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I-8094 and I-8094F Getting Started Manual

1. p rn 86 65 J V2 4 g_Started i8094_ Gettin 72 http www icpdas com A 4 The Version Upgrades Note Changed the FUNCTION section Add section 3 9 Synchronization Motion i8094 gt i8094MF_ All Macro Function i8094_MF DLL gt i8094 DLL i8094_MF h gt i8094 h i8094_MF_NET DLL gt i8094_NET DLL i8094 Macro Function Manual gt Getting Start manual of i8094 motion controlmodule Demo_First Changed eVC and VB NET Add section 5 1 Setup the Development Environment of 18094 http www icpdas com 73 i18094_Getting_Started_V2 4 APPENDIX B Others Terminal Boards B 1 DN 8468M Daughter Board The DN 8468M is the daughter board for Mitsubitch J2 Series Amplifier It has 4 axis I O signals B 1 1 Board Layout for DN 8468M 107mm TBI Z lt lt Z a RJ1 i fi Z 6 6 JP4 JP3 JP5 JP1 JP2 N Z m m Z O Sd O 7 Z 5 me l l X a Y Zz A Og oc o0 O N 5 aa Z Z lt Z 3 6 S 2 EMG DN 8468M SW lt S In 3 Z oo Z Z Z GO 9 TB2 io Fig 1 1 Board
2. demo_First resources a Dialog H 6 Icon 9 Version include stdafx h include aL First h F I e D 5 Ua i8097 h ifdef _DEBUG define new DEBUG_NEW undef THIS_FILE static char THIS_FILE __FILE__ tendif CISG94MF I8G94MF 5 bool Driver_Open BYTE cardNo 6 fi PELEEEETLEEETLEATAEAATTTEELAEATA EAE E E Ei EEE CDemo_FirstD1g dialog CDemo_FirstD1g CDemo_FirstDlg CWnd pParent NULL CDialog CDemo_FirstD1g IDD pParent ZIXKAFX_DATA_INITCCDeno_FirstDlg NOTE the ClassWizard will add member initializatior rf Because we have built a class CI8094MF For Macro function it is convenient to guide in designing program User also can use the function of manual directly Double click on http www icpdas com 48 i8094_Getting_Started_V2 4 BUTTON that will generate a subprogram then key in 18094MF then it will appear a windows guide to help user to select a relevance function zix laxi jals mg mela c mae a z s eDemo_Firswig fn c gem First sa a Win32 WCE ARMV4 Debug SAIADevice Jenez Fr SetIcon m_hIcon FALSE Set small icon demo_First resources EIER CenterWindow GetDesktopWindow center to the hpe seri 2 3 Dialog S DD_DEMO_FIRST_Dl TODO Add extra initialization here Icon 29 Version return TRUE return TRUE unless you set the focus to a gt
3. ee Bau ON ae Encoder A Phase nc Lo o2 nc Encoder B Phase a 79 nc Zoot a fe Encoder 6 Phase cond Stool Kam Z 19 Encoder 2 Phase P 5 OO lt E GND Encoder Z Phase p Stools a pe 7 Poste Deaton Pulse Output N WTOSTSs amp e e rose Drecion Puse Output 11 36 N ive Direction Pul Nt 5 O O B Nagai e Direction Pulse N oot ne N___ 12__ Negative Direction Puise Output i a E CE Servo In Position NC 5 OO 4 SVON Servo Ready no ST Oot vc 212 B Er Parameter Reset zZ Boel et aay Z 7 TOT NC EXT power 24 zig NC 1 2 8 10 EXT power ground Hd 2 28 30 32 NC 7 EI 10 NC papa nc 2 2 C Q 2 ay NC INP NC 3 4 5 9 No connection 13 14 15 Fig 3 5 Pin definition for CNX 16 17 18 21 22 23 CNY CNZ CNU papm 37 38 39 41 45 46 48 49 50 gt Note 1 There are two sets encoder signals for X and Y axes In X axis one is from CNX and the other is from CN5 In Y axis one is from CNY and the other is from CN6 Users can select encoder signals from JP1 and JP2 respectively gt Note 2 In Z and U axes only one set of encoder signals is used for each axis In Z axis do not connect CNZ and CN7 at the same time In U axis do not connect CNU and CNB at the same time gt Note 3 Don t connect NC not connected signals Connecting these signals could cause permanent damage to your motion controller http www icpdas com 93 i8094 Getting Started_V2 4 m CN1 CN4 The
4. LMT 8 Limit switch Input Signal INPUT3 7 Input Signal IN3 NRHOME 6 Near HOME Sensor Input Signal HOME 5 HOME Sensor Input Signal RESET 4 RESET Input Signal EXP 3 EXT Positive Direction Pulse EXP 2 EXT Positive Direction Pulse EXT_GND 1 EXT POWER Ground 78 i8094_Getting_Started_V2 4 m CN5 CN8 The I O signals of the X Y Z U AXIS The connectors CN5 CN3 are 15 pin connectors that enable users to connect the signals to external motor drivers Fig 1 8 shows the pin assignment for the 15 pin connector on the DN 8468M and the Table 1 9 shows its I O connector signal description Table 1 9 CN5 8 a 9 Encoder A Phase Encoder A Phase B 10 Encoder B Phase B 5 Encoder B Phase 11 Encoder Z Phase EXT 5V P Z z Encoder Z Phase P Positive Direction Pulse Output N 72 P 7 Positive Direction Pulse Output N Ne 12 Negative Direction Pulse Output E GND Nc N Negative Direction Pulse Output At E PWR 15 EXT power 24V A NC E GND 3 EXT power ground B ExT 5v 6 EXT power 5V B E PWR ee No connection 14 Fig 1 8 Pin definition for CN5 CN8 gt Note 1 There are two sets encoder signals for X and Y axes In X axis one is from CNX and the other is from CN5 In Y axis one is from CNY and the other is from CN6 Users can select encoder signals from JP1 and JP2 respectively Note 2 In Z and U axes only one s
5. By user define Position amp Speed change on the fly Fixed pulse output by Trapezoidal and S curve velocity profile Pulse output option CW CCW PULSE DIR Programmable logic level Rising Edge Falling Edge 1 2 4 Encoder Input Encoder option A B phase Up Down Programmable A B phase mode 1 1 2 and 1 4 A B phase http www icpdas com 9 i18094_Getting_Started_V2 4 1 2 5 Position counter E Command counter range 2 147 483 648 2 147 483 647 m Encoder counter range 2 147 483 648 2 147 483 647 E Programmable ring counter mM Programmable direction of counter m Using DI IN3 to Clear feedback counter E Programmable read amp write counter 1 2 6 Auto Homing m Four Steps Step 1 High speed Near Home searching Step 2 Low speed Home searching Step 3 Low speed Index Z searching Step 4 High speed offset drive Even though there are only 4 steps of the home searching but user can vary the operations into over 10 homing modes by software function since its configurable action and direction of each step 1 2 7 Servo Motor Input Signal m Alarm m Choose IN2 In Position or Servo Ready signal mM Choose input signal Enable Disable and logical level 1 2 8 Limit Switch Input Signal m Two limit switch signal for each axis Limit Limit m Programmable logic level m Programmable action mode slow down stop or immediately stop http www icpdas com 10 i18094_Getting_Started_V2 4
6. Deceleration Area Time 3 Symmetrical S curve of motion velocity http www icpdas com 39 i8094_Getting_Started_V2 4 Velocity 4 V SV gt Time Acc Dec I I Deceleration t increase rate L I I I I I Jerk K 1 I I ae i a Time 4 Asymmetrical S curve of motion velocity 3 7 2 Basic Setting of Single Axis 1 Setting the mode of Acceleration deceleration There are four speed modes 0 gt Symmetrical T Profile SV gt V gt A AO 1 gt Symmetrical S curve SV V K AO 2 gt Asymmetrical T profile SV gt V A D gt AO 3 gt Asymmetrical S curve SV V gt K L gt AO i8094MF_NORMAL_SPEED Please refer to section 6 1 1 of 18094 18094F user manual 2 Setting the start velocity Set lowest speed i8094MF_SET_SV Please refer to section 6 1 2 of 18094 I8094F user manual 3 Setting the Velocity Set the desired speed i8094MF_SET_V Please refer to section 6 1 3 of 18094 I8094F user manual 4 Setting the Acceleration Deceleration speed Set the Acceleration Deceleration speed i8O94MF_ SET_A Please refer to section 6 1 4 of 18094 I8094F user manual i8094MF_ SET_D Please refer to section 6 1 5 of 18094 I8094F user manual http www icpdas com 40 i18094_Getting_Started_V2 4 3 7 3 Basic Motion of Single Axis 1 Fixed pulse driving output Perform fixed quantity of single axis pulse output i8094MF_FIXED_MOVE Please refer
7. The encoder signals of axis X and axis Y can be chosen from servo driver encoder or external encoder Fig 3 11 shows that the encoder signals are selected from servo driver encoder In meantime Fig 3 12 shows that the encoder signals are selected from external encoder OVOJOO O plofofa Primary Encoder Signals My Primary Encoder Signals for X axis From CN X for Y axis From CN Y Fig 3 11 Primary encoder signals setting External Encoder Signals External Encoder Signals for X axis From CN5 for Y axis From CN6 Fig 3 12 External encoder signals setting http www icpdas com 97 i8094 Getting Started_V2 4 m EMG SW The emergency stop signal for each servo ampilfier can be selected from EMG SW The number 1 2 3 4 on EMG SW are denoted as axis X Y Z U respectively Fig 3 13 is the default setting to connect the EMG singals to GND The EMG signals from CN1 CN4 will not take effect If the switch is disconnected as shown in Fig 3 14 the emergency stop signals can be controlled from EMG signals in CN1 CN4 EMG SW 4 3 2 1 lt ON_ GND Fig 3 13 EMG SW setting for normally GND Default setting EMG SW 4 3 2 1 lt ON_ GND Fig 3 14 EMG SW setting for user controlled signals http www icpdas com 98 i8094 Getting _Started_V2 4 B 4 DN 8468D Daughter Board The DN 8468D is the daughter board for Delta ASDA A Series Ampilifier It has 4 axis I O signals B 4 1 Board Layout for DN 8468D ht
8. 1 2 9 Other Input Signals u IN3 other purpose as a trigger of synchronal control 1 2 10 Emergency Stop Signal Input m There is a Emergency stop signal for Each module 1 2 11 General Output Signal m The Servo on signal NOUT1 can be used as servo on control or general purpose output signal for each axis 1 2 12 Integral Input Signal Filters m The motion module is equipped with an integral type filter in the input step of each input signal User can be selected a filter time constant 1 2 13 Software Limit m There are two software limit for each axis SLimit amp SLimit Setting range 2 147 483 646 2 147 483 646 1 2 14 Manual Pulse Generator Fixed Pulse Driving Mode CW CCW pulse mode Continuous Pulse Driving Mode CW CCW pulse mode Manual pulsar mode A B phase pulse mode Disable Mode Disable manual pulse function http www icpdas com 11 i18094_Getting_Started_V2 4 1 2 15 LED for Module status m Red LED gt Power light m Orange LED gt Servo Alarm Ex Misuibishi driver No Alm turn Orange LED on mM Green LED gt during Running Motion 1 2 16 FRnet i8094F only mM Connect to the distributed DI DO module DI gt max up to 128 DO gt max up to 128 Read the status of distributed DI Control the status of distributed DO Support interrupt and frequence division function Reset function 1 3 Environment Mm Operating Temp 20 75 C mM Storage Temp 30 85 C m Operati
9. Press ALT_E to download file Load file demoi exe crc 4666 0000 1 Send file info total 432 blocks Block 432 Transfer time is 11 927608 seconds i 8888 gt runr lt 8 Exit 1 HELIX_3D_1 2 HELIX_3D2 3 RATIO 4 Reset Encoder 5 Stop 6 Clear LOGIC AND REAL POSITION COUNTER 1598583 y 1271690049 z 1439068134 u 191938561 x 991053608 y 280515019 z 254699488 u 1876946677 Please refer to the 7188 getting started manual http www icpdas com 69 i8094 Getting _Started_V2 4 APPENDIX A Setup Tools amp Others A 1 Setup the Development Environment of 18094 A 1 1 eVC 4 0 1 Microsoft eVC 4 0 at least ServicPack2 Have already got at present ServicPack4 2 WinCon8000_EVC4_SP1 WinCon in eVC Development Environment SA_IA 3 WinConSDK WinCon Software Tool inc lib dll demo A 1 2 Visual Studio NET 2003 VB NET C 1 Above Microsoft Visual Studio NET 2003 professional including a SmartDeviceApplication item 2 Debug Tool Windows CE NET Utilities v1 1 for Visual Studio NET 2003 3 WinConSDK WinCon software Tool inc lib dll demo A 1 3 Turbo C 1 Above boland Turbo C 2 0 http www icpdas com 70 i18094_Getting_Started_V2 4 A 2 18094 Surface 7 Wien w 8331 http www icpdas com 71 i8094_Getting_Started_V2 4 imensions A 3 D fis
10. sseeseeeeeeeneeneneneeeeeeeeeeeeeeene 34 3 2 4 Configure the Software Limite tSEL eee cece eee e eee eeeeeeeeeeeeeees 34 3 3 Err r Checkins ae ee nissen 34 3 4 Basic Configuration of Motion esssssssssssnnssnsssssnnnsnsssnnnnnsnsssnnnnnsnssnnne 35 3 5 Manual Pulse Generator Testing 0 0000000s20000000202000000000 00000000 0000000 35 3 6 Home Search unseren nannten ent sehhese 37 3 6 1 Home Search GOntigurali n zz essersserstertsenteerkeeekterkerekeenkerekeenkeekeenkeeefeerkes 37 3 6 2 Running the Home Search ccceeeceeeeeeeeeee cece eeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 38 3 7 Basi Motion sssssessscsssesssscssssresscsootosossossossssiesesissseresiisooio soise sois sokio sissisie 39 3 7 1 Speed Profie of the Motion Control cccccseeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 39 3 7 2 Basic Setting of Single Axis essseseees een 40 3 7 3 Basic Motion of Single AxiS eeeseeee eee eeeee ee etee ee eeeeeeeeeeeeeeeeeeeeeees 41 3 7 4 Basic Setting of Muti Axes Interpolation cee ee eeeeeeeeeeeeeeeeeeeeees 41 3 7 5 Basic Motion of Muti Axes Interpolation ccceeeeeeeeeeeeeeeeeeeeeeees 42 3 8 Advance Motion sivicssecsscovecissvecscscsucdsd svenisecsbsseaugaadeaverscbecaudsaseabedeobersssavantes 43 3 9 Synchronization Action ee 43 4 GETTING STARTED OF SOFTWARE 000 44 4 1 WinCon eVC Guideline sssssssssssssnssssenn
11. 1 5 Pin definition for CNX CNY CNZ CNU NC 1 2 10 11 No connection 12 14 16 18 19 20 26 27 28 30 32 40 42 43 44 45 46 47 50 Note 1 There are two sets encoder signals for X and Y axes In X axis one is from CNX and the other is from CN5 In Y axis one is from CNY and the other is from CN6 Users can select encoder signals from JP1 and JP2 respectively gt Note 2 In Z and U axes only one set of encoder signals is used for each axis In Z axis do not connect CNZ and CN7 at the same time In U axis do not connect CNU and CN8 at the same time Note 3 Don t connect NC not connected signals Connecting these signals could cause permanent damage to your motion controller http www icpdas com 85 i8094 Getting Started_V2 4 m CN1 CN4 The I O signals of the X Y Z U AXIS The connectors CN1 CN4 are 11 pin connectors that enable you to connect to the signals of your motor drivers Fig 1 7 shows the pin assignment for the 20 pin connector on the DN 8468P and the Table 1 8 shows its I O connector signal description Table 3 8 CN1 4 Signal Connection Pmmame Description INRHOME Near Hone Sensor Input Son Fig 1 7 Pin definition for CN1 CN4 http www icpdas com 86 i8094 Getting Started_V2 4 m CN5 CN8 The I O signals of the X Y Z U AXIS The connectors CN5 CNB8 are 15 pin connectors that enable users to connect the signals to external motor drivers Fig 1 8 shows the pin ass
