PCH1020 User`s Manual
Contents
1. U AE ii A RAI BA HERMES a L LI 2 A E mE a J de ux LE X EB FF E E az E m 1 ka E I l N ILE LE i I ei i LE ha l Pa a Bed 2 1 Input Output Connector P1 P2 signal input output connector P4 general purpose signal connector 2 2 Status Light 24V 24V power indicator on for normal 5V 5V power indicator on for normal When connected to the computer properly the light should be ON BUY ONLINE at art control com englishs or CALL 86 10 51289836 CN 6 PCH1020 Motion Control Card V6 011 2 2 3 DIP Switch DIDI set the board ID and physical layers switch No 1 2 3 4 5 6 correspond to IDO IDI ID2 ID3 ID4 IDS DIDI is board layer setting when install multiple PC104 boards the board is inserted in the PC104 interface is the bottom board the layer number is 0 the boards up from the bottom to the up the layer number is 1 2 3 The switch No 1 2 3 4 corresponds to IDSELNO IDSELN1 IDSELN2 and IDSELN3 representing 0 1 2 3 layer DID2 set the card interrupt the switch No 1 2 3 4 corresponds to INTAN INTBN INTCN INTDN representing the interrupt signal of the 0 1 2 3 layer DID3 set the card clock the switch No 1 2 3 4 corresponds to CLKO CLK1 C2. pulse range 2 147 483 648 2 147 483 647 Data can be read and wrote possible lt gt Comparison Register 4 COMP Register Position comparison range 2 147 483 648 2 147 483 647 COMP Register Position comparison range 2 147 483 648 2 147 483 647 Status and signal outputs for the comparisons of position counters Software limit functioned lt gt External Signal for Driving a EXPP and EXPM signals for fixed pulse continuous lt gt External Deceleration Sudden Stop Signal 4 4 INO 3 4 points for each axis Enable disable and logical levels selectable lt gt Servo Motor Input Signal ALARM Alarm INPOS In Position Check Enable disable selectable V6 011 PCH1020 Motion Control Card V6 011 lt gt General Output Signal 4 INO 3 4 points for each axis OUTO 7 8 points for each axis lt Limit Signals Input 2 points for each and side 4 When it is active and decelerating sudden stop selectable lt gt Emergency Stop Signal Input EMG 1 point for 4 axes Operation Temperature 0 50 Power Supply 24V external Clock 16 000MHZ Board Dimension 115mm L 98mm W 16mm H gt PCH1020 Motion Control Card V6 011 Chapter2 Component Lavout PI PCH1020 ie AA eLo AA EELE EIEEE HEITES BTL MALUS e EE a O MO O O TE o ic AAA al g tu 1 def iej izi
3. 3 Our repair service is not covered by ART s guarantee in the following situations Damage caused by not following instructions in the User s Manual Damage caused by carelessness on the user s part during product transportation Damage caused by unsuitable storage environments 1 e high temperatures high humidity or volatile chemicals VV vv Damage from improper repair by unauthorized ART technicians gt Products with altered and or damaged serial numbers are not entitled to our service 4 Customers are responsible for shipping costs to transport damaged products to our company or sales office 5 To ensure the speed and quality of product repair please download an RMA application form from our company website
4. IO EN OFF 0 OFF 0 ON D PCH1020 Motion Control Card V6 011 en O RD Y g A A A A O O O O 4 3 2 a DID3 ON on The figure indicates 0001 select the clock of the 0 layer en O l Y g A O O O O 4 3 2 1 ON on The figure indicates 0010 select the clock of the 1 layer cr O l Y X A A A A O O O O 4 3 2 e DID3 ON on The figure indicates 0100 select the clock of the 2 layer cr O GQ Y g O O O O 4 3 2 1 DID3 ON on The figure indicates 1000 select the clock of the 3 layer The table is the DID3 setting OFF O OFF D OFF ONCD o PCH1020 Motion Control Card V6 011 Chapter 3 Pin Lavout 3 1 Analog Signal Connector P1 XEXPM___1 _ 2 UINPOS XEXPP 3 0 214 YINPOS ZINO 5 246 EXPLS ZINI Zloolg YALARM ZIN2 9 10 YLMTP ZIN3 ul 2 VLMTM 13 l4 YIN3 ZLMTP is 16 YIN2 ZALARM__17 18 VINI ZINPOS 19 20 Ymo XINO 211 122 XINPOS XINI 23 124 XALARM XIN2 25 o 0126 XLMTP XIN3 27 o c 128 XLMTM 291 130 31 o 2132 33 34 PCH1020 Motion Control Card V6 011 Pin No 21235 2321 14 16 18 20 Lid Signal Name XINPOS YINPOS ZINPOS UINPOS XALARM YALARM ZALARM XIN3 0 YIN3 0 ZIN3 0 Description In position input signal for servo driver in position Enable disable and logic level
