PCI-1220U User Manual
Contents
1. Connector Type 50 pin SCSI II female Dimensions 175 x 100 mm 6 9 x 3 9 Power Consumption Typical 300 mA 5 V Max 600 mA 5 V External Power Voltage DC 12 24 V Temperature Operating 0 60 C 32 140 F refer to IEC 68 2 1 2 Storage 20 85 C 4 185 F Relative Humidity 5 95 RH non condensing refer to IEC 68 2 3 Certifications CE certified 41 PCI 1220U User Manual 42 APPENDIX Block Diagram ix B Block Diagram Append k 24 a Oscillator 16 MHz MCX312 x R RD Dt II Line driver 26LS31 ERR Pulse output Output Buffer ULN2803A XOUT3 2 1 0 General output Exteral Power Photo coupler amp RC filter yog Limit input XIN0 1 General input XORG Home signal input T 46 XINPOS Servo motor signal XALARM Servo alarm High speed photo coupler XECAP N lt XECBP N Encoder signal input 4 7 i lt XEXOP Dir Jo Photo coupler amp RC filer XExoP Dir Jog 44 PCI 1220U User Manual APPENDIX Wiring with Third Party Motor Drivers Appendix C Wiring with Third Party Motor Drivers PCI 1220U side P N Figure C 1 Mitsubishi MR J2S Series Motor Driver PCI 1220U User Manual 46 PCI 1220U side Figure C 2 Oriental LIMO EZMC Motor Driver 47 Chapter C PCI 1220U side D gt OZ 24 OZ 23 Es OB 492. 16 Output Pulse Definition 17 Figure 3 3 Output Signal Loop for Drive Pulses 17 Table 3 4 JP1 4 Jumpers seen 17 Figure 3 4 Photo Coupler Input Interface er Figure 3 5 Line Driver Input Interface General Purposed Output Figure 3 6 General Purpose Output Over Traveling Limit Switch Input Figure 3 7 Movement Limit Input Signals Figure 3 8 Photo Sensor in the Limit Input Signal 20 Deceleration Instantaneous Stop Switch Input 21 Figure 3 9 Deceleration Instantaneous Stop Input 21 General Purposed Input for Servo Drives 22 Figure 3 10 Input Signal for Servo Motor 22 Encoder 4 5 iuh T U od ES 23 Figure 3 11 Circuit Diagram of Encoder Feedback 23 Figure 3 12 Differential output Line Driver Figure 3 13 Open Collector Output Encoder External Pulse Control Input Figure 3 14 External Drive Operation Signals 25 Figure 3 15 Example of Connecting to Jog 25 Emergency Stop Input EMG Figure 3 16 Emergency Stop Input Signal Table 3 5 Jumper Settings of 5 External Power Input VEX Interrupt Settine nes ae Figure 3 17 Circuit Diagram of Interrupt Setting
3. Figure C 3 Panasonic MINAS A Series Motor Driver PCI 1220U User Manual 48 PCI 1220U TES CLR 15 Figure C 4 Yaskawa SGDM Series Motor Driver 49 Chapter C PCI 1220U User Manual 50
4. Un 9 x 9 Turn off your computer and any accessories connected to the computer Warning TURN OFF your computer power supply whenever you install or remove any card or connect and disconnect cables Disconnect the power cord and any other cables from the back of the computer Remove the cover of the computer Select an empty 3 3 5V PCI slot Remove the screw that secures the expansion slot cover to the system unit Save the screw to secure the interface card retaining bracket Carefully grasp the upper edge of the PCI 1220U Align the hole in the retaining bracket with the hole on the expansion slot and align the gold striped edge connector with the expansion slot socket Press the card into the socket gently but firmly Make sure the card fits the slot tightly Secure the PCI 1220U by screwing the mounting bracket to the back panel of the computer Attach any accessories to the card Replace the cover of your computer and connect the cables you removed in step 2 Turn the computer power on 9 Chapter 2 PCI 1220U User Manual 10 CHAPTER Signal Connections This chapter provides useful informa tion about how to connect input and output signals to the PCI 1220U via the I O connector Chapter 3 Signal Connections 3 1 I O Connector Pin Assignments The I O connector on the PCI 1220U is a 50 pin connector that enables you to connect to accessories with the PCL 10152 shi
5. 27 v Table of Contents 3 13 3 16 Appendix A A 6 Appendix B Appendix C Connection Examples for Motor Drivers 28 3 13 1 Connection to Step Motor Drivers Figure 3 18 Connecting to KR515M Drive 28 Figure 3 19 Connecting to UPK Step Drive 29 3 13 2 Connection to Servo Motor Drivers 30 Figure 3 20 MINAS X Series AC Servo Motor Drive 30 Field Wiring Considerations 31 Signal Timing 3 15 1 Power On RESET Figure 3 21 Timing Diagram of Power On Reset 32 3 15 2 Individual Axis Driving 92 Figure 3 22 Individual Axis Driving 32 3 15 3 Interpolation Driving 33 Figure 3 23 Timing Diagram of Interpolation Driving 33 3 15 4 Input Pulse Timing see 33 Figure 3 24 Quadrature Pulse of Encoder Input 33 Figure 3 25 Timing Diagram of Up Down Pulse Input 33 3 15 5 Instantaneous Stop Timing 34 Figure 3 26 External Instantaneous Stop Signal 34 Figure 3 27 Instantaneous Stop Instruction 3 15 6 Deceleration Stop Timing Figure 3 28 External Deceleration Stop Signal Figure 3 29 Deceleration Stop Instruction TTL Level Position Compar
6. PCI 1220U 2 axis Universal PCI Stepping Pulse type Servo Motor Control Card User Manual Copyright This documentation and the software included with this product are copyrighted 2009 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 manual 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 1s intended to be accurate and reliable 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 Corporation Delphi and C Builder are trademarks of Inprise Corporation CE notification The PCI 1220U 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 supplier for ordering informatio
