User`s Manual of ISaGRAF Embedded Controllers
Contents
1. 1O x File Edit Tools Options Help Parameter apseo te Fa 6 x_mode integer counting mode of X axis Lo i_8091 A gt wt ref 8090 y_mode integer counting mode of Y axis i_8090 cu g maj x mode 10 sous y mode 10 wa z mode 10 z_mode integer counting mode of Z axis 00 quadrant counting mode 5 10 CW CCW counting mode a 20 pulse direction counting mode Input Channel CH1 encorder value of X axis CH2 encorder value of Y axis CH3 encorder value of Z axis zi CH1 to CH3 are signed 32 bit integer format User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 ICP DAS 18 13 Setting commands M_regist Register one I 8091 m_regist In order to distinguish more than one I 8091 card in I 8417 8817 8437 8837 platform the I 8091 cards should be registrated before using it This command will assign a card number card _NO_ to J 8091 card at that address_ If there is no I 8091 at the given address this command will return FALSE Note If using I_8091A rather than I_8091 on the I O connection window user don t need to call m_regist amp m_s_nc they are ignored The card_NO of I 8091A is equal to its slot No I 8xx7 0 7 W 8xx7 1 7 Parameters card_NO_ integer valid is 0 19 address_ integer the plugged slot address of the 18091 card slot 02. lt p aao HOLDI 4 EGND 17 5 2A 18 EXT_VCC 6 EXT_VCC 2B 19 20 7 12V 24V PHOME1 gt x PHOME2 gt 0 3 0 cies PLS11 gt a EGND 21 Se 9 At 9 3A 22 B 10 B 23 pisi4 gt PLs24 gt a j PEMG gt 35 EGND 25 EXT_GND EGND_ 13 S8091 card S8090 card Fig 13 The connection between I 8090 and I 8091 for function testing or pulse feedback by I 8090 encoder card User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 ICP DAS 18 12 18 4 Software I O connection The I 8091A connectted on the I O connection window contains 11 digital input channels wn ISaGRAF WDEMO_26 I O connection d Ioj x File Edit Tools Options Help 2 PBeO TL FAS Input Channel zl gt a ref 8091A CH1 EMG emergency stop m i_8091A n ma NO_OR_NC CH2 FFEF FIFO is empty or not TRUE empty A S EMGCEmg CH3 FFFF FIFO is full or not TRUE full Z pe 4 CH4 LS11 Left limit swtch of X axis The NOOR NC Q s Ls11 Le CH5 LS14 Right limi i S Right limit swtch of X axis cats a beset as Si S140 CH6 ORG1 Original position swtch of X axis i Stee oe gt a CH7 XSTOP Stop or not of X axis TRUE stop 7z 5 L S SAT a CH8 LS21 Left limit swtch of Y axis o oRG2 of CH9 LS24 Right limit swtch of Y axis zi ystopey CH10 ORG2 Original position swtch of Y axis CH11 YSTOP Stop or not of Y axis TRUE stop
3. 0x160 0x180 Ox1AO address Fig 3 I 8000 hardware address User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 ICP DAS 18 5 18 3 2 LED Indicator power ORGI X axis s original limit switch for machine home position LS11 LS14 X axis s negative and positive limit switches ORG2 Y axis s original limit switch for machine home position LS21 LS24 Y axis s negative and positive limit switches EMG system s emergency signal input ORG1 LS11 LS14 ORG2 LS21 LS24 EMG Fig 4 I 8091 LED indicator 18 3 3 Hardware Configuration Limit switch configuration Because the profile generation and protection is executed by the CPU on I 8091 card the limit switches must configure as following diagram The motion command just can work properly CCW BW CW FW lt gt E M LS11 ORGI LS 4 i O LS11 ORGI LS14 EXT GND_ a ING Ae X axis Emergency Fig 5 Limit switch configuration of X axis User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 ICP DAS 18 6 CCW BW CW FW lt ates as LS21 ORG2 LS24 YO 7 a LS21 ORG2 LS24 EXT GND _ Y axis Fig 6 Limit switch configuration of Y axis Output pulse mode configuration I 8091 card provide two kind output method a CW CCW mode b Pulse Direction mode The command M_s_mode card_NO_ modeX
4. I 8090 s encorder value to 0 Parameters slot_ integer the slot No where the 18090 is plugged 0 7 axis_ integer 1 x axis 2 y axis 3 z axis Return Q_ boolean always return TRUE Example demo_27 demo_28 demo_46 User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 ICP DAS 18 31
