PCI-1240 User`s manual 4-Axis Stepping/Pulse
Contents
1. 20 Circuit diagram of encoder feedback 21 Example of the connection diagram of differential output line driver Example of the connection for open collector output ipee M 22 Circuit diagram of the external drive operation signals 23 Example of connecting to Jog 23 Circuit diagram of emergency stop input signal 24 Circuit diagram of interrupt setting 25 Example of connecting to KR515M drive 25 Example of connecting to UPK step drive 26 Example of connecting to MINAS X series AC servo motor drive uoce e te cepit 26 Timing diagram of Power On RESET 28 Timing diagram of Individual Axis Driving 28 Timing diagram of Interpolation Driving 28 Timing diagram of Quadrature Pulse of Encoder Input 29 Timing diagram of UP DOWN Pulse Input 29 Figure 3 26 Timing diagram of External Instantaneous Stop Signal 29 Figure 3 27 Timing diagram of Instantaneous Stop Instruction 30 Figure 3 28 Timing diagram of External Deceleration Stop Signal 30 Figure 3 29 Timing diagram of Deceleration Stop Instruction 30 Table 3 1 Table 3 1 Table 3 1 Table 3 2 Table 3 3 Table 3 4 Table 3 5 Table C 1 Table C 22. 1240 KR515M xpap 8 SEN cw Pulse cw XP P f SOW Cow XP N Pulse cew AX NC Hare Hold Off XoUT4 H OFF f DC24V GND NER Timing Output XIN1 unat TIMMING XALARM mE HEAT Figure 3 19 Example of connecting to UPK step drive Note The differential pulse output of PCI 1240 is connected to CW CCW input of UPK drive XOUT4 can control UPK drive to hold by setting D8 of WR3 TIMING and Over HEAT signals can be read back by reading RR4 5 Itis better to use twist pair cable for long connection 3 14 2 Connection to Servo Motor Drivers The figure shown below is an example of PCI 1240 connected to MINAS X series AC servo motor drive polis as Kass tat Cw xeen xecap mana xecan 0 ox os xecan 6 os oz xinon oz m XOUTA 5 GND e XALARM XiNPOS rr XLMT 6 E CW DIR LIMIT i pi i f LIMIT iE ls Figure 3 20 Example of connecting to MINAS X series AC servo motor drive PCI 1240 User s Manual 26 Advantech Co Ltd www advantech com Chapter 3 Note The servo drive must be set in pulse control drive mode and the type of pulse input is CW CCW mode This connecti
3. 2 0 kakap 42 6 MCX314 READ Registers RRO 43 C 7 Interrupt Status Register INTSTA W 44 C 8 Board ID Register BDID 44 Appendix D Cable Pin Assignments 45 Figure 2 1 Figure 2 2 Figure 3 1 Figure 3 2 Figure 3 3 Figure 3 4 Figure 3 5 Figure 3 6 Figure 3 7 Figure 3 8 Figure 3 9 Figure 3 10 Figure 3 11 Figure 3 12 Figure 3 13 Figure 3 14 Figure 3 15 Figure 3 16 Figure 3 17 Figure 3 18 Figure 3 19 Figure 3 20 Figure 3 21 Figure 3 22 Figure 3 23 Figure 3 24 Figure 3 25 Figures The Setup Screen of Advantech Automation Software 8 Different options for Driver Setup 9 I O connector pin assignments for the PCI 1240 12 Location of Jumpers and DIP switch on PCI 1240 16 Output Signal Loop for Drive Pulses 17 Photo coupler input interface 17 Line driver input interface ooooWoWoWoWo 18 Circuit Diagram for General Purposed Output 18 Circuit Diagram for Movement Limit Input Signals 19 Example of photo sensor used in the limit input signal 19 Circuit Diagram of Deceleration Instantaneous Stop Input SIGMA T 20 Input Signal for Servo Motor
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5. Plug in the power cord and turn on the computer PCI 1240 User s Manual 10 Advantech Co Ltd www advantech com 3 Signal Connections Maintaining signal connections is one of the most important factors in ensuring that your application system is sending and receiving data cor rectly A good signal connection can avoid unnecessary and costly dam age to your PC and other hardware devices This chapter provides useful information about how to connect input and output signals to the PCI 1240 via the I O connector 3 1 Connector Pin Assignments The I O connector on the PCI 1240 is a 100 pin connector that enables you to connect to accessories with the PCL 10251 shielded cable Figure 3 1 shows the pin assignments for the 100 pin I O connector on the PCI 1240 and Table 3 1 shows its I O connector signal description Note The PCL 10251 shielded cable is especially designed for the PCI 1240 to reduce noise in the analog signal lines Please refer to Section 1 4 Accessories 3 2 Location of Jumpers and DIP switch Figure 3 2 shows the names and locations of jumpers and DIP switch on the PCI 1240 There are nine jumpers JP1 to JP9 on the PCI 1240 Please refer to Section 3 4 Output Pulse Definition and Section 3 11 Emergency Stop Input for more information about JP1 8 and JP9 configurations Board ID The PCI 1240 has a built in DIP switch SW 1 which is used to define each card s board ID for
6. For technical support and service please visit our support website at http www advantech com support Part No 2003124000 Ist Edition Printed in Taiwan April 2001 Chapter 1 Introduction 1 1 1 MH pas 1 1 2 Applications Woow eee enn 4 1 3 Installation Guide 4 1 4 Accessories kene aka 4 Chapter2 Installation 7 221 Unpacking ba 7 2 2 Driver Installation 8 2 3 Hardware Installation 9 Chapter3 Signal Connections 11 31 Connector Pin Assignments 11 3 2 Location of Jumpers and DIP switch 11 3 4 Output Pulse Definition nP N nP P nP N 17 3 5 General Purposed Output nOUT7 nOUT4 18 3 6 Over Traveling Limit Switch Input LMT naaa Aa 18 3 7 Deceleration Instantaneous Stop Switch Input BIN1 usc m 19 3 8 General Purposed Input for Servo Drives nINPOS DAEARM ben na mama ina 20 3 9 Encoder Input nECAP nECAN nECBP nECBN hINOP nINON 554 mena maa 21 Contents 3 10 External Pulse Control Input nEXOP n
7. Table C 3 Table C 4 Table C 5 Table C 6 Table C 7 Table C 8 Table C 9 Table C 10 Table C 11 Tables PCI 1240 I O Connector Signal Description part 1 13 PCI 1240 I O Connector Signal Description part 2 14 PCI 1240 I O Connector Signal Description part 3 15 Board ID register 16 Board ID setting l L l 16 Jumper table of JP1 8 17 Jumper table of JP9 ooooocoooooo nana 24 PCI 1240 WRITE register function 38 PCI 1240 WRITE register format 39 PCI 1240 READ register function 40 PCI 1240 READ 41 Clear Interrupt Register CLRINT Write BASE 10 42 Pulse Generator Mode Status Register PGM PGMSTA Write Read BASE 14 42 Pulse Generator Mode PGMn3 43 Pulse Generator Signal Connection Mode 43 Driving Axis for Software Programmable Mode 43 Interrupt Status Register INTSTA Read BASE 10 44 Board ID Register BDID Read BASE 12 44 1 Introduction 1 1 cene B The PCI 1240 4 Axis Stepping Pulse type Servo Motor
8. ULMT Z_IN3 Z_IN2 Z INI ZLMT ZLMT NC VEX Z U Figure 3 1 YO connector pin assignments for the PCI 1240 PCI 1240 User s Manual 12 Advantech Co Ltd www advantech com Chapter 3 Table 3 1 PCI 1240 I O Connector Signal Description part 1 Signal Name Reference Direction Description VEX Input External Power 12 24V EMG Input Emergency Stop for all axes XLMT Input Direction Limit at X axis XLMT Input Direction Limit at X axis XINI Input Deceleration Instant Stop at X axis XIN2 Input Deceleration Instant Stop at X axis XIN3 Input Deceleration Instant Stop at X axis YLMT Input Direction Limit at Y axis YLMT Input Direction Limit at Y axis YINI Input Deceleration Instant Stop at Y axis YIN2 Input Deceleration Instant Stop at Y axis YIN3 Input Deceleration Instant Stop at Y axis XINPOS Input In Position input at X axis XALARM Input Servo Error at X axis XECAP Input Encoder Phase A at X axis XECAN Input Encoder Phase A at X axis XECBP Input Encoder Phase B at X axis XECBN Input Encoder Phase B at X axis XINOP Input Encoder Phase Z at X axis XINON Input Encoder Phase Z at X axis YINPOS Input In Position input at Y axis YALARM Input Servo Error at Y axis YECAP Input Encoder Phase A at Y axis YECAN Input Encoder Phase A at Y axis YECB
