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Function Library

5.4 2-D Motion Windows

Press 2 -D button in operating window will enter this window. This is for 2 -D
motion test. It includes the following topics:

Linear Interpolation

Circular Interpolation

Incremental Jog

Continous Jog

Other Control Objects

Summary of Contents for PCI-8132

Page 1: ...PCI 8132 2 Axes Servo Stepper Motion Control Card User s Guide ...

Page 2: ......

Page 3: ...advised of the possibility of such damages This document contains proprietary information protected by copyright All rights are reserved No part of this manual may be reproduced by any mechanical electronic or other means in any form without prior written permission of the manufacturer Trademarks NuDAQ PCI 8132 are registered trademarks of ADLink Technology Inc MS DOS Windows 95 98 Windows NT 2000...

Page 4: ...c adlink com tw NuPRO nupro adlink com tw Software sw adlink com tw TEL 886 2 82265877 FAX 886 2 82265717 Address 9F No 166 Jian Yi Road Chungho City Taipei 235 Taiwan R O C Please inform or FAX us of your detailed information for a prompt satisfactory and constant service Detailed Company Information Company Organization Contact Person E mail Address Address Country TEL FAX Web Site Questions Pro...

Page 5: ...s Simultaneous Start Stop 12 2 8 Jumper Setting 13 2 9 Switch Setting 13 Chapter 3 Signal Connections 14 3 1 Pulse Output Signals OUT and DIR 15 3 2 Encoder Feedback Signals EA EB and EZ 17 3 3 Origin Signal ORG 19 3 4 End Limit Signals PEL and MEL 20 3 5 Ramping down Signals PSD and MSD 21 3 6 In position Signal INP 22 3 7 Alarm Signal ALM 23 3 8 Deviation Counter Clear Signal ERC 24 3 9 General ...

Page 6: ...er 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 Mo...

Page 7: ...n 90 6 9 Linear and Circular Interpolated Motion 92 6 10 Interpolation Parameters Configuring 93 6 11 Home Return 95 6 12 Manual Pulser Motion 96 6 13 Motion Status 98 6 14 Servo Drive Interface 99 6 15 I O Control and Monitoring 101 6 16 Position Control 102 6 17 Interrupt Control 103 6 18 Digital Input Output Control 106 6 19 Position Compare Control 107 Chapter 7 Connection Example 110 7 1 Gene...

Page 8: ...scribes the connectors pin assignment and how to connect the outside signal and devices with the PCI 8132 Ÿ Chapter 4 Operation Theorem describes detail operations of the PCI 8132 Ÿ Chapter 5 Motion Creator describe how to utilize a Microsoft Windows based utility program to configure and test running the PCI 8132 Ÿ Chapter 6 Function Library describes high level programming interface in C C and V...

Page 9: ...rol functions include linear and S curve acceleration deceleration interpolation between two axes continuous motion in positioning and home return are done by the ASIC Since these functions needing complex computations are done internally on the ASIC the PC s CPU is free to supervise and perform other tasks Motion Creator a Microsoft Windows based software is equipped with the PCI 8132 card for su...

Page 10: ...oller PCL 5023 for axes X Y FPGA for Position Comparison Simultaneousl y CN3 Isolation Pulse I O Mechanic al Interface Servo Driver Interface General Purpose I O Pulser Compariso n Output OUT DIR EA EB EZ EL EL SD SD ORG INP ALM ERC SVON RDY DI DO 0 15 PA PB CMP1 CMP2 PCI Bus Ext 5V out CN1 ...

Page 11: ...n application Hardware Installation Jumper Setting Wiring Run Motion Creator To Configure System System is OK END Chapter 2 3 Chapter 5 Run Motion Creator To Verify Operation Chapter 4 5 Use Function Library To develop Applications Chapter 4 6 No Yes ...

Page 12: ...mental encoder feedback Ÿ Home switch index signal positive and negative limit switches interface provided for all axes Ÿ Programmable interrupt sources Ÿ Change Speed on the Fly Ÿ Positiion Compare and Trigger Signal output Ÿ Simultaneous start stop motion on multiple axes Ÿ Manual pulser input interface Ÿ Software supports maximum up to 12 PCI 8132 cards 24 axes operation Ÿ Compact half size PCB...

Page 13: ... signal are optically isolated with 2500Vrms isolation voltage Ÿ Command pulse output pins OUT and DIR Ÿ Incremental encoder signals input pins EA and EB Ÿ Encoder index signal input pin EZ Ÿ Mechanical limit switch signal input pins EL SD and ORG Ÿ Servomotor interface I O pins INP ALM and ERC Ÿ General purpose digital output pin SVON Ÿ General purpose digital input pin RDY Ÿ Pulser signal input ...

Page 14: ...supply output 5V DC 5 500mA max Ÿ Dimension 164mm L X 98 4mm H 1 3 Software Supporting For the customers who are writing their own programs we provide MS DOS Borland C C programming library and Windows 95 98 NT DLL for PCI 8132 These function libraries are shipped with the board ...

Page 15: ...nd their operation chapter 4 Ÿ Understanding the connectors pin assignments the rest of the sections and wiring the connections 2 1 What You Have In addition to this User s Guide the package includes the following items Ÿ PCI 8132 2 axes Servo Stepper Motion Control Card Ÿ ADLINK CD Ÿ User s Manual Ÿ 24V power input cable for CN1 If any of these items are missing or damaged contact the dealer from...

Page 16: ...8 Installation 2 2 PCI 8132 Outline Drawing Figure 2 1 PCB Layout of the PCI 8132 CN1 External Power Input Connector CN2 Input Output Signal Connector CN3 Simultaneous Start Stop Front Panel ...

Page 17: ...etc connected to computer Remove the cover from your computer 3 Select a 32 bit PCI expansion slot PCI slots are short than ISA or EISA slots and are usually white or ivory 4 Before handling the PCI 8132 discharge any static buildup on your body by touching the metal case of the computer Hold the edge and do not touch the components 5 Position the board into the PCI slot you selected 6 Secure the ...

