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User Manual - GT series Motion Controllers

1. Term nal Board ri ver CN5 ON AV OB 1CN OOND 1 n 10 SG COM AM 2 34 ALM ENABLEO 3 14 SV ON AO 17 20 PAO AD 4 x x Al PAO BO 18 22 BO 5 A x 23 C 19 24 o 6 X Ds sm 7 35 AMSG Do 18 3 V REF 9 QN 10 4 SG 11 12 13 OCC 14 13 24V RESETO 15 18 ALMRST 16 20 21 22 23 24 25 Wri ng Di agramof YASKAVA SERVCPACK SGDA xxxS Seri es Dri ver in Vel oci ty Torque Mode 44 Appendix C Typical Connecting C 9 Wiring diagram of YASKAWA SERVOPACK series driver in position control mode Term nal Board ri ver CN5 CN6 AV OB 10N OOND jl 10 SG COM AM 2 34 ALM ENABLEO 3 1 14 SV CN AO 17 20 PAO We 4 x x 21 PAO BO 18 22 PBO wel4 B T5 x 23 PBO 19 24 Q 6 x A 25 ed 7 35 ALMSG 8 GD 10 19 S V DI RO 9 3 SIGN DI RO 22 7 A 4 SIGN PULSEO 23 1 PUS PULSEO 11 x S 2 FPUS 12 GD 13 OCC 14 13 424V RESETO 15 18 ALM RST 16 QD 20 QD 21 GND 24 25 Wri ng D agramof YASKAVA SERVCPACK SGDA xxxP Seri es ri ver in Posi ti on Node Note 1 For SG SD and S
2. Wring D agramof Panasoni c ri ver in Position Mode Note 1 For SG SD and SE cards the encoder feedback is not to be connected and can be suspended 38 Appendix C Typical Connecting C 3 Wiring diagram of SANYO DENKI PV1 series driver in velocity control mode Term nal Board ri ver CN5 CN6 AV OB CN 1 OOND 1 40 QM AM 2 33 ALM ENABLEO 3 8 SOM AO 17 2 A AQ 4 x x 28 A BO 18 29 B BO 5 A A 30 B 19 31 C CQ 6 A A 32 C 7 34 ALM DACO 8 1 VCND 9 GD 10 2 SG 11 12 13 7 SON OCC 14 9 ARST RESETO 15 10 ARST 16 20 21 22 23 24 25 Wri ng D agramof SANYO DENI PV1 Driver in Velocity Mode 39 Appendix C Typical Connecting C 4 Wiring diagram of SANYO DENKI PV1 series driver in position control mode Term nal Board ri ver ON OG AV OB CN 1 OD 1 40 M AM 2 33 ALMH ENABLEO 3 8 SON AO 17 27 A eo X X AO 4 28 BOT 18 29 A wel B T5 _X is 30 B 19 31 C 6 A A 32 C 7 34 AM 8 GD 10 2
3. Reserved Reserved Reserved Reserved GND Digital ground 13 Chart 3 Quick Start Table 2 6 Definition of pins of CN12 on Terminal Board Description HOMEO Home switch signal of axis 1 HOME Home switch signal of axis 2 HOME2 Home switch signal of axis 3 HOME3 Home switch signal of axis 4 LIMITO Positive limit switch signal of axis 1 LIMITO Negative limit switch signal of axis LIMIT1 Positive limit switch signal of axis 2 LIMITI Negative limit switch signal of axis 2 LIMIT2 Positive limit switch signal of axis 3 LIMIT2 Negative limit switch signal of axis 3 LIMIT3 Positive limit switch signal of axis 4 LIMIT3 Negative limit switch signal of axis 4 EXIO Uncommitted input EXII Uncommitted input OGND Ground of external power supply OVCC 12V 24V power l 2 3 4 5 6 7 8 14 Chart 3 Quick Start Dri ver Terminal Board 5V ae 4 7k X N y 3K Posi ti ve Li nit Sw tch LIM T0 i i N 3K Negative Li rit Swtch x LIM TO ee j N N 3K Hone Sw
4. Demo 2 6 Microsoft P ctenaisa_en APER TIT Jendemopic Fig E 1 Software Starting Window X GT Commander PCI 3 1 File Edt View Windows Help D ar E EX X BIRR mW Ov me amp Di pu A General Windows Operation Toolbar Control Form Toolbar Exit and Help Fig E 2 Menus and Toolbars 50 Appendix E Usage of GT Commander Crd status Axis Status Crd Staus Axis Status i 3 d Motion Done E xX X x All Motion done or no cmd x servo Alarm X X K X f C x Prk Prt Rearhed W M N X Interp mput tirish PosCaptured X X K xX Sample time too small TE Moton Error MK X X X Pos Lmt Trig N X X X Crd command error x NeglmtTrig X x x N Ww Host Cmd Err X X X X single segment timished x Loop closed X X X X Maz acc exceeded AxsUn X X X X Axis In Motion x X X X Auta stop enabled x Lmt Enabled X Xx Xx X TCuve X X X X x Immediately Interp mode ees M E No crd projection CMD x vel Contouring MK N MM Mode x M MK x Axis error 7 CrdMode X X X X Sus SS erue T Home Capture W M MM Index Capture MN N N X Crd Position Axis Postion OOO 000 000 EE ie Axis ZI Axis Jr Axis 4 Axis A okas dem sse 5 e Axis A tC lc c O Fig E 3 Status Window xiz Control EET Brk Prt Made l sema Gnioff Brk Prt Mode EIE als v Loop ClosediOpen Pos Brk Pnt Made kp 0 v Auto Stop Oniot Neg Brk Prt Mode m Auto Update Do Home Brk Mode v Limits On Mation Done Brk Ed 0 Lev
5. 12 G2 43T 3T YT4 81 10 62 J 3 935 G3 57 45 YT4 49 I17 11 Ja 23 KAT T3 YT3 42 115 69 2 894 438 08 YT2 4 Il12 11 I3 82 X38 JAR TI Ri TA Bd TR RR Fig E 9 Edit and Run GT Commands Base Parameters Setting Parameters Setting Controller Card Address and IF Sra Wo Select Base address Limit Sense Encode Sense E T Card Ma 0 T THO Interrupt Time 1000 Card type select FEE Sample Time us 200 GT4DD Swv gt 0 Event Time Open GT Close GT dardware Rese Reset OK Fig E 10 Set Basis Parameters 54 Appendix E Usage of GT Commander Option Fig E 11 Options Running Progress GT Command Executing Result Interrupt Counter Interrupt Status Status of the Number Lock Key WE Time Curse Position Fig E 12 Status and Menu BEREG E dit Menu View Wenu Window Wenu Fi Menu 3 ei amp n Fig E 13 Menus 55 Appendix E Usage of GT Commander E 1 1 Menus and Toolbars The File Management buttons are to open save files and do other operations on file The Clipboard buttons are to operate the clipboard The File Window buttons are to rearrange the windows The Control Window and Options window buttons are to display each control and option dialog boxes The Running button is to run the GT batch program The About and Exit buttons are to display the About window and exit the software The menus are corresponding to all these buttons one by one Please see Fig E 2 and E
6. of each card can be determined Hereafter set the numbering of card according to the first case 5 In the Select Control Card Type column open the pull down menu and select the type of controller installed 6 User using PCI bus controller can skip this step User using ISA bus controller sets Address and Interrupt according to setting of those jumpers Please refer to Step 1 Set Jumper on Motion Controller 24 Chart 3 Test and Tune Motion Control System 7 Click Open Control Card button 8 Set Effective Level of Limit Switch If the wiring is correct according to 2 3 7 5 Wiring of Dedicated Input user does not need to modify the default value 0 of motion controller Otherwise if user wants the limit switch signal to be triggered in a low voltage level trigger set parameters according to Table 3 1 For example the parameter 255 means that the positive and negative limit switches of all axes are all triggered in low voltage level trigger0 Table 3 1 Setting of Effective Level of Limit Switch Description Definition Reserved Set to 0 Axis 4 Negative limit switch status bit High voltage level trigger Low voltage level trigger Axis 4 Positive limit switch status bit High voltage level trigger Low voltage level trigger Axis 3 Negative limit switch status bit High voltage level trigger Low voltage level trigger Axis 3 Positive limit switch
7. 0 000 Line EN ZA 0 000 D du O 000 ARC End 0 000 1 7 DOOD ARC Immediate Interpolation ARC xY Start Point Yz Start Point wYZA Start Point ARG AYTLEROIF 0 000 0 000 0 000 0 000 ARC YZ End R ove To Start Add Cmd List Start cmd list End cma List ARC ZRIEndIR Start Intern Abrupt Stop Smooth Stop Start Motion Fig E 7 Control Based on Coordinate System I control Output Status 1 high 0 low Bit Bit 1 Bit 2 Bit 3 Hit 4 Bit 5 Bit B Bit 7 0 0 0 0 0 0 0 0 si 2 1 1 21 zu Hit 8 Bit 3 Bit 10 Bit 11 Bit 12 Bit 13 Bit 14 Bit 15 Fig E 8 Input Output Control 53 Appendix E Usage of GT Commander We E WO RK G CODES WORD ne Gl 0 2 AU I D G2 47 82 Y52 2 IU J55 AR 46 41 Y52 26 Il 33 Jay Td add 99 The da 2 59 45 897 45 65 Y52 49 I3 59 41 895 42 51 Y52 67T I4 6T J39 5T 241 04 Y52 89 15 59 Jie 35 AIM TT Y53 18 IR da 33 32 46 57 Yo3 486 IR ma 28 383 3T J6 Yoo Bl IT 66 J 25 1 256 205 Yod 2 18 06 25 28 An ld Yod 64 IS T8 23 95 Aid 08 Yoo 12 IS3 12 I21 52 42 04 TOR 24 8 62 18 883 240 22 Y5T 52 10 42 J 18 TT fl 50 21 G2 27 15 Y60 55 Il3 1 JIG 44 Mad 62 24 64 Y654 27 TER 29 I1T 63 J14 61 I21 88 J11 85 22 86 TAK ol 46 15 I11 22 422 45 422 15 421 65 Yoo 64 YTO 82 YTZ Oe les 63 JA 55 I31 468 JS 14 I33 1T Je al Gl 421 82 YT2 13 G2 25 12 YT85 81 I3 82 JU 583 Gl 32 82 YT
8. DC12 to 24V COM AM 2 43 ALM ENABLEO 3 37 SO AO 17 3 A ge ru MR X BO 18 5 B wei lt PES le B 19 C hU ei X g e 8 mm CND 10 12 SG DI RO 9 26 PPC DI RO 22 27 PPC PULSEO 23 28 NPC PULSEO 11 x X59 NPC 12 GD 13 B9 DC12 to 24V OCC 14 23 DC12 to 24V RESETO 15 30 RST 16 QD 20 QD 21 GD 24 25 Wri ng D agramof SANYO DENT PYO PY2 Driver in Posi ti on Mode Note 1 For SG SD and SE cards the encoder feedback is not to be connected and can be suspended 42 Appendix C Typical Connecting C 7 Wiring diagram of SANYO DENKI PU series driver in velocity control mode Term nal Board ri ver CN5 ON AV OB CN 1 OND 1 12 OOM AM 2 11 ALM ENABLEO 3 6 SON AO 17 30 A AO 4 x x 29 A BO 18 32 B BO 5 2S x 31 B 19 34 C o 6 A x 33 C 7 DC 8 19 SPEED 9 GD 10 20 SG 11 12 13 3 DC12 to 24V OVC 14 5 DC12 to 24V RESETO 15 RST 16 20 21 22 23 24 25 Wri ng D agramof SANYO DENI PU Driver in Vel oci ty Mode 43 Appendix C Typical Connecting C 8 Wiring diagram of YASKAWA SERVOPACK series driver in velocity torque control mode
9. SG DI RO 9 3 pcp DRO 22 Xa pe PULSEO4 23 5 N PUSE 11 X 8 NP 12 GD 13 EE SON OO 14 9 ARST RESETO 15 10 ARST 16 GN 20 QD 21 GD 24 25 Wri ng D agramof SANYO DENI PV1 Driver in Posi ti on Mode Note 1 For SG SD and SE cards the encoder feedback is not to be connected and can be suspended 40 Appendix C Typical Connecting C 5 Wiring diagram of SANYO DENKI PYO PY2 series driver in velocity control mode Term nal Board Dri ver CN5 ON QV OB CN 1 OND 1 24 DC12 to 24V COM AM 2 43 ALM ENABLEO 3 3 SON AO 17 3 A A0 4 x x 4 A BO 18 5b B BO 5 A A 6 B CO 19 C 6 X A 8 C DACD 18 21 VOD 9 GD 10 12 SG 11 12 13 49 DC12 to 24V OVC 114 23 DC12 to 24V RESETO 15 30 RST 16 20 21 22 23 24 25 Wri ng D agramof SANYO DENI PYO PY2 Driver in Velocity Mode 4 Appendix C Typical Connecting C 6 Wiring diagram of SANYO DENKI PYO PY2 series driver in position control mode Term nal Board ri ver a5 OG OV OB CN 1 F OND 1 24