5. TRUE high speed pulseN Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8xx7 wdemo_26 wdemo_27 wdemo_28 wdemo_29 User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 ICP DAS 18 21 M_nsppmv Normal speed pulse move Normal speed move a specified pulse Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 AXIS_ integer 1 X axis 2 Y axis Pulse_ integer number of pulse to move if gt 0 move toward CW FW dir if lt 0 move toward CCW BW dir SPEED_ integer Speed low speed lt SPEED_ lt high speed Return Q_ boolean always return TRUE Normal speed pulseN Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8xx7 wdemo_26 wdemo_27 wdemo_28 wdemo_29 M_Ispmv Low speed move Low speed move toward the direction specified It can be stop by M_stpx or M_stpy or M_stpall command Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 DIR_ integer direction 0 CW 1 CCW AXIS_ integer 1 X axis 2 Y axis Return Q_ boolean always return TRUE Low speed Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8xx7 wdemo_26 wdemo_27 wdemo_28 wdemo_29 User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 ICP DAS 18 22 M_hspmv High speed move High speed move toward the direction specified It can be stop by M_stpx or M_stpy or M_stpall command Para
6. pin EXT VCC 6 External power 12 24V for limit switches sii 8 Xaxis limit switch i O PO Nowe i O P2223 Noused S O User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 ICP DAS 18 9 The internal circuit of CW_PULSE CCW_DIR HOLD When output these signal as 1 it can source 15mA max When output these signal as 0 it can sink 5OmA max CW_PULSE1 CCW_DIR1 HOLD1 CW_PULSE2 CCW_DIR2 HOLD2 i8091 Fig 9 internal circuit of pulse output pin The internal circuit of limit switch input Initially the limit switch inputs of I 8091 board are normal open N O the I 8091 board will automatic protect when limit switch pin connect to EXT_GND The user can use the command M_s_ne card_NO_ 1 to let those limit switch input as normal close condition at the beginning of the user s program EXT_VCC 12V 24V ORG1 LS11 LS14 ORG2 LS21 LS24 EMG 18091 Fig 10 internal circuit of limit switch input pin User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 ICP DAS 18 10 Example of connection l CW_PULSE1 CW PULSE T DA CCW_DIR1 CCWIDIR i H Fig 12 Sink type driver User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 ICP DAS 18 11 CN2 DB25M 90 CN2 DB25M 90 1A 1 TA 14 1B 15 m fe
7. slot 1 slot 2 slot 3 slot 4 slot 5 slot 6 slot 7 Return Q_ boolean TRUE 16 80 16 A0 16 CO 16 E0 16 140 16 160 16 180 16 1A0 Ok FALSE Fail Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8337 8737 wdemo_26 wdemo_27 wdemo_28 wdemo_29 declaration INIT as boolean lt internal gt and has initial value of TRUE TMP as boolean lt internal gt cardNO as integer lt internal gt and has intial value of 1 Do some init setting at 1st scan cycle if INIT then INIT FALSE TMP M_regist cardNO 16 80 plug 18091 in slot 0 TMP M_r_sys cardNO reset i8091 s setting TMP M_s_var cardNO 4 2 5 100 TMP M_s_dir cardNO 0 0 Normal direction TMP M_s_mode cardNO 1 1 pulse_dir mode TMP M_s _serv cardNO 1 1 X amp Y server ON TMP M_s_nc cardNO O Normal open end_if User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 ICP DAS 18 14 M_r_sys Reset all setting To reset I 8091 card this command will terminate the running command in I 8091 m_r_sys card User can use this command as software emergency stop This command also rae Q will clear all of setting so all I 8091 card s parameter should be set again Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 Return Q_ boolean always return TRUE Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8xx7 wdemo_2
