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User`s Manual

1. Inside 8102 R 220hm PA ISO PB ISO Motion IC PA PB HP0631 34 Signal Connections ADHI 3 13 Simultaneously Start Stop Signals STA and STP The PCI 8102 provides STA and STP signals which enable simul taneous start stop of motions on multiple axes The STA and STP signals are on CN4 The diagram below shows the onboard circuit The STA and STP signals of the two axes are tied together respectively vec vec Inside PCI 8102 K1 K2 10K 10K a STP STA STA The STP and STA signals are both input and output signals To operate the start and stop action simultaneously both software control and external control are needed With software control the signals can be generated from any one of the PCI 8102 Users can also use an external open collector or switch to drive the STA STP signals for simultaneous start stop If there are two or more PCI 8102 cards connect the K2 connector on the previous card to K1 connector on the following card The K1 and K2 connectors on a same PCI 8102 are connected inter nally PCI 5102 80 PCI 8102 1 PCI 8102 2 K2 K2 K2 e 05v e sv e Div STA STA STA err esr esr cND NN ecND conp e 5v e Div e 05v STA STA STA er sTr er ecND ecND ecND KI Ki KI User can also use external start and stop signals to issue a cross card simultaneous motor operation Just connect external start Signal Connections 35 ADLINK TECHNOLOGY INC and s
2. ssssseeeee 85 5 3 MotionCreatorPro Form Introduction sssss 87 Main Men Mr 87 Select Men 88 Card Information Menu cccccsssceeeeessteeeeeessnteeeeeees 89 Configuration Menu seseeeeerenennn 90 Single Axis Operation Menu sss 96 Two Axis Operation Menu sse 103 2D Motion Menu 0 cceececccceceeceeeeeeeaeaeeeseaeeeeaeeeess 107 Table of Contents iii TECHNOLOGY INC A ADLINK A Help Menu eeeeeeeeeeeeseeereeennenn rennen 113 6 Function LiDrary seeiie YRRWR nona c ico RR YR 115 6 1 Listof Functions ec eeeeees 116 6 2 C C Programming Library eseeeee 123 6 3 Initialization ee 124 6 4 Pulse Input Output Configuration sssssss 127 6 5 Velocity mode MOTION 00 0 eee ee eetteeeeeeeeteeeeeeeeaeeeeeeeeaas 130 6 6 Single Axis Position Mode seeeseeee 133 6 7 Linear Interpolated Motion seeeeeeee 137 6 8 Circular Interpolation Motion sseseeeeess 140 6 9 Home Return Mogde sseseeeenmen 143 6 10 Manual Pulser Motion seeeeeeene 146 6 11 Motion Status i Gun y i lin nica 149 6 12 Motion Interface l O ee uueeeeeneeeinui nien nen nnd Ynn nno nun 151 6 13 Interrupt Control eee eecee cece eeeeeeeeeeeeeee
3. eene 7 2 Installation ioa inia uit RR EU HR RYD REC E FID re 9 2 4 Package Contents sssssssssseeeee 9 2 2 PCI 8102 Outline Drawing esee 10 2 3 PCI 8102 Hardware Installation sessesss 11 Hardware Configuration ssssssseese 11 PCI Slot Selection sssssssssseeeee 11 Installation Procedures esee 11 Troubleshooting se 12 2 4 Software Driver Installation eese 12 2 5 P1 Pin Assignments Main connector 13 P2 Pin Assignment 16 Digital Inputs 16 Digital Outputs sseeeeeene 14 2 6 K1 K2 Pin Assignments Simultaneous Start Stop 16 2 7 Jumper Setting for Pulse Output sesssssss 16 2 8 Switch Setting for card index ssssssssss 17 3 Signal Connections eres 19 3 1 Pulse Output Signals OUT and DIR 20 3 2 Encoder Feedback Signals EA EB and EZ 22 3 3 Origin Signal ORG 25 3 4 End Limit Signals PEL and MEL ssssss 26 3 5 In Position Signal INP eesssseeenene 27 3 6 Alarm Signal ALM sessssseeeeeeeennmenen ns 28 3 7 Deviation Counter Clear Signal ERC 29 3 8 Gener
4. When general comparator conditions are met zs NO When trigger comparator conditions are met 160 Function Library ADLINK TECHNOLOGY INC 13 When resetting the count value with a CLR signal input 14 When Latching the count value with a LTC signal input 15 When Latching the count value with an ORG signal input 16 When the SD input is ON 17 When the DR input is changed 18 When the CSTA input is ON 19 31 Not define Always set to 0 GPIO INT factors Value meaning 0 Disable 1 Enable UJ rd Description Digital Input 0 falling dege Digital Input 1 falling dege Digital Input 2 falling dege Digital Input 3 falling dege Digital Input 0 rising dege Digital Input 1 rising dege Digital Input 2 rising dege Digital Input 3 rising dege CLR LTC SD PCS input 0 Interrupt enable CLR LTC SD PCS input 1 Interrupt enable 10 CLR LTC SD PCS mode 0 falling edge 1 rising edge 11 15 Not define Always set to 0 oJwu o o ebO nmp o e TimeOut ms Specifies the time out interval in milliseconds IntFactorBitNo Specifies the bit number of the INT factor Function Library 161 ADLINK TECHNOLOGY INC 6 14 Position Control and Counters Name 8102_get_position Get the valu position counter 8102 se counter 8102 get command Get the valu 8102 se counter 8102 get error cou
5. 8102_set_pcs_logic Set the logic of PCS signal 8102_set_lcr_mod Set the mode of CLR signal _8102_set_inp Set the logic of INP signal and operating mode 8102_set_alm Set the logic of ALM signal and operating mode 8102_set_erc Set the logic of ERC signal and operating mode 8102_set_sd Set the logic SD signal and operating mode 8102 enable sd Enable SD signal 8102 set limit logic Set the logic of PEL MEL signal 8102_set_limit_mode Set PEL MEL operating mode 8102_select_pin23_input set pin NO 23 signal source 8102 select pin57 input set pin No 57 signal source 8102 get io status Get all the motion I O statuses of each 8102 Description 8102 set servo You can set the ON OFF state of the SVON signal with this func tion The default value is 1 OFF which means the SVON is open to GND 8102 set pcs logic Set the active logic of the PCS signal input 8102 set Ilcr mode CLR inputed signal can reset specified counters from counter 1 to 4 The reset action could be set by this function The reset action mode has 4 types For details refer to argument 8102 set inp Function Library 151 A A ADLINK TECHNOLOGY INC Set the active logic of the In Position signal input from the servo driver Users can select whether they want to enable this function It is disabled by default 8102 set alm Set the active logic of the
6. ByVal B_8102_get ltc_logic As Integer As Integer latch data ByVal AxisNo As Integer ByVal CounterNo As Integer Pos As Double As Integer Argument AxisNo Axis number of Target Axis card id Physical axis AxisNo 0 0 0 1 0 2 1 1 3 0 4 2 1 Logic logic of comparing trigger Value Meaning O Negative logic 1 Positive logic CmpSrc The comparing source counters Value Meaning 0 Command counter 1 Feedback counter 2 Error counter 3 General counter CmpMethod The comparing methods Value Meaning 1 Data Source counter direction independent Function Library 169 A FA ADLINK 2 Data Source counter Count up only 3 Data Source counter Count down only 4 Data gt Source counter 5 Data lt Source counter Data comparing value CmpAction Value Meaning 0 No action 1 Stop immediatlly 2 Slow down then stop Itc src Value Meaning 0 LTC pin input 1 ORG pin input 2 general comparator conditions are met 3 trigger comparator conditions are met Itc logic LTC signal operation edge Value Meaning 0 Negative logic 1 Positive logic CounterNo Specified the counter to latch Pos Latch data 170 Value Meaning 0 Command counter 1
7. When user enabled the Interrupt function by 8102 int control He could use this function to wait the errior interrupts 8102 wait motion interrupt 158 Function Library ADLINK TECHNOLOGY INC When user enabled the Interrupt function by _8102_int_control and set the interrupt factors by _8102_set_motion_int_factor User could use this function to wait the specific interrupt When this function was running the process would never stop until evens were triggered or the function was time out 8102_wait_gpio_interrupt When user enabled the Interrupt function by _8102_int_control and set the interrupt factors by _8102_set_gpio_int_factor User could use this function to wait the specific interrupt When this function was running the process would never stop until evens were triggered or the function was time out Syntax C C Windows 2000 XP 116 116 Visual B_8 B_8 _8102_int_control I16 card id I16 intFlag 8102 set motion int factor I16 AxisNo U32 int factor 8102 set gpio int factor I16 card id U16 int factor 8102 wait error interrupt I16 AxisNo 132 TimeOut ms 8102 wait motion interrupt I16 AxisNo I16 IntFactorBitNo I32 TimeOut ms 8102 wait gpio interrupt I16 card id I16 IntFactorBitNo I32 TimeOut ms Basic Windows 2000 XP 102 int control ByVal card id As Integer ByVal intFlag As Integer As Integer 102 wait error interrupt B
8. 8102 set fa speed This function is used to specify the low speed for backlash correc tion or slip correction It also used as a reverse low speed for home return operation Syntax C C Windows 2000 XP I16 8102 backlash comp I16 AxisNo I16 CompPulse I16 Mode I16 8102 suppress vibration I16 AxisNo U16 ReverseTime U16 ForwardTime 116 8102 set fa speed I16 AxisNo F64 FA Speed Visual Basic Windows 2000 XP B 8102 backlash comp Lib 8102 dll Alias 8102 backlash comp ByVal AxisNo As Integer ByVal CompPulse As Integer ByVal Mode As Integer As Integer Function Library 181 ADLINK TECHNOLOGY INC B 8102 suppress vibration ByVal AxisNo As Integer ByVal ReverseTime As Integer ByVal ForwardTime As Integer As Integer B 8102 set fa speed ByVal AxisNo As Integer ByVal FA Speed As Double As Integer Argument AxisNo Axis number of Target Axis card id Physical axis AxisNo 0 0 0 1 1 0 2 1 1 3 0 4 2 1 CompPulse Specified number of corrective pulses 12 bit Mode Value Meaning 0 Turns off 1 enable backlash compensation 2 Slip correction ReverseTime Specified Reverse Time 0 65535 unit 1 6 us ForwardTime Specified Forward Time 0 65535 unit 1 6 us FA Speed fa speed unit pulse sec 182 Function Library ADLINK TECHNOLOGY INC 6 21 Speed Profile Calculation Name 8102_get_tr_move_profil Get t
9. 8102 sv move Accelerate an axis to a constant velocity with S curve profile 8102 sd stop Decelerate to stop 8102 emg stop Immediately stop 8102 get current speed Get current speed pulse sec 8102 speed override Change speed on the fly 8102 set max override speed Set the maximum orerride speed 116 Function Library ADLINK TECHNOLOGY INC Single Axis Position Mode Section 6 6 Function Name Description 8102 start tr move Begin a relative trapezoidal profile move 8102 start ta move Begin an absolute trapezoidal profile move 8102 start sr move Begin a relative S curve profile move 8102 start sa move Begin an absolute S curve profile move Set the ratio of command pulse and feedback pulse 8102 position override Change position on the fly 8102 set move ratio Linear Interpolated Motion Section 6 7 Function Name Description Begin a relative 2 axis linear interpolation for X amp BYD Stan I move Ky Y with trapezoidal profile Begin an absolute 2 axis linear interpolation for X amp Y with trapezoidal profile Begin a relative 2 axis linear interpolation for X amp Y with S curve profile 8102_start_ta_move_xy 8102_start_sr_move_xy Begin an absolute 2 axis linear interpolation for 8102 start sa move Xy yg Y with S curve profile Circular Interpolation M
10. B 8102 disable soft limit ByVal AxisNo As Integer As Integer B 8102 enable soft limit ByVal AxisNo As Integer ByVal Action As Integer As Integer B 8102 set soft limit ByVal AxisNo As Integer ByVal Plus Limit As Long ByVal Neg Limit As Long As Integer Function Library 179 A A ADLINK TECHNOLOGY INC Argument AxisNo Axis number of Target Axis Action The reacting method of soft limit card_id Physical axis AxisNo 0 0 0 1 1 0 2 1 1 3 0 4 2 1 Value Meaning 0 INT only 1 Immediately stop 2 slow down then stop Plus Limit Soft limit value positive direction Neg Limit Soft limit value negative direction 180 Function Library ADLINK TECHNOLOGY INC 6 20 Backlash Compensation Vibration Suppression Name 8102 backlash comp Set backlash corrective pulse for compensation 8102 suppress vibration Set vibration suppressing timing 8102 set fa speed Set the FA speed Description 8102 backlash comp Whenever direction change occurs the 8102 outputs backlash corrective pulses before sending commands This function is used to set the compensation pulse numbers 8102 suppress vibration This function is used to suppress vibration of mechanical systems by outputting a single pulse for negative direction and the single pulse for positive direction right after completion of command movement
11. Dist F64 StrVel F64 MaxVel F64 Tacc F64 Tdec F64 SVacc F64 SVdec F64 pStrVel F64 pMaxVel F64 pTacc F64 pTdec F64 pSVacc F64 pSVdec F64 pTconst 8102 get sa move profile I16 AxisNo F64 Pos F64 StrVel F64 MaxVel F64 Tacc F64 Tdec F64 SVacc F64 SVdec F64 pStrVel F64 pMaxVel F64 pTacc F64 pTdec F64 pSVacc F64 pSVdec F64 pTconst Visual Basic Windows 2000 XP B 8102 get tr move profile ByVal AxisNo As Integer ByVal Dist As Double ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double ByVal Tdec As Double ByRef pStrVel As Double ByRef pMaxVel As Double ByRef pTacc As Double ByRef pTdec As Double ByRef pTconst As Double As Integer B 8102 get ta move profile ByVal AxisNo As Integer ByVal Pos As Double ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double ByVal Tdec As Double ByRef pStrVel As Double ByRef pMaxVel As Double ByRef pTacc As Double ByRef pTdec As Double ByRef pTconst As Double As Integer B 8102 get sr move profile ByVal AxisNo As Integer ByVal Dist As Double ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double ByVal Tdec As Double ByVal SVacc As Double ByVal SVdec As Double ByRef pStrVel As Double ByRef pMaxVel As Double ByRef pTacc As Double ByRef pTdec As Double ByRef pSVacc As Double ByRef pSVdec As Double ByRef pTconst As Double As Integer B 8102 get sa move profile ByVal Ax
12. It will cause the 8102 to delay for a specified time before it continues to the next motion MotionCreatorPro ADLINK TECHNOLOGY INC 14 Speed_Profile Clicking this button will show the Speed Profile 15 Digital I O Display and set Digital I O The related func tion is 8102_get_gpio_output 8102 get gpio input 8102 set gpio output 16 Servo On Set the SVON signal output status The related function is 8102 set servo 17 Play Key Left play button Clicking this button will cause the 8102 start to outlet pulses according to previous setting gt In Absolute Mode it causes the axis to move to position1 gt In Relative Mode it causes the axis to move forward gt In Cont Move it causes the axis to start to move according to the velocity setting In Manual Pulser Move it causes the axis to go into pulse move The speed limit is the value set by Maxi mum Velocity MotionCreatorPro 101 Right play button Clicking this button will cause the 8102 start to outlet pulses according to previous setting In Absolute Mode it causes the axis to move to posi tion gt In Relative Mode it causes the axis to move back wards gt In Cont Move it causes the axis to start to move according to the velocity setting but in the opposite direction In Manual Pulser Move it causes the axis to go into pulse move The speed limit i
13. 141 A A ADLINK TECHNOLOGY INC 0 4 1 2 OffsetCx X axis offset to center OffsetCy Y axis offset to center OffsetEx X axis offset to end of arc OffsetEy Y axis offset to end of arc DIR Specified direction of arc Value Meaning 0 Clockwise cw 1 Counterclockwise ccw StrVel Starting velocity of a velocity profile in units of pulse per second MaxVel Maximum velocity in units of pulse per second Tacc Specified acceleration time in units of seconds Tdec Specified deceleration time in units of seconds SVacc Specified velocity interval in which S curve acceleration is performed Note SVacc 0 for pure S Curve For more details see section 4 2 4 SVdec specified velocity interval in which S curve deceleration is performed Note SVdec 0 for pure S Curve For more details see section 4 2 4 142 Function Library ADLINK TECHNOLOGY INC 6 9 Home Return Mode Name 8102_set_home_config Set the configuration for home return 8102 home move Perform a home return move 8102 home search Perform auto home search Description 8102 set home config Configures the home return mode origin amp index signal EZ logic EZ count and ERC output options for the home move function Refer to Section 4 1 8 for the setting of home mode control 8102 home move This function will cause the axis to perform a home return move
14. EL EZ Count 1 Case 1 Home modez8 EL On then reverse to count EZ number and reset counter not using FA Speed EZ Count 1 Home modez9 ORG On then reverse to zero position an 60 Operation Theory ADLINK TECHNOLOGY INC extension from mode 0 Home mode 10 ORG On then counter EZ and reverse to zero position an extension from mode 3 ORG Home mode 11 ORG On then reverse to counter EZ and Operation Theory 61 ADLINK TECHNOLOGY INC reverse to zero position an extension from mode 5 ORG a Case 1 eu EZ Count 1 SLL Case 2 REK EZ Count 0 EE Case 3 ER ri E Case 4 Home mode 12 EL On then reverse to count EZ number and reverse to zero position an extension from mode 8 EZ EL Case 1 EZ Count 1 4 2 11 Home Search Function This mode is used to add auto searching function on normal home return mode described in previous section no matter which posi tion the axis is The following diagram is shown the example for home mode 2 via home search function The ORG offset can t be zero Suggested value is the double length of ORG area 62 Operation Theory ADLINK TECHNOLOGY INC ORG EL Case 1 Case 2 Case 3 ORG Offset 4 2 12 Manual Pulser Function Manual pulser is a device to generate pulse trains by hand The pulses are sent to motion controller and re directed to pulse outpu
15. To Set the Pulse input mode To Set the Pulse input logic gt Home Mode Home return motion Clicking this button will invoke the home move configuration window The related function is 8102 set home config If the 98 MotionCreatorPro ADLINK TECHNOLOGY INC check box ATU is checked it will execute auto homing when motion starts alli x ERC Output EZ Count Oud bwm miht or Opa Court Mode PEGE RERERBE E 0 1 2 a lt s 6 8 592 BDz 5 Figure home mode dow 7s En me me 2 C rr oaoa fo D ce ERC Output Select if the ERC signal will be sent when home move completes EZ Count Set the EZ count number which is effective on certain home return modes Mode Select the home return mode There are 13 modes available Home Mode figure The figure shown explains the actions of the individual home modes Close Click this button close this window 8 Position Set the absolute position for Absolute Mode It is only effective when Absolute Mode is selected 9 Distance Set the relative distance for Relative Mode It is only effective when Relative Mode is selected 10 Repeat Mode When On is selected the motion will become repeat mode _ forward lt gt backward or position1 lt gt position2 It is only effective when Relative Mode or Absolute Mode is selected MotionCreatorPro 99 TECHNOLOGY INC A ADLINK A 11 Vel Profile Select
16. 19 CSTA input or 8102 start move all turns on Operation Theory 81 TECHNOLOGY INC A ADLINK A 20 31 0 The error interrupt sources are non maskable but the error num ber of situation could be get from _8102_wait_error_interrupt s return code if it is not timeout Error Interrupt return codes Value Description 0 Soft Limit is ON and axis is stopped 1 Soft Limit is ON and axis is stopped 2 Comparator 3 is ON and axis is stopped 3 General Comparator or comparaor 4 is ON and axis is stopped 4 Trigger Comparator or comparator 5 is ON and axis is stopped 5 End Limit is on and axis is stopped 6 End Limit is on and axis is stopped 7 ALM is happened and axis is stop 8 CSTPis ON or 8102 stop move all is on and axis is stopped 9 CEMG is on and axis is stopped 10 SD input is on and axis is slowed down to stop 11 0 12 Interpolation operation error and stop 13 axis is stopped from other axis s error stop 14 Pulse input buffer overflow and stop 15 Interpolation counter overflow 16 Encoder input signal error but axis is not stopped 17 Pulse input signal error but axis is not stopped 11 31 0 The GPIO interrupt sources are maskable The mask bits table is shown below 82 Operation Theory GPIO Interrupt Source Bit Settings 1 Enable 0 Disable w Description DIO falling edge DI1 falling edge DI2 falling ed
17. MaxVelA F64 TaccA F64 TdecA I16 8102 set sr move all I16 TotalAx I16 AxisArray F64 DistA F64 StrVelA F64 MaxVelA F64 TaccA F64 TdecA F64 SVaccA F64 SVdecA I16 8102 set sa move all I16 TotalAx I16 AxisArray F64 PosA F64 StrVelA F64 MaxVelA F64 TaccA F64 TdecA F64 SVaccA F64 SVdecA I16 8102 start move all I16 FirstAxisNo I16 8102 stop move all I16 FirstAxisNo Visual Basic Windows 2000 XP B 8102 set tr move all ByVal TotalAxes As Integer ByRef AxisArray As Integer ByRef DistA As Double ByRef StrVelA As Double ByRef MaxVelA As Double ByRef TaccA As Double ByRef TdecA As Double As Integer B 8102 set sa move all ByVal TotalAxes As Integer ByRef AxisArray As Integer ByRef PosA As Double ByRef StrVelA As Double ByRef MaxVelA As Double ByRef TaccA As Double ByRef TdecA As Double ByRef SVaccA As Double ByRef SVdecA As Double As Integer B 8102 set ta move all ByVal TotalAxes As Integer ByRef AxisArray As Integer ByRef 174 Function Library ADLINK TECHNOLOGY INC PosA As Double ByRef StrVelA As Double ByRef MaxVelA As Double ByRef TaccA As Double ByRef TdecA As Double As Integer B 8102 set sr move all ByVal TotalAxes As Integer ByRef AxisArray As Integer ByRef DistA As Double ByRef StrVelA As Double ByRef MaxVelA As Double ByRef TaccA As Double ByRef TdecA As Double ByRef SVaccA As Double ByRef SVdecA As Double As Integer B 8102 sta
18. The move ratio means the feedback resolution command resolution Pulses Cmd Driver Controller Pulses F B 4 2 2 Absolute and Relative Position Move In the coordinate system we have two kinds command for users to locate the target position One is absolute and the other is rela tive Absolute command means that user give the motion control ler a position then the motion controller will move a motor to that position from current position Relative command means that user give the motion controller a distance then the motion controller will move motor by the distance from current position During the movement users can specify the speed profile It means user can define how fast and at what speed to reach the position Operation Theory ADLINK TECHNOLOGY INC 4 2 3 Trapezoidal Speed Profile Trapezodial speed profile means the acceleration deceleration area follows a 1st order linear velocity profile constant accelera tion rate The profile chart is shown as below MaxVel S 2o g Z StrVel StrVel Time Tace Tdec second The area of the velocity profile represents the distance of this motion Sometimes the profile looks like a triangle because the desired distance from user is smaller than the area of given speed parameters When this situation happens the motion controller will lower the maximum velocity but keep the acceleration rate to meet user s distane requirement The chart of this situati
19. according to the 8102 set home config function settings The direction of movement is determined by the sign of velocity param eter svel mvel Since the stopping condition of this function is determined by the home mode setting users should take care in selecting the initial moving direction Users should also take care to handle conditions when the limit switch is touched or other con ditions that are possible causing the axis to stop Executing v stop function during home move can also cause the axis to stop 8102 home search This function is used to start home searching no matter the loca tion of axis The ORGoffset must be set to non zero to previous miss operation Syntax C C DOS Windows 95 NT I16 38102 set home config I16 AxisNo 116 home mode I16 org logic I16 ez logic I16 ez count I16 erc out I16 8102 home move I16 AxisNo F64 StrVel F64 MaxVel F64 Taco Function Library 143 ADLINK TECHNOLOGY INC 116 _8102_home_search I16 AxisNo F64 StrVel F64 MaxVel F64 Tacc F64 ORGOffset Visual Basic Windows 95 NT B_8102_set_home_config ByVal AxisNo As Integer ByVal home_mode As Integer ByVal org_logic As Integer ByVal ez_logic As Integer ByVal ez_count As Integer ByVal erc_out As Integer As Integer B_8102_home_move ByVal AxisNo As Integer ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double As Integer B_8102_home_search ByVal AxisNo As Integer By
