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114

Motion Control Theory

Figure 4-22: Home mode 0 (Case: ORG)

When axis parameter PRA_HOME_EZA is set to 1 it means to
align with EZ, move forward to homing direction, until the first EZ
is detected and place control axis at the edge of EZ, then the
home movement is completed.

The motions are described below:

• Relevant axis parameters setup

Axis parameters

Axis
parameter
values

Description to axis parameter value

PRA_HOME_MODE

0

Home mode 0

PRA_HOME_DIR

0

Homing by moving forward in positive direction

PRA_HOME_EZA

1

Further align with signal EZ, 0: No, 1: Yes

PRA_HOME_S

0

S-curve factor

PRA_HOME_ACC

ACC

Acceleration and deceleration in unit of (distance unit
of measure/sec.

2

)

PRA_HOME_VS

VS

Initial speed in unit of (distance unit of measure/sec.)

Condition B

Condition A

Condition C Initial position

Home position

Home

Position

Initial position

VM:

Home searching speed

VO:

Home approaching speed

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Summary of Contents for PCI-8254

Page 1: ...Advance Technologies Automate the World Version 2 00 Updated August 13 2014 P N 50 15085 1000 PCI 8254 PCI 8258 DSP Based 4 8 Advanced Motion Control Card User manual ...

Page 2: ...ii Revision History Revision Date Description 2 00 2014 08 13 First release ...

Page 3: ...ion even if advised of the possibility of such damages Environmental responsibility ADLINK is committed to fulfill its social responsibility to global environmental preservation through compliance with the European Union s Restriction of Hazardous Substances RoHS directive and Waste Electrical and Electronic Equipment WEEE directive Environmental protection is a top priority for ADLINK We have enf...

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

Page 5: ...Board 8 2 Getting Start with The Installation 11 2 1 Package Contents 11 2 2 PCI 8254 PCI 8258 Exterior Profile Diagram 12 2 3 Hardware Installation 14 Hardware Configuration 14 Installation Procedures 14 Troubleshooting 15 2 4 Software Installation Procedure 16 2 5 Definitions to Key Connector Signal 18 PCI 8254 Connector 18 PCI 8258 P1 A B Connector 20 PCI 8254 58 P2 Connector 23 2 6 DIP Switch ...

Page 6: ...T 42 3 2 Pulse Command 44 3 3 Encoder Input EA EB EZ 47 3 4 Emergency Stop Input 49 3 5 PEL MEL Input 50 3 6 ORG Input 52 3 7 INP ZSP Input 53 3 8 ALM Input 54 3 9 SVON Output 55 3 10 Analog Input Signals 56 3 11 Compare Trigger Output 57 3 12 Digital Output Input 59 4 Motion Control Theory 65 4 1 Motion Control Mode and Interface Overview 66 4 1 1 Motion Control Interface 66 4 1 2 Control Cycle 7...

Page 7: ...7 3 On The Fly Change 133 4 7 4 Continuous PTP Move 133 4 8 Interpolation 136 4 8 1 Linear Interpolation 136 4 8 2 Arc Interpolation 138 4 8 3 Continuous Interpolation 146 4 9 Motion Status Monitoring 152 4 9 1 Motion Status 153 4 10 Application Functions 162 4 10 1 Electronic Gearing 162 4 10 2 High Speed Position Compare Trigger 164 4 10 3 PWM Control Laser Control VAO Table Control 170 4 10 4 M...

Page 8: ...viii Table of Contents Important Safety Instructions 209 Getting Service 211 ...

Page 9: ...7 Original position switch signal connection example 52 Figure 3 8 Place zero speed detection signal connection example 53 Figure 3 9 Servo alarm signal connection example 54 Figure 3 10 Servo on signal connection example 55 Figure 3 11 Analog input signal connection example 56 Figure 3 12 Line Driver type compare trigger signal connection exam ple57 Figure 3 13 Open Collector type compare trigger...

Page 10: ...ocity 106 Figure 4 21 Home mode 0 Case ORG 112 Figure 4 22 Home mode 0 Case ORG 114 Figure 4 23 Home mode 0 Case ORG EZ 115 Figure 4 24 Home mode 0 adverse Case ORG EZ 116 Figure 4 25 Home mode 0 decelerate to stop Case ORG 117 Figure 4 26 Home mode 1 Case EL 118 Figure 4 27 Home mode 1 Case EL EZ 120 Figure 4 28 Home mode 2 Case EZ 122 Figure 4 29 Home mode 2 adverse Case EZ 123 Figure 4 30 Relat...

Page 11: ...ding method 6 150 Figure 4 54 Velocity blending method 7 150 Figure 4 55 Continuous interpolation examples 151 Figure 4 56 Motion status monitoring process 152 Figure 4 57 Relation of different motion signals VS motions 155 Figure 4 58 Relation of motion done MDN signals VS motion 156 Figure 4 59 Relation of motion done MDN In homing HMV signals VS motion157 Figure 4 60 Relation of WAIT signals VS...

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

Page 13: ...o drive9 Table 1 2 Cross reference table of exclusive cables for analog servo drive9 Table 4 1 Encoder input format 69 Table 4 2 Encoder input format 70 Table 4 3 PCI 8254 8 Auto Tuning setup 83 Table 4 4 Board parameter table 176 Table 4 5 Motion kernel signal table 179 Table 4 6 Closed circuit control signal table 180 ...

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

Page 15: ...rs for execution It supports up to eight different programs for concurrent download and execution With up to 20MHz high speed encoder feedback support and 4 8 axes independent hardware PID control plus Feed forward gain design it ensures precision control and reduce following errors in tandem with high speed motion feedback The programmable servo update rate allows excellent control performance be...

Page 16: ...hardware installation and wiring close circuit PID parameter adjustments and single axis operation for reduced development time and costs The Windows Programming Libraries supports Windows coding environment including Visual Studio C 6 0 Microsoft NET framework based VB NET and C and Borland s C Builder There are sample programs available in the installation folders FPGA PCI Bus DPRAM DSP Flash RO...

Page 17: ...lation flow chart Hardware installation Wiring and jumper setup Set up card and adjust axis parameters with MotionCreatorPro 2 Is the system running successfully End Control axis with MotionCreatorPro 2 Develop application with APS library No APS and ADCNC library Chapter IV Chapter II and III MotionCreatorPro 2 User s Manual Chapter II and III MotionCreatorPro 2 User s Manual Yes ...

Page 18: ...58 Closed circuit control Number of axes supported 4 8 axes for PCI 8254 8 Analog command output resolution 10 volts resolution 16 bit Analog command output interface Difference single end output Maximum servo update rate 50us 500us programmable PID Kp Ki and Kd gain range 0 to 32 767 Speed and acceleration feed forward Aff Vff gain range 0 to 32 767 Position speed command range 32 bit Acceleratio...

Page 19: ...e range 10V Output current 50mA Typ Resolution 16 bits no missing codes Accuracy 1 2mV for 10V output Protection circuit Earth short circuit protection Settling Time 15us full scale step General purpose digital I O General purpose I O 20 24 CH input 20 24 CH TTL output optical isolation design for DIN 825 GP4 Motion control function Speed Profile Planning Trapezoidal Curve and S Curve Trajectory P...

Page 20: ... sampling Motion speed profile motion status motion control relevant I O System error diagnostics Watchdog timer Interrupt Motion status event error alarm in position emergency stop Planning in accordance with the manual Position comparison trigger output Pulse output interface Difference output Trigger channel 2 4 corresponding PCI 8254 PCI 8258 Pulse logic Programmable active high or active low ...

Page 21: ...size 1 024 lines for each program Program logic Boolean function circuit Mathematical operation Yes Motion event trigger Yes Item Working ambient temperature 0 55 C Storage ambient temperature 20 75 C Working ambient humidity 10 90 RH without condensation Storage ambient humidity 10 90 RH without condensation Noise impedance Noise voltage 1500VPP noise frequency 25 60Hz using noise simulator Envir...

Page 22: ...dware installation signal configuration close circuit PID gaining auto tuning and single axis manipulation to reduce application development time MotionCreatorPro 2 not only effectively reduces your development time but also enables you to concurrently validate the overall mechanism and electric design with all its single axis and interpolation motion operation pages 1 3 Terminal Board The PCI 825...

Page 23: ...les for analog servo drive Cable Supported brands HSL 4XMO DM Mitsubishi J2S series 4XMO DM J3 Mitsubishi J3A series HSL 4XMO DP Panasonic A4 and A5 series HSL 4XMO DY Yaskawa Sigma V series 4XMO DA Delta A2 series 4XMO OPEN General purpose Cable Supported brands ACL DM J3 Mitsubishi J3A series ACL DY Yaskawa Sigma V series ACL DP Panasonic MINAS A5 A4 series 4XMO OPEN General purpose ...

Page 24: ...10 Introduction ...

Page 25: ...e Installation Software Installation I O Wiring 2 1 Package Contents In addition to this manual you shall find the following item in the product package box PCI 8254 or PCI 8258 card X 1 IDE 44p DSUB 37p flat cable x 1 Product warranty card X 1 Should there be any item missed or damaged please consult with your dealer immediately Please keep the product along with items included in its package for...

Page 26: ...P1 for Motion control command Position feedback and Servo I O feedback with SCSI 100 PINS connector P2 for 16 channel digital TTL input and 16 channel digital TTL output SW2 Card ID setup 0 15 S1 Analog command mode selection differential mode single ended mode 䓊奨廒 S1 P1 P2 SW2 NOTE NOTE Dimension in unit of millimeter mm ...

Page 27: ...our PCI 8258 P1 for Motion control command Position feedback and Servo I O feedback with SCSI VHDCI 200 PINS connector P2 for 16 channel digital TTL I O with DSUB 37 PINS connector SW2 Card ID setup 0 15 S1 Analog command mode selection differential single end mode 䓊奨廒 S1 P1 P2 SW2 ...

Page 28: ...CSI 100p cable 4 Set up motion control relevant limit switch on DIN 825 GP4 board servo signal and general purpose digital signal wiring 5 Set up servo or stepper drive connection 6 Turn on system power including computer power terminal board relevant powers and 24Vdc power 7 Verify all I O signal and servo operation correctness with MotionCreatorPro 2 CAUTION Please ground the shielding end of th...

Page 29: ...MotionCreatorPro2 lights up after the motor is connected and the motor does not work Please ensure a 24Vdc power is connected to the terminal board When using the MotionCreatorPro2 all the control indicators of the drive light correctly but the drive warns Please ensure correctness of the axis parameter setup alarm logic ALM and the EMG loop configuration Value of output command differ from the fe...

Page 30: ...lation 2 4 Software Installation Procedure Windows driver installation procedure Step 1 Execute PCI 8254 PCI 8258 WDM file and run installation procedure automatically Step 2 Click Next as prompted to complete the installation process ...

