HIWIN PCI-4P Hardware Manual
Contents
1. M Signal Explanation STO and STO ST1 and ST1 ST2 and ST2 ST3 and ST3 Phase A of pulse output for channel 0 1 2 3 DRO and DRO DR1 and DRI DR2 and DR2 DR3 and DR3 Phase B of pulse output for channel 0 1 2 3 0 ENCODER input signal Signal Explanation EA0 and EAO EA1 and EA1 EA2 and EA2 EA3 and EA3 Phase A of encoder input for channel 0 1 2 3 EBO and EBO EB1 and EB1 EB2 and EB2 EB3 and EB3 EZ0 and EZO EZ1 and EZ1 EZ2 and EZ2 EZ3 and EZ3 Phase B of encoder input for channel 0 1 2 3 Phase Z of encoder input for channel 0 1 2 3 M Local VO Signal Explanation OTO OT1 OT2 OT3 Upper limit switch input signal of 0 1 2 3 axis OTO OT1 OT2 OT3 Lower limit switch input signal of 0 1 2 3 axis SVNO SVNI SVN2 SVN3 HOMO HOM1 HOM2 HOM3 Home input signal of 0 1 2 3 axis Servo on output signal of 0 1 2 3 axis ESTOP Emergency stop input signal PRDY Position ready output COM Positive end of local digital output COM Negative end of local digital output WObit 2003 PCI 4P ver 1 0 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 3 Hand wheel or encoder input HIWIN PCI 4P J5 O O A 5V A 12V FIG 2 3 E Explanation Signal Explanation Aand A Encoder A Phase different2. encoder s value through encoder input terminal suitable for pulse type servo or stepping motor control There is one set of sensor input point for every axis s control It includes home position stroke upper limit and stroke lower limit besides it includes position ready signal output point and emergency stop input point 32 bits PCI interface 4 channels for pulses output 4 sets 32 bits encoder input terminals 13 input points and 5 output points all for digital use especially 1 2 Software support E MCCL motion control function library Provides linear arc circular etc point to point motion control functions User can set mechanism and motion parameters There are 98 functions available for calling Please refer to MCCL motion library user s manual 1 3 HIWIN PCI 4P wiring diagram 13 INPUTS 5 OUTPUTS SS A LINE CONNECTION Aree 6 SOFTWARE SUPPORT MCCL MOTION LIBRARY WINDOWS 95 98 2000 NT TERMINAL ole BLOCK PCI 4P TB MOTOR AND DRIVER lt gt 4 AXES CARD PCI BUS I PCI 4P WObit 2003 2 PCI 4P ver 1 0 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 m Plug HIWIN PCI 4P into the PCI slot of X86 series compatible computer m Use terminal block HIWIN PCI 4P TB and wiring to drive 4 axes motor and process near end I O signalsll13 input points and 5 output points
3. in alll 1 4 HIWIN PCI 4P pulse output format The pulse commands sent out by DDA generator are PULSE DIR CW CCW and A B PHASE 3 kinds of selectable pulse format They are outputted in the differential signal format as in Fig 1 2 MOVE FORWARD MOVE BACKWARD A B PHASE B H E cW cwiccw ccw CCW PULSE PULSE PULSE DIR DR DR F FIG 1 2 Differential signal transmission type is explained as Fig 1 3 below 1 VCC SCREEN qua X X k y a eX a TWIST LINE TRANSMITTING RECEIVING END v E END TRANSMITTING END SIGNAL IN TRANSMISSION LINE RECEIVING END X X X Y 0 0 1 0 1 1 0 1 FIG 1 3 Truth Table Use differential method to send the signal so the common mode noise will be eliminated effectively The reference grounds of sending end and receiving end have to be connected to avoid possible potential difference and thus damaged by the leakage current Recommend using twist line method to send signals and add the screen to the signal lines WObit 2003 3 PCI 4P ver 1 0 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 P P H WOBIT WITOLD OBER 61 474 P
4. EL 48 61 8350 620 800 FAX 48 61 8350 704 804 HIWIN PCI 4P TB Terminal Block BA WSE RAN A 66 OOOOOOOOOOOOOOCO o KJ o ine 0C000000000000000 o GL o SCREEN E COPPER NET o o d B a TQ OUTSIDE 3 DC 24V GL 0C000000000000000 5 El OOOOOOOOOOOOOCO 2 lo o FIG 2 2 2 SCSI II 68PIN connector assignment SCSI II 68Pin Connector PIN definition No No PIN definition AGND 1 35 AGND AGND 2 36 DACO DAC1 3 37 DAC2 DAC3 4 38 5V COM 5 39 COM ESTOP 6 40 PRDY HOMO 7 41 HOM OTO 8 42 OME Ise ONO 9 43 G SVNO 10 44 SVN1 HOM2 id 45 HOM3 OT2 12 46 OT3 Ore des 47 QT3 SVN2 14 48 SVN3 EA0 15 49 EA1 EA0 16 50 EA1 EBO 17 51 EB1 EBO 18 52 EB1 EZ0 19 53 EZ1 EZ0 20 54 EZ1 EA2 21 55 EA3 EA2 22 56 EA3 EB2 23 57 EB3 EB2 24 58 EB3 EZ2 25 59 EZ3 EZ2 26 60 EZ3 SUR 27 61 SI SAO 28 62 SJ JL DRO 25 63 DR1 DROS 30 64 DIRIL SARZE 31 65 SUS SIS 32 66 Sr a DR2 33 67 DR3 DR2 34 68 DIRS WObit 2003 5 PCI 4P ver 1 0 P P H WOBIT WITOLD OBER TEL 48 61 8350 620 800 a M Explanation Pulse Outputs 61 474 POZNAN FAX 48 61 8350 704 804 UL GRUSZKOWA 4