12. 7 1 8094 G p p A Jill Axis Step Servo Motor WinCon 1 8000 18094 with PAC controller WinCon 8000 and l 8000 http www icpdas com 7 i8094_Getting_Started_V2 4 1 2 Hardware Specification 1 2 1 Main Specification m ASIC Chip MCX314As m Number of controllable 4 Axes Pulse output stepping amp servo motor E Upto4M PPS pulse output 1 2 2 Interpolation Function 2 axes amp 3 axes linear interpolation mM Interpolation range 2 147 483 646 2 147 483 646 m Vectors speed of interpolation 1 PPS 4M PPS Mm Precision of interpolation 0 5 LSB Circular interpolation mM Interpolation range 2 147 483 646 2 147 483 646 m Vectors Speed of interpolation 1 PPS 4M PPS Relative interpolation function m Any 2 axes or 3 axes interpolation m Fixed vectors speed Mm Continuous interpolation http www icpdas com 8 i18094_Getting_Started_V2 4 1 2 3 Pulse Output Output speed range 1 PPS 4 MPPS Output precision 0 1 Jerk range of S curve 954 62 5 x 10 6 PPS S 2 477 x 1043 31 25 x 10 9 PPS S42 Acceleration deceleration range 125 1 x 106 PPS S 62 5x10 3 500 x 10 6 PPS S Speed precision 1 PPS 500PPS Depend on the max speed Output numbers 0 4 294 967 295 unlimited Velocity profiles mode Fixed Symmetrical amp Asymmetrical Trapezoidal velocity profile Symmetrical amp Asymmetrical S curve velocity profile Acceleration amp Deceleration mode Auto
13. Fig 3 8 shows the pin assignment for the 15 pin connector on the DN 8468FB and the Table 3 9 shows its I O connector signal description CON DBI15 Fig 3 8 Pin definition for CN5 CN8 Note 1 There are two sets encoder signals for X and Y axes and the other is from CNS Table 3 9 CN5 CN8 Name Number Description P 1 Positive Direction Pulse N 2 Negative Direction Pulse EXT_GND 3 EXT POWER Ground A 4 Encoder A phase B 5 Encoder B phase EXT_5V 6 EXT POWER 5V P 7 Positive Direction Pulse N 8 Negative Direction Pulse A 9 Encoder A phase B 10 Encoder B phase Z 11 Encoder Z phase Z 12 Encoder Z phase OUT4 13 OUT4 of Servo Motor CONT5 14 CONT5 of Servo Motor EXT_PWR 15 EXT POWER 24V In X axis one is from CNX In Y axis one is from CNY and the other is from CN6 Users can select encoder signals from JP1 and JP2 respectively Note 2 In Z and U axes only one set of encoder signals is used for each axis do not connect CNZ and CN7 at the same time and CN8 at the same time Note 3 Don t connect NC not connected signals In Z axis In U axis do not connect CNU Connecting these signals could cause permanent damage to your motion controller http www icpdas com 118 i8094 Getting Started_V2 4 m RJ1 The I O signals of the FRnet The connectors RJ1 is an 8 pin RJ45 connector that e
14. LI M Deseription _ na F 2 Identifier expected u L2 BAIE hs Ea Server 3 Toolb A Task List E Output 3 References i8094_NET I System System Data System Drawing System Windows Forms D System XML E AssemblyInfo vb Fomi yb Properties z 3i E Ready http www icpdas com In5t 57 Col 17 i8094_Getting_Started_V2 4 Detailed code as below mode Step 1 Driver init If Not Driver_Open Then i8094MF i8094MF_REGISTRATION cardNo 1 Driver_Open True End If Step 2 CONFIG IO i8094MF i8094MF_RESET_CARD cardNo i8094MF i8094MF_SET_PULSE_ MODE cardNo AXIS_XYZU 2 set the pulse output mode i8094MF i8094MF_SET_ALARM cardNo AXIS_XYZU 0 0 disable the SERVO ALARM Input i8094MF i8094MF_SET_ENCODER cardNo AXIS_XYZU 0 0 0 set the encoder input type i8094MF i8094MF_SET_MAX_V cardNo AXIS_XYZU Convert ToUInt32 16000 set the max speed for XYZU i8094MF i8094MF_EXD_DISABLE cardNo AXIS_XYZU set the external input Off i8094MF i8094MF_SET_LP cardNo AXIS_XYZU 0 set the Logic position 0 i8094MF i8094MF_SET_EP cardNo AXIS_XYZU 0 set the Encoger position 0 i8094MF i8094MF_SET_A cardNo AXIS_XYZU Convert ToUInt32 1000 setthe Acc 1000 i8094MF i8094MF_SERVO_ON cardNo AXIS_XYZU set the Servo_ON to servo motors Step 3 Check ERROR Dim KK As Long 0 KK i8094MF i8094MF_GET_ERROR cardNo Dim M
15. Windows Forms Button F RT i8094_NET Win Microsoft System C System Data OSes lick By al sender As System Object ByVal e As System E oO AOST End Sub D System Windows Forms End Class System XML E AssemblyInfo vb Formi vb Properties a 2 a 5 wil ee Add the i8094MF into the Button1_Click then it will appear a windows guide to help user to select a relevance function Demo_First Microsoft Visual Basic NET design Form1 vb Fie Edit View Project Build Debug Tools Window Help P a SE ke o o G Windows CE NET Device 0 ag Rk NM X Object Browser Start Page Forml vb Desien Formi vb Clipboard Ring o9 Buttont v Click z Sinan LA imports i8094WF NET X Pointer a Fublic Class Forml p Debug Toolbox Solution Explorer Demo_First 23135 A Solution Demo_First 1 project l Demo_First ax j Inherits System Windows Forms Form Friend WithEvents Button As System _Windows Forms Butt Windows Form Designer generated code Private Sub Buttonl_Click ByVal sender As System bjec i8094mf End Sub _ End Class _ EIER ARC CW i8094MF_AXIS ASSIGN i8094MF_CIRCLE_CCW i8094MF_CIRCLE_CW i8094MF_CLEAR_ERROR i8094MF_CLEAR_SLMT i8094MF_CONTINUE_INTP i8094MF_CONTINUE_MOVE iBO94MF_EXD_CP SS Task List 1 Build Error task shown filtered
16. i8094_IN3_LEVEL cardNo AXIS_XYZU 1 http www icpdas com 62 2 Add the relevance code into the main program Please refer to demo100 cpp i8094 Getting _Started_V2 4 i8094MF_SET_ALARM cardNo AXIS_XYZU 1 1 i8094MF_SET_ENCODER cardNo AXIS_XYZU 0 0 0 i8094MF_SET_MAX_V cardNo AXIS_XYZU 16000 BYTE reti 0 BYTE chkey DWORD sv PPS DWORD v IIPPS DWORD a IIPPS s i8094MF_SERVO_ON cardNo AXIS_XYZU do Print O Exit 1 HELIX_3D_1 2 HELIX_3D_2 3 RATIO 4 FRnet output 5 FRnet input r n Print 6 Reset Encoder 7 Stop 8 Clear Error r n Print X Jog X Y Jog Y Z Jog Z U Jog U S Stop Jog r n Print n Print LOGIC AND REAL POSITION COUNTER n x_value i8094MF_GET_LP cardNo AXIS_X y_value i8094MF_GET_LP cardNo AXIS_Y z_ value i8094MF_GET_LP cardNo AXIS_Z u_value i8094MF_GET_LP cardNo AXIS_U Print LOGIC POSITION x 10ld y 10ld z 10ld u 10ld r n x_value y_value z value u_value x_value i8094MF_GET_EP cardNo AXIS_X y_value i8094MF_GET_EP cardNo AXIS_Y z_ value i8094MF_GET_EP cardNo AXIS_Z u_value i8094MF_GET_EP cardNo AXIS_U Print REAL POSITION x 10ld y 10ld z 10ld u 10ld r n x_value y_value z value u_value while Kbhit chkey Getch Print s r n amp chkey switch chkey case 0 i8094MF_RESET_CARD cardNo Print EXIT r n http www icpdas c
17. only one set of encoder signals is used for each axis In Z axis do not connect CNZ and CN7 at the same time In U axis do not connect CNU and CN8 at the same time gt Note 3 Don t connect NC not connected signals Connecting these signals could cause permanent damage to your motion controller m CN1 CN4 The I O signals of the X Y Z U AXIS The connectors CN1 CN4 are 12 pin connectors that enable you to connect to the signals of your motor drivers Fig 3 7 shows the pin assignment for the 12 pin connector on the DN 8468FB and the Table 3 8 shows its I O connector signal description Table 3 8 CN1 CN4 a Name Number Description l l CONT4 12 CONT4 of Servo Motor CONT4 gt EXT PWR EXT_PWR 11 EXT POWER 24V ee CONT3 10 CONT3 of Servo Motor LMT LMT 9 Limit switch Input Signal In LMT 8 Limit switch Input Signal NRHOME HOME INPUT3 7 Input Signal IN3 RESET NRHOME 6 Near HOME Sensor Input EXP 3 D igna EA 77 EXT GND 9 HOME 5 HOME Sensor Input Signal RESET RESET Input Signal EXP 3 EXT Positive Direction Pulse EXP 2 EXT Positive Direction Pulse Fig 3 7 Pin definition for CN1 CN4 LEXT SND 1 EAT POWER Ground http www icpdas com 117 18094_Getting_Started_V2 4 m CN5 CN8 The I O signals of the X Y Z U AXIS The connectors CN5 CNB8 are 15 pin connectors that enable users to connect the signals to external motor drivers
18. void CDemo_FirstD1g 0nButton1 lt TODO Add your I8894HF ol notification handler code here AVTRI_ENABLE AXIS_ASSIGN CIRCLE_CCW CIRCLE_CW CLEAR_ERROR CLEAR_SLMT 4 m Class EI Reso CONTINVEINTP Al Build Debug FindinFiles1 j Findin Files 2 gt Ready Ln 72 co113 REC COL jovr READ 4 Select i8094MF REGISTRATION and key in cardNo 3 that indicate the i8094 or i8094F on third slot is registered to 0 module The detailed procedure is as below Step 1 Driver init if Driver_Open I8094MF REGISTRATION cardNo 3 Driver_Open true Step 2 CONFIG IO I8094MF RESET_CARD cardNo 1I8094MF SET_PULSE_MODE cardNo AXIS_XYZU 2 set the pulse output mode I8094MF SET_ALARM cardNo AXIS_XYZU 0 0 disable the SERVO ALARM Input I8094MF SET_ENCODER cardNo AXIS_XYZU 0 0 0 set the encoder input type 18094MF SET_MAX_V cardNo AXIS_XYZU 16000 set the max speed for XYZU I8094MF EXD_DISABLE cardNo AXIS_XYZU set the external input Off I8094MF SET_LP cardNo AXIS_XYZU 0 set the Logic position 0 I8094MF SET_EP cardNo AXIS_XYZU 0 set the Encoger position 0 18094MF SET_A cardNo AXIS_XYZU 1000 Iset the Acc 1000 1I8094MF SERVO_ON cardNo AXIS_XYZU set the Servo_ON to servo motors Step 3 Check ERROR htto www icpdas com 49 i8094 Getting _Started_V2 4 WORD KK 0 KK 18094MF GE
19. x Of Z U a tT Z Z O G N gt z 8 EMG QO DN 8468P SW oo Z Z TB2 O Fig B2 1 Board layout for the DN 8468P http www icpdas com 83 18094_Getting_Started_V2 4 B 2 2 Signal Connections for DN 8468P Maintaining signal connections is one of the most important factors in ensuring that your application system is sending and receiving data correctly m Pin Assignment for CON1 The I O connector on the DN 8468P is a 68 pin SCSI Il connector that enables you to connect to the PISO PS400 motion card Please refer to the section 2 2 1 page 15 m TB1 The connector TB1 is 7 pin connector that enables you to connect to the signals of your motor drivers Fig 1 3 shows the pin assignment for the 7 pin connector on the DN 8468P and the Table 1 4 shows its I O connector signal description Table 1 4 TB1 Signal Connection m Name Desenpten FRB 5 FRnetpotA O O FR B 6 FRnet port A u 5 A FRnet port B Dee 2 5 etp E PLS 3 DCC X Deviation Counter Clear for X axis EMG A 2 N Fig 1 3 Pin definition for TB1 u TB2 The connector TB2 is 5 pin connector that enables you to connect to the signals of your motor drivers Fig 1 4 shows the pin assignment for the 5 pin connector on the DN 8468P and the Table 1 5 shows its I O connector signal description TB2 Table 1 5 TB2 Signal Connection E GND Pin name Description E GND E PWR EXT power supply 24V E
20. 3 class The Manual Server connection server has failed a please make sure Manual Server is running and retry the download by Rebuild All or Update Remote Also make sure that you have selected the correct platform Failed downloading 7 7 TODO Add extra initialization here x 4 Reso 5 Build Debug h FindinFiles h FindinFiles2 ll rf Builds the project in 115 Col 28 REC coLlovA READ Z http www icpdas com 51 i8094_Getting_Started_V2 4 4 1 7 Download and Run Please copy the i8094Demo exe and I8094 dll into the same floder of WinCon User can use the eVC Online Download FTP USB disk to do then execute it http www icpdas com 52 i18094_Getting_Started_V2 4 4 2 Microsoft Visual Studio NET 2003 VB NET gt C Guideline Because the Microsoft Visual Studio NET 2003 has similar environment therefore we make an example with VB NET 4 2 1 Confirm the Relative Files Please confirm you have the following relevance files i8094 dll i8094_NET dll If you don t have please look for CD or download the latest edition from ICPDAS s website http www icpdas com download download list htm 4 2 2 Create a new VB NET C Application Project Please execute the Microsoft Visual Studio NET 2003 Then create a new application project of VB and select Smart Device Application as below snapshot New Progct Project Types Templates all 3 Windows ClassLi
21. 60 4 3 1 Confirm the Relative Files 00s020000000220nnnnennnnnnnennnnnnnnennnennnn 60 4 3 2 Create anew TC Application Project ccccccceeeeeeeeeeeeeeeeeeeeeeeees 60 4 3 3 Slart ne TC Sample sirciscessness vues witsusesusapuseewncgeses evapedeemeapedec pntenseepsapecscenee 62 4 3 4 Buildthe Projeti 2622 setece niet ae 68 4 3 0 Download and R n ssssesuusssnuas ae 68 APPENDIX A SETUP TOOLS amp OTHER 70 A 1 Setup the Development Environment of I8094 0s 00000ss20000000000000 70 Pei Me WONG A Ae oh cite E devbcdesserbcceSterSeceitcxtceuitexbes 70 A 1 2 Visual Studio NET 2003 VB NET gt CH 70 A 1o PURO Ba a EEE REITEN ESSEN 70 PD TSO OAS Url ACE sisinsiaccshvescestiveseddecesuccshacsnassobnassesaisasebipsossuusdscssapensneanesdacesads 71 A 3 Diniensions uns Eee 72 A 4 The Version Upgrades Note sccssssssccccssssssscccssssssscccssssssscscssssssceeees 73 APPENDIX B OTHERS TERMINAL BOARDB 74 B 1 DN 8468M Daughter Boatd cccsssscccssssssscccsssssssscccssssssscccsssssscseees 74 B 1 1 Board Layout for DN 8468M 000 cccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeeeeees 74 B 1 2 Signal Connections for DN 8468M ccccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 15 B 1 3 Jumper and Switch Settings 444444444H4HHnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn 81 B 2 DN 8468P Daughter Board s00000s0s000000000000
22. EMG input signal for all axes E GND EXT power ground u TB2 The connector TB2 is 5 pin connector that enables you to connect to the signals of your motor drivers Fig 3 4 shows the pin assignment for the 5 pin connector on the DN 8468D and the Table 3 5 shows its I O connector signal description 1B2 Table 1 5 TB2 Signal Connection Fe i E GND Description E GND E PWR EXT power supply 24V E PWR E GND EXT power ground ae FGND Fig 1 4 Pin definition for TB2 gt Note Don t reverse connect signals with E_PWR and E_GND Serious damage to your motion card and motion controller might be happened http www icpdas com 103 i8094 Getting Started_V2 4 m CNX CNY CNZ CNU CN 1 connector for each AXIS in Driver The connectors CNX CNY CNZ and CNU are 50 pin connectors that enable you to connect to the CN1 connector of Delta ASDA A series motor drivers Fig 3 5 shows the pin assignment for the 50 pin connector on the DN 8468D and the Table 3 6 shows its I O connector signal description Table 3 6 CN 1 Signal Connection Description 23 EneoderBfhasen 50 Encoder Phase 28 encoder Phase 31 stv Breeton Puse oma 143 Positive Direction Puise Output N 36 Negative Direction Pulse Output iNet Sewoin Postion Fig 3 5 Pin definition for en ee E GND 2 4 6 12 EXT power ground 13 19 26 27 31 32 44 45 47 49 NC 3 5 8 14 No connection 15 16 17 18 20 29 34 35 38 39 40 42
23. F La e a Go Note Don t connect NC not connected signals Connecting these signals could cause permanent damage to your motion controller http www icpdas com 88 18094_Getting_Started_V2 4 B 2 3 Jumper and Switch Settings m JP5 Jumper 5 controls the EMG A signal of the TB1 connector The following diagram is shown the selection condition of the jumper 5 JPS 1 2 30 EMG_C EMG_UC EMG A Signal Connected EMG A Signal Unconnected Fig 1 10 Jumper 5 setting m JP1 JP2 The encoder signals of axis X and axis Y can be chosen from servo driver encoder or external encoder Fig 1 11 shows that the encoder signals are selected from servo driver encoder In meantime Fig 1 12 shows that the encoder signals are selected from external encoder Primary Encoder Signals My Primary Encoder Signals for X axis From CN X for Y axis From CN Y Fig 1 11 Primary encoder signals setting JPA JP2 O SE es HERE External Encoder Signals External Encoder Signals for X axis From CN5 for Y axis From CN6 http www icpdas com 89 i8094 Getting Started_V2 4 Fig 1 12 External encoder signals setting m EMG SW The emergency stop signal for each servo ampilfier can be selected from EMG SW The number 1 2 3 4 on EMG SW are denoted as axis X Y Z U respectively Fig 1 13 is the default setting to connect the EMG singals to GND The EMG signals from CN1 CN4 will not take effect If the