Page 31: ...stallation is completed Step 4 Ensure the Windows Device Manager identify your PCI 8254 PCI 8258 correctly Note Recommendations Please download latest installation software from ADLINK official website to maintain the optimum operation environment http www adlinktech com Motion Control index php ...

Page 32: ...alog input 4 11 EA5V 5V power 61 DGND Digital ground 12 EA5V 5V power 62 DGND Digital ground 13 OUT1 c Pulse output 1 63 OUT3 c Pulse output 3 14 OUT1 c Pulse output 1 64 OUT3 c Pulse output 3 15 DIR1 c Direction output 1 65 DIR3 c Direction output 3 16 DIR1 c Direction output 1 66 DIR3 c Direction output 3 17 OUT2 c Pulse output 2 67 OUT4 c Pulse output 4 18 OUT2 c Pulse output 2 68 OUT4 c Pulse ...

Page 33: ...VON3 c Servo ON 3 38 PEL1 Positive limit 1 88 PEL3 Positive limit 3 39 ZSP1 INP1 Zero Speed 1 In Position 1 89 ZSP3 INP3 Zero Speed 3 In Position 3 40 MEL1 Negative limit 1 90 MEL3 Negative limit 3 41 ALM2 Servo alarm 2 91 ALM4 Servo alarm 4 42 ORG2 Origin Signal 2 92 ORG4 Origin Signal 4 43 SVON2 c Servo ON 2 93 SVON4 c Servo ON 4 44 PEL2 Positive limit 2 94 PEL4 Positive limit 4 45 ZSP2 INP2 Zer...

Page 34: ...wer 62 DGND Digital ground 13 OUT1 c Pulse output 1 63 OUT3 c Pulse output 3 14 OUT1 c Pulse output 1 64 OUT3 c Pulse output 3 15 DIR1 c Direction output 1 65 DIR3 c Direction output 3 16 DIR1 c Direction output 1 66 DIR3 c Direction output 3 17 OUT2 c Pulse output 2 67 OUT4 c Pulse output 4 18 OUT2 c Pulse output 2 68 OUT4 c Pulse output 4 19 DIR2 c Direction output 2 69 DIR4 c Direction output 4...

Page 35: ...EL3 Negative limit 3 41 ALM2 Servo alarm 2 91 ALM4 Servo alarm 4 42 ORG2 Origin Signal 2 92 ORG4 Origin Signal 4 43 SVON2 c Servo ON 2 93 SVON4 c Servo ON 4 44 PEL2 Positive limit 2 94 PEL4 Positive limit 4 45 ZSP2 INP2 Zero Speed 2 In Position 2 95 ZSP4 INP4 Zero Speed 4 In Position 4 46 MEL2 Negative limit 2 96 MEL4 Negative limit 4 47 EDO1 c Digital Output 1 97 EDO3 c Digital Output 3 48 EDI1 D...

Page 36: ...Direction output 6 70 DIR8 O Direction output 8 21 TRG3 O Trigger output 3 71 TRG4 O Trigger output 4 22 TRG3 O Trigger output 3 72 TRG4 O Trigger output 4 23 EA5 I Encoder A phase 5 73 EA7 I Encoder A phase 7 24 EA5 I Encoder A phase 5 74 EA7 I Encoder A phase 7 25 EB5 I Encoder B phase 5 75 EB7 I Encoder B phase 7 26 EB5 I Encoder B phase 5 76 EB7 I Encoder B phase 7 27 EZ5 I Encoder Z phase 5 7...

Page 37: ...mit 6 96 MEL8 I Negative limit 8 47 EDO5 O Digital Output 5 97 EDO7 O Digital Output 7 48 EDI5 I Digital Input 5 98 EDI7 I Digital Input 7 49 EDO6 O Digital Output 6 99 EDO8 O Digital Output 8 50 EDI6 I Digital Input 6 100 EDI8 I Digital Input 8 No Name I O Function of Axis No Name I O Function of Axis 1 Rsv Reserved 20 VDD 5V power supply input 2 TDI1 TTL input 1 21 TDO1 c TTL output 1 3 TDI2 TTL...

Page 38: ...254 model uses switches 1 4 only 12 TDI11 TTL input 11 31 TDO11 c TTL output 11 13 TDI12 TTL input 12 32 TDO12 c TTL output 12 14 TDI13 TTL input 13 33 TDO13 c TTL output 13 15 TDI14 TTL input 14 34 TDO14 c TTL output 14 16 TDI15 TTL input 15 35 TDO15 c TTL output 15 17 TDI16 TTL input 16 36 TDO16 c TTL output 16 18 DGND Digital ground 37 DGND Digital ground 19 VDD 5V power supply input No Name I ...

Page 39: ...y identification in user application programs Take example If you set card ID to 0 0 0 1 OFF OFF OFF ON then the card ID is 1 and the ID table should be set up as described below Card ID Switch Setting ON 1 0 0000 1 0001 2 0010 3 0011 4 0100 5 0101 6 0110 7 0111 8 1000 9 1001 10 1010 11 1011 12 1100 13 1101 14 1110 15 1111 default ...

Page 40: ...art with The Installation 2 7 IDE 44p DSUB 37p Bus This card include one IDE cable from IDE 44 pin to DSUB 37 pin It is used for PCI 8254 PCI 8258 P2 extension 16 channel digital input and 16 channel digital output ...

Page 41: ...servo or stepper drives with single end open cables Figure 2 3 Exterior of DIN 825 GP4 CAUTION The DIN 825 GP4 board supports both PCI 8254 PCI 8258 and AMP 204C AMP 208C DO NOT connect it to other ADLINK s motion controller or it may be damaged Additional 16 Digital output signals Motion I O signals Additional 16 Digital input signals I O connector to PCI board Power EMG signal Main connector to ...

Page 42: ...skawa Sigma II III V series and Panasonic MINAS A4 A5 with exclusive cables 4 J1 J3 These are three sets of 10 pins screw lock connectors screwed series Delta A2 series or connection to other servo or stepper drives with single end open cables It may be connected to any analog input signal comparing trigger signal plus minus limit switch and homing signal 5 J4 This is one 8 PINS connector for conn...

Page 43: ...is is one DSUB 37 PINS connector for connecting to 16 channel digital input signal and 16 channel digital output signal in the controller TTL 9 IOIF1 IOIF4 These are four 9 PINS connectors for connecting to 16 channel digital input signal and 16 channel digital output signal for common uses 10 Newly added CN1 This is one 9 pin connector for laser control ...

Page 44: ... Analog input 4 11 Rsv Reserved 61 DGND Digital ground 12 Rsv Reserved 62 DGND Digital ground 13 OUT1 c Pulse output 1 63 OUT3 c Pulse output 3 14 OUT1 c Pulse output 1 64 OUT3 c Pulse output 3 15 DIR1 c Direction output 1 65 DIR3 c Direction output 3 16 DIR1 c Direction output 1 66 DIR3 c Direction output 3 17 OUT2 c Pulse output 2 67 OUT4 c Pulse output 4 18 OUT2 c Pulse output 2 68 OUT4 c Pulse...

Page 45: ...SP1 INP1 Zero Speed 1 In Position 1 89 ZSP3 INP3 Zero Speed 3 In Position 3 40 MEL1 Negative limit 1 90 MEL3 Negative limit 3 41 ALM2 Servo alarm 2 91 ALM4 Servo alarm 4 42 ORG2 Origin Signal 2 92 ORG4 Origin Signal 4 43 SVON2 c Servo ON 2 93 SVON4 c Servo ON 4 44 PEL2 Positive limit 2 94 PEL4 Positive limit 4 45 ZSP2 INP2 Zero Speed 2 In Position 2 95 ZSP4 INP4 Zero Speed 4 In Position 4 46 MEL2 ...

Page 46: ...put 12 32 TDO12 c TTL output 12 14 TDI13 TTL input 13 33 TDO13 c TTL output 13 15 TDI14 TTL input 14 34 TDO14 c TTL output 14 16 TDI15 TTL input 15 35 TDO15 c TTL output 15 17 TDI16 TTL input 16 36 TDO16 c TTL output 16 18 EGND External power ground 37 EGND External power ground 19 VDD 5V power supply input No Name I O Function of Axis No Name I O Function of Axis 1 DICOM Digital input common 6 ED...

Page 47: ...ply 24VDC in general if possible 2 Please connect DOCOM to ground GND of external power supply if possible No Name I O Function of Axis No Name I O Function of Axis 1 DGND Isolated digital ground 6 AGND Analog ground 2 TRG2 c Trigger output 2 7 AI4 Analog input 4 3 TRG2 c Trigger output 2 8 AI3 Analog input 3 4 TRG1 c Trigger output 1 9 AI2 Analog input 2 5 TG1 c Trigger output 1 10 AI1 Analog inp...

Page 48: ...Function of Axis No Name I O Function of Axis 1 EDO1 c Digital output 1 4 EDO4 c Digital output 4 2 EDO2 c Digital output 2 5 DOCOM c Digital output common 3 EDO3 c Digital output 3 6 c No Name I O Function of Axis No Name I O Function of Axis 1 DI1 I Additional isolated digital input 1 6 DI6 I Additional isolated digital input 6 2 DI2 I Additional isolated digital input 2 7 DI7 I Additional isola...

Page 49: ...dditional isolated digital input 12 9 DICOM Digital input common 5 DI13 I Additional isolated digital input 13 No Name I O Function of Axis No Name I O Function of Axis 1 DO1 O Additional isolated digital output 1 6 DO6 O Additional isolated digital output 6 2 DO2 O Additional isolated digital output 2 7 DO7 O Additional isolated digital output 7 3 DO3 O Additional isolated digital output 3 8 DO8 ...

Page 50: ...utput 16 4 DO12 O Additional isolated digital output 12 9 DOCOM Digital output common 5 DO13 O Additional isolated digital output 13 NOTE NOTE 1 Please connect DICOM to external power supply 24VDC in general if possible 2 Please connect DOCOM to ground GND of external power supply if possible No Name I O Function of Axis No Name I O Function of Axis 1 EDO4 O Digital output 4 6 EDO4 O Digital outpu...

Page 51: ... 11 ALM I Servo alarm signal 2 ZSP I Zero speed signal 20 IGND ͲͲ Ext power ground 12 I24V ͲͲ Ext power supply 24V 3 Rsv ͲͲ Reserved 21 IGND ͲͲ Ext power ground 13 IGND ͲͲ Ext power ground 4 Rsv ͲͲ Reserved 22 IGND ͲͲ Ext power ground 14 BRAKEͲ O Brake signal Ͳ 5 AOUTͲ O Analog command output Ͳ 23 Rsv ͲͲ Reserved 15 AGND ͲͲ Analog ground 6 AOUT O Analog command output 24 Rsv ͲͲ Reserved 16 EBͲ I E...