20. 0 0 1 1 0 2 1 1 3 0 4 2 1 e Str Vel Starting velocity in units of pulse per second MaxVel Maximum velocity in units of pulse per second Tacc Specified acceleration time in units of second SVacc Specified velocity interval in which S curve acceleration is performed Note SVacc 0 for pure S Curve Tdec specified deceleration time in units of second Speed Variable to get current speed pulse sec 132 Function Library ADLINK TECHNOLOGY INC 6 6 Single Axis Position Mode Name 8102_start_tr_move Begin a relative trapezoidal profile move 8102 start ta move Begin an absolute trapezoidal profile move 8102 start sr move Begin a relative S curv profile move 8102 start sa move Begin an absolute S curve profile move 8102 set move ratio Set the ration of command pulse and feedback pulse 8102 position overrid Change position on the fly Description General The moving direction is determined by the sign of the Pos or Dist parameter If the moving distance is too short to reach the speci fied velocity the controller will automatically lower the MaxVel and the Tacc Tdec VSacc and VSdec will also become shorter while dV dt acceleration deceleration and d dV dt dt jerk are keep unchanged 8102 start tr move This function causes the axis to accelerate form a starting velocity StrVel rotate at constant velocity MaxVel and d
21. 13 INP In Position signal input 14 SVON Servo ON output status Syntax C C Windows 2000 XP I16 8102 set servo I16 AxisNo I16 on off I16 8102 set pcs logic I16 AxisNo I16 pcs logic I16 8102 set clr mode I16 AxisNo I16 clr mode I16 8102 set inp I16 AxisNo I16 inp enable I16 inp logic I16 38102 set alm I16 AxisNo I16 alm logic I16 alm mode I16 8102 set erc I16 AxisNo I16 erc logic I16 erc pulse width I16 8102 set sd I16 AxisNo I16 sd logic I16 sd latch I16 sd mode I16 8102 enable sd I16 AxisNo I16 enable I16 8102 set limit logic I16 AxisNo U16 Logic I16 _8102 set limit mode I16 AxisNo I16 limit mode I16 8102 select pin23 input I16 card id U16 Select I16 8102 select pin57 input I16 card id U16 Select Function Library 153 ADLINK TECHNOLOGY INC Visual Basic Windows 2000 XP B_81 L02_set_servo ByVal AxisNo As Integer ByVal on off As Integer As Integer 102 set pcs logic ByVal AxisNo As Integer ByVal pcs logic As Integer As Integer 102 set clr mode ByVal AxisNo As Integer ByVal clr mode As Integer As Integer 8102 set inp ByVal AxisNo As Integer ByVal inp enable As Integer ByVal inp logic As Integer As Integer 8102 set alm ByVal AxisNo As Integer ByVal alm logic As Integer ByVal alm mode As Integer As Integer 8102 set erc ByVal AxisNo As Integer ByVal erc logic As Integer ByVal erc pulse width As Integer As Integer
22. ADLINK TECHNOLOGY INC 8 Introduction ADLINK TECHNOLOGY INC 2 Installation This chapter describes how to install the PCI 8102 series Please follow these steps below vv v Vv v 2 1 Check what you have section 2 1 Check the PCB section 2 2 Install the hardware section 2 3 Install the software driver section 2 4 Understanding the I O signal connections chapter 3 and their operation chapter 4 Understanding the connector pin assignments the remain ing sections and wiring the connections Package Contents In addition to this User s Guide the package also includes the fol lowing items PCI 8102 advanced 2 Axis Servo Stepper Motion Control Card ADLINK All in one Compact Disc If any of these items are missing or damaged contact the dealer from whom you purchased the product Save the shipping materi als and carton to ship or store the product in the future Installation 9 ADLINK TECHNOLOGY INC 2 2 PCI 8102 Outline Drawing 126 35 100 33 106 68 9 NN Figure 2 1 PCB Layout of the PCI 8102 P1 Input Output Signal Connector 68 pin P2 16 Digital Input Output Signals Connector K1 K2 Simultaneous Start Stop Connector SW1 DIP switch for card index selection 0 15 J8 J11 Pulse output selection jumper 10 Installation ADLINK TECHNOLOGY INC 2 3 PCI 8102 Hardware Installation 2 3 1 Hardware Configur
23. ALARM signal input from the servo driver Two reacting modes are available when the ALARM signal is active 8102 set erc You can set the logic and on time of the ERC with this function It also can set the pulser width of ERC signal 8102 set sd Set the active logic latch control and operating mode of the SD signal input from a mechanical system Users can select whether they want to enable this function by 8102 enable sd It is dis abled by default 8102 enable sd Enable the SD signal input Default setting is default 8102 set limit logic Set the EL logic normal open or normal closed 8102 set limit mode Set the reacting modes of the EL signal 8102 select pin23 input Set the pin 23 to the input signal SD1 LTC1 or PCS1 8102 select pin57 input Set the pin 57 to the input signal SD2 LTC2 or PCS2 8102 get io status Get all the I O statuses for each axis The definition for each bit is as follows Bit Name Description 0 RDY RDY pin input 1 ALM Alarm Signal 152 Function Library ADLINK TECHNOLOGY INC 2 EL Positive Limit Switch 3 EL Negative Limit Switch 4 ORG Origin Switch 5 DIR DIR output 6 EMG EMG status 7 PCS PCS signal input 8 ERC ERC pin output 9 EZ Index signal 10 CLR Clear signal 11 LTC Latch signal input 12 SD Slow Down signal input
24. Axis Operation Menu refer to section 5 3 5 Open Two Axis Operation Menu refer to section 5 3 6 Open 2D Motion Menu refer to section 5 3 7 Show card information Related function are 8102 get version Version Information lin TreeView jay ADLINK 9 9 1 Axes Operate 4B 2 Operate Z 2D Motion Card Information Base Address HEX O IRQ Level O Version Information Hardware version Library version Drives version 88 MotionCreatorPro i 5 3 3 Card Information Menu In this menu it show some Information about this card MotionCreatorPro 89 DEEST 5 3 4 Configuration Menu In this menu users can configure ALM INP ERC EL ORG and EZ PCI 8102 Card ho Card 0 Axis no Axis 0 10 Conf 1 30 Config 2 Poke amp INT_Contig Servo Motor Signal Mech Signal 90 MotionCreatorPro ADLINK TECHNOLOGY INC ALM Logic and Response mode Select logic and response modes of ALM signal The related function call is 8102 set alm INP Logic and Enable Disable selection Select logic and Enable Disable the INP signal The related function call is 8102 set inp ERC Logic and Active timing Select the Logic and Active timing of the ERC signal The related function call is 8102 set erc EL Response mode Select the response mode of the EL signal The related function call is 8102 set limit logic ORG Logic Select the
25. ByVal Length As Integer sec code As Integer As Integer B 8102 config from file As Integer Argument CardID InBit Use Hex number to show ID occupation status in the controller For example if user has two boards and one is set to 1 DIP swtich and the other one is set to 3 DIP switch you will read back the value as 0x000A because the bit 1 and bit 3 are 1 Card ID exists and other bits are OFF Manual ID Enable the on board dip switch SW1 to decide the Card ID Value meaning The CardlD could be decided by 0 the sequence of PCI slot 1 on board DIP switch SW1 card id Specify the PCI 8102 card index The card id could be decided by DIP switch SW1 or depend on slot sequence Please refer to 8102 initial firmware ver The current firmware version driver ver The current device driver version dll ver The current DLL library version Length Array size Length 1 12 sec code A numerical array the array size would be set between 1 and 12 126 Function Library ADLINK TECHNOLOGY INC 6 4 Pulse Input Output Configuration Name 8102_set_pls_iptmode Set the configuration for feedback pulse input 8102_set_pls_outmode Set the configuration for pulse command output _8102_set_feedback_src Enable Disable the external feedback pulse input Description 8102 set pls iptmode Configure the input modes of external feedback pulses There are four types for fe
26. Circular interpolation means XY axes simultaneously start from initial point 0 0 and stop at end point 1800 600 The path between them is an arc and the MaxVel is the tangential speed Notice that if the end point of arc is not at a proper position it will move circularly without stopping AY 1800 600 X 0 0 Center 1000 0 52 Operation Theory ADLINK TECHNOLOGY INC The motion controller will move to the final point user desired even this point is not on the path of arc But if the final point is not at the location of the shadow area of the following graph it will run circu larly without stopping 2nd phase N 1st phase A 0 0 ic 200 0 Start point i 0 0 3rd phase 4th phase The command precision of circular interpolation is shown below The precision range is at radius 1 2 pulse Y e Interpolation track Solid line A circle of radius 11 Dotted line A circle of radius 1130 5 4 2 9 Continuous Motion Continuous motion means a series of motion command or position can be run continuously Users can set a new command right after previous one without interrupting it The motion controller can make it possible because there are three command buffers pre registers inside When first command is executing users can set second command into first buffer and third command into second buffer Once the first command is finished the motion c
27. Feedback counter 2 Error counter 3 General counter Function Library ADLINK TECHNOLOGY INC 6 16 Continuous Motion Name _8102_set_continuous_move toggle continuous motion sequence flags 8102 check continuous buffer check if the command register buffer is empty 8102 dwell mov Set a dwell mov Description 8102 set continuous mover This function is necessary before and after continuous motion command sequences 8102 check continuous buffer This function is used to detect if the command pre register is empty or not Once the command pre register is empty users may write the next motion command into it Otherwise the new com mand will overwrite the previous command in the 2nd command pre register 8102 dwell move This function is used to start a dwell move that means the move does not cause real motion for a specific time Following example is shown how does the user 8102 set continuous move 2 1 start continuous move 8102 start tr move 2 20000 0 10 0 10000 0 Ul Us Le _8102_dwell_move 2 2000 dwell move for 2 sec 8102 start sr move 2 20000 0 10 0 10000 0 O l 0 1 0 O J 8102 set continuous move 2 0 end continuous move Function Library 171 ADLINK TECHNOLOGY INC Syntax C C DOS Windows 95 NT I16 8102 set continuous move I16 AxisNo I16 conti flag I16 8102 check continuous buffer I16 AxisNo I16 3
28. Initial Function Library 123 ADLINK TECHNOLOGY INC 6 3 Initialization Name _8102 initial Card initialization _8102 close Card close _8102_get_version Check hardware and software version information 8102_set_user_cod Set codes into EEPROM 8102_get_user_cod Get codes into EEPROM 8102 config from file Config PCI 8102 setting from file Description 8102 initial This function is used to initialze an 8102 card without assigning the hardware resources All 8102 cards must be initialized by this function before calling other functions in your applications By set ting the parameter Manual ID user can choose the type that the card s ID is assigned manually or automaticly 8102 close This function is used to close 8102 card and release its resources which should be called at the end of your applications 8102 get version Lets users read back the firmware s driver s and DLL s version information 8102 set user code Set your own codes into EEPROM It can secure users appl caition to avoid plagiarism 8102 get user code Get codes that you set by the function _8102_set_user_code from EEPROM 8102_config_from_file This function is used to load the configeration of the PCI 8102 according to specified file By using Motion Creater user could test and configure the 8102 correctly After saving the configura 124 Function
29. Library ADLINK TECHNOLOGY INC tion the file would be existed in user s system directory as 8102 ini When this function is executed all 8102 cards in the system will be configured as the following functions were called according to parameters recorded in 8102 ini 8102 set limit logic 8102 set pcs logic 8102 set ltc logic 8102 set inp 8102 set erc 8102 set alm 8102 set pls iptmode 8102 set pls outmode 8102 set move ratio 8102 set latch source 8102 set feedback src 8102 set home config 8102 set soft limit 8102 set fa speed 8102 set sd Syntax C C Windows 2000 XP I16 8102 initial U16 CardID InBit I16 Manual ID 8102 close void 8102 get version I16 card id I16 firmware ver I32 driver ver I32 dll ver I16 38102 set user code I16 card id I16 Length U1 81 U1 81 6 sec_code 02_get_user_code I16 card id 116 Length 6 sec_code I16 02 config from file Visual Basic 6 Windows 2000 XP B 8102 initial CardID InBit As Integer ByVal Manual ID As Integer As Integer B 8102 close As Integer B 8102 get version ByVal card id As Integer firmware ver As Integer driver ver As Long dll ver As Long As Integer Function Library 125 ADLINK TECHNOLOGY INC B 8102 set user code ByVal card id As Integer ByVal Length As Integer sec code As Integer As Integer B 8102 get user code ByVal card id As Integer
30. Reacting modes when receiving an ALARM signal Value Meaning O Negative logic 1 Positive logic gic for ALARM signals Value Meaning O Negative logic 1 Positive logic Value Meaning Function Library ADLINK TECHNOLOGY INC 155 TECHNOLOGY INC A ADLINK A 0 motor immediately stops default 1 motor decelerates then stops erc_logic Set the active logic for the ERC signal Value Meaning O Negative logic 1 Positive logic erc_pulse_width Set the pulse width of the ERC signal Value Meaning 0 12 us 102 us 409 us 1 6 ms 13ms 52 ms 104 ms Level output NIOJ By OO PM H sd_logic Value Meaning O Negative logic 1 Positive logic sd_latch Set the latch control for the SD signal Value Meaning O Do not latch 1 latch sd_mode Set the reacting mode of the SD signal Value Meaning 0 slow down only 1 slow down then stop 156 Function Library ADLINK TECHNOLOGY INC enable Set the ramping down point for high speed feed Value Meaning 0 Automatic setting 1 Manual setting default Logic Set the PEL MEL logic Value Meaning 0 Normal low normal open 1 Normal high normal close limit_mode Value Meaning 0 Stop immed
31. S A Axes 0 amp 1 Velocity profile T trapezoidal profile S s curve profile Relative Absolute R Relative distance A Absoulte position Function Library 137 ADLINK TECHNOLOGY INC Syntax C C Windows 2000 XP 116 8102 start tr move xy I16 Card id F64 DistX F64 DistY F64 StrVel F64 MaxVel F64 Tacc F64 Tdec I16 8102 start ta move xy I16 Card id F64 PosX F64 PosY F64 StrVel F64 MaxVel F64 Tacc F64 Tdec 116 _8102_start_sr_move_xy I16 Card id F64 DistX F64 DistY F64 StrVel F64 MaxVel F64 Tacc F64 Tdec F64 SVacc F64 SVdec 116 8102 start sa move xy I16 Card id F64 PosX F64 PosY F64 StrVel F64 MaxVel F64 Tacc F64 Tdec F64 SVacc F64 SVdec Visual Basic6 Windows 2000 XP B 8102 start tr move xy ByVal CardNo As Integer ByVal DistX As Double ByVal DistY As Double ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double ByVal Tdec As Double As Integer B 8102 start ta move xy ByVal CardNo As Integer ByVal PosX As Double ByVal PosY As Double ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double ByVal Tdec As Double As Integer B 8102 start sr move xy ByVal CardNo As Integer ByVal DistX As Double ByVal DistY As Double ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double ByVal Tdec As Double ByVal SVacc As Double ByVal SVdec As Double As Integer B 8102 start sa move xy ByVal CardNo As In
32. SVacc F64 SVdec Visual Basic6 Windows 2000 XP B_8102_start_tr_arc_xy ByVal CardNo As Integer ByVal OffsetCx As Double ByVal OffsetCy As Double ByVal OffsetEx As Double ByVal OffsetEy As Double ByVal CW CCW As Integer ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double ByVal Tdec As Double As Integer B_8102_start_ta_arc_xy ByVal CardNo As Integer ByVal Cx As Double ByVal Cy As Double ByVal Ex As Double ByVal Ey As Double ByVal CW CCW As Integer ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double ByVal Tdec As Double As Integer B_8102_start_sr_arc_xy ByVal CardNo As Integer ByVal OffsetCx As Double ByVal OffsetCy As Double ByVal OffsetEx As Double ByVal OffsetEy As Double ByVal CW CCW As Integer ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double ByVal Tdec As Double ByVal SVacc As Double ByVal SVdec As Double As Integer B_8102_start_sa_arc_xy ByVal CardNo As Integer ByVal Cx As Double ByVal Cy As Double ByVal Ex As Double ByVal Ey As Double ByVal CW CCW As Integer ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double ByVal Tdec As Double ByVal SVacc As Double Argument ByVal SVdec As Double As Integer AxisNo Axis number designated to move or change position Function Library card_id Physical axis AxisNo 0 0 0 1 1 0 2 1 1 3
33. and the motion control will be done easily This kind of motion control Operation Theory 43 A ADLINK A TECHNOLOGY INC separates all system integration problems into 4 parts Motor driver s performance ASIC outputting profile vendor s software parameters to ASIC and users command to vendors software It makes motion controller co operated more smoothly between devices 4 1 7 Compare Table of All Motion Control Types Software ASIC DSP Price Fair Cheap Expensive Functionality Highest Low Normal Maintenance Hard Easy Fair Analog Pulses Network Price High Low Normal Signal Quality Fair Good Reliable Maintenance Hard Easy Easy 4 1 8 PCI 8102 s Motion Controller Type The PCI 8102 is an ASIC based pulse type motion controller We make this card into three blocks motion ASIC PCI card software motion library Users can access motion ASIC via our software motion libray under Windows 2000 XP Linux and RTX driver Our software motion linrary provides one stop function for controlling motors All the speed parameters calculations are done via our library For example if users want to perform a one axis point to point moition with a trapezoidal speed profile they just only fill the target position speed and acceleration time in one function Then the motor will run as the profile It takes no CPU s resource because every
34. each time when the direction changes on operation The slip correction function is performed before a motion command regardless of the direction The correction amount of pulses can be set by function library 4 7 2 Vibration Restriction Function The method of vibration restriction of the motion controller is by adding one pulse of reverse direction and then one pulse of for ward direction shortly after completing a motion command The timing of these two dummy pulses are shown below RT is reverse time and FT is forward time Final Pulse Direction L i NE l Direction E D K t i j RT FTI2 j i e a i RT FT Operation Theory 79 A ADLINK A TECHNOLOGY INC 4 7 3 Speed Profile Calculation Function Our motion function needs several speed parameters from users Some parameters are conflict in speed profile For example if users input a very fast speed profile and a very short distance to motion function the speed profile is not exist for these parame ters At this situation motion library will keep the acceleration and deceleration rate It tries to lower the maximum speed from users automatically to reform a speed profile feasible The following dia gram shows this concept MaxVel 1 g lt distanc g lt 28 enot z NewMaxVel Z UL zi Z i StrVel StrVel r Time Time second Tace Tdec second NewTacc NewT
35. or Y axis s display range 20 Origin Position let user to pan the display location 5 3 8 Help Menu In this menu users can Click Mouse Right Key to show Help Infor mation MotionCreatorPro 113 ADLINK TECHNOLOGY INC 114 MotionCreatorPro ADLINK TECHNOLOGY INC 6 Function Library This chapter describes the supporting software for the PCI 8102 card User can use these functions to develop programs in C C or Visual Basic If Delphi is used as the programming envi ronment it is necessary to transform the header files pci_8102 h manually Function Library 115 TECHNOLOGY INC A ADLINK A 6 1 List of Functi ons Initialization Section 6 3 Function Name Description _8102 initial Card initialization _8102 close Card Close 8102 get version Check the hardware and software version 8102 set user code Set codes into EEPROM 8102 get user code Get codes from EEPROM 8102 config from file Config PCI 8102 setting from file Pulse Input Output Configuration Section 6 4 Function Name Description 8102 set pls outmode Set pulse command output mode 8102 set pls iptmode Set encoder input mode 8102 set feedback src Set counter input source Velocity mode motion Section 6 5 Function Name Description 6102 tv move Accelerate an axis to a constant velocity with trapezoidal profile
36. part The Acceleration chart of bell curve is shown below Acc PPS S Time Second Tacc The S curve profile motion functions are designed to always pro duce smooth motion If the time for acceleration parameters com bined with the final position don t allow an axis to reach the maximum velocity i e the moving distance is too small to reach MaxVel then the maximum velocity is automatically lowered see the following Figure The rule is to lower the value of MaxVel and the Tacc Tdec VSacc VSdec automatically and keep StrVel acceleration and jerk unchanged This is also applicable to Trapezoidal profile motion This kind of speed profile could be applied on velocity mode posi tion mode in one axis or multi axes linear interpolation and two axes circular interpolation modes velocity Time sec Operation Theory 49 ADLINK TECHNOLOGY INC 50 4 2 5 Velocity Mode Veloctiy mode means the pulse command is continuously output ing until a stop command is issued The motor will run without a target position or desired distance unless it is stopped by other reasons The output pulse accelerates from a starting velocity to a specified maximum velocity It can be follow a linear or S curve acceleration shape The pulse output rate is kept at maximum velocity until another velocity command is set or a stop command is issued The velocity could be overrided by a new speed setting Notice that t
37. pins for three differential pairs of phase A EA phase B EB and index EZ inputs EA and EB are used for position counting and EZ is used for zero position indexing Its relative sig nal names pin numbers and axis numbers are shown in the fol lowing tables P1 Pin No Signal Name Axis CN2 Pin No Signal Name Axis 12 EAO 1 13 EAO 1 14 EBO 1 15 EBO 1 46 EA1 2 47 EA1 2 48 EA1 2 49 EA1 2 P1 Pin No Signal Name Axis CN2 Pin No Signal Name Axis 16 EZi 1 17 EZ3 1 50 EZ1 2 51 EZ3 2 The input circuit of the EA EB and EZ signals is shown as fol lows R 330 Ohm i E EA EB EZ Motion IC EA EB EZ C 100p EA EB HP0631 Please note that the voltage across each differential pair of encoder input signals EA EA EB EB and EZ EZ should be at least 3 5V Therefore the output current must be observed when connecting to the encoder feedback or motor driver feedback as not to over drive the source The differential signal pairs are converted to digital signals EA EB and EZ then feed to the motion control ASIC Below are examples of connecting the input signals with an exter nal circuit The input circuit can be connected to an encoder or motor driver if it is equipped with 1 a differential line driver or 2 an open collector output 22 Signal Connections ADLINK TECHNOLOGY INC Connection to Line D
38. sends incremental pulses to motor drivers It means that we can only send relative command to motor driver But we can solve this problem by calculating the difference between current position and target position first Then send the differences to motor driver For example if current position is 1000 We want to move a motor to 9000 User can use an abso lute command to set a target position of 9000 Inside the motion controller it will get current position 1000 first then calculate the difference from target position It gets a result of 8000 So the motion controller will send 8000 pulses to motor driver to move the position of 9000 Sometimes users need to install a linear scale or external encoder to check machine s position But how do you to build this Operation Theory 45 ADLINK TECHNOLOGY INC 46 coordinate system If the resolution of external encoder is 10 000 pulses per 1mm and the motor will move 1mm if the motion con troller send 1 000 pulses It means that when we want to move 1 mm we need to send 1 000 pulses to motor driver then we will get the encoder feedback value of 10 000 pulses If we want to use an absolute command to move a motor to 10 000 pulses position and current position read from encoder is 3500 pulses how many pulses will it send to motor driver The answer is 10000 3500 10 000 1 000 650 pulses The motion controller will calculate it automatically if users set move ratio already
