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PCI-1241 PCI-1242 User Manual

1. 7 _ VEX_GND Input Axis 0 Home Sensor Input 8 AO_LMT VEX_GND Input Axis 0 Direction Limit Input 9 AO_LMT VEX_GND Input Axis 0 Direction Limit Input 10 AO_SERVON VEX_GND Output Axis 0 Servo On Output 41 A1 HOME VEX GND Input Axis 1 Home Sensor Input 42 A1 LMT VEX GND Input Axis 1 Direction Limit Input 43 A1 LMT VEX GND Input Axis 1 Direction Limit Input 44 A1 SERVON VEX GND Output Axis 1 Servo On Output 11 A2 HOME VEX GND Input Axis 2 Home Sensor Input 12 A2_LMT VEX_GND Input Axis 2 Direction Limit Input 13 A2_LMT VEX_GND Input Axis 2 Direction Limit Input 14 A2_SERVON VEX_GND Output Axis 2 Servo On Output 45 VEX_GND Input Axis 3 Home Sensor Input 46 A3_LMT VEX_GND Input Axis 3 Direction Limit Input 47 A3_LMT VEX_GND Input Axis 3 Direction Limit Input 48 A3 SERVON VEX GND Output Axis 3 Servo On Output 6 E STOP VEX_GND Input Emergency Stop for all axes 40 P_RDY VEX_GND Output Position Ready Output 5 VEX VEX_GND Input External Power 24VDC for Local Digital Output 39 VEX_GND Ground for Local Digital Out put 21 Chapter 3 Table 3 7 1241 Conn Signal Desc Voltage Output amp Others Pin No Signal Reference Direction Description Name 36 A0 VO GND Output Axis 0 Voltage Output 3 A1 VO GND Output Axis 1 Voltage Output 37 A
2. Port mgmmpnmmoagapngmgpgkgrmonc OoO0000000 0000000 Port 1 Port 1 0000000000000000 Port 2 Port 2 Port 3 3 Trans Status Fail Master Status Fail Slave Status Fail Exit Figure 4 20 Remote Status Window PCI 1241 1242 User Manual 54 4 8 Motion Profile This is a user aid tool in this page users can check the position profile and velocity profile of each axis Then they can easily clarify if the parameters were set correctly Motion Profile Reference Position Reference Velocity Leto PEELE TEN Lia 0 ms 1000 ms 2000 ms 3000 ms 4000 ms 5000 ms 6000 ms Channel 0 bd Distance mm Position 1 00 mm Acc Curve T Pattem Dec Cuve T Pattem Acc Time 400 Dec Time 400 Feed Rate I mais Goin 0 7 InPos Check Time 100 ImPos Tolerance 100 Pulses In Pos Flag 2 Stable Time 0 o m Bw mas Continue Figure 4 21 Motion Profile Display Window 55 Chapter 4 PCI 1241 1242 User Manual 56 CHAPTER Software Startup Guide In this chapter you can get detailed information about card index configu rations and some samples of program usage Sections include Card Index Man
3. LMT will be activated At this time the NORMAL OPEN switch LMT in zone B will close and enable the current to flow into the LMT point on the SCSI II 68 pin connector Now the reading of Al LMT on PCI 1241 42 will change from 1 to 0 Internal PCT 1241 1242 LS Al LMT ER VEX QUIAV 24 en lt va E Rd Al wmr gt 24VGND R_Al_LMT For the same reason as above zone C and zone D are for the negative direction limit switch LS LMT Zone E and zone F are for the home limit switch L HOME Internal PCI 1241 1242 LS Al LMT S VEX LUV ay 24 va 5 amp ALIM ALIM 24VGND 15 Al HOME VEX RALLMT 24 KL 24VGND va R_ALHOM Al HOME p AI HO ME 3l Chapter 3 Gand zones When the servo ON signal of the first axis SERVON is changed from 1 to 0 the open collector output stage is conductive allowing current to flow through it and enable driver to servo on For the definition of SERVO On please refer to the SERVO MOTOR DRIVER manual Zone 15 the 24 VDC power for wiring on site Beware that if more than two 24 V power sources are used they must have common ground In addition the conducting wire should be thick enough to avoid excessive voltage drops resulting in errors Internal PCT 1241 1242 LS Al LMT wy 24VGND 24VGND Normal OPEN switch of the relay R AL LMT T A
4. PCI 1241 4 Axis Voltage type Servo Motor Control Card PCI 1242 4 Axis Pulse type Servo motor Control Card User Manual Copyright This documentation and the software included with this product are copy righted 2003 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 Acknowledgments PC LabCard is a trademark of Advantech Co Ltd IBM and PC are trademarks of International Business Machines Corporation MS DOS Windows Microsoft Visual C and Visual BASIC are trademarks of Microsoft Corporation Intel and Pentium are trademarks of Intel Corpo ration Delphi and C Builder are trademarks of Inprise Corporation All other product names or trademarks are properties of their respective owners Part No 2003124100 Ist Edition Printed in Taiwan June 2004 PCI 1241 1242 User Manual ii Two Years Product Warranty Advantech warrants to you the original purchaser that each of its prod ucts will be fr
5. s Motion Command Command 29 X e mm sec Ratio 50 Reference mm gt xpo v o 2 0 e ae Figure 4 11 Point to Point Motion Configuration Window Line All axes are defined as two points in a three dimensional coordi nate system XYZ and UVW The speed is defined in the three dimen sional vector speed of the XYZ coordinate system Unlike PtP with the Line command all axes will start and stop together which means linear interpolation is performed here s Motion Command Command Line v Speed 10 mm sec Ratio Destination mm Ero Reference mm Figure 4 12 Line Command Configuration Window 51 Chapter 4 CircleXY CircleYZ and CircleZX Performs two dimensional circles You need to define the center point and rotation direction CW and CCW The motor will start from its current point and the diameter will be calcu lated automatically Motion Command oam mm sec Ratio Destination BE The center of a circle Lm EXC 10 Y 10 Figure 4 13 2D Circle Motion Configuration Window tinue Z TURN a CircleXY UVW Similar to CircleXY only the UVW axes will perform line movement along with XY axes The movement of all axes will start and stop at the same time s Motion Command Command 35 Speed 10 mm sec Destination
6. Limit Offset 5 mm Limit Offset 5 mm Encoder Encoder v AB Phase Swap No v Inverse A Phase No v B Phase No Phase No v Driver Pulse Mode CW CCW Pulse Width 100 X 0 000025ms P Gain 40 Hardware Limit Mode Limit Normal Open v Limit Normal Open v Figure 4 4 Mechanism Configuration Page PCI 1241 1242 User Manual 42 Encoder Logical Index Home Offset Home Figure 4 5 Mechanical Parameter Definition Following are introductions of each parameter Axis Defines which axis the parameters will affect Max Speed The maximum moving speed of the object driven by the motor For example if the motor is driving a table you can define the maximum speed here for safety considerations And the DLL driver will check every output command to make sure the table does not exceed this speed Mechanical In this area you can define the parameters of the motor encoder gear box or ball screw With the parameters the DLL driver will be able to translate the physical units into pulse commands Please refer to figure 4 5 for details Direction Direct to Encoder gt RPM 3000 Rev Min PPR 1200 Pulse Rev Gear Ratio 1 Pitch 12 mm Rev 43 Chapter 4 Software Limit Besides the hardware limitation switch PCI 1241 42 also provides a software limit as the secondary safety factor If the soft ware limit was reached the motion card will
7. mode you can operate each axis separately by simply pressing a button In the operation buttons X means to move the X axis in a posi tive direction and X means to move in a negative direction The moving speed is given by percentage of maximum motor rotation speed of each axis In this mode Offset means the displacement that occurs when the but ton is pressed The motor will continuously run for the specific distance when the pushed button is pressed The unit of offset can be mm or pulse and the value can be positive or negative Jog Unit m a t Speed Offset Figure 4 18 Jog Configuration Dialog Box 53 Chapter 4 4 6 3 Home In the home mode the checked axes can perform the home function according to the home mode setting in the parameter page If you want each axis to go home in sequence you can put 0 5 in the Order col umn Then the system will follow the order from 0 to 5 Py gt rv rw Re 5 Figure 4 19 Home Motion Configuration Window 4 7 Remote IO Page PCI 1241 42 supports powerful remote IO functions The high density IO modules are controlled and monitored via communication lines You can control and monitor the IO modules through this page Please also refer to appendix D for details about the remote IO modules Remote I O Control Remote Set Input Output Piz bt gs ke a Pia b Si ee Ow oo
8. Sections include I O Connector Pin Assignments Voltage Output Connection Pulse Output Connection Local Input Connection Local Output Connection Local I O Wiring Example Chapter 3 Signal Connections Maintaining signal connections is one of the most important factors in ensuring that your application system is sending and receiving data cor rectly A good signal connection can avoid unnecessary and costly dam age to your PC and other hardware devices 3 1 I O Connector Pin Assignments There are four I O connectors on the PCI 1241 1242 J1 is internal on board 10 pin simple horn connector for remote I O module PCLD 8241 J2 is also for PCLD 8241 and provided by PCI 1241 only J3 is also a internal on board 10 pin simple horn connector to provide encoder input channel for manual pulse generator MPG device and the final one is a SCSI II 68 pin connector that enables you to connect to accessories with the PCL 10168 shielded cable Figure 3 1 and Figure 3 2 show the pin assignment of remote I O channels Figure 3 3 shows pin assignment of MPG channel Figure 3 4 shows the pin assignments for the 68 pin I O connector on the PCI 1241 1242 Table 3 1 to Table 3 7 show their I O connector signal descriptions NC 10 9 RIO1 SDOP RIO1 SDIP 8 7 RIO1 SCSP RIO1 CLKP 6 5 RIO1 GND RIO1 SDON 4 3 RIO1 SDIN RIO1 SCSN 2 1 RIO1 CLKN Figure 3 1 JI Remote Connector Pin Assignments PCI 1241 1242 User Manual 14
9. Table 3 1 PCI 1241 1242 J1 Conn Signal Description Remote I O Pin Signal No Name Reference Direction Description 6 RIO1_CLKP Output RI O Ch 1 Clock Output 1 RIO1_CLKN Output RI O Ch 1 Clock Output 7 RIO1_SCSP Output RI O Ch 1 Slave Module Acti vation Signal 2 RIO1_SCSN Output RI O Ch 1 Slave Module Acti vation Signal 8 RIO1 SDIP Input RI O Ch 1 Data Input 3 RIO1 SDIN Input RI O Ch 1 Data Input 9 RIO1 SDOP Output RI O Ch 1 Data Output 4 RIO1 SDON Output RI O Ch 1 Data Output 5 RIO1 GND Ground 10 NC No Connection NC 10 9 RIO2 SDIP RIO2 SDOP 8 7 RIO2 SCSP RIO2 CLKP 6 5 RIO2 GND RIO2 SDIN 4 3 RIO2 SDON RIO2 SCSN 2 1 RIO2 CLKN Figure 3 2 J2 Remote I O Connector Pin Assignments 15 Chapter 3 Table 3 2 PCI 1241 1242 J2 Conn Signal Description Remote I O Pin Signal No Name Reference Direction Description 6 RIO2_CLKP Output RI O Channel 2 Clock Output 1 RIO2_CLKN Output RI O Channel 2 Clock Output 7 RIO2_SCSP Output RI O Channel 2 Slave Module Activation Signal 2 RIO2_SCSN Output RI O Channel 2 Slave Module Activation Signal RIO2_SDIP Input RI O Channel 2 Data Input RIO2_SDIN Input RI O Channel 2 Data Input RIO2 SDO Output RI O Channel 2 Data Output P 4 RIO2 SDO Output RI O Channe