Page 52: ...alarm signal 2 INP I InͲposition signal 20 IGND ͲͲ Ext power ground 12 I24V ͲͲ Ext power supply 24V 3 ERC O Dev ctr clr signal 21 IGND ͲͲ Ext power ground 13 IGND ͲͲ Ext power ground 4 RDY I Servo ready signal 22 IGND ͲͲ Ext power ground 14 BRAKEͲ O Brake signal Ͳ 5 OUTͲ O Pulse signal Ͳ 23 DIRͲ O Dir Signal Ͳ 15 IGND ͲͲ Ext power ground 6 OUT O Pulse signal 24 DIR O Dir Signal 16 EBͲ I Encoder BͲ...

Page 53: ...39 PCI 8254 PCI 8258 2 8 3 S1 S2 EDO ALM_RST Selection Switch DIN 825 GP4 is equipped with 4 servo drive reset signals You may set up CMA1 CMA4 PIN 10 and CMP1 CMP4 PIN 10 for servo drive rest or J6 connector DO 1 DO 4 by switch S1 and S2 ...

Page 54: ...40 Getting Start with The Installation ...

Page 55: ...elevant products when doing customer service maintenance tasks See sections below for detailed descriptions on precautions required to connect to various mechanical I O and servo I O signals Contents Section 3 1 Analog Command Signal Section 3 2 Pulse Command Signal Section 3 3 Encoder Input Signal Section 3 4 Emergency Stop Signal Section 3 5 Mechanical Limit Switch Signal Section 3 6 Original Po...

Page 56: ...analog commands When servo drive is set to P mode then pulse command of PCI 8254 PCI 8258 will be used for open loop control see Section 3 2 This analog channel is then defined as general purpose output one See below for corresponding pins of analog command output to DIN 825 GP4 3 1 2 Single ended Type Signal AOUT AOUT 4 8 analog control commands of PCI 8254 PCI 8258 can be set to single ended or ...

Page 57: ...ection example of differential analog output signal CMAx Pin No x 1 4 Signal Name Description n 1 8 Axis 6 AOUT Analog Out Signal n 1 8 5 AOUT Analog Out Signal n 1 8 NOTE NOTE PCI 8258 need two DIN 825 GP4 for eight axes motion control functions 1 controls axes 1 4 and 2 controls axes 5 8 ...

Page 58: ... control of PCI 8254 PCI 8258 will be used for open loop control In addition to servo drive the Stepper drive also employs pulse command interface as the primary control input commands See below for corresponding pins of pulse command output against differential pulse signals to DIN 825 GP4 CMAx Pin No x 1 4 Signal Name Description n 1 8 Axis 6 OUT Pulse signal n 1 8 5 OUT Pulse signal n 1 8 24 DI...

Page 59: ...w 1 Line Driver input interface provides better anti noise resistant and longer wiring length Signal connection diagram Figure 3 2 Line Driver type pulse control command signal connection example 2 Open Collector input interface can increase passing current capacity of signal by adjusting pull up resistance value at the shorter wiring length ...

Page 60: ... To avoid damages to Line Driver components on controller caused by invalid wiring please connect the OUT DIR pins of controller to OUT DIR pins of motor drive CAUTION The controller employs Line Driver component 26LS31 with maximum Sink Current at 20mA Do not use it at current above this value the component may be damaged otherwise ...

Page 61: ...r See below for corresponding pins of encoder input on DIN 825 GP4 CMAx Pin No x 1 4 Signal Name Description n 1 8 Axis 8 EA Encoder A phase n 1 8 7 EA Encoder A phase n 1 8 17 EB Encoder B phase n 1 8 16 EB Encoder B phase n 1 8 26 EZ Encoder Z phase n 1 8 25 EZ Encoder Z phase n 1 8 NOTE NOTE PCI 8258 need two DIN 825 GP4 for eight axes motion control functions 1 controls axes 1 4 and 2 controls...

Page 62: ...48 Signal Connection Signal connection diagram Figure 3 4 Line driver type encoder input signal connection example ...

Page 63: ...tor immediately See below for corresponding pins of emergency stop signal input on DIN 825 GP4 Signal connection diagram Figure 3 5 Emergency stop signal connection example J5 Pin No Signal Name Description Axis 5 EEMG External emergency stop input external input CMPx CMAx Pin No x 1 4 Signal Name n 1 8 Description Axis 19 EMG n Emergency stop output to drive 1 8 NOTE NOTE PCI 8258 need two DIN 82...

Page 64: ...witch for movement in the negative direction When this switch is triggered the PCI 8254 PCI 8258 stops its negative direction movement immediately See below for corresponding pins of mechanical limit switch signal input on DIN 825 GP4 J1 J2 Pin No Signal Name Description Axis 3 PEL 3 PEL 1 Plus limit switch input 3 1 3 1 7 PEL 4 PEL 2 Plus limit switch input 4 2 4 2 5 MEL 3 MEL 1 Minus limit switc...

Page 65: ...Signal Connection 51 PCI 8254 PCI 8258 Signal connection diagram Figure 3 6 Mechanical limit switch signal connection example ...

Page 66: ...ition See below for corresponding pins of original position switch signal input on DIN 825 GP4 Signal connection diagram Figure 3 7 Original position switch signal connection example J1 J2 Pin No Signal Name Description Axis 4 ORG 3 ORG 1 Original position switch input 3 1 3 1 8 ORG 4 ORG 2 Original position switch input 4 2 4 2 NOTE NOTE PCI 8258 need two DIN 825 GP4 for eight axes motion control...

Page 67: ... get into position When servo drive is set at speed torque S T mode the actuator sends a ZSP pulse signal to controller when motor speed is zero See below for corresponding pins of in position or zero speed detection signal input on DIN 825 GP4 Signal connection diagram Figure 3 8 Place zero speed detection signal connection example CMAx Pin No x 1 4 Signal Name n 1 4 Description Axis 2 ZSP n Zero...

Page 68: ... servo drive movement it issues an ALM pulse signal to controller for abnormality occurrence See below for corresponding pins of servo alarm signal input on DIN 825 GP4 Signal connection diagram Figure 3 9 Servo alarm signal connection example CMAx CMPx Pin No x 1 4 Signal Name n 1 4 Description Axis 11 ALM n Servo alarm input 1 4 NOTE NOTE PCI 8258 need two DIN 825 GP4 for eight axes motion contr...

Page 69: ...the PCI 8254 PCI 8258 turns off this signal automatically and stops all motion control commands See below for corresponding pins of servo on signal output on DIN 825 GP4 Signal connection diagram Figure 3 10 Servo on signal connection example CMAx CMPx Pin No x 1 4 Signal Name n 1 4 Description Axis 1 SVON n Servo on output 1 4 NOTE NOTE PCI 8258 need two DIN 825 GP4 for eight axes motion control ...

Page 70: ... sensor See below for corresponding pins of analog input signals on DIN 825 GP4 Signal connection diagram Figure 3 11 Analog input signal connection example J3 Pin No Signal Name Description 10 AIN1 Analog input 9 AIN2 Analog input 8 AIN3 Analog input 7 AIN4 Analog input NOTE NOTE Your PCI 8258 must come with two DIN 825 GP4 to get eight analog input signals where the first gets AIN1 AIN4 and the ...

Page 71: ...tial pulse signals to DIN 825 GP4 Signal connection diagram 1 Line Driver interface Figure 3 12 Line Driver type compare trigger signal connection example J3 Pin No Signal Name Description 2 TRG2 TRG4 Trigger output 2 4 3 TRG2 TGR4 Trigger output 2 4 4 TRG1 TRG3 Trigger output 1 3 5 TRG1 TRG3 Trigger output 1 3 NOTE NOTE The compare trigger pulse output channel of PCI 8254 PCI 8258 employs line dr...

Page 72: ...58 Signal Connection 2 Open Collector interface Figure 3 13 Open Collector type compare trigger signal connection example ...

Page 73: ...purpose digital input signal 4 2 J6 Pin No Signal Name Description 1 EDO 1 General purpose digital output signal 1 2 EDO 2 General purpose digital output signal 2 3 EDO 3 General purpose digital output signal 3 4 EDO 4 General purpose digital output signal 4 NOTE NOTE PCI 8258 need two DIN 825 GP4 for eight axes motion control functions 1 controls axes 1 4 and 2 controls axes 5 8 NOTE NOTE 1 Pleas...

Page 74: ...60 Signal Connection Signal connection diagram Figure 3 14 General purpose digital I O signal connection example ...

Page 75: ...Axis 1 5 DO 1 5 General purpose digital output signal 1 5 NOTE NOTE The digital output current may reach 250mA IOIF3 Pin No Signal Name Description Axis 6 8 DO 6 8 General purpose digital output signal 6 8 IOIF4 Pin No Signal Name Description Axis 1 8 DO 9 16 General purpose digital output signal 9 16 NOTE NOTE 1 Please connect DICOM to external power supply 24VDC in general if possible 2 Please c...

Page 76: ...nection Signal connection diagram PCI 8254 PCI 8258 IOIF1 IOIF2 P2 TDI PS2805 DICOM2 Switch Type BJT Type DOCOM DI DIN 825 GP4 PCI 8254 PCI 8258 DIN 825 GP4 IOIF3 IOIF4 P2 TDO 1 5 PS2802 DICOM2 DO 1 5 DOCOM2 DOCOM2 ...

Page 77: ...Signal Connection 63 PCI 8254 PCI 8258 Figure 3 15 General purpose digital I O signal connection example PCI 8254 PCI 8258 IOIF3 IOIF4 P2 TDO 6 16 PS2802 DICOM2 DOCOM2 DO 6 16 DIN 825 GP4 ...

Page 78: ...64 Signal Connection ...

Page 79: ...Contents Section 4 1 Motion Control Mode and Interface Overview Section 4 2 Closed loop Control Section 4 3 Motion Control Operations Section 4 4 Home Move Section 4 5 Velocity Move Section 4 6 Jog Move Section 4 7 Point to Point Move Section 4 8 Interpolation Section 4 9 Motion Status Monitoring Section 4 10 Application Functions Section 4 11 Safety Protection Section 4 12 Host Interrupt ...

Page 80: ...nsure their correctness APS_get_eep_curr_drv_ctrl_mode 4 1 1 2 Pulse Type You can use this control mode to control stepper motor or set it to P control mode to control servo motor with pulse format signal input The output interface of controller is OUT DIR 1 8 pins Please refer Chapter 3 for detail This is the so called open loop or semi closed loop control model where the upper controller output ...

Page 81: ...y motion control after the software is initialized This controller provides two pulse signal output format OUT DIR signal format At this mode the OUT signal indicates frequency and amount of output pulses where DIR indicates direction of machine movement CW CCW signal format At this mode the CW CCW signal indicates both machine movement direction and pulse output frequency and amount Figure 4 1 Fo...

Page 82: ...rolling with close loop PID controller 1 Make sure the AOUT voltage control level and logic ailing with the receiving end of servo motor See Section 4 2 Close loop control for its setup 2 How to set up Decoding method used by the encoder Please refer to the Encoder setup in next Section NOTE NOTE For axis with motion control interface set to analog output its analog output channle will be controll...