8. 150 gt high speed 150 6 144ms 24414pps User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 ICP DAS 18 16 M_s_ dir Define output direction of axes Sometimes the output direction of X axis Y axis is undesired direction due to the motor s connection or gear train In order to unify the output direction as shown in Fig 5 and Fig 6 Where CW FW direction is defined as toward outside from motor CCW BW direction is defined as toward inside from motor This command provide parameters to define the rotating direction of motor Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 defdirxX_ integer X axis direction definition valid is 0 1 defdirY_ integer Y axis direction definition valid is 0 1 0 normal direction 1 reverse direction Return Q_ boolean always return TRUE Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8xx7 wdemo_26 wdemo_27 wdemo_28 wdemo_29 M_s_mode Set output mode Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 modeX_ integer X axis mode valid is 0 1 modeY_ integer Y axis mode valid is 0 1 0 CW_CCW 1 PULSE_DIR Return Q_ boolean always return TRUE CW aaf i E Mode 0 CW_CCW CCW Pulse Mode 1 PULSE_DIR Direction Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8xx7 wdemo_26 wdemo_27 wde
9. 254 1 x1 024ms 261 12ms DDA period DDA cycle Xpuise I LS Ls L _ Y pulse 6 LJ __ LJ LL Zpuse 4 FS Fig 2 DDA mechanism User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 ICP DAS 18 3 Table 1 The Relation among DDA cycle DDA period and output pulse rate Max pulse rate n 2047 Min pulse rate n 1 Bs 409Gms ho O o N ss N 1 1 024ms_ 2047 DDA period 1 DDA period 254s 261 12ms 7839pps 3 83pps The DDA cycle can be set by 18091_SET_VARQ command which decribed in charpter 3 The selection criterion of DDA cycle was described as following 1 The required max output pulse rate PRmax Vmax N 60 2047 PRmax DDAcycle 1 1 024ms PRmax max output pulse rate Vmax max speed rpm N the pulse number of stepping motor per revolution pulse rev 2 The required speed resolution The maximum output pulse number is Np 0 2047 therefore the speed resolution is Vmax max speed Np The DDA cycle can be obtained by following equation Np PRmax DDAcycle 1 1 024ms 3 When choose large DDA cycle DDA period it will occur vibration between different pulse input which generally can be observed during acceleration or deceleration So the small DDA cycle the smooth acceleration deceleration curve as long as the speed resolution is acceptable Example Stepping Motor The spec of stepping motor is 500 pulse rev max speed 500 rpm speed resolution 2 rpm
10. 6 wdemo_27 wdemo_28 wdemo_29 User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 ICP DAS 18 15 M_s_var Set motion system parameters To set DDA cycle accelerating decelerating speed low speed and high speed value Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 DDA_cycle_ integer DDA cycle valid is 1 254 Acc_Dec_ integer Acc Dec speed valid is 1 200 Low_Speed_ integer low speed valid is 1 200 Low_Speed_ gt Acc_Dec_ High _Speed_ integer high speed Low_Speed_ lt High_Speed lt 2047 Return Q_ boolean always return TRUE Note The lower DDA_cycle_ is given the smaller delay time between ORG1 ON and X_STOP ON or ORG2 ON and Y_STOP ON when using M_hsporg amp M_lsporg command For ex DDA_cycle_ set to 4 the delay time is about 5 to 13 ms High_Speed Acc_Dec Acc_Dec Low_Speed Restriction Default value 1 lt DDA_cycle lt 254 DDA_cycle 10 1 lt Acc_ Dec lt 200 Acc_Dec 1 Low_Speed 10 lt lt 2 1 lt Low_ Speed lt 200 High_Speed 100 Low _ Speed lt High_ Speed lt 2047 Low_Speed gt Acc_Dec Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8xx7 wdemo_26 wdemo_27 wdemo_28 wdemo_29 TMP M_s_var 1 5 2 10 150 DDA_cycle 5 gt DDA period 5 1 1 024ms 6 144ms Acc_Dec 2 gt Acc Dec speed 2 6 144ms 42 52981 p s2 Low_Speed 10 gt low speed 10 6 144ms 1628pps High_Speed