24. In position signal for U axis XALARM 4 Alarm signal for X axis YALARM 39 Alarm signal for Y axis ZALARM 30 Alarm signal for Z axis UALARM 65 Alarm signal for U axis XLMTP 5 Limit switch input signal for X axis YLMTP 40 Limit switch input signal for Y axis ZLMTP 29 Limit switch input signal for Z axis ULMTP 64 Limit switch input signal for U axis XLMTM 6 Limit switch input signal for X axis YLMTM 41 Limit switch input signal for Y axis ZLMTM 28 Limit switch input signal for Z axis ULMTM 63 Limit switch input signal for U axis XIN3 7 Input 3 signal for X axis YIN3 42 Input 3 signal for Y axis ZIN3 27 Input 3 signal for Z axis UIN3 62 Input 3 signal for U axis XIN2 8 Input 2 signal for X axis XIN2 43 Input 2 signal for Y axis XIN2 26 Input 2 signal for Z axis XIN2 61 Input 2 signal for U axis XIN1 9 Input 1 signal for X axis YIN1 44 Input 1 signal for Y axis ZIN1 25 Input 1 signal for Z axis UIN1 60 Input 1 signal for U axis XINO 10 Input O signal for X axis YINO 45 Input O signal for Y axis ZINO 24 Input 0 signal for Z axis UINO 59 Input O signal for U axis http www icpdas com 113 i8094 Getting _Started_V2 4 Table 3 3 DN 8468FB I O connector signal description part 2 Pin name Pin number Description XEXPP 11 EXT pulsar input signal for X axis YEXPP 46 EXT pulsar input
25. PULSE signal is output at both CW pins P P and CCW pins N N At the same time the driving direction is determined directly The following diagram is example signal of CW CCW pulse output mode Pt N Positive Command Negative Command 2 3 2 Connection for Limit switch Signal Limit Switch Signal can prevent the over traveling appearance of the motion system User can set the hardware limit switch signal to be normal open or normal close by the software instruction in 18094 I8094F software manual The following figure indicates that the photo couplers are used to keep out the sensor noise of the Limit Switch MCX314As vec EXT_PWR K LMT EXT_PWR CC LMT Fig 2 11 Limit switch signal circuit http www icpdas com 27 i8094_Getting_Started_V2 4 2 3 3 General Purpose Input Signals nINPOS nALARM INPOS is a digital input signal to indicate the In Position signal of the driver User can enable or disable the signal from the software instruction in 18094 18094F software manual ALARM is a digital input signal to indicate the servo alarm signal of the driver The output pulse will be stop if PISO PS400 receives the ALARM signal User can enable or disable the signal from the software instruction in 18094 I8094F software manual MCX314As Fig 2 12 General Digital Input circuit 2 3 4 Encoder Signals The following diagram is for Differential Type encoder signals Connect the Phase A si
26. PWR E GND EXT power ground iii FGND Fig 1 4 Pin definition for TB2 Note Don t reverse connect signals with E_PWR and E_GND Serious damage to your motion card and motion controller might be happened http www icpdas com 84 i8094 Getting Started_V2 4 m CNX CNY CNZ CNU CN X5 connector for each AXIS in Driver The connectors CNX CNY CNZ and CNU are 50 pin connectors that enable you to connect to the CN X5 connector of Panasonic motor drivers Fig 1 5 shows the pin assignment for the 50 pin connector on the DN 8468P and the Table 1 6 shows its I O connector signal description Table 1 6 CN X5 Signal Connection 2 Encoder A Phase NC gt 70 07757 NC Encoder A Phase NC TO 0 55 NC pP 4 90 NC Encoder B Phase 4 z O O ma zn B Encoder B Phase t Lool i 75 3 Encoder Z Phase E PWR s OO NC Encoder Z Phase E GND 70 07757 EGND Positive Direction Pulse Output Zr 10 35 ur P OO Positive Direction Pulse Output NC O E GND Negative Direction Pulse NC z OO ALARM N Negative Direction Pulse Output E GND EI 050428 E GND ne Loot InP INP Servo In Position E GND 00 NC Servo Ready ne 17 5 z D ee SVON Servo On nc 8 Loo nec Alarm Clear NC 2004 nc Servo Alarm NC gt O NC EXT power 24V eatosthe NC ern A tloot ne E GND 8 9 13 EXT power ground 23 48 Z 5 O O B 15 17 25 z ooti B 33 34 36 E GND oke NC 38 41 Fig
27. com 34 i8094_Getting_Started_V2 4 3 4 Basic Configuration of Motion The basic Motion configuration is mainly aimed for general necsseary setting as below 1 Pulse output mode setting Pulse Dir CW CCW i8094MF_SET_PULSE_MODE Please refer to the section 2 4 of I8094 18094F user manual 2 Max speed limitation setting for each axis i8094MF_SET_MAX_V Please refer to the section 2 5 of 18094 18094F user manual 3 Encoder input setting i8094MF_SET_ENCODER Please refer to the section 2 11 of 18094 I8094F user manual 4 DI noise filter setting If necessary i8094MF_SET_FILTER Please refer to the section 2 15 of 18094 18094F user manual 5 Circular motion declaration Ring counter If necessary i8094MF_VRING_ENABLE Please refer to the section 2 16 of 18094 18094F user manual 3 5 Manual Pulse Generator Testing User can use the manual pulse generator function directly to drive motion forward or backward For further wiring and parameter tuning user have to check the correction of the DI signals and the moving direction The manual pulse generator can be achieved from three driving methods described below 1 A B phase Manual Pulse Generator Use the A B phase Manual Pulse Generator for forward backward moving i8094MF_EXD_MP Please refer to the section 2 18 1 of 18094 18094F user manual htto www icpdas com 35 i8094 Getting _Started_V2 4 2 Fixed pulse driving Manual Pulse Generator U
28. eVC Application Project A Open the Options dialog in Tools menu B Select Directories then select the SA_IA in Platform item Then select the Win32 WCE ARMV4 in CPUS item and select the include files in Show directories item C Add in the path of including files Double click the rectangle in the buttom of Directories List Box Please key in the specific path that your header files located For instance C DAQPRO Wincon inc as below snapshot D Then select the Library files in Show directories item 21x Tabs Debug Compatibility Download Build Directories So Platform CPUs Show directories SA_IA Win32 WCE ARMY4 Include files Directories OK St C Program Files Windows CE Toolstwce410 SA lA Include ARMY4 G Prodam Blea indows CE Tools wce410 SA lAlmfclinclude Prog Mindows CE Toolsiwce410 SA lAlatl include Cancel E Add in the path of library files Double click the rectangle in the buttom of Directories List Box Please key in the specific path that your header files located For instance C DAQPRO Wincon lib as below snapshot 2lxl Tabs Debug Compatibility Download Build Directories So Platform CPUs Show directories sa_1a gt win32 WCE ARMYA Library files Directories Ke C Program Files Windows CE Tools wce410 SA IA ib ARMV4 C erosive Files
29. for the CW and CCW signals of the 4 axes Motor Drives MCX314As s One Oo CW 5 AW Am26LS31 ERSA Am26LS32 Oo ae AW XPM gt y y 3 gt 0 4 NEN aw Twist Pair Shield Cable GND oO GND oO Fig 2 8 Differential Type pulse output circuit Motor Drives MCX314As BR on OWE nr u N Y zap x gt O _ CW 65 Ji I k Vom 0 EM Y x zt XPM gt oy N LOEW LS k 74LS06 Twist Pair Shield Cable Fig 2 9 The wiring is open collector output m Example wiring of pulse signal Two types of pulse output signal Differential Type and Open Collector Type can be selected from JP8 9 JP10 11 JP12 13 and JP14 15 for each axis The following wiring diagram is an example to select pulse type of the output signal MCX314As EXT_5V vec P gt EXT_SV NA OUTA WTA ar EXT_5V j mme YP 2 4 6 8 vcc NB OUB NC OUB P IND N DEM gure EXT_5V a cm EN GND OUID mea VPO 5 7 9 voc OUTD K N EXT_GND EXT_5V Fig 2 10 Output pulse example http www icpdas com 26 i8094_Getting_Started_V2 4 Pulse Direction Pulse Output Mode In Pulse Direction pulse output mode the PULSE signal is output only at Pulse pins P P The driving direction is decided from the electric potential of Direction pins N N The following diagram is example signal of Pulse Direction pulse output mode Pt Net Positive Command Negative Command CW CCW Pulse Output Mode In CW CCW pulse output mode the
30. layout for tne DN 8468M http www icpdas com 74 i8094 Getting _Started_V2 4 B 1 2 Signal Connections for DN 8468M Maintaining signal connections is one of the most important factors in ensuring that your application system is sending and receiving data correctly m Pin Assignment for CON1 The I O connector on the DN 8468M is a 68 pin SCSI II connector that enables you to connect to the PISO PS400 motion card Please refer to the section 2 2 1 page 15 TB1 The connector TB1 is 7 pin connector that enables you to connect to the signals of your motor drivers Fig 1 3 shows the pin assignment for the 7 pin connector on the DN 8468M and the Table 1 4 shows its I O connector signal description Table 1 4 TB1 Signal Connection m Name Descrton FR B FRnet port A 5 FRnet port B Bee 4 z E PLS 3 Deviation Counter Clear for X axis EMG A 2 1 a E PLS EXT pulse signal Fig 1 3 Pin definition for TB1 EMG A EMG input signal for all axes E GND EXT power ground u TB2 The connector TB2 is 5 pin connector that enables you to connect to the signals of your motor drivers Fig 1 4 shows the pin assignment for the 5 pin connector on the DN 8468M and the Table 1 5 shows its I O connector signal description 182 Table 1 5 TB2 Signal Connection GND i E GND anaes E GND E PWR EXT power supply 24V E PWR E GND EXT power ground idii FGND Fig 1 4 Pin definition for TB2 gt Note Don t reverse
31. of ICPDAS http www icpdas com products Remote_ O frnet frnet_introduction htm Fig 2 5shows the pin assignment for the 8 pin connector on the DN 8468G and the Table 2 6 shows its I O connector signal description Table 2 6 RJ1 FRnet port A v i 00 1 gt tale 71 a T T DJL tar an a T gt Mille No Fig 2 5 Pin definition for RJ1 Note Don t connect NC not connected signals Connecting these signals could cause permanent damage to your motion controller http www icpdas com 23 i8094_Getting_Started_V2 4 2 2 3 Jumper and Switch Settings m JP7 Jumper 7 controls the EMG A signal of the CON6 connector The following diagram is shown the selection condition of the jumper 7 JP7 JP 7 EMG_C EMG_UC EMG A Signal Connected EMG A Signal Unconnected Fig 2 6 Jumper 7 setting m JP8 9 JP10 11 JP12 13 JP14 15 The Jumper8 15 are used to set the signal type of the pulse output signals The output signal type could be differential line driver output or open collector output The JP8 JP9 are set XPP gt XPM for X axis CON1 JP10 JP11 are for Y axis JP12 JP13 are for Z axis and JP14 JP15 are for U axis The 2 3 Pin short is the differential line driver mode The 1 2 Pin short is the Open Collector mode as below example b note Open Collector output P N and EXT_5 short offer external usage Refer to section 2 3 JPS JPY a
32. pin connector on the DN 8468FB and the Table 3 4 shows its I O connector signal description Table 1 4 TB1 Signal Connection m Name Description FR B Eranto A SS FR B 6 FRnet port A 5 m FRnet port B rs etp E PLS 3 DCC X Deviation Counter Clear for X axis DCC Deviation Counter Clear for Y axis E GND E PLS EXT pulse signal Fig 1 3 Pin definition for TB1 EMG A EMG input signal for all axes E GND EXT power ground u TB2 The connector TB2 is 5 pin connector that enables you to connect to the signals of your motor drivers Fig 3 4 shows the pin assignment for the 5 pin connector on the DN 8468FB and the Table 3 5 shows its I O connector signal description 1B2 Table 1 5 TB2 Signal Connection Fe i E GND Description E GND E PWR EXT power supply 24V E PWR E GND EXT power ground ae FGND Fig 1 4 Pin definition for TB2 gt Note Don t reverse connect signals with E_PWR and E_GND Serious damage to your motion card and motion controller might be happened http www icpdas com 115 i8094 Getting Started_V2 4 m CN X CN Y CN Z CN U CN1 connector for each AXIS in Driver The connectors CN X CN Y CN Z and CN U are 26 pin connectors that enable you to connect to the CN1 connector of FUJI FALDIC W series motor drivers Fig 3 5 shows the pin assignment for the 26 pin connector on the DN 8468FB and the Table 3 6 shows its I O connector signal description 14 EXT GND SVON
33. pin connector that enables you to connect to the signals of your motor drivers Fig 3 3 shows the pin assignment for the 7 pin connector on the DN 8468Y and the Table 3 4 shows its I O connector signal description Table 1 4 TB1 Signal Connection Name Deren rea FRoatponA Dec 5 FRnet port B E PLS Deviation Counter Clear for X axis EMG A 2 1 iag Fig 1 3 Pin definition for TB1 u TB2 The connector TB2 is 5 pin connector that enables you to connect to the signals of your motor drivers Fig 3 4 shows the pin assignment for the 5 pin connector on the DN 8468Y and the Table 3 5 shows its I O connector signal description TB2 Table 1 5 TB2 Signal Connection TE E GND Description E GND E PWR EXT power supply 24V E PWR E GND EXT power ground acer FGND Fig 1 4 Pin definition for TB2 Note Don t reverse connect signals with E_PWR and E_GND Serious damage to your motion card and motion controller might be happened htto www icpdas com 92 i8094 Getting Started_V2 4 m CNX CNY CNZ CNU CN X5 connector for each AXIS in Driver The connectors CNX CNY CNZ and CNU are 50 pin connectors that enable you to connect to the CN X5 connector of Panasonic motor drivers Fig 3 5 shows the pin assignment for the 50 pin connector on the DN 8468Y and the Table 3 6 shows its I O connector signal description Table 3 6 CN1 Signal Connection Name number Description A 33 Encoder A Phase
34. port ICPDAS Weon Inside I 8000 1 Microsoft VisualBasic Microsoft WindowsCE Forms Modbus mscorlib ScanKemelNet 0 0 System 1 0 5000 0 System Data 1 0 5000 0 Ssretem Nata Comman iasannn C Program Files Microsoft Y1 C Program Files Microsoft Yi C Program Files Microsoft Yi C Program Files Microsoft Vi C Program Files Microsoft Vi C Program Files Microsoft Vi C Program Files Microsoft Vi C Program Files Microsoft Yi C Program Files Microsoft Vi C Program Files Microsoft Vi C Program Files Microsoft Vi CAP moram Filesthiemenft Vi omponent Name _ m Source http www icpdas com CADAOPro Wincon _NET4SON el Demo_Firs OK Cancel Help 55 i8094_Getting_Started_V2 4 Select the 18904 _NET DLL Form Click here to add a new task i http www icpdas com 56 i8094_Getting_Started_V2 4 4 2 4 Start the VB NET C Sample Add a BUTTON on the Form1 then double click the BUTTON then it will appear a code of Form1 vb then add the imports i8094MF_NET in top as below snapshot Object Browser Start Page Form vb Design Formi vb 4 gt x Solution Explorer Demo_First al Im General im Declarations Bam a imports lt u 7 i gh Solution Demo_First 1 project mm EF Demo_First 0 FEN Fi Forms Form 5 E PERERA 0 Jemo_ irst mi As System