Page 83: ...alog output type closed loop control as invalid setup may lead to motor burst NOTE NOTE You may set up and test your controller with MotionCreatoPro 2 software You can check this by manually spinning the motor or move the workbench and verify the encoder signal from motor or linear scale to the controller No Decode Mode Positive direction Negative direction EA EB EA EB OUT DIR 1 CW CCW 1 1X AB 2x ...

Page 84: ...nput format Axis parameter setup API APS_set_axis_param write in axis parameter APS_set_axis_param read out axis parameter Param No Define symbol Description 80h 128 PRA_ENCODER_MODE Encoder input signal format 85h 133 PRA_ENCODER_DIR Encoder counting direction setup ...

Page 85: ...re used to work together with motion control Take example the home movement will use ORG PEL MEL EZ and other signals You may use following API functions to get I O status with each bit of the parameter representing status of the axis motion control I O I32 APS_set_servo_on I32 Axis_ID I32 Servo_on I32 APS_motion_status I32 Axis_ID Param Defined Symbol Type Description 0 ALM Input Servo alarm 1 PE...

Page 86: ...tion control I O to prevent abnormal motion control action caused by external noise The filter is defaulted at ON status Param No Define symbol Description 00h 0 PRA_EL_LOGIC PEL MEL input logic 01h 1 PRA_ORG_LOGIC ORG input logic 04h 4 PRA_ALM_LOGIC Set ALM logic 05h 5 PRA_ZSP_LOGIC PRA_INP_LOGIC Set INP logic 06h 6 PRA_EZ_LOGIC Set EZ logic Param No Define symbol Description Value Default 00h 0 ...

Page 87: ...n Control Cycle Default motion control cycle is set at 1KHz i e 1 millisecond for each cycle Varieties of peripheral hardware components controls including host communication trajectory calculation AMC program execution and data sampling are finished in it 4 1 2 3 Host Control Cycle Default host control cycle is 0 5 KHz That is it takes 2 millisecond to finish jobs in one control cycle including c...

Page 88: ... to unpredictable results This controller provides you with some functions and tools to monitor processor utilization rate and adjust control procedures In case of any processor overloading the controller logs and warns interrupt please refer to section of interrupt that you may take for proper responses in your program How to use API get_motion_control_timing get usage amount of current motion co...

Page 89: ...er on account of its simple structure and its capabilities in meeting most industrial control requirements Thanks to its PID velocity and acceleration feed forward design this controller provides much improved overall control performance with servo update rate up to 20KHz Below we first discuss the PID controller a continuous time standard PID controller mathematical form where is the combined con...

Page 90: ...creased high frequency range may speed up system responses of PD controller However this may lead to more Noise impact as a result of high frequency gain f PID Control A PID controller is a PI and PD combined controller The PID controller combines advantages of both PI and PD controllers to improve steady state error without sacrificing system response speed See Figure 4 4 of the close loop contro...

Page 91: ...g range of gaining value can be adjusted with the gain shift function as shown in the gain shift figure below The gain shift function double enlarges or reduces the gaining value Take example You can set KP gain to 100 KP shift to 2 and PID shift to 3 to get a equivalent KP of 100 22 23 3200 In general the gain shift value should be changed only when its range is short of required control power Th...

Page 92: ...78 Motion Control Theory Figure 4 4 PCI 8254 PCI 8258 close loop control structure diagram Figure 4 5 Gain and Gain shiftrelationship diagram ...

Page 93: ...e or contract 2n folds 31 31 5 9Ch PRA_KI_SHIFT Integral gain shift Enlarge or contract 2n folds 31 31 15 9Dh PRA_KD_SHIFT Derivative gain shift Enlarge or contract 2n folds 31 31 0 9Eh PRA_KVFF_SHIFT Velocity feedforward gain shift Enlarge or contract 2n folds 31 31 0 9Fh PRA_KAFF_SHIFT Acceleration feedforward gain shit Enlarge or contract 2n folds 31 31 0 A0h PRA_PID_SHIFT PID control shift Enl...

Page 94: ...ep 2 Select axis number Select the axis to be fine tuned in selection menu You can fine tune one axis at a time Step 3 Set up vibration amplitude The fine tuning process calculate gain value of proportional control integral control and derivative control through the back and forth motion of motor The settings of Amplitude determines the final result When running for the first time set up vibration...

Page 95: ...ent as possible Take example As shown in table below the value of standard deviation declines with increasing Hysteresis range On the contrary a PID controller with larger Hysteresis ranges may lead to smaller system band and slower system response as shown in table below In either case it is ensured that the controller can keep the system in specific performance range as shown in table below wher...

Page 96: ...y the smaller the fluctuation is the better the final convergence will be You may find out the best combination of vibration amplitude and fluctuation by trial and error Press the Set final bottom to set PID control gain to the control card Please note the feedforward control gain and filter stop working after you do this Step 7 PID controller performance test To be on the safer side please adjust...

Page 97: ... command and feedback The program stops when this value is exceeded and ignored it if it is set to zero UOM pulse 0 2000 Amplitude Set up vibration amplitude of output signal UOM Volt 0 10 1 Axis Designate axis for running auto fine tuning procedure 0 7 0 Data length Data Length Calculate required hysteresis range 0 200 Hysteresis Hysteresis range UOM pulse 0 50 Sampling time Cycle Time Encoder sa...

Page 98: ... vibration situation may appear when KP value is getting too high If this happens bring down the KP value until vibration situation disappears You may encounter the overshoot phenomenon Increase KD value until overshoot situation disappears then you can increase KP value In general for actuator in torque control mode the KP value is one fourth of that of the KD one Step 3 Before adjusting KI value...

Page 99: ...able below indicates corresponding axis parameters against biquad filter Mathematical formula for biquad filter is shown below Here and is the input and output of biquad filter 0 and and is the input and output of biquad filter 1 Commonly available filters are low pass filter and notch filter and will be reviewed in later sections You may design filters of combinations of various coefficients to m...

Page 100: ...A2 Biquad filter 0 coefficient 32768 32767 0 134h PRA_BIQUAD0_B0 Biquad filter 0 coefficient 32768 32767 1 135h PRA_BIQUAD0_B1 Biquad filter 0 coefficient 32768 32767 0 136h PRA_BIQUAD0_B2 Biquad filter 0 coefficient 32768 32767 0 137h PRA_BIQUAD0_DIV Biquad filter 0 coefficient 32768 32767 1 138h PRA_BIQUAD1_A1 Biquad filter 1 coefficient 32768 32767 0 139h PRA_BIQUAD1_A2 Biquad filter 1 coeffici...

Page 101: ...cutoff frequency will be attenuated Let s explain this effect with one example Assume a low pass filter with 1000 Hz cutoff frequency 100 microseconds sampling time and derived coefficients A1 at 32767 A2 at 11896 B0 at 1794 B1 at 3588 B2 at 1794 and DIV at 28046 See Figure below for simulation results from sine curves at different frequency This figure indicates that when input signal is a 30Hz s...

Page 102: ...th 1000Hz cutoff frequency 0 0 01 0 02 0 03 0 04 0 05 0 06 0 07 0 08 0 09 0 1 100 80 60 40 20 0 20 40 60 80 100 Time second Amplitude Original Signal Filtered Signal 0 0 001 0 002 0 003 0 004 0 005 0 006 0 007 0 008 0 009 0 01 100 80 60 40 20 0 20 40 60 80 100 Time second Amplitude Original Signal Filtered Signal ...

Page 103: ...tion filter parameters automatically for you You can adjust cutoff frequency from high to low and stop the adjustment process once high frequency noise disappears Usually you can start adjusting from 2000Hz downwards Note Too low a cutoff frequency may lead to poor response performance and even unstable situations Figure 4 10 MCP2 low pass filter setup page Figure 4 11 MCP2 notch filter setup page...

Page 104: ... pass cutoff frequency The passable frequency band is the Pass band and the attenuated frequency band the Stop band Let s explain this effect with one example Assume a notch filter with cutoff frequency at 100Hz low pass cutoff frequency at 95Hz high pass cutoff frequency at 105Hz sampling time at 100 microseconds and derived coefficients A1 at 32767 A2 at 16398 B0 at 16415 B1 at 32767 B2 at 16415...

Page 105: ...e 0 0 01 0 02 0 03 0 04 0 05 0 06 0 07 0 08 0 09 0 1 100 80 60 40 20 0 20 40 60 80 100 Time second Amplitude Original Signal Filtered Signal 0 0 02 0 04 0 06 0 08 0 1 0 12 0 14 0 16 0 18 0 2 100 80 60 40 20 0 20 40 60 80 100 Time second Amplitude Original Signal Filtered Signal ...

Page 106: ...here you can workout relevant filter coefficients according to your specifications Note You can set cutoff frequency to zero to close the notch filter Figure 4 14 MCP2 low pass filter setup page Figure 4 15 MCP2 notch filter setup page 0 0 01 0 02 0 03 0 04 0 05 0 06 0 07 0 08 0 09 0 1 100 80 60 40 20 0 20 40 60 80 100 Time second Amplitude Original Signal Filtered Signal ...

Page 107: ...ly and more accurately See figure below for overall structure where continuous sine wave input signals are generated with fixed amplitude and frequency You may retrieve servo motor s position feedback signal encoder to analyze close loop system s frequency response performance including PID controller feedforward control filter digital to analog conversion driver and servo motor This is a sine wav...

Page 108: ...pen loop system Controller output U pulse The input of plant Encoder Y pulse The output of closed loop system open loop system and plant Type Transfer function T Description Plant T Y U It includes servo motor system Open loop T Y E It includes PID controller and servo motor system Assume feed forward controller is disable and bypass Biquad filters Closed loop T Y R Total system CAUTION Set up you...

Page 109: ... versus actual distance unit of measure as oversized amplitude may lead to incorrect outcome as the calculation error may be too big while undersized one may affect machine safety adversely Take example A motor resolution at 10000 pulse rev may need to set the amplitude to around 300 pulse c Set up update cycle of each data points of the Bode plot Length of update cycle time may affect number of s...

Page 110: ...ot page as shown in figure below where the motor has null load and resolution at 10000 pulse rev the sine wave amplitude is set at 300 pulse with 100 data points each point s update cycle is 0 1 sec and frequency range is 10Hz 100Hz Table of the Bode plot s parameters Name Unit Range Description Start Frequency Hz 0 Frequency of sine wave End Frequency Hz 0 Frequency of sine wave Sine amplitude Pu...

Page 111: ...Motion Control Theory 97 PCI 8254 PCI 8258 MCP2 Bode plot page ...

Page 112: ... own coordinate system without restrictions Figure below indicates a coordinate system relation The unit conversion factor will be reviewed in next section Figure 4 16 Controller coordinates system block You may read out or set up coordinate command location or actual coordinate location I32 APS_get_command_f I32 Axis_ID F64 Command command location reading I32 APS_get_command_f I32 Axis_ID F64 Co...

