI 1247 cards can be used in one system An incremental encoder interface on all four axes provides the ability to correct position ing errors generated by inaccurate mechanical transmissions PCI 1247 can also perform precise and extremely fast position comparison and trig ger functions without demanding too much from the CPU
43. e module will be displayed on the right hand menu Figure 5 45 Configuration of I axis Motion Slave 95 Chapter 5 5 2 9 Other In the help menu the following about the EzLink version will be dis played as shown in Fig 5 46 About EazLink Figure 5 46 Version of EzLink PCI 1247 User Manual 94 Chapter 6 Motion API 6 1 4 Axis ASIC Motion API 6 1 1 System Initialization Function Name Description _1247_Initial initialize system resource 1247 Close release all resources 1247 get base addr Get base address of ASIC 1247 ResetCard Reset card to initial status 6 1 2 Card Configuration Function Name Description 1247 set pls iptmode Encoder feedback input 1247 set pls outmode Configure the pulse output mode 1247 set feedback src Set counter input source 6 1 3 Interrupt Handling Function Name Description 1247 int control Set INT Resource 1247 set int factor Set INT factor 1247 int enable Enable INT event 1247 int disable Disable INT Event 1247 get int status Get INT Status 4247 link Int CbkFunc Link INT CALLBACK Function 1247 link Int Event PCI 1247 User Manual Link INT Event 96 6 1 4 Homing Function Name Description 1247 set home config Set the home index logic configuration 1247 home move Begin a home return action 6 1 5 Motion 1 Poi
44. e used to do basic operations In the left window is an overview of the master card and slave modules that are currently connected On the right is information about slave modules including slave ID At the bottom messages about the system such as communication status and detailed operation information are displayed PCI 1247 User Manual 86 Bi Yew DEVICE D 1 DEVICE Gare DEVICE STATUS QED 2n MEZ OFERATING STATUS ito emet Qiu busy ipsos aud eres tue Figure 5 29 Start up of EzLink 5 2 3 Scan Master Cards Click on the first button on the tool bar to scan master cards in the system All master cards will be identified after the scanning is completed as shown in figure 5 30 to 5 33 and all master cards will be listed in the menu MOTION NET DEVICE INFORMATION DESCRIBE ab DEVICE IP DEVICE DEVICE STATUS BAUDRATE OPERATING STATUS Figure 5 30 Scan Master Cards 87 Chapter 5 Figure 5 33 Scan Results PCI 1247 User Manual 88 5 2 4 Remote Slave Module After completely scanning the master cards you can connect the master and remote slaves by clicking on the connect button on the tool bar as shown in figure 5 34 and figure 5 35 Whether the slave is connected or not connected with the master cards can be read from the bottom window that shows system status m Master Device ab D
45. for PCI 1247 amp 9693 DA TAO 13 24525 ee PE 15 Figure 2 3 SCSI 20 pin Def CN2 for 96931247A0 15 2 5 5 ooi pens 15 Figure 2 4 MotionNet extension CN2 for PCI 1247 15 De ette etes 16 Figure 2 5 STA STP pin definition CN7 amp CN8 for PCI IO sets kids e Ee 16 2 55 TTE Input eee ee 16 Figure 2 6 TTL Input Output CN5 for PCI 1247 16 2 23 07 HS WAC NCS costae ot ette ad Stet 17 Figure 2 7 DIP Switch for Pulse Output type SW for 17 Figure 2 8 Switch for EMG SW2 for PCI 1247 17 Signal 20 General Descrip ON die 20 3 1 1 Machine I O Interface Signals 20 Table 3 1 PEL and MEL Pins 20 Figure 3 1 PEL MEL Wiring for NPN Sink Mode 20 Figure 3 2 PEL MEL Wiring for PNP Source Mode 21 y Table of Contents Table 3 2 ORG PIS cete tei can teet bes en toa beant 22 Figure 3 3 ORG Wiring for NPN Sink Mode 22 Figure 3 4 ORG Wiring for PNP Source Mode 22 Table 3 3 SED Pins se rtt 23 Figure 3 5 SLD Wiring for NPN Sink Mode 23 Figure 3 6 SLD Wiring for PNP Source Mode 23 Table 3 4 CMP Pins snap e EE
46. fully completed for both sides the slave module can be removed from the DIN rail Figure 4 1 Installation and Removal of Extension Modules PCI 1247 User Manual 27 4 2 DIO Slave Modules 4 2 1 Features DIN rail mounting LxWxH 124 x 72 x 53 mm Max 20 Mbps transfer rate 3 Wire terminal board for actuator sensor Easy installation with RJ45 phone jack and LED diagnostic Serial interface half duplex RS 485 with transformer isolation 4 2 2 Specifications 4 2 3 Products Introduction Cable type 5 UTP STP Ethernet cable Surge protection 10 kV Transmission speed 2 5 5 10 and 20 Mbps On line module insertion and removal IO isolation voltage 2 5 kVrms Input impedance 2 4 k 0 5 W Input current 10 mA Max Output types NPN PNP open collector Darlington transistors Switch capacity each output channel is 60 mA at 24 V DC Response time On to Off about 180 us Off to On about 1 2 us Power supply 18 V DC to 30 V DC consumption 3 W typical Operating temperature 0 60 C 44 4 2 Pe Dt 1 1 2 ADAM 3752F ADAM 3756F ADAM 3754F ADAM 3936 Figure 4 2 ADAM 375XX Products Series and ADAM 3936 53 Chapter 4 There are two types of DIO slave modules one is a 3 wire type called ADAM 37xx and the other is a flat cable type called ADAM 37xxF For the 3 wire type slave there is a PCL 10136M connector onboard The ADAM 3968M