Page 18: ...ernal input output signal circuit The power circuit is configured as follows 3 Wires for connection to CN1 Solid wire ϕ 0 32mm to ϕ 0 65mm AWG28 to AWG22 Twisted wire 0 08mm 2 to 0 32mm 2 AWG28 to AWG22 Naked wire length 10mm standard The following diagram shows the external power supply system of the PCI 8132 The external 24V power must be provided an on board regulator generates 5V for both inte...

Page 19: ... input for Din 23 DIR2 O Dir signal 73 DI0 I Isolated digital input 0 24 DIR2 O Dir signal 74 DI1 I Isolated digital input 1 25 SVON2 O Multi purpose signal 75 DI2 I Isolated digital input 2 26 ERC2 O Dev ctr clr signal 76 DI3 I Isolated digital input 3 27 ALM2 I Alarm signal 77 DI4 I Isolated digital input 4 28 INP2 I In position signal 78 DI5 I Isolated digital input 5 29 RDY2 I Multi purpose si...

Page 20: ...ltiple axes and multiple cards No Name Function Axis 1 GND Bus power ground 2 STP Simultaneous stop signal input output 3 STA Simultaneous start signal input output 4 STP Simultaneous stop signal input output 5 STA Simultaneous start signal input output 6 5V Bus power 5V Note 5V and GND pins are directly given by the PCI Bus power ...

Page 21: ... type limit switch or A contact type The switch on is to use the normal closed type limit switch or B contact type The default setting is set as normal open type The bits 3 4 of S1 are used to set t he active logic of CMP1 CMP2 respectively Default setting is active low This means that when a positive comparison condition is met CMP will go high for 100 us automatically Bit Placement of S1 Switch ...

Page 22: ...ction 3 3 Origin signal ORG Section 3 4 End Limit signals PEL and MEL Section 3 5 Ramping down signals PSD and MSD Section 3 6 In position signal INP Section 3 7 Alarm signal ALM Section 3 8 Deviation counter clear signal ERC Section 3 9 General purpose signal SVON Section 3 10 General purpose signal RDY Section 3 11 General Purpose Digital Output Section 3 12 General Purpose Digital Input Section...

Page 23: ...ollowing table shows all the pulse output signals on CN2 CN2 Pin No Signal Name Description Axis 3 OUT1 Pulse signals 4 OUT1 Pulse signals 5 DIR1 Direction signal 6 DIR1 Direction signal 21 OUT2 Pulse signals 22 OUT2 Pulse signals 23 DIR2 Direction signal 24 DIR2 Direction signal The output of the OUT or DIR signals can be configured by jumpers as either the differential line driver or open collec...

Page 24: ...r output mode the OUT and DIR are used to send out signals Please take care that the current sink to OUT and DIR pins must not exceed 20mA The current may provide by the EX 5V power source however please note that the maximum capacity of EX 5V power is 500mA VCC EX 5V J1 J8 OUT DIR from PCL5023 OUT DIR OUT DIR EXGND R 3 1 2 2631 CN2 Inside PCI 8132 ...

Page 25: ...Name Axis 17 EZ1 35 EZ2 18 EZ1 36 EZ2 The input circuits of the EA EB EZ signals are shown as follows Please note that the voltage across every differential pair of encoder input signals EA EA EB EB and EZ EZ should be at least 3 5V or higher Therefore you have to take care of the driving capability when connecting with the encoder feedback or motor driver feedback The differential signal pairs wi...

Page 26: ... power supply is shown in the following diagram Please note that the external current limit resistor R is necessary to protect the PCI 8132 input circuit The following table lists the suggested resistor value according to the encoder power supply Encoder Power VDD External Resistor R 5V 0 Ω None 12V 1 8kΩ 24V 4 3kΩ If 6mA max For more detail operation of the encoder feedback signals please refer t...

Page 27: ...switch is used to indicate the origin of one axis The specifications of the limit switches should with contact capacity of 24V 6mA minimum An internal filter circuit is used to filter out the high frequency spike which may cause wrong operation When the motion controller is operated at the home return mode the ORG signal is used to stop the control output signals OUT and DIR For the detail operati...

Page 28: ...xis 37 PEL1 43 PEL2 38 MEL1 44 MEL2 The signals connection and relative circuit diagram is shown in the following diagram The external limit switches featuring a contact capacity of 24V 6mA minimum You can use either A type normal open contact switch or B type normal closed contact switch by setting the DIP switch S1 The PCI 8132 is delivered with all bits of S1 set to OFF refer to section 2 10 Fo...

Page 29: ...e CN2 Pin No Signal Name Axis 39 PSD1 40 MSD1 45 PSD2 46 MSD2 The signals connection and relative circuit diagram is shown in the following diagram Usually limit switches are used to generate the slow down signals to make motor operating in a slower speed For more details of the SD operation please refer to section 4 3 1 EX 24V If 6mA Max Filter Circuit To PCL5023 PSD MSD 4 7K EXGND Inside PCI 813...

Page 30: ...N2 Pin No Signal Name Axis 10 INP1 28 INP2 The input circuit of the INP signals are shown in the following diagram The in position signals are usually from servomotor drivers which usually provide open collector output signals The external circuit must provide at least 5 mA current sink capability to drive the INP signal active For more details of the INP signal operating please refer to section 4...

Page 31: ...e Axis 9 ALM1 27 ALM2 The input circuit of alarm circuit is shown in the following diagram The ALM signals are usually from servomotor drivers which usually provide open collector output signals The external circuit must provide at least 5 mA current sink capability to drive the ALM signal active For more details of the ALM operation please refer to section 4 2 2 EX 5V If 12mA Max If 5mA Min To PC...

Page 32: ...d is issued by software operator The relative signal name pin number and axis number are shown in the following table CN2 Pin No Signal Name Axis 8 ERC1 26 ERC2 The ERC signal is used to clear the deviation counter of servomotor driver The ERC output circuit is in the open collector with maximum 35 V external power at 50mA driving capability For more details of the ERC operation please refer to se...

