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114

Function Library

6.5

Velocity mode motion

@ Name

_8174_tv_move

– Accelerate an axis to a constant velocity with

trapezoidal profile

_8174_sv_move

– Accelerate an axis to a constant velocity with

S-curve profile

_8174_emg_stop

– Immediately stop

_8174_sd_stop

– Decelerate to stop

_8174_get_current_speed

– Get current speed

@ Description

_8174_tv_move

:

This function is to accelerate an axis to the specified constant
velocity with a trapezoidal profile. The axis will continue 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 the velocity parameter.

_8174_sv_move

:

This function is to accelerate an axis to the specified constant
velocity with a S-curve profile. The axis will continue 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.

_8174_emg_stop

:

This function is used to immediately stop an axis. This function
is also useful when a preset move (both trapezoidal and S-
curve motion), manual move, or home return function is per-
formed.

_8174_sd_stop

:

This function is used to decelerate an axis to stop with a trape-
zoidal or S-curve profile. This function is also useful when a
preset move (both trapezoidal and S-curve motion), manual

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Summary of Contents for PCI-8174

Page 1: ...Advance Technologies Automate the World Manual Rev 2 00 Revision Date April 22 2007 Part No 50 11148 1000 PCI 8174 DSP based 4 Axis Servo Stepper Motion Control Card User s Manual ...

Page 2: ... or inability to use the product or documentation even if advised of the possibility of such damages This document contains proprietary information protected by copy right All rights are reserved No part of this manual may be repro duced by any mechanical electronic or other means in any form without prior written permission of the manufacturer Trademarks NuDAQ NuIPC DAQBench are registered tradem...

Page 3: ...vice adlinktech com TEL 886 2 82265877 FAX 886 2 82265717 Address 9F No 166 Jian Yi Road Chungho City Taipei 235 Taiwan Please email or FAX this completed service form for prompt and satisfactory service Company Information Company Organization Contact Person E mail Address Address Country TEL FAX Web Site Product Information Product Model Environment OS M B CPU Chipset BIOS Please give a detailed...

Page 4: ......

Page 5: ... selection 11 Installation Procedures 11 Troubleshooting4 11 2 4 Software Driver Installation 12 2 5 CN1 Pin Assignment Main Connector 13 2 6 CN2 Pin Assignment Simultaneous Start Stop 14 2 7 SW1 Switch Setting for Card Index 15 2 8 CN3 Manual Pulsar 16 3 Signal Connections 17 3 1 Pulse Output Signals OUT and DIR 18 3 2 Encoder Feedback Signals EA EB and EZ 21 3 3 Origin Signal ORG 24 3 4 End Limi...

Page 6: ...ontrol types 38 PCI 8174 motion controller type 38 4 2 Motion Control Modes 39 Coordinate system 39 Absolute and relative position move 40 Trapezoidal speed profile 42 S curve and Bell curve speed profile 43 Velocity mode 45 One axis position mode 46 Two axes linear interpolation position mode 47 Two axes circular interpolation mode 48 Continuous motion 49 Home Return Mode 52 Home Search Function ...

Page 7: ...mit comparators 76 Command and feedback error counter comparators 76 General comparator 76 Trigger comparator 77 4 7 Other Motion Functions 78 Backlash compensation and slip corrections 78 Vibration restriction function 78 Speed profile calculation function 79 4 8 Multiple Card Operation 80 4 9 DSP based Triggering functions 81 Function block diagram 81 Compared points 81 4 10 DSP based Gantry fun...

Page 8: ...e motion 114 6 6 Single Axis Position Mode 117 6 7 Home Return Mode 121 6 8 Manual Pulser Motion 124 6 9 Motion Status 126 6 10 Motion Interface I O 128 6 11 Position Control and Counters 136 6 12 Position Compare and Latch 140 6 13 General Purpose DIO 143 6 14 Soft Limit 145 6 15 Class ID 0X1999 for Channel Trigger 147 7 Connection Example 157 7 1 General Description of Wiring 157 7 2 Terminal Bo...

Page 9: ...f Tables Table 2 1 CN1 Pin Assignment Main Connector 13 Table 2 2 CN2 Pin Assignment Simultaneous Start Stop 14 Table 2 3 SW1 Switch Setting for Card Index 15 Table 2 4 CN3 Manual Pulsar 16 Table 6 1 Data type definitions 108 ...

Page 10: ...vi List of Figures List of Figures Figure 1 1 PCI 8174 Block Diagram 2 Figure 1 2 Flow chart for building an application 3 Figure 2 1 PCB Layout of the PCI 8174 10 ...

Page 11: ... based con troller for open architecture and enhances the time critical applica tion capability by a built in DSP A real time OS is not necessary either The PCI 8174 unique by different DSP kernels One DSP kernel contains one specific feature and can be used for one specific application field or for one specific customer Loading a different DSP kernel gives the PCI 8174 different features The DSP ...

Page 12: ...ion and I O signal status of the PCI 8174 Windows programming libraries are also provided for C com piler and Visual Basic Sample programs are provided to illustrate the operations of the functions Figure 1 2 illustrates a flow chart of the recommended process in using this manual in developing an application Refer to the related chapters for details of each step DSP Bus Bridge Aux I O Computer Bu...

Page 13: ...Introduction 3 Figure 1 2 Flow chart for building an application ...

Page 14: ...eleration time for all modes X Trapezoidal and S curve velocity profiles for all modes X 2 to 4 axes linear interpolation X 2 axes circular interpolation and 3 axes helical interpolation X Continuous interpolation for contour following motion X Change position and speed on the fly X 13 home return modes with auto searching X Hardware backlash compensator and vibration suppression X 2 software end ...

Page 15: ...d emergency input pin for wiring X Software supports a maximum of up to 12 PCI 8174 cards operation in one system X Compact PCB design X Includes MotionCreatorPro a Microsoft Windows based application development software X PCI 8174 libraries and utilities for Windows 2000 XP Vista ...

Page 16: ...ency 6 55MPPS linear trape zoidal or S Curve velocity profile drive X Internal reference clock 19 66MHz X 28 bit up down counter range 0 268 435 455 or 134 217 728 to 134 217 727 X Position pulse setting range 28 bit 134 217 728 to 134 217 728 X Pulse rate setting range Pulse Ratio 1 65535 Z 0 1 PPS to 6553 5 PPS Multiplier 0 1 Z 1 PPS to 65535 PPS Multiplier 1 Z 100 PPS to 6553500 PPS Multiplier ...

Page 17: ...nput X Servomotor interface I O pins INP ALM and ERC X General purposed digital output pin SVON DO X General purposed digital input pin RDY GDI X Pulse signal input pin PA and PB with Isolation X Simultaneous Start Stop signal STA and STP General Specifications X Connectors 100 pin SCSI type connector X Operating Temperature 0 C 50 C X Storage Temperature 20 C 80 C X Humidity 5 85 non condensing P...

Page 18: ...to set I O logic parameters to be loaded in their own program This product is also bundled with the card Refer to Chapter 5 for more details 1 4 Available Terminal Board ADLINK provides the servo steppers use terminal board for easy connection For steppers we provide DIN 100S which is pin to pin terminal board For servo users ADLINK offers DIN 814M DIN 814M J3A DIN 814Y and DIN 814P A4 The suitabl...

