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Motion Control Theory

76

AMP-204C / AMP-208C

Figure 4-7: Auto-planning the maximum velocity

Acceleration profile and its rule described above applies with single axis
point-to-point movement (PTP), velocity movement, home movement,
and interpolation among multiple axis.

Time

Velocity

MaxVel

Start velocity

Time

Acceleration

Acce.

MaxVel

Time

Jerk

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Summary of Contents for AMP-204C

Page 1: ...Advance Technologies Automate the World Manual Rev 2 00 Revision Date July 25 2014 Part No 50 15089 2000 AMP 204C AMP 208C Advanced DSP Pulse Motion Controller for 4 8 Axis User Manual ...

Page 2: ...ii Revision History Revision Release Date Description of Change s 2 00 2014 07 25 Initial release ...

Page 3: ... to use the product or documentation even if advised of the possibility of such damages Environmental Responsibility ADLINK is committed to fulfill its social responsibility to global environmental preservation through compliance with the European Union s Restriction of Hazardous Substances RoHS directive and Waste Electrical and Electronic Equipment WEEE directive Environmental protection is a to...

Page 4: ...ly NOTE NOTE Additional information aids and tips that help users perform tasks CAUTION Information to prevent minor physical injury component damage data loss and or program corruption when trying to complete a task WARNING Information to prevent serious physical injury component damage data loss and or program corruption when trying to complete a specific task ...

Page 5: ...ith The Installation 9 2 1 Package Contents 9 2 2 AMP 204C AMP 208C Exterior Profile Diagram 10 2 3 Hardware Installation 12 Hardware Configuration 12 Installation Procedures 12 Troubleshooting 13 2 4 Software Installation Procedure 14 2 5 Definitions to Key Connector Signal 16 AMP 204C P1 Connector 16 AMP 208C P1 A B Connector 18 AMP 204C 208C P2 Connector 21 2 6 DIP Switch 23 SW2 Card ID Switch ...

Page 6: ...ut 51 3 9 Comapre Trigger Output 52 3 10 Digital Output Input 54 4 Motion Control Theory 59 4 1 Motion Control Mode and Interface Overview 60 4 1 1 Motion Control Interface 60 4 1 2 Control Cycle 66 4 2 Motion Control Operations 68 4 2 1 Coordinated System 68 4 2 2 Unit Factor 69 4 2 3 Acc Deceleration Profile 72 4 3 Home Move 78 4 3 1 OGR Signal Homing Home Mode 0 81 4 3 2 EL Signal Homing Home M...

Page 7: ...2 4 8 1 Motion Status 123 4 9 Application Functions 132 4 9 1 Electronic Gearing 132 4 9 2 High Speed Position Compare Trigger 134 4 9 3 PWM Control Laser Control VAO Table Control 140 4 9 4 Motion Control and I O Sampling Function 148 4 9 5 Simultaneous Movement 153 4 9 6 Point Table Movement 156 4 10 Safety Protection 161 4 10 1 Hardware Protection 161 4 10 2 Software Protection 164 4 11 Host In...

Page 8: ...viii Contents ...

Page 9: ... 48 Figure 3 7 In position signal connection example 49 Figure 3 8 Servo alarm signal connection example 50 Figure 3 9 Servo on signal connection example 51 Figure 3 10 Line Driver type compare trigger signal connection example52 Figure 3 11 Open Collector type compare trigger signal connection example53 Figure 3 12 General purpose digital I O signal connection example 55 Figure 3 13 General purpo...

Page 10: ...onnection 4 105 Figure 4 26 Two dimension straight line interpolation 107 Figure 4 27 Three dimension arc interpolation method 1 109 Figure 4 28 Defining spatial normal vector 110 Figure 4 29 Determining arc direction in space 110 Figure 4 30 Three dimension arc interpolation method 2 111 Figure 4 31 Three dimension arc interpolation example 112 Figure 4 32 Three dimension spiral interpolation met...

Page 11: ...ation of ASTP VS motion 129 Figure 4 50 Relation of blending BLD signal VS motion 130 Figure 4 51 Relation between pre and post distance event signals and movement131 Figure 4 52 Adjust electronic gear s auto engagement speed 133 Figure 4 53 Compare trigger block diagram 135 Figure 4 54 Linear compare trigger example 137 Figure 4 55 Table compare trigger example 138 Figure 4 56 Table compare trigg...

Page 12: ...xii List of Figures ...

Page 13: ...8C List of Tables Table 1 1 Cross reference table of exclusive cables for pulse servo drive8 Table 4 1 Encoder input format 63 Table 4 2 Encoder input format 63 Table 4 3 Board parameter table 146 Table 4 4 Motion kernel signal table 149 ...

Page 14: ...xiv List of Tables ...

Page 15: ...ions including T S speed profile planning point to point movement multi dimension interpolation and master slave motion The AMP 204C 208C see Figure 1 below for its system functions uses one digital signal processor DSP from Texas Instrument TI as its main computing unit and integrates high speed large volume Field Programmable Gate Array FPGA to provide high speed encoder output 2 4 high speed po...

Page 16: ...tware development tool for motion control and I O status monitoring It captures motion curves and data at the same time for analysis Its Setup Wizard guides you through the hardware installation and wiring as well as single axis manipulation step by step This saves your development time and cost PCI Bus PCI Bus SCSI 100P DIN 825 GP4 Isolation DSUB 37P ...

Page 17: ...ll guide you in using this manual as well as help you to locate any required information effectively Figure 1 2 System installation flow chart Hardware installation Wiring and jumper setup Set up card and adjust axis parameters with MotionCreatorPro 2 Is the system running successfully End Control axis with MotionCreatorPro 2 Develop application with APS library No APS and ADCNC library Chapter IV...

Page 18: ...ntrol Number of axes supported 4 8 axis for AMP 204C AMP 208C Track update rate 500us 1ms 2ms programmable Position speed command range 32 bit Acceleration deceleration range 32 bit Encoder input frequency 20 MHz 4x AB Encoder input mode CW CCW 1x 2x 4x AB Phase Encoder input interface 12 volts TTL compatible I O interface Motion control relevant I O Plus Minus end limitsignal Zero position for ea...

Page 19: ... S Curve Trajectory Planing Jogging Point to point movement Linear interpolation 2 6 axes Online position speed change 3 axes arc interpolation 3 axes spiral interpolation 3 axes helix interpolation Home Return User customization see zero position limit switch EZ signals for reference Item Description ...

Page 20: ...ol Data sampling Motion speed profile motion status motion control relevant I O System error diagnostics Watchdog timer Interrupt Motion status event error alarm in position emergency stop Planning in accordance with the manual Position comparison trigger output Pulse output interface Difference output Trigger channel 2 4 corresponding AMP 204C AMP 208C Pulse logic Programmable active high or acti...

Page 21: ... cycle ratio Resolution 16 bit Item Working ambient temperature 0 55 C Storage ambient temperature 20 75 C Working ambient humidity 10 90 RH without condensation Storage ambient humidity 10 90 RH without condensation Noise impedance Noise voltage 1500VPP noise frequency 25 60Hz using noise simulator Environment condition Minimal corrosive gas dust Cooling condition Self cooling Power consumption 3...

Page 22: ...ffectively reduces your development time but also enables you to concurrently validate the overall mechanism and electric design with all its single axis and interpolation motion operation pages 1 3 Terminal Board ADLINK s exclusive terminal board DIN 825 GP4 for AMP 204C 208C can connect with market available servo drivers with special cables e g Mitsubishi s J3A and Yaskawa s Sigma V series or w...

Page 23: ... installation Software installation I O wiring 2 1 Package Contents In addition to this manual you shall find the following item in the product package box One AMP 204C or AMP 208C card IDE 44p DSUB 37p flat cable x 1 Product warranty card x 1 Should there be any item missed or damaged please consult with your dealer immediately Please keep the product along with items included in its package for ...

Page 24: ...m Figure 2 1 AMP 204C exterior profile diagram P1 for Motion control command Position feedback and Servo I O feedback with SCSI 100 PINS connector P2 for 16 channel digital TTL I O with DSUB 37 PINS connector SW2 Card ID setup 0 15 NOTE NOTE Dimension in unit of millimeter mm P1 P2 SW2 ...

Page 25: ...P 208C Figure 2 2 AMP 208C exterior profile diagram P1 for Motion control command Position feedback and Servo I O feedback with SCSI VHDCI 200 PINS connector P2 for 16 channel digital TTL I O with DSUB 37 PINS connector SW2 Card ID setup 0 15 P1 P2 SW2 ...

Page 26: ...ith SCSI 100p cable 4 Set up motion control relevant limit switch on DIN 825 GP4 board servo signal and general purpose digital signal wiring 5 Set up servo or stepper drive connection 6 Turn on system power including computer power terminal board relevant powers and 24Vdc power 7 Verify all I O signal and servo operation correctness with MotionCreatorPro 2 CAUTION Please ground the shielding end ...

Page 27: ...d remove programs MotionCreatorPro2 cannot open after installing driver in computer Ensure NET framework v3 5 or later version has been installed in your system The without signal indicator on MotionCreatorPro2 lights up after the motor is connected and the motor does not work Please ensure a 24Vdc power is connected to the terminal board When using the MotionCreatorPro2 all the control indicators...