Page 33: ... control or general purpose output signals The relative signal name pin number and axis number are shown in the following table CN2 Pin No Signal Name Axis 7 SVON1 25 SVON2 The output circuit of SVON signal is shown in the following diagram 35V 50mA Maximum SVON From PCL5023 EXGND Inside PCI 8132 CN2 ...

Page 34: ...or general purpose input signals The relative signal name pin number and axis number are shown in the following table CN2 Pin No Signal Name Axis 11 RDY1 29 RDY2 61 RDY3 ƒ 71 RDY4 The input circuit of RDY signal is shown in the following diagram RDY EX 5V If 12mA Max If 5mA Min To PCL5023 R Inside PCI 8132 CN2 ...

Page 35: ...h the sink current will be from external Dout supplied voltage Each transistor on TD62083 is at OFF State when reset DO COM DOut Inside PCI 8132 DOx DGND PhotoCouple Isolation EXGND Spec of TD62083 Ÿ Output sustaning voltage 50V Ÿ Output Current 123 mA ch Duty 50 500 mA ch MAX Ÿ Clamp Diode Reverse Voltage 50V Ÿ Clamp Diode Forward Current 500mA Ÿ Power Dissipation 1 47W maximum ...

Page 36: ...or transistor structure The Input voltage range from 5V to 24V and input resister is 4 7K 1 2W The connection between outside signal is shown bellow Maximum forward current through the diode of photocoupler is 50mA DI COM DI Switch Inside PCI 8132 4 7K ohm 1 2W DI DGND EXGND Photocoupler Isolation ...

Page 37: ...s generate the position information which guide the motor to follow CN2 Pin No Signal Name 91 PA 92 PA 93 PB 94 PB PA and PB pins of connector CN2 are directly connected to PA and PB pins of PCL5023 The interfac circuits are shown as follows If the signal voltage of pulser is not 5V or if the pulser is distantlyplaced it is recommended to put a photo coupler or line driver in between PCL5023 PA PB...

Page 38: ...y start and stop action both software control and external control are possible By the software control the signals can be generated from any one of the PCL5023 and other chip will start and stop simultaneously if proper programmed You can also use an external open collector or switch to drive the STA STP signals for simultaneous start stop If there are two or more PCI 8132 cards cascade CN3 conne...

Page 39: ...with DIN 100S including a cable ACL 102100 a 100 pin SCSI II cable DIN 100S is a general purpose DIN socket with 100 pin SCSI II connector It has easily wiring screw terimal and easily installation DIN socket that can be mounted on DIN rails Please check the NuDAQ catalog by ADLink for further information of DIN 100S STOP 7406 STP CN4 PCI 8132 1 PCI 8132 2 PCI 8132 3 CN4 CN4 STA STP STA STP STA ST...

Page 40: ... provides two pins for position compare trigger output The pulse width of this trigger is 100 micro seconds for most industrial CCD camera The pin assignment and wiring are as follows CN2 Pin No Signal Name Axis 96 CMP1 97 CMP2 Pulse VCC EX 5V 1k Ohm CMP EXGND Inside 8132 ...

Page 41: ... encoder feedback signals EA EB EZ Section 4 5 Multiple PCI 8132 cards operation Section 4 6 Change Speed on the Fly Section 4 7 Position Comparison Section 4 8 Interrupt Control 4 1 Motion Control Modes In this section the pulse output signals configurations and the following motion control modes are described Ÿ Constant velocity motion for one axis Ÿ Trapezoidal motion for one axis Ÿ S Curve pro...

Page 42: ... Please refer to section 3 1 for the jumper setting of signal types Single Pulse Output Mode OUT DIR Mode In this mode the OUT signal is represent the pulse position or velocity command The numbers of OUT pulse represent the motion command for relative distance or position the frequency of the OUT pulse represents the command for speed or velocity The DIR signal represents direction command of the...

Page 43: ...constant jerk The pulse output rate will keep at maximum velocity until another velocity command is set or stop command is issued The _8132_v_change is used to change speed during moving The _8132_v_stop function is used to decelerate the motion to zero velocity stop The velocity profile is shown as following Note that v_stop function can be also be applied to stop outputting command pulses during...

Page 44: ...e absolute target position must be given in the unit of pulse The physical length or angle of one movement is dependent on the motor driver and the mechanism includes the motor Since absolute move mode needs the information of current actual position so External encoder feedback EA EB pins must be enabled in _8132_set_cnt_src function And the ratio between command pulses and external feedback puls...

Page 45: ...he following formula gives the basic relationship between these parameters max_vel str_vel accel Tacc str_vel max_vel decel Tdec where accel decel represents the acceleration deceleration rate in unit of pps sec The area inside the trapezoidal profile represents the moving distance The unit of velocity setting is pulses per second pps Usually the unit of velocity in the manual of motor or driver i...

Page 46: ...solution of command pulse For example if an incremental type encoder is mounted on the working table to measure the actual position of moving part A servomotor is used to drive the moving part through a gear mechanism The gear mechanism is used to convert the rotating motion of motor into linear motion see the following diagram If the resolution of motor is 8000 pulses round The resolution of gear...

Page 47: ...2 can t recognize the actual absolute position during motion Relative Functions _8132_a_move _8132_r_move _8132_t_move _8132_ta_move _8132_start_a_move _8132_start_r_move _8132_start_t_move _8132_start_ta_move Refer to section 6 6 _8132_motion_done Refer to section 6 13 _8132_set_cnt_src Refer to section 6 4 _8132_set_move_ratio Refer to section 6 10 Moving part Motor Gear Encoder Table ...

Page 48: ...ance increases the life of the motors and mechanics of a system There are several parameters needed to be set in order to make a S curve move They are pos target position in absolute mode dist moving distance in relative mode str_vel specify the start velocity max_vel specify the maximum velocity Tlacc specify the time for linear acceleration section constant acceleration Tsacc specify the time fo...