10. box Input 58 Appendix E Usage of GT Commander Synthesized Velocity 10 and Synthesized Acceleration 0 5 in the Interpolation Parameters box e Click Set Start Points Effective e Check Line Interpolation 3 in the Select Interpolation Method box and input X end point 400000 Y end point 600000 and Z end point 300000 into the Interpolation Parameters box Click Confirm Interpolation Command in the Buffer Interpolation Status box e Check Line Interpolation 2 in the Select Interpolation Method box and input X end point 200000 and Y end point 100000 into the Interpolation Parameters box e Click Confirm Interpolation Command in the Buffer Interpolation Status box e Check XY Z Arc Interpolation Angel in the Select Interpolation Method box and input X circle center 100000 and Y circle center 0 and Angle 80 into the Interpolation Parameters box e Click Confirm Interpolation Command in the Buffer Interpolation Status box e Check XY Z Arc Interpolation End Point in the Select Interpolation Method box and input Z end point 0 and Y end point 0 Radius 200000 and Direction 1 into the Interpolation Parameters box s Click Confirm Interpolation Command in the Buffer Interpolation Status box e Click End Buffer Input in the Buffer Interpolation Status box e
11. powered on status when power on and motor Before power on host PC make sure motor power on host PC Will receive signal from motion driver has been powered off controller will cause motor to IOPHUQUIDUM siats No external power is supplied Check external power supply of motion controller aE Grounding is wrong Connect grounding again is wrong Input output channel of motion Repl troll controller is damaged eplace motion controller move suddenly 48 Appendix E Usage of GT Commander Appendix E Usage of GT Commander GT Commander is a program for the function demo and test of the motion controller From this demo program user can find a short way to quickly master the functions and commands of GT400 motion controller and directly run the batch program of GT commands to implement simple motion control TGT Commander R3 1 has ISA bus and PCI bus versions It can be run in WINDOWS98 and WINDOWS2000 GTCmdISA exe is applicable to the controller with ISA bus i e GT 400 SV ISA GT 400 SG ISA and GT 400 SP ISA GTCmdPCLexe is applicable to the controllers with PCI bus 1 e GT 400 SV PCI GT 400 SG PCI and GT 400 SP PCI These two versions of execution program are almost same The difference is that the methods of opening devices The details will be given in the following Before running GT Commander make sure that the relevant driver has been installed correctly Otherwise GT Commander cannot start N GTC
12. 20 Chart 3 Quick Start 45y Terminal Board oo 4 7k 2 R EXIO gek D v EXT Ga J Y EXI2 i yay 9 du war i di EXI15 Rel ay 5V LH EXO0 v j EXO1 i Y k MER EXO2 Y um UK T DC 24V 12V H2V 424V Power Suppl y Fig 2 12 Wiring Diagram of Uncommitted Input Output Signal 2 3 7 7 RS 232 Interface optional The motion controller provides a serial communication port to transfer information with the host which is through CN4 on the terminal board For the definition of pins of CN4 please see Table 2 11 For wiring please see Fig 2 13 21 Chart 3 Quick Start Table 2 11 Definition of pins of CN4 on Terminal Pin Signal Description i Signal Description RS 232 receiver RS 232 transmitter Digital ground Terninal Board Er al Communi cat i on MAX202 Devi ce lt TXD Ep E RO EE T l Fig 2 13 Wiring Diagram of Serial Communication 2 3 7 8 Wiring of Analog Input The mo
13. Click Execute Buffer Command in the Buffer Interpolation Status box to start the interpolation motion in the buffer This software contains several GT instruction batch program samples which can be opened and executed directly in GT Commander But pay attention to whether the basic parameters set are consistent with the actual system If not modify the program sample or start the initializing file GTCmd ini for modification appropriately E 3 Troubleshooting After user sending a series of instructions and the motor doesn t move check the following 1 The positive and negative limit switches in the Input Status and Information box of the motor are triggered or not If they are triggered check whether the Triggering Voltage Level of Limit Switch is set correctly Then check whether the limit switch of motor are really triggered or not and click Clear Status to clear the status of limit switch when 2 The proportional gain Kp integral gain Ki differential gain Kd in the Set Servo Filter Parameters of the motor are all set to 0 or not If they are reset them to the proper values For SV card 3 The parameters Velocity and Acceleration of the motor are all set to 0 or not If they are reset them to the proper values 4 Inthe Status window check whether there are other error and alarm status of the motor set as 1 Check and confirm that the motor and other relevant devices really have err
14. PYO PY2 SERIES DRIVER IN POSITION CONT ROR MODE OE HH 42 C 7 WIRING DIAGRAM OF SANYO DENKI PU SERIES DRIVER IN VELOCITY CONTROL MODE seuss 43 C 8 WIRING DIAGRAM OF YASKAWA SERVOPACK SERIES DRIVER IN VELOCITY TORQUE CONTROL MODE AA C 9 WIRING DIAGRAM OF YASKAWA SERVOPACK SERIES DRIVER IN POSITION B Contents CONTROL MODE ccccecececscecececececececececececcccceceseseseseseetececetenecececececesesesesesesesesceceueuenenes 45 C 10 WIRING DIAGRAM OF YASKAWA SGDE SERIES DRIVER IN POSITION CONTROL le EE EE EE EO EE 46 APPENDIX D TROUBLESHOOTING ccccccssssssssssssssssssssssssssssssccccsssssssssssssssssssssssssssssssceeeeseeeed T E 1 GT COMMANDER WINDOWS AND BASIC OPERATION ecce 49 E 1 1 Menus and Toolbars SS SS eee eere re eemer re ee eres i esa sese sa sa s se pa s sa sa sais 56 E COME BAY ATIC Ee USE eee ee en mt dq mM MEDI eMe UM MM TUNE 56 E 1 3 Axis based Control secte bas eus obra dtt oe es eie Feld rae eroi ee rab d vd be bt ku d edd bei ei 56 E 1 4 Control Based on Coordinate System eese nnne ee 56 Ed 3 Input Output ONTO AE OE EE N OE 56 E 1 6 Edit and Run GT Commands esses emere ee ere se ie ese sese se sa s sepa sese serais 56 BE d t Basic LT GVM CUTS iss sd Se rot ed ie nied Erat d oe ed Nod edd Vere lend E veu ibd pesi i dpud s d re 97 IE OD ONG AE ER EE E OE EE OER EE EEN OE 57
15. at http www googoltech com for more information about our company and products Technical Support and After Sale Service To get our technical support and after sale service E mail support googoltech com Use of This User s Guide Users This guide helps the user to understand the basic architecture of GT series of motion controllers and to learn how to install the motion controller wire the controller with the motor control system and conduct the basic debugging of the motion control system This guide is suitable to those engineering personnel who are having the basic knowledge of hardware and good understanding of motion control Main Topics This guide consists of three chapters and some appendixes Chapter One Overview introduces GT series of motion controllers and how to implement the motor control system Chapter Two Quick Start explains how to install the controller card configure components and install the driver program Chapter Three Test and Tune the System introduces how to use the supplied software controller to tune the system The appendixes provide the usage description of technical parameters of controller setting position velocity and acceleration typical wiring troubleshooting and use of GT Commander the software provided Related Documents For the programming of GT series motion controller please refer to Programming Manual of GT Series Motion Controller provided together with the pro
16. installing hardware and starting computer Windows98 2000 will detect automatically the motion controller and start Add hardware wizard Click Next when prompted 2 Atthe prompt of What do you want Windows to operate select Search the driver of equipment recommended Then click Next 3 Insert the product CD into the CD ROM Select Appoint position Use Browse to select the appropriate operating system under CD ROM Windows For example in Windows 2000 select CD ROM Windows Win2000 Then click Next 5 Follow Add hardware wizard Click Next until installation is finished Install the driver in Windows NT 1 Put the product CD into the CD ROM 2 Run setup exe from the directory CD ROM Windows setup WinNT40 2 3 4 Step 4 Establish communication between the PC and controller for Windows If you are in DOS environment skip this step and go to Step 5 directly GTCmdISA CH and GTCmdPCI CH are the motion control demo program used under Windows operating system GTCmdISA CH is for the ISA bus motion controller and GTCmdPCI CH is for the PCI bus motion controller With the demo program user can just use mouse clicks and keyboard inputs send commands to the motion controller performing simple motion control without C C programming This software is saved at CD ROM DEMO GTCmdPCI CH exe Now we can use this software to establish communication between the PC and the motion controller For ISA Card First
17. shorten the tuning time while avoiding an unstable combination that may damage the system The following tuning method is what we suggest 1 Run GTCmdISA CH to initialize the system 2 Select the current axis from the Select Axis column Loop ClasediOpen 3 Select Close Loop Open Loop Servo Control as illustrated in the right figure 4 Click Clear Status button and view the status of current axis Assure the axis has no abnormal status EE DAS 5 Set Kp 1 Ki 0 Kd 0 and click Update Parameters button as illustrated in the right figure 6 Enable driver and view whether the motor is in static status If the motor is not static tune the bias parameter to make the motor static 7 According to 3 4 Implement single axis motion in the T curve motion mode set the axis motion View the situation of the motion of current axis Increase Kp gradually and update it as Step 5 until the motor begins to shake slightly During this process keep Ki and Kd the same 8 Multiple the Kp value making the axis slight shaking by 0 8 Set the result as the new Kp value and update it View the overshoot of the motion of the current axis If the overshoot is too large add the Kd value gradually until the overshoot is obviously 28 Chart 3 Test and Tune Motion Control System decreased 9 After the axis motion completes view whether there is error between the actual position and command position If there is e