Page 28: ...lation 2 4 Software Installation Procedure Windows driver installation procedure Step 1 Execute AMP 204C AMP 208C WDM file and run installation procedure automatically Step 2 Click Next as prompted to complete the installation process ...

Page 29: ...installation is completed Step 4 Ensure the Windows Device Manager identify your AMP 204C AMP 208C correctly Recommendations Please download latest installation software from ADLINK official website to maintain the optimum operation environment http www adlinktech com Motion Control index php ...

Page 30: ...er 62 DGND Digital ground 13 OUT1 c Pulse output 1 63 OUT3 c Pulse output 3 14 OUT1 c Pulse output 1 64 OUT3 c Pulse output 3 15 DIR1 c Direction output 1 65 DIR3 c Direction output 3 16 DIR1 c Direction output 1 66 DIR3 c Direction output 3 17 OUT2 c Pulse output 2 67 OUT4 c Pulse output 4 18 OUT2 c Pulse output 2 68 OUT4 c Pulse output 4 19 DIR2 c Direction output 2 69 DIR4 c Direction output 4 ...

Page 31: ...e limit 3 37 SVON1 c Servo ON 1 87 SVON3 c Servo ON 3 38 PEL1 Positive limit 1 88 PEL3 Positive limit 3 39 INP1 In Position 1 89 INP3 In Position 3 40 MEL1 Negative limit 1 90 MEL3 Negative limit 3 41 ALM2 Servo alarm 2 91 ALM4 Servo alarm 4 42 ORG2 Home limit 2 92 ORG4 Home limit 4 43 SVON2 c Servo ON 2 93 SVON4 c Servo ON 4 44 PEL2 Positive limit 2 94 PEL4 Positive limit 4 45 INP2 In Position 2 ...

Page 32: ...utput 3 14 OUT1 c Pulse output 1 64 OUT3 c Pulse output 3 15 DIR1 c Direction output 1 65 DIR3 c Direction output 3 16 DIR1 c Direction output 1 66 DIR3 c Direction output 3 17 OUT2 c Pulse output 2 67 OUT4 c Pulse output 4 18 OUT2 c Pulse output 2 68 OUT4 c Pulse output 4 19 DIR2 c Direction output 2 69 DIR4 c Direction output 4 20 DIR2 c Direction output 2 70 DIR4 c Direction output 4 21 TG1 c T...

Page 33: ...t 1 90 MEL3 Negative limit 3 41 ALM2 Servo alarm 2 91 ALM4 Servo alarm 4 42 ORG2 Home limit 2 92 ORG4 Home limit 4 43 SVON2 c Servo ON 2 93 SVON4 c Servo ON 4 44 PEL2 Positive limit 2 94 PEL4 Positive limit 4 45 INP2 In Position 2 95 INP4 In Position 4 46 MEL2 Negative limit 2 96 MEL4 Negative limit 4 47 EDO1 c Digital Output 1 97 EDO3 c Digital Output 3 48 EDI1 Digital Input 1 98 EDI3 Digital Inp...

Page 34: ...Trigger output 4 22 TRG3 O Trigger output 3 72 TRG4 O Trigger output 4 23 EA5 I Encoder A phase 5 73 EA7 I Encoder A phase 7 24 EA5 I Encoder A phase 5 74 EA7 I Encoder A phase 7 25 EB5 I Encoder B phase 5 75 EB7 I Encoder B phase 7 26 EB5 I Encoder B phase 5 76 EB7 I Encoder B phase 7 27 EZ5 I Encoder Z phase 5 77 EZ7 I Encoder Z phase 7 28 EZ5 I Encoder Z phase 5 78 EZ7 I Encoder Z phase 7 29 EA...

Page 35: ...put 5 98 EDI7 I Digital Input 7 49 EDO6 O Digital Output 6 99 EDO8 O Digital Output 8 50 EDI6 I Digital Input 6 100 EDI8 I Digital Input 8 No Name I O Function of Axis No Name I O Function of Axis 1 Rsv Reserved 20 VDD 5V power supply input 2 TDI1 TTL input 1 21 TDO1 c TTL output 1 3 TDI2 TTL input 2 22 TDO2 c TTL output 2 4 TDI3 TTL input 3 23 TDO3 c TTL output 3 5 TDI4 TTL input 4 24 TDO4 c TTL ...

Page 36: ...put 13 15 TDI14 TTL input 14 34 TDO14 c TTL output 14 16 TDI15 TTL input 15 35 TDO15 c TTL output 15 17 TDI16 TTL input 16 36 TDO16 c TTL output 16 18 DGND Digital ground 37 DGND Digital ground 19 VDD 5V power supply input No Name I O Function of Axis No Name I O Function of Axis ...

Page 37: ... for easy identification in user application programs Take example If you set card ID to 0 0 0 1 OFF OFF OFF ON then the card ID is 1 and the ID table should be set up as described below 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 default ...

Page 38: ...art with The Installation 2 7 IDE 44p DSUB 37p Bus This card include one IDE cable from IDE 44 pin to DSUB 37 pin It is used for AMP 204C AMP 208C P2 extension 16 channel digital input and 16 channel digital output ...

Page 39: ...vo or stepper drives with single end open cables Figure 2 3 Exterior of DIN 825 GP4 CAUTION The DIN 825 GP4 board supports both PCI 8254 PCI 8258 and AMP 204C AMP 208C DO NOT connect it to other ADLINK s motion controllers as it may be damaged Additional 16 Digital output signals Motion I O signals Additional 16 Digital input signals I O connector to PCI board Power EMG signal Main connector to PC...

Page 40: ...skawa Sigma II III V series and Panasonic MINAS A4 A5 with exclusive cables 4 J1 J3 These are three sets of 10 pins screw lock connectors screwed series Delta A2 series or connection to other servo or stepper drivers with single end open cables It may be connected to any analog input signal comparing trigger signal plus minus limit switch and homing signal 5 J4 This is one 8 PINS connector for con...

Page 41: ... P2 This is one DSUB 37 PINS connector for connecting to 16 channel digital input signal and 16 channel digital output signal in the controller TTL 9 IOIF1 IOIF4 These are four 9 PINS connectors for connecting to 16 channel digital input signal and 16 channel digital output signal for common uses 10 CN1 This is one 9 pin connector for laser control ...

Page 42: ...wer 62 DGND Digital ground 13 OUT1 c Pulse output 1 63 OUT3 c Pulse output 3 14 OUT1 c Pulse output 1 64 OUT3 c Pulse output 3 15 DIR1 c Direction output 1 65 DIR3 c Direction output 3 16 DIR1 c Direction output 1 66 DIR3 c Direction output 3 17 OUT2 c Pulse output 2 67 OUT4 c Pulse output 4 18 OUT2 c Pulse output 2 68 OUT4 c Pulse output 4 19 DIR2 c Direction output 2 69 DIR4 c Direction output 4...

Page 43: ...imit 1 88 PEL3 Positive limit 3 39 INP1 In Position 1 89 INP3 In Position 3 40 MEL1 Negative limit 1 90 MEL3 Negative limit 3 41 ALM2 Servo alarm 2 91 ALM4 Servo alarm 4 42 ORG2 Home limit 2 92 ORG4 Home limit 4 43 SVON2 c Servo ON 2 93 SVON4 c Servo ON 4 44 PEL2 Positive limit 2 94 PEL4 Positive limit 4 45 INP2 In Position 2 95 INP4 In Position 4 46 MEL2 Negative limit 2 96 MEL4 Negative limit 4 ...

Page 44: ...put 12 32 TDO12 c TTL output 12 14 TDI13 TTL input 13 33 TDO13 c TTL output 13 15 TDI14 TTL input 14 34 TDO14 c TTL output 14 16 TDI15 TTL input 15 35 TDO15 c TTL output 15 17 TDI16 TTL input 16 36 TDO16 c TTL output 16 18 EGND External power ground 37 EGND External power ground 19 VDD 5V power supply input No Name I O Function of Axis No Name I O Function of Axis 1 DICOM Digital input common 6 ED...

Page 45: ...ply 24VDC in general if possible 2 Please connect DOCOM to ground GND of external power supply if possible No Name I O Function of Axis No Name I O Function of Axis 1 DGND Isolated digital ground 6 AGND Analog ground 2 TRG2 c Trigger output 2 7 AI4 Analog input 4 3 TRG2 c Trigger output 2 8 AI3 Analog input 3 4 TRG1 c Trigger output 1 9 AI2 Analog input 2 5 TG1 c Trigger output 1 10 AI1 Analog inp...

Page 46: ...Function of Axis No Name I O Function of Axis 1 EDO1 c Digital output 1 4 EDO4 c Digital output 4 2 EDO2 c Digital output 2 5 DOCOM c Digital output common 3 EDO3 c Digital output 3 6 c No Name I O Function of Axis No Name I O Function of Axis 1 DI1 I Additional isolated digital input 1 6 DI6 I Additional isolated digital input 6 2 DI2 I Additional isolated digital input 2 7 DI7 I Additional isola...