10. Once the home sensor is reached the motor will decelerate And then stop when the speed is down to FL If the home sensor was active at start up or the limit switch was met first the motor will go in the opposite direction when reaching the limit switch Then it will keep moving until it crosses the home sensor and finally search the home signal again HOME Lo gt LL LMT Case 2 Case 3 Figure C 1 Velocity Profile of Home Mode0 79 Appendix C C 3 Home Mode1 In Home Model the motor will start up at speed FL and accelerate to speed FH towards the home sensor Once the home sensor is reached the motor will decelerate The main difference with mode is that in this mode the motor will go back and approach the home again with low speed FL This makes the stop point even closer to the raising edge of the home sensor If the home sensor was active at start up or the limit switch was met first the motor will go in the opposite direction when reaching the limit switch Then it will keep moving until it crosses the home sensor and finally search the home signal again LMT H SS ae Case 1 Case 2 Case 3 Figure C 2 Velocity Profile of Home Model PCI 1241 1242 User Manual 80 4 Home Mode2 In Home mode2 the motor will start up at low speed FL and accelerate to high speed FH towards the home sensor Once the home sensor is reached the motor will decelerate and search for an e
11. Once the home sensor is reached the motor will decelerate and go backward at speed FL Once the motor leave the triggered area of home sensor it will stop immediately If the home sensor was active at start up or the limit switch was met first the motor will go in the opposite direction when reaching the limit switch Then it will keep moving until it crosses the home sensor and finally search the home signal again HOME Lo LL LMT M ERN DS no Case 1 Case 2 Case 3 Figure C 10 Velocity Profile of Home Mode9 87 Appendix C 12 Home Mode10 In Home mode10 the motor will start up at low speed FL and accelerate to high speed FH towards the home sensor Once the home sensor is reached the motor will start to search the encoder index signal for the high speed FH After the index is reached the motor will decelerate to FL then go backward with speed FL At this time the motor will stop when the index trigger edge was met Meanwhile you can configure how many index counts will be ignored when passing the home sensor with parame ter EIC When EIC is 1 it means one index will be ignored and the motor will stop at the second index after the home sensor was triggered Like case 1 in figure C 11 If the home sensor was active at start up or the limit switch was met first the motor will go in the opposite direction when reaching the limit switch Then it will keep moving until it crosses the home sensor
12. Relative Acceleration Curve T Pattern E Deceleration Curve T Pattern Acceleration Time 100 ms Deceleration Time 100 ms Path Blending Disable In Position Disable Software Limit Check XAxs Y Axis Z Axis U Axis V Axis W Axis Hardware Limit Check Check Limit Switch Figure 4 6 General PtP Configuration Page 4 3 3 System Configuration Some important system parameters are defined in this page Interpolation Time Since a software driver calculates the interpolation of PCI 1241 42 the interpolation time defines how often the motion card will raise interpolation requests to the CPU of the system If users set the interpolation time to be smaller the velocity profile will be smoother However that will also consume more CPU resources Generally 10 ms is recommended for most applications Command Mode This setting is only for PCI 1241 which can be set as pulse output or voltage output For PCI 1242 and PCI 1261 it has to be Pulse Command PCI 1241 1242 User Manual 46 Mechanism General PtP Motion System Home Interpolation Time g v ms Command Mode Pulse Command X Figure 4 7 System Configuration Page 4 3 4 Home Configuration In this page you can set every detailed parameter related to the home function With well defined parameters moving objects can reach their home precisely when requested Home mode PCI 1241 42 provides different home m
13. be connected to one point at the signal source ground Avoid running the signal cables through any conduit that might have power lines in it If you have to place your signal cable parallel to a power line that has a high voltage or high current running through it try to keep a safe dis tance between them Or you should place the signal cable at a right angle to the power line to minimize undesirable effects The signals transmitted on the cable will be directly affected by the quality of the cable In order to ensure better signal quality we recom mend that you use the PCL 10168 shielded cable PCI 1241 1242 User Manual 38 CHAPTER Configuration Utility This chapter provides information on the configuration utility for PCI 1241 and PCI 1242 Sections include Utility Main Page Select Device Set Parameters Initializing the Card Servo On Operate Motor Remote I O Page Motion Profile Chapter 4 Configuration Utility The Configuration Utility is designed for easy installation configuration and diagnosis of PCI 1261 PCI 1242 and PCI 1241 With the configura tion utility you can set mechanical parameters electric parameters and home modes in the parameter table Some basic motion functions can be operated in the utility such as line arc circle jog and home You can also find digital input points status easily in the utility Further more the remote IO and motion profile functions are also imple
14. and 18 are hardware close loop control func tion provided by PCI 1241 only and PCI 1242 doesn t support this func tion 19 ampow powa 8 194 TP 821 parearpop 1 CEZ pareorpap 9D i adty paadg ap GD dai s royour Ipong e caras ad j aqnq pieog oprsjo xa dnoo oyd sdra Pitas 1 OAT E xa dnoo ojoqq GDA System control circuit lt gt srasiioy pue pueururo 4 AMAR SNA 199 2250 ZHINOF DMPO 61 OLS D Snad Figure B 1 PCI 1241 1242 System Block Diagram 72 PCI 1241 1242 User Manual B 2 Open Loop Motion Control Pulse Command PC Controller sends commands to the PCI BUS interface circuit 4 on PCI 1241 1242 card through PCI BUS 1 At this time the command and state register 5 with system control circuit 8 will decode com mands and enable DDA generator 9 in the driver to send out pulses evenly selectable to A B PHASE CW CCW and PULSE DIRECTION formats Pulses are then sent to external motor drivers of pulse type servo motor stepping motor 11 through
15. and the PC Controller sends commands to the PCI BUS interface circuit 4 on the PCI 1241 card through PCI BUS 1 At this time the ASIC will decode commands and direct the DDA gener ator 9 in the driver to send out pulses evenly The pulses are then sent to the close loop mechanism 13 At the same time the feedback signal of motor encoder 18 in the form of a differential drive enters PCI 1241 through a connector It goes through photo coupler isolation 20 module and enters into the encoder interface 19 for signal processing including filtering The signal then enters close loop mechanism 13 for calculation The close loop mechanism 13 uses a proportional control algorithm Figure B 3 shows P type control method in close loop control to produce veloc ity command for driving DAC module 16 via DAC interface 14 The voltage commands are produced by multiplying a gain on the difference of pulses sent by DDA and pulses be feed backed by encoder Finally voltage command 10 10V is sent to velocity type servo motor 17 through connector Each set of close loop voltage output control is provided with a set of D A converter outputs and a set of encoder inputs When the set of close loop voltage output control is not used the D A converter can be spared for CPU s use to output voltage signal In addition encoder input can also be connected to other encoders or MPG and read by CPU for encoder values If th
16. bracket and Figure 3 14 shows its wiring diagram Pin 9 MPG VCC is a power pin that provides 5V or 12V power output selected by jumper JP1 and has a fuse protected design Fuse specifications 0 5A Normal Imax 40A Vmax 13V Time to Trip 0 002sec 40A 100sec 1A PCI 1241 1242 User Manual 34 5 MPG GND MPG VCC 9 C MPG GND MPG ECZN O O MPG ECZP MPG ECBN O O MPG_ECBP MPG_ECAN 6 MPG ECAP Figure 3 13 MPG Encoder Input DB 9 Connector Pin Assignment Accessory Conversion Bracket 2 DB 9 Male Connector 10 pin simple horn 5 1 female connector Gy 10 pin simple horn male connector PCI BUS HOST PC Figure 3 14 MPG Encoder Input Wiring Diagram 35 Chapter 3 3 6 2 Remote I O Connection In PCI 1241 42 we provide capability to connect to the PCLD 8241 remote I O module The remote I O module PCLD 8241 is designed to save wiring The wiring cable between PCI 1241 42 and PCLD 8241 is a DB 9 serial cable PCI 1241 42 supports one PCLD 8241 module PCLD 8241 has 64 channels of isolated digital inputs and 64 channels of isolated digital outputs For PCI 1241 42 we offer a conversion bracket accessory with flat cable for remote I O wiring Figure 3 15 shows the pin assignment of DB 9 male connector on a conversion bracket and Figure 3 16 shows the wiring diagram 5 RIO GND RIO SDOP 9 O RIO _SDON RIO SDIP O O RIO SDIN RIO SCSP C RIO CLKP 6 Q RIO SCSN RIO CLKN
17. channel when its corre sponding axis is in pulse command mode 3 encoder input types Pulse Direction CW CCW and A B Z Phase 4 onboard digital input channels for Home Sensor Signal of each axis 4 on board digital input channels for Positive direction Limit Switch Signal of each axis 4 on board digital input channels for Negative direction Limit Switch Signal of each axis One on board digital input channel for Emergency Stop Signal 4 on board digital output channels for Servo On Signal of each axis One on board digital output channel for Position Ready Signal One built in 24 bit timer and one 16 bit watchdog timer Position management and software limit switch function Software Board ID Free Motion Utility bundled for configuration and diagnosis Support PCLD 8241 remote I O module 3 Chapter 1 1 3 Applications Precise X Y Z position control Precise rotation control Packaging and assembly equipment Machine control with up to 4 axes Semiconductor pick and place and testing equipment Other stepping motor and pulse velocity type servo motor applications 1 4 How to Get Started Before you install your PCI 1241 1242 card please make sure you have the following necessary components PCI 1241 or PCI 1242 motor control card PCI 1241 1242 User Manual Driver Software Advantech PCI 1241 1242 DLL drivers Included in the companion CD ROM Motion Utility Advantech PCI 1241 42 61 M
18. current leakage from damaging the sending and receiving end due to potential differ ences Pulse output format A B Phase CW CCW Pulse Direction please refer to Figure 3 7 In A B Phase mode the encoder input signal can also be multiplied by 0 input forbidden 1 2 or 4 times A ECAP and A ECBP channels support polarity reversion A ECAP and ECBP channels support interchange function Line driver MC3487 output with 5V differential method vec T Shield p X ud Twisted pair Transmitter Y Figure 3 6 Differential Signal Transmission Method 25 Chapter 3 Positive rotation _ Reverse rotation Phase Phase PHASE ro o E PhaseB Phase cw cwiccw _ gb LE OLI CCE CCWI PULSE PULSE PULSE DIR DIR DIR Figure 3 7 Pulse Output Format Wiring Considerations The following is the wiring considerations and Figure 3 8 shows the wir ing diagram between PCI 1241 42 and the pulse type servo motor driver and stepping motor driver The four pulse output channels of PCI 1241 42 are A PAP A PAN A A PBN These channels are pulse command outputs for connecting with P P P and P channels of the pulse type servo motor driver stepping mo
