M50.PCI Stepping Motor Card 40 2310 000 - Qioptiq Q-Shop
Contents
1. Electrical Current for the Motors csccccccesseeeeeeeeeeeeeessaeeeeeeseaees 16 55 Operating State LED eee nen eee ere nee eee ee inini 17 MN Ee 17 Ot VO EXtenSiOM serge 18 5 8 Accuracy and Resolution ce ceectece ts ectececseceecesdeccecentereecesdeceecncdess 18 6 EIATTHOEIET ETC 19 6 1 e EE 19 6 2 About the 32 bit Software cece ccccesececeeeeeceeececeeeeeaeecesaueceeseeeeaes 19 6 2 1 Testing and Initial Operation of the M50 PC Stepping Motor Card 19 6 3 Programming under Delphi eenen 20 6 3 1 Programming USING Vieueht estesgESESVEEEESESEEEREEESEEEEEEESEEEEEEESEEEEEEESEeEgeE 20 6 3 2 Programming Using LabView cccccccceccceeeceeeeeeeeeeeeeeeeeneeeeeneneee 20 7 Part IV M50 Function Library c sccseeeeeseeeeeeeeeeeeneeeeeeeeees 21 7 1 Brief OVEWMIEW ics AAs 21 40 2310 6 M50 PCI Instructions 10 11 12 13 14 Description of the FUNCTIONS ccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeenees 25 8 1 Card WMANZAUOM WE 25 8 2 Meer and Axis STU s hn a ENEE EN 27 er Ee en E 33 84 e 37 8 5 Operating the Stepping Motors 39 Ru Ee ee meee ee eee ee ee eee eee 45 MNT E 49 Appendix A Technical Specifications ccccceeeeseeeeeeeeees 50 S SU ME 50 9 2 Performance Data E 51 Appendix B Structure of the Stepping Motor Card 52 Appendix C Pin ASSIQNMeN ceeceeeeeeeeeeeeeeeseeeeeeeeeeeenees 53 TIA Motor C2. Axis activated de activated Full steps per revolution of the motor axis Linear axis Rotational axis Gear transmission ratio Spindle pitch in mm per revolution Speed in point to point mode Acceleration Assignment of a positive limit switch Assignment of a negative limit switch Polarity of the positive limit switch Polarity of the negative limit switch Assignment of a reference switch Polarity of the reference switch Set_Maximum_ Current Enable Motor Set_Steps per Rev Set_Rotary Set_Gear Set_Pitch Set_Point_Feedrate Set_Acceleration Get Pos Limit_Switch Ger Neg Limit_Switch Set_Pos_Limit_Polarity Ger Neg Limit_Polarity Set_Reference_Switch Set_Reference Polarity Power reduction during pauses in movement Get Power Down The following system settings are saved once for each M50 PC stepping motor card begin If Save_configuration Demol cfg 0 Then comment Configuration saved lse comment Configuration not saved end Interpolation activated de activated Interpolation pathway speed Interpolation pathway acceleration Example procedure TMainForm FormClose Sender Interpolation_enable Interpolation_Feedrate Interpolation_Acceleration TObject var Action TCloseAction Function value function OK 0 e error_not_open 2 error_opening_config_file 5 M50 PCI Instructions 40 2310 LINOS Read_Configuration FilePath TFilePath
3. Every M50 PCI stepping motor card has 6 inputs These are addressed by the integer values 1 to 6 Each input of an M50 PCI stepping motor card can be assigned to any of the axes of this card For example switch and switch2 can be assigned as limit switches to axis 1 motor1 and switch3 as a reference switch for this axis Switch4 to switch6 are then available for assignment to the remaining axes of this M50 PCI stepping motor card or can be used as inputs for any other additional functions PinNo Value Fre er Const Neg Limit Switch motor1 Pos Limit Switch motor1 Neg Limit Switch switch switch2 switch3 ator Pos Limit Switch motor2 Neg Limit Switch motor3 Pos Limit Switch motor3 Tab 1 M50 pin assignment D Sub 25 pin and DLL value switch4 switchS switch If several M50 PCI stepping motor cards are operated together only the inputs of the first card switch1 to switch6 can be assigned to the axes of the first card motor7 motor2 and motors The inputs of the second card switch to switch6 are assigned to the axes of the second card defined by the identifiers motor4 motor5 and motor6 etc When not assigned the inputs are set to high via pull up resistors If passive switches are used that are connected to GND define low_active as the input polarity If active switches are used select the input polarity that corresponds to the particular circuit u
4. In addition to 6 inputs for the limit switches on the motor connector the M50 PC stepping motor card has an UO extension with 8 bits which can be connected using the additional extension cable and slot plate supplied along with the card see Installation If several M50 PCI stepping motor cards are installed in one PC each I O byte is selected by Byte_No according to the card number Each of the 8 bits of the I O extension can be defined as an input default setting or an output lt Set_ Byte Direction gt along with Direction defines which of the 8 bits is to be evaluated as an output These have binary codes Both the inputs and outputs are de activated by low Bitl Value 1 Bit2 Value 2 Bit3 Value 4 Bit4 Value 8 Bit5 Value 16 Bit6 Value 32 Bit Value 64 Bits Value 128 Get Byte Direction 1 1 2 4 8 16 32 64 128 All 8 bits are output Function value function_OK 0 e error_not_open 2 e error_function_not_supported 17 error_invalid_byte_no 18 Set_Byte_Output Byte_No INTEGER Output Word INTEGER Use lt Set_Byte_Output gt to set a single or several bits for an I O extension The Byte_No command specifies the byte number i e the card number of this extension Set Byte Output 1 1 Sets bitl on the card to 1 high Sleep 100 Set Byte Output 1 2 128 Additionally sets bit2 and bit8 to high Sleep 100 Function value function_OK 0 e error_not_open 2 e error_
5. the speed and acceleration of this axis also have to be redefined using lt Set_Feedrate gt and lt Set_Acceleration gt in the interpolation mode the corresponding commands are lt Set_ nterpolation_Feedrate gt and lt Set_ nterpolation_Acceleration gt Changes to these settings will become effective only after they are terminated in the program by lt Go gt or lt MOVE gt Set_Maximum_Current Motor Current INTEGER INTEGER This function determines the maximum phase current and thus the torque of the motor Normally we select the value of the motor used for a particular axis The phase current is divided between the two coils of a phase depending on the nominal position to be reached The range of values is 0 2500mA Setting current 1400 mA phase Example Set Maximum Current 1 2500 set maximum current of motorl to 2500mA phase Set Maximum Current 2 850 set maximum current of motor2 to 850mA phase Function value function Ok 0 e error_not_open 2 ev error_invalid_motor_no 4 Get_Maximum_Current Motor INTEGER VAR Current INTEGER INTEGER This function is used to read out the maximum phase current set using the variable called current Example procedure TMainForm CurrentEdit Sender TObject var Current Integer begin Get Maximum Current 1 Current CurrentEdit Text Current of Motorl IntToStr Current mA end Function value function OK 0 e error
6. see Set_Rotary the routine is not evaluated see also information on page 21 Setting Pitch 2 0 mm revolution Function value function OK 0 e error_not_open 2 e error_invalid_moto r 4 M50 PCI Instructions 29 40 2310 LINOS Get_Pitch Motor INTEGER VAR Pitch SINGLE INTEGER This returns pitch as the measure of the linear advance per motor axis revolution spindle pitch in mm revolution Example procedure TMainForm PitchEdit Sender TObject var pitch Integer begin Set_Pitch 5 2 25 Axis5 is a linear axis with a spindle pitch of 2 25mm rev Get_Pitch 5 pitch PitchEdit Text Pitch of Axis5 IntToStr pitch mm rev end Function value function OK 0 e error_not_open 2 e error_invalid_motor 4 Set_Feedrate Motor INTEGER Feedrate SINGLE INTEGER In the point to point mode this defines the speed of the Motor system axis in mm s linear axis or d s rotational axis The range of values for the feed rate is 0 001mm s 1000mm s 0 1 full step s 100 000 full steps s Point to point mode The motors are activated independently of one another instead of their speed being related to one another s speed as in the interpolation mode see also Chpt 2 5 lt Enable_Interpolation gt Setting Feedrate 3 0 mm s corresponds to 300 full steps s for a 2mm pitch and 200 full steps 360 Function value function OK 0 e error_not_open 2 e er
7. INTEGER This command requests the settings saved by Save Configuration gt from the FilePath file If this routine or the various initialization routines are not requested the 0 settings are valid i e all axes are completely switched off Function values function OK 0 error_not_open 2 error_no_config_file 8 error_incompatible_config_file 22 ev error_no_valid_config_file 23 Enable_Interpolation INTEGER This function selects the interpolation mode To control several axes of a system you can choose point to point mode or the interpolation mode In the point to point mode the system axes are controlled independently of one another and each axis moves at its own rate of acceleration and speed Acceleration and Feedrate In the interpolation mode the speeds of the axes depend on one another In this mode the axes of each particular M50 PCI stepping motor card are combined in a Cartesian coordinate system motors 1 2 3 correspond to the X Y Z axes The SE7_Goa function specifies the X Y Z coordinates of a point to be reached The movement of each axis is controlled so that all axes simultaneously reach a target position where the speeds are calculated proportionally to the distance to be covered Setting Disabled Example see next page The routine cannot be carried out if a motor is still running when this command is called Function value function OK 0 e error_not_open 2 Th