7. 21 GND YOUTO 22 YOUTI YOUT2 YP P YP P 23 YOUT3 YP N YP N Figure 3 1 1 0 Connector Pin Assignments 13 Chapter 3 Table 3 1 1 0 Connector Signal Description Signal Name Reference Direction Description VEX Input External Power 12 24VDC EMG Input Emergency Stop for all axes XLMT Input Direction Limit at X axis XLMT Input Direction Limit at X axis XINO Input General Input at X axis XIN1 Input General Input at X axis XORG Input Home Signal Input at X axis YLMT Input Direction Limit at Y axis YLMT Input Direction Limit at Y axis YINO Input General Input at Y axis YIN1 Input General Input at Y axis YORG Input Home Signal Input at Y axis XINPOS Input In Position input at X axis XALARM Input Servo Error at X axis XECAP Input Encoder Phase A at X axis XECAN Input Encoder Phase A at X axis XECBP Input Encoder Phase B at X axis XECBN Input Encoder Phase B at X axis XEZ Input Encoder Phase Z at X axis XEZ Input Encoder Phase Z at X axis YINPOS Input In Position input at Y axis YALARM Input Servo Error at Y axis YECAP Input Encoder Phase A at Y axis YECAN Input Encoder Phase A at Y axis YECBP Input Encoder Phase B at Y axis YECBN Input Encoder Phase B at Y axis YEZ Input Input Encoder Phase Z at Y axis YEZ Input Encoder Phase Z at
8. The pulses output function of MCX312 chip is controlled by register set ting or by external pulse command input nEXOP nEXOP There are two output pulse mode for the external control pin One is fixed pulse out put mode and the other is continuous output mode In PCI 1220U it pro vides Jog and Hand wheel functions that allow you driving motors through external Hand wheel or Jog equipment In Jog mode it is corre sponding to the Continuous Output Mode and in Hand wheel mode it is corresponding to the Fixed Pulse Output Mode These functions are progressed without CPU involved on host PC When the input signal is enabled during fixed pulse drive the pulse specified will be output When continuous output drive is enabled the drive pulse will be continually output at the period of signal Low This signal should be used in combi nation with external power DC12 24V The response time of circuitry should take about 10 msec because of the delay of photo coupled and RC filter VEX 12 24V MCX312 10K 9 nEXPP oT b n 1 mancis L O 0 01p x j OnEXOP Control 5V rfp TP 21 Logic S 10K nEXPM w 100K Y poti E OnEXOP nEXOP ar Figure 3 14 External Drive Operation Signals PCI 1220U VEX DC 12 24V Jog Figure 3 15 Example of Connecting to Jog 23 Chapter 3 3 10 Emergency Stop Input EMG When emerg
9. Static Electricity Follow these simple precautions to protect yourself from harm and the products from damage 1 To avoid electrical shock always disconnect the power from your PC chassis before you work on it Don t touch any components on the CPU card or other cards while the PC is on 2 Disconnect power before making any configuration changes The sudden rush of power as you connect a jumper or install a card may damage sensitive electronic components PCI 1220U User Manual iv Chapter 1 1 2 3 4 Chapter 2 1 2 3 Chapter 3 1 2 3 3 3 4 3 5 3 6 3 7 3 8 3 9 3 10 0 Contents Introduction 2 Features Applications Installation Guide ACCeSSOLIGS Jed dele ide od Seer Sale te MY Installation S Unpackine nu sen UHR Driver Installation Installation Instructions Signal Connections 12 Connector Pin Assignments 12 Location of Jumpers and DIP switch 12 Figure 3 1 1 0 Connector Pin Assignments 13 Table 3 1 1 0 Connector Signal Description 14 Figure 3 2 Location of Jumpers amp DIP Switch 16 Table 3 2 BoardID register 16 Table 3 3 BoardID setting
10. 3 17 shows the interrupt structure of the PCI 1220U We suggest users who want to program their own interrupt service routine ISR should follow the procedures Step 1 When interrupt occurs Hardware Step 2 Program will jump to ISR Software Step 3 In ISR program the first thing have to do is clear interrupt for pre venting hanging up the PCI bus Step 4 In ISR program the last thing have to do is read nRR3 of MCX312 for accepting next interrupt occurs MCX312 45V NES PCI BUS D Q INTA INTN lt CLR CLEAR INT Figure 3 17 Circuit Diagram of Interrupt Setting 27 Chapter 3 3 13 Connection Examples for Motor Drivers 3 13 1 Connection to Step Motor Drivers The following figure is an example of PCI 1220U connected to 5 phase micro step motor drives KR515M manufactured by TECHNO company PCI 1220U KR515M XP P F XP N CW Pulse F XP P gt I 7 R XP N CCW Pulse R Ea H O XOUTO Hold Off 1 H 0 D S XOUT M1 M2 Select D S XEZ y Z P GND Timing Output ZP Figure 3 18 Connecting to KR515M Drive Note JP1 4 of PCI 1220U are set to 5V output side 5V output for output terminals XP P and XP P Setting JP1 4 as single ended output will output 5V of PCI 1220U to external devices this will induce noise back to PCI 1220U So be careful when connection Connect XOUTO to H O Hold off can control the drive to hold Con