18. 2 E 1 2 Display System Status After the software runs the system status display Window will show the values and status of the status register mode register and coordinate system status register of each axis of the motion controller and display the positions of axis and coordinate system in real time Please see Fig 5 E 1 3 Axis based Control This window is to control a single axis Generally the process of controlling a single control axis 1s as follows Select the axis to be controlled Set such parameters as those of servo filter for SV card motion mode velocity acceleration and target position Tick Servo On Off clear the status and update each parameter to start the motion of axis The functions of SV SG and SP models of control cards of GT400 series are different from each other Please see Fig E 4 E 5 and E 6 E 1 4 Control Based on Coordinate System This window is to control the motion in the coordinate system When the system is in the coordinate system motion control mode the process of controlling motion is as follows First to make sure that the parameters of the filters of all the axes in the coordinated system have been set in the Axis based Control window and all axes are on Map coordinates in the Map Coordinate box Input interpolation instruction into the Interpolation Instruction box and click OK to start interpolating motion immediately Another way is to input interpolation instruction in
19. 6 channels output Probe input Occupy 1 channel of Uncommitted digital input A D 8 channels Watchdog Monitor DSP work status in real time On board linear and DSP firmware x 2 Chapter 1 Overview Features SV SP SG SD SE circular interpolation J Point to point motion S curve T curve jogging motion and electronic gear J J J J motion modes Ed EI EIER t Acceleration Feed forward index signal of encoder 7 Hardware capture Home switch vivid fv dv Following error limit 4 7 Controller output limit wef pepe J 1 4 Configuration of Motion Control System 1 Motion controller 2a PC with ISA slot for ISA bus version controller Or 2b PC with PCI slot for PCI bus version controller 3 Servo motor with incremental encoder or step motor 4 Driver 5 12V to 24V DV power for terminal board 6 Home switch positive negative limit switches optional as needed GT controller works with both AC and DC servomotors To control the servomotor the controller outputs 10V analog voltage signal to control the servomotor When selecting a servomotor make sure the appropriate driver and accessories are selected If there is any question please consult your motor supplier To control a step motor the motion controller provides two kinds of control signals one is a positive pulse negative pulse signal and the other is a pulse and directi
20. 60927 Game port 210 217 52807535 Expansion unit 2 en HI 630 639 Parallel port 2 2B0 2DF 688 735 Optional EGA 2F8 2FF 760 767 Asynchronous communication port 2 300 31F 768 799 Prototype card 360 36F 864 879 PC network card 378 37F 888 895 Parallel port 1 380 38F 896 911 SDLC communication port 2 390 393 912 915 Reserved 3A0 3A9 Aser SDLC communication port 1 3BO0 3BF 944 959 IBM single color monitor 3C0 3CF 960 975 EGA Chart 3 Quick Start 3D0 3DF 976 991 Color monitor Graphic monitor 3FO 3F7 1008 1015 Floppy driver 3F8 3FF 1016 1023 Asynchronous communication port 2 X2EI GPIB adaptor X390 X393 Asynchronous communication port 1 2 3 1 2 Set IRQ lines by JP2 The motion controller provides timer interrupt and event interrupt signals for the PC JP2 is the selection of IRQ jumper of the controller The description of jumper pins is listed in Table 2 4 The default setting of IRQ line by the controller is IRQIO Table 2 4 Selection of IRQ lines Jumper Pin IRQ line Bud eis RES EE 3H 3 4 1 9 5 z 6 7 8 9 10 Default 2 3 1 3 Set watchdog by JP3 The motion controller provides a watchdog to monitor its work status in real time JP3 is the jumper selector of the watchdog After the watchdog is set to be enable with the jumper when the controller downs the watchdog will automatically reset the controller after a delay time of 150ms The watchdog is disabled by defa
21. C i C L gt CD O O L L O LLI d O O O ide Is Gu User For Motion Controller IES GT Ser am AAA mui June 2003 1 10 Is10n Rev Copyright Statement Copyright Statement Googol Technology Ltd All rights reserved Googol Technology Ltd Googol Technology hereafter reserves the right to modify the products and product specifications described in this manual without advance notice Googol Technology is not responsible to any direct indirect or consequential damage or liability caused by improper use of this manual or the product Googol Technology owns the patent copyright or any other intellectual property right of this product and the related software No one shall duplicate reproduce process or use this product and its parts unless authorized by Googol Technology Machinery in motion can be dangerous It is the responsibility of the user to design effective error handling and safety protection as part of the machinery Googol Technology shall not be liable or responsible Warning for any incidental or consequential damages Foreword Foreword Thank you for choosing Googol Technology motion controller We will help you set up your own control system by providing our first class motion controller complete with after sale service and technical support More information about Googol Technology Products Please visit our website
22. E 1 9 Status COLUMN cc ccc cc ccc ccc cccccccccccuccuccucuccuccecuecuccucsscuscucuecuecucuecuececucsseuecesuecaecucsecassuseecseucaneaes 57 E 2 OPERATION SAMPLES ccceececcecceccecceccsccecescescccescescsccsceecesceecescescsscscessetcesceecs 57 E 3 TROUBLESHOOTING ccceececceccecceccecceccsccecescescesceccscceccecescscescescesessessetcesceecs 59 Chapter 1 Overview Chapter 1 Overview 1 1 Introduction GT series of motion controllers can control four motion axes at synchronous achieving multi axis coordinated motion The cores of these controllers consist of ADSP2181 digital signal processor and FPGA which process high performance control computation GT controllers find applications in a wide range of industries including robotics CNC machinery carpentry machinery printing machinery assembly lines processing equipments in electronics laser processing equipments GT motion controller uses PC as its host and offers two versions of products ISA and PCI bus versions In either version RS232 serial communication and PC104 interface socket are available to facilitate users in configuring their systems The C function library and Windows DLL are also provided to accomplish more complicated control functions A Uses may combine these control functions with the data processing user interface and other application modules as required by one s specific control system to implement a control system of specific appli
23. E cards the encoder feedback is not to be connected and can be suspended Appendix C Typical Connecting C 10 Wiring diagram of YASKAWA SGDE series driver in position control mode Term nal Board Dri ver OE N AV OB 1CN AM 2 34 ALM ENABLEO 3 14 SV CN 17 4 18 5 19 6 7 135 ALMSG 8 QN 10 36 S V DI RO 9 3 SIGN DI RO Ee A 4 SIGN PULSEO 23 1 PUS PULSEO i X 2 PULS 12 GD 13 OCC 14 13 424V RESETO 15 18 ALMRST 16 QD 20 QD 21 GOD 24 25 Wri ng Di agramof YASKAVA SERVCPACK SGDE xxxP Seri es ri ver in Posi ti on Node 46 Appendix E Usage of GT Commander Appendix D Troubleshooting Table D 1 Troubleshooting Methods for Motion Controller After motion Addresses conflict Reset base address selection switch according to Section 2 3 Chapter Two controller I5 Motion controller is not installed Reinstall motion controller installed the host PIopery D ssnnot Siac GE Interrupt conflicts Reset interrupt source selection jumper other hardware equipment in the Replace motion controller or computer or ISA bus interface is damaged host PC cannot ISA slot and retry work normally See trouble that the host PC Same as above Error cannot start communication
24. For the definition of pins of CN9 and CN10 please see Table 2 7 and 2 8 For wiring please see Fig 2 7 and 2 8 16 Pin Chart 3 Quick Start Table 2 7 Definition of pins of CN9 on Terminal Board Signal Description Phase A signal of auxiliary encoder 1 Pin Signal Description Phase A_ of auxiliary signal encoder signal Phase B signal of auxiliary encoder 1 Phase B signal of auxiliary encoder l Phase C signal of auxiliary encoder 1 Phase C signal of auxiliary encoder 1 Digital ground Power Table 2 8 Definition of pins of CN10 on Terminal Board Signal Description Phase A signal of auxiliary encoder 2 Pin Signal Description Phase A signal of auxiliary encoder 2 Phase B signal of auxiliary encoder 2 Phase B signal of auxiliary encoder 2 Digital ground 2 3 7 5 Wiring of controller output signal The SV model of controller can output two kinds of signals analog or pulse signal By default the SV controller outputs analog signal from four axes When an axis or some axes are used to control step motors or servo motor operated in position mode user can use the function GT CtrlMode 1 to set the output of the axis as pulse signal output SG SE SD and SP models of controller only work in the pulse signal output mode There are two kinds of pulse signal output mode One is the pulse direction signal mode and the ot