Page 19: ...e connector pin assignments the remain ing sections and wiring the connections 2 1 Package Contents In addition to this User s Guide the package also includes the fol lowing items X PCI 8174 advanced 4 axis Servo Stepper Motion Control Card X ADLINK All in one Compact Disc Note The terminal board is an optional accessory and would not be included in PCI 8174 package If any of these items are missi...

Page 20: ...t of the PCI 8174 X CN2 CN3 DSP Synchronous Signal Connector X CN1 Input Output Signal Connector 100 pin X CN2 Simultaneous start stop signal input output X CN3 Manual Pulsar X SW1 DIP switch for card index selection 0 15 Note means which connector on Daughter board ...

Page 21: ... modem monitor etc connected to computer Remove the cover from the computer 3 Select a 32 bit PCI expansion slot PCI slots are shorter than ISA or EISA slots and are usually white or ivory 4 Before handling the PCI 8174 discharge any static buildup on your body by touching the metal case of the computer Hold the edge of the card and do not touch the components 5 Position the board into the PCI slo...

Page 22: ...s in the BIOS or use another PCI slot 2 4 Software Driver Installation 1 Autorun the ADLINK All In One CD Choose Driver Installation Motion Control PCI 8174 2 Follow the procedures of the installer 3 After setup installation is completed restart windows Note Please download the latest software from ADLINK website if necessary ...

Page 23: ...se 15 EB0 I Encoder B phase 65 EB2 I Encoder B phase 16 EB0 I Encoder B phase 66 EB2 I Encoder B phase 17 EZ0 I Encoder Z phase 67 EZ2 I Encoder Z phase 18 EZ0 I Encoder Z phase 68 EZ2 I Encoder Z phase 19 VDD O 5V Power Supply Output 69 VDD O 5V Power Supply Output 20 EXGND Ext Power Ground 70 EXGND Ext Power Ground 21 OUT1 O Pulse Signal 71 OUT3 O Pulse Signal 22 OUT1 O Pulse Signal 72 OUT3 O Pu...

Page 24: ...PEL1 I End limit signal 93 PEL3 I End limit signal 44 MEL1 I End limit signal 94 MEL3 I End limit signal 45 GDI1 I DI LTC PCS SD CLR1 95 GDI3 I DI LTC PCS SD CLR3 46 DO1 O General Output 1 96 DO3 O General Output 2 47 ORG1 I Origin signal 97 ORG3 I Origin signal 48 EXGND Ext Power Ground 98 EXGND Ext Power Ground 49 EXGND Ext Power Ground 99 E_24V I Isolation Power Input 24V 50 EXGND Ext Power Gro...

Page 25: ...x If 0 is set to ON and others are OFF the card index as 0 Refer to the following table for values from 0 15 Card ID Switch Setting ON 0 0 1111 1 1110 2 1101 3 1100 4 1011 5 1010 6 1001 7 1000 8 0111 9 0110 10 0101 11 0100 12 0011 13 0010 14 0001 15 0000 Table 2 3 SW1 Switch Setting for Card Index ...

Page 26: ...bus power conver tion Therefore this signal is isolated No Name Function Axis 1 VDD 5V Power Supply Output 2 PA Pulser A phase signal input 3 PA Pulser A phase signal input 4 PB Pulser B phase signal input 5 PB Pulser B phase signal input 6 EXGND Ext Power Ground 7 N A N A 8 N A N A 9 N A N A 10 N A N A Table 2 4 CN3 Manual Pulsar ...

Page 27: ...2 Encoder Feedback Signals EA EB and EZ Section 3 3 Origin Signal ORG Section 3 4 End Limit Signals PEL and MEL Section 3 5 In position signals INP Section 3 6 Alarm signal ALM Section 3 7 Deviation counter clear signal ERC Section 3 8 general purpose signals SVON Section 3 9 General purpose signal RDY Section 3 10 Multifunction output pin DO CMP Section 3 11 Multifunction input signal DI LTC SD P...

Page 28: ...shows all pulse output signals on CN1 The PCI 8174 has two pairs OUT DIR pins with high speed trigger OUT The output pin can be config ured for pulse mode or high speed trigger out mode CN1 Pin No Signal Name Description Axis 3 OUT0 TRIG0 Pulse High Speed Trigger signal 0 4 OUT0 TRIG0 Pulse High Speed Trigger signal 0 5 DIR0 TRIG1 Direction High Speed Trigger signal 0 6 DIR0 TRIG1 Direction High S...

Page 29: ...he OUT DIR pin can be set to trigger out mode via software The following wiring diagram is for TRIG signal Note that this function is only implemented on the first two axes output pins NOTE If the pulse output is set to open collector output mode OUT and DIR are used to transmit OUT and DIR signals The sink current must not exceed 20mA on the OUT and DIR pins The default setting is 1 2 shorted ...

Page 30: ... Jumper 2 3 shorted and connect OUT DIR to a 470 ohm pulse input interface s COM of driver See the following figure Choose OUT DIR to connect to driver s OUT DIR Warning The sink current must not exceed 20mA or the 26LS31 will be damaged ...

Page 31: ...owing tables The input circuit of the EA EB and EZ signals is shown as fol lows Please note that the voltage across each differential pair of encoder input signals EA EA EB EB and EZ EZ should be at least 3 5V Therefore the output current must be CN1 Pin No Signal Name Axis CN1 Pin No Signal Name Axis 13 EA0 0 14 EA0 0 15 EB0 0 16 EB0 0 31 EA1 1 32 EA1 1 33 EB1 1 34 EB1 1 63 EA2 2 64 EA2 2 65 EB2 ...

Page 32: ...s with an exter nal circuit The input circuit can be connected to an encoder or motor driver if it is equipped with 1 a differential line driver or 2 an open collector output Connection to Line Driver Output To drive the PCI 8174 encoder input the driver output must pro vide at least 3 5V across the differential pairs with at least 8mA driving capacity The grounds of both sides must be tied togeth...

Page 33: ... 8174 encoder and the power supply is shown in the diagram below Note that an external current limiting resistor R is necessary to protect the PCI 8174 input circuit The following table lists the suggested resistor values according to the encoder power supply If 8mA For more operation information on the encoder feedback signals refer to section 4 4 Encoder Power V External Resistor R 5V 0Ω None 12...

Page 34: ...the origin on one axis The specifi cations of the limit switch should have contact capacity of 24V 6mA minimum An internal filter circuit is used to filter out any high frequency spikes which may cause errors in the operation When the motion controller is operated in the home return mode the ORG signal is used to inhibit the control output signals OUT and DIR For detailed operations of the ORG sig...

Page 35: ...shown in the table below A circuit diagram is shown in the diagram below The external limit switch should have a contact capacity of 24V 8mA minimum Either A type normal open contact or B type normal closed contact switches can be used To set the active logic of the exter nal limit signal please refer to the explanation of _8174_set_limit_logic function CN1 Pin No Signal Name Axis CN3 Pin No Signa...

Page 36: ...l names pin numbers and axis num bers are shown in the table below The input circuit of the INP signals is shown in the diagram below The in position signal is usually generated by the servomotor driver and is ordinarily an open collector output signal An external circuit must provide at least 8mA current sink capabilities to drive the INP signal CN1 Pin No Signal Name Axis 10 INP0 0 28 INP1 1 60 ...