11. Output Pin2 and Pin3 short Default 5V Output Pin1 and Pin2 short The following figure 3 4 and 3 5 show the examples of input circuitry connection for both photo coupler and motor driver respectively 17 Chapter 3 5V or CW 1 NW XP N m Q K A 286 Motor Driver Side Figure 3 4 Photo Coupler Input Interface DANE NN E XP N X x N XP P MI ili Twist pair with shield GND Motor Driver side Figure 3 5 Line Driver Input Interface PCI 1220U User Manual 18 3 4 General Purposed Output The general purposed output nOUT3 DSND nOUT2 ASND nOUT1 CMPM and nOUTO CMPP are from MCX312 and each output signal is OFF status after system reset MCX312 Darlington Circuit T aoaaa E lt nOUT3 LOAD nOUT3 DSND 200 max 1 GND gt nOUT2 ASND 1 Darlington Circuit e o nOUT2 nOUT1 CMPM Darlington Circuit L I Y nOUT1 Figure 3 6 General Purpose Output General purposed output signals used in motor drives can clear error counter alarm reset stimulus off etc or select acceleration deceleration for driving position counter and the status of comparison register as your output during driving 3 5 Over Traveling Limit Switch Input Note When the axis axes is are about to stop in the decelera tion stage the axis axes will not stop totally
12. Y axis XEXOP Input Jog at the Direction of X axis XEXOP Input Jog at the Direction of X axis YEXOP Input Jog at the Direction of Y axis YEXOP Input Jog at the Direction of Y axis GND Ground XOUTO GND Output General Output at X axis CMP PCI 1220U User Manual 14 Table 3 1 1 0 Connector Signal Description continued XOUT1 GND Output General Output at X axis CMP XOUT2 GND Output General Output at X axis Server On XOUT3 GND Output General Output at X axis XP P GND Output Output pulse CW Pulse of X axis XP N GND Output Output pulse CW Pulse of X axis XP P GND Output Output pulse CCW DIR of X axis XP N GND Output Output pulse CCW DIR of X axis GND Ground YOUTO GND Output General Output at Y axis CMP YOUT1 GND Output General Output at Y axis YOUT2 GND Output General Output at Y axis Server on YOUT3 GND Output General Output at Y axis Reset YP P GND Output Output pulse CW Pulse of Y axis YP N GND Output Output pulse CW Pulse of Y axis YP P GND Output Output pulse CCW DIR of Y axis YP N GND Output Output pulse CCW DIR of Y axis 15 Chapter 3 JP4 JP1 Figure 3 2 Location of Jumpers Switch Loy ET JP10 JP7 IH CN2 es sw1 Hon BBBH 1234 ID 3210 l Table 3 2 BoardID register SW1 Board ID register Base Add 12
13. out of the bag After taking out the card you should first nspect the card for any possible signs of external damage loose or damaged components etc If the card 1s visibly damaged please notify our service department or the local sales representative immedi ately Avoid installing a damaged card into your system Also pay extra caution to the following to ensure proper installation Avoid physical contact with materials that could hold static electricity such as plastic vinyl and Styrofoam Whenever you handle the card grasp it only by its edges DO NOT TOUCH the exposed metal pins of the connector or the electronic com ponents PCI 1220U User Manual 8 2 2 Driver Installation We recommend you install the software driver before installing the PCI 1220U module since this will guarantee a smooth installation process The 32 bit DLL driver Setup program for the PCI 1220U module is included on the companion CD ROM that is shipped with your module package For further information on driver related issues an online version of the Device Drivers Manual is available by accessing the following path Start Programs Advantech Automation Device Manager Device Driver s Manual 2 3 Installation Instructions The PCI 1220U can be installed in any PCI slot in the computer How ever refer to the computer user s manual to avoid any mistakes and dan ger before you follow the installation procedure below N
14. 8 388 607 Speed 1 PPS 4 MPPS Precision 1LSB Continuous Speed 1 PPS 2 MPPS Interpolation Single Axis Output Signal nP P N nP P N Movement Range 8 388 608 8 388 607 Precision X 0 1 96 Change of 954 31 25 x 10 PPS sec Acceleration for S curve Acceleration 425 500 x 106 PPS sec Deceleration Initial Velocity 1 PPS 4 MPPS Drive Speed 1 PPS 4 MPPS Can be changed during driving Number of Fixed pulse driving Output Pulses O 16 777 215 Pulse Output Pulse Direction 1 pulse 1 direc Type tion type or Up Down 2 pulse type Output Signal Differential line driving output Modes Single ended output Speed Curve T S curve acceleration deceleration Note represents the axis X Z or U that is A 2 Digital Input Output Input Signals Over Traveling nLMT nLMT Limit Switch Input General Input nINO 1 Signal Input Signal for nALARM servo alarm nINPOS Servo Motor position Drives command completed Emergency Stop EMG one emergency stop input Max Input 4 kHz Frequency Input Voltage Logic 0 21 24 open dry VEX 24V contact Sue dry wet E ogic 1 0 16 Voc closed dry contact Protection 2 500 photo coupler isola tion General Purpose Output Signal nOUTO 3 Output Output Voltage Open Collector 5 40 Vpc Sink Current 200 mA max channel Protection 2 500 photo coupler isola tion A 3 Inpu