39. set pulser iptmode Set the input signal modes of pulser Description 8102 disable pulser input This function is used to set the pulser input disabel or enabel 8102 pulser pmove With this command the axis begins to move according to the man ual pulse input The axis will output one pulse when it receives one manual pulse until the 8102 disable pulser input function dis ables the pulser or the output pulse number reaches the distance 8102 pulser vmove With this command the axis begins to move according to the man ual pulse input The axis will output one pulse when it receives one manual pulse until the 8102 disable pulser input function dis ables the pulser 8102 set pulser ratio Set manual pulse ratio for actual output pulse rate The formula for manual pulse output rate is Output Pulse Count Input Pulser Count x 4 MultiF 1 x DivF 1 2048 The DivF 07 2047 Divide Factor The MultiF 0 31 Multiplication Factor 8102 set pulser iptmode This function is used to configure the input mode of manual pulser 146 Function Library ADLINK TECHNOLOGY INC Syntax C C Windows 2000 XP 116 8102 disable pulser input I16 AxisNo U16 Disable 8102 pulser pmove I16 AxisNo F64 Dist F64 SpeedLimit I16 8102 pulser vmove I16 AxisNo F64 S 8 I peedLimit 102 set pulser ratio I16 AxisNo I16 DivF 16 MultiF I16 8102 set pulser iptmode I16 AxisNo I16 InputMode I1
40. signal 1 RDYO Multi purpose input signal 45 RDY1 Multi purpose input signal 2 EA0 Encoder A phase 46 EA1 Encoder A phase 3 EA0 Encoder A phase 47 EA1 Encoder A phase 4 EBO Encoder B phase 48 EB1 Encoder B phase 5 EBO Encoder B phase 49 EB1 Encoder B phase 6 EZ0 l Encoder Z phase 50 EZ1 Encoder Z phase 7 EZO Encoder Z phase 51 EZ1 Encoder Z phase 8 VPP O Isolated 5V Output 52 VPP O Isolated 5V Output 9 N C 53 EXGND Ext power ground 20 PELO End limit signal 54 PEL1 End limit signal 21 MELO End limit signal 55 MEL1 End limit signal 22 EXGND Ext power ground 56 EXGND Ext power ground 23 LTC SD PCSO CLRO sa id rag 57 LTC SD PCS1 CLRI I dE e 24 ORGO Origin signal 58 ORG Origin signal 25 N C 59 EXGND Ext power ground 26 PA _ISO I Manual Pulser Input A 60 EMG l Emergency Input 27 PA ISO Manual Pulser Input A 61 DINO Digital Input O 28 PB _ISO l Manual Pulser Input B 62 DIN1 Digital Input 1 29 PB _ISO Manual Pulser Input B 63 DIN2 Digital Input 2 30 CMPO O TTL Compare Output 0 64 DINS l Digital Input 3 31 CMP1 o TTL Compare Output 1 65 DOUTO O Digital Output 0 SVO RST 32 EXGND Ext power ground 66 DOUT1 O Digital Output 1 SVO RST 33 EXGND Ext power ground 67 EXGND Ext power ground 34 EX 24V 24V isolation power input 68 EX 24V 24V isolation power input Installation 13
41. the value of the command counter The related function is _8102_get_command 12 Current Position gt Feedback displays the value of the feedback position counter The related function is _8102_get_position 13 Home Mode Home return motion Clicking this button will invoke the home move configuration window The related function is _8102_set_home_config There are two home return buttons at the left down corner of this window It is useful when user need to return to the ori gin 14 Mode Linear Interpolation After setting motion parameters correctly in Motion Parameters Setting Frame you can enter the destina tion in this frame Then click Run button to start linear interpola tion motion 110 MotionCreatorPro ADLINK TECHNOLOGY INC Circular Interpolation The setting for circular interpolation mode has three additional parameters in Motion Parameters Setting Frame They are arc degree division axis and optimize option Please refer to section 6 7 6 8 to set them After setting these parameters you can enter the arc center and degree in Play Key Frame Click Run button to start cir cular interpolation motion Jog Type Continuous Jog Continuous Jog means that when you press one directional button the axis will continuously move with an increasing speed The longer you press the faster it runs When you un press the button the axis will stop immediately Jog Command Increme
42. the velocity profile Both Trapezoidal and S Curve are available for Absolute Mode Relative Mode and Cont Move 12 FA Speed ATU Sets the configurations of the FA Speed The related function calls are _8102_set_fa_speed f the check box ATU is checked it will execute auto homing when motion starts 13 Motion Parameters Set the parameters for single axis motion This parameter is meaningless if Manual Pulser Move is selected since the velocity and moving dis tance is decided by pulse input gt 100 Start Velocity Set the start velocity of motion in units of PPS In Absolute Mode or Relative Mode only the value is effective For example 100 0 is the same as 100 0 In Cont Move both the value and sign are effective 100 0 means 100 0 in the minus direction Maximum Velocity Set the maximum velocity of motion in units of PPS In Absolute Mode or Relative Mode only the value is effective For example 5000 0 is the same as 5000 0 In Cont Move both the value and sing is effective 5000 0 means 5000 0 in the minus direction Accel Time Set the acceleration time in units of second Decel Time Set the deceleration time in units of sec ond SVacc Set the S curve range during acceleration in units of PPS SVdec Set the S curve range during deceleration in units of PPS Move Delay This setting is effective only when repeat mode is set On
43. value is calculated from command subtracting feedback posi tion If the ratio between command and feedback is not 1 1 the error counter is meaningless This counter is a 16 bit binary up down counter 4 5 4 General Purpose Counter The source of general purpose counter could be any of the follow ing 1 Command position output the same as a command position counter 2 Feedback position input the same as a feedback posi tion counter 3 Manual Pulser input Default settig 4 Clock Ticks Counter from a timer about 9 8 MHz 4 5 5 Target Position Recorder The target position recorder is used for providing target position information It is used in continuous motion because motion con troller need to know the previous motion command s target posi Operation Theory ADLINK TECHNOLOGY INC tion and current motion command s target position in order to calculate relative pulses of current command then send results into pre register Please check if the target position is the same with current command position before continuous motion Espe cially after the home function and stop function 4 6 Comparaters There are 5 counter comparators of each axis Each comparater has dedicated functions They are Positive soft end limit comparator to command counter Negative soft end limit comparator to command counter Command and feedback error counter comparator General comparator for all counters ar o
44. value of the 8102 motion done function The related function is 8102 motion doner 4 INT Status int factor bit no Set int factor bit Normal INT display of Normal INT status The related function is 8102 wait motion interrupt Error INT display of Error INT status The related func tion is 8102 wait error interrupt GPIO INT display of GPIO INT status The related func tion is 8102 wait gpio interrupt 5 Velocity The absolute value of velocity in units of PPS The related function is 8102 get current speed 6 Show Velocity Curve Button Clicking this button will open a window showing a velocity vs time curve In this curve every 100ms a new velocity data point will be added To close it click the same button again To clear data click on the curve MotionCreatorPro 97 eee 7 Operation Mode Select operation mode gt Absolute Mode Position1 and position2 will be used as absolution target positions for motion The related functions are _8102_start_ta_move _8102_start_sa_move gt Relative Mode Distance will be used as relative dis placement for motion The related function is 8102 start tr move 8102 start sr move gt Cont Move Velocity motion mode The related function is 8102 tv move 8102 start sv mover gt Manual Pulser Move Manual Pulse motion Clicking this button will invoke the manual pulse configuration win dow
45. 1 2 The input alarm circuit is shown below The ALM signal usually is generated by the servomotor driver and is ordinarily an open col lector output signal An external circuit must provide at least 8mA current sink capabilities to drive the ALM signal vcc 9 Inside 8102 PS2805 VDD To motion IC 9 R 330 Ohm ALM 28 Signal Connections 3 7 Deviation Counter Clear Signal ERC ADLINK TECHNOLOGY INC The deviation counter clear signal ERC is active in the following 4 situations 1 Home return is complete End limit switch is active 2 3 An alarm signal stops OUT and DIR signals 4 An emergency stop command is issued by software operator The signal names pin numbers and axis numbers are shown in the table below P1 Pin No Signal Name Axis 8 ERCO 1 42 ERC1 2 The ERC signal is used to clear the deviation counter of the servo motor driver The ERC output circuit is an open collector with a maximum of 35V at 50mA driving capacity Inside 8102 VCC O From motion IC PS2805 Signal Connections 35V 50mA Maximum ERC EGND 29 A ADLINK FA TECHNOLOGY INC 3 8 General Purpose Signal SVON The SVON signal can be used as a servomotor on control or gen eral purpose output signal The signal names pin numbers and its axis numbers are shown in the following table P1 Pin No Signal Name Axis 7 SV
46. 102 has 4 digital input channels By this function user can get the digital input status 8102 set gpio output2 The PCI 8102 has 16 digital output channels on P2 By this func tion user could control the digital outputs 8102 get gpio output2 This function is used to get the digital output status 8102 get gpio input2 PCI 8102 has 16 digital input channels on P2 By this function user can get the digital input status 176 Function Library ADLINK TECHNOLOGY INC Syntax C C Windows 2000 XP 116 _8102_set_gpio_output 116 card id U16 d e t gpio output I16 card id U16 do status o valu 102 ge 102 get gpio input I16 card id U16 8 8 di status I16 8102 set gpio output2 I16 card id U16 8 8 do value 102 get gpio output2 I16 card id U16 do status 102 get gpio input2 I16 card id U16 di status 2 Visual Basic Windows 2000 XP B 8102 set gpio output Lib 8102 d11 Alias 8102 set gpio output ByVal card id As Integer ByVal do value As Integer As Integer B 8102 get gpio output Lib 8102 dll Alias 8102 get gpio output ByVal card id As Integer do status As Integer As Integer B 8102 get gpio input Lib 8102 d11 Alias 8102 get gpio input ByVal card id As Integer di status As Integer As Integer B 8102 set gpio output2 ByVal card id As Integer ByVal do value As Integer As Integer B 38102 get gpio
47. 2 35 66 Email _ france adlinktech com ADLINK Technology Japan Corporation Address 151 0072 Pum HD ADU 1 1 2 FARA aes 4 C JL 8F Asahiseimei Hatagaya Bldg 8F 1 1 2 Hatagaya Shibuya ku Tokyo 151 0072 Japan Tel 81 3 4455 3722 Fax 81 3 5333 6040 Email _ japan Oadlinktech com ADLINK Technology Inc Korean Liaison Office Address 1 amp Get Gas 60 12 5444 45 4025 No 402 Dongsung B D 60 12 Nonhyeon Dong Gangnam gu Seoul 135 010 Korea Tel 82 2 2057 0565 Fax 82 2 2057 0563 Email korea adlinktech com ADLINK Technology Singapore Pte Ltd Address 84 Genting Lane 07 02A Cityneon Design Centre Singapore 349584 Tel 65 6844 2261 Fax 65 6844 2263 Email singapore adlinktech com ADLINK Technology Singapore Pte Ltd Indian Liaison Office Address No 1357 Anupama Sri Aurobindo Marg 9th Cross JP Nagar Phase I Bangalore 560078 India Tel 91 80 65605817 Fax 91 80 22443548 Email india adlinktech com ADLINK TECHNOLOGY INC Table of Contents Table OF CONIGHUS meet i List of FIQUFGS uus nir FR ioco RYW RR YR YAR V 1 introd ction m 1 1 1 Feat res ieese dane cee cee Etna eee eh 4 1 2 Specifications eee ccccceceececeseeeeeceeeeeeeeeeeeaeeseeeeeeeeeeneeaes 5 1 3 Supported Software ssssssssseeeeeee 6 Programming Library see 6 MotionCreatorPro sesssssseeeeeene 6 1 4 Available Terminal Board
48. 6 Inverse Visual Basic Windows 2000 XP B 8102 disable pulser input ByVal AxisNo As Integer ByVal Disable As Integer As Integer B 8102 pulser pmove ByVal AxisNo As Integer ByVal Dist As Double ByVal SpeedLimit As Double As Integer B 8102 pulser vmove ByVal AxisNo As Integer ByVal SpeedLimit As Double As Integer B 8102 set pulser ratio ByVal AxisNo As Integer ByVal DivF As Integer ByVal MultiF As Integer As Integer B 8102 set pulser iptmode ByVal AxisNo As Integer ByVal InputMode As Integer ByVal Inverse As Integer As Integer Argument AxisNo Axis number designated to move or change position card id Physical axis AxisNo 0 0 0 1 0 2 1 1 3 0 4 2 1 Function Library 147 A ADLINK A TECHNOLOGY INC Disable Disable pulser input Disable 1 disable pulser gt Disable 0 enable pulser Dist Specified relative distance to move unit pulse For example if SpeedLimit is set to be 100pps then the axis can move at fastest 100pps even the input pulser signal rate is more then 100pps DivF Divide factor 0 2047 MultiF Multiplication factor 0 31 InputMode Setting of manual pulse input mode from the PA and PB pins Value Meaning 0 1X AB phase type pulse input 1 2X AB phase type pulse input 2 4X AB phase type pulse input 3 CW CCW type pulse input Inverse Reverse the moving
49. 8102 dwell move I16 AxisNo F64 miniSecond Visual Basic Windows 95 NT B 8102 set continuous move ByVal AxisNo As Integer ByVal conti flag As Integer As Integer B 8102 check continuous buffer ByVal AxisNo As Integer As Integer B 8102 dwell move ByVal AxisNo As Integer ByVal miniSecond As Double As Integer Argument AxisNo axis number Target Axis card id Physical axis AxisNo 0 0 0 1 0 2 1 1 3 0 4 2 1 conti logic continuous motion logic Value Meaning O continuous motion sequence is finished 1 continuous motion sequence is started miniSecond Time of dwell move the unit is in ms 172 Function Library ADLINK TECHNOLOGY INC 6 17 Multiple Axes Simultaneous Operation Name 8102_set_tr_move_all Multi axis simultaneous operation setup 8102_set_ta_move_all Multi axis simultaneous operation setup 8102_set_sr_move_all Multi axis simultaneous operation setup 8102_set_sa_move_all Multi axis simultaneous operation setup 8102 start move all Begin a multi axis trapezoidal profile motion 8102 stop move all Simultaneously stop Multi axis motion Description Theses functions are related to simultaneous operations of multi axes even in different cards The simultaneous multi axis opera tion means to start or stop moving specified axes at the same time The axes moved are specified by
50. 8102 reset error counter Reset the position error counter 8102 get general counter Get the value of the general counter 8102 set general counter Set the general counter 8102 get target pos Get the value of the target position recorder 8102 reset target pos Reset target position recorder 8102 get res distance Get remaining pulses accumulated from motions 8102 set res distance Set remaining pulses record Position Compare and Latch Section 6 15 Function Name Description 8102 set trigger logic Set CMP signal logic 8102 set error comparator Set the error comparator 8102 set general comparator Set the general comparator 8102 set trigger comparator Set the trigger comparator 8102 set latch source Set the latch timing for a counter 8102 set Itc logic Set theL TC signal s logic 8102 get latch data Get the latch data 120 Function Library ADLINK TECHNOLOGY INC Continuous Motion Section 6 16 Function Name Description 8102 set continuous move Enable continuous motion for absolute motion 8102 check continuous buffer Check if the buffer is empty 8102 dwell move Multiple Axes Simultaneous Operation Section 6 17 Function Name Description 8102 set tr move all Multi axis simultaneous operation setup 8102 set ta mov
51. 8102 set sd ByVal AxisNo As Integer ByVal sd logic As Integer ByVal sd latch As Integer ByVal sd mode As Integer As Integer 8102 enable sd ByVal AxisNo As Integer ByVal Enable As Integer As Integer 102 set limit logic ByVal AxisNo As Integer ByVal Logic As Integer As Integer 102 set limit mode ByVal AxisNo As Integer ByVal limit mode As Integer As Integer 102 select pin23 input ByVal card id As Integer ByVal SelectNo As Integer As Integer 102 select pin57 input ByVal card id As 9 Argume Integer ByVal SelectNo As Integer As Integer nt AxisNo Axis number of Target Axis card idPhysical axisAxisNo 154 card id Physical axis AxisNo 0 0 0 1 1 0 2 1 1 3 Function Library 2 0 4 1 on off ON OFF state of SVON signal Value Meaning 0 ON 1 OFF pcs logic PCS signal input logic Value Meaning 0 Negative logic 1 Positive logic cir mode Clear action mode gt clr mode O Clear on the falling edge default clr mode 1 Clear on the rising edge gt cir mode 2 Clear on a LOW level gt cir modez3 Clear on a HIGH level inp enable INP function enabled disabled inp enable 0 Disabled default inp enable 1 Enabled inp logic Set the active logic for the INP signal alm logic Setting of active lo alm mode
52. 8102_sd_stop 13 Buttons gt ClearPlots Clear the Motion Graph MotionCreatorPro 105 ADLINK gt Save Config Save current configuration to 8102 ini And 8102MC ini gt Close Close the menu 106 MotionCreatorPro ADLINK TECHNOLOGY INC 5 3 7 _ 2D Motion Menu Press 2 D button in operating window will enter this window This is for 2 D motion test It includes the following topics Linear Interpolation Circular Interpolation gt Incremental Jog Continuous Jog Other Control Objects 8102 2D Motos gt gt Card 0 Axis 0 X Axis 1 Y Setting Motion Graph A Stat Spaad gos 1000 Max Speed pps Tatc Time sec 2 6 2 Play key Toe Time sec 3 Sde pps et Center Dis EndPos X Dis Center X 200 n Stop Dis taos ff Dis Center Current Position Graph Range Origin Position x 1 2 Yf Clear XRang gt Xass j YRang Y Org Shift d Cleas Pes Center F Leck F Lock Next Card MotionCreatorPro 107 ADLINK TECHNOLOGY INC 108 1 Jog Type Continuous Jog Jog Command Y Continuous Jog means that when you press one directional button the axis will continuously move with an increasing speed The longer you press the faster it runs When you un press the button the axis will stop immediately Incremental Jog Step Size 5 Incremental jog means that when you click one directional but ton the axis will step a
53. A ADLINK PM PCI 8102 Advanced 2 Axis Servo Stepper Motion Control Card User s Manual Manual Rev 2 01 Revision Date February 26 2009 Part No 50 11136 1010 Recycled Paper Advance Technologies Automate the World A A ADLINK TECHNOLOGY INC Copyright 2009 ADLINK TECHNOLOGY INC All Rights Reserved The information in this document is subject to change without prior notice in order to improve reliability design and function and does not represent a commitment on the part of the manufacturer In no event will the manufacturer be liable for direct indirect spe cial incidental or consequential damages arising out of the use or inability to use the product or documentation even if advised of the possibility of such damages This document contains proprietary information protected by copy right All rights are reserved No part of this manual may be repro duced by any mechanical electronic or other means in any form without prior written permission of the manufacturer Trademarks NuDAQ NulPC DAOBench are registered trademarks of ADLINK TECHNOLOGY INC Product names mentioned herein are used for identification pur poses only and may be trademarks and or registered trademarks of their respective companies ADLINK TECHNOLOGY INC Getting Service from ADLI NK Contact us should you require any service or assistance ADLINK Technology Inc Address 9F No 166 Jian Yi Road Chungho City
54. C Speed Pulse Speed Profile Motor Speed Response Time Position Errors eA INP Range INP Signal 4 3 4 Servo Alarm Signal The alarm signal is an output signal from motor driver It tells motion controller that there has something error inside servo motor or driver Once the motion controller receives this signal the pulses command will stop sending and the status of ALM signal will be ON The reasons of alarm could be servo motor s over speed over current over loaded and so on Please check motor driver s manual about the details The logic of alarm signal must be set correctly If the alarm logic s setting is not the same as motor driver s setting the ALM status will be always ON and the pulse command can never be output ted 4 3 5 Error Clear Signal The ERC signal is an output from the motion controller It tells motor driver to clear the the error counter The error counter is counted from the difference of command pulses and feedback pulses The feedback position will always have a delay from the command position It results in pulse differences between these two positions at any moment The differences are shown in error counter Motor driver uses the error counter as a basic control index The large the error counter value is the faster the motor Operation Theory 71 A ADLINK A TECHNOLOGY INC speed command will be set If the error counter is zero it means that zero motor speed command will
55. Input Our motion controller provides a global digital input for emergeny situation Once the input is turned on our motion controller will stop all axes motion immediately to prevent machine s damage Ususally users can connect an emergency stop button to this input on their machine We suggest this input as normal closed type for safty Operation Theory ADLINK TECHNOLOGY INC 4 5 Counters There are four counters for each axis of this motion controller They are described in this section Command position counter counts the number of output pulses Feedback position counter counts the number of input pulses Position error counter counts the error between command and feedback pulse numbers General purpose counter The source can be configured as com mand position feedback position manual pulser or half of ASIC clock Target position recorder A software maintained target position value of latest motion command 4 5 1 Command Position Counter The command position counter is a 28 bit binary up down counter Its input source is the output pulses from the motion controller It provides the information of the current command position It is useful for debugging the motion system Our motion system is an open loop type The motor driver receives pulses from motion controller and drive the motor to move When the driver is not moving we can check this command counter and see if there is an update value on it If i
56. N Trigger comparator for all command and feedback coun ters 4 6 14 Soft End Limit Comparators There are two comparators for end limit function of each axis We call them for the soft end limit comparators One is for plus or pos itive end limit and the other is for minus or negative end limit The end limit is to prevent machine crash when over traveling We can use the soft limit instead of a real end limit switch Notice that these two comparators only compare the command position coun ter Once the command position is over the limited set inside the positive or negative comparators it will stop moving as it touches the end limit switch 4 62 Command and Feedback Error Counter Compara tors This comparator is only for command and feedback counter error Users can use this comparator to check if the error is too big It can be set a action when this condition is met The actions include generating interrupt immediately stop and deceleration to stop Operation Theory 77 TECHNOLOGY INC A ADLINK A 4 6 3 General Comparator The general comparator let users to choose the source to com pare It could be chosen from command feedback position coun ter error counter or general counter The compare methods could be chosen by equal greater than or less than with directional or directionless Also the action when condition is met can be chosen from generating interrupt stop motion or others 4 6 4 Trigger Comparator
57. ONO 1 41 SVON1 2 The output circuit for the SVON signal is shown below VCC ji Inside 8102 SVON 35V 9 50mA Maximum From motion IC EGND PS2805 30 Signal Connections 3 9 General Purpose Signal RDY The RDY signals can be used as motor driver ready input or gen eral purpose input signals The signal names pin numbers and axis numbers are shown in the following table P1 Pin No Signal Name Axis 11 RDYO 1 45 RDY1 2 ADLINK TECHNOLOGY INC The input circuit of RDY signal is shown in the following diagram Inside 8102 VCC O To motion IC Signal Connections PS2805 R 330 Ohm VDD O 0 5V Max LI 1 L LU I L I L i 1 L L Li o 1 1 LI LI L RDY 3l TECHNOLOGY INC A ADLINK A 3 10 Position Compare Output pin CMP The 8164 provides 2 comparison output channels CMP1 and CMP2 used by the first 2 axes 1 amp 2 The comparison output channel will generate a pulse signal when the encoder counter reaches a pre set value set by the user The CMP channel is located on P1 The signal names pin num bers and axis numbers are shown below P1 Pin No Signal Name Axis 30 CMPO 1 31 CMP1 2 The following wiring diagram is of the CMP on the first 2 axes Inside 8102 VDD VCC R 4 7K Ohm CMP EGND Note CMP trigger type can be set as normal low rising e