35. the I O signals for general purpose motor drivers Fig 2 2 shows the pin assignment for the 20 pin connector on the DN 8468G and the Table 2 3 shows its I O connector signal description Table 2 3 CON2 CONS Signal Connection A A B B B B 4 sd EncoderB Phase Z Encoder Z Phase Z z 6 EncoderZ Phase P Positive Direction Pulse P Output N Zr Dee _ N Outputi INP or 4 Negative Direction Pulse ALARM Outputi LMT Outputi LMT INP 11 ServolnPosition IN3 HOME NHOME ILMT 14 J ENDLimitSignal ELH ens IN 16 Input Signal IN3 HOME 17 Home Sensor Input Signal NHOME Near Home Sensor Input Fig 2 2 Pin definition for CON2 Signal CONS Feen EXT Positive Direction Pulse EXT Negative Direction Pulse http www icpdas com 21 i8094 Getting _Started_V2 4 m CON6 The connector CONG is 16 pin connector that enables you to connect to the signals of your motor drivers The FRnet connectors FR A and FR B can be used to serially connect a I O module of FRnet series as FR 2053 FR 2057 The more information please refer to web site of ICPDAS http www icpdas com products Remote_1O frnet frnet_introduction htm Fig 2 3 shows the pin assignment for the 16 pin connector on the DN 8468G and the Table 2 4 shows its I O connector signal description Table 2 4 CONG Signal Connection Es FRB X DCC X DCC_ Deviation Counter Clear for X axis Y DCC Y DCC Deviation Counter
36. 00000000000000000000000000000000 17 2 2 1 Board Layout for DN 8468G 22222424444ssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn 17 2 2 2 Signal Connections for DN 8468G zzssssssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn 18 2 2 3 Jumper and Switch Settings HH er eHerenerer 24 2 3 Input Output ConnectionS esssssssssssssssnssssssnnnsnsssnsnnnsnsssnnnnnsnssssnnsnsnssnnnne 26 2 3 1 Pulse ulput signalsa nueeenear eia 26 2 3 2 Connection for Limit switch Signal eceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 27 2 3 3 General Purpose Input Signals nINPOS nALARM gt 28 htto www icpdas com 3 i8094 Getting _Started_V2 4 2 3 4 Eneoder Signals ar Her debteneslevGcevad ii i a 28 2 3 5 Emergency Stop Signal 22a 29 2 3 6 Manual Pulse Generator Input Signal EXP EXP eee 29 2 3 7 General Purpose Output signals Servo On Off eceeeeeeeeee rete 30 2 4 Connection Example for Motor Driver ccssssscccssssssssscsssssssceees 31 3 SOFTWARE DEVELOPMENT OVERVIEW 32 3 1 Software development Overview ssccccsssssscccssssssscccsssssssccssssssscsees 32 31 1 Register M dule 2 uuuuu ee ee ee eee 33 3 2 Safety 1O Seine anne 33 3 2 1 Emergency Stop Signal Input saser sek eher 33 3 2 2 Configure the Servo ALARM Signals cccceceeeeeeeeeeeeteeeeeeeeeeeeeees 33 3 2 3 Configure the Limit Switch Signals EL
37. 00000002 2200000000 200000000000000 83 B 2 1 Board Layout for DN 8468P uuuusssnsssssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 83 B 2 2 Signal Connections for DN 8468P ccccccecceeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 84 B 2 3 Jumper and Switch Settings cccccccccccecccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeneeeeees 89 B 3 DN 8486Y Daughter Board ccccsssccccsssssssccccssssssscccssssssscccsssssssesees 91 B 3 1 Board Layout for DN 8468Y 22usssesensssssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn 91 B 3 2 Signal Connections for DN 8468Y cccccccececeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 92 http www icpdas com 5 i8094 Getting _Started_V2 4 B 3 3 Jumper and Switch Settings ur ra le 97 B 4 DN 8468D Daughter Board s00000sss0000000s0s0000000n000000000n00 00000000 0000000 99 B 4 1 Board Layout for DN 8468D 444444444444HHRnnn nenn nnnnnnnnnnnnnnnnnnnnnnn 99 B 4 2 Signal Connections for DN 8468D ereere 100 B 4 3 Jumper and Switch Settings 2 ccccccccccsceeeeteneeeeetenereeetenereretenereeeteneres 108 B 5 DN 8468FB Daughter Board 000000000000002000000000 0200000000 020000000000000 111 B 5 1 Board Layout for DN 8468FB 44444444444Hnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 111 B 5 2 Signal Connections for DN 8468FB eeen 112 B 5 3 Jumper and Switch SOUS ccc ses 120 http www icpdas com 6 18094_Getting_Started_V2 4 1 INTRODUCTION 1 1 Introducti
38. 46 Z A x 23 Z 50 24 P 41 43 http www icpdas com 104 i8094 Getting Started_V2 4 gt Note 1 There are two sets encoder signals for X and Y axes and the other is from CN5 Users can select encoder signals from JP1 and JP2 respectively In X axis one is from CNX In Y axis one is from CNY and the other is from CN6 gt Note 2 In Z and U axes only one set of encoder signals is used for each axis In Z axis do not connect CNZ and CN7 at the same time and CNB at the same time gt Note 3 Don t connect NC not connected signals permanent damage to your motion controller m CN1 CN4 The I O signals of the X Y Z U AXIS In U axis do not connect CNU Connecting these signals could cause The connectors CN1 CN4 are 11 pin connectors that enable you to connect to the signals of your motor drivers Fig 3 7 shows the pin assignment for the 20 pin connector on the DN 8468D and the Table 3 8 shows its I O connector signal description INPUT 3 NRHOME HOME RESET EXP Fig 1 7 Pin definition for CN1 CN4 http www icpdas com Nw A 0NG Table 3 8 CN1 4 Signal Connection Pmmame Description _NRHOME Near Home Sensor Input Signal _ HOME _ Home Sensor Input Signal 105 i8094 Getting Started_V2 4 m CN5 CN8 The I O signals of the X Y Z U AXIS The connectors CN5 CNB8 are 15 pin connectors that enable users to connect the signals to external motor drive
39. 50 49 48 4 46 45 43 42 41 40 39 38 36 35 UE CA UECH UINPOS UALARM ULMIP ULMTM UMS UIN2 UIN1 UIO UE XPF UE XPM UOUTI UPP UPM YD EC EMGN XDCC YEM YFF YOUTI YE XPM YE XPF YIND YINI YIN2 YIN3 YLMTM YLITF YALARM YINPOS YE B YE CA VEC Fig 3 2 I O connector pin assignment for the CON1 http www icpdas com 100 i8094 Getting Started_V2 4 Table 3 2 DN 8468D I O connector signal description part 1 Pin name Pin number Description XECA 1 Encoder A phase signal for X axis YECA 36 Encoder A phase signal for Y axis ZECA 33 Encoder A phase signal for Z axis UECA 68 Encoder A phase signal for U axis XECB 2 Encoder B Phase signal for X axis YECB 37 Encoder B Phase signal for Y axis ZECB 32 Encoder B Phase signal for Z axis UECB 67 Encoder B Phase signal for U axis XINPOS 3 In position signal for X axis YINPOS 38 In position signal for Y axis ZINPOS 31 In position signal for Z axis UINPOS 66 In position signal for U axis XALARM 4 Alarm signal for X axis YALARM 39 Alarm signal for Y axis ZALARM 30 Alarm signal for Z axis UALARM 65 Alarm signal for U axis XLMTP 5 Limit switch input signal for X axis YLMTP 40 Limit switch input signal for Y axis ZLMTP 29 Limit switch input signal for Z axis ULMTP 64 Limit switch input signal for U axis XLMTM 6 Limit
40. 94F user manual i8094MF_ CIRCLE _CCW Please refer to section 6 2 13 of 18094 18094F user manual http www icpdas com 42 i18094_Getting_Started_V2 4 3 8 Advance Motion 1 2 axes continuous interpolation of rectangle Perform2 axes continuous interpolation of rectangle i8094MF_RECTANGLE Please refer to section 6 4 1 of 18094 18094F user manual 2 2 axes continuous interpolation of line Initial setting continuous interpolation of 2 axes line Symmetrical T profile i8094MF_LINE_2D_INITIAL Please refer to section 6 4 2 of 18094 18094F user manual Perform 2 axes continuous interpolation of line i8094MF_LINE_2D_CONTINUE Please refer to section 6 4 2 of 18094 18094F user manual 3 3 axes continuous interpolation of line Initial setting continuous interpolation of line symmetrical T profile i8094MF_LINE_3D_INITIAL Please refer to section 6 4 3 of 18094 18094F user manual Perform 3 axes continuous interpolation of line i8094MF_LINE_3D_CONTINUE Please refer to section 6 4 3 of 18094 18094F user manual 4 Others continuous interpolation Muti point continuous interpolation 3 axes Helix interpolation 2 axes Ratio motion Please refer to section 6 4 4 6 4 7 of 18094 I8094F user manual 3 9 Synchronization Action i8094 also offer many function of Synchronization Action as compare EP LATCH and so on Please refer to section 6 3 of 18094 18094F user manaul http www icpdas com 43 i8094_Getting_Start
41. C C Link Resources M wi 32 WCE ARMY4 Deb en a Category General Reset Output file name ARMV4Dbg demo_First exe Nbiect lib aemodules Ci WinConSDK lib 18094 lib IV Generate debug info Ignore all default libraries l Generate mapfile Project Options i8094 lib nologo base 0x00010000 stack 0x10000 0x1 000 entry wWinMainCRTStartup fincremental yes pdb ARMY4Dbg demo_First pdb Cancel 4 1 6 Build the Project Please select the Build gt Build All in the menu then you will be finished this example program if there isn t any wrong Bl demo_First Microsoft eMbedded Visual C demo_FirstDie cpp Bile Edit View Insert Project Build Tools indaw Help 18 x lale ug E e S Compile temo FisDie a a CDemo_Firstig zlfen c demo_First SA_1A Me SA_IA Device Jenaz Batch Build E E demo_First resource C BE ih legality Dialog Start Debug gt ElIDD_DEMO_FIF Update Remote Output File s 9 Icon X J OnInitDialog H Version Execute demo_Firstexe CtrHF5 Dialoge Set Active Configuration x K R Conga for this dialog The framework does this au K ae pplication s main window is not a dialog n T TRUE Set big icon SetIcon m_hIcon FALSE Set small icon CenterWindow GetDesktopWindowt center to the hpe ser 4
42. Clear for Y axis i cw E PLS EXT pulse signal z EMG A EMG input signal for all axes E GND X EMG E GND EXT power ground Y EMG X EMG EMG input signal for X axis Tees Y EMG EMG input signal for Y axis X RDY Z EMG EMG input signal for Z axis Y RDY U EMG EMG input signal for U axis Z RDY X RDY Ready input signal for X axis an Y RDY Ready input signal for Y axis j Z RDY Ready input signal for Z axis U RDY Ready input signal for U axis 9 8 7 6 5 4 3 2 1 Fig 2 3 Pin definition for CONS http www icpdas com 22 i8094_Getting_Started_V2 4 u TB2 The connector TB2 is 5 pin connector that enables you to connect to the signals of your motor drivers Fig 2 4 shows the pin assignment for the 5 pin connector on the DN 8468G and the Table 2 5 shows its I O connector signal description Table 2 5 TB2 Signal Connection TB2 ame Deserpton FGND 1 E GND 2 E PWR EXT power supply 24 E GND 3 E GND EXT power ground E PWR 4 EWR 5 FGND Fig 2 4 Pin definition for TB2 Note Don t reverse connect signals with E_PWR and E_GND Serious damage to your motion card and motion controller might be happen m RJ1 The I O signals of the FRnet The connectors RJ1 is an 8 pin RJ45 connector that enable you to connect to the signals of FRnet The FRnet connectors FR A and FR B can be used to serially connect a I O module of FRnet series as FR 2053 FR 2057 The more information please refer to web site
43. I O signals of the X Y Z U AXIS The connectors CN1 CN4 are 11 pin connectors that enable you to connect to the signals of your motor drivers Fig 3 7 shows the pin assignment for the 20 pin connector on the DN 8468Y and the Table 3 8 shows its I O connector signal description Table 3 8 CN1 4 Signal Connection Pirmame Description mio E PWR EXT power supply 24V LMT EMG input signal ae Limit Switch Input Signal NRHOME Limit Switch Input Signal u INPUT3 Input Signal IN3 EXP NRHOME Near Home Sensor Input Signal Fin FOND HOME Home Sensor Input Signal Fig 7 Pin definition for CN1 CN4 http www icpdas com 94 i8094_Getting_Started_V2 4 m CN5 CN8 The I O signals of the X Y Z U AXIS The connectors CN5 CN3 are 15 pin connectors that enable users to connect the signals to external motor drivers Fig 3 8 shows the pin assignment for the 15 pin connector on the DN 8468Y and the Table 3 9 shows its I O connector signal description Table 3 9 CN5 8 Name Description ExT Y 115 fas e EncoderAPhase p 410 fa a EncoderAPhase vl F cap pto fe s _ EncoderB Phase aT B 0 TE P 7 Positive Direction Puise Output Fig 3 8 Pin definition for CNS CNB n e Negative Direction Puise Output ESAE ss 14 gt Note 1 There are two sets encoder signals for X and Y axes In X axis one is from CNX and the other is from CN5 In Y axis one is from CNY a
44. ONTS3 for each servo ampilfier can be selected from SW1 The number 1 2 3 4 on SW1 are denoted as axis X Y Z U respectively Fig 3 13 is the default setting to connect the CONT3 singals to GND The CONTS signals from CN1 CN4 will not take effect If the switch is disconnected as shown in Fig 3 14 the CONT3 signals can be controlled from CONTS3 signals in CN1 CN4 327 14 ON GND Fig 3 13 SW1 setting for normally GND Default setting ON GND Fig 3 14 SW1 setting for user controlled signals http www icpdas com 121 18094_Getting_Started_V2 4
45. RDY ALARM RESET INPOS CONT3 ALARM CONT4 OUTS Fig 3 5 Pin definition for CN X CN Y CN Z CN U http www icpdas com Table 3 6 CN X CN Y CN Z CN U Name No Description EXT PW 1 EXT POWER 24V R SVON 2 CONT1 of Servo Motor default SVON ALARM 3 CONT2 of Servo Motor RESET default ALARM RESET CONT3 4 CONTS3 of Servo Motor CONT4 5 CONT4 of Servo Motor CONT5 6 CONT5 of Servo Motor P 7 Positive Direction Pulse P 8 Positive Direction Pulse A 9 Encoder A phase A 10 Encoder A phase B 11 Encoder B phase B 12 Encoder B phase NC 13 No connection EXT_GND 14 EXT POWER Ground RDY 15 OUT1 of Servo Motor default RDY INPOS 16 OUT2 of Servo Motor default INPOS ALARM 17 OUTS3 of Servo Motor default ALARM OUT4 18 OUT4 of Servo Motor NC 19 No connection N 20 Negative Direction Pulse N 21 Negative Direction Pulse NC 22 No connection Z 23 Encoder Z phase Z 24 Encoder Z phase NC 25 No connection NC 26 No connection 116 18094_Getting_Started_V2 4 gt Note 1 There are two sets encoder signals for X and Y axes and the other is from CN5 Users can select encoder signals from JP1 and JP2 respectively In X axis one is from CNX In Y axis one is from CNY and the other is from CN6 gt Note 2 In Z and U axes
46. SGG As String If KK lt gt YES Then No ERROR Step 4 Move X axis Dim axis As Ulnt16 AXIS_X for AXIS_X it can be to AXIS_XYZU i8094MF i8094MF_SET_MAX_V cardNo axis Convert ToUInt32 20000 i8094MF i8094MF_NORMAL_SPEED cardNo axis Convert ToUInt16 0 set axis as Symmetrical T curve i8094MF i8094MF_SET_V cardNo axis Convert ToUInt32 20000 set v 10000 PPS i8094MF i8094MF_SET_A cardNo axis Convert ToUInt32 100000 set acc 100000 PPS S i8094MF i8094MF_SET_SV cardNo axis Convert ToUInt32 10 set start speed 1000 PPS i8094MF i8094MF_SET_AO cardNo axis 0 set offset pulse at SV speed 0 PS i8094MF i8094MF_FIXED_MOVE cardNo axis 10000 run the fixed 10000 Pulse move Do While i8094MF i8094MF_STOP_WAIT cardNo axis NO i8094MF system DoEvents System Threading Thread Sleep 1 wait for axis to stop Loop Dim AA As Long i8094MF i8094MF_GET_LP cardNo axis Get X Now position Else http www icpdas com 58 i8094_Getting_Started_V2 4 Please check the ERROR CODE Get X ERROR CODE KK Convert ToInt32 i8094MF i8094MF_GET_ERROR_CODE cardNo AXIS_X Get Y ERROR CODE KK Convert ToInt32 i8094MF i8094MF_GET_ERROR_CODE cardNo AXIS_Y Get Z ERROR CODE KK Convert ToInt32 i8094MF i8094MF_GET_ERROR_CODE cardNo AXIS_Z Get U ERROR CODE KK Convert ToInt32 i8094MF i8094MF_GET_ERROR_CODE cardNo AXIS_U End If Please refer to a example demo_First 4 2 5 Build the Pro