9. direction bit data of the third axis for bit pattern interpolation Data Writing Register 2 Setting of the most significant 16 bit D31 D16 for data writing BP3M Register Setting for the direction bit data of the third axis for bit pattern interpolation Clear Interrupt Register Clearing the interrupt register N A PCI 1240 User s Manual Pulse Generator Mode Register 38 Setting for Jog Hand wheel mode funtion Advantech Co Ltd www advantech com Appendix Table C 2 PCI 1240 WRITE register format D9 D8 D7 Command Register U 2 Y wass Axis Assignments Command Code Mode Register 1 WRI 2 C P gt C PULSE IN3 E IN3 L IN2 E INO E Interrupt Enable Disable Driving Stop Input Signal Enable Disable Mode Register 2 WR2 PINDI PINDO PIN Mj DIR L PLS L PLSMDCMPSI Mode Register 3 WR3 OUTS OUT4 OUTSI IDSNDEMAN Output Register WR4 3 ZOUT2 ZOUTI ZOUTO YOUT3YOUT2YOUTII Interpolation Mode Register WR5 EXPLS LSPDI LSPDO AX31 Interrupt Step Output Constant Vector Speed Data Writing Register 1 WR6 WD10 WD9 WD8 WD7 WD6 WD5 Data Writing Register 2 WR7 WD26 WD25 WD24 WD23 WD22 WD21 WD
10. uel DID HH sese o I IIUIIIII ILIII II II IIIIIIIIIIIQIUIU Figure 3 2 Location of Jumpers and DIP switch on PCI 1240 Table 3 2 Board ID register Board ID register Abbreviation BDID3 BDID2 BDID1 BDIDO IDO the least significant bit LSB of Board ID ID3 the most significant bit MSB of Board ID Table 3 3 Board ID setting Board ID setting SW1 Board ID Dec Switch Position ID3 ID2 ID1 IDO e e e e 1 e e e 14 O O O 15 O O O Off On default PCI 1240 User s Manual 16 Advantech Co Ltd www advantech com Chapter 3 3 4 Output Pulse Definition nP P nP N nP P nP N The output pulse command of 1240 is from MCX314 chip The pulse command has two types One is in Up Down mode and another is in Pulse Direction mode While nP P is differential from nP N and nP P is differential from nP N After system reset the nP P and nP P is low level and this invert output nP N nP N is high level and the de fault setting of pulse output mode is Up Down User can change the output mode into Pulse Direction mode by writing specified command system register MCX314 nPP PLS AS 5 O nP P JP lt 1 3 5 7 gt O nP N nPM DIR 12 2 On sS JP lt 2 4 6 8 gt Figure 3 3 Output Signal Loop for Drive Pulses From the circuit shown above Figure 3 3 the default o
11. Control Card is designed for general purpose extreme motion applications The PCI 1240 is a high speed 4 Axis motion control card for the PCI bus that simpli fies stepping and pulse type servo motor control giving you added per formance from your motors The card s intelligent NOVA MCX314 motion ASIC builds in a variety of motion control functions such as 2 3 axis linear interpolation 2 axis circular interpolation T S curve accel eration deceleration rate and more In addition the PCI 1240 performs these motion control functions without processor load during driving For advanced applications we supply Windows DLL drivers and user friendly examples to decrease your programming load Moreover through a free bundled PCI 1240 motion utility you can complete configuration and diagnosis easily Features The Advantech PCI 1240 provides users with the most requested motor control functions as seen below U Independent 4 axis motion control Support hand wheel and jog function 2 3 axis linear interpolation function U 2 axis circular interpolation function Continuous interpolation function Programmable T S curve acceleration and deceleration Up to 4MPPS pulse output for each axis Two pulse output types Up Down or Pulse Direction Up to 1 MHz encoder input for each axis Two encoder pulse input types phase or Up Down U Position management and software limit switch function Board ID Free
12. If youhave to place your signal cable parallel to a power line that has a high voltage or high current running through it try to keep a safe distance between them Or you should place the signal cable at a right angle to the power line to minimize the undesirable effect The signals transmitted on the cable will be directly affected by the quality of the cable In order to ensure better signal quality we recom mend that you use the PCL 10251 shielded cable Advantech Co Ltd 27 PCI 1240 User s Manual www advantech com Chapter 3 3 161 O Signal Timing 3 16 1 Power On RESET PA TTS YUYU I nP P Low nP N Miss end ee ee ee NOUT4 7 Read Write invalid valid Figure 3 21 Timing diagram of Power On RESET O Output pulses nP P nP for drive control and general purpose output signals nOUTA 7 for I O control will be determined after 250 nsec from power on reset Q User can access PCI 1240 only after 500 nsec from power on reset 3 16 2 Individual Axis Driving BUSYN Interpolation drive command write in f2 aua nPP P 3st pulse 2nd pulse Pre state Valid level Figure 3 22 Timing diagram of Individual Axis Driving nPP P direction signal O The maximum time to output command pulse after first pulse command is about 650nsec When pulse directio
13. Input nLMT and nLMT External Deceleration instantaneous Stop Signal nIN1 3 Input Signal for Servo Motor Drives nALARM servo alarm nINPOS position command completed Emergency Stop EMG one emergency stop input Max Input Frequency 4 kHz Input Signal Input Voltage Low 3 V max 10 min 50 max High Input Current 10 Vic 1 70 mA typical 12 V 2 10 mA typical 24 Ve 4 40 mA typical 48 V 9 00 mA typical 50 9 40 mA typical Protection 2 500 Vc photo coupler isolation and RC filtering Output Signal nOUTA 7 General Purposed Output Voltage Open Collector 5 40 V Output Signal Sink Current 200 mA max channel External Driving Protection Input Signal 2 500 V photo coupler isolation nEXOP nEXOP Max Input Frequency 100 Hz Low Input Voltage High 30 V max Fixed pulse driving or continuous drivingSupports Hand Wheel Jog Driving Mode Protection 2 500 photo coupler isolation Advantech Co Ltd www advantech com PCI 1240 User s Manual 32 Appendix A Other Functions Range of Command Position Position Counter Counter for output pulse read write at any time Range of Actual Position Counter for input pulse COMP 4 Register Range 2 147 483 648 2 147 483 647 2 147 483 648 2 1
14. Make sure you have installed the driver first before you install the card please refer to 2 2 Driver Installation After the DLL driver installation is completed you can now go on to install the PCI 1240 card in any PCI slot on your computer But it is suggested that you should refer to the computer user manual or related documentations if you have any doubt Please follow the steps below to install the card on your system Step 1 Turn off your computer and unplug the power cord and cables Advantech Co Ltd 9 PCI 1240 User s Manual www advantech com Chapter 2 Step 2 Step 3 Step 4 Step 5 Step 6 Step 7 Step 8 Step 9 TURN OFF your computer before installing or removing any components on the computer Remove the cover of your computer Remove the slot cover on the back panel of your computer Touch the metal part on the surface of your computer to neutral ize the static electricity that might be on your body Insert the PCI 1240 card into a PCI slot Hold the card only by its edges and carefully align it with the slot Insert the card firmly into place Use of excessive force must be avoided otherwise the card might be damaged Fasten the bracket of the PCI card on the back panel rail of the computer with screws Connect appropriate accessories 68 pin cable wiring termi nals etc if necessary to the PCI card Replace the cover of your computer chassis Re connect the cables you removed in step 2