8. INTEGER VAR Goal SINGLE INTEGER The Goal command returns the current absolute target position goal for the motor system axis in mm linear axis or in the radian measure rotational axis Once the target position goal has been reached it will remain stored until a new target position is set Function value function OK 0 e error_not_open 2 e error_invalid_motor A Set_Position Motor INTEGER VAR Position SINGLE INTEGER This command sets the current position of the motor system axis to the position value This function can also be performed while the axis is still moving Function value function OK 0 e error_not_open 2 e error_invalid_motor 4 Get_Position Motor INTEGER VAR Position SINGLE INTEGER This command returns the position variable along with the current position of the motor system axis Function value function OK 0 e error_not_open 2 e error_invalid_motor 4 Go INTEGER Use the lt Go gt command to simultaneously start all axes This is especially important in the interpolation mode after you have entered the targets goals and movement parameters for several axes The axes will remain in motion until their particular instructions in the sentence buffer have been completely performed You can also set lt Go gt while a motor is running for example in order to have the position moved to a new target position immediately after the previously set target has been reached or to s
9. e error_overvoltage 20 e error_bridge_error 21 Brake Motor INTEGER INTEGER You can use the lt Brake gt command to stop the motor axis at any time or at any position Braking is carried out with a ramp that is calculated from the currently valid value of acceleration Function value function Ok 0 e error_not_open 2 ev error_invalid_motor_no 4 All target positions goals in the sentence buffer for this axis are deleted M50 PCI Instructions 41 40 2310 LINOS Moving Motor INTEGER INTEGER When an axis is stopped idle state the function value is 0 As long as the Motor axis is moving the function value remains set to 1 If an axis moves incorrectly the Moving variable will take on the negative values as error codes Function value false O e true 1 ev error_not_open 2 e error_invalid_motor_no 4 All_Arrived INTEGER This command checks whether all system axes are stopped The function value remains 0 as long as any of the axes is still moving or if not all the instructions in the sentence buffers have been performed All_arrived takes on the function value 1 if all axes are stopped and all sentence buffers are empty The function does not evaluate whether or which of the axes have reached their target positions goals Function value false O e true 1 e error_not_open 2 End_Line INTEGER The interpolation mode also uses a sentence buffer To enable the program of the M50 pro
10. extension aE 12 lO 5 Table I O extension 40 2310 54 M50 PCI Instructions LINOS 11 3 Limit Switch Wiring Wiring of passive and active limit switches Switch Switch GND Fig Example wiring diagram of passive and active limit switches M50 PCI Instructions 55 40 2310 LINOS 12 Appendix E Software Default Settings M50 ConfigurationFile Number of Cards 1 Interpolation Mode card 1 0 Interpolation Feedrate card 1 3 Interpolation Acceleration card 1 10 Maximum Motor Current motor 1 1400 Maximum Motor Current motor 2 1400 Maximum Motor Current motor 3 1400 Enable Motor motor 1 1 Enable Motor motor 2 1 Enable Motor motor 3 1 Steps per Rev motor 1 200 Steps per Rev motor 2 200 Steps per Rev motor 3 200 Rotary axis motor 1 0 Rotary axis motor 2 0 Rotary axis motor 3 0 Gear motor 1 1 Gear motor 2 Gear motor Pitch motor Pitch motor Pitch motor 3 Feedrate motor 1 3 Feedrate motor 2 3 Feedrate motor 3 3 Acceleration motor 1 10 0 Acceleration motor 2 10 0 Acceleration motor 3 10 0 Pos Limit Switch motor 1 2 Pos Limit Switch motor 2 4 Pos Limit Switch motor 3 6 Neg Limit Switch motor 1 1 3 5 du UNUON MA A Neg Limit Switch motor 2 Neg Limit Switch motor 3 Pos Limit Polarity motor 1 Pos Limit Polarity motor 2 0 Pos Limit Polarity motor 3 0 Neg Limit Polarity motor 1 0 Ne
11. relative humidity e Do not store the M50 PCI stepping motor card below 0 C 32 F or above 70 C 158 F and only up to 80 relative humidity e Using the card in equipment on people e g controlling a surgical robot is strictly forbidden e The M50 PCI stepping motor card is not a toy and may not be used as such These instructions are a component of the M50 PCI stepping motor card and must be kept handy If this card is given or sold to other persons these instructions as a component of the equipment must also be given to these persons M50 PCI Instructions 5 40 2310 LINOS 3 Contents Page About This Technical Literature ccccceseeeeeeeeeeeeeeeeeeeeeeees 3 2 IMpPOrtant Information iis ccccccisccenesncsctancesiinssincndcnteenseemenecetanssiiesnes 4 2 1 Information on the Use of this PC Card 4 2 2 Safety Instructions Eege 5 CONTENTS geet EEE ee 6 Part l EREM nenn nnn nnne 8 4 1 Standard Equipment Supplied cccccccceeeeseeeeeeeeeeeeeeeseseeeeeeeeeeeees 8 4 2 Brief Technical OvervieW eiser et ewe es 9 5 Part il Installation of the Ma PC Stepping Motor Card 10 5 1 Hardware Installation Installation in ab 10 Os Allee Steps ene e E R 11 5 2 Software Installation EE 13 5 2 1 Windows 98 Ee 13 5 2 2 Windows 2000 Windows XP seeEEESEEESEEENEEEEERESEESEEEEEEREEEEENEEEeEEEEH 14 5 2 3 Function Test after Jeekelen engtreetegesgsteeggeereteg steet 15 5 3 Power Supply EE 16 5 4
12. targets goals can also be input during positioner movement These targets are selected one after the other as soon as the previous target position has been reached without having to input the lt Go gt or lt Move gt command again Each time a new target position goal is entered the previously defined values for velocity and acceleration are also saved along with this new position in the sentence buffer The movement of each axis can be completely controlled by the command sequence lt Set_Feedrate gt lt SetAcceleration gt and lt Set_Goal gt Setting Position 0 mm Example procedure TMainForm TimerlTimer Sender TObject var p Single begin Set_Goal 1 10 00 axisl shall move to position 10 00mm Set_Goal 2 55 00 axis2 shall move to position 55 00mm Go axisl and axis2 start to move Get_Position 1 p If p gt 9 00 Then begin If axisl reaches the position 9 00 Set_Point_Feedrate 1 0 8 Set_Goal 1 8 35 8 35 is set as new goal for axisl Set_Goal 2 8 35 8 35 is set as new goal for axis2 Go with Go the new goals are valid axisl end starts moving when position 10 00 is reached new speed 0 8 to position 8 35 while axisl moves onwards to position 55 and then back to position 8 35 Function value function OK 0 e error_not_open 2 e error_invalid_motor 4 error_goal_not_accepted 9 M50 PCI Instructions 39 40 2310 LINOS Get_Goal Motor
13. work safety regulations and operating conditions have been authorized by the person responsible for the safety of the installation or system to perform the work as required and can recognized and prevent any potential hazards see definitions for skilled labor according to VDE 105 or ICE 364 This information is not exhaustive If you have any questions or problems please contact LINOS Photonics GmbH amp Co KG The information on processes explained in this instruction manual and circuit details apply analogously and must be reviewed before actually applying this information to your specific application LINOS Photonics GmbH amp Co KG shall not assume any guarantee for the suitability of the procedures and suggested circuits for specific applications The information in this instruction manual describes the features of the product without expressly assuring such characteristics We have carefully tested the equipment hardware and software as well as the product literature However we do not make any warranty that they are free of errors The content of this document is the intellectual property of LINOS Photonics GmbH amp Co KG and is subject to copyright protection laws Reproduction of any of these materials is not permitted unless our prior written consent is obtained Our products continuously undergo further development We reserve the right to make changes without prior notice At the Internet address http www linos com you
14. EGER Negative Limit Motor INTEGER Reference Motor INTEGER Input Input_No INTEGER Motor power supply in V M50 only Get Motor Voltage Motor INTEGER VAR Voltage SINGLE Heat sink temperature in C M40 only Get_Heatsink_ Temperature Motor INTEGER VAR Temperature INTEGER Bee System settings function function function function function function function function function Save_Configuration FilePath TFilePath Read_Configuration FilePath TFilePath Enable _ Interpolation Disable_ Interpolation Set Interpolation Feedrate IntpolFeedrate SINGLE Get_Interpolation Feedrate VAR IntpolFeedrate SINGLE Set_Interpolation Acceleration IntpolAcceleration SINGLE Get Interpolation Acceleration VAR IntpolAcceleration SINGLE Number of Cards Motor Integer Var Slot_Number Integer The routines identified by an can be called only if all axes are stopped 40 2310 22 M50 PCI Instructions LINOS e Up to three stepping motors can be controlled by the M50 PCI stepping motor card A maximum of five stepping motor cards can be simultaneously operated in one PC i e up to 15 motors can be controlled by PC The valid range of values of the variable motor is 1 lt motor lt 15 Motor numbers 1 to 3 are assigned to the M50 PCI stepping motor card with the lowest PCI address motor numbers 4 to 6 to the M50 PC stepping moto