47. hich 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 f 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
48. inear interpolation for Z amp U with S curve profile 1247 start sa move zu Begin a absolute 2 axis linear interpolation for Z amp U with S curve profile 1247 start tr line2 Begin a relative 2 axis linear interpolation for any 2 axes with trapezoidal profile 1247 start ta line2 Begin a absolute 2 axis linear interpolation for any 2 axes with trapezoidal profile 1247 start sr line2 Begin a relative 2 axis linear interpolation for any 2 axes with S curve profile _ 1247 start sa line2 Begin a absolute 2 axis linear interpolation for any 2 axes with S curve profile 1247 start tr line3 Begin a relative 3 axis linear interpolation with trapezoidal profile _ 1247 start ta line3 Begin a absolute 3 axis linear interpolation with trapezoi dal profile 1247 start sr line3 Begin a relative 3 axis linear interpolation with S curve profile _ 1247 start sa line3 Begin a absolute 3 axis linear interpolation with trapezoi dal profile 1247 start tr line4 Begin a relative 4 axis linear interpolation with trapezoidal profile _ 1247 start ta line4 Begin a absolute 4 axis linear interpolation with trapezoi dal profile 1247 start sr line4 Begin a relative 4 axis linear interpolation with S curve profile 1247 start sa line4 PCI 1247 User Manual Begin a absolute 4 axis linear interpolation with S curve profile 98 3 Circular Interpolation Fu
49. ion card solutions MotionNet supports remote motion slave modules for extended multiple axis applications All these extended motion slave modules are connected serially by a simple CATS cable with RJ45 connectors This reduces wiring between the motion driver and controller and provides a motion control system that is very suitable for highly integrated machine automation applications 59 Chapter 4 MotionNet supports driver specific motion slave modules such as the motion slave module for Mitsubishi J2 Super series Driver Motor and Panasonic Minas A type servo driver motor Please select the matching cable PCL 10120M or PCL 10150M and plug this cable into both the motion driver and motion slave module Motion Net also supports general purpose motion slave modules for general driver motors including step driver motors This general purpose motion slave module is designed with many screw terminals onboard to support easy wiring Please refer to the relevant installation guides PCI 1247 User Manual 60 4 3 4 Common Connector Pin Definitions Communication Connector RJ 45 ADAM 3213 Y 2 3212 025 Pin Label Description NC NC RS 485 NC NC RS 485 NC NC gt 61 Chapter 4 External Power Input Connector ADAM 3212 J25 ADAM 3213 Y 2 Pin Label Description 1 24V DC 24V 2 GND DC 24V Ground 3 FG Fie
50. l the package should also include the fol lowing items PCI 1247 Advanced 4 Axis Servo Stepper Motion Control Card Advantech Driver Disc An optional terminal board for wiring purposes If a different model 15 ordered If any of these items are missing or damaged contact the dealer from whom you purchased the product Save the shipping materials and carton in case you want to ship or store the product in the future PCI 1247 User Manual 10 2 2 PCB Board Layout CN3 oo 5 CN8 NPM PCL6045 PCI 1247 CN1 SCSI 68 pins 2 axes motion Input Output signal connector 1st and 2nd Axis CN2 RJ 45 MotionNet slave module link port CN3 Motion signal Input Output connector for 3rd and 4th axis CN4 Motion signal Input Output connector for 3rd and 4th axis CN5 General purpose TTL Input Output CN6 CPLD code download port CN7 Simultaneous start stop connector CN8 Simultaneous STA STP connector SW1 Pulse output type selection switch SW2 EMG with manual pulse generator ON OFF switch LED Status indicator lights 96931247A0 CN1 SCSI 68 pins 2 axes motion Input Output signal connector 3rd and 4th Axis CN2 SCSI 20 pins manual pulse generator connector CN3 Motion signal Input Output connector for 3rd and 4th axis CN4 Motion signal Input Output connector for 3rd and 4th axis 11 Chapter