58. Origin signal DOUT O Digital Output 27 DO COM Digital Output COM io HSOUT o High Speed DO d HO COM I Common of HSOUT AO Analog Output AGND Analog Ground 11 DIN l Digital Input 29 DI COM Digital Input COM HSIN High Speed DI 12 EMG External EMG Signal 30 AIN Analog Input 13 ABSBO ABStransmissiondatabit0 31 P15R 15VDC power supply ERC O Dev ctr clr Signal 14 ABSM O ABS transfer 32 SP1 Oo Speed selection 1 15 VLA O Analog speed limit 33 SP2 9 Speed selection 2 16 ABSR O ABS request 34 TC O Analog torque command 17 ZSP Zero speed 35 TLC Limiting torgue 18 EXGND Ext power ground 36 LOP 9 Control change 192 Connection Example ADLINK TECHNOLOGY INC SJ1 SJ2 Stepping Motor Control Interface No Name VO Function 1 OUT O Pulse Signal 2 OUT O Pulse Signal 3 DIR O Direction Signal 4 DIR O Direction Signal 5 EZ Index Signal 6 ALM l Servo Alarm 7 5V O Voltage output 8 Servo ON O Servo On 9 5V O Voltage output 10 EXGND Ext power ground PWC1 External 24VDC Input Connector No Name l O Function 1 EXGND External Power Supply Ground 2 EX 24V External Power Supply Input 24V DC 5 JP1 Setting for fuse lal 3 3 With fuse Without fuse default Connection Example 193 ADLINK TECHNOLOGY INC Signal Connections of In
59. RDY Section 3 10 Position Compare Output pin CMP Section 3 11 Multi Functional Input Pin LTC SD PCS CLR Section 3 12 Pulser Input Signals PA and PB Section 3 13 Simultaneously Start Stop Signals STA and STP Section 3 14General Purpose TTL Output Section 3 15 Additional 16 Digital Input 16 Digital Output Section 3 16 Termination Board Signal Connections 19 A A ADLINK TECHNOLOGY INC 20 3 1 Pulse Output Signals OUT and DIR There are 2 axis pulse output signals on the PCI 8102 For each axis two pairs of OUT and DIR signals are used to transmit the pulse train and to indicate the direction The OUT and DIR signals can also be programmed as CW and CCW signal pairs Refer to section 4 1 for details of the logical characteristics of the OUT and DIR signals In this section the electrical characteristics of the OUT and DIR signals are detailed Each signal consists of a pair of differential signals For example OUTO consists of OUT0 and OUTO signals The following table shows all pulse output signals on P1 P1 Pin No Signal Name Description Axis 3 OUT0 Pulse signals 1 4 OUTO Pulse signals 1 5 DIRO Direction signal 1 6 DIRO Direction signal 1 37 OUT1 Pulse signals 2 38 OUT1 Pulse signals 2 39 DIR1 Direction signal 2 40 DIR1 Direction signal 2 The output of the OUT or DIR signals can be configured by jump ers as either dif
60. TECHNOLOGY INC Includes MotionCreatorPro a Microsoft Windows based application development software gt PCI 8102 libraries and utilities for Windows 2000 XP 1 2 Specifications gt Applicable Motors gt gt Stepping motors AC or DC servomotors with pulse train input servo driv ers Performance Number of controllable axes 2 Maximum pulse output frequency 6 55MPPS linear trapezoidal or S Curve velocity profile drive Internal reference clock 19 66 MHz 28 bit up down counter range 0 268 435 455 or 134 217 728 to 134 217 727 Position pulse setting range 28 bit 134 217 728 to 134 217 728 Pulse rate setting range Pulse Ratio 1 65535 0 1 PPS to 6553 5 PPS Multiplier 0 1 1 PPS to 65535 PPS Multiplier 1 100 PPS to 6553500 PPS Multiplier 100 gt I O Signales Introduction Input Output signals for each axis All I O signal are optically isolated with 2500Vrms isola tion voltage Command pulse output pins OUT and DIR Incremental encoder signals input pins EA and EB Encoder index signal input pin EZ Mechanical limit switch signal input pins EL SD PCS and ORG Servomotor interface I O pins INP ALM and ERC Position latch input pin LTC A A ADLINK TECHNOLOGY INC gt Position compare output pin CMP General purposed digital output pin SVON General purposed digital input pin RDY gt Pulse signal input pin PA and PB with isolati
61. TECHNOLOGY INC A ADLINK A 2 5 1 P2 Pin Assignment 16 Digital Inputs 16 Digital Outputs P2 is the second connector for the additional 16 DI O signals N Name U Function a Name t Function o 0 o O 1 EX_GND External Power Ground 2 EX GND External Power Ground 3 DIO Discrete Input Channel 0 4 DH Discrete Input Channel 1 5 DI2 Discrete Input Channel 2 6 DI3 Discrete Input Channel 3 7 DIA Discrete Input Channel 4 8 DI5 Discrete Input Channel 5 9 VDD O External 5V Power 10 EX_GND External Power Ground 11 DI6 Discrete Input Channel6 12 DI7 Discrete Input Channel 7 13 DI8 Discrete Input Channel8 14 DI9 Discrete Input Channel 9 15 DI10 Discrete Input Channel 10 16 DI11 Discrete Input Channel 11 17 EX GND External Power Ground 18 EX GND External Power Ground 19 DH2 Discrete Input Channel 12 20 DI13 Discrete Input Channel 13 21 DI14 Discrete Input Channel 14 22 DI15 Discrete Input Channel 15 23 DOO O Discrete Output Channel O 24 DO1 O Discrete Output Channel 1 25 DO2 O Discrete Output Channel 2 26 DO3 Discrete Output Channel 3 27 EX_GND External Power Ground 28 EX_GND External Power Ground 29 DO4 O Discrete Output Channel 4 30 DO5 31 DO6 O Discrete Output Channel 6 32 DO7 33 DO8 O Discrete Output Channel 8 34 DO9 35 EX_GND External Power Ground 36 VDD 37 DO10 O Discrete Output Cha
62. Taipei County 235 Taiwan ATERPE 166 5j 9 TE Tel 886 2 8226 5877 Fax 886 2 8226 5717 Email service adlinktech com Ampro ADLINK Technology Inc Address 5215 Hellyer Avenue 110 San Jose CA 95138 USA Tel 1 408 360 0200 Toll Free 1 800 966 5200 USA only Fax 1 408 360 0222 Email info adlinktech com ADLINK Technology Beijing Address JER TIREX EHhZRER 1S AZ ASE E Hs 801 38 100085 Rm 801 Power Creative E No 1 B D Shang Di East Rd Beijing 100085 China Tel 86 10 5885 8666 Fax 86 10 5885 8625 Email market Qadlinktech com ADLINK Technology Shanghai Address Lipi 2 ey BESTE Ack EL 333 5 39 lit 4 JZ 200233 Tel 86 21 6495 5210 Fax 86 21 5450 0414 Email market adlinktech com ADLINK Technology Shenzhen Address YIT pH LL BHM be RS XP 3H BPN A1 2 FE C X 518057 2F C Block Bld A1 Cyber Tech Zone Gao Xin Ave Sec 7 High Tech Industrial Park S Shenzhen 518054 China Tel 86 755 2643 4858 Fax 86 755 2664 6353 Email market Qadlinktech com Ie A A ADLINK TECHNOLOGY INC ADLINK Technology Inc German Liaison Office Address Nord Carree 3 40477 Duesseldorf Germany Tel 49 211 495 5552 Fax 49 211 495 5557 Email emea adlinktech com ADLINK French Liaison Office Address 15 rue Emile Baudot 91300 MASSY Cedex France Tel 33 0 1 60 12 35 66 Fax 33 0 1 60 1
63. The following figures show the various home modes R means counter reset command and position counter E means ERC signal output 56 Operation Theory r eres Home mode 0 ORG Turn ON then reset counter when SD is not installed B a covet S wes c up w waal O D ley When SD is installed and SD is not latched ORG SD EL Ree Case 1 Oo Case 2 Case 3 j Case 4 i if Home mode 1 Twice ORG turn ON then reset counter ORG EL oor 7 CLL FA Speed CJ Case 1 Case 2 Case 3 Home mode 2 ORG ON then Slow down to count EZ num Operation Theory 57 a bers and reset counter ORG EZ 1 e case1 S Ez dont Case 2 ee a EZ_Count 2 cael BEF T Case 4 Kr Home mode 3 ORG ON then count EZ numbers and reset counter ORG Home modez4 ORG On then reverse to count EZ number 58 Operation Theory and reset counter ORG EZ EL Case 1 Case 2 Case 3 Case 4 FA Speed Dy EZCou FEE ibas t 1 t 0 r eres Home mode 5 ORG On then reverse to count EZ number and reset counter not using FA Speed ORG Home modez6 EL On then reverse to leave EL and reset Operation Theory 59 ADLINK TECHNOLOGY INC counter EL Case 1 FA Speed L A Home mode 7 EL On then reverse to count EZ number and reset counter EZ
64. The trigger comparator is much like general comparator It has an additional function generating a trigger pulse when condition is met Once the condition is met the CMP pin on the connector will output a pulse for specific purpose like triggering a camera to catch picture Not all of axes have this function It depends on the existence of CMP pin of the axis The following diagram shows the application of triggering CCD Camera Trigger Output IL JL JL JL JL JI In this application the table is controlled by the motion command and the CCD Camera is controlled by CMP pin When the compar ing position is reached the pulse will be outputted and the image is captured This is an on the fly image capture If users want to get more images during the motion path try to set a new compar 78 Operation Theory ADLINK TECHNOLOGY INC ing point right after previous image is captured It can achieve con tinuous image capturing by this method 4 7 Other Motion Functions We provide many other functions on the motion controller Such as backlash compensation slip correction vibration restriction speed profile calculation and so on The following sections will describe these functions 4 7 4 Backlash Compensation and Slip Corrections The motion controller has backlash and slip correction functions These functions output the number of command pulses in FA speed The backlash compensation is performed
65. Val StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double ByVal ORGOffset As Double As Integer Argument AxisNo Axis number designated to move or change position card_id Physical axis AxisNo 0 0 0 1 0 2 1 1 3 0 4 2 1 home mode Stopping modes for home return This value is between 0 to 12 Please see Section 4 2 10 org logic Action logic configuration for ORG Value Meaning 0 Active low 1 Active high ez logic Action logic configuration for EZ Value Meaning 0 Active low 144 Function Library ADLINK TECHNOLOGY INC 1 Active high ez_count 0 15 Please refer to see Section 4 2 10 erc_out Set ERC output options Value Meaning 0 no ERC out 1 ERC signal out when home move finishing StrVel Starting velocity of a velocity profile unit pulse sec MaxVel Maximum velocity unit pulse sec Tacc Specified acceleration time Unit sec ORGOffset The escape pulse amounts when home search touches the ORG singal Unit pulse 2 Return Code ERR NoError Function Library 145 ADLINK TECHNOLOGY INC 6 10 Manual Pulser Motion Name 8102 disable pulser input Disable the pulser input 8102 pulser pmove Manual pulser p move 8102 pulser vmove Manual pulser v move 8102 set pulser ratio Set manual pulser ratio for actual output pulse rate 8102
66. ailable for Linear Interpolation Mode and Circular Interpolation Mode 6 6 Speed Parameters Set the parameters for single axis motion This parameter is meaningless if Linear Interpo lation Mode or Circular Interpolation Mode is selected since the velocity and moving distance is decided by pulse input Start Velocity Set the start velocity of motion in units of PPS Maximum Velocity Set the maximum velocity of motion in units of PPS Accel Time Set the acceleration time in units of second Decel Time Set the deceleration time in units of sec ond SVacc Set the S curve range during acceleration in units of PPS SVdec Set the S curve range during deceleration in units of PPS 7 Set Distance End Pos Set the absolution target posi tions or relative distance for Linear Interpolation Mode Set the position end of arc for Circular Interpolation MotionCreatorPro 109 A A AN DLINI TECHNOLOGY INC Mode It is available for Linear Interpolation Mode and Circular Interpolation Mode 8 Set Center Set the position of center for Circular Inter polation Mode It is only effective when Circular Inter polation Mode is selected 9 Jog Command Press one directional button to move Jog Command 10 Velocity The absolute value of velocity in units of PPS The related function is _8102_get_current_speed 11 Interpolation Command gt Command displays
67. al Purpose Signal SVON ssesssssss 30 3 9 General Purpose Signal RDY esseere 31 Table of Contents i A A ADLINK TECHNOLOGY INC 3 10 Position Compare Output pin CMP osses 32 3 11 Multi Functional Input Pin LTC SD PCS CLR 33 3 12 Pulser Input Signals PA and PB ssassn 34 3 13 Simultaneously Start Stop Signals STA and STP 35 3 14 General Purpose TTL Output ssseee 37 3 15 Additional 16 Digital Input 16 Digital Output 38 3 16 Termination Board YY AA A I IL LL 40 Operation Theory recorre nnn YR YRR RR 41 4 1 Classifications of Motion Controller 41 Voltage Type Motion Control Interface 41 Pulse Type Motion Control Interface 42 Network Type Motion Control Interface 42 Software Real time Motion Control Kernel 43 DSP Based Motion Control Kernel 43 ASIC Based Motion Control Kernel 43 Compare Table of All Motion Control Types 44 PCI 8102 s Motion Controller Type 44 4 2 Motion Control Modes sssessseeeenneenn 45 Coordinate System sse 45 Absolute and Relative Position Move 46 Trapezoidal Speed Profile
68. arc xy Begin a circular interpolation T curve relative T curve absolute 8102 start sr arc xy Begin a S curve relative circular interpolation 8102 start sa arc xy Begin a S curve absolute circular interpolation Description Those functions perform Circular interpolation motion with differ ent profile Detail Comparsions of those functions are described by follow table Function Ta HO Pro Relative Absolute Target axes file Axes 8102_start_tr_arc_xy trapezoidal R Axes 0 amp 1 8102_start_ta_arc_xy 2 trapezoidal A Axes 0 amp 1 8102_start_sr_arc_xy 2 S curve R Axes 0 amp 1 8102_start_sa_arc_xy 2 S curve A Axes 0 amp 1 Syntax C C Windows 2000 XP 116 8102 start tr arco xy I16 Card id F64 OffsetCx F64 OffsetCy F64 OffsetEx F64 OffsetEy I16 DIR F64 StrVel F64 MaxVel F64 Tacc F64 Tdec Ey 8102 start ta arc xy I16 Card id F64 Cx I16 DIR F64 StrVel F64 MaxVel F64 Tacc F64 Tdec 8102 start sr arc xy I16 Card id F64 F64 Offset F64 EX I16 DIR F64 StrVel F64 MaxVel F64 Tacc F64 Tdec F64 SVacc F64 SVdec I16 F64 Cy F64 Ex F64 I16 OffsetCx F64 OffsetCy OffsetEy I16 F64 Cy F64 140 Ex F64 By 8102 start sa arc xy I16 Card id F64 Cx I16 DIR F64 Function Library ADLINK TECHNOLOGY INC StrVel F64 MaxVel F64 Tacc F64 Tdec F64
69. art ta move ByVal AxisNo As Integer ByVal ByVal Doub L Pos As Double ByVal StrVel As Double MaxVel As Double ByVal Tacc As le ByVal Tdec As Double As Integer B 8102 start sr move ByVal AxisNo As Integer ByVal Doub L Dist As Double ByVal StrVel As le ByVal MaxVel As Double ByVal Tacc As Double ByVal Tdec As Double ByVal SVacc As Double ByVal SVdec As Double As Integer B_8102_start_sa_move ByVal AxisNo As Integer ByVal ByVal Doub Doub Pos As Double ByVal StrVel As Double L MaxVel As Double ByVal Tacc As le ByVal Tdec As Double ByVal SVacc As le ByVal SVdec As Double As Integer B_8102_set_move_ratio ByVal AxisNo As Integer ByVal move ratio As Double As Integer B 8102 position override ByVal AxisNo As Integer ByVal Argument NewPos As Double As Integer AxisNo Axis number designated to move or change position card id Physical axis AxisNo 0 0 0 1 0 2 1 1 3 0 4 2 1 Dist Specified relative distance to move unit pulse Function Library 135 A A A DLINI TECHNOLOGY INC Pos Specified absolute position to move unit pulse StrVel Starting velocity of a velocity profile in units of pulse per second MaxVel Maximum velocity in units of pulse per second Tacc Specified acceleration time in units of seconds Tdec Specified deceleration time in units of seconds SVacc Spec
70. ation The PCI 8102 is fully Plug and Play compliant Hence memory allocation I O port locations and IRQ channel of the PCI card are assigned by the system BIOS The address assignment is done on a board by board basis for all PCI cards in the system 2 3 2 PCI Slot Selection Your computer system may have both PCI and ISA slots Do not force the PCI card into a PC AT slot The PCI 8102 can be used in any PCI slot 2 3 3 Installation Procedures 1 Read through this manual and setup the jumper accord ing to your application 2 Turn off your computer Turn off all accessories printer modem monitor etc connected to computer Remove the cover from your computer 3 Select a 32 bit PCI PXI expansion slot PCI slots are shorter than ISA or EISA slots and are usually white or ivory 4 Before handling the PCI 8102 discharge any static buildup on your body by touching the metal case of the computer Hold the edge of the card and do not touch the components 5 Position the board into the PCI slot you have selected 6 Secure the card in place at the rear panel of the system unit using screws removed from the slot Installation 11 TECHNOLOGY INC A ADLINK A 2 3 4 Troubleshooting If your system doesn t boot or if you experience erratic operation with your PCI board in place it s most likely caused by an interrupt conflict possibly an incorrect ISA setup In general the solution once determined it is not a si
71. be set At following four situations the ERC signal will be outputted auto matically from motion controller to motor driver in order to clear error counter at the same time 1 Home return is complete 2 The end limit switch is touched 3 An alarm signal is active 4 An emergency stop command is issued 4 3 6 Servo ON OFF Switch The servo on off switch is a general digital output signal on motion controller We define it as SVON pin on the connector It can be used for switching motor drivers controlling state Once it is turned on the motor will be holded because the control loop of driver is active Be careful that when the axis is vertically installed and the servo signal is turned off the axis will be in uncontrolled state It could be falled down on the ground Some situations like servo alarm and emergeny signal ON will result in the same trou ble 4 3 7 Servo Ready Signal The servo ready signal is a general digital input on motion control ler It has no relative purpose to motion controller Users can con nect this signal to motor driver s RDY signal to check if the motor driver is in ready state It lets users to check something like the motor driver s power has been inputed or not Or users can con nect this pin as a general input for other purpose It doesn t affect motion control 4 3 8 Servo Alarm Reset Switch The servo driver will raise an alarm signal if there is something wrong inside the servo driver S
72. control cycle s pulses generation is done by ASIC The pre cision of target position depends on motor drivers closed loop control performance and mechnical parts not on motion control ler s command because the motion controller is only responsible for sending correct pulses counts via a desired speed profile So it is much easier for programmers mechnical or electrical engineers to find out problems 44 Operation Theory ADLINK TECHNOLOGY INC 4 2 Motion Control Modes Not like motor control is only for positive or negative moving motion control make the motors run according to a specific speed profile path trajectory and synchronous condition with other axes The following sections describe the motion control modes of this motion controller could be performed 4 2 4 Coordinate System We use Cartesian coordinate and pulses for the unit of length The physical length depends on mechanical parts and motor s resolu tion For example if users install a motor on a screw ball The pitch of screw ball is 10mm and the pulses needed for a round of motor are 10 000 pulses We can say that one pulse s physical unit is equal to 10mm 10 000p 1 micro meter Just set a command with 15 000 pulses for motion controller if we want to move 15mm How about if we want to move 15 0001mm Don t worry about that the motion controller will keep the residue value less than 1 pulse and add it to next command Y X The motion controller
73. ction except that the input pins are EA and EB In this mode pulses from EA pin cause the counter to count up whereas EB pin caused the counter to count down 90 phase difference signals Input Mode AB phase Mode In this mode the EA signal is a 90 phase leading or lagging in comparison with the EB signal Lead or lag of phase difference between two signals is caused by the turning direction of the motor The up down counter counts up when the phase of EA sig nal leads the phase of EB signal Operation Theory 69 ADLINK TECHNOLOGY INC 70 The following diagram shows the waveform m _ LD 1 IT 1 T1 a _ ll l L Ps 1 111 1 L_ The index input EZ signal is as the zero reference in linear or rotary encoder The EZ can be used to define the mechanical zero position of the mechanism The logic of signal must also be set correctly to get corret result 4 33 In Position Signal The in position signal is an output signal from motor driver It tells motion controllers a motor has been reached a position within a predefined error The predefined error value is in position value Most motor drivers call it as INP value After motion controller issues a positioning command the motion busy status will keep true until the INP signal is ON Users can disable INP check for motion busy flag If it is disabled the motion busy wll be FALSE when the pulses command is all sent Operation Theory ADLINK TECHNOLOGY IN
74. d have a contact capacity of 24V 8mA minimum Either A type normal open contact or B type normal closed contact switches can be used To set the active logic of the exter nal limit signal please 8102_set_limit_logic function DGND 26 VCC O PS2805 refer to Tnside 8102 I the 24V O 2 2 249 Q Signal Connections explanation of PEL MEL f Switch ADLINK TECHNOLOGY INC 3 5 In Position Signal INP The in position signal INP from a servo motor driver indicates its deviation error If there is no deviation error then the servo s posi tion indicates zero The signal names pin numbers and axis num bers are shown in the table below P1 Pin No Signal Name Axis 10 INPO 1 44 INP1 2 The input circuit of the INP signals is shown in the diagram below bu Inside 8102 PS2805 VDD To motion IC Q R 330 Ohm The in position signal is usually generated by the servomotor driver and is ordinarily an open collector output signal An external circuit must provide at least 8mA current sink capabilities to drive the INP signal Signal Connections 27 TECHNOLOGY INC A ADLINK A 3 6 Alarm Signal ALM The alarm signal ALM is used to indicate the alarm status from the servo driver The signal names pin numbers and axis numbers are shown in the table below P1 Pin No Signal Name Axis 9 ALMO 1 43 ALM
75. d time maximum speed 186 Function Library 6 22 Return Code ADLINK TECHNOLOGY INC The return error code is defined in 8102_err h The meaning is discribed in following table Code Meaning 0 No error 10000 Error Card number 10001 Error operation system version 10002 Error card s ID conflict 10200 Error other process exist 10201 Error card not found 10202 Error Open driver failed 10203 Error ID mapping failed 10204 Error trigger channel 10205 Error trigger type 10206 Error event already enabled 10207 Error event not enable yet 10208 Error on board FIFO full 10209 Error unknown command type 10210 Error unknow chip type 10211 Error card not initial 10212 Error position out of range 10213 Error motion busy 10214 Error speed error 10215 Error slow down point 10216 Error axis range error 10217 Error compare parameter error 10218 Error compare method 10219 Error axis already stop 10220 Error axis INT wait failed 10221 Error user code write failed 10222 Error array size exceed 10223 Error factor number 10224 Error enable range Function Library 187 A FA ADLINK TECHNOLOGY INC 188 Code Meaning 10225 Error auto accelerate time 10226 Error dwell time 10227 Error dwell distance 10228 Error new position 10229 Error motion n
76. dec Our motion library has a series of functions to know the actual speed profile of the command from users 80 Operation Theory ADLINK TECHNOLOGY INC 4 8 Interrupt Control The motion controller can generate an interrupt signal to the host PC It is much useful for event driven software application Users can use this function _8102_int_control to enable ir disable the interrupt service There are three kinds of interrupt sources on PCI 8102 One is motion interrupt source and the other is error interrupt source and another is GPIO interrupt sources Motion and GPIO interrupt sources can be maskable but error interrupt sources can t Motion interrupt sources can be maskable by 8102 set motion int factor Its mask bits are shown as follow ing table Motion Interrupt Source Bit Settings Bit Description 0 Normally Stop 1 Next command in buffer starts 2 Command pre register 2 is empty and allow new command to write 3 0 4 Acceleration Start 5 Acceleration End 6 Deceleration Start 7 Deceleration End 8 Soft limit or comparator 1 is ON 9 Soft limit or comparator 2 is ON 10 Error comparator or comparator 3 is ON 11 General comparator or comparator 4 is ON 12 Trigger comparator or comparator 5 is ON 13 Counter is reset by CLR input 14 Counter is latched by LTC input 15 Counter is latched by ORG Input 16 SD input turns on 17 0 18 0