15. LINOS M50 PCI Stepping Motor Card 40 2310 000 Instruction Manual Add in PC Card for Controlling 3 Stepping Motors in Microstep Operation LINOS 1st Issue Juni 2005 40 2310 701a LINOS Photonics LINOS Photonics GmbH amp Co KG K nigsallee 23 D 37081 Gottingen Germany Phone 49 0 5 51 69 35 0 Fax 49 0 5 51 69 35 166 E mail sales LINOS Photonics DE http www linos de 40 2310 2 M50 PCI Instructions LINOS 1 About This Technical Literature A number of symbols are used in this technical hardware and software description to give you quick guidance and to draw your attention to the essentials IMPORTANT NOTE This symbol indicates important or additional information about the M50 PCI stepping motor card or literature CAUTION Indicates a hazard that can damage the M50 PCI stepping motor card or the computer in which it is installed Any resulting hazards for people must be avoided A DANGER Risk of electrocution by high electrical voltage if touched The information in this document is subject to change without prior notice M50 PCI Instructions 3 40 2310 LINOS 2 Important Information 2 1 Information on the Use of this PC Card This card has been designed only for controlling 2 phase stepping motors and may not be modified in any way If any malfunction occurs please be sure to contact our Service Department for a list of addresses please refer to Chapter 14 on Se
16. M50 PCI Instructions LINOS 5 5 Operating State LED The rear panel of the M50 PC stepping motor card has an LED to show the current operating state The table below lists the particular states that the LED indicates LED STATUS Steady yellow glow DSP program has not yet been loaded Flashes yellow Program loaded card active motor power supply too low Flashes green Program loaded card active motor power supply ok gt 11V Flashes red Program loaded card active motor power supply too high gt 50V Steady red glow Excess temperature at an axis end position motors stopped Card de activated 5 6 Limit Switches Six inputs are available on the M50 PC stepping motor card Each of these can be used to connect a limit switch a reference limit switch or general inputs Reference limit switches and inputs are not independently evaluated by the axis control program of the M50 PCI stepping motor card If an input is assigned as a positive limit switch to an axis this axis will remain stopped in the positive motion mode immediately after this input has been activated The axis can only move in the negative direction until the input is de activated the position and sentence buffer of this axis remain unchanged and can be reset if necessary by the application program Variables are available in the driver software to enable the particular operating state of the limit switches to be defined as make contacts or break contacts as well a
17. _not_open 2 ev error_invalid_motor_no 4 M50 PCI Instructions 27 40 2310 LINOS Enable_Motor Motor INTEGER INTEGER This routine activates axes that have been previously de activated by the lt Disable_Motor gt Setting Enabled Enable Motor 1 axisl is prepared to execut following moving commands x Function value function Ok 0 e error_not_open 2 e error_invalid_motor 4 Disable_Motor Motor INTEGER INTEGER The axis with the identifier known as Motor is excluded from all of the following motion commands The operating voltge remains switched on without any changes Setting Enabled Disable Motor 1 axisl is excluded from all following moving commands Function value function _OK 0 e error_not_open 2 e error_invalid_motor 4 Set_Steps_per_Rev Motor Steps_per_Rev INTEGER INTEGER This function defines the number of full steps VS per revolution of the type of motor used Setting the optimal microstep width is internally controlled see Chapter 5 8 Setting steps_per_rev 200 Full Steps Function value function Ok 0 e error_not_open 2 e error_invalid_motor 4 Get_Steps_per_Rev Motor INTEGER VAR steps_per_rev INTEGER INTEGER Reads out the sfeps_per_rev variable as the number of full steps per revolution of the motor axis Function value function OK 0 e error_not_open 2 e error_invalid_motor 4 40 2310 28 M50 PCI Instru
18. and Reference Limit 1 1 Then Begin message FAULT NEGATIVE LIMIT AND REFERENCE LIMIT NOT SEPERATED Stop EXIT End Move to Reference Switch If Negative Limit 1 1 and Reference Limit 1 0 Then Begin message NEGATIVE LIMIT REACHED NOW SLOWLY TO REFEENCE Set Point Feedrate 1 0 25 slow speed Set_Goal 1 5000 goal axisl in positive direction Go Start moving End Finish If Reference Limit 1 1 Then Begin Stop Reset _Position 1 message REACHED REFERENCE AXIS1 HOMEPOSITION End End Function value true 1 e false O e error_not_open 2 e error_invalid_motor 4 M50 PCI Instructions 43 40 2310 LINOS Negative_Limit Motor INTEGER INTEGER This command checks whether the end point position of the negative limit switch has been reached The return value 1 if the end point position has been reached otherwise it is 0 The range of values is 1 to 3 for one card and 1 to 6 for two cards etc Function value true 1 e false 0 e error_not_open 2 e error_invalid_motor 4 Reference Motor INTEGER INTEGER This command checks whether the end point position of the reference switch has been reached The return value 1 if the end point position has been reached otherwise it is 0 The range
19. cessor to differentiate among the individual interpolation sets lt End_Line gt is used This function defines the end of an interpolated movement Example Set_Goal 1 10 Set_Goal 2 15 Set_Goal 3 1 End Line Go Set_Goal 1 10 End Line Go Function value function OK 0 e error_not_open 2 The axes move in an interpolated manner to 10 15 1 in the x y z coordinate system and right afterwards to 10 15 1 As soon as the first End_Line command has been carried out the axes can be started by the lt Go gt command 40 2310 42 M50 PCI Instructions LINOS Positive_Limit Motor INTEGER INTEGER Positive_Limit allows the state of the positive limit switches to be determined Once a limit switch has reached its defined end point position its function value changes from 0 to 1 The range of values for MOTOR is 1 to 3 for the M50 PCI stepping motor card and 1 to 6 for two M50 PCI stepping motor cards etc Example Procedure Home Begin Configuration Ger Point Feedrate 1 2 5 fast speed Set_Pos Limit _Switch 1 1 axisl switchl for positive limit Set_Neg Limit Switch 1 2 axisl switch2 for negative limit Set Reference Switch 1 3 axisl switch3 for reference Move to negative limit switch Set_Goal 1 500 axisl goal in negative direction Go Start moving Fault Condition If Negative Limit 1 1
20. ction function function function function function function function function function function function function function function function Card initialization Open_M50 FilePath TFilePath Close M50 Motor and axis settings Set Maximum Current Motor Current INTEGER Get_Maximum_ Current Motor INTEGER VAR Current INTEGER Enable Motor Motor INTEGER Disable Motor Motor INTEGER Set Steps per Rev Motor Steps Der Rev INTEGER Get Steps per Rev Motor INTEGER VAR Steps per Rev INTEGER Set_Rotary Motor Rotary INTEGER Get Rotary Motor INTEGER VAR Rotary INTEGER Set Gear Motor INTEGER Gear SINGLE Get_Gear Motor INTEGER VAR Gear SINGLE Set Pitch Motor INTEGER Pitch SINGLE Get Pitch Motor INTEGER VAR Pitch SINGLE Set_Feedrate Motor INTEGER Feedrate SINGLE Get Feedrate Motor INTEGER VAR Feedrate SINGLE Set_Acceleration Motor INTEGER Acceleration SINGLE Get Acceleration Motor INTEGER VAR Acceleration SINGLE Set Power Down Motor Power Down INTEGER Get Power Down Motor INTEGER VAR Power Down INTEGER Switch configuration Set Pos Limit Switch Motor Limit_Switch INTEGER Get Pos Limit Switch Motor INTEGER VAR Limit_Switch INTEGER Set Neg Limit Switch Motor Limit_Switch INTEGER Get_ Neg Limit_Switch Moto
21. ctions LINOS Set_Rotary Motor Rotary INTEGER INTEGER This command defines the motor system axis as a rotational axis Rotary 1 or as a linear axis Rotary 0 See also information on page 21 Setting Rotary 0 Set Rotary 1 1 The system axis of motor 1 is defined as a rotational axis Function value function _OK 0 e error_not_open 2 e error_invalid_motor 4 Get_Rotary Motor INTEGER Var Rotary INTEGER INTEGER The return value indicates whether the motor system axis is defined as a rotational axis Rotary 1 or as a linear axis Rotary 0 Function value function _OK 0 e error_not_open 2 e error_invalid_motor 4 Set_Gear Motor INTEGER Gear SINGLE INTEGER This command defines an increase or a reduction ratio of the motor system axis see information on page 21 Setting Gear 1 0 no increase reduction ratio Function value function _OK 0 e error_not_open 2 e error_invalid_motor 4 Get_Gear Motor INTEGER VAR Gear SINGLE INTEGER Returns Gear as an increase or a reduction ratio of the motor system axis Function value function OK 0 e error_not_open 2 e error_invalid_motor 4 Set_Pitch Motor INTEGER Pitch SINGLE INTEGER Set_Pitch defines the linear movement of the motor system axis per axis revolution Select the pitch according to the spindle pitch If motor is not a linear axis but has been defined as a rotary axis