51. l 26 DO Axis Digital Output Digital Output Signal Digital output for each axis is designed for general purpose output func tion Please refer to the following table 3 7 Table 3 7 DO Pins Pin Label 1st 3rd Axis Pin Label 2nd 4th Axis Description Description 32 DOX Axis related DO 66 DOY Axis related DO The signal connection is shown in fig 3 10 Figure 3 10 DO Wiring Diagram Note The Max Output current limit is 20 mA 27 Chapter 3 3 1 2 Driver I O Interface Signals ALM Servo Alarm Digital Input Signal ALM input signal from ALM signal at servo driver The servo driver will issue ALM output when it is under abnormal operation or overload Please refer to table 3 8 for a description Table 3 8 ALM Pins Pin Label 1st 3rd Axis Pin Label 2nd 4th Axis Description Description 17 24V forNPN GND 51 24 V for NPN GND for PNP for PNP 22 ALMX Servo ALM input 56 ALMY Servo ALM input The signal connection is shown in fig 3 11 ANPN GND GND Figure 3 11 ALM Wiring for NPN Mode Note When ALM 15 active and enabled PCI 1247 will stop pulse output PCI 1247 User Manual 28 RALM Servo Alarm Reset Digital Output Signal This RALM signal is designed to reset ALM status inside the servo driver if the alarm status can be reset Please refer to Table 3 9 for a description Table 3 9 RALM Pins 1st 3
52. ld Ground 1 6 4 24V DC 24V 5 GND DC 24V Ground 6 FG Field Ground PCI 1247 User Manual 62 Slave ID Setting DIP Switch ADAM 3213 Y 2 Label A5 4 2 1 0 Note Node Number 32xA5 16xA4 8xA3 4xA2 2xA1 A0 63 Chapter 4 Configuration Setting Label AS 4 2 1 0 How to Use the Baud Rate Setting B1 Baud Rate Setting OFF OFF 1 4 System Clock OFF ON 1 8 System Clock ON OFF 1 16 System Clock ON ON Note default system clock 80 MHz PCI 1247 User Manual 64 1 32 System Clock Connector Pin Descriptions 3213 52 General Description DC 24V Power Output Ground End Limit Signal End Limit Signal Home Signal Input Ramp Down Signal Input Latch Signal Input Latch Signal Input Emergency Stop Input Emergency Stop Input Position Change Signal Input Clear Position Command Counter Signal Input ADAM 3210 Description Pulse Signal Output Pulse Signal Output Direction Signal Output Direction Signal Output Encoder A Phase Encoder A Phase Encoder B Phase Encoder B Phase Encoder Z Phase Encoder Z Phase Chapter 4 CN2 Connector Pin Descriptions
53. n click on each individual slave module in the menu the informa tion about the selected slave module will be displayed on the right as shown in figure 5 40 In this dialog box the ID and Type of the slave module will be displayed DEVICE INFORMATION DEVICE IP 2 DEVICE TYPE 16In 160Out DEVICE STATUS USED BAUDRATE 20 MHZ OPERATING STATUS SUCCESS Figure 5 40 Message about the slave module 91 Chapter 5 5 2 7 DIO Type Slave Module 2 types of icons are applied in the operation box of DIO type slave mod ule The green lamp is for input signal the red button 15 for output signal User can click on the red button and send output signals thereafter User can read the input status from the green lamp Please refer to the follow ing pictures Fig 5 41 Fig 5 43 IO CHANNEL STATUS Figure 5 43 DO 32 PCI 1247 User Manual 92 5 2 8 1 axis Motion Slave There are 2 menus for the 1 15 motion slave modules One 15 for opera tion the other is for configuration as shown in the following figures Fig 5 44 and Fig 5 45 Before proceed to the operation menu please check the settings in the configuration menus first Correct I O configura tion settings are necessary to successful operations Figure 5 44 Operation of l axis Motion Slave Please check the following settings including ALM ERC INP ORG LTC SLD and especially the type of pulse output and encoder inputs The status of these signals on this salv
54. nction Name Description 1247 start a arc xy Begin a absolute circular interpolation for X amp Y 1247 start r arc xy Begin a relative circular interpolation for X amp Y 1247 start a arc zu Begin a absolute circular interpolation for Z amp U 1247 start r arc zu Begin a relative circular interpolation for Z amp U 1247 start a arc2 Begin a absolute circular interpolation for any 2 of the 4 axes 1247 start r arc2 Begin a relative circular interpolation for any 2 of the 4 axes 4 Velocity Move Function Name Description 1247 move Encoder feedback input 1247 sv move Configure the pulse output mode 1247 v change Set counter input source 1247 sd stop Decelerate to stop 1247 emg stop Immediately stop 1247 fix speed range Define the speed range 1247 unfix speed range Release the speed range constrain 1247 get current speed Get current speed 99 Chapter 6 5 Position Latch and Position Compare Function Name Description 1247 get position Get the value of feedback position counter 1247 set position Set the feedback position counter 1247 get command Get the value of command position counter 1247 set command Set the command position counter 1247 get error counter Get the value of position error counter 1247 reset error counter Reset the position error counter 1247 get general counter Get the value of gener