15. Limit active when sensor be sheltered Figure 3 8 Photo Sensor in the Limit Input Signal PCI 1220U User Manual 20 3 6 Deceleration Instantaneous Stop Switch Input Note When the axis axes is are about to stop in the decelera tion stage the axis axes will not stop totally but keep moving at a very low speed if you use S curve accelera tion deceleration to control speed under the Point to Point and Line Profile interpolation drive mode positioning operation specify a target position on the conditions below The hardware limit is activated and the Limited Switch Operation Mode is set to Slow Down then Stop WR2 D2 1 The software limit is enabled and activated WR3 D 1 1 The Limited Switch Function of IN1 and IN2 are enabled WR1 D5 3 1 1 There are three input signals nINO nIN1 nORG that can make the motor drives deceleration or stop EZ 1s used in phase Z interface of encoder feedback and nINO nIN1 are used as input signals near the origi nal point If run mode is active the output of driving pulse is terminated after those signals are enabled The deceleration occurs during accelera tion deceleration and it will be stopped immediately during constant drive All the signals become invalid after reset For example when set ting the D7 and D6 of XWRI register to 1 and 0 ORG is low active the drive will be terminated in the case of the limit switch is on and xORG is low Furthermore these input signal
16. agnetic 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 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 the undesirable effect 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 10152 shielded cable 3l Chapter 3 3 15 I O Signal Timing 3 15 1 Power On RESET SR cana cM MC Jai pela aO CORE COD MC C CDS CLR D CUM RESDRV J4 2 Low nP N Ne ASIS nOUT4 7 fn ohare OFF Read Write invalid valid Figure 3 21 Timing Diagram of Power On Reset Output pulses nP P nP N for drive control and general purpose output signals nOUTO 3 for I O control will be determined after 250 nsec from power on reset User can access PCI 1220U only after 500 nsec from power on res
17. but keep moving at a very low speed if you use S curve accelera tion deceleration to control speed under the Point to Point and Line Profile interpolation drive mode positioning operation specify a target position on the conditions below The hardware limit is activated and the Limited Switch Operation Mode is set to Slow Down then Stop WR2 D2 1 The software limit is enabled and activated WR3 D 1 1 The Limited Switch Function of IN1 and IN2 are enabled WR1 D5 3 1 1 19 Chapter 3 Over traveling limit switches are used for system protection This input signal is connected to the limit input of MCX312 through the connection of photo coupler and RC filter When the limit switch is applied the external power VEX DC12 24V will source the photo coupler and then the nLMTP in MCX312 will be low level This enables the over traveling function if the desired level of nLMTP is set to low MCX312 nLMTP nLMTM Figure 3 7 Movement Limit Input Signals The response time of this circuit should take about 0 2 0 4 msec because ofthe delay of photo coupled and RC filter The following figure 3 8 is an example of photo sensor used in the case of over traveling limit switch input When writing D3 bit of register2 XWR2 into 0 to set the limit switch is low active in X axis the following figure can work normally 1220 VEX DC12 24V EE SX670 OMRON XLMT
18. e user could read the input register 1 and 2 RR4 RR5 to get the status of this two signal PCI 1220U User Manual 22 3 8 Encoder Input When feedback the encoder signals connect nECAP to phase A of encoder output And nECAN to phase A nECBP to phase B nECBN to phase B nINOP to phase Z and nINON to phase Z The default setting of position feedback of PCI 1220U is quadrature input Up Down pulses feedback is available after setting the input pule mode nINOP N is used for encoder phase Z signal feedback and also can be used as general purposed input or instantaneous stop input MCX312 GnECBP nECBN nEZ nEZ Figure 3 11 Circuit Diagram of Encoder Feedback From the circuit diagram above PCI 1220U uses high speed photo cou pler for isolation The encoder output can be differential mode or open collector mode When n P is high and n N is low the real feedback signal n to MCX312 is low The maximum possible A B phase feed back frequency is about 1 MHz 23 Chapter 3 The following diagram is an example of the connection for encoder with differential output linear driver Encoder Side Figure 3 12 Differential output Line Driver The following figure is an example of connection for the encoder with open collector output T DC Power 5 25V Figure 3 13 Open Collector Output Encoder PCI 1220U User Manual 24 3 9 External Pulse Control Input
19. e Output Table 3 6 Jumper Settings of JP6 PSX CS dan Morea Ron 38 Digital Input Output 39 Input Pulse for Encoder Interface 39 External Signals Driving 40 Other 40 General Ses c 41 Block Diageram 44 Wiring with Third Party Motor Drivers 46 Figure C 1 Mitsubishi MR J2S Series Motor Driver 46 Figure C 2 Oriental LIMO EZMC Motor Driver 47 Figure C 3 Panasonic MINAS A Series Motor Driver 48 Figure C 4 Yaskawa SGDM Series Motor Driver 49 PCI 1220U User Manual vi Chapter 1 Introduction PCI 1220U 2 axis Stepping Pulse type Servo Motor Control Card is designed for general purpose motion applications The card simplifies stepping and pulse type servo motor control The cards intelligent NOVA MCX312 motion ASIC builds in a variety of motion control functions such as 2 axis linear interpolation 2 axis cir cular interpolation T S curve acceleration deceleration rate and more PCI 1220U performs motion control functions without processor load during driving For advanced applications we supply Windows DLL drivers and user friendly examples to decrease your programming load Moreover through a free bundled motion utility you can complete con figuration and diagnosis eas