22. defined imit_switch receives the value 0 Function value function Ok 0 e error_not_open 2 e error_invalid_motor_n o 4 Set_Neg_Limit_Switch Motor Limit_Switch INTEGER INTEGER This command assigns the Limit_Switch as a negative limit switch to the motor system axis see also FUNCTION Set_Pos_Limit_Switch Range of values for Limit_Switch 1 6 Settings Limit_Switch switch 1 for motor1 Limit_Switch switch3 3 for motor2 Limit_Switch switch5 5 for motor3 Set_Neg Limit Switch 1 2 Motor 1 with negative limit switch 2 Set_Neg Limit Switch 2 4 Motor 2 with negative limit switch 4 Set_Neg Limit Switch 3 6 Motor 3 with negative limit switch 6 Function value function OK 0 e error_not_open 2 e error_invalid_motor_no 4 40 2310 34 M50 PCI Instructions LINOS Get_Neg_Limit_Switch Motor INTEGER VAR Limit_Switch INTEGER With the variable for the Limit_Switch this command specifies the values of the input that is assigned as a negative limit switch to the motor system axis If no negative limit switch is defined imit_switch receives the value 0 Function value function OK 0 e error_not_open 2 e error_invalid_motor_no 4 Set_Pos_Limit_Polarity Motor Limit_Polarity INTEGER INTEGER This command defines the polarity of the positive limit switch of the motor system axis When not active the inputs are set to high via pull up resistors If
23. defined as a linear axis or in radian measure system axis defined as a rotational axis Here the system speed can be input in mm s linear axis or m 2s rotational axis A negative limit switch can be assigned to each motor Movement in the negative direction is interrupted once the end point of the limit switch is reached A positive limit switch can be assigned to each motor Movement in the positive direction is interrupted once the end point of the limit switch is reached Starts all motors simultaneously Stops all motors M50 PCI Instructions 49 40 2310 LINOS 9 Appendix A Technical Specifications 9 1 System Data e PC plug in card with integrated pulse controlled terminating stages for three axes in microsteps e Position controlling via signal processor e All axes can be operated simultaneously or individually either in the interpolation or the point to point mode e Two limit switches reference switches per axis can be configured by software as normally closed normally open contacts e Automatic power reduction of 0 to 100 when axes stop can be set by software e The power of the motors can be switched off by software e Power supply 12V generated by the PC power supply unit can be selected by the hard disk connector or externally up to 48V by jumper e Windows plug and play capability e The system can be extended up to five M50 PC stepping motor cards each controlling three motors
24. e Demo program source code in Delphi 5 0 e 32 bit driver for WINDOWS 95 98 2000 XP 40 2310 50 M50 PCI Instructions LINOS 9 2 Performance Data e For 3 bipolar stepping motors with 4 5 6 or 8 wire technology e Motor voltage from 2V to 12V e 2 5A phase current maximum can be selected independently by software for each axis e Microstep resolution 10 bit or 1 5 mA corresp to1 1000 microstep for 1 5 A motors Value ranges Max Resolution Typical Unit Position 84 5Mill 0 02 20000 full step Speed feed rate 100000 0 001 2000 full steps s Acceleration 8000 0 1 10000 full steps s e Step frequency The step frequency is controlled and monitored by a signal processor and can therefore considerably exceed the start stop frequency of a motor For this reason the acceleration rates have to be carefully selected in order to prevent premature blockage of the motor e Operating efficiency Up to 20 W power loss per motor in continuous operation 3 motors each with 1 6QV 2 5A power monitoring and a temperature sensor monitors the operating state in each high level stage If several M50 PCI stepping motor cards are operated off one PC power supply be sure that the total of all phase current ratings does not exceed 4 5A e 2 limit switch inputs per axis can be selected as positive or negative by software e 10V 100mA power supply for active limit switches e Short circuit or reverse battery protection on a short term basis
25. e maximum interpolation acceleration you select for a distance to be covered should not be higher than that which can be reliably attained by the axis with the lowest dynamics Under certain circumstances you may need to determine this value by the trial and error method 40 2310 46 M50 PCI Instructions LINOS Example Procedure TMainForm FormCreate Sender TObject Var feedrate INTEGER acceleration INTEGER begin If All Arrived 0 Then If Enable Interpolation 0 Then begin Set_Interpolation Feedrate 2 0 Travel speed in mm s Set Interpolation Acceleration 10 0 Travel acceleration in mm s comment Interpolation Modus activated end Set_Goal 1 15 Set_Goal 2 15 Set_Goal 3 15 Go The axes move in a diagonal from the center point to a corner point of a square measuring 30 mm end Disable_Interpolation INTEGER This command changes from the interpolation mode back to the point to point mode The routine cannot be carried out if a motor is still running when the command is called Function value function OK 0 e error_not_open 2 Set_Interpolation_Feedrate IntpolFeedrate SINGLE INTEGER In the interpolation mode this command defines the travel speed in mm s linear axis or in d s rotational axis The speeds of all system axes are internally controlled so that all axes reach their respective target positions simultaneously see also Enab
26. e switch variable Refence_Switch to the motor system axis As a result movement is not stopped when a positioning axis reaches the reference switch end point Range of values for Reference_Switch 1 6 cf Tab 2 Setting Reference_Switch 0 no reference switch assigned Function value function OK 0 e error_not_open 2 e error_invalid_motor_no 4 Get_Reference_Switch Motor INTEGER VAR Reference_Switch INTEGER INTEGER The command returns the Reference_Switch variable that is assigned to the motor system axis see also FUNCTION Get_Pos_Limit_Polarity Function value function OK 0 e error_not_open 2 e error_invalid_motor_no 4 Set_Reference_Polarity Motor Reference_Polarity INTEGER INTEGER This command defines the polarity of the reference switch for the motor system axis see also FUNCTION Set_Pos_Limit_Polarity Setting Reference_Polarity 0 Low_Active Function value function OK 0 e error_not_open 2 e error_invalid_motor_no 4 Get_Reference_Polarity Motor INTEGER VAR Limit_Polarity INTEGER INTEGER With the Reference_Polarity variable this command returns the polarity of the reference switch assigned to the motor system axis see also FUNCTION Get_Pos_Limit_Polarity Function value function OK 0 e error_not_open 2 e error_invalid_motor_no 4 40 2310 36 M50 PCI Instructions LINOS 8 4 I O Byte Set_Byte_Direction Byte_No INTEGER Direction Word INTEGER
27. eLLT Motor inf Control instructions for installation ePCI9050 sys Lowest operating system level for hardware ePLXApi dll Function library for PCI bridge The first time Windows is booted after you have installed the M50 PC stepping motor card in your PC the following hardware assistant message will appear New hardware component found PCI bridge Install the drivers supplied using LLT Motor nf onthe CD ROM by following the prompts given by the hardware assistant Once installation has been successfully completed you will find the entry LLT STEPPER MOTOR CARD in lt Device Manager gt of Windows lt System Control gt under lt Other Devices Detected gt If you have installed several M50 PCI stepping motor cards you will find this entry several times as well M50 PCI Instructions 13 40 2310 LINOS 5 2 2 Windows 2000 Windows XP The following files are required for installation eLLT Motor inf Control instructions for installation PCI9050 sys Lowest operating system level for hardware ePLXApi dll Function library for PCI bridge The first time you boot the system after you have installed the M50 PCI stepping motor card in your PC the operating system will recognize M50 PCI as new hardware and will show the following message Other PCI bridge device found PCI bridge Now follow the instructions given by the installation assistant When the assistant prompts you to install a new driver ente
28. each initialization Example procedure TMainForm FormShow transmitter TObject begin Search in current directory If Open M50 M50dsp idm 0 Then Begin comment DSP program successfully loaded Exit end Search by entering entire pathname If Open_M50 Borland Delphi5 Projects M50 Demol M50dsp idm 0 Then begin comment DSP program successfully loaded exit end comment No M50 card present or lt M50dsp idm gt not found end Function values e function OK 0 e error_allready_open e error_not_open e error_no_card e error_dsp_program_not_found e error_no_driver 11 e error_driver_function_not_found 12 e error_open_card 15 e error_send_dsp_ program 16 M50 PCI Instructions 25 40 2310 LINOS Close_M50 Integer Close_M50 switches off all motors closes the DSP program on the M50 PCI stepping motor card and releases the memory area occupied in the PC when the function lt Open_M50 gt was requested This function should be requested each time an M50 user program is closed Example procedure TMainForm FormClose Sender TObject var Action TCloseAction begin Save_configuration Demol cfg Close M40 end Function value function OK 0 e error_not_open 2 40 2310 26 M50 PCI Instructions LINOS 8 2 Motor and Axis Settings Each time the geometry data of an axis is changed Steps_per_Rev Pitch Rotary und Gear