55. nt To Point Function Name Description 1247 start tr move Begin a relative trapezoidal profile move 1247 start ta move Begin an absolute trapezoidal profile move 1247 start sr move Begin a relative S curve profile move 1247 start sa move Begin an absolute S curve profile move 1247 set move ratio Set the ratio of command pulse and feedback pulse 1247 p change Change position on the fly 1247 set pcs logic Set the logic of PCS Position Change Signal _ 1247 backlash comp Set backlash corrective pulse for compensa tion 1247 suppress vibration Set vibration suppressing timing 97 Chapter 6 2 Linear Interpolation Function Name Description 1247 start tr move xy Begin a relative 2 axis linear interpolation for X amp Y with trapezoidal profile 1247 start ta move xy Begin a absolute 2 axis linear interpolation for X amp Y with trapezoidal profile 1247 start sr move xy Begin a relative 2 axis linear interpolation for X amp Y with S curve profile 1247 start sa move xy Begin a absolute 2 axis linear interpolation for X amp Y with S curve profile 1247 start tr move zu Begin a relative 2 axis linear interpolation for Z amp U with trapezoidal profile 1247 start ta move zu Begin a absolute 2 axis linear interpolation for Z amp U with trapezoidal profile 1247 start sr move zu Begin a relative 2 axis l
56. nterface mnet get ring address Get the operating physical address 6 2 2 Communication Operation Ring Status Function Function Name Description mnet get ring status Get the active ring status mnet get com status Get the target ring communication status mnet set quality param Set the ring communication quality mnet get slave info Ring Operation Function Function Name Get the slave information Description _ start ring Start ring communication mnet stop ring Stop Ring communication mnet reset ring Soft reset ring and recorder data mnet get ring active table Get the active slave table mnet enable soft watchdog Enable watch dog 103 Chapter Slave Status Function Function Name Description mnet set slave quality param Set slave continue error Endurance mnet get error slave Get the first error slave device mnet get warning slave Get the first error slave device 6 2 3 DIO Slave Module Operation IO Slave Operation Function Name Description mnet io output output remote port mnet io input input remote port 6 2 4 1 Axis Motion Slave Operation Motion Slave Initial Function Name Description mnet m1 initial Initial the remote Axis resource Motion Slave Configure Function Name Description mnet m1 set pls iptmode Set encoder input mode
57. o all E 0 1 3 Normal Stop ClearAll Select All Hest Command Continued Clear All Select All Continuous Pre register is Empty m Clear All Select All Acceleration Start LI LI LI Clear All Select All Acceleration End Clear All Select All Deceleration Start E E Select All Deceleration End Clear All Select All Position Error Occur Select All General Comparator Compared Clear All Select All Compare Trigger for Axis 0 1 Clear All Select All Latch for Asis Clear All Select All ORG On Clear alll Select All SD On m Clear Al Select Al Clear All Clear All Clear All Clear All Select Select Select Select Figure 5 8 Dialog for Interrupt Setting 73 Chapter 5 49 1247 Motion Nevigator File F Configuration c Windowst HelpiH Interface Potion amp Yelocity Axis 0 Axis 1 Axis 2 Axis 3 Command Position 0 0 FeedBack Position 0 0 Position Error jo jo jo jo Target Position jo jo jo jo Velocity 00 B B B Motion Status fo jo jo jo 1 1 Figure 5 9 Pulse Pulse I O Setting as shown in figure 5