Page 49: ...rve profile motion functions are designed to always produce smooth motion If the time for linear S Curve acceleration parameters combined with the final position don t allow an axis to reach the maximum velocity i e the moving distance is too small to reach max_vel the maximum velocity is automatically lowered and smooth accel decel is made see the following Figure This means that with moves that ...

Page 50: ... The PCI 8132 automatically lower the maximum velocity thus provide a smooth velocity profile Command of Graph1 start_tas_move axis 500000 100 1000000 0 05 0 05 0 2 0 2 The total accelerating time 0 05 2 0 05 0 15 second Total decelerating time 0 2 2 0 2 0 6 second Command of Graph2 start_tas_move axis 200000 100 1000000 0 05 0 05 0 2 0 2 Relative Functions _8132_s_move _8132_rs_move _8132_tas_mov...

Page 51: ...stop simultaneously at a period of time Δt Then the moving speed along X axis and Y axis will beΔX Δt ΔY Δt respectively The axis with larger numbers of moving pulses is the main axis and the other axis is the secondary axis When both axes are set at the same amount of pulses the X or Z is the main axis The speed relation between main and secondary axes is as follows Composite Speed Speed of main ...

Page 52: ...ameter in _8132_home_move function A _8132_v_stop command during returning home can stop OUT and DIR from outputting pulses Before writing _8132_home_move command configuration must be set by _8132_set_home_config function See also Section 4 3 3 for further description There are total three home return modes can be selected by setting home_mode parameter in _8132_set_home_config function The meani...

Page 53: ...RG signal lets the PCI 8132 decelerate to starting velocity and then EZ signal stops OUT and DIR pins from outputting pulses to complete the home return Note If the starting velocity is zero the axis will work properly in home mode 2 Relative Function _8132_set_home_config _8132_home_move _8132_v_stop Refer to section 6 11 time mvel svel Velocity accel ORG EZ Writing home move command to begin hom...

Page 54: ...sding the PB signal by 90 phase Also one pulser may be used for X and Y axes while internally distributing the signals appropriately to two axes To set the input signal modes of pulser use _8132_set_manu_iptmode function Then write _8132_manu_move to begin manual operation function User must write _8132_v_stop command in order to end this function and begins to operate at another mode User can cho...

Page 55: ... But by setting inp_enable parameter in _8132_set_inp_logic function you can delay the completion of operation to the time when the INP signal is turned on Status of _8132_motion_done and INT signal are also delayed That is when performing under position control mode the completion of _8132_start_a_move _8132_start_r_move start_s_move functions are delayed until INP signal is turned ON However EL ...

Page 56: ...ssued by software operator Since the servomotor operates with some delay from pulse generated from the PCI 8132 it keeps operating by responding to the position error remaining in the deviation counter of the driver if the EL signal or the completion of home return stops the PCL5023 from outputting pulses The ERC signal allows you to immediately stop the servomotor by resetting the deviation count...

Page 57: ... or continuous operation mode the ramping down signal in the moving direction lets the output control signals OUT and DIR ramp down to the pre setting starting velocity The ramping down function can be enable or disable by software function _8132_set_sd_logic The input logic polarity level operation mode or latched input mode can also be set by this function The signals status can be monitored by ...

Page 58: ... home_config After setting the configuration of home return mode by _8132_set _home_config a home_move command can perform the home return function The ORG signal can also generate IRQ signal by setting the bit 5 of interrupt reason register or INT factor in software function _8132_set_int_factor 4 3 4 SVON and RDY The SVON signals are controlled by software function _8132_Set_SVON The function se...

Page 59: ...s input from EA EB pins set cnt_src parameter of software function _8132_set_cnt_src to 1 Plus and Minus Pulses Input Mode CW CCW Mode The pattern of pulses in this mode is the same as Dual Pulse Output Mode in Pulse Command Output section expect that the input pins are EA and EB In this mode pulse from EA causes the counter to count up whereas EB caused the counter to count down 90 phase differen...

Page 60: ...m up to 24 axes of motors can be controlled Since PCI 8132 has the characteristic of Plug and Play users do not have to care about setting the Based address and IRQ level of cards They are automatically assigned by the BIOS of system when booting up Users can utilize Motion Creator to check if the plugged PCI 8132 cards are successfully installed and see the Baseaddress and IRQ level assigned by B...

Page 61: ...tion This function changes the maximum velocity setting during operation However if you operate under Preset Mode like start_a_move you are not allowed to change the acceleration parameter during operation because the deceleration point is pre determined But changing the acceleration parameter when operating under Constant Velocity Mode is valid Changing speed pattern on the fly is valid no matter...

Page 62: ...h Sensor2 Low Sensor3 Low _8132_v_change axis 25000 0 02 else if Sensor1 Low Sensor2 High Sensor3 Low _8132_v_change axis 50000 0 02 else if Sensor1 Low Sensor2 Low Sensor3 High _8132_v_change axis 100000 0 02 Where the informations of three sensors are acquired from other I O card And the resulting velocity profile from experiment is shown below Motor Sensor 2 Sensor 3 Pos 0 Pos 200000 Moving par...

Page 63: ...e EA or EB 4 4 Motion Command of 5023 To make use of position comparison function the following guidelines will be of much help 1 Decides the comparison mode Use_8132_Set_CompMode function and consider the counter source and the comparison conditions 2 Sets the counter initial value There are two ways to set the counter Directly use _8132_Set_CompCnt function to set its value Use _8132_Set_CompHom...

Page 64: ...nt of position compare points Maximum 1024 2 U16 _8132_Set_Comp_Table U16 axis U16 logic U16 logic enable disable position compare table 0 for disable 1 for enable Here are two examples of using position comparison functions The first example is typically in the application of machine vision In this application the table is controlled by the motion command and the CCD Camera is controlled by the p...