Page 47: ...Additional isolated digital input 12 9 DICOM Digital input common 5 DI13 I Additional isolated digital input 13 No Name I O Function of Axis No Name I O Function of Axis 1 DO1 O Additional isolated digital output 1 6 DO6 O Additional isolated digital output 6 2 DO2 O Additional isolated digital output 2 7 DO7 O Additional isolated digital output 7 3 DO3 O Additional isolated digital output 3 8 DO8...

Page 48: ...d digital output 16 4 DO12 O Additional isolated digital output 12 9 DOCOM Digital output common 5 DO13 O Additional isolated digital output 13 NOTE NOTE 1 Please connect DICOM to external power supply 24VDC in general if possible 2 Please connect DOCOM to ground GND of external power supply if possible No Name I O Function of Axis No Name I O Function of Axis 1 EDO4 O Digital output 4 6 EDO4 O Di...

Page 49: ...Emergency signal 11 ALM I Servo alarm signal 2 ZSP I Zero speed signal 20 IGND ͲͲ Ext power ground 12 I24V ͲͲ Ext power supply 24V 3 Rsv ͲͲ Reserved 21 IGND ͲͲ Ext power ground 13 IGND ͲͲ Ext power ground 4 Rsv ͲͲ Reserved 22 IGND ͲͲ Ext power ground 14 BRAKEͲ O Brake signal Ͳ 5 AOUTͲ O Analog command output Ͳ 23 Rsv ͲͲ Reserved 15 AGND ͲͲ Analog ground 6 AOUT O Analog command output 24 Rsv ͲͲ Res...

Page 50: ...alarm signal 2 INP I InͲposition signal 20 IGND ͲͲ Ext power ground 12 I24V ͲͲ Ext power supply 24V 3 ERC O Dev ctr clr signal 21 IGND ͲͲ Ext power ground 13 IGND ͲͲ Ext power ground 4 RDY I Servo ready signal 22 IGND ͲͲ Ext power ground 14 BRAKEͲ O Brake signal Ͳ 5 OUTͲ O Pulse signal Ͳ 23 DIRͲ O Dir Signal Ͳ 15 IGND ͲͲ Ext power ground 6 OUT O Pulse signal 24 DIR O Dir Signal 16 EBͲ I Encoder BͲ...

Page 51: ... ALM_RST Selection Switch DIN 825 GP4 is equipped with 4 servo drive reset signals You may set up CMA1 CMA4 PIN 10 and CMP1 CMP4 PIN 10 for servo drive rest or J6 connector DO 1 DO 4 by switch S1 and S2 Reset servo drive Reset servo drive Reset servo drive Reset servo drive ...

Page 52: ...38 Getting Start with The Installation ...

Page 53: ...required in replacing controller relevant products when doing customer service maintenance tasks See sections below for detailed descriptions on precautions required to connect to various mechanical I O and servo I O signals Contents Section 3 1 Pulse Command Signal Section 3 2 Encoder Input Signal Section 3 3 Emergency Stop Signal Section 3 4 Mechanical Limit Switch Signal Section 3 5 Original Po...

Page 54: ...ion to servo drive the Stepper drive also employs pulse command interface as the primay control input commands See below for corresponding pins of pulse command output against differential pulse signals to DIN 825 GP4 CMPx Pin No x 1 4 Signal Name Description n 1 8 Axis 6 OUT Pulse signal n 1 8 5 OUT Pulse signal n 1 8 24 DIR Dir Signal n 1 8 23 DIR Dir Signal n 1 8 NOTE NOTE AMP 208C requires two...

Page 55: ...w 1 Line Driver input interface provides better anti noise resistant and longer wiring length Signal connection diagram Figure 3 1 Line Driver type pulse control command signal connection example 2 Open Collector input interface can increase passing current capacity of signal by adjusting pull up resistance value at the shorter wiring length ...

Page 56: ... To avoid damages to Line Driver components on controller casued by invalid wiring please connect the OUT DIR pins of controller to OUT DIR pins of motor drive CAUTION The controller employs Line Driver component 26LS31 with maximum Sink Current at 20mA Do not use it at current above this value the component may be damaged otherwise ...

Page 57: ...e below for corresponding pins of encoder input on DIN 825 GP4 CMAx CMPx Pin No x 1 4 Signal Name Description n 1 8 Axis 8 EA Encoder A phase n 1 8 7 EA Encoder A phase n 1 8 17 EB Encoder B phase n 1 8 16 EB Encoder B phase n 1 8 26 EZ Encoder Z phase n 1 8 25 EZ Encoder Z phase n 1 8 NOTE NOTE AMP 208C requires two DIN 825 GP4 for eight axes motion control Function 1 controls axes 1 4 and 2 cont...

Page 58: ...44 Signal Connection Signal connection diagram Figure 3 3 Line driver type encoder input signal connection example ...

Page 59: ...pper motor drive to stop operation of every motor immediately See below for corresponding pins of emergency stop signal input on DIN 825 GP4 Signal connection diagram Figure 3 4 Emergency stop signal connection example J5 Pin No Signal Name Description Axis 5 EEMG External emergency stop input external input CMPx CMAx Pin No x 1 4 Signal Name n 1 8 Description Axis 19 EMG n Emergency stop output t...

Page 60: ...tch for movement in the negative direction When this switch is triggered the AMP 204C AMP 208C stops its negative direction movement immediately See below for corresponding pins of mechanical limit switch signal input on DIN 825 GP4 J1 J2 Pin No Signal Name Description Axis 3 PEL 3 PEL 1 Plus limit switch input 3 1 3 1 7 PEL 4 PEL 2 Plus limit switch input 4 2 4 2 5 MEL 3 MEL 1 Minus limit switch ...

Page 61: ...Signal Connection 47 AMP 204C AMP 208C Signal connection diagram Figure 3 5 Mechanical limit switch signal connection example ...

Page 62: ...tion See below for corresponding pins of original position switch signal input on DIN 825 GP4 Signal connection diagram Figure 3 6 Original position switch signal connection example J1 J2 Pin No Signal Name Description Axis 4 ORG 3 ORG 1 Original position switch input 3 1 3 1 8 ORG 4 ORG 2 Original position switch input 4 2 4 2 NOTE NOTE AMP 208C requires two DIN 825 GP4 for eight axes motion cont...

Page 63: ...mode the servo issues a INP pulse signal to controller when movement get into position See below for corresponding pins of in position or zero speed detection signal input on DIN 825 GP4 Signal connection diagram Figure 3 7 In position signal connection example CMPx Pin No x 1 4 Signal Name n 1 4 Description Axis 2 INP n In position Input for pulse output mode only 1 4 NOTE NOTE AMP 208C requires ...

Page 64: ...g servo drive movement it issues an ALM pulse signal to controller for abnormality occurrence See below for corresponding pins of servo alarm input on DIN 825 GP4 Signal connection diagram Figure 3 8 Servo alarm signal connection example CMAx CMPx Pin No x 1 4 Signal Name n 1 4 Description Axis 11 ALM n Servo alarm input 1 4 NOTE NOTE AMP 208C requires two DIN 825 GP4 for eight axes motion control...

Page 65: ...the AMP 204C AMP 208C turns off this signal automatically and stops all motion control commands See below for corresponding pins of servo on signal output on DIN 825 GP4 Signal connection diagram Figure 3 9 Servo on signal connection example CMAx CMPx Pin No x 1 4 Signal Name n 1 4 Description Axis 1 SVON n Servo on output 1 4 NOTE NOTE AMP 208C requires two DIN 825 GP4 for eight axes motion contr...

Page 66: ...e signals to DIN 825 GP4 Signal connection diagram 1 Line Driver interface Figure 3 10 Line Driver type compare trigger signal connection example J3 Pin No Signal Name Description 2 TRG2 TRG4 Trigger output 2 4 3 TRG2 TGR4 Trigger output 2 4 4 TRG1 TRG3 Trigger output 1 3 5 TRG1 TRG3 Trigger output 1 3 NOTE NOTE The compare trigger pulse output channel of AMP 204C AMP 208C employs line driver outp...

Page 67: ...Signal Connection 53 AMP 204C AMP 208C 2 Open Collector interface Figure 3 11 Open Collector type compare trigger signal connection example ...

Page 68: ...gital input signal 4 2 J6 Pin No Signal Name Description 1 EDO 1 General purpose digital output signal 1 2 EDO 2 General purpose digital output signal 2 3 EDO 3 General purpose digital output signal 3 4 EDO 4 General purpose digital output signal 4 NOTE NOTE AMP 208C requires two DIN 825 GP4 for eight axes motion control Function 1 controls axes 1 4 and 2 controls axes 5 8 NOTE NOTE 1 Please conne...

Page 69: ...Signal Connection 55 AMP 204C AMP 208C Signal connection diagram Figure 3 12 General purpose digital I O signal connection example ...

Page 70: ...DO 1 5 General purpose digital output signal 1 5 NOTE NOTE The digital output current may reach 250mA IOIF3 Pin No Signal Name Description Axis 6 8 DO 6 8 General purpose digital output signal 6 8 IOIF4 Pin No Signal Name Description Axis 1 8 DO 9 16 General purpose digital output signal 9 16 NOTE NOTE 1 Please connect DICOM to external power supply 24VDC in general if possible 2 Please connect DO...