Page 113: ...or can have actual mapping against physical distance unit of coordinate system by setting up proper unit factor The calculation formula is described below We use three examples to explain the way how Unit factor is calculated Example 1 Ball screw carrier Assume encoder counts resolution generated by one spin of the motor is 10000 and the screw pitch is 10mm and the user desired distance unit of me...

Page 114: ...he user desired distance unit of measure is Millimeter then the Unit factor can be calculated as Unit factor can be calculated as described below Example 3 Linear Motor system with Linear Scale Take optical resolution at 1 micrometer and distance at millimeter then the unit factor should be 2 1 2 1000 10 10000 m mm t i n U r o t c a f μ Picth 5 cm Motor 2 3 8 6 7 1 2 5 0 0 1 8192 mm cm t i n r o t...

Page 115: ...ters related with distance unit of measure e g position velocity and acceleration unit of measure will be affected and you are required to change and adjust relevant setting on your own Param No Define symbol 07h 7 PRA_SD_DEC 0Ah 10 PRA_SPEL_POS0 0Bh 11 PRA_SMEL_POS1 13h 19 PRA_HOME_ACC 15h 21 PRA_HOME_VM 17h 26 PRA_HOME_SHIFT 19h 25 PRA_HOME_VO 1Bh 27 PRA_HOME_POS 21h 33 PRA_ACC 22h 34 PRA_DEC 23...

Page 116: ...llowing acceleration profiles 1 Trapezoidal speed profile T curve 2 S curve 4 3 3 1 Trapezoidal Speed Profile T curve Trapezoidal speed profile the so called T curve is a curve where the acceleration zone and deceleration zone matches first order linear speed profile equivalent acceleration As shown in the velocity time chart V T Figure 4 17 Relation of trapezoidal speed profile s speed accelerati...

Page 117: ...ile maintain the acceleration as shown in figure below Figure 4 18 Maximum speed by auto planning MaxVel is the maximum velocity set up by user dotted line indicate speed profile with sufficient distance As the movement distance is insufficient the controller adjust the maximum velocity to MaxVel automatically The acceleration and deceleration rate remain intact to maintain the best shortest motio...

Page 118: ...nts t1 t3 t5 t7 in figure below To shorten acceleration and deceleration time the linear section t2 t6 is inserted in these area to maintain the maximum acceleration and so get an acceleration time A T chart in Trapezoidal Figure 4 19 S curve s velocity acceleration and jerk versus time Start velocity End velocity Max velocity Max acceleration Max acceleration Acc Dec Distance Time Time Time Tacc ...

Page 119: ... the more smooth the speed profile and the smaller jerk value will become This helps in reducing motor vibration However the motion process takes more time to complete On the contrary the smaller the S value is the greater the jerk value become and the motion time reduces to the shortest As with a T curve when motion distance is insufficient the controller adjust the maximum velocity automatically...

Page 120: ...o velocity Acceleration profile and its rule described above applies with single axis point to point movement PTP velocity movement home movement and interpolation among multiple axis Time Velocity MaxVel Start velocity Time Acceleration Acce MaxVel Time Jerk ...

Page 121: ...axis parameters Param No Define symbol Description 12h 18 PRA_HOME_CURVE Home move S factor 20h 32 PRA_SF Move S factor 42h 66 PRA_JG_SF Jog S factor NOTE NOTE You may set up S factor directly in some API please refer to Function library manual for detail ...

Page 122: ...zero position with the help of some external signals After the home movement is completed the controller axis stops at the original postion while command position and feedback position reset to zero All the home movement related operations are executed by the controller automatically No user interaction is required Just wait it to complete automatically You can finish home movement operation by st...

Page 123: ...tes I32 axis_id 0 I32 return_code I32 msts 1 Select home mode and config home parameters APS_set_axis_param axis_id PRA_HOME_MODE 0 Set home mode APS_set_axis_param axis_id PRA_HOME_DIR 1 Set home direction APS_set_axis_param axis_id PRA_HOME_CURVE 0 Set acceleration pattern T curve APS_set_axis_param axis_id PRA_HOME_ACC 1000000 Set homing acceleration rate APS_set_axis_param axis_id PRA_HOME_VM ...

Page 124: ...me move done do Sleep 100 msts APS_motion_status axis_id Get motion status msts msts MTS_NSTP 1 Get motion done bit while msts 1 4 Check home move success or not msts APS_motion_status axis_id Get motion status msts msts MTS_ASTP 1 Get abnormal stop bit if msts 1 Error handling I32 stop_code APS_get_stop_code axis_id stop_code else Homing success ...

Page 125: ...ngle EZ signal homing Home mode 2 Homing process and relevant parameters of these three modes are described below 4 4 1 OGR Signal Homing Home Mode 0 There are three cases for this mode according to its initial position Condition A The initial position is located between MEL and ORG signals or at MEL signal Condition B Ths initial position is located at ORG signal Condition C The initial position ...

Page 126: ..._HOME_ACC ACC Acceleration and deceleration in unit of distance unit of measure sec 2 PRA_HOME_VS VS Initial speed in unit of distance unit of measure sec PRA_HOME_VM VM Speed of original position searching in unit of distance unit of measure sec PRA_HOME_VO VO Homing speed in unit of distance unit of measure sec PRA_HOME_SHIFT 0 Shift amount of final homing position against alignment signal dista...

Page 127: ...d And stops at the right edge of ORG signal close to PEL mechanical signal Figure below indicates home movement when PRA_DIR is set to negative direction Relevant axis parameters setup Axis parameters Axis parameter values Description to axis parameter value PRA_HOME_MODE 0 Employing home mode 0 homing by ORG signal PRA_HOME_DIR 1 By negative direction forward homing PRA_HOME_EZA 0 Further align w...

Page 128: ...ameters Axis parameter values Description to axis parameter value PRA_HOME_MODE 0 Home mode 0 PRA_HOME_DIR 0 Homing by moving forward in positive direction PRA_HOME_EZA 1 Further align with signal EZ 0 No 1 Yes PRA_HOME_S 0 S curve factor PRA_HOME_ACC ACC Acceleration and deceleration in unit of distance unit of measure sec 2 PRA_HOME_VS VS Initial speed in unit of distance unit of measure sec Con...

Page 129: ... Shift amount of homing position distance unit of measure Axis parameters Axis parameter values Description to axis parameter value PRA_HOME_MODE 0 Employing home mode 0 homing by ORG signal PRA_HOME_DIR 1 By negative direction forward homing PRA_HOME_EZA 1 Further align with signal EZ 0 No 1 Yes PRA_HOME_S 0 S curve factor Axis parameters Axis parameter values Description to axis parameter value ...

Page 130: ...2 PRA_HOME_VS VS Initial speed in unit of distance unit of measure sec PRA_HOME_VM VM Speed of original position searching in unit of distance unit of measure sec PRA_HOME_VO VO Homing speed in unit of distance unit of measure sec PRA_HOME_SHIFT 0 Shift amount of homing position distance unit of measure Axis parameters Axis parameter values Description to axis parameter value Condition B and C Con...

Page 131: ...leration and deceleration in unit of distance unit of measure sec 2 PRA_HOME_VS VS Initial speed in unit of distance unit of measure sec PRA_HOME_VM VM Speed of original position searching in unit of distance unit of measure sec PRA_HOME_VO VO Homing speed in unit of distance unit of measure sec PRA_HOME_SHIFT Shift amount Shift amount of homing position distance unit of measure ORG 溆ỵ伖 PEL MEL 䉨㱩...

Page 132: ...EL Axis parameters Axis parameter values Description to axis parameter value PRA_HOME_MODE 1 Employing home mode 1 homing by EL signal PRA_HOME_DIR 0 Employing positive direction forward homing PRA_HOME_EZA 0 Further align with signal EZ 0 No 1 Yes PRA_HOME_S 0 S curve factor PRA_HOME_ACC ACC Acceleration and deceleration in unit of distance unit of measure sec 2 PRA_HOME_VS VS Initial speed in un...

Page 133: ...ers Axis parameter values Description to axis parameter value PRA_HOME_MODE 1 Employing home mode 1 EZ signal homing PRA_HOME_DIR 0 Employing positive direction forward homing PRA_HOME_EZA 1 Further align with signal EZ 0 No 1 Yes PRA_HOME_S 0 S curve factor PRA_HOME_ACC ACC Acceleration and deceleration in unit of distance unit of measure sec 2 PRA_HOME_VS VS Initial speed in unit of distance uni...

Page 134: ... control axis stops at EZ signal edge after home movement is completed as shown in figure below Condition B Initial position Home position Condition A VM Home searching speed VO Home approaching speed Initial position Condition B Initial position Home position Condition A VM Home searching speed VO Home approaching speed Initial position ...

Page 135: ...escription to axis parameter value PRA_HOME_MODE 2 Employing home mode 2 single EZ signal homing PRA_HOME_DIR 0 Employing positive direction forward homing PRA_HOME_EZA 0 Further align with signal EZ 0 No 1 Yes PRA_HOME_S 0 S curve factor PRA_HOME_ACC ACC Acceleration and deceleration in unit of distance unit of measure sec 2 PRA_HOME_VS VS Initial speed in unit of distance unit of measure sec PRA...

Page 136: ...rection forward homing PRA_HOME_EZA 0 Further align with signal EZ 0 No 1 Yes PRA_HOME_S 0 S curve factor PRA_HOME_ACC ACC Acceleration and deceleration in unit of distance unit of measure sec 2 PRA_HOME_VS VS Initial speed in unit of distance unit of measure sec PRA_HOME_VM VM Speed of original position searching in unit of distance unit of measure sec PRA_HOME_VO VO Homing speed in unit of dista...

Page 137: ...4 PCI 8258 Figure 4 29 Home mode 2 adverse Case EZ NOTE NOTE In this mode parameter PRA_HOME_EZA is functionless Condition B Initial position Home position Condition A VM Home searching speed VO Home approaching speed Initial position ...

Page 138: ...at the same time for synchronized enabling Please note that movement of each axis is independent from each other and so the end time varies with setup values of given parameters Relevant APS API described below I32 APS_vel give velocity movement with F64 data format I32 APS_vel_all give velocity movement and all velocity parameters I32 APS_stop_move stops by deceleration I32 APS_emg_stop stops imm...

Page 139: ...4 speed_1 500 0 F64 speed_2 1000 0 F64 speed_3 600 0 APS_set_axis_param_f axis_id PRA_STP_DEC 10000 0 APS_set_axis_param_f axis_id PRA_CURVE 0 5 Set acceleration rate APS_set_axis_param_f axis_id PRA_ACC 10000 0 Set acceleration rate APS_set_axis_param_f axis_id PRA_DEC 10000 0 Set deceleration rate APS_vel axis_id 0 speed_1 0 Start a velocity move Sleep 2000 Wait 2 second APS_vel axis_id 0 speed_...