20. elded cable Figure 3 1 shows the pin assignments for the 50 pin I O connector on the PCI 1220U and Table 3 1 shows its I O connector signal description Note The PCL 10152 shielded cable is especially designed for the PCI 1220U to reduce noise in the analog signal lines 3 2 Location of Jumpers and DIP switch Figure 3 2 shows the names and locations of jumpers and DIP switch on the PCI 1220U There are ten jumpers JP1 to JP10 on the PCI 1220U Please refer to Section 3 4 Output Pulse Definition and Section 3 11 Emergency Stop Input for more information about JP1 4 and JP5 config urations BoardID Switch PCI 1220U has have a built in DIP switch SW1 which is used to define each card s unique identifier for the Motion Utility You can determine the BoardID identifier on the register as shown in Table 3 2 When there are multiple cards on the same chassis this BoardID setting is useful for identifying each card s device number We set the BoardID switch of PCI 1220U to 0 at the factory If you need to adjust it to another number set SW1 by referring to Table 3 3 PCI 1220U User Manual 12 VEX EMG l XLMT 2 XLMT XINO 3 XINI XORG 4 YLMT YLMT 5 YINO YIN1 6 YORG XINPOS 7 XALARM XECAP 8 XECAN XECBP 9 XECBN XEZ 10 XEZ YINPOS 11 YALARM YECAP 12 YECAN YECBP 13 YECBN YEZ 14 YEZ 15 XEXOP YEXOP 16 YEXOP GND 17 XOUTO XOUTI 18 XOUT2 XOUT3 19 XP P XP N 20
21. ency stop input signal is enabled the output of the drive pulse for all axes will be stopped and error bit of main status register will be set to 1 The operation of emergency stop input is positive or negative triggered can be determined by JP5 on the board MCX312 JP5 T VEX 12 24V 10K 3 3K EMG Figure 3 16 Emergency Stop Input Signal This signal should be used in combination with external power DC12 24V The response time of circuitry should take about 0 25 msec because of the delay of photo coupled and RC filter Table 3 5 Jumper Settings of JPS Jumper JP5 Emergency stop function enabled when emer Pin 1 and Pin 2 short gency stop signal EMG and external GND short Default Emergency stop function enabled when emer Pin 2 and Pin 3 short gency stop signal EMG and external GND open Note Please check if EMG and GND are short or not when the card could not work properly 3 11 External Power Input VEX External power is necessary for all input signals of each axis Please apply DC12 24V voltage as your need Current consumption of each point for input signal is DC12V 3 3 mA DC24V 7 mA PCI 1220U User Manual 26 3 12 Interrupt Setting When the interrupt occurs from MCX312 the interrupt signal of MCX312 will be changed from high to low Because the PCI bus inter rupt is high level sensitive the PCI 1220U inverse the signal and latch the signal to adapt the PCI bus INTA The Fig
22. et 3 15 2 Individual Axis Driving BUSYN Interpolation drive command write in nPP P 1st pulse 2nd pulse Pre state Valid level nPP P direction signal Figure 3 22 Individual Axis Driving The maximum time to output command pulse after first pulse command is about 650nsec When pulse direction mode the direction signal will valid after 275 nsec and pulse output will vaild after 375 nsec after direction signal PCI 1220U User Manual 32 3 15 3 Interpolation Driving BUSYN Interpolation drive command write in nPP P 1st pulse 2nd pulse nPP P Not stable valid level ot stabl valid level lot stabioX direction signal Figure 3 23 Timing Diagram of Interpolation Driving After interpolation command is enable the first pulse will be outputted in 775 nsec If using pulse direction mode direction signal nP P is valid in 125 nsec of high level pulse signal 3 15 4 Input Pulse Timing Quadrature Pulse of Encoder Input Counting up Counting down aECAP nECAN AECBP 77 nECBN HESS 1 LOLOL Figure 3 24 Quadrature Pulse of Encoder Input The minimum difference time between A B phases is 200 nsec UP DOWN Pulse Input nECAP 5 nECAN nECBP nECBN Figure 3 25 Timing Diagram of Up Down Pulse Input Minimum UP DOWN pulse wid
23. h 3 2 1 0 Abbreviation BDID3 BDID2 BDID1 BDID ID0 the least significant bit LSB of Board ID ID3 the most significant bit MSB of Board ID Table 3 3 BoardID setting Board ID setting SW1 Board ID Dec Switch Position ID3 ID2 ID1 IDO 0 1 14 Q Q Q 15 Q Q Q Q O Off e On default PCI 1220U User Manual 16 3 3 Output Pulse Definition The output pulse command of PCI 1220U is from MCX312 chip The pulse command has two types One is in Up Down mode and another is in Pulse Direction mode While is differential from nP N and nP P is differential from nP N After system reset the nP P and nP P is low level and this invert output nP N nP N is high level and the de fault setting of pulse output mode is Up Down User can change the output mode into Pulse Direction mode by writing specified command system register MCX312 PAN nPP PLS n 45V nP P nPM DIR m nP P JP 2 4 Figure 3 3 Output Signal Loop for Drive Pulses From the circuit shown above Figure 3 3 the default output mode is dif ferential output For single ended output use user can change jumpers JP1 4 to 5V Note that you should prevent from the noise interference when using jumpers JP1 4 to output internal 5V to external device Table 3 4 JP1 4 Jumpers Jumper JP1 JP2 JP3 JP4 Output Signal XP P XP P YP P IC Output Line Drive