77. detail jumper set tings The default setting is differential line driver mode The default setting is differential line driver mode J8 amp J9 are for axis 0 J10 amp J11 are for axis 1 J10 Jg J11 J8 Line Driver 1 Open Collector 16 Installation ADLINK TECHNOLOGY INC 2 8 Switch Setting for card index The SW1 switch is used to set the card index For example if you turn 1 to ON and others are OFF It means the card index as 1 The value is from 0 to 15 Refer to the following table for details Card ID Switch Setting ON 1 0 0000 1 0001 2 0010 3 0011 4 0100 5 0101 6 0110 7 0111 8 1000 9 1001 10 1010 11 1011 12 1100 13 1101 14 1110 15 1111 Installation 17 ADLINK TECHNOLOGY INC 18 Installation ADLINK TECHNOLOGY INC 3 Signal Connections Signal connections of all I O s are described in this chapter Refer to the contents of this chapter before wiring any cables between the 8102 and any motor driver This chapter contains the following sections Section 3 1 Pulse Output Signals OUT and DIR Section 3 2 Encoder Feedback Signals EA EB and EZ Section 3 3 Origin Signal ORG Section 3 4 End Limit Signals PEL and MEL Section 3 5 In Position Signal INP Section 3 6 Alarm Signal ALM Section 3 7 Deviation Counter Clear Signal ERC Section 3 8 General Purpose Signal SVON Section 3 9 General Purpose Signal
78. dge or normal high falling edge Default setting is normal high Refer to function 8164 _set_trigger_type for details 32 Signal Connections ADLINK TECHNOLOGY INC 3 11 Multi Functional Input Pin LTC SD PCS CLR The PCI 8102 provides 2 multi functional input pins Each of the 2 pins can be configured either as LTC Latch or SD Slow down or PCS Target position override or CLR Counter clear To select the pin function please refer to 6 12 The default value is LTC and the relavant functions are as follows 116 8102 select pin23 input I16 card id U16 Select 116 8102 select pin57 input I16 card id U16 Select The multi functional input pins are on P1 The signal names pin numbers and axis numbers are shown in the following table P1 Pin No Signal Name Axis 23 LTC SD PCS CLR 0 57 LTC SD PCS CLR 1 The multi functional input pin wiring diagram is as followed Inside 8102 EX24V VCC R 2 2K Ohm To CPLD Multi Funcfional Input HP0631 DGND Signal Connections 33 A ADLINK A TECHNOLOGY INC 3 12 Pulser Input Signals PA and PB The PCI 8102 can accept input pulser signals through the pins of CN3 listed below The pulses behaves like an encoder The sig nals generate the positioning information which guides the motor P1 Pin No Signal Name Axis P1 Pin No Signal Name Axis 26 PA 12 27 PA 12 28 PB 12 29 PB 12
79. direction from pulse direction Value Meaning 0 no inverse 1 Reverse moving direction 148 Function Library ADLINK TECHNOLOGY INC 6 11 Motion Status Name _8102 motion_done Return the motion status Description _8102 motion done Return the motion status of the 8102 The return code show as below 0 Normal stopped condition 1 Waiting for DR 2 Waiting for CSTA input 3 Waiting for an internal synchronous signal 4 Waiting for another axis to stop 5 Waiting for a completion of ERC timer 6 Waiting for a completion of direction change timer 7 Correcting backlash 8 Wait PA PB 9 At FA speed 10 At FL Speed 11 Accelerating 12 At FH Speed 13 Decelerating 14 Wait INP 15 Others Controlling Start 16 SALM 17 SPEL 18 SMEL 19 SEMG 20 SSTP 21 SERC Function Library 149 TECHNOLOGY INC A ADLINK F Syntax C C DOS Windows 95 NT Il6 8102 motion done I16 AxisNo Visual Basic Windows 95 NT B 8102 motion done Integer Argument AxisNo Axis number designated to start manual move card id Physical axis AxisNo 0 0 0 1 1 0 2 1 1 3 0 4 2 1 150 ByVal AxisNo As Integer As Function Library ADLINK TECHNOLOGY INC 6 12 Motion Interface I O Name 8102_set_servo Set the ON OFF state of the SVON signal
80. distance according to the Step Size s setting 2 Jog Setting Set the parameters for single axis motion This parameter is meaningless if Jog Mode is selected since the velocity and moving distance is decided by pulse input gt Start Velocity Set the start velocity of motion in units of PPS gt Maximum Velocity Set the maximum velocity of motion in units of PPS gt Tacc Set the acceleration time in units of second 3 Operation Mode Select operation mode gt Absolute Mode Position will be used as absolution tar get positions for motion when Linear Interpolation MotionCreatorPro ADLINK TECHNOLOGY INC Mode is selected ABS EndPos and ABS Center will be used as absolution target positions for motion when Circular Interpolation Mode is selected The related functions are _8102_start_ta_move 8102_start_sa_move gt Relative Mode Distance will be used as absolution tar get positions for motion when Linear Interpolation Mode is selected Dis EndPos and Dis Center will be used as absolution target positions for motion when Cir cular Interpolation Mode is selected The related func tion is 8102 start tr move 8102 start sr mover 4 DIR Specified direction of arc CW CCW It is only effec tive when Circular Interpolation Mode is selected 5 Vel Profile Select the velocity profile Both Trapezoidal and S Curve are av
81. e Encoder feedback pulse input mode setting EA EB signals Value Meaning 0 1X A B 1 2X A B 2 4X A B 3 CW CCW pls logic Logic of encoder feedback pulse Value Meaning 0 Not inverse direction 1 inverse direction 128 Function Library ADLINK TECHNOLOGY INC a Setting of command pulse output mode Positive Direction Negative Direction renee m MEER NN reay E i RRRRG SES ME MO d EIN RE owor llll PU powwow ll ETT Src Counter source Value Meaning O External signal feedback 1 Command pulse Return Code ERR NoError Function Library 129 ADLINK TECHNOLOGY INC 6 5 Velocity mode motion Name 8102_tv_move Accelerate an axis to a constant velocity with trapezoidal profile 8102_sv_move Accelerate an axis to a constant velocity with S curve profile 8102_emg_stop Immediately stop 8102_sd_stop Decelerate to stop 8102_get_current_speed Get current speed 8 8 102_speed_overrid Change speed on the fly 102_set_max_override_speed Set the maximum orerride speed Description 8102 tv move This function is to accelerate an axis to the specified constant velocity with a trapezoidal profile The axis will continue to travel at a constant velocity until the velocity is changed or the axis is com manded to stop The direction is determined by the sign of the v
82. e required for connection between the CF1F1 CN1F2 and the Mitsubishi J3A driver It is available from ADLINK or users may contact the local dealer or distributor to get cable infor mation JP1 Fuse selection Pin 1 2 short means the board is pro tected by fuse Pin 2 3 short menas the board is not protect ed by fuse Fuse The fuse protects from demaging internal circuit This guse can sustain 2A current Users can buy it in local area when the fuse is burnt out Connection Example Tost pperampliter Tost pper amplifie r ADLINK TECHNOLOGY INC PIN Assignments CN1F1 CN1F2 Mitsubishi AC Servo Driver J3A No Name yo Function No Name VO Function 1 P15R 15VDC power supply 2 VLA o Analog speed limit 3 EXGND Ext power ground 4 EA Encoder A phase 5 EA Encoder A phase 6 EB Encoder B phase 7 EB Encoder B phase 8 EZ Encoder Z phase 9 EZ Encoder Z phase 10 OUT o Pulse signal 11 OUT O Pulse signal 12 Empty N C 13 Empty N C 14 Empty N C 15 SERVOON O Servo On signal 16 SP2 Oo Speed selection 2 17 ABSM O ABS transfer 18 ABSR O ABS request 19 RES O Reset 20 EX 24V I Ext power supply 24V 21 EX 24V Ext power supply 24V 22 ABSBO ABS transmission data bit 0 23 ZSP Zero speed 24 INP Servo In Position signal 25 TLC Limiting torgue 26 Empt
83. e all Multi axis simultaneous operation setup 8102 set sr move all Multi axis simultaneous operation setup 8102 set sa move all Multi axis simultaneous operation setup 8102 start move all Begin a multi axis trapezoidal profile motion 8102 stop move all Simultaneously stop multi axis motion General purposed Input Output Section 6 18 Function Name Description 8102 set gpio output Set digital output 8102 get gpio output Get digital output 8102 get gpio input Get digital input 8102 set gpio output2 Set digital output to P2 8102 set gpio output2 Get digital output form P2 8102 get gpio input2 Get digital input form P2 Soft Limit Section 6 19 Function Name Description 8102 disable soft limit Disable soft limit function 8102 enable soft limit Enable soft limit function 8102 set soft limit Set the soft limits Function Library 121 TECHNOLOGY INC A ADLINK A 122 Backlas Compensation Vibration Suppression Section 6 20 Function Name Description _8102_backlash_comp Set backlash corrective pulse for compensation _8102_suppress_vibration Set suppress vibration idle pulse counts 8102 set fa speed Set FA speed for home mode Speed Profile Calculation Section 6 21 Function Name Description 8102 g
84. e current configuration to 8102 ini And 8102MC ini gt Close Close the menu MotionCreatorPro 93 ADLINK TECHNOLOGY INC 94 PCI 8102 WO Contig 1 10 Cont 2 Pelee ETSY Config C OUTIDIR OUT i cue edp DOR is high level C OUTDOIR OUT edge DIR ww level OUTDIR OUT DIR 1 bw level C CWECW Paling ede Pulse Input Setting Mode 2 5 1X MB Phase AB Tam C IK MB Phase cwiccw Logic Do Met laene Dowtioa C Isveme the Deseetion dno Card 0 In this menu users can configure pulse input output and move ratio and INT factor Axis no Axis 1 INT Factor F Moral Stop 7 Hen Command Continued oe Acceleration Suet Action End r Steet fru on Ba 10 Position Ener Oocur Bur an r a by Beld 7 Latch or Amie 23 Bats ORO Oa Bal SDOs MotionCreatorPro ADLINK TECHNOLOGY INC 1 Pulse Output Mode Select the output mode of the pulse signal OUT DIR The related function call is 8102 set pls outmode 2 Pulse Input Sets the configurations of the Pulse input signal EA EB The related function calls are 8102 set pls iptmode 8102 set feedback src 3 INT Factor Select factors to initiate the event int The related function call is 8102 set int factor 4 Buttons gt Next Card Change operating card gt Next Axis Change operating axis gt Save Config Save current configuration to 8102 ini And 8102MC ini gt Close Clos
85. e the menu MotionCreatorPro 95 ADLINK TECHNOLOGY INC 5 3 5 Single Axis Operation Menu In this menu users can change the settings a selected axis including velocity mode motion preset relative absolute motion manual pulse move and home return Single Axis Operation PCI 8102 Cardno Command 0 Feed beck 0 Pos Exe 1 LI Target Poo Moton status Stat Velocty pps Mas Velocty pps 1000 Accel Te s04 3 4 fruc TD Decel Timesec 2 SVdec GTS x comal topped 3 mA factor bd noe f Bomal INT I Move Delay sec e SVON tw 99 GPIO INT DE T Velocity Next Card Next Axis Sa ig Close 96 MotionCreatorPro ADLINK TECHNOLOGY INC 1 Position Command displays the value of the command counter The related function is _8102_get_command Feedback displays the value of the feedback position counter The related function is _8102_get_position Pos Error displays the value of the position error coun ter The related function is _8102_get_error_counter Target Pos displays the value of the target position recorder The related function is 8102 get target pos 2 Position Reset clicking this button will set all positioning counters to a specified value The related functions are gt gt gt gt _8102_set_position _8102_set_command 8102 reset error counter 8102 reset target pos 3 Motion Status Displays the returned
86. ecelerate to stop at the relative distance with trapezoidal profile The accelera tion Tacc and deceleration Tdec time is specified indepen dently it does not let the program wait for motion completion but immediately returns control to the program 8102 start ta move This function causes the axis to accelerate from a starting velocity StrVel rotate at constant velocity MaxVel and decelerates to stop at the specified absolute position with trapezoidal profile The acceleration Tacc and deceleration Tdec time is specified inde pendently This command does not let the program wait for motion completion but immediately returns control to the program Function Library 133 ADLINK TECHNOLOGY INC 8102 start sr move This function causes the axis to accelerate from a starting velocity StrVel rotate at constant velocity MaxVel and decelerates to stop at the relative distance with S curve profile The acceleration Tacc and deceleration Tdec time is specified independently This command does not let the program wait for motion comple tion but immediately returns control to the program 8102 start sa move This function causes the axis to accelerate from a starting velocity StrVel rotate at constant velocity and decelerates to stop at the specified absolute position with S curve profile The acceleration and deceleration time is specified independently This command does not let the program wait for
87. edback pulse input Note that this function makes sense only when the Src parameter in 8102 set feedback src function is enabled 8102 set pls outmode Configure the output modes of command pulses There are 6 modes for command pulse output 8102 set feedback src If external encoder feedback is available in the system set the Src parameter in this function to an Enabled state Then the internal 28 bit up down counter will count according to the configuration of the 8102 set pls iptmode function Else the counter will count the command pulse output Syntax C C DOS Windows 95 NT I16 438102 set pls iptmode I16 AxisNo I16 pls iptmode I16 pls logic I16 8102 set pls outmode I16 AxisNo I16 pls outmode I16 8102 set feedback src I16 AxisNo I16 Src Visual Basic Windows 95 NT B 8102 set pls iptmode ByVal AxisNo As Integer ByVal pls iptmode As Integer ByVal pls logic As Integer As Integer Function Library 127 A ADLINK A TECHNOLOGY INC B_8102_set_pls_outmode ByVal AxisNo As Integer ByVal pls_outmode As Integer As Integer B_8102_set_feedback_src ByVal AxisNo As Integer ByVal Src As Integer As Integer Argument AxisNo Axis number designated to configure the pulse input out put It varied according to users ID setting The following is an example card_id Physical axis AxisNo 0 0 0 1 1 0 2 1 1 3 0 4 2 1 pls iptmod
88. eeeseeeeeeeeeeeee 158 6 14 Position Control and Counters 162 6 15 Position Compare and Latch sssssssss 167 6 16 Continuous Motion 171 6 17 Multiple Axes Simultaneous Operation 173 6 18 General Purposed DIO sss 176 6 19 Soft Limit elo eret teet ee eee 179 6 20 Backlash Compensation Vibration Suppression 181 6 21 Speed Profile Calculation sssssssssss 183 6 22 Return Code ssssssssssseseee eee 187 7 Connection Example nene 189 7 1 General Description of Wiring esssssss 189 7 2 Wiring with DIN 68M J3A ssesen 189 PIN Assignments iecit ine 191 Signal Connections of Interface Circuit 194 Mechanical Dimensions eese 197 ADDperndiX qu 199 8 1 Color code of Mitsubishi servo J3A cable MRJ3CN1 xM OPEN eee 199 iv Table of Contents ADLINK TECHNOLOGY INC List of Figures Figure 1 1 PCI 8102 Block Diagram sese 2 Figure 1 2 Flow Chart for Building an Application 3 Figure 2 1 PCB Layout of the PCI 8102 esee 10 List of Figures V ADLINK TECHNOLOGY INC vi List of Figures 1 ADLINK TECHNOLOGY INC Introduction The PCI 8102 is an advanced 2 axis motion controller card with a PCI interface It can gen
89. elocity parameter 8102 sv move This function is to accelerate an axis to the specified constant velocity with a S curve profile The axis will continue to travel at a constant velocity until the velocity is changed or the axis is com manded to stop The direction is determined by the sign of velocity parameter 8102 emg stop This function is used to immediately stop an axis This function is also useful when a preset move both trapezoidal and S curve motion manual move or home return function is performed 8102 sd stop This function is used to decelerate an axis to stop with a trapezoi dal or S curve profile This function is also useful when a preset move both trapezoidal and S curve motion manual move or home return function is performed Note The velocity profile is decided by original motion profile 130 Function Library ADLINK TECHNOLOGY INC 8102_get_current_speed This function is used to read the current pulse output rate pulse sec of a specified axis It is applicable in any time in any operation mode _8102_speed override This function is used to change motion speed on the fly The over rided speed cannot higher than maximum motion speed On the other hand Users also can use the function 8102 set max override speed to set the maximum override speed which may higher or lower than maximum motion speed before motion 8102 set max override speed This function is used
90. emergency input pin can let users wire the emergency botton to trigger this board to stop sending pulse output once there is any emgergency sitiuation happened For security protection design users can set the 16 bit value into EEPROM Users interface pro gram can uses this EEPROM to secure the software and hard ware in order to prevent piracy Introduction TECHNOLOGY INC A ADLINK A PCI Bus VDD Digital I O Isolation SCSI 68 P1 Figure 1 1 PCI 8102 Block Diagram MotionCreatorPro is a Windows based application development software package included with the PCI 8102 MotionCreatorPro is useful for debugging a motion control system during the design phase of a project An on screen display lists all installed axes information and I O signal status of the PCI 8102 Windows programming libraries are also provided for C com piler and Visual Basic Sample programs are provided to illustrate the operations of the functions Figure 1 2 illustrates a flow chart of the recommended process in using this manual in developing an application Refer to the related chapters for details of each step 2 Introduction Hardware Installation Jumper Setting Wiring Using Motion Creator to Configure a System anc Using Motion Creator to Verify Operations Chapters 4 amp 5 Chapters 2 amp 3 Using the Function Libraries to Develop Chapters 4 amp 6 Applications Figure 1 2 Flow Chart for Building an Applicat
91. er ByRef Pos As Double As Integer B 8102 reset target pos ByVal AxisNo As Integer ByVal Pos As Double As Integer B 8102 get target pos ByVal AxisNo As Integer ByRef Pos As Double As Integer B 8102 set res distance ByVal AxisNo As Integer ByVal Res Distance As Double As Integer B 8102 get res distance ByVal AxisNo As Integer ByRef Res Distance As Double As Integer Argument AxisNo Axis number of Target Axis card id Physical axis AxisNo 0 0 0 1 0 2 1 1 3 0 4 2 1 Pos Pos Feedback position counter value 8102 get set position range 134217728 134217727 command command Command position counter value range 134217728 134217727 error Position error counter value range 32768 32767 CntSrc general counter source Value Meaning 0 Command pulse 1 EA EB 2 Pulser input Function Library 165 ADLINK TECHNOLOGY INC 3 System clock 2 CntValue CntValue the counter value T_pos T_pos Target position recorder value range 134217728 134217727 Res_Distance Res_Distance residue distance 166 Function Library ADLINK TECHNOLOGY INC 6 15 Position Compare and Latch Name _8102_set_trigger_logic Set the CMP signal s logic _8102_set_trigger_comparator Set the trigger comparator 8102_set_error_comparator Set the error comparator _8102_set_general_com
92. erate high frequency pulses 6 55MHz to drive stepper or servomotors As a motion controller it can provide 2 axis linear and circular interpolation and continuous interpolation for continuous velocity Also changing position speed on the fly is available with a single axis operation Multiple PCI 8102 cards can be used in one system Incremental encoder interface on all four axes provide the ability to correct positioning errors generated by inaccurate mechanical transmis sions PCI 8102 features the postion compare and trigger output function which users can put the comparing points with ADLINK library and sending the triggering pulse to other device In addi tion a mechanical sensor interface servo motor interface and general purposed I O signals are provided for easy system inte gration Figure 1 1 shows the functional block diagram of the PCI 8102 card The motion control functions include trapezpoidal and S curve acceleration deceleration linear and circular interpolation between two axes and continuous motion positioning and 13 home return modes All these functions and complex computa tions are performed internally by the ASIC thus it can save CPU loading The PCI 8102 also offers three user friendly functions The PCI 8102 can let users assign the card index with the DIP switch set ting The value is within O to 15 It is useful for machine makers to recognize the card index if the whole control system is very huge The
93. et tr move profile Get relative trapezoidal speed profile 8102 get ta move profile Get absolute trapezoidal speed profile 8102 get sr move profile Get relative S curve speed profile 8102 get sa move profile Get absoulte S curve speed profile Function Library ADLINK TECHNOLOGY INC 6 2 C C Programming Library This section details all the functions The function prototypes and some common data types are declared in PCI 8102 H We sug gest you use these data types in your application programs The following table shows the data type names and their range Type Name Description Range U8 8 bit ASCII character 0 to 255 116 16 bit signed integer 32768 to 32767 U16 16 bit unsigned integer 0 to 65535 132 32 bit signed long integer 2147483648 to 2147483647 U32 32 bit unsigned long integer 0 to 4294967295 F32 32 bit single precision floating point 3 402823E38 to 3 402823E38 F64 64 bit double precision floating point ee Boolean Boolean logic value TRUE FALSE The functions of the 8102 s software drivers use full names to rep resent the functions real meaning The naming convention rules are In a C programming environment hardware model action name e g 8102 Initial In order to recognize the difference between a C library and a VB library a capital B is placed at the beginning of each function name e g B 8102
94. ferential line drivers or open collector output Users can select the output mode either by closing breaks between 1 and 2 or 2 and 3 of jumpers J8 J11 as follows For differential line driver For open collector out Output Signal output close breaks put close breaks between 1 and 2 of between 2 and 3 of OUTO J8 J8 DIRO J9 J9 OUT1 J10 J10 DIR1 J11 J11 The default setting of OUT and DIR is set to differential line driver mode Signal Connections ADLINK TECHNOLOGY INC The following wiring diagram is for OUT and DIR signals on the 2 axes PCI 8102 VDD 26LS31 12 OUT DIR OUT DIR EXGND OUT DIR NOTE If the pulse output is set to open collector output mode OUT and DIR are used to transmit OUT signals The sink current must not exceed 20mA on the OUT and DIR pins The default setting of jumper is 1 2 shorted The default setting is 1 2 shorted Suggest Usage Jumper 2 3 shorted and connect OUT DIR to a 470 ohm pulse input interface s COM of driver See the following figure i Inside Motor Driver 470 Ohm Inside Motion Card i VDD OUT DIR 45V OUT DIR EXGND i NY Warning The sink current must not exceed 20mA or the 26L S31 will be damaged Signal Connections 21 TECHNOLOGY INC A ADLINK A 3 2 Encoder Feedback Signals EA EB and EZ The encoder feedback signals include EA EB and EZ Every axis has six
95. ge DI3 falling edge DIO raising edge DI1 raising edge DI2 raising edge DI3 raising edge o wujoo e gt o nmp o Pin23 input interrupt o Pin57 input interrupt 10 Pin23 57 interrupt mode selection O falling 1 raising 11 14 0 15 GPIO interrupt switch Always 1 The steps for using interrupts Use 8102 int control CARD ID Enable 1 Disable 0 1 2 3 Operation Theory Set interrupt sources for Event or GPIO interrupts mally stop 1000ms for normally stop interrupt 1000ms for DIO falling edge interrupt Wait 2000ms for error interrupts ADLINK TECHNOLOGY INC 8102 set motion int facor AXISO 0x01 AxisO nor 8102 set gpio int factor CARDO 0x01 DIO falling edge 8102 wait motion interrupt AXISO 0x01 1000 Wait 8102 wait gpio interrupt CARDO 0x01 1000 Wait M6 ErrNo 8102 wait error interrupt AXISO 2000 83 TECHNOLOGY INC A ADLINK A 4 9 Multiple Card Operation The motion controller allows more than one card in one system Since the motion controller is plug and play compatible the base address and IRQ setting of the card are automatically assigned by the PCI BIOS at the beginning of system booting Users don t need and can t change the resource settings When multiple cards are applied to a system the number of card must be noted The card number depends on the card ID