47. SI II connector that enables you to connect to the l 8094 motion card Fig 3 2 shows the pin assignment for the 68 pin I O connector on the DN 8468FB or on the l 8094 and refer to Table 3 2 3 3 for description of each motion I O signal AECA XECE AINPOS SALARM XLMTF ALM M SING XIN KIH EINO 2EXPP AE APM AOUTI XPM FRnet_A EXFLEN FRnet_B 2PM ZPP ZOUTI ZEXPM ZEXPP ZING ZINI FIN2 ZING ZLMIM ZLMTP ZALARM ZINPOS ZECB ZECA GND ma Boe td te ed ee eee Don 68 66 65 63 62 l ol gt Ei at 55 53 52 51 50 49 48 qi 46 45 43 42 41 40 39 38 36 35 YINPOS YE B YE CA VEC Fig 3 2 I O connector pin assignment for the CON1 http www icpdas com 112 i8094 Getting Started_V2 4 Table 3 2 DN 8468FB I O connector signal description part 1 Pin name Pin number Description XECA 1 Encoder A phase signal for X axis YECA 36 Encoder A phase signal for Y axis ZECA 33 Encoder A phase signal for Z axis UECA 68 Encoder A phase signal for U axis XECB 2 Encoder B Phase signal for X axis YECB 37 Encoder B Phase signal for Y axis ZECB 32 Encoder B Phase signal for Z axis UECB 67 Encoder B Phase signal for U axis XINPOS 3 In position signal for X axis YINPOS 38 In position signal for Y axis ZINPOS 31 In position signal for Z axis UINPOS 66
48. S_U break m_Axis AXIS_Z 66 18094_Getting_Started_V2 4 Symmetrical T curve mode case 85 case 117 Symmetrical T curve mode case 83 case 115 mmmunuununnunnnnnn default while 1 http www icpdas com i8094MF_SET_MAX_V cardNo m_Axis 32000 i8094MF_NORMAL_SPEED cardNo m_Axis 0 set axis as i8094MF_SET_A cardNo m_Axis 50000 set Acc 50000 PPS S i8094MF_SET_V cardNo m_Axis 10000 i8094MF_EXD_MP cardNo AXIS_Z 100 i8094MF_EXD_DISABLE cardNo AXIS_X i8094MF_EXD_DISABLE cardNo AXIS_Y i8094MF_EXD_DISABLE cardNo AXIS_U break m_Axis AXIS_U i8094MF_SET MAX_V cardNo m_Axis 32000 i8094MF_NORMAL_SPEED cardNo m_Axis 0 set axis as i8094MF_SET_A cardNo m_Axis 50000 set Acc 50000 PPS S i8094MF_SET_V cardNo m_Axis 10000 i8094MF_EXD_MP cardNo AXIS_U 5 i8094MF_EXD_DISABLE cardNo AXIS_X i8094MF_EXD_DISABLE cardNo AXIS_Y i8094MF_EXD_DISABLE cardNo AXIS_Z break i8094MF_EXD_DISABLE cardNo AXIS_X i8094MF_EXD_DISABLE cardNo AXIS_Y i8094MF_EXD_DISABLE cardNo AXIS_Z i8094MF_EXD_DISABLE cardNo AXIS_U break 67 i8094 Getting _Started_V2 4 4 3 4 Build the Project Click F9 to compile program LINK or demo100 EXE gt EXE file TCPP DEM016 EXE Linking NTCPPNLI BNCL LIB Total Link Lines compiled 8 PASS 2 Warnings 8 8 Errors 8 8 Available Bi 1928K 4 3 6 Download and Run 1 Please execute the 7188 EXE
49. T_ERROR cardNo CString MSGG if KK YES INo ERROR Step 4 Move X axis BYTE axis AXIS_X for AXIS_X it can be to AXIS_XYZU I8094MF SET_MAX_V cardNo axis 20000 1I8094MF NORMAL_SPEED cardNo axis 0 set axis as Symmetrical T curve mode I8094MF SET_V cardNo axis 20000 set v 10000 PPS 18094MF SET_A cardNo axis 100000 set acc 100000 PPS S 1I8094MF SET_SV cardNo axis 10 set start speed 1000 PPS 18094MF SET_AO cardNo axis 0 set offset pulse at SV speed 0 PS 18094MF FIXED_MOVE cardNo axis 10000 run the fixed 10000 Pulse move while I8094MF STOP_WAIT cardNo axis NO DoEvents Sleep 1 wait for axis to stop long AA 1I8094MF GET_LP cardNo axis Get X Now position else Please check the ERROR CODE Get X ERROR CODE KK 18094MF GET_ERROR_CODE cardNo AXIS_X Get Y ERROR CODE KK 18094MF GET_ERROR_CODE cardNo AXIS_Y Get Z ERROR CODE KK 18094MF GET_ERROR_CODE cardNo AXIS_Z Get U ERROR CODE KK 18094MF GET_ERROR_CODE cardNo AXIS_U Please refer to the example demo _First After you finished that please choose the Project gt Setting menu will appear the a http www icpdas com 50 i8094_Getting_Started_V2 4 dialgo as below then select the Link item and key in WinConSDK lib i8094 lib as below snapshot into the Object library modules box and the click OK Project Settings xl Settings For General Debug
50. Windows CE Tools wce410 SA lA mfc lib ARMV4 ee ewa CE Tools wce410 SA lAlatl lib ARMYA http www icpdas com cat 47 i8094_Getting_Started_V2 4 4 1 5 Start the eVC Sample Add a BUTTON on Dialog as below snapshot demo_First Microsoft eMb sual C demo_Firstre IDD_DEMO_FIRST_DIALOG German Gemmany DEDA b Fie Edit View Insert Project Build Layout Tools Window Help la x la lo ag E Be fr erry SS Al v s CDemo_FirstDig oc demo_First sA_1A 7 Win32 WCE ARMY4 Debug 7 SA_IA Device Eg Werilssiiliisseloiicelircileiirleseilieseclisiil a alx 2 2 demo_First resources a Dialog S IDD_DEMO_FIRST_DI H E Icon 9 Version ahr ro ap HEEB mH ZU ERLED Dialogfeld Steuerelem hier 4 m Class JEreso E FileVi S ear B e 2 le nalan Double click on BUTTON and generate subprogram then add include i8094 h WinConSDK h and declare CI8094MF I8094MF amp bool Driver Open amp BYTE cardNo 0 in start point as below snapshot fi demo_First Microsoft eMbedded Visual C demo_FirstDlg cpp jol xi E File Edit View Insert Project Build Tools Window Help 181 x ljas a s Bs Qy ay r BB af a CDemo_ FirstDIg Ja Jaemo_ First v sA_ lA z Win32 WCE ARMY4 Debug sA_ IA Device z BS alx demo_FirstDlg cpp implementation file fi
51. X axis YEXPP 46 EXT pulsar input signal for Y axis ZEXPP 23 EXT pulsar input signal for Z axis UEXPP 58 EXT pulsar input signal for U axis XEXPM 12 EXT pulsar input signal for X axis YEXPM 47 EXT pulsar input signal for Y axis ZEXPM 22 EXT pulsar input signal for Z axis UEXPM 57 EXT pulsar input signal for U axis XDRIVE 13 Driver enable signal for X axis YDRIVE 48 Driver enable signal for Y axis ZDRIVE 21 Driver enable signal for Z axis UDRIVE 56 Driver enable signal for U axis XPP 14 Driving pulsar signal for X axis YPP 49 Driving pulsar signal for Y axis ZPP 20 Driving pulsar signal for Z axis UPP 55 Driving pulsar signal for U axis XPM 15 Driving pulsar signal for X axis YPM 50 Driving pulsar signal for Y axis ZPM 19 Driving pulsar signal for Z axis UPM 54 Driving pulsar signal for U axis XOUT1 16 Output 1 signal for X axis YOUT1 48 Output 1 signal for Y axis ZOUT1 21 Output 1 signal for Z axis UOUT1 56 Output 1 signal for U axis EXPLSN1 17 EXT pulse input signal for interpolation EMGN1 52 Emergency stop input signal FrnetA 16 FRnet port A FrnetB 18 FRnet port B XDCC 51 Deviation Counter Clear for X axis YDCC 53 Deviation Counter Clear for Y axis GND 34 Ground VCC 35 External power 12 24V http www icpdas com 20 i8094 Getting _Started_V2 4 m CON2 CON5 I O connector for each AXIS The connectors CON2 CONS are 20 pin connectors that enable you to connect to
52. an 10 types of different home search mode by vary with the software functions It is attributed to the configurable home search direction and perform it or not of each step 3 6 1 Home Search Configuration 1 Logic level setting for Near home sensor and Home sensor If necessary i8094MF_SET_NHOME Please refer to section 2 8 of 18094 I8094F user manual 2 Home sensor logic level setting i8094MF_SET_HOME_EDGE Please refer to section 2 9 of 18094 I8094F user manual 3 Home speed setting i8094MF_SET_HV Please refer to section 5 1 of 18094 I8094F user manual i8094MF_SET_SV Please refer to section 6 1 2 of 18094 I8094F user manual 4 Home mode setting i8094MF_SET_HOME_MODE Please refer to section 5 3 of I8094 18094F user manual http www icpdas com 37 i8094_Getting_Started_V2 4 3 6 2 Running the Home Search 1 Start homing i8094MF_HOME _START Please refer to section 5 4 of 18094 I8094F user manual 2 Waiting for homing completion i8094 _HOME_WAIT Please refer to section 5 5 of 18094 I8094F user manual http www icpdas com 38 i8094 Getting _Started_V2 4 3 7 Basic Motion 3 7 1 Speed Profie of the Motion Control pra Time h TA TA TM 1 Symmetrical T profile of motion volicety If SV is larger than V or equal to V perform constant velocity driving 2 Asymmetrical T profile of motion velocity Velocity 4 at Initial Speed Time Accelerationd l
53. axis ZDRIVE 21 Driver enable signal for Z axis UDRIVE 56 Driver enable signal for U axis XPP 14 Driving pulsar signal for X axis YPP 49 Driving pulsar signal for Y axis ZPP 20 Driving pulsar signal for Z axis UPP 55 Driving pulsar signal for U axis XPM 15 Driving pulsar signal for X axis YPM 50 Driving pulsar signal for Y axis ZPM 19 Driving pulsar signal for Z axis UPM 54 Driving pulsar signal for U axis XOUT1 16 Output 1 signal for X axis YOUT1 48 Output 1 signal for Y axis ZOUT1 21 Output 1 signal for Z axis UOUT1 56 Output 1 signal for U axis EXPLSN1 17 EXT pulse input signal for interpolation EMGN1 52 Emergency stop input signal FRnetA 16 FRnet port A FRnetB 18 FRnet port B XDCC 51 Deviation Counter Clear for X axis YDCC 53 Deviation Counter Clear for Y axis GND 34 Ground VCC 35 External power 12 24V http www icpdas com 102 i8094 Getting _Started_V2 4 u TB1 The connector TB1 is 7 pin connector that enables you to connect to the signals of your motor drivers Fig 3 3 shows the pin assignment for the 7 pin connector on the DN 8468D and the Table 3 4 shows its I O connector signal description Table 1 4 TB1 Signal Connection m Name Description FR B reper A SS FR B 6 FRnet port A 5 m FRnet port B rs etp E PLS 3 DCC X Deviation Counter Clear for X axis DCC Deviation Counter Clear for Y axis E GND E PLS EXT pulse signal Fig 1 3 Pin definition for TB1 EMG A
54. bray Windows 3 Visual C Projects siete I Setup and Deployment Projects Application c Other Projects I Fisval Studio Solutions Name Location D emp New Solution Name Demo _First IV Create directory for Solution Project will be created at D temp Demo_First Demo_First s me te Click OK after finishing all of the selecting then go to next step http www icpdas com 53 i8094_Getting_Started_V2 4 Smart Device Application Wizard Demo_First Welcome to the Smart Device Application Wizard This wizard creates a project to develop an application to run on a smart device What platform do you want to target Pocket PC You currently haye the following devices installed that will run an application targeting this platform Windows CE NET Device Windows CE NET 24825 Default Pocket PC Device Pocket PC 2002 Emulator What project type do you want to create r Windows Application Class Library Console Application Empty Project Select the WinDows CE and Windows Application then click OK http www icpdas com 54 i8094_Getting_Started_V2 4 4 2 3 Add the DLL into Application Project Click the right key of mouse on Solution Explorer gt add Reference Object Browser Start Page Formi vb Design Task List 0 Build See filtered solution Explo re ICPDAS ICPDAS Deon Remote I 7000 ICPDAS UART for serial
55. cation would you like to create C Single document V Document View architecture support What language would you like your resources in z Click Finish and finish the new project establishment http www icpdas com 45 i8094_Getting_Started_V2 4 4 1 3 Add the 18094 h into eVC Application Project Add the i8094h into the WorkSpace of application project as below Click the right key of mouse on Header Files then choose Add Files to Folder Edit View Insert Project Build Tools Window Help ja E i Workspace demo_First 1 proj E demo _First fil E Resour Add to Source Cont By StdAfx t G Resource v Docking View l E ReadMe tx Hide EI Properties I Edit View Insert Project Build Tools Window Help jals ng e 2 lt ma af Workspace demo_First demo_First files 0 Source Files eci GlHeaderFiles weno am Jeda demo_First h E demo_FirstDlg t E a Peoh nl toep h h 18024 old h h ICPDASioct H h Uarth E StdAfx h i h 8080 h h Modbus_ARM h h UARTCE Re cue al j h i8090 h h pkfunes h h XCOMM eadMe gt eee aD mM BRHEUD C Files c cpp cr0 tli h tlh inl xe Ra Files will be inserted into folder titled Header Files in proje h 8017hA 4 http www icpdas com 46 i8094_Getting_Started_V2 4 4 1 4 Add the Reference Path into
56. connect signals with E_PWR and E_GND Serious damage to your motion card and motion controller might be happened http www icpdas com 75 i8094_Getting_Started_V2 4 m CN XA CN YA CN ZA CN UA CNA connector for each AXIS The connectors CN XA CN YA CN ZA and CN UA are 20 pin connectors that enable you to connect to the CNA connector of Mitsubishi motor drivers Fig 1 5 shows the pin assignment for the 20 pin connector on the DN 8468M and the Table 1 6 shows its I O connector signal description Table 1 6 CNA Signal Connection tame umber eserption A 6 Encoder A Phase A Encoder A Phase B 7 Encoder B Phase B 17 Encoder B Phase Z Encoder Z Phase Z Encoder Z Phase i 7 P NC N Z Negative Direction Pulse Output A B RDY NC ErwR 9 _ ExTpowers2av E PWR EXT power ground E GND mon Fig 1 5 Pin definition for CN XA CN YA CN ZA CN UA Note 1 There are two sets encoder signals for X and Y axes In X axis one is from CN XA and the other is from CN5 In Y axis one is from CN YA and the other is from CN6 Users can select encoder signals from JP1 and JP2 respectively Note 2 In Z and U axes only one set of encoder signals is used for each axis In Z axis do not connect CN ZA and CN7 at the same time In U axis do not connect CN UA and CNB at the same time Note 3 Don t connect NC not connected signals Connecting these signals could cau
57. description of each motion I O signal YECA Looy UECA XECE 5 DT AG UE CB INFOS 7 ore 5 UINPOS SALARM T9 977 UALARM XLMTP z GO E ULMITP LMM 7 Oc a ULMIM INS 7 Oo Al UIM3 XIM2 7 OO An UIM2 IHI 7 OO o JINI IHO ii GO E7 TIHO EPF 7 OC z7 UEXFP XE XPM 1 Od UE SPM OUTI id 5015 UOUTI PP i Do zJ UPF SPM i Og UPMI FR net_A 17 DO 7 YDCC EXPLSM E OO EMGM FRinet_B E o o IDEC PM 7 OO 70 YPM PF Si OO 38 YPF ZOUTI 77 30 77 YOUTI E MPMI 7 Od 7 YE XPM EPF m O7 YE XPFP AMO 5 ODOT YING Alby 7 Od 77 YINI Alby 77 077 YIM2 IHS 73 DO 41 YIN LATIM 3 Od an YLMITM ZLIITF 017 YLEITR ALARM 71 OO 78 YALARM AIN POS Od 77 YINPOS ECP EE SO YECH ZECA z O0 5 YECA GND La A VCG Or Fig 2 1 I O connector pin assignment for the CON1 http www icpdas com 18 i18094_Getting_Started_V2 4 Table 2 1 DN 8468G I O connector signal description part 1 Pin name Pin number Description XECA 1 Encoder A phase signal for X axis YECA 36 Encoder A phase signal for Y axis ZECA 33 Encoder A phase signal for Z axis UECA 68 Encoder A phase signal for U axis XECB 2 Encoder B Phase signal for X axis YECB 37 Encoder B Phase signal for Y axis ZECB 32 Encoder B Phase signal for Z axis UECB 67 Encoder B Phase signal for U axis XINPOS 3 In position signal for X axis YINPOS 38 In position signal for Y axis ZINPOS 31 In