Page 140: ... control input signal EMG ALM PEL and MEL may lead to termination of movement please refer to sections about safety protection CAUTION In velocity movement mode the target position may be updated from time to time as the command position does ...

Page 141: ... of coding control program There are two jog movement modes 1 Continuous mode This is similar to velocity movement with given maximum speed and acceleration profile When JOG ON signal produces rising edge event trigger then the specified control axis starts velocity movement When JOG ON signal produces falling edge event trigger then the specified control axis starts deceleration stop See figure b...

Page 142: ...is useful in achieving more precise offset control during fine tuning Figure 4 31 Jog step mode JOG ON and digital input signal linkage The JOG ON control signal not only can be given with API function but also can be used in setting digital input signal as control signal You may set up axis parameter 48h 49h 4Ah and 4Bh in two methods distinguished by number of DI points 1 Use two DI channel and ...

Page 143: ...alue 0 46h PRA_JG_OFFSET Set up JOG offset position Step mode use Value 0 47h PRA_JG_DELAY Set up JOG delay time step mode use 0 10 000 000 us 48h PRA_JG_MAP_DI_EN Set up JOG signal and DI signal correlation that is opposite direction DI signal 49h PRA_JG_P_JOG_DI Set DI signal of certain channel to positive direction JOG signal 4Ah PRA_JG_N_JOG_DI Set DI signal of certain channel to negative dire...

Page 144: ...safety protection related sections 2 In continuous mode the target position may be updated from time to time so does the command position 3 When control axis is in jog movement other movement commands is disabled to prevent malfunctions 4 When the control axis is running other movements e g home movement the jog command will be ignored ...

Page 145: ...ocity maximum velocity end velocity and acceleration deceleration parameters that can be adjusted individually as shown in figure below See Acceleration Deceleration Profile in Section 4 3 3 for detail Figure 4 32 T curve V T chart In addition the APS_motion_status function can be used to get motion status data of each axis to identify the end of PTP movement See Section 4 9 for description on mot...

Page 146: ... enabled by trigger When proper command is received the axis enters a waiting for trigger signal status and starts moving after the trigger is received When multiple axes are in waiting for trigger signal status you may send trigger at the same time for synchronized enabling Please note that movement of each axis is independent from each other and so the end time varies with amount and acceleratio...

Page 147: ... 10 commands After the first PTP command is received the axis starts moving immediately You may give PTP commands during movement in process Following commands are stored in buffer queuing for execution After the first movement arrived at given position the controller continuous executing PTP commands in buffer until there is no new command in existence You may set up blend mechanism for speed com...

Page 148: ... Buffered Figure 4 34 Continuous three position V T chart 2 Blend low Blend with the one with slower maximum speed Figure 4 35 Continuous three position V T chart auto speed connection 1 3 Blend high Blend with the one with faster maximum speed Figure 4 36 Continuous three position V T chart auto speed connection 2 T T T ...

Page 149: ...vious Blend in the maximum speed of the previous one Figure 4 37 Continuous three position V T chart auto speed connection 3 5 Blend next Blend in the maximum speed of the next one Figure 4 38 Continuous three position V T chart auto speed connection 4 T T ...

Page 150: ...ecute a 2 axes straight line interpolation by Axis 1 and Axis 2 the axis ID array can be declared as described below In example below the first axis ID in axes_array is Axis 1 Then the interpolation movement required initial speed maximum speed ending speed and acceleration rate are all set up relative to axis parameters of Axis 1 If Axis 2 is the first element in axes_array then Axis 2 is the ref...

Page 151: ...nterpolation ΔX and ΔY is the offset at X axis and Y axis respectively Interpolation distance is set according to component of each axis e g relative distance ΔX and ΔY or absolute coordinates of ending point E The composite shift ΔP can be calculated by formula described below Velocity and acceleration are set by composite vectors Component of each axis take composite velocity Vx and Vy as exampl...

Page 152: ...ive position in I32 data format Relevant axis parameters 4 8 2 Arc Interpolation This controller supports 2 dimension and 3 dimension arc interpolation as well as multiple input methods to deal with demands of various applications 2D and 3D arc movement and its command composition methods are described below 4 8 2 1 3D Arc Interpolation An arc can be described by method 1 given center of circle an...

Page 153: ...ller is default to correct your normal vector value if necessary Auto Normal Vector Correct If the normal vector entered by you is not the orthogonal vector from center of circle to starting point the controller correct your entry value automatically by Gram Schmidt normalization Function name Description APS_arc3_ca APS_arc3_ca_v APS_arc3_ca_all Execute 3 dimension arc interpolation with center a...

Page 154: ...own in figure below where the your thumb indicates normal vector direction and the other four fingers the positive rotating direction Enter negative value for angle parameter to rotate in opposite direction Set up angle value directly to execute multiple laps circles greater than 360 degrees e g 2 laps 720 degree Figure 4 42 Determining arc direction in space ...

Page 155: ...r or applications that need accurate positioning This method has two restrictions 1 It cannot execute half circle angle of 180 degree 2 It cannot execute full circle angle of 360 degree Figure 4 43 Three dimension arc interpolation method 2 How to determine direction of arc Use the right hand grip rule as shown in figure below where the your thumb indicates normal vector direction and the other fo...

Page 156: ...n center of circle and angle method 2 given center of circle and end point 2D arc has the same setup method as the 3D one does See 3D arc interpolation for detail Relevant APS API described below I32 APS_arc2_ca I32 APS_arc2_ca_v I32 APS_arc2_ca_all I32 APS_arc2_ce I32 APS_arc2_ce_v I32 APS_arc2_ce_all Dir calculation formula Angle Degree 0 30 0 x 360 30 1 30 1 x 360 390 2 30 2 x 360 750 1 30 1 x ...

Page 157: ...End Both methods are described below Method 1 Given center of circle and angle Center Angle See table and figure below for helical curve parameters Example Figure 4 45 Three dimension spiral interpolation method 1 Parameters Description Center point Center of circle relative or absolute Angle Starting point and ending point angle projected at the circle plane of starting point as shown in figure b...

Page 158: ...ameters can be set up as the 3D arc does See prior section for detail Figure 4 46 Three dimension spiral interpolation method 2 Parameters Description Center point Center of circle relative or absolute Normal vector Normal vector of starting point circle plane End point Ending point of cone relative or absolute Direction Rotating direction and laps ...

Page 159: ...l_ca_v Start up 3D helical interpolation maximum velocity parameter I32 APS_sprial_ca_all Start up 3D helical interpolation all velocity parameter setup Method 2 Center End I32 APS_sprial_ce Start up 3D helical interpolation I32 APS_sprial_ce_v Start up 3D helical interpolation maximum velocity parameter I32 APS_sprial_ce_all Start up 3D helical interpolation all velocity parameter setup Param No ...

Page 160: ... queueing for execution Figure 4 47 Illustration on continuous interpolation Buffer movement For continuous interpolation the only restriction is that the dimension and axis ID must remain the same E g 3D straight line must link with 3D arc but not 2D arc and axis to be used must be the same as well This controller provides seven setup methods for speed blending between two adjacent paths 1 Aborti...

Page 161: ...onstant motion speed These three methods differ in their beginning time of blending which may affect the actual calculation path in blending process and path errors against user s plan You may select and adjust as required These seven speed link methods are described below 1 Aborting and blending If the aborting is received the interpolation command take effects immediately and operation transfer ...

Page 162: ...ing method 2 3 Aborting stop After command is received the original interpolation command slows down to stop deceleration rate adjustable new interpolation command starts after movement fully stopped Take figure below When executing a straight line interpolation command from S1 to E1 a abort decelerate interpolation command is given at position E1 The controller then slows down according to given ...

Page 163: ... minor slowdown between two interpolation commands you may set up ending speed of previous interpolation command and starting speed of next interpolation command properly Figure 4 51 Velocity blending method 4 5 Blending when deceleration start When new interpolation command is received it is saved in motion buffer first When original interpolation command starts slowing down the new interpolation...

Page 164: ...tance E1 as shown in figure below Figure 4 53 Velocity blending method 6 5 Blending when residue distance met Similar to method 6 but with given residual distance ratio percentage of residual distance to interpolation distance as the P in figure below Take figure below If the residual distance ratio is set to 10 and the straight line interpolation distance from S1 to E1 is 1000 the the next interp...

Page 165: ...Motion Control Theory 151 PCI 8254 PCI 8258 Example Figure 4 55 Continuous interpolation examples ...

Page 166: ...of homing process That is read motion status signal of controller at regular time span Next stage control operation starts only after current movement is completed In addition there may be exceptional situations occurred during motion operation The upper control program must be able to detect abnormality and deal with exceptions accordingly Take example When emergency stop button is pressed during...

Page 167: ...motion status Bit No 7 6 5 4 3 2 1 0 Status HMV MDN DIR DEC ACC VM CSTP Bit No 15 14 13 12 11 10 9 8 Status JOG PTB WAIT Bit No 23 22 21 20 19 18 17 16 Status POSTD PRED BLD ASTP Bit No 31 30 29 28 27 26 25 24 Status GER Bit No Define Description 0 CSTP End of single motion command 1 VM At maximum speed 2 ACC Accelerating 3 DEC Decelerating 4 DIR Motion direction 1 Positive and 0 Negative 5 MDN En...

Page 168: ...ent is decelerating DIR when this signal is ON the movement is moving at positive direction When movement stops the DIR saves status right before movement stopped 15 JOG Jog movement in progress 16 ASTP Clear this signal after next movement is executed 17 BLD The axis is running blending movement 18 PRED Pre offset event clear this signal after next movement is executed 19 POSTD Post offset event ...

Page 169: ...eted Single movement command is a single axis point to point movement and multiple axes point to point movement Multiple movement is like homing movement combinated by a series of movement With this signal you may use polling or interrupt event generation to schedule movement process Note Abnormal movement stop will generate this signal as well You may ensure abnormal movement stop by checking AST...

Page 170: ...n Homing signal HMV When home movement command home is received at the controller and home movement starts being executed the HMV signal sets NO 1 When home movement is completed or aborted this signal is turned off 0 See Section 4 4 for detailed home movement Time Velocity Time MDN home ptp ...

Page 171: ...the signal is at status ready for movement triggering When trigger is sent Use move_trigger function to trigger queueing axis When parameter Flag is set to MF_WAIT 0x00100 for motion control functions listed below the relevant commands are set to trigger initiated The target axis do not start up immediately only the WAIT signal is set to ON Time Velocity Time MDN home HMV ...

Page 172: ...his signal is set to ON and to OFF when movement is completed Bit 15 Jog movement signal JOG When an axis is doing jog movement the JOG signal is set to ON and to OFF when jog movement is completed See Section 4 6 for detailed jog movement Time Velocity Time Move_trigger 0x3 Axis0 WAIT Time Axis 0 Axis 1 ptp axis0 MF_WAIT ptp axis1 MF_WAIT Axis1 WAIT ...