Page 71: ...Signal Connection 57 AMP 204C AMP 208C Signal connection diagram ...

Page 72: ...58 Signal Connection Figure 3 13 General purpose digital I O signal connection example ...

Page 73: ...ns in using them Contents Section 4 1 Motion Control Mode and Interface Overview Section 4 2 Motion Control Operations Section 4 3 Home Move Section 4 4 Velocity Move Section 4 5 Jog Move Section 4 6 Point to Point Move Section 4 7 Interpolation Section 4 8 Motion Status Monitoring Section 4 9 Application Functions Section 4 10 Safety Protection Section 4 11 Host Interrupt ...

Page 74: ...ings to ensure their correctness APS_get_eep_curr_drv_ctrl_mode 4 1 1 2 Pulse Type You can use this control mode to control stepper motor or set it to P control mode to control servo motor with pulse format signal input The output interface of controller is OUT DIR 1 8 pins Please refer Chapter 3 for detail This is the so called open loop or semi closed loop control model where the upper controlle...

Page 75: ...y motion control after the software is initialized This controller provides two pulse signal output format OUT DIR signal format At this mode the OUT signal indicates frequency and amount of output pulses where DIR indicates direction of machine movement CW CCW signal format At this mode the CW CCW signal indicates both machine movement direction and pulse output frequency and amount Figure 4 1 Fo...

Page 76: ...pe closed loop control as invalid setup may lead to motor burst NOTE NOTE You may set up and test your controller with MotionCreatoPro 2 software You can check this by manually spinning the motor or move the workbench and verify the encoder signal from motor or linear scale to the controller No Decode Mode Positive direction Negative direction EA EB EA EB 0 OUT DIR 1 1 CW CCW 1 2 1X AB 3 2x AB 4 4...

Page 77: ...rameter setup API APS_set_axis_param write in axis parameter APS_set_axis_param read out axis parameter 8 CW CCW 2 Param No Define symbol Description 80h 128 PRA_ENCODER_MODE Encoder input signal format 85h 133 PRA_ENCODER_DIR Encoder counting direction setup No Decode Mode Positive direction Negative direction EA EB EA EB High High ...

Page 78: ...re used to work together with motion control Take example the home movement will use ORG PEL MEL EZ and other signals You may use following API functions to get I O status with each bit of the parameter representing status of the axis motion control I O I32 APS_set_servo_on I32 Axis_ID I32 Servo_on I32 APS_motion_status I32 Axis_ID Param Defined Symbol Type Description 0 ALM Input Servo alarm 1 PE...

Page 79: ...ainst motion control I O to prevent abnormal motion control action caused by external noise The filter is defaulted at ON status Param No Define symbol Description 00h 0 PRA_EL_LOGIC PEL MEL input logic 01h 1 PRA_ORG_LOGIC ORG input logic 04h 4 PRA_ALM_LOGIC Set ALM logic 05h 5 PRA_ZSP_LOGIC PRA_INP_LOGIC Set INP logic 06h 6 PRA_EZ_LOGIC Set EZ logic Param No Define symbol Description Value Defaul...

Page 80: ...sation 4 1 2 2 Motion Control Cycle Default motion control cycle is set at 1KHz i e 1 millisecond for each cycle Varieties of peripheral hardware components controls including host communication trajectory calculation and data sampling are finished in it 4 1 2 3 Host Control Cycle Default host control cycle is 0 5 KHz That is it takes 2 millisecond to finish jobs in one control cycle including com...

Page 81: ...d to unpredictable results This controller provides you with some functions and tools to monitor processor utilization rate and adjust control procedures In case of any processor overloading the controller logs and warns interrupt plase refer to section of interrupt that you may take for proper responses in your program How to use API get_motion_control_timing get usage amount of current motion co...

Page 82: ...conversion relation enables users to set up their own coordinate system without restricitons Figure below indicates a coordinate system relation The unit conversion factor will be reviewed in next section Figure 4 3 Controller coordinates system block You may read out or set up coordinate command location or actual coordinate location I32 APS_get_command_f I32 Axis_ID F64 Command command location ...

Page 83: ...or Location unit or motion mechanism of motor can have actual mapping against physical distance unit of coordinate system by setting up proper unit factor The calculation formula is described below We use three examples to explain the way how unit factor is calculated Example 1 Ball screw carrier Assume encoder counts resolution generated by one spin of the motor is 10000 and the screw pitch is 10...

Page 84: ...1 2 and the user desired distance unit of measure is milimeter then the unit factor can be calculated as Unit factor can be calculated as described below Example 3 Linear Motor system with Linear Scale Take optical resolution at 1 micrometer and distance at millimeter then the unit factor should be 2 1 2 1000 10 10000 m mm t i n U r o t c a f μ Picth 5 cm Motor 2 3 8 6 7 1 2 5 0 0 1 8192 mm cm t i...

Page 85: ...ers related with distance unit of measure e g position velocity and acceleration unit of measure will be affected and you are required to change and adjust relevant setting on your own Param No Define symbol 07h 7 PRA_SD_DEC 0Ah 10 PRA_SPEL_POS0 0Bh 11 PRA_SMEL_POS1 13h 19 PRA_HOME_ACC 15h 21 PRA_HOME_VM 17h 26 PRA_HOME_SHIFT 19h 25 PRA_HOME_VO 1Bh 27 PRA_HOME_POS 21h 33 PRA_ACC 22h 34 PRA_DEC 23h...

Page 86: ...des following acceleration profiles 1 Trapezoidal speed profile T curve 2 S curve 4 2 3 1 Trapezoidal Speed Profile T curve Trapezoidal speed profile the so called T curve is a curve where the acceleration zone and deceleration zone matches first order linear speed profile equivalent acceleration As shown in the velocity time chart V T Figure 4 4 Relation of trapezoidal speed profile s speed accel...

Page 87: ...ile maintian the acceleration as shown in figure below Figure 4 5 Maximum speed by auto planning MaxVel is the maximum velocity set up by user dotted line indicate speed profile with sufficient distance As the movement distance is insufficient the controller adjust the maximum velocity to MaxVel automatically The acceleration and deceleration rate remain intact to maintain the best shortest motion...

Page 88: ...points t1 t3 t5 t7 in figure below To shorten acceleration and deceleration time the linear section t2 t6 is inserted in these area to maintain the maximum accleration and so get an accleration time A T chart in trapezoidal Figure 4 6 Relation of S curve speed profile s speed acceleration jerk VS time Start velocity End velocity Max velocity Max acceleration Max acceleration Acc Dec Distance Time ...

Page 89: ... the more smooth the speed profile and the smaller jerk value will become This helps in reducing motor vibration However the motion process takes more time to complete On the contrary the smaller the S value is the greater the jerk value become and the motion time reduces to the shortest As with a T curve when motion distance is insufficient the controller adjust the maximum velocity automatically...

Page 90: ...the maximum velocity Acceleration profile and its rule described above applies with single axis point to point movement PTP velocity movement home movement and interpolation among multiple axis Time Velocity MaxVel Start velocity Time Acceleration Acce MaxVel Time Jerk ...

Page 91: ...xis parameters Param No Define symbol Description 12h 18 PRA_HOME_CURVE Home move S factor 20h 32 PRA_SF Move S factor 42h 66 PRA_JG_SF Jog S factor NOTE NOTE You may set up S factor directly in some API please refer to Function library manual for detail ...

Page 92: ...f some external signals After the home movement is completed the controller axis stops at the original postion while command position and feedback position reset to zero All the home movement related operations are executed by the controller automatically No user interaction is required Just wait it to complete automatically You can finish home movement operation by steps described below Set up ho...

Page 93: ...sts 1 Select home mode and config home parameters APS_set_axis_param axis_id PRA_HOME_MODE 0 Set home mode APS_set_axis_param axis_id PRA_HOME_DIR 1 Set home direction APS_set_axis_param axis_id PRA_HOME_CURVE 0 Set acceleration pattern T curve APS_set_axis_param axis_id PRA_HOME_ACC 1000000 Set homing acceleration rate APS_set_axis_param axis_id PRA_HOME_VM 100000 Set homing maximum velocity APS_...

Page 94: ...t for home move done do Sleep 100 msts APS_motion_status axis_id Get motion status msts msts MTS_NSTP 1 Get motion done bit while msts 1 4 Check home move success or not msts APS_motion_status axis_id Get motion status msts msts MTS_ASTP 1 Get abnormal stop bit if msts 1 Error handling I32 stop_code APS_get_stop_code axis_id stop_code else Homing success ...

Page 95: ...gle EZ signal homing Home mode 2 Homing process and relavant parameters of these three modes are described below 4 3 1 OGR Signal Homing Home Mode 0 There are three cases for this mode according to its initial position Condition A The initial position is located between MEL and ORG signals or at MEL signal Condition B Ths initial position is located at ORG signal Condition C The initial position i...

Page 96: ...ctor PRA_HOME_ACC ACC Acceleration and deceleration in unit of distance unit of measure sec 2 PRA_HOME_VS VS Initial speed in unit of distance unit of measure sec PRA_HOME_VM VM Speed of original postion searching in unit of distance unit of measure sec PRA_HOME_VO VO Homing speed in unit of distance unit of measure sec PRA_HOME_SHIFT 0 Shift amount of final homing position against alignment signa...