Page 37: ... axis numbers are shown in the table below The input alarm circuit is shown below The ALM signal usually is generated by the servomotor driver and is ordinarily an open col lector output signal An external circuit must provide at least 8mA current sink capabilities to drive the ALM signal CN1 Pin No Signal Name Axis 9 ALM0 0 27 ALM1 1 59 ALM2 2 77 ALM3 3 ...

Page 38: ...m signal stops OUT and DIR signals 4 An emergency stop command is issued by software operator The signal names pin numbers and axis numbers are shown in the table below The ERC signal is used to clear the deviation counter of the servo motor driver The ERC output circuit is an open collector with a maximum of 35V at 50mA driving capacity CN1 Pin No Signal Name Axis 8 ERC0 0 26 ERC1 1 58 ERC2 2 76 ...

Page 39: ...be used as a servomotor on control or gen eral purpose output signal The signal names pin numbers and its axis numbers are shown in the following table The output circuit for the SVON signal is shown below CN1 Pin No Signal Name Axis 7 SVON0 0 25 SVON1 1 57 SVON2 2 75 SVON3 3 ...

Page 40: ...sed as motor driver ready input or gen eral purpose input signals The signal names pin numbers and axis numbers are shown in the following table The input circuit of RDY signal is shown in the following diagram CN1 Pin No Signal Name Axis 11 RDY0 0 29 RDY1 1 61 RDY2 2 79 RDY3 3 ...

Page 41: ...s Comparison Output CMP individually When configured as a Comparison Out put pin the pin will generate a pulse signal when the encoder counter matches a pre set value set by the user The multi functional channels are located on CN1 The signal names pin numbers and axis numbers are shown below The following wiring diagram is of the CMP on each axis CN1 Pin No Signal Name Axis 40 DO CMP0 0 46 DO CMP...

Page 42: ...osition override or CLR Counter clear or EMG Emergency To select the pin function please refer to 6 12 The multi functional input pins are on CN1 The signal names pin numbers and axis numbers are shown in the following table The multi functional input pin wiring diagram is as follows CN1 Pin No Signal Name Axis 39 DI LTC SD PCS CLR EMG_0 0 45 DI LTC SD PCS CLR EMG_1 1 89 DI LTC SD PCS CLR EMG_2 2 ...

Page 43: ...der The A B phase signals generate the positioning information which guides the motor The pulser signals are used for Axis 0 to Axis 3 User can decide to enable or disable each axis pulser with _8174_disable_pulser_input function The wiring diagram of the differential pulser input pins are as fol lowed CN3 Pin No Signal Name Axis CN3 Pin No Signal Name Axis 2 PA 0 3 3 PA 0 3 4 PB 0 3 5 PB 0 3 ...

Page 44: ... tied together respectively The STP and STA signals are both input and output signals To operate the start and stop action simultaneously both software control and external control are needed With software control the signals can be generated from any one of the PCI 8174 An exter nal open collector or switch can be used to drive the STA STP sig nals for simultaneous start stop If there are two or ...

Page 45: ... etc Motion control relates to speed profile generating tra jectory following multi axes synchronization and coordinating 4 1 1 Voltage motion control interface The interfaces between motion and motor control are changing rapidly Early on a voltage signal was used as a command to the motor controller The amplitude of the signal means how fast a motor is rotating and the time duration of the voltag...

Page 46: ...sers must tune the gains on drivers For more than one axes operation motion control seems more important than motor control In industrial applications reliable is a very important factor Motor driver vendors make good perfor mance products and a motion controller vendors make powerful and variety motion software Integrated two products make our machine go into perfect 4 1 3 Network motion control ...

Page 47: ... a microprocessor and all motion control calculations can be done on it There is no real time soft ware problem because DSP has its own OS to arrange all the pro cedures There is no interruption from other inputs or context switching problem like Windows based computer Although it has such a perfect performance on real time requirements its calcula tion speed is not as fast as PC s CPU at this age...

Page 48: ... software motion library provides one stop function for controlling motors All the speed parameter calculations are done via our library For example to perform a one axis point to point motion with a trapezoidal speed profile only fill the target position speed and acceleration time in one function Then the motor will run as the profile It takes no CPU resources because every control cycle pulse g...

Page 49: ... a specific speed profile path trajectory and synchronous condition with other axes The following sections describe the motion control modes of this motion controller could be performed 4 2 1 Coordinate system The Cartesian coordinate is used and pulses are in the unit of length The physical length depends on mechanical parts and motor s resolution For example if a motor is on a screw ball and the...

Page 50: ...ses It means that when we want to move 1 mm we need to send 1 000 pulses to motor driver then we will get the encoder feedback value of 10 000 pulses If we want to use an absolute command to move a motor to 10 000 pulses position and current position read from encoder is 3500 pulses how many pulses will it send to motor driver The answer is 10000 3500 10 000 1 000 650 pulses The motion controller ...

Page 51: ...Operation Theory 41 movement users can specify the speed profile It means user can define how fast and at what speed to reach the position ...

Page 52: ...ion Sometimes the profile looks like a triangle because the desired distance from user is smaller than the area of given speed parameters When this situation happens the motion controller will lower the maximum velocity but keep the acceleration rate to meet user s distance requirement The chart of this situation is shown as below This kind of speed profile could be applied on velocity mode posi t...

Page 53: ...areas We call this shape as Bell curve It adds a linear curve between the upper side of s curve and lower side of s curve This shape improves the speed of acceleration and also reduces the vibration of acceleration For a bell curve we define its shape parameters as below X Tacc Acceleration time in second X Tdec Deceleration time in second X StrVel Starting velocity in PPS X MaxVel Maximum velocit...

Page 54: ...n t allow an axis to reach the maximum velocity i e the moving distance is too small to reach MaxVel then the maximum velocity is automatically lowered see the following Figure The rule is to lower the value of MaxVel and the Tacc Tdec VSacc VSdec automatically and keep StrVel acceleration and jerk unchanged This is also applicable to Trapezoidal profile motion This kind of speed profile could be ...

Page 55: ...put pulse accelerates from a starting velocity to a specified maximum velocity It can be follow a linear or S curve acceleration shape The pulse output rate is kept at maximum velocity until another velocity command is set or a stop command is issued The velocity could be overridden by a new speed set ting Notice that the new speed could not be a reversed speed of original running speed The speed ...

Page 56: ...form a physical length to pulses Inside our software library we will keep those distance less than one pulse in register and apply them to the next motion function Besides positioning via pulse counts our motion controller provides three types of speed profile to accomplish positioning There are 1st order trape zoidal 2nd order S curve and mixed bell curve Users can call respective functions to pe...

Page 57: ...0 0 to 10 4 The linear inter polation results are shown as below The pulses output from X or Y axis remains 1 2 pulse difference according to a perfect linear line The precision of linear interpola tion is shown as below If users want to stop an interpolation group just call a stop func tion on first axis of the group As in the diagram below 4 axis linear interpolation means to move the XY positio...

Page 58: ...es simultaneously start from ini tial point 0 0 and stop at end point 1800 600 The path between them is an arc and the MaxVel is the tangential speed Notice that if the end point of arc is not at a proper position it will move circularly without stopping The motion controller will move to the final point user desired even this point is not on the path of arc But if the final point is not at the lo...

Page 59: ...nterrupting it The motion controller can make it possible because there are three command buffers pre registers inside When first command is executing users can set second command into first buffer and third command into second buffer Once the first command is finished the motion controller will push the sec ond command to the executing register and the third command to first buffer Now the second...