11. 7 wdemo_28 wdemo_29 M_slwstp Slow down to stop m_slwstp card_ AXIS To decelerate to stop Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 AXIS_ integer 1 X axis 2 Y axis Return Q_ boolean always return TRUE SLOW_STOP Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8xx7 wdemo_26 wdemo_27 wdemo_28 wdemo_29 User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 ICP DAS 18 24 Interpolation commands M_intp Move a short distance on X Y plane This command will move a short distance interpolation short line on X Y plane This command provided a method for user to generate an arbitrary curve on X Y plane Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 Xpulse_ integer 2047 lt Xpulse_ lt 2047 Ypulse_ integer 2047 lt Ypulse_ lt 2047 Return Q_ boolean always return TRUE Y Y Xpulse Ypulse Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8xx7 wdemo_26 wdemo_27 wdemo_28 wdemo_29 NOTE For a lot of M_intp call set at the same time please check if the FIFO is not full Call it if FIFO is not full FIFO indicator is a Digital Input resides at CH3 of i 8091 1 8091 D I channel on ISaGRAF I O connection window CH1 EMG emergency stop CH2 FFEF FIFO is empty or not TRUE empty CH3 FFFF FIFO is full or not TRUE full CH4 LS11 Left limit swtch of X axis CH5 L
12. G2 limit switch is touched Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 DIR_ integer 0 CW 1 CCW AXIS_integer 1 X axis 2 Y axis Return Q_ boolean always return TRUE ORG high speed Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8xx7 wdemo_26 wdemo_27 wdemo_28 wdemo_29 Note The lower DDA_cycle_ is given the smaller delay time between ORG1 ON and X_STOP ON or ORG2 ON and Y_STOP ON when using M_hsporg amp M_Isporg command For ex DDA_cycle_ set to 4 the delay time is about 5 to 13 ms User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 ICP DAS 18 20 M_Isppmv Low speed pulse move Low speed move a specified pulse Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 AXIS_ integer 1 X axis 2 Y axis Pulse_ integer number of pulse to move if gt 0 move toward CW FW dir if lt 0 move toward CCW BW dir Return Q_ boolean always return TRUE pulseN Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8xx7 wdemo_26 wdemo_27 wdemo_28 wdemo_29 M_hsppmv High speed pulse move High speed move a specified pulse Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 AXIS_ integer 1 X axis 2 Y axis Pulse_ integer number of pulse to move if gt 0 move toward CW FW dir if lt 0 move toward CCW BW dir Return Q_ boolean always return
13. How can I implement motion control in I 8417 8817 8437 8837 18 1 Install motion driver Limitation 1 I 8437 8837 CAN NOT do ethernet communication when using I 8091 to do motion control while W 8xx7 doesn t have this limitation 2 Only one I 8091 board in I 8417 8817 8437 8837 amp W 8xx7 can do X Y dependent motion other I 8091s should be moving independent Or all I 8091s are moving independent The I 8417 8817 8437 8837 amp Wincon 8xx7 can integrate with the I 8091 to do Motion control The default IsaGRAF driver burned in the Flash memory of the I 8417 8817 8437 8837 controller is for general usage not for motion control Please update it to the motion driver by yourself While user don t need to upgrade the driver of Wincon 8xx7 if its driver version is 3 08 or higher The motion driver of I 8417 8817 8437 8837 can be found in the ICP DAS CD ROM napdos isagraf 8000 driver motion or can be downloaded from ftp icpdas com pub cd 8000cd napdos isagraf 8000 driver motion Please refer to the ReadMe txt in the folder of motion for ex Motion2 45 Restriction of the motion driver of I 8417 8817 8437 8837 The motion driver for I 8417 8817 8437 8837 doesn t support the Ethernet communication however W 8xx7 desen t have this limitation The ISaGRAF demo projects of motion for I 8417 8817 8437 8837 are demo_27 demo_28 amp demo_46 They are located in the 8000 CD ROM na