29. ed 17 error_invalid_byte_no 18 Bvte Input Byte_No INTEGER Var Input Word INTEGER The lt Byte_Input gt command is used to request the state of the inputs of the I O extension Only the bits defined as inputs are addressed the ones defined as outputs are ignored This function returns the state of the inputs using the nput variable The bits have binary codes and are evaluated as active when the bits are set to high procedure TMainForm ByteIn Var BitValue Begin Word ByteInButton Down true Set_By Repeat Byte te Direction 1 Input 1 BitValue until BitValue lt 0 ByteInButton Down false End 1 0 0 0 0 0 0 0 0 ButtonClick Sender TObject Function value function OR 0 e error_not_open 2 e error_function_not_supported 17 error_invalid_byte_no 18 40 2310 38 M50 PCI Instructions LINOS 8 5 Operating the Stepping Motors Set_Goal Motor INTEGER Position SINGLE INTEGER Use lt Set_Goal gt to input the absolute target positions of the axis motor in mm linear axis or in the radian measure rad rotational axis in the sentence buffer of this axis The commands in the sentence buffer are carried out once the axis is started by lt Move gt or once the entire system is started by lt Go gt In the process the values stored in the sentence buffer are selected in sequence until the sentence buffer is empty One or several new
30. eleration mm s2 met cmt ml 8 store Goal Feed Accel osition oal eedrate cceleration 11 co oo Motor 3 Position Goal m Feedrate Acceleration MOVE TC Neg Limit Switch 5 0 000 fo 3 000 10 018 Break I Pos Limit Switch 6 DspStatus OpenM50 0 Function ok l The function libraries MX_Motor dll CC3260MT d11 and STLPMT45 d11 as well as the processor program M50DSP IDM are required every time an application program is started Therefore it is recommended that you copy them to the directory from which you start the application program M50 PCI Instructions 15 40 2310 LINOS 5 3 Power Supply To start up your equipment you will need to select the power supply for the motors The M50 PCI stepping motor card can be operated on 12 V from your PC power supply by plugging in the hard disk connector For motors with a nominal voltage rating higher than 8 10V be sure to select external power supply This also applies to positioning systems that are to be operated at a higher velocity To power the card by an external power supply plug in the two pole connecting cable supplied with the card A power supply source with up to 48V DC maximum can be connected The higher the power supply the higher the attainable velocity and acceleration The power supply source should generate an amperage of 1 5 3 0A We recommend using the external po
31. etc e 6 inputs for limit switches etc user configurable e An additional 8 bit extension can be selected as input and output e Several M50 PCI stepping motor cards can be operated simultaneously e Extensive function library for 32 bit DLL e Import files and examples in C Delphi LabView M50 PCI Instructions 9 40 2310 LINOS 5 Part Il Installation of the M50 PCI 5 1 Hardware Installation Installation in a PC A CAUTION A DANGER Before opening the housing perform the following steps POWER 1 Turn off the computer power 2 Disconnect the power cable from the computer 3 Make sure that you are grounded while performing all steps 40 2310 10 M50 PCI Instructions LINOS 5 1 1 Installation Steps Open the housing of your computer Select an available PCI port and remove the cover to expose the socket Position the red jumper JP1 of M50 PCI according to the Ge EY xtern type of power supply you wish to use Intern stands for a bis 48v powering the card by your PC power supply unit and extern means that you will be using an external power source Plug an available hard disk connector into the socket on the rear side of the M50 PC stepping motor cara Only if you are using internal power suppl
32. even if an external load resistor is not used and they are directly connected to Vcc 5 8 Accuracy and Resolution The absolute resolution that can be obtained with the M50 PC stepping motor card depends on the stepping motor used A mechanical error of the motor and the stages also influence this resolution For a motor with a 1 500mA phase current and 200 full steps per revolution the absolute position error is typically lt rum related to the transfer of motion to a linear movement by a 2mm spindle The theoretical resolution of the M50 PCI stepping motor card is approx 1 256 of a full step The electromagnetic resolution attainable under real conditions depends on diverse factors these include the ratio of the nominal torque to the torque under load the motor power supply and the ratio of the nominal current of the motor to the maximum current of the M50 PC stepping motor card Under favorable conditions a resolution of 1 100 of a full step can be achieved In the example above this would correspond to a resolution of 0 5 1 um 40 2310 18 M50 PCI Instructions LINOS 6 Part Ill M50 Software 6 1 Overview The Jnstall directory on the CD ROM supplied contains all the setup information for installing the drivers for Win98 Windows 2000 and Windows XP You will find sample programs for Delphi5 0 and higher in the M50 Delphi directory DEMO1 is a simple example written to introduce you to programming the M50 PCI stepp
33. function_not_supported 17 error_invalid_byte_no 18 M50 PCI Instructions 37 40 2310 LINOS Set_Reset_Byte_Output Byte_No INTEGER Output Word INTEGER This command is used to reset the previously activated outputs Output has a binary code see also lt set_byte_direction gt Use Byte_No to select the I O extension byte which is at the same time equal to the number of the M50 PC stepping motor Set_Byte Direction 1 14 2 4 8 16 32 64 128 Sets bi Sets bit Sets bit Sets bit Sets bit Sets bit Sets bit cards Var output Word Set Byte Output 1 1 Sleep 100 Set Byte Output 1 2 Sleep 100 Set Byte Output l1 4 Sleep 100 Set Byte Output 1 8 Sleep 100 Set Byte Output 1 16 Sleep 100 Set Byte Output 1 32 Sleep 100 Set Byte Output 1 64 Sleep 100 Set Byte Output 1 128 Sleep 400 output 1 2 4 8 16 Reset Byte Output 1 output 32 64 128 t2 on on on on on on on Turns all 8 bits into outputs Sets bitl on the card to 1 the the the the the the the card card card card card card card CO CO high 1 high 1 high 1 high 1 high 1 high 1 high 1 high Jz Reverses all 8 bits back to low Function value function OR 0 e error_not_open 2 e error_function_not_support
34. g Limit Polarity motor 2 0 Neg Limit Polarity motor 3 0 Reference Switch motor 1 Reference Switch motor 2 Reference Switch motor 3 Reference Polarity motor 1 0 Reference Polarity motor 2 0 Reference Polarity motor 3 0 Power Down motor 1 50 Power Down motor 2 50 Power Down motor 3 50 du du du 40 2310 56 M50 PCI Instructions LINOS 13 Disposal Warning This LINOS product should NOT be thrown into ordinary waste disposal bins If this LINOS product is not required any longer and you want to dispose of it then please send it to the specified address given below for professional disposal Thank you very much 14 Service For service or repair work please contact LINOS Photonics GmbH amp Co KG Service Department Konigsallee 23 37081 Gottingen Germany Photonics LINOS GmbH amp Co KG K nigsallee 23 D 37081 Goettingen Germany Phone 49 0 551 6935 0 Fax 49 0 551 6935 166 LINOS Photonics Inc 459 Fortune Boulevard Milford MA 0 17 57 17 45 USA Phone 1 508 478 6200 Fax 1508 478 5980 LINOS Photonics Ltd 2 Drakes Mews Crownhill Milton Keynes Buckinghamshire MK8 OER Great Britain Phone 44 908 262525 Fax 44 908 262526 M50 PCI Instructions 57 40 2310
35. ing motor card DEMOTwoCards shows the programming for two M50 PCI stepping motor cards using a total of 6 motors to be operated by these cards The function libraries MX Motor dll CC3260MT dl1 and STLPMT45 d11 as well as the M50 pas import file of the M50 functions belong to each program The M50dsp idm execution program for the M50 processor is loaded and started each time the program is initialized The import file and C examples for user programming in VisualC are in the M50 VisualC subdirectory The import file and examples for user programming in LabView are in the M 50 LabView subdirectory The import file and examples for user programming in VB are in the M50 VB subdirectory 6 2 About the 32 bit Software 6 2 1 Testing and Initial Operation of the M50 PCI Stepping Motor Card The M50 Delphi directory contains the compiled programs for immediate operation of the M50 PCI stepping motor card on 32 bit operating systems Win98 Win2000 ff M50_Demol exe Simple sample program for controlling three motors MX Motor dll Dynamically linkable driver library with all card functions CC3260MT d11 Dynamically integrated supplementary library STLPMT45 d11 Dynamically integrated supplementary library M50dsp idm Program for the microprocessor on the card M50 PCI Instructions 19 40 2310 LINOS 6 3 Programming under Delphi The M50 Delphi M50 Demo1 subdirectory comprises all units and drivers that you need for writing y
