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Table of Contents
Chapter 4 Operation Theorem..................................................... 33
4.1
Motion Control Modes .................................................... 33
4.1.1
Pulse Command Output ............................................................... 34
4.1.2
Constant Velocity Motion............................................................. 35
4.1.3
Trapezoidal Motion ........................................................................ 36
4.1.4
S-curve Profile Motion .................................................................. 40
4.1.5
Linear and Circular Interpolated Motion .................................. 43
4.1.6
Home Return Mode........................................................................ 44
4.1.7
Manual Pulser Mode...................................................................... 46
4.2
Motor Driver Interface ..................................................... 47
4.2.1
INP...................................................................................................... 47
4.2.2
ALM.................................................................................................... 47
4.2.3
ERC .................................................................................................. 48
4.3
The Limit Switch Interface and I/O Status ....................... 49
4.3.1
SD ....................................................................................................... 49
4.3.2
EL........................................................................................................ 49
4.3.3
ORG.................................................................................................... 50
4.3.4
SVON and RDY................................................................................ 50
4.4
The Encoder Feedback Signals (EA, EB, EZ) .................. 50
4.5
Multiple PCI-8132 Cards Operation ................................. 52
4.6
Change Speed on the Fly................................................ 53
4.7
Position Comparison ...................................................... 55
4.8
Interrupt Control ............................................................. 59
Chapter 5 Motion Creator............................................................ 63
5.1
Main Menu ...................................................................... 64
5.2
Axis Configuration Window ............................................ 65
5.3
Axis Operation Windows ................................................ 68
5.3.1
Motion Status Display................................................................... 68
5.3.2
Axis Status Display........................................................................ 68
5.3.3
I/O Status Display........................................................................... 69
5.3.4
Set Position Control ...................................................................... 69
5.3.5
Operation Mode Control ............................................................... 69
5.3.6
Motion Parameters Control ......................................................... 70
5.3.7
Play Key Control............................................................................. 70
5.3.8
Velocity Profile Selection ............................................................. 71
5.3.9
Repeat Mode.................................................................................... 71
5.4
2-D Motion Windows....................................................... 72
5.4.1
Linear Interpolation ....................................................................... 73
5.4.2
Circular Interpolation .................................................................... 73
5.4.3
Continuous Jog .............................................................................. 73
5.4.4
Incremental Jog .............................................................................. 74
5.4.5
Other Control Objects................................................................... 74