15. form a twisted pair cable reducing cross talk and noise from other signal sources PCI 1240 User s Manual 4 Advantech Co Ltd www advantech com Wiring Boards U ADAM 3952 Advantech Co Ltd www advantech com Chapter 1 The ADAM 3952 is a 50 pin SCSI wiring termi nal module for DIN rail mounting This terminal module can allow easy yet reliable access to indi vidual pin connections for the PCI 1240 card 5 PCI 1240 User s Manual Chapter 1 PCI 1240 User s Manual 6 Advantech Co Ltd www advantech com 2 Installation 2 1 This chapter gives users a package item checklist proper instructions about unpacking and step by step procedures for both driver and card installation Unpacking After receiving your PCI 1240 package please inspect its contents first The package should contain the following items MI PCI 1240 card Companion CD ROM DLL driver included M User s Manual The PCI 1240 card harbors certain electronic components vulnerable to electrostatic discharge ESD ESD could easily damage the integrated circuits and certain components if preventive measures are not carefully paid attention to Before removing the card from the antistatic plastic bag you should take following precautions to ward off possible ESD damage e Touch the metal part of your computer chassis with your hand to discharge static electricity accumulated on your body Or one can also use a grounding
16. speed acceleration deceleration status of accelerating de celerating and constant driving can be read Advantech Co Ltd 3 PCI 1240 User s Manual www advantech com Chapter 1 1 2 Applications 1 3 U Precise X Y Z position control Precise rotation control U Packaging and assembly equipment Machine control with up to 4 axes Semiconductor pick and place and testing equipment Other stepping pulse type servo motor applications nstallation Guide Before you install your PCI 1240 card please make sure you have the following necessary components PCI 1240 DAS card PCI 1240 s User s Manual Driver Software Advantech PCI 1240 DLL drivers Included in the companion CD ROM Motion Utility Advantech PCI 1240 Motion Utility Included in the companion CD ROM Wiring cable PCL 10251 Wiring board 2pcs ADAM 3952 Computer Personal computer or workstation with a PCI bus slot After you have got the necessary components and maybe some accesso ries for enhanced operation of your Motion card you can then begin the Installation procedures 1 4 Accessories Advantech offers a complete set of accessory products to support the PCI 1240 card These accessories include Wiring Cable PCL 10251 The PCL 10251 shielded cable is specially de signed for PCI 1240 card to provide higher resis tance to noise To achieve a better signal quality the signal wires are twisted in such away as to
17. strap e Touch the antistatic bag to a metal part of your computer chassis before opening the bag e Take hold of the card only by the metal bracket when removing it out of the bag After taking out the card first you should Inspect the card for any possible signs of external damage loose or damaged components etc If the card is visibly damaged please notify our service department or our local sales representa tive immediately Avoid installing a damaged card into your sys tem Also pay extra caution to the following aspects to ensure proper instal lation Avoid physical contact with materials that could hold static elec tricity such as plastic vinyl and Styrofoam Advantech Co Ltd 7 1240 User s Manual www advantech com Chapter 2 NOT TOUCH the exposed metal pins of the connector or the elec j Whenever you handle the card grasp it only by its edges DO tronic components Note Keep the antistatic bag for future use You might need the original bag to store the card if you have to remove the card from PC or transport it elsewhere 2 2 Driver Installation We recommend you to install the driver before you install the PCI 1240 card into your system since this will guarantee a smooth installation process The 32 bit DLL driver Setup program for the card is included on the companion CD ROM that is shipped with your DAS card package Please follow the steps below to install the dr
18. the Direction of Z axis UEXOP Input Jog at the Direction of U axis UEXOP Input Jog at the Direction of U axis GND Ground ZOUT4 Q Z Common Output at Z axis ZOUT5 Z Output Common Output at Z axis ZOUT6 Z Output Common Output at Z axis ZOUT7 Z Common Output at Z axis ZP P Z Output Output pulse CW Pulse of Z axis ZP N Q gt Output pulse CW Pulse of Z axis ZP P Z Output pulse CCW DIR of Z axis ZP N Z Output pulse CCW DIR of Z axis Ground 2 Common Output at U axis Z Common Output at U axis Z Common Output at U axis Z Output Common Output at U axis Z Output pulse CW Pulse of U axis Z Output Output pulse CW Pulse of U axis Z Output pulse CCW DIR of U axis Advantech Co Ltd www advantech com Z 15 Output pulse CCW DIR of U axis PCI 1240 User s Manual Chapter 3 PCI 1240 CNI o 35V V BEBAN HERAN ng 4451 91912151 talo PU Jp4 APS KIT 7 E us fe 1 STOP 254 aan stet st ss s
19. 1 Y Axis Mode Register 1 Z Axis Mode Register 1 U Axis Mode Register 1 Enable disable deceleration and set deceleration level Enable disable interrupt for each axis X Axis Mode Register 2 Y Axis Mode Register 2 Z Axis Mode Register 2 U Axis Mode Register 2 Set the external limit signal of each axis Set the type of output pulse Set the type of encoder input Enable disable the signal from servo drives BPIP Register Setting for the direction bit data of the first axis for bit pattern interpolation X Axis Mode Register 3 Y Axis Mode Register 3 Z Axis Mode Register 3 U Axis Mode Register 3 Settings for manual deceleration individually decelerating and S curve acceleration deceleration mode of each axis Setting for external operation mode Setting for general output OUT7 4 Register Setting for the direction bit data of the first axis for bit pattern interpolation Output Register Setting for general output OUT3 0 BP2P Register Setting for the direction bit data of th second axis for bit pattern interpolation Interpolation Mode Register Axis assignment Settings of constant linear speed step output mode and interrupt BP2M Register Setting for the direction bit data of the second axis for bit pattern interpolation Data Writing Register 1 Setting of the least significant 16 bi D15 DO for data writing BP3P Register Setting for the