24. ily 1 1 Features PCI 1220U provides users with the most requested motor control func tions as seen below Independent 2 axis motion control Support hand wheel and jog function 2 axis linear interpolation function 2 axis circular interpolation function Continuous interpolation function Programmable T S curve acceleration and deceleration Up to 4MPPS pulse output for each axis Two pulse output types Up Down or Pulse Direction Up to 1 MHz encoder input for each axis Two encoder pulse input types A B phase or Up Down Position management and software limit switch function BoardID Switch Free Motion Utility bundled for configuration and diagnosis Go home functions Universal PCI Bus for both 3 3 and 5 V PCI slots PCI 1220U User Manual 2 The Advantech PCI 1220U offers the following main features Individual Control for 2 Axes Each of the axes has identical capabilities and is controlled by the same method of operation with constant speed trapezoidal or S curve driving Programmable T S curve Acceleration and Deceleration Each of four axes can be preset individually with S curve or trapezoidal acceleration deceleration rates When using S curve acceleration to con trol driving speed output pulse is generated in parabolic shaped accelera tion or deceleration curves and the triangular curve phenomenon will not occur through the NOVA MCX 312 motion ASIC design concept Linear and Circular Interpolation T
25. is diagnosed as defective obtain an RMA return merchandize authorization number from your dealer This allows us to process your return more quickly 4 Carefully pack the defective product a fully completed Repair and Replacement Order Card and a photocopy proof of purchase date such as your sales receipt 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 Technical Support and Assistance Step 1 Visit the Advantech web site at www advantech com support where you can find the latest information about the product Step 2 Contact your distributor sales representative or Advantech s cus tomer service center for technical support if you need additional assistance Please have the following information ready before you call Product name and serial number Description of your peripheral attachments Description of your software operating system version appli cation software etc A complete description of the problem The exact wording of any error messages Packing List Before setting up the system check that the items listed below are included and in good condition If any item does not accord with the table please contact your dealer immediately PCI 1220U Companion CD ROM DLL driver included User Manual Safety Precaution
26. n Printed in Taiwan September 2009 PCI 1220U User Manual ii Product Warranty 2 years Advantech warrants to you the original purchaser that each of its prod ucts will be free from defects in materials and workmanship for two years from the date of purchase This warranty does not apply to any products 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 1s 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 5 Call your dealer and describe the problem Please have your man ual product and any helpful information readily available 3 Ifyour product
27. nect XOUT1 to D S can control the resolution of micro step drive Which will be controlled by setting D8 D9 of WR3 in MCX312 And read the RR4 5 to know the status of XEZ The following figure is an example of PCI 1220U connected to UPK step drive manufactured by ORIENTAL company PCI 1220U User Manual 28 PCI 1220U UPK XP P XP N XP P XP N XOUTO GND CW Pulse CCW CCW H OFF H OFF CCW Pulse Hold Off VEX Eu bi TIMING XALARM O HEAT COM Figure 3 19 Connecting to UPK Step Drive Note The differential pulse output of PCI 1220U is connected to CW CCW input of UPK drive XOUTO can control UPK drive to hold by setting D8 of WR3 TIMING and Over HEAT signals be read back by reading RR4 5 It is better to use a twisted pair cable for long connections 29 Chapter 3 3 13 2 Connection to Servo Motor Drivers The figure shown below is an example of PCI 1220U connected to MINAS X series AC servo motor drive PCI 1220U XP P XP N XECBN XEZ XEZ GND XOUTO XOUT1 XOUT2 GND VEX XINO XALARM XINPOS XLMT XLMT XORG f MINAS X i CW Pul kie Lus cw i ccw 1 CCW Pulse CCW Le OA Encoder Phase 3 OA OB E Encoder Phase Z TH ncoder Phase 07 GND COM SRV ON Error Counter Clear CL Alarm Clear A CLR COM Se
28. nter An interrupt signal can be also generated during the interpolation driving Real Time Monitoring During the driving the present status such as logical position real position drive speed acceleration deceleration status of accelerating decelerating and constant driving can be read 1 2 Applications Precise X Y position control Precise rotation control Packaging and assembly equipment Machine control with up to 2 axes Semiconductor pick and place and testing equipment Other stepping pulse type servo motor applications 1 3 Installation Guide Before you install your PCI 1220U card please make sure you have the following necessary components PCI 1220U Motion Card PCI 1220U Startup Manual Driver Software Advantech PCI 1220U DLL drivers Included in the CD ROM Motion Utility Advantech PCI 1220U Motion Utility Included in the CD ROM Personal computer or workstation with a PCI bus slot After you have got the necessary components and maybe some accesso ries for enhanced operation of your Motion card you can then begin the installation procedure 5 Chapter 1 1 4 Accessories Advantech offers a complete set of accessory products to support the PCI 1220U card These accessories include Wiring Cable PCL 10152 The PCL 10152 shielded cable is specially designed for PCI 1220U card to provide higher resistance to noise To achieve a better signal quality the signal wires are twis