36. is is to be reduced while the motor is stopped Power_Down designates the reduction in percent based on a maximum phase current where the current between the coils is then reduced proportionally depending on the particular position an axis has reached When stopped the stepping motors need only the amount of power that enables a sufficient stop torque to be generated in order to maintain the axes position reached In all cases in which the motor does not receive any external torque for eaxmple when gears or spindles are used the stop torque can be much lower than the travel torque To avoid unnecessary heat loss Power_Down should be set to the lowest value possible Setting Power Down 50 Set Power Down 1 40 The power of motor 1 while stopped is reduced to 40 of the Maximum Current Set Power Down 5 25 The power of motor 5 while stopped is reduced to 25 of Maximum Current Function value function Ok 0 e error_not_open 2 e error_invalid_motor 4 Important note Be sure that there is sufficient stop torque for axes that have external torque and force Get_Power_Down Motor INTEGER VAR Power_Down INTEGER With the Power_Down variable this command returns the reduced motor power as a percentage of the maximum phase current while motion is stopped Function value function OK 0 e error_not_open 2 e error_invalid_motor 4 40 2310 32 M50 PCI Instructions LINOS 8 3 Switch Configuration
37. itch i ffff Pos_Limit_Polarity i 0 Neg_Limit_Polarity i 0 Reference_Polarity i 0 Interpolation Mode 1 0 Interpolation_Feedrate 3 0 mm s Interpolation_Acceleration 10 0 mm s These defaults can be overwritten by your own user definable motor and axis settings or can be accepted from a data file using the lt Read_Configuration gt command Each time you change the geometry data of an axis Steps_per_Rev Pitch Rotary and Gear you will also need to redefine the velocity and acceleration of this axis using lt Set_Feedrate gt and lt Set_Acceleration gt In the interpolation mode the corresponding commands are lt Set_ nterpolation_Feedrate gt and lt Set_Interpolation_Acceleration gt Any changes to the default and configuration settings will not become effective until you write the command lt Go gt or lt MOVE gt 40 2310 24 M50 PCI Instructions LINOS 8 Description of the Functions 8 1 Card Initialization Open_M50 FilePath TfilePath Integer When initializing an application program this function is used to read the M50dsp idm file from the FilePath directory and to load it into the microprocessor on the M50 PCI stepping motor card At the same time the memory area needed in the PC is dynamically allocated If several M50 PCI stepping motor cards are installed in a PC these are automatically initialized by this function request command This function must be requested upon
38. le_Interpolation Setting ntpo Feedrate 3 0 mm s or Zei The routine cannot be carried out if a motor is still running when this command is called Function value function OK 0 e error_not_open 2 Get_Interpolation_Feedrate VAR IntpolFeedrate SINGLE INTEGER In the interpolation mode this command returns ntpo Feedrate as the travel speed in mm s linear axis or in 2 2s rotational axis Function value function OK 0 e error_not_open 2 M50 PCI Instructions 47 40 2310 LINOS Set_Interpolation_Acceleration IntpolAcceleration SINGLE INTEGER This command defines the travel acceleration in mm s linear axis or in n 2s rotational axis in the interpolation mode The acceleration rates of all system axes are internally controlled so that all axes reach their respective target positions simultaneously see also Enable_Interpolation Setting IntpolAcceleration 10 0 mm s bzw n 2s The routine cannot be carried out if a motor is still running when this command is called Function value function_OK 0 e error_not_open 2 Get_Interpolation_Acceleration VAR IntpolAcceleration SINGLE INTEGER This command returns ntpolAcceleration as the travel acceleration in mm s linear axis or in n 2s rotational axis in the interpolation mode Function value function_OK 0 e error_not_open 2 Number_of_Cards Motor INTEGER Var Slot_Number INTEGER INTEGER This command return
39. of values is 1 to 3 for one card and 1 to 6 for two cards etc Function value true 1 e false 0 e error_not_open 2 e error_invalid_motor 4 Input Input_No INTEGER INTEGER Available inputs of the M50 PCI which are not assigned to limit or reference switches can be used for any other purposes The lt nput gt function evaluates all inputs The return value is 1 if the input was activated otherwise it is 0 The range of values for nput_No is 1 to 6 for one card and 1 to 12 for two cards etc Function value true 1 e false 0 e error_not_open 2 e error_invalid_input_no 10 Get_Motor_Voltage Motor INTEGER VAR Voltage SINGLE INTEGER The Get_Motor_Voltage function measures the voltage of the motor power supply and saves it in volts in the Voltage variable Motor 1 to motor 3 returns the motor power supply in volts for the first M50 PCI stepping motor card card1 and motor 4 to motor 6 the power supply in volts for the second M50 PCI stepping motor card card2 etc Function value function OK 0 e error_not_open 2 e error_invalid_motor no A error_function_not_supported 17 40 2310 44 M50 PCI Instructions LINOS 8 6 System Settings Save_Configuration FilePath TFilePath INTEGER The following settings of the initialization routines are saved for each of the 15 axes possible in the FilePath file and can be loaded again if necessary Setting of the phase current in mA
40. onnector egenen eegenen 53 Ne ER 54 11 3 Limit Switch Wiring E 55 Appendix E Software Default SettingS csssceeseseeeeeees 56 E E 57 EE 57 M50 PCI Instructions 7 40 2310 LINOS 4 Part Overview 4 1 Standard Equipment Supplied The following standard equipment is supplied when you order an M50 PCI stepping motor card M50 PCI stepping motor card Connecting cable for external power supply 8 bit UO extension on a slot plate CD ROM with software and instruction manual ch This instruction manual is on a CD ROM 40 2310 8 M50 PCI Instructions LINOS 4 2 Brief Technical Overview The following points will provide you with an overview of the functions and features of the M50 PCI stepping motor card e Add in PC card for controlling three stepping motors in microstep operation without any additional hardware e High dynamics and speed combined with high accuracy thanks to the most advanced monolithic limit switch levels and sophisticated control software e Future proof and convenient with PCI bus e 12V power supply by PC power supply unit or externally up to 48V DC e For bipolar 2 phase stepping motors 2 12V in 4 5 6 8 wire technology e Up to 2 5A phase current e Connecting power 20W per axis e Digital signal processor for generating acceleration ramps and pathway curves interpolation e Each axis is individually programmable motor parameters resolution system connection
41. our own Delphi program or for extending the sample program This program has been written using Borland Delphi 5 0 You can copy the files of this subdirectory as well as MX Motor dll M50dsp idm in the Delphi5 Projects M50 directory to your hard disk and access these files for your own programming These files are as follows M50 pas Import file for dll functions M50_Demol dpr Project file for opening the M50_Demo1 project M50_Demol dsk Saves your desktop for the MO Demo project Main dfm Delphi Form Module for the sample program Main pas Main for the sample program M50_Demol pas Source code for the sample program MX Motor dll Driver library with all card functions M50dsp idm Program for the microprocessor on the card 6 3 1 Programming Using VisualC The M50 VisualC subdirectory combines all units and driversram This program was written using C Vers 6 0 that you need for writing your own C programs or for extending the sample prog 6 3 2 Programming Using LabView The M50 LabView subdirectory combines all units and drivers that you need for writing your own LabView programs or for extending the sample program This program was written using LabView 6 0 40 2310 20 M50 PCI Instructions LINOS 7 Part IV M50 Function Library 7 1 Brief Overview function function function function function function function function function function function function function function function function fun