Page 60: ...cture of continuous motion Besides position command the speed command should be set correctly to perform a speed continuous profile For the following example there are three motion command of this continuous motion The second one has high speed than the others The interconnection of speed between these three motion functions should be set as the following diagram ...

Page 61: ...n is the same concept You can set the speed matched between two command speed set tings If the INP checking is enabled the motion will have some delayed between each command in buffers INP check enabled make the desired point be reached but reduce the smoothing between each command If users don t need this delay and need the smoothing please turn INP checking off ...

Page 62: ...done by ASIC No software efforts or CPU loading will be taken After home return is finished the target counter will be reset to zero at the desired condition of home mode For example a raising edge when ORG input Some times the motion controller will still output pulses to make machine show down after resetting the counter When the motor stops the counter may not be at zero point but the home retu...

Page 63: ...Operation Theory 53 Home mode 0 ORG Turn ON then reset counter X When SD is not installed X When SD is installed and SD is not latched ...

Page 64: ...54 Operation Theory Home mode 1 Twice ORG turn ON then reset counter Home mode 2 ORG ON then Slow down to count EZ num bers and reset counter ...

Page 65: ...Operation Theory 55 Home mode 3 ORG ON then count EZ numbers and reset counter Home mode 4 ORG On then reverse to count EZ number and reset counter ...

Page 66: ...ry Home mode 5 ORG On then reverse to count EZ number and reset counter not using FA Speed Home mode 6 EL On then reverse to leave EL and reset counter Home mode 7 EL On then reverse to count EZ number and reset counter ...

Page 67: ...Operation Theory 57 Home mode 8 EL On then reverse to count EZ number and reset counter not using FA Speed Home mode 9 ORG On then reverse to zero position an extension from mode 0 ...

Page 68: ...peration Theory Home mode 10 ORG On then counter EZ and reverse to zero position an extension from mode 3 Home mode 11 ORG On then reverse to counter EZ and reverse to zero position an extension from mode 5 ...

Page 69: ... 11 Home Search Function This mode is used to add auto searching function on normal home return mode described in previous section no matter which posi tion the axis is The following diagram is shown the example for home mode 2 via home search function The ORG offset can t be zero Suggested value is the double length of ORG area ...

Page 70: ...elected the multiplier has additional selection of 1 2 or 4 The following figure shows pulser ratio block diagram 4 2 13 Simultaneous Start Function Simultaneous motion means more than one axis can be started by a Simultaneous signal which could be external or internal signals For external signal users must set move parameters first for all axes then these axes will wait an external start stop com...

Page 71: ...ne a 100 speed value then change the speed by percentage of original speed when motion is running If users didn t define the 100 speed value The default 100 speed is the latest motion command s maximum speed This function can be applied on any motion func tion If the running motion is S curve or bell curve the speed over ride will be a pure s curve If the running motion is t curve the speed overri...

Page 72: ...f the new target position is far away from current position on the same direction the motion will remain its speed and run to new target position If the override timing is on the deceleration of current motion and the target position is far away from current position on the same direction it will accelerate to original speed and run to new target position The operation exam ples are shown as below...

Page 73: ...ler uses pulse command to control servo step per motors via motor drivers Please set the drivers to position mode which can accept pulse trains as position command The pulse command consists of two signal pairs It is defined as OUT and DIR pins on connector Each signal has two pins as a pair for differential output There are two signal modes for pulse output command 1 single pulse output mode OUT ...

Page 74: ...mmand pulse chain The numbers of OUT pulse represent distance in pulse The fre quency of the OUT pulse represents speed in pulse per second The DIR signal represents command direction of positive or negative The diagrams below show the output waveform It is possible to set the polarity of the pulse chain ...

Page 75: ...ency of the pulse represents speed in pulse per second Pulses output from the CW pin makes the motor move in positive direction whereas pulse output from the CCW pin makes the motor move in negative direction The following diagram shows the output waveform of positive commands and negative commands The command pulses are counted by a 28 bit command counter The command counter can store a value of ...

Page 76: ...ltiply by 4 AB phase mode is the most commonly used in incremental encoder inputs For example if a rotary encoder has 2000 pulses per rotation then the counter value read from the position counter will be 8000 pulses per rotation when the AB phase is multiplied by four If users don t use encoder for motion controller the feedback source for this counter must be set as pulse command output or the c...

Page 77: ... Mode AB phase Mode In this mode the EA signal is a 90 phase leading or lagging in comparison with the EB signal Lead or lag of phase difference between two signals is caused by the turning direction of the motor The up down counter counts up when the phase of EA sig nal leads the phase of EB signal The following diagram shows the waveform The index input EZ signal is as the zero reference in line...

Page 78: ...y will be FALSE when the pulses command is all sent 4 3 4 Servo alarm signal The alarm signal is an output signal from motor driver It tells motion controller that there has something error inside servo motor or driver Once the motion controller receives this signal the pulses command will stop sending and the status of ALM signal will be ON The reasons of alarm could be servo motor s over speed o...

Page 79: ...l be set At following four situations the ERC signal will be outputted auto matically from motion controller to motor driver in order to clear error counter at the same time 1 Home return is complete 2 The end limit switch is touched 3 An alarm signal is active 4 An emergency stop command is issued 4 3 6 Servo ON OFF switch The servo on off switch is a general digital output signal on motion contr...

Page 80: ... as a general input for other purpose It doesn t affect motion control 4 3 8 Servo alarm reset switch The servo driver will raise an alarm signal if there is something wrong inside the servo driver Some alarm situations like servo motor over current over speed over loading and so on Power reset can clear the alarm status but users usually don t want to power off the servo motor when operating Ther...

Page 81: ... must be set properly before doing home procedure Please refer to home mode section for details 4 4 2 End Limit switch signal The end limit switches are usually installed on both ending sides of one axis We must install plus EL at the positive position of the axis and minus EL at the negative position of the axis These two signals are for safety reason If they are installed reversely the protectio...

Page 82: ...ter Latch switch The counter latch switch is an input signal which makes counter value to be kept into a register when this input active If users need to know counter value at the active moment of one input they can connect this pin to catch that 4 4 7 Emergency stop input Our motion controller provides a global digital input for emergency situation Once the input is turned on our motion controlle...

Page 83: ...n counter is a 28 bit binary up down counter Its input source is the output pulses from the motion controller It provides the information of the current command position It is useful for debugging the motion system Our motion system is an open loop type The motor driver receives pulses from motion controller and drive the motor to move When the driver is not moving we can check this command counte...

Page 84: ...otion controller is not a closed loop type the feed back position counter is just for reference after motion is moving The position closed loop is done by servo motor driver If the servo driver is well tuned and the mechanical parts are well assembled the total position error will remain in acceptable range after motion command is finished 4 5 3 Command and Feedback error counter The command and f...

Page 85: ...bout 9 8MHz 4 5 5 Target position recorder The target position recorder is used for providing target position information It is used in continuous motion because motion con troller need to know the previous motion command s target posi tion and current motion command s target position in order to calculate relative pulses of current command then send results into pre register Please check if the t...

Page 86: ...mit switch Notice that these two comparators only compare the command position counter Once the command position is over the limited set inside the positive or negative comparators it will stop moving as it touches the end limit switch 4 6 2 Command and feedback error counter comparators This comparator is only for command and feedback counter error Users can use this comparator to check if the er...