19. down to FL If the home sensor was active when started or the limit switch was met first the motor would go in the opposite direction when reaching the limit switch then keep moving until it has crossed the home sensor and then search the home signal again Parameter Setting Mechanism General PtP Motion System Home Home Mode qu Home Offset mm Sensor Mode Normal Open Acc Dec Time 100 SG ms Direction High Speed Docs mms Index Z Count Nu Home Mode 0 Figure 4 8 Home Configuration Page PCI 1241 1242 User Manual 48 4 4 Initializing the Card When the Initialize button is pressed the utility will process the initial ization commands to the PCI 1241 42 If the card is correctly plugged the message Card is active will show on the top of utility and the Close card button will be enabled oor Mode Unit 1241 42 61 ke 7 Figure 4 9 The Card Is Now Active 4 5 Servo On This step is only if you need to work with servo motors The servo motor can be activated when the Servo On button is pressed 49 Chapter 4 4 6 Operate Motor The configuration utility provides some basic operations in the main page You can perform Motion Command Jog and Home here In the mean time the digital input signals are also displayed in the main page so you can check the status of sensors if the hardware li
20. motion characteristics for point to point movement Unit The applied length unit It can be in millimeters mm or inches Coordination Mode The type of coordinate system is set here It can be a relative coordinate or absolute coordinate system Acceleration Curve and Time The acceleration curve can be T Pattern or S Pattern For a detailed explanation of acceleration patterns please refer to the software manual s chapter 2 Acceleration time defines the total accelerated time interval of every point to point movement Deceleration Curve amp Time The Deceleration curve can be T Pattern or S Pattern For a detailed explanation of deceleration patterns please refer to the software manual s chapter 2 Deceleration time defines the total accelerated time interval of every point to point movement Path Blending Enable or disable path blending Please refer to software manual chapter 2 for the definition of path blending In Position Enable or disable in position This setting is for PCI 1241 only Please refer to the software manual s chapter 2 for the definition of In Position Software Limit Check You can enable the software limit function for each axis by checking the corresponding check box Hardware Limit Check The check box here will enable or disable the software checking to the limit switch input points 45 Chapter 4 Mechanism General PtP Motion System Home Unit m Coordinate Mode
21. three input points for each axis control including Home posi tion upper travel limit and lower travel limit In addition there is a servo on signal output point for each axis A position ready output point and an emergency stop point is available for the board PCI 1241 1242 also supports the PCLD 8241 remote I O module that saves wires PCLD 8241 provides 64 ch isolated digital input 64 ch iso lated digital output and the output channels support both sink type and source type output PCI 1242 can connect with one PCLD 8241 module and PCI 1241 can connect with two PCLD 8241 modules PCI 1241 1242 User Manual 2 1 2 Features PCI 1241 1242 provides the motor control functions as seen below Independent 4 axis motion control Each axis of PCI 1241 can be configured independently as closed loop control voltage command or open loop control pulse command 2 3 axis linear interpolation function 2 3 axis circular interpolation function Continuous interpolation function Multiple group function 72 groups can be performed at the same time One card can support two 2 axis linear circular interpolation functions at the same time Programmable T S curve acceleration and deceleration Up to 4 MPPS pulse output for each axis Three pulse output types Pulse Direction CW CCW and A B Phase Up to 2 MHz encoder input for each axis Equipped with 5 encoder input channels each encoder channel can be used as MPG or stand alone encoder input
22. 1241 I O Conn Signal Desc Voltage Output amp Others Voltage Output Connection PCI 1241 only 3 2 1 Voltage Output Specifications 3 2 2 Wiring Consideration seeeeeee Figure 3 5 Wiring Diagram between PCI 1241 and Servo Motor Drivers cei eser itte 24 Pulse Output Connection 25 Figure 3 6 Differential Signal Transmission Method 25 vii Table of Contents Figure 3 7 Pulse Output Format sss 26 Figure 3 8 Wiring Diagram Between PCI 1241 42 and Pulse Type Driver 3 4 Local Input Connection esses diede Figure 3 9 Local Input Wiring Diagram 3 5 Local Output Connection sse Figure 3 10 Local Output Wiring Diagram 3 6 PCI 1241 1242 Local I O Wiring Example s Figure 3 11 Local I O Wiring Ex of Axis One 1 32 Figure 3 12 Local I O Wiring Ex of Axis One II 34 3 6 1 MPG Encoder Input Connection see 34 Figure 3 13 MPG Encoder Input DB 9 Conn Pin Asg 35 Figure 3 14 MPG Encoder Input Wiring Diagram 35 3 6 2 Remote I O Connection ee 36 Figure 3 15 Remote I O DB 9 Conn Pin Assignment 36 Figure 3 16 Remote I O Wiring Diagram in PCI 1241 36 Figure 3 17 Remote I O Wiring Diagram in PCI 1242 37 3 63 Field Wiring Considerations Chapter 4 Configuration Utility 4 1 Utility Main Page eben e E Figure 4 1 Configuration Ut
23. 2 VO GND Output Axis 2 Voltage Output 4 A3 VO GND Output Axis 3 Voltage Output 38 VO VCC GND Output 5V Output 500 max 1 2 35 GND Ground Note Pin 36 3 37 4 are provided by PCI 1241 only PCI 1241 1242 User Manual 22 3 2 Voltage Output Connection PCI 1241 only PCI 1241 supports 4 axis voltage output channels for servo driver con trol PCI 1241 provides proportional type close loop control mode and each axis can be configured as close loop control mode or not indepen dently 3 2 1 Voltage Output Specifications Resolution 16 bits Power on value External load must be over 2K Output range 10V maximum 3 2 2 Wiring Consideration The follows is the wiring considerations and Figure 3 5 shows wiring dia gram between PCI 1241 and velocity type SERVO MOTOR DRIVER Four voltage output channels of PCI 1241 are 0 VO VO A2 VO and A3 VO These four channels are velocity command output for connecting with input channels of SERVO MOTOR DRIVER accordingly Be noted that PCI 1241 ground channel GND must be connected to ground pin of SERVO MOTOR DRIVER The motor encoder signal of SERVO MOTOR DRIVER A B Z signals must be connected back to PCI 1241 in DIFFERENTIAL form It s rec ommended that the three sets of singles A A B B and Z Z are sug gested using twisted pair cable to reduce common mode noise In addition as shown in Figure 3 5 the shield net i
24. 2500VDC isolation protection Output Type PCI 1241 42 output channels are all open collectors When the output signal value is 0 an open collector channel is in ON state and the load is activated When the output signal value is 1 an open collector channel is in OFF state 29 Chapter 3 Driving Capability Maximum driving capability of each output load of each channel is 100 mA and overall maximum driving capability is 500 mA Warning DO NOT connect the 24 V power to output channels directly when there is no load This will damage the board Connecting RELAY When the load is a RELAY it s not necessary for you to connect an exter nal diode to absorb pulse noise because there is an instant over voltage protection diode onboard Inside of PCT 1241 1242 T VEX To other circuit SERVO P_RDY Output signal Reverse protection diode Figure 3 10 Local Output Wiring Diagram PCI 1241 1242 User Manual 30 3 6 Local I O Wiring Example In this section it shows a local I O wiring example of PCI 1241 42 that helps you to setup a system quickly Figure 3 8 and Figure 3 9 show examples of PCI 1241 42 local I O wiring diagram of axis one In the example all input channels are configured as source type Short pin 1 and pin 2 of JP6 Please refer to A zone When the first axis moves through the limit switch LS LMT the RELAY indicated as
25. 3 Appendix D Load current 400mA Off state leakage current luA Max Turn ON time 2ms Max Turn OFF time 0 2 ms Max Arc Free with no snubbing circuits solation 1500Vrms Power requirements ESV DC 5V 4 8V 5 5V 500 mA Note If the voltage of E5V is less than 4 8 V the PCLD 8241 will not work properly Please refer to following table for the effective Remote IO distance Since the effective distance is related to the communication base frequency users can configure the base frequency with function API EP SetRIOClockDivider before working with the remote IO modules Communication Base Frequency Hz 250K 500K 1M 2M Effective Distance Meter 100 40 10 5 PCI 1241 1242 User Manual 94
26. Figure 3 15 Remote I O DB 9 Connector Pin Assignment Accessory Conversion Bracket 10 pin simple horn female connector 10 pin simple horn male connector 10 2 Figure 3 16 Remote I O Wiring Diagram in PCI 1241 PCI 1241 1242 User Manual 36 Accessory Conversion Bracket 10 pin simple horn 10 pin simple horn male connector PCI BUS HOST PC Figure 3 17 Remote I O Wiring Diagram in PCI 1242 37 Chapter 3 3 6 3 Field Wiring Considerations When you use the PCI 1241 42 motor control card to connect with motor drivers noises in the environment might significantly affect the accuracy of your control if due cautions are not taken The following measures will be helpful to reduce possible interference running signal wires between signal sources and the PCI 1241 42 The signal cables must be kept away from strong electromagnetic sources such as power lines large electric motors circuit breakers or welding machines since they may cause strong electromagnetic inter ference Keep the analog signal cables away from any video monitor since it can significantly affect a data acquisition system If the cable travels through an area with significant electromagnetic interference you should adopt individually shielded twisted pair wires as the analog input cable This type of cable has its signal wires twisted together and shielded with a metal mesh The metal mesh should only
27. ON A1 LMT 43 9 AO_LMT A1_LMT 42 8 AO_LMT A1_HOME 41 7 A0 HOME P RDY ko 6 E STOP VEX_GND 39 5 VO_VCC 38 4 A3 VO A2 VO 37 3 A1 VO A0 VO 86 2 GND GND 85 1 GND Figure 3 4 SCSI II 68 pin Connector Pin Assignments PCI 1241 1242 User Manual 18 Table 3 4 PCI 1241 1242 Conn Signal Desc DDA Pulse Output Pin No Signal Name Reference Direction Description 27 Output Axis 0 Pulse Output Phase A 28 Output Axis 0 Pulse Output Phase A 29 AO PBP Output Axis 0 Pulse Output Phase B 30 AO PBN Output Axis 0 Pulse Output Phase B 61 A1_PAP Output Axis 1 Pulse Output Phase A 62 A1 PAN Output Axis 1 Pulse Output Phase A 63 1 Output Axis 1 Pulse Output Phase B 64 A1_PBN Output Axis 1 Pulse Output Phase B 31 A2_PAP Output Axis 2 Pulse Output Phase A 32 A2_PAN Output Axis 2 Pulse Output Phase A 33 A2_PBP Output Axis 2 Pulse Output Phase B 34 A2_PBN Output Axis 2 Pulse Output Phase B 65 Output Axis 3 Pulse Output Phase A 66 Output Axis 3 Pulse Output Phase A 67 A3_PBP Output Axis 3 Pulse Output Phase B 68 A3 PBN Output Axis 3 Pulse Output Phase B 19 Chapter 3 Table 3 5 PCI 1241 1242 Conn Signal Desc Encoder Input Pin Signal Reference Direc