29. nterpolation drive to slave cards One Master card can support up to two Slavel cards and two Slave2 cards The setting of Master Slavel and Slave2 can be done via Jumpers 7 10 Compare Register and Software Limit Each axis has two 32 bit compare registers for logical position counter and real position counter The comparison result can be read from the sta tus registers The comparison result can be notified by an interrupt signal These registers can be also functioned as software limits Driving by External Signal It is possible to control each axis by external signals The direction fixed pulse driving and continuous driving can be also performed through the external signals This function is used for JOG or teaching modes and will share the CPU load Input Output Signal Each axis has 2 points of general input signals Besides there are ORG and EZ signals for high speed near by home search home search and z phase search during the home returning Each axis is with 4 output points for general output Servo Motor Feedback Signals Each axis includes input pins for servo feedback signals such as in posi tioning close loop positioning control and servo alarm PCI 1220U User Manual 4 Interrupt Signals Interrupt signals can be generated when 1 the start finish of a constant speed drive during the trapezoidal driving 2 the end of driving and 3 the compare result higher lower the border lines of the position cou
30. other vision devices For PCI 1220U the position compare output channels are nOUTO and nOUT 1 and it is open collector type output In which the nOUTO and nOUTI represent the different direction of position compare separately For PCI 1220U we provide an integrated option for the position compare output By selecting with JP6 you can choose the XOUTO pin as original design as PCI 1220U or TTL level output While the JP6 is in CMP position the output of XOUTO is XOUTO XOUTI With this special design you can get the compared result in both increment and decrement direction through one unified pin Table 3 6 Jumper Settings of JP6 Jumper JP6 The XOUTO is defined as the pulse out XOUTO Pin 1 and Pin 2 put channel for the incremental position short Default compare mechanism And it s open col lector type output It s a design only for PCI 1220U The CMP Pin 2 and Pin 3 short position compare signal for both directions will output from XOUTO and the output level of XOUTO is TTL level 35 Chapter 3 PCI 1220U User Manual 36 APPENDIX Specifications Appendix A Specifications concerned PCI 1220U User Manual 38 A 1 Axes Axes 2 2 axis Linear Range For each axis Interpolation 8 388 608 8 388 607 Speed 1 PPS 4 MPPS Precision 0 5 LSB 2 axis Circular Range For each axis Interpolation 8 388 608
31. rvo Ready S RDY SevoAlm Alarm ALM Completing Position Position COIN H _ wor LIMIT 7 po LIMIT L li HOME Figure 3 20 MINAS X Series AC Servo Motor Drive Note PCI 1220U User Manual The servo drive must be set in pulse control drive mode and the type of pulse input is CW CCW mode This connection is not well for pulse direction mode because the timing is not match 30 It is optional to connect encoder A B phase feedback signal If connect to encoder signal user can read the real position from PCI 1220U If the environment has high noise or the connection is long we recommend you to use twist pair cable for servo drives 3 14 Field Wiring Considerations When you use the PCI 1220U to acquire data from outside noises in the environment might significantly affect the accuracy of your measure ments if due cautions are not taken The following measures will be helpful to reduce possible interference running signal wires between sig nal sources and the PCI 1220U 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 electrom
32. s can be used as general purposed input because user can get the level by reading the input register status RR4 RRS MCX312 45V VES dh o nIN3 1 niN1 2 IO ORG Figure 3 9 Deceleration Instantaneous Stop Input The response time of this circuit should take about 0 25 msec because of the delay of photo coupled and RC filter 21 Chapter 3 3 7 General Purposed Input for Servo Drives nINPOS is an input signal from servo drives for in position check it is active after the servo drives finish a position command Users can enable disable this pin When enable this function the n DRV bit in RRO will change to 0 after servo drives finish the in position check and nINPOS pin active nALARM is an input signal from servo drives for drives alarm output When servo drives have an abnormal condition they active this signal to note PCI 1220U to stop output pulses When enable the n ALARM func tion of PCI 1220U the D14 bit of RR2 will set to 1 after ALARM active If PCI 1220U is driving pulses output the output pulses will stop immediately when nALARM active ne VEX 12 24V nINPOS O nINPOS nALARM O nALARM Figure 3 10 Input Signal for Servo Motor This signal must be supplied from the external source DC12 24V and the response time of this circuit should take about 0 25 msec because of the delay of photo coupled and RC filter Furthermore this two signals can be used as general purposed input whil