5. LK2 CLK3 representing the clock signal of the 0 1 2 3 layer The setting as following LI IDSEL3 w IDSEL2 IDSE IDSE DIDI O Z ON The figure indicates 0001 the layer number is 0 IDSEL3 w IDSEL2 gt IDSELI IDSELO DIDI O Z ON The figure indicates 0010 the layer number is 1 IDSEL3 w IDSEL2 gt IDSELI IDSELO DIDI O Z ON The figure indicates 0100 the layer number 15 2 IDSEL3 w IDSEL2 gt IDSELI IDSELO DIDI Z ON The figure indicates 1000 the layer number is 3 PCH1020 Motion Control Card V6 011 The table is the DIDI setting co ore 0 OFF 0 ONG 0 OFF 0 OFF 0 ON D INTDN w INTCN N INTBN INTAN DID2 O Z ON The figure indicates 0001 select the interrupt of the 0 layer INTDN w INTCN N INTBN INTAN DID2 O Z ON The figure indicates 0010 select the interrupt of the 1 layer INTDN w INTCN N INTBN INTAN DID2 i O Z ON The figure indicates 0100 select the interrupt of the 2 layer INTDN w INTCN N INTBN INTAN DID2 Z ON The figure indicates 1000 select the interrupt of the 3 layer The table is the DID2 setting E
6. PCH1020 User s Manual 8 Beijing ART Technology Development Co Ltd PCH1020 Motion Control Card V6 011 Contents COME rada 2 Chapter 1 a 3 B re DU Ce REO E ENTE 3 A o i e a e E 3 TOS NN a A 3 Chapter2 Component RR RR RR RR RR nn sitne 6 A 6 Zas ia tdi ted 6 AN RAS AA a EE d 7 Chapter 3 Pin Lay0Ul EEEEE 10 2L malo e So tal COBDEGEDE atas niet emetet ieu tette EDD 10 3 2 General purpose Signal Output Connector 14 9 ticnetil purpose Signal 15 3 2 1 Contact tvpe Digital 15 AA mmm 16 34 Encoder Input WINS vencida idilio aiiai 16 Moor Control OU NO ias 17 Chapter 4 Notes Warranty Policy 18 PS e e A 18 2 2 Nata ROLLO eto pico ici dei loto A Sa do Sitt NER euEEDE 18 BUY ONLINE atart control com englishs or CALL 86 10 51289836 CN 2 PCH1020 Motion Control Card V6 011 Chapter 1 Overview 1 1 Introduction PCH1020 is a 4 axis motion control card which can control 4 axes of either stepper motor or pulse type servo drivers for position speed and interpolation controls 1 2 Features 9929594592925 459 gt lt gt PC104 interface plug and play A axis servo stepper motor control
7. Y ONLINE at art control com englishs or CALL 86 10 51289836 CN 3 PCH1020 Motion Control Card a Interpolation Accuracy 1 LSB Within the range of whole interpolation lt 2 3 axes Bit Pattern Interpolation 4 Interpolation Speed 1PPS 4 MPPS Dependent on CPU data writing time lt Related Functions of Interpolation 4 4 Constant vector speed Continuous interpolation Step interpolation Common Specifications of Each Axis lt gt Drive Pulses Output When CLK 16 MHz E a 4 ik Pulse Output Speed Range IPPS 4MPPS Resolution of output speed within 0 1 Speed Multiplication 1 500 S shaped Jerk 954 31250 10 PPS SEC2 Acceleration deceleration 125 500 10 PPS SEC Initial Speed 1 8000PPS Multiple 1 500 4 10 PPS Multiple 500 Drive Speed 1 8000PPS Multiple 1 500 4 10 PPS Multiple 500 Output Pulse Number 0 268 435 455 Speed Curve constant speed linear acceleration deceleration parabola s shaped acceleration deceleration drive Fixed Drive Deceleration Mode Auto deceleration and manual deceleration Output pulse numbers and drive speeds changeable during the driving Independent 2 pulse system or 1 pulse direction system selectable lt gt Encoder Input Up Down pulse style selectable lt Position Counter 4 al Logic Position Counter for output pulse t range 2 147 483 648 2 147 483 647 Real Position Counter for feedback
8. acceleration While the driving command is executed and during the acceleration it becomes high General Output 5 Compare general purpose output signals When the drive status output mode is engaged it becomes high if the value of logical real position counter is smaller than that of COMP it becomes low if the value of logical real position counter is larger than that of COMP General Output 4 Compare general purpose output signals When the drive status output mode is engaged it becomes high if the value of logical real position counter is larger than that of COMP it becomes low if the value of logical real position counter is smaller than that of COMP OGND Ground 0V Terminal of external 24V OGND Ground 0V Terminal of external 24V 3 3 General purpose Signal Wiring 3 2 1 Contact type Digital Input External Digital Input Signal h 24 V T5V Ligtal Input to the Card GND PCH1020 Motion Control Card V6 011 3 2 2 Digital Output 5V 24V 4700 4 7K Digital Output to External Internal Digital Output Signal X kl 3 4 Encoder Input Wiring IK Encoder Input Pulse to the Card External Encoder Input Pulse GND PCH1020 Motion Control Card V6 011 3 5 Motor Control Output Wiring 3 V Output Pulse to Motor Driver The Card Output Motor Drive Pulse GND PCH1020 Motion Control Card V6 011 Chapter 4 Notes Warrantv Policv 4 1 Notes In our products packing user can f