42. overload protection by temperature monitoring e Power supply Internal 4 pin hard disk connector such as Burklin 71F972 External 2 pin power connector type WECO 120A111 02 such as Butrklin 47F1300 e Motor connection 25 contact D Sub female connector M50 PCI Instructions 51 40 2310 LINOS 10 Appendix B Structure of the Ma PC jester euer ae BELAY III Fig M50 PCI stepping motor card LS Q 1 Connector for motor and limit switches 2 Fuse holder 3 15A quick acting fast blow fuse 3 Jumper for selecting the motor power supply either internal 12 V hard disk or external up to 48V 4 I O extension 5 Hard disk connector for internal motor power supply 6 Programming interface for PLD can only be configured by the manufacturer 7 LED display for DSP 8 Connector for external power supply 40 2310 52 M50 PCI Instructions LINOS 11 Appendix C Pin Assignment 11 1 Motor Connector 25 contact D Sub female connector e Wem e mon o Meer S E e enor Pin assignment of the motor connector Fig 25 contact D Sub motor connector showing pin assignment Avo Fig Example Motor connection a LIM1 8 LIM1 82 GND Fig Example Limit switch conections M50 PCI Instructions 53 40 2310 LINOS 11 2 I O Extension 15 contact D Sub female connector name 100 Fig Pin assignment for 15 contact D Sub UO
43. passive switches connected to GND are used the polarity has to be defined as low_active for this reason If active switches are used be sure to select the input polarity corresponding to the type of circuit employed Limit_Polarity low_active 0 setting Limit_Polarity high_active 1 Function value function OK 0 e error_not_open 2 e error_invalid_motor_no 4 Get_Pos_Limit_Polarity Motor INTEGER VAR Limit_Polarity INTEGER INTEGER This command indicates the polarity of the positive limit switch for the motor system axis Low_Active limit switch Limit_Polarity 0 High_Active limit switch Limit_Polarity 1 Function value function OK 0 e error_not_open 2 e error_invalid_motor_no 4 Set_Neg_Limit_Polarity Motor Limit_Polarity INTEGER INTEGER This command defines the polarity of the negative limit switch for the motor system axis see also FUNCTION Set_Pos_Limit_Polarity Function value function OK 0 e error_not_open 2 e error_invalid_motor_no 4 Get_Neg_Limit_Polarity Motor INTEGER VAR Limit_Polarity INTEGER INTEGER This command indicates the polarity of the negative limit switch for the motor system axis see also FUNCTION Get_Pos_Limit_Polarity Function value function OK 0 e error_not_open 2 e error_invalid_motor_no 4 M50 PCI Instructions 35 40 2310 LINOS Set_Reference_Switch Motor Reference_Switch INTEGER INTEGER This command assigns the referenc
44. r INTEGER VAR Limit_Switch INTEGER Set Pos Limit Polarity Motor Limit_Polarity INTEGER Get Pos Limit Polarity Motor INTEGER VAR Limit_Polarity INTEGER Set Neg Limit Polarity Motor Neg Limit_Polarity INTEGER Get_Neg Limit Polarity Motor INTEGER VAR Limit_Polarity INTEGER Set Reference Switch Motor Reference Switch INTEGER Get Reference Switch Motor INTEGER VAR Reference Switch INTEGER Set Reference Polarity Motor Reference Polarity INTEGER Get Reference Polarity Motor INTEGER VAR Refernce Polarity INTEGER M50 PCI Instructions 21 40 2310 LINOS function function function function function function function function function function function function function function function function function function function HO byte Set Byte Direction Byte No Integer Direction Word Set Byte Output Byte No Integer Output Word Set Reset Byte Output Byte No Integer Output Word Byte Input Byte No Integer Var Input Word Stepping motor operation Set_Goal Motor INTEGER Position SINGLE Get_Goal Motor INTEGER VAR Position SINGLE Set Position Motor INTEGER VAR Position SINGLE Get Position Motor INTEGER VAR Position SINGLE Go Stop Move Motor INTEGER Brake Motor INTEGER Moving Motor INTEGER All Arrived End Line Positive Limit Motor INT
45. r card with the next higher PCI address etc e All functions are of the INTEGER type If a function is properly carried out when requested the function value is 0 If a function cannot be performed it take on a negative value as an error_code The following function values occur as error_codes function_ok 0 error_already_open 1 error_not_open 2 error_no_card 3 error_invalid_motor_no 4 error_opening_config_file 5 error_dsp_program_not_found 6 error_mx_dll_not_found 7 error_no_config_file 8 error_goal_not_accepted 9 error_invalid_input_np 10 error_no_driver 11 error_driver_function_not_found 12 error_mx_function_not_found 13 error_mx_dll_not_loaded 14 error_open_card 15 error_send_dsp_program 16 error_function_not_supported 17 error_invalid_byte_no 18 error_undervoltage 19 error_overvoltage 20 error_bridge_error 21 error_incompatible_config_file 22 error_no_valid_config_file 23 M50 PCI Instructions 23 40 2310 LINOS When the M50 PCI stepping motor card is initialized lt OPEN_M50 gt axes one to three are set to the default values Maximum_Motor_Current i 1400 mA Enable_Motor i true Steps_per_Rev i 200 Rotary i 0 Gear 1 0 Pitch i 2 0 mm Rev Feedrate i 3 0 mm s Acceleration i 10 0 mm s ower Down 50 Kal Pos_Limit_Switch i 2 i Neg_Limit_Switch i 2 i 1 Reference_Sw
46. r the directory pathname under which the LT Motor Ant file can be found Directory nstal LLT_Motor inf 3 If you enter the correct directory pathname a message will appear to inform you that an appropriate driver was found for the LLT STEPPER MOTOR CARD device Click on lt Finish gt to complete installation Once installation has been successfully completed you will find the entry LLT STEPPER MOTOR CARD in lt Device Manager gt of Windows lt System Control gt under lt Other Devices Detected gt If you have installed several M50 PCI stepping motor cards you will find this entry several times as well If you are running Windows XP a message informing you that the driver failed the XP Logo Test will appear This message can be ignored as the test failure will not affect the reliable operation of the M50 PCI stepping motor card or that of the other programs 40 2310 14 M50 PCI Instructions LINOS 5 2 3 Function Test after Installation 1 Create the directory M50 2 Copy the directory FirstTest on your CD ROM to the newly created directory 3 You can now run the M50_Demol exe program in the FirstTest directory to test the function of the M50 PC stepping motor card The DspStatus must accept the value by showing lt function ok gt after the DSP program has been downloaded takes approx 5 sec co stop Rese fU o0V eee Goal mm Feedrate mm s Acc
47. ror_invalid_motor 4 Get_Feedrate Motor INTEGER VAR Feedrate SINGLE INTEGER With the feedrate variable this command reads out the selected point to point speed of the motor system axis in mm s linear axis or in 7t 2s rotational axis Function value function_OK 0 e error_not_open 2 e error_invalid_motor 4 40 2310 30 M50 PCI Instructions LINOS Set_Acceleration Motor INTEGER Acceleration SINGLE INTEGER In the point to point mode this command defines the acceleration of each motor axis in mm s linear axis or in 7 2s rotational axis To ensure the computational accuracy acceleration is internally limited to a maximum of 800 000 full steps s This yields a maximum acceleration of 8000mm s for 200 full steps revolution and a 2 mm pitch Setting Acceleration 10 mm s Function value function OK 0 e error_not_open 2 e error_invalid_motor 4 Get_Acceleration Motor INTEGER Var Acceleration SINGLE INTEGER With the Acceleration variable this command reads out the axis acceleration set in the point to point mode If the motor axes are defined as a linear axes this is read out in mm s or for rotational axes in 7 2 SE Function value function Ok 0 e error_not_open 2 e error_invalid_motor 4 M50 PCI Instructions 31 40 2310 LINOS Set_Power_Down Motor Power_Down INTEGER INTEGER This function defines the percentage by which the power of the motor ax
48. rvice LINOS shall not be liable for any direct indirect or consequential damage particularly if such damage is caused by negligence and no matter whether such damage arises in connection with the warranty a contract an offence or a further legal theory The electrical equipment described apparatuses systems installation and networks is only intended for use in industrial or scientific areas Compliance with the legal requirements and directives concerned is essential If used incorrectly this electrical equipment may generate hazardous voltage or may have live parts during operation Removing the required covers or inadequate maintenance may severely endanger or impair the health of individuals or cause material damage Therefore the person responsible for the safety of the equipment must ensure that e only qualified personnel are entrusted with working on or operating the equipment and machinery e these persons always have the appropriate instruction manual and any additional product literature as necessary for all operating steps and servicing and repair work and that such persons are obligated to observe these instructions and information at all times e work on this equipment and machinery or in their vicinity is prohibited for non qualified personnel Qualified personnel are persons who by virtue of their education experience and training as well as their knowledge of the pertinent standards requirements occupational and