Page 87: ...function It depends on the existence of CMP pin of the axis The following diagram shows the application of triggering In this application the table is controlled by the motion command and the CCD Camera is controlled by CMP pin When the compar ing position is reached the pulse will be outputted and the image is captured This is an on the fly image capture If users want to get more images during th...

Page 88: ... number of command pulses in FA speed The backlash compensation is performed each time when the direction changes on operation The slip correction function is performed before a motion command regardless of the direction The correction amount of pulses can be set by function library 4 7 2 Vibration restriction function The method of vibration restriction of the motion controller is by adding one p...

Page 89: ... and a very short distance to motion function the speed profile is not exist for these parame ters At this situation motion library will keep the acceleration and deceleration rate It tries to lower the maximum speed from users automatically to reform a speed profile feasible The following dia gram shows this concept Our motion library has a series of functions to know the actual speed profile of ...

Page 90: ...nge the resource settings When multiple cards are applied to a system the number of card must be noted The card number depends on the card ID switch setting on the board The axis number is depends on the card ID For example if three motion controller cards are plugged in to PCI slots and the corresponding card ID is set then the axis number on each card will be Notice that if there has the same ca...

Page 91: ...agram There are three major components for this function One is com parator the other is triggering circuit and another is real time pro gram inside DSP Please see the following diagram All these three blocks are on the PCI 8174 and will not be affected by programs on PC side The RT program will load next points into comparator when last trigger is fired 4 9 2 Compared points The compared points a...

Page 92: ... electric gearing in master slave motion and also looks like 1 1 interpolation motion of two axes With the PCI 8174 use the linear motion functions of two axes to achieve this function from the PC side It is only for command pulse synchronization Some applications especially on unbalanced heavy loading con veyor system it doesn t work perfectly because of open loop architecture Please see the foll...

Page 93: ...he control architecture is shown as below 4 10 2 Error handling of gantry mode During closed loop gantry motion there might be an error condi tion to stop one of the gantry axes Once this error has occurred the other axis will stop immediately The error could be from pre defined error tolerant overrun emergency stop occurs alarm from motor driver end limit stop etc ...

Page 94: ...84 Operation Theory ...

Page 95: ... configure test and debug a motion control system that uses 8174 cards Note that MotionCreatorPro is only available for Windows 2000 XP Vista with a screen resolution higher than 1024x768 Recom mended screen resolution is 1024x768 It cannot be executed under the DOS environment 5 1 Execute MotionCreatorPro After installing the software drivers for the 8174 in Windows 2000 XP Vista the MotionCreato...

Page 96: ...r 8174 cards Saved configurations will be automatically loaded the next time MotionCreatorPro is executed Two files 8174 ini and 8174MC ini in the windows root directory are used to save all settings and configurations 3 To duplicate configurations from one system to another copy 8174 ini and 8174MC ini into the windows root directory 4 If multiple 8174 cards use the same MotionCreatorPro saved co...

Page 97: ...MotionCreatorPro 87 5 3 MotionCreatorPro Introduction 5 3 1 Main Menu The main menu appears after running MotionCreatorPro It is used to ...

Page 98: ...88 MotionCreatorPro 5 3 2 Select Menu The select menu appears after running MotionCreatorPro It is used to ...

Page 99: ...MotionCreatorPro 89 5 3 3 Card Information Menu In this menu it shows some Information about this card ...

Page 100: ...90 MotionCreatorPro 5 3 4 Configuration Menu In this menu users can configure ALM INP ERC EL ORG and EZ ...

Page 101: ...74_set_erc 4 EL Response mode Select the response mode of the EL signal The related function call is _8174_set_limit_logic 5 ORG Logic Select the logic of the ORG signal The related function call is _8174_set_home_config 6 EZ Logic Select the logic of the EZ signal The related function call is _8174_set_home_config 7 Buttons Z Next Card Change operating card Z Next Axis Change operating axis Z Sav...

Page 102: ...92 MotionCreatorPro In this menu users can configure LTC SD PCS and Select_Input ...

Page 103: ... signal The related function call is _8174_set_pcs_logic 5 Set gpio input Select the configurations of the gpio input The related function call is _8174_set_gpio_input_function 6 Gpio Logic Select the logic of the gpio The related function call is _8174_set_gpio_input_function 7 Buttons Z Next Card Change operating card Z Next Axis Change operating axis Z Save Config Save current configuration to ...

Page 104: ...94 MotionCreatorPro In this menu users can configure pulse input output and move ratio and INT factor ...

Page 105: ...e Pulse input signal EA EB The related function calls are _8174_set_pls_iptmode _8174_set_feedback_src 3 Buttons Z Next Card Change operating card Z Next Axis Change operating axis Z Save Config Save current configuration to 8174 ini And 8174MC ini 4 I O Status The status of motion I O Light On means Active while Light Off indicates inactive The related function is _8174_get_io_status ...

Page 106: ...MotionCreatorPro 5 3 5 Single Axis Operation Menu In this menu users can change the settings a selected axis including velocity mode motion preset relative absolute motion manual pulse move and home return ...

Page 107: ...n Z _8174_set_command Z _8174_reset_error_counter Z _8174_reset_target_pos 3 Motion Status Displays the returned value of the _8174_motion_done function The related function is _8174_motion_done 4 INT Status Z int_factor bit no Set int_factor bit Z Normal INT display of Normal INT status The related function is _8174_wait_motion_interrupt Z Error INT display of Error INT status The related func ti...

Page 108: ...ns for motion The related functions are _8174_start_ta_move _8174_start_sa_move Z Relative Mode Distance will be used as relative dis placement for motion The related function is _8174_start_tr_move _8174_start_sr_move Z Cont Move Velocity motion mode The related function is _8174_tv_move _8174_start_sv_move Z Manual Pulser Move Manual Pulse motion Clicking this button will invoke the manual pulse...

Page 109: ...number which is effective on certain home return modes Mode Select the home return mode There are 13 modes available Home Mode figure The figure shown explains the actions of the individual home modes Close Click this button close this window 8 Position Set the absolute position for Absolute Mode It is only effective when Absolute Mode is selected 9 Distance Set the relative distance for Relative ...

Page 110: ...s of PPS In Absolute Mode or Relative Mode only the value is effective For example 100 0 is the same as 100 0 In Cont Move both the value and sign are effective 100 0 means 100 0 in the minus direction Z Maximum Velocity Set the maximum velocity of motion in units of PPS In Absolute Mode or Relative Mode only the value is effective For example 5000 0 is the same as 5000 0 In Cont Move both the val...

Page 111: ...e the 8174 start to outlet pulses according to previous setting Z In Absolute Mode it causes the axis to move to posi tion Z In Relative Mode it causes the axis to move back wards Z In Cont Move it causes the axis to start to move according to the velocity setting but in the opposite direction Z In Manual Pulser Move it causes the axis to go into pulse move The speed limit is the value set by Maxi...

Page 112: ...102 MotionCreatorPro Z Save Config Save current configuration to 8174 ini And 8174MC ini Z Close Close the menu 5 3 6 Help Menu In this menu click the right mouse button to show Help Informa tion ...

Page 113: ...apter describes the supporting software for the PCI 8174 card User can use these functions to develop programs in C C or Visual Basic If Delphi is used as the programming envi ronment it is necessary to transform the header files pci_8174 h manually ...