14. NOTE 1 Only one of M_intln2 M_intcl2 amp M_intar2 command can be called at one time the other motion moving commands related to the same I 8091 card should not be called unless it is completed Please use M_intstp to test command of M_intln2 M_intcl2 amp M_intar2 completed or not 2 One controller can only drive one I 8091 to move by M_intIn2 M_intcL2 M_intar2 command Two or more I 8091 cards in the same controller to use M_intIn2 M_intcL2 M_intar2 at the same time is not possible User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 ICP DAS 18 28 M_intar2 Move a arc on X Y plane m_intar2 card_ This command will generate an interpolation arc on X Y plane It will automatically generate a trapezoidal speed profile of X axis and Y axis by state machine type calculation method Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 X_ y_ integer end point of arc relate to present position R_ integer radius of arc if gt 0 the arc lt 180 degree if lt 0 the arc gt 180 degree R_ must gt square root of X_ X_ Y_ Y_ 2 dir_ integer moving direction 0 CW 1 CCW speed_ integer 0 2040 acc_mode_ __ integer 0 enable acceleration deceleration profile 1 disable acceleration deceleration profile Return Q_ boolean always return TRUE A Ww Y X Y Ro dir path of curve owe R gt 0 cow NOTE 1 Only one of M_intln2 M_intcl2
15. S14 Right limit swtch of X axis CH6 ORG1 Original position swtch of X axis CH7 XSTOP Stop or not of X axis TRUE stop CH8 LS21 Left limit swtch of Y axis CH9 LS24 Right limit swtch of Y axis CH10 ORG2 Original position swtch of Y axis CH11 YSTOP Stop or not of Y axis TRUE stop User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 ICP DAS 18 25 M_intIn Move a long distance on X Y plane This command will move a long distance interpolation line on X Y plane The CPU on I 8091 card will generate a trapezoidal speed profile of X axis and Y axis and execute interpolation by way of DDA chip Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 Xpulse_ integer 524287 lt Xpulse_ lt 524287 Ypulse_ integer 524287 lt Xpulse_ lt 524287 Return Q_ boolean always return TRUE Xpulse Ypulse 70 0 Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8xx7 wdemo_26 wdemo_27 wdemo_28 wdemo_29 User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 ICP DAS 18 26 M_intin2 Move a long distance on X Y plane m_intln2 This command will move a long interpolation line on X Y plane It will automatically generate a trapezoidal speed profile of X axis and Y axis by state machine type calculation method Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 X_ y_ integer end point relate to present posit
16. The required max pulse rate PRmax 500 rpm 500 60 4166 67 pps The maximum output pulse Np 500rpm 2rpm 250 pulse number The DDA cycle can be calculated by follow equation User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 ICP DAS 18 4 Np PRmax DDAcycle 1 1 024ms 250 4166 67 DDAcycle 1 1 024ms DDA cycle 58 High Speed 247 pulse 4166 67 58 0 001024 The above results means that maximum speed is 500rpm when send command i8091_SET_VAR 0 58 2 2 247 to I 8091 card Example Pulse type input Servo Motor The spec of servo motor is 8000 pulse rev max speed 3000 rpm speed resolution 2 rpm The required max pulse rate PRmax 3000 rpm 8000 60 400 000 pps The maximum output pulse Np 3000rpm 2rpm 1500 pulse number The DDA cycle can be calculated by follow equation Np PRmax DDAcycle 1 1 024ms 1500 400 000 DDAcycle 1 1 024ms DDA cycle 3 High Speed 1638 pulse 400 000 4 0 001024 The above results means that maximum speed is 3000rpm when send command i18091_SET_VARQ O 3 2 2 1638 to I 8091 card 18 3 Hardware 18 3 1 I 8000 hardware address The hardware address of I 8000 main system is fixed as following table There are 4 slots I 8000 and 8 slots I 8000 SlotO Slot1 Slot2 Slot3 Slot4 Slot5 Slot6 Slot 7 1 8000 4 slot 0x080 OxOA0O OxOCO OxOEO a5 S28 address 1 8000 8 slot 0x080 OxOAO OxOCO OxOEO 0x140