Page 65: ... compare the actual position in x axis with the encoder feedback on y axis with the encoder mounted under the belt I e The comparator counter source in this case is the encoder under the belt but not the encoder on the back of the motor In this application the cutter will cut down when the motor reaches the same speed as the belt and the comparison condition is match The comparator in the PCI 8132...

Page 66: ...ther device to work The moving command for this example is as follows start_a_move AXIS0 150000 1000 160000 0 2 The maximum command for this function is 160k pps So the axis takes about 625us to travel 100 pulses long and the width of trigger pulse is about 100us The maximum frequency for trigger signal is about 10k Relative Function _8132_Set_CompHome _8132_Build_Comp_Table _8132_Set_Comp Mode _8...

Page 67: ...dows NT 95 In order to detect the interrupt signal from PCI 8132 under Windows NT 95 user must create a thread routine first Then use APIs provided by PCI 8132 to get the interrupt signal The sample program is as follows Situatuins Assume that we have one card 2 axes and want to receive Home Return and Preset Movement Finish interrupt signal from axis 1 Steps 1 Define a Global Value to deal with i...

Page 68: ...s equipped with PCI 8132 for users to develop applications under DOS environment This library also provide some functions for users to work with ISR It is highly recommended to write programs according to the following example for applications should work with ISR Since PCI bus has the ability to do IRQ sharing when multiple PCI 8132 are applied each PCI 8132 should have a corresponding ISR For us...

Page 69: ...for i 0 i bn i _8132_Set_INT_Enable i 1 Main program for application End of Main Program for i 0 i bn i _8132_Close i Close all IRQ resources ISR begin here void interrupt _8132_isr0 void U16 int_axis U16 irq_status disable disable all interrupt _8132_Get_IRQ_Status 0 irq_status if irq_status Judge if INT for card 0 _8132_get_int_axis int_axis int_flag 1 irq_axs int_axis _8132_get_int_status int_a...

Page 70: ...Get_IRQ_Status 1 irq_status if irq_status Judge if INT for card 1 _8132_get_int_axis int_axis int_flag 1 irq_axs int_axis _8132_get_int_status int_axis irq_sts else _chain_intr pcinfo old_isr 1 If not chain to other INT outportb 0x20 0x20 End of INT outportb 0xA0 0x20 enable enable interrupt request So with the sample user can get the interrupt signal about each axis in the motion control system ...

Page 71: ... for establishing a control system and manually exercising the PCI 8132 cards to verify correct operation Motion Creator provides a simple yet powerful means to setup configure test and debug motion control system that uses PCI 8132 cards Note that Motion Creator is available only for Windows 95 98 or Windows NT with the screen resolution higher than 800x600 environment and can not run on DOS ...

Page 72: ...axes and the corresponding status can be viewed First of all check if all the PCI 8132 cards which are plugged in the PCI Bus can be viewed on Select Card column Next select the card and axis you want to configure and operate Since there are totally four axes on a card the axis number of first axis on n the card will be numbered as 4 n 1 Base address and IRQ level of the card are also shown on thi...

Page 73: ...ow Figure 5 2 Axis Configuration Window the Axis Configuration window includes the following setting items which cover most I O signals of PCI 8132 cards and part of the interrupt factors Pulse I O Mode Related functions Ÿ set_pls_outmode for Pulse Output Mode property Ÿ set_cnt_src for Pulse Input Active property Ÿ set_pls_iptmode for Pulse Input Mode property ...

Page 74: ...functions Ÿ set_home_config for Home Mode property The details of each section are shown at its related functions After selecting all the items you want to configure user can choose to push the Save Configurations button on the right bottom side If you push this button all the configurations you select for system integration will be saved to a file called 8132 cfg This file is very helpful when us...

Page 75: ...function called within main function It will check all the PCI 8132 existed and give the card a base address and IRQ level _8132_Set_Config will configure the PCI 8132 cards according to 8132 cfg That is the contents of Axis Configuration Window can be transferred to the application program by this function called Figure 5 3 Axis Operation window ...

Page 76: ...isplay provides a real time display of the axis s position in the Command Actual Error fields Motion Creator automatically updates these command actual and error displays whenever any of the values change When Pulse Input Active property is Axis Configuration Window is set to Enable the Actual Position read will be from the external encoder inputs EA EB Else it will display the command pulse outpu...

Page 77: ...Maximum Velocity 2 fields of Motion Parameters Control The steady state moving velocity will be as specified by Maximum Velocity Press to move forward or to move backward Press STOP to stop moving Preset Mode Press Absolute Mode to enable absolute motion as specified by values entered in Position 1 and Position 2 2 fields When selected Distance field for Relative Mode is disabled Press to move to ...

Page 78: ...ration under this mode Otherwise operations under other modes will be inhibited 5 3 6 Motion Parameters Control Use the Motion Parameters with the Operation Mode Control to command motion Ÿ Starting Velocity Specify the starting moving speed in pulses per second Ÿ Maximum Velocity Specify the maximum moving speed in pulses per second Ÿ Acceleration Specify the acceleration in pulses per second squ...

Page 79: ...e to select preset movement velocity profile The relative parameter settings are in Motion Parameter Frame 5 3 9 Repeat Mode Repeat mode is only for absolute and relative mode After choosing a operation mode and click repeat mode on you can press play key to make axis run between position 1 and 2 in absolute mode or run between a range relative mode It is useful on demonstrations Use Stop button t...

Page 80: ... Windows Press 2 D button in operating window will enter this window This is for 2 D motion test It includes the following topics Ÿ Linear Interpolation Ÿ Circular Interpolation Ÿ Incremental Jog Ÿ Continous Jog Ÿ Other Control Objects ...

Page 81: ...rs in Interpolation Parameter Setting Frame They are arc degree division axis and optimize option Please refer to section 6 9 to set them After setting these parameters you can enter the arc center and degree in Interpolation Command Frame Click Run button to start circular interpolation motion 5 4 3 Continuous Jog Continuous Jog means that when you press one directional button the axis will conti...