20. 1 Hand wheel mode A B phase pulse input The following table indicates the external signal routing path The exter nal signals generate the pulses to drive the motor are connected to the pins and nEXOP Please refer to the pin assignment Table C 6 Pulse Generator Signal Connection Mode Meaning Function disabled Signal from pins nEXOP for driving n axis Software programmable mode Signal from pins XEXOP for driving Axis selected by pins U IN2 and U INI Software programmable mode Signal from pins for driving Axis selected by pins U IN2 and U INI Signal from pins for driving n axis Signal from pins YEXOP for driving n axis Signal from pins ZEXOP for driving n axis Signal from pins UEXOP for driving n axis Note n X Y Z or U Driving Axis X axis Y axis C 6 MCX314 READ Registers RRO RR7 The PCI 1240 registers from RRO Base Add 0 to RR7 Base Add E are the same as mapping registers on MCX314 chip and please refer to MCX314 user s manual Section 4 10 Section 4 15 for detailed in formation Advantech Co Ltd www advantech com PCI 1240 User s Manual Appendix C 7 Interrupt Status Register INTSTA Table C 10 Interrupt Status Register INTSTA Read BASE 10 8 7 6 5 tatus Register INTSTA D0 Interrupt fl
21. 20 Clear Interrupt Register CLRINT Clear Interrupt Register Pulse Generator Mode Register PGM Advantech Co Ltd www advantech com IPGMU3PGMU2PGMU IIPGMUQPGMZ3 PGMZ2 PGMZI PGMZ0PGMY3PGM Y2PGMY 39 PCI 1240 User s Manual Appendix Table C 3 PCI 1240 READ register function Register Name Content Main status register Limit switch status driving status ready for interpolation quadrant for circle interpolation and the stack of BP X Axis Status Register 1 Y Axis Status Register 1 Z Axis Status Register 1 U Axis Status Register 1 The result of compare status of acceleration and ending status X Axis Status Register 2 Y Axis Status Register 2 Z Axis Status Register 2 U Axis Status Register 2 Error message X Axis Status Register 3 Y Axis Status Register 3 Z Axis Status Register 3 U Axis Status Register 3 Interrupt message Input Register 1 I O input for X and Y axis Input Register 2 I O input for Z and U axis RR6 Data Reading Register 1 Low word of Data Register D15 DO RR7 Data Reading Register 2 High word of Data Register D31 D16 INTSTA Interrupt Status Register The Status of Interrupt Register BDID Board ID Register The card s Board ID PGSTA PCI 1240 User s Manual Pulse Generator Status Register 40 Jog Hand wheel mode function
22. 47 483 647 2 147 483 648 2 147 483 647 Comparison Register COMP Register Range 2 147 483 648 2 147 483 64 Can used for software over traveling limit Position Counter 2 COMP Position Counter COMP Interrupt Condition Position Counter lt conditions could be enable disable individually Position Counter gt COMP Interrupt Functions Excluding Interpolation Constant speed begin or end during acceleration deceleration driving pulse finished 4 bit DIP switch ID 0 15 General I O Connector Type 100 pin SCSI II female Dimensions 175 mm x 100 mm 6 9 x 3 9 Typical 5 Q 850mA 12 600mA Max 5V 1A 12 700mA External Power Voltage DC 412 24 V 0 460 C 32 140 F refer to 68 2 Power Consumption Operation Temperature 1 2 Storage 20 852 C 4 185 F Relative Humidity 5 95 RH non condensing refer to 68 2 3 Certification CE certified Note 9 n represents the axis X Y Z or U that is concerned Advantech Co Ltd 33 PCI 1240 User s Manual www advantech com Appendix A PCI 1240 User s Manual 34 Advantech Co Ltd www advantech com INI 419 dojs Cj 134 94 9 Ja1dn09 pP gt SIXW X 10 IndinoAndul 0 jeoyuap Jeau SIXY N kg
23. ECAN YECBN YINON XEXOP YEXOP XOUT4 XOUT6 YOUT5 YOUT7 YP N YP N CON2 NC ZLMT Z IN2 ULMT U INI U IN3 Z ALARM ZECAN ZECBN ZINON U ALARM UECAN UECBN UINON ZEXOP UEXOP ZOUT4 ZOUT6 ZP P ZP P GND UOUTS UOUT7 UP N UP P 26 1 27 2 28 3 29 4 30 5 31 6 32 7 33 8 34 9 35 10 36 11 37 12 38 13 39 14 40 15 41 16 42 17 4 18 44 19 45 20 46 21 47 22 48 23 49 24 50 25 26 1 27 2 28 3 29 4 30 5 31 6 32 7 33 8 34 9 35 10 36 11 37 12 38 13 39 14 40 15 41 16 42 17 43 18 44 19 45 20 46 21 47 22 48 23 49 24 50 25 VEX XLMT X INI X IN3 YLMT Y IN2 X INPOS XECAP XECBP XINOP Y INPOS YECAP YECBP YINOP YEXOP GND XOUT5 XOUT7 XP N XP N YOUT4 YOUT6 YP P YP P VEX ZLMT Z_IN1 Z IN3 ULMT U IN2 Z INOPS ZECAP ZECBP ZINOP U INPOS UECAP UECBP UINOP ZEXOP UEXOP GND ZOUTS ZOUT7 ZP N ZP N UOUT4 UOUT6 UP P UP P PCI 1240 User s Manual Appendix D PCI 1240 User s Manual 46 Advantech Co Ltd www advantech com
24. EXOP eene 23 3 11 Emergency Stop Input EMG 24 3 12 External Power Input VEX 24 3 13 Interrupt Setting esses 24 3 14 Connection Examples for Motor Drivers 25 3 141 Connection to Step Motor Drivers 25 3 14 2 Connection to Servo Motor Drivers 26 3 15 Field Wiring Considerations 27 3 16 1 0 Signal Timing 28 3 16 1 Power On RESET w ooooo cooooooooooocoooooo 28 3 16 2 Individual Axis Driving 2 2 2 1 28 3 16 3 Interpolation Driving oo oom 28 3 16 4 Input Pulse Timing 29 3 16 5 Instantaneous Stop Timing 29 3 16 6 Deceleration Stop Timing 30 AppendixA Specification 31 Appendix Block Diagram 35 Appendix C Register Structure and Format 37 OVEFVISW 37 2 Port Address Map 37 C 3 MCX314 WRITE Registers WRO WR7 42 C 4 Clear Interrupt Register CLRINT 42 C 5 Pulse Generator Mode Status Register
25. INOP EC z XINON Encoder Side Figure 3 12 Example of the connection diagram of differential output line driver The following figure is an example of connection for the encoder with open collector output XECAN XECBN XINON DC Power VCC R 2 Encoder XECAP EC A R XECBPO W EC B R Q AN EC Z END 5 P Voltage RW 5 12 820 1 4W 24 2K1W Figure 3 13 Example of the connection for open collector output encoder PCI 1240 User s Manual zn Advantech Co Ltd www advantech com Chapter 3 3 10 External Pulse Control Input nEXOP The pulses output function of MCX314 chip is controlled by register setting or by external pulse command input nEXOP nEXOP There are two output pulse mode for the external control pin One is fixed pulse output mode and the other is continuous output mode In PCI 1240 it provides Jog and Hand wheel functions that allow you driving motors through external Hand wheel or Jog equipment In Jog mode it is corre sponding to the Continuous Output Mode and in Hand wheel mode it is corresponding to the Fixed Pulse Output Mode These functions are progressed without CPU involved on host PC When the input signal is enabled during fixed pulse drive the pulse specified will be output When continuous output drive is enabled the d
26. LMT Input Direction Limit at Z axis ZLMT Input Direction Limit at Z axis ZIN 1 Input Deceleration Instant Stop at Z axis ZIN2 Input Deceleration Instant Stop at Z axis ZIN3 Input Deceleration Instant Stop at Z axis ULMT Input Direction Limit at U axis ULMT Input Direction Limit at U axis UIN 1 Input Deceleration Instant Stop at U axis UIN2 Input Deceleration Instant Stop at U axis UIN3 Input Deceleration Instant Stop at U axis ZINPOS Input Positioning Complete at Z axis ZALARM Input Servo Error at Z axis ZECAP Input Encoder Phase A at Z axis ZECAN Input Encoder Phase A at Z axis ZECBP Input Encoder Phase B at Z axis ZECBN Input Encoder Phase B at Z axis ZINOP Input Encoder Phase Z at Z axis ZINON Input Encoder Phase Z at Z axis UINPOS Input Positioning Complete at U axis PCI 1240 User s Manual 14 Advantech Co Ltd www advantech com Chapter 3 Table 3 1 PCI 1240 YO Connector Signal Description part 3 Signal Name Reference Direction Description UALARM Input Servo Error at U axis UECAP Input Encoder Phase A at U axis UECAN Input Encoder Phase A at U axis UECBP Input Encoder Phase B at U axis UECBN Input Encoder Phase B at U axis UINOP Input Encoder Phase Z at U axis UINON Input Encoder Phase Z at U axis Input at the Direction of Z axis ZEXOP Input Jog at