28. PPS can be changed during driving Number of Output 0 268 435 455 fixed pulse driv Pulses ing Pulse Output Type Pulse Direction CW CCW and A B Phase Output Signal Modes Differential line driving output Sin gle ended output Speed Curve T S curve Acceleration Decelera tion PCI 1241 1242 User Manual 66 A 4 Encoder Input Input Pulse for Encoder Interface Input 5 channels Encoder Pulse Input Type Quadrature A B phase or Up Down Counts per Encoder Cycle x1 x2 x4 phase only Interface Differential with Photo Coupler Max Input Frequency 2 MHz Input Voltage Low 3 VDC max High 10 VDC min 30 VDC max Protection 2 500 VDC isolation 67 Appendix A A 5 Local Input Output Input Positive direction 4 channels Signal Limit Switch Negative direction 4 channels Limit Switch Signal Home Sensor 4 channels Emergency Stop 1 channel Max Input 20KHz Frequency Input Voltage Low 18 VDC min 30 VDC max High 0 VDC min 1 VDC max Input Current 1 VDC 0 5 uA typical 18 VDC 3 3 mA typical 30 VDC 5 8 mA typical Protection 2 500 Vrms photo coupler isolation and RC filtering Output Servo On 4 channels Signal Position Ready 1 channel Output Voltage Open Collector 5 40 VDC Sink Current 100 mA max channel 500mA max total Prot
29. Y signal the linked switch RDY is closed In zone N if the driver operates normally the linked switch ALARM 1s opened If the above conditions are all hold and the SERVO ON switch is closed the current loop in Zone O holds and relay MR is activated It makes the linked switch MR in zone P closed and then the control coil MC of the magnetic contact M is activated Finally the magnetic con tact M is closed and the power to the driver is linked 33 Chapter 3 Internal PCT 1241 1242 VEX gt 24V Push Bution CLE gt 24VGND RESTO J SERVO ON ens ON medi m emo a e AE ME mc Z Figure 3 12 Local I O Wiring Example of Axis One II 3 6 1 MPG Encoder Input Connection In PCI 1241 1242 we provide 5 encoder input channels Four encoder input channels are for the MOTOR DRIVER connection and the 5th encoder input channel is specially designed for the manual pulse genera tor MPG device connector There is an on board 10 pin simple horn male connector 73 on PCI 1241 1242 For PCI 1241 1242 we offer accessories such as a conversion bracket with flat cable One side of the flat cable is a 10 pin simple horn female connector for connecting to the J3 on PCI 1241 1242 The other end of the flat cable is a DB 9 male con nector for connecting to external MPG devices Figure 3 13 shows the pin assignment of the DB 9 male connector on the conversion
30. ager Sample Program Usage Chapter 5 Software Startup Guide 5 1 Card Index Manager The card index manager is designed for applications that use more than one motion card in the system Since the PCI cards support the plug amp play function the IO address is assigned by the system If you put two cards in one system it can be difficult to identity the cards without an additional identifier In PCI 1241 42 a special utility called Card Index Manager is provided along with the software driver With this utility you can configure the software index by yourself After installing the driver you can find the Card Index Manager in the following folder Disk Program Files Advantech Motion PCI 1241 42 61 Utility The following window will show up after executing the program E PCI 1241 42 61 Card Index Manager Installed Device My Computer L fCardindex 6 lt 1261 MEM F3100000H gt Selected Device Access Mode Card Index 6 C TO Map Memory Map Figure 5 1 Card Index Manager PCI 1241 1242 User Manual 58 In the Installed Device area all installed cards will be listed The card s name base address and card index is also displayed You can modify the card index by selecting the card keying in the new index number in the lower left text field and then pressing the Update button Secondly the default access mode of PCI 1241 1242 1261 is set as Memory Mapping If you w
31. an find the latest information about the product 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 application software etc A complete description of the problem The exact wording of any error messages PCI 1241 1242 User Manual iv 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 The package should contain the following items PCI 1241 PCI 1242 motor control card User Manual Driver CD ROM DLL driver and Utility included 10 pin horn female connector to DB 9 male connectors conversion bracket PCI 1242 One bracket with two DB 9 connectors PCI 1241 One bracket with two DB 9 connectors and one bracket with one DB 9 connector PCI 1241 1242 User Manual vi Chapter Chapter Chapter 2 2 3 2 3 3 Contents Introd ction Introduction Features Applications How to Get Started Figure 1 1 Installation Flow Chart 5 Software P
32. and finally search the home signal again Case 1 Case 2 Case 3 Figure C 11 Velocity Profile of Home Mode10 PCI 1241 1242 User Manual 88 C 13 Home Mode11 In Home mode11 the motor will start up at low speed FL and then accel erate to high speed FH towards the home sensor Once the home sensor is reached the motor will decelerate and go backward while the velocity goes down to FL After changing direction the motor will accelerate to FH and search for the index signal When meeting the raising edge of index the motor will slow down return and approach the trigger edge again with speed FL Meanwhile you can configure how many index counts will be ignore before stopping with parameter When EIC is 1 it means one index will be ignore and the motor will stop at the sec ond index after turning around Like case 1 in figure C 12 Ifthe home sensor was active at start up or the limit switch was met first the motor will go in the opposite direction when reaching the limit switch Then it will keep moving until it crosses the home sensor and finally search the home signal again Like case 3 and case 4 in figure C 12 Lo 1 ECZ LMT Cp qp PN eco 2 cases Roy ex Case 4 Ch ee 5j Figure C 12 Velocity Profile of Home Modell 89 Appendix C 14 Home Mode12 In Home mode12 the motor will start up
33. ant to use the cards in DOS mode it has to be set as IO mapping here with Card Index manager Note The default index is 0 for each card Please modify the index before testing with examples Since the driver also uses the card index to identify the cards if you have more than one PCI 1241 1242 1261 card in one system each of card need to be set with a different card index The index range goes from 0 to 11 5 2 Sample Program Usage Name VC amp PCI PCI PCI Description Beside driver library Advantech also provides variant sample programs along with the PCI 1241 1242 1261 DLL driver There are over 30 sam ples programs written in VC and VB can be found in following folder Disk program files Advantech Motion PCI 1241 42 61 example Each sample program is designed for demonstrating different motion operation Users can test motion cards with the sample program Or even accomplish their applications by modifying the sample programs Following is a list of all sample programs and their functions Table 5 1 Sample Program Usage VB 1242 1241 1261 AccStep Yes Yes Yes Yes Demonstrates how to set motion s acceleration and deceleration time or steps 59 Chapter 5 Table 5 1 Sample Program Usage CheckHWStock Yes Yes Yes For stable control perfor mance the amount of hard ware pulse stocks must exceed 60 in motion period This example demonstrate
34. at low speed FL and then accel erate to high speed FH towards the limit switch Once the limit switch is reached the motor will go backwards After changing direction the motor will accelerate to FH and search for the index signal When meet ing the raising edge of the index the motor will slow down return and approach the trigger edge again at speed FL Meanwhile you can config ure how many index counts will be ignored before stopping with parame ter EIC When is 1 it means one index will be ignored and the motor will stop at the second index after turning around Like case in figure C 13 If the home sensor was active at start up or the limit switch was met first the motor will go in the opposite direction when reaching the limit switch Then it will keep moving until it crosses the home sensor and finally search the home signal again LMT _ IMS DN siio dus 9 a Figure C 13 Velocity Profile of Home 12 C 15 Home mode13 In Home mode13 the motor will start up at speed FL and accelerate to speed FH towards the limit switch Once the limit switch is reached the motor will decelerate and go backwards at speed FL Once the motor leave the triggered area of the limit switch it will stop immediately LMT a Figure C 14 Velocity Profile of Home Mode13 PCI 1241 1242 User Manual 90 APPENDIX Remote I O This chapter provides information on the
35. ation Speed 1 PPS 4M PPS Precision 1 LSB Continuous Speed 1 PPS 4M PPS Interpolation Motion Function Command Type Jog Point to Point Line Arc Circle Helical Speed Curve T S Curve Acceleration Deceleration Command Mode Pulse Command and Voltage Com mand PCI 1241 only Pulse Output For mat Pulse Direction CW CCW A B Phase Position Accuracy In Position Check Continuous Moving Blending Mode Compensation 256 Divisoins Limit Switch Software and Hardware Limit Switch Check Go Home 14 Modes Motion Operation Hold Continuous Abort Changing Speed in Moving Over Speed Control PCI 1241 1242 User Manual 64 A 2 Voltage Output PCI 1241 only Voltage Output Resolution 16 bits Output Range 10V 10V Max Update Rate 625 KHz 1LSB Relative Accuracy Differential Non linearity 0 001 FSR Offset lt 1LSB Slew Rate 10 V us Driving Capability 5 0 1 max Output Impedance External Load Must be over 2K Setting time 1 6 us to 0 006 of FSR 65 Appendix A A 3 Pulse Output Pulse Output Range 1 PPS 4M PPS Precision 0 1 Change of 954 31 25 x 109 PPS sec2 Acceleration for S Curve Acceleration Deceleration 125 500 x 106 PPS sec Initial Velocity 1 PPS 4M PPS Drive Speed 1 PPS 4M
36. ctions step by step to complete your DLL driver setup The Setup program can detect your operating system automatically and install proper files into the system accordingly Note If the auto play function is not enabled on your computer use Windows Explorer or Windows Run command to execute SETUP EXE on the companion CD ROM 1 1241 42 1 ENS x Welcome to the InstallShield Wizard for PCIHI241 42 51 The InstallShield Wizard will install PCI 241 42 61 on your computer To continue click Next Cancel Figure 2 1 The Setup Screen of Advantech Automation Software PCI 1241 1242 User Manual 8 Step 3 After the installation completed you will find PCI 1241 1242 1261 Card Index Manager User Manual and Utility under the following default path Start Programs Advantech Automation Motion PCI 1241 42 61 The example source codes can be found under the corresponding installa tion folder such as the default installation path C Program Files Advantech Motion PCI 1241 42 61 Examples 2 2 Hardware Installation After the DLL driver installation is completed you can now go on to install the PCI 1241 42 card in any PCI slot on your computer It is sug gested that you refer to the computer user manual or related documenta tions if you have any doubt Please follow the steps below to install the card on your system Step 1 Turn off your computer and unplug the power cord and cables Step 2 Remove the cover of y