Page 173: ...ns on when movement is aborted by certain reasons See table below for causes to abnormal stop You may use get_stop_code function to get abnormal stop code Stop code This code can be used in follow up error handling procedure Figure 4 62 Relation of ASTP VS motion JOG ON 訊號 OFF 0 ON 1 Velocity Time MDN JOG Time Time Velocity Time MDN ptp dec_stop ASTP ...

Page 174: ...n movement command can set up pre distance and post distance to trigger the controller to issue signals when distance of movement meet given conditions The controller starts recording shift distance of movement when point to point movement is started When distance of movement is greater than pre distance the pre distance event occurs Similarly when remaining shift distance of the point to point mo...

Page 175: ...ry 161 PCI 8254 PCI 8258 Figure 4 64 Relation between pre and post distance event signals and movement Time Velocity Post distance Pre distance Time Pre distance event PRED Post distance event POSTD Motion done event MDN ...

Page 176: ...es special safety and control behaviors These two modes are described in sections below 4 10 1 1 Standard Mode To set up a electronic gear in standard mode select a slave axis all parameters and commands are set by reference to this axis Set up axis parameters listed below before initiating electronic gear mode Use APS_start_gear slave axis ID to enable electronic gear function after setup After t...

Page 177: ...elieved by users 2 Master axis stops when EMG ALM PEL MEL ALM signal of slave axis is set to ON 3 Master and slave axes stop when stop emg_stop and servo_off commands received by the slave axis 4 Gear ration is fixed at 1 1 and cannot be changed 5 Settings of engage rate are ignored In addition this mode features a protection mechanism against two levels of mis position errors The controller check...

Page 178: ...vides Compare trigger with structure as shown in figure below Trigger is sent by TRG0 3 You can set up two trigger output formats The one is pulse output and other is level toggle output Length and logic of pulse signal can be adjusted by embedded PWM module The PWM signal can be generated in two ways The one is to generate trigger by manual trigger by calling API The other is compare trigger that...

Page 179: ...TGR_TRGx_SRC Set up TRG0 3 trigger source You can have multiple sources to choose 0x14 0x17 TGR_TRGx_PWD Set up TRG0 3 pulse width 0x18 1B TGR_TRGx_LOGIC Set up TRG0 3 logic level 0x1C 1F TGR_TRGx_TGL Set up TRG0 3 output format 0x20 TIMR_ITV Set up timer interval 0x21 TIMR_DIR Set up timer counting direction 0x22 TIMR_RING_EN Set up timer counter overflow activity 0x23 TIMR_EN Start up timer ...

Page 180: ...d There are two kinds of comparators the one is the encoder counters 0 7 of each axis and the other is the timer There are two compare methods too linear compare trigger and table compare trigger Operation rules and methods of both triggers are described below 4 10 2 2 1 Linear Compare Trigger You may need to define the subject to be compared encoder counter or timer before using the linear compar...

Page 181: ...able points Use APIs below to set up start point repeat times and interval of linear compare APS_set_trigger_linear Example Figure 4 67 Linear compare trigger example Parameters of linear compare trigger NO Define Description 0x00 TGR_LCMP0_SRC Compare source of linear comparator LCMP0 0x01 TGR_LCMP1_SRC Compare source of linear comparator LCMP1 ...

Page 182: ...ny four points P1 P4 and send triggers when motor reaches each of them as shown in figure below Figure 4 68 Table compare trigger example Parameters of table compare trigger 0x02 TGR_TCMP0_SRC Set up compare subject of table comparator CH0 0x03 TGR_TCMP1_SRC Set up compare subject of table comparator CH1 0x04 TGR_TCMP0_DIR Set up compare direction of table comparator CH0 0x05 TGR_TCMP1_DIR Set up ...

Page 183: ...l cycle You can input point array of any size in the APS function library limited by system memory size The APS function library shall load all compare points to the controller dynamically No extra program coding is required for loading compare point dynamically in the controller even in case of many compare points APIs for loading compare table array APS_set_trigger_table Figure 4 69 Table compar...

Page 184: ...peeds Your PCI 8254 8 features two VAO controllers with output channels that you can set as required This enables it to output the same or different PWMs in multiple channels concurrently Each VAO controller may switch among different VAO table to meet the multi level cutting requirements Your PCI 8254 8 features eight VAO tables Table 0 7 to come up with corresponding PWM settings by interpolatin...

Page 185: ... The fixed PWM frequency is 1 T and the PWM duty cycle W1 T W2 T and W3 T based on VAO table under speed V1 V2 and V3 with different PWM pulse width at W1 W2 and W3 See below for details on VAO table To use this control mode to set 1 Set up control mode Use APS_set_vao_param to set up value of VAO_TABLE_OUTPUT_TYPE parameter to 0x1 2 Set up fixed PWM output frequency Use APS_set_vao_param to set u...

Page 186: ...dth W the VAO table gives PWM frequency 1 T1 1 T2 and 1 T3 at speed V1 V2 and V3 as shown in figure below To use this mode to 1 Set up control mode Use APS_set_vao_param to set up value of VAO_TABLE_OUTPUT_TYPE parameter to 0x2 2 Set up fixed PWM output pulse width Use APS_set_vao_param to set up parameter VAO_TABLE_PWM_Config in unit of ns Valid input range is 20ns 335544320 ns ...

Page 187: ...now 4 10 3 3 VAO Table The VAO table is designed to give speed based PWM power for VAO controller to control actual PWM output signal The VAO module features eight VAO tables for layered cutting Each table may contain up to 32 speed power pairs See below for details on calculating speed based power value In figure below the X axis is for composite speed of axes and the Y axis its relevant PWM powe...

Page 188: ...t channels for users selection You may set multiple channels to output the same control signals at the same time Individual VAO modules are now opened with specific APS_start_vao functions Mode Power output range Resolution 1 PWM mode Duty cycle 0 2000 0 05 100 0 05 2 PWM frequency mode with fixed width Frequency 3Hz 50MHz 1 Hz 3 PWM frequency mode with fixed duty cycle Frequency 3Hz 50MHz 1 Hz ...

Page 189: ...he PWM 0 starts output when DO2 changes from high to low when the logic is set to 0 Please note that if pairing relation is set before VAO module s PWM output opening the PWM output may start or stop in accordance with existing digital NO Define Description Value Default 0x00 2 N Note N is Table No range is 0 7 VAO_TABLE_OUTPUT_TYPE Table output type 1 PWM mode 2 PWM frequency mode with fixed widt...

Page 190: ...relation diagram Table 4 4 Board parameter table NO SYMBOL Description Default 110h PRB_PWM0_MAP_DO 1 1 Disable mapping 0 Enable mapping 2 Bit0 7 Specify a Do channel 3 Bit8 Select logic Set to 1 Turning on Do maps enabling PWM0 Turning off Do maps disabling PWM0 Set to 0 Turning on Do maps disabling PWM0 Turning off Do maps enabling PWM0 1 111h PRB_PWM1_MAP_DO Please see description of PRB_PWM0_M...

Page 191: ..._vao_param 0x00 set to 2 PWM frequency mode with fixed width 0x01 set to 1 command speed 0x10 set to 1000 set fixed pulse width to 1000 ns 0x20 set to 3 Axis0 and Axis1 are selected b Velocity to Power mapping lookup table APS_set_vao_table Frequency range 1 25Mhz for PCI 8253 6 Points range 1 32 points c Switch VAO table APS_switch_vao_table d Enable VAO output channel APS_start_vao 3 PWM frequen...

Page 192: ...pdate rate is 1ms and 250us respectively sampling rate of the sampling process is 1ms and the sampled signals are sent by APS library to MotionCreatorPro2 or other applications to display The close loop control signal would be a better choice for learning the system s overall control performance Please note that close loop control signal sampling is invalid in pulse control mode See table below fo...

Page 193: ...on section motion status DEC 0 Null deceleration 1 Current deceleration SAMP_SRC_MSTS_CSTP Axis 0 7 Integer Motion status The Stop motion command motion status CSTP 0 During movement 1 Stop the movement command SAMP_SRC_MSTS_MDN Axis 0 7 Integer Motion status Movement completed motion status MDN 0 During movement 1 Movement completed SAMP_SRC_MIO_INP Axis 0 7 Integer Motion status Movement in plac...

Page 194: ...No 0 1 Double Composed velocity for Laser power control Unit pulse sec SAMP_PTBUFF_COMP_VEL_F64 Table 0 1 Double Composed velocity of point table Unit pulse sec SAMP_PTBUFF_COMP_ACC_F64 Table 0 1 Double Composed acceleration of point table Unit pulse sec2 Signal name Range Data type Descriptions PID_CMD_POS_COUNT Axis 0 7 Integer Position command Unit pulse PID_CMD_ACC_COUNT Axis 0 7 Integer Accel...

Page 195: ...is 0 7 Integer Biquad Filter 1 output Unit pulse PID_ERR_POS_SUM_COUNT Axis 0 7 Integer Error position accumulation of integral control PID_LAST_ERR_POS_COUNT Axis 0 7 Integer Error position of derivative control at last moment Unit pulse PID_ERR_POS_DIFF_COUNT Axis 0 7 Integer Error position differential of derivative control Unit pulse 7 6 5 4 3 2 1 0 SVON INP EZ EMG ORG MEL PEL ALM 15 14 13 12 ...

Page 196: ... limit 3 ORG Original input Home input 4 EMG Emergency stop input 5 EZ Servo index input 6 INP In Position input 7 SVON Servo ON output status 11 SPEL 1 Soft positive end limit condition match 12 SMEL 1 Soft minus end limit condition match 7 6 5 4 3 2 1 0 HMV MDN DIR DEC ACC VM CSTP 15 14 13 12 11 10 9 8 JOG PTB WAIT 23 22 21 20 19 18 17 16 POSTD PRED BLD ASTP 31 30 29 28 27 26 25 24 GER ...

Page 197: ... homing 10 WAIT Axis is in waiting state Wait move trigger 11 PTB Axis is in point buffer moving When this bit on MDN and ASTP will be cleared 15 JOG In jogging 16 ASTP 0 Stop normally 1 abnormal stop When axis in motion this bit will be clear 17 BLD Axis Axes in blending moving 18 PRED Pre distance event 1 event arrived The event will be clear when axis start moving 19 POSTD Post distance event 1...

Page 198: ... profile Please enables simultaneous start by steps below a Set axis movement to triggered startup and check the axis status for waiting for trigger b Send the trigger to run synchronized start a Set axis movement to triggered startup and check the axis status for waiting for trigger You may set up the startup by trigger mode by the Option parameter of the controller s function The axis enters tri...