25. H exe if the program runs normally it proves that the motion controller successfully communicates to the PC If an information box Fail to open GT equipment appears it proves that the motion controller fails in communication to the PC Only the controller successfully communicating then user continues to next step Otherwise please refer to Appendix D Troubleshooting If needed please contact us 2 3 5 Step 5 Connect the motor with driver For the purpose of safety we suggest that user do not connect the motor with TE any mechanical device before installing and debugging the control system Please check that there is really no load in the motor Warning Before connecting the driver to the controller connect the driver with the motor For correct wiring please refer carefully to the manual of the drive Test the driver and the motor as reguired in the manual to ensure them are working properly 2 3 6 Step 6 Connect the controller with the terminal board A Refer carefully to the signal description of the connectors in the controller and the pin description of the connectors in motor driver Wire them correctly and id avoid connecting them when power is on Otherwise wrong connection may Warning cause the positive feedback of the system and operation with power may cause damage on hardware so as to make the system unable to work properly 11 Chart 3 Quick Start EN a E Turn off the PC Take out t
26. Maximum sampling rate 50KHz single channel Power Consumption 12V DC Iecc 1A 24V DC Icc 1 8A Dimension 220mm 132mm 32 Appendix B Setting of Position Velocity and Acceleration Appendix B Setting of Position Velocity and Acceleration Since most servo drivers have the frequency multiplying function and the motion controller has the quadrature of encoder feedback signal the setting of the position velocity and acceleration of the motion controller will be different for different control systems This chapter conducts the calculation formulas one by one which can be used by user directly to set the parameters on the position velocity and acceleration Denoted the required motion velocity by V m min acceleration by a m s and the target position absolute position bys mm We denote the pitch of lead screw by L mm r the amount of pulses per revolution by p gear ratio by n When the motor is coupled with the lead screw directly the gear ratio 1 and multiplier of pulse output of the driver by m We denote the parameters of the motion controller as following the target position by Pos Pulse target velocity by Vel Pulse ST target acceleration by acc Pulse ST and control period ST by t u s B 1 Setting of Position For a close loop control system of servomotor by using SV card the driver operates in the velocity control mode we have p Pos I Pulse For an open loop control
27. SA bus controller Skip to Step 2 for PCI bus controller Step 2 Insert the controller into PC Step 3 Install the Windows driver of the controller only for Windows environment Step 4 Establish communication between the host and controller Step 5 Connect the motor with driver Step 6 Connect the controller with terminal board Step 7 Connect the driver and system I O with terminal board Chart 3 Quick Start 2 3 1 Step 1 Set Jumpers on Motion Controller Only for ISA bus controller 2 3 1 1 Set base address by Dip switch JP1 To establish communication between the host PC and motion controller user must select and set the base address of the controller JP1 is the base address selecting switch of the motion controller For its location please see Fig 2 The factory default base address of the controller is 0x300 hex as shown in Fig 2 3 From this address the controller occupies 14 consecutive I O addresses to communicate with the host PC Please check the address occupation of the host to avoid conflict on address and the influence on system operation Table 2 2 is a list for selecting base address Dipswitch of the motion controller Table 2 3 lists the I O addresses occupied by PC for reference when setting base address Suggest that user do not change the initial setting of base address when installing the motion controller for the first time because this address is idle for most computers If communic
28. The chip of motion controller l Replace motion controller between host PC is damaged and motion Replace motion controller or Windows Version of motion controller is controller driver function library and dynamic link library DLL not correct Motion controller always receives limit status of positive limit switch and negative limit IE Reset the effective level of limit switch switch i e the setting of effective level of limit switch is not correct Axis is closed Evoke GT AxisOn to open the axis Motor driver alarm signal The motor is out of control Check cause of alarm Reset motor driver triggered M ller h DE iL controller has abnormal wor Check erst aad change it E Check the wiring according to the wiring Wiring of motor is wrong diagram in User Manual Grounding is wrong Checking grounding The torque of motor is too Check motor driver small Decrease motion speed and set running Stepper motor lose t The output frequency of pulse arameters according to specification of step is too high 7 B d step motor used Increase motion speed and set running FEE The output frequency of pulse Motor vibration orsa parameters according to the lowest is too low frequency of the step motor used 47 Appendix E Usage of GT Commander EEN S i R MH When motor driver without servo on l oo l Motion controller is in uncertain signal
29. ation problem is encountered in the following test please refer to Table 2 3 and 2 3 to modify the setting of base address Address Definition Line A9AS A7 A6 AS AA A 4 A 5 OFF AT ln 2 3 4 3 6 AS A 9 Fig 2 3 Default setting of Dip switch JP1 Table 2 2 Lists of Base Address and Setting of Dip Switch Hex Address Decimal Ade A 9 A 8 AT A 6 A 5 0x100 256 ON OFF ON ON ON ON 0x120 288 ON OFF ON ON OFF ON 0x 140 320 ON OFF ON OFF ON ON 0x 160 352 ON OFF ON OFF OFF ON 0x180 384 ON OFF OFF ON ON ON Ox1a0 416 ON OFF OFF ON OFF ON 0x1cO 448 ON OFF OFF OFF ON ON Ox1e0 A80 ON OFF OFF OFF OFF ON 0x200 512 OFF ON ON ON ON ON 0x220 544 OFF ON ON ON OFF ON Chart 3 Quick Start Hex Address Decimal Address 0x240 0x260 0x280 0x2a0 0x2c0 0x2e0 0x300 Default 0x320 0x340 0x360 0x380 0x3a0 0x3c0 0x3e0 Table 2 3 Typical Mappings of Addresses Allocation of ISA Bus Addresses Uses Hex Decimal 000 OIE 00 31 DMA controller 1 020 03F 32 63 Interrupt controller 1 040 05F 64 95 Timer 060 06F 96 111 Keyboard 070 07F BE GE Real time clock NMI 080 09F 128 159 DMA page register OAO OBF 160 191 Interrupt controller 2 OCO ODE 1925273 DMA controller 2 OFO OFF 240 255 Math co processor 1FO 1F8 496 504 Hard disk drive 200 20F 212
30. c parameters the effective electrical level of journey switch and encoder direction e Set Axis 3 in the axis control window Set the proportional gain as 10 in the Set Servo Filter Parameters box If it is a GT card 57 Appendix E Usage of GT Commander of SG skip this step e Set the motion mode as Electrical Gear Mode Master Axis as Axis 4 and Electrical Gear Ratio as 0 3 Then click OK e Click the option Servo On SV Card Axis On SG card to make Axis 3 into the servo open status e Click Clear Status to clear the event status of Axis 3 e Click Update Parameters to make the parameters of Axis 3 effective e Select Axis 4 in the axis control window Set the proportional gain as 10 in the Set Servo Filter Parameters box If it is a GT card of SG skip this step Set the Target Position as 300000 Velocity as 10 and Acceleration as 1 in the T curve page e Click the option Servo On SV Card Axis On SG card to make Axis 4 into the servo open status e Click Clear Status to clear the event status of Axis 4 e Click Update Parameters to start the motion of Axis 4 and make Axis 3 follow Axis 4 E 2 2 Set Axis 1 2 and 3 as Axis X Y and Z to be Cartesian coordinate system and implement linear interpolated motion with four segments of line in the buffer e Start GT Commander If the basic parameters setting a
31. cation requirements To operate the motion controller a user is required to have the programming experience with C language or DLL in Windows environment 1 2 Terminology of GT Series Motion Controllers RAT Series Symbol Type of Terminal Board GT GT Series G Standard A A D converter Number of axis R Drive relay 200 2 O Customized 300 3 Bus Type 400 4 ISA ISA Bus PCI PCI Bus Output Types SV Analog or pulse output SP Pulse output with encoder reading function SG High frequency pulse output 1MHz SD Pulse output with programmable duty ratio SE Low frequency pulse output 256KHz Chapter 1 Overview 1 3 Function List of GT Series Motion Controllers y Included Excluded Optional Features SV SP SG SD SE ISA PCI ES EN ES BUS RS232 64K Byte ROM 512K Byte SRAM uH HB Program memory sampling rate User adjustable 200us by default Analog output 4 axes Range 10V to 10V mI J Encoder channel 4 channels of quadrature L es MEN J incremental encoder Max Counting frequency 8MHz Auxiliary encoder 2 channels of quadrature incremental encoder Max Counting frequency 8MHz Limit switch Left and right limit switch of each axis Driver alarm signal 1 channel of driver alarm Driver enable signal channel driver enable Driver reset signal 1 channel driver reset of Uncommitted digital input 16 channels Uncommitted digital 1
32. ck Signal Direction For SG SE SD and SP cards Select the option Axis On Axis Off as illustrated in the right figure Axis On lDf tick for Axis On and no tick for Axis Off Now the driver is enabled and the axis shall be in static status If the driver is not enabled after the Enable Servo is selected please refer 2 5 7 2 Wiring of dedicated output to check the wiring If there is an abnormal motion of axis select i to open the Set Basic Parameters interface and click Reset Overall Then the motor will stop and all the motion parameter settings are all lost 2 Chart 3 Test and Tune Motion Control System 3 3 Tune PID Parameters In close loop positioning system the motion controller compares the command position trajectory to the actual position feedback and calculates a motor control signal The position error is defined as the difference between the command and actual positions As the position error increases the motor control signal increases to counteract the error the digital filter coefficients proportional integral derivative gain determine the computation of the value of the motor control signal based on the position error Tuning is the process of adjusting these coefficients to provide the best control for a particular system of motors and loads For SG SE SD and SP cards and SV card operating in pulse signal output mode skip this step When user uses SV car