33. t Pulse for Encoder Interface Input Signals nECAP N nECBP N nEZ nEZ Encoder Pulse Input Type Quadrature A B phase or Up Down Counts per Encoder Cycle x1 x2 x4 A B phase only Max Input Frequency 1 MHz Input Voltage Low 0 2 High 5 30 Voc Protection 2 500 Isolation Protection 39 Appendix A 4 External Signals Driving Input Signals nEXOP nEXOP Max Input Frequency 100 Hz Input Voltage VEX 24V LogicO 21 24 open dry contact Support dryywet contaci Logic 1 0 16 closed dry contact Driving Mode Fixed pulse driving or continuous driving Supports hand wheel and Jog Protection 2 500 Vpc Isolation Protection A 5 Other Functions Position Range of Command Position 2 147 438 648 Counter Counter for output pulse 2 147 438 647 Range of Actual Position 2 147 438 648 Counter for input pulse 2 147 438 647 Comparison COMP Register Range 2 147 438 648 Register 2 147 438 647 COMP Register Range 2 147 438 648 2 147 438 647 Interrupt Interrupt Condition Position Counter gt Functions All conditions could be COMP Excluding enabled disabled individually Position Counter lt Interpolation COMP Position Counter lt COMP Position Counter gt COMP BoardID 4 bit DIP switch ID 0 15 PCI 1220U User Manual 40 A 6 General
34. ted in such away as to form a twisted pair cable reducing cross talk and noise from other signal sources Wiring Boards ADAM 3952 The ADAM 3952 is a 50 pin SCSI wiring terminal module for DIN rail mounting This terminal module can allow easy yet reliable access to individual pin connections for the PCI 1220U card PCI 1220U User Manual 6 CHAPTER Installation This chapter gives users a package item checklist proper instructions about unpacking and step by step procedures for both driver and card installation Chapter 2 Installation 2 1 Unpacking After receiving your PCI 1220U package please inspect its contents first The package should contain the following items PCI 1220U Card Companion CD ROM DLL driver included User Manual The PCI 1220U card harbors certain electronic components vulnerable to electrostatic discharge ESD ESD could easily damage the integrated circuits and certain components if preventive measures are not carefully paid attention to Before removing the card from the antistatic plastic bag you should take following precautions to ward off possible ESD damage Touch the metal part of your computer chassis with your hand to dis charge static electricity accumulated on your body Or one can also use a grounding strap Touch the antistatic bag to a metal part of your computer chassis before opening the bag Take hold ofthe card only by the metal bracket when removing it
35. th 130 nsec Minimum Increased Decreased Pulse Interval 130 nsec Minimum UP DOWN pulse period 260 nsec 33 Chapter 3 3 15 5 Instantaneous Stop Timing External Instantaneous Stop Signal EMG nLMT nIN3 2 1 0 nPaP LILII Valid level Figure 3 26 External Instantaneous Stop Signal When external stop signal is enabled during driving up to 400 u SEC pulse will be output and then stopped Instantaneous Stop Instruction low L lt Stop command write in T Figure 3 27 Instantaneous Stop Instruction When the Stop instruction is issued during driving at most one pulse will be output and then stopped 3 15 6 Deceleration Stop Timing External Deceleration Stop Signal nLMT Valid level nIN3 2 1 0 Pawn Figure 3 28 External Deceleration Stop Signal When external deceleration signal is enabled during driving up to 400 u SEC 2 pulses will be output and then stopped Deceleration Stop Instruction IOW Decelerating command write in Figure 3 29 Deceleration Stop Instruction When the Deceleration Stop instruction is issued during driving at most two pulses will be output and then stopped PCI 1220U User Manual 34 3 16 TTL Level Position Compare Output This is a special design for the customers who can use the position com pare output to synchronize with
36. wo axes can be used to execute linear interpolation driving and circular arc interpolation control The interpolation speed range is from PPS to 4 MPPS Powerful Position Management Function Each axis is equipped with a 32 bit logical position counter and a 32 bit real position counter The logical position counter counts the axis pulse output number and the real position counter is recorded with the feedback pulse from the outside encoder or linear scale Speed Control The speed range of the pulse output is from 1PPS to 4MPPS for constant speed trapezoidal or S curve acceleration deceleration driving The accuracy of the frequency of the pulse output is less than 0 1 at CLK 16 MHZ The speed of driving pulse output can be freely changed during the driving Continuous Interpolation Different interpolation methods can be used continuously for example Linear interpolation Circular interpolation Linear interpolation The maximum driving speed of performing continuous interpolation is 2 MPPS 3 Chapter 1 Constant Vector Speed Control This function performs a constant vector speed During the interpolation driving MCX312 can set a 1 414 times pulse cycle for 2 axis simulta neous pulse output that keeps constant speed during driving Multi card Axes Interpolation This function performs a linear interpolation of multi axis using several cards Through connector CN2 a master card will output synchronous pulses of i
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