37. ctivation coil in the relay ea BEEN 24VGND When activation coilis in Y operation NORMAL OPEN switch will CLOSE conduct R AL HOM E Internal PCT 1241 1242 24VCNDe Figure 3 11 Local I O Wiring Example of Axis T PCI 1241 1242 User Manual 32 Zone J Under normal conditions the emergency stop switch is CLOSED Therefore a current loop forms in the E STOP circuit At this time the reading of E STOP is 0 and the RELAY R_E STOP is activated When the E STOP switch is pressed down the input current loop cuts off The signal value of E STOP becomes 1 and PCI 1241 1242 will disable pulse output and make the output of DAC become 0 V Caution The E STOP function is disabled when JP5 E STOP is shorted Default JP5 short For emergency stop function works properly it is necessary to remove the jumper on JP5 E STOP Zone K The software can use P RDY point position ready to com municate with a peripheral circuit to inform that the software state 1s ready Using P RDY the P RDY value in PCI 1241 1242 software should be changed from 1 to 0 Zone L NFB No Fuse Break for 110 or 220 VAC Zone M Controllable electromagnetic contactor The control activa tion coil is labeled MC Zone N The ALARM signal of SERVO MOTOR DRIVER Zone In zone J if the E STOP switch 15 not pressed down the linked switch E STOP is closed In zone K if the system outputs POSITION READ
38. e 73 Close Loop Motion Control Velocity Command 74 Figure B 3 P type Control Method in Cl Loop Cont 75 Local Input Output esses 75 Remote Input Output esses 75 Home Function eere 78 How to Read the Home Velocity Profile 78 Home ModeQ 2 79 Figure C 1 Velocity Profile of Home Mode 79 Home 80 Figure C 2 Velocity Profile of Home Model 80 Home Mode2 tse 81 Figure C 3 Velocity Profile of Home Mode 81 Home Modes 82 Figure C 4 Velocity Profile of Home Mode3 82 Home eee antes 83 Figure C 5 Velocity Profile of Home Mode4 83 Home Modes iconic Eel 84 Figure C 6 Velocity Profile of Home Mode 84 ix Table of Contents 8 C 9 C 10 11 12 13 14 15 Appendix D D 1 D 2 Home Modto6 Ie meiden 85 Figure C 7 Velocity Profile of Home Mode6 85 uie Seelam eh 85 Figure C 8 Velocity Profile of Home Mode7 85 Home Modes neto eene 86 Figure C 9 Velocity Profile of Home ModesS 86 87 Figure C 10 Velocity Profile of Home Mode9 87 Home Model dea wee nee itte 88 Figure C 11 Velocity Profile of Home 10 88 Home Modell gone teen 89 Figure C 12 Velocity P
39. ection 2 500 Vrms photo coupler isolation PCI 1241 1242 User Manual 68 A 6 Other Motion Functions Position Counter Range of Command Position Counter for output pulse 2 147 483 648 2 147 483 647 for each axis Range of Actual Posi tion Counter for input pulse 2 147 483 648 2 147 483 647 for each axis Comparison Register Range 2 147 483 648 Register 2 147 483 647 Interrupt Interrupt Condition Local Input Functions All conditions could be Trigger Defined enable disable individ Encoder Index Functions ually Encoder Comparison Programmable Timer Software Board ID 4 bits ID 0 15 A 7 General Connector Type 68 pin SCSI II female Dimensions 174 x 107mm 6 85 x 4 2 Power Typical 5V 850mA 12V 600mA Consumption Max 5V 1 12V 700mA External Power DC 24V Voltage Temperature Operation 0 60 32 140 refer to IEC 68 2 1 2 Storage 20 85 4 185 Relative Humidity 5 95 RH non condensing refer to IEC 68 2 3 Certification CE certified 69 Appendix A PCI 1241 1242 User Manual 70 APPENDIX Block Diagram This chapter provides information on the block diagram for PCI 1241 1242 Appendix B Block Diagram B 1 Appendix B Block Diagram Figure B 1 shows PCI 1241 1242 system block diagram Circuits of block 13 14 16 17
40. ee from defects in materials and workmanship for two years from the date of purchase This warranty does not apply to any products which have been repaired or altered by persons other than repair personnel authorized by Advantech or which have been subject to misuse abuse accident or improper instal lation Advantech assumes no liability under the terms of this warranty as a consequence of such events Because of Advantech s high quality control standards and rigorous test ing most of our customers never need to use our repair service If an Advantech product is defective it will be repaired or replaced at no charge during the warranty period For out of warranty repairs you will be billed according to the cost of replacement materials service time and freight Please consult your dealer for more details If you think you have a defective product follow these steps 1 Collect all the information about the problem encountered For example CPU speed Advantech products used other hardware and software used etc Note anything abnormal and list any onscreen messages you get when the problem occurs 2 Call your dealer and describe the problem Please have your man ual product and any helpful information readily available 3 If your product is diagnosed as defective obtain RMA return merchandize authorization number from your dealer This allows us to process your return more quickly 4 Carefully pack the defective
41. eep moving until it crosses the home sensor and finally search the home signal again Like case 3 and case 4 in figure C 4 HOME ee ECZ LMT Case 1 al PM EIC 2 Figure C 4 Velocity Profile of Mode3 PCI 1241 1242 User Manual 82 C 6 Home Mode4 In Home mode4 the motor will start up at low speed FL and accelerate to high speed FH towards the home sensor Once the home sensor is reached the motor will decelerate and go backward while the velocity reaches FL After changing direction the motor will search for the index signal then stop Meanwhile you can configure how many index counts will be ignored before stopping with parameter When EIC is 1 it means one index will be ignored and the motor will stop at the second index after turning around Like case 1 in the following diagram If the home sensor was active at start up or the limit switch was met first the motor will go in the opposite direction when reaching the limit switch Then it will keep moving until it crosses the home sensor and finally search the home signal again Like case 3 and case 4 in figure 5 HOME ECZ LMT EIC 1 case 1 9 1 e FA N 0 Case 2 FA Nema meee WI 1 Neco Figure C 5 Velocity Profile of Home Mode4 83 Appendix C 7 Home Mode5 In Home modes the motor will start up a
42. ere four sets of close loop voltage output control are used then four sets of D A and four sets of encoder input are allocated for close loop control and no longer available for CPU use alone PCI 1241 1242 User Manual 74 ERROR COUNTER DDA Pulse Position Kp Motor Velocity mp error Position Gain Command Motor Encoder Feedback Pulse Position ERROR SIGNAL is recorded in the ERROR COUNTER Position ERROR DDA pulse motor encoder feedback pulse Figure B 3 P type Control Method in Close Loop Control B 4 Local Input Output The PC Controller sends commands to the ASIC on PCI 1241 1242 through the PCI BUS This ASIC will read or write information to local I O 21 based on instructions The outputs through photo coupling isola tion 22 are amplified by a Darlington output stage Inputs are also entered to local IO 21 through photo coupling isolation 21 Besides Local I O can be operated by the CPU independently from other func tions B 5 Remote Input Output The remote digital I O is designed with wire saving technology It uses serial communication cables to remotely control the remote I O module PCLD 8241 27 via remote serial I O interface 25 The maximum capability is 128 outputs 28 and 128 inputs 29 75 Appendix B PCI 1241 1242 User Manual 76 APPENDIX Home Function An accurate home position is funda mental for every precision machine In order to manage the var
43. es ims Servo On Operate Motors Figure 4 2 Utility Operation Flow Chart 4 2 Select Device When users press the Select Device button a new dialog box will popup In the dialog box all the installed PCI 1241 1242 1261 cards are listed and you can pick one for configuration and operation If more than one motion card is installed you can still identify the cards via the Card Index and descriptions The Card Index is an index code store in the card s firmware and can be programmed by the Card Index Manager Installed PCI 1241 42 61 Devices Selected Device Card Index 11 PCI 1261 Motion Card P Command OK Cancel Figure 4 3 Select Device Dialog Window 4I Chapter4 4 3 Set Parameters There are a total of four pages in the parameter setting window They are categorized as Mechanism General PtP Motion System and Home 4 3 1 Mechanism Configuration Advantech provides a convenient tool design the moving patterns in physical units like mm or mm s Define the entire mechanical factor in the Mechanism page and then use the physical units directly when call ing the API Parameter Setting Mechanism General PtP Motion System Home Max Speed 3000 mm sec X Axis Parameter Pos Direction Direct to Encoder X RPM 3000 Rev Min PPR 1200 Pulse Rev Gear Ratio 1 Pitch 12 mm Rev Software Limit Limit 100000 mm Limit 10000 mm
44. he limit switch 1s reached the motor will stop and then go backwards at speed FL After changing direction the motor will stop when the index signal condition was met Meanwhile you can configure how many index counts will be ignored before stopping with parameter EIC When EIC is 1 it means one index will be ignored and the motor will stop at the second index after turning around Like case 1 in following diagram ge came TS LE 1 LMT ccs 1 1 FA Figure C 8 Velocity Profile of Home Mode7 85 Appendix 10 Home Modes In Home mode 8 the motor will start up at low speed FL and accelerate to high speed FH towards the limit switch Once the limit switch is reached the motor will stop and go backwards at speed FH After chang ing direction the motor will decelerate to FL then stop when the index signal condition was met Meanwhile you can configure how many index counts will be ignored before stopping with parameter When EIC is 1 it means one index will be ignored and the motor will stop at the second index after turning around Like case 1 in following diagram ee IL TL JL LMT e EIC 1 Case 1 Figure C 9 Velocity Profile of Home Mode8 PCI 1241 1242 User Manual 86 C 11 Home Mode9 In Home mode9 the motor will start up at speed FL and accelerate to speed FH towards the home sensor