27. Motion Utility bundled for configuration and diagnosis The Advantech PCI 1240 offers the following main features Individual Control for 4 Axes Each of the four axes has identical function capabilities and is controlled by the same method of operation with constant speed trapezoidal or S curve driving Advantech Co Ltd 1 PCI 1240 User s Manual www advantech com Chapter 1 Programmable T S curve Acceleration and Deceleration Each of four axes can be preset individually with S curve or trapezoidal acceleration deceleration rates When using S curve acceleration to con trol driving speed output pulse is generated in parabolic shaped accel eration or deceleration curves and the triangular curve phenomenon will not occur through the NOVA MCX314 motion ASIC design concept Linear and Circular Interpolation Any two or three axes can be selected to execute linear interpolation driving and any two axes can be selected to execute circular arc interpo lation control The interpolation speed range is from 1 PPS to 4 MPPS Powerful position management function Each axis is equipped with a 32 bit logical position counter and a 32 bit real position counter The logical position counter counts the axis pulse output number and the real position counter is recorded with the feed back pulse from the outside encoder or linear scale Speed Control The speed range of the pulse output is from 1 PPS to 4MPPS for constant speed trape
28. P Input Encoder Phase B at Y axis YECBN Input Encoder Phase B at Y axis YINOP Input Encoder Phase Z at Y axis YINON Input Encoder Phase Z at Y axis Input Jog at the Direction of X axis XEXOP Input Jog at the Direction of X axis Input Jog at the Direction of Y axis YEXOP Input Jog at the Direction of Y axis GND Ground XOUT4 GND Output General Output at X axis XOUT5 GND Output General Output at X axis Advantech Co Ltd 13 PCI 1240 User s Manual www advantech com Chapter 3 Table 3 1 PCI 1240 I O Connector Signal Description part 2 Signal Name Reference Direction Description XOUT6 GND Output General Output at X axis XOUT7 GND Output General Output at X axis GND Output Output pulse CW Pulse of X axis XP N GND Output Output pulse CW Pulse of X axis XP P GND Output Output pulse CCW DIR of X axis XP N GND Output Output pulse CCW DIR of X axis GND Ground YOUT4 GND Output Common Output at Y axis YOUTS GND Output Common Output at Y axis YOUT6 GND Output Common Output at Y axis YOUT7 GND Output Common Output at Y axis YP P GND Output Output pulse CW Pulse of Y axis YP N GND Output Output pulse CW Pulse of Y axis YP P GND Output Output pulse CCW DIR of Y axis YP N GND Output Output pulse CCW DIR of Y axis VEX Input External Power DC 12 24V Z
29. PCI 1240 Motion Utility You can determine the board ID on the register as shown on Table 3 2 When there are multiple cards on the same chassis this board ID setting function is use ful for identifying each card s device number through board ID We set the PCI 1240 board ID as 0 at the factory If you need to adjust it to other board ID set the SWI by referring to the Table 3 3 Advantech Co Ltd 11 PCI 1240 User s Manual www advantech com Chapter 3 YP N YP P YP P YOUT7 YOUT6 YOUTS YOUT4 GND XP N XP P XP N XP P XOUT7 XOUT6 XOUT5 XOUT4 GND YEXOP YINON YINOP YECBN YECBP YECAN YECAP Y ALARM Y INPOS XINON XINOP XECBN XECBP XECAN XECAP X ALARM X INPOS Y IN3 Y IN2 Y INI YLMT YLMT X_IN3 X_IN2 X INI XLMT XLMT EMG VEX 50 100 49 99 48 98 47 97 46 96 48 95 44 94 43 93 42 92 41 91 40 90 39 89 38 88 37 87 36 86 35 85 34 84 33 83 32 82 31 81 30 80 29 79 28 78 27 77 26 76 25 75 24 74 23 73 22 72 21 71 20 70 9 69 8 68 7 67 6 66 5 65 4 64 3 63 2 62 1 61 0 60 9 59 8 58 7 57 6 56 5 55 4 54 3 53 2 52 1 S1 UP N UP P UP N UP P UOUT7 UOUT6 UOUTS UOUT4 GND ZP N ZP P ZP N ZP P ZOUT7 ZOUT6 ZOUTS ZOUT4 GND UEXOP UEXOP ZEXOP EXOP INON UINOP UECBN UECBP UECAN UECAP U ALARM U INPOS ZINON ZINOP ZECBN ZECBP ZECAN ZECAP Z ALARM Z INPOS U IN3 U IN2 U INI ULMT
30. PCI 1240 User s manual 4 Axis Stepping Pulse type Servo Motor Control Card Copyright This documentation and the software included with this product are copyrighted 2001 by Advantech Co Ltd All rights are reserved Advantech Co Ltd reserves the right to make improvements in the products described in this manual at any time without notice No part of this manual may be reproduced copied translated or transmit ted in any form or by any means without the prior written permission of Advantech Co Ltd Information provided in this manual is intended to be accurate and reliable However Advantech Co Ltd assumes no re sponsibility for its use nor for any infringements of the rights of third parties which may result from its use Acknowledgments PC LabCard is a trademark of Advantech Co Ltd IBM and PC are trade marks of International Business Machines Corporation MS DOS Win dows Microsoft Visual and Visual BASIC are trademarks of Microsoft Corporation Intel and Pentium are trademarks of Intel Cor poration Delphi and C Builder are trademarks of Inprise Corporation CE notification The PCI 1240 developed by ADVANTECH CO LTD has passed the CE test for environmental specifications when shielded cables are used for external wiring We recommend the use of shielded cables This kind of cable is available from Advantech Please contact your local supplier for ordering information On line Technical Support
31. ach axis Speed 1 PPS 4 MPPS Precision 0 5 LSB 2 Axis Circular Interpolation Range 8 388 608 8 388 607 for each axis Speed 1 PPS 4 MPPS Precision 1 LSB Continuous Interpolation Speed 1 PPS 2 MPPS Drive Output Pulses Encoder Input Output Signal nP P N nP P N Range 1 PPS 4 MPPS Precision 0 1 Change of Acceleration for S Curve 954 31 25 x 10 PPS sec Acceleration Deceleration 125 500 x 105 PPS sec Initial Velocity 1 PPS 4M PPS Drive Speed 1 PPS 4M PPS Can be changed during driving Number of Output Pulses 0 268 435 455 fixed pulse driving Pulse Output Type Pulse Direction 1 pulse 1 direction type or Up Down 2 pulse type Output Signal Modes Differential line driving output Single ended output Speed Curve Input Signal T S curve Acceleration Deceleration nECAP N nECBP N nINOP N Encoder Pulse Input Type Quadrature A B phase or Up Down Counts per Encoder Cycle xl x2 x4 A B phase only Input Pulse for Max Input Frequency 1 MHz Encoder Interface Input Voltage Low 3 V max 10 V min High 30 V max Advantech Co Ltd www advantech com Protection EE 2 500 Voc isolation PCI 1240 User s Manual Appendix A Digital Input Output Over Traveling Limit Switch
32. address to clear the interrupt register Table C 5 Clear Interrupt Register CLRINT Write BASE 10 Clear Interrupt Register CLRINT Clear Interrupt Register C 5 Pulse Generator Mode Status Register PGM PGSTA The pulse generator function is powerful for users to drive specific axis by Jog or Hand wheel There are two operation modes Jog mode and Hand wheel mode In Jog mode it is corresponding to the Continuous Pulse Driving Mode and in Hand wheel mode it is corresponding to the Fixed Pulse Driving Mode Please refer to MCX314 user s manual Section 2 6 1 for detailed information Table C 6 Pulse Generator Mode Status Register PGM PGMSTA Write Read BASE 14 D10 D9 D8 D7 D6 DS Pulse Generator Mode Register PGM IPGMU3PGMU2 PGMUI PGMUO PGMZ3 PGMZ2 PGMZI PGMZ0 PGMY3PGMY2PGMY I PGMY0 PGMX3 PGMX2 PGMX1 Pulse Generator Status Register PGSTA IPGMU3PPGMU2 PGMUI PGMUO PGMZ3 PGMZ2 PGMZI PPGMZ0 PGMY3PGMY2PGMY I PGMY0 PGMX3 PGMX2 PGMX1 D3 0 X axis Pules Generator Mode Control D7 4 Y axis Pules Generator Mode Control 011 8 Z axis Pules Generator Mode Control D15 12 U axis Pules Generator Mode Control PCI 1240 User s Manual 42 Advantech Co Ltd www advantech com Appendix Table C 7 Pulse Generator Mode PGMn3 PGMn3 n X Y Z or U Meaning Signal Type 0 Jog mode Isolated digital input