33. copy the folder CD ROM DEMO into the hard disk Remove the Read only property of the file GTCmd ini from the directory DEMO in the hard disk Open the file GTCmd ini and modify corresponding parameters according to the product as follows CARDO 10 Chart 3 Quick Start LimitSense 0 Hffective electrical level of limit switch EncoderSense 0 Counting direction of encoder IntrTime 1000 Interrupt interval time SampleTime 200 DSP sampling period cardtype 1 SV 2 SG 3 SP CardType 1 Type of motion controller Address 768 Base address of motion controller irq 0 1s recemended Irq 0 Interrupt vector number 0 is recommended The setting of base address and interrupt vector number must be corresponding to the setting of hardware jumpers JP1 and JP2 Please see Step 1 Set jumper on motion controller If the interrupt function of the motion controller is not needed set the IRQ as 0 After modifying parameters save the file Run GTCmdISA CH exe If the program runs normally it proves that the motion controller successfully communicates to the host PC If an information box Fail to open GT equipment appears it proves that the motion controller fails to communicate with the host PC Only the controller successfully communicating to the PC then user continues to next step Otherwise please refer to Appendix D Troubleshooting If needed please contact us For PCI Card Running the program GTCmdISA C
34. d Tune Motion Control System Description Definition Reserved Set to 0 Reserved Axis 4 0 No change 1 Signal reversed Axis 3 0 No change 1 Signal reversed Axis 2 0 No change 1 Signal reversed 10 11 12 13 14 15 Axis 1 0 No change 1 Signal reversed Set sampling period The default period of the controller is 200us Note that user do not set a period less than 200us Otherwise it may disable the controller Click OR From the main menu of GTCmdISA CH click SP to open the Axis based Control Open the pull down menu for axis selection as illustrated in the following figure and select the current axis operation axis Select Clear Status as shown in the right figure clear status Clear the wrong status of the current axis View the right part of the main menu of GTCmdISA CH Assure that the axis has no abnormal status as illustrated in the following figure If the column Servo Alarm is triggered with red cross please check the wiring See 2 3 7 5 26 Chart 3 Test and Tune Motion Control System Wiring of dedicated input If the Positive Limit switch and Negative Limit switch are both triggered please return back to Step 7 to reset Limit Switch trigger voltage Level and then repeat Step 11 to 15 Definition of axis abnormal status One or more status bits of servo drive alarm error in motion positi
35. d outputting analog voltage signal to control servo motor in general it needs to tune PID proportional integral derivative gain parameters Before tuning parameters set the driver of servo motor as in velocity control mode and tune the parameters of servo driver according to following factors including the coupling mode between the motor and mechanism load inertia and mechanical rigidity required to assure the motor operating in a proper status If necessary user can consult motor supplier or technicians of Googol Technology The SV model of motion controller provides the digital filter of PID with velocity and acceleration feed forward i e PID Kvff Kaff filter The filtering parameters include KP proportional gain KI integral gain KD derivative gain Kvff velocity feed forward gain and Kaff acceleration feed forward gain There are two methods generally used for tuning these digital filter coefficients calculation and trial and error Control systems textbooks provide methods for calculation of the tuning parameters for a large variety of applications Trial and error has the advantage in that no knowledge of the control system possessive parameters is necessary and no calculations are needed However you may need to try a large number of trial parameters to tune a system and some combinations of the parameters may produce an unstable or runaway system An organized approach to search the best combination of tuning parameters helps
36. duct Contents Contents COPYRIGHT STATEMENT ekke eke ee eene ee ee FOREWORD ee ee ee ee ee ee ee ee ee ee ese BR INTRO beduie AA ETE N EE ORE l 1 2 TERMINOLOGY OF GT SERIES MOTION CONTROLLERS ecce l 1 3 FUNCTION LIST OF GT SERIES MOTION CONTROLLERS cerne 2 1 4 CONFIGURATION OF MOTION CONTROL SYSTEM ee esse ee see ee sees ee ee ee ee ee ee ee ee ee ee 3 CHAPTER 2 QUICK START ZI OPEN THE DAG TAGE AND C HEC ees Seen Ee oe oe Ee Ee ee ne teen rere 5 2 2 LAYOUT OF GT SERIES MOTION CONTROLLER ese sesse nennen ee ee ee ee 5 Z9 INS TAEEATION PROCEDURES crer aar E E E E NN I DM 6 2 3 1 Step 1 Set Jumpers on Motion Controller Only for ISA bus controller 7 2 3 2 Step 2 Insert the controller into the PC ee ee ee eene 9 2 3 3 Step 3 Install the Windows driver of the controller for Windows environment 10 2 3 4 Step 4 Establish communication between the PC and controller for Windows 10 2 2 9 0D 2 Connect INC motor With driver sissies EER ERGE esta t peti GE ee EO i Il 2 3 6 Step 6 Connect the controller with the terminal board o on 11 2 3 7 Step 7 Connect the driver and system I O with terminal board sss 12 CHAPTER 3 TEST AND TUNE MOTION CONTROL SYSTEM 24 SN OP Vo N ater 24 3 2 SET OUTPUT AND ENABLE DRIVER AXIS ON ees sesse sesse ee ee ee ee ee ee ee ee e
37. e ee ee ee ee ee 27 Os LONE PID TARA METERS a e E EA EEE E E ee eg EEE 28 3 4 IMPLEMENT SINGLE AXIS MOTION IN T CURVE MOTION MODE 29 A Contents APPENDIX A TECHNICAL SPECIFICATION ssssssssssssesssossoossoossoossoosooosooosnoosnoossoossoosnoossoossoosse 0 APPENDIX B SETTING OF POSITION VELOCITY AND ACCELERATION 33 B 1 SETTING OF POSITION ccceccccececcsceccececcccscscscecescececcscescscesescscescscesescesesescesees 33 B 2 SETTING OF VELOCITY cccceccscecescececccceccccecscscuceecececcscsescesescscescscesescecescscesens 33 B 3 SETTING OF ACCELERATION c ccceccscecccceccscecscsceccscececcsceccscesescscescscesescecescecasees 34 APPERDINESTXPICAL WIRING esse sesse ses ee ee ee es es ee es n ee ede C 1 WIRING DIAGRAM OF PANASONIC MSDA SERIES DRIVER IN VELOCITY CONTROL up e 37 C 2 WIRING DIAGRAM OF PANASONIC MSDA SERIES DRIVER IN POSITION CONTROL MODD n 38 C 3 WIRING DIAGRAM OF SANYO DENKI PV1 SERIES DRIVER IN VELOCITY CON TROL Op cL seuss 39 C 4 WIRING DIAGRAM OF SANYO DENKI PV SERIES DRIVER IN POSITION aon iU2mpT 40 C 5 WIRING DIAGRAM OF SANYO DENKI PYO PY2 SERIES DRIVER IN VELOCITY EONTROI MO IDE CEE 4 C 6 WIRING DIAGRAM OF SANYO DENKI
38. e see Fig 2 12 The uncommitted digital outputs are connected through CN14 on the terminal board For the definition of pins of CN14 please see Table 2 10 For wiring please see Fig 2 12 The power supply for uncommitted outputs can be provided through CN12 or CN13 19 Chart 3 Quick Start Pin EXIO can be used as external interrupt source of PC or a probe to capture encoder signal as well as for uncommitted input When these output driving inductive load consider a linkage circuit of EMF Table 2 9 Definition of pins of CN13 on Terminal Description Uncommitted input Uncommitted input Uncommitted input Uncommitted input Uncommitted input Uncommitted input Uncommitted input Uncommitted input Oo EU Bi Wl NO e Uncommitted input Uncommitted input Uncommitted input Uncommitted input Uncommitted input Uncommitted input Ground of external power supply 12V 24V power Table 2 10 Definition of pins of CN14 on Terminal Description Uncommitted output Uncommitted output Uncommitted output Uncommitted output Uncommitted output Uncommitted output Uncommitted output CO OO PL DO Uncommitted output Uncommitted output Uncommitted output Uncommitted output Uncommitted output Uncommitted output Uncommitted output Uncommitted output Uncommitted output
39. for ISA card and interrupt number for ISA card are all the basic parameters of the motion control system it generally requires user to set them when starting the demo program each time To make the use easy the demo software saves the card No 1 in the GTCmd ini file i e saving these basic parameters and set these parameters automatically when the software starts To change the basic parameters setting when starting the program user may change the set value of relevant parameter in the GTCmd ini file E 1 8 Options This window is to specify whether to create a new file open a control window or which control window to open when starting the program next time Please see Fig E 7 E 1 9 Status Column There is a status column at the bottom of the main window consisting of four parts to display the basic operation GT command execution result interrupt timer and interrupt status Please see Fig E 12 E 2 Operation Samples AN The following samples are based on the four axis demo system When referring to id them user should consider one own system condition Notice E 2 1 Let Axis 3 to follow Axis 4 in the electrical gear motion mode with an electrical gear ratio of 0 3 Axis 4 rotates to CW direction by 300000 steps e Start GT Commander If the basic parameters setting automatically when starting the software are not consistent with the actual situation open the Set Basic Parameters window to set proper basi