Page 97: ... And stops at the right edge of ORG signal close to PEL mechanical signal Figure below indicates home movement when PRA_DIR is set to negative direction Relevant axis parameters setup Axis parameters Axis parameter values Description to axis parameter value PRA_HOME_MODE 0 Employing home mode 0 homing by ORG signal PRA_HOME_DIR 1 By negative direction forward homing PRA_HOME_EZA 0 Further align wi...

Page 98: ...Axis parameters Axis parameter values Description to axis parameter value PRA_HOME_MODE 0 Home mode 0 PRA_HOME_DIR 0 Homing by moving forward in positive direction PRA_HOME_EZA 1 Further align with signal EZ 0 No 1 Yes PRA_HOME_S 0 S curve factor PRA_HOME_ACC ACC Acceleration and deceleration in unit of distance unit of measure sec 2 PRA_HOME_VS VS Initial speed in unit of distance unit of measure...

Page 99: ...hift amount of homing position distance unit onf measure Axis parameters Axis parameter values Description to axis parameter value PRA_HOME_MODE 0 Employing home mode 0 homing by ORG signal PRA_HOME_DIR 1 By negative direction forward homing PRA_HOME_EZA 1 Further align with signal EZ 0 No 1 Yes PRA_HOME_S 0 S curve factor Axis parameters Axis parameter values Description to axis parameter value C...

Page 100: ...ure sec 2 PRA_HOME_VS VS Initial speed in unit of distance unit of measure sec PRA_HOME_VM VM Speed of original postion searching in unit of distance unit of measure sec PRA_HOME_VO VO Homing speed in unit of distance unit of measure sec PRA_HOME_SHIFT 0 Shift amount of homing position distance unit onf measure Axis parameters Axis parameter values Description to axis parameter value Condition B a...

Page 101: ...cceleration and deceleration in unit of distance unit of measure sec 2 PRA_HOME_VS VS Initial speed in unit of distance unit of measure sec PRA_HOME_VM VM Speed of original postion searching in unit of distance unit of measure sec PRA_HOME_VO VO Homing speed in unit of distance unit of measure sec PRA_HOME_SHIFT Shift amount Shift amount of homing position distance unit onf measure ORG 溆ỵ伖 PEL MEL...

Page 102: ...me movement with control axis stops at edge of PEL signal Axis parameters Axis parameter values Description to axis parameter value PRA_HOME_MODE 1 Employing home mode 1 homing by EL signal PRA_HOME_DIR 0 Employing positive direction forward homing PRA_HOME_EZA 0 Further align with signal EZ 0 No 1 Yes PRA_HOME_S 0 S curve factor PRA_HOME_ACC ACC Acceleration and deceleration in unit of distance u...

Page 103: ...rameter value PRA_HOME_MODE 1 Employing home mode 1 EZ signal homing PRA_HOME_DIR 0 Employing positive direction forward homing PRA_HOME_EZA 1 Further align with signal EZ 0 No 1 Yes PRA_HOME_S 0 S curve factor PRA_HOME_ACC ACC Acceleration and deceleration in unit of distance unit of measure sec 2 PRA_HOME_VS VS Initial speed in unit of distance unit of measure sec PRA_HOME_VM VM Speed of origina...

Page 104: ...nment the control axis stops at EZ signal edge after home movement is completed as shown in figure below Condition B Initial position Home position Condition A Initial position VM Home searching speed VO Home approaching speed Condition B Initial position Home position Condition A Initial position VM Home searching speed VO Home approaching speed ...

Page 105: ...escription to axis parameter value PRA_HOME_MODE 2 Employing home mode 2 single EZ signal homing PRA_HOME_DIR 0 Employing positive direction forward homing PRA_HOME_EZA 0 Further align with signal EZ 0 No 1 Yes PRA_HOME_S 0 S curve factor PRA_HOME_ACC ACC Acceleration and deceleration in unit of distance unit of measure sec 2 PRA_HOME_VS VS Initial speed in unit of distance unit of measure sec PRA...

Page 106: ...gative direction forward homing PRA_HOME_EZA 0 Further align with signal EZ 0 No 1 Yes PRA_HOME_S 0 S curve factor PRA_HOME_ACC ACC Acceleration and deceleration in unit of distance unit of measure sec 2 PRA_HOME_VS VS Initial speed in unit of distance unit of measure sec PRA_HOME_VM VM Speed of original postion searching in unit of distance unit of measure sec PRA_HOME_VO VO Homing speed in unit ...

Page 107: ...C AMP 208C Figure 4 16 Home mode 2 adverse Case EZ NOTE NOTE In this mode parameter PRA_HOME_EZA is functionless Condition B Initial position Home position Condition A VM Home searching speed VO Home approaching speed Initial position ...

Page 108: ... signal at the same time for synchronized enabling Please note that movement of each axis is independent from each other and so the end time varies with setup values of given parameters Relevant APS API described below I32 APS_vel give velocity movement with F64 data format I32 APS_vel_all give velocity movement and all velocity parameters I32 APS_stop_move stops by deceleration I32 APS_emg_stop s...

Page 109: ... speed_1 500 0 F64 speed_2 1000 0 F64 speed_3 600 0 APS_set_axis_param_f axis_id PRA_STP_DEC 10000 0 APS_set_axis_param_f axis_id PRA_CURVE 0 5 Set acceleration rate APS_set_axis_param_f axis_id PRA_ACC 10000 0 Set acceleration rate APS_set_axis_param_f axis_id PRA_DEC 10000 0 Set deceleration rate APS_vel axis_id 0 speed_1 0 Start a velocity move Sleep 2000 Wait 2 second APS_vel axis_id 0 speed_2...

Page 110: ...N Motion control input signal EMG ALM PEL and MEL may lead to termination of movement please refer to sections about safety protection CAUTION In velocity movement mode the target position may be updated from time to time as the command position does ...

Page 111: ...of coding control program There are two jog movement modes 1 Continuous mode This is similar to velocity movement with given maximum speed and acceleration profile When JOG ON signal produces rising edge event trigger then the specified control axis starts velocity movement When JOG ON signal produces falling edge event trigger then the specified control axis starts deceleration stop See figure be...

Page 112: ...lue This is useful in achieving more precise offset control during fine tuning Figure 4 18 Jog step mode JOG ON and digital input signal linkage The JOG ON control signal not only can be given with API function but also can be used in setting digital input signal as control signal You may set up axis parameter 48h 49h 4Ah and 4Bh in two methods distinguished by number of DI points 1 Use two DI cha...

Page 113: ...alue 0 46h PRA_JG_OFFSET Set up JOG offset position Step mode use Value 0 47h PRA_JG_DELAY Set up JOG delay time step mode use 0 10 000 000 us 48h PRA_JG_MAP_DI_EN Set up JOG signal and DI signal correlation that is opposite direction DI signal 49h PRA_JG_P_JOG_DI Set DI signal of certain channel to positive direction JOG signal 4Ah PRA_JG_N_JOG_DI Set DI signal of certain channel to negative dire...

Page 114: ...refer to safety protection related sections 2 In continuous mode the target position may be updated from time to time so does the command position 3 When control axis is in jog movement other movement commands is disabled to prevent malfunctions 4 When the control axis is running other movements e g home movement the jog command will be ignored ...

Page 115: ...ocity maximum velocity end velocity and acceleration deceleration parameters that can be adjusted individually as shown in figure below See Acceleration Deceleration Profile in Section 4 2 3 for detail Figure 4 19 T curve V T chart In addition the APS_motion_status function can be used to get motion status data of each axis to identify the end of PTP movement See Section 4 8 for description on mot...

Page 116: ...set to be enabled by trigger When proper command is received the axis enters a waiting for trigger signal status and starts moving after the trigger is received When multiple axes are in waiting for trigger signal status you may send trigger at the same time for synchronized enabling Please note that movement of each axis is independent from each other and so the end time varies with offset and ac...

Page 117: ... 10 commands After the first PTP command is received the axis starts moving immediately You may give PTP commands during movement in process Following commands are stored in buffer queuing for execution After the first movement arrived at given position the controller continuous executing PTP commands in buffer until there is no new command in existence You may set up blend mechanism for speed com...

Page 118: ...ettings 1 Buffered Figure 4 21 Continuous three position V T chart 2 Blend low Blend with the one with slower maximum speed Figure 4 22 Continuous three position V T chart auto speed connection 1 3 Blend high Blend with the one with faster maximum speed Figure 4 23 Continuous three position V T chart auto speed connection 2 T T T ...

Page 119: ...vious Blend in the maximum speed of the previous one Figure 4 24 Continuous three position V T chart auto speed connection 3 5 Blend next Blend in the maximum speed of the next one Figure 4 25 Continuous three position V T chart auto speed connection 4 T T ...

Page 120: ...ample To execute a 2 axes straight line interpolation by Axis 1 and Axis 2 the axis ID array can be declared as described below In example below the first axis ID in axes_array is Axis 1 Then the interpolation required initial speed maximum speed ending speed and acceleration rate are all set up relative to axis parameters of Axis 1 If Axis 2 is the first elemnet in axes_array then Axis 2 is the r...