45. horn PCI 1241 female connector type only J3 Encoder Input channel for Manual Pulse Generator MPG 10 pin simple horn female connector type JP1 Set pin 9 of J3 as 5V power for MPG wiring o ol Default Setting Set pin 9 of J3 as 12 V power for MPG wiring BD JP2 JP2 Open Use on board 40 MHz oscillator as CLOCK Short source Default Setting JP2 Short Solder metal pads of JP2 and cut off metal Open pads of JP3 Use OSC signal 33MHz on PCI Bus as CLOCK source JP5 Disable emergency stop function Value is always 0 Default Setting Enable emergency stop function Value is read from E STOP channel 11 Chapter 2 Table 2 1 Summary of Jumper and Connector Settings JP6 Set Local Input channels as source type On board Common Input of Local Input Channel connects to VEX pin Default Setting O Set Local Input channels as sink type On board Common Input of Local Input Channel connects to VEX_GND pin VR1 VR4 Variable resistors to adjust voltage output channels OFFSET PCI 1241 voltage only VR1 is for channel AO VO OFFSET voltage VR2 is for channel A1 VO OFFSET voltage VR3 is for channel A2 VO OFFSET voltage VR4 is for channel A3 VO OFFSET voltage PCI 1241 1242 User Manual 12 CHAPTER Signal Connections This chapter provides useful informa tion about how to connect input and output signals to the PCI 1241 1242 via the I O connector
46. ility Main Page Figure 4 2 Utility Operation Flow Chart 4 2 Select Device Figure 4 3 Select Device Dialog Window 4 3 Set Parameters soie nee t nite x 4 3 1 Mechanism Configuration sse Figure 4 4 Mechanism Configuration Page Figure 4 5 Mechanical Parameter Definition 4 3 2 General PtP Motion Configuration Figure 4 6 General PtP Configuration Page 4 3 3 System Configuration sse Figure 4 7 System Configuration Page 4 3 4 Home Configuration see Figure 4 8 Home Configuration Page 4 4 Initializing the Card sss Figure 4 9 The Card Is Now Active Servo Oz secet etit deiectus Operate MOlOr ive erret tem e OE Eee EEG Figure 4 10 Operation Main Page of Test Utility 4 61 Motion Command sse Figure 4 11 Point to Point Motion Conf Window 51 Figure 4 12 Line Command Configuration Window 51 Figure 4 13 2D Circle Motion Configuration Window 52 Figure 4 14 2D Circle w Line Motion Conf Window 52 Figure 4 15 3D Arc Motion Configuration Window 52 Figure 4 16 2D Arc Motion Configuration Window 53 AR nn PCI 1261 User Manual viii 4 7 4 8 Chapter 5 5 1 5 2 Appendix A 1 2 4 5 A 6 A 7 Appendix B B 1 B 2 B 3 B 4 B 5 Cha
47. ing and the RC filter Emergency Input If an emergency stop occurs value is 1 pulse outputs will be disabled voltage output values become 0 V and PCI 1241 42 s built in LATCH will latch the status of the emergency stop channel Bouncing State When the mechanical switch in Figure 3 9 is turned from Open to Close the switch will generate a bouncing state At this time the read ing value will oscillate between 0 and 1 When bounce ends the switch conducts and the status becomes ACTIVE On the other hand when the mechanical switch is turned from Close to Open the bouncing state lasts only for a short while Inside PCT 1241 1242 VEX 24V vcc JP6 1 Q VEX GND 24V GND 2 3 LMT HOME E_STOP _ N 24 DGND PCI 1241 1242 User Manual 28 Inside PCI 1241 1242 24V VCC JP6 P W 1 e GND 24V GND LJP LMT Home E_STOP NN 24 GND DGND Figure 3 9 Local Input Wiring Diagram 3 5 Local Output Connection PCI 1241 42 provides 5 dedicated output channels and Figure 3 10 shows wiring diagram of local output channels There are two types of local output channels 4 channel Servo On Outputs AO SERVON SERVON A2 SERVON and A3 SERVON channel Position Ready Output P RDY Local Output Specifications Output voltage Open collector 5 40 VDC Sink current 100mA max channel 500mA max total
48. ious require ments for the home position 1241 and PCI 1242 each provide a total of 14 home modes This chapter gives users an overview of each home mode and its characteristics After reading this chapter it should be easier to choose the most suitable home mode for your application Appendix C Home Function C 1 How to Read the Home Velocity Profile Since the homing process is quite complex PCI 1241 1242 1261 pro vides a Home Pattern Graph for each mode to give users a clear concept about how the home function proceeds In the Home velocity profile there are three types of sensor inputs that can be found and they are all high active represents the status of the home sensor and the raising edge means the home sensor was trig gered LMT means limit switch and the raising edge means the limit switch was activated ECZ represents the index signal of the encoder The pattern in each case shows the velocity profile of the motor It starts from a solid dot and the arrow represents the direction of movement which then ends up at a hollow dot There are only two movement speeds that can be defined in the homing process One is the start up speed FL and the other is the maximum speed FH For velocity the slants means speed up or slow down PCI 1241 1242 User Manual 78 C 2 Home ModeO In Home mode the motor will start up at low speed FL and accelerate to high speed FH towards the home sensor
49. l 2 Data Output N 5 RIO2 GND Ground 10 NC No Connection MPG_VCC 10 9 MPG_VCC MPG_ECZN 8 7 MPG_ECBN MPG ECAN 6 5 MPG GND MPG GND 4 3 MPG ECZP MPG ECBP 2 1 MPG ECAP Figure 3 3 J3 MPG connector pin assignments PCI 1241 1242 User Manual Table 3 3 PCI 1241 1242 J3 Conn Signal Description Input Pin No Signal Name Reference Direction Description MPG_ECAP Input MPG Encoder Input Phase A 6 MPG ECAN Input MPEG Encoder Input Phase Al 2 MPG_ECBP Input MPG Encoder Input Phase B 7 MPG_ECBN Input MPG Encoder Input Phase B 3 MPG ECZP Input MPG Encoder Input Phase Z 8 MPG ECZN Input MPG Encoder Input Phase Z 9 MPG MPG_GND Output 5 12V Output JP1 jumper 10 selection 4 5 MPG GND Ground 17 Chapter 3 PBN 68 34 2 PBN _ 67 33 A2 PBP A3 PAN 66 32 A2 PAN A3 PAP 65 31 A2 PAP A1 PBN 64 30 PBN A1 PBP 63 29 PBP A1 PAN 62 28 PAN A1 PAP 61 27 PAP ECZN 60 26 2 ECZN A3 ECZP 59 25 2 ECZP A3 ECBN 58 24 2 ECBN A3 ECBP 57 23 2 ECBP _ 56 22 2 ECAN _ 55 21 2 ECAP A1 ECZN 54 20 ECZN A1 ECZP 53 19 ECZP A1 ECBN 52 18 ECBN A1_ECBP 51 17 ECBP A1 ECAN 50 16 ECAN A1_ECAP 49 15 A0 ECAP SERVON 48 14 A2 SERVON LMT 13 A2 LMT A3_LMT 46 12 A2 LMT A3 HOME 45 11 2 HOME A1 SERVON 10 0 SERV
50. line driver 10 MC3487 in the form of differential signal If there is a need the motor encoder 12 signal could be feedback to command and state register 5 through photo coupler isolator 20 and then entering encoder interface 19 for CPU to read B 2 1 Digital Differential Analyzer DDA DDA generator receives the position command from CPU i e the required rotation quantity of pulse for the motor and time required to execute the command defined as DDA CYCLE TIME After calcula tion DDA generator could send out the pulse required evenly within DDA cycle For instance refer to Figure B 2 assuming the starting position for motor is at 0 When the position command is positive rotation of 1000 pulses the command execution time DDA CYCLE TIME is 0 5 sec onds then DDA generator will send out 1000 pulses smoothly within 0 5 seconds and the motor could rotate 1000 pulses smoothly at the same speed Motrposition Position command 1000 1000 pals 1000 smoothly o mem DDA CYCLE TIME DDA CY CLETIME 0 0 Figure 2 DDA Example 73 Appendix B B 3 Close Loop Motion Control Velocity Command The PC Controller sends commands to the PCI BUS interface circuit 4 on the PCI 1241 1242 card through PCI BUS 1 At this time the com mand and state register 5 with system control circuit 8 will decode commands and enable DDA generator 9 in the driver to send out pulses evenly selectable to A B PHASE CW CCW
51. mented in this software package In following sections all the functions will be introduced one by one 4 1 Utility Main Page In the main page the operations are categorized as Motion Jog Home DI indicators Message box Properties table and operation buttons BE PCI 1241_42_61 Motion Utility Card is not mitialized DLL Ver 4 50 Coor Mode Unit pulse mm 0 0 0 w o 0 0 oder Counter 4 0 0 Cmd Mode Pulse Command Card Type Unknown Device Ratio Speed 10 mm sec Ni Destination mm E x 12 8 Reference mm p 0 0 0 0 0 urrent Velocity mm sec eed Rate 000 mm sec U 0 v 0 w 0 ROBES Nd mo Offset Home System Sethngs 2 Speed 3000 000 100000 High Limitation Low Lirnititton HW Pulse 0 10000 PCI 1241 1242 User Manual Command Index 0 Home Flag 0 popu Lal ja jz js Home Sensor Limit Switch Limit Switch LUN sat Select Device Initialize Parameters Remote Exit Figure 4 1 Configuration Utility Main Page 40 You can start with the operation buttons in the lower right corner The operation flow chart is as follows Set parameters Initialize card Y
52. mit switch is not disabled BB PCI 1241_42_61 Motion Utility Cmd Mode Pulse Command Card 1261 Destination mm Reference mm Line Speed 10 mmisec Ratio x zfR vR wp x 10 v Conte _ Rin stop Est Home Order x fo Enable Iv F p Home Sensor Dem 9 9 o o o o o Initialization is successful vow eo Card is active x DLL Ver 4 50 Coor Mode Unit Relative Cur Pos 0 Y 0 2 0 Encoder Counter Ixcarsmg IY 0 Z 0 Current Velocity mm sec Feed Rate 000 mm sec X 0 Y 0 v o Z 0 0 System Settings Max Speed HW Pulse 3 000 0 High Limitation Low Limitition 100000 10000 Command Index 2 Go Home Flag 0 2549 asc a 0 0 Sele E Close Card Parameters Reset Servo On Remote 1 0 Motion Profile Exit Figure 4 10 Operation Main Page of Test Utility PCI 1241 1242 User Manual 50 4 6 1 Motion Command There are four types of commands that can be operated here PtP Line Circle and Arc PtP Point to Point all axes can be operated together The moving dis tance of each axis need to be defined and all axes will start moving when the Run button is pressed but will not necessarily arrive at the same time As to the moving speed it is defined as a percentage of the maxi mum motor rotation speed of each axis
53. mm xu onm wk wif The center of a circle mm Xx 10 10 2 110 e CW CCW T T Figure 4 14 2D Circle with Line Motion Configuration Window ArcXYZ 3D arc will be performed The path is calculated by using three points current location destination and reference point The dis tance between the destination and the reference point is calculated by referring to the coordinate mode defined in the parameter setting page Please refer to part 4 3 for details s Motion Command Command rcx Y v Speed 10 mm sec Ratio Destination mm Reference mm Xx 10 10 2 10 Figure 4 15 3D Arc Motion Configuration Window PCI 1241 1242 User Manual 52 ArcXY ArcYZ ArcZX Similar to ArcX YZ but only 2D arc is per formed in this command Motion Command Command 99 v Speed 10 mm sec Ratio Destination mm Jo zBp wb vR Reference mm zo Me Figure 4 16 2D Arc Motion Configuration Window ArcXY UVW Performs a 2D arc where the UVW axes will perform a line movement at the same time All axes will start and stop together Command E9544 s Motion Command Speed mm sec Ratio Destination mm x 12 10 z EE Reference mm x 10 10 z cc Se Figure 4 17 3D Arc with Line motion Configuration Window 4 6 2 Jog In Jog