Page 82: ...74 Function Library 5 4 4 Incremental Jog Incremental jog means that when you click one directional button the axis will step a distance according to the Step Size s setting 5 4 5 Other Control Objects ...

Page 83: ... 1 Zoom 2 Graph Range 3 Origin Position The Zoom In Out buttons are used for changing the display range according to a scale number beside the button The Graph Range Frame controls X or Y axis s display range The Origin Position Frame let user to pan the display location There are two home return buttons at the left down corner of this window It is useful when user need to return to the origin ...

Page 84: ...ls_outmode Set pulse command output mode _8132_set_pls_iptmode axis pls_iptmode Set encoder input mode _8132_set_cnt_src axis cnt_src Set counter input source Continuously Motion Mode Section 6 5 _8132_v_move axis svel mvel Tacc Accelerate an axis to a constant velocity with trapezoidal profile _8132_sv_move axis svel mvel Tlacc Tsacc Accelerate an axis to a constant velocity with S curve profile ...

Page 85: ...e _8132_start_s_move axis pos svel mvel Tlacc Tsacc Begin an absolute S curve profile move _8132_rs_move axis dist svel mvel Tlacc Tsacc Perform a relative S curve profile move _8132_start_rs_move axis dist svel mvel Tlacc Tsacc Begin a relative S curve profile move _8132_tas_move axis pos svel mvel Tlacc Tsacc Tldec Tsdec Perform an absolute non symmetrical S curve profile move _8132_start_tas_mo...

Page 86: ...home_move axis svel mvel accel Begin a home return action Manual Pulser Motion Section 6 12 _8132_set_manu_iptmode axis ipt_mode op_mode Set pulser input mode and operation mode _8132_manu_move axis mvel Begin a manual pulser movement _8132_set_manu_axis cardno manu_axis Select manual pulser axis Motion Status Section 6 13 _8132_Motion_done axis Returns TRUE if motion done Servo Drive Interface Se...

Page 87: ...I O Control Section 6 18 _8132_DO axis DoData Output digital channel _8132_DI axis DiData Input digital channel Position Compare Control Section 6 19 _8132_Get_CompCnt Get counter value from comparator _8132_Set_CompCnt Set counter value in comparator _8132_Set_CompMode Set compare mode _8132_Set_CompData Set comparator value _8132_Get_CompData Get current comparator value _8132_Set_CompInt Enable...

Page 88: ...d integer 0 to 65535 I32 32 bit signed long integer 2147483648 to 2147483647 U32 32 bit unsigned long integer 0 to 4294967295 F32 32 bit single precision floating point 3 402823E38 to 3 402823E38 F64 64 bit double precision floating point 1 797683134862315E308 to 1 797683134862315E309 Boolean Boolean logic value TRUE FALSE The functions of PCI 8132 s software drivers use full names to represent th...

Page 89: ...or will be set to PCI 8132 Click Save Configuration button on the Axis Configuration Window if you want to use this function in the application program Click Save Configuration button will save all the configurations to a file call 8132 cfg This file will appear in the WINDOWS SYSTEM directory _8132_Get_IRQ_Channel This function is used to get the PCI 8132 card s IRQ number This function just supo...

Page 90: ... As Long As Integer Windows NT Only B_8132_Set_Config ByVal fileName As String As Integer B_8132_Get_IRQ_Channel ByVal cardno As Integer irq_no As Integer B_8132_Get_Base_Addr ByVal cardno As Integer base_addr As Integer Argument existCards numbers of existing PCI 8132 cards info relative information of the PCI 8132 cards cardNo The PCI 8132 card index number Return Code ERR_NoError ERR_BoardNoIni...

Page 91: ...r in this function to Enabled state Then internal 28 bit up down counter will count according configuration of set_pls_iptmode function Or the counter will count the command pulse output Syntax C C DOS Windows 95 NT U16 _8132_set_pls_outmode I16 axis I16 pls_outmode U16 _8132_set_pls_iptmode I16 axis I16 pls_iptmode U16 _8132_set_cnt_src I16 axis I16 cnt_src Visual Basic Windows 95 NT B_8132_set_p...

Page 92: ...ue to travel at a constant velocity until the velocity is changed or the axis is commanded to stop The direction is determined by the sign of velocity parameter _8132_sv_move This function is similar to v_stop but accelerating with S curve _8132_v_change You can change the velocity profile of command pulse ouput during operation by this function This function changes the maximum velocity setting d...

Page 93: ...r ByVal Tacc As Double As Integer Argument axis axis number designated to move or stop str_vel starting velocity in unit of pulse per second max_vel maximum velocity in unit of pulse per second max_speed maximum velocity during a v_change function Tacc specified acceleration time in unit of second Tdec specified deceleration time in unit of second Return Code ERR_NoError 6 6 Trapezoidal Motion Mod...

Page 94: ...constant velocity and decelerate to stop at the specified absolute position immediately returning control to the program _8132_ta_move starts an absolute coordinate move and waits for completion _8132_start_t_move This function causes the axis to accelerate from a starting velocity slew at constant velocity and decelerate to stop at the relative distance immediately returning control to the progra...

Page 95: ...ouble As Integer B_8132_start_t_move ByVal axis As Integer ByVal distance As Double ByVal str_vel As Double ByVal max_vel As Double ByVal Tacc As Double ByVal Tdec As Double As Integer B_8132_t_move ByVal axis As Integer ByVal distance As Double ByVal str_vel As Double ByVal max_vel As Double ByVal Tacc As Double ByVal Tdec As Double As Integer B_8132_start_ta_move ByVal axis As Integer ByVal pos ...

Page 96: ...inate move and waits for completion _8132_start_rs_move This function causes the axis to accelerate from a starting velocity slew at constant velocity and decelerate to stop at the relative distance immediately returning control to the program The acceleration rate is equal to the deceleration rate _8132_rs_move starts a relative move and waits for completion _8132_start_tas_move This function cau...