Page 114: ...back_src Set counter input source Function Name Description _8174_tv_move Accelerate an axis to a constant velocity with trapezoidal profile _8174_sv_move Accelerate an axis to a constant velocity with S curve profile _8174_sd_stop Decelerate to stop _8174_emg_stop Immediately stop _8174_get_current_speed Get current speed pulse sec Function Name Description _8174_start_tr_move Begin a relative tr...

Page 115: ...art pulser v move Function Name Description _8174_motion_done Return the motion status Function Name Description _8174_set_servo Set On Off state of SVON signal _8174_set_pcs_logic Set PCS Position Change Signal signal s logic _8174_set_pcs Enable PCS for position override _8174_set_inp Set INP signal s logic and operating mode _8174_set_alm Set ALM signal s logic and operating mode _8174_set_erc ...

Page 116: ...ter _8174_reset_error_counter Reset the position error counter _8174_get_target_pos Get the value of the target position recorder _8174_reset_target_pos Reset target position recorder Function Name Description _8174_set_latch_source Set the latch timing for a counter _8174_set_ltc_logic Set the LTC signal s logic _8174_get_latch_data Get the latch data Function Name Description _8174_set_gpio_outp...

Page 117: ... output _8174_set_trigger_logic Set the CMP signal s logic _8174_set_comparator_method Set Trigger Comparator Method _8174_set_comparator_value Set Single Trigger Comparator Value _8174_get_comparator_value Get Single Trigger Comparator Value _8174_set_linear_trigger_interval Set Linear Trigger Interval _8174_get_linear_trigger_interval Get Linear Trigger Interval _8174_set_linear_trigger_max_coun...

Page 118: ...ogramming environment _ hardware_model _ action_name e g _8174_initial In order to recognize the difference between a C library and a VB library a capital B is placed at the beginning of each function name e g B_8174_initial Type Name Description Range U8 8 bit ASCII character 0 to 255 I16 16 bit signed integer 32768 to 32767 U16 16 bit unsigned integer 0 to 65535 I32 32 bit signed long integer 21...

Page 119: ...er functions in your applica tions By setting the parameter Manual_ID user can choose the type that the card s ID is assigned manually or automati cally _8174_close This function is used to close 8174 card and release its resources which should be called at the end of your applica tions _8174_get_version Lets users read back the firmware s driver s and DLL s version information Syntax C C Windows ...

Page 120: ...plications 0x1999 for trigger function Manual_ID Enable the On board dip switch SW1 to decide the Card ID The CardID could be decided by 0 the sequence of PCI slot 1 on board DIP switch SW1 card_id Specify the PCI 8174 card index The card_id could be decided by DIP switch SW1 or depend on slot sequence Please refer to _8174_initial firmware_ver The current firmware version driver_ver The current d...

Page 121: ...eter in _8174_set_feedback_src function is enabled _8174_set_pls_outmode Configure the output modes of command pulses There are 6 modes for command pulse output _8174_set_feedback_src If external encoder feedback is available in the system set the Src parameter in this function to an Enabled state Then the internal 28 bit up down counter will count according to the con figuration of the _8174_set_...

Page 122: ... As Integer B_8174_set_feedback_src ByVal AxisNo As Integer ByVal Src As Integer As Integer Argument AxisNo Axis number designated to configure the pulse input out put pls_iptmode Encoder feedback pulse input mode setting EA EB signals pls_logic Logic of encoder feedback pulse card_id Physical axis AxisNo 0 0 0 1 1 2 2 3 3 1 0 4 1 5 Value Meaning 0 1X A B 1 2X A B 2 4X A B 3 CW CCW Value Meaning 0...

Page 123: ...ut mode Src Counter source Value Meaning 0 External signal feedback 1 Command pulse Value Type Positive Direction Negative Direction 0 OUT DIR 1 OUT DIR 2 OUT DIR 3 OUT DIR 4 CW CCW 5 CW CCW 6 AB OUT DIR OUT DIR OUT DIR OUT DIR 7 AB OUT DIR OUT DIR OUT DIR OUT DIR ...

Page 124: ... stop The direction is determined by the sign of the velocity parameter _8174_sv_move This function is to accelerate an axis to the specified constant velocity with a S curve profile The axis will continue 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 _8174_emg_stop This function is used...

Page 125: ...el F64 Tacc F64 SVacc I16 _8174_emg_stop I16 AxisNo I16 _8174_sd_stop I16 AxisNo F64 Tdec I16 _8174_get_current_speed I16 AxisNo F64 speed Visual Basic6 Windows 2000 XP B_8174_tv_move ByVal AxisNo As Integer ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double As Integer B_8174_sv_move ByVal AxisNo As Integer ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double ByVal SV...

Page 126: ...locity in units of pulse per second Tacc Specified acceleration time in units of second SVacc Specified velocity interval in which S curve acceleration is performed Note SVacc 0 for pure S Curve Tdec specified deceleration time in units of second Speed Variable to get current speed pulse sec card_id Physical axis AxisNo 0 0 0 1 1 2 2 3 3 1 0 4 1 5 ...

Page 127: ...Dist parameter If the moving distance is too short to reach the specified velocity the controller will automatically lower the MaxVel and the Tacc Tdec VSacc and VSdec will also become shorter while dV dt acceleration deceleration and d dV dt dt jerk are keep unchanged _8174_start_tr_move This function causes the axis to accelerate form a starting velocity StrVel rotate at constant velocity MaxVel...

Page 128: ...motion completion but immediately returns con trol to the program _8174_start_sa_move This function causes the axis to accelerate from a starting velocity StrVel rotate at constant velocity and decelerates to stop at the specified absolute position with S curve profile The acceleration and deceleration time is specified indepen dently This command does not let the program wait for motion completio...

Page 129: ...ByVal Pos As Double ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double ByVal Tdec As Double As Integer B_8174_start_sr_move ByVal AxisNo As Integer ByVal Dist As Double ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double ByVal Tdec As Double ByVal SVacc As Double ByVal SVdec As Double As Integer B_8174_start_sa_move ByVal AxisNo As Integer ByVal Pos As Double ByVal S...

Page 130: ...nds Tdec Specified deceleration time in units of seconds SVacc Specified velocity interval in which S curve acceleration is performed Note SVacc 0 for pure S Curve For more details see sec tion 2 4 4 SVdec specified velocity interval in which S curve deceleration is performed Note SVdec 0 for pure S Curve For more details see sec tion 4 2 4 Move_ratio ratio of feedback resolution command resolu ti...

Page 131: ...ion of this function is determined by the home_mode setting users should take care in selecting the initial moving direction Users should also take care to handle conditions when the limit switch is touched or other conditions that are possible causing the axis to stop For more detail description see section 4 2 10 _8174_home_search This function will cause the axis to perform a home search move a...

Page 132: ...logic As Integer ByVal ez_logic As Integer ByVal ez_count As Integer ByVal erc_out As Integer As Integer B_8174_home_move ByVal AxisNo As Integer ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double As Integer B_8174_home_search ByVal AxisNo As Integer ByVal StrVel As Double ByVal MaxVel As Double ByVal Tacc As Double ByVal ORGOffset As Double As Integer Argument AxisNo Axis number d...