40. he positive signal pins 1 e Pins9 and 23 of the above differential signal output and suspend the negative signal pins For the output wave please see Fig 3 11 18 Chart 3 Quick Start Terminal Board r i ver Term nal Board Dri ver ad OWPul se Si gnal DE RO 4 D recti on Si gnal SORE DIRO x x OWH DI RO OR DI RO OWE PULSEO Pul se Si gnal emi PULSEO COWPul se Si gnal COW PULSEO PULSE PULSEO 1 f aw OGND OGND AM AM Di fferenti al PULSE DIR Si gnal Di fferenti al PULSE PULSE Terni nal Board Dri ver Terni nal Board Dri ver COM UAE CUM OOF VOO e OE DE RO DE RO CWPul se Si gnal DIRO 3 OR D RO ON PULSEO PULSEO 1 CONPul se Si gnal PULSEO Pul se Si gnal pe PULSED g i caw D 4 Go t AM AM Si ngl e ended PULSE DIR Si gnal Si ngl e ended PULSE PULSE Si gnal Fig 2 10 Wiring Diagram of Pulse Output Signal PULSE PULSE PULSE DIR 2 3 7 6 Wiring of Uncommitted Digital Input Output Fig 2 11 Wave of Pulse and Direction Output The uncommitted digital inputs are connected through CN12 and CN13 on the terminal board For the definition of pins of CN12 please see Table 2 6 For the definition of pins of CN13 please see Table 2 9 For wiring pleas
41. he two shielded cables supplied with the controller Connect CN1 on the controller with CN1 on the terminal board and CN2 on the accessory board with CN2 on the terminal board Fig 2 4 Shield Cable Terminal Board ix T 400 5 V m T AE ACC CHIO CH4 CH9 CHll CHA EE CH7 Accessory board Shield Cable Fig 2 4 Wiring of the Motion Controller and Terminal Board 2 3 7 Step 7 Connect the driver and system I O with terminal board 2 3 7 1 Connecting user supplied power to the terminal board CN3 on the terminal board connects to the external power supply user supplied The connector marked 12V 24V on the board wires to the power of 12V 24V and that marked OGND wires to the ground of external power supply The value of voltage of the external power to be used depends on the requirements of the sensors and switches in the equipment For the wiring diagram refer Fig 2 5 Terminal Board OOND O OC H2V 24V N OND DC 12V 24V E H2V 424V Pover Suppl y Fig 2 5 Wiring Power Supply to the Terminal Board 2 3 7 2 Connect Dedicated Inputs Outputs The dedicated inputs include the driver alarm signal home signal and limit signal which are connected with the driver and sensors through CN5 CN6 CN7 CN8 and CN12 on the terminal BEE EE 12 Chart 3 Quick Start board For the definition of pins of CN5 please see Table 2 5 For the definit
42. her is the positive negative pulse signal mode By default the controller operates in the pulse direction signal mode Using the command GT StepPulse user can set the axis operating in the positive negative pulse signal mode and use the command GT StepDir to set the axis operating in the pulse direction signal mode 17 Chart 3 Quick Start Wiring of Analog Output The analog control output signal is output through Pin 8 of CN5 CN6 CN7 and CNS on the terminal board The ground is the digital ground Pin For the definition of pins of CN5 please see Table 2 5 For wiring please see Fig 2 9 ri ver Termnal Board DAC 4 VOD i id Fig 2 9 Wiring Diagram of Analog Voltage Input Wiring of Pulse Output The pulse direction output signals are output through Pins 9 22 23 and 11 of CN5 CN6 CN7 and CN8 on the terminal board The ground is the digital ground Pin For the definition of pins of CNS please see Table 2 5 For wiring please see Fig 2 10 In the pulse direction signal mode Pins 23 and 11 output differential pulse signals and Pins 9 and 22 output differential motion direction signals In the positive negative pulse output mode Pins 9 and 22 output differential positive pulse trains and Pins 23 and 11 output differential negative pulse trains If the signals needed by the driver are not differential signals wire the corresponding signal with t
43. i tch P y 4 HOMEO oT i N 3K x ALARM Dri ver Al arm 5V ENABLEO ri ver paoe 7 y i RESETO qd ear Driver gel YK o l ENABLE1 vik L RESET1 vA y a K E Dedi cated Inputs Outputs for Axis 1 OD Axis 2 and Axis 3 low 2 O CC 1 pc 24V 12V H2V 424V Power suppl y Fig 2 6 Wiring Diagram of Dedicated Input Output Signals 2 3 7 3 Wiring of encoder feedback signals only for SV card User not using SV model of controller may skip to step 2 3 7 4 If the encoder signals are differential wire the signals directly to A A B B C C VCC and GND of CN5 CN6 CN7 and CN8 If the encoder signal is single input wire the signals to A B C VCC and GND of CN5 CN6 CN7 and CN8 and meanwhile suspend A B and C For the definition of pins of CN5 to CN8 please see Table 2 5 For wiring please see Fig 2 7 and 2 8 15 Chart 3 Quick Start Terminal Board Encoder 26LS32 Fig 2 7 Wiring Diagram of Encoder with differential signals Terminal Board Encoder 26LS32 45V 1k s 5k AD A EP A0 1k BO B BO OD Ci C0 RE SV QD Fig 2 8 Wiring Diagram of Encoder with single signal input 2 3 7 4 Wiring of Auxiliary Encoder Signals The two auxiliary encoder input ports are CN9 and CNIO
44. ion of pins of CN12 please see Table 2 6 For wiring please see Table 2 6 The dedicated outputs include enable driver signal and reset of driver alarm which are also connected to the driver through CN5 CN6 CN7 and CN8 on the terminal board CN 5 CN6 CN7 and CNS are for axis 1 to 4 respectively The definitions of pins of CN 5 to CN8 are the same Table 2 5 For wiring please refer Table 2 6 According to safety standard 1 The alarm signal of driver is in normally closed status If user doesn t use it TE please wire this input signal to OGND The limit switch of the system shall be in normally closed status Warning The home switch is in normally open status Table 2 5 Definition of pins of CN5 CN6 CN7 CN8 on terminal board Pin Signal Description Ground of external power supply Description 12V 24V external power ALM Driver alarm RESET Reset driver alarm ENABLE Enable driver Reserved Reserved Phase A of Encoder signal A Phase A of Encoder signal Phase B of Encoder signal B Phase B of Encoder signal Phase C of Encoder signal CH Phase CF of Encoder signal Power GND Digital ground DAC Analog output GND Digital ground DIR Direction signal DIR Direction signal GND Digital ground PULSE Pulse signal PULSE Pulse signal GND Digital ground
45. it Y Home Capt Index Capt Control Madi Servo Mat kaf 0 T Curve 8 Curve Vel contouring G Mode Intergration Limit 32767 a Motian Limit 32h Be eat Position DO Acceleration U Motion Bias T Velocity DO Pos Error Limit 32787 Fuente 4096 Analog input Interrupt Axis Servo Output Pos Syn Actual Position Encode Pas Cmd Status Get Capture Abrupt Stop imiti 15384 LL encode vel Driver Reset Zero Position Smooth Stop Ark Position intr Wask O Prob Capture Clear Status Update Fig E 4 Axis based Control for SV Card 51 Appendix E Usage of GT Commander Loh WAS en Ore tT Ls DES EGET WT aT Hek ea a LET ORAL OT eirmis Motion Lib Wott elfe pone aas erp Idee Ee modii PETERS RTT FTIIT Ej Seo ULLE Eom gomme eom BO eT la Weel ADO Fig E 5 Axis based Control for SG Card Axis Control ast Er a Seo ety id eli LTT EEN LET one ihn SERT o letter Birnie GLO Bless s 1E prey irrito Se EEG Pte OTA Seyi WOT EDIDIT RES Shines Er Sn ea are Fig E 6 Axis based Control for SP Card Appendix E Usage of GT Commander Coordination Control Crd Projection When Crd Error Axis AXIS AXIS 3 Axis 4 Crd Projection Auto Stop jj Axis s40 Avis Y Axiez D djs AT D Mon Auto Stop Interp Mode Interpolation Parameters Line XY XEnd 0 000 sr 0 000 Mixed Vel 0 000 Line XYZ Y End 0 000 0 000 Mixed Acc
46. malSA exe GTCmdPCl exe GT400 dll GTDII dll Gavi GTCndLib dll and TE Prog dll must be located in the same directory If any one of these six files is moved or deleted the demo program cannot be run Warning E 1 GT Commander Windows and Basic Operation GT Commander demo program runs in a resolution of 8007 600 or above When it running the program will create a text document for user to edit document of GT command cmd or other plain text documents txt ini etc and also open a control window By setting Options in the dialog box user can select to create a document or not to open a control window or not and to open which control window The main windows of this program are illustrated as following 49 Appendix E Usage of GT Commander Ma GT Commander ISA 3 1 File Edit View Window Help Crd Status Axis Status a 2 3 4 Motion Done X X X X servo Alam X X X X Brk Prt Reached MK MN MK x Fos Captured NA X X X Moton Error MN E N N Fos Lmt Trig X X X X Nezlmtltig X X NH X Host Cmd Err X xX Xx X Loop closed X X X X Axison X X X X Axis In Motion MK xX x NX Lmt Enabled X xw N N TCurve X X NX X Curve K X xX NX Yel Contouring wW x W X Mode M N N X Crd Mode X X X X Home Capture X X X X Index Capture W WW WE N Axis Positton Aris I 0 Axis 2 Axis 3 0 Axis 4 0 ur DT ClrSts Intr count erl Intr stauts 0 HUM 11 17 39 Arts e med
47. olution is p then the setting of the velocity will be 2 acc io Pulsel ST Example 1 Assume that a close loop control system of servo motor is controlled by a SV card and the driver operates in velocity control mode Assume V 30m min a 10m s s 100mm n 1 P 2500 Pulse r L 5mm r t 200us then the setting of the acceleration and velocity of the controller will be Pos eee 200000 Pulse Vel ee 200 Pulse ST 5 6 10 2 acc ee 0 8 Pulse ST Example 2 For an open loop control system of servomotor controlled by SV or SG SP SE and SD card and the driver operates in position control mode Assume V 30m min a 10nvs s 100mm n 1 P 2500 Pulse r L 5mm r t 200us then the target position acceleration and velocity of the controller will be Pos 42200 HU N 200000 Pulse Vel klei ed Ag 200 Pulse ST 556410 35 Appendix B Setting of Position Velocity and Acceleration aa aS SSS UU EE AE EE HI OE BUL 251112 X 10 1 4 2500 200 CC FO CC 0 8 Pulse ST 5x10 l Example For an open loop control system of step motor controlled by SV or SG SP SE and SD card assume V 30m min p 2500 Pulse r s 100mm n 1 L 5mmrr a 1Om s t 200us then the target position acceleration and velocity of the controller will be Pos EUM 50000 Pulse Vel ee 50 Pulse ST 5 6 10 2 acc I 0 2 Pulse ST 36 Appendix C Typical Connecting Appendix C Typical Wi