58. ogramming MotionNAVI can also be used to test the connection between motion cards and Driver Motors or to test the connection between motion cards and machines You can save the relevant settings into a configuration file This configuration file can be loaded into the application program for system initialization MotionNAVI reduces time and effort for system testing and debugging and also enhances the efficiency of project development MotionNAVI is easy to use and learn especially for beginners Beginners can learn how to master motion control of machines with PCI 1247 5 1 1 Minimum System Requirements PC IBM PC Compatible with at least x586 CPU Memory 128 MB RAM OS Windows 2000 XP 5 1 2 Description Start up Figure 5 1 shows the menu that will be displayed on you PC after Motion NAVI is activated Menu selection is on top of the display In the middle is an MDI operation menu Multiple dialog boxes can be shown in this display PCI 1247 User Manual 70 171 1247 Motion Mevigaior 58508 AEB 0000000000 9908868008800 99088008800 pn Figure 5 1 Start up of MotionNAVI 5 1 3 File Management Three functions are implemented in the File Management menu They are Save Configuration Load Configuration and Load Default Configu ration Save Configuration is shown in Figure 5 2 42 1 1247 Motion Nevigator Configuration
59. otion P Molti xi Axis 0 Command Position 0 0 0 0 oo FeedBack Position 0 0 0 0 ALM Position Error 0 0 0 0 EL Target Position 0 0 0 0 EL C C C C Velocity 0 0 0 0 W Figure 5 11 Motion Menu In figure 5 12 you can see how different home modes can be set There are 13 modes Home Configuration Home Mode Set the home mode from 13 available modes ERC Output ERC output or not after homing is finished EZ Count Count of Encoder Z Phase Home Move lt Previous Card 0 gt lt Previous Anis 0 gt start Velocityippa 0 Maximum Velocity pps 0 Accel Time sec 0 Home Configuration Home Move Go Home Mode ERC Output EZ Count Output when finished 0 Not Output 2 Stop Figure 5 12 Dialog of HOME Move Menu Help 77 Chapter 5 Continuous Move 48 PCI 1247 Motion Nevigator File F Configuration y Motion Option Home Display Continuous Move fil lt Previous Card 0 F to P sis Motion M 120 Status Axis Axis Ax Axis 3 0 Command Position FeedBack Position 0 n fo o Position Error 0 fo fo o EL Target Position 0 n o
60. position error counter 1247 reset error counter Reset the position error counter 1247 get general counter Get the value of general counter 1247 set general counter Set the general counter 1247 get target pos Get the value of target position recorder 1247 reset target pos Reset target position recorder 1247 get rest command Get remain pulse till end of motion _ 1247 check rdp Check the ramping down point data 6 1 10 General purpose TTL output Function Name Description _ 1247 d output Digital Output 1247 get dio status Get DO status 101 Chapter 6 6 1 11 Motion I O Monitoring Function Name Description _ 1247 get io status Get the motion I O status of 1247 6 1 12 Interface Function Name Description 1247 set ell Logic Set the ELL logic _ 1247 set alm Set alarm logic and operating mode 1247 set el Set EL logic and operating mode 1247 set inp Set INP logic and operating mode 1247 set erc Set ERC logic and timing 1247 set sd Set SD logic and operating mode 1247 set servo Set servo Driver logic 1247 set servoAlarm PCI 1247 User Manual Set servo alarm logic 102 6 2 MotionNet Extension API 6 2 1 System Initialization Function Name Description _mnet_initial initialize system resource mnet get hardware info get the hardware information _mnet_close Close MNET i
61. pports powerful Manual Operation Functions All MOF functions are completed by hard ware on board The response is fast especially compared to traditional manual operations that are simulated by software There are functions under this MOF menu First is MPG Second is JOG The last one is STEP as shown in figure 5 23 A specially designed Handy Pendant is used to demonstrate this function Please refer to figure 5 24 Figure 5 23 Handy Pendant PCI 1247 User Manual 82 Hand Wheel 1 25 10 10 100 90 Speed Dist Pulser iptmade C ad E C Figure 5 24 MOF Menu Before you make use of MOF you first have to switch from Auto mode to Manual mode Hold the enable button and release the EMG button on the Pendant MPG Mode Select the MPG function in Manual mode and then select the axis and the rate factor There are 3 rate factors x1 x5 and x25 Set the corresponding velocity data by clicking on the SET button in the MPG set area Then you can rotate the MPG to send command pulses to the PCI 1247 and control the driver motor manually by the way of pulse commands 83 Chapter 5 JOG Mode Select the JOG function in Manual Mode and then select the axis and the feed rate factor Set the corresponding velocity data by clicking on the SET button in the JOG set area Then you can push the JOG button to control the command pulse output from the controller to the driver motor When you pu
