DASP-52506 User Maunal
Contents
1. Z 5923 Zw MI iim i m m 9001 2980 2 i ii NHANH imi Fig 2 1 14 Installation DASP 52506 User s Manual 2 2 20 Connector PIN Assignment SCSI H 100PIN PIN Assignment J5 SCSI II 100PIN CONNECTOR meme mm meme _ em k F j k F e pw h p pene e pee I1 n E OT 12 INH 01 T E INH_02 HOME 13 2 3 OT 13 OT _13 INH 03 INH 04 HOME 16 13 14 15 16 HOME 15 17 01 15 OT 16 Installation 15 18 DASP 52506 User s Manual SCSI II 100PIN CONNECTOR XENC_INC1 PIN Definition XENC_INC2 XENC_INA3 XENC_INA4 P 26 76 27 77 XENC_INA3 25 m XENC INA4 XENC INB3 XENC INB4 gt gt P 16 Installation DASP 52506 User s Manual PIN Definition PN _ PINDefinition as po p wara LN s XDDA_OUTA1 XDDA_OUTB1 XDDA_OUTB1 XDDA_OUTA3 XDDA_OUTA3 XDDA_OUTB3 XDDA_OUTB4 XDDA_OUTB3 XDDA_OUTB4 o XDDA 5 XDDA OUTA6 XDDA OUTAS5 XDDA_OUTA6 XDDA OUTB5 XDDA OUTB6 XDDA OUTB5 XDDA OUTB6 Master Slave Board Jumper Setting J1 J2 Master Slave Setting OPEN PIN The board serves as slave board In this situation the clock signal of the slave board should be directly connected to the master board which pr2. 13 2 1 Installation Procedures ieni usu ERR 13 2 2 Board Drawing L ei inta ieu a 14 2 2 1 Board 14 2 2 2 Connector PIN 15 23 Wiring Diagrams 18 2 3 1 Closed Loop Velocity Output Controls 18 2 3 2 Open Loop Pulse Output Controls 19 2 3 3 DASP 52506 Digital Wiring Diagram 19 Chapter 3 Parameters Setting 23 4 1 Hardware Parameters uuu aaa ssasasasasasasaqaqsas 24 2 Home Settings 26 Table of Contents Table of Contents ili ac Motion Constans u ur 30 34 Moton Constraing aaa sisa asqaqyassqanasusaqi 32 do Axes Set IIS 34 Chapter 4 Motion Test Utility 37 4 1 Basic Operation of MotionTestUtility 38 42 Homing Testing kid dp 39 gt EIL 40 4 4 Multi axis linear movement testing 41 45 Multi axis arc movement testing 42 4 6 Application Path Teaching and recording 42 iv Table of Contents DASP 52506 User s Manual Chapter 1 Introduction 1 1 Descriptions DASP 52506 based on the ASIC can provide 6 axes servo or stepping motor motion control with DDA Digital Differential Analyzer algori
3. X Axis D WO Test 2 3 4 5 6 OT 1 2 3 4 5 6 HOM 3 4 5 00 000 NN NN NN m 3 1M NHI 2 5 6 RO Fig 4 6 Multi axis arc movement testing 4 6 Application Path Teaching and 42 Motion Test Utility DASP 52506 User s Manual recording Jog Mode refer to the page of Jog Mode Feed Rate assign the moving speed Add Add the current machine position to the teaching buffer The teaching buffer is a set of memory which maintained by the MotionTestUtility It records a list of machine position temporally The teaching buffer can be serialized by the Save Load Path File function Reset Clear all the machine positions from the teaching buffer Used Buffer Max the number of recorded machine position in the teaching buffer the maximum available recorded count of teaching buffer Save Path File Save the recorded machine position in the teaching buffer to a file Load Path File Load the machine position from a file to the teaching buffer Continue Run Go Run all the machine positions in the teaching buffer Continue Run Stop Halt the continue running mode Single Step execute a forward backward single step command in the teaching buffer Single Step Stop Halt the current running command Current Index show the current index of the running
4. Max Output Pulses ranged from 1024 to 32767 DDA Engine Length is 0 15 bits for each DDA cycle time Pulse Width Extender for Pulse Direction and CW CCW format 12 bits Pulse Width 25 ns x n n 1 4096 default n 1 6 Introduction DASP 52506 User s Manual Movement Command Register 64 Sets Command Buffers execute one movement command for each DDA cycle time Structure 64 Words FIFO first in first out Format one direction bit plus 10 15 bits movement value Full and Empty FIFO Flags Pulse Output Format denotes OutA OutB Pulse Direction Default CW CCW A B Movement Command divide by 4 Inhibit Pulse Output Controls Invert and Swap Function Line driver MC3487 5V DIFFERENTIAL Output Introduction 7 DASP 52506 User s Manual Closed Loop Velocity Voltage Output Controls 0 52506 BUS Command DDA D a modos Interface Register Engine U Q V Command Error Counter 10V 10V 5i Command N E Engine NO Kp2 DAC aj Counter Encoder Ext Control Latch Feedback InA InA Sample Counte