48. on signal Thus the controller can be used to work with any step motor currently available in the market When controlling a step motor the control mode is open loop and no encoder is needed For SP model of controller controlling a step motor the controller provides channels to read encoder signal A typical connection of motion control system using GT motion controller is illustrated in Fig 1 1 Chapter 1 Overview Motion Controller Terminal B MISI Driver sl si sil ail Fig 1 1 Schematic Diagram of Motion Control system using GT motion controller mE Servo motor step motor ge TT i i E f r Encoder SV SP card Pbsitive limit switch V To Home Switch PC p C Positive Limit Swit Driver Y Encoder feedback i Control Current ontrol com and 7 Fig 1 2 Typical Application of GT Series Motion Controller Chart 3 Quick Start Chapter 2 Quick Start 2 1 Open the Package and Check Before opening the package please check whether the product type marked on the package is consistent with your purchase After opening the package first check whether there is any mechanical damage on the motion controller Then check carefully whether the accessories are complete If there is mechanical damage on the controller or any item is missing in the package please do not use the product and contact Googol Technology or our distributor immedia
49. or or not Click Clear Status to clear the relevant status symbols 5 Contact Googol Technology 59 Appendix E Usage of GT Commander Googol Technology HK Ltd Address Room 3639 Annex Building Hong Kong University of Science and Technology Hong Kong Tel 852 2358 1033 Fax 852 2358 4931 E mail info googoltech com Web http www googoltech com Googol Technology SZ Ltd Address Room W211 IER Building South Area Shenzhen Hightech Industrial Park Shenzhen PRC Tel 0755 2697 0823 2697 0819 2697 0824 Fax 0755 2697 0821 E mail support googoltech com Web http www googoltech com cn 60
50. otion controller through GTCmdISA CH In this chapter we only use part of these functions For more detailed description please refer to Appendix E Introduce of DEMO Software For safety we suggest that user do not connect the motor with any mechanical TH EL device when debugging the system Please check that there is really no load in Warning the motor 3 1 Setup System Before starting the debugging user need to initialize first the system that includes initialization of the controller and setting parameters on dedicated input signal In the following function testing we assume that the system has been initialized correctly 1 Turn on PC driver and external power supply for terminal board 2 In Windows run GTCmdISA CH 3 Inthe menu click 2 1 Set Basic Parameters appears 4 User using only one card can skip this step User using multiple cards opens the pull down menu from the Select Control Card column to select the number of card to be operated The numbering of card is determined as that generally according to the distance between the control card slot and BIOS on main board the cards are numbered card 0 card 1 card 2 etc from the near to the far Of course the main boards provided by each manufacturer are different For some boards the numbering of cards is reversed i e card 0 card 1 card 2 etc from the far to the near But this is not a problem In the following debugging the numbers
51. ring C 1 Wiring diagram of Panasonic MSDA series driver in velocity control mode Term nal Board Dri ver OE OE AV OB CN 1 F OOND 1 41 OOM AM 2 3 ALM ENABLEO 3 29 SRV CN AO 17 21 BO 18 48 CB B 5L AX x 49 CR G 19 23 OC oO E S X 24 Gy 7 36 ALM ma 8 14 SPR TRQR 9 GD 10 15 GOD 11 12 GD 13 OCC 14 7 CO RESETO 15 31 AGAR 16 QD 20 QD 21 22 23 QD 24 25 Wri ng D agramof Panasoni c Driver in Velocity Mode od Appendix C Typical Connecting C 2 Wiring diagram of Panasonic MSDA series driver in position control mode Term nal Board ri ver a5 CON QV OB CN 1 F OGND 1 41 COM ALM 2 37 ALM ENABLEO 3 29 SRV CN AO 17 X X 21 OM A0 4 22 OM BO 18 AG CB o ls Lb X 49 QR C 19 23 OC o 6 A x 24 7 36 ALM 8 GD 10 15 GoD DI RO 9 5 SIGN DI RO 22 x A 6 SIG PULSEO 23 3 PUSI PULSEO 11 a x 4i PUS2 12 GD 13 OC 14 7 O RESETO 15 31 AAR 16 GD 20 QD 21 GD 24 25
52. rror add the Ki value gradually until the position error in the band of 1 pulse In the actual system user shall select an appropriate Ki value according to the requirements for error range and settling time Please pay attention to that when using the parameter Ki user must set the integral limit 3 4 Implement Single axis Motion in T curve Motion Mode The motion controller provides four motion control modes S curve T curve independent jogging and electrical gear modes For their detailed description please refer to Programming Manual of GT Series Motion Controllers Here we only take the T curve motion mode for example For the other modes user may refer to the CMD file provided by the DEMO software l Run GTCmdISA CH and initialize the system select the control output mode and enable the driver For SV model of controller tune PID parameters Clear the status confirm the axis has no abnormal status and set Axis On The axis should be in static status Click Reset Position button Check the Current Position of Axis is 0 Set the axis motion parameters in the Motion Control Mode column as illustrated in the following figure Set the parameters as required The unit of velocity is Pulse ST that of 2 acceleration is Pulse ST and that of position is Pulse For more details please see Appendix B T Curve 8 Curve Vel contouring G Mode Position 20000 Acceleration 0 1
53. s we Vel Pulse ST have Assume that the number of pulse per revolution is p then the setting of the velocity will be V n p t Vel 7 L 6 10 Pulse ST B 3 Setting of Acceleration For a close loop control system of servomotor by using SV card the driver operates in the velocity control mode we have a m s B a 10 L mm r L r s Angular acceleration of the lead screw 1s 107 a n Denoted the gear ration by n then the angular acceleration of motor is rL r s Since the encoder feedback signal from the motor is quadrature and assume that the number of pulses per revolution of the motor is p then the number of pulses per revolution to be set as 4p Hence the setting of the acceleration will be l 3 AA aet GOP s us t us ST L acc 34 Appendix B Setting of Position Velocity and Acceleration 2 acc Pulse ST For an open loop control system of servomotor by using SV SG SP SE and SD cards the driver operates in the position control mode we have Assume that the multiplying coefficient of the pulse from the driver is m and the number of pulse per revolution is m p Then the setting of velocity will be a n mp t acc Pulse ST L 10 l For an open loop control system of step motor by using SV SG SP SE and SD cards we have Assume that the number of pulse per rev
54. status bit High voltage level trigger Low voltage level trigger Axis 2 Negative limit switch status bit High voltage level trigger Low voltage level trigger Axis 2 Positive limit switch status bit High voltage level trigger Low voltage level trigger Axis 1 Negative limit switch status bit High voltage level trigger Low voltage level trigger Axis 1 Positive limit switch status bit High voltage level trigger ma Ole Ole Om OM Om OM Ole O Low voltage level trigger 9 User not using SV card skips this step Otherwise it is needed to set Encoder Direction If the wiring is proper according to 2 3 7 3 Wiring of Encoder Feedback user does not need to modify the default value 0 of motion controller Or if phase A and phase B of an encoder exchange set the parameters reversed according to Table 2 2 For example the parameter 15 is to reverse the encoder directions of all the four axes The motion controller requires the positive direction of motor motion consistent with positive counting direction of corresponding encoder only that can form the negative feedback If due to wrong wiring or other reasons the two directions were Warning reversed which will form positive feedback and cause the motor to out of control User can set the encoder direction parameter to form negative feedback Table 2 2 Setting the direction of encoder feedback 23 Chart 3 Test an
55. system of servomotor by using SV SG SP SE and SD cards The driver operates in the position control mode we have k po Pos ES Pulse For an open loop control system of step motor by using SV SG SP SE and SD cards we have Pos Pulse B 2 Setting of Velocity For a close loop control system of servomotor by using SV card the driver operates in the velocity control mode we have Appendix B Setting of Position Velocity and Acceleration V m min V 10 L mm r L Rotation speed of lead screw 1s r min 10 n L Since the encoder feedback signal from the motor is quadrature and assume that the number Assume that gear ratio is n then rotation speed of motor is r min of pulses per revolution of the motor is p then the number of pulses per revolution to be set as 4p Hence the setting of the velocity will be V n 4p 107 l Vel Pulse min min us t us ST TP Fs ios Quin us rus ST Vel FEE PET Pulse ST L 6 10 For an open loop control system of servomotor by using SV SG SP SE and SD cards the driver operates in the position control mode we have Assume that the multiplying coefficient of the pulse from the driver is m and the number of pulse per revolution is m p Then the setting of velocity will be N V n m p t L 6 10 For an open loop control system of step motor by using SV SG SP SE and SD card
56. tely N To avoid any electrostatic from damaging the motion controller please discharge static in TE EL your body before touching the controller or inserting removing the controller to from a slot Warning of PC 2 2 Layout of GT Series Motion Controller The layout of ISA series motion controller is illustrated in Fig 2 1 CN4 CN5 CNI CN2 CN3 Doooo 0000000 00 00 000 000000000000000000000000000 000000000000000000000000000 Fig 2 1 ISA Series Motion Controller Chart 3 Quick Start The layout of PCI series motion controller is illustrated in Fig 2 2 CM4 CNI FPGA PCI Bridge EEZ E L CN2 Fig 2 2 PCI Series Motion Controller Table 2 1 lists the description of each connector and jumper Please locate their positions and know their functions The following section on Installation Procedures will describe these connectors and jumpers in details Table 2 1 Definitions of Connectors and Jumpers Definition Description Base address switch only for ISA PC104 Jumper of IRQ only for ISA PC104 Jumper of watchdog For debugging not user Jumper Connector of axis control interface Connector of I O interface Debugging port not for user Debugging port not for user Connector of power supply for PC104 modules 2 3 Installation Procedures Install the controller according to the following 7procedures Step 1 Set jumper on motion controller only for I