17. _ modeY_ provide parameters 0 CW_CCW and 1 PULSE_DIR to define output pulse mode CW Mode 0 CW_CCW CCW PLU Pulse Mode 1 PULSE_DIR Direction Fig 7 Output pulse mode Direction configuration Sometimes the output direction of X axis Y axis is not in the desired direction due to the motor s connection or gear train It is recommended to unify the output direction as shown in Figure 5 6 The CW FW direction is defined as toward outside from motor and the CCW BW direction is defined as toward inside to motor The M_s_dir card_NO_ defdirX_ defdirY_ command provides parameters 0 NORMAL_DIR and 1 REVERSE_DIR to define the rotating direction of motor User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 ICP DAS 18 7 Turn Servo ON OFF Hold ON OFF To turn servo motor into servo ON OFF state or turn stepping motor into hold ON OFF state the command M_s_serv card_NO_ sonX_ sonY_ provide parameters 1 ON and 0 OFF to turn ON or OFF Automatic protection The I 8091 card has a automatic protected system a If X aixs command is executing and moving toward CW FW direction X axis will immediately stop when LS 14 is touched To release this protection as long as X axis move toward CCW BW direction b If X aixs command is executing and moving toward CCW BW direction X axis will immediately stop when LS11 is touched To release this protect
18. amp M_intar2 command can be called at one time the other motion moving commands related to the same I 8091 card should not be called unless it is completed Please use M_intstp to test command of M_intIn2 M_intcl2 amp M_intar2 completed or not 2 One controller can only drive one I 8091 to move by M_intIn2 M_intcL2 M_intar2 command Two or more I 8091 cards in the same controller to use M_intIn2 M_intcL2 M_intar2 at the same time is not possible User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 ICP DAS 18 29 M_intstp Test X Y plane moving command To test the below 3 commands completed or not M _intln2 M_intcL2 M_intar2 It will return FALSE for interpolation command completed while return TRUE for busy not completed yet Return Q_ boolean TRUE busy FALSE completed NOTE 1 Only one of M_intln2 M_intcl2 amp M_intar2 command can be called at one time the other motion moving commands related to the same I 8091 card should not be called unless it is completed Please use M_intstp to test command of M_intln2 M_intcl2 amp M_intar2 completed or not 2 One controller can only drive one I 8091 to move by M_intIn2 M_intcL2 M_intar2 command Two or more I 8091 cards in the same controller to use M_intIn2 M_intcL2 M_intar2 at the same time is not possible User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 ICP DAS 18 30 I 8090 encorder commands M_r_enco Reset
19. f ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 18 2 Introduction 18 2 1 System Block Diagram The I 8091 stepping motor control card is a micro computer controlled 2 axis pulse generation card It includes a 2Kbytes FIFO to receive motion command from host a micro computer for profile generation and protection 2 axis DDA chip to execute DDA function when interpolation command is used 2500Vrms optical isolation inserted for industrial application 2K FIFO CPU DDA Chip Profile Generation a mm X axis Interface Protection o E p DDA Chi p Optical Isolation Y axis Limit Switch Input Port SA Connector Limit Switch ini Limit Switch Signal Input Port a Fig 1 block diagram of I 8091 card 18 2 2 DDA Technology The DDA chip is the heart of I 8091 card it will generate equal space pulse train corresponding to specific pulse number during a DDA period This mechanism is very useful to execute pulse generation and interpolation function The DDA period can be determined by DDA cycle Table 1 shows the relation among DDA cycle DDA period and output pulse rate When DDA cycle set to 1 the DDA period is equal to 1 1 x1 024ms 2 048ms The output pulse number can be set to 0 2047 therefore the maximum output pulse rate will be 1Mpps The minimum output pulse rate is 3 83pps when set DDA cycle 254 DDA period