Page 199: ...illustration of motion set to trigger waiting Relevant APS API described below I32 APS_ptp I32 APS_ptp_v I32 APS_ptp_all I32 APS_line I32 APS_line_v I32APS_line_all I32 APS_vel I32 APS_vel_all I32 APS_arc2_ca I32 APS_arc2_ca_v I32 APS_arc2_ca_all I32 APS_arc2_ce I32 APS_arc2_ce_v I32 APS_arc2_ce_all Motion status definition table 7 6 5 4 3 2 1 Bit 0 HMV MDN DIR DEC ACC VM CSTP 15 14 13 12 11 10 9 ...

Page 200: ...ger signal to run synchronized start You may enable multiple axes at the same time by sending trigger signal with function in form of I32 APS_move_trigger See figure below for multiple axes concurrent startup by trigger Relevant APS API described below I32 APS_move_trigger trigger issued I32 APS_stop_move synchronized deceleration stopped I32 APS_stop_move synchronized Emg stopped Time Velocity Ti...

Page 201: ...e arc and spiral interpolation and dwell The instruction command covers digital output and VAO table switch which can be used to program application relevant requirements 4 10 6 1 Point Table Parameter Setup There are three groups of point table parameters a Movement parameter setup b Instruction command setup c Set movement command to point table include APS168 h include APS_define h include Erro...

Page 202: ...the point table s movement one That is it may control digital outputs concurrently at different movement section during motion execution Movement parameter setup Paired APS function Absolute relative movement APS_pt_set_absolute APS_pt_set_relative Maximum speed APS_pt_set_vm Ending speed APS_pt_set_ve Acceleration APS_pt_set_acc Deceleration APS_pt_set_dec Acceleration and deceleration APS_pt_set...

Page 203: ...nt The controller features two point table which contains 50 buffer points respectively You may enjoy point table functions of large amount of points and free from any practical limits by monitoring the usages status of buffer point space and reloading these 50 buffer point space repetitively A point table movement can be executed in following steps a Enable disable point table function b Monitor ...

Page 204: ...ing in all the graphic points dynamically c Start stop point table movement After enabling the point table and fill in the buffers with movement commands you can then start up the point table function The motion kernel program starts executing movement commands contained in buffer points in sequence until interrupted or each buffer point has been executed Point table functions Paired APS function ...

Page 205: ...is 1 to point table 0 PTLINE Prof PTSTS Status Enable point table id 0 for 2D dimension with aixs 0 and axis 1 APS_pt_enable Board_ID PtbId Dimension AxisArr Enable point table id 0 Get status of point table id 0 to monitor buffer APS_get_pt_status Board_ID PtbId Status if Status BitSts 0x02 Point buffer is not full Push move into point buffer Prof Dim 2 Prof Pos 0 10000 Prof Pos 1 10000 ret APS_p...

Page 206: ...ncluding emergency stop EMG servo alarm ALM and mechanical plus and minus limit PEL and MEL Detailed operation theories are described below 4 11 1 1 Emergency Stop EMG See table below for EMG hardware input pins EMG signal is a hardware input signal When EMG signal is set to ON status the controller responses with following actions 1 If the EMG signal is set to ON when the axis is in motion status...

Page 207: ...normal stop ASTP ON 2 If the axis is not in motion status and the ALM signal is asserted then user s motion command shall be ignored by the controller while error stop code of the axis is set to 2 STOP_ALM and motion status of axis is set to abnormal stop ASTP ON 4 11 1 3 Plus and Minus Limit Signal PEL MEL See table below for EL hardware input pins and corresponding axis number P1A Pin No Signal ...

Page 208: ...is immediately and error stop code of the axis is set to 5 STOP_MEL and motion status of axis is set to abnormal stop ASTP ON 3 If the axis is not in motion status and the PEL signal is asserted then user s positive direction motion command shall be ignored by the controller while error stop code of the axis is set to 4 STOP_PEL and motion status of axis is set to abnormal stop ASTP ON 4 If the ax...

Page 209: ...can select decelerating stop or immediate stop with axis parameter PRA_EL_MODE 0x02 and PRA_SD_DEC 0x07 3 Start up software limit function with axis parameter PRA_SPEL_EN 0x08 and PRA_SMEL_EN 0x09 shown in table below Please run home operation to ensure limit position of the coordinate system before the software limit function can be started After the software limit function is initiated you may u...

Page 210: ...motion command shall be ignored by the controller while error stop code of the axis is set to STOP_SPEL 7 and motion status of axis is set to abnormal stop ASTP 4 11 2 2 Position Error Protection Position error protection is a software protection mechanism by monitoring difference between command counter and feedback counter This difference is defined as position error When position error is too b...

Page 211: ...on situation is encountered the controller triggers a protection mechanism to close signal output You may use interrupt function in Windows environment as described below 1 Set up trigger event of timer timeout 2 Enable watchdog protection mechanism 3 Reset timer within cycle time See below for relevant APS APIs APS_wdt_set_action_event APS_wdt_set_action_event APS_wdt_start APS_wdt_get_timeout_pe...

Page 212: ...tchdog_example This example shows how interrupt functions work I32 board_id 0 I32 timer_no 0 Only timer 0 to be used I32 time_out 10 Time out is 10 100 ms 1 sec I32 EventByBit 0x01 Action event is defined by bit Bit0 Motor servo off Bit1 Digital output off Bit2 PWM off I32 ret 0 return code Step 1 姕妰㗪妠䘤䘬ḳẞ ret APS_wdt_set_action_event board_id timer_no EventByBit Step 2 䚳攨䉿ᾅ嬟㨇 ret APS_wdt_start...

Page 213: ...he polling mechanism consumes CPU time repetitively and lead to CPU over utilization The interrupt mechanism alert the CPU of event after it is encountered This process consumes much less CPU time and so can reduce CPU utilization rate It also frees up the CPU to process other tasks for multi tasks and effective CPU resource utilization when waiting for interrupt signal Figure 4 71 Interruption fl...

Page 214: ...nterrupt Note For PCI 8254 items 0 3 and 4 7 are reserved Interrupt Item overview I Each item can have up to 32 kinds of interrupt events 32 bit See tables below for detailed definitions Item 0 7 Axis interrupt events overview Item Item type description 0 7 Axis 0 7 interrupt Item 4 7 of PCI 8254 are reserved 8 System interrupt 9 Digital input rising edge interrupt 10 Digital input falling edge in...

Page 215: ...IINP Drive in place INP signal occurrence 6 IEMG Emergency stop signal EMG occurrence same as system IEMG 7 Reserved set to 0 8 ICSTP CSTP signal occurrence 9 IVM Maximum velocity 10 IACC Start acceleration 11 IDEC Start deceleration 12 IMDN Motion done 13 IASTP Abnormal stop 14 Reserved set to 0 15 ISPEL Soft PEL occurrence 16 ISMEL Soft MEL occurrence 17 Reserved set to 0 18 IPRED Pre distance e...

Page 216: ... No 23 22 21 20 19 18 17 16 Factor Bit No 31 30 29 28 27 26 25 24 Factor bit Symbol Interrupt event description 0 IEMG Emergency stop signal EMG signal occurrence 1 ILCF0 Linear comparator 0 comparing end 2 ILCF1 Linear comparator 1 comparing end 3 IFCF0 FIFO comparator 0 comparing end 4 IFCF1 FIFO comparator 1 comparing end 5 IMOV Motion control loop overload 6 IHOV System job loop overload 7 Res...

Page 217: ...2 21 20 19 18 17 16 Factor IDIR23 TTL15 IDIR22 TTL14 IDIR21 TTL13 IDIR20 TTL12 IDIR19 TTL11 IDIR18 TTL10 IDIR17 TTL9 IDIR16 TTL8 Bit No 31 30 29 28 27 26 25 24 Factor Bit No 7 6 5 4 3 2 1 0 Factor IDIF7 IDIF6 IDIF5 IDIF4 IDIF3 IDIF2 IDIF1 IDIF0 Bit No 15 14 13 12 11 10 9 8 Factor IDIF15 TTL7 IDIF14 TTL6 IDIF13 TTL5 IDIF12 TTL4 IDIF11 TTL3 IDIF10 TTL2 IDIF9 TTL1 IDIF8 TTL0 Bit No 23 22 21 20 19 18 ...

Page 218: ..._int_factor I32 Board_ID I32 Item_No I32 Factor_No Enable I32 APS_get_int_factor I32 Board_ID I32 Item_No I32 Factor_No Enable HANDLE APS_int_no_to_handle I32 Int_No I32 APS_wait_single_int I32 Int_No I32 Time_Out I32 APS_wait_multiple_int I32 Int_Count I32 Int_No_Array I32 Wait_All I32 Time_Out I32 APS_reset_int I32 Int_No I32 APS_set_int I32 Int_No CAUTION Digital input signal DI status changes ...

Page 219: ...rupt events concurrently The program enters sleep mode after entering this function That is the program or thread consumes no CPU resources until there is interrupt event or timeout occurred You may use the returned value from the wait function to ensure the occurrence of event in waiting and execute followed application steps 4 Reset interrupt to non signaled state When there is event triggered a...

Page 220: ...mber I32 return_code function return code I32 item 0 Axis 0 interrupt I32 factor 1 12 bit 12 IMDN interrupt Step 1 姕天䫱䘬㕟ḳẞ factor IMDN int_no APS_set_int_factor board_id item factor 1 Step 2 姕㕟攳斄 APS_int_enable board_id 1 Enable the interrupt main switch Step 3 䫱㕟妠䘤 return_code APS_wait_single_int int_no 1 Wait interrupt if return_code ERR_NoError Interrupt occurred Step 4 慵伖㕟䁢妠䘤䉨ン APS_rese...

Page 221: ...tem 0 Axis 0 interrupt I32 factor 1 12 bit 12 IMDN interrupt HANDLE handle Step 1 姕天䫱䘬㕟ḳẞ factor IMDN int_no APS_set_int_factor board_id item factor 1 handle APS_int_no_to_handle int_no Step 2 姕㕟攳斄 APS_int_enable board_id 1 Enable the interrupt main switch Step 3 䫱㕟妠䘤 return_code WaitForSingleObject handle INFINITE if return_code ERR_NoError Interrupt occurred Step 4 慵伖㕟䁢䁢妠䘤䉨ン ResetEvent ha...

Page 222: ...208 Motion Control Theory ...

Page 223: ...nt Z Turn off power and unplug any power cords cables X To avoid electrical shock and or damage to equipment Z Keep equipment away from water or liquid sources Z Keep equipment away from high heat or high humidity Z Keep equipment properly ventilated do not block or cover ventilation openings Z Make sure to use recommended voltage and power source settings Z Always install and operate equipment ne...

Page 224: ...rviced by authorized technicians when Z The power cord or plug is damaged Z Liquid has penetrated the equipment Z It has been exposed to high humidity moisture Z It is not functioning or does not function according to the user s manual Z It has been dropped and or damaged and or Z It has an obvious sign of breakage WARNING Risk of explosion if battery is replaced with one of an incorrect type Disp...

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