Page 121: ...ht line interpolation ΔX and ΔY is the offset at X axis and Y axis respectively Interpolation distance is set according to component of each axis e g relative distance ΔX and ΔY or absolute coordinates of ending point E The composite shift ΔP can be calculated by formula described below Velocity and acceleration are set by composite vectors Component of each axis take composite velocity Vx and Vy ...

Page 122: ...iven relative position in I32 data format Relevant axis parameters 4 7 2 Arc Interpolation This controller supports 2 dimension and 3 dimension arc interpolation as well as multip input methods to deal with demands of various applications 2D and 3D arc movement and its command composition methods are described below 4 7 2 1 3D Arc Interpolation An arc can be described by method 1 given center of c...

Page 123: ...ller is default to correct your normal vector value if necessary Auto Normal Vector Correct If the normal vector entered by you is not the orthogonal vector from center of circle to starting point the controller correct your entry value automatically by Gram Schmidt normalization Function name Description APS_arc3_ca APS_arc3_ca_v APS_arc3_ca_all Execute 3 dimension arc interpolation with center a...

Page 124: ...ule as shown in figure below where the your thumb indicates normal vector direction and the other four fingers the positive rotating direction Enter negative value for angle parameter to rotate in opposite direction Set up angle value directly to execute multiple laps circles greater than 360 degrees e g 2 laps 720 degree Figure 4 29 Determining arc direction in space ...

Page 125: ...r or applications that need accurate positioning This method has two restrictions 1 It cannot execute half circle angle of 180 degree 2 It cannot execute full circle angle of 360 degree Figure 4 30 Three dimension arc interpolation method 2 How to determine direction of arc Use the right hand grip rule as shown in figure below where the your thumb indicates normal vector direction and the other fo...

Page 126: ...od 1 given center of circle and angle method 2 given center of circle and end point 2D arc has the same setup method as the 3D one does See 3D arc interpolation for detail Relevant APS API described below I32 APS_arc2_ca I32 APS_arc2_ca_v I32 APS_arc2_ca_all I32 APS_arc2_ce I32 APS_arc2_ce_v I32 APS_arc2_ce_all Dir calculation formula Angle Degree 0 30 0 x 360 30 1 30 1 x 360 390 2 30 2 x 360 750 ...

Page 127: ...nd Both methods are described below Method 1 Given center of circle and angle Center Angle See table and figure below for helical curve parameters Example Figure 4 32 Three dimension spiral interpolation method 1 Parameters Description Center point Center of circle relative or absolute Angle Starting point and ending point angle projected at the circle plane of starting point as shown in figure be...

Page 128: ...irect parameters can be set up as the 3D arc does See prior section for detail Figure 4 33 Three dimension spiral interpolation method 2 Parameters Description Center point Center of circle relative or absolute Normal vector Normal vector of starting point circle plane End point Ending point of cone relative or absolute Direction Rotating direction and laps ...

Page 129: ...l_ca_v Start up 3D helical interpolation maximum velocity parameter I32 APS_sprial_ca_all Start up 3D helical interpolation all velocity parameter setup Method 2 Center End I32 APS_sprial_ce Start up 3D helical interpolation I32 APS_sprial_ce_v Start up 3D helical interpolation maximum velocity parameter I32 APS_sprial_ce_all Start up 3D helical interpolation all velocity parameter setup Param No ...

Page 130: ...ntroller queueing for execution Figure 4 34 Illustration on continuous interplotation Buffer movement For continuous interpolation the only restriction is that the dimension and axis ID must remain the same E g 3D straight line must link with 3D arc but not 2D arc and axis to be used must be the same as well This controller provides seven setup methods for speed blending between two adjacent paths...

Page 131: ...onstant motion speed These three methods differ in their beginning time of blending which may affect the actual calculation path in blending process and path errors against user s plan You may select and adjust as required These seven speed link methods are described below 1 Aborting and blending If the aborting is received the interpolation command take effects immediately and operation transfer ...

Page 132: ...city blending method 2 3 Aborting stop After command is received the orignal interpolation command slows down to stop deceleration rate adjustable new interpolation command starts after movement fully stopped Take figure below When exectuing a straight line interpolation command from S1 to E1 a abort decelerate interpolation command is given at position E1 The controller then slows down according ...

Page 133: ... or minor slowdown between two interpolation commands you may set up ending speed of previous interpolation command and starting speed of next interpolation command properly Figure 4 38 Velocity blending method 4 5 Blending when deceleration start When new interpolation command is received it is saved in motion buffer first When original interpolation command starts slowing down the new interpolat...

Page 134: ...idual distance E1 as shown in figure below Figure 4 40 Velocity blending method 6 7 Blending when residue distance met Similar to method 6 but with given residual distance ratio percentage of residual distance to interpolation distance as the P in figure below Take figure below If the residual distance ratio is set to 10 and the straight line interpolation distance from S1 to E1 is 1000 the the ne...

Page 135: ...Motion Control Theory 121 AMP 204C AMP 208C Example Figure 4 42 Continuous interpolation examples ...

Page 136: ...ompletion of homing process That is read motion status signal of controller at regular time span Next stage control operation starts only after current movement is completed In addition there may be exceptional situations occurred during motion operation The upper control program must be able to detect abnormality and deal with exceptions accordingly Take example When emergency stop button is pres...

Page 137: ...otion status Bit No 7 6 5 4 3 2 1 0 Status HMV MDN DIR DEC ACC VM CSTP Bit No 15 14 13 12 11 10 9 8 Status JOG PTB WAIT Bit No 23 22 21 20 19 18 17 16 Status POSTD PRED BLD ASTP Bit No 31 30 29 28 27 26 25 24 Status GER Bit No Define Description 0 CSTP End of single motion command 1 VM At maximum speed 2 ACC Accelerating 3 DEC Decelerating 4 DIR Motion direction 1 Positive and 0 Negative 5 MDN End...

Page 138: ...ement is decelerating DIR when this signal is ON the movement is moving at positive direction When movement stops the DIR saves status right before movement stopped 15 JOG Jog movement in progress 16 ASTP Abnormal stop Clear this signal after next movement is executed 17 BLD The axis is running blending movement 18 PRED Pre offset event clear this signal after next movement is executed 19 POSTD Po...

Page 139: ...eted Single movement command is a single axis point to point movement and multiple axes point to point movement Multiple movement is like homing movement combinated by a series of movement With this signal you may use polling or interrupt event generation to schedule movement process Note Abnormal movement stop will generate this signal as well You may ensure abnaormal movement stop by checking AS...

Page 140: ...n Bit 6 In Homing Signal HMV When home movement command home is received at the controller and home movement starts being executed the HMV signal sets NO 1 When home movement is completed or aborted this signal is turned off 0 See Section 4 3 for detailed home movement Time Velocity Time MDN home ptp ...

Page 141: ...the signal is at status ready for movement triggering When trigger is sent Use move_trigger function to trigger standby axis When parameter Flag is set to MF_WAIT 0x00100 for motion control functions listed below the relevant commands are set to trigger initiated The target axis do not start up immediately only the WAIT signal is set to ON Time Velocity Time MDN home HMV ...

Page 142: ...started this signal is set to ON and to OFF when movement is completed Bit 15 Jog movement signal JOG When an axis is doing jog movement the JOG signal is set to ON and to OFF when jog movement is completed See Section 4 6 for detailed jog movement Time Velocity Time Move_trigger 0x3 Axis0 WAIT Time Axis 0 Axis 1 ptp axis0 MF_WAIT ptp axis1 MF_WAIT Axis1 WAIT ...

Page 143: ...s on when movement is aborted by certain reasons See table below for causes to abnormal stop You may use get_stop_code function to get abnormal stop code Stop code This code can be used in followup error handling procedure Figure 4 49 Relation of ASTP VS motion JOG ON Signal OFF 0 ON 1 Velocity Time MDN JOG Time Time Velocity Time MDN ptp dec_stop ASTP ...

Page 144: ...y position movement command can set up pre distance and post distance to trigger the controller to issue signals when distance of movement meet given conditions The controller starts recording shift distance of movement when point to point movement is started When distance of movement is greater than pre distance the pre distance event occurs Similarly when remining shift distance of the point to ...

Page 145: ...ry 131 AMP 204C AMP 208C Figure 4 51 Relation between pre and post distance event signals and movement Time Velocity Post distance Pre distance Time Pre distance event PRED Post distance event POSTD Motion done event MDN ...

Page 146: ...It features special safety and control behaviors These two modes are described in sections below 4 9 1 1 Standard Mode To set up a electronic gear in standard mode select a slave axis all parameters and commands are set by reference to this axis Set up axis parameters listed below before initiating electronic gear mode Use APS_start_gear slave axis ID to enable electronic gear function after setup...

Page 147: ... ALM PEL MEL ALM signal of slave axis is set to ON 3 Master and slave axes stop when stop emg_stop and servo_off commands received by the slave axis 4 Gear ration is fixed at 1 1 and cannot be changed 5 Settings of engage rate are ignored In addition this mode features a protection mechanism against two levels of mis position errors The controller checks position errors of both axes at every movem...