Page 97: ...l max_vel As Double ByVal Tlacc As Double ByVal Tsacc As Double As Integer B_8132_start_tas_move ByVal axis As Integer ByVal pos As Double ByVal str_vel As Double ByVal max_vel As Double ByVal Tlacc As Double ByVal Tsacc As Double ByVal Tldec As Double ByVal Tsdec As Double As Integer B_8132_tas_move ByVal axis As Integer ByVal pos As Double ByVal str_vel As Double ByVal max_vel As Double ByVal Tl...

Page 98: ...n rate _8132_move_all starts the motion and waits for completion Both functions guarantee that motion begins on all axes at the same sample time Note that it is necessary to make connections according to Section 3 12 on CN3 if these two functions are needed _8132_wait_for_done waits for the motion to complete for all of the specified axes The following code demos how to utilize these functions Thi...

Page 99: ...acc As Double As Integer B_8132_move_all ByVal len As Integer ByRef axis As Integer ByRef pos As Double ByRef str_vel As Double ByRef max_vel As Double ByRef Tacc As Double As Integer B_8132_wait_for_all ByVal n_axes As Integer ByRef axis As Integer As Integer Argument n_axes number of axes for simultaneous motion axes specified axes number array designated to move pos specified position array in ...

Page 100: ...ove along a circular arc and wait for completion The arc starts from origin and continues through the specified angle A positive value for angle produces clockwise arcs and a negative value produces counter clockwise arcs The center of the arc is specified by the parameters x_center and y_center _8132_set_arc_division function specifies the maximum angle in degrees between successive points along ...

Page 101: ...c_division Set the interpolation arc segment length _8132_arc_optimization Enable Disable optimum acceleration calculations for arcs _8132_set_move_ratios Set the axis resolution ratios Description map_axes This function initializes a group of axes for coordinated motion map_axes must be called before any coordinated motion function is used For PCI 8132 coordinated motion is made only between two ...

Page 102: ...d move set_move_ratio This function configures scale factors for the specified axis Usually the axes only need scale factors if their mechanical resolutions are different For example if the resolution of feedback sensors is two times resolution of command pulse then ratio 2 Syntax C C DOS Windows 95 NT U16 _8132_map_axes U16 n_axes U16 map_array U16 _8132_set_move_speed F64 str_vel F64 max_vel U16...

Page 103: ...move function If you need to stop the axis after EZ signal is active home_mode 1 or 2 you should keep placing ORG signal in the ON status until the axis stop If the pulse width of ORG signal is too short to keep it at ON status till EZ goes ON you should select the org_latch as enable The latched condition is cancelled by the next start or by disabling the org_latch Three home return modes are ava...

Page 104: ...e 2 ORG active and then EZ active to stop high speed till ORG active then low speed till EZ active org_logic Action logic configuration for ORG signal org_logic 0 active low org_logic 1 active high org_latch Latch state control for ORG signal org_latch 0 don t latch input org_latch 1 latch input EZ_logic Action logic configuration for EZ signal EZ_logic 0 active low EZ_logic 1 active high Return C...

Page 105: ... As Double As Integer B_8132_set_manu_axis ByVal cardno as integer byVal manu_axis as integer As Integer Argument axis axis number designated to start manual move ipt_mode setting of manual pulser input mode from PA and PB pins ipt_mode 0 1X AB phase type pulse input ipt_mode 1 2X AB phase type pulse input ipt_mode 2 4X AB phase type pulse input ipt_mode 3 CW CCW type pulse input op_mode common or...

Page 106: ... positive limit switch 3 the axis stops at negative limit switch 4 the axis stops at origin switch 5 the axis stops because the ALARM signal is active The following code demonstrates how to utilize this function _8132_start_a_move axis_x pos1 svel mvel Tacc Begin a trapezoidal velocity profile motion while motion_done axis_x Wait for completion of start_a_move if kbhit Keyboard hit to escape the g...

Page 107: ... Default state is disabled _8132_set_sd_logic Set the active logic and latch control of SD signal input from mechanical system Users can select whether they want to enable this function Default state is disabled _8132_set_erc_enable You can set ERC pin output enable disable by this function Default state is enabled _8132_set_sd_stop_mode There are two types in slow down action One is slow down to ...

Page 108: ...logic setting of active logic for INP signal inp_logic 0 active LOW inp_logic 1 active HIGH sd_logic setting of active logic for SD signal sd_logic 0 active LOW sd_logic 1 active HIGH sd_latch setting of latch control for SD signal sd_logic 0 do not latch sd_logic 1 latch alm_mode reacting modes when receiving ALARM signal alm_mode 0 motor immediately stops alm_mode 1 motor decelerates then stops ...

Page 109: ...wn Point 4 ORG Origin Switch 5 EZ Index signal 6 ALM Alarm Signal 7 SVON SVON of PCL5023 pin output 8 RDY RDY pin input 9 INT Interrupt status 10 ERC ERC pin output 11 INP In Position signal input Syntax C C DOS U16 _8132_Set_SVON I16 axis I16 on_off U16 _8132_get_io_status I16 axis U16 io_status C C Windows 95 NT U16 _8132_Set_SVON I16 axis I16 on_off U16 _8132_get_io_status I16 axis U16 io_statu...

Page 110: ...feedback is Disabled in set_cnt_src function the value gotten from this function is command position _8132_set_command changes the command position to the specified command position _8132_get_command reads the current command position Syntax C C DOS Windows 95 NT U16 _8132_set_position I16 axis F64 pos U16 _8132_get_position I16 axis F64 pos U16 _8132_set_command I16 axis F64 pos U16 _8132_get_com...

Page 111: ...port Window 95 and Window NT only _8132_INT_Disable This function is used to disable interrupt generating to host PC This function just support Window 95 and Window NT only _8132_Set_INT_Control This function is used to assign the window INT event This function just support Window 95 and Window NT only _8132_set_int_factor This function allows users to select factors to initiate the INT signal PCI...