5. deceleration time of the group This parameter relates to the setting of GOO Acc Dec Time JOG Max Speed The maximum speed in jog moving Homing Low Speed If Home Settings gt Two Stage Parameters Setting DASP 52506 User s Manual Homing Speeds for Each Axis is not assigned the system first stage homing is GOO Max Speed and the second stage homing speed is Homing Low Speed CMD Invert Command of each axis is inverse or not S Curve Acc Dec Enable disable the function of S Curve acceleration and deceleration Parameters Setting 31 DASP 52506 User s Manual 3 4 Motion Constrains 2 Software OT The setting of positive software Over Travel position of each axis Software OT The setting of negative software Over Travel position of each axis 32 Parameters Setting DASP 52506 User s Manual Window Set the range of InPos checking window The size of the InPos window is the double size of the setting value Fig 3 7 Destination ar a InPos Window Fig 3 7 Axis Setting Set the function of axis C starting speed mechanism It is available for the stepping motor Move Type Set axis C is a linear or a revolving axis Start Speed Enable and assign the starting speed of axis C Parameters Setting 33 DASP 52506 User s Manual 3 5 Axes Settings CMD Type The command format of each axis DASP 52506 supports the Pul Dir Cw Ccw and A
6. 1 O Map System Software Reset 1 5 2 Motion Control Operation Mode The DASP 52506 has two operation modes Open Loop Pulse Output Controls and Closed Loop Velocity Output Controls The first mode is to convert the segmental movement command into well behaved from frequency variance standpoint pulse train and feed to either the use position mode servo drive or a stepper drive to control the motor The second mode is to work with a velocity mode servo drive The DASP 52506 compares the segmental movement commands from Host PC and the encoder feedback from servo motor calculates via P controls the analog output command then send the command to the velocity mode drive to control servo motor Introduction 5 DASP 52506 User s Manual Open Loop Pulse Output Controls Command DASP 52506 BUS Command DDA Interface Register Engine Control U Q w OUTB Pulse PUD Line Output iid cuu i Driver p Control OUTA Differential Signal Fig 1 3 Movement Command Format one direction bit plus 10 15 bits movement value Unit Square Pulse Pulse Output Mechanism DDA ENGINE Max Control Axes 6 Axes DDA Specifications Enable Disable Programmable DDA enable or disable Default disable DDA Engine Length 10 15 bits
7. B command type Fig 3 8 34 Parameters Setting DASP 52506 User s Manual Positive Rotation Reverse Rotation ees ee E ir J D CW CCW CW eae WU U AU WU Fig 3 8 ENC Type Assign type of the encoder feedback signal DASP 52506 supports the Pul Dir Cw Ccw and A B command type A lt gt B Assign the A B phase signal is inverse or not The setting is effective when the encoder feedback type is A B phase Half Axis The axis must be assigned to a half axis if the axis is utilized for a pure command output such as MPG or a command feedback such as optical scale The flowing error will not be generated if it is a half axis PCL Axis Enable voltage command close loop control if it a PCL axis Stepper Assign if the axis is a stepping motor Parameters Setting 35 DASP 52506 User s Manual This page does not contain any information 36 Parameters Setting DASP 52506 User s Manual Chapter 4 Motion Test Utility After installing the DASP5250x motion SDK user can user can emulate and test the function of DASP5250x by MotionTestUtility You can open the MotionTestUtility in Start Program File gt Axiomtek gt Motion gt MotionTestUtility to run the testing program Press button Open to start testing press button Close to stop