Page 148: ...as shown in figure below Trigger is sent by TRG0 3 You can set up two trigger output formats The one is pulse output and other is level toggle output Length and logic of pulse signal can be adjusted by embedded PWMn module The PWM signal can be generated in two ways The one is to generate trigger by manual trigger by calling API The other is compare trigger that can be further divided into linear ...

Page 149: ...TGR_TRGx_SRC Set up TRG0 3 trigger source You can have multiple sources to choose 0x14 0x17 TGR_TRGx_PWD Set up TRG0 3 pulse width 0x18 1B TGR_TRGx_LOGIC Set up TRG0 3 logic level 0x1C 1F TGR_TRGx_TGL Set up TRG0 3 output format 0x20 TIMR_ITV Set up timer interval 0x21 TIMR_DIR Set up timer counting direction 0x22 TIMR_RING_EN Set up timer counter overflow activity 0x23 TIMR_EN Start up timer ...

Page 150: ...the encoder counters 0 7 of each axis and the other is the timer There are two compare methods too linear compare trigger and table compare trigger Operation rules and methods of both triggers are described below 4 9 2 2 1 Linear Compare Trigger You may need to define the subject to be compared encoder counter or timer before using the linear comparator Then set up start point repeat times and int...

Page 151: ...imes and interval of linear compare APS_set_trigger_linear Example Figure 4 54 Linear compare trigger example Parameters of linear compare trigger NO Define Description 0x00 TGR_LCMP0_SRC Compare source of linear comparator LCMP0 0x01 TGR_LCMP1_SRC Compare source of linear comparator LCMP1 ...

Page 152: ...set up any four points P1 P4 and send triggers when motor reaches each of them as shown in figure below Figure 4 55 Table compare trigger example Parameters of table compare trigger 0x02 TGR_TCMP0_SRC Set up compare subjects of table comparator CH0 0x03 TGR_TCMP1_SRC Set up compare subjects of table comparator CH1 0x04 TGR_TCMP0_DIR Set up compare direction of table comparator CH0 0x05 TGR_TCMP1_D...

Page 153: ...ol cycle You can input point array of any size in the APS function libray limited by system memory size The APS function libray shall load all compare points to the controller dynamically No extra program coding is required for loading compare point dynamically in the controller even in case of many compare points APIs for loading compare table array APS_set_trigger_table Figure 4 56 Table compare...

Page 154: ...ut with VAO table at different speeds Your AMP 204C AMP 208C features two VAO controllers with output channels that you can set as required This enables it to output the same or different PWMs in multiple channels concurrently Each VAO controller may switch among different VAO table to meet the multi level cutting requirements Your AMP 204C AMP 208C features eight VAO tables Table 0 7 to come up w...

Page 155: ...low The fixed PWM frequency is1 T and the PWM duty cycle W1 T W2 T and W3 T based on VAO table under speed V1 V2 and V3 with different PWM pulse width at W1 W2 and W3 See below for details on VAO table To use this control mode to set 1 Set up control mode Use APS_set_vao_param to set up value of VAO_TABLE_OUTPUT_TYPE parameter to 0x1 2 Set up fixed PWM output frequency Use APS_set_vao_param to set...

Page 156: ... pulse width W the VAO table gives PWM frequency 1 T1 1 T2 and 1 T3 at speed V1 V2 and V3 as shown in figure below To use this mode to 1 Set up control mode Use APS_set_vao_param to set up value of VAO_TABLE_OUTPUT_TYPE parameter to 0x2 2 Set up fixed PWM output pulse width Use APS_set_vao_param to set up parameter VAO_TABLE_PWM_Config in unit of ns Valid input range is 20ns 335544320 ns ...

Page 157: ...ange is 0 05 100 now 4 9 3 3 VAO Table The VAO table is designed to give speed based PWM power for VAO controller to control actual PWM output signal The VAO module features eight VAO tables for layered cutting Each table may contain up to 32 VAO pairs See below for details on calculating speed based power value In figure below the X axis is for composite speed of axes and the Y axis its relevant ...

Page 158: ...supports 4 PWM output channels for users selection You may set multiple channels to output the same control signals at the same time Individual VAO modules are now opened with specific APS_start_vao functions Mode Power output range Resolution 1 PWM mode Duty cycle 0 2000 0 05 100 0 05 2 PWM frequency mode with fixed width Frequency 3Hz 50MHz 1 Hz 3 PWM frequency mode with fixed duty cycle Frequen...

Page 159: ...tput vice versa On the contrary the PWM 0 starts output when DO2 changes from high to low when the logic is set to 0 Please note that if pairing relation is set before VAO module s PWM output opening the NO Define Description Value Default 0x00 2 N Note N is TableNo range is 0 7 VAO_TABLE_OUTPUT_TYPE Table output type 1 PWM mode 2 PWM frequency mode with fixed width 3 PWM frequency mode with fixed...

Page 160: ...ct DO_Channels and DO_ON or DO_OFF Pairing relation diagram Table 4 3 Board parameter table NO SYMBOL Description Default 110h PRB_PWM0_MAP_DO 1 Disable mapping 0 Enable mapping 2 Bit0 7 Specify a Do channel 3 Bit8 Select logic Set to 1 Turning on Do maps enabling PWM0 Turning off Do maps disabling PWM0 Set to 0 Turning on Do maps disabling PWM0 Turning off Do maps enabling PWM0 1 111h PRB_PWM1_MA...

Page 161: ...vao_param 0x00 set to 2 PWM frequency mode with fixed width 0x01 set to 1 command speed 0x10 set to 1000 set fixed pulse width to 1000 ns 0x20 set to 3 Axis0 and Axis1 are selected b Velocity to Power mapping lookup table APS_set_vao_table Frequency range 1 25Mhz for PCI 8253 6 Points range 1 32 points c Switch VAO table APS_switch_vao_table d Enable VAO output channel APS_start_vao 3 PWM frequenc...

Page 162: ...stable update rate is 1ms and 250us respectively sampling rate of the sampling process is 1ms and the sampled signals are sent by APS library to MotionCreatorPro2 or other applications to display The close loop control signal would be a better choice for learning the system s overall control performance Please note that close loop control signal sampling is invalid in pulse control mode See table ...

Page 163: ...on section motion status DEC 0 Null deceleration 1 Current deceleration SAMP_SRC_MSTS_CSTP Axis 0 7 Integer Motion status The Stop motion command motion status CSTP 0 During movement 1 Stop the movement command SAMP_SRC_MSTS_MDN Axis 0 7 Integer Motion status Movement completed motion status MDN 0 During movement 1 Movement completed SAMP_SRC_MIO_INP Axis 0 7 Integer Motion status Movement in plac...

Page 164: ...s SAMP_SRC_ERR_POS_F64 Axis 0 7 Double Same as SAMP_SRC_FBK_POS but presented in float point numbers SAMP_PWM_FREQUENCY_F64 Channel 0 3 Double PWM frequency Unit Hz SAMP_PWM_DUTY_CYCLE_F64 Channel 0 3 Double PWM duty cycle Unit SAMP_PWM_WIDTH_F64 Channel 0 3 Double PWM width Unit ns SAMP_VAO_COMP_VEL_F64 No 0 1 Double Composed velocity for Laser power control Unit pulse sec SAMP_PTBUFF_COMP_VEL_F6...

Page 165: ...Minus end limit 3 ORG Original input Home input 4 EMG Emergency stop input 5 EZ Servo index input 6 INP In Position input 7 SVON Servo ON output status 11 SPEL 1 Soft positive end limit condition match 12 SMEL 1 Soft minus end limit condition match 7 6 5 4 3 2 1 0 HMV MDN DIR DEC ACC VM CSTP 15 14 13 12 11 10 9 8 JOG PTB WAIT 23 22 21 20 19 18 17 16 POSTD PRED BLD ASTP 31 30 29 28 27 26 25 24 GER ...

Page 166: ... homing 10 WAIT Axis is in waiting state Wait move trigger 11 PTB Axis is in point buffer moving When this bit on MDN and ASTP will be cleared 15 JOG In jogging 16 ASTP 0 Stop normally 1 abnormal stop When axis in motion this bit will be clear 17 BLD Axis Axes in blending moving 18 PRED Pre distance event 1 event arrived The event will be clear when axis start moving 19 POSTD Post distance event 1...

Page 167: ...acceleration profile Please enables simultaneous start by steps below a Set axis movement to triggered startup and check the axis status for waiting for trigger b Send the trigger to run synchronized start a Set axis movement to triggered startup and check the axis status for waiting for trigger You may set up the startup by trigger mode by the Option parameter of the controller s function The axi...

Page 168: ... illustration of motion set to trigger waiting Relevant APS API described below I32 APS_ptp I32 APS_ptp_v I32 APS_ptp_all I32 APS_line I32 APS_line_v I32APS_line_all I32 APS_vel I32 APS_vel_all I32 APS_arc2_ca I32 APS_arc2_ca_v I32 APS_arc2_ca_all I32 APS_arc2_ce I32 APS_arc2_ce_v I32 APS_arc2_ce_all Motion status definition table 7 6 5 4 3 2 1 Bit HMV MDN DIR DEC ACC VM CSTP 15 14 13 12 11 10 9 8...