96. gnal sssssssss 73 Slow Down Switch esssssseseeeeernn 73 Positioning Start switch ssssssssssss 74 Counter Clear switch ssssssssee 74 Counter Latch Switch ssssssssssses 74 Emergency Stop Input ssssssssseeese 74 AS COUNTES onari reete akku vith epe eere a eder a eR au ERR YR FFRAM 75 Command Position Counter sssssssss 75 Feedback Position Counter ssssssssss 75 Command and Feedback Error Counter 76 General Purpose Counter ssssses 76 Target Position Recorder seeeeesess 76 4 6 XComparaters sssssssssssseseseeene nnne entente 77 Soft End Limit Comparators ssssssssss 77 Command and Feedback Error Counter Comparators 77 General Comparator sss 78 Trigger Comparator esse 78 4 7 _ Other Motion Functions ssesssseeeenn 79 Backlash Compensation and Slip Corrections 79 Vibration Restriction Function essees 79 Speed Profile Calculation Function 80 4 8 Interrupt Control 81 4 9 Multiple Card Operation sese 84 5 MotlonCreatOrPro nre cine YNO 85 5 1 Execute MotionCreatorPro ssssssseeee 85 5 2 About MotionCreatorPro
97. he new speed could not be a reversed speed of origi nal running speed The speed profile of this kind of motion is shown as below Velocity PPS Speed Override le ___ s Stop function Time en Second Velocity Mode Start 4 2 6 One Axis Position Mode Position mode means the motion controller will output a specific amount of pulses which is equal to users desired position or dis tance The unit of distance or position is pulse internally on the motion controller The minimum length of distance is one pulse But in PCI 8102 we provide a floating point function for users to transform a physical length to pulses Inside our software library we will keep those distance less than one pulse in register and apply them to the next motion function Besides positioning via pulse counts our motion controller provides three types of speed profile to accomplish positioning There are 1st order trapezoidal 2nd order S curve and mixed bell curve Users can call respective functions to perform that The following char shows the relation ship between distance and speed profile We use trapezoidal shape to show it Operation Theory ADLINK TECHNOLOGY INC sdd Ky90 9A Distance StrVel Tacc Tdec second n ed lt o o eu t The distance is the area of the V t diagram of this profile 4 2 7 Two Axes Linear Interpolation Position Mode Interpolation between
98. he relative trapezoidal speed profile 8102 get ta move profile Get the absolute trapezoidal speed profile 8102 get sr move profil Get the relative S curve speed profile 8102 get sa move profile Get the absolute S curve speed profile Description 8102 get tr move profile This function is used to get the relative trapezoidal speed profiles By this function user can get the actual speed profile before run ning 8102 get ta move profile This function is used to get the absolute trapezoidal speed pro files By this function user can get the actual speed profile before running 8102 get sr move profile This function is used to get the relative S curve speed profiles By this function user can get the actual speed profile before running 8102 get sa move profile This function is used to get the absolute S curve speed profiles By this function user can get the actual speed profile before run ning Syntax C C Windows 2000 XP I16 8102 get tr move profile I16 AxisNo F64 Dist F64 StrVel F64 MaxVel F64 Tacc F64 Tdec F64 pStrVel F64 pMaxVel F64 pTacc F64 pTdec F64 pTconst I16 38102 get ta move profile I16 AxisNo F64 Pos F64 StrVel F64 MaxVel F64 Tacc F64 Function Library 183 ADLINK TECHNOLOGY INC 184 116 116 Tdec F64 pStrVel F64 pMaxVel F64 pTacc F64 pTdec F64 pTconst 8102 get sr move profile I16 AxisNo F64
99. iatelly 1 Slow down then stop Select select the corresponding signal to specified pin Value Meaning O CLR pin 1 LTC pin 2 SD pin 3 PCS pin Function Library 157 ADLINK TECHNOLOGY INC 6 13 Interrupt Control Name 8102 int control Enable Disable INT service 8102 set motion int factor Set the factors of motion related interrupts 8102 set gpio int factor Set the factors of general purpose IO related interrupts 8102 wait error interrupt Wait error related interrupts 8102 wait motion interrupt Wait motion related interrupts 8102 wait gpio interrupt Waiting GPIO interrupts Description 8102 int control This function is used to enable the Windows interrupt event to host PC 8102 set motion int factor This function allows users to select motion related factors to initi ate the event int The error can never be masked once the inter rupt service is turned on by 8102 int control J Once the Interrupt function is enabled you can use 8102 wait motion interrupt to wait event 8102 set gpio int factor This function allows users to select GPIO related factors to initiate the event int The error can never be masked once the interrupt service is turned on by 8102 int control Once the Interrupt function is enabled you can use 8102 wait gpio interrupt to wait event 8102 wait error interrupt
100. ified velocity interval in which S curve acceleration is performed Note SVacc 0 for pure S Curve For more details see section 4 2 4 SVdec specified velocity interval in which S curve deceleration is performed Note SVdec 0 for pure S Curve For more details see section 4 2 4 Move_ratio ratio of feedback resolution command resolution should not be 0 NewPos specified new absolute position to move 136 Function Library 6 7 Linear Interpolated Motion Name 8102_star t_tr_move pro linea 8102_star e ta_move pro linea fil 8102_star e sr move xy Begin pro linea 8102 star e Sa move r interpolation for fil xy Begin linear interpolation for prof Description i Le ADLINK TECHNOLOGY INC xy Begin a relative 2 axis r interpolation with trapezoidal fil xy Begin an absolute 2 axis r interpolation for with trapezoidal a relative 2 axis with S curve an absolute 2 axis with S curve These functions perform linear interpolation motion with different profile Detail Comparsions of those functions are described by fol low table Function Tola Velocity Pro Relative Absolute 2 9et axes file Axes 8102_start_tr_move_xy 2 T R Axes 0 amp 1 8102 start ta move xy 2 T A Axes 0 amp 1 8102 start sr move xy 2 S R Axes 0 amp 1 8102 start sa move xy 2
101. ion Introduction 3 TECHNOLOGY INC A ADLINK A 1 1 Features The following list summarizes the main features of the PCI 8102 motion control system gt gt vv y vvvvvvrv vv vv vv vv vv vy v 32 bit PCI bus Plug and Play 2 axes of step and direction pulse output for controlling stepping or servomotor Maximum output frequency of 6 55 MPPS Pulse output options OUT DIR CW CCW Programmable acceleration and deceleration time for all modes Trapezoidal and S curve velocity profiles for all modes 2 axes linear circular interpolation Continuous interpolation for contour following motion Change position and speed on the fly 13 home return modes with auto searching Hardware backlash compensator and vibration suppression 2 software end limits for each axis 28 bit up down counter for incremental encoder feedback Home switch index signal EZ positive and negative end limit switches interface on all axes 2 axis high speed position latch input 2 axis position compare trigger output with 4k FIFO auto loading All digital input and output signals are 2500Vrms isolated Programmable interrupt sources Simultaneous start stop motion on multiple axes Manual pulser input interface Card index selection Security protection on EERPOM Dedicated emergency input pin for wiring Software supports a maximum of up to 12 PCI 8102 cards operation in one system Compact PCB design Introduction ADLINK
102. ion 4 3 Motor Driver Interface Section 4 4 Mechanical Switch Interface Section 4 5 Counters Section 4 6 Comparaters Section 4 7 Other Motion Functions Section 4 8 Interrupt Control Section 4 9 Multiple Card Operation 4 1 Classifications of Motion Controller At the beginning of servo stepper driver come to the world people start to talk about motion control widely instead of motor control They separate motor control into two layers one is motor control and the other is motion control Motor control talks much about on the PWM power stage closed loop hall sensors vector space and so on Motion control talks much about on the speed profile generating trajectory following multi axes synchronization and coordinating 4 1 1 Voltage Type Motion Control Interface The interfaces between motion and motor control are changing rapidly From the early years people use voltage singal as a com mand to motor controller The amplitude of the signal means how fast a motor rotating and the time duration of the voltage changes means how fast a motor acceleration from one speed to the other speed Voltage signal as a command to motor driver is so called analog type motion controller It is much eaiser to integrate into an analog circuit of motor controller but sometimes noise is a big problem for this type of motion control Besides if people want to do positioning control of a motor the analog type motion controller must have a feedbac
103. ionCreatorPro ADLINK TECHNOLOGY INC 6 Position Set the absolute position for Absolute Mode It is only effective when Absolute Mode is selected 7 Buttons gt Next Card Change operating card gt Next Axis Change operating axis 8 I O Status The status of motion I O Light On means Active while Light Off indicates inactive The related function is _8102_get_io_status 9 Motion status Displays the returned value of the _8102 motion done function The related function is _8102_motion_done 10 Current Position gt Command displays the value of the command counter The related function is _8102_get_position 11 Velocity The absolute value of velocity in units of PPS The related function is _8102_get_current_speed 12 Play Key Left play button Clicking this button will cause the 8102 start to outlet pulses according to previous setting gt In Absolute Mode it causes the axis to move to position1 gt In Relative Mode it causes the axis to move forward Right play button Clicking this button will cause the 8102 start to outlet pulses according to previous setting gt In Absolute Mode it causes the axis to move to position2 gt In Relative Mode it causes the axis to move back wards Stop Button Clicking this button will cause the 8102 to deceler ate and stop The deceleration time is defined in Decel Time The related function is _
104. isNo As Integer ByVal Pos As Double ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double ByVal Tdec As Double ByVal SVacc As Double ByVal SVdec As Double ByRef pStrVel As Double ByRef pMaxVel As Function Library ADLINK TECHNOLOGY INC Double ByRef pTacc As Double ByRef pTdec As Double ByRef pSVacc As Double ByRef pSVdec As Double ByRef pTconst As Double As Integer Argument AxisNo Axis number of Target Axis card_id Physical axis AxisNo 0 0 0 1 1 0 2 1 1 3 0 4 2 1 y Dist Specified relative distance unit pulse Pos Specified absolute position unit pulse StrVel Starting velocity unit pulse sec MaxVel Maximum velocity unit pulse sec Tacc time for acceleration unit sec Tdec time for deceleration unit sec SVacc S curve region during acceleration unit pulse sec Note SVacc 0 for pure S Curve For more details section 4 2 4 SVdec S curve region during deceleration unit pulse sec Note SVdec 0 for pure S Curve For more details section 4 2 4 pSirVel Starting velocity by calculation pMaxVel Maximum velocity by calculation pTacc Acceleration time by calculation pTdec Deceleration time by calculation pSVacc S curve region during acceleration by calculation Function Library 185 ADLINK TECHNOLOGY INC pSVdec S curve region during deceleration by calculation pTconst constant spee
105. k signal of position information and use a Operation Theory 41 A ADLINK A TECHNOLOGY INC closed loop control algorithm to make it possible This increased the complexity of motion control and not easy to use for a begin ner 4 1 2 Pulse Type Motion Control Interface The second interface of motion and motor control is pulses train type As a trend of digital world pulse trains type represent a new concept to motion control The counts of pulses show how many steps of a motor rotates and the frequency of pulses show how fast a motor runs The time duration of frequency changes repre sent the acceleration rate of a motor Because of this interface users can control a servo or stepper motor more easier than ana log type for positioning applications It means that motion and motor control can be separated more easily by this way Both of these two interfaces need to take care of gains tunning For analog type position controller the control loops are built inside and users must tune the gain from the controller For pulses type position controller the control loops are built outside on the motor drivers and users must tune the gains on drivers For more than one axes operation motion control seems more important than motor control In industial applications reliable is a very important factor Motor driver vendors make good perfor mance products and a motion controller vendors make powerful and variety motion software Integ
106. l 5V Power 37 DO10 O Discrete Output Channel 10 38 DO11 O Discrete Output Channel 11 39 DO12 O Discrete Output Channel 12 40 DO13 O Discrete Output Channel 13 41 DO14 O Discrete Output Channel 14 42 DO15 O Discrete Output Channel 15 43 EX GND External Power Ground 44 EX GND External Power Ground 38 Signal Connections ADE 1 Digital I O type N NPN Sinking Inputt VCC Inside 8102 E5V To CPLD 0 5V Max ni PS2805 Seo oe E N NPN Sinking Output VCC Inside 8102 E5V To CPLD 0 5V Max DI PS2805 P oo Signal Connections 39 TECHNOLOGY INC A ADLINK A 3 16 Termination Board Currently PCI 8102 can only connected to 2 termination boards DIN 68S and DIN 68M J3A DIN 68S is a general purposed termi nation board With maximum flexibility user should put more effort and care to use DIN 688 to avoid wiring errors The other termina tion board can be used for PCI 8102 is DIN 68M J3A This termi nation board is used only for Mitsubishi J3A Servo Motor For Mitsubishi J2A Servo Motor or other servo motors from different vendors please use DIN 68S termination board 40 Signal Connections ADLINK TECHNOLOGY INC 4 Operation Theory This chapter describes the detail operation of the motion controller card Contents of the following sections are as follows Section 4 1 Classifications of Motion Controller Section 4 2 Motion Control Modes Sect
107. logic of the ORG signal The related function call is 8102 set home config EZ Logic Select the logic of the EZ signal The related function call is 8102 set home config Buttons gt Next Card Change operating card gt Next Axis Change operating axis gt Save Config Save current configuration to 8102 ini And 8102MC iini gt Close Close the menu MotionCreatorPro 91 ae In this menu users can configure LTC SD PCS and Select_Input PCI 8102 Card not Card 0 Axis no Axis 1 10 Contig 30 Conf 2 Fue amp INT Contig Mech Signal Select Input 92 MotionCreatorPro ADLINK TECHNOLOGY INC 1 LTC Logic Select the logic of the LTC signal The related function call is 8102 set ltc logic 2 LTC latch source Select the logic of the latch source signal The related function call is 8102 set latch source 3 SD Configuration Configure the SD signal The related function call is 8102 set sa 4 PCS Logic Select the logic of the SelectNo signal The related function call is 8102 set pcs logic 5 pin23 Select Axis X Select the configurations of the Axis X The related function call is 8102 select pin23 input 6 pin57 Select Axis Y Select the configurations of the Axis Y The related function call is 8102 select pin57 input 7 Buttons gt Next Card Change operating card gt Next Axis Change operating axis gt Save Config Sav
108. ls for the origin of the mechanism The following table lists signal names pin numbers and axis numbers P1 Pin No Signal Name Axis 24 ORGO 1 58 ORG1 2 ADLINK TECHNOLOGY INC The input circuit of the ORG signals is shown below Usually a limit switch is used to indicate the origin on one axis The specifi cations of the limit switch should have contact capacity of 24V 6mA minimum An internal filter circuit is used to filter out any high frequency spikes which may cause errors in the operation To motion IC DGND VCC O PS2 805 Tnside 8102 I24V O ORG Switch EGND When the motion controller is operated in the home return mode the ORG signal is used to inhibit the control output signals OUT and DIR For detailed operations of the ORG signal refer to sec tion 4 3 Signal Connections 25 A A To motion IC ADLINK TECHNOLOGY INC 3 4 End Limit Signals PEL and MEL There are two end limit signals PEL and MEL for each axis PEL indicates the end limit signal is in the plus direction and MEL indi cates the end limit signal is in the minus direction The signal names pin numbers and axis numbers are shown in the table below P1 Pin No Signal Name Axis P1 Pin No Signal Name Axis 20 PELO 1 21 MELO 1 54 PEL1 2 55 MEL1 1 A circuit diagram is shown in the diagram below The external limit switch shoul
109. mand s speed set ting 1000 1000 2100 1000 2500 600 i Velocity 1000 pps 0 0 B X 2500 600 P 000 1000 2100 1000 If the INP checking is enabled the motion will have some delayed between each command in buffers INP check enabled make the desired point be reached but reduce the smoothing between each command If users don t need this delay and meed the smoothing please turn INP checking off Operation Theory 55 TECHNOLOGY INC A ADLINK A 4 2 10 Home Return Mode Home return means searching a zero position point on the coordi nate Sometimes users use a ORG EZ or EL pin as a zero posi tion on the coordinate At the beginning of machine power on the program needs to find a zero point of this machine Our motion controller provides a home return mode to make it We have many home modes and each mode contents many con trol phases All of these phases are done by ASIC No software efforts or CPU loading will be taken After home return is finished the target counter will be reset to zero at the desired condition of home mode For example a raising edge when ORG input Some times the motion controller will still output pulses to make machine show down after reseting the counter When the motor stops the counter may not be at zero point but the home return procedure is finished The counter value you see is a reference position from mahcine s zero point already
110. mmand counter can store a value of total pulses outputting from controller 4 3 2 Pulse Feedback Input Interface Our motion controller provides one 28 bit up down counter of each axis for pulse feedback counting This counter is called position counter The position counter counts pulses from the EA and EB signal which have plus and minus pins on connector for differential signal inputs It accepts two kinds of pulse types One is dual pulses input CW CCW mode and the other is AB phase input The AB phase input can be multiplied by 1 2 or 4 Multiply by 4 AB phase mode is the most commonly used in incremental encoder inputs 68 Operation Theory ADLINK TECHNOLOGY INC For example if a rotary encoder has 2000 pulses per rotation then the counter value read from the position counter will be 8000 pulses per rotation when the AB phase is multiplied by four If users don t use encoder for motion controller the feedback source for this counter must be set as pulse command output or the counter value will always be zero If it is set as puse command output users can get the position counter value from pulse com mand output counter because the feedback pulses are internal counted from command output pulses The following diagrams show these two types of pulse feedback signal Plus and Minus Pulses Input Mode CW CCW Mode The pattern of pulses in this mode is the same as the Dual Pulse Output Mode in the Pulse Command Output se
111. motion completion but immedi ately returns control to the program 8102 set move ratio This function configures scale factors for the specified axis Usu ally the axes only need scale factors if their mechanical resolu tions are different For example if the resolution of feedback sensors is two times resolution of command pulse then the parameter move ratio could be set as 2 8102 position override This function is used to change target position on the fly There are some limitations on this function Please refer to section 4 2 15 before use it Syntax C C Windows 2000 XP 116 8102 start tr move I16 AxisNo F64 Dist F64 StrVel F64 MaxVel F64 Tacc F64 Tdec 116 8102 start ta move I16 AxisNo F64 Pos F64 StrVel F64 MaxVel F64 Tacc F64 Tdec 116 8102 start sr move I16 AxisNo F64 Dist F64 StrVel F64 MaxVel F64 Tacc F64 Tdec F64 SVacc F64 SVdec I16 38102 start sa move I16 AxisNo F64 Pos F64 StrVel F64 MaxVel F64 Tacc F64 Tdec F64 SVacc F64 SVdec 134 Function Library I16 8102 ADLINK TECHNOLOGY INC set move ratio I16 AxisNo F64 move ratio I16 8102 position override I16 AxisNo F64 NewPos Visual Basic6 Windows 2000 XP B 8102 start tr move ByVal AxisNo As Integer ByVal Doub L Dist As Double ByVal StrVel As le ByVal MaxVel As Double ByVal Tacc As Double ByVal Tdec As Double As Integer B 8102 st
112. mple oversight is to consult the BIOS documentation that comes with your system Check the control panel of the Windows system if the card is listed by the system If not check the PCI settings in the BIOS or use another PCI slot 2 4 Software Driver Installation PCI 8102 1 Auto run the ADLINK All In One CD Choose Driver Installation gt Motion Control gt PCI 8102 2 Follow the procedures of the installer 3 After setup installation is completed restart windows Suggestion Please download the latest software from ADLINK website if necessary 12 Installation 2 5 P1 Pin Assignments Main connector ADLINK TECHNOLOGY INC P1 is the major connector for the motion control I O signals No Name 1 0 Function Axis 0 No Name 1 0 Function Axis 1 1 VPP o Isolated 45V Output 35 VPP o Isolated 5V Output 2 EXGND Ext power ground 36 EXGND E Ext power ground 3 OUT0 Oo Pulse signal 37 OUT1 O Pulse signal 4 OUTO O Pulse signal 38 OUT1 Oo Pulse signal 5 DIRO o Dir signal 39 DIR1 o Dir signal 6 DIRO O Dir signal 40 DIR1 O Dir signal 7 SVONO 0 Servo On Off 41 SVON1 Oo Servo On Off 8 ERCO O Dev ctr clr signal 42 ERC1 O Dev ctr clr Signal 9 ALMO Alarm signal 43 ALM1 Alarm signal 0 INPO In position signal 44 INP1 In position
113. multi axes means these axes start simul taneously and reach their ending points at the same time Linear means the ratio of speed of every axis is a constant value Assume that we run a motion from 0 0 to 10 4 The linear inter polation results are shown as below Y Slave axis End coordinates _ _ 1 10 4 10 4 gt 2l ZN 0 X Master axis 0 The pulses output from X or Y axis remains 1 2 pulse difference according to a perfect linear line The precision of linear interpo laition is shown as below Y Slave axis REN EB 4 3 2 1 o 0 End coordinates LT 0 5LSBmax 5 10 4 X Master axis 10 If users want to stop an interpolation group just call a stop func tion on first axis of the group Operation Theory 51 ADLINK TECHNOLOGY INC As in the diagram below 2 axis linear interpolation means to move the XY position from PO to P1 The 2 axes start and stop simulta neously and the path is a straight line The speed ratio along X axis and Y axis is X Y respectively and the vector speed is 5 16X1 Y1 gt AY POXOD YO ax X Axis AP AX AF y hf OP GOP When calling 2 axis linear interpolation functions the vector speed needs to define the start velocity StrVel and maximum velocity MaxVel 4 2 8 Two Axes Circular Interpolation Mode
