ADLINK Technology cPCI-8168, User Manual

Page: 6 / 208

ii Table of Contents
3.6 Alarm Signal ALM .............................................................. 30
3.7 Deviation Counter Clear Signal ERC ................................. 31
3.8 General-purpose Signal SVON.......................................... 32
3.9 General-purpose Signal RDY ............................................ 33
3.10 Isolated Digital Output DOx ............................................... 34
3.11 Isolated Digital Input DIx .................................................... 35
3.12 High Speed High Current Digital Output HSOUT .............. 36
3.13 High Speed Digital Input HSIN........................................... 37
3.14 Comparison Output CMP1 and CMP2............................... 38
4 Operation Theory .............................................................. 39
4.1 Classifications of Motion Controller.................................... 39
Voltage type motion control Interface ........................... 39
Pulse type motion control Interface .............................. 40
Network type motion control Interface .......................... 40
Software real-time motion control kernel ...................... 41
DSP based motion control kernel ................................. 41
ASIC based motion control kernel ................................ 41
Compare Table of all motion control types ................... 42
cPCI-8168’s motion controller type ............................... 42
4.2 Motion Control Modes........................................................ 43
Coordinate system ........................................................ 43
Absolute and relative position move ............................. 44
Trapezoidal speed profile ............................................. 45
S-curve and Bell-curve speed profile ............................ 45
Velocity mode ............................................................... 47
One axis position mode ................................................ 48
Two axes linear interpolation position mode ................. 49
Two axes circular interpolation mode ........................... 50
Continuous motion ........................................................ 51
Home Return Mode ...................................................... 54
Home Search Function ................................................. 61
Manual Pulser Function ................................................ 62
Simultaneous Start Function ......................................... 62
Speed Override Function .............................................. 63
Position Override Function ........................................... 63
4.3 The motor driver interface.................................................. 64
Pulse Command Output Interface ................................ 64
Pulse feedback input interface ...................................... 66
In position signal ........................................................... 68