62. r rate Max 6 5 MHz 1 Axis pulse output 28 bit counter for incremental encoder Programmable acceleration and deceleration time T curve and S curve velocity profiles support Change speed position on the fly Simultaneously start stop on multiple motion control modules Easy installation with RJ45 phone jack and LED diagnostic Easy installation for servo or stepping motor driver 4 3 2 Specifications Series interface Half duplex RS 485 with transformer isolation Cable type CAT5 UTP STP Ethernet cable Surge protection 10 kV Transmission speed 2 5 5 10 and 20 Mbps Programmable Pulse output mode XOUT DIR CW CCW A B phase PCI 1247 User Manual 58 Programmable pulse command speed Max 6 5Mpps Min 0 05pps Position range 28 bits 134 217 728 pulses Home return mode 13 types Velocity profiles T curve S curve Counter for encoder feedback signals 28 bits up down Position latch input LTC Position compare output CMP Incremental encoder input EA EB Encoder index signal input EZ Machine interface PEL MEL ORG SLD Servo driver interface ALM RDY SVON INP ERC Simultaneous start stop motion input STA STP LED indicator PWR RUN ERR PEL MEL ORG SLD Power supply 18V DC to 30V DC consumption 3W typical Operating temperature 0 to 60 4 3 3 Product Introductions 3212 025 ADAM 3213 Y 2 Figure 4 3 ADAM 32xx Products Series Unlike traditional mot
63. rd Axis i 2nd 4th Axis Description Description 24 V for NPN 24 V for NPN GND for PNP GND for PNP ALM reset output ALM reset output The signal connection is shown in fig 3 12 24V Figure 3 12 RALM Output Wiring Diagram Note The Max output current 15 limited to 20 mA 29 Chapter 3 SVON Servo On Digital Output Signal SVON is an output signal from PCI 1247 and is used to make driver servo on to hold the motor Please refer to table 3 10 Table 3 10 SVON Pins Pin Label 1st 3rd Axis Pin Label 2nd 4th Axis Description Description 21 SVONX SVON Output 55 SVONY SVON Output The signal connection is shown in fig 3 13 Figure 3 13 SVON Output Wiring Diagram Note Max output current is limited by 20 mA PCI 1247 User Manual 30 RDY Driver Ready Signal Digital Input Signal RDY is an input signal and is used to read the RDY signal at servo driver Please refer to table 3 11 Table 3 11 RDY Pins 1st 3rd Axis i 2nd 4th Axis Description Description 24 V for NPN GND 24 V for NPN GND for PNP for PNP Servo RDY input Servo RDY input The signal connection is shown in fig 3 14 GND Figure 3 14 RDY Wiring for NPN Mode 31 Chapter 3 INP Axis In Position Signal Digital Input Signal INP is an input signal at PCI 1247 and is used to read the INP status inside servo driver Please
64. refer to table 3 12 for descriptions Table 3 12 INP Pins Pin Label 1st 3rd Axis Pin Label 2nd 4th Axis Description Description 17 24 51 COM 24 for NPN GND for PNP for PNP 23 INPX Servo In Position 57 INPY Servo In Position Input Input The signal connection is shown in fig 3 15 5V NPN GND GND Figure 3 15 NP Wiring for NPN Mode PCI 1247 User Manual 32 ERC Deviation Counter Clear Digital Output Signal ERC output will be active when the following condition is activated Homing is complete PEL MEL is active ALM is active User issues EMG by software For safety reasons please issue ERC before SVON Please refer to table 3 13 Table 3 13 ERC Pins 1st 3rd Axis i 2nd 4th Axis Description Description Reset Driver error Reset Driver error counter counter The signal connection is shown in fig 3 16 Figure 3 16 ERC Output Wiring Diagram Note The Max output current is limited by 20 mA 33 Chapter 3 3 1 3 Driver Pulse I O Interface Signals OUT and DIR Pulse Output Control Digital Output Signal There are six types of pulse output for PCI 1247 Specify the electrical specification as differential or open collector Then select DIR OUT or CW CCW Refer to table 3 14 for the pin definition of the DIR OUT pins You can also refer to the dipswitch setting in chapter 2 Table
65. se Encoder Z Phase NPN 24V PNP GND NPN 24V PNP GND End limit signal End limit signal End limit signal End limit signal NPN 24V PNP GND NPN 24V PNP GND Home Signal Input Home Signal Input Ramp down Signal Input Ramp down Signal Input External Ground External Ground Servo On Servo On Servo Alarm Servo Alarm Servo In Position signal Servo In Position sig nal Clear Servo Error Counter Clear Servo Error Counter Reset Servo Alarm Reset Servo Alarm Servo Ready Servo Ready External Ground External Ground External Latch Input External Latch Input Position Compare Output Position Compare Out put External Ground External Ground EMG for 1st GPIO Input for 3rd GPIO Input GPIO Output GPIO Output External Ground External Ground Power 24 300mA Input PCI 1247 User Manual 14 Power 24V 300mA Input 2 5 2 MPG Figure 2 3 SCSI 20 pins Define CN2 for 96931247A0 Description i Description Power 24V 200mA Output External Ground X Axis selected Y Axis selected Z Axis selected U Axis selected Multiple control bitO Multiple control bit1 Multiple control bit2 NPN 24V PNP GND Power 5V 200mA Output Ground Pulser A Phase input Pulser B Phase input NPN 24V PNP GND Hand