8. command Motion Test Utility 43 DASP 52506 User s Manual Motion TestU tility System Information Axis information Command um Machine Pos um Feed Rate umimin Distance to Go um 13700 per Close 3 36300 133864 3003000 f f Version 1050328 o Interrupt Count 75036 lo Home Made Jog Mode Mulli Axis Mode Arc Move Jog Mode Axis x Jog Rate 00 600 Speed Feed Rate 2000 urwmin Continue Run Fm ml Used Buffer Max 10 20 Snow SP D Moliortaaa csv E sion gt 1330 Load Path File Save Path File Current index 0 1330 202 1734 3266 4798 6330 X Axis fo cyz C ZX C Yt Cz Clear D WO Test OT 41 2 3 4 5 6 OT1 2 3 4 5 6 HOM 2 3 4 5 6 so BERR ES ES EG ER UE UL UR 0 000 NN NE NN m S B RD 4 7 Path Teaching and recording 44 Motion Test Utility
9. the homing mode 1Dir Auto and Index Fig 3 6 Homing start pos Home Offset Encoder Index Home finish pos Fig 3 6 Home Coordinate The coordinate after home finish Sensor ON Logic Assign the signal of HDog and sensors are active low or active high HDog OT Assign the signal of home sensor and limit sensor if use the same signal source Two Stage Homing Speeds for Each Axis Assign if homing command uses two stage speed First stage The duration from starting homing to search HDog Second stage gt The duration from HDog searched to reach encoder index First Stage Speed The speed of first stage homing Second Stage Speed The speed of second stage homing Delay after Homing of Each Axis The delay time after each axis homing finish The relay interval depends on the platform and operation system Parameters Setting 29 DASP 52506 User s Manual 3 33 Motion Constrains 1 30 GOO Acc Dec Time The acceleration and deceleration time of each axis GOO Max Speed The max speed of each axis Max Following Error The assignment of maximum following error The system gives alarm if the running following error exceeds the setting value Back Lash The back lash compensation value of each axis Linear Acc Dec Time The acceleration and deceleration time of the group This parameter relates to the setting of 600 Acc Dec Time Linear Max Speed The maximum acceleration and
10. 13 DASP 52506 System Configuration K KAMAN a dr 4 5 6 FL 2 Hp 1 2 Servo Driver Daughter Board PCIBUS Based Controller DASP52506 Motion Control Card Fig 1 1 Introduction 3 DASP 52506 User s Manual 14 DASP 52506 Function Blocks PCI BUS DASP 52506 Internal Circuit 5V to 15V DC to DC 40MHz Oscillator PCI BUS Interface Internal Register Pulse Type Servo Motor Encoder DDA Generator Line Driver Stepper 6 Closed Loop Engine Module Velocity Type Encoder Servo Motor o lt t 2 Encoder Interface Photo Couple Isolation 3 9 ul S Local I O Photo Couple Isolation 17 Local DI 7 Local DO 128 Remote DI 7 Remote 1 0 Remote Photo Couple Isolation 4 Daughter Board H 128 Remote DO ADC Module Analog Input Fig 1 2 Introduction DASP 52506 User s Manual 1 5 DASP 52506 Specifications 1 5 1 Bus Interface 16 bits PCI Interface Local Bus Clock Base Frequency 40MHz Programmable IO Wait State 1 8 Wait State PCI
11. 25 4330 202 1734 3266 4798 6330 X Axis D WO Test 1 2 3 4 5 6 OT1 2 3 4 5 2 3 4 5 o BRR RE INE eee eee D0 000 INHI 2 5 6 Fig 4 4 Jog Testing Motion Test Utility DASP 52506 User s Manual 44 Multi axis linear movement testing Feed Rate assign the moving speed Destination Rel assign the destination of each axis in relative coordinate presentation press Add button to add the configuration to the command queue Destination Absl assign the destination of each axis in absolute coordinate presentation press Add button to add the configuration to the command queue Go Execute the command in the command queue Stop Stop the current command in the command queue Command Queue show the command queue is empty or not Motion TestU tility System Information fais information Command um Machine Pos um Feed Rate umimin Distance to Go um x 9 1200 410 Y 0 410 Version 41050328 cal i 0 410 Interrupt Count 56838 Mode Jog Moje Multi Mode Ag Move Mode Teaching Test Feed Rate 2000 umimin Command Queue Empty Destination Rel Destination Abs c 500 a um E um Stop um um Queue Info 1330 1330 202 1734 3266 4798 6330 XAxis DO Test 0 41 2 3 4 5 6 OT1 2 3 4 5 6 2 3 4 5 Doo eee eee eee e