9. d of the pulse are outputting or pulse mode 1s selectable 18 UPM DIR When the 1 pulse 1 direction mode is selected this terminal 1s direction signal 3 XECA PPIN Encoder A Pulse in signal for encoder phase A input YECA PPIN This input Signal together with phase B signal will make the Up Down pulse transformation to be the input count of real position counter ZECA PPIN When the UP Down pulse input mode is selected this terminal is for UP pulses 15 UECA PPIN input Once the input pulse is up the real position counter is counting up XECB PMIN Encoder B Pulse in signal for encoder phase B input YECB PMIN This input signal together with phase A signal will make the Up Down pulse 13 ZECB PMIN transformation to be the input count of real position counter When the UP Down pulse input mode is selected this terminal is for UP pulses 17 UECB PMIN input Once the input pulse is up the real position counter is counting up 34 UALARM Servo Alarm input signal for servo deriver alarm Enable disable and logical levels can be set as commands 12 PCH1020 Motion Control Card V6 011 32 30 28 26 24 22 33 29 25 31 27 23 21 ULMTP Over Limit signal of direction over limit During the direction drive pulse outputting decelerating stop or sudden stop will be performed once this signal is active When the filter function is disabled the active pulse width must be 2CLK or more Over L
10. each axis can work independently Pulse Output Frequency Error lt 0 1 Maximum Pulse Output Speed 4 MHz Pulse Output Mode CP DIR CW CCW Non symmetrical linear acceleration deceleration drive S shaped acceleration deceleration Trapezoidal and S curve velocity profiles Any 2 3 axes linear interpolation any 2 axes circular interpolation any 2 3 axes bit pattern interpolation and continuous interpolation Constant Speed Driving Start stop multi axis simultaneously Control acceleration deceleration time through programmable Read logic position physic position drive speed acceleration and acceleration deceleration status in real time Each axis has two 32 bit compare register can be used to software limit Can receive various signals of the servo motor drive such as hardware limit signal position signal the alarm signals 32 bit up down counter for additional encoder Can connect with step motor AC or DC servo motor easily Isolation Voltage 2500Vrms 1 3 Specifications lt gt lt gt Control Axis 4 axes CPU Data Bit Width 16 bits Interpolation Function lt gt lt gt 2 axes 3 axes Linear Interpolation Interpolation Range Each axis 8 388 607 8 388 607 Interpolation Speed 1 PPS 4 MPPS Interpolation Accuracy 0 5 LSB Within the range of whole interpolation 2 axes Circular Interpolation Interpolation Range Each axis 8 388 607 8 388 607 Interpolation Speed 1 PPS 4 MPPS BU
11. imit signal of direction over limit During the direction drive pulse outputting decelerating stop or sudden stop will be performed once this signal 1s active The active pulse width should be more than 2CLK Decelerating stop sudden stop and logical levels can be set during the mode selection Input 3 0 input signal to perform decelerating sudden stop for each axis These signals can be used for HOME searching The active pulse width should be more than 2CLK Enable disable and logical levels can be set for IN3 INO In automatic home search INO INI and IN2 are assigned to a near home search signal a home signal and an encoder Z phase signal respectively External Operation direction drive starting signal from external source When the fixed pulse driving is command from an external source direction driving will start if this signal is down Otherwise when the continuous pulse driving is commanded from an external source driving will start if this signal is on the low level In manual pulsar mode the encoder A phase signal is input to this pin External Operation direction drive starting signal from external source When the fixed pulse driving is command from an external source direction driving will start if this signal 15 down Otherwise when the continuous pulse driving is commanded from an external source driving will start if this signal is on the low level In manual pulsar mode the encoder B phase signal is input t
12. ind a user manual a PCH1020 module and a qualitv guarantee card Users must keep quality guarantee card carefully if the products have some problems and need repairing please send products together with quality guarantee card to ART we will provide good after sale service and solve the problem as quickly as we can When using PCH1020 in order to prevent the IC chip from electrostatic harm please do not touch IC chip in the front panel of PCH1020 module 4 2 Warranty Policy Thank you for choosing ART To understand your rights and enjoy all the after sales services we offer please read the following carefully 1 Before using ART s products please read the user manual and follow the instructions exactly When sending in damaged products for repair please attach an RMA application form which can be downloaded from www art control com 2 All ART products come with a limited two year warranty gt The warranty period starts on the day the product is shipped from ART s factory gt For products containing storage devices hard drives flash cards etc please back up your data before sending them for repair ART is not responsible for any loss of data gt Please ensure the use of properly licensed software with our systems ART does not condone the use of pirated software and will not service systems using such software ART will not be held legally responsible for products shipped with unlicensed software installed by the user