66. se Generator is not connected to PCI 1247 the SW2 has to be On disable 17 Chapter 2 PCI 1247 User Manual 18 CHAPTER Signal Connections There are three groups of signal con nections for PCI 1247 The first is for Machine I O interfaces The second is for Pulse I O interfaces And the third is for Servo Driver I O interfaces They are all described in the following sec tions General Description Servo Driver Motor Connection Chapter 3 Signal Connections 3 1 General Description 3 1 1 Machine I O Interface Signals PEL and MEL End Limit Digital Input Signal There are two end limit signals called PEL and MEL for each axis Usu ally they are Normal Close type signals from external sensors PEL indi cates the limit of motion in the plus direction and MEL indicates the limit of motion in the minus direction The relative signal names pin number and axis number are shown in the following table Table 3 1 PEL and MEL Pins 1st 3rd Axis i 2nd 4th Axis Description Description 24 V for NPN GND 24 V for NPN GND for PNP for PNP Plus End Limit for Plus End Limit for Axis Axis 1 3 2 4 Minus End Limit for Minus End Limit for Axis 1 3 Axis 2 4 The signals connections are shown in figures 3 1 and 3 2 Pin14 17 48 51 GND GND Figure 3 1 PEL MEL Wiring for NPN Sink Mode PCI 1247 User Manual 20 24V 24K 5 COM PNP Pin14 17 48 GND
67. sh on the button pulses will be generated continuously when you release the button pulses will be terminated immediately STEP Mode Select the STEP function in Manual Mode and select the axis Set the corresponding velocity and distance parameters by clicking on the SET button in the STEP set area Every time you push the JOG button the specified pulses will be generated and sent to the driver motor automati cally This is different from the MPG and JOG function 5 1 7 Windows Display You can switch to the desired menu display quickly by clicking on the sub menu button as shown in figure 5 25 8 PCI 1247 Motion Mevigator Fie F Configuration Optionit Wandows W Help Hel lt Previous Card 0 gt Potion amp Velocity Axis Axis 1 Axis 2 Axis 3 Command Position jo jo FeedBack Position jo jo fo jo Position Error jo jo jo jo Target Position fo Velocity 5 00 B Motion Status jo jo jo fo Position Position Position Position Set Set Set Set Figure 5 25 Window Display Switch eo 000 o a PCI 1247 User Manual 84 5 1 8 Help In the HELP menu shown in figure 5 26 you can see the Information and About choices 48 PCI 1247 Motion Nevigator The Base Address and IRQ Level will be shown as shown in figure 5 27 when choosing Product Information Figure 5 27 Product Information
68. t 3 HZ Z axis input 13 HU U axis input 4 H1 Rate input bitO 14 H10 Rate inputbit1 5 H100 Rate input bit2 15 HCOM NPN 24 V PNP GND 6 5 5 200 power 16 GND Ground output 7 MPG A Phase input 17 HPB MPG B Phase input 8 HCOM NPN 24V 18 HEN MOF Enable input PNP GND 9 HJOGP JOG input 19 HJOG JOG input N 10 EMG Emergent contact 20 EMG_ Emergent contact K K The signal connection is shown in figure 3 20 to 3 23 37 Chapter 3 R 2 4K 1 2 3 1 a 974 HCOM 24V PNP 24 amp ISO R 2 4K 4 N 1 1 2 3 1 22 3 2 GND Figure 3 20 HX HY HZ HU H1 H10 H100 PCI 1247 User Manual 38 ISO ISO N HCOM 24V PNP HCOM GND Figure 3 21 HPA HPB 39 ND 24V Chapter 3 Figure 3 23 EMG EMGk PCI 1247 User Manual 40 3 1 5 MotionNet Extension Interface RS485 Motionnet ASIC DGND DC mE Servo driver interface Motion I O Figure 3 24 RS485 Extension Port 41 Chapter 3 3 2 Servo Driver Motor Connection Interface 3 2 1 General Servo Stepping Driver JIType Selecting Jumper Warning Damage can happen with wrong wiring NPN Type ADAM 3968M PCI 1247 User Manual Label General Description ALM Servo Alarm Signal Input ERC Clear Servo Error Counter Signal Output Servo On Signal Output In Position Signal Input Servo Ready Signal input Rest Servo Alarm Signal Output Encoder A Phase