54. ncoder index signal with FL Meanwhile you can configure how many index counts will be ignored with When is 1 this means one index will be ignored and the motor will stop at the second index after the home sensor is triggered Like case 1 in the following diagram If the home sensor was active at start up or the limit switch was met first the motor will go in the opposite direction when reaching the limit switch Then it will keep moving until it crosses the home sensor and finally search the home signal again ECZ LMT 990 EICH Case 2 oe EIC 1 Ne EIC 1 Lo T A Figure C 3 Velocity Profile of Home Mode2 81 Appendix C 5 Home Mode3 In Home mode3 the motor will start up at low speed FL and accelerate to high speed FH towards the home sensor Once the home sensor is reached the motor starts to search for an encoder index signal with high speed FH After the index is reached the motor will decelerate to FL then stop Meanwhile you can configure how many index counts will be ignored with parameter When is 1 this means one index will be ignored and the motor will stop at the second index after the home sensor was triggered Like case in following diagram If the home sensor was active at start up or the limit switch was met first the motor will go in the opposite direction when reaching the limit switch Then it will k
55. odes to fulfill dif ferent needs There are overall fourteen home modes from mode0 to mode13 Please refer to appendix C for further details Sensor mode Here the electrical types of home sensors are defined It can be normal open or normal close Direction Use this setting to set the initial direction to move towards when the home command is issued 0 means positive direction and 1 means negative direction Index Count Used in home mode 2 3 4 7 8 10 11 and 12 If the index count has been set as n the motor will slow down or stop at the n1 index input Home Offset Represents the offset distance when the normal home point was reached It can be a positive or negative value Acc Dec Time The acceleration deceleration time interval when the start stop point was reached High Speed amp Low Speed You can accurately define the high speed and low speed for home functions Generally the motor will start with high speed When the home sensor is reached the motor will switch to low speed and position itself as close as possible to the home point 47 Chapter 4 Home Mode Diagram This diagram clearly shows the velocity profile the return slow down and stop point in each mode Let s take Home mode0 as an example In Home mode0 the motor will start at low speed FL accelerate to high speed FH as it goes towards the home sensor Once the home sensor has been reached the motor will decelerate and then stop when the speed is
56. otion Utility Included in the companion CD ROM Wiring cable PCL 10168 PCL 10109M Wiring board ADAM 3968 Computer Personal computer or workstation with a PCI bus slot After you get the necessary components and maybe some of the accesso ries for enhanced operation of your PCI 1241 1242 card you can begin the installation procedure Figure 1 1 provides a concise flow chart to give users a broad picture of the software and hardware installation pro cedures PCI 1241 1242 User Manual 4 Install Driver from CD ROM then power off PC Install Hardware and power on PC Use PCI 1241 42 61 Utility to configure hardware Use PCI 1241 42 61 Utility to test hardware Read Examples amp Hardware Software manual Start to write your own application Figure 1 1 Installation Flow Chart 5 Chapter 1 1 5 Software Programming Choices Advantech offers complete DLL drivers and utility support to help fully exploit the functions of your PCI 1241 1242 Driver Software Advantech PCI 1241 1242 DLL drivers Included in the companion CD ROM Motion Utility Advantech PCI 1241 42 61 Utility Included in the companion CD ROM 1 6 Accessories Advantech offers a complete set of accessory products to support the PCI 1241 1242 cards These accessories include 1 6 1 Wiring Cables PCL 10168 The PCL 10168 shielded cable is specially designed for PCI 1241 1242 motion control cards to provide high resistance to noise To achie
57. our computer Step 3 Remove the slot cover on the back panel of your computer Step 4 Touch the metal part on the surface of your computer to neutral ize the static electricity that might be on your body Step 5 Insert the PCI 1241 42 card into a PCI slot Hold the card only by its edges and carefully align it with the slot Insert the card firmly into place Use of excessive force must be avoided otherwise the card might be damaged Step 6 Fasten the bracket of the PCI card on the back panel rail of the computer with screws Step 7 Connect appropriate accessories conversion bracket 68 pin cable 9 pin cable wiring terminals etc if necessary to the PCI card Step 8 Replace the cover of your computer chassis Re connect the cables you removed in step 1 Step 9 Plug in the power cord and turn on the computer 9 Chapter 2 2 2 1 Board Layout and Jumper Switch Settings Figure 2 2 shows the names and locations of jumpers and VRs on the PCI 1241 1242 There are 5 jumpers and 4 VRs on PCI 1241 1242 Table 2 1 shows jumpers and VRs functionalities 35 Figure 2 2 Location of Jumpers and VRs PCI 1241 42 PCI 1241 1242 User Manual 10 Table 2 1 Summary of Jumper and Connector Settings Jumpers No Function Description J1 Remote I O channel 1 for PCLD 8241 10 pin simple horn female connector type J2 Remote I O channel 2 for PCLD 8241 10 pin simple
58. product a fully completed Repair and Replacement Order Card and a photocopy proof of purchase date such as your sales receipt in a shippable container A product returned without proof of the purchase date is not eligible for war ranty service 5 Write the RMA number visibly on the outside of the package and ship it prepaid to your dealer iii CE Notification The PCI 1241 42 developed by ADVANTECH CO LTD has passed the CE test for environmental specifications when shielded cables are used for external wiring We recommend the use of shielded cables This kind of cable is available from Advantech Please contact your local sup plier for ordering information FCC Class A This equipment has been tested and found to comply with the limits for a Class A digital device pursuant to Part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interfer ence when the equipment is operated in a commercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual may cause harmful interference to radio communications Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense Technical Support and Assistance 1 Visit the Advantech web site at www advantech com support where you c
59. pter C 1 2 3 4 5 6 C 7 Figure 4 17 3D Arc w Line motion Conf Window 53 REN Jop RIUSCIRE 53 Figure 4 18 Jog Configuration Dialog Box 53 4 6 3 HOME se egere eqs Poena eth 54 Figure 4 19 Home Motion Configuration Window 54 Remote TO Page ir REG 54 Figure 4 20 Remote I O Status Window 54 Motom Profile neen eere 55 Figure 4 21 Motion Profile Display Window 55 Software Startup Guide 58 Card Index Manager rtr 58 Figure 5 1 Card Index Manager 58 Sample Program Usage sss 59 Table 5 1 Sample Program Usage 59 Specifications mentee e seb ES 64 Voltage Output PCI 1241 65 Pulse O tput edidere eines 66 Encoder Input 67 Local Input Output sese 68 Other Motion Functions 4 69 Generals cassa cet de De b ope tbi edna 69 Block Diagram ence eese oo teo sten 72 Appendix B Block 72 Figure B 1 PCI 1241 1242 System Block Diagram 72 Open Loop Motion Control Pulse Command 73 B 2 1 Digital Differential Analyzer 73 Figure B 2 DDA Example ee
60. remote I O function of PCI 1241 42 and the PCLD 8241 I O Module Appendix D Remote Both PCI 1241 and PCI 1242 support a powerful remote IO function that dramatically save wiring by transferring the DIO command to serial com munication The PCLD 8241 is a remote IO module that can work with PCI 1241 1242 and 1261 without extra configuration You simply con nect the PCLD 8241 and PCI 1241 42 with a 9 pin cable and they can operate remote IO points with motion commands D 1 Features The remote IO module PCLD 8241 has the following features Serial communication interface 64 digital inputs 64 PhotoMos Relay outputs Full photo isolation Din rail package PCI 1241 1242 User Manual 92 D 2 Specifications Size 107 x 290 mm Din rail package TS32 A TS35 A SEHDBV terminals DINKLE Ambient Temperature 0 55 C 64 Source Type or Sink Type input points Figure D 1 PCLD 8241 VCC Input signal COM INO Figure D 1 Bi directional photo coupler with current limit resistor One independent COM for every 8 input points Isolation 2500 Vrms Interrupt points configurable Input 0 3 Operation Logic 0 when Input VCOM 24 V Logic 1 when Input VCOM 0 V or open COM Voltage 24V or 0V 64 output points Figure D 2 PCLD 8241 Output signal Photo Relay OUTO Figure D 2 PhotoMos Relay applied Load voltage 60V DC or AC 9
61. rofile of Home Modell 89 Home 2 90 Figure C 13 Velocity Profile of Home Mode12 90 Hornmemnodel3 ze x 90 Figure C 14 Velocity Profile of Home Model3 90 R mote VO rc Be atures 92 Specifications sess 93 Figure D diet Die ere 93 Figure D2 a mter erat tte rente ea ees 93 PCI 1261 User Manual x CHAPTER General Information This chapter provides general informa tion on the PCI 1241 42 Sections include Introduction Features Applications How to get Started Software Programming Choices Accessories Chapter 1 Introduction 1 1 Introduction PCI 1242 is a 4 Axis Pulse type Motion Control Card and PCI 1241 is a 4 axis Pulse Voltage command Motion Control Card In pulse output control these motion control cards use a synchronous DDA Digital Dif ferential Analyzer pulse generator to send out pulses evenly and simulta neously which successfully realizes synchronous four axis positioning and motion control With a powerful control library it is suitable for the pulse type servo motor or stepping motor control It also can read back motor encoder val ues through the encoder s input interface PCI 1241 provides a proportional control algorithm which generates voltage output signals between 10V and 10V to drive velocity type servo motors This means it can be used for multi axis precision servo control There are
62. rogramming Choices 6 ACCESSODIES 6 1 6 Waring Cables 21523229 gne HO edes 6 1 62 e eolit 6 Installation S Software Installation eene 8 Figure 2 1 The Setup Screen of Advantech Automation Software 8 Hardware Installation eene 9 2 2 1 Board Layout and Jumper Switch Settings 10 Figure 2 2 Location of Jmp and VRs on PCI 1241 42 10 Table 2 1 Summary of Jumper and Conn Settings 11 Signal Connections eese 14 Connector Pin 14 Figure 3 1 J1 Remote I O Connector Pin Assignments 14 Table 3 1 PCI 1241 1242 I O Conn Signal Descrip tion Remote sse 15 Figure 3 2 J2 Remote I O Connector Pin Assignments 15 Table 3 2 PCI 1241 1242 I O J2 Conn Signal Descrip tion Remote I O sese 16 Figure 3 3 J3 MPG connector pin assignments 16 Table 3 3 PCI 1241 1242 I O J3 Conn Signal Descrip tion MPG Input seen 17 Figure 3 4 SCSI II 68 pin Conn Pin Assignments 18 Table 3 4 PCI 1241 1242 I O Conn Signal Desc DDA Pulse 19 Table 3 5 PCI 1241 1242 I O Conn Signal Desc En coder eate ce nectare der ede e ed 20 Table 3 6 PCI 1241 1242 I O Connector Signal Descrip tion Local DO iere 21 Table 3 7 PCI