114. n in units of PPS In Absolute Mode or Relative Mode only the value is effective For example 100 0 is the same as 100 0 gt Maximum Velocity Set the maximum velocity of motion in units of PPS In Absolute Mode or Relative Mode only the value is effective For example 5000 0 is the same as 5000 0 gt Tacc Set the acceleration time in units of second Tdec Set the deceleration time in units of second gt Sacc Set the S curve range during acceleration in units of PPS gt Sdec Set the S curve range during deceleration in units of PPS V Repeat Mode When On is selected the motion will become repeat mode forward backward or position1 position2 It is only effective when Relative Mode or Absolute Mode is selected Vel Profile Select the velocity profile Both Trapezoidal amp and S Curve are available for Absolute Mode Relative Mode and Cont Move Operation Mode Select operation mode gt Absolute Mode Position1 and position2 will be used as absolution target positions for motion The related functions are 8102 start ta mover 8102 start sa move gt Relative Mode Distance will be used as relative dis placement for motion The related function is 8102 start tr move 8102 start sr mover Distance Set the relative distance for Relative Mode It is only effective when Relative Mode is selected Mot
115. n is used to change the value of the residue distance counter Syntax C C Windows 2000 XP I16 8102 get position I16 AxisNo F64 Pos I16 8102 set position I16 AxisNo F64 Pos I16 8102 get command I16 AxisNo I32 Command I16 8102 set command I16 AxisNo I32 Command I16 8102 get error counter I16 AxisNo I16 error 116 8102 reset error counter I16 AxisNo 16 8102 get general counter I16 AxisNo F64 CntValue I16 8102 set general counter I16 AxisNo I16 CntSrc F64 CntValue I16 8102 get target pos I16 AxisNo F64 T pos I16 8102 reset target pos I16 AxisNo F64 T pos I16 8102 get res distance I16 AxisNo F64 Res Distance I16 8102 set res distance I16 AxisNo F64 Res Distance Visual Basic Windows 2000 XP B 8102 get position ByVal AxisNo As Integer Pos As Double As Integer B 8102 set position ByVal AxisNo As Integer ByVal Pos As Double As Integer B 8102 get command ByVal AxisNo As Integer Cmd As Long As Integer B 8102 set command ByVal AxisNo As Integer ByVal Cmd As Long As Integer B 8102 get error counter ByVal AxisNo As Integer ByRef error As Integer As Integer B 8102 reset error counter ByVal AxisNo As Integer As Integer 164 Function Library ADLINK TECHNOLOGY INC B 8102 set general counter ByVal AxisNo As Integer ByVal CntSrc As Integer ByVal CntValue As Double As Integer B 8102 get general counter ByVal AxisNo As Integ
116. nd s maximum speed This function can be applied on any motion func tion If the running motion is S curve or bell curve the speed over ride will be a pure s curve If the running motion is t curve the speed override will be a t curve Operation Theory ADLINK TECHNOLOGY INC Speed PPS Speed override to 50 100 Speed Setting 50 of Origial Setting Time Second 4 2 15 Position Override Function Position override means that when users issue a positioning com mand and want to change its target position during this operation If the new target position is behind current position when override command is issued the motor will slow down then reverse to new target position If the new target position is far away from current position on the same direction the motion will remain its speed and run to new target position If the override timing is on the deceleration of current motion and the target position is far away from current position on the same direction it will accelerate to original speed and run to new target position The operation exam ples are shown as below Notice that if the new target position s relative pulses are smaller than original slow down pulses this function can t work properly Operation Theory 65 ADLINK TECHNOLOGY INC eed Speed Override Override 3eed Override New Pos Time 4 3 Motor Driver Interface We provide several dedicated I Os which can be c
117. ng command pulse chain The numbers of OUT pulse represent distance in pulse The fre quency of the OUT pulse represents speed in pulse per second The DIR signal represents command direction of positive or negative The diagrams below show the output waveform It is possible to set the polarity of the pulse chain Pulse mode 0 OUT pin normally high OUT E Gs i Pulse mode 1 OUT pin normally low OUT BIR q Pulse mode 2 OUT pin normally high OUT a Pulse mode 3 OUT pin normally low OUT ne 8 e Operation Theory 67 ADLINK TECHNOLOGY INC Dual Pulse Output Mode CW CCW Mode In this mode the waveform of the OUT and DIR pins represent CW clockwise and CCW counter clockwise pulse output respectively The numbers of pulse represent distance in pulse The frequency of the pulse represents speed in pulse per sec ond Pulses output from the CW pin makes the motor move in positive direction whereas pulse output from the CCW pin makes the motor move in negative direction The following dia gram shows the output waveform of positive commands and negative commands Pulse outmode 4 Pulse is normally high OUT Mook qp CW DIR Pulse outmode 5 Pulse is normally low OUT cw DIR CCU The command pulses are counted by a 28 bit command counter The co
118. nnel 10 38 DO11 39 DO12 O Discrete Output Channel 12 40 DO13 41 DO14 O Discrete Output Channel 14 42 DO15 43 EX_GND External Power Ground 44 EX_GND Table 2 1 P2 Pin Connector o Discrete Output Channel 5 Discrete Output Channel 7 Discrete Output Channel 9 External 5V Power Discrete Output Channel 11 Discrete Output Channel 13 olo Jolo o o jo Discrete Output Channel 15 External Power Ground 14 Installation ADLINK TECHNOLOGY INC 1 Digital I O type N NPN Sinking Inputt VCC Inside 8102 E5V To CPLD PS2805 1 1 O Li d L 1 1 I 1 1 N NPN Sinking Output VCC 35V 50mA Maximum DO From CPLD EGND Installation 15 TECHNOLOGY INC A ADLINK A 2 6 K1 K2 Pin Assignments Simultaneous Start Stop CN4 is for simultaneous start stop signals for multiple axes or mul tiple cards No Name Function Axis 1 5V PCI Bus power Output VCC 2 STA Simultaneous start signal input output 3 STP Simultaneous stop signal input output 4 GND PCI Bus power ground Note 5V and GND pins are provided by the PCI Bus power 2 7 Jumper Setting for Pulse Output J8 J11 are used to set the type of pulse output signals DIR and OUT The output signal type can either be differential line driver or open collector output Refer to section 3 1 for
119. ntal Jog Incremental jog means that when you click one directional button the axis will step a distance according to the Step Size s setting Step Size 5 15 Motion status Displays the returned value of the 8102 motion done function The related function is 8102 motion done 16 Play Key Play button Clicking this button will cause the 8102 start to out let pulses according to previous setting MotionCreatorPro 111 A ADLINK A TECHNOLOGY INC gt In Linear Mode it causes the axis to move to Distance The related function is 8102 start tr move xy 8102 start sr move xy gt In Circular Mode it causes the axis to move to Dis tance By Pos Dist pulse The related function is 8102 start tr arc xy 8102 start sr arc xy Stop Button Clicking this button will cause the 8102 to deceler ate and stop The deceleration time is defined in Decel Time The related function is 8102 sd stop 17 Buttons gt Next Card Change operating card gt Save Config Save current configuration to 8102 ini And 8102MC ini gt Close Close the menu gt gt Card 0 Axis 0 X Axis 1 Y M Setting Motion Graph 7X Fomei Y Backward Mode Current Position Next Card Save Config Close 112 MotionCreatorPro ADLINK TECHNOLOGY INC 18 Graph Range Frame gt Clear Clear the Motion Graph gt Center Display the Motion Graph in center position 19 Graph Range controls X
120. nter Get th n position counter n of feedback position Set the feedback position of command command Set the command position position error counter value of error counter 8102 reset error counter Reset the position general counter 8102 get general counter get th value of 8102 set general counter Set the general counter 8102 get target pos Get the value of target position recorder 8102 reset target pos Reset target position recorder 8102 get res distance Get remaining pulses accumulated from motions 8102 set res distance Set remaining pulses record Description 8102 get position This function is used to read the feedback position counter value Note that this value has already been processed by the move ratio setting by 8102 set move ratio If the move ratio is 0 5 than the value of position will be twice The source of the feedback counter is selectable by the function 8102 set feedback src to be external EA EB or internal pulse output of 8102 8102 set position This function is used to change the feedback position counter to the specified value Note that the value to be set will be processed 162 Function Library ADLINK TECHNOLOGY INC by the move ratio If move ratio is 0 5 then the set value will be twice as given value 8102 get command This function is used to read the value of the command position coun
121. ome alarm situations like servo motor over current over speed over loading and so on Power reset can clear the alarm status but users usually don t want to power off the servo motor when operating There is one pin from 72 Operation Theory ADLINK TECHNOLOGY INC servo driver for users to reset the alarm status Our motion control ler provides one general output pin for each axis Users can use this pin for reseting servo alarm status 4 4 Mechanical Switch Interface We provide some dedicated input pins for mechanical switches like original switch ORG plus and minus end limit switch EL slow down switch SD positioning start switch PCS counter latch switch LTC emergency stop input EMG and counter clear switch CLR These switches response time is very short only a few ASIC clock times There is no real time problem when using these signals All functions are done by motion ASIC The software can just do nothing and only need to wait the results 4 4 14 Original or Home Signal Our controller provides one original or home signal for each axis This signal is used for defining zero position of this axis The logic of this signal must be set properly before doing home procedure Please refer to home mode section for details 4 4 2 End Limit Switch Signal The end limit switches are usually installed on both ending sides of one axis We must install plus EL at the positive position of the axis and minus EL at
122. on gt Simultaneous Start Stop signal STA and STP Emergency input signal EMG General Purpose Output gt 20 digital inputs 18 digital outputs General Specifications Connectors 68 pin SCSI type connector gt Operating Temperature 09C 50 C Storage Temperature 20 C 80 C Humidity 5 85 non condensing Power Consumption gt Slot power supply input 5V DC 5 900mA max gt External power supply input 24V DC 1596 500mA max gt External power supply output 5V DC 5 500mA max gt PCI 8102 Dimension PCB size 120mm L X 100mm W 1 3 Supported Software Programming Library Windows 2000 XP DLLs are provided for the PCI 8102 users These function libraries are shipped with the board MotionCreatorPro This Windows based utility is used to setup cards motors and systems It can also aid in debugging hardware and software prob lems It allows users to set I O logic parameters to be loaded in their own program This product is also bundled with the card Refer to Chapter 5 for more details 6 Introduction ADLINK TECHNOLOGY INC 1 4 Available Terminal Board DIN 68S and DIN 68M J3A are available for PCI 8102 wiring DIN 68S is general purposed pin to pin terminal board Users can use this to connect servos and steppers DIN 68M J3A is designed for Mitsubishi servo J3A amplifer Users can user this board to connect Mitsubishi servo J3A and steppers Introduction 7
123. on is shown as below MaxVel S 2 8 wi StrVel StrVel t lt Time Tacc Tdec second This kind of speed profile could be applied on velocity mode posi tion mode in one axis or multi axes linear interpolation and two axes circular interpolation modes Operation Theory 47 A ADLINK A TECHNOLOGY INC 4 2 4 S Curve and Bell Curve Speed Profile S curve means the speed profile in accelerate decelerate area fol lows a 2nd order curve It can reduce vibration at the beginning of motor start and stop In order to speed up the acceleration decel eration during motion we need to insert a linear part into these areas We call this shape as Bell curve It adds a linear curve between the upper side of s curve and lower side of s curve This shape improves the speed of acceleration and also reduces the vibration of acceleration For a bell curve we define its shape s parameter as below Velocity PPS 4 MaxVel 1 4 WW V f lime Second Tacc Acceleration time in second Tdec Deceleration time in second Str Vel Starting velocity in PPS MaxVel Maximum velocity in PPS VSacc S curve part of a bell curve in deceleration in PPS VSdec S curve part of a bell curve in deceleration in PPS ww Ww www 48 Operation Theory ADLINK TECHNOLOGY INC If VSacc or VSdec 0 it means acceleration or deceleration use pure S curve without linear
124. onnected to motor driver directly and have their own functions Motor drivers have many kinds of I O pins for external motion controller to use We classify them to two groups One is pulse I O signals including pulse command and encoder interface The other is digital I O sig nals including servo ON alarm INP servo ready alarm reset and emergency stop inputs The following sections will describe the functions these I O pins 4 31 Pulse Command Output Interface The motion controller uses pulse command to control servo step per motors via motor drivers Please set the drivers to position mode which can accept pulse trains as position command The pulse command consists of two signal pairs It is defined as OUT and DIR pins on connector Each signal has two pins as a pair for differential output There are two signal modes for pulse output command 1 single pulse output mode OUT DIR and 2 dual pulse output mode CW CCW type pulse output The mode must 66 Operation Theory be the same as motor driver The modes vs signal type of OUT and DIR pins are listed in the table below ADLINK TECHNOLOGY INC Mode Output of OUT pin Output of DIR pin Pulse signal in Pulse signal in Dual pulse output CW CCW plus or CW minus or CCW direction direction Single pulse output OUT DIR Pulse signal Direction signal level Single Pulse Output Mode OUT DIR Mode In this mode the OUT pin is for outputi
125. ontroller will push the sec Operation Theory 53 ADLINK Te 54 CHNOLOGY INC ond command to the executing register and the third command to first buffer Now the second buffer is empty and user can set the 4th command into 2nd buffer Normally if users have enough time to set a new command into 2nd buffer before executing register is finished the motion can run endlessly The following diagram shows this architechture of continuous motion Motion t Executing Pulse Command NN Command Flag Besides position command the speed command should be set correctly to perform a speed continuous profile For the following example there are three motion command of this continuous motion The second one has high speed than the others The interconnection of speed between these three motion functions should be set as the following diagram Velocity Time Tdec 0 Tacc 0 1 tcommand s Tdec 0 211 command s StrVel 1 t command s MaxVel 3 command s Tacc 0 3 command s Maxvel 2 command s StrVel If the 2nd command s speed value is lower than the others the settings would be like as following diagram Operation Theory ADLINK TECHNOLOGY INC Velocity Time Tdec 0 Tacc 0 2 command s Taccc 0 2 command s Tdec 0 2 command s Maxvel 1 command s StrVel 2 command s Maxvel 2 9 command s Strvel For 2 axis continuous arc interpolation is the same concept User can set the speed matched between two com
126. ot in running 10230 Error velocity change time 10231 Error speed target 10232 Error velocity percent 10233 Error postion change backward 10234 Error counter number Function Library ADLINK TECHNOLOGY INC 7 Connection Example This chapter shows some connection examples between the PCI 8102 and servo drivers and stepping drivers 7 1 General Description of Wiring Main connection between the PCI 8102 and the pulse input servo driver or stepping driver The following figure illustrates how to integrate the PCI 810 2 and DIN 68M J3A Mitsubushi J34 PCI 8102 j Me Cable Un DIN p 3a yn MEL ORG PEL 7 2 Wiring with DIN 68M J3A Notice The DIN 68M J3A is used for wiring between Mitsubishi JaA series servo drivers stepper with pulse trains input driver and ADLINK cPCI 8168 PCI 8102 motion controller card ONLY Never use this terminal board with any other servo driver or cards Connection Example 189 ADLINK TECHNOLOGY INC CNIFI CNIF2 To Mit tb bl senio J 3A ampltter Conectto motor contoler Notes 190 WIF2 MutHpuposed LO PWC 1 2 hipit SJ2 Fase SH DIFI MuitHpuposed LO Servo amp Stepper The DIN 68M J3A provides 2 connection methods for each axis CN1F1 amp CN1F2 connectors for Mit subishi J3A series servo drivers and a SJ connector for stepping drivers DO NOT use both connectors at the same time CN1F1 or CN1F2 cables One pin to pin 50 PIN cables ar
127. otion Section 6 8 Function Name Description Begin a t curve relative circular interpolation for X amp Y Begin a t curve absolute circular interpolation for X amp Y Begin a s curve relative circular interpolation for X amp Y Begin a s curve absolute circular interpolation for X amp Y 8102 start tr arc xy 8102 start ta arc xy 8102 start sr arc xy 8102 start sa arc xy Function Library 117 TECHNOLOGY INC A ADLINK A Home Return Mode Section 6 9 Function Name Description 8102_set_home_config Set the home index logic configuration _8102_home_move Begin a home return action 8102 home search Auto Search Home Switch Manual Pulser Motion Section 6 10 Function Name Description 8102 set pulser iptmode Set pulser input mode 8102 disable pulser input Disable the pulser input 8102 pulser vmove Start pulser v move 8102 pulser pmove Start pulser p move Set manual pulser ratio for actual output pulse 8102 set pulser ratio rate Motion Status Section 6 11 Function Name Description 8102 motion done Return the motion status 118 Function Library ADLINK TECHNOLOGY INC Motion Interface I O Section 6 12 Function Name Description 8102 set servo Set On Off state of SVON signal 8102 set pcs logic Set PCS signal s logic 8102 set clr mode Se
128. output2 ByVal card id As Integer do status As Integer As Integer B 8102 get gpio input2 ByVal card id As Integer di status 2 As Integer As Integer Argument card id Specify the PCI 8102 card index The card id could be decided by Function Library 177 ADLINK TECHNOLOGY INC DIP switch SW1 or depend on slot sequence Please refer to_8102 initial do value Unsigned 16 bits value Bit 0 D_out0 Bit 1 D_out1 do status Digital output status Bit 0 D_out0 Bit 1 D_out1 di status Digital input status Bit0 3 D_in0 3 di status 2 Digital input status Bit0 gt 15 D in0 15 178 Function Library ADLINK TECHNOLOGY INC 6 19 Soft Limit Name _8102 disable soft limit Disable soft limit function 8102 enable soft limit Enable soft limit function 8102 set soft limit Set soft limit Description 8102 disable soft limit This function is used to disable the soft limit function 8102 enable soft limit This function is used to enable the soft limit function Once enabled the action of soft limit will be exactly the same as physi cal limit 8102 set soft limit This function is used to set the soft limit value Syntax C C Windows 2000 XP I16 8102 disable soft limit I16 AxisNo I16 8102 enable soft limit I16 AxisNo I16 Action I16 8102 set soft limit I16 AxisNo I32 Plus Limit I32 Neg Limit Visual Basic Windows 2000 XP
129. parator Set the general comparator 8102_set_latch_source Set the latch timing for a counter 8102_set_ltc_logic Set the logic of LTC signal 8102 get latch data Get the latch datas from counter Description 8102 set trigger logic This function is used to set the logic of CMP single 8102 set error comparator This function is used to set the comparing method and value for the error comparator When the position error counters value reaches the comparing value the 8102 will generate an interrupt to the host PC Also see section 6 14 Interrupt control 8102 set general comparator This function is used to set the comparing source counter com paring method and value for the general comparator When the comparison conditions are met there is one of the 4 reactions will be done The detail setting see the argument discribtion 8102 set trigger comparator This function is used to set the comparing source counter com paring method and value for the trigger comparator When the comparison source counter s value reaches the comparing value the 8102 will generate a pulse output via CMP and an interrupt event int status bit 12 will also be sent to host PC 8102 set latch source Function Library 167 ADLINK TECHNOLOGY INC There are 4 latch triggering source By using this function user can choose the event source to latch counters data 8102 set Itc logic This function is used to se
130. rated two products make our machine go into perfect 4 1 3 Network Type Motion Control Interface Recently there is a new control interface come into the world That s network type motion controller The command between motor driver and motion controller is not analog or pulses signal any more It is a network packet which contents position informa tion and motor information This type of controller is more reliable because of digitized and packetized Because a motion controller must be real time the nerowrk must have real time capacity around a cycle time below 1 mini second This means that not commercial network can do this job It must have a specific net work like Mitsubishi SSCNET The network may have opto fiber type to increase communication reliability 42 Operation Theory ADLINK TECHNOLOGY INC 4 1 4 Software Real time Motion Control Kernel For motion control kernel there are three ways to accomplish it They are DSP based ASIC based and software real time based A motion control system needs an absolutely real time control cycle and the calculation on controller must provide a control data at the same cycle If not the motor will not run smoothly Many machine makers will use PC s computing power to do this They can use simply a feedback counter card and a voltage output or pulse output card to make it This method is very low end and takes much software effort For sure their realtime performance they will u
131. river Output To drive the PCI 8102 encoder input the driver output must pro vide at least 3 5V across the differential pairs with at least 6mA driving capacity The grounds of both sides must be tied together The maximum frequency will be 4Mhz or more depends on wiring distance and signal conditioning External Encoder Driver With line driver output Inside 8102 EA EB EZ EA EB EZ A B phase signals EGND GND Index signal Connection to Open Collector Output To connect with an open collector output an external power sup ply is necessary Some motor drivers can provide the power source The connection between the PCI 8102 encoder and the power supply is shown in the diagram below Note that an external current limiting resistor R is necessary to protect the PCI 8102 input circuit The following table lists the suggested resistor values according to the encoder power supply Encoder Power V External Resistor R 5V 0O None 12V 1 8kQ 24V 4 3kO If 6mA max Signal Connections 23 ADLINK TECHNOLOGY INC Inside PCI 8102 External Power for Encoder EA EB EZ Motor Encoder Driver EA EB EZ With Open Collector Output A B phase signals Index signal For more operation information on the encoder feedback signals refer to section 4 4 24 Signal Connections 3 3 Origin Signal ORG The origin signals ORG0 ORG1 are used as input signa
132. rt move all ByVal FirstAxisNo As Integer As Integer B 8102 stop move all ByVal FirstAxisNo As Integer As Integer Argument TotalAxes Number of axes for simultaneous motion AxisArray Specified axes number array designated to move DistA Specified distance array in units of pulse StrVelA Starting velocity array in units of pulse per second MaxVelA Maximum velocity array in units of pulse per second TaccA Acceleration time array in units of seconds TdecA Deceleration time array in units of seconds PosA Specified position array in units of pulse SvaccA Specified velocity interval array in which S curve accel eration is performed SvdecA Specified velocity interval array in which S curve decel eration is performed FirstAxisNo The first element in AxisArray Function Library 175 ADLINK TECHNOLOGY INC 6 18 General Purposed DIO Name 8102_set_gpio_output Set digital output 8102_get_gpio_output Get digital output 8102 get gpio input Get digital input 8102 set gpio output2 Set digital output to P2 8102 get gpio output2 Get digital output form P2 8102 get gpio input2 Get digital input form P2 Description 8102 set gpio output The PCI 8102 has 2 digital output channels By this function user could control the digital outputs 8102 get gpio output This function is used to get the digitl output status 8102 get gpio input PCI 8