Page 133: ...ons StrVel Starting velocity of a velocity profile unit pulse sec MaxVel Maximum velocity unit pulse sec Tacc Specified acceleration time Unit sec ORGOffset The escape pulse amounts when home search touches the ORG signal Unit pulse Value Meaning 0 Active low 1 Active high Value Meaning 0 Active low 1 Active high Value Meaning 0 no ERC out 1 ERC signal out when home move finishing ...

Page 134: ...according to the manual pulse input The axis will output one pulse when it receives one manual pulse until the _8174_disable_pulser_input function disables the pulser _8174_set_pulser_iptmode This function is used to configure the input mode of manual pulser Syntax C C Windows 2000 XP I16 _8174_disable_pulser_input I16 AxisNo U16 Disable I16 _8174_pulser_vmove I16 AxisNo F64 SpeedLimit I16 _8174_s...

Page 135: ...ove or stop Disable Disable pulser input Disable 1 disable pulser Disable 0 enable pulser InputMode Setting of manual pulse input mode from the PA and PB pins Inverse Reverse the moving direction from pulse direction card_id Physical axis AxisNo 0 0 0 1 1 2 2 3 3 1 0 4 1 5 Value Meaning 0 1X AB phase type pulse input 1 2X AB phase type pulse input 2 4X AB phase type pulse input 3 CW CCW type pulse...

Page 136: ...ndows 2000 XP B_8174_motion_done ByVal AxisNo As Integer As Integer 0 Normal stopped condition 1 Waiting for DR 2 Waiting for CSTA input 3 Waiting for an internal synchronous signal 4 Waiting for another axis to stop 5 Waiting for a completion of ERC timer 6 Waiting for a completion of direction change timer 7 Correcting backlash 8 Wait PA PB 9 At FA speed 10 At FL Speed 11 Accelerating 12 At FH S...

Page 137: ...Function Library 127 Argument AxisNo Axis number designated to move or stop card_id Physical axis AxisNo 0 0 0 1 1 2 2 3 3 1 0 4 1 5 ...

Page 138: ...gic of ERC signal and operating mode _8174_set_erc_out Output an ERC signal _8174_set_sd Set the logic SD signal and operating mode _8174_enable_sd Enable SD signal _8174_set_limit_logic Set the logic of PEL MEL signal _8174_set_limit_mode Set PEL MEL operating mode _8174_get_io_status Get all the motion I O statuses of each 8174 Description _8174_set_servo You can set the ON OFF state of the SVON...

Page 139: ...n the ALARM sig nal is active _8174_set_erc Users can set the logic and on time of the ERC with this func tion It also can set the pulser width of ERC signal _8174_set_erc_out This function is used to output the ERC signal manually _8174_set_sd Set the active logic latch control and operating mode of the SD signal input from a mechanical system Users can select whether they want to enable this fun...

Page 140: ... I16 erc_logic I16 erc_pulse_width I16 erc_mode I16 _8174_set_erc_out I16 AxisNo I16 _8174_set_sd I16 AxisNo I16 sd_logic I16 sd_latch I16 sd_mode I16 _8174_enable_sd I16 AxisNo I16 enable I16 _8174_set_limit_logic I16 AxisNo U16 Logic Bit Name Description 0 RDY RDY pin input 1 ALM Alarm Signal 2 EL Positive Limit Switch 3 EL Negative Limit Switch 4 ORG Origin Switch 5 DIR DIR output 6 EMG EMG sta...

Page 141: ...No As Integer ByVal alm_logic As Integer ByVal alm_mode As Integer As Integer B_8174_set_erc ByVal AxisNo As Integer ByVal erc_logic As Integer ByVal erc_pulse_width As Integer ByVal erc_mode As Integer As Integer B_8174_set_erc_out ByVal AxisNo As Integer As Integer B_8174_set_sd ByVal AxisNo As Integer ByVal sd_logic As Integer ByVal sd_latch As Integer ByVal sd_mode As Integer As Integer B_8174...

Page 142: ...arget counter in bit card_id Physical axis AxisNo 0 0 0 1 1 2 2 3 3 1 0 4 1 5 Value Meaning 0 ON 1 OFF Value Meaning 0 Negative logic 1 Positive logic Value Meaning 0 Disable 1 Enable Value Meaning Bit Description 0 Reset command counter when CLR input turns ON 1 Reset position counter when CLR input turns ON 2 Reset error counter when CLR input turns ON 3 Reset general purpose counter when CLR in...

Page 143: ...n receiving an ALARM signal erc_logic Set the active logic for the ERC signal erc_pulse_width Set the pulse width of the ERC signal Value Meaning 0 Negative logic 1 Positive logic Value Meaning 0 Negative logic 1 Positive logic Value Meaning 0 motor immediately stops default 1 motor decelerates then stops Value Meaning 0 Negative logic 1 Positive logic Value Meaning 0 12 µs 1 102 µs 2 409 µs 3 1 6...

Page 144: ... PEL MEL logic Value Meaning 0 Disable 1 Output ERC when stopped by EL ALM or EMG input 2 Output ERC when complete home return 3 Both 1 and 2 Value Meaning 0 Negative logic 1 Positive logic Value Meaning 0 Do not latch 1 latch Value Meaning 0 slow down only 1 slow down then stop Value Meaning 0 Automatic setting 1 Manual setting default Value Meaning 0 Normal low normal open 1 Normal high normal c...

Page 145: ...Function Library 135 limit_mode io_sts I O status Please refer to 6 11 function description Value Meaning 0 Stop immediately 1 Slow down then stop ...

Page 146: ..._target_pos Reset target position recorder Description _8174_get_position This function is used to read the feedback position counter value Note that this value has already been processed by the move ratio setting by _8174_set_move_ratio If the move ratio is 0 5 than the value of position will be twice The source of the feedback counter is selectable by the function _8174_set_feedback_src to be ex...

Page 147: ...rror counter _8174_reset_error_counter This function is used to clear the position error counter _8174_get_target_pos This function is used to read the value of the target position recorder The target position recorder is maintained by the 8174 software driver It records the position to settle down for current running motion _8174_reset_target_pos This function is used to set new value for the tar...

Page 148: ...l AxisNo As Integer Pos As Double As Integer B_8174_set_position ByVal AxisNo As Integer ByVal Pos As Double As Integer B_8174_get_command ByVal AxisNo As Integer Cmd As Long As Integer B_8174_set_command ByVal AxisNo As Integer ByVal Cmd As Long As Integer B_8174_get_error_counter ByVal AxisNo As Integer ByRef error As Integer As Integer B_8174_reset_error_counter ByVal AxisNo As Integer As Integ...

Page 149: ...sition range 134217728 to 134217727 Cmd Cmd Command position counter value range 134217728 to 134217727 error Position error counter value range 32768 to 32767 TargetPos TargetPos Target position recorder value range 134217728 to 134217727 1 0 4 1 5 card_id Physical axis AxisNo ...

Page 150: ...et the logic of the latch input _8174_get_latch_data After the latch signal arrived the function is used to read the latched value of counters Syntax C C Windows 2000 XP I16 _8174_set_latch_source I16 AxisNo I16 LtcSrc 16 _8174_set_ltc_logic I16 AxisNo I16 LtcLogic I16 _8174_get_latch_data I16 AxisNo I16 CounterNo F64 Pos Visual Basic Windows 2000 XP B_8174_set_latch_source ByVal AxisNo As Integer...