12. 5 OT 16 home sensor inputs 6 points HOME l1 HOME 12 HOME 13 HOME 14 HOME 15 HOME 16 emergency stop input 1 point E STOP One Internal Power Status 7 Digital Output W Operation Voltage DC 24V 10 m Driving Type OPEN COLLECTOR Max Driving Current 60 mA isolation Opto m Classify Introduction Introduction DASP 52506 User s Manual Output inhibits 6 points O1 INH O2 INH O3 INH O4 INH O5 INH O6 POSITION READY 1point One pulse DA output enable bit DASP 52506 User s Manual This page does not contain any information 12 Introduction DASP 52506 User s Manual Chapter 2 Installation 2 1 Installation Procedures A Turn off the computer and all of control equipments B Select PC PCI BUS Expansion SLOT 16 bits C Secure DASP 52506 board in place at PCI BUS slot D Connects SCSI Il 100PIN Connector with DASP 52506 Board J1 and other Connector Installation 13 DASP 52506 User s Manual 2 2 Board Outline Drawing 2 2 4 Board Layout Bunu VRIS s 5 JE iiri 0900 6909 949 444 a a 0 629 020 929 920 220 5 959 E i i aiu 6999 223 c E 020 2929 EU x 099 EU t v e e 5 e b 6959 0909 2929
13. DASP 52506 6 Axes Motion Control Board User s Manual Disclaimers The information in this manual has been carefully checked and is believed to be accurate AXIOMTEK Ltd assumes responsibility for any infringements of patents or other rights of third parties which may result from its use AXIOMTEK assumes no responsibility for any inaccuracies that may be contained in this document AXIOMTEK makes no commitment to update or to keep current the information contained in this manual AXIOMTEK reserves the right to make improvements to this document and or product at any time and without notice No part of this document may be reproduced stored in a retrieval system or transmitted in any form or by any means electronic mechanical photocopying recording or otherwise without the prior written permission of AXIOMTEK Co Ltd Copyright 2005 by AXIOMTEK Co Ltd All rights reserved October 2005 Version A1 Printed in Taiwan Chapter 1 Introduction 1 tcr 1 l2 Funcion Features uy uu u URS 2 1 3 DASP 52506 System Configuration 3 1 4 DASP 52506 Function Blocks 4 1 5 DASP 52506 Specifications 5 1 5 1 iuuentus 5 1 5 2 Motion Control Operation Mode 5 1 5 3 Digital I O caccia titi eie ehe otn 10 Chapter 2 Installation
14. ation Command um Machine Pos um Feed Rate umimm Distance to Go um p 0 o o 1 0 0 0 Version 1050328 Interrupt Count 23840 Home Mode Mode Multi is Mode Are Move Mode Teaching Test ZHome Ct C vt Y C Horne Start NA jeca 1330 men 202 1734 3256 aaa eso X Axis Horne Status DO Test OT41 2 3 4 5 6 OT I 2 3 4 5 6 HM 2 3 4 5 Doo BRR EG ES ES ESE USES eee eee 20 000 NN NE m 2 6 RO Fig 4 3 Homing Testing Motion Test Utility 39 DASP 52506 User s Manual 4 3 Jog Testing 40 Jog Rate Jog feed rate range 0 1 0 0 100 Jog Rate GOO Max Speed rate About the parameter G00 Max Speed and the additional jog setup please refer to the utility MotParam Jog The motor rotates to positive negative direction when the Jog button pressed down The motor stops when the button released Motion Test tility System Information fais information Version 43050323 Interrupt Count 62613 Mofe Jog Mode Ass Mode Are Move Mode Teaching Test XY Track Command um Machine Pos um Feed Rate umimin Distance to Go um x wo 169 0 Y 29236 27592 1996800 999970933 z f a 1 1 0 0 Ais Y JogRate 0 20 G00Max Speed 4 3
15. e 20 000 NN NN m INH 2 3 4 5 6 RO Fig 4 5 Multi axis linear movement testing Motion Test Utility DASP 52506 User s Manual 4 5 Multi axis arc movement testing Feed Rate assign the moving speed Destination Rel assign the destination of each axis in relative coordinate presentation press Add button to add the configuration to the command queue Destination Absl assign the destination of each axis in absolute coordinate presentation press Add button to add the configuration to the command queue Plane assign the plane of the arc command Direction assign the direction of the arc command Go Execute the command in the command queue Stop Stop the current command in the command queue Command Queue show the command queue is empty or not Motion TestU tility System Information is information Command um Machine Pos um Feed Rate umimm Distanca to Go um 146 19200 135 Y 572 591 4800 585 z 0 677 307 0 0 322 Version 41050323 Interrupt Count 48230 Home Mode Jog Mode Mulli Axis Mod Chic nove note aching Test X Y Track FeedRale 20000 ymimin Command Queue Empty Destination Rel Desbnabon Abs 250 um 250 um Plane e xv 500 zx 500 um R x 500 um z so um Add EET Em 3x1 4330 202 1734 3066 4798 exo