Page 169: ...end the trigger signal to run synchronized start You may enable multiple axes at the same time by sending trigger with function in form of I32 APS_move_trigger See figure below for multiple axes concurrent startup by trigger Relevant APS API described below I32 APS_move_trigger trigger issued I32 APS_stop_move synchronized deceleration stoppped I32 APS_stop_move synchronized Emg stoppped Time Velo...

Page 170: ...and VAO table switch which can be used to program application relevant requirements 4 9 6 1 Point Table Parameter Setup There are three groups of point table parameters a Movement parameter setup b Instruction command setup c Set movement command to point table a Movement Parameter Setup Please set up movement parameters before executing movement commands including absolute and relative movement m...

Page 171: ...S_pt_set_ve Acceleration APS_pt_set_acc Deceleration APS_pt_set_dec Acceleration and deceleration APS_pt_set_acc_dec S factor APS_pt_set_s Speed blending between adjacent paths Please refer to Section 4 7 3 APS_pt_set_trans_buffered buffer APS_pt_set_trans_inp buffered in place APS_pt_set_trans_blend_dec blend deceleration APS_pt_set_trans_blend_dist blend residue distance APS_pt_set_trans_blend_p...

Page 172: ...ent can be executed in following steps a Enable disable point table function b Monitor buffer space and fill in the points c Start stop point table movement a Enable disable point table function Please enable the point table function set up its ID 0 1 movement dimension and axis number before using it Please disable it after the point table function is ended I32 APS_pt_enable I32 Board_ID I32 PtbI...

Page 173: ...int table function The motion kernel program starts executing movement commands contained in buffer points in sequence until interrupted or each buffer point has been executed Point table functions Paired APS function Monitor buffer status APS_get_pt_status Point table functions Paired APS function Enable the point table movement APS_pt_start End the point table movement APS_pt_stop ...

Page 174: ...is 1 to point table 0 PTLINE Prof PTSTS Status Enable point table id 0 for 2D dimension with aixs 0 and axis 1 APS_pt_enable Board_ID PtbId Dimension AxisArr Enable point table id 0 Get status of point table id 0 to monitor buffer APS_get_pt_status Board_ID PtbId Status if Status BitSts 0x02 Point buffer is not full Push move into point buffer Prof Dim 2 Prof Pos 0 10000 Prof Pos 1 10000 ret APS_p...

Page 175: ...anism including emergency stop EMG servo alarm ALM and mechanical plus and minus limit PEL and MEL Detailed operation theories are described below 4 10 1 1 Emergency Stop EMG See table below for EMG hardware input pins EMG signal is a hardware input signal When EMG signal is set to ON status the controller responses with following actions 1 If the EMG signal is set to ON when the axis is in motion...

Page 176: ...normal stop ASTP ON 2 If the axis is not in motion status and the ALM signal is asserted then user s motion command shall be ignored by the controller while error stop code of the axis is set to 2 STOP_ALM and motion status of axis is set to abnormal stop ASTP ON 4 10 1 3 Plus and Minus Limit Signal PEL MEL See table below for EL hardware input pins and corresponding axis number P1A Pin No Signal ...

Page 177: ...of the axis immediately and error stop code of the axis is set to 5 STOP_MEL and motion status of axis is set to abnormal stop ASTP ON 3 If the axis is not in motion status and the PEL signal is asserted then user s positive direction motion command shall be ignored by the controller while error stop code of the axis is set to 4 STOP_PEL and motion status of axis is set to abnormal stop ASTP ON 4 ...

Page 178: ...an select decelerating stop or immediate stop with axis parameter PRA_EL_MODE 0x02 and PRA_SD_DEC 0x07 3 Start up software limit function with axis partameter PRA_SPEL_EN 0x08 and PRA_SMEL_EN 0x09 shown in table below Please run homing operation to ensure limit position of the coordiante system before the software limit function can be started After the software limit function is initiated you may...

Page 179: ...he SMEL signal is asserted then user s negative direction motion command shall be ignored by the controller while error stop code of the axis is set to STOP_SPEL 7 and motion status of axis is set to abnormal stop ASTP 4 10 2 2 Position Error Protection Position error protection is a software protection mechanism by monitoring difference between command counter and feedback counter This difference...

Page 180: ...used to detect stagnation failure status of the upper control program If stagnation situation is encountered the controller triggers a protection mechanism to close signal output You may use interrupt function in Windows environment as described below 1 Set up trigger event of timer timeout 2 Enable watchdog protection mechanism 3 Reset timer within cycle time See below for relevant APS APIs APS_w...

Page 181: ... Reset timer continuously After the watchdog protection mechanism is enabled the watchdog mechanism should be reset within timeout period to rest the timer and retiming from beginning In case of timer timeout relevant events are triggered per setting given by step 1 Use APS_wdt_reset_counter to reset watchdog ...

Page 182: ...e polling mechanism consumes CPU time repetitively and lead to CPU over utilization The interrupt mechanism alert the CPU of event after it is encountered This process consumes much less CPU time and so can reduce CPU utilization rate It also frees up the CPU to process other tasks for multitasks and effective CPU resource utilization when waiting for interrupt signal Figure 4 58 Interruption flow...

Page 183: ...l input interrupt Note For AMP 204C items 0 3 and 4 7 are reserved Interrupt Item overview I Each item can have up to 32 kinds of interrupt events 32 bit See tables below for detailed defintions Item 0 7 Axis interrupt events overview Item Item type description 0 7 Axis 0 7 interrupt Item 4 7 of AMP 204C are reserved 8 System interrupt 9 Digital input rising edge interrupt 10 Digital input falling...

Page 184: ...IINP Drive in place INP signal occurrence 6 IEMG Emergency stop signal EMG occurrence same as system IEMG 7 Reserved set to 0 8 ICSTP CSTP signal occurrence 9 IVM Maximum velocity 10 IACC Start acceleration 11 IDEC Start deceleration 12 IMDN Motion done 13 IASTP Abnormal stop 14 Reserved set to 0 15 ISPEL Soft PEL occurrence 16 ISMEL Soft MEL occurrence 17 Reserved set to 0 18 IPRED Pre distance e...

Page 185: ...ctor Bit No 23 22 21 20 19 18 17 16 Factor Bit No 31 30 29 28 27 26 25 24 Factor bit Symbol Interrupt event description 0 IEMG Emergency stop signal EMG signal occurrence 1 ILCF0 Linear comparator 0 comparing end 2 ILCF1 Linear comparator 1 comparing end 3 IFCF0 FIFO comparator 0 comparing end 4 IFCF1 FIFO comparator 1 comparing end 5 IMOV Motion control loop overload 6 IHOV System job loop overlo...

Page 186: ...2 21 20 19 18 17 16 Factor IDIR23 TTL15 IDIR22 TTL14 IDIR21 TTL13 IDIR20 TTL12 IDIR19 TTL11 IDIR18 TTL10 IDIR17 TTL9 IDIR16 TTL8 Bit No 31 30 29 28 27 26 25 24 Factor Bit No 7 6 5 4 3 2 1 0 Factor IDIF7 IDIF6 IDIF5 IDIF4 IDIF3 IDIF2 IDIF1 IDIF0 Bit No 15 14 13 12 11 10 9 8 Factor IDIF15 TTL7 IDIF14 TTL6 IDIF13 TTL5 IDIF12 TTL4 IDIF11 TTL3 IDIF10 TTL2 IDIF9 TTL1 IDIF8 TTL0 Bit No 23 22 21 20 19 18 ...

Page 187: ...2 APS_set_int_factor I32 Board_ID I32 Item_No I32 Factor_No Enable I32 APS_get_int_factor I32 Board_ID I32 Item_No I32 Factor_No Enable HANDLE APS_int_no_to_handle I32 Int_No I32 APS_wait_single_int I32 Int_No I32 Time_Out I32 APS_wait_multiple_int I32 Int_Count I32 Int_No_Array I32 Wait_All I32 Time_Out I32 APS_reset_int I32 Int_No I32 APS_set_int I32 Int_No CAUTION Digital input signal DI status...

Page 188: ...rupt events concurrently The program enters sleep mode after entering this function That is the program or thread consumes no CPU resources until there is interrupt event or timeout ccurred You may use the returned value from the Wait function to ensure the occurrence of event in waiting and execute followed application steps 4 Reset interrupt to non signaled state When there is event triggered an...

Page 189: ...Motion Control Theory 175 AMP 204C AMP 208C In addition you may use Event handle of win32 by using APS_int_no_to_handle after step 1 to convert Event number into format of win32 Event handle ...

Page 190: ...nt Z Turn off power and unplug any power cords cables X To avoid electrical shock and or damage to equipment Z Keep equipment away from water or liquid sources Z Keep equipment away from high heat or high humidity Z Keep equipment properly ventilated do not block or cover ventilation openings Z Make sure to use recommended voltage and power source settings Z Always install and operate equipment ne...

Page 191: ...ans when Z The power cord or plug is damaged Z Liquid has penetrated the equipment Z It has been exposed to high humidity moisture Z It is not functioning or does not function according to the user s manual Z It has been dropped and or damaged and or Z It has an obvious sign of breakage WARNING Risk of explosion if battery is replaced with one of an incorrect type Dispose of used batteries appropr...

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