58. e ESEE EES 8 1 2 2 Interpolation Function 2 24 italiana 8 eZ S Pule Output seele 9 1 2 4 ENCOdEerInPUb uud bbeducansdaeadewebeaeesubaadens 9 12 9 Posilon counlern area cess E 10 1 2 6 Auto HomiINg Fe 10 1 2 7 Servo Motor Input SIGNall accuses 10 1 2 8 Limit Switch Input Signale Ha rer 10 12 9 Other Input Signa Sack cccccgecedecesececseccacecasecececeeceacecneecececeecenceentececeenctenet aes 11 1 2 10 Emergency Stop Signal Input usuursuerssersnensnennnnnnnnnn nennen nennen 11 1 2 11 General Output Signal u nennen nn 11 1 2 12 Integral Input Signal Filters 444444444444HRRRRRnRnnnnnn non nennen nen 11 1 213 Software EIN Gi oieee eroe eroe keee iee erar eRe eOe ae kOe EEEo C ECNE EKEKO oriit 11 1 2 14 Manual Pulse Generator 4444400000400000000nnnn nenn nnnnnnnnnnnennnnn 11 1 2 15 LED for Module Status 222222022 12 1 2 16 FRnet i8094F ONY sda cad ae a ea 12 1 3 Environment uua2nssen sa dausustissondspvecsasdavsnssdsoaeasuedans 12 1 4 Ordering Information ee 13 2 HARDWARE INSTALLATION esssoosssssssosssssssnssneeee LA 2 1 Checking Package and Installation 0000sssss0000nssssennnsnssnnnnnnsnssnnnne 14 2 1 1 Checking Package Au 2m seen er zn te eee et ee 14 2 1 2 TVS EAMONN tebe cehdeniccette barn idenbeuddenteGebdenideuiden ecebdev deudden ddeddenbecusderieeubter ses 14 2 2 DN 8468G Terminal Board 200000000000000000000000
59. e the driver MCX314As EXT_PWR lt ENABLE nOUT1 gt EXT_GND Fig 2 16 Servo On Off signal connection diagram http www icpdas com 30 i8094 Getting _Started_V2 4 2 4 Connection Example for Motor Driver The following diagram is the connection example between MITSUBISH MR J2S AC servo driver and the extension boardDN 8468G Driver 7 AAA MITSUBISH MR J2S A Fig 2 17 The connection between MR J2S AC servo driver and DN 8468G extension board http www icpdas com 31 i8094_Getting_Started_V2 4 3 Software Development Overview 3 1 Software development Overview Please refer to the demo_start sample Registor Module Retrieve the ErrorCode GET_ERROR_CODEN u Emor checking LT GETERROR _ External pulse Inputilf necessary anual pulse generator Input driving kKed pulse Input driving Fan t et the Near Home limit logleal tigger level et ihe Home search mode Set the Home search speed Axes perform Home Searching each Motion Settings Acc Dec mode setting Set the acceleration deceleration Starting speed setting Run speed setting Motion Actions Fixed pulse output Comlinuous pulse Walling for the motion done Klult axes notion Elmultaneously Mulll axes Interpolation http www icpdas com 32 i8094_Getting_Started_V2 4 3 1 1 Register Module User must register for each 18094 l8094F module before sending command otherwise us
60. ease look for CD or download the latest edition from ICPDAS s website http www icpdas com download download list htm 4 3 2 Create anew TC Application Project 1 Execute the TC EXE in the demo100 folder then create a new en demo100 prj de mo100 PRJ L oa n 2 Add the contents of project un cpp an Mib 8000I lib 18094 lib 3 Setting the relevance option http www icpdas com 60 i8094_ Getting_Started_V2 4 Compiler gt Code Generation item as below Options Assume 55 nn DS eines T Marz EEE ae gt Advance Code Generation item as below Er Point DE Br 86186 Far Data hreshold ERY Debugger setting as below close the Source debugging 1 Een uci KD Size Pea x bytes http www icpdas com 61 i8094_ Getting_Started_V2 4 4 3 3 Start the TC Sample 1 Add the declared contents into the demo100 cpp include lt dos h gt include lt math h gt include 8000 h include 18094 h BYTE cardNo long x_value y_value z_value u_value void main Set slot0 slot7 cardNO 1 8 BYTE slot int Found 0 for slot 0 slot lt 8 slot cardNo slot 1 if 18094MF_REGISTRATION cardNo slot YES Found Axis Card i8094MF_RESET_CARD cardNo Found if Found 0 INot Found Print I 8094 card not found r n return cardNo 1 i8094MF_INIT_CARD cardNo i8094MF_SET_ PULSE MODE cardNo AXIS_XYZU 2
61. ector signal description gi Table 3 10 RJ1 NC FRnet port A FRnet FRnetB FRnet port B x w w aa jeo Fig 3 9 Pin definition for RJ1 Note Don t connect NC not connected signals Connecting these signals could cause permanent damage to your motion controller http www icpdas com 107 i8094 Getting Started_V2 4 B 4 3 Jumper and Switch Settings m JP5 Jumper 5 controls the EMG A signal of the TB1 connector The following diagram is shown the selection condition of the jumper 5 JP5 JP5 1 1 2 2 3 oo oO Ojo 3 EMG_C EMG_UC EMG A Signal Connected EMG A Signal Unconnected Fig 3 10 Jumper 5 setting m JP1 JP2 The encoder signals of axis X and axis Y can be chosen from servo driver encoder or external encoder Fig 3 11 shows that the encoder signals are selected from servo driver encoder In meantime Fig 3 12 shows that the encoder signals are selected from external encoder http www icpdas com 108 18094_Getting_Started_V2 4 JP1 JP2 ojoje Pre ol D ojo ojo sone Encoder Signals a primary Eneda Signals for X axis From CN X for Y axis From CN Y Fig 3 11 Primary encoder signals setting External Encoder Signals External Encoder Signals for X axis From CN5 for Y axis From CN6 Fig 3 12 External encoder signals setting http www icpdas com 109 i8094 Getting Started_V2 4 m SWi The emergency stop signal for each servo ampilfier can be selected
62. ed_V2 4 4 GETTING STARTED OF SOFTWARE 4 1 WinCon eVC Guideline 4 1 1 Confirm the Relative Files Please confirm you have the following relevance files 1 18094 lib 2 18094 dll 3 18094 h If you don t have please look for CD or download the latest edition from ICPDAS s website http www icpdas com download download list htm 4 1 2 Create a new eVC Application Project Please execute the Microsoft eVC 4 0 Then click File gt New to create a new application project In the Projects property page choose WCE MFC AppWizard exe option and specifythe project name Demo _First then key in the disk path in the Location field then select the Win 32 WCE ARMV4 in CPU list If necessary please also select others options together And then click OK Files Projects Workspaces A WCE Application Project pam 1 WCE ATL COM AppWizard WCE Dynamic Link Library i WCE MFC ActiveX ControlWizard AWCE MFC AppWizard dll Locations E TEST demo First Create new workspace Add to current workspace F Dependency of a CPUs OWin32 WCE ARMYAI OWin32 WCE ARMY4T OWin32 WCE MIPS16 OWin32 WCE MIPSII OWin32 WCE MIPSII_FP gt Cancel Choose Dialog based and click NEXT http www icpdas com 44 i18094_Getting_Started_V2 4 WCE MFC App Wizard exe Step 1 of 4 Application What type of appli
63. er will get error Please refer to i8094MF_REGISTRATION function the section 2 2 of 18094 18094F user manual 3 2 Safety IO Setting There are many reasons to stop motion during driving Some reasons are described in this subsection 3 2 1 Emergency Stop Signal Input The EMG A input signal in CON6 is able to perform the emergency stop function immediately for all of the 4 axes during driving The emergency stop function can prevent the critical damage occurrence from the critical accident If user don t use this Emergency stop signal please closing breaks between 2 and 3 of JP7 jumper Otherwise please closing breaks between 1 and 2 of JP7 jumper and connecting the EMG A signal to CON6 The EMG X EMG Y EMG Z and EMG U input signals in CON6 are connected directly to the driver for each axis These signals are able to perform the emergency stop function immediately for each driver during driving User have to switch the EMG SW to normal ON and connect external signal source to enable these signals 3 2 2 Configure the Servo ALARM Signals When the ALARM signals are occurred from servomotor drivers users can be notified by these signals and determine what to do The operating mode Enable or Disable and the proper trigger level of these signals can be set by user Please refer to i8094MF_SET_ALARM function the section 2 13 of 18094 18094F user manual http www icpdas com 33 i8094_Getting_Started_V2 4 3 2 3 Configure the Li
64. et of encoder signals is used for each axis In Z axis do not connect CNZ and CN7 at the same time In U axis do not connect CNU and CNB at the same time gt Note 3 Don t connect NC not connected signals Connecting these signals could cause permanent damage to your motion controller http www icpdas com 79 i8094 Getting Started_V2 4 m RJ1 The I O signals of the FRnet The connectors RJ1 is an 8 pin RJ45 connector that enable you to connect to the signals of FRnet Fig 1 9 shows the pin assignment for the 8 pin connector on the DN 8468M and the Table 1 10 shows its I O connector signal description Table 1 10 Ru a porne i Fig 1 9 Pin definition for RJ1 f bij j a aj po Go Note Don t connect NC not connected signals Connecting these signals could cause permanent damage to your motion controller http www icpdas com 80 18094_Getting_Started_V2 4 B 1 3 Jumper and Switch Settings m JP5 Jumper 5 controls the EMG A signal of the TB1 connector The following diagram is shown the selection condition of the jumper 5 JP5 EMG_C EMG_UC EMG A Signal Connected EMG A Signal Unconnected Fig 1 10 Jumper 5 setting m JP1 JP2 The encoder signals of axis X and axis Y can be chosen from servo driver encoder or external encoder Fig 1 11 shows that the encoder signals are selected from servo driver encoder In meantime Fig 1 12 shows that the encoder signals are selected from externa
65. from SW1 The number 1 2 3 4 on SW1 are denoted as axis X Y Z U respectively Fig 3 13 is the default setting to connect the EMG singals to GND The EMG signals from CN1 CN4 will not take effect If the switch is disconnected as shown in Fig 3 14 the emergency stop signals can be controlled from EMG signals in CN1 CN4 ri ON GND Fig 3 13 SW1 setting for normally GND Default setting ON GND Fig 3 14 SW1 setting for user controlled signals m JP10 JP13 Jumper 10 Jumper 13 can select the reset function in CN1 CN4 for each axis The following diagram is shown the selection condition of the JP10 ALM ALM RST RST JP10 JP10 CCLR CCLR Alarm Reset Error Count Clear Fig 3 15 JP 10 13 setting http www icpdas com 110 i8094 Getting _Started_V2 4 B 5 DN 8468FB Daughter Board The DN 8468FB is the daughter board for FUJI FALDIC W Series Ampilifier It has 4 axis I O signals B 5 1 Board Layout for DN 8468FB 107mm E 162mm CN ZA CN XA CONI 68 PIN SCSI z Q a CN UA CN YA Fig 3 1 Board layout for the DN 8468FB http www icpdas com 111 i8094 Getting Started_V2 4 B 5 2 Signal Connections for DN 8468FB Maintaining signal connections is one of the most important factors in ensuring that your application system is sending and receiving data correctly m Pin Assignment for CON1 The I O connector on the DN 8468FB is a 68 pin SC
66. gnal to A and A pins and connect Phase B signal to B and B pins After the high speed photo coupler isolation the isolated encoder signals are connected to motion IC MCX314As VCC vcc 7 lt At u et T lt A vcc vec 5 lt B lt B vcc NES lt Z niN2 gt lt z Fig 2 13 Encoder signal connection 18094_Getting_Started_V2 4 http www icpdas com 28 2 3 5 Emergency Stop Signal The following diagram is for Emergency STOP signal If the emergency signal is occurred the output pulse for all axes will be STOP and the error flag will be set as 1 After the photo coupler isolation the isolated emergency signal is connected to motion IC MCX314As 2 Our m vec GND vcc JP4 EXT_PWR Fig 2 14 Emergency Stop Signal connection 2 3 6 Manual Pulse Generator Input Signal EXP EXP The signals EXP and EXP are used for manual pulsar signals The following diagram is an example connection for the external inputs User can set the signals as fixed pulse CW CCW mode continuous pulse CW CCW mode or A B phase manual pulsar mode by using the setting in section 3 5 MCX314As Only for 24V Only for 24V Fig 2 15 EXP connection diagram http www icpdas com 29 i18094_Getting_Started_V2 4 2 3 7 General Purpose Output signals Servo On Off The following diagram is a digital output signal for driver Servo On Off signal The output signal enable or disabl
67. ignment for the 15 pin connector on the DN 8468P and the Table 1 9 shows its I O connector signal description Table 1 9 CN5 8 Description Bar Encoder A Phase P Encoder A Phase ne Encoder B Phase E GND Encoder B Phase At A B B Encoder Z Phase Positive Direction Pulse Output Positive Direction Pulse Output Fig 1 8 Pin definition for CNS CNS 3 EXT 5V 6 EXT power 5V NC 13 No connection Note 1 There are two sets encoder signals for X and Y axes In X axis one is from CNX and the other is from CN5 In Y axis one is from CNY and the other is from CN6 Users can select encoder signals from JP1 and JP2 respectively Note 2 In Z and U axes only one set of encoder signals is used for each axis In Z axis do not connect CNZ and CN7 at the same time In U axis do not connect CNU and CN8 at the same time Note 3 Don t connect NC not connected signals Connecting these signals could cause permanent damage to your motion controller http www icpdas com 87 i8094 Getting _Started_V2 4 m RJ1 The I O signals of the FRnet The connectors RJ1 is an 8 pin RJ45 connector that enable you to connect to the signals of FRnet Fig 1 9 shows the pin assignment for the 8 pin connector on the DN 8468P and the Table 1 10 shows its I O connector signal description MC Table 1 10 Rui MC as i Fig 1 9 Pin definition for RJ ba be
68. inear asymmetrical S curve VSV VV VK VL VAO i8094MF_VECTOR_SPEED Please refer to section 6 2 2 of 18094 18094F user manaul 2 Setting the start vector velocity Set the lowest vector speed i8094MF_SET_VSV Please refer to section 6 2 3 of 18094 18094F user manual http www icpdas com 41 i18094_Getting_Started_V2 4 3 Setting the vector velocity Set the desired vector speed iI8094MF_SET_VV Please refer to section 6 2 4 of 18094 I8094F user manual 4 Setting the velocity of Acceleration Deceleration of vector Set the speed of Acceleration Deceleration of vector i8094MF_SET_VA Please refer to section 6 2 5 of 18094 I8094F user manual i8094MF_SET_VD Please refer to section 6 2 6 of 18094 I8094F user manual 3 7 5 Basic Motion of Muti Axes Interpolation 1 2 axes linear interpolation Perform 2 axes linear interpolation i8094MF_LINE_2D Please refer to section 6 2 10 of 18094 18094F user manual 2 3 axes linear interpolation Perform 3 axes linear interpolation i8094MF_LINE_3D Please refer to section 6 2 11 of 18094 I8094F user manual 3 2 axes ARC interpolation Perform 2 axes ARC interpolation i8094MF_ARC_CW Please refer to section 6 2 12 of 18094 18094F user manual i8094MF_ARC_CCW Please refer to section 6 2 12 of 18094 18094F user manual 4 2 axesCircular interpolation Perform 2 axes Circular interpolation i8094MF_ CIRCLE _CW Please refer to section 6 2 13 of 18094 180