16. of Axes Setting gt PCL Axis is ON Range 0 001 1000 Gear Reduction Ratio Gear reduction ratio of each axis e Multiplier and PPR Pulse Per Revolution Fig 3 2 24 Parameters Setting DASP 52506 User s Manual f PPR Motion Control Card PP Rex Driver PPR PPRex Multipler Fig 3 2 PPRext Pulse input pre revolution from external device such as driver Multiplier Multiplier of each axis PPR Pulse output pre revolution from DASP 52506 Pitch The linear platform offset produced by each revolution of the motor Motor Mapping The mapping of axis symbol X Y Z C to the actual index of the motion control board 1 NA Number of Group Total group number of the system MPG Mapping The actual index of motion control board which MPG Manual Pulse Generator mapped to 1 NA MPG Multiplier The Multiplier of the MPG axis Group No Current configuration group index Parameters Setting 25 DASP 52506 User s Manual 3 2 Home Settings NN NN 5000000 500000 5000000 500000 5000000 500000 5000000 500000 Home Mode 100 The platform moves along the homing direction to search the home dog sensor If the platform triggers the limit sensor before the home dog is searched the system stops homing and gives the alarm Fig 3 3 26 Parameters Setting DASP 52506 User s Manual Homing Direction Homing start p
17. os Y JL Fig 3 3 W Auto The platform moves along the homing direction to search the home dog sensor It triggers the limit sensor of positive direction and moves backward the reverse direction to search the home dog sensor if the home sensor can not be found in the positive homing direction If the platform triggers the limit sensor in the reverse direction before the home dog is found the system stops homing and gives the alarm Fig 3 4 Homing Direction Homing start pos A ee OT OT Fig 3 4 Parameters Setting 27 DASP 52506 User s Manual W Set the current machine position as the homing position W Half Reserved Any Reserved W Index The platform moves along the homing direction and sets the encoder index to the homing position Direction The assignment of homing direction Positive Negative HDog Assign the position of home sensor is before or after the home dog The result relates to the homing direction Fig 3 5 a b Homing Direction Homing Direction Homing start pos Homing start pos Before z After After x F Encoder Index Encoder Index Fig 3 5 a Fig 3 5 b 28 Parameters Setting DASP 52506 User s Manual Home Offset The offset of the platform after encoder index is found in homing procedure The final position will be set to the home finish position This parameter is effective in
18. ovide the source of servo clock i e one by one connected both 2 PIN together Servo Clock Provider B SHORT PIN The board serves as Master board Default Installation 17 DASP 52506 User s Manual DAC Offset Compensation VR1 VR6 VR1 VR6 are used for the DAC 1 DAC6 offset compensation respectively 2 3 Wiring Diagrams 2 3 1 Closed Loop Velocity Output Controls DASP52506 SCSI II 100 Pin Servo Driver N AGND lt amp lt nm GND Twisted Pair ENC_InA InA _ PCIBUS ENC_InB B Loading all InB B all InC C e InC C Host PC SCSI II AGND Axes 1 6 Fig 2 4 18 Installation DASP 52506 User s Manual 2 3 2 Open Loop Pulse Output Controls DASP52506 SCSI II 100 Pin Servo Driver a lt Twisted Pair XDDA OutA P4 PCI BUS P all XDDA OutB XDDA_OutB P Host PC 528 II AGND J 7 Axes 1 6 Fig 2 5 2 3 3 DASP 52506 Digital I O Wiring Diagram Digital Output COM DASP52506 Internal Circuit lt Output Photo Couple Fig 2 6 Installation COM Loading 24V GND 19 DASP 52506 User s Manual Digital Input 20 DASP52506 In