20. ion speed_ integer 0 2040 acc_mode_ integer 0 enable acceleration deceleration profile 1 disable acceleration deceleration profile Return Q_ boolean always return TRUE X Y 0 0 NOTE 1 Only one of M_intln2 M_intcl2 amp M_intar2 command can be called at one time the other motion moving commands related to the same I 8091 card should not be called unless it is completed Please use M_intstp to test command of M_intln2 M_intcl2 amp M_intar2 completed or not 2 One controller can only drive one I 8091 to move by M_intIn2 M_intcL2 M_intar2 command Two or more I 8091 cards in the same controller to use M_intIn2 M_intcL2 M_intar2 at the same time is not possible User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 ICP DAS 18 27 M_intcl2 Move a circle on X Y plane m_intel2 card_ This command will generate an interpolation circle on X Y plane It will automatically generate a trapezoidal speed profile of X axis and Y axis by state machine type calculation method Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 X_ y_ integer center point of circle relate to present position dir_ integer moving direction 0 CW 1 CCW speed_ integer 0 2040 acc_mode_ integer 0 enable acceleration deceleration profile 1 disable acceleration deceleration profile Return Q_ boolean always return TRUE Y X Y cw J X coN where radius sqrt X 2 Y 2
21. ion as long as X axis move toward CW FW direction c If Y aixs command is executing and moving toward CW FW direction Y axis will immediately stop when LS24 is touched To release this protection as long as Y axis move toward CCW BW direction d If Y aixs command is executing and moving toward CCW BW direction Y axis will immediately stop when LS21 is touched To release this protection as long as Y axis move toward CW FW direction e If the signal of the emergency limit switch EMG was found in CPU firmware all motion will be terminated and stop Set limit switch as normal close condition The limit switches EMG LS11 LS14 LS21 LS24 ORG1 ORG2 is initially normal open condition that is these signal is active when connect it to ground In industrial application it might be recommended normal close condition that is these signal is active when open from ground The M_s_ne card_NO_ sw_ command can be set sw 0 default for normal open condition When set sw 1 for normal close condition User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 ICP DAS 18 8 18 3 4 Pin assignment of connector CN2 CN2 DB25M 90 CW_PULSE2 ___ gt ccw_pbiIR2 gt HOLD2 gt Fig 8 CN2 connector of I 8091 Table of CN2 connector s pin assignment pin name pin Description number ESV re emal 5V power Max output current SomA IR OA axis CW Pulse output pin CCW DRI gt axis CCW Direction output
22. meters card_NO_ integer the card No has been set by M_regist valid is 0 19 DIR_ integer direction 0 CW 1 CCW AXIS_ integer 1 X axis 2 Y axis Return Q_ boolean always return TRUE high speed Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8xx7 wdemo_26 wdemo_27 wdemo_28 wdemo_29 M_cspmv Change speed move This command will accelerate decelerate the selected axis s motor to the move_speed This command can be continuously send to I 8091 to dynamicly change speed The rotating motor can be stop by the command M_stpx M_stpy M_stpall or M_slwstp Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 dir_ integer direction 0 CW 1 CCW axis_ integer 1 X axis 2 Y axis move_speed_ integer 0 lt move_speed_ lt 2040 Return Q_ boolean always return TRUE move speed Acc_Dec Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8xx7 wdemo_26 wdemo_27 wdemo_28 wdemo_29 User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 ICP DAS 18 23 M_slwdn Slow down to low speed m_slwdn card_ AXIS To decelerate to slow speed until M_stpx or M_stpy or M_stpall is executed Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 AXIS_ integer 1 X axis 2 Y axis Return Q_ boolean always return TRUE SLOW_DOWN Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8xx7 wdemo_26 wdemo_2