49. s S ot_number the slot number of the M50 PC stepping motor card that is assigned to the motor searched for If at least one card in the system is found the function value lt Number_of Cards gt shows the number of the cards found otherwise an error code will be displayed Example Var M50Cards Integer M50Cards Number of _Cards 1 Slot_Number Get slot number of motorl if M50Cards gt 0 then begin SlotCardlEdit Text IntToStr Slot_Number end M50Cards Number of Cards 4 Slot_Number Get slot number of motor2 and return no of cards or error code Function value cards found lt 0O lt 5 e error_not_open 2 e error_invalid_motor_no 4 40 2310 48 M50 PCI Instructions LINOS 8 Demo Program The CD ROM supplied contains the application program M50_Demol exe Itis a simple programming example for controlling a M50 PCI stepping motor card with three motors User s manual for M50 Demol exe Once the program is initialized a user interface appears on the screen Using this screen you can initialize and control the M50 PC stepping motor card by mouse click or keyboard input Position Goal Feedrate Neg Limit Switch Pos Limit Switch Go Button Stop Button Shows the actual position in mm system axis defined as a linear axis or in radian measure system axis defined as a rotational axis Here a target position is input in mm system axis
50. s low active and high active see Chapter 8 3 Switch Configuration The CMOS level applies in other words input voltages lt 2 2 volts are evaluated as a logical 0 voltages greater than 3 volts as a logical 1 The inputs when inactive are at 10V via internal pullup resistors In their activated state a current of 2 5mA maximum flows The inputs are short circuit proof and protected from overvoltage and accidental interchanging of poles up to 12V To supply the electronic limit switches an auxiliary supply of 10V 100mA is available at the connector suggested wiring see Appendix C M50 PCI Instructions 17 40 2310 LINOS 5 7 I O Extension The M50 PCI stepping motor card has an UO interface that provides 8 ports which can be used independently of one another as inputs or outputs Configuration of each pair of these ports as inputs or outputs is done by software see Chapter 8 4 The I O interface also has a 5Vcc output pin1 which can handle approx 80 100mA and has a self resetting electronic fuse If the ports are defined as outputs 3 5V 20 30mA will be available via 33ohms relative to the Gnd pin9 when these ports are in their active state Thus LEDs optocouplers or small relays can be directly controlled If the ports are defined as inputs Vcc Pin1 can be applied to the inputs via a resistance of 200 1 000 ohms in order to activate these inputs The contacts are designed so that they cannot be damaged
51. tart the axes one after another see also lt Move gt and lt Set_Goal gt Function value function OK 0 e error_not_open 2 error_undervoltage 19 error_overvoltage 20 error_bridge error 21 40 2310 40 M50 PCI Instructions LINOS Stop INTEGER lt Stop gt causes all axes to stop immediately at any time it is set There is no brake ramp so steps may be lost if the axis selected happens to be above the start stop frequency The values of the position counter remain saved the sentence buffer for all axes is cleared As a result this function is suitable for resetting all sentence buffers of the entire system when the axes are stopped While the axes remain stopped the power in the motors is reduced according to the preset power down parameter see lt Set_Power_Down gt Function value function OK 0 e error_not_open 2 Steps may be lost when an axis is above the start stop frequency this may result in loss of control of the motors Stop clears the sentence buffers for all axes Move Motor INTEGER INTEGER lt Move gt starts the individual Motor axis The position targets defined for this axis are selected Once started an axis remains in motion until the instructions in its sentence buffer have been completely executed The remaining axes remain unaffected by the lt Move gt command Function value function OK 0 e error_not_open 2 e error_invalid_motor_no 4 error_undervoltage 19
52. tilized see Set Polarity and Appendix C Pin Assignment M50 PCI Instructions 33 40 2310 LINOS Set_Pos_Limit_Switch Motor Limit_Switch INTEGER INTEGER This command assigns the motor system axis to the Limit_Switch input as a positive limit switch If the input is assigned as a positive limit switch to an axis this axis when performing positive movement will immediately stop as soon as the assigned input is activated Until the input is de activated the axis can only be moved in the negative direction of travel The position of this axis and the target buffer remain unchanged The sentence buffer can be deleted if necessary using the lt Brake gt command in order to continue the positioning movement Range of values for Limit_Switch 1 6 cf Tab 1 Settings Limit_Switch switch2 2 for motor Limit_Switch switch4 4 for motor2 Limit_Switch switch6 6 for motor3 Set_Pos Limit Switch 1 1 Motorl with positive limit switch 1 Set_Pos Limit Switch 2 3 Motor2 with positive limit switch 3 Set_Pos Limit Switch 3 5 Motor3 with positive limit switch 5 Function value function OK 0 e error_not_open 2 e error_invalid_motor_no 4 Get_Pos_Limit_Switch Motor INTEGER VAR Limit_Switch INTEGER With the Limit_Switch variable this command specifies the values of the input that is assigned as a positive limit switch to the motor system axis If no positive limit switch is
53. wer supply 40 3222 000 to operate the M50 PCI stepping motor card with LINOS x act positioners You will need to change the position of the high current jumper on the M50 PCI stepping motor card depending on the type of power supply you are using see Chapter 5 1 1 Settings Internal Supply Caution The external power supply may not exceed 48V DC 5 4 Electrical Current for the Motors The electrical current for the motors is set using the software installed see Set Maximum Current Get Maximum Current The maximum current you can set for the motors is 2 5 A per phase To ensure accurate microstep division the phase current selected may not be higher than the nominal current of the motor By contrast a current setting that is too low will not affect microstep division When the stepping motors are in an idle state a much lower torque is generally needed than when they are driving the positioner To prevent the motors from losing power or heating up unnecessarily the software program lets you define the idle current separately for each axis see also Set Power Down The following example shows how the electrical motor power and power loss are calculated Coil resistance Rphase 1 6 ohms and Nominal current IPhase 1 5A Nominal voltage DC Vehase Rpr X Iph 2 4V The power loss in the switching controllers of the M50 PC stepping motor card plays a subordinate role when the motors are in the idle state 40 2310 16
54. will find information and where available update possibilities 40 2310 4 M50 PCI Instructions LINOS 2 2 Safety Instructions e Please follow all safety instructions including the directions for the connected equipment e Read this instruction manual carefully It will enable you to best use the M50 PC stepping motor card and prevent problems and damage e Always keep this instruction manual handy e When installing the M50 PC stepping motor card in a PC be sure to observe the rules and regulations in force e Make sure that if you connect an external power supply the maximum voltage of 48 volts DC cannot be exceeded e Never expose the M50 PCI stepping motor card to direct sunlight high humidity dirt or extreme temperatures e The M50 PCI stepping motor card may only be used in dry rooms that do not have any risk posed by an explosive atmosphere e Itis prohibited to use the M50 PCI stepping motor card outdoors e Ensure that the M50 PCI stepping motor card is sufficiently ventilated at all times e Check that the cable has the correct current carrying capacity and that the appropriate connectors are correctly wired and attached to avoid wire breakage or a cable break install all cables so that they cannot cause any accidents e Unplug or plug in the cables only after the PC has been shut down and the power turned off e The M50 PCI stepping motor card may only be operated in a range of 0 40 C and up to 80
55. y M50 PCI Instructions 11 40 2310 Carefully plug the M50 PCI stepping motor card into the socket and fasten it in place by using the screw taken from the cover plate If you would like to use the additional 8 inputs outputs fasten the I O slotted plate supplied in an available position on the rear panel of your PC Then connect the flat cable by plugging the blue connector into the M50 PCI stepping motor card Close the housing of your computer and plug the power cord into an electrical outlet 40 2310 12 M50 PCI Instructions LINOS 5 2 Software Installation The CD ROM supplied contains the following directories M50 Install Contains the drivers required FirstTest Contains a simple demo program M50 Delphi Contains sources and examples for writing your own Delphi programs M50 VB Contains sources and examples for writing your own VB programs M50 VisualC Contains sources and examples for writing your own C programs M50 Labview Contains sources and examples for writing your own LabView programs M50 Manual Contains this instruction manual The M50 PCI stepping motor card is supplied with driver software for Windows 98 Windows 2000 und Windows XP The drivers and instructions for installing the M50 PCI stepping motor card are in the Install directory on the CD ROM supplied with this card 5 2 1 Windows 98 The following files are required for installation
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