57. terface 6 quadrature incremental encoder inputs Maximum counting frequency 8MHz Asynchronous Serial Port 1 channel of RS 232 RX TX GND Synchronous Serial Port 1 channel DT DR SCLK TFS GND Transferring speed 2MHz 30 Appendix A Technical Specification VO 56 channels TTL compatible no Pull up Resistor Dedicated input Positive limit switch 4 channels Negative limit switch 4 channels Home switch 4 channels Driver alarm 4 channels Dedicated output Enable signal 4 channels Reset alarm signal 4 channels Uncommitted input 16 channels Uncommitted output 16 channels Power Consumption 5V Icc 1 5A 12V Icc 30mA 12V Icc 30mA Dimension 122mmX 185mm Operating Temperature 0 60 C 32F 140 F Relative Humidity 5 90 no dew 3l Appendix A Technical Specification GT 400 ACC2 Terminal Board Optical Isolated I O Specification for opto isolated input Isolation voltage 5000V RMS Input voltage 12V 24VDC Input current 3 7mA 7 6mA Set time HL Sus LH 3us Specification for opto isolated output Isolation voltage 5000V RMS Open Collector output without pull up resistor Vceo 50V Veco lt 5V Ic lt 30mA Average set time 8us A D Converter Connect with the motion controller through the synchronous serial port Number of input channels 8 single ended and bipolarity Input voltage range 10V to 10V Resolution 12bit Accuracy 1bit
58. tion controller provides optional analog input module which is through CN11 on the terminal board For the definition of pins of CN11 please see Table 2 12 For wiring please see Fig 2 14 Table 2 12 Definition of CN11 Feet on Terminal Board Pin Signal Description i Signal Description Channel 0 Analog ground Channel 1 Analog ground Channel 2 Analog ground Channel 3 Analog ground Channel 4 Analog ground Channel 5 Analog ground Channel 6 Analog ground Channel 7 l 2 3 4 5 6 7 8 22 Chart 3 Quick Start Terminal Board AD 890 1 ALND 9 AGD WY 2 AN 19 AGD av 3 AIM 11 AGD i 15 AGD AGND B Av G oundi ng Unused Ter m nal aut Fig 2 14 Wiring Diagram of Analog Input Signal 23 Chart 3 Test and Tune Motion Control System Chapter 3 Test and Tune Motion Control System After configuring the motion control system user can now test the system with the software GTCmdISA CH exe for ISA bus controller or GTCmdPCI CH exe for PCI bus controller supplied with the controller During debugging the system we can check whether the controller is installed correctly and whether the controller operates properly and performs a simple single axis motion GTCmdISA CH is located in the directory DEMO in the CD provided together with the product User can conduct most functions of the m
59. to the interpolation instruction buffer and then start interpolating motion in the buffer Please see Fig E 7 E 1 5 Input Output Control This window is for I O control Please see Fig E S E 1 6 Edit and Run GT Commands User can program a GT command in this window to realize the batch processing of GT commands Click Run and the software will check the command one line by another When the command and parameters are all legal the running will continue If something 1s wrong the software will stop at the statement having error Note that only one statement is allowed in a line User may program GT command according to the sample program Please see Fig E 9 56 Appendix E Usage of GT Commander E 1 7 Set Basic Parameters This window 1s to set such parameters as the Effective voltage level of limit switches LmtSns encoder direction EncSns sampling period SmplTm and timer interrupt period IntrTm and also to open close and reset the controller For GT400 card with ISA bus user must specify the base address and interrupt number of the controller But for GT400 card with PCI bus user does not need to set such parameters User can install 16 PCI bus controllers into a PC but only two ISA bus controllers in a PC Please see Fig 0 since the effective voltage level of limit switch LmtSns encoder direction EncSns sampling period SmplTm and timer interrupt period IntrTm as well as card type base address
60. ult JP3 Watchdog is enabled Watchdog is disabled By default 1 23 1 23 JP4 is the selector of debugging jumpers of the controller It has been set before leaving the factory and cannot be changed ER JP4 By default Warning 1 2 3 2 3 2 Step 2 Insert the controller into the PC AN Please be careful when handling Discharge static in your body before touching TE the controller circuit or inserting removing the controller to avoid any static from damaging the motion controller Warning 1 Connect the CN2 connector of the controller and the accessory board ACC1 with a 62 pin flat cable provided with the board 2 Turn off the PC 3a For ISA bus controller select a free ISA slot in the PC 3b For PCI bus controller select a free PCI slot in the PC 4 Insert the controller card into this slot firmly Chart 3 Quick Start 5 Fix the controller card in the slot by tightening the screw 6 Remove the cover of a nearby slot Fix the accessory board ACC1 on the PC frame with screws 7 Close the PC cover and restart the PC 2 3 3 Step 3 Install the Windows driver of the controller for Windows environment If you are using DOS skip this step and go to Step 5 directly For ISA Card l Insert the product CD into the CD ROM 2 Run WinSetupCH exe from the directory CD ROM Windows setup 3 Restart the computer when prompted For PCI Card Install the driver in Windows98 2000 1 After
61. utomatically when starting the program are not consistent with the actual situation open the Set Basic Parameters window to set proper basic parameters the effective voltage level of limit switch and encoder direction e Set Axis 1 in the axis control window Set the proportional gain as 10 in the Set Servo Filter Parameters box If it is a GT card of SG skip this step Click the option Servo On SV Card Axis On SG card to make Axis into the servo open status e Click Update Parameters to make the parameters of Axis effective e Click Clear Status to clear the event status of Axis 1 For Axis 2 and 3 perform the same operations as above e Click the Control of Coordinate System in the main window to enter the coordinate system motion control mode e Check Axis 1 in the Map Coordinate box Input parameter into the input box in front of X and click Make Effective button e Check Axis 2 in the Map Coordinate box Input parameter 1 into the input box in front of Y and click Make Effective button Check Axis 3 in the Map Coordinate box Input parameter 1 into the input box in front of Z and click Make Effective button e Click Start Buffer Command e Click the option Set the start points XY Z Z in the Buffer Interpolation Status box Input X 0 Y 0 and Z O in the Buffer Interpolation Status
62. ve and negative limit switch triggered and error in host command are triggered 3 2 Set Output and Enable Driver Axis on l After initializing the system select the current axis from the Select Axis box According to the system requirement set the output model Pay attention to that the setting of output model must be consistent with the setting of control mode of the motor driver of the current axis For SV Card Control Modi 0 Seng Mot Select analog output i e 0 Or select pulse output ie 1 For SG SE SD and SP cards Set pulse direction signal output ie D mode P Mode D Mode Or set positive negative pulse signal output 1 e P mode 2 For SV Card Select the option Enable Servo Disable Servo as illustrated in the figure on the right hand side check to enable or uncheck to disable Y Serva Oniot Now the driver 1s enabled and the axis shall be in static status The change of axis position can be viewed through the Current Axis Position column If the axis rotates slowly first tune the Zero Point Drift Parameter of the driver If it has been tuned to the critical point fine tune it through the Zero Point Output Drift Value If the driver is not enable after the Enable Servo is selected please check the wiring referring to output If the motor is out of control check Disable Servo to disable servo Then refer to Step 9 in Section 3 1 to reset the Encoder Feedba
63. velocity Click Update Parameters button as illustrated in the following box Ee Ee The axis will move to the target position at the setting of velocity and Update acceleration Check whether the current position of axis is at the target position If the motion completes set a new target position and click Update Parameters The axis will move to the new target position The range of target position 1s 1 073 741 824 to 1 073 741 823 Now the motion controller has been setup successfully Next if you want to use more functions of the controller the DEMO software GTCmdISA CH or GT CmdPCI CH provided with the controller will facilitate the usage quickly For detailed usage description please refer to Appendix E To program an application of control system please refer to Programming Manual of GT Series Motion Controllers 29 Appendix A Technical Specification Appendix A Technical Specification Bus PC AT bus ISA PC104 and PCI bus Program Memory ROM 64K Byte SRAM 512K Byte Sampling Rate 200us for SV SP SG and SD models of controller 400us for SE model of controller Analog Output Number of axes 4 Voltage Range 10V to 10V Resolution 16bit Pulse Signal Output Frequency of output pulse train IMHz Maximum for SV SP SG and SD card Frequency of output pulse train 256KHz Maximum for SE card RS 422 line driver 20mA Duty cycle 50 Nonlinear lt 1 Encoder Signal In

User Manual - GT series Motion Controllers

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