19. r InB ae Hn InC Setting me Pe Encoder SS N Feedback h peii Index Ext Diff ial Comparator atch Trigon i Fig 1 4 Movement Command one direction bit plus 10 15 bits eoo o o movement value Max Control Axes 6 axes Velocity Command DAC output 10V DDA Specification See 1 5 2 1 for detailed Movement Command Registers See 1 5 2 1 for detailed Control Law P type Error Counter Length 16BITS 1 close loop scaling gain Kp2 close loop shift gain DAC Specifications Introduction DASP 52506 User s Manual Channels 6 Sets Resolutions 16 bits DASP 52506 Power on Value OV DAC Interface Impedance larger than 2KQ Output Voltage 10V Encoder Input 6 Axes Interface differential with photocoupler 1MHz Input Format m A B Z Phase m Pulse Direction m CW CCW Decoder x0 x1 x2 x4 Software programmable in A B Z phase input Position Counter 32 bits Latch 15 trigger signal for each axis Introduction 9 DASP 52506 User s Manual 1 5 3 10 Digital I O 19 Digital Input Serves as Individual 0 1 Function W Operation Voltage DC 24V 10 Logic 1 ASIC 0 18V 30V Logic 0 ASIC 1 0V 1V isolation Optocoupler m Classify upper over travel inputs 6 points 11 12 I3 OT 15 16 lower over travel inputs 6 points OT OT 12 OT I3 OT 14 1
20. ternal Circuit VCC COM 24V GND A NN B DGND HOME Limit Switch Fig 2 7 Installation DASP 52506 User s Manual DASP 52506 Digital I O Layout Limit Switch OT _I 24V GND OT F gt 24V TAN COM Limit Switch HOME ky gt 24V GND HOME 1 24V lt com INH_O SERVO_ON COM 24V GND 24V GND Servo Driver Fig 2 8 Installation 21 DASP52506 Axes 1 6 24 mE Limit Switch OT External 24V DC ORE gt 24V GND 24 GND GND 24V COM y DASP 52506 User s Manual DASP52506 24 STOP Button 24V GND Servo Power Control COM 24V GND 24V GND Fig 2 9 22 Installation DASP 52506 User s Manual Chapter 3 Parameters Setting Negative Positive v 4 Pitch Gear Box Encoder Motor A Command Mmm Driver Sensor Feedback Motion Control Card Fig 3 1 Servo Driver System Configuration Diagram OT Over Travel sensor Parameters Setting 23 DASP 52506 User s Manual 3 1 Hardware Parameters Gain The gain value of the voltage command control mode it should operated with the setting
21. testing Fig 4 1 T Axis information Command um Machine Pos um Feed umimin Interrupt Count 0 Home Mode Jog Mode Multis Mode Are Move Mode Teaching Test X Y Track Status D MO Test OTH 42 4 66 OTA 2 3 4 5 8 HOM 2 3 4 5 6 FERS EG s SS 20 00 EH EH END D EG HS FS 2 3 4 5 Fig 4 1 MotionTestUtility Motion Test Utility 37 DASP 52506 User s Manual 4 1 Basic Operation of MotionTestUtility Axis Information display the information of each axis X D Y Z 1 0 Test B OT OverTravel signals of the n th axis HOMEn home dog signal of the n th axis IMHn digital output signal of the n th axis RD the relay output signal of terminal board DB 87060 7 MotionTestU tility Machine Pos um Feed Rate umimm Distance 10 Go 0 Version 1050328 Interrupt Court 23640 0 o X Y Track 1 2 43 4 5 6 1 2 3 4 5 2 3 4 5 8 QO O00 NN NE NE NH NN INH 2 3 4 5 6 RD 38 Fig 4 2 Basic Operation Motion Test Utility DASP 52506 User s Manual 4 2 Homing Testing n proceed the homing function of n axis Stop Homing press the button Stop Homing to halt the homing function System Information fais inform
22. thm The DASP 52506 has two operation modes The first mode is to work with a velocity mode servo drive The DASP 52506 compares the segmental movement commands from Host PC and the encoder feedback from servo motor calculates via P controls the analog output command then send the command to the velocity mode drive to control servo motor The second mode is to convert the segmental movement command into well behaved from frequency variance standpoint pulse train and feed to either the use position mode servo drive or a stepper drive to control the motor At control of each axis there is one set sensor input point including home point upper stroke ultimate and lower stroke ultimate In addition there are prohibit signal output points Position ready output point and emergency stop input point For other input output points this board uses wiring saving IO design which can be expanded to 128 points input and 128 points output maximum Introduction 1 DASP 52506 User s Manual 12 Function Features Six configurable axes position control for servos or steppers The Linear DDA law is designed to do fine interpolation Output Interface can be analog or pulse train and direction PI plus feed forward control law 6 encoder channels with a 32 bit counter 6 DAC channels with a 16 bit resolution Encoder resolution can be amplified byx1 x2 orx4 rates 28 I O points PCI bus interface Introduction DASP 52506 User s Manual
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