69. t is to consult the BIOS documentation that comes with your system Check the control panel of your Windows system if the card 1s listed by the system If it s not listed check your PCI settings in BIOS or plug the card into another PCI slot PCI 1247 User Manual 12 2 4 Driver Installation Auto Run from the Advantech Driver CD Choose Driver Installation gt PCI 1247 Follow the procedures of the installer After setup installation is completed restart windows 2 5 Connector Descriptions 2 5 1 4 Axis Motion 1 34 35 68 Figure 2 2 SCSI 68pin define CNI for PCI 1247 amp 96931247A0 Pin Label 1st 3rd Axis Pin Label 2nd 4th Axis Description Description 1 5V Power 5V 200mA 35 5V Power 5V 200mA Output Output 2 GND External Ground 36 GND External Ground 3 OUTX Pulse Signal 37 OUTY Pulse Signal 4 OUTX Pulse Signal 38 OUTY Pulse Signal 5 DIRX Dir Signal 39 DIRY Dir Signal 6 DIRX Dir Signal 40 DIRY Dir Signal 7 GND External Ground 41 GND External Ground 8 EAX Encoder A Phase 42 EAY Encoder A Phase 9 EAX Encoder A Phase 43 EAY Encoder A Phase 10 EBX Encoder B Phase 44 EBY Encoder B Phase 11 EBX Encoder B Phase 45 EBY Encoder B Phase 13 Chapter 2 Encoder Z Phase Encoder Z Phase Encoder Z Pha
70. tely or Dec to Stop INP In Position Logic Level Setting Active High or Active Low Action Type Enable or Disable ERC Error Rest Counter Logic Level Setting Active High or Active Low Active Timing Duration of ERC Signal SVON Servo On signal to Driver Alarm Rest Alarm Reset signal to Driver Mechanical Interface I O Setting EL End Limit and ELL End Limit Logic Logic Level Setting Active High or Active Low Action Type Stop Immediately or Dec to Stop ORG Origin Logic Level Setting Active High or Active Low LTC Latch Logic Level Setting Active High or Active Low SD Slow Down Enable Disable Setting Enable or Disable the function of Slow Down Logic level Setting Active High or Active Low Action Type Stop Immediately or Dec to Stop SD Latch SD Latch SD Signal Latch or Not PCI 1247 User Manual 74 49 PCI 1247 Motion Nevigator File F onfisuration c Option 0 Windows W Interface InterruptiW Pulse IO P Display lt Pre 120 Status Axis Ax Axis 3 RADY O E o FeedBack Position Pasilian Error Potion amp Velacity Target Position Velocity Motion Status Figure 5 7 Interrupt I O Interrupt I O Setting You can set different Interrupt factor for each axis as shown in figure 5 8 pz Interrupt Configuration Hel lt Previous Card u Next gt Apply t
71. tion Input Connector 1 240 DC24V 2 GND DC 24V Ground 3 FG Field Ground 4 24V DC 24V 5 GND DC 24V Ground 6 FG Field Ground ADAM 3968M YS2 LED Status Display Label General Description SVON DC 5V Power Input Ready 24VON DC 24V Power Input Ready PEL End Limit Signal MEL End Limit Signal ORG Home Signal Input Ls SLD Ramp Down Signal Input ADAM 3968M YS2 49 Chapter 3 PCI 1247 User Manual 50 CHAPTER MotionNet Extension Modules Sections include Installation and Removal of Exten sion Modules DIO Slave Module Motion Slave Modules Chapter 4 MotionNet Extension Modules 4 1 Installation and Removal of Extension Modules 4 1 1 Installation Please make sure the extension slave modules have been plugged into the DIN rail correctly Try to move the module by hand after installation No vertical movement up and down will be possible if the installation is correct Only horizontal movement right and left will be possible 4 1 2 Removal Please refer to figure 4 1 and proceed with the following steps 1 Use a flat screwdriver 2 Plug this screwdriver into the bar on the right end 3 Push the screwdriver to pull out the bar 4 Slightly pull the slave module out of the DIN rail while keeping the screwdriver in its position pulling the bar Make sure the module is no longer attached on the right side 5 Follow the same steps 2 4 on the left side 6 After steps 1 4 have been success
72. wiring terminal will be used together with this type of slave ADAM 3968M supports 3 screw terminals for each input and out put The ADAM 37xx is very suitable for system integration and quick development of machine prototypes ADAM 37xxF is an economic option for a DIO slave modules that is designed for customers that have their own I O terminal boards 4 2 4 Common Connector Pin Definitions Communication Conn RJ 45 Pin Label Description NC NC RS485 NC NC RS485 NC NC Pin Label Description 24V DC 24V GND DC 24V Ground FG Field Ground 24V DC 24V GND DC 24V Ground FG Field Ground PCI 1247 User Manual 54 66660066 ID Setting DIP Switch 20000000 20000000 600000606 C W WM W Pin Label ON OFF 1 A5 1 O 2 4 1 0 3 A3 1 0 4 A2 1 O 5 A1 1 O 6 AO 1 O Note Node Number 32 5 16 4 8 4 2 2 1 Default Setting 55 PinLabel Description ON OFF 1 B1 Baud Rate Setting 1 0 BO Baud Rate Setting 1 0 TD Reserved TM Reserved BK Reserved TR Terminate Resistance Enable Disable How to use Baud Rate Setting BO B1 Baud Rate Setting OFF OFF 1 4 System Clock OFF ON 1 8 System Clock ON OFF 1 16 System Clock ON ON 1 32 System Clock Note default system clock 80 Mhz Chapter 4 4 2 5 Specific Connector Pin Definitions ADAM 375x Pin Definitions ADAM 3752 AD

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