Page 112: ...fy what kinds of interrupt is generated After user gets this value the status register will be cleared to 0 The return value is a 32 bits unsigned integer and the definition for each bit is as following Bit Interrupt Type 0 Stop with the EL signal 1 Stop with the EL signal 2 Stop with the SD signal 3 Stop with the SD signal 4 Stop with the ALM signal 5 Stop with the STP signal 6 Comparator Active ...

Page 113: ..._8132_INT_Enable ByVal cardNo As Long phEvent As Long _8132_INT_Disable ByVal cardNo As Long As Integer _8132_Set_INT_Control ByVal cardno As Integer ByVal intFlag As Integer _8132_set_int_factor ByVal axis As Integer ByVal int_factor As Long As Integer _8132_get_int_status ByVal axis As Long int_status As Long As Integer Argument cardNo card number 0 1 2 3 axis axis number 0 1 2 3 4 intFlag int f...

Page 114: ... input channels Each bit of this value represents a high low value for one channel Syntax C C DOS U16 _8132_DO U16 axis U16 DoData U16 _8132_DI U16 axis U16 DiData C C Windows 95 NT U16 _8132_DO U16 axis U16 DoData U16 _8132_DI U16 axis U16 DiData Visual Basic Windows 95 NT B_8132_DO ByVal axis As Integer ByVal DoData As Long As Integer B_8132_DI ByVal axis As Long DiData As Long As Integer Argume...

Page 115: ...r one axis User can choose the compare direction from this function _8132_Set_CompInt Enable disable the comparator interrupt If user uses a compare table for on the fly compare the comparator interrupt must be enabled Interrupt will trigger kernel driver to load next compare point and send a Windows Event to notify user s AP If the frequency of comparator output is too high the Windows Event won ...

Page 116: ..._value U16 PASCAL _8132_Set_CompMode U16 axis I16 comp_mode U16 PASCAL _8132_Set_CompData U16 axis double comp_data U16 PASCAL _8132_Get_CompData U16 axis double comp_data U16 PASCAL _8132_Set_CompInt U16 axis U16 enable U16 PASCAL _8132_Set_CompHome U16 axis U16 PASCAL _8132_Get_CompSts U16 cardNo U16 Comp_Sts U16 PASCAL _8132_Build_Comp_Table U16 axis I32 table I16 Size U16 PASCAL _8132_Set_Comp...

Page 117: ...arator mode 0 increasing counter compare value 1 equal counter compare value 2 decreasing counter compare value table compare table pointer size compare table size control 0 means disable 1 means compare points is from compare table 2 means compare points is from linear function comp_sts the definition are as follows bit0 CMP1 Out Status Low 0 and high 1 bit1 CMP2 Out Status Low 0 and high 1 bit2 ...

Page 118: ...gure 7 1 is a general description of all the connectors of PCI 8132 Only connection of one of 2 axes is shown CN1 Receives 24V power from external power supply CN2 Main connection between PCI 8132 and pulse input servo driver or stepping driver CN3 Connector for simultaneously start or stop multiple PCI 8132 cards Figure 7 2 shows how to integrate PCI 8132 with a physical system ...

Page 119: ... 40 41 OUT1 OUT1 DIR DIR EX GND EX 24V SVON 1 ERC 1 ALM 1 INP 1 EA1 EA1 EB1 EB1 EZ1 EZ1 EX GND PEL1 MEL1 PSD1 MSD1 ORG1 RDY 1 EX GND 11 12 EX 5V 19 CN 2 AXIS CN 3 START CN 1 POWER 24 V GND STP STA STP STA 1 2 3 4 Machine DI DO Pulse Output Pulse Input Machine DI DO Pulse Output Pulse Input Driver DI DO Machine DI DO Pulse Output Pulse Input Driver DI DO Machine DI DO Pulse Output Pulse Input Drive...

Page 120: ... 1 ALM 1 INP 1 EA1 EA1 EB1 EB1 EZ1 EZ1 EX GND PEL1 MEL1 PSD1 MSD1 ORG1 RDY 1 EX GND 11 12 EX 5V 19 CN 2 AXIS CN 1 POWER 24 V GND 1 Machine DI DO Pulse Output Pulse Input Driver DI DO 2 3 4 Motion Creator 8132 dll Win95 Win98 WinNT M E Linear Encoder with EA EB EZ Output Driver with Pulse Input 1 2 3 A B 1 2 3 A B PCI_8132 to Driver Encoder to PCI_8132 PCI_8132 to Machine I O Rotary Encoder Linear ...

Page 121: ...ion 3 Since most general purpose servomotor driver can operates in Torque Mode Velocity Mode Position mode For linking with PCI 8132 user should set the operating mode to Position Mode By setting servo driver to this mode user can use PCI 8132 to perform either Position Control or Velocity Control 4 The Deviation Counter Clear input for Panasonic Driver is line drive type where ERC output of PCI 8...

Page 122: ...7 38 39 40 41 OUT1 OUT1 DIR DIR EX GND EX 24V SVON 1 ERC 1 ALM 1 INP 1 EA1 EA1 EB1 EB1 EZ1 EZ1 EX GND PEL1 MEL1 PSD1 MSD1 ORG1 RDY 1 EX GND 11 12 EX 5V 19 PCI_8132 Axis 1 Servo Driver Panasonic MSC CNI F 50 200 W Table MEL ORG MSD PSD PEL E M 6 5 8 7 PULS PULS SIGN SIGN 28 11 12 COM COM SRV ON 26 25 ALM COIN 27 SRDY 3 19 GND OA 20 OA 21 22 OB OB 1 OZ 2 OZ 13 CL ...

Page 123: ...its specifications or if the serial number has been removed Seller does not assume any liability for consequential damages as a result from our products uses and in any event our liability shall not exceed the original selling price of the equipment The equipment warranty shall constitute the sole and exclusive remedy of any Buyer of Seller equipment and the sole and exclusive liability of the Sel...

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