69. ject Please select the Build gt Build Solution in pull down menu then you will be finished this example program if there isn t any wrong 22 Demo_First Microsoft Visual Basic NET design Forml vb File Edit View Project Build Debug Tools Window Help a w eug Build Solution CthShiftB p Debug 7015 Windows CE NET Device Rebuild as Al T h as 22 4A Toolbox 4 x Deploy Solution Desin Formi vb Clipboard Ring Build Demo_First General Rebuild Demo_First t RK Pointer Deploy Demo_First Forns Fom Build Cab File 1 As System Windows Forms Button Batch Build Configuration Manager B ted code Axis define Public AXIS_X As UIntl6 Convert ToVInt16 aH1 Public AXIS_Y As UWIntl6 Convert ToUInt16 aH2 Public AXIS_Z As UIntl6 Convert ToUInt16 aH4 Public AXIS_U As UWIntl6 Convert ToUInt16 aHs Public AXIS_XY As Ulntl6 Convert TolInt16 amp H3 Public AXIS XZ As WintlA Convert Toll nt Aras 4 2 6 Download and Run Please copy the Demo First exe 18094 dll and 18094_NET dIl into the same floder of WinCon User can use the VS NET Online Download FTP USB disk to do then execute it http www icpdas com 59 i8094_Getting_Started_V2 4 4 3 1 8000 Turbo C Guideine 4 3 1 Confirm the Relative Files Please confirm you have the following relevance files 18094 lib 18094 h 18000 lib 18000 h If you don t have pl
70. l 8094 and I 8094F Getting Started Manual Version 2 4 Hardware amp Software amp Application Using 8094 I 8094F PAC Motion Control Module ICP DAS CO LTD Me ads LAR BH RR A http www icpdas com i8094_Getting_Started_V2 4 Warranty All products manufactured by ICPDAS Inc are warranted against defective materials for a period of one year from the date of delivery to the original purchaser Warning ICPDAS Inc assumes no liability for damages consequent to the use of this product ICPDAS Inc reserves the right to change this manual at any time without notice The information furnished by ICPDAS Inc is believed to be accurate and reliable However no responsibility is assumed by ICPDAS Inc for its use or for any infringements of patents or other rights of third parties resulting from its use Copyright Copyright 1997 2005 by ICPDAS Inc LTD All rights reserved worldwide Trademark The names used for identification only maybe registered trademarks of their respective companies License The user can use modify and backup this software on a single machine The user may not reproduce transfer or distribute this software or any copy in whole or in part http www icpdas com 2 i18094_Getting_Started_V2 4 Contents of 18094 I8094F TINTRODUCTION a 0500 BR gan 7 1 1 Introduchon au niet 7 1 2 Hardware Specification sasuesene ee 8 1 271 Main Specificatii ON ei eeen eree eee eene Eeee EAE EEEren EE etn
71. l encoder o ojo My Primary Encoder Signals for X axis From CN XA for Y axis From CN YA Fig 1 11 Primary encoder signals setting JP2 E aa a ey ee External Encoder Signals External Encoder Signals for X axis From CN5 for Y axis From CN6 Fig 1 12 External encoder signals setting http www icpdas com 81 i8094_Getting_Started_V2 4 m EMG SW The emergency stop signal for each servo ampilfier can be selected from EMG SW The number 1 2 3 4 on EMG SW are denoted as axis X Y Z U respectively Fig 1 13 is the default setting to connect the EMG singals to GND The EMG signals from CN1 CN4 will not take effect If the switch is disconnected as shown in Fig 1 14 the emergency stop signals can be controlled from EMG signals in CN1 CN4 PP aH LI ie Fig 1 13 EMG SW setting for normally GND Default setting EMG SW 4321 1q ON _ GND Fig 1 14 EMG SW setting for user controlled signals http www icpdas com 82 18094_Getting_Started_V2 4 B 2 DN 8468P Daughter Board The DN 8468P is the daughter board for Panasonic A4 Series Ampilifier It has 4 axis I O signals B 2 1 Board Layout for DN 8468P 107mm TBI va O Z Z O Oo RJI JP4 JP3 JP5 x gt S JP1 JP2 Oo Oo N Z Z G Oo X a Y Za aA og
72. low figure http www icpdas com 14 i18094_Getting_Started_V2 4 4 Axis Step Servo Motor http www icpdas com 15 i8094_Getting_Started_V2 4 Ethernet Intranet Touch Screen Keyboard DN 8468GB 4 Axis Step Servo Motor Figure i8094 with PAC controller WinCon 8000 and l 8000 http www icpdas com 16 i8094_Getting_Started_V2 4 2 2 DN 8468G Terminal Board The DN 8468 is the terminal board for general purpose amplifier usage It has 4 axis I O signals 2 2 1 Board Layout for DN 8468G 107mm CON6 EMG ae B z 6 JP5 JP6 JP7 5 JP8 JP11 JP9 JP10 X a Y E a a Z S SE Z U JP13 JP15 JP12 JP14 2 S ie DN 8468G TB2 Fig 2 0 Board layout for the DN 8468G http www icpdas com 17 i18094_Getting_Started_V2 4 2 2 2 Signal Connections for DN 8468G Maintaining signal connections is one of the most important factors in ensuring that your application system is sending and receiving data correctly m Pin Assignment for CON1 The I O connector on the DN 8468G is a 68 pin SCSI Il connector that enables you to connect to the 18094 18094F motion modue Fig 2 1 shows the pin assignment for the 68 pin I O connector on the DN 8468G or on the PISO PS400 and refer to Table 2 1 2 2 for
73. m case 5 WORD wRA Print FRnet wRA r n Scanf d amp wRA long data1 i8094MF_FRNET_RA cardNo wRA Print FRnet 16 bits data 10ld r n data1 break Inummmnnnmn nun nn nnnnnnnn nn case 6 i8094MF_SET_LP cardNo AXIS_XYZU 0 i8094MF_SET_EP cardNo AXIS_XYZU 0 Print RESET Encoder r n break Inummmnmmmn nun nnnnnnnnmnnnnnn nn nnnnnnnnnnnnn case 7 i8094MF_STOP_SLOWLY cardNo AXIS_XYZU Print STOP r n http www icpdas com 65 i8094 Getting _Started_V2 4 case 88 case 120 Symmetrical T curve mode case 89 case 121 Symmetrical T curve mode case 90 case 122 http www icpdas com i8094MF_CLEAR_ERROR cardNo Print CLEAR ERROR r n break BYTE m_Axis AXIS X i8094MF_SET_MAX_V cardNo m_Axis 32000 i8094MF_NORMAL_SPEED cardNo m_Axis 0 set axis as i8094MF_SET_A cardNo m_Axis 50000 set Acc 50000 PPS S i8094MF_SET_V cardNo m_Axis 50000 i8094MF_EXD_MP cardNo AXIS_X 100 i8094MF_EXD_DISABLE cardNo AXIS_Y i8094MF_EXD_DISABLE cardNo AXIS_Z i8094MF_EXD_DISABLE cardNo AXIS_U break m_Axis AXIS_Y i8094MF_SET MAX_V cardNo m_Axis 32000 i8094MF_NORMAL_SPEED cardNo m_Axis 0 set axis as i8094MF_SET_A cardNo m_Axis 50000 set Acc 50000 PPS S i8094MF_SET_V cardNo m_Axis 100000 i8094MF_EXD_MP cardNo AXIS_Y 100 i8094MF_EXD_DISABLE cardNo AXIS_X i8094MF_EXD_DISABLE cardNo AXIS_Z i8094MF_EXD_DISABLE cardNo AXI
74. mit Switch Signals EL To insure the machine in safety hardware limit switches are placed at the both ends of machine traveling range If the machine touch the hardware limit switch sensors PISO PS400 will stop immediately The operating mode Enable or Disable and the proper trigger level of these signals can be set by user Please refer to i8094MF_SET_HLMT function the section 2 6 of 18094 I8094F user manual 3 2 4 Configure the Software Limite SEL To insure the machine in safety hardware limit switches are placed at the both ends of machine traveling range In addition user can set the software limits to avoid the happening of the over range before the hardware limit takes effect If the machine reach the software limits condition PISO PS400 will stop immediately The operating mode Enable or Disable and the proper trigger condition of these signals can be set by user Please refer to i8094MF_SET_SLMT and i8094MF_CLEAR_SLMT function the section 2 10 of 18094 18094F user manual 3 3 Error Checking Check whether there is any error If there are something wrongs please use the GET_ERROR_CODE function to get the error code then check the reason and remove it Please refer to GET_ERROR_CODE function the section 3 6 of 18094 18094F manual User also can use i8094MF_GET_DI function to check the all of DI status Please refer to i8094MF_GET_DI function the section 3 5 of 18094 I8094F user manual http www icpdas
75. nable you to connect to the signals of FRnet Fig 3 9 shows the pin assignment for the 8 pin connector on the DN 8468FB and the Table 3 10 shows its I O connector signal description NC Table 3 10 RJ1 NC FRnet port A FRnet FRnet port B e f w LO aj I 00 Fig 3 9 Pin definition for RJ1 Note Don t connect NC not connected signals Connecting these signals could cause permanent damage to your motion controller http www icpdas com 119 18094_Getting_Started_V2 4 B 5 3 Jumper and Switch Settings m JP5 Jumper 5 controls the EMG A signal of the TB1 connector The following diagram is shown the selection condition of the jumper 5 JP5 Oo 2 3 EMG_C EMG_UC EMG A Signal Connected EMG A Signal Unconnected Fig 3 10 Jumper 5 setting m JP1 JP2 The encoder signals of axis X and axis Y can be chosen from servo driver encoder or external encoder Fig 3 11 shows that the encoder signals are selected from servo driver encoder In meantime Fig 3 12 shows that the encoder signals are selected from external encoder JP1 JP2 FFE a of el o a OIOJOJOIO Piima ee able a PARE Encoder Signals for X axis From CN X for Y axis From CN Y Fig 3 11 Primary encoder signals setting External Encoder Signals External Encoder Signals for X axis From CN5 for Y axis From CN6 Fig 3 12 External encoder signals setting http www icpdas com 120 i8094_Getting_Started_V2 4 m SWi The C
76. nd the other is from CN6 Users can select encoder signals from JP1 and JP2 respectively pw Note 2 In Z and U axes only one set of encoder signals is used for each axis In Z axis do not connect CNZ and CN7 at the same time In U axis do not connect CNU and CN8 at the same time gt Note 3 Don t connect NC not connected signals Connecting these signals could cause permanent damage to your motion controller http www icpdas com 95 i8094 Getting Started_V2 4 m RJ1 The I O signals of the FRnet The connectors RJ1 is an 8 pin RJ45 connector that enable you to connect to the signals of FRnet Fig 3 9 shows the pin assignment for the 8 pin connector on the DN 8468Y and the Table 3 10 shows its I O connector signal description T 1 gt Table 3 10 RJ1 re Pin name Description Ne FRnet port A FRnetB FRnet port B Ne om in i 5 Ww an w T 5 Mills l Fi Fig 3 9 Pin definition for RJ1 e Note Don t connect NC not connected signals Connecting these signals could cause permanent damage to your motion controller http www icpdas com 96 i8094 Getting _Started_V2 4 B 3 3 Jumper and Switch Settings m JP5 Jumper 5 controls the EMG A signal of the TB1 connector The following diagram is shown the selection condition of the jumper 5 JP5 EMG_C EMG_UC EMG A Signal Connected EMG A Signal Unconnected Fig 3 10 Jumper 5 setting m JP1 JP2
77. ng Humidity 10 85 non condensing Mm Storage Humidity 5 90 non condensing m 1 0 optically isolated 2500Vrms m External Power supply Input 24V DC connect to terminal board http www icpdas com 12 i18094_Getting_Started_V2 4 1 4 Ordering Information I 8000 W 8000 PAC controllers 18094 DN 8468GB DN 8468MB DN 8468PB DN 8468DB CA SCSI15 http www icpdas com 4 axes motion control module For general purpose usage For Mitsubishi Servo motor For Panasonic servo motor For Detal servo motor 68 pin SCSI II cable gt length 1 5 m 18094_Getting_Started_V2 4 2 HARDWARE INSTALLATION 2 1 Checking Package and Installation 2 1 1 Checking package The i8094 and i8094F are a 4 axes stepping servo motor control module that can be used on any of the ICPDAS 1 8000 and WinCon series controllers The base system package is as below list m 1 8000 W 8000 Embedded PAC control system series Two systems choose one i8094 i8094F G S includes the following item m i8094 i8094F 4 axes motion module m DN 8468 Terminal board for i8094 and i8094F m CA SCSI15 68 pin SCSI II cable gt length 1 5 m 2 1 2 Installation Prepare controller 1 Choose a PAC controller of ICPDAS I 8000 or W 8000series and have empty slot 2 Turn power off Module Plug in controller and wiring 1 Plug in the i8094 i8094F into a empty slot of 8000 W 8000 2 Connect the i8094 i8094F with DN 8468G by a CA SCSI15 cable as the be
78. om 63 i18094_Getting_Started_V2 4 1000 5 2000 25000 10 3600 http www icpdas com return v 50000 PPS i8094MF_SET_MAX_V cardNo AXIS_XYZU 160000L ret1 i8094MF_HELIX_3D cardNo AXIS_Y AXIS_Z AXIS_X 1 v 0 Delay 1000 Print HELIX_3D_1 r n Print ret1 d r n ret1 break v 100000 PPS gt i8094MF_SET MAX_V cardNo AXIS_XYZU 1600000L ret1 i8094MF_HELIX_3D cardNo AXIS_Y AXIS_Z AXIS_U 1 v 0 Delay 2000 Print HELIX_3D_2 r n Print ret1 d r n ret1 break sv 300 PPS gt v 30000 PPS a 500000 PPS s gt int loop int loop2 float ratio i8094MF_SET_MAX_V cardNo AXIS_XYZU 160000L Print RATIO_2D ratio r n Scanf f amp ratio Print ratio f r n ratio i8094MF_RATIO_INITIAL cardNo AXIS_U AXIS_X sv v a ratio for loop2 0 loop2 lt 5 loop2 for loop1 0 loop1 lt 5 loop1 64 i8094 Getting _Started_V2 4 i8094MF_RATIO_2D cardNo 0 3600 0 i8094MF_RATIO_2D cardNo 0 3600 1 i8094MF_RATIO_2D cardNo 0 7200 0 i8094MF_RATIO_2D cardNo 0 3600 1 i8094MF_RATIO_2D cardNo 1 7200 1 Delay 3000 Print RATIO_2D OK r n break Inunmmnn nun nun nnnnn nn nnnnnnnnnnnnnn case 4 WORD wSA WORD data Print FRnet wSA r n Scanf d amp wSA Print FRnet 16 bits data r n Scanf d amp data i8094MF_FRNET_SA cardNo wSA data break Inunumnnnun nun nn nnnnnnnnnnn n
79. on The l 8094 and I 8094F are the 4 axes pulse type stepping servo motor motion control module that can be used on any of the ICPDAS 1 8000 and WinCon series controllers and is suitable for general purpose motion application These modules contain a high performance motion ASIC Apart from a wide speed range these intelligent motion controllers have a variety of motion control functions built in such as 2 3 axes linear interpolation 2 axes circular interpolation T S curve acceleration deceleration various synchronous actions automatic homing and others Besides it is a module that has full functions of I 8094F plus one port of FRnet The FRnet port allows this module to expand its fast remote I O easily This two wired FRnet can automatically scan its 128 DI and 128 DO with a period of 0 72 2 88ms In addition most of the l 8094 and I 8094F motion control functions are performed with little load on the processor While driving the motors the motion status and the other I O status on the l 8000 or WinCon controllers can still be monitored As a result of the low CPU loading requirements of l 8094 and I 8094F one or more motion modules may be used on a single l 8000 or WinCon controllers ICPDAS also has provided a wide range of functions and examples to reduce the need for programming by user making it a highly cost effective solution for machine makers Ethernet Intranet ml HMI Touch Screen Keyboard DN 8468GB
80. on computer The 7188 EXE is a executed file of DOS it can be used in DOS or DOS BOX of Win9X WINNT WIN2K 2 Please depend on actual wiring COM PORT that assign to COM1 ALT_1 or COM2 ALT_2 and set the transmission speed to 115200 N 8 1 3 Turn on the power of l 8000 It will have two situation o It will appear a version of MiniOs7 message if the INIT connected to INIT COM then appear I 8000 gt o The l 8000 will run the AUTOEXEC BAT if the INIT unconnected then appear I 8000 gt 4 User can start to make a command of l 8000 after appearing the I 8000 gt as below drawing http www icpdas com 68 i8094 Getting _Started_V2 4 ji olx Current set Use COM4 115288 N 8 1 AutoRun demo2 exe Autodownload files None i C Program Files 7188E PCDiag ICP_DAS MiniOS for I 8868 Ver 2 88 build 661 Mar 38 2004 17 36 23 SRAM 512K FLASH MEMORY 512K CPU Am188ES Serial number 1 A3 A6 9F O AA AA 62 i 8000 gt _ 5 Press the F2 button on the keyboard then key in demo100 exe then press the F10 button to download and execute demo100 exe as following drawing H now baud 1152008 ICP_DAS MiniOS for I 8888 Ver 2 88 build 881 Mar 38 2884 17 30 23 SRAM 512K FLASH MEMORY 512K CPU Am188ES Serial number 61 A3 AG 9F O AA AA 62 i 8000 gt Input filename demo1 9 exe When Press F8 F9 F18 will auto download the file demo106 exe FiO ILOADR