23. mo_28 wdemo_29 User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 ICP DAS 18 17 M_s_ serv Set servo ON OFF Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 sonX_ integer X axis servo hold on switch valid is 0 1 sonY_ integer Y axis servo hold on switch valid is 0 1 0 OFF 1 ON Return Q_ boolean always return TRUE Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8xx7 wdemo_26 wdemo_27 wdemo_28 wdemo_29 M_s_ ne Set N O N C To set all of the following limit switches as N C normal close or N O normall open If set as N O those limit switches are active low If set as N C those limit switches are active high The auto protection will automatically change the judgement whatever it is N O or N C Limit switches ORG1 LS11 LS14 ORG2 LS21 LS24 EMG Note If using I_8091A rather than I_8091 on the I O connection window user don t need to call m_regist amp m_s_nc they are ignored The card_NO of I 8091A is equal to its slot No I 8xx7 0 7 W 8xx7 1 7 Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 sw_ integer 0 N O default 1 N C Return Q_ boolean always return TRUE Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8xx7 wdemo_26 wdemo_27 wdemo_28 wdemo_29 User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Re
24. pdos isagraf 8000 demo or from ftp icpdas com pub cd 8000cd napdos isagraf 8000 demo The ISaGRAF demo projects of motion for W 8xx7 are wdemo_26 wdemo_27 wdemo_28 amp wdemo_29 They are located in the Wincon CD ROM napdos isagraf wincon demo or from ftp ftp icpdas com pub cd winconcd napdos isagraf wincon demo User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 ICP DAS 18 1 All functions that trigger I 8091 amp I 8090 are named as M_ Please refer to the On line help from the ISaGRAF Help Library C functions for names starting with M_ A ISaGRAF Project Management E iol x File Edit Project Tools Options Help ti Language reference Technical notes mm ebus_s1 p s256 test 5256 Reference t107 ser s manual Author Conversion functions WE U Date of creation 2002 9 26 leer gd T RE eae 1 ake sure the motion driver is well installed ERT E PERISaGRAE 3 16 Please refer to Napdos ISaGRAF 8000 Driver motion pdf P g Demo please refer to demo_27 demo_28 High SPeed move and stop when ORG1 ORG2 limit switch is toug Beside please refer to I 8091 amp I 8090 User s Manual It can be found in the package box of the i 8091 or CD ROM napdos 8000 motion i809 1 manual ftp site ftp ftp icpdas com pub cd 8000cd napdos 8000 motion i809 1 manual ICP DAS 18 2 User s Manual O
25. v 5 1 ICP DAS 18 18 Stop commands M_stpx Stop X axis m_stpx card Q Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 Return Q_ boolean always return TRUE Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8xx7 wdemo_26 wdemo_27 wdemo_28 wdemo_29 M_stpy Stop Y axis m_stpy Parameters card a card_NO_ integer the card No has been set by M_regist valid is 0 19 Return Q_ boolean always return TRUE Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8xx7 wdemo_26 wdemo_27 wdemo_28 wdemo_29 m_stpall card Q M_stpall Stop X amp Y axes This command will stop X amp Y axes and clear all of commands pending in the FIFO Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 Return Q_ boolean always return TRUE Example I 8417 8817 8437 8837 demo_46 demo_27 demo_28 W 8xx7 wdemo_26 wdemo_27 wdemo_28 wdemo_29 User s Manual Of ISaGRAF Embedded Controllers Apr 2007 Rev 5 1 ICP DAS 18 19 Simple motion commands m_Isporg M_Isporg Low speed move to ORG ae Low speed move and stop when ORG1 ORG2 limit switch is touched DIR_ AXIS Parameters card_NO_ integer the card No has been set by M_regist valid is 0 19 DIR_ integer 0 CW 1 CCW AXIS_ integer 1 X axis 2 Y axis Return Q_ boolean always return TRUE ORG Low speed V M_hsporg High speed move to ORG High speed move and stop when ORG1 OR
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