33. ag This bit indicates whether interrupt occurred or not means that an interrupt has occurred C 8 Board ID Register BDID BDID shows the Board ID of the PCI 1240 Table C 11 Board ID Register BDID Read BASE 12 BDID3 BDID2 BDID1 PCI 1240 User s Manual 44 Advantech Co Ltd www advantech com D Cable Pin Assignments CONO YP N YP P YP N Y Pep YOUT7 YOUT6 YOUT5 YOUT4 GND XP N XP P XP N XP P XOUT7 XOUT6 XOUT5 XOUT4 GND YEXOP YEXOP XEXOP XEXOP YINON YINOP YECBN YECBP YECAN YECAP Y_ALARM Y_INPOS XINON XINOP XECBN XECBP XECAN XECAP X_ALARM X_INPOS Y IN3 Y IN2 Y INI YLMT YLMT X IN3 X IN2 X INI XLMT XLMT EMG VEX Advantech Co Ltd www advantech com 49 5555 berase Q O q 88883 95 93 76 75 74 73 71 SESHUSSUSSHSS PPROESSSg2SS 51 UP N UP P UP N UPtP UOUT7 UOUT6 UOUTS UOUT4 GND ZP N ZP P ZP N ZP P ZOUT7 ZOUT6 ZOUTS ZOUT4 GND UEXOP UEXOP ZEXOP ZEXOP UINON UINOP UECBN UECBP UECAN UECAP U_ALARM U INPOS ZINON ZINOP ZECBN ZECBP ZECAN ZECAP Z ALARM Z INPOS U IN3 U IN2 U INI ULMT ULMT Z_IN3 Z_IN2 Z_IN1 ZLMT ZLMT NC VEX 45 APPENDIX CONI EMG XLMT X IN2 YLMT Y_IN1 Y IN3 X ALARM XECAN XECBN XINON Y ALARM Y
34. eral purposed input while user could read the input register 1 and 2 RR4 RR5 to get the status of this two signal 3 9 Encoder Input nECAP nECAN nECBP nECBN nINOP nINON When feedback the encoder signals connect nECAP to phase A of encoder output And nECAN to phase A nECBP to phase B nECBN to phase B nINOP to phase Z and nINON to phase Z The default setting of position feedback of PCI 1240 is quadrature input Up Down pulses feedback is available after setting the input pule mode nINOP N is used for encoder phase Z signal feedback and also can be used as general purposed input or instantaneous stop input 45V MCX 314 470 WA OnECAP t 220 lt y 1K 5V OnECAN 470 WM OnECBP BH 220 k 45V O nECBN 470 MW OnINOP 220 Y Sik OnINON Figure 3 11 Circuit diagram of encoder feedback From the circuit diagram above PCI 1240 use high speed photo coupler for isolation The encoder output can be differential mode or open collector mode When n P is high and n N is low the real feedback signal n to MCX314 is low The maximum possible A B phase feedback frequency is about 1 MHz The following diagram is an example of the connection for encoder with differential output linear driver Advantech Co Ltd 21 PCI 1240 User s Manual www advantech com Chapter 3 E EG XECAP EC A XECAN XECBP x ECB XECBN X
35. for accepting next interrupt occurs MCX314 45V D PCI BUS gt INTA INTN s CLR CLEARINT Figure 3 17 Circuit diagram of interrupt setting 3 14 Connection Examples for Motor Drivers 3 14 1 Connection to Step Motor Drivers The following figure is an example of PCI 1240 connected to 5 phase micro step motor drives KR515M manufactured by TECHNO company PCI 1240 KR515M F4 XP4N CW Pulse F siga CCW Pulse i XP N R 9 XOUT4 Hold Of H 0 D S 4 XOUT5 M1 M2 select DS XINOP XINON Timing Output Ai GND 2 Figure 3 18 Example of connecting to KR515M drive Note amp 1 8 of PCI 1240 are set to 5V output side 5V output for output terminals and XP P Setting JP1 8 as single ended output will output 5 of PCI 1240 to external devices this will induce noise back to PCI 1240 So be careful when connection Advantech Co Ltd www advantech com 25 PCI 1240 User s Manual Chapter 3 Connect XOUTA to Hold off can control the drive to hold Connect XOUT5 to D S can control the resolution of micro step drive Which will be controlled by setting D8 D9 of WR3 in MCX314 And read the RR4 5 to know the status of XINOP N The following figure is an example of PCI 1240 connected to UPK step drive manufactured by ORIENTAL company
36. gnal The response time of this circuit should take about 0 25 msec because of the delay of photo coupled and RC filter 3 8 General Purposed Input for Servo Drives nINPOS nALARM nINPOS is an input signal from servo drives for in position check it is active after the servo drives finish a position command Users can en able disable this pin When enable this function the n DRV bit in RRO will change to 0 after servo drives finish the in position check and nINPOS pin active nALARM is an input signal from servo drives for drives alarm output When servo drives have an abnormal condition they active this signal to note PCI 1240 to stop output pulses When enable the nALARM func tion of PCI 1240 the D14 bit of RR2 will set to 1 after nALARM active If PCI 1240 is driving pulses output the output pulses will stop immedi ately when nALARM active VEX 12 24V MCX314 10K OO nINPOS 4 3 3K 3 3K JY 0 01H 4 OnINPOS 77 5V 77 10K nALARM 3 3K _ 33 L 2Y A oou OnALARM Zr IT Figure 3 10 Input Signal for Servo Motor This signal must be supplied from the external source DC12 24V and the response time of this circuit should take about 0 25 msec because of the delay of photo coupled and RC filter PCI 1240 User s Manual 20 Advantech Co Ltd www advantech com Chapter 3 Furthermore this two signals can be used as gen
37. it Oo nOUTS nOUTA CMPP Darlington Circuit o nouT4 Figure 3 6 Circuit Diagram for General Purposed Output General purposed output signals used in motor drives can clear error counter alarm reset stimulus off etc or select acceleration decelera tion for driving position counter and the status of comparison register as your output during driving 3 6 Over Traveling Limit Switch Input nLMT nLMT Over traveling limit switches are used for system protection This input signal is connected to the limit input of MCX314 through the connection of photo coupler and RC filter When the limit switch is applied the external power VEX DC12 24V will source the photo coupler and then the nLMTP in MCX314 will be low level This enables the over travel ing function if the desired level of nLMTP is set to low PCI 1240 User s Manual 18 Advantech Co Ltd www advantech com Chapter 3 VEX 12 24V MCX314 10K nLMTP 3 3K 3 Y 3 3K Toot nLMT 7r 51 77 10K nLMTM M 3 3K 3 3K op amp OnLMT 77 IT Figure 3 7 Circuit Diagram for Movement Limit Input Signals The response time of this circuit should take about 0 2 0 4 msec because of the delay of photo coupled and RC filter The following figure 3 8 is an example of photo sensor used in the case of over travel ing limit switch input When writing D3 bit of regi
38. iver software Step 1 Insert the companion CD ROM into your CD ROM drive Step 2 The Setup program will be launched automatically if you have the autoplay function enabled on your system When the Setup Program is launched you ll see the following Setup Screen Note If the autoplay function is not enabled on your computer use Windows Explorer or Windows Run command to execute SETUP EXE on the companion CD ROM Advantech Software Support CD ROM rivers and 1 ation with PCS ADVANTECH Figure 2 1 The Setup Screen of Advantech Automation Software PCI 1240 User s Manual 8 Advantech Co Ltd www advantech com Chapter 2 Step 3 Select the PCI 1240 DLL Drivers option Step 4 Select the proper Windows OS option according to your operat ing system Just follow the installation instructions step by step to complete your DLL driver setup Provides tamat control fun E MAIN MENU ADVANT CH Figure 2 2 Different options for Driver Setup Step 5 Then setup the PCI 1240 Motion Utility automatically For further information on driver related issues an online version of Software Manual is available by accessing the following path Start Programs Advantech PCI 1240 Driver The example source codes could be found under the corresponding installation folder such as the default installation path Wrogram Files Advantech PC11240 Examples 2 3 Hardware Installation Note S