Page 151: ...hysical axis AxisNo 0 0 0 1 1 2 2 3 3 1 0 4 1 5 Value Meaning 0 Command counter 1 Feedback counter 2 Error counter 3 General counter Value Meaning 0 No Compare Disable 1 Data Source counter direction independent 2 Data Source counter Count up only 3 Data Source counter Count down only 4 Data Source counter 5 Data Source counter Value Meaning 0 No action 1 Stop immediately 2 Slow down then stop ...

Page 152: ...ter to latch Pos Latch data Position Value Meaning 0 LTC pin input 1 ORG pin input 2 general comparator conditions are met 3 trigger comparator conditions are met Value Meaning 0 Negative logic 1 Positive logic Value Meaning 0 Command counter 1 Feedback counter 2 Error counter 3 General counter ...

Page 153: ...et the digital output status _8174_get_gpio_input PCI 8174 has 4 digital input channels By this function user can get the digital input status _8174_set_gpio_input_function PCI 8174 has 4 digital input channels By this function user can set one of several input signals to any specific DI channels Those signals include LTCn SDn PCSn CLRn EMG The index word n mean axis index Syntax C C Windows 2000 ...

Page 154: ...teger ByVal Select As Integer ByVal Logic As Integer As Integer Argument card_id Specify the PCI 8174 card index The card_id could be decided by DIP switch SW1 or depend on slot sequence Please refer to _8174_initial DoValue DoValue Digital output value Bit 0 3 D_out 0 3 DiValue Digital input value Bit 0 3 D_in 0 3 Channel Digital channel DI0 DI3 Select signal types select Logic input signal logic...

Page 155: ...oft limit will be exactly the same as physical limit _8174_set_soft_limit This function is used to set the soft limit value Syntax C C Windows 2000 XP I16 _8174_disable_soft_limit I16 AxisNo I16 _8174_enable_soft_limit I16 AxisNo I16 Action I16 _8174_set_soft_limit I16 AxisNo I32 PlusLimit I32 MinusLimit Visual Basic Windows 2000 XP B_8174_disable_soft_limit ByVal AxisNo As Integer As Integer B_81...

Page 156: ...ve or stop Action The reacting method of soft limit PlusLimit Soft limit value positive direction MinusLimit Soft limit value negative direction card_id Physical axis AxisNo 0 0 0 1 1 2 2 3 3 1 0 4 1 5 Value Meaning 0 INT only 1 Immediately stop 2 slow down then stop ...

Page 157: ...set_pulse_cmp_output_selection set pin OUT DIR 1 2 to be as pulse output or CMP output _8174_set_trigger_logic Set the CMP signal s logic _8174_set_comparator_method Set trigger comparator method _8174_set_comparator_value Set single trigger compara tor value _8174_get_comparator_value Get single trigger compara tor value _8174_set_linear_trigger_interval Set linear trigger interval _8174_get_line...

Page 158: ...ck position counter _8174_clear_encoder This function is used to clear the feedback position counter to the 0 _8174_set_encoder_input_mode Configure the input modes of external feedback pulses There are 4 types for feedback pulse input Note that this function makes sense only when the Src parameter in _8174_set_feedback_src function is enabled _8174_set_comparator_value This function is used to se...

Page 159: ...nterval Max_count Last point _8174_get_linear_trigger_max_count This function is used to get maximum trigger count _8174_get_triggered_count This function is used to get current triggered count _8174_clear_triggered_count This function is used to clear current triggered count to 0 _8174_choose_trigger_type Trigger type includes linear trigger and table trigger This function is used to choose trigg...

Page 160: ... I16 _8174_get_dsp_version I16 card_id I32 dsp_ver I32 build_date U16 CPLD_vesion I16 _8174_get_dsp_class_id I16 card_id I16 _8174_get_encoder I16 card_id I32 Encoder_Count I16 _8174_clear_encoder I16 card_id I16 _8174_set_encoder_input_mode I16 card_id I16 Input_mode I16 logic I16 _8174_choose_trigger_type I16 card_id U16 Trigger_Type I16 _8174_choose_trigger_form I16 card_id U16 Trigger_Form I16...

Page 161: ...8174_get_dsp_version ByVal card_id As Integer dsp_ver As Long build_date As Long CPLD_vesion As Integer As Integer B_8174_get_dsp_class_id ByVal card_id As Integer As Integer B_8174_get_encoder ByVal card_id As Integer Encoder_Count As Long As Integer B_8174_clear_encoder ByVal card_id As Integer As Integer B_8174_set_encoder_input_mode ByVal card_id As Integer ByVal Input_mode As Integer ByVal lo...

Page 162: ..._max_count ByVal card_id As Integer ByVal channel As Integer ByVal Max_Count As Long As Integer B_8174_get_linear_trigger_max_count ByVal card_id As Integer ByVal channel As Integer Max_Count As Long As Integer B_8174_clear_triggered_count ByVal card_id As Integer ByVal channel As Integer As Integer B_8174_get_triggered_count ByVal card_id As Integer ByVal channel As Integer Triggered_Count As Lon...

Page 163: ... for linear trigger function Max_Count The maximum count for linear trigger function The linear trigger formula is First point Interval Max_count Last point Triggered_Count The current triggered count is showed when the comparator is triggered Value Meaning 0 1X A B 1 2X A B 2 4X A B 3 CW CCW Value Meaning 0 Not inverse direction 1 inverse direction Value Meaning 0 No Compare Disable 1 Data Source...

Page 164: ...ut or CMP out put X Bit 0 3 Pin OUT DIR 1 2 X Bit 0 set OUT1 to be as pulse output or CMP OUTPUT X Bit 1 set DIR1 to be as pulse output or CMP OUTPUT X Bit 2 set OUT2 to be as pulse output or CMP OUTPUT X Bit 3 set DIR2 to be as pulse output or CMP OUTPUT Z Value in bit0 3 0 As pulse output 1 As CMP OUTPUT trigger_form Channel Table Size Status 0 0 Max 1800000 points 1 Not used 2 Not used 3 Not us...

Page 165: ...ray of table trigger Table_Size The numbers of Table Array If table size isn t matching with numbers of table array It will return error trigger_Type Two trigger types are provided X 0 Linear trigger default X 1 Table trigger Value Meaning 0 Negative logic 1 Positive logic ...

Page 166: ...156 Function Library ...

Page 167: ... between the PCI 8174 and the pulse input servo driver or stepping driver The following figure illustrates how to integrate the PCI 8174 and DIN 814M J3A 7 2 Terminal Board User Guide Please refer the individual user guide of terminal board The sup port terminal boards are as follows Mitsubishi J2 Super DIN 814M Mitsubishi J3A DIN 814M J3A Yaskawa Sigma II DIN 814Y Panasonic MINAS A4 DIN 814P A4 ...

Page 168: ...158 Connection Example ...

Page 169: ...rd party products not manufactured by ADLINK will be covered by the original manufactur ers warranty X For products containing storage devices hard drives flash cards etc please back up your data before send ing them for repair ADLINK is not responsible for any loss of data X Please ensure the use of properly licensed software with our systems ADLINK does not condone the use of pirated software an...

Page 170: ... of battery fluid during or after change of batteries by customer user X Damage from improper repair by unauthorized ADLINK technicians X Products with altered and or damaged serial numbers are not entitled to our service X This warranty is not transferable or extendible X Other categories not protected under our warranty 4 Customers are responsible for shipping costs to transport damaged products...

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