13. o this pin Emergency Stop input signal to perform the emergency stop for all axes When this signal in on the low level including the interpolation driving every axis will stop the operation immediately The low level pulse width should be more than 2CLK Note For this signal its logical levels cannot be selected Ground OV Terminal OGND Ground OV Terminal of external 24V PCH1020 Motion Control Card 3 2 General purpose Signal Output Connector V6 011 P3 XDCC aM 2 VOUT7 XOUTI S s 4 YOUT6 XOUT2 om ee 6 YOUT5 XOUT3 7 L 8 YOUT4 XOUTA 9 L 10 YOUT3 XOUT5 lll 12 YOUT2 XOUT6 13 14 YOUTI XOUT7 0151 16 YDCC UOUT7 17 18 ZOUT7 UOUT6 19 20 ZOUT6 UOUTS 211 22 ZOUTS UOUT4 23 a 24__ZOUT4 UQUT3 25l 26 ZOUT3 UOUT2 211 28 ZOUT UOUTI 29 30 ZOUTI UDCC 4 132 zpcc OGND 331 _134 OGND Pin No Description X axis general purpose output Y axis general purpose output L axis general purpose output U axis general purpose output General Output 7 Descend general purpose output signals When the drive status output mode is engaged this signal can be used for reflecting the status of deceleration While the driving command 1s executed and during the deceleration 1t becomes high PCH1020 Motion Control Card V6 011 34 General Output 6 Ascend general purpose output signals When the drive status output mode is engaged this signal can be used for reflecting the status of
14. rt if this signal is on the low level In manual pulsar mode the encoder A phase signal is input to this pin External Operation direction drive starting signal from external source When the fixed pulse driving is command from an external source direction driving will start if this signal 1s down Otherwise when the continuous pulse driving is commanded from an external source driving will start if this signal is on the low level In manual pulsar mode the encoder B phase signal is input to this pin PCH1020 Motion Control Card V6 011 P2 DGND 1 2__ VDD XECA 3d a 4 XPP XECB ___ rm ge 8 YPP YECB ALL 10 YPM ZECA Q LI ZPP ZECB 114 ZPM UECA 15124 Q 116 UPP UECB ITLAQ Q LIS UPM OGND 19 7 120 24V EMGN 21 Q 122 UINO UEXPM 231 e 124 UINI UEXPP 23l a 126 UIN ZEXPM 2 LA a 128 ZEXPP 2914 439 ULMIM YEXPM 31L 4 132 ULMTP YEXPP 331 2 34 UALARM Pin No Description 4 XPP PLS Pulse pulse direction drive pulse driving 8 YPP PLS When the reset 1s on the low level and while the driving 15 starting DTUY 50 at 12 ZPP PLS constant speed of the pulse are outputting or pulse mode is selectable 16 UPP PLS When the 1 pulse l direction mode is selected this terminal 1s for drive output 6 XPM DIR Pulse pulse direction drive pulse driving 10 VPM DIR When the reset is on the low level and while the driving is starting DTUX 50 at 14 ZPM DIR constant spee
15. s can be set as commands When enable is set and after the driving is finished this signal is active and standby Servo Alarm input signal for servo deriver alarm Enable disable and logical levels can be set as commands Over Limit signal of direction over limit During the direction drive pulse outputting decelerating stop or sudden stop will be performed once this signal is active When the filter function is disabled the active pulse width must be 2CLK or more Over Limit signal of direction over limit During the direction drive pulse outputting decelerating stop or sudden stop will be performed once this signal is active The active pulse width should be more than 2CLK Decelerating stop sudden stop and logical levels can be set during the mode selection Input 3 0 input signal to perform decelerating sudden stop for each axis These signals can be used for HOME searching The active pulse width should be more than 2CLK Enable disable and logical levels can be set for IN3 INO In automatic home search INO INI and IN2 are assigned to a near home search signal a home signal and an encoder Z phase signal respectively External Operation direction drive starting signal from external source When the fixed pulse driving is command from an external source direction driving will start if this signal is down Otherwise when the continuous pulse driving is commanded from an external source driving will sta
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