39. level Figure 3 26 Timing diagram of External Instantaneous Stop Signal O When external stop signal is enabled during driving up to 400 m SEC 1 pules will be outputted and then stopped Advantech Co Ltd 29 PCI 1240 User s Manual www advantech com Chapter 3 W Instantaneous Stop Instruction IOW Stop command write k Figure 3 27 Timing diagram of Instantaneous Stop Instruction When the Stop instruction is issued during driving at most one pulse will be outputted and then stopped 3 16 6 Deceleration Stop Timing W External Deceleration Stop Signal nLMTz Valid level nIN3 2 1 0 nap UUU LI LJ L Figure 3 28 Timing diagram of External Deceleration Stop Signal O When external deceleration signal is enabled during driving up to 400 m SEC 2 pules will be outputted and then stopped W Deceleration Stop Instruction active Decelerating command write in nPzP NN Figure 3 29 Timing diagram of Deceleration Stop Instruction When the Deceleration Stop instruction is issued during driving at most two pulses will be outputted and then stopped PCI 1240 User s Manual 20 Advantech Co Ltd www advantech com A Specification Axis Number of Axis APPENDI 2 3 Axis Linear Interpolation Range 8 388 608 8 388 607 for e
40. n mode the direction signal will valid after 275 nsec and pulse output will vaild after 375 nsec after direction signal 3 16 3 Interpolation Driving BUSYN Interpolation drive command write in ke arse 0 nPP P Not stable valid level lot stabl valid level direction signal Figure 3 23 Timing diagram of Interpolation Driving PCI 1240 User s Manual 28 Advantech Co Ltd www advantech com Chapter 3 O After interpolation command is enable the first pulse will be output tedin 775 nsec Q If using pulse direction mode direction signal nP P is valid in 125 nsec of high level pulse signal 3 16 4 Input Pulse Timing Ouadrature Pulse of Encoder Input Counting up Counting down nECAP p nECAN nECBP IT nECBN LT O aan O LO LO LO OD LO LO LO Figure 3 24 Timing diagram of Ouadrature Pulse of Encoder Input O The minimum difference time between A B phases is 200 nsec UP DOWN Pulse Input nECAP X nECAN nECBP nECBN Figure 3 25 Timing diagram of UP DOWN Pulse Input O Minimum UP DOWN pulse width 130 nsec Q Minimum Increased Decreased Pulse Interval 130 nsec Minimum UP DOWN pulse period 260 nsec 3 16 5 Instantaneous Stop Timing W External Instantaneous Stop Signal EMG nLMT nIN3 2 1 0 nPap Valid
41. oftware Limit Each axis has two 32 bit compare registers for logical position counter and real position counter The comparison result can be read from the status registers The comparison result can be notified by an interrupt signal These registers can be also functioned as software limits Driving by External Signal It is possible to control each axis by external signals The direction fixed pulse driving and continuous driving can be also performed through the external signals This function is used for JOG or teaching modes and will share the CPU load Input Output Signal Each axis has 4 points of input signals to perform deceleration and stop in driving These input signals are for high speed near by home search home search and z phase search during the home returning Each axis is with 8 output points for general output Servo Motor Feedback Signals Each axis includes input pins for servo feedback signals such as in posi tioning close loop positioning control and servo alarm Interrupt Signals Interrupt signals can be generated when 1 The start finish of a con stant speed drive during the trapezoidal driving 2 The end of driving and 3 The compare result once higher lower the border lines of the position counter range An interrupt signal can be also generated during the interpolation driving Real Time Monitoring During the driving the present status such as logical position real posi tion drive
42. on is not well for pulse direction mode because the timing is not match Itis optional to connect encoder A B phase feedback signal If connect to encoder signal user can read the real position from PCI 1240 x If the environment has high noise or the connection is long we recom mend you to use twist pair cable for servo drives 3 15Field Wiring Considerations When you use the PCI 1240 to acquire data from outside noises in the environment might significantly affect the accuracy of your measure ments if due cautions are not taken The following measures will be helpful to reduce possible interference running signal wires between sig nal sources and the PCI 1240 The signal cables must be kept away from strong electromagnetic sources such as power lines large electric motors circuit breakers or welding machines since they may cause strong electromagnetic in terference Keep the analog signal cables away from any video moni tor since it can significantly affect a data acquisition system If the cable travels through an area with significant electromagnetic interference you should adopt individually shielded twisted pair wires as the analog input cable This type of cable has its signal wires twisted together and shielded with a metal mesh The metal mesh should only be connected to one point at the signal source ground Avoid running the signal cables through any conduit that might have power lines in it
43. out 0 25 msec because of the delay of photo coupled and RC filter Table 3 5 Jumper table of JP9 Jumper JP9 Emergency stop function enabled when emergency stop Pin 1 and Pin 2 short signal EMG and external GND short Default Emergency stop function enabled when emergency stop signal EMG and external GND open Note Please check if EMG and GND are short or not when the card could not work properly 3 12 External Power Input VEX External power is necessary for all input signals of each axis Please apply DC12 24V voltage as your need Current consumption of each point for input signal is DC12V 3 3 mA DC24V 7 mA 3 13 Interrupt Setting When the interrupt occurs from MCX314 the interrupt signal of MCX314 will be changed from high to low Because the PCI bus interrupt is high level sensitive the PCI 1240 inverse the signal and latch the signal to adapt the PCI bus INTA The Fig 3 17 shows the interrupt structure of the PCI 1240 We suggest users who want to program their own inter rupt service routine ISR should follow the procedures PCI 1240 User s Manual 24 Advantech Co Ltd www advantech com Chapter 3 Step 1 When interrupt occurs Hardware Step 2 Program will jump to ISR Software Step 3 In ISR program the first thing have to do is clear interrupt for preventing hanging up the bus Step 4 In ISR program the last thing have to do is read nRR3 of MCX314