5. OZNAN UL GRUSZKOWA 4 Chapter 2 Hardware set up and usage A B C 2 1 System basic set up procedure When setting up please turn off system power including motor and computer Plug HIWIN PCI 4P into PCI BUS and tight up the screws Set up peripheral circuit via plugging SCSI II 68PIN in HIWIN PCI 4P card tight up the screws peripheral circuit wiring please refer to other sections in this chapter Confirm computer the driven motor I O module etc all have been connected to the ground firmly Set computer motor and I O etc peripheral modules all to the same reference potential Otherwise the system may be damaged in the starting due to different reference potentials Turn on computer it will find new hardware Use test program Motion Maker accompanied with this card can do the testing and more familiar with HIWIN PCI 4P 2 2 Hardware panel layout and definition of pins of connectors 1 Hardware panel layout HIWIN PCI 4P Card TEST POINT HAND WHEEL OR DECODER INPUT J3 Lt GND Vcc 5V POWER INDICATOR zd B JP2 lt b gt E JP3 DA ACTA ASIC SCSI II 68 PIN JP6 GO CONNECTOR EXTERNAL O0 COMMON PIN DEFAULT SETTING EMERGENCY STOP GO COMMON PIN OPEN o E FIG 2 1 WObit 2003 4 PCI 4P ver 1 0 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 T
6. P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 T Uf M S HIWIN PCI 4P Hardware Manual PPH WObit mgr inz Witold Ober 61 474 Poznan ul Gruszkowa 4 tel 061 8350 620 621 fax 061 8350704 e mail wobit wobit com pl http www wobit com pl Ver 1 0 2003 WObit 2003 PCI 4P ver 1 0 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 j v Contents Chapter TM sca e e REE GW GO A AO 2 1 1 Function It OUCH ON 05 0cccsccccessecsscetsdcccccecsseecvncsvecsveossesdsussesoussdsesessesvesses 2 ONO ADDON as RD SR 2 1 3 HIWIN PCI 4P wiring diagram essi cceareasesosy eater IA Ud 2 1 4 HIWIN PCI 4P pulse output format arka i Gaia 3 Chapter 2 Hardware setup and SADO nA A ass O Ga 4 2 System b sico set Up procedure aa AGE DL eee 4 2 2 Hardware panel layout and definition of pins of connectors 4 23 Wiring OI ares CAO pci id R E 8 WObit 2003 I PCI 4P ver 1 0 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 Chapter 1 Introduction 1 1 Function introduction HIWIN PCI 4P 4 axes motion control card uses DDA Digital Differential Analyzer method sending out incremental pulses to each axis perform 4 axes position and synchronized motion control It sends pulses for control and it can also read back
7. ial input signal B and B Encoder B Phase differential input signal C and C Encoder Z Phase differential input signal A 5V A 12V Via JP1 supply encoder with 5volt or 12 vo power Positive terminal AGND Via JP1 supply encoder with 5 volt or 12v power Negative terminal AGND Analog GND is VCC_OUT DAC output amp ADC common ground with DGND Digital Ground single point connection DGND connect with computer s BUS WObit 2003 7 PCI 4P ver 1 0 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 2 3 Wiring of 4 axes card HIWIN PCI 4P and pulse control type servo motor stepping motor system connection as shown below PCI 4P TB DRIVER PCI 4P The notion above shows the 0 axis only ST1 ST1 DR1 DR1 ST2 ST2 DR2 DR2 ST3 ST3 DR3 DR3 with their own corresponding STP STM DRP DRM respectively are for the 1 271 314 axes E STO0 U STO I DRO I DRO are the Oth set pulse command output point need to connect to the corresponding STP USTM UDRP and DRM of MOTOR DRIVER as shown in the figure Please refer to motor driver user s manual m Suggest the 4 lines above all use twisted pair wiring to lower common mode noise besides shield the 4 lines with the outside to lower the disturbance from the environment as shown in the figure m Connect one side of shie
8. lding net with connector s outside case on SCSI II 68PIN of HIWIN PCI 4P the other side with FG Frame Ground of MOTOR DRIVER and confirm that PC and SERVO DRIVER all connected to the ground Notice connector of SCSI II68PIN outside case connect with PC outside case outside case is connect to ground usually E Important Need one ground line to connect GND of servo driver and AGND of HIWIN PCI 4P It is very important since it may cause fatal damage if fail to do so WObit 2003 8 PCI 4P ver 1 0 P P H WOBIT WITOLD OBER 61 474 POZNAN UL GRUSZKOWA 4 TEL 48 61 8350 620 800 FAX 48 61 8350 704 804 2 3 1 Input wiring DEFAULT 24V O 424V r GND DGND PCI 4P INSIDE ES When switch is ON PCI 4P inside read value is O a When switch is OFF PCI 4P inside read value is 1 m On site need 24VDC power supply 2 3 2 Output wiring Es PCI 4P INSIDE E When output signal is 0 transistor Darlington driver is on load in operation m Every output point is driven with the maximum loading capacity of 60mA when no load please don t connect directly to 24V power m When the load is a RELAY there is an instant over voltage protection diode outside connection of protection diode to absorb this surge noise is not needed WObit 2003 9 PCI 4P ver 1 0
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