81. position signal for Z axis UINPOS 66 In position signal for U axis XALARM 4 Alarm signal for X axis YALARM 39 Alarm signal for Y axis ZALARM 30 Alarm signal for Z axis UALARM 65 Alarm signal for U axis XLMTP 5 Limit switch input signal for X axis YLMTP 40 Limit switch input signal for Y axis ZLMTP 29 Limit switch input signal for Z axis ULMTP 64 Limit switch input signal for U axis XLMTM 6 Limit switch input signal for X axis YLMTM 41 Limit switch input signal for Y axis ZLMTM 28 Limit switch input signal for Z axis ULMTM 63 Limit switch input signal for U axis XIN3 7 Input 3 signal for X axis YIN3 42 Input 3 signal for Y axis ZIN3 27 Input 3 signal for Z axis UIN3 62 Input 3 signal for U axis XIN2 8 Input 2 signal for X axis XIN2 43 Input 2 signal for Y axis XIN2 26 Input 2 signal for Z axis XIN2 61 Input 2 signal for U axis XIN1 9 Input 1 signal for X axis YIN1 44 Input 1 signal for Y axis ZIN1 25 Input 1 signal for Z axis UIN1 60 Input 1 signal for U axis XINO 10 Input O signal for X axis YINO 45 Input O signal for Y axis ZINO 24 Input 0 signal for Z axis UINO 59 Input O signal for U axis http www icpdas com 19 i8094_Getting_Started_V2 4 Table 2 2 DN 8468G I O connector signal description part 2 Pin name Pin number Description XEXPP 11 EXT pulsar input signal for
82. r Open Collector TTL Output Line Drive Differential Output Fig 2 10 Jumper 8 9 setting http www icpdas com 24 i8094_Getting_Started_V2 4 m EMG SW The emergency stop signal for each servo ampilfier can be selected from EMG SW The number 1 2 3 4 on EMG SW are denoted as axis X Y Z U respectively Fig 2 7 is the default setting to connect the EMG singals to GND The EMG signals from CN1 CN4 will not take effect If the switch is disconnected as shown in Fig 2 8 the emergency stop signals can be controlled from EMG signals in CON6 EMG SW 4 3 2 1 4 ON_ GND Fig 2 7 EMG SW setting for normally GND Default setting EMG SW 4 3 2 1 lt ON_ GND Fig 2 8 EMG SW setting for user controlled signals http www icpdas com 25 i8094_Getting_Started_V2 4 2 3 Input Output Connections The signal connections of all the I O signals are described in this chapter Please refer the contents of this chapter befor wiring the cable between the i8094 i8094F and the motor drivers 2 3 1 Pulse output signals There are 4 axes pulse output signals on 18094 18094F For every axis two pairs of CW and CCW signals are used to send the pulse train The CW and CCW signals can also be programmed as PULSE and DIR signals pait Two types of the pulse output signal Differential Type and Open Collector Type can be selected from JP8 9 JP10 11 JP12 13 and JP14 15 and are described in section 2 2 3 The following wiring diagram is
83. rs Fig 3 8 shows the pin assignment for the 15 pin connector on the DN 8468D and the Table 3 9 shows its I O connector signal description Table 3 9 CN5 8 Description A 9 Encoder A Phase Encoder A Phase ct Encoder B Phase 7 iB 5 Encoder B Phase Encoder Z Phase NC Encoder Z Phase Positive Direction Pulse Output NC IP 7 Positive Direction Pulse Output Negative Direction Pulse Output E PWR IN 8 Negative Direction Pulse Output E PWR EXT power 24V E GND 3 EXT power ground Fig 3 8 Pin definition for EXT er Da 14 http www icpdas com 106 18094_Getting_Started_V2 4 Note 1 There are two sets encoder signals for X and Y axes In X axis one is from CNX and the other is from CN5 In Y axis one is from CNY and the other is from CN6 Users can select encoder signals from JP1 and JP2 respectively Note 2 In Z and U axes only one set of encoder signals is used for each axis In Z axis do not connect CNZ and CN7 at the same time In U axis do not connect CNU and CN8 at the same time Note 3 Don t connect NC not connected signals Connecting these signals could cause permanent damage to your motion controller m RJ1 The I O signals of the FRnet The connectors RJ1 is an 8 pin RJ45 connector that enable you to connect to the signals of FRnet Fig 3 9 shows the pin assignment for the 8 pin connector on the DN 8468D and the Table 3 10 shows its I O conn
84. se permanent damage to your motion controller http www icpdas com 76 i8094_Getting_Started_V2 4 m CN XB CN YB CN ZB CN UB CNB connector for each AXIS The connectors CN XB CN YB CN ZB and CN UB are 20 pin connectors that enable you to connect to the CNB connector of your motor drivers Fig 1 6 shows the pin assignment for the 20 pin connector on the DN 8468M and the Table 1 7 shows its I O connector signal description Table 1 7 CNB Signal Connection NC Nc E PWR RESET EMG E GND E GND ALARM NC E GND Fig 1 6 Pin definition for CN XB CN YB CN ZB CN UB gt Note Don t connect NC not connected signals Connecting these signals could cause permanent damage to your motion controller htto www icpdas com 77 i18094_Getting_Started_V2 4 m CN1 CN4 The I O signals of the X Y Z U AXIS The connectors CN1 CN4 are 11 pin connectors that enable you to connect to the signals of your motor drivers Fig 1 7 shows the pin assignment for the 20 pin connector on the DN 8468M and the Table 1 8 shows its I O connector signal description Table 1 8 CN1 4 Signal Connection ERC EXT PWR EMG LMT LMT INPUT3 NRHOME HOME RESET EXP EXP EXT GND Fig 1 7 Pin definition for CN1 CN4 http www icpdas com Name Number Description ERC 12 Error Count Clear EXT_PWR 11 EXT POWER 24V EMG 10 Emergent Stop LMT 9 Limit switch Input Signal
85. ser have to preset fixed driving pulses After setting user can push the forward or backward button to drive fixed pulses for each direction i8094MF_EXD_FP Please refer to the section 2 18 2 of 18094 18094F usere manual 3 Continuous pulse driving Manual Pulse Generator User can preset output pulse frequency After setting user can push the forward or backward button to drive fixed velocity for each direction If user release the button the motion will be stop immediately i8094MF_EXD_CP Please refer to section 2 18 3 of 18094 I8094F user manual 4 Disable external pulse input Disable external pulse input by this command after operating anyone of three functions above i8094MF_EXD_DISABLE Please refer to section 2 18 4 of 18094 I8094F user manual http www icpdas com 36 i8094 Getting _Started_V2 4 3 6 Home Search 18094 provides the home function of automatic search Operate that automatically after setting properly The main steps is as bellow Near home sensor searching under high speed motion Home sensor searching under low speed motion Servomotor Z phase searching under low speed motion e Offset movement to the origin of the working area under high speed motion User can select which steps are ignored when setting for the actual operation It performs automatically that economize the CPU resource and program code reducing Although there are four home search steps but user can create more th
86. signal for Y axis ZEXPP 23 EXT pulsar input signal for Z axis UEXPP 58 EXT pulsar input signal for U axis XEXPM 12 EXT pulsar input signal for X axis YEXPM 47 EXT pulsar input signal for Y axis ZEXPM 22 EXT pulsar input signal for Z axis UEXPM 57 EXT pulsar input signal for U axis XDRIVE 13 Driver enable signal for X axis YDRIVE 48 Driver enable signal for Y axis ZDRIVE 21 Driver enable signal for Z axis UDRIVE 56 Driver enable signal for U axis XPP 14 Driving pulsar signal for X axis YPP 49 Driving pulsar signal for Y axis ZPP 20 Driving pulsar signal for Z axis UPP 55 Driving pulsar signal for U axis XPM 15 Driving pulsar signal for X axis YPM 50 Driving pulsar signal for Y axis ZPM 19 Driving pulsar signal for Z axis UPM 54 Driving pulsar signal for U axis XOUT1 16 Output 1 signal for X axis YOUT1 48 Output 1 signal for Y axis ZOUT1 21 Output 1 signal for Z axis UOUT1 56 Output 1 signal for U axis EXPLSN 1 17 EXT pulse input signal for interpolation EMGN1 52 Emergency stop input signal FRnetA 16 FRnet port A FRnetB 18 FRnet port B XDCC 51 Deviation Counter Clear for X axis YDCC 53 Deviation Counter Clear for Y axis GND 34 Ground VCC 35 External power 12 24V http www icpdas com 114 i8094 Getting _Started_V2 4 u TB1 The connector TB1 is 7 pin connector that enables you to connect to the signals of your motor drivers Fig 3 3 shows the pin assignment for the 7
87. snssssnnnnsnsssnnnnnsnssssnnnnsnssnnnne 44 4 1 1 Confirm the Relative Files 444400000440400000nnn nennen nnnnnnnnnnnnnnnn 44 4 1 2 Create a new eVC Application Project ccccccecceceeeeeeeeeeeeeeeeeeees 44 4 1 3 Add the 18094 h into eVC Application Project 2222444440000 46 4 1 4 Add the Reference Path into eVC Application Project 47 4 1 5 Start the eVC Sample usssssssssssennnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnen 48 4 1 6 Bulldtihe Project ze rer eek Heer sede cults dee cube ereet 51 http www icpdas com 4 i8094 Getting _Started_V2 4 4 1 7 Download and Run 2 ccccccccecceccecceceeceeceeceeceeeecueceeseeaeeaecueeeeaeeaeseeeneaees 52 4 2 Microsoft Visual Studio NET 2003 VB NET gt C Guideline 53 4 2 1 Confirm the Relative Files cccccccccsssececcceeeeeeeeceeeeeeeeeeeeeeeesseeeeeeeees 53 4 2 2 Create a new VB NET C Application Project cccseeeeeeeeeeeeeeeeeees 53 4 2 3 Add the DLL into Application Project ccccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeaes 55 4 2 4 Start the VB NET C Sample ccccccccceeeeeeeeeeeeeeeeeeeeeeeseeeseeeeeeeseeeess 57 4 2 5 Build the Project 2 2 222 2222222222222 2222228252222 59 4 2 6 Download and RUns eese ee Slee cup Sead areae Eaei iieii 59 4 3 1 8000 Turbo C Guideine ssesesssooecssssocecssssccecssoocessssoceessssooseessoscoeessose
88. switch input signal for X axis YLMTM 41 Limit switch input signal for Y axis ZLMTM 28 Limit switch input signal for Z axis ULMTM 63 Limit switch input signal for U axis XIN3 7 Input 3 signal for X axis YIN3 42 Input 3 signal for Y axis ZIN3 27 Input 3 signal for Z axis UIN3 62 Input 3 signal for U axis XIN2 8 Input 2 signal for X axis XIN2 43 Input 2 signal for Y axis XIN2 26 Input 2 signal for Z axis XIN2 61 Input 2 signal for U axis XIN1 9 Input 1 signal for X axis YIN1 44 Input 1 signal for Y axis ZIN1 25 Input 1 signal for Z axis UIN1 60 Input 1 signal for U axis XINO 10 Input O signal for X axis YINO 45 Input O signal for Y axis ZINO 24 Input 0 signal for Z axis UINO 59 Input O signal for U axis http www icpdas com 101 i8094 Getting _Started_V2 4 Table 3 3 DN 8468D I O connector signal description part 2 Pin name Pin number Description XEXPP 11 EXT pulsar input signal for X axis YEXPP 46 EXT pulsar input signal for Y axis ZEXPP 23 EXT pulsar input signal for Z axis UEXPP 58 EXT pulsar input signal for U axis XEXPM 12 EXT pulsar input signal for X axis YEXPM 47 EXT pulsar input signal for Y axis ZEXPM 22 EXT pulsar input signal for Z axis UEXPM 57 EXT pulsar input signal for U axis XDRIVE 13 Driver enable signal for X axis YDRIVE 48 Driver enable signal for Y
89. switch is disconnected as shown in Fig 1 14 the emergency stop signals can be controlled from EMG signals in CN1 CN4 EMG SW 4 3 2 1 ON _ GND Fig 1 13 EMG SW setting for normally GND Default setting EMG SW 4 3 2 1 lt ON_ GND Fig 1 14 EMG SW setting for user controlled signals http www icpdas com 90 i8094 Getting _Started_V2 4 B 3 DN 8486Y Daughter Board The DN 8468Y is the daughter board for Yaskawa Ampilifier It has 4 axis I O signals B 3 1 Board Layout for DN 8468Y 107mm TB1 N o Z Z 1S RJ1 JP4 JP3 JP5 gt rs JP1 JP2 a 1S S N Z Z O G Xi a X Z A OZ Of Z U an Z Z O N 5 Z Z O EMG Q DN 8468y SW oo Z Z O TB2 O Fig 3 1 Board layout for the DN 8468Y http www icpdas com 91 18094_Getting_Started_V2 4 B 3 2 Signal Connections for DN 8468Y Maintaining signal connections is one of the most important factors in ensuring that your application system is sending and receiving data correctly m Pin Assignment for CON1 The I O connector on the DN 8468Y is a 68 pin SCSI II connector that enables you to connect to the PISO PS400 motion card Please refer to the section 2 2 1 page 15 TB1 The connector TB1 is 7
90. to section 6 1 9 of 18094 I8094F user manual 2 Continuous pulse driving output Perform continuous pulse output of single axis i8094MF_CONTIUNE_MOVE Please refer to section 6 1 10 of 18094 18094F user manual 3 Waiting for motion done Waiting for the axis driving accomplished i8094MF_STOP_WAIT Please refer to section 6 5 3 of 18094 I8094F user manual 3 7 4 Basic Setting of Muti Axes Interpolation 1 Setting axes of interpolation Select axes to do the interpolation i8094MF_AXIS_ASSIGN Please refer to section 6 2 1 of 18094 18094F user manual 2 Setting the mode of Acceleration Deceleration of vector There are twelve mode as below 0 gt 2 axes Linear amp ARC amp Circular Fixed vector velocity VV 1 gt 2 axes linear symmetrical T profile VSV VV VA VAO 2 gt 2 axes linear symmetrical S curve VSV VV VK VAO 3 gt 2 axes linear asymmetrical T profile VSV VV VA VD gt VAO 4 gt 2 axes linear asymmetrical S curve VSV gt VV gt VK gt VL gt VAO 5 gt 2 axes ARC amp Circular symmetrical T profile VSV VV VA VAO 6 gt 2 axes ARC amp Circular asymmetrical T profile VSV VV VA VD gt VAO 7 gt 3 axesFixed vector velocity VV 8 gt 3 axes linear symmetrical T profile VSV VV VA VAO 9 gt 3 axes linear symmetrical S curve VSV VV VK gt VAO 10 gt 3 axes linear asymmetrical T profile VSV VV VA VD VAO 11 gt 3 axes l
91. tp www icpdas com 107mm 162mm TBl CN5 JP4 JP3 RJ1 JP5 JP1 CNX JP2 CNI JP10 X Z CN3 JP12 CNZ CONI 68 PIN SCSI lt DN 8468D EMG SW CN7 TB2 CNY CNU JP11 JP13 CN6 CN2 CN4 CN8 Fig 3 1 Board layout for the DN 8468D 99 i8094 Getting Started_V2 4 B 4 2 Signal Connections for DN 8468D Maintaining signal connections is one of the most important factors in ensuring that your application system is sending and receiving data correctly m Pin Assignment for CON1 The I O connector on the DN 8468D is a 68 pin SCSI II connector that enables you to connect to the l 8094 motion card Fig 3 2 shows the pin assignment for the 68 pin I O connector on the DN 8468D or on the l 8094 and refer to Table 3 2 3 3 for description of each motion I O signal XECA XECB XINPOS XALARM XLMTE XLMTM XIN XIN2 XINI XIND XEXPP XE XPM XOUTI XPP XPM FRnet_A EXPLSN FRinet_B 2PM ZPP ZOUTI ZEXPM ZEXPP ZING ZINI ZIN2 ZINS ZLMIM ZLMTP ZALARM ZINPOS ZECB ZECA GND pas Boel td be ed ee ee Do 68 66 65 63 62 l ol gt Ei at 55 53 52 51

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