44. rive pulse will be continually output at the period of signal Low This signal should be used in combi nation with external power DC12 24V The response time of circuitry should take about 10 msec because of the delay of photo coupled and RC filter 5V VEX 12 24V MCX314 10K s o nEXPP died A 4 d 100K 3 3K 74HC14 LL gt 601p OnEXOP4 Control Zr 5 77 TLP121 or eq Logic P nEXPM ik 100 gt va 3 3K 0018 OnEXOP Figure 3 14 Circuit diagram of the external drive operation signals PCI 1240 o d DC12 24V XEXOP oo XEXOP O Figure 3 15 Example of connecting to Jog Advantech Co Ltd 23 PCI 1240 User s Manual www advantech com Chapter 3 3 11 Emergency Stop Input EMG When emergency stop input signal is enabled the output of the drive pulse for all axes will be stopped and error bit of main status register will be set to 1 The operation of emergency stop input is positive or negative triggered can be determined by JP9 on the board MCX314 JP9 uM VEX 12 22 o 10K EMGN 1 ala 1 100K 33K 5 0 01 EMG 77 77 Figure 3 16 Circuit diagram of emergency stop input signal This signal should be used in combination with external power DC12 24V The response time of circuitry should take ab
45. status Advantech Co Ltd www advantech com Table C 4 PCI 1240 READ register format 7 6 Appendix Main Status Register RRO BPSCI 5 E2ZONEI 7 ICNEXT I DRV U ERR Z ERR Y ERR Error Status of Each Axis Driving Status of Eac Status Register 1 RRI INI INO ADSNDACNST AASND DSND Stop Status Status Register 2 RR2 Status Register 3 RR3 Input Register 1 RR4 Y INO X ALM X INP Input Register 2 RRS U IN2 U IN 1 U INO Z ALM Data Reading Register 1 RR6 RD10 RD9 RD8 RD7 RD6 RD5 Data Reading Register 2 RR7 RD26 RD25 RD24 RD23 RD22 RD21 Interrupt Status Register INTSTA ID Register BDID2 BDIDI Pulse Generator Status Register PGSTA Advantech Co Ltd www advantech com IPGMZ3 PGMZ2 IPGMZI PGMZOPGMY3PGMY 2PPGMY IPGMYC 41 PCI 1240 User s Manual Appendix C 3 MCX314 WRITE Registers WRO WR7 The PCI 1240 registers from WRO Base Add 0 to WR7 Base Add are the same as mapping registers on MCX314 chip and please refer to MCX314 user s manual Section 4 3 Section 4 9 for detailed information C 4 Clear Interrupt Register CLRINT Write any value to this
46. ster2 XWR2 into 0 to set the limit switch is low active in X axis the following figure can work normally PCI 1240 VEX DC12 24V EE SX670 OMRON XLMT Limit active when sensor be sheltered Figure 3 8 Example of photo sensor used in the limit input signal 3 7 Deceleration Instantaneous Stop Switch Input nIN1 3 There are three input signals nIN1 nIN2 nIN3 can make the motor drives deceleration or stop Each axis has four inputs IN3 INO wherein INO is used in phase Z interface of encoder feedback and nIN1 nIN2 and nING are use as input signals near the original point If run mode is active the output of driving pulse is terminated after those signals are enabled The deceleration occurs during acceleration deceleration and it will be stopped immediately during constant drive All the signals become invalid after reset For example when setting the D7 and D6 of XWRI register to 1 and 0 IN3 is low active the drive will be termi nated in the case of the limit switch is on and xIN3 is low Furthermore these input signals can be used as general purposed input because user can get the level by reading the input register status RR4 RR5 Advantech Co Ltd 19 PCI 1240 User s Manual www advantech com Chapter 3 MCX314 5V VEX 12 24V i 10K nIN3 1 I 3 3K 3 3K __ nIN3 1 Figure 3 9 Circuit Diagram of Deceleration Instantaneous Stop Input Si
47. to avoid the complexity of low level programming by register The most important consideration in programming the PCI 1240 at the register level is to understand the function of the card s registers The information in the following sections is provided for users who would like to do their own register level programming C 2 0 Port Address The PCI 1240 requires 20 consecutive addresses in the PC s I O space The address of each register is specified as an offset from the card s base address For example BASE is the card s base address and 8 is the base address plus eight bytes The following sections give the de tailed information about register layout and also the detailed informa tion about each register or driver and its address relative to the card s base address Table C 1 and C 2 show the function and format of each WRITE register or driver and its address relative to the card s base address Table C 3 and C 4 show the function and format of each READ register or driver and its address relative to the card s base address Note All base address is in hexadecimal in Appendix C Users have to use a 16 bit word I O command to read write each Advantech Co Ltd 37 1240 User s Manual www advantech com Appendix Table C 1 PCI 1240 WRITE register function Write Register Name Content Command Register Settings for axis assignment and command X Axis Mode Register
48. utput mode is differential output For single ended output use user can change jumpers JP1 8 to 5V Note that you should prevent from the noise interference when using jumpers JP1 8 to output internal 5V to external device Table 3 4 Jumper table of JP1 8 Jumper JP3 JP4 JP5 JP6 Output Signal YP P YP P ZP P ZP P IC Output Line Driver Output 5V Output Pinl and Pin 2 short Pin2 and Pin 3 short Default The following figure 3 4 and 3 5 show the examples of input circuitry connection for both photo coupler and motor driver respectively 5 or cw 43x XP N CW 5V or CCW XP P 1 CCW K XP N I Motor Driver Side Figure 3 4 Photo coupler input interface Advantech Co Ltd 17 PCI 1240 User s Manual www advantech com Chapter 3 XP4P O e O A M F bai cow WEN Twist pair with shield GND EEE Figure 3 5 Line driver input interface 3 5 General Purposed Output nOUT7 nOUT4 The general purposed output nOUT7 DSND nOUT6 ASND nOUT5 CMPM and nOUT4 CMPP are from MCX314 and each output signal is OFF status after system reset MCX314 Darlington Circuit NOUT7 LOAD Lab ati K D 200mA 1 GND i nOUT6 ASND Darlington Circuit O noUTe NOUT5 CMPM Darlington Circu
49. zoidal or S curve acceleration deceleration driving The ac curacy of the frequency of the pulse output is less than 0 1 at CLK 16 MHz The speed of driving pulse output can be freely changed during the driving Bit Pattern Interpolation Any 2 or 3 axes can be selected to perform the bit pattern interpolation and the interpolation data is calculated by CPU CPU writes the bit data into MCX314 Then MCX314 outputs pulses continuously at the preset driving speed So the user can process any interpolation curve by this mode Continuous Interpolation Different interpolation methods can be used continuously for example Linear interpolation Circular interpolation Linear interpolation The maximum driving speed of performing continuous interpolation is 2 MPPS Constant Vector Speed Control This function performs a constant vector speed During the interpolation driving MCX314 can set a 1 414 times pulse cycle for 2 axis simulta neous pulse output and a 1 732 time pulse cycle for 3 axis simultaneous pulse output that keep the constant speed during driving PCI 1240 User s Manual 2 Advantech Co Ltd www advantech com Chapter 1 Position Control Each axis has a 32 bit logic position counter and a 32 bits real position counter The logic position counter counts the output pulse numbers and the real position counter counts the feedback pulse numbers from the external encoder or linear scale Compare Register and S
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