63. s Yes Yes Demonstrates how to design a remote I O ISR and enable a transmission error to trigger this ISR RIOlnput Yes Yes Yes Yes Demonstrates how to design a remote I O ISR and enable some specific signals of remote inputs to trigger this ISR RlOStatus Yes Yes Yes Yes Checks transmission sta tuses of master and slave cards SetBlend Yes Yes Yes Yes Enables disables motion blending SetSpeed Yes Yes Yes Yes_ Sets speeds for general and point to point motions TimerTrigger Yes Yes Yes Yes_ Demonstrates how to design a timer ISR and use the timer expiration signal to trigger this ISR WatchDog Yes Yes Yes Yes Demonstrates how to use the watch dog facility PCI 1241 1242 User Manual 62 APPENDIX Specifications This chapter provides information on the specifications of PCI 1241 42 Sections include Axes Pulse Output nput Pulse for Encoder Interface Local Input Output Other Motion Functions General Appendix A Specifications A 1 Axis Number of Axis 4 Axes 2 3 Axis Linear Range 8 388 608 8 388 607 for each axis Interpolation Speed 1 PPS 4M PPS Precision 0 5 LSB 2 Axis Circular Range 8 388 608 8 388 607 for each axis Inferpplauony I speed 1 PPS 4M PPS Precision 1 LSB 3 Axis Helical Range 8 388 608 8 388 607 for each axis Interpol
64. s how to get the HW stock information with library CheckOT Yes Yes Yes Yes Demonstrates how to enable disable the over traveling protection And check whether software over travel ing protection occurs CtriMotion Yes Yes Yes Yes Demonstrates utilizing hold continue abort functions for motion controls Cyclelnterrupt Yes Yes Yes Yes Demonstrates how to use a cyclic interrupt facility includ ing designing a cycle inter rupt service routine ISR DACOutput Yes Yes l Demonstrates how to use D A converter DelayMotion Yes Yes Yes Yes Demonstrates how to use the delay function which can delay executing the next motion command for a spe cific time ENCCompare Yes Yes Yes Yes Demonstrates how to set a comparison value for an encoder and design an encoder ISR and this ISR will be triggered when the encoder s counter is equal to the preset value ErrorStatus Yes Yes Yes Yes Verifying the parameters passing into the library GeneralMotion Yes Yes Yes Yes Demonstrates executing a general motion command i e line arc and circle motions PCI 1241 1242 User Manual 60 Table 5 1 Sample Program Usage GetENCLatch Yes Yes Yes Yes Demonstrates how to latch a encoder value in defined con ditions GetStatus Yes Yes Yes Yes Displays current position speed and information of an exec
65. s used to reduce the inter ference of electromagnet Connect one side of the shield net to the external housing of SCSI II 68 pin connector connected to PC frame ground and the other side to SERVO MOTOR DRIVER FG Frame Ground It helps to make sure that Frame Ground of both PC and SERVO MOTOR DRIVER has con nected together to the same field ground 23 Chapter 3 Using one axis as example others follow likewise where 0 3 SCSLII 68 PIN Connector MOTOR DRIVER HOST PC PCI BUS PAP Paj gt lt Twisted Pair P4 A _PDP gt lt TwistedPair PBN SCSI II Shield FG GND GND Earth Ground Farth Ground Figure 3 5 Wiring Diagram between PCI 1241 and Servo Motor Driver PCI 1241 1242 User Manual 24 3 3 Pulse Output Connection PCI 1241 1242 supports 4 axis pulse output channels for pulse type servo motor driver and stepping motor driver control Pulse Output Specifications Differential signal transmission method Refer to Figure 3 6 A transmitter will convert the input signal X into X and X before outputting and a receiver will compare the X and X inputs to obtain Y Its truth table is shown in Figure 3 7 The advantage of using the differential signal transmission method is that it eliminates common mode noise Please note that the reference point for the trans mitter and the receiver must be connected to prevent
66. stop outputting commands Software Limit Limit 100000 mm Limit 10000 mm Limit Offset 5 mm Limit Offset 5 mm Encoder There are three types of encoders that can be defined here They are A B phase type CW CCW type and Pulse Direction type Also if the pulse phase was inversed you could also define that here Encoder Encoder Type A B v AB Phase Swap No x Inverse A Phase No x B Phase No v CPhase No z Driver The motor driver s specifications can be input here You can define the motion card s pulse output mode according to the motor driver types PCI 1241 42 supports CW CCW A B and Pulse Direction output modes You can even choose no pulse output for simulation purposes Pulse Width defines the pulse type motion card s high level width of output pulse P gain is only used for voltage type motion cards like PCI 1241 Its default value is 40 Driver Pulse Mode CW CCW Pulse Width 100 0 000025ms P Gain 40 Hardware Limit Mode In this column you can set the limit switch type according to the physical limit switch It can be normal open normal close or not check If the mode was set as not check here the limit switch status will not be updated even when acquiring with API Hardware Limit Mode Limit Normal Open X Limit Normal Open v PCI 1241 1242 User Manual 44 4 3 2 General PtP Motion Configuration In this page you can define the
67. t low speed FL and accelerate to high speed FH towards the home sensor Once the home sensor is reached the motor will decelerate and go backwards while the velocity reaches FL After changing direction the motor will accelerate to FH and search for the index signal then slow down and stop Meanwhile you can configure how many index counts will be ignored before stopping with parameter When EIC is 1 it means one index will be ignored and the motor will stop at the second index after turning around Like case in following diagram If the home sensor was active at start up or the limit switch was met first the motor will go in the opposite direction when reaching the limit switch Then it will keep moving until it crosses the home sensor and finally search the home signal again Like case 3 and case 4 in figure C 6 HOME Po ECZ LMT Case Kol N Ec a N E 12 Case 2 Case 3 q 0 qa 777 Figure C 6 Velocity Profile of Home Mode5 PCI 1241 1242 User Manual 84 C 8 Home Mode6 In Home mode6 the motor will start up at low speed FL and accelerate to high speed FH towards the limit switch Once the limit switch is reached the motor will stop immediately LMT NN Figure C 7 Velocity Profile of Home Mode6 C 9 Home Mode7 In Home mode7 the motor will start up at low speed FL and accelerate to high speed FH towards the limit switch Once t
68. tion Description No Name 15 AO ECAP Input Axis 0 Encoder Input Phase A 16 AO_ECAN Input Axis 0 Encoder Input Phase A 17 AO_ECBP Input Axis 0 Encoder Input Phase B 18 AO_ECBN Input Axis 0 Encoder Input Phase B 19 AO_ECZP Input Axis 0 Encoder Input Phase Z 20 AO ECZN Input Axis 0 Encoder Input Phase Z 49 A1 ECAP Input Axis 1 Encoder Input Phase A 50 A1_ECAN Input Axis 1 Encoder Input Phase A 51 A1_ECBP Input Axis 1 Encoder Input Phase B 52 A1_ECBN Input Axis 1 Encoder Input Phase B 53 A1_ECZP Input Axis 1 Encoder Input Phase Z 54 A1 ECZN Input Axis 1 Encoder Input Phase Z 21 A2 Input Axis 2 Encoder Input Phase A 22 A2 ECAN Input Axis 2 Encoder Input Phase A 23 A2 ECBP Input Axis 2 Encoder Input Phase B 24 A2_ECBN Input Axis 2 Encoder Input Phase B 25 A2 ECZP Input Axis 2 Encoder Input Phase Z 26 A2 ECZN Input Axis 2 Encoder Input Phase Z 55 A3_ECAP Input Axis 3 Encoder Input Phase A 56 A3_ECAN Input Axis 3 Encoder Input Phase A 57 A3_ECBP Input Axis 3 Encoder Input Phase B 58 A3_ECBN Input Axis 3 Encoder Input Phase B 59 A3_ECZP Input Axis 3 Encoder Input Phase Z 60 A3 ECZN Input Axis 3 Encoder Input Phase Z PCI 1241 1242 User Manual 20 Table 3 6 PCI 1241 1242 I O Connector Signal Description Local Pin Signal Name Reference Direction Description No
69. tor driver accordingly as shown in Figure 3 8 Be noted that PCI 1241 42 ground channel GND must be connected to the ground pin of the motor driver t s recommended to use twisted wires with shielding mesh for signal transmission PCI 1241 1242 User Manual 26 Using one axis as example others follow likewise where 0 3 SCSLII 68 PIN Connector MOTOR DRIVER HOST PC y 7 lt 7 Twisted Pair PAN P PBP ad D Twisted Pair A PBN P SCSI Shield FG GND GND Earth Ground Earth Ground Figure 3 8 Wiring Diagram Between PCI 1241 42 and Pulse Type Driver 3 4 Local Input Connection PCI 1241 42 provides 13 dedicated input channels There are four types of local input channels 4 channel Positive direction Limit Switch Inputs LMT Al_LMT A2 LMT and LMT 4 channel Negative direction Limit Switch Signal A0 LMT LMT A2 LMT and LMT 4 channel Home Sensor Inputs A0 HOME HOME A2 and HOME 1 channel Emergency Stop Input E STOP 27 Chapter 3 Local Input Specifications Active Logic 0 in real hardware signal when input voltage is between 18 V and 30 V Inactive Logic in real hardware signal when input voltage is between 0 V and 1 V 2500 VDC isolation protection The response time of the circuitry is 3 usec because of the delay of photo coupl
70. uting motion command GoHome Yes Yes Yes Yes Demonstrates how to use go home functions and acquire the status of executing a go home process InitSys Yes Yes Yes Yes Demonstrates how to initial ize a motion control system InPosCheck Yes Yes Demonstrates how to use in position functions and check in position status in a motion process JogMotion Yes Yes Yes Yes Demonstrates how to perform the jog motion LIOTrigger Yes Yes Yes Yes Demonstrates how to design a local I O ISR and enable local I O signals to trigger this ISR MotionFinished Yes Yes Yes Yes Demonstrates how to get system working status e g stop running or holding MultiGroup Yes Yes Yes Yes Demonstrates how to build two motion groups and exe cute two circle motions simul taneously in the groups OverSpeed Yes Yes Yes Yes Changes speed dynamically while executing a motion command PCLOverflow Yes Yes Demonstrates how to design a position control loop PCL ISR and enable overflow sig nals to trigger this ISR PtPMotion Yes Yes Yes Yes Executes a point to point motion command 61 Chapter 5 Table 5 1 Sample Program Usage RIOCtrl Yes Yes Yes Yes Demonstrates how to enable remote functions and read write remote signals RIOError Ye
71. ve a better signal quality the signal wires are twisted in such a way as to form a twisted pair cable reducing cross talk and noise from other lines are separately sheathed and shielded to neutralize EMI EMC problems PCL 10109M The PCL 10109M shielded cable is specially designed for PCI 1241 1242 motion control card to provide high resistance to noise To achieve a better signal quality the signal wires are twisted in such a way as to form a twisted pair cable reducing cross talk and noise from other lines are separately sheathed and shielded to neutralize EMI EMC problems 6 2 Wiring Board ADAM 3968 The ADAM 3968 is a pin to pin wiring board for PCI 1241 PCI 1242 which supports DIN rail mounting PCI 1241 1242 User Manual 6 Chapter 2 Installation 2 1 Software Installation We recommend you to install the driver before you install the PCI 1241 42 card into your system since this will guarantee a smooth installation process The 32 bit DLL driver Setup program for the card is included on the com panion CD ROM that is shipped with your DAS card package Please fol low the steps below to install the driver software Step 1 Insert the companion CD ROM into your CD ROM drive Step 2 The Setup program will be launched automatically if you have the auto play function enabled on your system When the Setup Program is launched you ll see the following Startup Screen Then just follow the installation instru

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