133. s the value set by Maxi mum Velocity 18 Stop Button Clicking this button will cause the 8102 to decelerate and stop The deceleration time is defined in Decel Time The related function is _8102_sd_stop 19 O Status The status of motion I O Light On means Active while Light Off indicates inactive The related function is 8102 get io status 20 Buttons gt Next Card Change operating card gt Next Axis Change operating axis gt Save Config Save current configuration to 8102 ini And 8102MC ini gt Close Close the menu 102 MotionCreatorPro ra ar tg 5 3 6 Two Axis Operation Menu In this menu users can change the settings two selected axis including velocity mode motion preset relative absolute motion 8102 Two Axis Operation Card 0 Axis 0 Mart Velocit RPM aimam Velocity RPM lowe Delay sec eea 66666666 000000000000000 ROY ALW EL EL ORO DIR FCS ORC EZ CLR LTC 50 INP SVON amp WO FCT ERC IF R Card 0 Axis 0 Medon sta Card 0 Axis 1 Motion states Operate 3 c gt gt ean mere Currert Poston Velocity STOP Save MotionCreatorPro 103 A A ADLINK TECHNOLOGY INC 104 Motion Parameters Set the parameters for single axis motion This parameter is meaningless if Manual Pulser Move is selected since the velocity and moving dis tance is decided by pulse input gt Start Velocity Set the start velocity of motio
134. se a real time software on the system It increases the complexity of the system too But this method is the most flexible way for a professional motion control designers Most of these methods are on NC machines 4 1 5 DSP Based Motion Control Kernel A DSP based motion controller kernel solves real time software problem on computer DSP is a micro processer itself and all motion control calculations can be done on it There is no real time software problem because DSP has its own OS to arrange all the procedures There is no interruption from other inputs or context switching problem like Windows based computer Although it has such a perfect performance on real time requirements its calcula tion speed is not as fast as PC s CPU at this age Besides the software interfacing between DSP based controller s vendors and users are not easy to use Some controller vendors provide some kind of assembly languages for users to learn and some controller vendors provide only a handshake documents for users to use Both ways are not easy to use No doubtly DSP based controller provide a better way than software kernel for machine makers to build they applications 4 1 6 ASIC Based Motion Control Kernel An ASIC base motion control kernel is a fair way between soft ware kernel and DSP kernel It has no real time problem because all motion functions are done via ASIC Users or controller s ven dors just need to set some parameters which ASIC requires
135. second connector for the additional 16 DI O signals No Name I O Function No Name I O Function 1 EX GND External Power Ground 2 EX GND External Power Ground 3 DIO Discrete Input Channel 0 4 DH Discrete Input Channel 1 5 DI2 Discrete Input Channel 2 6 DI3 Discrete Input Channel 3 7 DIA Discrete Input Channel 4 8 DI5 Discrete Input Channel 5 9 VDD O External 5V Power 10 EX GND External Power Ground 11 DI6 Discrete Input Channel 6 12 DI7 Discrete Input Channel 7 13 DI8 Discrete Input Channel 8 14 DI9 Discrete Input Channel 9 18 DI10 Discrete Input Channel 10 16 DI11 Discrete Input Channel 11 17 EX GND External Power Ground 18 EX GND External Power Ground 19 DH2 Discrete Input Channel 12 20 DI13 Discrete Input Channel 13 21 DH4 Discrete Input Channel 14 22 DI15 Discrete Input Channel 15 23 DOO O Discrete Output Channel 0 24 DO1 O Discrete Output Channel 1 25 DO2 O Discrete Output Channel 2 26 DO3 O Discrete Output Channel 3 27 EX_GND External Power Ground 28 EX GND External Power Ground 29 DO4 O Discrete Output Channel 4 30 DO5 O Discrete Output Channel 5 31 DO6 O Discrete Output Channel 6 32 DO7 O Discrete Output Channel 7 33 DO8 O Discrete Output Channel 8 34 DO9 O Discrete Output Channel 9 35 EX GND External Power Ground 36 VDD O Externa
136. should be kept in mind 1 MotionCreatorPro is a program written in VB NET 2003 and is available only for Windows 2000 XP with a screen resolution higher than 1024x768 It cannot be run under DOS 2 MotionCreatorPro allows users to save settings and con figurations for PCI 8102 cards Saved configurations will be automatically loaded the next time MotionCreatorPro is executed Two files 8102 ini and 8102MC ini in the MotionCreatorPro 85 ADLINK TECHNOLOGY INC 86 windows root directory are used to save all settings and configurations To duplicate configurations from one system to another copy 8102 ini and 8102MC ini into the windows root directory If multiple PCI 8102 cards use the same MotionCreator Pro saved configuration files the DLL function call 8102_config_from_file can be invoked within a user developed program This function is available in a DOS environment as well MotionCreatorPro ae 5 3 MotionCreatorPro Form Introduction 5 3 1 Main Menu The main menu appears after running MotionCreatorPro It is used to Reload all Menu Open Help menus refer to section 5 3 8 Exit MotionCreatorPro MotionCreatorPro 87 ADLINK TECHNOLOGY INC 5 3 2 Select Menu The select menu appears after running MotionCreatorPro It is used to Select operating card and axis Open Card Information Menu refer to section 5 3 3 Open Configuration Menu refer to section 5 3 4 Open Single
137. ssssusss 47 S Curve and Bell Curve Speed Profile 48 Velocity Mode aset diete neis 50 One Axis Position Mode sss 50 Two Axes Linear Interpolation Position Mode 51 Two Axes Circular Interpolation Mode 52 Continuous Motion sssssseseeeeennn 53 Home Return Mode sse 56 Home Search Function ssssssssseeeeeee 62 Manual Pulser Function sssesssssss 63 Simultaneous Start Function ssssssss 64 Speed Override Function sssssesssss 64 Position Override Function eeseesessssss 65 4 3 Motor Driver Interface 66 Pulse Command Output Interface 66 Pulse Feedback Input Interface suse 68 In Position Signal eeeesessseeeeeeesse 70 Servo Alarm Signal sss 71 Error Clear Signal sssseseeeees 71 Table of Contents ADLINK TECHNOLOGY INC Servo ON OFF Switch seessssseseseeenernn 72 Servo Ready Signal cccccceseeeeeeeeeeeeeeeeeeetaeeeeeeeees 72 Servo Alarm Reset Switch sssssssssss 72 4 4 Mechanical Switch Interface ssssssssssss 73 Original or Home Signal ssssssesssss 73 End Limit Switch Si
138. switch setting on the the board The axis number is depends on the card ID For example if three motion controller cards are plugged in to PCI slots and the corresponding card ID is set then the axis num ber on each card will be Axis No X Y 0 0 1 2 45 3 67 Notice that if there has the same card ID on multiple cards the function will not work correctly 84 Operation Theory ADLINK TECHNOLOGY INC 5 MotionCreatorPro After installing the hardware Chapters 2 and 3 it is necessary to correctly configure all cards and double check the system before running This chapter gives guidelines for establishing a control system and manually testing the PCI 8102 cards to verify correct operation The MotionCreatorPro software provides a simple yet powerful means to setup configure test and debug a motion con trol system that uses PCI 8102 cards Note that MotionCreatorPro is only available for Windows 2000 XP with a screen resolution higher than 1024x768 It does not run under a DOS environment 5 1 Execute MotionCreatorPro After installing the software drivers for the 8102 in Windows 2000 XP the MotionCreatorPro program can be located at chosen path gt PCl Motion MotionCreatorPro To execute the program double click on the executable file or use Start gt Program Files gt PCl Motion gt MotionCreatorPro 5 2 About MotionCreatorPro Before Running MotionCreatorPro the following issues
139. t pins The input pulses could be multiplied or divided before send ing out The motion controller receives two kinds of pulse trains from man ual pulser device CW CCW and AB phase If the AB phase input mode is selected the multiplier has additional selection of 1 2 or 4 The following figure shows pulser ratio block diagram PA SECUN UP1 UP2 UP3 a i tena 6 1x 2x 4x AB ixto32c 1t01 2048 contol DOWNS DOWN DOWIN2 Input PMG PDY mode setting setting setting Operation Theory 63 ADLINK TECHNOLOGY INC 64 4 2 13 Simultaneous Start Function Simultaneous motion means more than one axis can be started by a Simultaneous signal which could be external or internal signals For external signal users must set move parameters first for all axes then these axes will wait an extern start stop command to start or stop For internal signal the start command could be from a software start function Once it is issued all axes which are in waiting synchronous mode will start at the same time EE Start Sto i Signal N 4 2 14 Speed Override Function Speed override means that users can change command s speed during the operation of motion The change parameter is a per centage of original defined speed Users can define a 100 speed value then change the speed by percentage of original speed when motion is running If users didn t define the 100 speed value The default 100 speed is the latest motion comma
140. t CLR signal s mode 8102 set inp Set INP signal s logic and operating mode 8102 set alm Set ALM signal s logic and operating mode 8102 set erc Set ERC signal s logic and timing 8102 set sd Set SD signal s logic and operating mode 8102 enable sd Enable SD signal 8102 set limit logic Set EL signal s logic 8102 set limit mode Set EL operating mode 8102 get io status Get all the motion I O status of 8102 Interrupt Control Section 6 13 Function Name Description 68102 int control Enable Disable INT service 8102 wait error interrupt Wait error related interrupts 8102 wait motion interrupt Wait motion related interrupts 8102 set motion int factor Set the factors of motion related interrupts 8102 wait gpio interrupt Waiting GPIO interrupts Set the factors of general purpose IO related interrupt 8102 set gpio int factor Function Library 119 ADLINK TECHNOLOGY INC A FA Position Control and Counters Section 6 14 Function Name Description 8102 get position Get the value of the feedback position counter 8102 set position Set the feedback position counter 8102 get command Get the value of the command position coun ter 8102 set command Set the command position counter 8102 get error counter Get the value of the position error counter
141. t is it means that the pulses have seen sent and the problem could be on the motor driver Try to check motor driver s pulse receiving counter when this situation is happened The unit of command counter is in pulse The counter value could be reset by a counter clear signal or home function completion Users can also use a software command counter setting function to reset it 4 5 2 Feedback Position Counter The feedback position counter is a 28 bit binary up down counter Its input source is the input pulses from the EA EB pins It counts the motor position from motor s encoder output This counter Operation Theory 75 A A ADLINK TECHNOLOGY INC could be set from a source of command position for an option when no external encoder inputs The command output pulses and feedback input pulses will not always be the same ratio in mini meters Users must set the ratio if these two pulses are not 1 1 Because our motion controller is not a closed loop type the feed back position counter is just for reference after motion is moving The position closed loop is done by servo motor driver If the servo driver is well tuned and the mechnical parts are well assembled the total position error will remain in acceptable range after motion command is finished 4 5 3 Command and Feedback Error Counter The command and feedback error counter is used to calculate the error between the command position and the feedback position The
142. t the logic of the latch input 8102 get latch data After the latch signal arrived the function is used to read the latched value of counters Syntax C C Windows 2000 XP I16 8102 set trigger logic I16 AxisNo I16 Logic 116 8102 set error comparator I16 AxisNo I16 CmpSrc I16 CmpMethod I32 Data I16 8102 set general comparator I16 AxisNo I16 CmpSrc I16 CmpMethod 16 CmpAction I32 Data 16 8102 set trigger comparator I16 AxisNo I16 CmpSrc I16 CmpMethod I32 Data 116 8102 set latch source I16 AxisNo I16 ltc_ src 16 8102 set ltc logic I16 AxisNo I16 ltc logic I16 8102 get latch data I16 AxisNo I16 CounterNo F64 Pos Visual Basic Windows 2000 XP B 8102 set trigger logic ByVal AxisNo As Integer ByVal Logic As Integer As Integer B 8102 set error comparator ByVal AxisNo As Integer ByVal CmpSrc As Integer ByVal CmpMethod As Integer ByVal Data As Long As Integer B 8102 set general comparator ByVal AxisNo As Integer ByVal CmpSrc As Integer ByVal CmpMethod As Integer ByVal CmpAction As Integer ByVal Data As Long As Integer B 8102 set trigger comparator ByVal AxisNo As Integer ByVal CmpSrc As Integer ByVal H H 168 Function Library ADLINK TECHNOLOGY INC CmpMethod As Integer ByVal Data As Long As Integer B_8102_set latch_source ByVal AxisNo As Integer ByVal B_8102_set ltc_src As Integer As Integer ltc logic ByVal AxisNo As Integer
143. teger ByVal PosX As Double ByVal PosY As Double ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double ByVal Tdec As Double ByVal SVacc As Double ByVal SVdec As Double As Integer Argument AxisNo Axis number designated to move or change position 138 card id Physical axis AxisNo Function Library ADLINK TECHNOLOGY INC 0 0 0 1 1 0 2 1 1 3 0 4 2 1 au DistX specified relative distance of axis 0 to move unit pulse DistY specified relative distance of axis 1 to move unit pulse PosX specified absolute position of axis 0 to move unit pulse Posy specified absolute position of axis 1 to move unit pulse StrVel Starting velocity of a velocity profile in units of pulse per second MaxVel Maximum velocity in units of pulse per second Tacc Specified acceleration time in units of seconds Tdec Specified deceleration time in units of seconds SVacc Specified velocity interval in which S curve acceleration is performed Note SVacc 0 for pure S Curve For more details see section 4 2 4 SVdec specified velocity interval in which S curve deceleration is performed Note SVdec 0 for pure S Curve For more details see section 4 2 4 Function Library 139 ADLINK TECHNOLOGY INC 6 8 Circular Interpolation Motion Name 8102_start_tr_arc_xy Begin a circular interpolation 8102 start ta
144. ter The source of the command position counter is the pulse output of the 8102 8102 set command This function is used to change the value of the command position counter 8102 get error counter This function is used to read the value of the position error coun ter 8102 reset error counter This function is used to clear the position error counter 8102 get general counter This function is used to read the value of the general counter 8102 set general counter This function is used to set the counting source of and change the value of general counter By default the source is pulser input 8102 get target pos This function is used to read the value of the target position recorder The target position recorder is maintained by the 8102 software driver It records the position to settle down for current running motion 8102 reset target pos This function is used to set new value for the target position recorder It is necessary to call this function when home return completes or when a new feedback counter value is set by func tion 8102 set position 8102 get res distance This function is used to read the value of the residue distance recorder The target position recorder is maintained by the 8102 Function Library 163 ADLINK TECHNOLOGY INC software driver It records the position to settle down for current running motion 8102 set res distance This functio
145. terface Circuit 1 PEL MEL ORG INP ALM RDY Exe24v 3 ERC SVON xx 4 EA EB EZ EA EB EZ R 35V 50mA Maximum ERC SVON EXGND 194 Connection Example AEN 5 DIN DI COM Photocoupler Isolation 4 7K ohm 1 2W DICOM D t U DI Switch maen ju EXGND 6 DOUT DO COM DO COM DOut DGND ExGND 7 DIR OUT DIR OUT vcc OUT DIR Connection Example 195 ADLINK TECHNOLOGY INC 8 HSIN vpp sv of Hp 0631 Photocoupler Iolation 470 ohm Di i HSIN I Inside cPC1 8168 La I Switch te am a a a a J DGND EXGND 9 HSOUT HO COM HO COM RBOSIL HSOUT IRF7303 HSDOX DGND EXGND 196 Connection Example ADLINK TECHNOLOGY INC Mechanical Dimensions c a ri HS o e 59 gt o L4 G e Hu pan Hr I Connection Example 197 ADLINK TECHNOLOGY INC 198 Connection Example ADLINK Appendix 8 1 Color code of Mitsubishi servo J3A cable MRJ3CN1 xM OPEN SORDID LO SPE w MES rper 71 sa ESSERE ADLINK TECHNOLOGY INC 200 Appendix
146. the negative position of the axis These two signals are for safty reason If they are installed reversely the pro tection will be invalid Once the motor s moving part touches one of the end limit signal the motion controller will stop sending pulses and output an ERC signal It can prevent machine crash when miss operation 4 4 3 Slow Down Switch The slow down signals are used to force the command pulse to decelerate to the starting velocity when it is active This signal is used to protect a mechanical moving part under high speed move ment toward the mechanism s limit The SD signal is effective for both plus and minus directions Operation Theory 73 ADLINK TECHNOLOGY INC 74 4 4 4 Positioning Start switch The positioning start switch is used to move a specific position when it is turned on The function is shown as below PCS veiy K MT el start_tr_move and enable PCS Area 1000 pulse Distance 1000 4 4 5 Counter Clear switch The counter clear switch is an input signal which makes the coun ters of motion controller to reset If users need to reset a counter according to external command use this pin as controlling source 4 4 6 Counter Latch Switch The counter latch switch is an input singal which makes counter value to be kept into a register when this input active If users need to know counter value at the active moment of one input they can connect this pin to catch that 4 47 Emergency Stop
147. the parameter AxisArray and the number of axes are defined by parameter TotalAxes in 8102 set tr move all When properly setup with 8102 set xx move all the function 8102 start move all will cause all specified axes to begin a trapezoidal relative movement and 8102 stop move all will stop them Both functions guarantee that motion Starting Stopping on all specified axes are at the same time Note that it is neces sary to make connections according to Section 3 13 if these two functions are needed The following code demos how to utilize these functions This code moves axis 0 and axis 1 to distance 80000 0 and 120000 0 respectively If we choose velocities and accelerations that are proportional to the ratio of distances then the axes will arrive at their endpoints at the same time Example I16 axes 2 0 1 F64 dist 2 80000 0 120000 0 Function Library 173 ADLINK TECHNOLOGY INC F64 str_vel 2 0 0 0 0 F64 max_vel 2 4000 0 6000 0 F64 Tacc 2 0 1 0 6 F64 Tdec 2 0 1 0 6 8102 set tr move all 2 axes dist str vel max vel Tacc Tdec 8102 start move all axes 0 Syntax C C Windows 2000 XP I16 8102 set tr move all I16 TotalAxes I16 AxisArray F64 DistA F64 StrVelA F64 MaxVelA F64 TaccA F64 TdecA I16 8102 set ta move all I16 TotalAx I16 AxisArray F64 PosA F64 StrVelA F64
148. to set the max orerrided speed This function is used before velocity motion Syntax C C Windows 2000 XP I16 38102 tv move I16 AxisNo F64 StrVel F64 MaxVel F64 Taco I16 8102 sv move I16 AxisNo F64 StrVel F64 MaxVel F64 Tacc F64 SVacc I16 8102 emg stop I16 AxisNo I16 8102 sd stop I16 AxisNo F64 Tdec I16 8102 get current speed I16 AxisNo F64 speed I16 8102 speed override I16 CAxisNo F64 NewVelPercent F64 Time I16 8102 set max override speed I16 AxisNo F64 OvrdSpeed I16 Enable Visual Basic6 Windows 2000 XP B 8102 tv move ByVal AxisNo As Integer ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double As Integer B 8102 sv move ByVal AxisNo As Integer ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double ByVal SVacc As Double As Integer B 8102 emg stop ByVal AxisNo As Integer As Integer Function Library 131 ADLINK TECHNOLOGY INC B 8102 sd stop ByVal AxisNo As Integer ByVal Tdec As Double As Integer B 8102 get current speed ByVal AxisNo As Integer ByRef Speed As Double As Integer B 8102 speed override ByVal CaxisNo As Integer ByVal NewVelPercent as Double ByVal Time As Interger B 8102 set max override speed ByVal AxisNo As Integer ByVal OvrdSpeed As Double ByVal Enable As Integer Argument AxisNo Axis number designated to move or stop card id Physical axis AxisNo 0
149. top signals to STA and STP pins on the K1 connector of the first PCI 8102 card PCI 8102 0 K2 le D5v STA esrr eGND L J e Dsv 1 esr A L1 este GND KI 36 PCI 8102 1 K2 e Dsv STA err GND e Div e STA str GND PCI amp 102 2 K2 e D5v STA er GND le D5v STA lestr OOND KI Signal Connections ADLINK TECHNOLOGY INC 3 14 General Purpose TTL Output The PCI 8102 provides 2 general purpose open collector outputs and 4 inputs The signal names pin numbers and axis numbers are shown in the table below Pin No Name Function 61 DINO Digital INO 62 DIN1 Digital IN1 63 DIN2 Digital IN2 64 DIN3 Digital IN3 65 DOUTO Digital Out0 66 DOUTI1 Digital Out1 The wiring diagram of the digit input signals are as followes Outside PCI 8102 VDO Inside PCI 8102 i DINO DINI v dl BINS j 4 1 DGND DIN EXGND The wiring diagram of the digit output signals are as followes D3V Inside PCI 8102 Outside l E PCI 8102 DOUTO DOUTI w A DOUTO_CPLD j n DOUTI CPLD o ex EXGND Signal Connections 37 A A ADLINK TECHNOLOGY INC 3 15 Additional 16 Digital Input 16 Digital Output The PCI 8102 also provides the additional 16 open collector out puts and 16 digital input The signal name and pin numbers are shown in the following table P2 is the
150. y N C 27 TC O Analog torque command 28 EXGND Ext power ground 29 Empty N C 30 Empty N C 31 Empty N C 32 Empty N C 33 Empty N C 34 EXGND Ext power ground 35 DIR O Direction Signal 36 DIR O Direction Signal 37 Empty N C 38 Empty N C 39 Empty N C 40 Empty N C ERC O Dev ctr clr Signal 41 42 EMG External EMG Signal SP1 O Speed selection 1 43 EXGND Ext power ground 44 EXGND Ext power ground 45 LOP O Control change 46 EXGND Ext power ground 47 EXGND Ext power ground 48 ALM Servo Alarm 49 RDY Servo Ready 50 Empty N C Connection Example 191 A A ADLINK TECHNOLOGY INC IOIF1 IOIF2 External Motion Input Signal Interface No Name I O Function No Name IO Function 1 EXGND Ext power ground 19 EX 24V Ext power supply 24V 2 EXGND Ext power ground 20 EX 24V Ext power supply 24V 3 EXGND Ext power ground 21 EX 24V Ext power supply 24V 4 EXGND Ext power ground 22 EX 24V Ext power supply 24V 5 EXGND Ext power ground 23 EX 24V Ext power supply 24V SD Slow Down signal 6 24 MEL Negative Limit EXGND Ext power ground 7 CMP O Compare Trigger Output 25 PEL Positive Limit EXGND Ext power ground RES O Reset 26 ORG
151. yVal AxisNo As Integer ByVal TimeOut ms As Long As Integer 102 wait motion interrupt ByVal AxisNo As Integer ByVal IntFactorBitNo As Integer ByVal TimeOut ms As Long As Integer 102 set motion int factor ByVal AxisNo As Integer ByVal int factor As Long As Integer 102 wait gpio interrupt ByVal card id As Integer ByVal IntFactorBitNo As Integer ByVal TimeOut ms As Long As Integer Function Library 159 TECHNOLOGY INC A ADLINK A B_8102_set_gpio_int_factor ByVal card_id As Integer ByVal int_factor As Integer As Integer Argument card_id Specify the index of target PCI 8102 card The card_id could be decided by DIP switch SW1 or depend on slot seguence Please refer to _8102_initial AxisNo Axis number of Target Axis card id Physical axis AxisNo 0 0 0 1 1 0 2 1 1 3 0 4 2 1 int factor interrupt factor motion INT factors Value meaning 0 Disable 1 Enable U Description Normal stop Starting the next operation continuously Writing to the 2nd pre register Writing to the 2nd pre register for trigger comparator Start acceleration Acceleration end Start deceleration Deceleration end o Jwu o o eb o mnm o When soft limit turn on positive direction o When soft limit turn on negetive direction o When error comparator conditions are met

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